From d33b24c2816df1fc763231fb9696f5e9d3c1c1cb Mon Sep 17 00:00:00 2001 From: Marek Bel Date: Mon, 4 Feb 2019 20:19:34 +0100 Subject: [PATCH 01/10] Unload filament after MMU load failed so MMU unit can be controlled by its buttons. --- Firmware/mmu.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/Firmware/mmu.cpp b/Firmware/mmu.cpp index 5d4b9eecd..36dd5a360 100644 --- a/Firmware/mmu.cpp +++ b/Firmware/mmu.cpp @@ -1394,7 +1394,10 @@ void mmu_continue_loading() 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 + + mmu_command(MMU_CMD_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 From 6c8d9c6fb4b03543e355efffb0a2c4f8360acb38 Mon Sep 17 00:00:00 2001 From: Marek Bel Date: Tue, 5 Feb 2019 18:25:11 +0100 Subject: [PATCH 02/10] Retry filament load on MMU load failure once. --- Firmware/mmu.cpp | 70 +++++++++++++++++++++++++++++------------------- 1 file changed, 42 insertions(+), 28 deletions(-) diff --git a/Firmware/mmu.cpp b/Firmware/mmu.cpp index 36dd5a360..833d1fde2 100644 --- a/Firmware/mmu.cpp +++ b/Firmware/mmu.cpp @@ -1362,46 +1362,60 @@ 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; +#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); + } +} + 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(MMU_CMD_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(); + 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); - mmu_command(MMU_CMD_U0); - manage_response(false, true, MMU_UNLOAD_MOVE); + //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(); - 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; + //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(MMU_CMD_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; + } } } else { //mmu_ir_sensor_detected == false From 3379fb4866d38996a74c8fd8a10c1e301b37287f Mon Sep 17 00:00:00 2001 From: Marek Bel Date: Tue, 12 Feb 2019 21:43:26 +0100 Subject: [PATCH 03/10] Convert mmu_state to enum. --- Firmware/mmu.cpp | 85 +++++++++++++++++++++++++++++------------------- 1 file changed, 51 insertions(+), 34 deletions(-) diff --git a/Firmware/mmu.cpp b/Firmware/mmu.cpp index 833d1fde2..f014613f7 100644 --- a/Firmware/mmu.cpp +++ b/Firmware/mmu.cpp @@ -30,11 +30,28 @@ #define MMU_RST_PIN 76 #endif //MMU_HWRESET +namespace +{ + enum class S + { + WaitStealthMode = -5, + GetFindaInit, + GetBuildNr, + GetVersion, + Init, + Disabled, + Idle, + GetFinda, + WaitCmd, //!< wait for command response + 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; @@ -114,7 +131,7 @@ 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 } @@ -155,9 +172,9 @@ void mmu_loop(void) // 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 @@ -165,15 +182,15 @@ void mmu_loop(void) puts_P(PSTR("MMU <= 'S1'")); #endif //MMU_DEBUG 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 @@ -182,10 +199,10 @@ void mmu_loop(void) puts_P(PSTR("MMU <= 'S2'")); #endif //MMU_DEBUG 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 @@ -202,7 +219,7 @@ void mmu_loop(void) puts_P(PSTR("MMU <= 'P0'")); #endif //MMU_DEBUG && MMU_FINDA_DEBUG mmu_puts_P(PSTR("P0\n")); //send 'read finda' request - mmu_state = -4; + mmu_state = S::GetFindaInit; } else { @@ -210,22 +227,22 @@ void mmu_loop(void) puts_P(PSTR("MMU <= 'M1'")); #endif //MMU_DEBUG 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 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 @@ -234,10 +251,10 @@ void mmu_loop(void) #endif //MMU_DEBUG && MMU_FINDA_DEBUG puts_P(PSTR("MMU - ENABLED")); mmu_enabled = true; - mmu_state = 1; + mmu_state = S::Idle; } return; - case 1: + case S::Idle: if (mmu_cmd) //command request ? { if ((mmu_cmd >= MMU_CMD_T0) && (mmu_cmd <= MMU_CMD_T4)) @@ -247,7 +264,7 @@ void mmu_loop(void) printf_P(PSTR("MMU <= 'T%d'\n"), filament); #endif //MMU_DEBUG 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; } @@ -258,7 +275,7 @@ void mmu_loop(void) printf_P(PSTR("MMU <= 'L%d'\n"), filament); #endif //MMU_DEBUG 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) { @@ -266,7 +283,7 @@ void mmu_loop(void) printf_P(PSTR("MMU <= 'C0'\n")); #endif //MMU_DEBUG 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) @@ -276,7 +293,7 @@ void mmu_loop(void) #endif //MMU_DEBUG 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)) { @@ -286,7 +303,7 @@ void mmu_loop(void) #endif //MMU_DEBUG 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) { @@ -294,7 +311,7 @@ void mmu_loop(void) printf_P(PSTR("MMU <= 'R0'\n")); #endif //MMU_DEBUG 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) { @@ -302,7 +319,7 @@ void mmu_loop(void) printf_P(PSTR("MMU <= 'S3'\n")); #endif //MMU_DEBUG mmu_puts_P(PSTR("S3\n")); //send power failures request - mmu_state = 4; // power failures response + mmu_state = S::GetDrvError; } mmu_last_cmd = mmu_cmd; mmu_cmd = 0; @@ -316,10 +333,10 @@ void mmu_loop(void) puts_P(PSTR("MMU <= 'P0'")); #endif //MMU_DEBUG && MMU_FINDA_DEBUG 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 @@ -340,16 +357,16 @@ void mmu_loop(void) enquecommand_front_P(PSTR("M600")); //save print and run M600 command } } - mmu_state = 1; + mmu_state = S::Idle; if (mmu_cmd == 0) 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) @@ -372,7 +389,7 @@ void mmu_loop(void) mmu_attempt_nr = 0; mmu_last_cmd = 0; 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) @@ -390,10 +407,10 @@ void mmu_loop(void) mmu_attempt_nr = 0; } } - mmu_state = 1; + mmu_state = S::Idle; } return; - case 4: + case S::GetDrvError: if (mmu_rx_ok() > 0) { fscanf_P(uart2io, PSTR("%d"), &mmu_power_failures); //scan power failures @@ -402,11 +419,11 @@ void mmu_loop(void) #endif //MMU_DEBUG mmu_last_cmd = 0; 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; } } } @@ -502,7 +519,7 @@ bool mmu_get_response(uint8_t move) while (!mmu_ready) { - if ((mmu_state != 3) && (mmu_last_cmd == 0)) + if ((mmu_state != S::WaitCmd) && (mmu_last_cmd == 0)) break; switch (move) { From e1216934ef3379a2f97e0044dffba2218b18051f Mon Sep 17 00:00:00 2001 From: Marek Bel Date: Tue, 12 Feb 2019 21:53:11 +0100 Subject: [PATCH 04/10] Save flash by defining underlying type and omitting number value. --- Firmware/mmu.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Firmware/mmu.cpp b/Firmware/mmu.cpp index f014613f7..b927afc50 100644 --- a/Firmware/mmu.cpp +++ b/Firmware/mmu.cpp @@ -32,9 +32,9 @@ namespace { - enum class S + enum class S : uint_least8_t { - WaitStealthMode = -5, + WaitStealthMode, GetFindaInit, GetBuildNr, GetVersion, From bb7eeef1f454753984ca2f85dab87da3b40c79d9 Mon Sep 17 00:00:00 2001 From: Marek Bel Date: Tue, 12 Feb 2019 23:24:23 +0100 Subject: [PATCH 05/10] Define debug printf and puts functions to make code more readable. --- Firmware/mmu.cpp | 106 ++++++++++++++++++----------------------------- 1 file changed, 40 insertions(+), 66 deletions(-) diff --git a/Firmware/mmu.cpp b/Firmware/mmu.cpp index b927afc50..50a8689c0 100644 --- a/Firmware/mmu.cpp +++ b/Firmware/mmu.cpp @@ -78,6 +78,23 @@ uint8_t mmu_last_cmd = 0; 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) { @@ -136,7 +153,6 @@ void mmu_init(void) 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() @@ -177,10 +193,8 @@ void mmu_loop(void) 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 = S::GetVersion; } @@ -194,10 +208,8 @@ void mmu_loop(void) 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 = S::GetBuildNr; } @@ -206,26 +218,20 @@ void mmu_loop(void) 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 = 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 = S::WaitStealthMode; } @@ -235,9 +241,7 @@ void mmu_loop(void) 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 = S::GetFindaInit; } @@ -246,9 +250,7 @@ void mmu_loop(void) 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 = S::Idle; @@ -260,9 +262,7 @@ void mmu_loop(void) if ((mmu_cmd >= MMU_CMD_T0) && (mmu_cmd <= MMU_CMD_T4)) { filament = mmu_cmd - MMU_CMD_T0; -#ifdef MMU_DEBUG - printf_P(PSTR("MMU <= 'T%d'\n"), filament); -#endif //MMU_DEBUG + DEBUG_PRINTF_P(PSTR("MMU <= 'T%d'\n"), filament); mmu_printf_P(PSTR("T%d\n"), filament); mmu_state = S::WaitCmd; // wait for response mmu_fil_loaded = true; @@ -271,26 +271,20 @@ void mmu_loop(void) else if ((mmu_cmd >= MMU_CMD_L0) && (mmu_cmd <= MMU_CMD_L4)) { filament = mmu_cmd - MMU_CMD_L0; -#ifdef MMU_DEBUG - printf_P(PSTR("MMU <= 'L%d'\n"), filament); -#endif //MMU_DEBUG + DEBUG_PRINTF_P(PSTR("MMU <= 'L%d'\n"), filament); mmu_printf_P(PSTR("L%d\n"), filament); mmu_state = S::WaitCmd; // wait for response } else if (mmu_cmd == MMU_CMD_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 = S::WaitCmd; mmu_idl_sens = 1; } else if (mmu_cmd == MMU_CMD_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 = S::WaitCmd; @@ -298,26 +292,20 @@ void mmu_loop(void) else if ((mmu_cmd >= MMU_CMD_E0) && (mmu_cmd <= MMU_CMD_E4)) { int filament = mmu_cmd - MMU_CMD_E0; -#ifdef MMU_DEBUG - printf_P(PSTR("MMU <= 'E%d'\n"), filament); -#endif //MMU_DEBUG + 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 = S::WaitCmd; } else if (mmu_cmd == MMU_CMD_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 = S::WaitCmd; } else if (mmu_cmd == MMU_CMD_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 = S::GetDrvError; } @@ -329,9 +317,7 @@ void mmu_loop(void) #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 = S::GetFinda; } @@ -340,9 +326,7 @@ void mmu_loop(void) 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(); @@ -371,9 +355,7 @@ void mmu_loop(void) { 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")); @@ -383,9 +365,7 @@ 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_ready = true; @@ -396,9 +376,7 @@ void mmu_loop(void) if (mmu_last_cmd) { 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 { @@ -414,9 +392,7 @@ void mmu_loop(void) 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 + DEBUG_PRINTF_P(PSTR("MMU => 'ok'\n")); mmu_last_cmd = 0; mmu_ready = true; mmu_state = S::Idle; @@ -1384,9 +1360,7 @@ static void load_more() 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 + DEBUG_PRINTF_P(PSTR("Additional load attempt nr. %d\n"), i); mmu_command(MMU_CMD_C0); manage_response(true, true, MMU_LOAD_MOVE); } From 9e873ac0f7edb823f1664c4bfed6a2b473a00932 Mon Sep 17 00:00:00 2001 From: Marek Bel Date: Wed, 13 Feb 2019 01:51:39 +0100 Subject: [PATCH 06/10] Use enum for mmu_cmd instead of plain integer type. --- Firmware/Marlin_main.cpp | 6 ++-- Firmware/mmu.cpp | 66 ++++++++++++++++++++-------------------- Firmware/mmu.h | 45 ++++++++++++++------------- Firmware/ultralcd.cpp | 4 +-- 4 files changed, 62 insertions(+), 59 deletions(-) diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp index 08df94088..ed3919a93 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(static_cast(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(static_cast(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 50a8689c0..19d6dfdb0 100644 --- a/Firmware/mmu.cpp +++ b/Firmware/mmu.cpp @@ -53,7 +53,7 @@ bool mmu_fil_loaded = false; //if true: blocks