Fixes after rebase onto PR#174

src/logic/feed_to_bondtech.cpp

@@ -9,6 +9,7 @@
 #include "../modules/permanent_storage.h"
 #include "../modules/pulley.h"
 #include "../debug.h"
+#include "../config/axis.h"
 
 namespace logic {
 
@@ -40,18 +41,18 @@ void FeedToBondtech::UpdateBowdenLength(int32_t feedEnd_mm) {
     }
 }
 
-bool FeedToBondtech::PushingFilament() {
+//bool FeedToBondtech::PushingFilament() {
-    if (mfs::fsensor.Pressed()) {
+//    if (mfs::fsensor.Pressed()) {
-        mm::motion.AbortPlannedMoves(); // stop pushing filament
+//        mm::motion.AbortPlannedMoves(); // stop pushing filament
-        GoToPushToNozzle();
+//        GoToPushToNozzle();
-    } else if (mm::motion.StallGuard(mm::Pulley)) {
+//    } else if (mm::motion.StallGuard(mm::Pulley)) {
-        // stall guard occurred during movement - the filament got stuck
+//        // stall guard occurred during movement - the filament got stuck
-        state = Failed; // @@TODO may be even report why it failed
+//        state = Failed; // @@TODO may be even report why it failed
-    } else if (mm::motion.QueueEmpty()) {
+//    } else if (mm::motion.QueueEmpty()) {
-        return false;
+//        return false;
-    }
+//    }
-    return true;
+//    return true;
-}
+//}
 
 bool FeedToBondtech::Step() {
     switch (state) {
@@ -92,30 +93,6 @@ bool FeedToBondtech::Step() {
             //            // stall guard occurred during movement - the filament got stuck
             //            state = PulleyStalled;
         } else if (mm::motion.QueueEmpty()) { // all moves have been finished and the fsensor didn't switch on
-/*=======
-            dbg_logic_fP(PSTR("Pulley start steps %u"), mm::motion.CurPosition(mm::Pulley));
-            state = PushingFilamentToFSensorFast;
-            mm::motion.InitAxis(mm::Pulley);
-            feedStart_mm = mm::stepsToUnit<mm::P_pos_t>(mm::P_pos_t({ mm::motion.CurPosition(mm::Pulley) }));
-            // fast feed in millimeters - if the EEPROM value is incorrect, we'll get the default length
-            mm::motion.PlanMove<mm::Pulley>(
-                { (long double)mps::BowdenLength::Get(mg::globals.ActiveSlot()) },
-                config::pulleyFeedrate, config::pulleySlowFeedrate);
-        }
-        return false;
-    case PushingFilamentToFSensorFast:
-        if (!PushingFilament()) { // ran out of stored bowden length, continue slowly
-            state = PushingFilamentToFSensorSlow;
-            // do the remaining move up to maximum bowden length slowly
-            mm::motion.PlanMove<mm::Pulley>(
-                { (long double)abs(config::maximumBowdenLength.v - mps::BowdenLength::Get(mg::globals.ActiveSlot())) }, // fast feed in millimeters - if the EEPROM value is incorrect, we'll
-                config::pulleySlowFeedrate, config::pulleySlowFeedrate);
-        }
-        return false;
-    case PushingFilamentToFSensorSlow:
-        if (!PushingFilament()) { // all moves have been finished and the fsensor didn't switch on
->>>>>>> Add bowden length runtime detection and tuning
-*/
             state = Failed;
         }
         return false;

src/logic/feed_to_bondtech.h

@@ -55,7 +55,7 @@ private:
     void UpdateBowdenLength(int32_t feedEnd_mm);
 
     /// Common processing of pushing filament into fsensor (reused by multiple states)
-    bool PushingFilament();
+    //    bool PushingFilament();
 
     uint8_t state;
     uint8_t maxRetries;

src/modules/axisunit.h

@@ -138,6 +138,16 @@ static constexpr T truncatedUnit(U v, long double mul = 1.) {
     return (T)(v.v * mul);
 }
 
+/// Convert an AxisUnit to unit::Unit.
+/// The scaling factor is stored with the pair config::AxisConfig::uSteps and
+/// config::AxisConfig::stepsPerUnit (one per-axis).
+template <typename U, typename AU>
+static constexpr typename U::type_t axisUnitToUnit(AU v) {
+    static_assert(AU::unit == U::unit, "incorrect unit type conversion");
+    //static_assert(U::base == axisScale[AU::axis].base, "incorrect unit base conversion");
+    return { (typename U::type_t)(v.v / axisScale[AU::axis].stepsPerUnit) };
+}
+
 /// Convert a unit::Unit to a steps type (pos_t or steps_t).
 /// Extract the raw step count from an AxisUnit with type checking.
 template <typename AU, typename U>

src/modules/permanent_storage.cpp

@@ -96,7 +96,7 @@ static bool validBowdenLen(const uint16_t BowdenLength) {
 uint16_t BowdenLength::Get(uint8_t slot) {
     if (validFilament(slot)) {
         // @@TODO these reinterpret_cast expressions look horrible but I'm keeping them almost intact to respect the original code from MM_control_01
-        uint16_t bowdenLength = ee::EEPROM::ReadByte(reinterpret_cast<size_t>(&(eepromBase->eepromBowdenLen[slot])));
+        uint16_t bowdenLength = ee::EEPROM::ReadWord(reinterpret_cast<size_t>(&(eepromBase->eepromBowdenLen[slot])));
 
         if (eepromEmpty == bowdenLength) {
             const uint8_t LengthCorrectionLegacy = ee::EEPROM::ReadByte(reinterpret_cast<size_t>(&(eepromBase->eepromLengthCorrection)));

tests/unit/logic/feed_to_bondtech/test_feed_to_bondtech.cpp

@@ -29,6 +29,13 @@ TEST_CASE("feed_to_bondtech::feed_phase_unlimited", "[feed_to_bondtech]") {
     ForceReinitAllAutomata();
     REQUIRE(EnsureActiveSlotIndex(slot, mg::FilamentLoadState::AtPulley));
 
