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Prusa-Firmware/Firmware/mmu2.cpp

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#include "mmu2.h"
#include "mmu2_fsensor.h"
#include "mmu2_log.h"
#include "mmu2_power.h"
#include "mmu2_reporting.h"
#include "Marlin.h"
#include "stepper.h"
#include "mmu2_error_converter.h"
#include "mmu2_progress_converter.h"
// @@TODO remove this and enable it in the configuration files
// Settings for filament load / unload from the LCD menu.
// This is for Prusa MK3-style extruders. Customize for your hardware.
#define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
#define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
{ 7.2, 562 }, \
{ 14.4, 871 }, \
{ 36.0, 1393 }, \
{ 14.4, 871 }, \
{ 50.0, 198 }
// @@TODO
#define FILAMENT_MMU2_RAMMING_SEQUENCE { 7.2, 562 }
//@@TODO extract into configuration if it makes sense
// Nominal distance from the extruder gear to the nozzle tip is 87mm
// However, some slipping may occur and we need separate distances for
// LoadToNozzle and ToolChange.
// - +5mm seemed good for LoadToNozzle,
// - but too much (made blobs) for a ToolChange
static constexpr float MMU2_LOAD_TO_NOZZLE_LENGTH = 87.0F + 5.0F;
// As discussed with our PrusaSlicer profile specialist
// - ToolChange shall not try to push filament into the very tip of the nozzle
// to have some space for additional G-code to tune the extruded filament length
// in the profile
static constexpr float MMU2_TOOL_CHANGE_LOAD_LENGTH = 30.0F;
static constexpr float MMU2_LOAD_TO_NOZZLE_FEED_RATE = 20.0F;
static constexpr uint8_t MMU2_NO_TOOL = 99;
static constexpr uint32_t MMU_BAUD = 115200;
typedef uint16_t feedRate_t;
struct E_Step {
float extrude; ///< extrude distance in mm
feedRate_t feedRate; ///< feed rate in mm/s
};
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 };
namespace MMU2 {
void execute_extruder_sequence(const E_Step *sequence, int steps);
MMU2 mmu2;
MMU2::MMU2()
: logic(&mmu2Serial)
, extruder(MMU2_NO_TOOL)
, resume_position()
, resume_hotend_temp(0)
, logicStepLastStatus(StepStatus::Finished)
, state(xState::Stopped)
, mmu_print_saved(false)
, loadFilamentStarted(false)
, loadingToNozzle(false)
{
}
void MMU2::Start() {
mmu2Serial.begin(MMU_BAUD);
PowerOn();
mmu2Serial.flush(); // make sure the UART buffer is clear before starting communication
extruder = MMU2_NO_TOOL;
state = xState::Connecting;
// start the communication
logic.Start();
}
void MMU2::Stop() {
StopKeepPowered();
PowerOff();
}
void MMU2::StopKeepPowered(){
state = xState::Stopped;
logic.Stop();
mmu2Serial.close();
}
void MMU2::Reset(ResetForm level){
switch (level) {
case Software: ResetX0(); break;
case ResetPin: TriggerResetPin(); break;
case CutThePower: PowerCycle(); break;
default: break;
}
}
void MMU2::ResetX0() {
logic.ResetMMU(); // Send soft reset
}
void MMU2::TriggerResetPin(){
reset();
}
void MMU2::PowerCycle(){
// cut the power to the MMU and after a while restore it
PowerOff();
_delay(1000); //@@TODO
PowerOn();
}
void MMU2::PowerOff(){
power_off();
}
void MMU2::PowerOn(){
power_on();
}
void MMU2::mmu_loop() {
// We only leave this method if the current command was successfully completed - that's the Marlin's way of blocking operation
// Atomic compare_exchange would have been the most appropriate solution here, but this gets called only in Marlin's task,
// so thread safety should be kept
static bool avoidRecursion = false;
if (avoidRecursion)
return;
avoidRecursion = true;
logicStepLastStatus = LogicStep(); // it looks like the mmu_loop doesn't need to be a blocking call
avoidRecursion = false;
}
struct ReportingRAII {
CommandInProgress cip;
inline ReportingRAII(CommandInProgress cip):cip(cip){
BeginReport(cip, (uint16_t)ProgressCode::EngagingIdler);
}
inline ~ReportingRAII(){
EndReport(cip, (uint16_t)ProgressCode::OK);
}
};
bool MMU2::WaitForMMUReady(){
switch(State()){
case xState::Stopped:
return false;
case xState::Connecting:
// shall we wait until the MMU reconnects?
