Add homing capability to Idler and Selector

MMU-73

src/modules/idler.cpp

@@ -13,6 +13,10 @@ void Idler::PrepareMoveToPlannedSlot() {
     mm::motion.PlanMoveTo<mm::Idler>(SlotPosition(plannedSlot), mm::unitToAxisUnit<mm::I_speed_t>(config::idlerFeedrate));
 }
 
+void Idler::PlanHomingMove() {
+    mm::motion.PlanMove<mm::Idler>(mm::unitToAxisUnit<mm::I_pos_t>(-360.0_deg), mm::unitToAxisUnit<mm::I_speed_t>(config::idlerFeedrate));
+}
+
 Idler::OperationResult Idler::Disengage() {
     if (state == Moving)
         return OperationResult::Refused;
@@ -43,8 +47,7 @@ bool Idler::Home() {
     if (state == Moving)
         return false;
     plannedEngage = false;
-    mm::motion.InitAxis(mm::Idler);
-    mm::motion.Home(mm::Idler, false);
+    PlanHome(mm::Idler);
     return true;
 }
 
@@ -53,6 +56,9 @@ bool Idler::Step() {
     case Moving:
         PerformMove(mm::Idler);
         return false;
+    case Homing:
+        PerformHome(mm::Idler);
+        return false;
     case Ready:
         currentlyEngaged = plannedEngage;
         currentSlot = plannedSlot;

src/modules/idler.h

@@ -48,10 +48,9 @@ public:
     /// @returns the index of idle position of the idler, usually 5 in case of 0-4 valid indices of filament slots
     inline static constexpr uint8_t IdleSlotIndex() { return config::toolCount; }
 
-    //    hal::tmc2130::MotorParams TMCDriverParams()const;
-
 protected:
     virtual void PrepareMoveToPlannedSlot() override;
+    virtual void PlanHomingMove() override;
 
 private:
     /// direction of travel - engage/disengage

src/modules/movable_base.cpp

@@ -1,9 +1,21 @@
 #include "movable_base.h"
+#include "globals.h"
 #include "motion.h"
 
 namespace modules {
 namespace motion {
 
+void MovableBase::PlanHome(config::Axis axis) {
+    // switch to normal mode on this axis
+    state = Homing;
+    mm::motion.InitAxis(axis);
+    mm::motion.SetMode(axis, mm::Normal);
+    mm::motion.StallGuardReset(axis);
+
+    // plan move at least as long as the axis can go from one side to the other
+    PlanHomingMove(); // mm::motion.PlanMove(axis, delta, 1000);
+}
+
 MovableBase::OperationResult MovableBase::InitMovement(config::Axis axis) {
     if (motion.InitAxis(axis)) {
         PrepareMoveToPlannedSlot();
@@ -26,5 +38,17 @@ void MovableBase::PerformMove(config::Axis axis) {
     }
 }
 
+void MovableBase::PerformHome(config::Axis axis) {
+    if (mm::motion.StallGuard(axis)) {
+        // we have reached the end of the axis - homed ok
+        mm::motion.SetMode(axis, mg::globals.MotorsStealth() ? mm::Stealth : mm::Normal);
+        state = Ready;
+    } else if (mm::motion.QueueEmpty(axis)) {
+        // we ran out of planned moves but no StallGuard event has occurred - homing failed
+        mm::motion.SetMode(axis, mg::globals.MotorsStealth() ? mm::Stealth : mm::Normal);
+        state = Failed;
+    }
+}
+
 } // namespace motion
 } // namespace modules

src/modules/movable_base.h

@@ -13,6 +13,7 @@ public:
     enum {
         Ready = 0, // intentionally set as zero in order to allow zeroing the Idler structure upon startup -> avoid explicit initialization code
         Moving,
+        Homing,
         Failed
     };
 
@@ -40,6 +41,9 @@ public:
 
     inline hal::tmc2130::ErrorFlags TMCErrorFlags() const { return tmcErrorFlags; }
 
+    /// Prepare a homing move of the axis
+    void PlanHome(config::Axis axis);
+
 protected:
     /// internal state of the automaton
     uint8_t state;
@@ -54,10 +58,13 @@ protected:
     hal::tmc2130::ErrorFlags tmcErrorFlags;
 
     virtual void PrepareMoveToPlannedSlot() = 0;
+    virtual void PlanHomingMove() = 0;
 
     OperationResult InitMovement(config::Axis axis);
 
     void PerformMove(config::Axis axis);
+
+    void PerformHome(config::Axis axis);
 };
 
 } // namespace motion

src/modules/selector.cpp

@@ -13,6 +13,10 @@ void Selector::PrepareMoveToPlannedSlot() {
     mm::motion.PlanMoveTo<mm::Selector>(SlotPosition(plannedSlot), mm::unitToAxisUnit<mm::S_speed_t>(config::selectorFeedrate));
 }
 
+void Selector::PlanHomingMove() {
+    mm::motion.PlanMove<mm::Selector>(mm::unitToAxisUnit<mm::S_pos_t>(-100.0_mm), mm::unitToAxisUnit<mm::S_speed_t>(config::selectorFeedrate));
+}
+
 Selector::OperationResult Selector::MoveToSlot(uint8_t slot) {
     if (state == Moving)
         return OperationResult::Refused;
@@ -28,8 +32,7 @@ Selector::OperationResult Selector::MoveToSlot(uint8_t slot) {
 bool Selector::Home() {
     if (state == Moving)
         return false;
-    mm::motion.InitAxis(mm::Selector);
-    mm::motion.Home(mm::Selector, false);
+    PlanHome(mm::Selector);
     return true;
 }
 
@@ -38,6 +41,9 @@ bool Selector::Step() {
     case Moving:
         PerformMove(mm::Selector);
         return false;
+    case Homing:
+        PerformHome(mm::Selector);
+        return false;
     case Ready:
         currentSlot = plannedSlot;
         mm::motion.Disable(mm::Selector); // turn off selector motor's power every time

src/modules/selector.h

@@ -39,6 +39,7 @@ public:
 
 protected:
     virtual void PrepareMoveToPlannedSlot() override;
+    virtual void PlanHomingMove() override;
 
 private:
 };