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MMU maintenance: Sync with 32-bit FW a little bit #4647

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merged 6 commits into from
Jul 24, 2024
Merged

MMU maintenance: Sync with 32-bit FW a little bit #4647

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592fc56
MMU: Sync code with 32-bit
gudnimg Mar 28, 2024
61b4270
MMU: allow inlining UInt16ToHex
gudnimg Mar 28, 2024
09f1d85
MMU: Revert changes to execute_extruder_sequence loop
gudnimg Mar 28, 2024
d548bb6
MMU: revert WaitForHotendTargetTempBeep(); position in code
gudnimg Mar 29, 2024
99e306f
MMU: minor formatting sync
gudnimg Jul 6, 2024
4dc9fd4
MMU: revert fallthrough in LogicStep
gudnimg Jul 23, 2024
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111 changes: 68 additions & 43 deletions Firmware/mmu2.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ void waitForHotendTargetTemp(uint16_t delay, F f) {
}

void WaitForHotendTargetTempBeep() {
waitForHotendTargetTemp(3000, []{ });
waitForHotendTargetTemp(200, [] {});
MakeSound(Prompt);
}

Expand Down Expand Up @@ -73,14 +73,17 @@ void MMU2::Start() {
mmu2Serial.flush(); // make sure the UART buffer is clear before starting communication

SetCurrentTool(MMU2_NO_TOOL);
state = xState::Connecting;

// start the communication
logic.Start();
logic.ResetRetryAttempts();
logic.ResetCommunicationTimeoutAttempts();

state = xState::Connecting;
logic.Start();
}

MMU2::~MMU2() {}

void MMU2::Stop() {
StopKeepPowered();
PowerOff();
Expand Down Expand Up @@ -153,8 +156,9 @@ void MMU2::PowerOn() {
}

bool MMU2::ReadRegister(uint8_t address) {
if (!WaitForMMUReady())
if (!WaitForMMUReady()) {
return false;
}
do {
logic.ReadRegister(address); // we may signal the accepted/rejected status of the response as return value of this function
} while (!manage_response(false, false));
Expand All @@ -165,8 +169,9 @@ bool MMU2::ReadRegister(uint8_t address) {
}

bool __attribute__((noinline)) MMU2::WriteRegister(uint8_t address, uint16_t data) {
if (!WaitForMMUReady())
if (!WaitForMMUReady()) {
return false;
}

// special cases - intercept requests of registers which influence the printer's behaviour too + perform the change even on the printer's side
switch (address) {
Expand All @@ -192,12 +197,11 @@ void MMU2::mmu_loop() {
// 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)
if (avoidRecursion) {
return;
}
avoidRecursion = true;

mmu_loop_inner(true);

avoidRecursion = false;
}

Expand All @@ -208,7 +212,7 @@ void __attribute__((noinline)) MMU2::mmu_loop_inner(bool reportErrors) {

void MMU2::CheckFINDARunout() {
// Check for FINDA filament runout
if (!FindaDetectsFilament() && check_fsensor()) {
if (!FindaDetectsFilament() && check_fsensor()) { // Check if we have filament runout detected from sensors
SERIAL_ECHOLNPGM("FINDA filament runout!");
marlin_stop_and_save_print_to_ram();
restore_print_from_ram_and_continue(0);
Expand Down Expand Up @@ -301,8 +305,12 @@ bool MMU2::VerifyFilamentEnteredPTFE() {
filament_inserted = filament_inserted && (WhereIsFilament() == FilamentState::AT_FSENSOR);
tlur.Progress(filament_inserted);
safe_delay_keep_alive(0);
if (planner_draining()) {
return false; // power panic or a similar issue happened, bail out fast
}
}
}

Disable_E0();
if (!filament_inserted) {
IncrementLoadFails();
Expand All @@ -318,8 +326,9 @@ bool MMU2::ToolChangeCommonOnce(uint8_t slot) {
Disable_E0(); // it may seem counterintuitive to disable the E-motor, but it gets enabled in the planner whenever the E-motor is to move
tool_change_extruder = slot;
logic.ToolChange(slot); // let the MMU pull the filament out and push a new one in
if (manage_response(true, true))
if (manage_response(true, true)) {
break;
}
// otherwise: failed to perform the command - unload first and then let it run again
IncrementMMUFails();

Expand All @@ -335,7 +344,7 @@ bool MMU2::ToolChangeCommonOnce(uint8_t slot) {
}
if (VerifyFilamentEnteredPTFE()) {
return true; // success
} else { // Prepare a retry attempt
} else { // Prepare a retry attempt
UnloadInner();
if (retries == 2 && cutter_enabled()) {
CutFilamentInner(slot); // try cutting filament tip at the last attempt
Expand All @@ -347,6 +356,9 @@ bool MMU2::ToolChangeCommonOnce(uint8_t slot) {

void MMU2::ToolChangeCommon(uint8_t slot) {
while (!ToolChangeCommonOnce(slot)) { // while not successfully fed into extruder's PTFE tube
if (planner_draining()) {
return; // power panic happening, pretend the G-code finished ok
}
// failed autoretry, report an error by forcing a "printer" error into the MMU infrastructure - it is a hack to leverage existing code
// @@TODO theoretically logic layer may not need to be spoiled with the printer error - may be just the manage_response needs it...
logic.SetPrinterError(ErrorCode::LOAD_TO_EXTRUDER_FAILED);
Expand All @@ -357,15 +369,16 @@ void MMU2::ToolChangeCommon(uint8_t slot) {
static_cast<void>(manage_response(true, true)); // yes, I'd like to silence [[nodiscard]] warning at this spot by casting to void
}