// fire-up a fsm_dlg and show "MMU not responding"?
default:
return true;
}
}
bool MMU2::tool_change(uint8_t index) {
if( ! WaitForMMUReady())
return false;
if (index != extruder) {
ReportingRAII rep(CommandInProgress::ToolChange);
BlockRunoutRAII blockRunout;
st_synchronize();
logic.ToolChange(index); // let the MMU pull the filament out and push a new one in
manage_response(false, false); // true, true);
// reset current position to whatever the planner thinks it is
// @@TODO is there some "standard" way of doing this?
//@@TODO current_position[E_AXIS] = Planner::get_machine_position_mm()[3];
extruder = index; //filament change is finished
SetActiveExtruder(0);
// @@TODO really report onto the serial? May be for the Octoprint? Not important now
// SERIAL_ECHO_START();
// SERIAL_ECHOLNPAIR(MSG_ACTIVE_EXTRUDER, int(extruder));
}
return true;
}
/// Handle special T?/Tx/Tc commands
///
///- T? Gcode to extrude shouldn't have to follow, load to extruder wheels is done automatically
///- Tx Same as T?, except nozzle doesn't have to be preheated. Tc must be placed after extruder nozzle is preheated to finish filament load.
///- Tc Load to nozzle after filament was prepared by Tx and extruder nozzle is already heated.
bool MMU2::tool_change(const char *special) {
if( ! WaitForMMUReady())
return false;
#if 0 //@@TODO
BlockRunoutRAII blockRunout;
switch (*special) {
case '?': {
uint8_t index = 0; // mmu2_choose_filament(); //@@TODO GUI - user selects
while (!thermalManager.wait_for_hotend(active_extruder, false))
safe_delay(100);
load_filament_to_nozzle(index);
} break;
case 'x': {
planner.synchronize();
uint8_t index = 0; //mmu2_choose_filament(); //@@TODO GUI - user selects
disable_E0();
logic.ToolChange(index);
manage_response(false, false); // true, true);
enable_E0();
extruder = index;
SetActiveExtruder(0);
} break;
case 'c': {
while (!thermalManager.wait_for_hotend(active_extruder, false))
safe_delay(100);
execute_extruder_sequence((const E_Step *)load_to_nozzle_sequence, COUNT(load_to_nozzle_sequence));
} break;
}
#endif
return true;
}
uint8_t MMU2::get_current_tool() {
return extruder == MMU2_NO_TOOL ? -1 : extruder;
}
bool MMU2::set_filament_type(uint8_t index, uint8_t type) {
if( ! WaitForMMUReady())
return false;
// @@TODO - this is not supported in the new MMU yet
// cmd_arg = filamentType;
// command(MMU_CMD_F0 + index);
manage_response(false, false); // true, true);
return true;
}
bool MMU2::unload() {
if( ! WaitForMMUReady())
return false;
// @@TODO
// if (thermalManager.tooColdToExtrude(active_extruder)) {
// BUZZ(200, 404);
// LCD_ALERTMESSAGEPGM(MSG_HOTEND_TOO_COLD);
// return false;
// }
{
ReportingRAII rep(CommandInProgress::UnloadFilament);
filament_ramming();
logic.UnloadFilament();
manage_response(false, false); // false, true);
// BUZZ(200, 404);
// no active tool
extruder = MMU2_NO_TOOL;
}
return true;
}
bool MMU2::cut_filament(uint8_t index){
if( ! WaitForMMUReady())
return false;
ReportingRAII rep(CommandInProgress::CutFilament);
logic.CutFilament(index);
manage_response(false, false); // false, true);
return true;
}
bool MMU2::load_filament(uint8_t index) {
if( ! WaitForMMUReady())
return false;
ReportingRAII rep(CommandInProgress::LoadFilament);
logic.LoadFilament(index);
manage_response(false, false);
// BUZZ(200, 404);
return true;
}
struct LoadingToNozzleRAII {
MMU2 &mmu2;
inline LoadingToNozzleRAII(MMU2 &mmu2):mmu2(mmu2){
mmu2.loadingToNozzle = true;
}
inline ~LoadingToNozzleRAII(){
mmu2.loadingToNozzle = false;
}
};
bool MMU2::load_filament_to_nozzle(uint8_t index) {
if( ! WaitForMMUReady())
return false;
LoadingToNozzleRAII ln(*this);
// if (0){ // @@TODO DEBUG
// @@TODO how is this supposed to be done in 8bit FW?
