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Fix filament loaded to far and MMU idler never disengaged after Tx command on printer with idler sensor.

This commit is contained in:
Marek Bel 2019-01-15 01:28:51 +01:00
parent b145074589
commit 3b175459b1
1 changed files with 56 additions and 39 deletions
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95
Firmware/mmu.cpp
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@ -241,7 +241,7 @@ void mmu_loop(void)
mmu_printf_P(PSTR("T%d\n"), filament);
mmu_state = 3; // wait for response
mmu_fil_loaded = true;
if(mmu_idler_sensor_detected) mmu_idl_sens = 1; //if idler sensor detected, use it for T-code
mmu_idl_sens = 1;
}
else if ((mmu_cmd >= MMU_CMD_L0) && (mmu_cmd <= MMU_CMD_L4))
{
@ -259,7 +259,7 @@ void mmu_loop(void)
#endif //MMU_DEBUG
mmu_puts_P(PSTR("C0\n")); //send 'continue loading'
mmu_state = 3;
if(mmu_idler_sensor_detected) mmu_idl_sens = 1; //if idler sensor detected use it for C0 code
mmu_idl_sens = 1;
}
else if (mmu_cmd == MMU_CMD_U0)
{
@ -333,22 +333,20 @@ void mmu_loop(void)
}
return;
case 3: //response to mmu commands
if (mmu_idler_sensor_detected) {
if (mmu_idl_sens)
{
if (PIN_GET(MMU_IDLER_SENSOR_PIN) == 0 && mmu_loading_flag)
{
if (mmu_idl_sens)
{
if (PIN_GET(MMU_IDLER_SENSOR_PIN) == 0 && mmu_loading_flag)
{
#ifdef MMU_DEBUG
printf_P(PSTR("MMU <= 'A'\n"));
printf_P(PSTR("MMU <= 'A'\n"));
#endif //MMU_DEBUG
mmu_puts_P(PSTR("A\n")); //send 'abort' request
mmu_idl_sens = 0;
//printf_P(PSTR("MMU IDLER_SENSOR = 0 - ABORT\n"));
}
//else
//printf_P(PSTR("MMU IDLER_SENSOR = 1 - WAIT\n"));
}
}
mmu_puts_P(PSTR("A\n")); //send 'abort' request
mmu_idl_sens = 0;
//printf_P(PSTR("MMU IDLER_SENSOR = 0 - ABORT\n"));
}
//else
//printf_P(PSTR("MMU IDLER_SENSOR = 1 - WAIT\n"));
}
if (mmu_rx_ok() > 0)
{
#ifdef MMU_DEBUG
@ -438,10 +436,30 @@ void mmu_load_step() {
st_synchronize();
}
//! @brief Is nozzle hot enough to move extruder wheels and do we have idler sensor?
//!
//! Do load steps only if temperature is higher then min. temp for safe extrusion and
//! idler sensor present.
//! Otherwise "cold extrusion prevented" would be send to serial line periodically
//! and watchdog reset will be triggered by lack of keep_alive processing.
//!
//! @retval true temperature is high enough to move extruder
//! @retval false temperature is not high enough to move extruder, turned
//! off E-stepper to prevent over-heating and allow filament pull-out if necessary
bool can_extrude()
{
if ((degHotend(active_extruder) < EXTRUDE_MINTEMP) || !mmu_idler_sensor_detected)
{
disable_e0();
delay_keep_alive(100);
return false;
}
return true;
}
bool mmu_get_response(uint8_t move)
{
mmu_loading_flag = false;
if (!mmu_idler_sensor_detected) move = MMU_NO_MOVE;
mmu_loading_flag = false;
printf_P(PSTR("mmu_get_response - begin move:%d\n"), move);
KEEPALIVE_STATE(IN_PROCESS);
@ -458,28 +476,23 @@ bool mmu_get_response(uint8_t move)
if ((mmu_state != 3) && (mmu_last_cmd == 0))
break;
//Do load steps only if temperature is higher then min. temp for safe extrusion.
//Otherwise "cold extrusion prevented" would be send to serial line periodically
if (degHotend(active_extruder) < EXTRUDE_MINTEMP) {
disable_e0(); //turn off E-stepper to prevent overheating and alow filament pull-out if necessary
delay_keep_alive(100);
continue;
}
switch (move) {
case MMU_LOAD_MOVE:
mmu_loading_flag = true;
mmu_load_step();
case MMU_LOAD_MOVE:
mmu_loading_flag = true;
if (can_extrude()) mmu_load_step();
//don't rely on "ok" signal from mmu unit; if filament detected by idler sensor during loading stop loading movements to prevent infinite loading
if (PIN_GET(MMU_IDLER_SENSOR_PIN) == 0) move = MMU_NO_MOVE;
break;
case MMU_UNLOAD_MOVE:
if (PIN_GET(MMU_IDLER_SENSOR_PIN) == 0) //filament is still detected by idler sensor, printer helps with unlading
{
printf_P(PSTR("Unload 1\n"));
current_position[E_AXIS] = current_position[E_AXIS] - MMU_LOAD_FEEDRATE * MMU_LOAD_TIME_MS*0.001;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMU_LOAD_FEEDRATE, active_extruder);
st_synchronize();
{
if (can_extrude())
{
printf_P(PSTR("Unload 1\n"));
current_position[E_AXIS] = current_position[E_AXIS] - MMU_LOAD_FEEDRATE * MMU_LOAD_TIME_MS*0.001;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMU_LOAD_FEEDRATE, active_extruder);
st_synchronize();
}
}
else //filament was unloaded from idler, no additional movements needed
{
@ -490,11 +503,14 @@ bool mmu_get_response(uint8_t move)
break;
case MMU_TCODE_MOVE: //first do unload and then continue with infinite loading movements
if (PIN_GET(MMU_IDLER_SENSOR_PIN) == 0) //filament detected by idler sensor, we must unload first
{
printf_P(PSTR("Unload 2\n"));
current_position[E_AXIS] = current_position[E_AXIS] - MMU_LOAD_FEEDRATE * MMU_LOAD_TIME_MS*0.001;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMU_LOAD_FEEDRATE, active_extruder);
st_synchronize();
{
if (can_extrude())
{
printf_P(PSTR("Unload 2\n"));
current_position[E_AXIS] = current_position[E_AXIS] - MMU_LOAD_FEEDRATE * MMU_LOAD_TIME_MS*0.001;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMU_LOAD_FEEDRATE, active_extruder);
st_synchronize();
}
}
else //delay to allow mmu unit to pull out filament from bondtech gears and then start with infinite loading
{
@ -502,6 +518,7 @@ bool mmu_get_response(uint8_t move)
disable_e0(); //turn off E-stepper to prevent overheating and alow filament pull-out if necessary
delay_keep_alive(MMU_LOAD_TIME_MS);
move = MMU_LOAD_MOVE;
printf_P(PSTR("mmu_get_response - begin move:%d\n"), move);
}
break;
case MMU_NO_MOVE: