///@mainpage Prusa Multi Material Unit for the MK4
///@section intro_sec Introduction
///
/// This is the new firmware for the Multi Material Unit (MMU).
///
///@subsection Motivation
///
/// The key motivation for developing a new firmware structure were as follows:
/// - adding a possibility of reporting the MMU's state even during running commands - the architecture of the original MM-control-01 project
///   didn't allow to achieve this requirement
/// - while being able to report the internal state of the MMU, the printer should be able to describe the error states clearly on its LCD without
///   leaving the user to rely on some blinking LEDs
/// - modular design prepared for possible future upgrades
///
///@section project_sec Project structure
///
/// - cmake
/// - lib
/// - src
/// - tests
/// - utils
///
///@section architecture_sec Firmware architecture
///
/// The whole firmware is composed of simple state machines which run all at once - it is a kind of simple cooperative multi-tasking
/// while not eating up any significant resources by deploying generic task switching solutions like RTOS or similar.
/// The general rule is to avoid waiting inside these state machines, no state machine is allowed to block execution of others.
/// That implies making separate waiting states which only check for some condition to be true before proceeding further.
///
/// The firmware is separated into 4 layers:
/// - HAL is responsible for talking to the physical hardware, in our case an AVR processor and its peripherals, TMC2130 stepper drivers, shift registers etc.
/// - modules are the components abstracted of the real hardware and/or connection. A typical example are the buttons, LEDs, Idler, Selector etc.
/// - logic layer is the application logic - this layer provides the sequences and logical relations between modules thus forming the behavior of the MMU.
/// - main is the top layer, it is responsible for initialization of the whole firmware and performing the main loop, where the stepping of all the automata is located.
///
/// The whole architecture becomes obvious from the following picture:
///
///@dot
///digraph architecture {
///    node [shape=record, fontname=Helvetica, fontsize=10];
///    subgraph cluster_main { label="main"
///         main [ URL="main.cpp"];
///     }
///    subgraph cluster_logic { label="logic"
///         logic [ URL="\ref logic"];
///     }
///
///    subgraph cluster_modules { label="modules"
///         buttons [ URL="\ref modules::buttons"];
///         debouncer [ URL="\ref modules::debounce"];
///         finda [ URL="\ref modules::finda"];
///         fsensor [ URL="\ref modules::fsensor"];
///         globals [ URL="\ref modules::globals"];
///         idler [ URL="\ref modules::idler"];
///         leds [ URL="\ref modules::leds"];
///         selector [ URL="\ref modules::selector"];
///         motion [ URL="\ref modules::motion"];
///         permanent_storage [ URL="\ref modules::permanent_storage"];
///         protocol [ URL="\ref modules::protocol"];
///         timebase [ URL="\ref modules::time"];
///     }
///    subgraph cluster_hal { label="hal"
///         adc [ URL="\ref hal::adc"];
///         cpu [ URL="\ref hal::cpu"];
///         eeprom [ URL="\ref hal::eeprom"];
///         gpio [ URL="\ref hal::gpio"];
///         shr16 [ URL="\ref hal::shr16"];
///         spi [ URL="\ref hal::spi"];
///         timers [ URL="\ref hal::timers"];
///         tmc2130 [ URL="\ref hal::tmc2130"];
///         usart [ URL="\ref hal::usart"];
///         watchdog [ URL="\ref hal::watchdog"];
///     }
///    main -> logic [ arrowhead="open" ];
///
///    logic -> buttons [ arrowhead="open" ];
///    logic -> finda [ arrowhead="open" ];
///    logic -> fsensor [ arrowhead="open" ];
///    logic -> globals [ arrowhead="open" ];
///    logic -> idler [ arrowhead="open" ];
///    logic -> leds [ arrowhead="open" ];
///    logic -> motion [ arrowhead="open" ];
///    logic -> permanent_storage [ arrowhead="open" ];
///    logic -> protocol [ arrowhead="open" ];
///    logic -> selector [ arrowhead="open" ];
///    logic -> timebase [ arrowhead="open" ];
///
///    selector -> motion [ arrowhead="open" ];
///    idler -> motion [ arrowhead="open" ];
///    buttons -> debouncer [ arrowhead="open" ];
///    finda -> debouncer [ arrowhead="open" ];
///    fsensor -> debouncer [ arrowhead="open" ];
///
///    buttons -> adc [ arrowhead="open" ];
///    finda -> adc [ arrowhead="open" ];
///    fsensor [ arrowhead="open" ];
///    globals -> permanent_storage [ arrowhead="open" ];
///    leds -> shr16 [ arrowhead="open" ];
///    motion -> tmc2130 [ arrowhead="open" ];
///    permanent_storage -> eeprom [ arrowhead="open" ];
///    protocol -> usart [ arrowhead="open" ];
///    timebase -> timers [ arrowhead="open" ];
///}
///@enddot
///
/// Sidenote: due to avr-gcc 5.4 limitations we cannot use proper Singleton patterns but have to rely on global variables of each state machine.
