Add DEBUG_LOGIC

src/config/config.h

@@ -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 {

src/logic/feed_to_bondtech.cpp

@@ -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;
     }

src/logic/load_filament.cpp

@@ -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);

src/logic/progress_codes.h

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

src/logic/tool_change.cpp

@@ -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);
     }
 }

src/logic/unload_filament.cpp

@@ -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 {
 

src/modules/idler.cpp

@@ -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;
     }

src/modules/motion.cpp

@@ -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)

src/modules/selector.cpp

@@ -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;
     }