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Prusa-Firmware-MMU
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150 Commits (4e444477621ea7a4da2cd9e0c89dd16ff9f72b84)

Author SHA1 Message Date
D.R.racer fa4e687fdc Fix chopping negative move values in PlanLongMove 
+ use PlanLongMove in UnloadToFinda
+ fix comment in unit test
 2021-11-03 10:13:03 +01:00
D.R.racer 5f1e3e018e Workaround planning moves longer than 32K steps 2021-11-03 10:13:03 +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 63509af294 Fix cut filament unit tests 
still, this may need some more work in relation to PR #128
 2021-10-21 07:55:41 +02:00
D.R.racer 0fbcb9dac2 Tag all source files with @file for doxygen 2021-10-18 17:59:46 +02:00
D.R.racer abe2567c84 Fixes for loading filament into nozzle 
Slower speed once we reach the fsensor + avoid grind while disengaging the Idler
while the printer is already pulling the filament.
 2021-10-18 07:29:13 +02:00
D.R.racer d35bcd258a Refactor after rebase onto main 2021-10-14 14:27:56 +02:00
3d-gussner 63aead0ab8 Update eject to use FilamentLoadState NotLoaded 2021-10-12 18:11:05 +02:00
3d-gussner fb97e519aa Feed slowly if FilamentLoadState is unknown 2021-10-12 18:11:05 +02:00
D.R.racer 206923598b Fix error codes formatting 2021-10-12 18:11:05 +02:00
D.R.racer e1af08b3d5 Fix unit tests 
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
 2021-10-12 18:11:05 +02:00
Alex Voinea 0a1290102c Actually fix retract filament from finda 2021-10-12 18:11:05 +02:00
Alex Voinea 6071257973 Fix unloading state machine 2021-10-12 18:11:05 +02:00
3d-gussner 221f40c7a1 Fix issue that all tool changes after first one fail to change to planned slot 
Update Filament Load state
 2021-10-12 18:11:05 +02:00
3d-gussner 33b467f1bc Add debug to retract from finda 2021-10-12 18:11:05 +02:00
3d-gussner 62116b1283 Update debug 2021-10-12 18:11:05 +02:00
3d-gussner 82f2e8ec54 fix some debug output 2021-10-12 18:11:05 +02:00
3d-gussner f9561e6cf7 Remove double operations 
- feed to finda engages the idler so no need to do that before
- retract from finda disengages the idler, again avoid double operation
LEDs set mostly by feed to finda and retract from finda
 2021-10-12 18:11:05 +02:00
3d-gussner 5cfb0887d0 Disengage Idler after retracted from FINDA 
Add some dbg_logic output
 2021-10-12 18:11:05 +02:00
3d-gussner b752c5c4e7 Set FilamentLoaded state to InSelector if FINDA triggers 2021-10-12 18:11:05 +02:00
3d-gussner abf875bda0 After Load Filament is compeleted the slot LED should be off 2021-10-12 18:11:05 +02:00
3d-gussner dbf26d13ac Make search for error codes easier 2021-10-12 18:11:05 +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 5af0125672 LoadFilament should not set filament loaded (surprisingly) 
because of the change of semantics of LoadFilament operation.
LoadFilament pushes the filament into FINDA and then retracts it back just to keep the
filament ready to be grabbed by the idler and pulley and loaded into the printer's nozzle.

So the selector is not blocked by the filament -> filament NOT loaded
 2021-10-12 18:11:05 +02:00
D.R.racer b13214b7f5 Fix debug sprintf variant 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 236a40c6ef Use dbg_logic logging 
and improve the variadic version used to print formatted
text at some spots in previous commits
 2021-10-12 18:11:05 +02:00
D.R.racer bbd14ed217 Fix ToolChange operation + unit tests 2021-10-12 18:11:05 +02:00
D.R.racer 505930c576 Explain better final Idler state in FeedToFinda and FeedToBondtech 2021-10-12 18:11:05 +02:00
D.R.racer e0d1fe3b73 Extract common ErrDisengagingIdler state's implementation 2021-10-12 18:11:05 +02:00
D.R.racer 6426295e32 Change the semantics of load filament 
Load filament performs feed to FINDA and retract:
- engage idler
- feed normal to FINDA with config::feedToFinda distance until FINDA triggers
- retract normal and as soon FINDA un-triggers move back to PTFE config::cuttingEdgeToFindaMidpoint
- disengage the idler

