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Prusa-Firmware-MMU
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60 Commits (10e08021fbe95ea91808a4a2a21930f728434bb2)

Author SHA1 Message Date
D.R.racer b6d630d1c9 Clean up the code + introduce USB CDC module 
... and tune some more namespaces
 2021-09-23 13:06:36 +02:00
Alex Voinea 4f6ea16515 Functional USB reset 2021-09-20 19:01:08 +02:00
Alex Voinea 6346dd3989 USB reset initial 2021-09-20 17:31:45 +02:00
Alex Voinea 29018671b5 Reduce verbosity 2021-09-20 17:31:45 +02:00
Alex Voinea a8b1725dfe Line encoding update 2021-09-20 17:31:45 +02:00
Alex Voinea 9611db9f53 Fix formatting and 🐑 2021-09-20 17:31:45 +02:00
Alex Voinea 895671aeb2 Fix descriptors 2021-09-20 17:31:45 +02:00
Alex Voinea 26fd53251b Checkpoint 2021-09-20 17:31:45 +02:00
Alex Voinea d1fd815e0c Quick and dirty workaround 2021-09-20 16:36:44 +02:00
Alex Voinea 06b959bb66 watchdog configuration 2021-09-20 16:28:53 +02:00
Alex Voinea 56eee8dcfb Reset the board using the cpu hal instead of the watchdog hal 
Also some naming changes
 2021-09-20 16:28:42 +02:00
D.R.racer 3b46c35595 Add handling of the X0 message (restart the MMU) via Watchdog 2021-09-20 16:28:17 +02:00
D.R.racer 324ced6807 Add watchdog implementation + use it in main() 2021-09-20 16:28:17 +02:00
D.R.racer 3646b8b1c0 Change M0/M1 into a command 
That implies changing motor's mode from SpreadCycle into StealtMode (or vice versa)
requires a stand still MMU with no other command (i.e. motor moves) being performed.
This elegantly solves the synchronization problem of TMC2130 mode change, as it results
in severe jerking while a motor is moving.

The change in protocol is minimal - M0/M1 first return `M0 A` (accepted) and another `Q0` then
returns `M0 F` (finished). The MK4 counterpart may ignore the additional report if necessary
as the mode change is done immediately (shortly after responding with `M0 A`)
 2021-09-07 14:17:03 +02:00
D.R.racer 09f81f8b33 Leverage the ability of motion to SetMode to all know axes 2021-09-02 12:27:41 +02:00
D.R.racer 852ca37e8f Add stealtMode flag into the global storage hive 
May be used elsewhere to return to the desired motors' mode e.g. after homing
(which requires switching to normal mode)
 2021-09-02 12:27:41 +02:00
D.R.racer 1e6194a9b9 Add support for M0/M1 messages 
... route the messages into modules::motion's SetMode of all axes.
 2021-09-02 12:27:41 +02:00
D.R.racer b4d4807971 Add globa Panic() function 
The intent is to halt the firmware while retaining the reporting capabilities and blinking LEDs
 2021-08-31 14:19:40 +02:00
D.R.racer dc3d8941f7 Fix formatting 2021-08-31 06:59:29 +02:00
3d-gussner 003b2f6899 Change FINDA from ADC to digital 
Fix rebase issues
 2021-08-31 06:59:29 +02:00
Yuri D'Elia c7f3fae266 Implement an initial Motion ISR for AVR 
This is a tentative/crude implementation of an Init and ISR for the MMU
in order to check the motion API.

We remove the "extern void Isr", declaring it "static inline" instead.
We need to inline the ISR here in order to avoid the function call.

Include the missing speed_table data in the executable. This bumps the
code size to ~60% of the flash.

Implemement motion::Init to setup the ISR and timers, and replace the
call in main from tmc::Init to motion::Init. Motion will init each
driver every time the axis is enabled, so there should be no need for
a global module initialization (we need SPI, but this is initialized
earlier on by it's own module anyway).

The timer is currently setup without any HAL or proper TIMER1 wrapper.
This is to be improved later.

