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Convert mmu_state to enum.

This commit is contained in:
Marek Bel 2019-02-12 21:43:26 +01:00
parent 6c8d9c6fb4
commit 3379fb4866
1 changed files with 51 additions and 34 deletions
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85
Firmware/mmu.cpp
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@ -30,11 +30,28 @@
#define MMU_RST_PIN 76 #define MMU_RST_PIN 76
#endif //MMU_HWRESET #endif //MMU_HWRESET
namespace
{
enum class S
{
WaitStealthMode = -5,
GetFindaInit,
GetBuildNr,
GetVersion,
Init,
Disabled,
Idle,
GetFinda,
WaitCmd, //!< wait for command response
GetDrvError, //!< get power failures count
};
}
bool mmu_enabled = false; bool mmu_enabled = false;
bool mmu_ready = false; bool mmu_ready = false;
bool mmu_fil_loaded = false; //if true: blocks execution of duplicit T-codes bool mmu_fil_loaded = false; //if true: blocks execution of duplicit T-codes
static int8_t mmu_state = 0; static S mmu_state = S::Disabled;
uint8_t mmu_cmd = 0; uint8_t mmu_cmd = 0;
@ -114,7 +131,7 @@ void mmu_init(void)
uart2_init(); //init uart2 uart2_init(); //init uart2
_delay_ms(10); //wait 10ms for sure _delay_ms(10); //wait 10ms for sure
mmu_reset(); //reset mmu (HW or SW), do not wait for response mmu_reset(); //reset mmu (HW or SW), do not wait for response
mmu_state = -1; mmu_state = S::Init;
PIN_INP(IR_SENSOR_PIN); //input mode PIN_INP(IR_SENSOR_PIN); //input mode
PIN_SET(IR_SENSOR_PIN); //pullup PIN_SET(IR_SENSOR_PIN); //pullup
} }
@ -155,9 +172,9 @@ void mmu_loop(void)
// printf_P(PSTR("MMU loop, state=%d\n"), mmu_state); // printf_P(PSTR("MMU loop, state=%d\n"), mmu_state);
switch (mmu_state) switch (mmu_state)
{ {
case 0: case S::Disabled:
return; return;
case -1: case S::Init:
if (mmu_rx_start() > 0) if (mmu_rx_start() > 0)
{ {
#ifdef MMU_DEBUG #ifdef MMU_DEBUG
@ -165,15 +182,15 @@ void mmu_loop(void)
puts_P(PSTR("MMU <= 'S1'")); puts_P(PSTR("MMU <= 'S1'"));
#endif //MMU_DEBUG #endif //MMU_DEBUG
mmu_puts_P(PSTR("S1\n")); //send 'read version' request mmu_puts_P(PSTR("S1\n")); //send 'read version' request
mmu_state = -2; mmu_state = S::GetVersion;
} }
else if (_millis() > 30000) //30sec after reset disable mmu else if (_millis() > 30000) //30sec after reset disable mmu
{ {
puts_P(PSTR("MMU not responding - DISABLED")); puts_P(PSTR("MMU not responding - DISABLED"));
mmu_state = 0; mmu_state = S::Disabled;
} }
return; return;
case -2: case S::GetVersion:
