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Prusa-Firmware-MMU
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814 Commits (66780e10abf604e7659769a03d4e8866b19c5d61)

Author SHA1 Message Date
D.R.racer 88a489e3cb Add runtime iHold <= iRun check 
+ refactor TMC register compilation (saves 26B)
+ update currents registers range documentation
+ update currents even in MovableBase::InitMovementNoReinitAxis
 2022-12-29 11:27:34 +01:00
D.R.racer 425f89c862 Optimization - save 30B 2022-12-29 11:27:34 +01:00
D.R.racer 0bca66aeb5 Allow runtime config/register motor/axis iRun current 
This commit introduces a new set of registers 0x1e, 0x1f and 0x20 which allow reading and writing iRun current values for each axis/motor.
Please note the register contains raw TMC2130 iRun value which needs to be translated into mA to be understandable by people.
Translation table of iRun -> mA is present in tmc2130.cpp for now.
 2022-12-29 11:27:34 +01:00
D.R.racer 9c9322d02f Remove old commented code 2022-12-29 09:01:27 +01:00
D.R.racer b16ac63c5d Compute vSense dynamically from iRun/iHold 2022-12-29 09:01:27 +01:00
D.R.racer 7e8ad83e25 Distinguish iRun<32 
as per suggestion from @leptun
 2022-12-28 12:15:47 +01:00
D.R.racer e469929c1c Remove ErrEngagingIdler state 2022-12-28 12:15:47 +01:00
D.R.racer ada4ed3dda Workaround INVALID_TOOL error codes 
May meed some more work to recover gracefully, not sure if it is just a unit test "issue" or a deeper problem in the state machines.
 2022-12-28 12:15:47 +01:00
D.R.racer a52f833223 Fix and tune CutFilament + unit tests 
Several issues addressed in this PR:
- CutFilament tuning + error recovery
- introduce register 0x1d (cut filament selector iRun current level)
- optimize setting iRun and iHold currents in the FW
- CutFilament unit test fixed
 2022-12-28 12:15:47 +01:00
D.R.racer b6c3cba396 Refactor CheckFINDAvsEEPROM and setup2 2022-12-27 12:41:29 +01:00
D.R.racer 98daf765af Separate NoCommand and StartUp (new state machine) 
The reasons for this change are:
- NoCommand is used during the lifetime of the firmware as a fallback in case an unknown command is received (simplifies command handling code). It must remain not doing anything.
- StartUp became a complex infrastructure which needs to "live" until an error is fixed (if any). That requires a "standard" StateInner() function which waits for the user to resolve the error.

Unit tests renamed as well.
 2022-12-27 12:41:29 +01:00
Guðni Már Gilbert 35344f5a5e If Finda is not pressed, don't report Unload Manually error 2022-12-27 12:41:29 +01:00
Guðni Már Gilbert 8f212a5cb3 Add unit tests 2022-12-27 12:41:29 +01:00
Guðni Már Gilbert 4d38d1f620 PFW-1423 add Retry handling in NoCommand for init error 2022-12-27 12:41:29 +01:00
D.R.racer 3988a9aff0 Improve logging in unit tests' helpers.ipp 
Based on work from @gudnimg: https://github.com/gudnimg/Prusa-Firmware-MMU-Private/tree/MMU-206
 2022-12-20 10:35:59 +01:00
D.R.racer 3e9410c4f9 Fix: make sure VerifyEnvironmentState checks filamentLoaded reliably 
... and improve unit tests
 2022-12-20 06:32:51 +01:00
Guðni Már Gilbert 964ef0ce3d
Merge pull request #250 from gudnimg/Sync-with-MK3 
Bump prusa3dboards and don't build with debug symbols when using VScode
 2022-12-18 17:55:39 +00:00
Guðni Már Gilbert 6818ac3538 Sync with MK3 
- Bump prusa3dboards package
- Set CMake Build Type to Release, otherwise building with this kit doesn't work (debug symbols don't fit)
-  Rename kit to be same as on MK3 firmware
 2022-12-18 17:41:22 +00:00
Guðni Már Gilbert 6a4ebdaee6 optimisation: inline functions to reduce size 
Change in memory:
Flash: -394 bytes
SRAM: 0 bytes

Breakdown:
|------------------------------------------------------------|
| Function name                            | Flash reduction |
|------------------------------------------| ----------------|
|CommandBase::FinishedOK                   | 182 bytes       |
|MovableBase::InitMovementNoReinitAxis     | 60 bytes        |
|TMC2130::CheckForErrors                   | 36 bytes        |
|Protocol::UInt16ToHex                     | 32 bytes        |
|AddErrorAxisBit                           | 24 bytes        |
|Application::CheckManualOperation         | 22 bytes        |
|CommandBase::GoToErrEngagingIdler         | 12 bytes        |
|Application::PlanCommand                  | 12 bytes        |
|Pulley::FinishHomingAndPlanMoveToParkPos  | 8 bytes         |
|Pulley::InitAxis                          | 4 bytes         |
|------------------------------------------------------------|
 2022-11-19 11:55:46 +01:00
D.R.racer c0189d81af Distinguish among different error states when recovering ToolChange 
Some errors need specific recovery, it seems it is no longer possible to "just" retry.
 2022-11-18 22:42:05 +01:00
D.R.racer c8c39f7b69 Make sure ToolChange moves Selector to desired slot 
and verify correct behaviour in unit tests - especially when Selector's start position is at a different slot.
 2022-11-18 22:29:01 +01:00
Guðni Már Gilbert 2f6e364ad0 optimisation: compiler should not inline SetFilamentLoaded 
Change in memory:
Flash: -130 bytes
SRAM: 0 bytes
 2022-11-18 21:33:46 +01:00
D.R.racer eba2c298d1 Raise version to 2.1.5 
because we introduced a new error code
 2022-11-17 07:32:38 +01:00
D.R.racer 08f777b5cb Introduce FINDA_FLICKERS error code 
Intended for scenarios when FINDA used to be OFF but accidentally became ON without a reason.
The user is obliged to inspect FINDA and tune its switching.
 2022-11-17 07:32:38 +01:00
D.R.racer 3f09ba0c16 Unit tests: selector refused to move in ToolChange 
Revealed all kinds of subtle issues (which is great). All have been fixed in this commit.
 2022-11-17 07:32:38 +01:00
D.R.racer 8d992e2706 Report Selector refused to move as FINDA_DIDNT_SWITCH_OFF 
MMU-176
 2022-11-17 07:32:38 +01:00
D.R.racer c74d418016 Invalidate Idler+Selector homing flags when Retry from ToolChange Error 
If FSENSOR_DIDNT_SWITCH_ON was caused by misaligned Idler, rehoming it may fix the issue when auto retrying -> no user intervention.
So first invalidate homing flags as the user may have moved the Idler or Selector accidentally.

