PrusaFirmware/Firmware/Filament_sensor.h

#pragma once
#include <inttypes.h>

#include "cmdqueue.h"
#include "pins.h"
#include "fastio.h"
#include "adc.h"
#include "pat9125.h"

#define FSENSOR_IR 1
#define FSENSOR_IR_ANALOG 2
#define FSENSOR_PAT9125 3

#ifdef FILAMENT_SENSOR
class Filament_sensor {
public:
    virtual void init() = 0;
    virtual void deinit() = 0;
    virtual bool update() = 0;
    virtual bool getFilamentPresent() = 0;
#ifdef FSENSOR_PROBING
    virtual bool probeOtherType() = 0; //checks if the wrong fsensor type is detected.
#endif
    
    enum class State : uint8_t {
        disabled = 0,
        initializing,
        ready,
        error,
    };
    
    enum class SensorActionOnError : uint8_t {
        _Continue = 0,
        _Pause = 1,
        _Undef = EEPROM_EMPTY_VALUE
    };
    
    void setEnabled(bool enabled);
    
    void setAutoLoadEnabled(bool state, bool updateEEPROM = false);
    
    bool getAutoLoadEnabled() {
        return autoLoadEnabled;
    }
    
    void setRunoutEnabled(bool state, bool updateEEPROM = false);
    
    bool getRunoutEnabled() {
        return runoutEnabled;
    }
    
    void setActionOnError(SensorActionOnError state, bool updateEEPROM = false);
    
    SensorActionOnError getActionOnError() {
        return sensorActionOnError;
    }
    
    bool getFilamentLoadEvent() {
        return postponedLoadEvent;
    }
    
    bool isError() {
        return state == State::error;
    }
    
    bool isReady() {
        return state == State::ready;
    }
    
    bool isEnabled() {
        return state != State::disabled;
    }
    
protected:
    void settings_init_common();
    
    bool checkFilamentEvents();
    
    void triggerFilamentInserted();
    
    void triggerFilamentRemoved();
    
    void filAutoLoad();
    
    void filRunout();
    
    void triggerError();
    
    State state;
    bool autoLoadEnabled;
    bool runoutEnabled;
    bool oldFilamentPresent; //for creating filament presence switching events.
    bool postponedLoadEvent; //this event lasts exactly one update cycle. It is long enough to be able to do polling for load event.
    ShortTimer eventBlankingTimer;
    SensorActionOnError sensorActionOnError;
};

#if (FILAMENT_SENSOR_TYPE == FSENSOR_IR) || (FILAMENT_SENSOR_TYPE == FSENSOR_IR_ANALOG)
class IR_sensor: public Filament_sensor {
public:
    void init() override;
    void deinit() override;
    bool update()override ;
    bool getFilamentPresent()override;
#ifdef FSENSOR_PROBING
    bool probeOtherType()override;
#endif
    void settings_init();
};

#if (FILAMENT_SENSOR_TYPE == FSENSOR_IR_ANALOG)
constexpr static uint16_t Voltage2Raw(float V) {
    return (V * 1023 * OVERSAMPLENR / VOLT_DIV_REF ) + 0.5F;
}
constexpr static float Raw2Voltage(uint16_t raw) {
    return VOLT_DIV_REF * (raw / (1023.F * OVERSAMPLENR));
}

class IR_sensor_analog: public IR_sensor {
public:
    void init()override;
    void deinit()override;
    bool update()override;
    void voltUpdate(uint16_t raw);
    
    uint16_t getVoltRaw();
    
    void settings_init();
    
    enum class SensorRevision : uint8_t {
        _Old = 0,
        _Rev04 = 1,
        _Undef = EEPROM_EMPTY_VALUE
    };
    
    SensorRevision getSensorRevision() {
        return sensorRevision;
    }
    
    const char* getIRVersionText();
    
    void setSensorRevision(SensorRevision rev, bool updateEEPROM = false);
    
    bool checkVoltage(uint16_t raw);
    
