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Prune most of TODO from mmu2.cpp 

+ refactor sound.h for better readability
This commit is contained in:
D.R.racer 2022-04-20 13:28:30 +02:00
parent 2e293e90a0
commit 5870bbc524
3 changed files with 124 additions and 121 deletions
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198
Firmware/mmu2.cpp
View File

@ -1,13 +1,18 @@
#include "mmu2.h" #include "mmu2.h"
#include "mmu2_error_converter.h"
#include "mmu2_fsensor.h" #include "mmu2_fsensor.h"
#include "mmu2_log.h" #include "mmu2_log.h"
#include "mmu2_power.h" #include "mmu2_power.h"
#include "mmu2_progress_converter.h"
#include "mmu2_reporting.h" #include "mmu2_reporting.h"
#include "Marlin.h" #include "Marlin.h"
#include "language.h"
#include "messages.h"
#include "sound.h"
#include "stepper.h" #include "stepper.h"
#include "mmu2_error_converter.h" #include "strlen_cx.h"
#include "mmu2_progress_converter.h" #include "temperature.h"
// @@TODO remove this and enable it in the configuration files // @@TODO remove this and enable it in the configuration files
// Settings for filament load / unload from the LCD menu. // Settings for filament load / unload from the LCD menu.
@ -20,10 +25,8 @@
{ 14.4, 871 }, \ { 14.4, 871 }, \
{ 50.0, 198 } { 50.0, 198 }
// @@TODO #define NOZZLE_PARK_XY_FEEDRATE 50
#define FILAMENT_MMU2_RAMMING_SEQUENCE { 7.2, 562 } #define NOZZLE_PARK_Z_FEEDRATE 15
//@@TODO extract into configuration if it makes sense
// Nominal distance from the extruder gear to the nozzle tip is 87mm // Nominal distance from the extruder gear to the nozzle tip is 87mm
// However, some slipping may occur and we need separate distances for // However, some slipping may occur and we need separate distances for
@ -42,14 +45,25 @@ static constexpr float MMU2_LOAD_TO_NOZZLE_FEED_RATE = 20.0F;
static constexpr uint8_t MMU2_NO_TOOL = 99; static constexpr uint8_t MMU2_NO_TOOL = 99;
static constexpr uint32_t MMU_BAUD = 115200; static constexpr uint32_t MMU_BAUD = 115200;
typedef uint16_t feedRate_t;
struct E_Step { struct E_Step {
float extrude; ///< extrude distance in mm float extrude; ///< extrude distance in mm
feedRate_t feedRate; ///< feed rate in mm/s float feedRate; ///< feed rate in mm/s
};
static constexpr E_Step ramming_sequence[] PROGMEM = {
{ 1.0F, 1000.0F / 60.F},
{ 1.0F, 1500.0F / 60.F},
{ 2.0F, 2000.0F / 60.F},
{ 1.5F, 3000.0F / 60.F},
{ 2.5F, 4000.0F / 60.F},
{-15.0F, 5000.0F / 60.F},
{-14.0F, 1200.0F / 60.F},
{-6.0F, 600.0F / 60.F},
{ 10.0F, 700.0F / 60.F},
{-10.0F, 400.0F / 60.F},
{-50.0F, 2000.0F / 60.F},
}; };
static constexpr E_Step ramming_sequence[] PROGMEM = FILAMENT_MMU2_RAMMING_SEQUENCE;
static constexpr E_Step load_to_nozzle_sequence[] PROGMEM = { MMU2_LOAD_TO_NOZZLE_SEQUENCE }; static constexpr E_Step load_to_nozzle_sequence[] PROGMEM = { MMU2_LOAD_TO_NOZZLE_SEQUENCE };
namespace MMU2 { namespace MMU2 {
@ -114,8 +128,9 @@ void MMU2::TriggerResetPin(){
void MMU2::PowerCycle(){ void MMU2::PowerCycle(){
// cut the power to the MMU and after a while restore it // cut the power to the MMU and after a while restore it
// Sadly, MK3/S/+ cannot do this
PowerOff(); PowerOff();
_delay(1000); //@@TODO delay_keep_alive(1000);
PowerOn(); PowerOn();
} }
@ -177,8 +192,7 @@ bool MMU2::tool_change(uint8_t index) {
manage_response(false, false); // true, true); manage_response(false, false); // true, true);
