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MMU - code cleaning (modularity)

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M403 set filament type
hardware reset
This commit is contained in:
Robert Pelnar 2018-08-08 18:58:03 +02:00
parent 3147e6b3d8
commit 23e5cea5d0
4 changed files with 222 additions and 184 deletions
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6
Firmware/Marlin.h
View File

@ -467,12 +467,8 @@ void gcode_M701();
void proc_commands(); void proc_commands();
void manage_response(bool move_axes, bool turn_off_nozzle);
bool mmu_get_response(bool timeout);
void mmu_not_responding();
void mmu_load_to_nozzle();
void M600_load_filament(); void M600_load_filament();
void mmu_M600_load_filament(bool automatic);
void M600_load_filament_movements(); void M600_load_filament_movements();
void M600_wait_for_user(); void M600_wait_for_user();
void M600_check_state(); void M600_check_state();

177
Firmware/Marlin_main.cpp
View File

@ -508,7 +508,6 @@ unsigned long starttime=0;
unsigned long stoptime=0; unsigned long stoptime=0;
unsigned long _usb_timer = 0; unsigned long _usb_timer = 0;
static uint8_t tmp_extruder;
bool extruder_under_pressure = true; bool extruder_under_pressure = true;
@ -6336,21 +6335,14 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
//currently three different materials are needed (default, flex and PVA) //currently three different materials are needed (default, flex and PVA)
//add storing this information for different load/unload profiles etc. in the future //add storing this information for different load/unload profiles etc. in the future
//firmware does not wait for "ok" from mmu //firmware does not wait for "ok" from mmu
if (mmu_enabled)
{
uint8_t extruder; uint8_t extruder;
uint8_t filament; uint8_t filament;
if(code_seen('E')) extruder = code_value(); if(code_seen('E')) extruder = code_value();
if(code_seen('F')) filament = code_value(); if(code_seen('F')) filament = code_value();
mmu_set_filament_type(extruder, filament);
printf_P(PSTR("Extruder: %d; "), extruder);
switch (filament) {
case FILAMENT_FLEX: printf_P(PSTR("Flex\n")); break;
case FILAMENT_PVA: printf_P(PSTR("PVA\n")); break;
default: printf_P(PSTR("Default\n")); break;
} }
printf_P(PSTR("F%d%d\n"), extruder, filament);
mmu_printf_P(PSTR("F%d%d\n"), extruder, filament);
} }
break; break;
@ -8872,7 +8864,8 @@ uint16_t print_time_remaining() {
return print_t; return print_t;
} }
uint8_t print_percent_done() { uint8_t print_percent_done()
{
//in case that we have information from M73 gcode return percentage counted by slicer, else return percentage counted as byte_printed/filesize //in case that we have information from M73 gcode return percentage counted by slicer, else return percentage counted as byte_printed/filesize
uint8_t percent_done = 0; uint8_t percent_done = 0;
if (SilentModeMenu == SILENT_MODE_OFF && print_percent_done_normal <= 100) { if (SilentModeMenu == SILENT_MODE_OFF && print_percent_done_normal <= 100) {
@ -8887,135 +8880,17 @@ uint8_t print_percent_done() {
return percent_done; return percent_done;
} }
static void print_time_remaining_init() { static void print_time_remaining_init()
{
print_time_remaining_normal = PRINT_TIME_REMAINING_INIT; print_time_remaining_normal = PRINT_TIME_REMAINING_INIT;
print_time_remaining_silent = PRINT_TIME_REMAINING_INIT; print_time_remaining_silent = PRINT_TIME_REMAINING_INIT;
