hw_sanity.h

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#pragma once
#include <stdint.h>
#include "command_base.h"
#include "../config/axis.h"
#include "../modules/leds.h"
 
namespace logic {
 
 
class HWSanity : public CommandBase {
public:
    inline constexpr HWSanity()
        : CommandBase() {}
 
    bool Reset(uint8_t param) override;
 
    bool StepInner() override;
 
private:
    // Shared code fault display setup for each axis/slot
    static void SetFaultDisplay(uint8_t slot, uint8_t mask);
 
    // Prepares an axis for testing by initializing it and turning off the output.
    static void PrepareAxis(config::Axis axis);
 
    uint8_t test_step = 0;
    config::Axis axis = config::Axis::Pulley;
    uint8_t fault_masks[3] = { 0 };
    ProgressCode next_state = ProgressCode::HWTestBegin;
    uint16_t wait_start = 0;
    ml::Mode das_blinken_state = ml::off;
};
 
extern HWSanity hwSanity;
 
} // namespace logic