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Added command MMU => MK3 requesting to look for load

This commit is contained in:
TheZeroBeast 2018-11-08 01:15:40 +10:00 committed by GitHub
parent 594b769e68
commit 4a4a10575c
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 38 additions and 140 deletions
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16
Firmware/fsensor.cpp
View File

@ -172,11 +172,12 @@ bool fsensor_enable(void)
fsensor_not_responding = true; fsensor_not_responding = true;
fsensor_enabled = true; fsensor_enabled = true;
fsensor_autoload_set(true); fsensor_autoload_set(true);
fsensor_autoload_enabled = false;
fsensor_oq_meassure = false; fsensor_oq_meassure = false;
fsensor_err_cnt = 0; fsensor_err_cnt = 0;
fsensor_dy_old = 0; fsensor_dy_old = 0;
eeprom_update_byte((uint8_t*)EEPROM_FSENSOR, fsensor_enabled ? 0x01 : 0x00); eeprom_update_byte((uint8_t*)EEPROM_FSENSOR, 0x01);
FSensorStateMenu = fsensor_enabled ? 1 : 0; FSensorStateMenu = 1;
} }
return fsensor_enabled; return fsensor_enabled;
} }
@ -215,7 +216,7 @@ void fsensor_autoload_check_start(void)
printf_P(ERRMSG_PAT9125_NOT_RESP, 3); printf_P(ERRMSG_PAT9125_NOT_RESP, 3);
return; return;
} }
if (mmu_enabled) puts_P(_N("fsensor_autoload_check_start - autoload ENABLED\n")); if (!mmu_enabled) puts_P(_N("fsensor_autoload_check_start - autoload ENABLED\n"));
fsensor_autoload_y = pat9125_y; //save current y value fsensor_autoload_y = pat9125_y; //save current y value
fsensor_autoload_c = 0; //reset number of changes counter fsensor_autoload_c = 0; //reset number of changes counter
fsensor_autoload_sum = 0; fsensor_autoload_sum = 0;
@ -233,7 +234,7 @@ void fsensor_autoload_check_stop(void)
if (!fsensor_autoload_enabled) return; if (!fsensor_autoload_enabled) return;
// puts_P(_N("fsensor_autoload_check_stop 2\n")); // puts_P(_N("fsensor_autoload_check_stop 2\n"));
if (!fsensor_watch_autoload) return; if (!fsensor_watch_autoload) return;
if (mmu_enabled) puts_P(_N("fsensor_autoload_check_stop - autoload DISABLED\n")); if (!mmu_enabled) puts_P(_N("fsensor_autoload_check_stop - autoload DISABLED\n"));
fsensor_autoload_sum = 0; fsensor_autoload_sum = 0;
fsensor_watch_autoload = false; fsensor_watch_autoload = false;
fsensor_watch_runout = true; fsensor_watch_runout = true;
@ -285,11 +286,8 @@ bool fsensor_check_autoload(void)
if ((fsensor_autoload_c >= 12) && (fsensor_autoload_sum > 20)) if ((fsensor_autoload_c >= 12) && (fsensor_autoload_sum > 20))
{ {
//puts_P(_N("fsensor_check_autoload = true !!!\n")); //puts_P(_N("fsensor_check_autoload = true !!!\n"));
if (mmu_enabled) { if (mmu_enabled) mmu_command(MMU_CMD_FS);
//mmuFilamentMK3Moving = true; fsensor_autoload_enabled = false;
mmu_command(MMU_CMD_FS);
fsensor_autoload_check_stop();
}
return true; return true;
} }
return false; return false;

158
Firmware/mmu.cpp
View File

@ -29,9 +29,7 @@ bool mmu_enabled = false;
bool mmu_ready = false; bool mmu_ready = false;
//bool mmuFilamentMK3Moving = false;
bool mmuFSensorLoading = false; bool mmuFSensorLoading = false;
