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Merge upstream changes from Marlin 2.1.1

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This commit is contained in:
Stefan Kalscheuer
2022-09-03 09:23:32 +02:00
parent 626283aadb
commit 986e416c7f
1610 changed files with 73839 additions and 40857 deletions
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72
Marlin/src/feature/encoder_i2c.cpp
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@@ -49,7 +49,7 @@ void I2CPositionEncoder::init(const uint8_t address, const AxisEnum axis) {
initialized = true;
SERIAL_ECHOLNPGM("Setting up encoder on ", AS_CHAR(axis_codes[encoderAxis]), " axis, addr = ", address);
SERIAL_ECHOLNPGM("Setting up encoder on ", AS_CHAR(AXIS_CHAR(encoderAxis)), " axis, addr = ", address);
position = get_position();
}
@@ -67,7 +67,7 @@ void I2CPositionEncoder::update() {
/*
if (trusted) { //commented out as part of the note below
trusted = false;
SERIAL_ECHOLNPGM("Fault detected on ", AS_CHAR(axis_codes[encoderAxis]), " axis encoder. Disengaging error correction until module is trusted again.");
SERIAL_ECHOLNPGM("Fault detected on ", AS_CHAR(AXIS_CHAR(encoderAxis)), " axis encoder. Disengaging error correction until module is trusted again.");
}
*/
return;
@@ -92,7 +92,7 @@ void I2CPositionEncoder::update() {
if (millis() - lastErrorTime > I2CPE_TIME_TRUSTED) {
trusted = true;
SERIAL_ECHOLNPGM("Untrusted encoder module on ", AS_CHAR(axis_codes[encoderAxis]), " axis has been fault-free for set duration, reinstating error correction.");
SERIAL_ECHOLNPGM("Untrusted encoder module on ", AS_CHAR(AXIS_CHAR(encoderAxis)), " axis has been fault-free for set duration, reinstating error correction.");
//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
@@ -153,7 +153,7 @@ void I2CPositionEncoder::update() {
#ifdef I2CPE_ERR_THRESH_ABORT
if (ABS(error) > I2CPE_ERR_THRESH_ABORT * planner.settings.axis_steps_per_mm[encoderAxis]) {
//kill(PSTR("Significant Error"));
//kill(F("Significant Error"));
SERIAL_ECHOLNPGM("Axis error over threshold, aborting!", error);
safe_delay(5000);
}
@@ -172,7 +172,7 @@ 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_CHAR(axis_codes[encoderAxis]);
SERIAL_CHAR(AXIS_CHAR(encoderAxis));
SERIAL_ECHOLNPGM(" : CORRECT ERR ", errorP * planner.mm_per_step[encoderAxis], "mm");
babystep.add_steps(encoderAxis, -LROUND(errorP));
errPrstIdx = 0;
@@ -192,7 +192,7 @@ 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_CHAR(axis_codes[encoderAxis]);
SERIAL_CHAR(AXIS_CHAR(encoderAxis));
SERIAL_ECHOLNPGM(" : LARGE ERR ", error, "; diffSum=", diffSum);
errorCount++;
nextErrorCountTime = ms + I2CPE_ERR_CNT_DEBOUNCE_MS;
@@ -212,7 +212,7 @@ void I2CPositionEncoder::set_homed() {
homed = trusted = true;
#ifdef I2CPE_DEBUG
SERIAL_CHAR(axis_codes[encoderAxis]);
SERIAL_CHAR(AXIS_CHAR(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_CHAR(axis_codes[encoderAxis]);
SERIAL_CHAR(AXIS_CHAR(encoderAxis));
SERIAL_ECHOLNPGM(" axis encoder unhomed.");
#endif
}
@@ -231,8 +231,8 @@ void I2CPositionEncoder::set_unhomed() {
bool I2CPositionEncoder::passes_test(const bool report) {
if (report) {
if (H != I2CPE_MAG_SIG_GOOD) SERIAL_ECHOPGM("Warning. ");
SERIAL_CHAR(axis_codes[encoderAxis]);
serial_ternary(H == I2CPE_MAG_SIG_BAD, PSTR(" axis "), PSTR("magnetic strip "), PSTR("encoder "));
