diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp index 08df94088..53668e8b2 100644 --- a/Firmware/Marlin_main.cpp +++ b/Firmware/Marlin_main.cpp @@ -3037,7 +3037,7 @@ static void gcode_M600(bool automatic, float x_position, float y_position, float lcd_set_cursor(0, 2); lcd_puts_P(_T(MSG_PLEASE_WAIT)); - mmu_command(MMU_CMD_R0); + mmu_command(MmuCmd::R0); manage_response(false, false); } } @@ -6933,7 +6933,7 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE)) return; //dont execute the same T-code twice in a row } st_synchronize(); - mmu_command(MMU_CMD_T0 + tmp_extruder); + mmu_command(MmuCmd::T0 + tmp_extruder); manage_response(true, true, MMU_TCODE_MOVE); } } @@ -6974,7 +6974,7 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE)) printf_P(PSTR("Duplicit T-code ignored.\n")); return; //dont execute the same T-code twice in a row } - mmu_command(MMU_CMD_T0 + tmp_extruder); + mmu_command(MmuCmd::T0 + tmp_extruder); manage_response(true, true, MMU_TCODE_MOVE); mmu_continue_loading(); diff --git a/Firmware/mmu.cpp b/Firmware/mmu.cpp index 5d4b9eecd..2d3f89903 100644 --- a/Firmware/mmu.cpp +++ b/Firmware/mmu.cpp @@ -30,13 +30,31 @@ #define MMU_RST_PIN 76 #endif //MMU_HWRESET +namespace +{ + enum class S : uint_least8_t + { + WaitStealthMode, + GetFindaInit, + GetBuildNr, + GetVersion, + Init, + Disabled, + Idle, + GetFinda, + WaitCmd, //!< wait for command response + Pause, + GetDrvError, //!< get power failures count + }; +} + bool mmu_enabled = false; bool mmu_ready = false; 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; +MmuCmd mmu_cmd = MmuCmd::None; //idler ir sensor uint8_t mmu_idl_sens = 0; @@ -57,10 +75,27 @@ int16_t mmu_buildnr = -1; uint32_t mmu_last_request = 0; uint32_t mmu_last_response = 0; -uint8_t mmu_last_cmd = 0; +MmuCmd mmu_last_cmd = MmuCmd::None; uint16_t mmu_power_failures = 0; +#ifdef MMU_DEBUG +static const auto DEBUG_PUTS_P = puts_P; +static const auto DEBUG_PRINTF_P = printf_P; +#else //MMU_DEBUG +#define DEBUG_PUTS_P(str) +#define DEBUG_PRINTF_P( __fmt, ... ) +#endif //MMU_DEBUG + +#if defined(MMU_FINDA_DEBUG) && defined(MMU_DEBUG) +static const auto FDEBUG_PUTS_P = puts_P; +static const auto FDEBUG_PRINTF_P = printf_P; +#else +#define FDEBUG_PUTS_P(str) +#define FDEBUG_PRINTF_P( __fmt, ... ) +#endif //defined(MMU_FINDA_DEBUG) && defined(MMU_DEBUG) + + //clear rx buffer void mmu_clr_rx_buf(void) { @@ -114,12 +149,11 @@ void mmu_init(void) uart2_init(); //init uart2 _delay_ms(10); //wait 10ms for sure 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_SET(IR_SENSOR_PIN); //pullup } - //if IR_SENSOR defined, always returns true //otherwise check for ir sensor and returns true if idler IR sensor was detected, otherwise returns false bool check_for_ir_sensor() @@ -151,181 +185,154 @@ bool check_for_ir_sensor() void