bool singleLog = true;
int lastLoadedFilament = -10; int lastLoadedFilament = -10;
int8_t mmu_state = 0; int8_t mmu_state = 0;
@ -158,7 +156,7 @@ int8_t mmu_rx_ok(void)
return res; return res;
} }
//check ' not ok' response //check 'not_ok' response
int8_t mmu_rx_not_ok(void) int8_t mmu_rx_not_ok(void)
{ {
int8_t res = uart2_rx_str_P(PSTR("not_ok\n")); int8_t res = uart2_rx_str_P(PSTR("not_ok\n"));
@ -166,6 +164,14 @@ int8_t mmu_rx_not_ok(void)
return res; return res;
} }
//check 'MK3 FSensor requested to look for load' response
int8_t mmu_rx_fsensorLook(void)
{
int8_t res = uart2_rx_str_P(PSTR("FL\n"));
if (res == 1) mmu_last_response = millis();
return res;
}
//check 'start' response //check 'start' response
int8_t mmu_rx_start(void) int8_t mmu_rx_start(void)
{ {
@ -200,6 +206,7 @@ void mmu_init(void)
* 2 >> 1 MMURX ok, Finda State * 2 >> 1 MMURX ok, Finda State
* 3 >> 1 MMURX ok, mmu commands response * 3 >> 1 MMURX ok, mmu commands response
* 10 >> 3 MMUECHO, confirm receipt of cmd (timeout 500ms to resend) * 10 >> 3 MMUECHO, confirm receipt of cmd (timeout 500ms to resend)
* 20 >> 1 not_ok
*/ */
void mmu_loop(void) void mmu_loop(void)
@ -289,6 +296,7 @@ void mmu_loop(void)
printf_P(PSTR("MMU => '%dok'\n"), mmu_finda); printf_P(PSTR("MMU => '%dok'\n"), mmu_finda);
#endif //MMU_DEBUG #endif //MMU_DEBUG
puts_P(PSTR("MMU - ENABLED")); puts_P(PSTR("MMU - ENABLED"));
fsensor_enable();
mmu_enabled = true; mmu_enabled = true;
mmu_state = 1; mmu_state = 1;
} }
@ -362,15 +370,10 @@ void mmu_loop(void)
{ {
filament = mmu_cmd - MMU_CMD_T0; filament = mmu_cmd - MMU_CMD_T0;
if (lastLoadedFilament != filament) { if (lastLoadedFilament != filament) {
fsensor_enable(); // RMM:TODO Not sure if this is the best place to ensure enabled
printf_P(PSTR("MMU <= 'T%d'\n"), filament); printf_P(PSTR("MMU <= 'T%d'\n"), filament);
mmu_puts_P(PSTR("EE\n")); // Advise MMU CMD is correct, execute mmu_puts_P(PSTR("EE\n")); // Advise MMU CMD is correct, execute
//mmu_printf_P(PSTR("T%d\n"), filament);
mmu_state = 3; // wait for response
fsensor_autoload_check_start();
mmuFSensorLoading = true; mmuFSensorLoading = true;
fsensor_autoload_enabled = true; mmu_state = 3; // wait for response
//mmuFilamentMK3Moving = false;
} else { } else {
mmu_puts_P(PSTR("EE\n")); // Advise MMU CMD is correct, execute mmu_puts_P(PSTR("EE\n")); // Advise MMU CMD is correct, execute
mmu_state = 3; mmu_state = 3;
@ -382,21 +385,18 @@ void mmu_loop(void)
filament = mmu_cmd - MMU_CMD_L0; filament = mmu_cmd - MMU_CMD_L0;
printf_P(PSTR("MMU <= 'L%d'\n"), filament); printf_P(PSTR("MMU <= 'L%d'\n"), filament);
mmu_puts_P(PSTR("EE\n")); // Advise MMU CMD is correct, execute mmu_puts_P(PSTR("EE\n")); // Advise MMU CMD is correct, execute
//mmu_printf_P(PSTR("L%d\n"), filament);
mmu_state = 3; // wait for response mmu_state = 3; // wait for response
} }
else if (mmu_cmd == MMU_CMD_C0) else if (mmu_cmd == MMU_CMD_C0)
{ {
delay(100); delay(100);
printf_P(PSTR("MMU <= 'C0'\n")); printf_P(PSTR("MMU <= 'C0'\n"));
