This is to solve a potential problem while feeding to printer's drive gears - while disengaging the Idler, the Pulley was still rotating to avoid grinding the filament (printer is pulling it).
Other filaments could have moved a bit when the Idler's bearings ran over them while the Pulley was still rotating slowly -> the filament could have been moved into the Selector's path causing trouble (especially when not used in the print).
Therefore, the Idler disengages partially now - moves into an intermediate position between the slots.
Then, the Pulley is completely stopped and after that the Idler does a full disengage like before.
We cannot get a constexpr definition of the register addresses, and any
reinterpret cast is currently illegal for a constexpr in c++17.
Change the SPI0, TIFR and TIMSK to volatile const pointers instead.
SPI0 has volatile members instead of marking the entire struct as
volatile, which is probably not a good idea as it technically drops the
volatile from the original pointer.
It looks like we don't have to reset the whole ToolChange state machine when resolving an error with the middle button (Retry) - but jump straight into the feeding phase.
The reasons are multiple:
- If an error happens during the unload phase, it is handled separately in the UnloadFilament state machine
- If an error happens during the feeding phase, the unload has been already successfully completed.
And when restarted from the very beginning, the ToolChange does the last retract sequence from the UnloadFilament phase
-> that is not healthy, because the filament gets pushed away from the Pulley and causes another error.
Sets the UI module into a mode when the printer is in charge of processing the buttons (from all sources).
That means the MMU will detect its buttons but it will not react upon them.
This mode is important for error recovery when the printer needs to do some stuff before the MMU (like preheating the nozzle).
It looks we have some kind of leak when filament sensor state is not completely coherent with FINDA state.
This is yet to be discovered and fixed with some unit tests.
If the MMU receives a command LoadFilament with a slot number SL we reject
the command to avoid moving the selector (effectively cutting the piece of filament present in FINDA).
That includes the scenario when the selector is standing at the very same slot SL, because the filament could be held by the printer (i.e. loaded in the nozzle).
There is one special case though - same slot AND filament load state == InSelector (it MUST NOT be anywhere farther)
Using U_mm inside a compilation unit will force the compiler to generate
a runtime copy of the function, and we don't want that.
But there seems also to be an optimization problem with gcc <= 7.x where
even when declaring an inline function constexpr, if called enough
times, the compiler will choose _not_ to evaluate the function at
compile time and thus avoid our compile-time float->integer
conversions...
For this reason, split the body of the function in two parts: the actual
function that uses AxisUnits at runtime for calling motion.PlanMove, and
a wrapper that forces the conversion. By marking this function as
always_inline, the body is correctly evaluated at compile time at each
call site.
It turned out FINDA needs running timer to perform BlockingInit() correctly.
Therefore setup() was split into setup() (no IRQ) and setup2() (IRQ enabled).
Then, finally, the check for FINDA state became reliable upon start of the FW.
Originally, only FeedingToBondtech was reported to the printer.
With PR#173 we have this operation separated into a fast and a slow stage (for MK3S with the chimney).
It looks like the printer could benefit from knowing if the MMU is still pushing fast
or when it entered the slow stage (to prevent ramming hard the Bondtech gears)
Along with this new state being reported, we also introduce a new ErrorCode::FSENSOR_TOO_EARLY
which basically means that the fsensor triggered in the fast feeding stage.
The acceleration_rate should really by a premultiplication by 1<<24 so
that the division in Step() (while calculating the acc_step_rate) can be
computed again with a right shift.
This was incorrectly changed to F_CPU, which was close enough but would
cause the acceleration to be always slighly slower than expected.
Fix the ratio, but keep the multiplication in fixed-point to avoid a
float conversion.
Correctly compute both the number of steps and direction when
under/overflowing the current position by performing a relative move.
This makes a repeated PlanMove() _always_ perform the move correcly,
even when the upper-level code might require to handle the overflow
itself for measurement.
Add tests for this condition by exposing the internal CurBlockShift() to
the motion unit tests.
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.
This solves a number of issues - if FINDA or FSensor failed,
the unload was never "complete" - filament was stuck in the selector
blocking it from normal operation.
Now, after all errors have been resolved, filament is explicitly FED
into FINDA and then RETRACTED to Pulley.
Slower loading speed is necessary for precise detection
of filament sensor trigger and starting rotation of the E-motor.
Experimentally it turned out speeds above 80mm/s tend to cause timing issues
(sometimes one can hear a crack as MMU' or the printer's drive gears
slip while pushing the filament).
Such a timing issue then causes blobs in purge towers.
On the other hand - 80mm/s for the fast part of filament load
seems not only absolutely reliable, but also very quiet.
120mm/s for unload is much louder (we may slow it down later)
Solves an interesting tiny issue introduced in the previous commits.
When we start with the filament in selector, the corresponding LED
is set to ON. However, all of the logic state machines only operated
on the LED pair of the active slot -> the starting LED may have been
left ON in some edge cases.
Now, this is resolved by clearing all other LEDs except for the active
slot where appropriate.
Both movable components now perform homing sequences transparently
whenever the logic layer invalidates the homingValid flag.
That reflects the fact, that the user may have moved the Idler or Selector
while trying to resolve a HW issue with un/loading filament.
Basic rules:
- Idler gets rehomed immediately and then moves into the target slot position
- Selector rehomes once it is possible - i.e. when filament load state
is AtPulley - then it immediately and spontanneously executes the homing
sequence and then returns to the desired state
Motivation:
- resolve startup issues (EEPROM says we have filament, but FINDA is not triggered)
- resolve accidental moves of Idler and/or Selector while
digging out stuck filament from the unit
Previously it looked like only the active block has been discarded
which worked most of the time, since we only planned single moves.
But with introduction of PlanLongMove in one of the last commits
this is not true anymore.
we may discuss when to check for the FSensor state and why,
but this approach seemed to me like the least invasive method
of just checking the fsensor state and reporting an error in case
it didn't switch off.
In AVR __builtin_abs() breaks for non-base types.
Provide a generic function and use an overload when it is safe to use
instead.
This fixes the underlying step count calculation in PlanMove, thus
removing the need for the PlanLongMove work-around.
- 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
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
Should also hopefully fix the random behavior of the DIR pins. When I was testing a really slow timing, the steppers seemed to want to not go in the right direction. That was fixed with the critical section. The 1us delay might be overkill, but I'm not the one that added a 100nF capacitor on the LATCH line (basically chip select). This might be part of the randomness that happened and why some board behaved better than others (stronger GPIO outputs)
- feed to finda engages the idler so no need to do that before
- retract from finda disengages the idler, again avoid double operation
LEDs set mostly by feed to finda and retract from finda
because of the change of semantics of LoadFilament operation.
LoadFilament pushes the filament into FINDA and then retracts it back just to keep the
filament ready to be grabbed by the idler and pulley and loaded into the printer's nozzle.
So the selector is not blocked by the filament -> filament NOT loaded
I hate when the compiler doesn't check something what it normally does:
`pgm_read_byte` is more than happy with a parameter (*str), which reads
an address at a location where *str points to - which is obviously not the intent.
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
kudos to @leptun for this original and actually a very clean idea.
For the start we report "Reset finished" which in fact corresponds with the MMU state pretty closely
and plays nicely even with the protocol implementation.
And, since the default startup command is the noCommand, which always returns "Finished"
the implementation is clean and straightforward - the response to the first Q0 messages
will look like "X0 F" until a command (T, L, U ...) has been issued.
D.R.racer
Alex Voinea
Yuri D'Elia
3d-gussner