///
///@section protocol_sec Protocol description
///
/// The communication protocol between the printer and the MMU has only been extended to minimize the influence on existing MMU interface implementation.
/// However, the backwards compatibility has not been kept and at least some changes are necessary.
/// The good news is that the Slicer's MMU code is fully backwards compatible.
///
///
///@section errors_sec Error sources and handling
///
/// There are several different types/sources of errors in the MMU:
/// - runtime sensors
/// - algorithmic errors
/// - hardware component failures
///
/// For a list of currently supported error states please see error_codes.h .
///
///@subsection runtime_ssec Runtime sensors
///
/// Errors like this are abnormal operational states resulting from the fact, that some of the sensors didn't report an expected state.
/// E.g. FINDA didn't trigger or the printer didn't send a trigger command from its filament sensor.
/// These failures cannot be predicted and can be only resolved partially by the MMU.
///
/// The logic layer state machines check for these failures and act upon:
/// - Cut filament: detects FINDA_DIDNT_SWITCH_OFF, FINDA_DIDNT_SWITCH_ON
/// - Eject filament: detects FINDA_DIDNT_SWITCH_OFF, FINDA_DIDNT_SWITCH_ON
/// - Load filament: detects FINDA_DIDNT_SWITCH_ON, FSENSOR_DIDNT_SWITCH_ON
/// - Tool change: detects FINDA_DIDNT_SWITCH_OFF/FINDA_DIDNT_SWITCH_ON, FSENSOR_DIDNT_SWITCH_OFF/FSENSOR_DIDNT_SWITCH_ON
/// - Load filament: detects FINDA_DIDNT_SWITCH_OFF, FSENSOR_DIDNT_SWITCH_OFF
///
///@subsection algorithmic_ssec Algorithmic errors
///
/// This kind of errors represents unhandled states of state machines - which should not happen ;)
/// or at least the ocurrance can be mitigated by careful testing of the firmware code base.
/// Logic layer state machines check their internal state and if they by chance get into an unhandled state,
/// they switch into an error state INTERNAL.
///
///@subsection hardware_ssec Hardware failures
///
/// This kind of errors is extremely hard to tackle in full scale.
/// Basically any HW component can fail (including the HW chips on the mainboard) and we only have limited knowledge about such situations.
/// So under hardware failures we consider only stuff which can be detected by any means
/// - mostly CPU peripherals, especially the TMC2130 drivers, which are capable of some degree of error reporting.
///
///@subsection errorrep_ssec Error reporting
///
/// There are basically 2 ways of reporting an error to the user
/// - via USART communication with the printer - implies the communication works - the preferred way
/// - LEDs blinking - implies the shift registers work and the LEDs work as well - backup way
///
/// The USART communication can report errors of the currently running command (see response to Q0).
///
/// LEDs' blinking is to be defined yet, the previous firmware used elaborate blinking schemes to report all kinds of errors which most users were unable to decipher/act upon.
///
///
///@section tests_sec Tests and quality assurance
///
///@subsection unit_sec Unit tests
///
/// The firmware architecture was designed with unit testing in mind, thus each firmware layer has only the least amount of necessary dependencies to surrounding code.
/// This approach greatly simplified the definition of unit testing procedures with only a small amount stubs necessary.
///
/// Each firmware layer has its own subdirectory, the directory tree follows the firmware structure
///
/// The usage of stubs at each layer
///
///@subsection integration_sec Integration tests
///
///@section power_up Powering up the board
///
/// Upon startup, the board tries to initialize all the necessary peripherals.
/// The progress of initialization is visualized by individual LEDs turning green.
/// That includes:
/// - LED 4: shift register - however if the shift register doesn't work we really can't signalize anything, only internal variables will be accessible if the UART works.
/// - LED 3: USART - if both shift register and the UART are dead, we are sitting ducks :(
/// - LED 2: SPI
/// - LED 1: TMC2130 - this may actually report some error
/// - LED 0: ADC
///
/// Ideally, the board has all the green LEDs on after startup - that signalizes all the peripherals started correctly.
///