SERIAL_CHAR(AXIS_CHAR(encoderAxis));
serial_ternary(H == I2CPE_MAG_SIG_BAD, F(" axis "), F("magnetic strip "), F("encoder "));
switch (H) {
case I2CPE_MAG_SIG_GOOD:
case I2CPE_MAG_SIG_MID:
@@ -252,7 +252,7 @@ float I2CPositionEncoder::get_axis_error_mm(const bool report) {
error = ABS(diff) > 10000 ? 0 : diff; // Huge error is a bad reading
if (report) {
SERIAL_CHAR(axis_codes[encoderAxis]);
SERIAL_CHAR(AXIS_CHAR(encoderAxis));
SERIAL_ECHOLNPGM(" axis target=", target, "mm; actual=", actual, "mm; err=", error, "mm");
}
@@ -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_CHAR(axis_codes[encoderAxis]);
SERIAL_CHAR(AXIS_CHAR(encoderAxis));
SERIAL_ECHOLNPGM(" axis encoder not active!");
}
return 0;
@@ -287,7 +287,7 @@ int32_t I2CPositionEncoder::get_axis_error_steps(const bool report) {
errorPrev = error;
if (report) {
SERIAL_CHAR(axis_codes[encoderAxis]);
SERIAL_CHAR(AXIS_CHAR(encoderAxis));
SERIAL_ECHOLNPGM(" axis target=", target, "; actual=", encoderCountInStepperTicksScaled, "; err=", error);
}
@@ -337,7 +337,7 @@ bool I2CPositionEncoder::test_axis() {
ec = false;
xyze_pos_t startCoord, endCoord;
LOOP_LINEAR_AXES(a) {
LOOP_NUM_AXES(a) {
startCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
endCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
}
@@ -395,7 +395,7 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
travelDistance = endDistance - startDistance;
xyze_pos_t startCoord, endCoord;
LOOP_LINEAR_AXES(a) {
LOOP_NUM_AXES(a) {
startCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
endCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
}
@@ -489,7 +489,7 @@ void I2CPositionEncodersMgr::init() {
encoders[i].set_stepper_ticks(I2CPE_ENC_1_TICKS_REV);
#endif
#ifdef I2CPE_ENC_1_INVERT
encoders[i].set_inverted(I2CPE_ENC_1_INVERT);
encoders[i].set_inverted(ENABLED(I2CPE_ENC_1_INVERT));
#endif
#ifdef I2CPE_ENC_1_EC_METHOD
encoders[i].set_ec_method(I2CPE_ENC_1_EC_METHOD);
@@ -518,7 +518,7 @@ void I2CPositionEncodersMgr::init() {
encoders[i].set_stepper_ticks(I2CPE_ENC_2_TICKS_REV);
#endif
#ifdef I2CPE_ENC_2_INVERT
encoders[i].set_inverted(I2CPE_ENC_2_INVERT);
encoders[i].set_inverted(ENABLED(I2CPE_ENC_2_INVERT));
#endif
#ifdef I2CPE_ENC_2_EC_METHOD
encoders[i].set_ec_method(I2CPE_ENC_2_EC_METHOD);
@@ -547,7 +547,7 @@ void I2CPositionEncodersMgr::init() {
encoders[i].set_stepper_ticks(I2CPE_ENC_3_TICKS_REV);
#endif
#ifdef I2CPE_ENC_3_INVERT
encoders[i].set_inverted(I2CPE_ENC_3_INVERT);
encoders[i].set_inverted(ENABLED(I2CPE_ENC_3_INVERT));
#endif
#ifdef I2CPE_ENC_3_EC_METHOD
encoders[i].set_ec_method(I2CPE_ENC_3_EC_METHOD);
@@ -576,7 +576,7 @@ void I2CPositionEncodersMgr::init() {
encoders[i].set_stepper_ticks(I2CPE_ENC_4_TICKS_REV);
#endif
#ifdef I2CPE_ENC_4_INVERT
encoders[i].set_inverted(I2CPE_ENC_4_INVERT);
encoders[i].set_inverted(ENABLED(I2CPE_ENC_4_INVERT));
#endif
#ifdef I2CPE_ENC_4_EC_METHOD
encoders[i].set_ec_method(I2CPE_ENC_4_EC_METHOD);
@@ -605,7 +605,7 @@ void I2CPositionEncodersMgr::init() {
encoders[i].set_stepper_ticks(I2CPE_ENC_5_TICKS_REV);
#endif
#ifdef I2CPE_ENC_5_INVERT
encoders[i].set_inverted(I2CPE_ENC_5_INVERT);
encoders[i].set_inverted(ENABLED(I2CPE_ENC_5_INVERT));
#endif
#ifdef I2CPE_ENC_5_EC_METHOD
encoders[i].set_ec_method(I2CPE_ENC_5_EC_METHOD);
