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Merge pull request #1525 from mkbel/improve_mmu_load_failed_2

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Improve mmu load failed 2
This commit is contained in:
PavelSindler 2019-02-15 15:52:35 +01:00 committed by GitHub
commit fec64a9d5e
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 229 additions and 185 deletions
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6
Firmware/Marlin_main.cpp
View File

@ -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();

348
Firmware/mmu.cpp
View File

@ -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);
}
}

56
Firmware/mmu.h
View File

@ -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<MmuCmd>(static_cast<uint8_t>(cmd) + filament );
}
inline uint8_t operator- (MmuCmd cmda, MmuCmd cmdb)
{
return (static_cast<uint8_t>(cmda) - static_cast<uint8_t>(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);

4
Firmware/ultralcd.cpp
View File

@ -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)