SetCurrentTool(slot); //filament change is finished
SetCurrentTool(slot); // filament change is finished
SpoolJoin::spooljoin.setSlot(slot);

++toolchange_counter;
}

bool MMU2::tool_change(uint8_t slot) {
if (!WaitForMMUReady())
if (!WaitForMMUReady()) {
return false;
}

if (slot != extruder) {
if (/*FindaDetectsFilament()*/
Expand All @@ -390,8 +403,9 @@ bool MMU2::tool_change(uint8_t slot) {
///- 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(char code, uint8_t slot) {
if (!WaitForMMUReady())
if (!WaitForMMUReady()) {
return false;
}

FSensorBlockRunout blockRunout;

Expand Down Expand Up @@ -435,8 +449,9 @@ void MMU2::SetCurrentTool(uint8_t ex){
}

bool MMU2::set_filament_type(uint8_t /*slot*/, uint8_t /*type*/) {
if (!WaitForMMUReady())
if (!WaitForMMUReady()) {
return false;
}

// @@TODO - this is not supported in the new MMU yet
// slot = slot; // @@TODO
Expand All @@ -461,8 +476,9 @@ void MMU2::UnloadInner() {
for (;;) {
Disable_E0();
logic.UnloadFilament();
if (manage_response(false, true))
if (manage_response(false, true)) {
break;
}
IncrementMMUFails();
}
MakeSound(Confirm);
Expand All @@ -473,15 +489,17 @@ void MMU2::UnloadInner() {
}

bool MMU2::unload() {
if (!WaitForMMUReady())
if (!WaitForMMUReady()) {
return false;
}

WaitForHotendTargetTempBeep();

{
ReportingRAII rep(CommandInProgress::UnloadFilament);
UnloadInner();
}

ScreenUpdateEnable();
return true;
}
Expand All @@ -490,15 +508,17 @@ void MMU2::CutFilamentInner(uint8_t slot) {
for (;;) {
Disable_E0();
logic.CutFilament(slot);
if (manage_response(false, true))
if (manage_response(false, true)) {
break;
}
IncrementMMUFails();
}
}

bool MMU2::cut_filament(uint8_t slot, bool enableFullScreenMsg /*= true*/) {
if (!WaitForMMUReady())
if (!WaitForMMUReady()) {
return false;
}

if (enableFullScreenMsg) {
FullScreenMsgCut(slot);
Expand Down Expand Up @@ -528,17 +548,19 @@ bool MMU2::loading_test(uint8_t slot) {
}

bool MMU2::load_filament(uint8_t slot) {
if (!WaitForMMUReady())
if (!WaitForMMUReady()) {
return false;
}

FullScreenMsgLoad(slot);
{
ReportingRAII rep(CommandInProgress::LoadFilament);
for (;;) {
Disable_E0();
logic.LoadFilament(slot);
if (manage_response(false, false))
if (manage_response(false, false)) {
break;
}
IncrementMMUFails();
}
MakeSound(SoundType::Confirm);
Expand All @@ -548,8 +570,9 @@ bool MMU2::load_filament(uint8_t slot) {
}

bool MMU2::load_filament_to_nozzle(uint8_t slot) {
if (!WaitForMMUReady())
if (!WaitForMMUReady()) {
return false;
}

WaitForHotendTargetTempBeep();

Expand All @@ -574,8 +597,9 @@ bool MMU2::load_filament_to_nozzle(uint8_t slot) {
}

bool MMU2::eject_filament(uint8_t slot, bool enableFullScreenMsg /* = true */) {
if (!WaitForMMUReady())
if (!WaitForMMUReady()) {
return false;
}

if (enableFullScreenMsg) {
FullScreenMsgEject(slot);
Expand All @@ -589,8 +613,9 @@ bool MMU2::eject_filament(uint8_t slot, bool enableFullScreenMsg /* = true */) {
for (;;) {
Disable_E0();
logic.EjectFilament(slot);
if (manage_response(false, true))
if (manage_response(false, true)) {
break;
}
IncrementMMUFails();
}
SetCurrentTool(MMU2_NO_TOOL);
Expand All @@ -611,8 +636,9 @@ void MMU2::Home(uint8_t mode) {
}

void MMU2::SaveHotendTemp(bool turn_off_nozzle) {
if (mmu_print_saved & SavedState::Cooldown)
if (mmu_print_saved & SavedState::Cooldown) {
return;
}

if (turn_off_nozzle && !(mmu_print_saved & SavedState::CooldownPending)) {
Disable_E0();
Expand Down Expand Up @@ -701,8 +727,7 @@ void MMU2::CheckUserInput() {
lastButton = Buttons::NoButton; // Clear it.
}

if (mmu2.MMULastErrorSource() == MMU2::ErrorSourcePrinter && btn != Buttons::NoButton)
{
if (mmu2.MMULastErrorSource() == ErrorSourcePrinter && btn != Buttons::NoButton) {
// When the printer has raised an error screen, and a button was selected
// the error screen should always be dismissed.
ClearPrinterError();
Expand All @@ -720,7 +745,7 @@ void MMU2::CheckUserInput() {
SERIAL_ECHOLN((int)buttons_to_uint8t(btn));
ResumeHotendTemp(); // Recover the hotend temp before we attempt to do anything else...

