414 lines
13 KiB
C++
414 lines
13 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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/**
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* feature/runout.h - Runout sensor support
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*/
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#include "../sd/cardreader.h"
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#include "../module/printcounter.h"
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#include "../module/planner.h"
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#include "../module/stepper.h" // for block_t
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#include "../gcode/queue.h"
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#include "../feature/pause.h"
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#include "../inc/MarlinConfig.h"
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#if ENABLED(EXTENSIBLE_UI)
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#include "../lcd/extui/ui_api.h"
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#endif
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//#define FILAMENT_RUNOUT_SENSOR_DEBUG
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#ifndef FILAMENT_RUNOUT_THRESHOLD
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#define FILAMENT_RUNOUT_THRESHOLD 5
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#endif
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void event_filament_runout(const uint8_t extruder);
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template<class RESPONSE_T, class SENSOR_T>
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class TFilamentMonitor;
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class FilamentSensorEncoder;
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class FilamentSensorSwitch;
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class RunoutResponseDelayed;
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class RunoutResponseDebounced;
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/********************************* TEMPLATE SPECIALIZATION *********************************/
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typedef TFilamentMonitor<
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TERN(HAS_FILAMENT_RUNOUT_DISTANCE, RunoutResponseDelayed, RunoutResponseDebounced),
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TERN(FILAMENT_MOTION_SENSOR, FilamentSensorEncoder, FilamentSensorSwitch)
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> FilamentMonitor;
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extern FilamentMonitor runout;
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/*******************************************************************************************/
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class FilamentMonitorBase {
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public:
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static bool enabled, filament_ran_out;
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#if ENABLED(HOST_ACTION_COMMANDS)
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static bool host_handling;
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#else
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static constexpr bool host_handling = false;
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#endif
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};
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template<class RESPONSE_T, class SENSOR_T>
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class TFilamentMonitor : public FilamentMonitorBase {
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private:
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typedef RESPONSE_T response_t;
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typedef SENSOR_T sensor_t;
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static response_t response;
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static sensor_t sensor;
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public:
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static inline void setup() {
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sensor.setup();
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reset();
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}
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static inline void reset() {
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filament_ran_out = false;
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response.reset();
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}
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// Call this method when filament is present,
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// so the response can reset its counter.
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static inline void filament_present(const uint8_t extruder) {
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response.filament_present(extruder);
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}
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#if HAS_FILAMENT_RUNOUT_DISTANCE
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static inline float& runout_distance() { return response.runout_distance_mm; }
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static inline void set_runout_distance(const_float_t mm) { response.runout_distance_mm = mm; }
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#endif
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// Handle a block completion. RunoutResponseDelayed uses this to
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// add up the length of filament moved while the filament is out.
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static inline void block_completed(const block_t * const b) {
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if (enabled) {
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response.block_completed(b);
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sensor.block_completed(b);
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}
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}
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// Give the response a chance to update its counter.
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static inline void run() {
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if (enabled && !filament_ran_out && (printingIsActive() || did_pause_print)) {
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TERN_(HAS_FILAMENT_RUNOUT_DISTANCE, cli()); // Prevent RunoutResponseDelayed::block_completed from accumulating here
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response.run();
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sensor.run();
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const uint8_t runout_flags = response.has_run_out();
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TERN_(HAS_FILAMENT_RUNOUT_DISTANCE, sei());
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#if MULTI_FILAMENT_SENSOR
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#if ENABLED(WATCH_ALL_RUNOUT_SENSORS)
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const bool ran_out = !!runout_flags; // any sensor triggers
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uint8_t extruder = 0;
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if (ran_out) {
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uint8_t bitmask = runout_flags;
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while (!(bitmask & 1)) {
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bitmask >>= 1;
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extruder++;
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}
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}
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#else
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const bool ran_out = TEST(runout_flags, active_extruder); // suppress non active extruders
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uint8_t extruder = active_extruder;
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#endif
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#else
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const bool ran_out = !!runout_flags;
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uint8_t extruder = active_extruder;
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#endif
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#if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG)
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if (runout_flags) {
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SERIAL_ECHOPGM("Runout Sensors: ");
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LOOP_L_N(i, 8) SERIAL_ECHO('0' + TEST(runout_flags, i));
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SERIAL_ECHOPAIR(" -> ", extruder);
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if (ran_out) SERIAL_ECHOPGM(" RUN OUT");
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SERIAL_EOL();
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}
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#endif
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if (ran_out) {
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filament_ran_out = true;
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event_filament_runout(extruder);
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planner.synchronize();
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}
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}
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}
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};
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/*************************** FILAMENT PRESENCE SENSORS ***************************/
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class FilamentSensorBase {
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protected:
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/**
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* Called by FilamentSensorSwitch::run when filament is detected.
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* Called by FilamentSensorEncoder::block_completed when motion is detected.
