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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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