fsensor.cpp 18 KB

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  1. //! @file
  2. #include "Marlin.h"
  3. #include "fsensor.h"
  4. #include <avr/pgmspace.h>
  5. #include "pat9125.h"
  6. #include "stepper.h"
  7. #include "planner.h"
  8. #include "fastio.h"
  9. #include "io_atmega2560.h"
  10. #include "cmdqueue.h"
  11. #include "ultralcd.h"
  12. #include "ConfigurationStore.h"
  13. #include "mmu.h"
  14. //! @name Basic parameters
  15. //! @{
  16. #define FSENSOR_CHUNK_LEN 0.64F //!< filament sensor chunk length 0.64mm
  17. #define FSENSOR_ERR_MAX 17 //!< filament sensor maximum error count for runout detection
  18. //! @}
  19. //! @name Optical quality measurement parameters
  20. //! @{
  21. #define FSENSOR_OQ_MAX_ES 6 //!< maximum error sum while loading (length ~64mm = 100chunks)
  22. #define FSENSOR_OQ_MAX_EM 2 //!< maximum error counter value while loading
  23. #define FSENSOR_OQ_MIN_YD 2 //!< minimum yd per chunk (applied to avg value)
  24. #define FSENSOR_OQ_MAX_YD 200 //!< maximum yd per chunk (applied to avg value)
  25. #define FSENSOR_OQ_MAX_PD 4 //!< maximum positive deviation (= yd_max/yd_avg)
  26. #define FSENSOR_OQ_MAX_ND 5 //!< maximum negative deviation (= yd_avg/yd_min)
  27. #define FSENSOR_OQ_MAX_SH 13 //!< maximum shutter value
  28. //! @}
  29. const char ERRMSG_PAT9125_NOT_RESP[] PROGMEM = "PAT9125 not responding (%d)!\n";
  30. // PJ7 can not be used (does not have PinChangeInterrupt possibility)
  31. #define FSENSOR_INT_PIN 75 //!< filament sensor interrupt pin PJ4
  32. #define FSENSOR_INT_PIN_MASK 0x10 //!< filament sensor interrupt pin mask (bit4)
  33. #define FSENSOR_INT_PIN_PIN_REG PINJ // PIN register @ PJ4
  34. #define FSENSOR_INT_PIN_VECT PCINT1_vect // PinChange ISR @ PJ4
  35. #define FSENSOR_INT_PIN_PCMSK_REG PCMSK1 // PinChangeMaskRegister @ PJ4
  36. #define FSENSOR_INT_PIN_PCMSK_BIT PCINT13 // PinChange Interrupt / PinChange Enable Mask @ PJ4
  37. #define FSENSOR_INT_PIN_PCICR_BIT PCIE1 // PinChange Interrupt Enable / Flag @ PJ4
  38. //uint8_t fsensor_int_pin = FSENSOR_INT_PIN;
  39. uint8_t fsensor_int_pin_old = 0;
  40. int16_t fsensor_chunk_len = 0;
  41. //! enabled = initialized and sampled every chunk event
  42. bool fsensor_enabled = true;
  43. //! runout watching is done in fsensor_update (called from main loop)
  44. bool fsensor_watch_runout = true;
  45. //! not responding - is set if any communication error occurred during initialization or readout
  46. bool fsensor_not_responding = false;
  47. //! printing saved
  48. bool fsensor_printing_saved = false;
  49. //! enable/disable quality meassurement
  50. bool fsensor_oq_meassure_enabled = false;
  51. //! number of errors, updated in ISR
  52. uint8_t fsensor_err_cnt = 0;
  53. //! variable for accumulating step count (updated callbacks from stepper and ISR)
  54. int16_t fsensor_st_cnt = 0;
  55. //! last dy value from pat9125 sensor (used in ISR)
  56. int16_t fsensor_dy_old = 0;
  57. //! log flag: 0=log disabled, 1=log enabled
  58. uint8_t fsensor_log = 1;
  59. //! @name filament autoload variables
  60. //! @{
  61. //! autoload feature enabled
  62. bool fsensor_autoload_enabled = true;
  63. //! autoload watching enable/disable flag
  64. bool fsensor_watch_autoload = false;
  65. //
  66. uint16_t fsensor_autoload_y;
  67. //
  68. uint8_t fsensor_autoload_c;
  69. //
  70. uint32_t fsensor_autoload_last_millis;
  71. //
  72. uint8_t fsensor_autoload_sum;
  73. //! @}
  74. //! @name filament optical quality measurement variables
  75. //! @{
  76. //! Measurement enable/disable flag
  77. bool fsensor_oq_meassure = false;
  78. //! skip-chunk counter, for accurate measurement is necessary to skip first chunk...
