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update code base to Marlin 2.0.9.2

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This commit is contained in:
Stefan Kalscheuer
2021-10-03 18:57:12 +02:00
parent b9d7ba838e
commit 7077da3591
2617 changed files with 332093 additions and 103438 deletions
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190
Marlin/src/feature/encoder_i2c.cpp Executable file → Normal file
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@@ -16,7 +16,7 @@
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
@@ -34,7 +34,6 @@
#include "encoder_i2c.h"
#include "../module/temperature.h"
#include "../module/stepper.h"
#include "../gcode/parser.h"
@@ -42,13 +41,15 @@
#include <Wire.h>
I2CPositionEncodersMgr I2CPEM;
void I2CPositionEncoder::init(const uint8_t address, const AxisEnum axis) {
encoderAxis = axis;
i2cAddress = address;
initialized++;
initialized = true;
SERIAL_ECHOLNPAIR("Setting up encoder on ", axis_codes[encoderAxis], " axis, addr = ", address);
SERIAL_ECHOLNPGM("Setting up encoder on ", AS_CHAR(axis_codes[encoderAxis]), " axis, addr = ", address);
position = get_position();
}
@@ -66,7 +67,7 @@ void I2CPositionEncoder::update() {
/*
if (trusted) { //commented out as part of the note below
trusted = false;
SERIAL_ECHOLMPAIR("Fault detected on ", axis_codes[encoderAxis], " axis encoder. Disengaging error correction until module is trusted again.");
SERIAL_ECHOLNPGM("Fault detected on ", AS_CHAR(axis_codes[encoderAxis]), " axis encoder. Disengaging error correction until module is trusted again.");
}
*/
return;
@@ -85,15 +86,15 @@ void I2CPositionEncoder::update() {
* the encoder would be re-enabled.
*/
/*
#if 0
// If the magnetic strength has been good for a certain time, start trusting the module again
if (millis() - lastErrorTime > I2CPE_TIME_TRUSTED) {
trusted = true;
SERIAL_ECHOLNPAIR("Untrusted encoder module on ", axis_codes[encoderAxis], " axis has been fault-free for set duration, reinstating error correction.");
SERIAL_ECHOLNPGM("Untrusted encoder module on ", AS_CHAR(axis_codes[encoderAxis]), " axis has been fault-free for set duration, reinstating error correction.");
//the encoder likely lost its place when the error occured, so we'll reset and use the printer's
//the encoder likely lost its place when the error occurred, so we'll reset and use the printer's
//idea of where it the axis is to re-initialize
const float pos = planner.get_axis_position_mm(encoderAxis);
int32_t positionInTicks = pos * get_ticks_unit();
@@ -102,16 +103,16 @@ void I2CPositionEncoder::update() {
zeroOffset -= (positionInTicks - get_position());
#ifdef I2CPE_DEBUG
SERIAL_ECHOLNPAIR("Current position is ", pos);
SERIAL_ECHOLNPAIR("Position in encoder ticks is ", positionInTicks);
SERIAL_ECHOLNPAIR("New zero-offset of ", zeroOffset);
SERIAL_ECHOPAIR("New position reads as ", get_position());
SERIAL_ECHOLNPGM("Current position is ", pos);
SERIAL_ECHOLNPGM("Position in encoder ticks is ", positionInTicks);
SERIAL_ECHOLNPGM("New zero-offset of ", zeroOffset);
SERIAL_ECHOPGM("New position reads as ", get_position());
SERIAL_CHAR('(');
SERIAL_ECHO(mm_from_count(get_position()));
SERIAL_DECIMAL(mm_from_count(get_position()));
SERIAL_ECHOLNPGM(")");
#endif
}
*/
#endif
return;
}
@@ -148,12 +149,12 @@ void I2CPositionEncoder::update() {
const int32_t error = get_axis_error_steps(false);
#endif
//SERIAL_ECHOLNPAIR("Axis error steps: ", error);
//SERIAL_ECHOLNPGM("Axis error steps: ", error);
#ifdef I2CPE_ERR_THRESH_ABORT
if (ABS(error) > I2CPE_ERR_THRESH_ABORT * planner.settings.axis_steps_per_mm[encoderAxis]) {
//kill(PSTR("Significant Error"));
