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Prusa-Firmware-MMU
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22 Commits (bcba966a0e25ceeddfaec4d647f4b65fb46f1b9c)

Author SHA1 Message Date
D.R.racer b36e6b99a1 Add Pulley as a Movable module 
This PR brings the following improvements:
- unifies the error handling of TMC and Homing/Stallguard errors on all motorized modules (Idler, Selector, Pulley)
- now we distinguish between Homing and TMC errors + we have a separate handling of these two kinds into CommandBase unified for all motorized modules
- adds unit tests to verify the function
- fixes SetFINDAStateAndDebounce (didn't obey the press parameter before)
 2022-02-17 08:21:15 +01:00
D.R.racer 22522c253f Update code after rebase onto main 2021-10-21 15:16:29 +02:00
D.R.racer ee247246ee Fix unit tests 
- 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
 2021-10-21 07:55:41 +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
3d-gussner 763e33f79a Fix unit test: unload_filament 2021-08-31 06:59:29 +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 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
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 787c73ecff Merge remote-tracking branch 'upstream/main' into motion_wip 2021-07-12 10:25:06 +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 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
Alan Dragomirecký 996f0f5dc0 Fix formatting of cmake files 2021-07-07 16:33:16 +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 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 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