movable_base.h

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#pragma once
#include <stdint.h>
#include "../config/axis.h"
#include "../hal/tmc2130.h"
 
namespace modules {
namespace motion {
 
class MovableBase {
public:
    enum {
        Ready = 0, // intentionally set as zero in order to allow zeroing the Idler structure upon startup -> avoid explicit initialization code
        Moving = 1,
        PlannedHome = 2,
        HomeForward = 3,
        HomeBack = 4,
        TMCFailed = 5,
        HomingFailed = 6,
        OnHold = 0x80, 
    };
 
    enum class OperationResult : uint8_t {
        Accepted, 
        Refused, 
        Failed 
    };
 
    inline constexpr MovableBase(config::Axis axis)
        : state(Ready)
        , plannedSlot(-1)
        , currentSlot(-1)
        , homingValid(false)
        , axis(axis)
        , axisStart(0) {}
 
 
    inline uint8_t Slot() const { return currentSlot; }
 
    inline uint8_t State() const { return state; }
 
    inline hal::tmc2130::ErrorFlags TMCErrorFlags() const { return tmcErrorFlags; }
 
    inline void InvalidateHoming() { homingValid = false; }
 
    OperationResult PlanHome();
 
    inline bool HomingValid() const { return homingValid; }
 
    inline config::Axis Axis() const { return axis; }
 
    void SetCurrents(uint8_t iRun, uint8_t iHold);
 
    void HoldOn();
 
    bool IsOnHold() const { return state & OnHold; }
 
    void Resume() { state &= ~OnHold; }
 
#ifndef UNITTEST
protected:
#endif
    uint8_t state;
 
    uint8_t plannedSlot;
 
    uint8_t currentSlot;
 
    bool homingValid;
 
    hal::tmc2130::ErrorFlags tmcErrorFlags;
 
    config::Axis axis;
 
    int32_t axisStart;
 
    virtual void PrepareMoveToPlannedSlot() = 0;
    virtual void PlanHomingMoveForward() = 0;
    virtual void PlanHomingMoveBack() = 0;
    virtual bool FinishHomingAndPlanMoveToParkPos() = 0;
    virtual void FinishMove() = 0;
    virtual bool StallGuardAllowed(bool forward) const { return true; }
 
    OperationResult InitMovement();
 
    OperationResult InitMovementNoReinitAxis();
 
    void PerformMove();
 
    void PerformHomeForward();
    void PerformHomeBack();
 
    void HomeFailed();
 
    void CheckTMC();
 
    uint16_t AxisDistance(int32_t curPos) const;
};
 
} // namespace motion
} // namespace modules