  79. uint8_t fsensor_oq_skipchunk;
  80. //! number of samples from start of measurement
  81. uint8_t fsensor_oq_samples;
  82. //! sum of steps in positive direction movements
  83. uint16_t fsensor_oq_st_sum;
  84. //! sum of deltas in positive direction movements
  85. uint16_t fsensor_oq_yd_sum;
  86. //! sum of errors during measurement
  87. uint16_t fsensor_oq_er_sum;
  88. //! max error counter value during measurement
  89. uint8_t fsensor_oq_er_max;
  90. //! minimum delta value
  91. int16_t fsensor_oq_yd_min;
  92. //! maximum delta value
  93. int16_t fsensor_oq_yd_max;
  94. //! sum of shutter value
  95. uint16_t fsensor_oq_sh_sum;
  96. //! @}
  97. void fsensor_stop_and_save_print(void)
  98. {
  99. printf_P(PSTR("fsensor_stop_and_save_print\n"));
  100. stop_and_save_print_to_ram(0, 0); //XYZE - no change
  101. }
  102. void fsensor_restore_print_and_continue(void)
  103. {
  104. printf_P(PSTR("fsensor_restore_print_and_continue\n"));
  105. fsensor_watch_runout = true;
  106. fsensor_err_cnt = 0;
  107. restore_print_from_ram_and_continue(0); //XYZ = orig, E - no change
  108. }
  109. void fsensor_init(void)
  110. {
  111. uint8_t pat9125 = pat9125_init();
  112. printf_P(PSTR("PAT9125_init:%hhu\n"), pat9125);
  113. uint8_t fsensor = eeprom_read_byte((uint8_t*)EEPROM_FSENSOR);
  114. fsensor_autoload_enabled=eeprom_read_byte((uint8_t*)EEPROM_FSENS_AUTOLOAD_ENABLED);
  115. uint8_t oq_meassure_enabled = eeprom_read_byte((uint8_t*)EEPROM_FSENS_OQ_MEASS_ENABLED);
  116. fsensor_oq_meassure_enabled = (oq_meassure_enabled == 1)?true:false;
  117. fsensor_chunk_len = (int16_t)(FSENSOR_CHUNK_LEN * cs.axis_steps_per_unit[E_AXIS]);
  118. if (!pat9125)
  119. {
  120. fsensor = 0; //disable sensor
  121. fsensor_not_responding = true;
  122. }
  123. else
  124. fsensor_not_responding = false;
  125. if (fsensor)
  126. fsensor_enable();
  127. else
  128. fsensor_disable();
  129. printf_P(PSTR("FSensor %S\n"), (fsensor_enabled?PSTR("ENABLED"):PSTR("DISABLED\n")));
  130. }
  131. bool fsensor_enable(void)
  132. {
  133. if (mmu_enabled == false) { //filament sensor is pat9125, enable only if it is working
  134. uint8_t pat9125 = pat9125_init();
  135. printf_P(PSTR("PAT9125_init:%hhu\n"), pat9125);
  136. if (pat9125)
  137. fsensor_not_responding = false;
  138. else
  139. fsensor_not_responding = true;
  140. fsensor_enabled = pat9125 ? true : false;
  141. fsensor_watch_runout = true;
  142. fsensor_oq_meassure = false;
  143. fsensor_err_cnt = 0;
  144. fsensor_dy_old = 0;
  145. eeprom_update_byte((uint8_t*)EEPROM_FSENSOR, fsensor_enabled ? 0x01 : 0x00);
  146. FSensorStateMenu = fsensor_enabled ? 1 : 0;
  147. }
  148. else //filament sensor is FINDA, always enable
  149. {
  150. fsensor_enabled = true;