print_percent_done_normal = PRINT_PERCENT_DONE_INIT; print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
print_percent_done_silent = PRINT_PERCENT_DONE_INIT; print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
} }
bool mmu_get_response(bool timeout) {
//waits for "ok" from mmu
//function returns true if "ok" was received
//if timeout is set to true function return false if there is no "ok" received before timeout
bool response = true;
LongTimer mmu_get_reponse_timeout;
KEEPALIVE_STATE(IN_PROCESS);
mmu_get_reponse_timeout.start();
while (mmu_rx_ok() <= 0)
{
delay_keep_alive(100);
if (timeout && mmu_get_reponse_timeout.expired(5 * 60 * 1000ul)) { //5 minutes timeout
response = false;
break;
}
}
return response;
}
void M600_check_state()
void manage_response(bool move_axes, bool turn_off_nozzle) { {
bool response = false;
mmu_print_saved = false;
bool lcd_update_was_enabled = false;
float hotend_temp_bckp = degTargetHotend(active_extruder);
float z_position_bckp = current_position[Z_AXIS];
float x_position_bckp = current_position[X_AXIS];
float y_position_bckp = current_position[Y_AXIS];
while(!response) {
response = mmu_get_response(true); //wait for "ok" from mmu
if (!response) { //no "ok" was received in reserved time frame, user will fix the issue on mmu unit
if (!mmu_print_saved) { //first occurence, we are saving current position, park print head in certain position and disable nozzle heater
if (lcd_update_enabled) {
lcd_update_was_enabled = true;
lcd_update_enable(false);
}
st_synchronize();
mmu_print_saved = true;
hotend_temp_bckp = degTargetHotend(active_extruder);
if (move_axes) {
z_position_bckp = current_position[Z_AXIS];
x_position_bckp = current_position[X_AXIS];
y_position_bckp = current_position[Y_AXIS];
//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();
}
if (turn_off_nozzle) {
//set nozzle target temperature to 0
setAllTargetHotends(0);
printf_P(PSTR("MMU not responding\n"));
lcd_show_fullscreen_message_and_wait_P(_i("MMU needs user attention. Please press knob to resume nozzle target temperature."));
setTargetHotend(hotend_temp_bckp, active_extruder);
while ((degTargetHotend(active_extruder) - degHotend(active_extruder)) > 5) {
delay_keep_alive(1000);
lcd_wait_for_heater();
}
}
}
lcd_display_message_fullscreen_P(_i("Check MMU. Fix the issue and then press button on MMU unit."));
}
else if (mmu_print_saved) {
printf_P(PSTR("MMU start responding\n"));
lcd_clear();
lcd_display_message_fullscreen_P(_i("MMU OK. Resuming..."));
if (move_axes) {
current_position[X_AXIS] = x_position_bckp;
current_position[Y_AXIS] = y_position_bckp;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
st_synchronize();
current_position[Z_AXIS] = z_position_bckp;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder);
st_synchronize();
}
else {
delay_keep_alive(1000); //delay just for showing MMU OK message for a while in case that there are no xyz movements
}
}
}
if (lcd_update_was_enabled) lcd_update_enable(true);
}
void mmu_load_to_nozzle() {
st_synchronize();
bool saved_e_relative_mode = axis_relative_modes[E_AXIS];
if (!saved_e_relative_mode) axis_relative_modes[E_AXIS] = true;
current_position[E_AXIS] += 7.2f;
float feedrate = 562;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
st_synchronize();
current_position[E_AXIS] += 14.4f;
feedrate = 871;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
st_synchronize();
current_position[E_AXIS] += 36.0f;
feedrate = 1393;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
