- 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
That includes:
- introduce pulley slow feedrate and fsensor-to-nozzle distance
in config necessary for slowly feeding the filament from fsensor into the nozzle.
(the constant is subject to extraction into some other config as it has to be used in the printer as well).
- update FeedToBondtech accordingly to perform a gentle push into the nozzle
after fsensor detects the filament + update its unit tests.
- slight cleanup of LoadFilament + fix its unit tests
- add FeedingToNozzle progress code, as it might be interesting
to inform the printer about this task in the future
- revert non-clean changes from RetractFromFinda - it should not disengage the idler
- revert incorrect + fix ToolChange
- clean-up UnloadFilament
Test performed by moving 500mm of filament back&forth 5 times across 5
pulleys of a MMU2 unit.
The error with this factor is centered around +/- 1.5mm depending on the
pulley and tension on the idler.
Avoid calling PulseGen::Step() on idle axes by checking for a non-zero
queue size (which is more efficient to compute).
Increase stepTimerQuantum to 128us to ensure acceleration can be
computed in realtime for 3 axes at the same time.
Fix the logic of the static assertion, which was flipped: we need to
create slices larger than the maximal step frequency in order to ensure
no axis is starved while moving.
The parameter config::AxisConfig::uSteps was supposed to be
microstepping resolution, but it's instead being used as the driver's
MRES directly.
To avoid a runtime conversion, rename the field to mRes and define a new
enum listing all the possible (and valid) microstepping resolutions.
This simplifies the code and makes clear the stepsPerUnit scale.
Assign correct stepsPerUnit to all axes as a result, including working
limits.
Extracted from the previous FW, may need some tuning based on units selected
for each of these axes (degrees, millimeters) - waiting for an update
of the motion implementation.
Updated starting conditions of the unit tests to reflect the global configuration.
MMU-58
Introduces a nasty hack to forcefully write into the constexpr SPI descriptor's registers
(which is the correct way in ASM, but kind of cumbersome in C++ now)
Introduces:
- config::Unit: base class for physical quantities
- motion::AxisUnit: type-checked steps type
"config/unit.h" defines basic physical quantities, which are not
normally used elsewhere besides config.h.
"modules/axisunit.h" extends the modules::motion namespace with
Axis-aware units, with one type per axis per unit.
P_pos_t defines step positions for the pulley, I_pos_t for the idler,
etc. These are defined through the literar operators which are
similarly named and automatically convert a physical quantity to an
AxisUnit at compile time:
P_pos_t pulley_pos = 10.0_P_mm;
Besides type-checking, AxisUnit are otherwise identical to raw step
counts and are intended to be used along with the updated Motion API.
PlanMove/PlanMoveTo has been extended to support moves using these units
or physical quantities. Again, conversion is performed at compile time.
- 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.
D.R.racer
Alex Voinea
3d-gussner
Yuri D'Elia