  151. eeprom_update_byte((uint8_t*)EEPROM_FSENSOR, 0x01);
  152. FSensorStateMenu = 1;
  153. }
  154. return fsensor_enabled;
  155. }
  156. void fsensor_disable(void)
  157. {
  158. fsensor_enabled = false;
  159. eeprom_update_byte((uint8_t*)EEPROM_FSENSOR, 0x00);
  160. FSensorStateMenu = 0;
  161. }
  162. void fsensor_autoload_set(bool State)
  163. {
  164. if (!State) fsensor_autoload_check_stop();
  165. fsensor_autoload_enabled = State;
  166. eeprom_update_byte((unsigned char *)EEPROM_FSENS_AUTOLOAD_ENABLED, fsensor_autoload_enabled);
  167. }
  168. void pciSetup(byte pin)
  169. {
  170. // !!! "digitalPinTo?????bit()" does not provide the correct results for some MCU pins
  171. *digitalPinToPCMSK(pin) |= bit (digitalPinToPCMSKbit(pin)); // enable pin
  172. PCIFR |= bit (digitalPinToPCICRbit(pin)); // clear any outstanding interrupt
  173. PCICR |= bit (digitalPinToPCICRbit(pin)); // enable interrupt for the group
  174. }
  175. void fsensor_autoload_check_start(void)
  176. {
  177. // puts_P(_N("fsensor_autoload_check_start\n"));
  178. if (!fsensor_enabled) return;
  179. if (!fsensor_autoload_enabled) return;
  180. if (fsensor_watch_autoload) return;
  181. if (!pat9125_update_y()) //update sensor
  182. {
  183. fsensor_disable();
  184. fsensor_not_responding = true;
  185. fsensor_watch_autoload = false;
  186. printf_P(ERRMSG_PAT9125_NOT_RESP, 3);
  187. return;
  188. }
  189. puts_P(_N("fsensor_autoload_check_start - autoload ENABLED\n"));
  190. fsensor_autoload_y = pat9125_y; //save current y value
  191. fsensor_autoload_c = 0; //reset number of changes counter
  192. fsensor_autoload_sum = 0;
  193. fsensor_autoload_last_millis = millis();
  194. fsensor_watch_runout = false;
  195. fsensor_watch_autoload = true;
  196. fsensor_err_cnt = 0;
  197. }
  198. void fsensor_autoload_check_stop(void)
  199. {
  200. // puts_P(_N("fsensor_autoload_check_stop\n"));
  201. if (!fsensor_enabled) return;
  202. // puts_P(_N("fsensor_autoload_check_stop 1\n"));
  203. if (!fsensor_autoload_enabled) return;
  204. // puts_P(_N("fsensor_autoload_check_stop 2\n"));
  205. if (!fsensor_watch_autoload) return;
  206. puts_P(_N("fsensor_autoload_check_stop - autoload DISABLED\n"));
  207. fsensor_autoload_sum = 0;
  208. fsensor_watch_autoload = false;
  209. fsensor_watch_runout = true;
  210. fsensor_err_cnt = 0;
  211. }
  212. bool fsensor_check_autoload(void)
  213. {
  214. if (!fsensor_enabled) return false;
  215. if (!fsensor_autoload_enabled) return false;
  216. if (!fsensor_watch_autoload)
  217. {
  218. fsensor_autoload_check_start();
  219. return false;
  220. }
  221. #if 0
  222. uint8_t fsensor_autoload_c_old = fsensor_autoload_c;
  223. #endif
  224. if ((millis() - fsensor_autoload_last_millis) < 25) return false;