SERIAL_ECHOLNPAIR("Axis error over threshold, aborting!", error);
SERIAL_ECHOLNPGM("Axis error over threshold, aborting!", error);
safe_delay(5000);
}
#endif
@@ -171,8 +172,8 @@ void I2CPositionEncoder::update() {
float sumP = 0;
LOOP_L_N(i, I2CPE_ERR_PRST_ARRAY_SIZE) sumP += errPrst[i];
const int32_t errorP = int32_t(sumP * RECIPROCAL(I2CPE_ERR_PRST_ARRAY_SIZE));
SERIAL_ECHO(axis_codes[encoderAxis]);
SERIAL_ECHOLNPAIR(" : CORRECT ERR ", errorP * planner.steps_to_mm[encoderAxis], "mm");
SERIAL_CHAR(axis_codes[encoderAxis]);
SERIAL_ECHOLNPGM(" : CORRECT ERR ", errorP * planner.mm_per_step[encoderAxis], "mm");
babystep.add_steps(encoderAxis, -LROUND(errorP));
errPrstIdx = 0;
}
@@ -191,8 +192,8 @@ void I2CPositionEncoder::update() {
if (ABS(error) > I2CPE_ERR_CNT_THRESH * planner.settings.axis_steps_per_mm[encoderAxis]) {
const millis_t ms = millis();
if (ELAPSED(ms, nextErrorCountTime)) {
SERIAL_ECHO(axis_codes[encoderAxis]);
SERIAL_ECHOLNPAIR(" : LARGE ERR ", int(error), "; diffSum=", diffSum);
SERIAL_CHAR(axis_codes[encoderAxis]);
SERIAL_ECHOLNPGM(" : LARGE ERR ", error, "; diffSum=", diffSum);
errorCount++;
nextErrorCountTime = ms + I2CPE_ERR_CNT_DEBOUNCE_MS;
}
@@ -208,12 +209,11 @@ void I2CPositionEncoder::set_homed() {
delay(10);
zeroOffset = get_raw_count();
homed++;
trusted++;
homed = trusted = true;
#ifdef I2CPE_DEBUG
SERIAL_ECHO(axis_codes[encoderAxis]);
SERIAL_ECHOLNPAIR(" axis encoder homed, offset of ", zeroOffset, " ticks.");
SERIAL_CHAR(axis_codes[encoderAxis]);
SERIAL_ECHOLNPGM(" axis encoder homed, offset of ", zeroOffset, " ticks.");
#endif
}
}
@@ -223,7 +223,7 @@ void I2CPositionEncoder::set_unhomed() {
homed = trusted = false;
#ifdef I2CPE_DEBUG
SERIAL_ECHO(axis_codes[encoderAxis]);
SERIAL_CHAR(axis_codes[encoderAxis]);
SERIAL_ECHOLNPGM(" axis encoder unhomed.");
#endif
}
@@ -231,7 +231,7 @@ void I2CPositionEncoder::set_unhomed() {
bool I2CPositionEncoder::passes_test(const bool report) {
if (report) {
if (H != I2CPE_MAG_SIG_GOOD) SERIAL_ECHOPGM("Warning. ");
SERIAL_ECHO(axis_codes[encoderAxis]);
SERIAL_CHAR(axis_codes[encoderAxis]);
serial_ternary(H == I2CPE_MAG_SIG_BAD, PSTR(" axis "), PSTR("magnetic strip "), PSTR("encoder "));
switch (H) {
case I2CPE_MAG_SIG_GOOD:
@@ -252,8 +252,8 @@ float I2CPositionEncoder::get_axis_error_mm(const bool report) {
error = ABS(diff) > 10000 ? 0 : diff; // Huge error is a bad reading
if (report) {
SERIAL_ECHO(axis_codes[encoderAxis]);
SERIAL_ECHOLNPAIR(" axis target=", target, "mm; actual=", actual, "mm; err=", error, "mm");
SERIAL_CHAR(axis_codes[encoderAxis]);
SERIAL_ECHOLNPGM(" axis target=", target, "mm; actual=", actual, "mm; err=", error, "mm");
}
return error;
@@ -262,7 +262,7 @@ float I2CPositionEncoder::get_axis_error_mm(const bool report) {
int32_t I2CPositionEncoder::get_axis_error_steps(const bool report) {
if (!active) {
if (report) {
SERIAL_ECHO(axis_codes[encoderAxis]);
SERIAL_CHAR(axis_codes[encoderAxis]);
SERIAL_ECHOLNPGM(" axis encoder not active!");
}
return 0;
@@ -287,8 +287,8 @@ int32_t I2CPositionEncoder::get_axis_error_steps(const bool report) {
errorPrev = error;
if (report) {
SERIAL_ECHO(axis_codes[encoderAxis]);
SERIAL_ECHOLNPAIR(" axis target=", target, "; actual=", encoderCountInStepperTicksScaled, "; err=", error);
SERIAL_CHAR(axis_codes[encoderAxis]);
SERIAL_ECHOLNPGM(" axis target=", target, "; actual=", encoderCountInStepperTicksScaled, "; err=", error);
}
if (suppressOutput) {
@@ -305,7 +305,7 @@ int32_t I2CPositionEncoder::get_raw_count() {
encoderCount.val = 0x00;
if (Wire.requestFrom((int)i2cAddress, 3) != 3) {
if (Wire.requestFrom(I2C_ADDRESS(i2cAddress), uint8_t(3)) != 3) {
//houston, we have a problem...
