Add registers for measured bowden lengths (individual slots)

src/logic/feed_to_bondtech.cpp

@@ -35,7 +35,7 @@ void FeedToBondtech::UpdateBowdenLength(int32_t feedEnd_mm) {
         static_assert(config::maximumBowdenLength.v <= 65535, "Max bowden length too long");
         int16_t mbl = (int16_t)measuredBowdenLength;
         int16_t difference = abs(mbl - mps::BowdenLength::Get(mg::globals.ActiveSlot()));
-        if (difference > 5) { // @@TODO 5_mm is it good enough?
+        if (difference > 10) { // @@TODO 10_mm is it good enough?
             mps::BowdenLength::Set(mg::globals.ActiveSlot(), mbl);
         }
     }
@@ -63,10 +63,10 @@ bool FeedToBondtech::Step() {
             state = PushingFilamentFast;
             mpu::pulley.InitAxis();
             // plan a fast move while in the safe minimal length
-            feedStart_mm = mm::motion.CurPosition(mm::Pulley);
+            feedStart_mm = mpu::pulley.CurrentPosition_mm();
             // fast feed in millimeters - if the EEPROM value is incorrect, we'll get the default length
             unit::U_mm fastFeedDistance = { (long double)mps::BowdenLength::Get(mg::globals.ActiveSlot()) };
-             mpu::pulley.PlanMove(fastFeedDistance,
+            mpu::pulley.PlanMove(fastFeedDistance,
                 mg::globals.PulleyLoadFeedrate_mm_s(),
                 mg::globals.PulleySlowFeedrate_mm_s());
             // plan additional slow move while waiting for fsensor to trigger
@@ -121,9 +121,7 @@ bool FeedToBondtech::Step() {
             dbg_logic_P(PSTR("Feed to Bondtech --> Idler disengaged"));
             dbg_logic_fP(PSTR("Pulley end steps %u"), mpu::pulley.CurrentPosition_mm());
             state = OK;
-            mpu::pulley.Disable();
+            UpdateBowdenLength(mpu::pulley.CurrentPosition_mm());
-            UpdateBowdenLength(mm::motion.CurPosition(mm::Pulley));
-            mm::motion.Disable(mm::Pulley);
             ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::on);
         }
         return false;

src/logic/feed_to_bondtech.h

@@ -59,7 +59,7 @@ private:
 
     uint8_t state;
     uint8_t maxRetries;
-    int32_t feedStart_mm; // intentionally trying to avoid using U_mm because it is a float (reps. long double)
+    int32_t feedStart_mm; // intentionally trying to avoid using U_mm because it is a float (resp. long double)
 };
 
 } // namespace logic

src/modules/permanent_storage.cpp

@@ -51,8 +51,6 @@ constexpr const uint16_t eepromBowdenLenDefault = config::defaultBowdenLength.v;
 constexpr const uint16_t eepromBowdenLenMinimum = config::minimumBowdenLength.v; ///< Minimum bowden length (~341 mm)
 constexpr const uint16_t eepromBowdenLenMaximum = config::maximumBowdenLength.v; ///< Maximum bowden length (~792 mm)
 
-// static_assert (mm::unitToSteps<mm::P_pos_t>(config::maximumBowdenLength) < 65535U, "");
-
 namespace ee = hal::eeprom;
 
 #define EEOFFSET(x) reinterpret_cast<size_t>(&(x))

src/registers.cpp

@@ -13,6 +13,7 @@
 #include "modules/globals.h"
 #include "modules/idler.h"
 #include "modules/pulley.h"
+#include "modules/permanent_storage.h"
 #include "modules/selector.h"
 
 /** @defgroup register_table Register Table
@@ -362,6 +363,31 @@ static const RegisterRec registers[] /*PROGMEM*/ = {
         [](uint16_t d) { d >= config::toolCount ? mi::idler.Disengage() : mi::idler.Engage(d); },
         1),
 
+    // 0x1d Detected bowden length slot 0 RW
+    RegisterRec(
+        []() -> uint16_t { return mps::BowdenLength::Get(0); },
+        [](uint16_t d) { mps::BowdenLength::Set(0, d); },
+        2),
+    // 0x1e Detected bowden length slot 1 RW
+    RegisterRec(
+        []() -> uint16_t { return mps::BowdenLength::Get(1); },
+        [](uint16_t d) { mps::BowdenLength::Set(1, d); },
+        2),
+    // 0x1f Detected bowden length slot 2 RW
+    RegisterRec(
+        []() -> uint16_t { return mps::BowdenLength::Get(2); },
+        [](uint16_t d) { mps::BowdenLength::Set(2, d); },
+        2),
+    // 0x20 Detected bowden length slot 3 RW
+    RegisterRec(
+        []() -> uint16_t { return mps::BowdenLength::Get(3); },
+        [](uint16_t d) { mps::BowdenLength::Set(3, d); },
+        2),
+    // 0x21 Detected bowden length slot 4 RW
+    RegisterRec(
+        []() -> uint16_t { return mps::BowdenLength::Get(4); },
+        [](uint16_t d) { mps::BowdenLength::Set(4, d); },
+        2),
 };
 
 static constexpr uint8_t registersSize = sizeof(registers) / sizeof(RegisterRec);