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Prusa-Firmware-MMU
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Fix debug sprintf variant

pull/126/head
D.R.racer 2021-09-29 08:53:19 +02:00 committed by DRracer
parent 5cf4a496e3
commit b13214b7f5
7 changed files with 32 additions and 31 deletions
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9
src/debug.cpp
View File

@ -5,6 +5,7 @@
#include "hal/usart.h" #include "hal/usart.h"
#include <avr/pgmspace.h> #include <avr/pgmspace.h>
#include <stdio.h> #include <stdio.h>
#include <stdarg.h>
#include <string.h> #include <string.h>
namespace debug { namespace debug {
@ -21,21 +22,21 @@ const char modules[] PROGMEM = "mod:";
const char hal[] PROGMEM = "hal:"; const char hal[] PROGMEM = "hal:";
#endif #endif
void dbg_usart(const char *layer_P, const char *s) { void __attribute__((noinline)) dbg_usart(const char *layer_P, const char *s) {
hu::usart1.WriteS_P(layer_P); hu::usart1.WriteS_P(layer_P);
hu::usart1.puts(s); hu::usart1.puts(s);
} }
void dbg_usart_P(const char *layer_P, const char *s_P) { void __attribute__((noinline)) dbg_usart_P(const char *layer_P, const char *s_P) {
hu::usart1.WriteS_P(layer_P); hu::usart1.WriteS_P(layer_P);
hu::usart1.puts_P(s_P); hu::usart1.puts_P(s_P);
} }
void dbg_usart_sprintf_P(const char *fmt_P, ...) { void __attribute__((noinline)) dbg_usart_sprintf_P(const char *fmt_P, ...) {
char tmp[30]; char tmp[30];
va_list argptr; va_list argptr;
va_start(argptr, fmt_P); va_start(argptr, fmt_P);
vsprintf(tmp, fmt_P, argptr); vsnprintf_P(tmp, 30, fmt_P, argptr);
va_end(argptr); va_end(argptr);
dbg_logic(tmp); dbg_logic(tmp);
} }

10
src/logic/feed_to_bondtech.cpp
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@ -22,7 +22,7 @@ bool FeedToBondtech::Step() {
switch (state) { switch (state) {
case EngagingIdler: case EngagingIdler:
if (mi::idler.Engaged()) { if (mi::idler.Engaged()) {
dbg_logic_sprintf_P(PSTR("\nPulley start steps %u\n\n"), mm::motion.CurPosition(mm::Pulley)); dbg_logic_sprintf_P(PSTR("Pulley start steps %u"), mm::motion.CurPosition(mm::Pulley));
state = PushingFilament; state = PushingFilament;
mm::motion.InitAxis(mm::Pulley); mm::motion.InitAxis(mm::Pulley);
mm::motion.PlanMove<mm::Pulley>(config::defaultBowdenLength, config::pulleyFeedrate); //@@TODO constants - there was some strange acceleration sequence in the original FW, mm::motion.PlanMove<mm::Pulley>(config::defaultBowdenLength, config::pulleyFeedrate); //@@TODO constants - there was some strange acceleration sequence in the original FW,
@ -30,7 +30,7 @@ bool FeedToBondtech::Step() {
} }
return false; return false;
case PushingFilament: case PushingFilament:
dbg_logic_P(PSTR("\nFeed to Bondtech --> Pushing\n\n")); dbg_logic_P(PSTR("Feed to Bondtech --> Pushing"));
if (mfs::fsensor.Pressed()) { if (mfs::fsensor.Pressed()) {
mm::motion.AbortPlannedMoves(); // stop pushing filament mm::motion.AbortPlannedMoves(); // stop pushing filament
mi::idler.Disengage(); mi::idler.Disengage();
@ -43,7 +43,7 @@ bool FeedToBondtech::Step() {
} }
return false; return false;
case DisengagingIdler: case DisengagingIdler:
dbg_logic_P(PSTR("\nFeed to Bondtech --> DisengagingIdler\n\n")); dbg_logic_P(PSTR("Feed to Bondtech --> DisengagingIdler"));
if (!mi::idler.Engaged()) { if (!mi::idler.Engaged()) {
state = OK; state = OK;
mm::motion.Disable(mm::Pulley); mm::motion.Disable(mm::Pulley);
@ -51,9 +51,9 @@ bool FeedToBondtech::Step() {
} }
return false; return false;
case OK: case OK:
dbg_logic_P(PSTR("\nFeed to Bondtech\n\n")); dbg_logic_P(PSTR("Feed to Bondtech"));
case Failed: case Failed:
dbg_logic_P(PSTR("\nFeed to Bondtech FAILED\n\n")); dbg_logic_P(PSTR("Feed to Bondtech FAILED"));
default: default:
return true; return true;
} }

