Michal
/
Prusa-Firmware-MMU
mirror of https://github.com/prusa3d/Prusa-Firmware-MMU
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Hold/Resume Idler+Selector even after their homing errors 

MMU-222
pull/268/head
D.R.racer 2023-03-13 09:15:12 +01:00
parent bafad408b7
commit 93f0903d5d
9 changed files with 41 additions and 33 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
src/logic/command_base.cpp
View File

@ -56,8 +56,8 @@ static ErrorCode __attribute__((noinline)) AddErrorAxisBit(ErrorCode ec, uint8_t
return ec;
}
ErrorCode CheckMovable(mm::MovableBase &m) {
switch (m.State()) {
ErrorCode CheckMovable(const mm::MovableBase &m) {
switch (m.State() & (~mm::MovableBase::OnHold)) { // clear the on-hold bit from the state check
case mm::MovableBase::TMCFailed:
return AddErrorAxisBit(TMC2130ToErrorCode(m.TMCErrorFlags()), m.Axis());
case mm::MovableBase::HomingFailed:
@ -84,12 +84,14 @@ bool CommandBase::WaitForOneModuleErrorRecovery(ErrorCode ec, modules::motion::M
errorBeforeModuleFailed = error;
error = ec;
state = ProgressCode::ERRWaitingForUser; // such a situation always requires user's attention -> let the printer display an error screen
HoldIdlerSelector();
}
// are we already recovering an error - that would mean we got another one
if (recoveringMovableErrorAxisMask) {
error = ec;
state = ProgressCode::ERRWaitingForUser; // such a situation always requires user's attention -> let the printer display an error screen
HoldIdlerSelector();
}
switch (state) {
@ -99,6 +101,7 @@ bool CommandBase::WaitForOneModuleErrorRecovery(ErrorCode ec, modules::motion::M
mui::Event ev = mui::userInput.ConsumeEvent();
if (ev == mui::Event::Middle) {
recoveringMovableErrorAxisMask |= axisMask;
ResumeIdlerSelector();
m.PlanHome(); // force initiate a new homing attempt
state = ProgressCode::Homing;
error = ErrorCode::RUNNING;

11
src/modules/idler.cpp
View File

@ -69,7 +69,7 @@ bool Idler::StallGuardAllowed(bool forward) const {
}
Idler::OperationResult Idler::Disengage() {
if (state == Moving || state == OnHold) {
if (state == Moving || IsOnHold()) {
dbg_logic_P(PSTR("Moving --> Disengage refused"));
return OperationResult::Refused;
}
@ -101,7 +101,7 @@ Idler::OperationResult Idler::Engage(uint8_t slot) {
}
Idler::OperationResult Idler::PlanMoveInner(uint8_t slot, Operation plannedOp) {
if (state == Moving || state == OnHold) {
if (state == Moving || IsOnHold()) {
dbg_logic_P(PSTR("Moving --> Engage refused"));
return OperationResult::Refused;
}
@ -132,6 +132,10 @@ Idler::OperationResult Idler::PlanMoveInner(uint8_t slot, Operation plannedOp) {
}
bool Idler::Step() {
if (IsOnHold()) {
return true; // just wait, do nothing!
}
if (state != TMCFailed) {
CheckTMC();
}
@ -155,10 +159,7 @@ bool Idler::Step() {
return false;
}
return true;
case OnHold:
return true; // just wait, do nothing!
case TMCFailed:
dbg_logic_P(PSTR("Idler Failed"));
default:
return true;
}

4
src/modules/movable_base.cpp
View File

@ -8,7 +8,7 @@ namespace motion {
MovableBase::OperationResult MovableBase::PlanHome() {
InvalidateHoming();
if (state == OnHold)
if (IsOnHold())
return OperationResult::Refused;
// switch to normal mode on this axis
@ -32,7 +32,7 @@ void __attribute__((noinline)) MovableBase::SetCurrents(uint8_t iRun, uint8_t iH
}
void MovableBase::HoldOn() {
state = OnHold;
state |= OnHold; // set the on-hold bit
mm::motion.AbortPlannedMoves(axis);
// Force turn off motors - prevent overheating and allow servicing during an error state.
// And don't worry about TMC2130 creep after axis enabled - we'll rehome both axes later when needed.

