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

Detect stallguard on Selector+Idler - report MOVE_FAILED

pull/168/head
D.R.racer 2022-05-11 09:48:51 +02:00
parent fbb46e5951
commit f2e2859465
7 changed files with 52 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

42
src/logic/command_base.cpp
View File

@ -13,11 +13,11 @@
namespace logic {
inline ErrorCode &operator|=(ErrorCode &a, ErrorCode b) {
constexpr ErrorCode &operator|=(ErrorCode &a, ErrorCode b) {
return a = (ErrorCode)((uint16_t)a | (uint16_t)b);
}
static ErrorCode TMC2130ToErrorCode(const hal::tmc2130::ErrorFlags &ef) {
constexpr ErrorCode TMC2130ToErrorCode(const hal::tmc2130::ErrorFlags &ef) {
ErrorCode e = ErrorCode::RUNNING;
if (ef.reset_flag) {
@ -39,7 +39,7 @@ static ErrorCode TMC2130ToErrorCode(const hal::tmc2130::ErrorFlags &ef) {
return e;
}
static ErrorCode AddErrorAxisBit(ErrorCode ec, uint8_t tmcIndex) {
constexpr ErrorCode AddErrorAxisBit(ErrorCode ec, uint8_t tmcIndex) {
switch (tmcIndex) {
case config::Axis::Pulley:
ec |= ErrorCode::TMC_PULLEY_BIT;
@ -61,12 +61,14 @@ ErrorCode CheckMovable(mm::MovableBase &m) {
case mm::MovableBase::TMCFailed:
return AddErrorAxisBit(TMC2130ToErrorCode(m.TMCErrorFlags()), m.Axis());
case mm::MovableBase::HomingFailed:
return AddErrorAxisBit(ErrorCode::HOMING_FAILED, m.Axis());
return m.SupportsHoming() ? AddErrorAxisBit(ErrorCode::HOMING_FAILED, m.Axis()) : ErrorCode::RUNNING;
case mm::MovableBase::MoveFailed:
return m.SupportsHoming() ? AddErrorAxisBit(ErrorCode::MOVE_FAILED, m.Axis()) : ErrorCode::RUNNING;
}
return ErrorCode::RUNNING;
}
static inline ErrorCode WithoutAxisBits(ErrorCode ec) {
constexpr ErrorCode WithoutAxisBits(ErrorCode ec) {
return static_cast<ErrorCode>(
static_cast<uint16_t>(ec)
& (~(static_cast<uint16_t>(ErrorCode::TMC_SELECTOR_BIT)
@ -93,19 +95,35 @@ bool CommandBase::WaitForOneModuleErrorRecovery(ErrorCode ec, modules::motion::M
}
switch (state) {
case ProgressCode::ERRWaitingForUser: // waiting for a recovery - mask axis bits:
if (WithoutAxisBits(ec) == ErrorCode::HOMING_FAILED) {
// homing can be recovered
mui::Event ev = mui::userInput.ConsumeEvent();
if (ev == mui::Event::Middle) {
recoveringMovableErrorAxisMask |= axisMask;
m.PlanHome(); // force initiate a new homing attempt
case ProgressCode::ERRWaitingForUser: { // waiting for a recovery - mask axis bits:
mui::Event ev = mui::userInput.ConsumeEvent();
if (ev == mui::Event::Middle) {
switch (WithoutAxisBits(ec)) {
case ErrorCode::MOVE_FAILED:
// A failed move can be recovered for Idler and Selector (doesn't make sense on the Pulley).
// But - force initiate a new homing attempt of BOTH Idler and Selector (that's the main difference from HomingFailed)
// because we expect the user disassembled the whole MMU to remove a stuck piece of filament
// and therefore we cannot rely on Idler's and Selector's position
recoveringMovableErrorAxisMask |= 0x3; // @@TODO better axis masks
mi::idler.PlanHome();
ms::selector.PlanHome();
state = ProgressCode::Homing;
error = ErrorCode::RUNNING;
break;
case ErrorCode::HOMING_FAILED:
// A failed homing can be recovered
recoveringMovableErrorAxisMask |= axisMask;
m.PlanHome(); // force initiate a new homing attempt just on the failed axis
state = ProgressCode::Homing;
error = ErrorCode::RUNNING;
break;
default:
break;
}
}
// TMC errors cannot be recovered safely, waiting for power cycling the MMU
return true;
}
default:
return true; // prevent descendant from taking over while in an error state
}