  225. fsensor_autoload_last_millis = millis();
  226. if (!pat9125_update_y()) //update sensor
  227. {
  228. fsensor_disable();
  229. fsensor_not_responding = true;
  230. printf_P(ERRMSG_PAT9125_NOT_RESP, 2);
  231. return false;
  232. }
  233. int16_t dy = pat9125_y - fsensor_autoload_y;
  234. if (dy) //? dy value is nonzero
  235. {
  236. if (dy > 0) //? delta-y value is positive (inserting)
  237. {
  238. fsensor_autoload_sum += dy;
  239. fsensor_autoload_c += 3; //increment change counter by 3
  240. }
  241. else if (fsensor_autoload_c > 1)
  242. fsensor_autoload_c -= 2; //decrement change counter by 2
  243. fsensor_autoload_y = pat9125_y; //save current value
  244. }
  245. else if (fsensor_autoload_c > 0)
  246. fsensor_autoload_c--;
  247. if (fsensor_autoload_c == 0) fsensor_autoload_sum = 0;
  248. #if 0
  249. puts_P(_N("fsensor_check_autoload\n"));
  250. if (fsensor_autoload_c != fsensor_autoload_c_old)
  251. printf_P(PSTR("fsensor_check_autoload dy=%d c=%d sum=%d\n"), dy, fsensor_autoload_c, fsensor_autoload_sum);
  252. #endif
  253. // if ((fsensor_autoload_c >= 15) && (fsensor_autoload_sum > 30))
  254. if ((fsensor_autoload_c >= 12) && (fsensor_autoload_sum > 20))
  255. {
  256. // puts_P(_N("fsensor_check_autoload = true !!!\n"));
  257. return true;
  258. }
  259. return false;
  260. }
  261. void fsensor_oq_meassure_set(bool State)
  262. {
  263. fsensor_oq_meassure_enabled = State;
  264. eeprom_update_byte((unsigned char *)EEPROM_FSENS_OQ_MEASS_ENABLED, fsensor_oq_meassure_enabled);
  265. }
  266. void fsensor_oq_meassure_start(uint8_t skip)
  267. {
  268. if (!fsensor_enabled) return;
  269. if (!fsensor_oq_meassure_enabled) return;
  270. printf_P(PSTR("fsensor_oq_meassure_start\n"));
  271. fsensor_oq_skipchunk = skip;
  272. fsensor_oq_samples = 0;
  273. fsensor_oq_st_sum = 0;
  274. fsensor_oq_yd_sum = 0;
  275. fsensor_oq_er_sum = 0;
  276. fsensor_oq_er_max = 0;
  277. fsensor_oq_yd_min = FSENSOR_OQ_MAX_YD;
  278. fsensor_oq_yd_max = 0;
  279. fsensor_oq_sh_sum = 0;
  280. pat9125_update();
  281. pat9125_y = 0;
  282. fsensor_watch_runout = false;
  283. fsensor_oq_meassure = true;
  284. }
  285. void fsensor_oq_meassure_stop(void)
  286. {
  287. if (!fsensor_enabled) return;
  288. if (!fsensor_oq_meassure_enabled) return;
  289. printf_P(PSTR("fsensor_oq_meassure_stop, %hhu samples\n"), fsensor_oq_samples);
  290. printf_P(_N(" st_sum=%u yd_sum=%u er_sum=%u er_max=%hhu\n"), fsensor_oq_st_sum, fsensor_oq_yd_sum, fsensor_oq_er_sum, fsensor_oq_er_max);
  291. printf_P(_N(" yd_min=%u yd_max=%u yd_avg=%u sh_avg=%u\n"), fsensor_oq_yd_min, fsensor_oq_yd_max, (uint16_t)((uint32_t)fsensor_oq_yd_sum * fsensor_chunk_len / fsensor_oq_st_sum), (uint16_t)(fsensor_oq_sh_sum / fsensor_oq_samples));
  292. fsensor_oq_meassure = false;