The real MMU unit seems to slow down quite a bit during acceleration.
At this point we need to inline some methods in PulseGen to avoid
overhead, however this breaks the stubs.
 2021-08-27 10:13:23 +02:00
Alex Voinea 8766642a21 Turn off all LEDs after Init 2021-08-23 08:18:47 +02:00
D.R.racer a982381728 Only start a new command if the previous one finished 
... that means with or without an error
and remember the Command's request message - to identify the responses
 2021-08-12 10:30:40 +02:00
D.R.racer c14c79f3ac Do not blink the left LED on start 2021-08-11 10:33:32 +02:00
D.R.racer 2f5dff6c5b Introduce short namespace aliases 
especially for modules
 2021-08-04 11:03:56 +02:00
Alex Voinea 9232e55563 millis interrupt 2021-08-04 10:51:33 +02:00
D.R.racer 751ee46450 Add bit masks for error codes for the TMC drivers 
+ add common error handling for idler and selector
+ improve error handling in command_base
+ rename ERR1xxxx errors to ERRxxxx (remove the '1')
 2021-08-02 07:45:45 +02:00
D.R.racer 8a1df52d79 Add support for reporting MMU errors via S3 msg 2021-07-26 09:34:40 +02:00
D.R.racer c81072d1d5 Add sending of response messages 2021-07-13 17:53:31 +02:00
Alex Voinea 4281e89e5d HAL adc 2021-07-12 16:55:37 +02:00
Yuri D'Elia 169665331e Change the pin definitions in order to be valid types 
Remove the constructor from GPIO_pin so that we can use brace
initialization at compile time.

Rewrite the contents of pins.h to construct GPIO_pin types directly by
the use of a simple preprocessor macro.

Makes the code type-check and easier to read/extend.
 2021-07-05 15:20:11 +02:00
Yuri D'Elia ab01413116 Call LED::Step() correctly 2021-06-30 12:39:03 +02:00
D.R.racer ffae941a28 Fix unit tests of load/unload filament 2021-06-30 07:39:31 +02:00
D.R.racer 9a8038ccb6 Add user_input module and use it instead of raw buttons 
Encapsulates buttons and commands coming from the communication
 2021-06-30 07:39:31 +02:00
D.R.racer ede475c5a6 Introduce Timebase module, refactor timing code + unit tests 2021-06-21 10:22:17 +02:00
Alex Voinea 19bc26219b Fix usart not working 2021-06-18 06:43:55 +02:00
Alex Voinea 113f9d7664 Fix build 2021-06-18 06:42:28 +02:00
Alex Voinea 6bd4db2681 Functional SHR16 2021-06-18 06:42:28 +02:00
D.R.racer 58fe013471 Fix compilation 2021-06-16 06:43:20 +02:00
D.R.racer dfb57bcae5 Add Load filament state machine 
+ printer's fsensor (external) module
+ state machine for loading to bondtech
 2021-06-14 07:34:59 +02:00
D.R.racer ea65b75120 Add Eject filament operation 
+ refactor other state machines a bit - Reset() now has the parameter which comes in the RequestMsg
 2021-06-14 07:34:59 +02:00
D.R.racer 96be4b18a2 main - add Idler and Selector modules into main loop stepping 2021-06-14 07:34:59 +02:00
D.R.racer 05ff998c01 Lay out the other high-level commands/operations 
- cut, eject, load filament, toolchange
- uncomment them in main.cpp
- their implementation is still empty
 2021-06-14 07:34:59 +02:00
D.R.racer 5b4eb0cee3 Extract Unload filament into a separate file 
+ cleanup the object structure
+ add no_command as the starting "operation" to simplify the rest of the command handling at runtime
 2021-06-14 07:34:59 +02:00
D.R.racer 271a2dd7df Minor tweaks after rebase onto main 2021-06-14 07:34:59 +02:00
D.R.racer 6f1624b718 Make logic prototype compilable 2021-06-14 07:34:59 +02:00
D.R.racer 2159558d88 Prototype of Unload Filament command/operation 
+ related stuff:
- command decoding+processing+reporting in main.cpp
- slight refactoring of modules
 2021-06-14 07:34:59 +02:00
D.R.racer 9f2b5e5ecb Add vscode configuration to allow easier switching among firmware and unit tests 2021-05-31 12:28:47 +02:00
D.R.racer 004db59da0 Add shift register interface and improve LED integration with it 2021-05-26 09:29:32 +02:00
D.R.racer 6cb072ce79 Rebase onto main + clean up the code a bit 2021-05-25 11:55:28 +02:00