st_synchronize();
current_position[E_AXIS] += 14.4f;
feedrate = 871;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
st_synchronize();
if (!saved_e_relative_mode) axis_relative_modes[E_AXIS] = false;
}
void mmu_switch_extruder(uint8_t extruder) {
}
void M600_check_state() {
//Wait for user to check the state //Wait for user to check the state
lcd_change_fil_state = 0; lcd_change_fil_state = 0;
@ -9129,40 +9004,6 @@ void M600_wait_for_user() {
WRITE(BEEPER, LOW); WRITE(BEEPER, LOW);
} }
void mmu_M600_load_filament(bool automatic)
{
//load filament for mmu v2
bool response = false;
bool yes = false;
if (!automatic) {
yes = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Do you want to switch extruder?"), false);
if(yes) tmp_extruder = choose_extruder_menu();
else tmp_extruder = mmu_extruder;
}
else {
tmp_extruder = (tmp_extruder+1)%5;
}
lcd_update_enable(false);
lcd_clear();
lcd_set_cursor(0, 1); lcd_puts_P(_T(MSG_LOADING_FILAMENT));
lcd_print(" ");
lcd_print(tmp_extruder + 1);
snmm_filaments_used |= (1 << tmp_extruder); //for stop print
printf_P(PSTR("T code: %d \n"), tmp_extruder);
mmu_printf_P(PSTR("T%d\n"), tmp_extruder);
manage_response(false, true);
mmu_extruder = tmp_extruder; //filament change is finished
mmu_load_to_nozzle();
st_synchronize();
current_position[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2, active_extruder);
}
void M600_load_filament_movements() void M600_load_filament_movements()
{ {
#ifdef SNMM #ifdef SNMM

202
Firmware/mmu.cpp
View File

@ -10,14 +10,26 @@
extern const char* lcd_display_message_fullscreen_P(const char *msg); extern const char* lcd_display_message_fullscreen_P(const char *msg);
extern void lcd_show_fullscreen_message_and_wait_P(const char *msg);
extern int8_t lcd_show_fullscreen_message_yes_no_and_wait_P(const char *msg, bool allow_timeouting = true, bool default_yes = false);
extern void lcd_return_to_status(); extern void lcd_return_to_status();
extern void lcd_wait_for_heater();
extern char choose_extruder_menu();
#define MMU_TODELAY 100
#define MMU_TIMEOUT 10
#define MMU_HWRESET
#define MMU_RST_PIN 76
#define MMU_TIMEOUT 100
bool mmu_enabled = false; bool mmu_enabled = false;
uint8_t mmu_extruder = 0; uint8_t mmu_extruder = 0;
uint8_t tmp_extruder = 0;
int8_t mmu_finda = -1; int8_t mmu_finda = -1;
int16_t mmu_version = -1; int16_t mmu_version = -1;
@ -62,6 +74,8 @@ int8_t mmu_rx_start(void)
//initialize mmu_unit //initialize mmu_unit
bool mmu_init(void) bool mmu_init(void)
{ {
digitalWrite(MMU_RST_PIN, HIGH);
pinMode(MMU_RST_PIN, OUTPUT); //setup reset pin
uart2_init(); //init uart2 uart2_init(); //init uart2
_delay_ms(10); //wait 10ms for sure _delay_ms(10); //wait 10ms for sure
if (mmu_reset()) //reset mmu if (mmu_reset()) //reset mmu
@ -75,10 +89,16 @@ bool mmu_init(void)
bool mmu_reset(void) bool mmu_reset(void)
{ {
#ifdef MMU_HWRESET
digitalWrite(MMU_RST_PIN, LOW);
_delay_us(100);
digitalWrite(MMU_RST_PIN, HIGH);
#else
mmu_puts_P(PSTR("X0\n")); //send command mmu_puts_P(PSTR("X0\n")); //send command
unsigned char timeout = 10; //timeout = 10x100ms #endif
unsigned char timeout = MMU_TIMEOUT; //timeout = 10x100ms
while ((mmu_rx_start() <= 0) && (--timeout)) while ((mmu_rx_start() <= 0) && (--timeout))
delay_keep_alive(MMU_TIMEOUT); delay_keep_alive(MMU_TODELAY);
mmu_enabled = timeout?true:false; mmu_enabled = timeout?true:false;
return mmu_enabled; return mmu_enabled;
} }
@ -86,9 +106,9 @@ bool mmu_reset(void)