mmu_loop(void) { static uint8_t mmu_attempt_nr = 0; - int filament = 0; // printf_P(PSTR("MMU loop, state=%d\n"), mmu_state); switch (mmu_state) { - case 0: + case S::Disabled: return; - case -1: + case S::Init: if (mmu_rx_start() > 0) { -#ifdef MMU_DEBUG - puts_P(PSTR("MMU => 'start'")); - puts_P(PSTR("MMU <= 'S1'")); -#endif //MMU_DEBUG + DEBUG_PUTS_P(PSTR("MMU => 'start'")); + DEBUG_PUTS_P(PSTR("MMU <= 'S1'")); 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 { puts_P(PSTR("MMU not responding - DISABLED")); - mmu_state = 0; + mmu_state = S::Disabled; } return; - case -2: + case S::GetVersion: if (mmu_rx_ok() > 0) { fscanf_P(uart2io, PSTR("%u"), &mmu_version); //scan version from buffer -#ifdef MMU_DEBUG - printf_P(PSTR("MMU => '%dok'\n"), mmu_version); - puts_P(PSTR("MMU <= 'S2'")); -#endif //MMU_DEBUG + DEBUG_PRINTF_P(PSTR("MMU => '%dok'\n"), mmu_version); + DEBUG_PUTS_P(PSTR("MMU <= 'S2'")); mmu_puts_P(PSTR("S2\n")); //send 'read buildnr' request - mmu_state = -3; + mmu_state = S::GetBuildNr; } return; - case -3: + case S::GetBuildNr: if (mmu_rx_ok() > 0) { fscanf_P(uart2io, PSTR("%u"), &mmu_buildnr); //scan buildnr from buffer -#ifdef MMU_DEBUG - printf_P(PSTR("MMU => '%dok'\n"), mmu_buildnr); -#endif //MMU_DEBUG + DEBUG_PRINTF_P(PSTR("MMU => '%dok'\n"), mmu_buildnr); bool version_valid = mmu_check_version(); if (!version_valid) mmu_show_warning(); else puts_P(PSTR("MMU version valid")); if ((PRINTER_TYPE == PRINTER_MK3) || (PRINTER_TYPE == PRINTER_MK3_SNMM)) { -#if defined MMU_DEBUG && defined MMU_FINDA_DEBUG - puts_P(PSTR("MMU <= 'P0'")); -#endif //MMU_DEBUG && MMU_FINDA_DEBUG + FDEBUG_PUTS_P(PSTR("MMU <= 'P0'")); mmu_puts_P(PSTR("P0\n")); //send 'read finda' request - mmu_state = -4; + mmu_state = S::GetFindaInit; } else { -#ifdef MMU_DEBUG - puts_P(PSTR("MMU <= 'M1'")); -#endif //MMU_DEBUG + DEBUG_PUTS_P(PSTR("MMU <= 'M1'")); mmu_puts_P(PSTR("M1\n")); //set mmu mode to stealth - mmu_state = -5; + mmu_state = S::WaitStealthMode; } } return; - case -5: + case S::WaitStealthMode: if (mmu_rx_ok() > 0) { -#if defined MMU_DEBUG && defined MMU_FINDA_DEBUG - puts_P(PSTR("MMU <= 'P0'")); -#endif //MMU_DEBUG && MMU_FINDA_DEBUG + FDEBUG_PUTS_P(PSTR("MMU <= 'P0'")); mmu_puts_P(PSTR("P0\n")); //send 'read finda' request - mmu_state = -4; + mmu_state = S::GetFindaInit; } return; - case -4: + case S::GetFindaInit: if (mmu_rx_ok() > 0) { fscanf_P(uart2io, PSTR("%hhu"), &mmu_finda); //scan finda from buffer -#if defined MMU_DEBUG && defined MMU_FINDA_DEBUG - printf_P(PSTR("MMU => '%dok'\n"), mmu_finda); -#endif //MMU_DEBUG && MMU_FINDA_DEBUG + FDEBUG_PRINTF_P(PSTR("MMU => '%dok'\n"), mmu_finda); puts_P(PSTR("MMU - ENABLED")); mmu_enabled = true; - mmu_state = 1; + mmu_state = S::Idle; } return; - case 1: - if (mmu_cmd) //command request ? + case