Do not assume any step can be merged while moving three axes at the same
time.
Use the worst case scenario involving indepedent parameters for each
axis.
This commit looks horribly complex, but the main idea is to have each of the logic::commands
report their terminal OK state in the same way. That allow for leveraging this very moment
to initiate the idle timeout.
Additionally, I wanted to hide the logic of idle mode detection, which resulted in moving the
top level logic from main.cpp into logic/idle_mode.cpp and a set of additional files to compile
in unit tests.
- circular buffer can return its count of elements (even though a better solution may be implemeted later)
- stub_motion can handle multiple planned moves
- improved load/unload filament tests
This PR brings the option to move the selector directly using
buttons of the MMU - obviously while the MMU is idle and no
filament is stuck in the selector.
Left/Right buttons move the selector Left/Right.
Middle button performs a LoadFilament (into the MMU) on the active slot.
With this PR a change of LoadFilament behavior is also introduced.
Now, LoadFilament spins the Pulley for infinite time while waiting
for either FINDA trigger and/or a button pressed.
While motion queuing is safe, code that relies on the current block
needs to run with the isr disabled.
Protect AbortPlannedMoves and CurPosition from isr' interference by
using a RAII guard.
The principle has been implemented, but the TMC is not providing
the right data for some reason - homing doesn't work at all right now.
Also, after solving the physical homing, unit tests must be updated.
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)
Introduce axisUnitToTruncatedUnit to convert from an AxisUnit (now
conveniently returned from Motion::CurPosition) to a physical unit *but*
directly into a truncated integer type, avoiding conversions to long
double types at runtime.
The related function truncatedUnit perform the same truncation of a
constant unit, so that the result of axisUnitToTruncatedUnit and
truncatedUnit(unit) result in the same type for clarity.
Both functions accept a pre-multiplier, which is applied at compile
time for constant values when optimizations are enabled.
Fixes the motion stutters generally happening as more than a single
axis are active and one completes in the middle of the motion.
Do not generate a spourious interval as one axis exits the queue. This
short interval didn't account for the minimal stepping quantum,
potentially causing a timer overflow.
Yuri D'Elia
D.R.racer
Alex Voinea