/* if (thermalManager.tooColdToExtrude(active_extruder)) {
BUZZ(200, 404);
LCD_ALERTMESSAGEPGM(MSG_HOTEND_TOO_COLD);
return false;
} else*/ {
// used for MMU-menu operation "Load to Nozzle"
ReportingRAII rep(CommandInProgress::ToolChange);
BlockRunoutRAII blockRunout;
if( extruder != MMU2_NO_TOOL ){ // we already have some filament loaded - free it + shape its tip properly
filament_ramming();
}
logic.ToolChange(index);
manage_response(false, false); // true, true);
// reset current position to whatever the planner thinks it is
// @@TODO is there some "standard" way of doing this?
//@@TODO current_position[E_AXIS] = Planner::get_machine_position_mm()[3];
extruder = index;
SetActiveExtruder(0);
// BUZZ(200, 404);
return true;
}
}
bool MMU2::eject_filament(uint8_t index, bool recover) {
if( ! WaitForMMUReady())
return false;
//@@TODO
// if (thermalManager.tooColdToExtrude(active_extruder)) {
// BUZZ(200, 404);
// LCD_ALERTMESSAGEPGM(MSG_HOTEND_TOO_COLD);
// return false;
// }
ReportingRAII rep(CommandInProgress::EjectFilament);
current_position[E_AXIS] -= MMU2_FILAMENTCHANGE_EJECT_FEED;
//@@TODO line_to_current_position(2500 / 60);
st_synchronize();
logic.EjectFilament(index);
manage_response(false, false);
if (recover) {
// LCD_MESSAGEPGM(MSG_MMU2_EJECT_RECOVER);
// BUZZ(200, 404);
//@@TODO wait_for_user = true;
//#if ENABLED(HOST_PROMPT_SUPPORT)
// host_prompt_do(PROMPT_USER_CONTINUE, PSTR("MMU2 Eject Recover"), PSTR("Continue"));
//#endif
//#if ENABLED(EXTENSIBLE_UI)
// ExtUI::onUserConfirmRequired_P(PSTR("MMU2 Eject Recover"));
//#endif
//@@TODO while (wait_for_user) idle(true);
// BUZZ(200, 404);
// BUZZ(200, 404);
// logic.Command(); //@@TODO command(MMU_CMD_R0);
manage_response(false, false);
}
//@@TODO ui.reset_status();
// no active tool
extruder = MMU2_NO_TOOL;
// BUZZ(200, 404);
// disable_E0();
return true;
}
void MMU2::Button(uint8_t index){
logic.Button(index);
}
void MMU2::Home(uint8_t mode){
logic.Home(mode);
}
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.
