logic::HWSanity Class Reference

Performs a sanity check of the hardware at reset/boot. Checks the following: More...

#include <hw_sanity.h>

Inheritance diagram for logic::HWSanity:

Collaboration diagram for logic::HWSanity:

Public Member Functions
bool	Reset (uint8_t param) override
	Restart the automaton.
bool	StepInner () override
Public Member Functions inherited from logic::CommandBase
bool	Step ()
virtual ProgressCode	State () const
ProgressCode	TopLevelState () const
virtual ErrorCode	Error () const
virtual ResultCode	Result () const
void	Panic (ErrorCode ec)

Additional Inherited Members
Static Public Member Functions inherited from logic::CommandBase
static void	InvalidateHoming ()
	Invalidates homing state on Idler and Selector - doesn't change anything about filament load status.
static void	InvalidateHomingAndFilamentState ()
static void	HoldIdlerSelector ()
	Put Idler and Selector on-hold - they shall not move (not even home) until ResumeIdlerSelector is called.
static void	ResumeIdlerSelector ()
	Allow Idler and Selector to move/home again. Any move needs to be newly planned.
Protected Member Functions inherited from logic::CommandBase
bool	CheckToolIndex (uint8_t index)
bool	WaitForModulesErrorRecovery ()
bool	WaitForOneModuleErrorRecovery (ErrorCode iState, modules::motion::MovableBase &m, uint8_t axisMask)
void	ErrDisengagingIdler ()
	Perform disengaging idler in ErrDisengagingIdler state.
void	GoToErrDisengagingIdler (ErrorCode deferredEC)
	Transit the state machine into ErrDisengagingIdler.
void	GoToErrEngagingIdler ()
	Transit the state machine into ErrEngagingIdler.
void	FinishedOK ()
	Process end of command which finished OK.
Protected Attributes inherited from logic::CommandBase
ProgressCode	state
	current progress state of the state machine
ErrorCode	error
	current error code
ErrorCode	deferredErrorCode
	planned error code - occurs when doing GoToErrDisengagingIdler - after the idler disengaged, the error is set (not before)
ProgressCode	stateBeforeModuleFailed
	saved state of the state machine before a common error happened
ErrorCode	errorBeforeModuleFailed
	saved error of the state machine before a common error happened
uint8_t	recoveringMovableErrorAxisMask

Detailed Description

Performs a sanity check of the hardware at reset/boot. Checks the following:

• TMC drivers using their IOIN registers (DIR/STEP/DRV_EN)
• ...
• Profit!

Member Function Documentation

StepInner()

bool logic::HWSanity::StepInner ( )

overridevirtual

Returns

true if the state machine finished its job, false otherwise. LED indicators during the test execution: Slots 1-3: Pin states for STEP, DIR, and ENA - G: Set value matches readback, R: Readback disagrees. Slot 4: Axis under test - G: Idler, R: Selector, RG: Pully. Slot 5: G: Blinking to indicate test progression. R: Solid to indicate completed test w/ fault. Indicators at test end (fault condition): Slots 1-3 now indicate pins for Idler/Selector/Pulley, respectively:

• Off: No faults detected.
• G: STEP fault
• R: DIR fault
• RG: EN fault.
• Blinking R/G: Multiple fault, e.g both an EN fault together with STEP and/or DIR. Slot 4: Reserved Slot 5: R: Solid

Implements logic::CommandBase.

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The documentation for this class was generated from the following files:

• src/logic/hw_sanity.h
• src/logic/hw_sanity.cpp