//mmu_puts_P(PSTR("C0\n")); //send 'continue loading'
mmu_puts_P(PSTR("EE\n")); // Advise MMU CMD is correct, execute mmu_puts_P(PSTR("EE\n")); // Advise MMU CMD is correct, execute
mmu_state = 3; mmu_state = 3;
} }
else if (mmu_cmd == MMU_CMD_U0) else if (mmu_cmd == MMU_CMD_U0)
{ {
printf_P(PSTR("MMU <= 'U0'\n")); printf_P(PSTR("MMU <= 'U0'\n"));
//mmu_puts_P(PSTR("U0\n")); //send 'unload current filament'
mmu_puts_P(PSTR("EE\n")); // Advise MMU CMD is correct, execute mmu_puts_P(PSTR("EE\n")); // Advise MMU CMD is correct, execute
lastLoadedFilament = -10; lastLoadedFilament = -10;
mmu_state = 3; mmu_state = 3;
@ -405,21 +405,19 @@ void mmu_loop(void)
{ {
int filament = mmu_cmd - MMU_CMD_E0; int filament = mmu_cmd - MMU_CMD_E0;
printf_P(PSTR("MMU <= 'E%d'\n"), filament); printf_P(PSTR("MMU <= 'E%d'\n"), filament);
//mmu_printf_P(PSTR("E%d\n"), filament); //send eject filament
mmu_puts_P(PSTR("EE\n")); // Advise MMU CMD is correct, execute mmu_puts_P(PSTR("EE\n")); // Advise MMU CMD is correct, execute
mmu_state = 3; // wait for response mmu_state = 3; // wait for response
} }
else if (mmu_cmd == MMU_CMD_R0) else if (mmu_cmd == MMU_CMD_R0)
{ {
printf_P(PSTR("MMU <= 'R0'\n")); printf_P(PSTR("MMU <= 'R0'\n"));
//mmu_puts_P(PSTR("R0\n")); //send recover after eject
mmu_puts_P(PSTR("EE\n")); // Advise MMU CMD is correct, execute mmu_puts_P(PSTR("EE\n")); // Advise MMU CMD is correct, execute
mmu_state = 3; // wait for response mmu_state = 3; // wait for response
} }
else if (mmu_cmd == MMU_CMD_FS) else if (mmu_cmd == MMU_CMD_FS)
{ {
mmu_puts_P(PSTR("EE\n"));
printf_P(PSTR("MMU <= 'Filament seen at extruder'\n")); printf_P(PSTR("MMU <= 'Filament seen at extruder'\n"));
mmu_puts_P(PSTR("EE\n"));
mmuFSensorLoading = false; mmuFSensorLoading = false;
mmu_state = 3; // wait for response mmu_state = 3; // wait for response
} }
@ -454,21 +452,24 @@ void mmu_loop(void)
case 3: //response to mmu commands case 3: //response to mmu commands
if (mmu_rx_ok() > 0) if (mmu_rx_ok() > 0)
{ {
if (mmuFSensorLoading == false) { printf_P(PSTR("MMU => 'ok'\n"));
//delay(100); mmu_ready = true;
printf_P(PSTR("MMU => 'ok'\n")); mmu_state = 1;
mmu_ready = true; } else if(mmu_rx_fsensorLook() > 0)
mmu_state = 1; {
singleLog = true; printf_P(PSTR("MMU => 'waiting for filament @ MK3 Sensor'\n"));
} else if (singleLog) { if (!fsensor_enabled) fsensor_enable();
printf_P(PSTR("MMU => 'waiting for filament @ MK3 Sensor'\n")); fsensor_autoload_enabled = true;
singleLog = false; mmu_state = 1;
mmu_state = 1; }else if(mmu_rx_not_ok() > 0)
} {
printf_P(PSTR("MMU => 'fixTheProblem!!'\n"));
mmu_ready = false;
mmu_state = 20;
} }
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)
printf_P(PSTR("MMU => 'Error State, do something here??'\n")); printf_P(PSTR("MMU => 'Erro 5m Timeout'\n"));
mmu_ready = false; mmu_ready = false;
mmu_state = 20; mmu_state = 20;
} }
@ -486,7 +487,7 @@ void mmu_loop(void)
mmu_state = 1; mmu_state = 1;
} }
return; return;
case 20: // case 20: // MMU in fixTheProblem mode, we're waiting for an all good from it to continue.