// reset current position to whatever the planner thinks it is // reset current position to whatever the planner thinks it is
// @@TODO is there some "standard" way of doing this? plan_set_e_position(current_position[E_AXIS]);
//@@TODO current_position[E_AXIS] = Planner::get_machine_position_mm()[3];
extruder = index; //filament change is finished extruder = index; //filament change is finished
SetActiveExtruder(0); SetActiveExtruder(0);
@ -233,7 +247,7 @@ bool MMU2::tool_change(const char *special) {
return true; return true;
} }
uint8_t MMU2::get_current_tool() { uint8_t MMU2::get_current_tool() const {
return extruder == MMU2_NO_TOOL ? -1 : extruder; return extruder == MMU2_NO_TOOL ? -1 : extruder;
} }
@ -256,7 +270,7 @@ bool MMU2::unload() {
// @@TODO // @@TODO
// if (thermalManager.tooColdToExtrude(active_extruder)) { // if (thermalManager.tooColdToExtrude(active_extruder)) {
// BUZZ(200, 404); // Sound_MakeSound(e_SOUND_TYPE_Prompt);
// LCD_ALERTMESSAGEPGM(MSG_HOTEND_TOO_COLD); // LCD_ALERTMESSAGEPGM(MSG_HOTEND_TOO_COLD);
// return false; // return false;
// } // }
@ -267,8 +281,7 @@ bool MMU2::unload() {
logic.UnloadFilament(); logic.UnloadFilament();
manage_response(false, false); // false, true); manage_response(false, false); // false, true);
Sound_MakeSound(e_SOUND_TYPE_StandardConfirm);
// BUZZ(200, 404);
// no active tool // no active tool
extruder = MMU2_NO_TOOL; extruder = MMU2_NO_TOOL;
@ -294,7 +307,7 @@ bool MMU2::load_filament(uint8_t index) {
ReportingRAII rep(CommandInProgress::LoadFilament); ReportingRAII rep(CommandInProgress::LoadFilament);
logic.LoadFilament(index); logic.LoadFilament(index);
manage_response(false, false); manage_response(false, false);
// BUZZ(200, 404); Sound_MakeSound(e_SOUND_TYPE_StandardConfirm);
return true; return true;
} }
@ -315,11 +328,9 @@ bool MMU2::load_filament_to_nozzle(uint8_t index) {
LoadingToNozzleRAII ln(*this); LoadingToNozzleRAII ln(*this);
// if (0){ // @@TODO DEBUG
// @@TODO how is this supposed to be done in 8bit FW? // @@TODO how is this supposed to be done in 8bit FW?
/* if (thermalManager.tooColdToExtrude(active_extruder)) { /* if (thermalManager.tooColdToExtrude(active_extruder)) {
BUZZ(200, 404); Sound_MakeSound(e_SOUND_TYPE_Prompt);
LCD_ALERTMESSAGEPGM(MSG_HOTEND_TOO_COLD); LCD_ALERTMESSAGEPGM(MSG_HOTEND_TOO_COLD);
return false; return false;
} else*/ { } else*/ {
@ -335,13 +346,12 @@ bool MMU2::load_filament_to_nozzle(uint8_t index) {
manage_response(false, false); // true, true); manage_response(false, false); // true, true);
// reset current position to whatever the planner thinks it is // reset current position to whatever the planner thinks it is
// @@TODO is there some "standard" way of doing this? plan_set_e_position(current_position[E_AXIS]);
//@@TODO current_position[E_AXIS] = Planner::get_machine_position_mm()[3];
extruder = index; extruder = index;
SetActiveExtruder(0); SetActiveExtruder(0);
// BUZZ(200, 404); Sound_MakeSound(e_SOUND_TYPE_StandardConfirm);
return true; return true;
} }
} }
@ -352,22 +362,21 @@ bool MMU2::eject_filament(uint8_t index, bool recover) {
//@@TODO //@@TODO
// if (thermalManager.tooColdToExtrude(active_extruder)) { // if (thermalManager.tooColdToExtrude(active_extruder)) {
// BUZZ(200, 404); // Sound_MakeSound(e_SOUND_TYPE_Prompt);
