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Prusa-Firmware-MMU
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Use dbg_logic logging 

and improve the variadic version used to print formatted
text at some spots in previous commits
pull/126/head
D.R.racer 2021-09-27 11:45:00 +02:00 committed by DRracer
parent a13f3b8a2d
commit 236a40c6ef
9 changed files with 62 additions and 137 deletions
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9
src/debug.cpp
View File

@ -31,6 +31,15 @@ void dbg_usart_P(const char *layer_P, const char *s_P) {
hu::usart1.puts_P(s_P);
}
void dbg_usart_sprintf_P(const char *fmt_P, ...) {
char tmp[30];
va_list argptr;
va_start(argptr, fmt_P);
vsprintf(tmp, fmt_P, argptr);
va_end(argptr);
dbg_logic(tmp);
}
} // namespace debug
#endif

21
src/debug.h
View File

@ -5,24 +5,31 @@
#define DEBUG_LOGIC
/// Enable DEBUG_LOGIC to compile debugging and error messages (beware of code base size ;) ) for the logic layer
#define DEBUG_MODULES
//#define DEBUG_MODULES
/// Enable DEBUG_HAL to compile debugging and error messages (beware of code base size ;) ) for the logic layer
#define DEBUG_HAL
//#define DEBUG_HAL
// workaround non-standard PSTR definition on non-AVR platforms
#ifndef __AVR__
#define PSTR(x) x
#endif
/// Debugging macros and tools
namespace debug {
#ifdef DEBUG_LOGIC
#if defined(DEBUG_LOGIC) && defined(__AVR__)
extern const char logic[];
#define dbg_logic(x) debug::dbg_usart(debug::logic, x)
#define dbg_logic_P(x) debug::dbg_usart_P(debug::logic, x)
#define dbg_logic_sprintf_P(fmt, ...) debug::dbg_usart_sprintf_P(fmt, __VA_ARGS__)
#else
#define dbg_logic(x) /* */
#define dbg_logic_P(x) /* */
#define dbg_logic_sprintf_P(fmt, ...) /* */
#endif
#ifdef DEBUG_MODULES
#if defined(DEBUG_MODULES) && defined(__AVR__)
extern const char modules[];
#define dbg_modules(x) debug::dbg_usart(debug::modules, x)
#define dbg_modules_P(x) debug::dbg_usart_P(debug::modules, x)
@ -31,7 +38,7 @@ extern const char modules[];
#define dbg_modules_P(x) /* */
#endif
#ifdef DEBUG_HAL
#if defined(DEBUG_HAL) && defined(__AVR__)
extern const char hal[];
#define dbg_hal(x) debug::dbg_usart(debug::hal, x)
#define dbg_hal_P(x) debug::dbg_usart_P(debug::hal, x)
@ -50,6 +57,10 @@ void dbg_usart(const char *layer_P, const char *s);
/// @param layer PROGMEM string
/// @param s PROGMEM string to be printed
void dbg_usart_P(const char *layer_P, const char *s_P);
/// Dump an error message onto the USART with sprintf-like formatting
/// @param fmt_P PROGMEM format string
void dbg_usart_sprintf_P(const char *fmt_P, ...);
#endif
} // namespace debug

33
src/logic/feed_to_bondtech.cpp
View File

@ -6,18 +6,12 @@
#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
#include "../debug.h"
namespace logic {
void FeedToBondtech::Reset(uint8_t maxRetries) {
#ifdef DEBUG_LOGIC
hu::usart1.puts("\nFeed to Bondtech\n\n");
#endif //DEBUG_LOGIC
dbg_logic_P(PSTR("\nFeed to Bondtech\n\n"));
state = EngagingIdler;
this->maxRetries = maxRetries;
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::blink0);
@ -28,21 +22,14 @@ 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
dbg_logic_sprintf_P(PSTR("\nPulley start steps %u\n\n"), mm::motion.CurPosition(mm::Pulley));
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
dbg_logic_P(PSTR("\nFeed to Bondtech --> Pushing\n\n"));
if (mfs::fsensor.Pressed()) {
mm::motion.AbortPlannedMoves(); // stop pushing filament
mi::idler.Disengage();
@ -55,22 +42,16 @@ bool FeedToBondtech::Step() {
}
return false;
case DisengagingIdler:
#ifdef DEBUG_LOGIC
hu::usart1.puts("\nFeed to Bondtech --> DisengagingIdler\n\n");
#endif //DEBUG_LOGIC
dbg_logic_P(PSTR("\nFeed to Bondtech --> DisengagingIdler\n\n"));
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
dbg_logic_P(PSTR("\nFeed to Bondtech\n\n"));
case Failed:
#ifdef DEBUG_LOGIC
hu::usart1.puts("\nFeed to Bondtech FAILED\n\n");
#endif //DEBUG_LOGIC
dbg_logic_P(PSTR("\nFeed to Bondtech FAILED\n\n"));
default:
return true;
}

