This PR brings the option to move the selector directly using
buttons of the MMU - obviously while the MMU is idle and no
filament is stuck in the selector.
Left/Right buttons move the selector Left/Right.
Middle button performs a LoadFilament (into the MMU) on the active slot.
With this PR a change of LoadFilament behavior is also introduced.
Now, LoadFilament spins the Pulley for infinite time while waiting
for either FINDA trigger and/or a button pressed.
Both movable components now perform homing sequences transparently
whenever the logic layer invalidates the homingValid flag.
That reflects the fact, that the user may have moved the Idler or Selector
while trying to resolve a HW issue with un/loading filament.
Basic rules:
- Idler gets rehomed immediately and then moves into the target slot position
- Selector rehomes once it is possible - i.e. when filament load state
is AtPulley - then it immediately and spontanneously executes the homing
sequence and then returns to the desired state
Motivation:
- resolve startup issues (EEPROM says we have filament, but FINDA is not triggered)
- resolve accidental moves of Idler and/or Selector while
digging out stuck filament from the unit
- 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
kudos to @leptun for this original and actually a very clean idea.
For the start we report "Reset finished" which in fact corresponds with the MMU state pretty closely
and plays nicely even with the protocol implementation.
And, since the default startup command is the noCommand, which always returns "Finished"
the implementation is clean and straightforward - the response to the first Q0 messages
will look like "X0 F" until a command (T, L, U ...) has been issued.
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`)
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.
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.
D.R.racer
Alex Voinea
3d-gussner
Yuri D'Elia