int8_t mmu_read_finda(void) int8_t mmu_read_finda(void)
{ {
mmu_puts_P(PSTR("P0\n")); mmu_puts_P(PSTR("P0\n"));
unsigned char timeout = 10; //10x100ms unsigned char timeout = MMU_TIMEOUT; //10x100ms
while ((mmu_rx_ok() <= 0) && (--timeout)) while ((mmu_rx_ok() <= 0) && (--timeout))
delay_keep_alive(MMU_TIMEOUT); delay_keep_alive(MMU_TODELAY);
mmu_finda = -1; mmu_finda = -1;
if (timeout) if (timeout)
fscanf_P(uart2io, PSTR("%hhu"), &mmu_finda); fscanf_P(uart2io, PSTR("%hhu"), &mmu_finda);
@ -98,14 +118,182 @@ int8_t mmu_read_finda(void)
int16_t mmu_read_version(void) int16_t mmu_read_version(void)
{ {
mmu_puts_P(PSTR("S1\n")); mmu_puts_P(PSTR("S1\n"));
unsigned char timeout = 10; //10x100ms unsigned char timeout = MMU_TIMEOUT; //10x100ms
while ((mmu_rx_ok() <= 0) && (--timeout)) while ((mmu_rx_ok() <= 0) && (--timeout))
delay_keep_alive(MMU_TIMEOUT); delay_keep_alive(MMU_TODELAY);
if (timeout) if (timeout)
fscanf_P(uart2io, PSTR("%u"), &mmu_version); fscanf_P(uart2io, PSTR("%u"), &mmu_version);
return mmu_version; return mmu_version;
} }
int8_t mmu_set_filament_type(uint8_t extruder, uint8_t filament)
{
printf_P(PSTR("MMU <= 'F%d %d'\n"), extruder, filament);
mmu_printf_P(PSTR("F%d %d\n"), extruder, filament);
unsigned char timeout = MMU_TIMEOUT; //10x100ms
while ((mmu_rx_ok() <= 0) && (--timeout))
delay_keep_alive(MMU_TODELAY);
return timeout?1:0;
}
bool mmu_get_response(bool timeout)
{
printf_P(PSTR("mmu_get_response - begin\n"));
//waits for "ok" from mmu
//function returns true if "ok" was received
//if timeout is set to true function return false if there is no "ok" received before timeout
bool response = true;
LongTimer mmu_get_reponse_timeout;
KEEPALIVE_STATE(IN_PROCESS);
mmu_get_reponse_timeout.start();
while (mmu_rx_ok() <= 0)
{
delay_keep_alive(100);
if (timeout && mmu_get_reponse_timeout.expired(5 * 60 * 1000ul))
{ //5 minutes timeout
response = false;
break;
}
}
printf_P(PSTR("mmu_get_response - end %d\n"), response?1:0);
return response;
}
void manage_response(bool move_axes, bool turn_off_nozzle)
{
bool response = false;
mmu_print_saved = false;
bool lcd_update_was_enabled = false;
float hotend_temp_bckp = degTargetHotend(active_extruder);
float z_position_bckp = current_position[Z_AXIS];
float x_position_bckp = current_position[X_AXIS];
float y_position_bckp = current_position[Y_AXIS];
while(!response)
{
response = mmu_get_response(true); //wait for "ok" from mmu
if (!response) { //no "ok" was received in reserved time frame, user will fix the issue on mmu unit
if (!mmu_print_saved) { //first occurence, we are saving current position, park print head in certain position and disable nozzle heater
if (lcd_update_enabled) {
lcd_update_was_enabled = true;
lcd_update_enable(false);
}
st_synchronize();
mmu_print_saved = true;
hotend_temp_bckp = degTargetHotend(active_extruder);
if (move_axes) {
z_position_bckp = current_position[Z_AXIS];
x_position_bckp = current_position[X_AXIS];
y_position_bckp = current_position[Y_AXIS];
//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();
}
if (turn_off_nozzle) {
//set nozzle target temperature to 0
setAllTargetHotends(0);
printf_P(PSTR("MMU not responding\n"));
lcd_show_fullscreen_message_and_wait_P(_i("MMU needs user attention. Please press knob to resume nozzle target temperature."));
setTargetHotend(hotend_temp_bckp, active_extruder);
while ((degTargetHotend(active_extruder) - degHotend(active_extruder)) > 5) {
delay_keep_alive(1000);
lcd_wait_for_heater();