H = I2CPE_MAG_SIG_NF;
return 0;
@@ -327,17 +327,17 @@ int32_t I2CPositionEncoder::get_raw_count() {
}
bool I2CPositionEncoder::test_axis() {
//only works on XYZ cartesian machines for the time being
// Only works on XYZ Cartesian machines for the time being
if (!(encoderAxis == X_AXIS || encoderAxis == Y_AXIS || encoderAxis == Z_AXIS)) return false;
const float startPosition = soft_endstop.min[encoderAxis] + 10,
endPosition = soft_endstop.max[encoderAxis] - 10;
const feedRate_t fr_mm_s = FLOOR(MMM_TO_MMS((encoderAxis == Z_AXIS) ? HOMING_FEEDRATE_Z : HOMING_FEEDRATE_XY));
const feedRate_t fr_mm_s = FLOOR(homing_feedrate(encoderAxis));
ec = false;
xyze_pos_t startCoord, endCoord;
LOOP_XYZ(a) {
LOOP_LINEAR_AXES(a) {
startCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
endCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
}
@@ -345,9 +345,12 @@ bool I2CPositionEncoder::test_axis() {
endCoord[encoderAxis] = endPosition;
planner.synchronize();
startCoord.e = planner.get_axis_position_mm(E_AXIS);
planner.buffer_line(startCoord, fr_mm_s, 0);
planner.synchronize();
#if HAS_EXTRUDERS
startCoord.e = planner.get_axis_position_mm(E_AXIS);
planner.buffer_line(startCoord, fr_mm_s, 0);
planner.synchronize();
#endif
// if the module isn't currently trusted, wait until it is (or until it should be if things are working)
if (!trusted) {
@@ -357,7 +360,7 @@ bool I2CPositionEncoder::test_axis() {
}
if (trusted) { // if trusted, commence test
endCoord.e = planner.get_axis_position_mm(E_AXIS);
TERN_(HAS_EXTRUDERS, endCoord.e = planner.get_axis_position_mm(E_AXIS));
planner.buffer_line(endCoord, fr_mm_s, 0);
planner.synchronize();
}
@@ -382,7 +385,7 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
int32_t startCount, stopCount;
const feedRate_t fr_mm_s = MMM_TO_MMS((encoderAxis == Z_AXIS) ? HOMING_FEEDRATE_Z : HOMING_FEEDRATE_XY);
const feedRate_t fr_mm_s = homing_feedrate(encoderAxis);
bool oldec = ec;
ec = false;
@@ -392,7 +395,7 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
travelDistance = endDistance - startDistance;
xyze_pos_t startCoord, endCoord;
LOOP_XYZ(a) {
LOOP_LINEAR_AXES(a) {
startCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
endCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
}
@@ -402,7 +405,7 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
planner.synchronize();
LOOP_L_N(i, iter) {
startCoord.e = planner.get_axis_position_mm(E_AXIS);
TERN_(HAS_EXTRUDERS, startCoord.e = planner.get_axis_position_mm(E_AXIS));
planner.buffer_line(startCoord, fr_mm_s, 0);
planner.synchronize();
@@ -411,7 +414,7 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
//do_blocking_move_to(endCoord);
endCoord.e = planner.get_axis_position_mm(E_AXIS);
TERN_(HAS_EXTRUDERS, endCoord.e = planner.get_axis_position_mm(E_AXIS));
planner.buffer_line(endCoord, fr_mm_s, 0);
planner.synchronize();
@@ -421,15 +424,15 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
travelledDistance = mm_from_count(ABS(stopCount - startCount));
SERIAL_ECHOLNPAIR("Attempted travel: ", travelDistance, "mm");
SERIAL_ECHOLNPAIR(" Actual travel: ", travelledDistance, "mm");
SERIAL_ECHOLNPGM("Attempted travel: ", travelDistance, "mm");