execution of duplicit T-codes 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; @@ -74,7 +74,7 @@ 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; @@ -259,58 +259,58 @@ void mmu_loop(void) case S::Idle: if (mmu_cmd) //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; + filament = mmu_cmd - MmuCmd::T0; DEBUG_PRINTF_P(PSTR("MMU <= 'T%d'\n"), filament); mmu_printf_P(PSTR("T%d\n"), filament); 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; + filament = mmu_cmd - MmuCmd::L0; DEBUG_PRINTF_P(PSTR("MMU <= 'L%d'\n"), filament); mmu_printf_P(PSTR("L%d\n"), filament); mmu_state = S::WaitCmd; // wait for response } - else if (mmu_cmd == MMU_CMD_C0) + else if (mmu_cmd == MmuCmd::C0) { DEBUG_PRINTF_P(PSTR("MMU <= 'C0'\n")); mmu_puts_P(PSTR("C0\n")); //send 'continue loading' mmu_state = S::WaitCmd; mmu_idl_sens = 1; } - else if (mmu_cmd == MMU_CMD_U0) + else if (mmu_cmd == MmuCmd::U0) { DEBUG_PRINTF_P(PSTR("MMU <= 'U0'\n")); mmu_puts_P(PSTR("U0\n")); //send 'unload current filament' mmu_fil_loaded = false; 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; + int 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 = S::WaitCmd; } - else if (mmu_cmd == MMU_CMD_R0) + else if (mmu_cmd == MmuCmd::R0) { DEBUG_PRINTF_P(PSTR("MMU <= 'R0'\n")); mmu_puts_P(PSTR("R0\n")); //send recover after eject mmu_state = S::WaitCmd; } - else if (mmu_cmd == MMU_CMD_S3) + else if (mmu_cmd == MmuCmd::S3) { DEBUG_PRINTF_P(PSTR("MMU <= 'S3'\n")); mmu_puts_P(PSTR("S3\n")); //send power failures request mmu_state = S::GetDrvError; } mmu_last_cmd = mmu_cmd; - mmu_cmd = 0; + mmu_cmd = MmuCmd::None; } else if ((mmu_last_response + 300) < _millis()) //request every 300ms { @@ -367,7 +367,7 @@ void mmu_loop(void) { 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 = S::Idle; } @@ -380,8 +380,8 @@ void mmu_loop(void) 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; } } @@ -393,7 +393,7 @@ void mmu_loop(void) { fscanf_P(uart2io, PSTR("%d"), &mmu_power_failures); //scan power failures DEBUG_PRINTF_P(PSTR("MMU => 'ok'\n")); - mmu_last_cmd = 0; + mmu_last_cmd = MmuCmd::None; mmu_ready = true; mmu_state = S::Idle; } @@ -430,20 +430,20 @@ 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; @@ -787,7 +787,7 @@ 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(static_cast(MmuCmd::T0 + tmp_extruder)); manage_response(false, true, MMU_LOAD_MOVE); mmu_continue_loading(); @@ -878,8 +878,8 @@ 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 = static_cast(MmuCmd::L0 + extruder); + if (cmd > MmuCmd::L4) { printf_P(PSTR("Filament out of range %d \n"),extruder); return; @@ -999,7 +999,7 @@ void extr_unload() mmu_filament_ramming(); - mmu_command(MMU_CMD_U0); + mmu_command(MmuCmd::U0); // get response manage_response(false, true, MMU_UNLOAD_MOVE); @@ -1296,7 +1296,7 @@ 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(static_cast(MmuCmd::T0 + tmp_extruder)); manage_response(true, true, MMU_TCODE_MOVE); mmu_continue_loading(); mmu_extruder = tmp_extruder; //filament change is finished @@ -1333,12 +1333,12 @@ 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(static_cast(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); } @@ -1361,7 +1361,7 @@ static void load_more() { if (PIN_GET(IR_SENSOR_PIN) == 0) return; DEBUG_PRINTF_P(PSTR("Additional load attempt nr. %d\n"), i); - mmu_command(MMU_CMD_C0); + mmu_command(MmuCmd::C0); manage_response(true, true, MMU_LOAD_MOVE); } } @@ -1378,7 +1378,7 @@ void mmu_continue_loading() 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); - mmu_command(MMU_CMD_T0 + tmp_extruder); + mmu_command(static_cast(MmuCmd::T0 + tmp_extruder)); manage_response(true, true, MMU_TCODE_MOVE); load_more(); @@ -1399,7 +1399,7 @@ void mmu_continue_loading() 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(MMU_CMD_U0); + mmu_command(MmuCmd::U0); manage_response(false, true, MMU_UNLOAD_MOVE); setAllTargetHotends(0); @@ -1410,6 +1410,6 @@ void mmu_continue_loading() } } 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..ff9cf0982 100644 --- a/Firmware/mmu.h +++ b/Firmware/mmu.h @@ -32,26 +32,29 @@ 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 MmuCmd : uint_least8_t +{ + None, + T0, + T1, + T2, + T3, + T4, + L0, + L1, + L2, + L3, + L4, + C0, + U0, + E0, + E1, + E2, + E3, + E4, + R0, + S3, +}; extern int mmu_puts_P(const char* str); @@ -70,7 +73,7 @@ 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) From 8e23e7f322d5e9e6bd6ef260d8ff1d45be3fe53a Mon Sep 17 00:00:00 2001 From: Marek Bel Date: Wed, 13 Feb 2019 16:37:54 +0100 Subject: [PATCH 07/10] Save some flash by using smaller type for filament. --- Firmware/mmu.cpp | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/Firmware/mmu.cpp b/Firmware/mmu.cpp index 19d6dfdb0..091384ecd 100644 --- a/Firmware/mmu.cpp +++ b/Firmware/mmu.cpp @@ -184,7 +184,6 @@ 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) { @@ -261,7 +260,7 @@ void mmu_loop(void) { if ((mmu_cmd >= MmuCmd::T0) && (mmu_cmd <= MmuCmd::T4)) { - filament = mmu_cmd - MmuCmd::T0; + 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 = S::WaitCmd; // wait for response @@ -270,7 +269,7 @@ void mmu_loop(void) } else if ((mmu_cmd >= MmuCmd::L0) && (mmu_cmd <= MmuCmd::L4)) { - filament = mmu_cmd - MmuCmd::L0; + 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 = S::WaitCmd; // wait for response @@ -291,7 +290,7 @@ void mmu_loop(void) } else if ((mmu_cmd >= MmuCmd::E0) && (mmu_cmd <= MmuCmd::E4)) { - int filament = mmu_cmd - MmuCmd::E0; + 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; From daaec0ef04f62f8033127189568a5a825a846efd Mon Sep 17 00:00:00 2001 From: Marek Bel Date: Wed, 13 Feb 2019 17:12:35 +0100 Subject: [PATCH 08/10] Convert MmuCmd to enum class. --- Firmware/Marlin_main.cpp | 4 ++-- Firmware/mmu.cpp | 20 ++++++++++---------- Firmware/mmu.h | 12 +++++++++++- 3 files changed, 23 insertions(+), 13 deletions(-) diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp index ed3919a93..53668e8b2 100644 --- a/Firmware/Marlin_main.cpp +++ b/Firmware/Marlin_main.cpp @@ -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(static_cast(MmuCmd::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(static_cast(MmuCmd::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 091384ecd..039eebc9b 100644 --- a/Firmware/mmu.cpp +++ b/Firmware/mmu.cpp @@ -256,7 +256,7 @@ void mmu_loop(void) } return; case S::Idle: - if (mmu_cmd) //command request ? + if (mmu_cmd != MmuCmd::None) //command request ? { if ((mmu_cmd >= MmuCmd::T0) && (mmu_cmd <= MmuCmd::T4)) { @@ -341,7 +341,7 @@ void mmu_loop(void) } } mmu_state = S::Idle; - if (mmu_cmd == 0) + if (mmu_cmd == MmuCmd::None) mmu_ready = true; } else if ((mmu_last_request + MMU_P0_TIMEOUT) < _millis()) @@ -372,7 +372,7 @@ void mmu_loop(void) } else if ((mmu_last_request + MMU_CMD_TIMEOUT) < _millis()) { //resend request after timeout (5 min) - if (mmu_last_cmd) + if (mmu_last_cmd != MmuCmd::None) { if (mmu_attempt_nr++ < MMU_MAX_RESEND_ATTEMPTS) { DEBUG_PRINTF_P(PSTR("MMU retry attempt nr. %d\n"), mmu_attempt_nr - 1); @@ -487,14 +487,14 @@ 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 != S::WaitCmd) && (mmu_last_cmd == 0)) + if ((mmu_state != S::WaitCmd) && (mmu_last_cmd == MmuCmd::None)) break; switch (move) { @@ -786,7 +786,7 @@ 