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Allow SERIAL_ECHOPAIR to take up to 12 pairs (#13311)

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This commit is contained in:
Scott Lahteine
2019-03-05 06:46:19 -06:00
committed by GitHub
parent 4771e372a1
commit cfdb38eda4
30 changed files with 474 additions and 611 deletions
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58
Marlin/src/feature/I2CPositionEncoder.cpp
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@@ -47,8 +47,7 @@ void I2CPositionEncoder::init(const uint8_t address, const AxisEnum axis) {
initialized++;
SERIAL_ECHOPAIR("Setting up encoder on ", axis_codes[encoderAxis]);
SERIAL_ECHOLNPAIR(" axis, addr = ", address);
SERIAL_ECHOLNPAIR("Setting up encoder on ", axis_codes[encoderAxis], " axis, addr = ", address);
position = get_position();
}
@@ -66,8 +65,7 @@ void I2CPositionEncoder::update() {
/*
if (trusted) { //commented out as part of the note below
trusted = false;
SERIAL_ECHOPAIR("Fault detected on ", axis_codes[encoderAxis]);
SERIAL_ECHOLNPGM(" axis encoder. Disengaging error correction until module is trusted again.");
SERIAL_ECHOLMPAIR("Fault detected on ", axis_codes[encoderAxis], " axis encoder. Disengaging error correction until module is trusted again.");
}
*/
return;
@@ -92,8 +90,7 @@ void I2CPositionEncoder::update() {
if (millis() - lastErrorTime > I2CPE_TIME_TRUSTED) {
trusted = true;
SERIAL_ECHOPAIR("Untrusted encoder module on ", axis_codes[encoderAxis]);
SERIAL_ECHOLNPGM(" axis has been fault-free for set duration, reinstating error correction.");
SERIAL_ECHOLNPAIR("Untrusted encoder module on ", 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
//idea of where it the axis is to re-initialize
@@ -172,8 +169,7 @@ void I2CPositionEncoder::update() {
LOOP_L_N(i, I2CPE_ERR_PRST_ARRAY_SIZE) sumP += errPrst[i];
const int32_t errorP = int32_t(sumP * (1.0f / (I2CPE_ERR_PRST_ARRAY_SIZE)));
SERIAL_ECHO(axis_codes[encoderAxis]);
SERIAL_ECHOPAIR(" - err detected: ", errorP * planner.steps_to_mm[encoderAxis]);
SERIAL_ECHOLNPGM("mm; correcting!");
SERIAL_ECHOLNPAIR(" - err detected: ", errorP * planner.steps_to_mm[encoderAxis], "mm; correcting!");
thermalManager.babystepsTodo[encoderAxis] = -LROUND(errorP);
errPrstIdx = 0;
}
@@ -192,9 +188,7 @@ 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_ECHOPAIR("Large error on ", axis_codes[encoderAxis]);
SERIAL_ECHOPAIR(" axis. error: ", (int)error);
SERIAL_ECHOLNPAIR("; diffSum: ", diffSum);
SERIAL_ECHOLNPAIR("Large error on ", axis_codes[encoderAxis], " axis. error: ", (int)error, "; diffSum: ", diffSum);
errorCount++;
nextErrorCountTime = ms + I2CPE_ERR_CNT_DEBOUNCE_MS;
}
@@ -215,8 +209,7 @@ void I2CPositionEncoder::set_homed() {
#ifdef I2CPE_DEBUG
SERIAL_ECHO(axis_codes[encoderAxis]);
SERIAL_ECHOPAIR(" axis encoder homed, offset of ", zeroOffset);
SERIAL_ECHOLNPGM(" ticks.");
SERIAL_ECHOLNPAIR(" axis encoder homed, offset of ", zeroOffset, " ticks.");
#endif
}
}
@@ -261,9 +254,7 @@ float I2CPositionEncoder::get_axis_error_mm(const bool report) {
if (report) {
SERIAL_ECHO(axis_codes[encoderAxis]);
SERIAL_ECHOPAIR(" axis target: ", target);