if (mmu2.MMULastErrorSource() == MMU2::ErrorSourceMMU) {
if (mmu2.MMULastErrorSource() == ErrorSourceMMU) {
// Do not send a button to the MMU unless the MMU is in error state
Button(buttons_to_uint8t(btn));
}
Expand Down Expand Up @@ -782,6 +807,7 @@ bool MMU2::manage_response(const bool move_axes, const bool turn_off_nozzle) {
// - failed -> then do the safety moves on the printer like before
// - finished ok -> proceed with reading other commands
safe_delay_keep_alive(0); // calls LogicStep() and remembers its return status
// also disables stepper motor unlocking

if (mmu_print_saved & SavedState::CooldownPending) {
if (!nozzleTimeout.running()) {
Expand All @@ -803,9 +829,8 @@ bool MMU2::manage_response(const bool move_axes, const bool turn_off_nozzle) {
// command/operation completed, let Marlin continue its work
// the E may have some more moves to finish - wait for them
ResumeHotendTemp();
ResumeUnpark(); // We can now travel back to the tower or wherever we were when we saved.
if (!TuneMenuEntered())
{
ResumeUnpark(); // We can now travel back to the tower or wherever we were when we saved.
if (!TuneMenuEntered()) {
// If the error screen is sleeping (running 'Tune' menu)
// then don't reset retry attempts because we this will trigger
// an automatic retry attempt when 'Tune' button is selected. We want the
Expand Down Expand Up @@ -860,7 +885,7 @@ StepStatus MMU2::LogicStep(bool reportErrors) {
case Finished:
// At this point it is safe to trigger a runout and not interrupt the MMU protocol
CheckFINDARunout();
break;
[[fallthrough]]; // let Finished be reported the same way like Processing
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case Processing:
OnMMUProgressMsg(logic.Progress());
Expand Down Expand Up @@ -920,15 +945,19 @@ void MMU2::filament_ramming() {
execute_extruder_sequence(ramming_sequence, sizeof(ramming_sequence) / sizeof(E_Step));
}

void MMU2::execute_extruder_sequence(const E_Step *sequence, uint8_t steps) {
void MMU2::execute_extruder_sequence(const E_Step *sequence, uint8_t stepCount) {
planner_synchronize();

// Plan the moves
const E_Step *step = sequence;
for (uint8_t i = steps; i > 0; --i) {
for (uint8_t i = stepCount; i > 0; --i) {
extruder_move(pgm_read_float(&(step->extrude)), pgm_read_float(&(step->feedRate)));
step++;
}
planner_synchronize(); // it looks like it's better to sync the moves at the end - smoother move (if the sequence is not too long).

// Wait for the moves to finish
// it looks like it's better to sync the moves at the end - smoother move (if the sequence is not too long).
planner_synchronize();

Disable_E0();
}
Expand Down Expand Up @@ -1031,7 +1060,7 @@ void MMU2::OnMMUProgressMsgChanged(ProgressCode pc) {
switch (pc) {
case ProgressCode::UnloadingToFinda:
if ((CommandInProgress)logic.CommandInProgress() == CommandInProgress::UnloadFilament
|| ((CommandInProgress)logic.CommandInProgress() == CommandInProgress::ToolChange)) {
|| ((CommandInProgress)logic.CommandInProgress() == CommandInProgress::ToolChange)) {
// If MK3S sent U0 command, ramming sequence takes care of releasing the filament.
// If Toolchange is done while printing, PrusaSlicer takes care of releasing the filament
// If printing is not in progress, ToolChange will issue a U0 command.
Expand Down Expand Up @@ -1079,14 +1108,10 @@ void MMU2::OnMMUProgressMsgSame(ProgressCode pc) {
case FilamentState::AT_FSENSOR:
// fsensor triggered, finish FeedingToExtruder state
loadFilamentStarted = false;

// Abort any excess E-move from the planner queue
planner_abort_queued_moves();

// After the MMU knows the FSENSOR is triggered it will:
// 1. Push the filament by additional 30mm (see fsensorToNozzle)
// 2. Disengage the idler and push another 2mm.
extruder_move(logic.ExtraLoadDistance() + 2, logic.PulleySlowFeedRate());
{
extruder_move(logic.ExtraLoadDistance() + 2, logic.PulleySlowFeedRate());
}
break;
case FilamentState::NOT_PRESENT:
// fsensor not triggered, continue moving extruder
Expand Down
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