Define Debug mode to add additional serial output. More...

Classes
struct	AxisConfig
	Axis configuration data. More...

struct	AxisLimits
	Phisical limits for an axis. More...

Typedefs
typedef AxisLimits< Millimeter >	PulleyLimits
	Pulley axis limits.

typedef AxisLimits< Millimeter >	SelectorLimits
	Selector axis limits.

typedef AxisLimits< Degree >	IdlerLimits
	Idler axis limits.

Enumerations
enum	MRes : uint8_t { MRes_256 = 0 , MRes_128 = 1 , MRes_64 = 2 , MRes_32 = 3 , MRes_16 = 4 , MRes_8 = 5 , MRes_4 = 6 , MRes_2 = 7 , MRes_1 = 8 }
	Available microstepping resolutions.

enum	Axis : uint8_t { Pulley , Selector , Idler , _Axis_Last = Idler }
	List of available axes.

Variables
static constexpr uint8_t	NUM_AXIS = Axis::_Axis_Last + 1
	Number of available axes.

static constexpr const uint8_t	toolCount = 5U

static constexpr const uint16_t	fsensorDebounceMs = 2

static constexpr uint16_t	ledBlinkPeriodMs = 1024U

static constexpr const uint16_t	findaDebounceMs = 100

static constexpr const uint8_t	buttonCount = 3
	number of buttons currently supported

static constexpr const uint16_t	buttonsDebounceMs = 20
	tuned with a pack of highly trained monkeys :)

static constexpr const uint16_t	buttonADCLimits [buttonCount][2] = { { 0, 50 }, { 80, 100 }, { 160, 180 } }

static constexpr const uint16_t	buttonADCMaxValue = 1023
	used in unit tests

static constexpr const uint8_t	buttonsADCIndex = 5
	ADC index of buttons input.

static constexpr const uint8_t	VCCADCIndex = 30
	ADC index of scaled VCC input.

static constexpr const uint16_t	VCCADCThreshold = 274

static constexpr const uint8_t	VCCADCReadCnt = 10
	Number of ADC reads to perform, only the last one being used. More...

static constexpr uint8_t	dropSegments = 0
	Do not plan moves equal or shorter than the requested steps.

static constexpr uint16_t	maxStepFrequency = 40000
	Max step frequency 40KHz.

static constexpr uint16_t	minStepRate = 120
	Minimum stepping rate 120Hz.

static constexpr uint8_t	blockBufferSize = 4
	Size for the motion planner block buffer size.

static constexpr uint8_t	stepTimerFrequencyDivider = 8
	Step timer frequency divider (F = F_CPU / divider)

static constexpr uint16_t	stepTimerQuantum = 256

static constexpr uint8_t	feedToBondtechMaxRetries = 2
	Max retries of FeedToBondtech used in LoadFilament.

static constexpr U_mm	pulleyToCuttingEdge = 33.0_mm
	Distances.

static constexpr U_mm	filamentMinLoadedToMMU = 20.0_mm

static constexpr U_mm	ejectFromCuttingEdge = 40.0_mm
	Limit of retraction.

static constexpr U_mm	cuttingEdgeRetract = 5.0_mm
	Eject should ignore FilamentMinLoadedToMMU and retract.

static constexpr U_mm	cuttingEdgeToFinda = 18.5_mm
	Cutting retraction distance (filament should be flush with outlet)

static constexpr U_mm	findaTriggerDistance = 4.5_mm
	Cutting edge to FINDA MMU side -1mm tolerance should be ~18.5. FINDA shouldn't trigger here.

static constexpr U_mm	cuttingEdgeToFindaMidpoint = 22.85_mm
	FINDA trigger distance +1.0_mm tolerance.

static constexpr U_mm	findaToCoupler = 12.0_mm
	Cutting edge to Midpoint of FINDA should be 22.85_mm.

static constexpr U_mm	couplerToBowden = 3.5_mm
	FINDA Coupler side to coupler screw.

