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Prusa-Firmware-MMU
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Make test run by default, get fault display working

pull/203/head
VintagePC 2022-09-13 21:43:51 -04:00
parent 973db11bec
commit df86a6d472
3 changed files with 56 additions and 17 deletions
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3
src/application.cpp
View File

@ -13,6 +13,7 @@
#include "logic/cut_filament.h"
#include "logic/eject_filament.h"
#include "logic/home.h"
#include "logic/hw_sanity.h"
#include "logic/load_filament.h"
#include "logic/move_selector.h"
#include "logic/no_command.h"
@ -31,7 +32,7 @@ Application application;
Application::Application()
: lastCommandProcessedMs(0)
, currentCommand(&logic::noCommand)
, currentCommand(&logic::hwSanity)
, currentCommandRq(mp::RequestMsgCodes::Reset, 0) {}
void Application::CheckManualOperation() {

60
src/logic/hw_sanity.cpp
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@ -18,7 +18,7 @@ using Axis = config::Axis;
using TMC2130 = hal::tmc2130::TMC2130;
static constexpr uint8_t LED_WAIT_MS = 50U;
static constexpr uint8_t TEST_PASSES = 6U;
static constexpr uint8_t TEST_PASSES = 3U;
static_assert(TEST_PASSES < 32); // Would overflow counters
HWSanity hwSanity;
@ -26,6 +26,7 @@ HWSanity hwSanity;
uint8_t HWSanity::test_step = 0;
uint8_t HWSanity::fault_masks[] = { 0 };
uint16_t HWSanity::wait_start = 0;
ml::Mode das_blinken_state = ml::off;
Axis HWSanity::axis;
ProgressCode HWSanity::next_state = ProgressCode::HWTestBegin;
@ -45,6 +46,22 @@ enum pin_bits {
BIT_ENA = 0b100,
};
void HWSanity::SetFaultDisplay(uint8_t slot, uint8_t mask) {
ml::Mode red_mode = ml::off, green_mode = ml::off;
if (mask & BIT_STEP) {
green_mode = ml::on;
}
if (mask & BIT_DIR) {
red_mode = ml::on;
}
if (mask & BIT_ENA) {
green_mode = green_mode ? ml::blink0 : ml::on;
red_mode = red_mode ? ml::blink0 : ml::on;
}
ml::leds.SetMode(slot, ml::green, green_mode);
ml::leds.SetMode(slot, ml::red, red_mode);
}
bool HWSanity::StepInner() {
switch (state) {
case ProgressCode::HWTestBegin:
@ -55,19 +72,19 @@ bool HWSanity::StepInner() {
break;
case ProgressCode::HWTestIdler:
axis = config::Axis::Idler;
ml::leds.SetPairButOffOthers(5, ml::on, ml::off);
ml::leds.SetPairButOffOthers(3, ml::on, ml::off);
state = ProgressCode::HWTestExec;
next_state = ProgressCode::HWTestSelector;
break;
case ProgressCode::HWTestSelector:
axis = config::Axis::Selector;
ml::leds.SetPairButOffOthers(5, ml::off, ml::on);
ml::leds.SetPairButOffOthers(3, ml::off, ml::on);
state = ProgressCode::HWTestExec;
next_state = ProgressCode::HWTestPulley;
break;
case ProgressCode::HWTestPulley:
axis = config::Axis::Pulley;
ml::leds.SetPairButOffOthers(5, ml::on, ml::on);
ml::leds.SetPairButOffOthers(3, ml::on, ml::on);
state = ProgressCode::HWTestExec;
next_state = ProgressCode::HWTestCleanup;
break;
@ -78,21 +95,26 @@ bool HWSanity::StepInner() {
break;
} else {
state = ProgressCode::HWTestExec;
// display done, reset LEDs.
for (uint8_t i = 0; i < 6; i++) {
ml::leds.SetMode(i, ml::off);
}
}
/* FALLTHRU */
case ProgressCode::HWTestExec: {
auto driver = mm::motion.DriverForAxis(axis);
auto params = mm::axisParams[axis].params;
if (test_step < (TEST_PASSES * 8)) // 8 combos per axis
{
uint8_t set_state = test_step % 8;
//auto* driver = &mm::motion.DriverForAxis(axis);
