logic Namespace Reference

The logic namespace handles the application logic on top of the modules. More...

Classes
class	CommandBase
	Base class defining common API for high-level operations/commands/state machines. More...
class	CutFilament
	A high-level command state machine - handles the complex logic of cutting filament. More...
class	EjectFilament
	A high-level command state machine - handles the complex logic of ejecting filament. More...
struct	FeedToBondtech
	Feed filament to Bondtech gears of the printer. More...
struct	FeedToFinda
	Feed filament to FINDA. More...
class	Home
	A high-level command state machine - wrapps the rehoming procedure to be used from a printer. More...
class	HWSanity
	Performs a sanity check of the hardware at reset/boot. Checks the following: More...
class	LoadFilament
	A high-level command state machine - handles the complex logic of loading filament into a filament slot. More...
class	MoveSelector
	A high-level command state machine - wrapps the rehoming procedure to be used from a printer. More...
class	NoCommand
	A dummy No-command operation just to make the init of the firmware consistent (and cleaner code during processing). More...
struct	RetractFromFinda
	Retract filament from FINDA to PTFE. More...
class	SetMode
	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...
class	StartUp
	Firmware start up sequence with error handling & reporting. More...
class	ToolChange
	A high-level command state machine - handles the complex logic of tool change - which is basically a chain of an Unload and a Load operation. More...
class	UnloadFilament
	A high-level command state machine - handles the complex logic of unloading filament. More...
struct	UnloadToFinda
	Unload to FINDA "small" state machine. More...

Typedefs
using	Axis = config::Axis
using	TMC2130 = hal::tmc2130::TMC2130

Enumerations
enum	pin_bits { BIT_STEP = 0b001 , BIT_DIR = 0b010 , BIT_ENA = 0b100 }

Functions
ErrorCode &	operator|= (ErrorCode &a, ErrorCode b)
ErrorCode	operator<< (ErrorCode a, uint8_t b)
static ErrorCode	TMC2130ToErrorCode (const hal::tmc2130::ErrorFlags &ef)
ErrorCode	__attribute__ ((noinline)) AddErrorAxisBit(ErrorCode ec
ErrorCode	CheckMovable (const mm::MovableBase &m)
static ErrorCode	WithoutAxisBits (ErrorCode ec)
ErrorCode	AddErrorAxisBit (ErrorCode ec, uint8_t axis)

Variables
ErrorCode uint8_t	axis
return	ec = (ErrorCode::TMC_PULLEY_BIT << axis)
CutFilament	cutFilament
	The one and only instance of CutFilament state machine in the FW.
EjectFilament	ejectFilament
	The one and only instance of EjectFilament state machine in the FW.
Home	home
	The one and only instance of Home state machine in the FW.
static constexpr uint8_t	LED_WAIT_MS = 50U
static constexpr uint8_t	TEST_PASSES = 3U
HWSanity	hwSanity
	The one and only instance of hwSanity state machine in the FW.
LoadFilament	loadFilament
	The one and only instance of LoadFilament state machine in the FW.
MoveSelector	moveSelector
	The one and only instance of MoveSelector state machine in the FW.
NoCommand	noCommand
	The one and only instance of NoCommand state machine in the FW.
SetMode	setMode
	The one and only instance of NoCommand state machine in the FW.
StartUp	startUp
	The one and only instance of StartUp state machine in the FW.
ToolChange	toolChange
	The one and only instance of ToolChange state machine in the FW.
UnloadFilament	unloadFilament
	The one and only instance of UnloadFilament state machine in the FW.

Detailed Description

The logic namespace handles the application logic on top of the modules.

Function Documentation

AddErrorAxisBit()

ErrorCode logic::AddErrorAxisBit	(	ErrorCode	ec,
		uint8_t	axis
	)

Bitwise OR (ErrorCode::TMC_PULLEY_BIT << axis) into ec where axis ranges from 0 to 2

Variable Documentation

axis

ErrorCode uint8_t logic::axis

Initial value:

{
    
    
    static_assert((uint16_t)ErrorCode::TMC_PULLEY_BIT == 0x0040)