// LogEchoEvent("Saving and parking");
// st_synchronize();
// mmu_print_saved = true;
// resume_hotend_temp = thermalManager.degTargetHotend(active_extruder);
// resume_position = current_position;
// if (move_axes && all_axes_homed())
// nozzle.park(2, park_point);
// if (turn_off_nozzle){
// LogEchoEvent("Heater off");
// thermalManager.setTargetHotend(0, active_extruder);
// }
// }
// // keep the motors powered forever (until some other strategy is chosen)
// gcode.reset_stepper_timeout();
}
void MMU2::ResumeAndUnPark(bool move_axes, bool turn_off_nozzle) {
if (mmu_print_saved) {
LogEchoEvent("Resuming print");
if (turn_off_nozzle && resume_hotend_temp) {
MMU2_ECHO_MSG("Restoring hotend temperature ");
SERIAL_ECHOLN(resume_hotend_temp);
//@@TODO thermalManager.setTargetHotend(resume_hotend_temp, active_extruder);
// while (!thermalManager.wait_for_hotend(active_extruder, false)){
// safe_delay(1000);
// }
LogEchoEvent("Hotend temperature reached");
}
//@@TODO if (move_axes && all_axes_homed()) {
// LogEchoEvent("Resuming XYZ");
// // Move XY to starting position, then Z
// do_blocking_move_to_xy(resume_position, feedRate_t(NOZZLE_PARK_XY_FEEDRATE));
// // Move Z_AXIS to saved position
// do_blocking_move_to_z(resume_position.z, feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
// } else {
// LogEchoEvent("NOT resuming XYZ");
// }
}
}
void MMU2::CheckUserInput(){
auto btn = ButtonPressed((uint16_t)lastErrorCode);
switch (btn) {
case Left:
case Middle:
case Right:
Button(btn);
break;
case RestartMMU:
Reset(CutThePower);
break;
case StopPrint:
// @@TODO not sure if we shall handle this high level operation at this spot
break;
default:
break;
}
}
/// Originally, this was used to wait for response and deal with timeout if necessary.
/// The new protocol implementation enables much nicer and intense reporting, so this method will boil down
/// just to verify the result of an issued command (which was basically the original idea)
///
/// It is closely related to mmu_loop() (which corresponds to our ProtocolLogic::Step()), which does NOT perform any blocking wait for a command to finish.
/// But - in case of an error, the command is not yet finished, but we must react accordingly - move the printhead elsewhere, stop heating, eat a cat or so.
/// That's what's being done here...
void MMU2::manage_response(const bool move_axes, const bool turn_off_nozzle) {
mmu_print_saved = false;
KEEPALIVE_STATE(PAUSED_FOR_USER);
for (;;) {
// in our new implementation, we know the exact state of the MMU at any moment, we do not have to wait for a timeout
// So in this case we shall decide if the operation is:
// - still running -> wait normally in idle()
// - failed -> then do the safety moves on the printer like before
// - finished ok -> proceed with reading other commands
// @@TODO this needs verification - we need something which matches Marlin2's idle()
manage_inactivity(true); // calls LogicStep() and remembers its return status
switch (logicStepLastStatus) {
case Finished:
// command/operation completed, let Marlin continue its work
// the E may have some more moves to finish - wait for them
st_synchronize();
return;
case VersionMismatch: // this basically means the MMU will be disabled until reconnected
return;
case CommunicationTimeout:
case CommandError:
case ProtocolError:
SaveAndPark(move_axes, turn_off_nozzle); // and wait for the user to resolve the problem
CheckUserInput();
break;
case CommunicationRecovered: // @@TODO communication recovered and may be an error recovered as well
// may be the logic layer can detect the change of state a respond with one "Recovered" to be handled here
ResumeAndUnPark(move_axes, turn_off_nozzle);
break;
case Processing: // wait for the MMU to respond
default:
break;
}
}
}
StepStatus MMU2::LogicStep() {
StepStatus ss = logic.Step();
switch (ss) {
case Finished:
case Processing:
OnMMUProgressMsg(logic.Progress());
break;
case CommandError:
ReportError(logic.Error());
break;
case CommunicationTimeout:
state = xState::Connecting;
ReportError(ErrorCode::MMU_NOT_RESPONDING);
break;
case ProtocolError:
state = xState::Connecting;
ReportError(ErrorCode::PROTOCOL_ERROR);
break;
case VersionMismatch:
StopKeepPowered();
ReportError(ErrorCode::VERSION_MISMATCH);
break;
default:
break;
}
if( logic.Running() ){
state = xState::Active;
}
return ss;
}
void MMU2::filament_ramming() {
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) {
st_synchronize();
const E_Step *step = sequence;
for (uint8_t i = 0; i < steps; i++) {
const float es = pgm_read_float(&(step->extrude));
const feedRate_t fr_mm_m = 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();
step++;
}
// disable_E0();
}
void MMU2::SetActiveExtruder(uint8_t ex){
active_extruder = ex;
}
constexpr int strlen_constexpr(const char* str){
return *str ? 1 + strlen_constexpr(str + 1) : 0;
}
void MMU2::ReportError(ErrorCode ec) {
// Due to a potential lossy error reporting layers linked to this hook
// we'd better report everything to make sure especially the error states
// do not get lost.