That implied introducing another substate machine - RetractFromFinda, which does the opposite
of FeedToFinda while also checking for the FINDA switching off while retracting filament.

Still, ToolChange and CutFilament need fixing with this change
 2021-10-12 18:11:05 +02:00
D.R.racer 5eedeb0968 Remove redundant ::Color and ::Mode for LED colors and modes 
makes the code shorter and more readable, no identifier clashes revealed
 2021-10-12 18:11:05 +02:00
D.R.racer 53b329941f Keep constants start with lowercase letter 
and remove a few warnings from the build
 2021-10-12 18:11:05 +02:00
3d-gussner 0bead533df clang-format 2021-10-12 18:11:05 +02:00
3d-gussner 15adeaa180 Add DEBUG_LOGIC 2021-10-12 18:11:05 +02:00
3d-gussner b8259ac555 Fix some LED status 2021-10-12 18:11:05 +02:00
3d-gussner b1f50d8789 Use constants 2021-10-12 18:11:05 +02:00
3d-gussner 645d0b55ed Use constants 2021-10-12 18:11:05 +02:00
3d-gussner c0938e41d5 Use constants 2021-10-12 18:11:05 +02:00
3d-gussner ddcf24af43 Use constants 2021-10-12 18:11:05 +02:00
3d-gussner 5c44cf9ee0 Add UnloadingToFinda 2021-10-12 18:11:05 +02:00
3d-gussner afe732d3ff Use constants 2021-10-12 18:11:05 +02:00
3d-gussner 64bd2bb894 Use constants 2021-10-12 18:11:05 +02:00
D.R.racer 1a5cd52d58 Fix some doxygen comments 2021-09-29 13:28:34 +02:00
D.R.racer 8a5614844c Add more error codes for the printer's perspective 2021-09-29 13:28:34 +02:00
3d-gussner d3d992da5b Cheange LED modes to be consistent. 2021-09-23 10:04:50 +02:00
D.R.racer a380a698d9 Remove unnecessary #include 2021-09-07 14:17:03 +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 5a53acd802 Force Tool Change to load the filament if same slot but not loaded 
MMU-63
 2021-09-02 12:15:55 +02:00
Yuri D'Elia ee8c80e5c4 Motion: Panic if queue is full 
If the queue is full and a new move is queued, panic!

Introduce a new error code QUEUE_FULL to help diagnose situations where
the queue is handled improperly: likely one of the state machines not
waiting for the previous actions to finish.