if (mmu_rx_ok() > 0) if (mmu_rx_ok() > 0)
{ {
fscanf_P(uart2io, PSTR("%u"), &mmu_version); //scan version from buffer fscanf_P(uart2io, PSTR("%u"), &mmu_version); //scan version from buffer
@ -182,10 +199,10 @@ void mmu_loop(void)
puts_P(PSTR("MMU <= 'S2'")); puts_P(PSTR("MMU <= 'S2'"));
#endif //MMU_DEBUG #endif //MMU_DEBUG
mmu_puts_P(PSTR("S2\n")); //send 'read buildnr' request mmu_puts_P(PSTR("S2\n")); //send 'read buildnr' request
mmu_state = -3; mmu_state = S::GetBuildNr;
} }
return; return;
case -3: case S::GetBuildNr:
if (mmu_rx_ok() > 0) if (mmu_rx_ok() > 0)
{ {
fscanf_P(uart2io, PSTR("%u"), &mmu_buildnr); //scan buildnr from buffer fscanf_P(uart2io, PSTR("%u"), &mmu_buildnr); //scan buildnr from buffer
@ -202,7 +219,7 @@ void mmu_loop(void)
puts_P(PSTR("MMU <= 'P0'")); puts_P(PSTR("MMU <= 'P0'"));
#endif //MMU_DEBUG && MMU_FINDA_DEBUG #endif //MMU_DEBUG && MMU_FINDA_DEBUG
mmu_puts_P(PSTR("P0\n")); //send 'read finda' request mmu_puts_P(PSTR("P0\n")); //send 'read finda' request
mmu_state = -4; mmu_state = S::GetFindaInit;
} }
else else
{ {
@ -210,22 +227,22 @@ void mmu_loop(void)
puts_P(PSTR("MMU <= 'M1'")); puts_P(PSTR("MMU <= 'M1'"));
#endif //MMU_DEBUG #endif //MMU_DEBUG
mmu_puts_P(PSTR("M1\n")); //set mmu mode to stealth mmu_puts_P(PSTR("M1\n")); //set mmu mode to stealth
mmu_state = -5; mmu_state = S::WaitStealthMode;
} }
} }
return; return;
case -5: case S::WaitStealthMode:
if (mmu_rx_ok() > 0) if (mmu_rx_ok() > 0)
{ {
#if defined MMU_DEBUG && defined MMU_FINDA_DEBUG #if defined MMU_DEBUG && defined MMU_FINDA_DEBUG
puts_P(PSTR("MMU <= 'P0'")); puts_P(PSTR("MMU <= 'P0'"));
#endif //MMU_DEBUG && MMU_FINDA_DEBUG #endif //MMU_DEBUG && MMU_FINDA_DEBUG
mmu_puts_P(PSTR("P0\n")); //send 'read finda' request mmu_puts_P(PSTR("P0\n")); //send 'read finda' request
mmu_state = -4; mmu_state = S::GetFindaInit;
} }
return; return;
case -4: case S::GetFindaInit:
if (mmu_rx_ok() > 0) if (mmu_rx_ok() > 0)
{ {
fscanf_P(uart2io, PSTR("%hhu"), &mmu_finda); //scan finda from buffer fscanf_P(uart2io, PSTR("%hhu"), &mmu_finda); //scan finda from buffer
@ -234,10 +251,10 @@ void mmu_loop(void)
#endif //MMU_DEBUG && MMU_FINDA_DEBUG #endif //MMU_DEBUG && MMU_FINDA_DEBUG
puts_P(PSTR("MMU - ENABLED")); puts_P(PSTR("MMU - ENABLED"));
mmu_enabled = true; mmu_enabled = true;
mmu_state = 1; mmu_state = S::Idle;
} }
return; return;
case 1: case S::Idle:
if (mmu_cmd) //command request ? if (mmu_cmd) //command request ?
