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PFW-1334 Move E-motor on FSENSOR error retry

This commit is contained in:
Guðni Már Gilbert 2022-06-26 11:52:13 +00:00 committed by D.R.racer
parent b8432e6bf2
commit 59d19a8330
2 changed files with 30 additions and 0 deletions
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29
Firmware/mmu2.cpp
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@ -93,6 +93,7 @@ MMU2::MMU2()
, state(xState::Stopped) , state(xState::Stopped)
, mmu_print_saved(SavedState::None) , mmu_print_saved(SavedState::None)
, loadFilamentStarted(false) , loadFilamentStarted(false)
, unloadFilamentStarted(false)
, loadingToNozzle(false) , loadingToNozzle(false)
{ {
} }
@ -737,6 +738,8 @@ void MMU2::ReportError(ErrorCode ec, uint8_t res) {
// Depending on the Progress code, we may want to do some action when an error occurs // Depending on the Progress code, we may want to do some action when an error occurs
switch (logic.Progress()) switch (logic.Progress())
{ {
case ProgressCode::UnloadingToFinda:
unloadFilamentStarted = false;
case ProgressCode::FeedingToBondtech: case ProgressCode::FeedingToBondtech:
case ProgressCode::FeedingToFSensor: case ProgressCode::FeedingToFSensor:
// FSENSOR error during load. Make sure E-motor stops moving. // FSENSOR error during load. Make sure E-motor stops moving.
@ -778,6 +781,19 @@ void MMU2::OnMMUProgressMsg(ProgressCode pc){
// Act accordingly - one-time handling // Act accordingly - one-time handling
switch (pc) { switch (pc) {
case ProgressCode::UnloadingToFinda:
// This is intended to handle Retry option on MMU error screen
// MMU sends P3 progress code during Query, and if filament is stuck
// in the gears, the MK3S needs to move e-axis as well.
st_synchronize();
unloadFilamentStarted = true;
// Unload slowly while MMU is initalising its axis
current_position[E_AXIS] -= 10.0f;
plan_buffer_line_curposXYZE(10.0f);
st_synchronize();
// Now do a fast unload in sync with the MMU
current_position[E_AXIS] -= 427.0f - 42.85f - 20.0f; // Roughly same distance as MMU plans
plan_buffer_line_curposXYZE(120.0f);
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();
@ -790,6 +806,19 @@ void MMU2::OnMMUProgressMsg(ProgressCode pc){
} else { } else {
// Act accordingly - every status change (even the same state) // Act accordingly - every status change (even the same state)
switch (pc) { switch (pc) {
case ProgressCode::UnloadingToFinda:
if (unloadFilamentStarted && !blocks_queued()) { // Only plan a move if there is no move ongoing
if (mmu2.FindaDetectsFilament() == 1)
{ // Keep moving the E-motor until and error happens or FINDA untriggers
current_position[E_AXIS] -= 6.0f;
plan_buffer_line_curposXYZE(60.0f);
} else {
// Only stop moving the motor if FINDA is still triggered.
// Even if the FSENSOR is 0, the filament may get stuck in the bondtech gears
unloadFilamentStarted = false;
}
}
case ProgressCode::FeedingToBondtech: case ProgressCode::FeedingToBondtech:
case ProgressCode::FeedingToFSensor: case ProgressCode::FeedingToFSensor:
if (loadFilamentStarted) { if (loadFilamentStarted) {

1
Firmware/mmu2.h
View File

@ -247,6 +247,7 @@ private:
uint8_t mmu_print_saved; uint8_t mmu_print_saved;
bool loadFilamentStarted; bool loadFilamentStarted;
bool unloadFilamentStarted;
friend struct LoadingToNozzleRAII; friend struct LoadingToNozzleRAII;
/// true in case we are doing the LoadToNozzle operation - that means the filament shall be loaded all the way down to the nozzle /// true in case we are doing the LoadToNozzle operation - that means the filament shall be loaded all the way down to the nozzle