Sets the mode of TMC2130 for all motors at once. In the original proposal, the M0/M1 message was declared as a query, since it can be processed immediately. The reality is a bit different - the TMC2130 driver cannot change from SpreadCycle into StealthMode while moving the motor, at least not without serious jerking in most cases. Therefore the M0/M1 messages were reconsidered into a command, because only one command at a time can be performed (regardless of how long it takes it to finish) - that implies no motor moves are being performed while M0/M1 is being applied. More...

#include <set_mode.h>

Inheritance diagram for logic::SetMode:

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Collaboration diagram for logic::SetMode:

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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

Sets the mode of TMC2130 for all motors at once. In the original proposal, the M0/M1 message was declared as a query, since it can be processed immediately. The reality is a bit different - the TMC2130 driver cannot change from SpreadCycle into StealthMode while moving the motor, at least not without serious jerking in most cases. Therefore the M0/M1 messages were reconsidered into a command, because only one command at a time can be performed (regardless of how long it takes it to finish) - that implies no motor moves are being performed while M0/M1 is being applied.

Member Function Documentation

◆ StepInner()

bool logic::SetMode::StepInner ( )

inlineoverridevirtual

Returns: true if the state machine finished its job, false otherwise Since we perform the TMC2130 mode change in the Reset directly, the return is always true here (command finished ok)

Implements logic::CommandBase.

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

src/logic/set_mode.h
src/logic/set_mode.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ StepInner()