2
src/logic/load_filament.cpp
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@ -17,7 +17,7 @@ void LoadFilament::Reset(uint8_t param) {
if (!CheckToolIndex(param)) { if (!CheckToolIndex(param)) {
return; return;
} }
dbg_logic_P(PSTR("Load Filament\n\n")); dbg_logic_P(PSTR("Load Filament"));
state = ProgressCode::EngagingIdler; state = ProgressCode::EngagingIdler;
error = ErrorCode::RUNNING; error = ErrorCode::RUNNING;
mg::globals.SetActiveSlot(param); mg::globals.SetActiveSlot(param);

4
src/logic/tool_change.cpp
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@ -30,13 +30,13 @@ void ToolChange::Reset(uint8_t param) {
plannedSlot = param; plannedSlot = param;
if (mg::globals.FilamentLoaded()) { if (mg::globals.FilamentLoaded()) {
dbg_logic_P(PSTR("Filament is loaded --> unload\n")); dbg_logic_P(PSTR("Filament is loaded --> unload"));
state = ProgressCode::UnloadingFilament; state = ProgressCode::UnloadingFilament;
unl.Reset(mg::globals.ActiveSlot()); unl.Reset(mg::globals.ActiveSlot());
} else { } else {
state = ProgressCode::FeedingToFinda; state = ProgressCode::FeedingToFinda;
error = ErrorCode::RUNNING; error = ErrorCode::RUNNING;
dbg_logic_P(PSTR("Filament is not loaded --> load\n")); dbg_logic_P(PSTR("Filament is not loaded --> load"));
mg::globals.SetActiveSlot(plannedSlot); mg::globals.SetActiveSlot(plannedSlot);
feed.Reset(true); feed.Reset(true);
} }

20
src/modules/idler.cpp
View File

@ -12,24 +12,24 @@ Idler idler;
void Idler::PrepareMoveToPlannedSlot() { void Idler::PrepareMoveToPlannedSlot() {
mm::motion.PlanMoveTo<mm::Idler>(SlotPosition(plannedSlot), mm::unitToAxisUnit<mm::I_speed_t>(config::idlerFeedrate)); mm::motion.PlanMoveTo<mm::Idler>(SlotPosition(plannedSlot), mm::unitToAxisUnit<mm::I_speed_t>(config::idlerFeedrate));
dbg_logic_sprintf_P(PSTR("Prepare Move Idler slot %d\n"), plannedSlot); dbg_logic_sprintf_P(PSTR("Prepare Move Idler slot %d"), plannedSlot);
} }
void Idler::PlanHomingMove() { 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)); mm::motion.PlanMove<mm::Idler>(mm::unitToAxisUnit<mm::I_pos_t>(-config::idlerLimits.lenght * 2), mm::unitToAxisUnit<mm::I_speed_t>(config::idlerFeedrate));
dbg_logic_P(PSTR("Plan Homing Idler\n")); dbg_logic_P(PSTR("Plan Homing Idler"));
} }
Idler::OperationResult Idler::Disengage() { Idler::OperationResult Idler::Disengage() {
if (state == Moving) { if (state == Moving) {
dbg_logic_P(PSTR("Moving --> Disengage refused\n")); dbg_logic_P(PSTR("Moving --> Disengage refused"));
return OperationResult::Refused; return OperationResult::Refused;
} }
plannedSlot = IdleSlotIndex(); plannedSlot = IdleSlotIndex();
plannedEngage = false; plannedEngage = false;
if (!Engaged()) { if (!Engaged()) {
dbg_logic_P(PSTR("Disengage Idler\n")); dbg_logic_P(PSTR("Disengage Idler"));
return OperationResult::Accepted; return OperationResult::Accepted;
} }
return InitMovement(mm::Idler); return InitMovement(mm::Idler);
@ -37,7 +37,7 @@ Idler::OperationResult Idler::Disengage() {
Idler::OperationResult Idler::Engage(uint8_t slot) { Idler::OperationResult Idler::Engage(uint8_t slot) {
if (state == Moving) { if (state == Moving) {
dbg_logic_P(PSTR("Moving --> Engage refused\n")); dbg_logic_P(PSTR("Moving --> Engage refused"));
return OperationResult::Refused; return OperationResult::Refused;
} }
@ -45,7 +45,7 @@ Idler::OperationResult Idler::Engage(uint8_t slot) {
plannedEngage = true; plannedEngage = true;
if (Engaged()) { if (Engaged()) {
dbg_logic_P(PSTR("Engage Idler\n")); dbg_logic_P(PSTR("Engage Idler"));
return OperationResult::Accepted; return OperationResult::Accepted;
} }
@ -63,15 +63,15 @@ bool Idler::Home() {
bool Idler::Step() { bool Idler::Step() {
switch (state) { switch (state) {
case Moving: case Moving:
// dbg_logic_P(PSTR("Moving Idler\n")); // dbg_logic_P(PSTR("Moving Idler"));
PerformMove(mm::Idler); PerformMove(mm::Idler);
return false; return false;
case Homing: case Homing:
dbg_logic_P(PSTR("Homing Idler\n")); dbg_logic_P(PSTR("Homing Idler"));
PerformHome(mm::Idler); PerformHome(mm::Idler);
return false; return false;
case Ready: case Ready:
// dbg_logic_P(PSTR("Idler Ready\n")); // dbg_logic_P(PSTR("Idler Ready"));
currentlyEngaged = plannedEngage; currentlyEngaged = plannedEngage;
currentSlot = plannedSlot; currentSlot = plannedSlot;
@ -80,7 +80,7 @@ bool Idler::Step() {
return true; return true;
case Failed: case Failed:
dbg_logic_P(PSTR("Idler Failed\n")); dbg_logic_P(PSTR("Idler Failed"));
default: default:
return true; return true;
} }