Beware: we may run into issues when FINDA or FSensor do not work correctly. Selector may rely on the presumed filament position and actually cut it accidentally when trying to rehome.
It is yet to be seen if something like this can actually happen.

MMU-191
 2022-11-15 17:42:12 +01:00
Alex Voinea 0e896cae85 Fix bootloader file generation 2022-11-15 10:43:34 +01:00
D.R.racer 299a31b765 Generate exactly 1 userInput event when button pressed (and held) 
This PR is a different solution to what @gudnimg found in PR#233 / PFW-1404.

The benefit of this approach is the fact, that the button press event is generated when the button is pressed and not after it has been released.

The downside is obvious:
CPUFLASH: +28B
RAM: +1B
 2022-11-15 07:19:20 +01:00
VintagePC 8ae82dd6b3 Build bootloader hex too 2022-11-11 16:28:39 +01:00
Alex Voinea a4463b9734 Selector: use freewheeling 2022-11-11 10:46:21 +01:00
Guðni Már Gilbert 21a3ceb2b2 PFW-1428 Enable UART1 receiver when the MMU is ready to process incoming messages 2022-11-01 06:39:10 +01:00
Guðni Már Gilbert 144725ab11
Merge pull request #232 from gudnimg/fix-firmware-panic-error-report 
Fix issue where firmware panic error code is overwritten
 2022-10-28 10:25:21 +00:00
Guðni Már Gilbert 394f290bfb Check for ERRInternal in command_base Step() 
Reduces code size significantly
 2022-10-27 15:40:15 +00:00
Guðni Már Gilbert ef4246dd9a Fix issue where firmware panic error code is overwritten 
If QUEUE_FULL error happened, it would be overwritten as INTERNAL
and incorrectly display FW_RUNTIME_ERROR on MK3S.

The fix is to add handling for ERRInternal in every StepInner() and forward the error
to higher application layer
 2022-10-26 20:39:28 +00:00
Guðni Már Gilbert 0e625dc551 circular_buffer: implement reset() 
reset() discards any data in the buffer (head == tail)

Change in memory:
Flash: -116 bytes
SRAM: 0 bytes
 2022-10-25 07:21:33 +02:00
Yuri D'Elia 8a0ede668c
Merge pull request #230 from wavexx/abort_tests 
motion: Add tests for unscheduled moves in AbortPlannedMoves
 2022-10-22 18:13:54 +02:00
Alex Voinea 09d3527f90
Merge pull request #225 from leptun/hwSanity_disable_steppers_after_test 
hwSanity: Disable the steppers after test
 2022-10-22 18:04:38 +02:00
Yuri D'Elia 3567a3dcd5 motion: Also test for the simplest case of a single+unplanned move 2022-10-22 17:40:28 +02:00
Yuri D'Elia 7053755b0e motion: Add tests for unscheduled moves in AbortPlannedMoves 
This catches the previously untested #228
 2022-10-22 17:21:08 +02:00
Guðni Már Gilbert 0506af08ac
Merge pull request #226 from gudnimg/parallel-unit-tests 
Run unit tests in parallel when possible
 2022-10-22 14:50:17 +00:00
Alex Voinea 3b85df297e hwSanity: Disable the steppers after test 
flash: -44
RAM: 0
 2022-10-22 16:48:48 +02:00
Guðni Már Gilbert 709b616948
Merge pull request #228 from gudnimg/abortplannedmoves-gudni 
Empty the entire block_index queue when planned moves are aborted
 2022-10-22 14:44:24 +00:00
Guðni Már Gilbert 7bbee87a08 Empty the entire block_index queue when planned moves are aborted 2022-10-22 14:10:31 +00:00
Yuri D'Elia e045225167
Merge pull request #229 from wavexx/catch2_v3_subrepo 
Update Catch2 to v3.1.1
 2022-10-22 16:05:31 +02:00
Guðni Már Gilbert 353affb9f3 Optimise Catch2 V3 includes + fix a few cases of missing includes 2022-10-22 15:41:44 +02:00
Guðni Már Gilbert 45f70e004c Update CMake integration for Catch v3.1.0 2022-10-22 15:41:44 +02:00
Yuri D'Elia 7ba6850411 Update Catch2 v3.1.1 
Re-initialize subrepo
 2022-10-22 15:41:14 +02:00
Guðni Már Gilbert 8c5c84cc17 Formatting 2022-10-21 22:03:08 +00:00
Guðni Már Gilbert d6029f7fd2 Move the other Ctest arguments into a single variable 2022-10-21 22:02:19 +00:00