@@ -634,7 +634,7 @@ void I2CPositionEncodersMgr::init() {
encoders[i].set_stepper_ticks(I2CPE_ENC_6_TICKS_REV);
#endif
#ifdef I2CPE_ENC_6_INVERT
encoders[i].set_inverted(I2CPE_ENC_6_INVERT);
encoders[i].set_inverted(ENABLED(I2CPE_ENC_6_INVERT));
#endif
#ifdef I2CPE_ENC_6_EC_METHOD
encoders[i].set_ec_method(I2CPE_ENC_6_EC_METHOD);
@@ -657,7 +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_CHAR(axis_codes[encoders[idx].get_axis()], ' ');
SERIAL_CHAR(AXIS_CHAR(encoders[idx).get_axis()], ' ');
for (uint8_t j = 31; j > 0; j--)
SERIAL_ECHO((bool)(0x00000001 & (raw_count >> j)));
@@ -712,7 +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_CHAR(axis_codes[encoders[idx].get_axis()]);
SERIAL_CHAR(AXIS_CHAR(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));
}
@@ -756,7 +756,7 @@ int8_t I2CPositionEncodersMgr::parse() {
if (!parser.has_value()) {
SERIAL_ECHOLNPGM("?A seen, but no address specified! [30-200]");
return I2CPE_PARSE_ERR;
};
}
I2CPE_addr = parser.value_byte();
if (!WITHIN(I2CPE_addr, 30, 200)) { // reserve the first 30 and last 55
@@ -775,7 +775,7 @@ int8_t I2CPositionEncodersMgr::parse() {
if (!parser.has_value()) {
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) {
@@ -791,7 +791,7 @@ int8_t I2CPositionEncodersMgr::parse() {
I2CPE_anyaxis = parser.seen_axis();
return I2CPE_PARSE_OK;
};
}
/**
* M860: Report the position(s) of position encoder module(s).
@@ -814,7 +814,7 @@ void I2CPositionEncodersMgr::M860() {
if (I2CPE_idx == 0xFF) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen_test(axis_codes[i])) {
if (!I2CPE_anyaxis || parser.seen_test(AXIS_CHAR(i))) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) report_position(idx, hasU, hasO);
}
@@ -841,7 +841,7 @@ void I2CPositionEncodersMgr::M861() {
if (I2CPE_idx == 0xFF) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) report_status(idx);
}
@@ -869,7 +869,7 @@ void I2CPositionEncodersMgr::M862() {
if (I2CPE_idx == 0xFF) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) test_axis(idx);
}
@@ -900,7 +900,7 @@ void I2CPositionEncodersMgr::M863() {
if (I2CPE_idx == 0xFF) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) calibrate_steps_mm(idx, iterations);
}
@@ -934,7 +934,7 @@ void I2CPositionEncodersMgr::M864() {
if (!parser.has_value()) {
SERIAL_ECHOLNPGM("?S seen, but no address specified! [30-200]");
return;
};
}
newAddress = parser.value_byte();
if (!WITHIN(newAddress, 30, 200)) {
@@ -976,7 +976,7 @@ void I2CPositionEncodersMgr::M865() {
if (!I2CPE_addr) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) report_module_firmware(encoders[idx].get_address());
}
@@ -1007,7 +1007,7 @@ void I2CPositionEncodersMgr::M866() {
if (I2CPE_idx == 0xFF) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) {
if (hasR)
@@ -1045,7 +1045,7 @@ void I2CPositionEncodersMgr::M867() {
if (I2CPE_idx == 0xFF) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) {
const bool ena = onoff == -1 ? !encoders[I2CPE_idx].get_ec_enabled() : !!onoff;
@@ -1081,7 +1081,7 @@ void I2CPositionEncodersMgr::M868() {
if (I2CPE_idx == 0xFF) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) {
if (newThreshold != -9999)
@@ -1115,7 +1115,7 @@ void I2CPositionEncodersMgr::M869() {
if (I2CPE_idx == 0xFF) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) report_error(idx);
}