2
src/modules/motion.cpp
View File

@ -46,7 +46,7 @@ void Motion::StallGuardReset(Axis axis) {
} }
void Motion::PlanMoveTo(Axis axis, pos_t pos, steps_t feed_rate, steps_t end_rate) { void Motion::PlanMoveTo(Axis axis, pos_t pos, steps_t feed_rate, steps_t end_rate) {
dbg_logic_sprintf_P(PSTR("Move axis %d to %u\n"), axis, pos); dbg_logic_sprintf_P(PSTR("Move axis %d to %u"), axis, pos);
if (axisData[axis].ctrl.PlanMoveTo(pos, feed_rate, end_rate)) { if (axisData[axis].ctrl.PlanMoveTo(pos, feed_rate, end_rate)) {
// move was queued, prepare the axis // move was queued, prepare the axis

16
src/modules/selector.cpp
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@ -12,23 +12,23 @@ Selector selector;
void Selector::PrepareMoveToPlannedSlot() { void Selector::PrepareMoveToPlannedSlot() {
mm::motion.PlanMoveTo<mm::Selector>(SlotPosition(plannedSlot), mm::unitToAxisUnit<mm::S_speed_t>(config::selectorFeedrate)); mm::motion.PlanMoveTo<mm::Selector>(SlotPosition(plannedSlot), mm::unitToAxisUnit<mm::S_speed_t>(config::selectorFeedrate));
dbg_logic_sprintf_P(PSTR("Prepare Move Selector slot %d\n"), plannedSlot); dbg_logic_sprintf_P(PSTR("Prepare Move Selector slot %d"), plannedSlot);
} }
void Selector::PlanHomingMove() { 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)); mm::motion.PlanMove<mm::Selector>(mm::unitToAxisUnit<mm::S_pos_t>(config::selectorLimits.lenght * 2), mm::unitToAxisUnit<mm::S_speed_t>(config::selectorFeedrate));
dbg_logic_P(PSTR("Plan Homing Selector\n")); dbg_logic_P(PSTR("Plan Homing Selector"));
} }
Selector::OperationResult Selector::MoveToSlot(uint8_t slot) { Selector::OperationResult Selector::MoveToSlot(uint8_t slot) {
if (state == Moving) { if (state == Moving) {
dbg_logic_P(PSTR("Moving --> Selector refused\n")); dbg_logic_P(PSTR("Moving --> Selector refused"));
return OperationResult::Refused; return OperationResult::Refused;
} }
plannedSlot = slot; plannedSlot = slot;
if (currentSlot == slot) { if (currentSlot == slot) {
dbg_logic_P(PSTR("Moving Selector\n")); dbg_logic_P(PSTR("Moving Selector"));
return OperationResult::Accepted; return OperationResult::Accepted;
} }
return InitMovement(mm::Selector); return InitMovement(mm::Selector);
@ -45,19 +45,19 @@ bool Selector::Step() {
switch (state) { switch (state) {
case Moving: case Moving:
PerformMove(mm::Selector); PerformMove(mm::Selector);
//dbg_logic_P(PSTR("Moving Selector\n")); //dbg_logic_P(PSTR("Moving Selector"));
return false; return false;
case Homing: case Homing:
dbg_logic_P(PSTR("Homing Selector\n")); dbg_logic_P(PSTR("Homing Selector"));
PerformHome(mm::Selector); PerformHome(mm::Selector);
return false; return false;
case Ready: case Ready:
//dbg_logic_P(PSTR("Selector Ready\n")); //dbg_logic_P(PSTR("Selector Ready"));
currentSlot = plannedSlot; currentSlot = plannedSlot;
mm::motion.Disable(mm::Selector); // turn off selector motor's power every time mm::motion.Disable(mm::Selector); // turn off selector motor's power every time
return true; return true;
case Failed: case Failed:
dbg_logic_P(PSTR("Selector Failed\n")); dbg_logic_P(PSTR("Selector Failed"));
default: default:
return true; return true;
} }