19
src/modules/movable_base.h
View File

@ -13,13 +13,13 @@ public:
/// Internal states of the state machine
enum {
Ready = 0, // intentionally set as zero in order to allow zeroing the Idler structure upon startup -> avoid explicit initialization code
Moving,
PlannedHome,
HomeForward,
HomeBack,
TMCFailed,
HomingFailed,
OnHold,
Moving = 1,
PlannedHome = 2,
HomeForward = 3,
HomeBack = 4,
TMCFailed = 5,
HomingFailed = 6,
OnHold = 0x80, ///< needs to be a separate bit due to homing recovery infrastructure
};
/// Operation (Engage/Disengage/MoveToSlot) return values
@ -78,8 +78,11 @@ public:
/// Also, disables the axis
void HoldOn();
/// @returns true if the movable is on-hold
bool IsOnHold() const { return state & OnHold; }
/// Allows the movable to move/home again after begin suspended by HoldOn
void Resume() { state = Ready; }
void Resume() { state &= ~OnHold; }
#ifndef UNITTEST
protected:

5
src/modules/pulley.cpp
View File

@ -17,6 +17,9 @@ bool __attribute__((noinline)) Pulley::FinishHomingAndPlanMoveToParkPos() {
}
bool Pulley::Step() {
if (IsOnHold()) {
return true; // just wait, do nothing!
}
if (state != TMCFailed) {
CheckTMC();
}
@ -31,8 +34,6 @@ bool Pulley::Step() {
return true;
case Ready:
return true;
case OnHold:
return true;
case TMCFailed:
default:
return true;

6
src/modules/selector.cpp
View File

@ -89,6 +89,9 @@ Selector::OperationResult Selector::MoveToSlot(uint8_t slot) {
}
bool Selector::Step() {
if (IsOnHold()) {
return true; // just wait, do nothing!
}
if (state != TMCFailed) {
CheckTMC();
}
@ -123,10 +126,7 @@ bool Selector::Step() {
return false;
}
return true;
case OnHold:
return true; // just wait, do nothing!
case TMCFailed:
dbg_logic_P(PSTR("Selector Failed"));
default:
return true;
}

14
tests/unit/logic/homing/test_homing.cpp
View File

@ -168,25 +168,25 @@ bool OnHold(uint8_t slot) {
// now put movables on hold
logic::CommandBase::HoldIdlerSelector();
REQUIRE(mi::idler.state == mi::Idler::OnHold);
REQUIRE(ms::selector.state == ms::Selector::OnHold);
REQUIRE(mi::idler.IsOnHold());
REQUIRE(ms::selector.IsOnHold());
// both movables should ignore all attempts to perform moves
REQUIRE(mi::idler.PlanHome() == mi::Idler::OperationResult::Refused);
REQUIRE(mi::idler.state == mi::Idler::OnHold);
REQUIRE(mi::idler.IsOnHold());
REQUIRE(mi::idler.Disengaged());
REQUIRE(ms::selector.PlanHome() == ms::Selector::OperationResult::Refused);
REQUIRE(ms::selector.state == ms::Selector::OnHold);
REQUIRE(ms::selector.IsOnHold());
REQUIRE(mi::idler.Disengage() == mi::Idler::OperationResult::Refused);
REQUIRE(mi::idler.state == mi::Idler::OnHold);
REQUIRE(mi::idler.IsOnHold());
REQUIRE(mi::idler.Engage(slot) == mi::Idler::OperationResult::Refused);
REQUIRE(mi::idler.state == mi::Idler::OnHold);
REQUIRE(mi::idler.IsOnHold());
REQUIRE(mi::idler.Disengaged());
REQUIRE(ms::selector.MoveToSlot((slot + 1) % config::toolCount) == ms::Selector::OperationResult::Refused);
REQUIRE(ms::selector.state == ms::Selector::OnHold);
REQUIRE(ms::selector.IsOnHold());
return true;
}

4
tests/unit/logic/stubs/homing.cpp
View File

@ -209,7 +209,7 @@ bool SimulateFailedHomeFirstTime(logic::CommandBase &cb) {
}
}
while (ms::selector.State() != mm::MovableBase::HomingFailed) {
while (!(ms::selector.State() & mm::MovableBase::OnHold)) {
main_loop();
cb.Step();
}
@ -250,7 +250,7 @@ bool SimulateFailedHomeSelectorRepeated(logic::CommandBase &cb) {
}
}
while (ms::selector.State() != mm::MovableBase::HomingFailed) {
while (!(ms::selector.State() & mm::MovableBase::OnHold)) {
main_loop();
cb.Step();
}

4
tests/unit/logic/tool_change/test_tool_change.cpp
View File

@ -434,8 +434,8 @@ void ToolChangeWithFlickeringFINDA(logic::ToolChange &tc, uint8_t fromSlot, uint
tc.Step();
// now both Idler and Selector are on hold again
REQUIRE(mi::idler.state == mi::Idler::OnHold);
REQUIRE(ms::selector.state == ms::Selector::OnHold);
REQUIRE(mi::idler.IsOnHold());
REQUIRE(ms::selector.IsOnHold());
REQUIRE(VerifyState2(tc, mg::FilamentLoadState::AtPulley, mi::idler.IdleSlotIndex(), fromSlot, true, false, toSlot, ml::off, ml::blink0, ErrorCode::FINDA_FLICKERS, ProgressCode::ERRWaitingForUser));