}
}
}
lcd_display_message_fullscreen_P(_i("Check MMU. Fix the issue and then press button on MMU unit."));
}
else if (mmu_print_saved) {
printf_P(PSTR("MMU start responding\n"));
lcd_clear();
lcd_display_message_fullscreen_P(_i("MMU OK. Resuming..."));
if (move_axes) {
current_position[X_AXIS] = x_position_bckp;
current_position[Y_AXIS] = y_position_bckp;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
st_synchronize();
current_position[Z_AXIS] = z_position_bckp;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder);
st_synchronize();
}
else {
delay_keep_alive(1000); //delay just for showing MMU OK message for a while in case that there are no xyz movements
}
}
}
if (lcd_update_was_enabled) lcd_update_enable(true);
}
void mmu_load_to_nozzle()
{
st_synchronize();
bool saved_e_relative_mode = axis_relative_modes[E_AXIS];
if (!saved_e_relative_mode) axis_relative_modes[E_AXIS] = true;
current_position[E_AXIS] += 7.2f;
float feedrate = 562;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
st_synchronize();
current_position[E_AXIS] += 14.4f;
feedrate = 871;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
st_synchronize();
current_position[E_AXIS] += 36.0f;
feedrate = 1393;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
st_synchronize();
current_position[E_AXIS] += 14.4f;
feedrate = 871;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
st_synchronize();
if (!saved_e_relative_mode) axis_relative_modes[E_AXIS] = false;
}
void mmu_M600_load_filament(bool automatic)
{
//load filament for mmu v2
bool response = false;
bool yes = false;
if (!automatic) {
yes = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Do you want to switch extruder?"), false);
if(yes) tmp_extruder = choose_extruder_menu();
else tmp_extruder = mmu_extruder;
}
else {
tmp_extruder = (tmp_extruder+1)%5;
}
lcd_update_enable(false);
lcd_clear();
lcd_set_cursor(0, 1); lcd_puts_P(_T(MSG_LOADING_FILAMENT));
lcd_print(" ");
lcd_print(tmp_extruder + 1);
snmm_filaments_used |= (1 << tmp_extruder); //for stop print
printf_P(PSTR("T code: %d \n"), tmp_extruder);
mmu_printf_P(PSTR("T%d\n"), tmp_extruder);
manage_response(false, true);
mmu_extruder = tmp_extruder; //filament change is finished
mmu_load_to_nozzle();
st_synchronize();
current_position[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2, active_extruder);
}
void extr_mov(float shift, float feed_rate) void extr_mov(float shift, float feed_rate)
{ //move extruder no matter what the current heater temperature is { //move extruder no matter what the current heater temperature is
set_extrude_min_temp(.0); set_extrude_min_temp(.0);

13
Firmware/mmu.h
View File

@ -7,6 +7,8 @@ extern bool mmu_enabled;
extern uint8_t mmu_extruder; extern uint8_t mmu_extruder;
extern uint8_t tmp_extruder;
extern int8_t mmu_finda; extern int8_t mmu_finda;
extern int16_t mmu_version; extern int16_t mmu_version;
@ -27,6 +29,17 @@ extern int8_t mmu_read_finda(void);
extern int16_t mmu_read_version(void); extern int16_t mmu_read_version(void);
extern int8_t mmu_set_filament_type(uint8_t extruder, uint8_t filament);
extern bool mmu_get_response(bool timeout);
extern void manage_response(bool move_axes, bool turn_off_nozzle);
extern void mmu_load_to_nozzle();
extern void mmu_M600_load_filament(bool automatic);
extern void extr_mov(float shift, float feed_rate); extern void extr_mov(float shift, float feed_rate);
extern void change_extr(int extr); extern void change_extr(int extr);