SERIAL_ECHOLNPGM(" Actual travel: ", travelledDistance, "mm");
//Calculate new axis steps per unit
old_steps_mm = planner.settings.axis_steps_per_mm[encoderAxis];
new_steps_mm = (old_steps_mm * travelDistance) / travelledDistance;
SERIAL_ECHOLNPAIR("Old steps/mm: ", old_steps_mm);
SERIAL_ECHOLNPAIR("New steps/mm: ", new_steps_mm);
SERIAL_ECHOLNPGM("Old steps/mm: ", old_steps_mm);
SERIAL_ECHOLNPGM("New steps/mm: ", new_steps_mm);
//Save new value
planner.settings.axis_steps_per_mm[encoderAxis] = new_steps_mm;
@@ -446,7 +449,7 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
if (iter > 1) {
total /= (float)iter;
SERIAL_ECHOLNPAIR("Average steps/mm: ", total);
SERIAL_ECHOLNPGM("Average steps/mm: ", total);
}
ec = oldec;
@@ -459,9 +462,7 @@ void I2CPositionEncoder::reset() {
Wire.write(I2CPE_RESET_COUNT);
Wire.endTransmission();
#if ENABLED(I2CPE_ERR_ROLLING_AVERAGE)
ZERO(err);
#endif
TERN_(I2CPE_ERR_ROLLING_AVERAGE, ZERO(err));
}
@@ -499,9 +500,7 @@ void I2CPositionEncodersMgr::init() {
encoders[i].set_active(encoders[i].passes_test(true));
#if I2CPE_ENC_1_AXIS == E_AXIS
encoders[i].set_homed();
#endif
TERN_(HAS_EXTRUDERS, if (I2CPE_ENC_1_AXIS == E_AXIS) encoders[i].set_homed());
#endif
#if I2CPE_ENCODER_CNT > 1
@@ -530,9 +529,7 @@ void I2CPositionEncodersMgr::init() {
encoders[i].set_active(encoders[i].passes_test(true));
#if I2CPE_ENC_2_AXIS == E_AXIS
encoders[i].set_homed();
#endif
TERN_(HAS_EXTRUDERS, if (I2CPE_ENC_2_AXIS == E_AXIS) encoders[i].set_homed());
#endif
#if I2CPE_ENCODER_CNT > 2
@@ -559,11 +556,9 @@ void I2CPositionEncodersMgr::init() {
encoders[i].set_ec_threshold(I2CPE_ENC_3_EC_THRESH);
#endif
encoders[i].set_active(encoders[i].passes_test(true));
encoders[i].set_active(encoders[i].passes_test(true));
#if I2CPE_ENC_3_AXIS == E_AXIS
encoders[i].set_homed();
#endif
TERN_(HAS_EXTRUDERS, if (I2CPE_ENC_3_AXIS == E_AXIS) encoders[i].set_homed());
#endif
#if I2CPE_ENCODER_CNT > 3
@@ -592,9 +587,7 @@ void I2CPositionEncodersMgr::init() {
encoders[i].set_active(encoders[i].passes_test(true));
#if I2CPE_ENC_4_AXIS == E_AXIS
encoders[i].set_homed();
#endif
TERN_(HAS_EXTRUDERS, if (I2CPE_ENC_4_AXIS == E_AXIS) encoders[i].set_homed());
#endif
#if I2CPE_ENCODER_CNT > 4
@@ -623,9 +616,7 @@ void I2CPositionEncodersMgr::init() {
encoders[i].set_active(encoders[i].passes_test(true));
#if I2CPE_ENC_5_AXIS == E_AXIS
encoders[i].set_homed();
#endif
TERN_(HAS_EXTRUDERS, if (I2CPE_ENC_5_AXIS == E_AXIS) encoders[i].set_homed());
#endif
#if I2CPE_ENCODER_CNT > 5
@@ -654,9 +645,7 @@ void I2CPositionEncodersMgr::init() {
encoders[i].set_active(encoders[i].passes_test(true));
#if I2CPE_ENC_6_AXIS == E_AXIS
encoders[i].set_homed();
#endif
TERN_(HAS_EXTRUDERS, if (I2CPE_ENC_6_AXIS == E_AXIS) encoders[i].set_homed());
#endif
}
@@ -668,8 +657,7 @@ void I2CPositionEncodersMgr::report_position(const int8_t idx, const bool units,
else {
if (noOffset) {
const int32_t raw_count = encoders[idx].get_raw_count();
SERIAL_ECHO(axis_codes[encoders[idx].get_axis()]);
SERIAL_CHAR(' ');
SERIAL_CHAR(axis_codes[encoders[idx].get_axis()], ' ');
for (uint8_t j = 31; j > 0; j--)
SERIAL_ECHO((bool)(0x00000001 & (raw_count >> j)));
