Several issues addressed in this PR:
- CutFilament tuning + error recovery
- introduce register 0x1d (cut filament selector iRun current level)
- optimize setting iRun and iHold currents in the FW
- CutFilament unit test fixed
The previous commits by @leptun were correct but there has been one call to Disable axis (and TMC) hidden in `InitMovement`.
Therefore `InitMovement` has been split into 2 separate functions - one is there to allow the original full axis reinit, but the other `InitMovementNoReinitAxis` now only prepares a move without reiniting the TMC driver.
This approach seems to have the benefit of fixing the Idler creep over time.
The disadvantage is the fact, that setting StallGuard threshold is no longer called. We may need to add a special piece of code to handle/apply SGTHRS change at runtime like before.
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)
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
- 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
we shall think about the Pulley as well, it looks like it should get its
own class just like Idler and Selector as it behaves very similarly in terms
of stepping and error checking
D.R.racer
Alex Voinea