SERIAL_ECHOPAIR(", actual: ", actual);
SERIAL_ECHOLNPAIR(", error : ",error);
SERIAL_ECHOLNPAIR(" axis target: ", target, ", actual: ", actual, ", error : ",error);
}
return error;
@@ -296,10 +287,7 @@ int32_t I2CPositionEncoder::get_axis_error_steps(const bool report) {
if (report) {
SERIAL_ECHO(axis_codes[encoderAxis]);
SERIAL_ECHOPAIR(" axis target: ", target);
SERIAL_ECHOPAIR(", actual: ", encoderCountInStepperTicksScaled);
SERIAL_ECHOLNPAIR(", error : ", error);
SERIAL_ECHOLNPAIR(" axis target: ", target, ", actual: ", encoderCountInStepperTicksScaled, ", error : ", error);
if (suppressOutput) SERIAL_ECHOLNPGM("Discontinuity detected, suppressing error.");
}
@@ -436,11 +424,9 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
travelledDistance = mm_from_count(ABS(stopCount - startCount));
SERIAL_ECHOPAIR("Attempted travel: ", travelDistance);
SERIAL_ECHOLNPGM("mm");
SERIAL_ECHOLNPAIR("Attempted travel: ", travelDistance, "mm");
SERIAL_ECHOPAIR(" Actual travel: ", travelledDistance);
SERIAL_ECHOLNPGM("mm");
SERIAL_ECHOLNPAIR(" Actual travel: ", travelledDistance, "mm");
//Calculate new axis steps per unit
old_steps_mm = planner.settings.axis_steps_per_mm[encoderAxis];
@@ -705,21 +691,18 @@ 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_ECHOPAIR("?There is already a device with that address on the I2C bus! (", newaddr);
SERIAL_ECHOLNPGM(")");
SERIAL_ECHOLNPAIR("?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_ECHOPAIR("?No module detected at this address! (", oldaddr);
SERIAL_ECHOLNPGM(")");
SERIAL_ECHOLNPAIR("?No module detected at this address! (", oldaddr, ")");
return;
}
SERIAL_ECHOPAIR("Module found at ", oldaddr);
SERIAL_ECHOLNPAIR(", changing address to ", newaddr);
SERIAL_ECHOLNPAIR("Module found at ", oldaddr, ", changing address to ", newaddr);
// Change the modules address
Wire.beginTransmission(I2C_ADDRESS(oldaddr));
@@ -755,13 +738,11 @@ void I2CPositionEncodersMgr::report_module_firmware(const uint8_t address) {
// First check there is a module
Wire.beginTransmission(I2C_ADDRESS(address));
if (Wire.endTransmission()) {
SERIAL_ECHOPAIR("?No module detected at this address! (", address);
SERIAL_ECHOLNPGM(")");
SERIAL_ECHOLNPAIR("?No module detected at this address! (", address, ")");
return;
}
SERIAL_ECHOPAIR("Requesting version info from module at address ", address);
SERIAL_ECHOLNPGM(":");
SERIAL_ECHOLNPAIR("Requesting version info from module at address ", address, ":");
Wire.beginTransmission(I2C_ADDRESS(address));
Wire.write(I2CPE_SET_REPORT_MODE);
@@ -808,15 +789,13 @@ 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("]");
SERIAL_ECHOLNPAIR("?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("]");
SERIAL_ECHOLNPAIR("?Index out of range. [0-", I2CPE_ENCODER_CNT - 1, "]");
return I2CPE_PARSE_ERR;
}
@@ -995,8 +974,7 @@ void I2CPositionEncodersMgr::M864() {
else return;
}
SERIAL_ECHOPAIR("Changing module at address ", I2CPE_addr);
SERIAL_ECHOLNPAIR(" to address ", newAddress);
SERIAL_ECHOLNPAIR("Changing module at address ", I2CPE_addr, " to address ", newAddress);
change_module_address(I2CPE_addr, newAddress);
}