// LCD_ALERTMESSAGEPGM(MSG_HOTEND_TOO_COLD); // LCD_ALERTMESSAGEPGM(MSG_HOTEND_TOO_COLD);
// return false; // return false;
// } // }
ReportingRAII rep(CommandInProgress::EjectFilament); ReportingRAII rep(CommandInProgress::EjectFilament);
current_position[E_AXIS] -= MMU2_FILAMENTCHANGE_EJECT_FEED; current_position[E_AXIS] -= MMU2_FILAMENTCHANGE_EJECT_FEED;
//@@TODO line_to_current_position(2500 / 60); plan_buffer_line_curposXYZE(2500.F / 60.F);
st_synchronize(); st_synchronize();
logic.EjectFilament(index); logic.EjectFilament(index);
manage_response(false, false); manage_response(false, false);
if (recover) { if (recover) {
// LCD_MESSAGEPGM(MSG_MMU2_EJECT_RECOVER); // LCD_MESSAGEPGM(MSG_MMU2_EJECT_RECOVER);
// BUZZ(200, 404); Sound_MakeSound(e_SOUND_TYPE_StandardPrompt);
//@@TODO wait_for_user = true; //@@TODO wait_for_user = true;
//#if ENABLED(HOST_PROMPT_SUPPORT) //#if ENABLED(HOST_PROMPT_SUPPORT)
@ -379,20 +388,14 @@ bool MMU2::eject_filament(uint8_t index, bool recover) {
//@@TODO while (wait_for_user) idle(true); //@@TODO while (wait_for_user) idle(true);
// BUZZ(200, 404); Sound_MakeSound(e_SOUND_TYPE_StandardConfirm);
// BUZZ(200, 404);
// logic.Command(); //@@TODO command(MMU_CMD_R0); // logic.Command(); //@@TODO command(MMU_CMD_R0);
manage_response(false, false); manage_response(false, false);
} }
//@@TODO ui.reset_status();
// no active tool // no active tool
extruder = MMU2_NO_TOOL; extruder = MMU2_NO_TOOL;
Sound_MakeSound(e_SOUND_TYPE_StandardConfirm);
// BUZZ(200, 404);
// disable_E0(); // disable_E0();
return true; return true;
@ -407,26 +410,42 @@ void MMU2::Home(uint8_t mode){
} }
void MMU2::SaveAndPark(bool move_axes, bool turn_off_nozzle) { void MMU2::SaveAndPark(bool move_axes, bool turn_off_nozzle) {
//@@TODO static constexpr xyz_pos_t park_point = NOZZLE_PARK_POINT_M600; if (!mmu_print_saved) { // First occurrence. Save current position, park print head, disable nozzle heater.
// if (!mmu_print_saved) { // First occurrence. Save current position, park print head, disable nozzle heater. LogEchoEvent("Saving and parking");
// LogEchoEvent("Saving and parking"); st_synchronize();
// st_synchronize();
// mmu_print_saved = true; mmu_print_saved = true;
// resume_hotend_temp = thermalManager.degTargetHotend(active_extruder); resume_hotend_temp = degTargetHotend(active_extruder);
// resume_position = current_position;
// if (move_axes && all_axes_homed()) if (move_axes){
// nozzle.park(2, park_point); // save current pos
for(uint8_t i = 0; i < 3; ++i){
resume_position.xyz[i] = current_position[i];
}
// if (turn_off_nozzle){ // lift Z
// LogEchoEvent("Heater off"); current_position[Z_AXIS] += Z_PAUSE_LIFT;
// thermalManager.setTargetHotend(0, active_extruder); if (current_position[Z_AXIS] > Z_MAX_POS)
// } current_position[Z_AXIS] = Z_MAX_POS;
// } plan_buffer_line_curposXYZE(NOZZLE_PARK_Z_FEEDRATE);
// // keep the motors powered forever (until some other strategy is chosen) st_synchronize();
// gcode.reset_stepper_timeout();
// move XY aside
current_position[X_AXIS] = X_PAUSE_POS;
current_position[Y_AXIS] = Y_PAUSE_POS;
plan_buffer_line_curposXYZE(NOZZLE_PARK_XY_FEEDRATE);
st_synchronize();
}
if (turn_off_nozzle){
LogEchoEvent("Heater off");
setAllTargetHotends(0);
}
}
// keep the motors powered forever (until some other strategy is chosen)
// @@TODO do we need that in 8bit?
