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

Another ~50B down

pull/271/head
D.R.racer 2023-04-13 08:22:34 +02:00
parent 678fc096f0
commit dc79314b8f
3 changed files with 10 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/modules/idler.cpp
View File

@ -21,7 +21,7 @@ void Idler::PrepareMoveToPlannedSlot() {
void Idler::PlanHomingMoveForward() {
mm::motion.SetPosition(mm::Idler, mm::unitToSteps<mm::I_pos_t>(config::IdlerOffsetFromHome));
axisStart = mm::axisUnitToTruncatedUnit<config::U_deg>(mm::motion.CurPosition<mm::Idler>());
axisStart = mm::axisUnitToTruncatedUnit<config::U_deg>(mm::unitToAxisUnit<mm::I_pos_t>(config::IdlerOffsetFromHome));
mm::motion.PlanMove<mm::Idler>(mm::unitToAxisUnit<mm::I_pos_t>(config::idlerLimits.lenght * 2),
mm::unitToAxisUnit<mm::I_speed_t>(mg::globals.IdlerHomingFeedrate_deg_s()));
dbg_logic_P(PSTR("Plan Homing Idler Forward"));
@ -30,7 +30,7 @@ void Idler::PlanHomingMoveForward() {
void Idler::PlanHomingMoveBack() {
// we expect that we are at the front end of the axis, set the expected axis' position
mm::motion.SetPosition(mm::Idler, mm::unitToSteps<mm::I_pos_t>(config::idlerLimits.lenght));
axisStart = mm::axisUnitToTruncatedUnit<config::U_deg>(mm::motion.CurPosition<mm::Idler>());
axisStart = mm::axisUnitToTruncatedUnit<config::U_deg>(mm::unitToAxisUnit<mm::I_pos_t>(config::idlerLimits.lenght));
mm::motion.PlanMove<mm::Idler>(mm::unitToAxisUnit<mm::I_pos_t>(-config::idlerLimits.lenght * 2),
mm::unitToAxisUnit<mm::I_speed_t>(mg::globals.IdlerHomingFeedrate_deg_s()));
dbg_logic_P(PSTR("Plan Homing Idler Back"));

9
src/modules/selector.cpp
View File

@ -27,7 +27,7 @@ void Selector::PlanHomingMoveForward() {
void Selector::PlanHomingMoveBack() {
// we expect that we are at the front end of the axis, set the expected axis' position
mm::motion.SetPosition(mm::Selector, 0);
axisStart = mm::axisUnitToTruncatedUnit<config::U_mm>(mm::motion.CurPosition<mm::Selector>());
axisStart = 0;
mm::motion.PlanMove<mm::Selector>(mm::unitToAxisUnit<mm::S_pos_t>(config::selectorLimits.lenght * 2),
mm::unitToAxisUnit<mm::S_speed_t>(mg::globals.SelectorHomingFeedrate_mm_s()));
dbg_logic_P(PSTR("Plan Homing Selector Back"));
@ -35,7 +35,7 @@ void Selector::PlanHomingMoveBack() {
bool Selector::FinishHomingAndPlanMoveToParkPos() {
// check the axis' length
if (AxisDistance(mm::axisUnitToTruncatedUnit<config::U_mm>(mm::motion.CurPosition<mm::Selector>())) < (config::selectorLimits.lenght.v - 3)) { //@@TODO is 3mm ok?
if (AxisDistance(CurrentPosition_mm()) < (config::selectorLimits.lenght.v - 3)) { //@@TODO is 3mm ok?
return false; // we couldn't home correctly, we cannot set the Selector's position
}
@ -54,6 +54,11 @@ void Selector::FinishMove() {
mm::motion.Disable(mm::Selector); // turn off selector motor's power every time
}
// for some reason, the same principle doesn't save code size in the Idler
int32_t __attribute__((noinline)) Selector::CurrentPosition_mm() const {
return mm::axisUnitToTruncatedUnit<config::U_mm>(mm::motion.CurPosition<mm::Selector>());
}
Selector::OperationResult Selector::MoveToSlot(uint8_t slot) {
if (state == Moving) {
dbg_logic_P(PSTR("Moving --> Selector refused"));

1
src/modules/selector.h
View File

@ -49,6 +49,7 @@ protected:
virtual void FinishMove() override;
private:
int32_t CurrentPosition_mm() const;
};
/// The one and only instance of Selector in the FW