{ {
if ((mmu_cmd >= MMU_CMD_T0) && (mmu_cmd <= MMU_CMD_T4)) if ((mmu_cmd >= MMU_CMD_T0) && (mmu_cmd <= MMU_CMD_T4))
@ -247,7 +264,7 @@ void mmu_loop(void)
printf_P(PSTR("MMU <= 'T%d'\n"), filament); printf_P(PSTR("MMU <= 'T%d'\n"), filament);
#endif //MMU_DEBUG #endif //MMU_DEBUG
mmu_printf_P(PSTR("T%d\n"), filament); mmu_printf_P(PSTR("T%d\n"), filament);
mmu_state = 3; // wait for response mmu_state = S::WaitCmd; // wait for response
mmu_fil_loaded = true; mmu_fil_loaded = true;
mmu_idl_sens = 1; mmu_idl_sens = 1;
} }
@ -258,7 +275,7 @@ void mmu_loop(void)
printf_P(PSTR("MMU <= 'L%d'\n"), filament); printf_P(PSTR("MMU <= 'L%d'\n"), filament);
#endif //MMU_DEBUG #endif //MMU_DEBUG
mmu_printf_P(PSTR("L%d\n"), filament); mmu_printf_P(PSTR("L%d\n"), filament);
mmu_state = 3; // wait for response mmu_state = S::WaitCmd; // wait for response
} }
else if (mmu_cmd == MMU_CMD_C0) else if (mmu_cmd == MMU_CMD_C0)
{ {
@ -266,7 +283,7 @@ void mmu_loop(void)
printf_P(PSTR("MMU <= 'C0'\n")); printf_P(PSTR("MMU <= 'C0'\n"));
#endif //MMU_DEBUG #endif //MMU_DEBUG
mmu_puts_P(PSTR("C0\n")); //send 'continue loading' mmu_puts_P(PSTR("C0\n")); //send 'continue loading'
mmu_state = 3; mmu_state = S::WaitCmd;
mmu_idl_sens = 1; mmu_idl_sens = 1;
} }
else if (mmu_cmd == MMU_CMD_U0) else if (mmu_cmd == MMU_CMD_U0)
@ -276,7 +293,7 @@ void mmu_loop(void)
#endif //MMU_DEBUG #endif //MMU_DEBUG
mmu_puts_P(PSTR("U0\n")); //send 'unload current filament' mmu_puts_P(PSTR("U0\n")); //send 'unload current filament'
mmu_fil_loaded = false; mmu_fil_loaded = false;
mmu_state = 3; mmu_state = S::WaitCmd;
} }
else if ((mmu_cmd >= MMU_CMD_E0) && (mmu_cmd <= MMU_CMD_E4)) else if ((mmu_cmd >= MMU_CMD_E0) && (mmu_cmd <= MMU_CMD_E4))
{ {
@ -286,7 +303,7 @@ void mmu_loop(void)
#endif //MMU_DEBUG #endif //MMU_DEBUG
mmu_printf_P(PSTR("E%d\n"), filament); //send eject filament mmu_printf_P(PSTR("E%d\n"), filament); //send eject filament
mmu_fil_loaded = false; mmu_fil_loaded = false;
mmu_state = 3; // wait for response mmu_state = S::WaitCmd;
} }
else if (mmu_cmd == MMU_CMD_R0) else if (mmu_cmd == MMU_CMD_R0)
{ {
@ -294,7 +311,7 @@ void mmu_loop(void)
printf_P(PSTR("MMU <= 'R0'\n")); printf_P(PSTR("MMU <= 'R0'\n"));
#endif //MMU_DEBUG #endif //MMU_DEBUG
mmu_puts_P(PSTR("R0\n")); //send recover after eject mmu_puts_P(PSTR("R0\n")); //send recover after eject
mmu_state = 3; // wait for response mmu_state = S::WaitCmd;
} }
else if (mmu_cmd == MMU_CMD_S3) else if (mmu_cmd == MMU_CMD_S3)
{ {
@ -302,7 +319,7 @@ void mmu_loop(void)
printf_P(PSTR("MMU <= 'S3'\n")); printf_P(PSTR("MMU <= 'S3'\n"));
#endif //MMU_DEBUG #endif //MMU_DEBUG
mmu_puts_P(PSTR("S3\n")); //send power failures request mmu_puts_P(PSTR("S3\n")); //send power failures request
mmu_state = 4; // power failures response mmu_state = S::GetDrvError;
} }
mmu_last_cmd = mmu_cmd; mmu_last_cmd = mmu_cmd;
