From 55e8caa0542886f6cf2cca162710635acf420a64 Mon Sep 17 00:00:00 2001
From: Alex Voinea <voinea.dragos.alexandru@gmail.com>
Date: Mon, 10 Oct 2022 12:14:11 +0200
Subject: [PATCH] Always check for tmc errors

---
 src/modules/idler.cpp        |  6 ++++--
 src/modules/movable_base.cpp | 10 ++--------
 src/modules/movable_base.h   |  2 +-
 src/modules/pulley.cpp       |  6 ++++--
 src/modules/selector.cpp     |  6 ++++--
 5 files changed, 15 insertions(+), 15 deletions(-)

diff --git a/src/modules/idler.cpp b/src/modules/idler.cpp
index dc670dd..288597c 100644
--- a/src/modules/idler.cpp
+++ b/src/modules/idler.cpp
@@ -121,6 +121,10 @@ Idler::OperationResult Idler::PlanMoveInner(uint8_t slot, Operation plannedOp) {
 }
 
 bool Idler::Step() {
+    if (state != TMCFailed) {
+        CheckTMC();
+    }
+
     switch (state) {
     case Moving:
         // dbg_logic_P(PSTR("Moving Idler"));
@@ -142,9 +146,7 @@ bool Idler::Step() {
         return true;
     case TMCFailed:
         dbg_logic_P(PSTR("Idler Failed"));
-        return true;
     default:
-        IdleChecks();
         return true;
     }
 }
diff --git a/src/modules/movable_base.cpp b/src/modules/movable_base.cpp
index 7dca222..420e2c6 100644
--- a/src/modules/movable_base.cpp
+++ b/src/modules/movable_base.cpp
@@ -36,12 +36,7 @@ MovableBase::OperationResult MovableBase::InitMovement() {
 }
 
 void MovableBase::PerformMove() {
-    if (mm::motion.DriverForAxis(axis).CheckForErrors(axisParams[axis].params)) {
-        // TMC2130 entered some error state, the planned move couldn't have been finished - result of operation is Failed
-        tmcErrorFlags = mm::motion.DriverForAxis(axis).GetErrorFlags(); // save the failed state
-        mm::motion.AbortPlannedMoves(axis, true);
-        state = TMCFailed;
-    } else if (mm::motion.QueueEmpty(axis)) {
+    if (mm::motion.QueueEmpty(axis)) {
         // move finished
         currentSlot = plannedSlot;
         FinishMove();
@@ -87,8 +82,7 @@ void MovableBase::HomeFailed() {
     state = HomingFailed;
 }
 
-void MovableBase::IdleChecks() {
-    // perform maintenance tasks while no motion is happening
+void MovableBase::CheckTMC() {
     if (mm::motion.DriverForAxis(axis).CheckForErrors(axisParams[axis].params)) {
         // TMC2130 entered some error state, the planned move couldn't have been finished - result of operation is Failed
         tmcErrorFlags = mm::motion.DriverForAxis(axis).GetErrorFlags(); // save the failed state
diff --git a/src/modules/movable_base.h b/src/modules/movable_base.h
index 12b5fb5..e258b47 100644
--- a/src/modules/movable_base.h
+++ b/src/modules/movable_base.h
@@ -104,7 +104,7 @@ protected:
 
     void HomeFailed();
 
-    void IdleChecks();
+    void CheckTMC();
 };
 
 } // namespace motion
diff --git a/src/modules/pulley.cpp b/src/modules/pulley.cpp
index 4661084..669e781 100644
--- a/src/modules/pulley.cpp
+++ b/src/modules/pulley.cpp
@@ -17,6 +17,10 @@ bool Pulley::FinishHomingAndPlanMoveToParkPos() {
 }
 
 bool Pulley::Step() {
+    if (state != TMCFailed) {
+        CheckTMC();
+    }
+
     switch (state) {
     case Moving:
         PerformMove();
@@ -28,9 +32,7 @@ bool Pulley::Step() {
     case Ready:
         return true;
     case TMCFailed:
-        return true;
     default:
-        IdleChecks();
         return true;
     }
 }
diff --git a/src/modules/selector.cpp b/src/modules/selector.cpp
index 1a9a521..d3bb2ae 100644
--- a/src/modules/selector.cpp
+++ b/src/modules/selector.cpp
@@ -90,6 +90,10 @@ Selector::OperationResult Selector::MoveToSlot(uint8_t slot) {
 }
 
 bool Selector::Step() {
+    if (state != TMCFailed) {
+        CheckTMC();
+    }
+    
     switch (state) {
     case Moving:
         PerformMove();
@@ -122,9 +126,7 @@ bool Selector::Step() {
         return true;
     case TMCFailed:
         dbg_logic_P(PSTR("Selector Failed"));
-        return true;
     default:
-        IdleChecks();
         return true;
     }
 }