  293. fsensor_watch_runout = true;
  294. fsensor_err_cnt = 0;
  295. }
  296. const char _OK[] PROGMEM = "OK";
  297. const char _NG[] PROGMEM = "NG!";
  298. bool fsensor_oq_result(void)
  299. {
  300. if (!fsensor_enabled) return true;
  301. if (!fsensor_oq_meassure_enabled) return true;
  302. printf_P(_N("fsensor_oq_result\n"));
  303. bool res_er_sum = (fsensor_oq_er_sum <= FSENSOR_OQ_MAX_ES);
  304. printf_P(_N(" er_sum = %u %S\n"), fsensor_oq_er_sum, (res_er_sum?_OK:_NG));
  305. bool res_er_max = (fsensor_oq_er_max <= FSENSOR_OQ_MAX_EM);
  306. printf_P(_N(" er_max = %hhu %S\n"), fsensor_oq_er_max, (res_er_max?_OK:_NG));
  307. uint8_t yd_avg = ((uint32_t)fsensor_oq_yd_sum * fsensor_chunk_len / fsensor_oq_st_sum);
  308. bool res_yd_avg = (yd_avg >= FSENSOR_OQ_MIN_YD) && (yd_avg <= FSENSOR_OQ_MAX_YD);
  309. printf_P(_N(" yd_avg = %hhu %S\n"), yd_avg, (res_yd_avg?_OK:_NG));
  310. bool res_yd_max = (fsensor_oq_yd_max <= (yd_avg * FSENSOR_OQ_MAX_PD));
  311. printf_P(_N(" yd_max = %u %S\n"), fsensor_oq_yd_max, (res_yd_max?_OK:_NG));
  312. bool res_yd_min = (fsensor_oq_yd_min >= (yd_avg / FSENSOR_OQ_MAX_ND));
  313. printf_P(_N(" yd_min = %u %S\n"), fsensor_oq_yd_min, (res_yd_min?_OK:_NG));
  314. uint16_t yd_dev = (fsensor_oq_yd_max - yd_avg) + (yd_avg - fsensor_oq_yd_min);
  315. printf_P(_N(" yd_dev = %u\n"), yd_dev);
  316. uint16_t yd_qua = 10 * yd_avg / (yd_dev + 1);
  317. printf_P(_N(" yd_qua = %u %S\n"), yd_qua, ((yd_qua >= 8)?_OK:_NG));
  318. uint8_t sh_avg = (fsensor_oq_sh_sum / fsensor_oq_samples);
  319. bool res_sh_avg = (sh_avg <= FSENSOR_OQ_MAX_SH);
  320. if (yd_qua >= 8) res_sh_avg = true;
  321. printf_P(_N(" sh_avg = %hhu %S\n"), sh_avg, (res_sh_avg?_OK:_NG));
  322. bool res = res_er_sum && res_er_max && res_yd_avg && res_yd_max && res_yd_min && res_sh_avg;
  323. printf_P(_N("fsensor_oq_result %S\n"), (res?_OK:_NG));
  324. return res;
  325. }
  326. ISR(FSENSOR_INT_PIN_VECT)
  327. {
  328. if (!((fsensor_int_pin_old ^ FSENSOR_INT_PIN_PIN_REG) & FSENSOR_INT_PIN_MASK)) return;
  329. fsensor_int_pin_old = FSENSOR_INT_PIN_PIN_REG;
  330. static bool _lock = false;
  331. if (_lock) return;
  332. _lock = true;
  333. int st_cnt = fsensor_st_cnt;
  334. fsensor_st_cnt = 0;
  335. sei();
  336. uint8_t old_err_cnt = fsensor_err_cnt;
  337. uint8_t pat9125_res = fsensor_oq_meassure?pat9125_update():pat9125_update_y();
  338. if (!pat9125_res)
  339. {
  340. fsensor_disable();
  341. fsensor_not_responding = true;
  342. printf_P(ERRMSG_PAT9125_NOT_RESP, 1);
  343. }
  344. if (st_cnt != 0)
  345. { //movement
  346. if (st_cnt > 0) //positive movement
  347. {
  348. if (pat9125_y < 0)
  349. {
  350. if (fsensor_err_cnt)
  351. fsensor_err_cnt += 2;
  352. else
  353. fsensor_err_cnt++;
  354. }
  355. else if (pat9125_y > 0)
