3DPrinting/Prusa-Firmware
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MMU2 communication - connection after reset, fw versions, state machine

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+removed debug log from tmc2130
This commit is contained in:
Robert Pelnar 2018-08-09 17:43:43 +02:00
parent 10cc077ee4
commit 796079bb08
7 changed files with 124 additions and 88 deletions
Firmware
mmu.cpp

109
Firmware/mmu.cpp
View file

@ -26,6 +26,8 @@ extern char choose_extruder_menu();
bool mmu_enabled = false;
int8_t mmu_state = -1;
uint8_t mmu_extruder = 0;
uint8_t tmp_extruder = 0;
@ -34,7 +36,7 @@ int8_t mmu_finda = -1;
int16_t mmu_version = -1;
int16_t mmu_build = -1;
int16_t mmu_buildnr = -1;
//clear rx buffer
@ -73,60 +75,81 @@ int8_t mmu_rx_start(void)
return uart2_rx_str_P(PSTR("start\n"));
}
//initialize mmu_unit
bool mmu_init(void)
//initialize mmu2 unit - first part - should be done at begining of startup process
void mmu_init(void)
{
digitalWrite(MMU_RST_PIN, HIGH);
pinMode(MMU_RST_PIN, OUTPUT); //setup reset pin
uart2_init(); //init uart2
_delay_ms(10); //wait 10ms for sure
if (mmu_reset()) //reset mmu
{
mmu_read_finda();
mmu_read_version();
return true;
}
return false;
mmu_reset(); //reset mmu (HW or SW), do not wait for response
mmu_state = -1;
}
bool mmu_reset(void)
//mmu main loop - state machine processing
void mmu_loop(void)
{
#ifdef MMU_HWRESET
// printf_P(PSTR("MMU loop, state=%d\n"), mmu_state);
switch (mmu_state)
{
case 0:
return;
case -1:
if (mmu_rx_start() > 0)
{
puts_P(PSTR("MMU => 'start'"));
puts_P(PSTR("MMU <= 'S1'"));
mmu_puts_P(PSTR("S1\n")); //send 'read version' request
mmu_state = -2;
}
else if (millis() > 30000) //30sec after reset disable mmu
{
puts_P(PSTR("MMU not responding - DISABLED"));
mmu_state = 0;
}
return;
case -2:
if (mmu_rx_ok() > 0)
{
fscanf_P(uart2io, PSTR("%u"), &mmu_version); //scan version from buffer
printf_P(PSTR("MMU => '%dok'\n"), mmu_version);
puts_P(PSTR("MMU <= 'S2'"));
mmu_puts_P(PSTR("S2\n")); //send 'read buildnr' request
mmu_state = -3;
}
return;
case -3:
if (mmu_rx_ok() > 0)
{
fscanf_P(uart2io, PSTR("%u"), &mmu_buildnr); //scan buildnr from buffer
printf_P(PSTR("MMU => '%dok'\n"), mmu_buildnr);
puts_P(PSTR("MMU <= 'P0'"));
mmu_puts_P(PSTR("P0\n")); //send 'read finda' request
mmu_state = -4;
}
return;
case -4:
if (mmu_rx_ok() > 0)
{
fscanf_P(uart2io, PSTR("%hhu"), &mmu_finda); //scan finda from buffer
printf_P(PSTR("MMU => '%dok'\n"), mmu_finda);
puts_P(PSTR("MMU - ENABLED"));
mmu_enabled = true;
mmu_state = 1;
}
return;
}
}
void mmu_reset(void)
{
#ifdef MMU_HWRESET //HW - pulse reset pin
digitalWrite(MMU_RST_PIN, LOW);
_delay_us(100);
digitalWrite(MMU_RST_PIN, HIGH);
#else
mmu_puts_P(PSTR("X0\n")); //send command
#else //SW - send X0 command
mmu_puts_P(PSTR("X0\n"));
#endif
unsigned char timeout = MMU_TIMEOUT; //timeout = 10x100ms
while ((mmu_rx_start() <= 0) && (--timeout))
delay_keep_alive(MMU_TODELAY);
mmu_enabled = timeout?true:false;
// mmu_enabled = true;
return mmu_enabled;
}
int8_t mmu_read_finda(void)
{
mmu_puts_P(PSTR("P0\n"));
unsigned char timeout = MMU_TIMEOUT; //10x100ms
while ((mmu_rx_ok() <= 0) && (--timeout))
delay_keep_alive(MMU_TODELAY);
mmu_finda = -1;
if (timeout)
fscanf_P(uart2io, PSTR("%hhu"), &mmu_finda);
return mmu_finda;
}
int16_t mmu_read_version(void)
{
mmu_puts_P(PSTR("S1\n"));
unsigned char timeout = MMU_TIMEOUT; //10x100ms
while ((mmu_rx_ok() <= 0) && (--timeout))
delay_keep_alive(MMU_TODELAY);
if (timeout)
fscanf_P(uart2io, PSTR("%u"), &mmu_version);
return mmu_version;
}
int8_t mmu_set_filament_type(uint8_t extruder, uint8_t filament)