@@ -687,18 +675,18 @@ void I2CPositionEncodersMgr::change_module_address(const uint8_t oldaddr, const
// First check 'new' address is not in use
Wire.beginTransmission(I2C_ADDRESS(newaddr));
if (!Wire.endTransmission()) {
SERIAL_ECHOLNPAIR("?There is already a device with that address on the I2C bus! (", newaddr, ")");
SERIAL_ECHOLNPGM("?There is already a device with that address on the I2C bus! (", newaddr, ")");
return;
}
// Now check that we can find the module on the oldaddr address
Wire.beginTransmission(I2C_ADDRESS(oldaddr));
if (Wire.endTransmission()) {
SERIAL_ECHOLNPAIR("?No module detected at this address! (", oldaddr, ")");
SERIAL_ECHOLNPGM("?No module detected at this address! (", oldaddr, ")");
return;
}
SERIAL_ECHOLNPAIR("Module found at ", oldaddr, ", changing address to ", newaddr);
SERIAL_ECHOLNPGM("Module found at ", oldaddr, ", changing address to ", newaddr);
// Change the modules address
Wire.beginTransmission(I2C_ADDRESS(oldaddr));
@@ -724,7 +712,7 @@ void I2CPositionEncodersMgr::change_module_address(const uint8_t oldaddr, const
// and enable it (it will likely have failed initialization on power-up, before the address change).
const int8_t idx = idx_from_addr(newaddr);
if (idx >= 0 && !encoders[idx].get_active()) {
SERIAL_ECHO(axis_codes[encoders[idx].get_axis()]);
SERIAL_CHAR(axis_codes[encoders[idx].get_axis()]);
SERIAL_ECHOLNPGM(" axis encoder was not detected on printer startup. Trying again.");
encoders[idx].set_active(encoders[idx].passes_test(true));
}
@@ -734,11 +722,11 @@ void I2CPositionEncodersMgr::report_module_firmware(const uint8_t address) {
// First check there is a module
Wire.beginTransmission(I2C_ADDRESS(address));
if (Wire.endTransmission()) {
SERIAL_ECHOLNPAIR("?No module detected at this address! (", address, ")");
SERIAL_ECHOLNPGM("?No module detected at this address! (", address, ")");
return;
}
SERIAL_ECHOLNPAIR("Requesting version info from module at address ", address, ":");
SERIAL_ECHOLNPGM("Requesting version info from module at address ", address, ":");
Wire.beginTransmission(I2C_ADDRESS(address));
Wire.write(I2CPE_SET_REPORT_MODE);
@@ -746,10 +734,10 @@ void I2CPositionEncodersMgr::report_module_firmware(const uint8_t address) {
Wire.endTransmission();
// Read value
if (Wire.requestFrom((int)address, 32)) {
if (Wire.requestFrom(I2C_ADDRESS(address), uint8_t(32))) {
char c;
while (Wire.available() > 0 && (c = (char)Wire.read()) > 0)
SERIAL_ECHO(c);
SERIAL_CHAR(c);
SERIAL_EOL();
}
@@ -785,13 +773,13 @@ int8_t I2CPositionEncodersMgr::parse() {
else if (parser.seenval('I')) {
if (!parser.has_value()) {
SERIAL_ECHOLNPAIR("?I seen, but no index specified! [0-", I2CPE_ENCODER_CNT - 1, "]");
SERIAL_ECHOLNPGM("?I seen, but no index specified! [0-", I2CPE_ENCODER_CNT - 1, "]");
return I2CPE_PARSE_ERR;
};
I2CPE_idx = parser.value_byte();
if (I2CPE_idx >= I2CPE_ENCODER_CNT) {
SERIAL_ECHOLNPAIR("?Index out of range. [0-", I2CPE_ENCODER_CNT - 1, "]");
SERIAL_ECHOLNPGM("?Index out of range. [0-", I2CPE_ENCODER_CNT - 1, "]");
return I2CPE_PARSE_ERR;
}
@@ -818,16 +806,15 @@ int8_t I2CPositionEncodersMgr::parse() {
* Y Report on Y axis encoder, if present.