mmu_cmd = 0; mmu_cmd = 0;
@ -316,10 +333,10 @@ void mmu_loop(void)
puts_P(PSTR("MMU <= 'P0'")); puts_P(PSTR("MMU <= 'P0'"));
#endif //MMU_DEBUG && MMU_FINDA_DEBUG #endif //MMU_DEBUG && MMU_FINDA_DEBUG
mmu_puts_P(PSTR("P0\n")); //send 'read finda' request mmu_puts_P(PSTR("P0\n")); //send 'read finda' request
mmu_state = 2; mmu_state = S::GetFinda;
} }
return; return;
case 2: //response to command P0 case S::GetFinda: //response to command P0
if (mmu_rx_ok() > 0) if (mmu_rx_ok() > 0)
{ {
fscanf_P(uart2io, PSTR("%hhu"), &mmu_finda); //scan finda from buffer fscanf_P(uart2io, PSTR("%hhu"), &mmu_finda); //scan finda from buffer
@ -340,16 +357,16 @@ void mmu_loop(void)
enquecommand_front_P(PSTR("M600")); //save print and run M600 command enquecommand_front_P(PSTR("M600")); //save print and run M600 command
} }
} }
mmu_state = 1; mmu_state = S::Idle;
if (mmu_cmd == 0) if (mmu_cmd == 0)
mmu_ready = true; mmu_ready = true;
} }
else if ((mmu_last_request + MMU_P0_TIMEOUT) < _millis()) else if ((mmu_last_request + MMU_P0_TIMEOUT) < _millis())
{ //resend request after timeout (30s) { //resend request after timeout (30s)
mmu_state = 1; mmu_state = S::Idle;
} }
return; return;
case 3: //response to mmu commands case S::WaitCmd: //response to mmu commands
if (mmu_idl_sens) if (mmu_idl_sens)
{ {
if (PIN_GET(IR_SENSOR_PIN) == 0 && mmu_loading_flag) if (PIN_GET(IR_SENSOR_PIN) == 0 && mmu_loading_flag)
@ -372,7 +389,7 @@ void mmu_loop(void)
mmu_attempt_nr = 0; mmu_attempt_nr = 0;
mmu_last_cmd = 0; mmu_last_cmd = 0;
mmu_ready = true; mmu_ready = true;
mmu_state = 1; mmu_state = S::Idle;
} }
else if ((mmu_last_request + MMU_CMD_TIMEOUT) < _millis()) else if ((mmu_last_request + MMU_CMD_TIMEOUT) < _millis())
{ //resend request after timeout (5 min) { //resend request after timeout (5 min)
@ -390,10 +407,10 @@ void mmu_loop(void)
mmu_attempt_nr = 0; mmu_attempt_nr = 0;
} }
} }
mmu_state = 1; mmu_state = S::Idle;
} }
return; return;
case 4: case S::GetDrvError:
if (mmu_rx_ok() > 0) if (mmu_rx_ok() > 0)
{ {
fscanf_P(uart2io, PSTR("%d"), &mmu_power_failures); //scan power failures fscanf_P(uart2io, PSTR("%d"), &mmu_power_failures); //scan power failures
@ -402,11 +419,11 @@ void mmu_loop(void)
#endif //MMU_DEBUG #endif //MMU_DEBUG
mmu_last_cmd = 0; mmu_last_cmd = 0;
mmu_ready = true; mmu_ready = true;
mmu_state = 1; mmu_state = S::Idle;
} }
else if ((mmu_last_request + MMU_CMD_TIMEOUT) < _millis()) else if ((mmu_last_request + MMU_CMD_TIMEOUT) < _millis())
{ //resend request after timeout (5 min) { //resend request after timeout (5 min)
mmu_state = 1; mmu_state = S::Idle;
} }
} }
} }
@ -502,7 +519,7 @@ bool mmu_get_response(uint8_t move)
while (!mmu_ready) while (!mmu_ready)
{ {
if ((mmu_state != 3) && (mmu_last_cmd == 0)) if ((mmu_state != S::WaitCmd) && (mmu_last_cmd == 0))
break; break;
switch (move) { switch (move) {