  356. {
  357. if (fsensor_err_cnt)
  358. fsensor_err_cnt--;
  359. }
  360. else //(pat9125_y == 0)
  361. if (((fsensor_dy_old <= 0) || (fsensor_err_cnt)) && (st_cnt > (fsensor_chunk_len >> 1)))
  362. fsensor_err_cnt++;
  363. if (fsensor_oq_meassure)
  364. {
  365. if (fsensor_oq_skipchunk)
  366. {
  367. fsensor_oq_skipchunk--;
  368. fsensor_err_cnt = 0;
  369. }
  370. else
  371. {
  372. if (st_cnt == fsensor_chunk_len)
  373. {
  374. if (pat9125_y > 0) if (fsensor_oq_yd_min > pat9125_y) fsensor_oq_yd_min = (fsensor_oq_yd_min + pat9125_y) / 2;
  375. if (pat9125_y >= 0) if (fsensor_oq_yd_max < pat9125_y) fsensor_oq_yd_max = (fsensor_oq_yd_max + pat9125_y) / 2;
  376. }
  377. fsensor_oq_samples++;
  378. fsensor_oq_st_sum += st_cnt;
  379. if (pat9125_y > 0) fsensor_oq_yd_sum += pat9125_y;
  380. if (fsensor_err_cnt > old_err_cnt)
  381. fsensor_oq_er_sum += (fsensor_err_cnt - old_err_cnt);
  382. if (fsensor_oq_er_max < fsensor_err_cnt)
  383. fsensor_oq_er_max = fsensor_err_cnt;
  384. fsensor_oq_sh_sum += pat9125_s;
  385. }
  386. }
  387. }
  388. else //negative movement
  389. {
  390. }
  391. }
  392. else
  393. { //no movement
  394. }
  395. #ifdef DEBUG_FSENSOR_LOG
  396. if (fsensor_log)
  397. {
  398. printf_P(_N("FSENSOR cnt=%d dy=%d err=%hhu %S\n"), st_cnt, pat9125_y, fsensor_err_cnt, (fsensor_err_cnt > old_err_cnt)?_N("NG!"):_N("OK"));
  399. if (fsensor_oq_meassure) printf_P(_N("FSENSOR st_sum=%u yd_sum=%u er_sum=%u er_max=%hhu yd_max=%u\n"), fsensor_oq_st_sum, fsensor_oq_yd_sum, fsensor_oq_er_sum, fsensor_oq_er_max, fsensor_oq_yd_max);
  400. }
  401. #endif //DEBUG_FSENSOR_LOG
  402. fsensor_dy_old = pat9125_y;
  403. pat9125_y = 0;
  404. _lock = false;
  405. return;
  406. }
  407. void fsensor_st_block_begin(block_t* bl)
  408. {
  409. if (!fsensor_enabled) return;
  410. if (((fsensor_st_cnt > 0) && (bl->direction_bits & 0x8)) ||
  411. ((fsensor_st_cnt < 0) && !(bl->direction_bits & 0x8)))
  412. {
  413. // !!! bit toggling (PINxn <- 1) (for PinChangeInterrupt) does not work for some MCU pins
  414. if (PIN_GET(FSENSOR_INT_PIN)) {PIN_VAL(FSENSOR_INT_PIN, LOW);}
  415. else {PIN_VAL(FSENSOR_INT_PIN, HIGH);}
  416. }
  417. }
  418. void fsensor_st_block_chunk(block_t* bl, int cnt)
  419. {
  420. if (!fsensor_enabled) return;
  421. fsensor_st_cnt += (bl->direction_bits & 0x8)?-cnt:cnt;
  422. if ((fsensor_st_cnt >= fsensor_chunk_len) || (fsensor_st_cnt <= -fsensor_chunk_len))
  423. {
  424. // !!! bit toggling (PINxn <- 1) (for PinChangeInterrupt) does not work for some MCU pins
  425. if (PIN_GET(FSENSOR_INT_PIN)) {PIN_VAL(FSENSOR_INT_PIN, LOW);}
  426. else {PIN_VAL(FSENSOR_INT_PIN, HIGH);}
  427. }
  428. }
  429. //! @brief filament sensor update (perform M600 on filament runout)
  430. //!