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*/
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static inline void filament_present(const uint8_t extruder) {
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runout.filament_present(extruder); // ...which calls response.filament_present(extruder)
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}
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public:
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static inline void setup() {
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#define _INIT_RUNOUT_PIN(P,S,U,D) do{ if (ENABLED(U)) SET_INPUT_PULLUP(P); else if (ENABLED(D)) SET_INPUT_PULLDOWN(P); else SET_INPUT(P); }while(0)
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#define INIT_RUNOUT_PIN(N) _INIT_RUNOUT_PIN(FIL_RUNOUT##N##_PIN, FIL_RUNOUT##N##_STATE, FIL_RUNOUT##N##_PULLUP, FIL_RUNOUT##N##_PULLDOWN)
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#if NUM_RUNOUT_SENSORS >= 1
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INIT_RUNOUT_PIN(1);
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#endif
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#if NUM_RUNOUT_SENSORS >= 2
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INIT_RUNOUT_PIN(2);
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#endif
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#if NUM_RUNOUT_SENSORS >= 3
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INIT_RUNOUT_PIN(3);
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#endif
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#if NUM_RUNOUT_SENSORS >= 4
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INIT_RUNOUT_PIN(4);
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#endif
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#if NUM_RUNOUT_SENSORS >= 5
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INIT_RUNOUT_PIN(5);
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#endif
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#if NUM_RUNOUT_SENSORS >= 6
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INIT_RUNOUT_PIN(6);
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#endif
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#if NUM_RUNOUT_SENSORS >= 7
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INIT_RUNOUT_PIN(7);
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#endif
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#if NUM_RUNOUT_SENSORS >= 8
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INIT_RUNOUT_PIN(8);
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#endif
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#undef _INIT_RUNOUT_PIN
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#undef INIT_RUNOUT_PIN
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}
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// Return a bitmask of runout pin states
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static inline uint8_t poll_runout_pins() {
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#define _OR_RUNOUT(N) | (READ(FIL_RUNOUT##N##_PIN) ? _BV((N) - 1) : 0)
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return (0 REPEAT_1(NUM_RUNOUT_SENSORS, _OR_RUNOUT));
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#undef _OR_RUNOUT
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}
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// Return a bitmask of runout flag states (1 bits always indicates runout)
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static inline uint8_t poll_runout_states() {
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return poll_runout_pins() ^ uint8_t(0
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#if NUM_RUNOUT_SENSORS >= 1
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| (FIL_RUNOUT1_STATE ? 0 : _BV(1 - 1))
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#endif
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#if NUM_RUNOUT_SENSORS >= 2
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| (FIL_RUNOUT2_STATE ? 0 : _BV(2 - 1))
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#endif
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#if NUM_RUNOUT_SENSORS >= 3
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| (FIL_RUNOUT3_STATE ? 0 : _BV(3 - 1))
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#endif
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#if NUM_RUNOUT_SENSORS >= 4
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| (FIL_RUNOUT4_STATE ? 0 : _BV(4 - 1))
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#endif
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#if NUM_RUNOUT_SENSORS >= 5
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| (FIL_RUNOUT5_STATE ? 0 : _BV(5 - 1))
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#endif
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#if NUM_RUNOUT_SENSORS >= 6
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| (FIL_RUNOUT6_STATE ? 0 : _BV(6 - 1))
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#endif
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#if NUM_RUNOUT_SENSORS >= 7
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| (FIL_RUNOUT7_STATE ? 0 : _BV(7 - 1))
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#endif
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#if NUM_RUNOUT_SENSORS >= 8
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| (FIL_RUNOUT8_STATE ? 0 : _BV(8 - 1))
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#endif
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);
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}
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};
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#if ENABLED(FILAMENT_MOTION_SENSOR)
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/**
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* This sensor uses a magnetic encoder disc and a Hall effect
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* sensor (or a slotted disc and optical sensor). The state
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* will toggle between 0 and 1 on filament movement. It can detect
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* filament runout and stripouts or jams.
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*/
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class FilamentSensorEncoder : public FilamentSensorBase {
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private:
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static uint8_t motion_detected;
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static inline void poll_motion_sensor() {
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static uint8_t old_state;
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const uint8_t new_state = poll_runout_pins(),
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change = old_state ^ new_state;
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old_state = new_state;
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#if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG)
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if (change) {
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SERIAL_ECHOPGM("Motion detected:");
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LOOP_L_N(e, NUM_RUNOUT_SENSORS)
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if (TEST(change, e)) SERIAL_CHAR(' ', '0' + e);
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SERIAL_EOL();
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}
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#endif
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motion_detected |= change;
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}
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public:
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static inline void block_completed(const block_t * const b) {
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// If the sensor wheel has moved since the last call to
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// this method reset the runout counter for the extruder.