static constexpr U_mm	defaultBowdenLength = 360.0_mm
	FINDA Coupler screw to bowden mmu side (in coupling).

static constexpr U_mm	minimumBowdenLength = 341.0_mm
	~360.0_mm - Default Bowden length.

static constexpr U_mm	maximumBowdenLength = 1000.0_mm
	~341.0_mm - Minimum bowden length.

static constexpr U_mm	feedToFinda = cuttingEdgeToFindaMidpoint + filamentMinLoadedToMMU
	~1000.0_mm - Maximum bowden length.

static constexpr U_mm	maximumFeedToFinda = feedToFinda + 20.0_mm
	allow for some safety margin to load to FINDA

static constexpr U_mm	pulleyHelperMove = 10.0_mm
	Helper move for Load/Unload error states - when the MMU should slowly move the filament a bit.

static constexpr U_mm	cutLength = 8.0_mm

static constexpr U_mm	fsensorToNozzle = 30.0_mm
	~20mm from MK4's filament sensor through extruder gears into nozzle

static constexpr U_mm	fsensorToNozzleAvoidGrind = 5.0_mm

static constexpr U_mm	fsensorUnloadCheckDistance = 40.0_mm
	Check the state of FSensor after this amount of filament got (hopefully) pulled out while unloading.

static constexpr AxisConfig	pulley
	Begin: Pulley axis configuration. More...

static constexpr PulleyLimits	pulleyLimits
	Pulley motion limits. More...

static constexpr U_mm_s	pulleyUnloadFeedrate = 95._mm_s

static constexpr U_mm_s	pulleyLoadFeedrate = 95._mm_s

static constexpr U_mm_s	pulleySlowFeedrate = 20._mm_s

static constexpr AxisConfig	selector
	End: Pulley axis configuration. More...

static constexpr uint8_t	selectorCutIRun = 40
	660mA

static constexpr SelectorLimits	selectorLimits
	Selector motion limits. More...

static constexpr U_mm	SelectorSlotDistance = 14.0_mm

static constexpr U_mm	SelectorOffsetFromMax = 1.0_mm
	Selector distance between two slots.

static constexpr U_mm	SelectorOffsetFromMin = 75.5_mm
	Selector offset from home max to slot 0.

static constexpr U_mm	selectorSlotPositions [toolCount+1]
	Selector offset from home min to slot 0. More...

static constexpr U_mm_s	selectorFeedrate = 45._mm_s

static constexpr U_mm_s	selectorHomingFeedrate = 30._mm_s

static constexpr AxisConfig	idler
	End: Selector configuration. More...

static constexpr IdlerLimits	idlerLimits
	Idler motion limits. More...

static constexpr U_deg	IdlerSlotDistance = 40.0_deg

static constexpr U_deg	IdlerOffsetFromHome = 18.0_deg
	Idler distance between two slots.

static constexpr U_deg	idlerSlotPositions [toolCount+1]
	Idler offset from home to slots. More...

static constexpr U_deg	idlerIntermediateSlotPositions [toolCount+1]
	Intermediate positions for Idler's slots: 0-4 are the real ones, the 5th index is the idle position. More...

static constexpr U_deg	idlerParkPositionDelta = -IdlerSlotDistance + 5.0_deg / 2

static constexpr U_deg_s	idlerFeedrate = 300._deg_s

static constexpr U_deg_s	idlerHomingFeedrate = 265._deg_s

static constexpr uint32_t	tmc2130_coolStepThreshold = 450
	End: Idler configuration. More...

static constexpr uint32_t	tmc2130_PWM_AMPL = 240

static constexpr uint32_t	tmc2130_PWM_GRAD = 4

static constexpr uint32_t	tmc2130_PWM_FREQ = 0

static constexpr uint32_t	tmc2130_PWM_AUTOSCALE = 1

static constexpr uint32_t	tmc2130_freewheel = 1

Detailed Description

Define Debug mode to add additional serial output.