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(static_cast(MmuCmd::T0 + tmp_extruder)); + mmu_command(MmuCmd::T0 + tmp_extruder); manage_response(false, true, MMU_LOAD_MOVE); mmu_continue_loading(); @@ -877,7 +877,7 @@ void display_loading() void extr_adj(int extruder) //loading filament for SNMM { #ifndef SNMM - MmuCmd cmd = static_cast(MmuCmd::L0 + extruder); + MmuCmd cmd = MmuCmd::L0 + extruder; if (cmd > MmuCmd::L4) { printf_P(PSTR("Filament out of range %d \n"),extruder); @@ -1295,7 +1295,7 @@ 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(static_cast(MmuCmd::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 @@ -1332,7 +1332,7 @@ 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(static_cast(MmuCmd::E0 + filament)); + mmu_command(MmuCmd::E0 + filament); manage_response(false, false, MMU_UNLOAD_MOVE); if (recover) { @@ -1377,7 +1377,7 @@ void mmu_continue_loading() 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); - mmu_command(static_cast(MmuCmd::T0 + tmp_extruder)); + mmu_command(MmuCmd::T0 + tmp_extruder); manage_response(true, true, MMU_TCODE_MOVE); load_more(); diff --git a/Firmware/mmu.h b/Firmware/mmu.h index ff9cf0982..80e12cab5 100644 --- a/Firmware/mmu.h +++ b/Firmware/mmu.h @@ -32,7 +32,7 @@ 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 -enum MmuCmd : uint_least8_t +enum class MmuCmd : uint_least8_t { None, T0, @@ -56,6 +56,16 @@ enum MmuCmd : uint_least8_t S3, }; +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); extern int mmu_printf_P(const char* format, ...); From a4032e437e00b747fea300ec2ea271d0145504e3 Mon Sep 17 00:00:00 2001 From: Marek Bel Date: Wed, 13 Feb 2019 19:10:55 +0100 Subject: [PATCH 09/10] Add MMU wait command after MMU load failed. Resume print when MMU wait command returns OK. --- Firmware/mmu.cpp | 23 +++++++++++++++++++++++ Firmware/mmu.h | 1 + 2 files changed, 24 insertions(+) diff --git a/Firmware/mmu.cpp b/Firmware/mmu.cpp index 039eebc9b..3f59d5848 100644 --- a/Firmware/mmu.cpp +++ b/Firmware/mmu.cpp @@ -43,6 +43,7 @@ namespace Idle, GetFinda, WaitCmd, //!< wait for command response + Pause, GetDrvError, //!< get power failures count }; } @@ -308,6 +309,12 @@ void mmu_loop(void) mmu_puts_P(PSTR("S3\n")); //send power failures request 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 = MmuCmd::None; } @@ -387,6 +394,21 @@ void mmu_loop(void) mmu_state = S::Idle; } return; + 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) { @@ -1405,6 +1427,7 @@ void mmu_continue_loading() 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); } } } diff --git a/Firmware/mmu.h b/Firmware/mmu.h index 80e12cab5..71930ae7c 100644 --- a/Firmware/mmu.h +++ b/Firmware/mmu.h @@ -54,6 +54,7 @@ enum class MmuCmd : uint_least8_t E4, R0, S3, + W0, }; inline MmuCmd operator+ (MmuCmd cmd, uint8_t filament) From a5437cb15b3033863df6016e2a2ec56dcd056b4b Mon Sep 17 00:00:00 2001 From: Marek Bel Date: Wed, 13 Feb 2019 22:29:29 +0100 Subject: [PATCH 10/10] Resend MMU T commands only. This solves problem with unload repeated if unload takes too long, second ok reply then triggers Wait end and resumes print. --- Firmware/mmu.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Firmware/mmu.cpp b/Firmware/mmu.cpp index 3f59d5848..2d3f89903 100644 --- a/Firmware/mmu.cpp +++ b/Firmware/mmu.cpp @@ -379,7 +379,7 @@ void mmu_loop(void) } else if ((mmu_last_request + MMU_CMD_TIMEOUT) < _millis()) { //resend request after timeout (5 min) - if (mmu_last_cmd != MmuCmd::None) + if (mmu_last_cmd >= MmuCmd::T0 && mmu_last_cmd <= MmuCmd::T4) { if (mmu_attempt_nr++ < MMU_MAX_RESEND_ATTEMPTS) { DEBUG_PRINTF_P(PSTR("MMU retry attempt nr. %d\n"), mmu_attempt_nr - 1);