10
src/logic/load_filament.cpp
View File

@ -7,11 +7,7 @@
#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
#include "../debug.h"
namespace logic {
@ -21,9 +17,7 @@ void LoadFilament::Reset(uint8_t param) {
if (!CheckToolIndex(param)) {
return;
}
#ifdef DEBUG_LOGIC
hu::usart1.puts("Load Filament\n\n");
#endif //DEBUG_LOGIC
dbg_logic_P(PSTR("Load Filament\n\n"));
state = ProgressCode::EngagingIdler;
error = ErrorCode::RUNNING;
mg::globals.SetActiveSlot(param);

20
src/logic/tool_change.cpp
View File

@ -8,11 +8,7 @@
#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
#include "../debug.h"
namespace logic {
@ -24,10 +20,8 @@ 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
// we are already at the correct slot and the filament is loaded - nothing to do
dbg_logic_P(PSTR("we are already at the correct slot and the filament is loaded - nothing to do\n"));
return;
}
@ -36,17 +30,13 @@ 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
dbg_logic_P(PSTR("Filament is loaded --> unload\n"));
state = ProgressCode::UnloadingFilament;
unl.Reset(mg::globals.ActiveSlot());
} else {
state = ProgressCode::FeedingToFinda;
error = ErrorCode::RUNNING;
#ifdef DEBUG_LOGIC
hu::usart1.puts("Filament is not loaded --> load\n");
#endif //DEBUG_LOGIC
dbg_logic_P(PSTR("Filament is not loaded --> load\n"));
mg::globals.SetActiveSlot(plannedSlot);
feed.Reset(true);
}

6
src/logic/unload_filament.cpp
View File

@ -6,11 +6,7 @@
#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
#include "../debug.h"
namespace logic {

48
src/modules/idler.cpp
View File

@ -3,11 +3,7 @@
#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
#include "../debug.h"
namespace modules {
namespace idler {
@ -16,34 +12,24 @@ 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
dbg_logic_sprintf_P(PSTR("Prepare Move Idler slot %d\n"), plannedSlot);
}
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
dbg_logic_P(PSTR("Plan Homing Idler\n"));
}
Idler::OperationResult Idler::Disengage() {
if (state == Moving) {
#ifdef DEBUG_LOGIC
hu::usart1.puts("Moving --> Disengage refused\n");
#endif //DEBUG_LOGIC
dbg_logic_P(PSTR("Moving --> Disengage refused\n"));
return OperationResult::Refused;
}
plannedSlot = IdleSlotIndex();
plannedEngage = false;
if (!Engaged()) {
#ifdef DEBUG_LOGIC
hu::usart1.puts("Disengage Idler\n");
#endif //DEBUG_LOGIC
dbg_logic_P(PSTR("Disengage Idler\n"));
return OperationResult::Accepted;
}
return InitMovement(mm::Idler);
@ -51,9 +37,7 @@ Idler::OperationResult Idler::Disengage() {
Idler::OperationResult Idler::Engage(uint8_t slot) {
if (state == Moving) {
#ifdef DEBUG_LOGIC
hu::usart1.puts("Moving --> Engage refused\n");
#endif //DEBUG_LOGIC
dbg_logic_P(PSTR("Moving --> Engage refused\n"));
return OperationResult::Refused;
}
@ -61,9 +45,7 @@ Idler::OperationResult Idler::Engage(uint8_t slot) {
plannedEngage = true;
if (Engaged()) {
#ifdef DEBUG_LOGIC
hu::usart1.puts("Engage Idler\n");
#endif //DEBUG_LOGIC
dbg_logic_P(PSTR("Engage Idler\n"));
return OperationResult::Accepted;
}
@ -81,21 +63,15 @@ bool Idler::Home() {
bool Idler::Step() {
switch (state) {
case Moving:
#ifdef DEBUG_LOGIC
//hu::usart1.puts("Moving Idler\n");
#endif //DEBUG_LOGIC
// dbg_logic_P(PSTR("Moving Idler\n"));
PerformMove(mm::Idler);
return false;
case Homing:
#ifdef DEBUG_LOGIC
hu::usart1.puts("Homing Idler\n");
#endif //DEBUG_LOGIC
dbg_logic_P(PSTR("Homing Idler\n"));
PerformHome(mm::Idler);
return false;
case Ready:
#ifdef DEBUG_LOGIC
//hu::usart1.puts("Idler Ready\n");
#endif //DEBUG_LOGIC
// dbg_logic_P(PSTR("Idler Ready\n"));
currentlyEngaged = plannedEngage;
currentSlot = plannedSlot;
@ -104,9 +80,7 @@ bool Idler::Step() {
return true;
case Failed:
#ifdef DEBUG_LOGIC
hu::usart1.puts("Idler Failed\n");
#endif //DEBUG_LOGIC
dbg_logic_P(PSTR("Idler Failed\n"));
default:
return true;
}