  431. //! Works only if filament sensor is enabled.
  432. //! When the filament sensor error count is larger then FSENSOR_ERR_MAX, pauses print, tries to move filament back and forth.
  433. //! If there is still no plausible signal from filament sensor plans M600 (Filament change).
  434. void fsensor_update(void)
  435. {
  436. if (fsensor_enabled && fsensor_watch_runout && (fsensor_err_cnt > FSENSOR_ERR_MAX))
  437. {
  438. bool autoload_enabled_tmp = fsensor_autoload_enabled;
  439. fsensor_autoload_enabled = false;
  440. bool oq_meassure_enabled_tmp = fsensor_oq_meassure_enabled;
  441. fsensor_oq_meassure_enabled = true;
  442. fsensor_stop_and_save_print();
  443. fsensor_err_cnt = 0;
  444. fsensor_oq_meassure_start(0);
  445. enquecommand_front_P((PSTR("G1 E-3 F200")));
  446. process_commands();
  447. KEEPALIVE_STATE(IN_HANDLER);
  448. cmdqueue_pop_front();
  449. st_synchronize();
  450. enquecommand_front_P((PSTR("G1 E3 F200")));
  451. process_commands();
  452. KEEPALIVE_STATE(IN_HANDLER);
  453. cmdqueue_pop_front();
  454. st_synchronize();
  455. uint8_t err_cnt = fsensor_err_cnt;
  456. fsensor_oq_meassure_stop();
  457. bool err = false;
  458. err |= (err_cnt > 1);
  459. err |= (fsensor_oq_er_sum > 2);
  460. err |= (fsensor_oq_yd_sum < (4 * FSENSOR_OQ_MIN_YD));
  461. if (!err)
  462. {
  463. printf_P(PSTR("fsensor_err_cnt = 0\n"));
  464. fsensor_restore_print_and_continue();
  465. }
  466. else
  467. {
  468. printf_P(PSTR("fsensor_update - M600\n"));
  469. eeprom_update_byte((uint8_t*)EEPROM_FERROR_COUNT, eeprom_read_byte((uint8_t*)EEPROM_FERROR_COUNT) + 1);
  470. eeprom_update_word((uint16_t*)EEPROM_FERROR_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_FERROR_COUNT_TOT) + 1);
  471. enquecommand_front_P(PSTR("FSENSOR_RECOVER"));
  472. enquecommand_front_P((PSTR("M600")));
  473. fsensor_watch_runout = false;
  474. }
  475. fsensor_autoload_enabled = autoload_enabled_tmp;
  476. fsensor_oq_meassure_enabled = oq_meassure_enabled_tmp;
  477. }
  478. }
  479. void fsensor_setup_interrupt(void)
  480. {
  481. pinMode(FSENSOR_INT_PIN, OUTPUT);
  482. digitalWrite(FSENSOR_INT_PIN, LOW);
  483. fsensor_int_pin_old = 0;
  484. //pciSetup(FSENSOR_INT_PIN);
  485. // !!! "pciSetup()" does not provide the correct results for some MCU pins
  486. // so interrupt registers settings:
  487. FSENSOR_INT_PIN_PCMSK_REG |= bit(FSENSOR_INT_PIN_PCMSK_BIT); // enable corresponding PinChangeInterrupt (individual pin)
  488. PCIFR |= bit(FSENSOR_INT_PIN_PCICR_BIT); // clear previous occasional interrupt (set of pins)
  489. PCICR |= bit(FSENSOR_INT_PIN_PCICR_BIT); // enable corresponding PinChangeInterrupt (set of pins)
  490. }