Fix start MMU with filament blocking the selector

src/main.cpp

@@ -50,49 +50,6 @@ logic::CommandBase *currentCommand = &logic::noCommand;
 /// will look like "X0 F" until a command (T, L, U ...) has been issued.
 mp::RequestMsg currentCommandRq(mp::RequestMsgCodes::Reset, 0);
 
-// examples and test code shall be located here
-void TmpPlayground() {
-    using namespace hal;
-
-    // SPI example
-    //    gpio::Init(gpio::GPIO_pin(GPIOC, 6), gpio::GPIO_InitTypeDef(gpio::Mode::output, gpio::Level::high));
-    //    uint8_t dat[5];
-    //    gpio::WritePin(gpio::GPIO_pin(GPIOC, 6), gpio::Level::low);
-    //    spi::TxRx(SPI0, 0x01);
-    //    spi::TxRx(SPI0, 0x00);
-    //    spi::TxRx(SPI0, 0x00);
-    //    spi::TxRx(SPI0, 0x00);
-    //    spi::TxRx(SPI0, 0x00);
-    //    gpio::WritePin(gpio::GPIO_pin(GPIOC, 6), gpio::Level::high);
-    //    gpio::WritePin(gpio::GPIO_pin(GPIOC, 6), gpio::Level::low);
-    //    dat[0] = spi::TxRx(SPI0, 0x00);
-    //    dat[1] = spi::TxRx(SPI0, 0x00);
-    //    dat[2] = spi::TxRx(SPI0, 0x00);
-    //    dat[3] = spi::TxRx(SPI0, 0x00);
-    //    dat[4] = spi::TxRx(SPI0, 0x00);
-    //    gpio::WritePin(gpio::GPIO_pin(GPIOC, 6), gpio::Level::high);
-    //    (void)dat;
-
-    //    using namespace hal::gpio;
-    //    WritePin(GPIO_pin(GPIOB, 5), Level::low);
-    //    TogglePin(GPIO_pin(GPIOB, 6));
-    //    if (hal::gpio::ReadPin(GPIO_pin(GPIOB, 7)) == hal::gpio::Level::low)
-    //        break;
-
-    sei();
-    hu::usart1.puts("1234567890\n");
-    hu::usart1.puts("1234567890\n");
-    hu::usart1.puts("1234567890\n");
-    hu::usart1.puts("1234567890\n");
-    hu::usart1.puts("1234567890\n");
-    hu::usart1.puts("1234567890\n");
-    hu::usart1.puts("1234567890\n");
-    hu::usart1.puts("1234567890\n");
-    hu::usart1.puts("1234567890\n");
-    hu::usart1.puts("1234567890\n");
-    hu::usart1.puts("1234567890\n");
-}
-
 /// One-time setup of HW and SW components
 /// Called before entering the loop() function
 /// Green LEDs signalize the progress of initialization. If anything goes wrong we shall turn on a red LED
@@ -145,10 +102,7 @@ void setup() {
 
     mu::cdc.Init();
 
-    if (mg::globals.FilamentLoaded() < mg::FilamentLoadState::InFSensor) {
-        // home the Selector only in case we don't have filament loaded (or at least we think we don't)
-        ms::selector.Home();
-    }
+    ms::selector.Init(); // selector decides if homing is possible
     mi::idler.Home(); // home Idler every time
 
     _delay_ms(100);

src/modules/globals.cpp

@@ -9,7 +9,9 @@ namespace globals {
 Globals globals;
 
 void Globals::Init() {
-    mps::FilamentLoaded::get(activeSlot); //@@TODO check for errors
+    if (!mps::FilamentLoaded::get(activeSlot)) {
+        activeSlot = config::toolCount;
+    }
 
     if (activeSlot < config::toolCount) {
         // some valid slot has been recorded in EEPROM - we have some filament loaded in the selector or even in the nozzle

src/modules/selector.cpp

@@ -5,6 +5,7 @@
 #include "motion.h"
 #include "permanent_storage.h"
 #include "../debug.h"
+#include "globals.h"
 
 namespace modules {
 namespace selector {
@@ -72,5 +73,15 @@ bool Selector::Step() {
     }
 }
 
