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Prusa-Firmware-MMU
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148 Commits (98daf765aff8255d493a5640464a0e864d104a51)

Author SHA1 Message Date
Yuri D'Elia d55e01bb58 Motion/PulseGen: allow to abort a move for chaining 
Add a new parameter "halt" (default to true) to control the stopping
behavior:

- halt=true: no subsequent moves will be planned, motions stops abruptly
- half=false: a new move will be chained after the current one
 2021-08-30 12:49:34 +02:00
D.R.racer e0ea47595f Add unit tests for logic state machines reusal 
as it will work in the real FW
 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 8694c53033 Fixes after rebase onto main 2021-08-02 10:52:18 +02:00
D.R.racer aa5995368d Update to latest main + fix unit tests 
... in relation to the newly introduced stepping in physical units rather than in steps
 2021-08-02 10:52:18 +02:00
D.R.racer 16dc129b49 Set real slot positions for the Idler and Selector 
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
 2021-08-02 10:52:18 +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
D.R.racer a8147be803 Fix unit tests + rebase onto main + extract TMC parameters into config 2021-07-29 10:01:33 +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 98845008aa Rename Motion::CurrentPos to Position() 
This matches PulseGen::Position() and avoids confusion around the term
"current": Position() returns the head position in the queue, not the
"live" axis position.

We have PulseGen::CurPosition() now for this purpose, although we don't
expose it to Motion yet.
 2021-07-13 01:03:03 +02:00
Yuri D'Elia 787c73ecff Merge remote-tracking branch 'upstream/main' into motion_wip 2021-07-12 10:25:06 +02:00
Yuri D'Elia 9b0dd2d633 Motion: fix new Step() prototype 2021-07-12 09:58:53 +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 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
Yuri D'Elia ef7c776461 Update Motion for the new TMC2130/pins definitions 2021-07-07 16:59:04 +02:00
Alan Dragomirecký 996f0f5dc0 Fix formatting of cmake files 2021-07-07 16:33:16 +02:00
D.R.racer 43a423f299 Change buttons' ADC limits into an array 
as proposed by @vintagePC

cleaned-up some of the unit tests by this change
 2021-07-05 18:07:54 +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 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 d81b00a0f8 Test all filament slots 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 75fe7b20b5 Verify and fix Tool Change state machine + unit tests 2021-07-01 07:03:02 +02:00
D.R.racer ffae941a28 Fix unit tests of load/unload filament 2021-06-30 07:39:31 +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 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 807eda7db3 Add prototypes of remaining logic layer's unit tests 
- load filament
- feed to bondtech
- tool change
 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 1f8934c2c1 Fix+verify Cut filament unit test 
it now finished ok, but future tweaks and improvements are expected
 2021-06-21 10:22:17 +02:00
D.R.racer ede475c5a6 Introduce Timebase module, refactor timing code + unit tests 2021-06-21 10:22:17 +02:00
D.R.racer 398181e26c Feed to FINDA unit tests : green 2021-06-21 10:22:17 +02:00
D.R.racer d9b368bb92 Verify+fix second Feed to FINDA's unit test 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 b338949acb Shorten ADC reinit usage 2021-06-21 10:22:17 +02:00
D.R.racer 3cb3cebed9 Add forced reinit of all automata for the unit tests 
+ added a few constexpr to constructors on the way
 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 925201d77a Basic unit test structure for the logic layer 
It compiles the Cut Filament unit test with all the necessary components.
Still, the unit test does nothing.
 2021-06-21 10:22:17 +02:00
D.R.racer 7eb346a54d Add first unit test 
+proof of concept of Catch2 builds working in our repo
 2021-05-13 17:35:08 +02:00