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if (TEST(motion_detected, b->extruder))
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filament_present(b->extruder);
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// Clear motion triggers for next block
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motion_detected = 0;
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}
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static inline void run() { poll_motion_sensor(); }
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};
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#else
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/**
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* This is a simple endstop switch in the path of the filament.
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* It can detect filament runout, but not stripouts or jams.
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*/
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class FilamentSensorSwitch : public FilamentSensorBase {
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private:
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static inline bool poll_runout_state(const uint8_t extruder) {
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const uint8_t runout_states = poll_runout_states();
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#if MULTI_FILAMENT_SENSOR
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if ( !TERN0(DUAL_X_CARRIAGE, idex_is_duplicating())
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&& !TERN0(MULTI_NOZZLE_DUPLICATION, extruder_duplication_enabled)
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) return TEST(runout_states, extruder); // A specific extruder ran out
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#else
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UNUSED(extruder);
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#endif
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return !!runout_states; // Any extruder ran out
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}
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public:
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static inline void block_completed(const block_t * const) {}
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static inline void run() {
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LOOP_L_N(s, NUM_RUNOUT_SENSORS) {
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const bool out = poll_runout_state(s);
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if (!out) filament_present(s);
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#if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG)
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static uint8_t was_out; // = 0
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if (out != TEST(was_out, s)) {
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TBI(was_out, s);
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SERIAL_ECHOLNPAIR_P(PSTR("Filament Sensor "), '0' + s, out ? PSTR(" OUT") : PSTR(" IN"));
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}
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#endif
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}
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}
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};
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#endif // !FILAMENT_MOTION_SENSOR
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/********************************* RESPONSE TYPE *********************************/
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#if HAS_FILAMENT_RUNOUT_DISTANCE
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// RunoutResponseDelayed triggers a runout event only if the length
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// of filament specified by FILAMENT_RUNOUT_DISTANCE_MM has been fed
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// during a runout condition.
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class RunoutResponseDelayed {
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private:
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static volatile float runout_mm_countdown[NUM_RUNOUT_SENSORS];
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public:
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static float runout_distance_mm;
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static inline void reset() {
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LOOP_L_N(i, NUM_RUNOUT_SENSORS) filament_present(i);
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}
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static inline void run() {
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#if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG)
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static millis_t t = 0;
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const millis_t ms = millis();
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if (ELAPSED(ms, t)) {
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t = millis() + 1000UL;
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LOOP_L_N(i, NUM_RUNOUT_SENSORS)
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SERIAL_ECHOPAIR_P(i ? PSTR(", ") : PSTR("Remaining mm: "), runout_mm_countdown[i]);
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SERIAL_EOL();
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}
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#endif
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}
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static inline uint8_t has_run_out() {
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uint8_t runout_flags = 0;
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LOOP_L_N(i, NUM_RUNOUT_SENSORS) if (runout_mm_countdown[i] < 0) SBI(runout_flags, i);
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return runout_flags;
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}
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static inline void filament_present(const uint8_t extruder) {
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runout_mm_countdown[extruder] = runout_distance_mm;
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}
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static inline void block_completed(const block_t * const b) {
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if (b->steps.x || b->steps.y || b->steps.z || did_pause_print) { // Allow pause purge move to re-trigger runout state
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// Only trigger on extrusion with XYZ movement to allow filament change and retract/recover.
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const uint8_t e = b->extruder;
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const int32_t steps = b->steps.e;
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runout_mm_countdown[e] -= (TEST(b->direction_bits, E_AXIS) ? -steps : steps) * planner.steps_to_mm[E_AXIS_N(e)];
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}
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}
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};
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#else // !HAS_FILAMENT_RUNOUT_DISTANCE
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// RunoutResponseDebounced triggers a runout event after a runout
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// condition has been detected runout_threshold times in a row.
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class RunoutResponseDebounced {
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private:
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static constexpr int8_t runout_threshold = FILAMENT_RUNOUT_THRESHOLD;
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static int8_t runout_count[NUM_RUNOUT_SENSORS];
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public:
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static inline void reset() {
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LOOP_L_N(i, NUM_RUNOUT_SENSORS) filament_present(i);
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}
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static inline void run() {
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LOOP_L_N(i, NUM_RUNOUT_SENSORS) if (runout_count[i] >= 0) runout_count[i]--;
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}
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static inline uint8_t has_run_out() {
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uint8_t runout_flags = 0;
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LOOP_L_N(i, NUM_RUNOUT_SENSORS) if (runout_count[i] < 0) SBI(runout_flags, i);
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return runout_flags;
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}
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static inline void block_completed(const block_t * const) { }
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static inline void filament_present(const uint8_t extruder) {
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runout_count[extruder] = runout_threshold;
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}
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};
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#endif // !HAS_FILAMENT_RUNOUT_DISTANCE
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