// gcode.reset_stepper_timeout();
} }
void MMU2::ResumeAndUnPark(bool move_axes, bool turn_off_nozzle) { void MMU2::ResumeAndUnPark(bool move_axes, bool turn_off_nozzle) {
@ -436,25 +455,29 @@ void MMU2::ResumeAndUnPark(bool move_axes, bool turn_off_nozzle) {
if (turn_off_nozzle && resume_hotend_temp) { if (turn_off_nozzle && resume_hotend_temp) {
MMU2_ECHO_MSG("Restoring hotend temperature "); MMU2_ECHO_MSG("Restoring hotend temperature ");
SERIAL_ECHOLN(resume_hotend_temp); SERIAL_ECHOLN(resume_hotend_temp);
//@@TODO thermalManager.setTargetHotend(resume_hotend_temp, active_extruder); setTargetHotend(resume_hotend_temp, active_extruder);
// while (!thermalManager.wait_for_hotend(active_extruder, false)){ if (((degTargetHotend(active_extruder) - degHotend(active_extruder)) > 5)) {
// safe_delay(1000); // @@TODO lcd_display_message_fullscreen_P(_i("MMU OK. Resuming temperature...")); // better report the event and let the GUI do its work somewhere else
// } delay_keep_alive(3000);
}
LogEchoEvent("Hotend temperature reached"); LogEchoEvent("Hotend temperature reached");
} }
//@@TODO if (move_axes && all_axes_homed()) { if (move_axes) {
// LogEchoEvent("Resuming XYZ"); LogEchoEvent("Resuming XYZ");
// // Move XY to starting position, then Z current_position[X_AXIS] = resume_position.xyz[X_AXIS];
// do_blocking_move_to_xy(resume_position, feedRate_t(NOZZLE_PARK_XY_FEEDRATE)); current_position[Y_AXIS] = resume_position.xyz[Y_AXIS];
plan_buffer_line_curposXYZE(NOZZLE_PARK_XY_FEEDRATE);
st_synchronize();
// // Move Z_AXIS to saved position current_position[Z_AXIS] = resume_position.xyz[Z_AXIS];
// do_blocking_move_to_z(resume_position.z, feedRate_t(NOZZLE_PARK_Z_FEEDRATE)); plan_buffer_line_curposXYZE(NOZZLE_PARK_Z_FEEDRATE);
// } else { st_synchronize();
// LogEchoEvent("NOT resuming XYZ"); } else {
// } LogEchoEvent("NOT resuming XYZ");
}
} }
} }
@ -560,37 +583,21 @@ void MMU2::filament_ramming() {
execute_extruder_sequence((const E_Step *)ramming_sequence, sizeof(ramming_sequence) / sizeof(E_Step)); execute_extruder_sequence((const E_Step *)ramming_sequence, sizeof(ramming_sequence) / sizeof(E_Step));
} }
void MMU2::execute_extruder_sequence(const E_Step *sequence, int steps) { void MMU2::execute_extruder_sequence(const E_Step *sequence, uint8_t steps) {
st_synchronize(); st_synchronize();
const E_Step *step = sequence; const E_Step *step = sequence;
for (uint8_t i = 0; i < steps; i++) { for (uint8_t i = 0; i < steps; i++) {
const float es = pgm_read_float(&(step->extrude)); current_position[E_AXIS] += pgm_read_float(&(step->extrude));
const feedRate_t fr_mm_m = pgm_read_float(&(step->feedRate)); plan_buffer_line_curposXYZE(pgm_read_float(&(step->feedRate)));
// DEBUG_ECHO_START();
// DEBUG_ECHOLNPAIR("E step ", es, "/", fr_mm_m);
current_position[E_AXIS] += es;
// line_to_current_position(MMM_TO_MMS(fr_mm_m));
st_synchronize(); st_synchronize();
step++; step++;
} }
