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Prusa-Firmware-MMU
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25 Commits (18891dbeaf5d587ed7def44ae2c0900510f5aea2)

Author SHA1 Message Date
D.R.racer b36e6b99a1 Add Pulley as a Movable module 
This PR brings the following improvements:
- unifies the error handling of TMC and Homing/Stallguard errors on all motorized modules (Idler, Selector, Pulley)
- now we distinguish between Homing and TMC errors + we have a separate handling of these two kinds into CommandBase unified for all motorized modules
- adds unit tests to verify the function
- fixes SetFINDAStateAndDebounce (didn't obey the press parameter before)
 2022-02-17 08:21:15 +01:00
D.R.racer ea8dd7e365 Unload now rechecks the position of filament after recovery 
This solves a number of issues - if FINDA or FSensor failed,
the unload was never "complete" - filament was stuck in the selector
blocking it from normal operation.

Now, after all errors have been resolved, filament is explicitly FED
into FINDA and then RETRACTED to Pulley.
 2022-01-19 17:08:35 +01:00
D.R.racer 6f982e2505 Cleanup compiler warnings 2021-11-17 08:48:59 +01:00
D.R.racer 22522c253f Update code after rebase onto main 2021-10-21 15:16:29 +02:00
D.R.racer 9438253106 Avoid trying to unload filament when not loaded 
however, it looks like the EEPROM is not updated correctly, needs more testing
 2021-10-21 15:16:29 +02:00
D.R.racer ee247246ee Fix unit tests 
- fix homing procedure for Idler and Selector
  (homing now ends with a move to the Parking position)
- fix unit tests' startup conditions with regard to necessary
  homing of Idler and Selector

TODO: still test_cut_filament fails for minor reasons
 2021-10-21 07:55:41 +02:00
D.R.racer c26cc30185 Add finer filament loaded states and improve unit tests 
We need to know better where the filament is, a simple "filament loaded true/false"
does not correspond to the reality.
 2021-10-12 18:11:05 +02:00
D.R.racer 5cf4a496e3 Introduce checking for enabled/disabled Pulley axis in unit tests 2021-10-12 18:11:05 +02:00
D.R.racer 1563559685 Fix startup conditions for Unload to FINDA state machine tests 2021-10-12 18:11:05 +02:00
3d-gussner 3d121c1ca9 Fix unit test: unload_to_finda 2021-08-31 06:59:29 +02:00
D.R.racer 2f5dff6c5b Introduce short namespace aliases 
especially for modules
 2021-08-04 11:03:56 +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
Yuri D'Elia d955897829 Convert config::selectorSlotPositions to physical units 2021-07-25 23:13:28 +02:00
Yuri D'Elia 6daf7fd060 Convert config::idlerSlotPositions to physical units 2021-07-25 22:39:18 +02:00
Yuri D'Elia 787c73ecff Merge remote-tracking branch 'upstream/main' into motion_wip 2021-07-12 10:25:06 +02:00
Alan Dragomirecký cf5b1c3955 Do not use hard-to-read relative paths in CMake 2021-07-12 09:09:21 +02:00
Yuri D'Elia d87db1ff76 Revised WIP for the Motion API 
- Remove the combined PlanMove(a,b,c,rate) call. If we allow the units
  of the various motors to be changed at compile time, the unit of
  rate can vary between axes.
- Build PlanMove on top of the absolute PlanMoveTo.
- Add required stubs for TMC2130.
- Allow each axis mode to be set independently, since we have this
  feature for free anyway.
- Rework internals to use PulseGen data types and structs.
 2021-07-07 16:59:39 +02:00
Alan Dragomirecký 996f0f5dc0 Fix formatting of cmake files 2021-07-07 16:33:16 +02:00
D.R.racer b484eeacb6 Start using config.h 
Added some constexpr vars for buttons, finda, fsensor and
applied them in the FW and unit tests accordingly.
 2021-07-05 18:07:54 +02:00
Yuri D'Elia 7c7aa95445 Mock GPIO when building tests 
Add some conditional statements in gpio.h so that we can mock the GPIO
registers when building tests.
 2021-07-05 15:20:11 +02:00
D.R.racer ffae941a28 Fix unit tests of load/unload filament 2021-06-30 07:39:31 +02:00
D.R.racer c15b1d59c4 Introduce Doxyfile + fix modules documentation 2021-06-30 07:39:31 +02:00
D.R.racer f6e5d4ae76 Improve and verify Load filament alg and unit tests 2021-06-30 07:39:31 +02:00
D.R.racer ce20f0b001 Greatly improve unload filament unit test 
+ relevant changes for other unit tests -> prepare for improving
of the other unit tests as well
 2021-06-30 07:39:31 +02:00
D.R.racer 4d6d6fe0af Add more checks (esp. positions of idler and selector) 
that resulted in finding several weak spots and now Cut and Eject filament
do not pass the test (which is correct, they really have logical issues)
 2021-06-21 10:28:56 +02:00