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Prusa-Firmware-MMU
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32 Commits (bcba966a0e25ceeddfaec4d647f4b65fb46f1b9c)

Author SHA1 Message Date
D.R.racer 18891dbeaf Add ClearButtons into unit tests 2022-02-17 08:21:15 +01:00
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 7d423df583 Swap buttons left<->right 2021-11-23 12:55:39 +01:00
D.R.racer 6f982e2505 Cleanup compiler warnings 2021-11-17 08:48:59 +01:00
D.R.racer 151adf810a Add ToolChange Error resolve Button2 unit tests 2021-11-17 08:48:59 +01:00
D.R.racer 515119edc8 Test ToolChange error recovery by button 0 and 1 2021-11-17 08:48:59 +01:00
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 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 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 5cf4a496e3 Introduce checking for enabled/disabled Pulley axis in unit tests 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 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 315530ec16 Rebase onto main, reflect FINDA change (ADC->digital pin) in unit tests 2021-09-02 12:15:55 +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
3d-gussner d5e473f9c9 Fix unit test: tool_change 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 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 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 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 75fe7b20b5 Verify and fix Tool Change state machine + unit tests 2021-07-01 07:03:02 +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 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