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Prusa-Firmware-MMU
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Improve implementation

pull/203/head
VintagePC 2022-09-16 19:39:27 -04:00
parent df86a6d472
commit 10fd23700b
8 changed files with 90 additions and 42 deletions
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2
src/application.cpp
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@ -32,7 +32,7 @@ Application application;
Application::Application()
: lastCommandProcessedMs(0)
, currentCommand(&logic::hwSanity)
, currentCommand(&logic::noCommand)
, currentCommandRq(mp::RequestMsgCodes::Reset, 0) {}
void Application::CheckManualOperation() {

13
src/hal/tmc2130.cpp
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@ -7,6 +7,8 @@
namespace hal {
namespace tmc2130 {
static constexpr uint8_t TOFF_DEFAULT = 3U, TOFF_MASK = 0xFU;
bool TMC2130::Init(const MotorParams &params, const MotorCurrents &currents, MotorMode mode) {
// sg_filter_threshold = (1 << (8 - params.mRes));
sg_filter_threshold = 2;
@ -27,7 +29,7 @@ bool TMC2130::Init(const MotorParams &params, const MotorCurrents &currents, Mot
errorFlags.reset_flag = false;
///apply chopper parameters
const uint32_t chopconf = (uint32_t)(3U & 0x0FU) << 0U //toff
const uint32_t chopconf = (uint32_t)(TOFF_DEFAULT & TOFF_MASK) << 0U //toff
| (uint32_t)(5U & 0x07U) << 4U //hstrt
| (uint32_t)(1U & 0x0FU) << 7U //hend
| (uint32_t)(2U & 0x03U) << 15U //tbl
@ -73,6 +75,15 @@ void TMC2130::SetMode(const MotorParams &params, MotorMode mode) {
WriteRegister(params, Registers::TPWMTHRS, (mode == Stealth) ? 70 : 0xFFFF0); // @@TODO should be configurable
}
void TMC2130::SetBridgeOutput(const MotorParams &params, bool bOn) {
uint32_t chopconf = ReadRegister(params, Registers::CHOPCONF);
chopconf &= ~((uint32_t)TOFF_MASK);
if (bOn) {
chopconf |= TOFF_DEFAULT;
}
WriteRegister(params, Registers::CHOPCONF, chopconf);
}
void TMC2130::SetCurrents(const MotorParams &params, const MotorCurrents &currents) {
uint32_t ihold_irun = (uint32_t)(currents.iHold & 0x1F) << 0 //ihold
| (uint32_t)(currents.iRun & 0x1F) << 8 //irun

9
src/hal/tmc2130.h
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@ -88,6 +88,9 @@ public:
/// Set the current motor mode
void SetMode(const MotorParams &params, MotorMode mode);
/// Disables the output by setting or clearing CHOPCONF's TOFF.
void SetBridgeOutput(const MotorParams &params, bool on);
/// Set the current motor currents
void SetCurrents(const MotorParams &params, const MotorCurrents &currents);
@ -104,6 +107,12 @@ public:
hal::shr16::shr16.SetTMCDir(params.idx, dir ^ params.dirOn);
}
/// Set direction, raw value (i.e. ignore Params).
static inline void SetRawDir(const MotorParams &params, bool dir) {
// Also cancels the inversion in SetTMCDir
hal::shr16::shr16.SetTMCDir(params.idx, !dir);
}
/// Step the motor
static inline void Step(const MotorParams &params) {
gpio::TogglePin(params.stepPin); // assumes DEDGE

16
src/logic/error_codes.h
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@ -70,13 +70,6 @@ enum class ErrorCode : uint_fast16_t {
/// - E34240 All 3 TMC driver
TMC_RESET = 0x8400,
/// TMC driver - IO pins are unreliable. While in theory it's recoverable, in practice it most likely
/// means your hardware is borked (we can't command the drivers reliably via STEP/EN/DIR due to electrical
/// issues or hardware fault. Possible "fixable" cause is undervoltage on the 5v logic line.
/// Unfixable possible cause: bad or cracked solder joints on the PCB, failed shift register, failed driver.
/// TODO: DRRacer - Separate codes per channel.
TMC_PINS_UNRELIABLE = 0x8600,
/// not enough current for the TMC, NOT RECOVERABLE
/// - E34880 Pulley TMC driver
/// - E34944 Selector TMC driver
@ -107,5 +100,12 @@ enum class ErrorCode : uint_fast16_t {
/// - E49280 Selector TMC driver
/// - E49408 Idler TMC driver
/// - E49600 All 3 TMC driver
TMC_OVER_TEMPERATURE_ERROR = 0xC000
TMC_OVER_TEMPERATURE_ERROR = 0xC000,
/// TMC driver - IO pins are unreliable. While in theory it's recoverable, in practice it most likely
/// means your hardware is borked (we can't command the drivers reliably via STEP/EN/DIR due to electrical
/// issues or hardware fault. Possible "fixable" cause is undervoltage on the 5v logic line.
/// Unfixable possible cause: bad or cracked solder joints on the PCB, failed shift register, failed driver.
MMU_SOLDERING_NEEDS_ATTENTION = 0xC200,
};

38
src/logic/hw_sanity.cpp
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@ -4,7 +4,6 @@
#include "../modules/motion.h"
#include "../modules/leds.h"
#include "../modules/timebase.h"
#include "config/axis.h"
namespace logic {
@ -23,13 +22,6 @@ static_assert(TEST_PASSES < 32); // Would overflow counters
HWSanity hwSanity;
uint8_t HWSanity::test_step = 0;
uint8_t HWSanity::fault_masks[] = { 0 };
uint16_t HWSanity::wait_start = 0;
ml::Mode das_blinken_state = ml::off;
Axis HWSanity::axis;
ProgressCode HWSanity::next_state = ProgressCode::HWTestBegin;
bool HWSanity::Reset(uint8_t param) {
state = ProgressCode::HWTestBegin;
error = ErrorCode::RUNNING;
@ -62,12 +54,18 @@ void HWSanity::SetFaultDisplay(uint8_t slot, uint8_t mask) {
ml::leds.SetMode(slot, ml::red, red_mode);
}
void HWSanity::PrepareAxis(config::Axis axis) {
mm::motion.InitAxis(axis);
mm::motion.SetMode(axis, mm::Normal);
// Clear TOFF so the motors don't actually step during the test.
mm::motion.MMU_NEEDS_ATTENTION_DriverForAxis(axis).SetBridgeOutput(mm::axisParams[axis].params, false);
}
bool HWSanity::StepInner() {
switch (state) {
case ProgressCode::HWTestBegin:
//auto& driver = mm::motion.DriverForAxis(config::Axis::Pulley);
test_step = 0;
// Todo - set TOFF so the output bridge is disabled.
state = ProgressCode::HWTestIdler;
break;
case ProgressCode::HWTestIdler:
@ -75,18 +73,21 @@ bool HWSanity::StepInner() {
ml::leds.SetPairButOffOthers(3, ml::on, ml::off);
state = ProgressCode::HWTestExec;
next_state = ProgressCode::HWTestSelector;
PrepareAxis(axis);
break;
case ProgressCode::HWTestSelector:
axis = config::Axis::Selector;
ml::leds.SetPairButOffOthers(3, ml::off, ml::on);
state = ProgressCode::HWTestExec;
next_state = ProgressCode::HWTestPulley;
PrepareAxis(axis);
break;
case ProgressCode::HWTestPulley:
axis = config::Axis::Pulley;
ml::leds.SetPairButOffOthers(3, ml::on, ml::on);
state = ProgressCode::HWTestExec;
next_state = ProgressCode::HWTestCleanup;
PrepareAxis(axis);
break;
// The main test loop for a given axis.
case ProgressCode::HWTestDisplay:
@ -103,16 +104,15 @@ bool HWSanity::StepInner() {
/* FALLTHRU */
case ProgressCode::HWTestExec: {
auto params = mm::axisParams[axis].params;
auto &driver = mm::motion.MMU_NEEDS_ATTENTION_DriverForAxis(axis);
if (test_step < (TEST_PASSES * 8)) // 8 combos per axis
{
uint8_t set_state = test_step % 8;
//auto* driver = &mm::motion.DriverForAxis(axis);
// The order of the bits here is roughly the same as that of IOIN.
mm::motion.DriverForAxis(axis).SetDir(params, set_state & BIT_DIR);
mm::motion.DriverForAxis(axis).SetStep(params, set_state & BIT_STEP);
ml::leds.SetPairButOffOthers(3, ml::on, ml::off);
//mm::motion.DriverForAxis(axis).SetEnabled(params, set_state & BIT_ENA);
uint32_t drv_ioin = const_cast<hal::tmc2130::TMC2130 &>(mm::motion.DriverForAxis(axis)).ReadRegister(params, hal::tmc2130::TMC2130::Registers::IOIN);
driver.SetDir(params, set_state & BIT_DIR);
driver.SetStep(params, set_state & BIT_STEP);
driver.SetEnabled(params, set_state & BIT_ENA);
uint32_t drv_ioin = driver.ReadRegister(params, hal::tmc2130::TMC2130::Registers::IOIN);
// Compose IOIN to look like set_state.
drv_ioin = (drv_ioin & 0b11) | ((drv_ioin & 0b10000) ? 0 : 4); // Note the logic inversion for ENA readback!
uint8_t bit_errs = (drv_ioin ^ set_state);
@ -131,6 +131,7 @@ bool HWSanity::StepInner() {
test_step++;
} else {
// This pass is complete. Move on to the next motor or cleanup.
driver.SetBridgeOutput(params, true);
test_step = 0;
state = next_state;
}
@ -139,20 +140,17 @@ bool HWSanity::StepInner() {
if (fault_masks[0] || fault_masks[1] || fault_masks[2]) {
// error, display it and return the code.
state = ProgressCode::ErrHwTestFailed;
error = ErrorCode::TMC_PINS_UNRELIABLE;
error = ErrorCode::MMU_SOLDERING_NEEDS_ATTENTION;
uint8_t mask = fault_masks[Axis::Idler];
if (mask) {
error |= ErrorCode::TMC_IDLER_BIT;
SetFaultDisplay(0, mask);
}
mask = fault_masks[Axis::Pulley];
if (mask) {
error |= ErrorCode::TMC_PULLEY_BIT;
SetFaultDisplay(2, mask);
}
mask = fault_masks[Axis::Selector];
if (mask) {
error |= ErrorCode::TMC_SELECTOR_BIT;
SetFaultDisplay(1, mask);
}
ml::leds.SetMode(3, ml::red, ml::off);
@ -161,7 +159,7 @@ bool HWSanity::StepInner() {
ml::leds.SetMode(4, ml::green, ml::off);
return true;
} else {
//TODO: Re-enable TOFF here
ml::leds.SetPairButOffOthers(0, ml::off, ml::off);
FinishedOK();
}
case ProgressCode::OK:

18
src/logic/hw_sanity.h
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@ -2,7 +2,8 @@
#pragma once
#include <stdint.h>
#include "command_base.h"
#include "config/axis.h"
#include "../config/axis.h"
#include "../modules/leds.h"
namespace logic {
@ -38,13 +39,18 @@ public:
bool StepInner() override;
private:
// Shared code fault display setup for each axis/slot
static void SetFaultDisplay(uint8_t slot, uint8_t mask);
static uint8_t test_step;
static config::Axis axis;
static uint8_t fault_masks[3];
static ProgressCode next_state;
static uint16_t wait_start;
// Prepares an axis for testing by initializing it and turning off the output.
static void PrepareAxis(config::Axis axis);
uint8_t test_step = 0;
config::Axis axis;
uint8_t fault_masks[3] = { 0 };
ProgressCode next_state = ProgressCode::HWTestBegin;
uint16_t wait_start = 0;
ml::Mode das_blinken_state = ml::off;
};
/// The one and only instance of hwSanity state machine in the FW

29
src/main.cpp
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@ -27,6 +27,7 @@
#include "application.h"
#include "logic/hw_sanity.h"
#include "logic/no_command.h"
/// One-time setup of HW and SW components
@ -112,6 +113,19 @@ static void setup2() {
}
ml::leds.Step();
// Prep hardware sanity:
logic::hwSanity.Reset(0);
while (!logic::hwSanity.StepInner()) {
ml::leds.Step();
}
if (logic::hwSanity.Error() != ErrorCode::OK) {
// forward the issue to the logic startup handler.
logic::noCommand.SetInitError(logic::hwSanity.Error());
return;
}
// Idler and Selector decide whether homing is possible/safe
mi::idler.Init();
ms::selector.Init();
@ -141,14 +155,17 @@ void Panic(ErrorCode ec) {
/// The idea behind the Step* routines is to keep each automaton non-blocking allowing for some “concurrency”.
/// Some FW components will leverage ISR to do their stuff (UART, motor stepping?, etc.)
void loop() {
mb::buttons.Step();
ml::leds.Step();
mf::finda.Step();
mfs::fsensor.Step();
mi::idler.Step();
ms::selector.Step();
mpu::pulley.Step();
mui::userInput.Step();
if (logic::hwSanity.Error() == ErrorCode::OK) {
mf::finda.Step();
mfs::fsensor.Step();
mi::idler.Step();
ms::selector.Step();
mpu::pulley.Step();
mui::userInput.Step();
}
hal::cpu::Step();
mu::cdc.Step();

7
src/modules/motion.h
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@ -340,6 +340,13 @@ public:
return axisData[axis].drv;
}
/// @returns the (non-const) TMC213 driver associated with the particular axis.
/// Do not use unless you know exactly what you're doing, currently the only valid usage
/// is in the hw sanity module.
inline hal::tmc2130::TMC2130 &MMU_NEEDS_ATTENTION_DriverForAxis(Axis axis) {
return axisData[axis].drv;
}
/// @returns the controller associated with the particular axis
inline const pulse_gen::PulseGen &CtrlForAxis(Axis axis) const {
return axisData[axis].ctrl;