S::Idle: + if (mmu_cmd != MmuCmd::None) //command request ? { - if ((mmu_cmd >= MMU_CMD_T0) && (mmu_cmd <= MMU_CMD_T4)) + if ((mmu_cmd >= MmuCmd::T0) && (mmu_cmd <= MmuCmd::T4)) { - filament = mmu_cmd - MMU_CMD_T0; -#ifdef MMU_DEBUG - printf_P(PSTR("MMU <= 'T%d'\n"), filament); -#endif //MMU_DEBUG + const uint8_t filament = mmu_cmd - MmuCmd::T0; + DEBUG_PRINTF_P(PSTR("MMU <= '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_idl_sens = 1; } - else if ((mmu_cmd >= MMU_CMD_L0) && (mmu_cmd <= MMU_CMD_L4)) + else if ((mmu_cmd >= MmuCmd::L0) && (mmu_cmd <= MmuCmd::L4)) { - filament = mmu_cmd - MMU_CMD_L0; -#ifdef MMU_DEBUG - printf_P(PSTR("MMU <= 'L%d'\n"), filament); -#endif //MMU_DEBUG + const uint8_t filament = mmu_cmd - MmuCmd::L0; + DEBUG_PRINTF_P(PSTR("MMU <= '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 == MmuCmd::C0) { -#ifdef MMU_DEBUG - printf_P(PSTR("MMU <= 'C0'\n")); -#endif //MMU_DEBUG + DEBUG_PRINTF_P(PSTR("MMU <= 'C0'\n")); mmu_puts_P(PSTR("C0\n")); //send 'continue loading' - mmu_state = 3; + mmu_state = S::WaitCmd; mmu_idl_sens = 1; } - else if (mmu_cmd == MMU_CMD_U0) + else if (mmu_cmd == MmuCmd::U0) { -#ifdef MMU_DEBUG - printf_P(PSTR("MMU <= 'U0'\n")); -#endif //MMU_DEBUG + DEBUG_PRINTF_P(PSTR("MMU <= 'U0'\n")); mmu_puts_P(PSTR("U0\n")); //send 'unload current filament' 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 >= MmuCmd::E0) && (mmu_cmd <= MmuCmd::E4)) { - int filament = mmu_cmd - MMU_CMD_E0; -#ifdef MMU_DEBUG - printf_P(PSTR("MMU <= 'E%d'\n"), filament); -#endif //MMU_DEBUG + const uint8_t filament = mmu_cmd - MmuCmd::E0; + DEBUG_PRINTF_P(PSTR("MMU <= 'E%d'\n"), filament); mmu_printf_P(PSTR("E%d\n"), filament); //send eject filament 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 == MmuCmd::R0) { -#ifdef MMU_DEBUG - printf_P(PSTR("MMU <= 'R0'\n")); -#endif //MMU_DEBUG + DEBUG_PRINTF_P(PSTR("MMU <= 'R0'\n")); 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 == MmuCmd::S3) { -#ifdef MMU_DEBUG - printf_P(PSTR("MMU <= 'S3'\n")); -#endif //MMU_DEBUG + DEBUG_PRINTF_P(PSTR("MMU <= 'S3'\n")); mmu_puts_P(PSTR("S3\n")); //send power failures request - mmu_state = 4; // power failures response + mmu_state = S::GetDrvError; + } + else if (mmu_cmd == MmuCmd::W0) + { + DEBUG_PRINTF_P(PSTR("MMU <= 'W0'\n")); + mmu_puts_P(PSTR("W0\n")); + mmu_state = S::Pause; } mmu_last_cmd = mmu_cmd; - mmu_cmd = 0; + mmu_cmd = MmuCmd::None; } else if ((mmu_last_response + 300) < _millis()) //request every 300ms { #ifndef IR_SENSOR if(check_for_ir_sensor()) ir_sensor_detected = true; #endif //IR_SENSOR not defined -#if defined MMU_DEBUG && defined MMU_FINDA_DEBUG - puts_P(PSTR("MMU <= 'P0'")); -#endif //MMU_DEBUG && MMU_FINDA_DEBUG + FDEBUG_PUTS_P(PSTR("MMU <= 'P0'")); mmu_puts_P(PSTR("P0\n")); //send 'read finda' request - mmu_state = 2; + mmu_state = S::GetFinda; } return; - case 2: //response to command P0 + case S::GetFinda: //response to command P0 if (mmu_rx_ok() > 0) { fscanf_P(uart2io, PSTR("%hhu"), &mmu_finda); //scan finda from buffer -#if defined MMU_DEBUG && MMU_FINDA_DEBUG - printf_P(PSTR("MMU => '%dok'\n"), mmu_finda); -#endif //MMU_DEBUG && MMU_FINDA_DEBUG + FDEBUG_PRINTF_P(PSTR("MMU => '%dok'\n"), mmu_finda); //printf_P(PSTR("Eact: %d\n"), int(e_active())); if (!mmu_finda && CHECK_FSENSOR && fsensor_enabled) { fsensor_stop_and_save_print(); @@ -340,23 +347,21 @@ void mmu_loop(void) enquecommand_front_P(PSTR("M600")); //save print and run M600 command } } - mmu_state = 1; - if (mmu_cmd == 0) + mmu_state = S::Idle; + if (mmu_cmd == MmuCmd::None) mmu_ready = true; } else if ((mmu_last_request + MMU_P0_TIMEOUT) < _millis()) { //resend request after timeout (30s) - mmu_state = 1; + mmu_state = S::Idle; } return; - case 3: //response to mmu commands + case S::WaitCmd: //response to mmu commands if (mmu_idl_sens) { if (PIN_GET(IR_SENSOR_PIN) == 0 && mmu_loading_flag) { -#ifdef MMU_DEBUG - printf_P(PSTR("MMU <= 'A'\n")); -#endif //MMU_DEBUG + DEBUG_PRINTF_P(PSTR("MMU <= 'A'\n")); mmu_puts_P(PSTR("A\n")); //send 'abort' request mmu_idl_sens = 0; //printf_P(PSTR("MMU IDLER_SENSOR = 0 - ABORT\n")); @@ -366,47 +371,56 @@ void mmu_loop(void) } if (mmu_rx_ok() > 0) { -#ifdef MMU_DEBUG - printf_P(PSTR("MMU => 'ok'\n")); -#endif //MMU_DEBUG + DEBUG_PRINTF_P(PSTR("MMU => 'ok'\n")); mmu_attempt_nr = 0; - mmu_last_cmd = 0; + mmu_last_cmd = MmuCmd::None; mmu_ready = true; - mmu_state = 1; + mmu_state = S::Idle; } else if ((mmu_last_request + MMU_CMD_TIMEOUT) < _millis()) { //resend request after timeout (5 min) - if (mmu_last_cmd) + if (mmu_last_cmd >= MmuCmd::T0 && mmu_last_cmd <= MmuCmd::T4) { if (mmu_attempt_nr++ < MMU_MAX_RESEND_ATTEMPTS) { -#ifdef MMU_DEBUG - printf_P(PSTR("MMU retry attempt nr. %d\n"), mmu_attempt_nr - 1); -#endif //MMU_DEBUG + DEBUG_PRINTF_P(PSTR("MMU retry attempt nr. %d\n"), mmu_attempt_nr - 1); mmu_cmd = mmu_last_cmd; } else { - mmu_cmd = 0; - mmu_last_cmd = 0; //check + mmu_cmd = MmuCmd::None; + mmu_last_cmd = MmuCmd::None; //check mmu_attempt_nr = 0; } } - mmu_state = 1; + mmu_state = S::Idle; } return; - case 4: + case S::Pause: + if (mmu_rx_ok() > 0) + { + DEBUG_PRINTF_P(PSTR("MMU => 'ok', resume print\n")); + mmu_attempt_nr = 0; + mmu_last_cmd = MmuCmd::None; + mmu_ready = true; + mmu_state = S::Idle; + lcd_resume_print(); + } + if (mmu_cmd != MmuCmd::None) + { + mmu_state = S::Idle; + } + return; + case S::GetDrvError: if (mmu_rx_ok() > 0) { fscanf_P(uart2io, PSTR("%d"), &mmu_power_failures); //scan power failures -#ifdef MMU_DEBUG - printf_P(PSTR("MMU => 'ok'\n")); -#endif //MMU_DEBUG - mmu_last_cmd = 0; + DEBUG_PRINTF_P(PSTR("MMU => 'ok'\n")); + mmu_last_cmd = MmuCmd::None; mmu_ready = true; - mmu_state = 1; + mmu_state = S::Idle; } else if ((mmu_last_request + MMU_CMD_TIMEOUT) < _millis()) { //resend request after timeout (5 min) - mmu_state = 1; + mmu_state = S::Idle; } } } @@ -437,20 +451,20 @@ int8_t mmu_set_filament_type(uint8_t extruder, uint8_t filament) //! Call manage_response() after enqueuing to process command. //! If T command is enqueued, it disables current for extruder motor if TMC2130 driver present. //! If T or L command is enqueued, it marks filament loaded in AutoDeplete module. -void mmu_command(uint8_t cmd) +void mmu_command(MmuCmd cmd) { - if ((cmd >= MMU_CMD_T0) && (cmd <= MMU_CMD_T4)) + if ((cmd >= MmuCmd::T0) && (cmd <= MmuCmd::T4)) { //disable extruder motor #ifdef TMC2130 tmc2130_set_pwr(E_AXIS, 0); #endif //TMC2130 //printf_P(PSTR("E-axis disabled\n")); - ad_markLoaded(cmd - MMU_CMD_T0); + ad_markLoaded(cmd - MmuCmd::T0); } - if ((cmd >= MMU_CMD_L0) && (cmd <= MMU_CMD_L4)) + if ((cmd >= MmuCmd::L0) && (cmd <= MmuCmd::L4)) { - ad_markLoaded(cmd - MMU_CMD_L0); + ad_markLoaded(cmd - MmuCmd::L0); } mmu_cmd = cmd; @@ -495,14 +509,14 @@ bool mmu_get_response(uint8_t move) printf_P(PSTR("mmu_get_response - begin move:%d\n"), move); KEEPALIVE_STATE(IN_PROCESS); - while (mmu_cmd != 0) + while (mmu_cmd != MmuCmd::None) { delay_keep_alive(100); } while (!mmu_ready) { - if ((mmu_state != 3) && (mmu_last_cmd == 0)) + if ((mmu_state != S::WaitCmd) && (mmu_last_cmd == MmuCmd::None)) break; switch (move) { @@ -794,7 +808,7 @@ void mmu_M600_load_filament(bool automatic) // printf_P(PSTR("T code: %d \n"), tmp_extruder); // mmu_printf_P(PSTR("T%d\n"), tmp_extruder); - mmu_command(MMU_CMD_T0 + tmp_extruder); + mmu_command(MmuCmd::T0 + tmp_extruder); manage_response(false, true, MMU_LOAD_MOVE); mmu_continue_loading(); @@ -885,8 +899,8 @@ void display_loading() void extr_adj(int extruder) //loading filament for SNMM { #ifndef SNMM - uint8_t cmd = MMU_CMD_L0 + extruder; - if (cmd > MMU_CMD_L4) + MmuCmd cmd = MmuCmd::L0 + extruder; + if (cmd > MmuCmd::L4) { printf_P(PSTR("Filament out of range %d \n"),extruder); return; @@ -1006,7 +1020,7 @@ void extr_unload() mmu_filament_ramming(); - mmu_command(MMU_CMD_U0); + mmu_command(MmuCmd::U0); // get response manage_response(false, true, MMU_UNLOAD_MOVE); @@ -1303,7 +1317,7 @@ void lcd_mmu_load_to_nozzle(uint8_t filament_nr) lcd_set_cursor(0, 1); lcd_puts_P(_T(MSG_LOADING_FILAMENT)); lcd_print(" "); lcd_print(tmp_extruder + 1); - mmu_command(MMU_CMD_T0 + tmp_extruder); + mmu_command(MmuCmd::T0 + tmp_extruder); manage_response(true, true, MMU_TCODE_MOVE); mmu_continue_loading(); mmu_extruder = tmp_extruder; //filament change is finished @@ -1340,12 +1354,12 @@ void mmu_eject_filament(uint8_t filament, bool recover) current_position[E_AXIS] -= 80; plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder); st_synchronize(); - mmu_command(MMU_CMD_E0 + filament); + mmu_command(MmuCmd::E0 + filament); manage_response(false, false, MMU_UNLOAD_MOVE); if (recover) { lcd_show_fullscreen_message_and_wait_P(_i("Please remove filament and then press the knob.")); - mmu_command(MMU_CMD_R0); + mmu_command(MmuCmd::R0); manage_response(false, false); } @@ -1362,46 +1376,62 @@ void mmu_eject_filament(uint8_t filament, bool recover) } } +static void load_more() +{ + for (uint8_t i = 0; i < MMU_IDLER_SENSOR_ATTEMPTS_NR; i++) + { + if (PIN_GET(IR_SENSOR_PIN) == 0) return; + DEBUG_PRINTF_P(PSTR("Additional load attempt nr. %d\n"), i); + mmu_command(MmuCmd::C0); + manage_response(true, true, MMU_LOAD_MOVE); + } +} + void mmu_continue_loading() { + if (ir_sensor_detected) + { + load_more(); - if (ir_sensor_detected) { - for (uint8_t i = 0; i < MMU_IDLER_SENSOR_ATTEMPTS_NR; i++) { - if (PIN_GET(IR_SENSOR_PIN) == 0) return; -#ifdef MMU_DEBUG - printf_P(PSTR("Additional load attempt nr. %d\n"), i); -#endif // MMU_DEBUG - mmu_command(MMU_CMD_C0); - manage_response(true, true, MMU_LOAD_MOVE); - } if (PIN_GET(IR_SENSOR_PIN) != 0) { uint8_t mmu_load_fail = eeprom_read_byte((uint8_t*)EEPROM_MMU_LOAD_FAIL); uint16_t mmu_load_fail_tot = eeprom_read_word((uint16_t*)EEPROM_MMU_LOAD_FAIL_TOT); if(mmu_load_fail < 255) eeprom_update_byte((uint8_t*)EEPROM_MMU_LOAD_FAIL, mmu_load_fail + 1); if(mmu_load_fail_tot < 65535) eeprom_update_word((uint16_t*)EEPROM_MMU_LOAD_FAIL_TOT, mmu_load_fail_tot + 1); - char cmd[3]; - //pause print, show error message and then repeat last T-code - stop_and_save_print_to_ram(0, 0); - //lift z - current_position[Z_AXIS] += Z_PAUSE_LIFT; - if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS; - plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder); - st_synchronize(); + mmu_command(MmuCmd::T0 + tmp_extruder); + manage_response(true, true, MMU_TCODE_MOVE); + load_more(); - //Move XY to side - current_position[X_AXIS] = X_PAUSE_POS; - current_position[Y_AXIS] = Y_PAUSE_POS; - plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder); - st_synchronize(); - //set nozzle target temperature to 0 - setAllTargetHotends(0); - lcd_setstatuspgm(_i("MMU load failed "));////MSG_RECOVERING_PRINT c=20 r=1 - mmu_fil_loaded = false; //so we can retry same T-code again - isPrintPaused = true; + if (PIN_GET(IR_SENSOR_PIN) != 0) + { + //pause print, show error message and then repeat last T-code + stop_and_save_print_to_ram(0, 0); + + //lift z + current_position[Z_AXIS] += Z_PAUSE_LIFT; + if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS; + plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder); + st_synchronize(); + + //Move XY to side + current_position[X_AXIS] = X_PAUSE_POS; + current_position[Y_AXIS] = Y_PAUSE_POS; + plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder); + st_synchronize(); + + mmu_command(MmuCmd::U0); + manage_response(false, true, MMU_UNLOAD_MOVE); + + setAllTargetHotends(0); + lcd_setstatuspgm(_i("MMU load failed "));////MSG_RECOVERING_PRINT c=20 r=1 + mmu_fil_loaded = false; //so we can retry same T-code again + isPrintPaused = true; + mmu_command(MmuCmd::W0); + } } } else { //mmu_ir_sensor_detected == false - mmu_command(MMU_CMD_C0); + mmu_command(MmuCmd::C0); } } diff --git a/Firmware/mmu.h b/Firmware/mmu.h index 473ee99d7..71930ae7c 100644 --- a/Firmware/mmu.h +++ b/Firmware/mmu.h @@ -32,26 +32,40 @@ extern uint16_t mmu_power_failures; #define MMU_LOAD_FEEDRATE 19.02f //mm/s #define MMU_LOAD_TIME_MS 2000 //should be fine tuned to load time for shortest allowed PTFE tubing and maximum loading speed -#define MMU_CMD_NONE 0 -#define MMU_CMD_T0 0x10 -#define MMU_CMD_T1 0x11 -#define MMU_CMD_T2 0x12 -#define MMU_CMD_T3 0x13 -#define MMU_CMD_T4 0x14 -#define MMU_CMD_L0 0x20 -#define MMU_CMD_L1 0x21 -#define MMU_CMD_L2 0x22 -#define MMU_CMD_L3 0x23 -#define MMU_CMD_L4 0x24 -#define MMU_CMD_C0 0x30 -#define MMU_CMD_U0 0x40 -#define MMU_CMD_E0 0x50 -#define MMU_CMD_E1 0x51 -#define MMU_CMD_E2 0x52 -#define MMU_CMD_E3 0x53 -#define MMU_CMD_E4 0x54 -#define MMU_CMD_R0 0x60 -#define MMU_CMD_S3 0x73 +enum class MmuCmd : uint_least8_t +{ + None, + T0, + T1, + T2, + T3, + T4, + L0, + L1, + L2, + L3, + L4, + C0, + U0, + E0, + E1, + E2, + E3, + E4, + R0, + S3, + W0, +}; + +inline MmuCmd operator+ (MmuCmd cmd, uint8_t filament) +{ + return static_cast(static_cast(cmd) + filament ); +} + +inline uint8_t operator- (MmuCmd cmda, MmuCmd cmdb) +{ + return (static_cast(cmda) - static_cast(cmdb)); +} extern int mmu_puts_P(const char* str); @@ -70,7 +84,7 @@ extern void mmu_reset(void); extern int8_t mmu_set_filament_type(uint8_t extruder, uint8_t filament); -extern void mmu_command(uint8_t cmd); +extern void mmu_command(MmuCmd cmd); extern bool mmu_get_response(uint8_t move = 0); diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp index 9614c9a4d..f13c86697 100644 --- a/Firmware/ultralcd.cpp +++ b/Firmware/ultralcd.cpp @@ -1986,7 +1986,7 @@ static void lcd_menu_fails_stats_mmu_total() // MMU load fails 000 // ////////////////////// - mmu_command(MMU_CMD_S3); + mmu_command(MmuCmd::S3); lcd_timeoutToStatus.stop(); //infinite timeout uint8_t fails = eeprom_read_byte((uint8_t*)EEPROM_MMU_FAIL_TOT); uint16_t load_fails = eeprom_read_byte((uint8_t*)EEPROM_MMU_LOAD_FAIL_TOT); @@ -7208,7 +7208,7 @@ static bool selftest_irsensor() mmu_filament_ramming(); } progress = lcd_selftest_screen(testScreen::fsensor, progress, 1, true, 0); - mmu_command(MMU_CMD_U0); + mmu_command(MmuCmd::U0); manage_response(false, false); for(uint_least8_t i = 0; i < 200; ++i)