12
src/modules/motion.cpp
View File

@ -1,10 +1,6 @@
#include "motion.h"
#include "../panic.h"
#ifdef DEBUG_LOGIC
#include "../hal/usart.h"
#include <string.h>
#include <stdio.h>
#endif //DEBUG_LOGIC
#include "../debug.h"
// TODO: use proper timer abstraction
#ifdef __AVR__
@ -50,11 +46,7 @@ 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
dbg_logic_sprintf_P(PSTR("Move axis %d to %u\n"), axis, pos);
if (axisData[axis].ctrl.PlanMoveTo(pos, feed_rate, end_rate)) {
// move was queued, prepare the axis

40
src/modules/selector.cpp
View File

@ -3,11 +3,7 @@
#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
#include "../debug.h"
namespace modules {
namespace selector {
@ -16,33 +12,23 @@ 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
dbg_logic_sprintf_P(PSTR("Prepare Move Selector slot %d\n"), plannedSlot);
}
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
dbg_logic_P(PSTR("Plan Homing Selector\n"));
}
Selector::OperationResult Selector::MoveToSlot(uint8_t slot) {
if (state == Moving) {
#ifdef DEBUG_LOGIC
hu::usart1.puts("Moving --> Selector refused\n");
#endif //DEBUG_LOGIC
dbg_logic_P(PSTR("Moving --> Selector refused\n"));
return OperationResult::Refused;
}
plannedSlot = slot;
if (currentSlot == slot) {
#ifdef DEBUG_LOGIC
hu::usart1.puts("Moving Selector\n");
#endif //DEBUG_LOGIC
dbg_logic_P(PSTR("Moving Selector\n"));
return OperationResult::Accepted;
}
return InitMovement(mm::Selector);
@ -59,27 +45,19 @@ bool Selector::Step() {
switch (state) {
case Moving:
PerformMove(mm::Selector);
#ifdef DEBUG_LOGIC
//hu::usart1.puts("Moving Selector\n");
#endif //DEBUG_LOGIC
//dbg_logic_P(PSTR("Moving Selector\n"));
return false;
case Homing:
#ifdef DEBUG_LOGIC
hu::usart1.puts("Homing Selector\n");
#endif //DEBUG_LOGIC
dbg_logic_P(PSTR("Homing Selector\n"));
PerformHome(mm::Selector);
return false;
case Ready:
#ifdef DEBUG_LOGIC
//hu::usart1.puts("Selector Ready\n");
#endif //DEBUG_LOGIC
//dbg_logic_P(PSTR("Selector Ready\n"));
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
dbg_logic_P(PSTR("Selector Failed\n"));
default:
return true;
}