if (mmu_rx_ok() > 0) if (mmu_rx_ok() > 0)
{ {
//if ok received then go back to ready //if ok received then go back to ready
@ -534,7 +535,6 @@ bool mmu_get_response(void)
} }
while (!mmu_ready) while (!mmu_ready)
{ {
//if ((mmu_last_response + MMU_CMD_TIMEOUT) < millis()) break;
if ((mmu_state == 3) || (mmu_state == 10) || (mmuFSensorLoading)) { if ((mmu_state == 3) || (mmu_state == 10) || (mmuFSensorLoading)) {
delay_keep_alive(100); delay_keep_alive(100);
} else { } else {
@ -991,106 +991,6 @@ void extr_unload()
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder); plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
current_position[E_AXIS] += 4; current_position[E_AXIS] += 4;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder); plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
/*current_position[X_AXIS] += 23; //delay
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder); //delay
current_position[X_AXIS] -= 23; //delay
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder); //delay*/
delay_keep_alive(4700);
}
max_feedrate[E_AXIS] = 80;
current_position[E_AXIS] -= (bowden_length[mmu_extruder] + 60 + FIL_LOAD_LENGTH) / 2;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
current_position[E_AXIS] -= (bowden_length[mmu_extruder] + 60 + FIL_LOAD_LENGTH) / 2;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
st_synchronize();
//st_current_init();
if (SilentMode != SILENT_MODE_OFF) st_current_set(2, tmp_motor[2]); //set back to normal operation currents
else st_current_set(2, tmp_motor_loud[2]);
lcd_update_enable(true);
lcd_return_to_status();
max_feedrate[E_AXIS] = 50;
#endif //SNMM
}
else
{
lcd_clear();
lcd_set_cursor(0, 0);
lcd_puts_P(_T(MSG_ERROR));
lcd_set_cursor(0, 2);
lcd_puts_P(_T(MSG_PREHEAT_NOZZLE));
delay(2000);
lcd_clear();
}
//lcd_return_to_status();
}
void extr_unload_at_boot()
{ //unload just current filament for multimaterial printers
#ifdef SNMM
float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
uint8_t SilentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
#endif
if (degHotend0() > EXTRUDE_MINTEMP)
{
#ifndef SNMM
st_synchronize();
//show which filament is currently unloaded
lcd_update_enable(false);
lcd_clear();
lcd_set_cursor(0, 1);
lcd_puts_P(_T(MSG_UNLOADING_FILAMENT));
lcd_print(" ");
lcd_print(mmu_extruder + 1);
filament_ramming();
//mmu_command(MMU_CMD_U0);
// get response
manage_response(false, true);
lcd_update_enable(true);
#else //SNMM
lcd_clear();
lcd_display_message_fullscreen_P(PSTR(""));
max_feedrate[E_AXIS] = 50;
lcd_set_cursor(0, 0);
lcd_puts_P(_T(MSG_UNLOADING_FILAMENT));
lcd_print(" ");
lcd_print(mmu_extruder + 1);
lcd_set_cursor(0, 2);
lcd_puts_P(_T(MSG_PLEASE_WAIT));
if (current_position[Z_AXIS] < 15) {
current_position[Z_AXIS] += 15; //lifting in Z direction to make space for extrusion
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 25, active_extruder);
}
current_position[E_AXIS] += 10; //extrusion
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 10, active_extruder);
st_current_set(2, E_MOTOR_HIGH_CURRENT);
if (current_temperature[0] < 230) { //PLA & all other filaments
current_position[E_AXIS] += 5.4;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2800 / 60, active_extruder);
current_position[E_AXIS] += 3.2;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
current_position[E_AXIS] += 3;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3400 / 60, active_extruder);
}
else { //ABS
current_position[E_AXIS] += 3.1;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2000 / 60, active_extruder);
current_position[E_AXIS] += 3.1;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
current_position[E_AXIS] += 4;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
/*current_position[X_AXIS] += 23; //delay
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder); //delay
current_position[X_AXIS] -= 23; //delay
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder); //delay*/
delay_keep_alive(4700); delay_keep_alive(4700);
} }