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Prusa-Firmware-MMU
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Add DEBUG_LOGIC

pull/126/head
3d-gussner 2021-09-22 20:35:17 +02:00 committed by DRracer
parent b8259ac555
commit 15adeaa180
9 changed files with 168 additions and 34 deletions
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1
src/config/config.h
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@ -5,6 +5,7 @@
/// Define Debug mode to add additional serial output
//#define DEBUG_FINDA
//#define DEBUG_LOGIC
/// Wrangler for assorted compile-time configuration and constants.
namespace config {

26
src/logic/feed_to_bondtech.cpp
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@ -6,10 +6,18 @@
#include "../modules/leds.h"
#include "../modules/motion.h"
#include "../modules/permanent_storage.h"
#ifdef DEBUG_LOGIC
#include "../hal/usart.h"
#include <string.h>
#include <stdio.h>
#endif //DEBUG_LOGIC
namespace logic {
void FeedToBondtech::Reset(uint8_t maxRetries) {
#ifdef DEBUG_LOGIC
hu::usart1.puts("\nFeed to Bondtech\n\n");
#endif //DEBUG_LOGIC
state = EngagingIdler;
this->maxRetries = maxRetries;
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::Color::green, ml::Mode::blink0);
@ -22,12 +30,21 @@ bool FeedToBondtech::Step() {
switch (state) {
case EngagingIdler:
if (mi::idler.Engaged()) {
#ifdef DEBUG_LOGIC
uint16_t startSteps = mm::motion.CurPosition(mm::Pulley);
char str[30];
sprintf_P(str, PSTR("\nPulley start steps %u\n\n"), startSteps);
hu::usart1.puts(str);
#endif //DEBUG_LOGIC
state = PushingFilament;
mm::motion.PlanMove<mm::Pulley>(config::DefaultBowdenLength, config::pulleyFeedrate); //@@TODO constants - there was some strange acceleration sequence in the original FW,
// we can probably hand over some array of constants for hand-tuned acceleration + leverage some smoothing in the stepper as well
}
return false;
case PushingFilament:
#ifdef DEBUG_LOGIC
hu::usart1.puts("\nFeed to Bondtech --> Pushing\n\n");
#endif //DEBUG_LOGIC
if (mfs::fsensor.Pressed()) {
mm::motion.AbortPlannedMoves(); // stop pushing filament
mi::idler.Disengage();
@ -40,13 +57,22 @@ bool FeedToBondtech::Step() {
}
return false;
case DisengagingIdler:
#ifdef DEBUG_LOGIC
hu::usart1.puts("\nFeed to Bondtech --> DisengagingIdler\n\n");
#endif //DEBUG_LOGIC
if (!mi::idler.Engaged()) {
state = OK;
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::on);
}
return false;
case OK:
#ifdef DEBUG_LOGIC
hu::usart1.puts("\nFeed to Bondtech\n\n");
#endif //DEBUG_LOGIC
case Failed:
#ifdef DEBUG_LOGIC
hu::usart1.puts("\nFeed to Bondtech FAILED\n\n");
#endif //DEBUG_LOGIC
default:
return true;
}

9
src/logic/load_filament.cpp
View File

@ -7,6 +7,11 @@
#include "../modules/permanent_storage.h"
#include "../modules/selector.h"
#include "../modules/user_input.h"
#ifdef DEBUG_LOGIC
#include "../hal/usart.h"
#include <string.h>
#include <stdio.h>
#endif //DEBUG_LOGIC
namespace logic {
@ -16,7 +21,9 @@ void LoadFilament::Reset(uint8_t param) {
if (!CheckToolIndex(param)) {
return;
}
#ifdef DEBUG_LOGIC
hu::usart1.puts("Load Filament\n\n");
#endif //DEBUG_LOGIC
state = ProgressCode::EngagingIdler;
error = ErrorCode::RUNNING;
mg::globals.SetActiveSlot(param);

46
src/logic/progress_codes.h
View File

@ -8,29 +8,29 @@
enum class ProgressCode : uint_fast8_t {
OK = 0, ///< finished ok
EngagingIdler,
DisengagingIdler,
UnloadingToFinda,
UnloadingToPulley,
FeedingToFinda,
FeedingToBondtech,
AvoidingGrind,
FinishingMoves,
EngagingIdler, // P1
DisengagingIdler, // P2
UnloadingToFinda, // P3
UnloadingToPulley, //P4
FeedingToFinda, // P5
FeedingToBondtech, // P6
AvoidingGrind, // P7
FinishingMoves, // P8
ERRDisengagingIdler,
ERREngagingIdler,
ERRWaitingForUser,
ERRInternal,
ERRHelpingFilament,
ERRTMCFailed,
ERRDisengagingIdler, // P9
ERREngagingIdler, // P10
ERRWaitingForUser, // P11
ERRInternal, // P12
ERRHelpingFilament, // P13
ERRTMCFailed, // P14
UnloadingFilament,
LoadingFilament,
SelectingFilamentSlot,
PreparingBlade,
PushingFilament,
PerformingCut,
ReturningSelector,
ParkingSelector,
EjectingFilament,
UnloadingFilament, // P15
LoadingFilament, // P16
SelectingFilamentSlot, // P17
PreparingBlade, // P18
PushingFilament, // P19
PerformingCut, // P20
ReturningSelector, // P21
ParkingSelector, // P22
EjectingFilament, // P23
};