PulseGen::PlanMove returns a boolean if the queue cannot be moved.
We could extend this to Motion::PlanMove, however all moves would then
have to check for this. Having a global check such as this ensures
we never ignore such situation.
 2021-09-02 12:00:59 +02:00
D.R.racer ac78619b5b Cache TMC error flags inside movable_base class 2021-09-02 08:35:56 +02:00
D.R.racer 5571e77809 Improve/fix some comments 2021-09-02 08:35:56 +02:00
D.R.racer 74629f0103 Fix reporting progress of running commands 
The problem was the error state while running a command - we never used the RUNNING error state.
 2021-09-02 08:35:56 +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 06c46b20a6 Turn off green LED after load/unload finished successfully 
MMU-65
 2021-08-30 17:34:46 +02:00
D.R.racer ccefe32ba1 Reset the error code for reusal of logic state machines 2021-08-12 10:30:40 +02:00
D.R.racer 9ba116e06e Handle slot indices out of range correctly at top level 
Besides Unload Filament, which only operates on active slot, all other
top level state machines check the validity of the command's parameter.
If the parameter is out of range for available slots, they return
ErrorCode::INVALID_TOOL now.
 2021-08-12 10:30:40 +02:00
D.R.racer 2f5dff6c5b Introduce short namespace aliases 
especially for modules
 2021-08-04 11:03:56 +02:00
D.R.racer ef96d998a3 Link top level error reporting to TMC2130 error flags 2021-08-02 07:45:45 +02:00
D.R.racer d94ad8b90e Merge coil errors, fix bit masks 2021-08-02 07:45:45 +02:00
D.R.racer f7c3d0b479 Fix axis bit masks 2021-08-02 07:45:45 +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 df2c1ba7fe Add prototype of unified handling of HW errors in the logic layer 2021-08-02 07:45:45 +02:00
D.R.racer f5df642eb5 Improve error codes 
- Distinguish among FINDA on/off failuje
- The same applies to newly introduced Filament sensor errors
- Add TMC init error
- Add a communication error ID - to be used on the printer
 2021-08-02 07:45:45 +02:00
Yuri D'Elia 1abc8713bb Fix ejectLength typo 2021-07-26 11:22:40 +02:00
Yuri D'Elia 49275b2cb2 Update eject_steps with the new unit API for demonstration 2021-07-25 17:25:37 +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 09819cb1aa Split the main CMakeLists.txt into more files within subdirectories 2021-07-12 09:09:21 +02:00
Yuri D'Elia 7337e97765 Rename Motion::DisableAxis to Disable 
Implement Motion::SetEnabled (for symmetry with TMC2130::SetEnabled).

Rename DisableAxis to Disable and use the new SetEnabled. This makes the
member names more consistent.
 2021-07-11 21:38:01 +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
D.R.racer 9efb127acb Explain and fix the LED states while cutting filament 
now the test is correct including LEDs
 2021-07-01 08:12:47 +02:00
D.R.racer 974c1ba6db Verify Cut filament state machine + update unit tests 2021-07-01 07:03:39 +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 2c89b14de1 Add doxygen main page dox file 2021-06-30 07:39:31 +02:00
D.R.racer 3f98ec03ca Fix doxygen documentation for the logic layer 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 46a40f7488 Extend Unload filament unit tests 
+ now error states are covered as well
+ greatly cleaned-up code
 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
D.R.racer 317a486d1e Logic layer Eject filament unit tests 
initial setup, it compiles, but is blocked by Unload filament
 2021-06-21 10:26:04 +02:00
D.R.racer 398181e26c Feed to FINDA unit tests : green 2021-06-21 10:22:17 +02:00
D.R.racer 85910497f7 Unify buttons' API with other modules 
- accepts millis() instead of doing the timing internally (which has
been a temporary solution just for the tests until now)
 2021-06-21 10:22:17 +02:00
D.R.racer b8f6bc9a4e Tune Feed to FINDA state machine and its unit test 
so that it works as expected

Still, there is a task of resetting all of the state machines just for
the next unit test to be run.
 2021-06-21 10:22:17 +02:00
D.R.racer f0a042c1b6 Add unit tests for Feed to FINDA state machine 
+ improve infrastructure
 2021-06-21 10:22:17 +02:00
D.R.racer d6c9e58e66 Add global state hive 
+ solve many TODO's in the code (active slot/extruder and filament loaded flag)
 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 7cab9dc915 Add Tool change operation 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 7bfc1bad97 Cut filament prototype state machine 2021-06-14 07:34:59 +02:00
D.R.racer 4a79b4b865 UnloadFilament - refactor for the new Idler API 2021-06-14 07:34:59 +02:00
D.R.racer 9caf680633 Add Feed to FINDA state machine 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 ca6de101c3 Logic - first try 2021-06-14 07:34:59 +02:00
D.R.racer f848c8d550 Create basic FW structure 
- Design API's based on our discussion and block diagrams
- Set doxygen rules/preferred syntax
 2021-04-19 07:03:47 +02:00