// disable_E0();
} }
void MMU2::SetActiveExtruder(uint8_t ex){ void MMU2::SetActiveExtruder(uint8_t ex){
active_extruder = ex; active_extruder = ex;
} }
constexpr int strlen_constexpr(const char* str){
return *str ? 1 + strlen_constexpr(str + 1) : 0;
}
void MMU2::ReportError(ErrorCode ec) { void MMU2::ReportError(ErrorCode ec) {
// Due to a potential lossy error reporting layers linked to this hook // Due to a potential lossy error reporting layers linked to this hook
// we'd better report everything to make sure especially the error states // we'd better report everything to make sure especially the error states
@ -654,8 +661,6 @@ void MMU2::OnMMUProgressMsg(ProgressCode pc){
case ProgressCode::FeedingToBondtech: case ProgressCode::FeedingToBondtech:
// prepare for the movement of the E-motor // prepare for the movement of the E-motor
st_synchronize(); st_synchronize();
//@@TODO sync_plan_position();
// enable_E0();
loadFilamentStarted = true; loadFilamentStarted = true;
break; break;
default: default:
@ -669,25 +674,8 @@ void MMU2::OnMMUProgressMsg(ProgressCode pc){
if( WhereIsFilament() == FilamentState::AT_FSENSOR && loadFilamentStarted){// fsensor triggered, move the extruder to help loading if( WhereIsFilament() == FilamentState::AT_FSENSOR && loadFilamentStarted){// fsensor triggered, move the extruder to help loading
// rotate the extruder motor - no planner sync, just add more moves - as long as they are roughly at the same speed as the MMU is pushing, // rotate the extruder motor - no planner sync, just add more moves - as long as they are roughly at the same speed as the MMU is pushing,
// it really doesn't matter // it really doesn't matter
// char tmp[64]; // @@TODO this shouldn't be needed anymore, but kept here in case of something strange current_position[E_AXIS] += (loadingToNozzle ? MMU2_LOAD_TO_NOZZLE_LENGTH : MMU2_TOOL_CHANGE_LOAD_LENGTH) / extruder_multiplier[0];
// // happens in Marlin again plan_buffer_line_curposXYZE(MMU2_LOAD_TO_NOZZLE_FEED_RATE);
// snprintf(tmp,sizeof (tmp), "E moveTo=%4.1f f=%4.0f s=%hu\n", current_position.e, feedrate_mm_s, feedrate_percentage);
// MMU2_ECHO_MSG(tmp);
// Ideally we'd use:
// line_to_current_position(MMU2_LOAD_TO_NOZZLE_FEED_RATE);
// However, as it ignores MBL completely (which I don't care about in case of E-movement),
// we need to take the raw Z coordinates and only add some movement to E
// otherwise we risk planning a very short Z move with an extremely long E-move,
// which obviously ends up in a disaster (over/underflow of E/Z steps).
// The problem becomes obvious in Planner::_populate_block when computing da, db, dc like this:
// const int32_t da = target.a - position.a, db = target.b - position.b, dc = target.c - position.c;
// And since current_position[3] != position_float[3], we get a tiny move in Z, which is something I really want to avoid here
// @@TODO is there a "standard" way of doing this?