14
src/logic/tool_change.cpp
View File

@ -7,6 +7,11 @@
#include "../modules/motion.h"
#include "../modules/permanent_storage.h"
#include "../modules/selector.h"
#ifdef DEBUG_LOGIC
#include "../hal/usart.h"
#include <string.h>
#include <stdio.h>
#endif //DEBUG_LOGIC
namespace logic {
@ -19,6 +24,9 @@ void ToolChange::Reset(uint8_t param) {
if (param == mg::globals.ActiveSlot() && mg::globals.FilamentLoaded()) {
// we are already at the correct slot and the filament is loaded - nothing to do
#ifdef DEBUG_LOGIC
hu::usart1.puts("we are already at the correct slot and the filament is loaded - nothing to do\n");
#endif //DEBUG_LOGIC
return;
}
@ -27,10 +35,16 @@ void ToolChange::Reset(uint8_t param) {
plannedSlot = param;
if (mg::globals.FilamentLoaded()) {
#ifdef DEBUG_LOGIC
hu::usart1.puts("Filament is loaded --> unload\n");
#endif //DEBUG_LOGIC
state = ProgressCode::UnloadingFilament;
unl.Reset(mg::globals.ActiveSlot());
} else {
state = ProgressCode::LoadingFilament;
#ifdef DEBUG_LOGIC
hu::usart1.puts("Filament is not loaded --> load\n");
#endif //DEBUG_LOGIC
load.Reset(plannedSlot);
}
}

5
src/logic/unload_filament.cpp
View File

@ -6,6 +6,11 @@
#include "../modules/motion.h"
#include "../modules/permanent_storage.h"
#include "../modules/user_input.h"
#ifdef DEBUG_LOGIC
#include "../hal/usart.h"
#include <string.h>
#include <stdio.h>
#endif //DEBUG_LOGIC
namespace logic {

51
src/modules/idler.cpp
View File

@ -3,6 +3,11 @@
#include "leds.h"
#include "motion.h"
#include "permanent_storage.h"
#ifdef DEBUG_LOGIC
#include "../hal/usart.h"
#include <string.h>
#include <stdio.h>
#endif //DEBUG_LOGIC
namespace modules {
namespace idler {
@ -11,34 +16,56 @@ Idler idler;
void Idler::PrepareMoveToPlannedSlot() {
mm::motion.PlanMoveTo<mm::Idler>(SlotPosition(plannedSlot), mm::unitToAxisUnit<mm::I_speed_t>(config::idlerFeedrate));
#ifdef DEBUG_LOGIC
char str[30];
sprintf_P(str, PSTR("Prepare Move Idler slot %d\n"), plannedSlot);
hu::usart1.puts(str);
#endif //DEBUG_LOGIC
}
void Idler::PlanHomingMove() {
mm::motion.PlanMove<mm::Idler>(mm::unitToAxisUnit<mm::I_pos_t>(-config::idlerLimits.lenght * 2), mm::unitToAxisUnit<mm::I_speed_t>(config::idlerFeedrate));
#ifdef DEBUG_LOGIC
hu::usart1.puts("Plan Homing Idler\n");
#endif //DEBUG_LOGIC
}
Idler::OperationResult Idler::Disengage() {
if (state == Moving)
if (state == Moving) {
#ifdef DEBUG_LOGIC
hu::usart1.puts("Moving --> Disengage refused\n");
#endif //DEBUG_LOGIC
return OperationResult::Refused;
}
plannedSlot = IdleSlotIndex();
plannedEngage = false;
if (!Engaged())
if (!Engaged()) {
#ifdef DEBUG_LOGIC
hu::usart1.puts("Disengage Idler\n");
#endif //DEBUG_LOGIC
return OperationResult::Accepted;
}
return InitMovement(mm::Idler);
}
Idler::OperationResult Idler::Engage(uint8_t slot) {
if (state == Moving)
if (state == Moving){
#ifdef DEBUG_LOGIC
hu::usart1.puts("Moving --> Engage refused\n");
#endif //DEBUG_LOGIC
return OperationResult::Refused;
}
plannedSlot = slot;
plannedEngage = true;
if (Engaged())
if (Engaged()) {
#ifdef DEBUG_LOGIC
hu::usart1.puts("Engage Idler\n");
#endif //DEBUG_LOGIC
return OperationResult::Accepted;
}
return InitMovement(mm::Idler);
}
@ -54,12 +81,21 @@ bool Idler::Home() {
bool Idler::Step() {
switch (state) {
case Moving:
#ifdef DEBUG_LOGIC
//hu::usart1.puts("Moving Idler\n");
#endif //DEBUG_LOGIC
PerformMove(mm::Idler);
return false;
case Homing:
#ifdef DEBUG_LOGIC
hu::usart1.puts("Homing Idler\n");
#endif //DEBUG_LOGIC
PerformHome(mm::Idler);
return false;
case Ready:
#ifdef DEBUG_LOGIC
//hu::usart1.puts("Idler Ready\n");
#endif //DEBUG_LOGIC
currentlyEngaged = plannedEngage;
currentSlot = plannedSlot;
@ -68,6 +104,9 @@ bool Idler::Step() {
return true;
case Failed:
#ifdef DEBUG_LOGIC
hu::usart1.puts("Idler Failed\n");
#endif //DEBUG_LOGIC
default:
return true;
}