5
src/logic/error_codes.h
View File

@ -46,6 +46,11 @@ enum class ErrorCode : uint_fast16_t {
///< - a piece of filament was left inside - pushed in front of the loaded filament causing the fsensor trigger too early
///< - fsensor is faulty producing bogus triggers
MOVE_FAILED = 0x800a, ///< generic move failed error - always reported with the corresponding axis bit set (Idler or Selector) as follows:
MOVE_SELECTOR_FAILED = MOVE_FAILED | TMC_SELECTOR_BIT, ///< E32905 the Selector was unable to move to desired position properly - that means something is blocking its movement, e.g. a piece of filament got out of pulley body
MOVE_IDLER_FAILED = MOVE_FAILED | TMC_IDLER_BIT, ///< E33033 the Idler was unable to move - unused at the time of creation, but added for completeness
MOVE_PULLEY_FAILED = MOVE_FAILED | TMC_PULLEY_BIT, ///< E32841 the Pulley was unable to move - unused at the time of creation, but added for completeness
QUEUE_FULL = 0x802b, ///< E32811 internal logic error - attempt to move with a full queue
VERSION_MISMATCH = 0x802c, ///< E32812 internal error of the printer - incompatible version of the MMU FW

2
src/modules/idler.h
View File

@ -51,6 +51,8 @@ public:
/// - blocked -> set idler's position according to the active filament slot
void Init();
virtual bool SupportsHoming() override { return true; }
protected:
virtual void PrepareMoveToPlannedSlot() override;
virtual void PlanHomingMoveForward() override;

7
src/modules/movable_base.cpp
View File

@ -36,6 +36,13 @@ void MovableBase::PerformMove() {
// TMC2130 entered some error state, the planned move couldn't have been finished - result of operation is Failed
tmcErrorFlags = mm::motion.DriverForAxis(axis).GetErrorFlags(); // save the failed state
state = TMCFailed;
} else if (mm::motion.StallGuard(axis) && SupportsHoming()) {
// Axis stalled while moving - dangerous especially with the Selector
// Checked only for axes which support homing (because we plan a homing move after the error is resolved to regain precise position)
mm::motion.StallGuardReset(axis);
mm::motion.AbortPlannedMoves(axis, true);
// @@TODO move a bit back from where it came from to enable easier removal of whatever is blocking the axis
state = MoveFailed;
} else if (mm::motion.QueueEmpty(axis)) {
// move finished
currentSlot = plannedSlot;

5
src/modules/movable_base.h
View File

@ -17,7 +17,8 @@ public:
HomeForward,
HomeBack,
TMCFailed,
HomingFailed
HomingFailed,
MoveFailed,
};
/// Operation (Engage/Disengage/MoveToSlot) return values
@ -67,6 +68,8 @@ public:
inline config::Axis Axis() const { return axis; }
virtual bool SupportsHoming() = 0;
protected:
/// internal state of the automaton
uint8_t state;

2
src/modules/pulley.h
View File

@ -34,6 +34,8 @@ public:
void InitAxis();
void Disable();
virtual bool SupportsHoming() override { return false; }
protected:
virtual void PrepareMoveToPlannedSlot() override {}
virtual void PlanHomingMoveForward() override {}

2
src/modules/selector.h
View File

@ -40,6 +40,8 @@ public:
/// - blocked -> set selector's position according to the active filament slot
void Init();
virtual bool SupportsHoming() override { return true; }
protected:
virtual void PrepareMoveToPlannedSlot() override;
virtual void PlanHomingMoveForward() override;