+void Selector::Init() {
+    if (mg::globals.FilamentLoaded() < mg::FilamentLoadState::InFSensor) {
+        // home the Selector only in case we don't have filament loaded (or at least we think we don't)
+        Home();
+    } else {
+        // otherwise set selector's position according to know slot positions (and pretend it is correct)
+        mm::motion.SetPosition(mm::Selector, SlotPosition(mg::globals.ActiveSlot()).v);
+    }
+}
+
 } // namespace selector
 } // namespace modules

src/modules/selector.h

@@ -38,6 +38,12 @@ public:
     /// @returns the index of idle position of the selector, usually 5 in case of 0-4 valid indices of filament slots
     inline static constexpr uint8_t IdleSlotIndex() { return config::toolCount; }
 
+    /// Initializes the selector after restart/cold boot
+    /// Reads the active slot from the EEPROM and decides if the selector is free or blocked by a piece of filament
+    /// - free -> home the selector
+    /// - blocked -> set selector's position according to the active filament slot
+    void Init();
+
 protected:
     virtual void PrepareMoveToPlannedSlot() override;
     virtual void PlanHomingMove() override;

tests/unit/logic/helpers/helpers.ipp

@@ -3,6 +3,22 @@ bool VerifyEnvironmentState(mg::FilamentLoadState fls, uint8_t idlerSlotIndex, u
     CHECKED_ELSE(mg::globals.FilamentLoaded() & fls) { // beware - abusing the values as bit masks to detect multiple situations at once
     return false;
     }
+    if( mg::globals.FilamentLoaded() >= mg::FilamentLoadState::InSelector ){
+        // check eeprom content - filament blocking the selector
+        uint8_t eeSlot = 0xff;
+        CHECKED_ELSE(mps::FilamentLoaded::get(eeSlot)){
+        return false;
+        }
+        CHECKED_ELSE(eeSlot == selectorSlotIndex){
+        return false;
+        }
+    } else {
+        // check eeprom content - filament blocking the selector
+        uint8_t eeSlot = 0xff;
+        CHECKED_ELSE(mps::FilamentLoaded::get(eeSlot) == false){
+        return false;
+        }
+    }
     CHECKED_ELSE(mm::axes[mm::Idler].pos == mi::Idler::SlotPosition(idlerSlotIndex).v) {
     return false;
     }

tests/unit/logic/stubs/main_loop_stub.cpp

@@ -1,6 +1,7 @@
 #include "main_loop_stub.h"
 
 #include "../../modules/stubs/stub_adc.h"
+#include "../../modules/stubs/stub_eeprom.h"
 #include "../../modules/stubs/stub_timebase.h"
 
 #include "../../../../src/modules/buttons.h"
@@ -52,6 +53,8 @@ void ForceReinitAllAutomata() {
     new (&ms::selector) ms::Selector();
     new (&mm::motion) mm::Motion();
 
+    hal::eeprom::ClearEEPROM();
+
     // no buttons involved ;)
     hal::adc::ReinitADC(config::buttonsADCIndex, hal::adc::TADCData({ 1023 }), 1);
 

tests/unit/modules/stubs/stub_eeprom.cpp

@@ -1,6 +1,7 @@
 #include "catch2/catch.hpp"
 
 #include "../../../../src/hal/eeprom.h"
+#include "stub_eeprom.h"
 
 #include <array>
 #include <stddef.h>
@@ -14,6 +15,10 @@ EEPROM eeprom;
 constexpr uint16_t eepromSize = 2048U;
 static std::array<uint8_t, eepromSize> EE;
 
+void ClearEEPROM() {
+    std::fill(EE.begin(), EE.end(), 0xff);
+}
+
 /// EEPROM interface
 void EEPROM::WriteByte(EEPROM::addr_t offset, uint8_t value) {
     REQUIRE(offset < EE.size());

tests/unit/modules/stubs/stub_eeprom.h

@@ -0,0 +1,11 @@
+#pragma once
+
+#include <stdint.h>
+
+namespace hal {
+namespace eeprom {
+
+void ClearEEPROM();
+
+} // namespace eeprom
+} // namespace hal