// The order of the bits here is roughly the same as that of IOIN.
driver.SetStep(params, set_state & BIT_STEP);
driver.SetDir(params, set_state & BIT_DIR);
driver.SetEnabled(params, set_state & BIT_ENA);
uint16_t drv_ioin = driver.ReadRegister(params, TMC2130::Registers::IOIN);
mm::motion.DriverForAxis(axis).SetDir(params, set_state & BIT_DIR);
mm::motion.DriverForAxis(axis).SetStep(params, set_state & BIT_STEP);
ml::leds.SetPairButOffOthers(3, ml::on, ml::off);
//mm::motion.DriverForAxis(axis).SetEnabled(params, set_state & BIT_ENA);
uint32_t drv_ioin = const_cast<hal::tmc2130::TMC2130 &>(mm::motion.DriverForAxis(axis)).ReadRegister(params, hal::tmc2130::TMC2130::Registers::IOIN);
// Compose IOIN to look like set_state.
drv_ioin = (drv_ioin & 0b11) | ((drv_ioin & 0b10000) >> 2);
drv_ioin = (drv_ioin & 0b11) | ((drv_ioin & 0b10000) ? 0 : 4); // Note the logic inversion for ENA readback!
uint8_t bit_errs = (drv_ioin ^ set_state);
// Set the LEDs. Note RED is index 0 in the enum, so we want the expression FALSE if there's an error.
ml::leds.SetMode(0, static_cast<ml::Color>((bit_errs & BIT_STEP) == 0), ml::on);
@ -102,6 +124,8 @@ bool HWSanity::StepInner() {
fault_masks[axis] |= bit_errs;
// Enter the wait state:
wait_start = mt::timebase.Millis();
das_blinken_state = das_blinken_state ? ml::off : ml::on;
ml::leds.SetMode(4, ml::green, das_blinken_state);
state = ProgressCode::HWTestDisplay;
// Next iteration.
test_step++;
@ -116,15 +140,25 @@ bool HWSanity::StepInner() {
// error, display it and return the code.
state = ProgressCode::ErrHwTestFailed;
error = ErrorCode::TMC_PINS_UNRELIABLE;
if (fault_masks[Axis::Idler]) {
uint8_t mask = fault_masks[Axis::Idler];
if (mask) {
error |= ErrorCode::TMC_IDLER_BIT;
SetFaultDisplay(0, mask);
}
if (fault_masks[Axis::Pulley]) {
mask = fault_masks[Axis::Pulley];
if (mask) {
error |= ErrorCode::TMC_PULLEY_BIT;
SetFaultDisplay(2, mask);
}
if (fault_masks[Axis::Selector]) {
mask = fault_masks[Axis::Selector];
if (mask) {
error |= ErrorCode::TMC_SELECTOR_BIT;
SetFaultDisplay(1, mask);
}
ml::leds.SetMode(3, ml::red, ml::off);
ml::leds.SetMode(3, ml::green, ml::off);
ml::leds.SetMode(4, ml::red, ml::on);
ml::leds.SetMode(4, ml::green, ml::off);
return true;
} else {
//TODO: Re-enable TOFF here

10
src/logic/hw_sanity.h
View File

@ -14,18 +14,20 @@ namespace logic {
class HWSanity : public CommandBase {
public:
inline HWSanity()
: CommandBase() {}
: CommandBase() {
Reset(0);
}
/// Restart the automaton
bool Reset(uint8_t param) override;
/// @returns true if the state machine finished its job, false otherwise.
/// LED indicators during the test execution:
/// Slots 1-3: Pin states for STEP, DIR, and ENA
/// Slots 1-3: Pin states for STEP, DIR, and ENA - G: Set value matches readback, R: Readback disagrees.
/// Slot 4: Axis under test - G: Idler, R: Selector, RG: Pully.
/// Slot 5: G: Blinking to indicate test progression. R: Solid to indicate completed test w/ fault.
/// Indicators at test end (fault condition):
/// Slots 1-3 now indicate pin
/// Slots 1-3 now indicate pins for Idler/Selector/Pulley, respectively:
/// - Off: No faults detected.
/// - G: STEP fault
/// - R: DIR fault
@ -36,6 +38,8 @@ public:
bool StepInner() override;
private:
static void SetFaultDisplay(uint8_t slot, uint8_t mask);
static uint8_t test_step;
static config::Axis axis;
static uint8_t fault_masks[3];