Enable DEBUG_LOGIC to compile debugging and error messages (beware of code base size ;) ) for the logic layer Enable DEBUG_MODULES to compile debugging and error messages (beware of code base size ;) ) for the modules layer Enable DEBUG_HAL to compile debugging and error messages (beware of code base size ;) ) for the HAL layer Wrangler for assorted compile-time configuration and constants.

Variable Documentation

◆ filamentMinLoadedToMMU

constexpr U_mm config::filamentMinLoadedToMMU = 20.0_mm

staticconstexpr

33.0_mm /// Pulley to cutting edge. Case 1: FINDA working: This should be the max retraction after FINDA un-triggers. Case 2: FINDA not working: calculate retraction from printer to this point.

◆ idler

constexpr AxisConfig config::idler

staticconstexpr

Initial value:

= {
    .dirOn = true,
    .mRes = MRes_16,
    .iRun = 31, 
    .iHold = 5, 
    .stealth = false,
    .stepsPerUnit = (200 * 16 / 360.),
    .sg_thrs = 7,
}

End: Selector configuration.

Begin: Idler configuration

◆ idlerIntermediateSlotPositions

constexpr U_deg config::idlerIntermediateSlotPositions[toolCount+1]

staticconstexpr

Initial value:

= {
    IdlerOffsetFromHome + 4.75F * IdlerSlotDistance,
    IdlerOffsetFromHome + 3.75F * IdlerSlotDistance,
    IdlerOffsetFromHome + 2.75F * IdlerSlotDistance,
    IdlerOffsetFromHome + 1.75F * IdlerSlotDistance,
    IdlerOffsetFromHome + 0.75F * IdlerSlotDistance,
    IdlerOffsetFromHome 
}

Intermediate positions for Idler's slots: 0-4 are the real ones, the 5th index is the idle position.

◆ idlerLimits

constexpr IdlerLimits config::idlerLimits

staticconstexpr

Initial value:

= {
    .lenght = 225.0_deg,
    .jerk = 0.1_deg_s,
    .accel = 500.0_deg_s2,
}

Idler motion limits.

◆ idlerSlotPositions

constexpr U_deg config::idlerSlotPositions[toolCount+1]

staticconstexpr

Initial value:

= {
    IdlerOffsetFromHome + 5 * IdlerSlotDistance, 
    IdlerOffsetFromHome + 4 * IdlerSlotDistance, 
    IdlerOffsetFromHome + 3 * IdlerSlotDistance, 
    IdlerOffsetFromHome + 2 * IdlerSlotDistance, 
    IdlerOffsetFromHome + 1 * IdlerSlotDistance, 
    IdlerOffsetFromHome 
}

Idler offset from home to slots.

Absolute positions for Idler's slots: 0-4 are the real ones, the 5th index is the idle position Home ccw with 5th idler bearing facing selector

◆ ledBlinkPeriodMs

constexpr uint16_t config::ledBlinkPeriodMs = 1024U

staticconstexpr

The complete period of LED's blinking (i.e. ON and OFF together) Beware - in order to keep the blink periods "handle" millis overflow seamlessly keep the period a power of 2 (i.e. 256, 512, 1024). If you don't, one of the LED unit tests will fail.

◆ pulley

constexpr AxisConfig config::pulley

staticconstexpr

Initial value:

= {
    .dirOn = false,
    .mRes = MRes_8,
    .iRun = 13, 
    .iHold = 0, 
    .stealth = false,
    .stepsPerUnit = (200 * 8 / 19.147274),
    .sg_thrs = 8,
}

Begin: Pulley axis configuration.

◆ pulleyLimits

constexpr PulleyLimits config::pulleyLimits

staticconstexpr

Initial value:

= {
    .lenght = 1000.0_mm, 
    .jerk = 4.0_mm_s,
    .accel = 800.0_mm_s2,
}

Pulley motion limits.