* Z Report on Z axis encoder, if present.
* E Report on E axis encoder, if present.
*
*/
void I2CPositionEncodersMgr::M860() {
if (parse()) return;
const bool hasU = parser.seen('U'), hasO = parser.seen('O');
const bool hasU = parser.seen_test('U'), hasO = parser.seen_test('O');
if (I2CPE_idx == 0xFF) {
LOOP_XYZE(i) {
if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen_test(axis_codes[i])) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) report_position(idx, hasU, hasO);
}
@@ -848,13 +835,12 @@ void I2CPositionEncodersMgr::M860() {
* Y Report on Y axis encoder, if present.
* Z Report on Z axis encoder, if present.
* E Report on E axis encoder, if present.
*
*/
void I2CPositionEncodersMgr::M861() {
if (parse()) return;
if (I2CPE_idx == 0xFF) {
LOOP_XYZE(i) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) report_status(idx);
@@ -877,13 +863,12 @@ void I2CPositionEncodersMgr::M861() {
* Y Report on Y axis encoder, if present.
* Z Report on Z axis encoder, if present.
* E Report on E axis encoder, if present.
*
*/
void I2CPositionEncodersMgr::M862() {
if (parse()) return;
if (I2CPE_idx == 0xFF) {
LOOP_XYZE(i) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) test_axis(idx);
@@ -907,7 +892,6 @@ void I2CPositionEncodersMgr::M862() {
* Y Report on Y axis encoder, if present.
* Z Report on Z axis encoder, if present.
* E Report on E axis encoder, if present.
*
*/
void I2CPositionEncodersMgr::M863() {
if (parse()) return;
@@ -915,7 +899,7 @@ void I2CPositionEncodersMgr::M863() {
const uint8_t iterations = constrain(parser.byteval('P', 1), 1, 10);
if (I2CPE_idx == 0xFF) {
LOOP_XYZE(i) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) calibrate_steps_mm(idx, iterations);
@@ -963,14 +947,14 @@ void I2CPositionEncodersMgr::M864() {
return;
}
else {
if (parser.seen('X')) newAddress = I2CPE_PRESET_ADDR_X;
else if (parser.seen('Y')) newAddress = I2CPE_PRESET_ADDR_Y;
else if (parser.seen('Z')) newAddress = I2CPE_PRESET_ADDR_Z;
else if (parser.seen('E')) newAddress = I2CPE_PRESET_ADDR_E;
if (parser.seen_test('X')) newAddress = I2CPE_PRESET_ADDR_X;
else if (parser.seen_test('Y')) newAddress = I2CPE_PRESET_ADDR_Y;
else if (parser.seen_test('Z')) newAddress = I2CPE_PRESET_ADDR_Z;
else if (parser.seen_test('E')) newAddress = I2CPE_PRESET_ADDR_E;
else return;
}
SERIAL_ECHOLNPAIR("Changing module at address ", I2CPE_addr, " to address ", newAddress);
SERIAL_ECHOLNPGM("Changing module at address ", I2CPE_addr, " to address ", newAddress);
change_module_address(I2CPE_addr, newAddress);
}
@@ -991,7 +975,7 @@ void I2CPositionEncodersMgr::M865() {
if (parse()) return;
if (!I2CPE_addr) {
LOOP_XYZE(i) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) report_module_firmware(encoders[idx].get_address());
@@ -1019,10 +1003,10 @@ void I2CPositionEncodersMgr::M865() {
void I2CPositionEncodersMgr::M866() {
if (parse()) return;
const bool hasR = parser.seen('R');
const bool hasR = parser.seen_test('R');
if (I2CPE_idx == 0xFF) {
LOOP_XYZE(i) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) {
@@ -1060,7 +1044,7 @@ void I2CPositionEncodersMgr::M867() {
const int8_t onoff = parser.seenval('S') ? parser.value_int() : -1;
if (I2CPE_idx == 0xFF) {
LOOP_XYZE(i) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) {
@@ -1096,7 +1080,7 @@ void I2CPositionEncodersMgr::M868() {
const float newThreshold = parser.seenval('T') ? parser.value_float() : -9999;
if (I2CPE_idx == 0xFF) {
LOOP_XYZE(i) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) {
@@ -1130,7 +1114,7 @@ void I2CPositionEncodersMgr::M869() {
if (parse()) return;
if (I2CPE_idx == 0xFF) {
LOOP_XYZE(i) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) report_error(idx);