+    // reset bowden lenghts in EEPROM
+    InitBowdenLengths();
+    // check bowden lengths
+    for (uint8_t slot = 0; slot < config::toolCount; ++slot) {
+        REQUIRE(mps::BowdenLength::Get(mg::globals.ActiveSlot()) == config::minimumBowdenLength.v);
+    }
+
     FeedToBondtech fb;
     main_loop();
 
@@ -71,7 +78,7 @@ TEST_CASE("feed_to_bondtech::feed_phase_unlimited", "[feed_to_bondtech]") {
         if( step == 100 ){
             mfs::fsensor.ProcessMessage(true);
         }
-        return fb.State() == FeedToBondtech::PushingFilamentToFSensorFast; },
+        return fb.State() == FeedToBondtech::PushingFilamentToFSensor; },
         1500));
 
     REQUIRE(mfs::fsensor.Pressed());

tests/unit/logic/stubs/main_loop_stub.cpp

@@ -158,6 +158,13 @@ void ClearButtons(logic::CommandBase &cb) {
     }
 }
 
+void InitBowdenLengths() {
+    // reset bowdenLenght in EEPROM
+    for (uint8_t slot = 0; slot < config::toolCount; ++slot) {
+        mps::BowdenLength::Set(slot, config::minimumBowdenLength.v);
+    }
+}
+
 void SetFSensorStateAndDebounce(bool press) {
     mfs::fsensor.ProcessMessage(press);
     for (uint8_t fs = 0; fs < config::fsensorDebounceMs + 1; ++fs) {

tests/unit/logic/stubs/main_loop_stub.h

@@ -32,6 +32,7 @@ bool SimulateRetractFromFINDA(uint32_t step, uint32_t findaOff);
 void PressButtonAndDebounce(logic::CommandBase &cb, uint8_t btnIndex, bool fromPrinter);
 void ClearButtons(logic::CommandBase &cb);
 
+void InitBowdenLengths();
 void SetFSensorStateAndDebounce(bool press);
 
 // these are recommended max steps for simulated movement of the idler and selector

tests/unit/logic/tool_change/test_tool_change.cpp

@@ -65,6 +65,7 @@ void CheckFinishedCorrectly(logic::ToolChange &tc, uint8_t toSlot) {
 
 void ToolChange(logic::ToolChange &tc, uint8_t fromSlot, uint8_t toSlot) {
     ForceReinitAllAutomata();
+    InitBowdenLengths();
 
     REQUIRE(EnsureActiveSlotIndex(fromSlot, mg::FilamentLoadState::InNozzle));
     SetFINDAStateAndDebounce(true);
@@ -96,6 +97,7 @@ void ToolChange(logic::ToolChange &tc, uint8_t fromSlot, uint8_t toSlot) {
 
 void NoToolChange(logic::ToolChange &tc, uint8_t fromSlot, uint8_t toSlot) {
     ForceReinitAllAutomata();
+    InitBowdenLengths();
 
     REQUIRE(EnsureActiveSlotIndex(fromSlot, mg::FilamentLoadState::InNozzle));
     // the filament is LOADED
@@ -114,6 +116,7 @@ void NoToolChange(logic::ToolChange &tc, uint8_t fromSlot, uint8_t toSlot) {
 
 void JustLoadFilament(logic::ToolChange &tc, uint8_t slot) {
     ForceReinitAllAutomata();
+    InitBowdenLengths();
 
     REQUIRE(EnsureActiveSlotIndex(slot, mg::FilamentLoadState::AtPulley));
 
@@ -175,6 +178,7 @@ TEST_CASE("tool_change::same_slot_just_unloaded_filament", "[tool_change]") {
 
 void ToolChangeFailLoadToFinda(logic::ToolChange &tc, uint8_t fromSlot, uint8_t toSlot) {
     ForceReinitAllAutomata();
+    InitBowdenLengths();
 
     REQUIRE(EnsureActiveSlotIndex(fromSlot, mg::FilamentLoadState::InNozzle));
     SetFINDAStateAndDebounce(true);
@@ -340,6 +344,7 @@ TEST_CASE("tool_change::load_fail_FINDA_resolve_btnR_FINDA", "[tool_change]") {
 void ToolChangeFailFSensor(logic::ToolChange &tc, uint8_t fromSlot, uint8_t toSlot) {
     using namespace std::placeholders;
     ForceReinitAllAutomata();
+    InitBowdenLengths();
 
     REQUIRE(EnsureActiveSlotIndex(fromSlot, mg::FilamentLoadState::InNozzle));
     SetFINDAStateAndDebounce(true);