//@@TODO xyze_pos_t tgt = Planner::get_machine_position_mm();
const float e = loadingToNozzle ? MMU2_LOAD_TO_NOZZLE_LENGTH : MMU2_TOOL_CHANGE_LOAD_LENGTH;
//@@TODO tgt[3] += e / planner.e_factor[active_extruder];
// plan_buffer_line(tgt, MMU2_LOAD_TO_NOZZLE_FEED_RATE, active_extruder); // @@TODO magic constant - must match the feedrate of the MMU
loadFilamentStarted = false; loadFilamentStarted = false;
} }
break; break;

7
Firmware/mmu2.h
View File

@ -6,8 +6,9 @@ struct E_Step;
namespace MMU2 { namespace MMU2 {
/// @@TODO hmmm, 12 bytes... may be we can reduce that
struct xyz_pos_t { struct xyz_pos_t {
uint16_t xyz[3]; // @@TODO float xyz[3];
xyz_pos_t()=default; xyz_pos_t()=default;
}; };
@ -101,7 +102,7 @@ public:
bool cut_filament(uint8_t index); bool cut_filament(uint8_t index);
/// @returns the active filament slot index (0-4) or 0xff in case of no active tool /// @returns the active filament slot index (0-4) or 0xff in case of no active tool
uint8_t get_current_tool(); uint8_t get_current_tool() const;
bool set_filament_type(uint8_t index, uint8_t type); bool set_filament_type(uint8_t index, uint8_t type);
@ -139,7 +140,7 @@ private:
StepStatus LogicStep(); StepStatus LogicStep();
void filament_ramming(); void filament_ramming();
void execute_extruder_sequence(const E_Step *sequence, int steps); void execute_extruder_sequence(const E_Step *sequence, uint8_t steps);
void SetActiveExtruder(uint8_t ex); void SetActiveExtruder(uint8_t ex);
/// Reports an error into attached ExtUIs /// Reports an error into attached ExtUIs

36
Firmware/sound.h
View File

@ -1,18 +1,34 @@
#pragma once
#include <stdint.h> #include <stdint.h>
#ifndef SOUND_H
#define SOUND_H
#define e_SOUND_MODE_NULL 0xFF #define e_SOUND_MODE_NULL 0xFF
typedef enum : uint8_t typedef enum : uint8_t {
{e_SOUND_MODE_LOUD,e_SOUND_MODE_ONCE,e_SOUND_MODE_SILENT,e_SOUND_MODE_BLIND} eSOUND_MODE; e_SOUND_MODE_LOUD,
e_SOUND_MODE_ONCE,
e_SOUND_MODE_SILENT,
e_SOUND_MODE_BLIND
} eSOUND_MODE;
#define e_SOUND_MODE_DEFAULT e_SOUND_MODE_LOUD #define e_SOUND_MODE_DEFAULT e_SOUND_MODE_LOUD
typedef enum : uint8_t typedef enum : uint8_t {
{e_SOUND_TYPE_ButtonEcho,e_SOUND_TYPE_EncoderEcho,e_SOUND_TYPE_StandardPrompt,e_SOUND_TYPE_StandardConfirm,e_SOUND_TYPE_StandardWarning,e_SOUND_TYPE_StandardAlert,e_SOUND_TYPE_EncoderMove,e_SOUND_TYPE_BlindAlert} eSOUND_TYPE; e_SOUND_TYPE_ButtonEcho,
typedef enum : uint8_t e_SOUND_TYPE_EncoderEcho,
{e_SOUND_CLASS_Echo,e_SOUND_CLASS_Prompt,e_SOUND_CLASS_Confirm,e_SOUND_CLASS_Warning,e_SOUND_CLASS_Alert} eSOUND_CLASS; e_SOUND_TYPE_StandardPrompt,
e_SOUND_TYPE_StandardConfirm,
e_SOUND_TYPE_StandardWarning,
e_SOUND_TYPE_StandardAlert,
e_SOUND_TYPE_EncoderMove,
e_SOUND_TYPE_BlindAlert
} eSOUND_TYPE;
typedef enum : uint8_t {
e_SOUND_CLASS_Echo,
e_SOUND_CLASS_Prompt,
e_SOUND_CLASS_Confirm,
e_SOUND_CLASS_Warning,
e_SOUND_CLASS_Alert
} eSOUND_CLASS;
extern eSOUND_MODE eSoundMode; extern eSOUND_MODE eSoundMode;
@ -25,5 +41,3 @@ extern void Sound_MakeCustom(uint16_t ms,uint16_t tone_ ,bool critical);
//static void Sound_DoSound_Echo(void); //static void Sound_DoSound_Echo(void);
//static void Sound_DoSound_Prompt(void); //static void Sound_DoSound_Prompt(void);
#endif // SOUND_H