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Prusa-Firmware-MMU
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Code size optimization

pull/271/head
D.R.racer 2023-04-12 13:20:46 +02:00
parent 09c5f7df56
commit 678fc096f0
2 changed files with 12 additions and 7 deletions
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17
src/logic/unload_to_finda.cpp
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@ -37,15 +37,20 @@ bool UnloadToFinda::Step() {
unloadStart_mm = mpu::pulley.CurrentPosition_mm();
// plan both moves to keep the unload smooth
mpu::pulley.InitAxis();
mpu::pulley.PlanMove(-mg::globals.FSensorUnloadCheck_mm(), mg::globals.PulleySlowFeedrate_mm_s());
mpu::pulley.PlanMove(-config::defaultBowdenLength - config::feedToFinda - config::filamentMinLoadedToMMU // standard lenght where FINDA is expected to trigger
+ mg::globals.FSensorUnloadCheck_mm(), // but subtract the slow unload phase distance
mg::globals.PulleyUnloadFeedrate_mm_s());
mm::P_pos_t unloadCheck = mm::unitToAxisUnit<mm::P_pos_t>(-mg::globals.FSensorUnloadCheck_mm());
mm::P_speed_t pulleyUnloadFR = mm::unitToAxisUnit<mm::P_speed_t>(mg::globals.PulleyUnloadFeedrate_mm_s());
mm::P_speed_t pulleyUnloadSlowFR = mm::unitToAxisUnit<mm::P_speed_t>(mg::globals.PulleySlowFeedrate_mm_s());
mpu::pulley.PlanMove(unloadCheck, pulleyUnloadSlowFR, pulleyUnloadFR);
constexpr mm::P_pos_t distance = mm::unitToAxisUnit<mm::P_pos_t>(-config::defaultBowdenLength - config::feedToFinda - config::filamentMinLoadedToMMU); // standard lenght where FINDA is expected to trigger
//+ mg::globals.FSensorUnloadCheck_mm(); // but subtract the slow unload phase distance
// damn, this addition is heavy :(
// mpu::pulley.PlanMove(distance + mg::globals.FSensorUnloadCheck_mm(),
// mg::globals.PulleyUnloadFeedrate_mm_s());
mpu::pulley.PlanMove(distance - unloadCheck, pulleyUnloadFR);
}
return false;
case UnloadingFromFSensor: {
int32_t mpucp = mpu::pulley.CurrentPosition_mm();
if ((abs(unloadStart_mm - mpucp) > mm::truncatedUnit(mg::globals.FSensorUnloadCheck_mm()))) {
if ((abs(unloadStart_mm - mpu::pulley.CurrentPosition_mm()) > mm::truncatedUnit(mg::globals.FSensorUnloadCheck_mm()))) {
// passed the slow unload distance, check fsensor
if (mfs::fsensor.Pressed()) {
// fsensor didn't trigger within the first fsensorUnloadCheckDistance mm -> stop pulling, something failed, report an error

2
tests/unit/logic/unload_to_finda/test_unload_to_finda.cpp
View File

@ -210,7 +210,7 @@ TEST_CASE("unload_to_finda::unload_repeated", "[unload_to_finda]") {
// but set FSensor correctly
// In this case it is vital to correctly compute the amount of steps
// to make the unload state machine restart after the 1st attempt
uint32_t unlSteps = 2 + mm::unitToSteps<mm::P_pos_t>(config::defaultBowdenLength + config::feedToFinda + config::filamentMinLoadedToMMU - mg::globals.FSensorUnloadCheck_mm());
uint32_t unlSteps = 3 + mm::unitToSteps<mm::P_pos_t>(config::defaultBowdenLength + config::feedToFinda + config::filamentMinLoadedToMMU - mg::globals.FSensorUnloadCheck_mm());
REQUIRE_FALSE(WhileCondition(
ff,
std::bind(SimulateUnloadToFINDA, _1,