    // Voltage2Raw is not constexpr :/
    constexpr static uint16_t IRsensor_Ldiode_TRESHOLD = Voltage2Raw(0.3F); // ~0.3V, raw value=982
    constexpr static uint16_t IRsensor_Lmax_TRESHOLD = Voltage2Raw(1.5F); // ~1.5V (0.3*Vcc), raw value=4910
    constexpr static uint16_t IRsensor_Hmin_TRESHOLD = Voltage2Raw(3.0F); // ~3.0V (0.6*Vcc), raw value=9821
    constexpr static uint16_t IRsensor_Hopen_TRESHOLD = Voltage2Raw(4.6F); // ~4.6V (N.C. @ Ru~20-50k, Rd'=56k, Ru'=10k), raw value=15059
    constexpr static uint16_t IRsensor_VMax_TRESHOLD = Voltage2Raw(5.F); // ~5V, raw value=16368
    
private:
    SensorRevision sensorRevision;
    volatile bool voltReady; //this gets set by the adc ISR
    volatile uint16_t voltRaw;
    uint16_t minVolt = Voltage2Raw(6.F);
    uint16_t maxVolt = 0;
    uint16_t nFSCheckCount;
    uint8_t voltageErrorCnt;

    static constexpr uint16_t FS_CHECK_COUNT = 4;
    /// Switching mechanism of the fsensor type.
    /// Called from 2 spots which have a very similar behavior
    /// 1: SensorRevision::_Old -> SensorRevision::_Rev04 and print _i("FS v0.4 or newer")
    /// 2: SensorRevision::_Rev04 -> sensorRevision=SensorRevision::_Old and print _i("FS v0.3 or older")
    void IR_ANALOG_Check(SensorRevision isVersion, SensorRevision switchTo);
};
#endif //(FILAMENT_SENSOR_TYPE == FSENSOR_IR_ANALOG)
#endif //(FILAMENT_SENSOR_TYPE == FSENSOR_IR) || (FILAMENT_SENSOR_TYPE == FSENSOR_IR_ANALOG)

#if (FILAMENT_SENSOR_TYPE == FSENSOR_PAT9125)
class PAT9125_sensor: public Filament_sensor {
public:
    void init()override;
    void deinit()override;
    bool update()override;
    bool getFilamentPresent() override{
        return filterFilPresent;
    }
    
#ifdef FSENSOR_PROBING
    bool probeOtherType() override;
#endif
    
    void setJamDetectionEnabled(bool state, bool updateEEPROM = false);
    
    bool getJamDetectionEnabled() {
        return jamDetection;
    }
    
    void stStep(bool rev) { //from stepper isr
        stepCount += rev ? -1 : 1;
    }
    
    void settings_init();
private:
    static constexpr uint16_t pollingPeriod = 10; //[ms]
    static constexpr uint8_t filterCnt = 5; //how many checks need to be done in order to determine the filament presence precisely.
    ShortTimer pollingTimer;
    uint8_t filter;
    uint8_t filterFilPresent;
    
    bool jamDetection;
    int16_t oldPos;
    volatile int16_t stepCount;
    int16_t chunkSteps;
    uint8_t jamErrCnt;
    
    constexpr void calcChunkSteps(float u) {
        chunkSteps = (int16_t)(1.25 * u); //[mm]
    }
    
    int16_t getStepCount();
    
    void resetStepCount();
    
    void filJam();
    
    bool updatePAT9125();
};
#endif //(FILAMENT_SENSOR_TYPE == FSENSOR_PAT9125)

#if FILAMENT_SENSOR_TYPE == FSENSOR_IR
extern IR_sensor fsensor;
#elif FILAMENT_SENSOR_TYPE == FSENSOR_IR_ANALOG
extern IR_sensor_analog fsensor;
#elif FILAMENT_SENSOR_TYPE == FSENSOR_PAT9125
extern PAT9125_sensor fsensor;
#endif

#endif //FILAMENT_SENSOR