◆ pulleyLoadFeedrate

constexpr U_mm_s config::pulleyLoadFeedrate = 95._mm_s

staticconstexpr

120mm_s is too much, the printer cannot send the status of fsensor that fast and false fsensor_not_triggered errors start to occur

◆ selector

constexpr AxisConfig config::selector

staticconstexpr

Initial value:

= {
    .dirOn = true,
    .mRes = MRes_8,
    .iRun = 31, 
    .iHold = 0, 
    .stealth = false,
    .stepsPerUnit = (200 * 8 / 8.),
    .sg_thrs = 3,
}

End: Pulley axis configuration.

Begin: Selector configuration

◆ selectorLimits

constexpr SelectorLimits config::selectorLimits

staticconstexpr

Initial value:

= {
    .lenght = 75.0_mm, 
    .jerk = 1.0_mm_s,
    .accel = 200.0_mm_s2,
}

Selector motion limits.

◆ selectorSlotPositions

constexpr U_mm config::selectorSlotPositions[toolCount+1]

staticconstexpr

Initial value:

= {
 
    SelectorOffsetFromMax + 0 * SelectorSlotDistance, 
    SelectorOffsetFromMax + 1 * SelectorSlotDistance, 
    SelectorOffsetFromMax + 2 * SelectorSlotDistance, 
    SelectorOffsetFromMax + 3 * SelectorSlotDistance, 
    SelectorOffsetFromMax + 4 * SelectorSlotDistance, 
    SelectorOffsetFromMax + 5 * SelectorSlotDistance 
 
}

Selector offset from home min to slot 0.

slots 0-4 are the real ones, the 5th is the farthest parking positions selector.dirOn = true = Home at max: selector hits left side of the MMU body selector.dirOn = false = Home at min: selector POM nut hit the selector motor

◆ stepTimerQuantum

constexpr uint16_t config::stepTimerQuantum = 256

staticconstexpr

Smallest stepping ISR scheduling slice (T = 1 / (F_CPU / divider) * quantum) 25us is the max frequency interval per maxStepFrequency attainable for a single axis while accelerating: with 3 axes this yields a required minimum of 75us

◆ tmc2130_coolStepThreshold

constexpr uint32_t config::tmc2130_coolStepThreshold = 450

staticconstexpr

End: Idler configuration.

step-based 20bit uint

◆ tmc2130_freewheel

constexpr uint32_t config::tmc2130_freewheel = 1

staticconstexpr

Freewheel options for standstill: 0: Normal operation (IHOLD is supplied to the motor at standstill) 1: Freewheeling (as if the driver was disabled, no braking except for detent torque) 2: Coil shorted using LS drivers (stronger passive braking) 3: Coil shorted using HS drivers (weaker passive braking)

◆ toolCount

constexpr const uint8_t config::toolCount = 5U

staticconstexpr

Max number of extruders/tools/slots Beware - if you change this, the EEPROM structure will become invalid and no migration procedures have been implemented. So if you really have to change this, erase your EEPROM content then.

◆ VCCADCReadCnt

constexpr const uint8_t config::VCCADCReadCnt = 10

staticconstexpr

Number of ADC reads to perform, only the last one being used.

We are measuring the bandgap voltage, Vb=1.1V. To compute the threshold value: VAL = 1125.3 / AVCC So for AVCC=4.1V, you get VAL=274.46

◆ VCCADCThreshold

constexpr const uint16_t config::VCCADCThreshold = 274

staticconstexpr

ADC value for triggering the UV_VCC error

Classes

Typedefs

Enumerations

Variables

Detailed Description

Variable Documentation

◆ filamentMinLoadedToMMU

◆ idler

◆ idlerIntermediateSlotPositions

◆ idlerLimits

◆ idlerSlotPositions

◆ ledBlinkPeriodMs

◆ pulley

◆ pulleyLimits

◆ pulleyLoadFeedrate

◆ selector

◆ selectorLimits

◆ selectorSlotPositions

◆ stepTimerQuantum

◆ tmc2130_coolStepThreshold

◆ tmc2130_freewheel

◆ toolCount

◆ VCCADCReadCnt

◆ VCCADCThreshold