11
src/modules/motion.cpp
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@ -1,5 +1,10 @@
#include "motion.h"
#include "../panic.h"
#ifdef DEBUG_LOGIC
#include "../hal/usart.h"
#include <string.h>
#include <stdio.h>
#endif //DEBUG_LOGIC
// TODO: use proper timer abstraction
#ifdef __AVR__
@ -45,6 +50,12 @@ void Motion::StallGuardReset(Axis axis) {
}
void Motion::PlanMoveTo(Axis axis, pos_t pos, steps_t feed_rate, steps_t end_rate) {
#ifdef DEBUG_LOGIC
char str[30];
sprintf_P(str, PSTR("Move axis %d to %u\n"), axis, pos);
hu::usart1.puts(str);
#endif //DEBUG_LOGIC
if (axisData[axis].ctrl.PlanMoveTo(pos, feed_rate, end_rate)) {
// move was queued, prepare the axis
if (!axisData[axis].enabled)

39
src/modules/selector.cpp
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@ -3,6 +3,11 @@
#include "leds.h"
#include "motion.h"
#include "permanent_storage.h"
#ifdef DEBUG_LOGIC
#include "../hal/usart.h"
#include <string.h>
#include <stdio.h>
#endif //DEBUG_LOGIC
namespace modules {
namespace selector {
@ -11,21 +16,35 @@ Selector selector;
void Selector::PrepareMoveToPlannedSlot() {
mm::motion.PlanMoveTo<mm::Selector>(SlotPosition(plannedSlot), mm::unitToAxisUnit<mm::S_speed_t>(config::selectorFeedrate));
#ifdef DEBUG_LOGIC
char str[30];
sprintf_P(str, PSTR("Prepare Move Selector slot %d\n"), plannedSlot);
hu::usart1.puts(str);
#endif //DEBUG_LOGIC
}
void Selector::PlanHomingMove() {
mm::motion.PlanMove<mm::Selector>(mm::unitToAxisUnit<mm::S_pos_t>(config::selectorLimits.lenght * 2), mm::unitToAxisUnit<mm::S_speed_t>(config::selectorFeedrate));
#ifdef DEBUG_LOGIC
hu::usart1.puts("Plan Homing Selector\n");
#endif //DEBUG_LOGIC
}
Selector::OperationResult Selector::MoveToSlot(uint8_t slot) {
if (state == Moving)
if (state == Moving) {
#ifdef DEBUG_LOGIC
hu::usart1.puts("Moving --> Selector refused\n");
#endif //DEBUG_LOGIC
return OperationResult::Refused;
}
plannedSlot = slot;
if (currentSlot == slot)
if (currentSlot == slot) {
#ifdef DEBUG_LOGIC
hu::usart1.puts("Moving Selector\n");
#endif //DEBUG_LOGIC
return OperationResult::Accepted;
}
return InitMovement(mm::Selector);
}
@ -40,15 +59,27 @@ bool Selector::Step() {
switch (state) {
case Moving:
PerformMove(mm::Selector);
#ifdef DEBUG_LOGIC
//hu::usart1.puts("Moving Selector\n");
#endif //DEBUG_LOGIC
return false;
case Homing:
#ifdef DEBUG_LOGIC
hu::usart1.puts("Homing Selector\n");
#endif //DEBUG_LOGIC
PerformHome(mm::Selector);
return false;
case Ready:
#ifdef DEBUG_LOGIC
//hu::usart1.puts("Selector Ready\n");
#endif //DEBUG_LOGIC
currentSlot = plannedSlot;
mm::motion.Disable(mm::Selector); // turn off selector motor's power every time
return true;
case Failed:
#ifdef DEBUG_LOGIC
hu::usart1.puts("Selector Failed\n");
#endif //DEBUG_LOGIC
default:
return true;
}