// - The good news here is the fact, that the MMU reports the errors repeatedly until resolved.
// - The bad news is, that MMU not responding may repeatedly occur on printers not having the MMU at all.
//
// Not sure how to properly handle this situation, options:
// - skip reporting "MMU not responding" (at least for now)
// - report only changes of states (we can miss an error message)
// - may be some combination of MMUAvailable + UseMMU flags and decide based on their state
// Right now the filtering of MMU_NOT_RESPONDING is done in ReportErrorHook() as it is not a problem if mmu2.cpp
ReportErrorHook((CommandInProgress)logic.CommandInProgress(), (uint16_t)ec);
if( ec != lastErrorCode ){ // deduplicate: only report changes in error codes into the log
lastErrorCode = ec;
// Log error format: MMU2:E=32766 TextDescription
char msg[64];
snprintf(msg, sizeof(msg), "MMU2:E=%hu", (uint16_t)ec);
// Append a human readable form of the error code(s)
TranslateErr((uint16_t)ec, msg, sizeof(msg));
// beware - the prefix in the message ("MMU2") will get stripped by the logging subsystem
// and a correct MMU2 component will be assigned accordingly - see appmain.cpp
// Therefore I'm not calling MMU2_ERROR_MSG or MMU2_ECHO_MSG here
SERIAL_ECHO_START;
SERIAL_ECHOLN(msg);
}
static_assert(mmu2Magic[0] == 'M'
&& mmu2Magic[1] == 'M'
&& mmu2Magic[2] == 'U'
&& mmu2Magic[3] == '2'
&& mmu2Magic[4] == ':'
&& strlen_constexpr(mmu2Magic) == 5,
"MMU2 logging prefix mismatch, must be updated at various spots"
);
}
void MMU2::ReportProgress(ProgressCode pc) {
ReportProgressHook((CommandInProgress)logic.CommandInProgress(), (uint16_t)pc);
// Log progress - example: MMU2:P=123 EngageIdler
char msg[64];
snprintf(msg, sizeof(msg), "MMU2:P=%hu", (uint16_t)pc);
// Append a human readable form of the progress code
TranslateProgress((uint16_t)pc, msg, sizeof(msg));
SERIAL_ECHO_START;
SERIAL_ECHOLN(msg);
}
void MMU2::OnMMUProgressMsg(ProgressCode pc){
if( pc != lastProgressCode){
ReportProgress(pc);
lastProgressCode = pc;
// Act accordingly - one-time handling
switch(pc){
case ProgressCode::FeedingToBondtech:
// prepare for the movement of the E-motor
st_synchronize();
//@@TODO sync_plan_position();
// enable_E0();
loadFilamentStarted = true;
break;
default:
// do nothing yet
break;
}
} else {
// Act accordingly - every status change (even the same state)
switch(pc){
case ProgressCode::FeedingToBondtech:
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,
// it really doesn't matter
// char tmp[64]; // @@TODO this shouldn't be needed anymore, but kept here in case of something strange
// // happens in Marlin again
// 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;
}
break;
default:
// do nothing yet
break;
}
}
}
void MMU2::LogErrorEvent(const char *msg){
MMU2_ERROR_MSG(msg);
SERIAL_ECHOLN();
}
void MMU2::LogEchoEvent(const char *msg){
MMU2_ECHO_MSG(msg);
SERIAL_ECHOLN();
}
} // namespace MMU2
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