From ac78619b5b89461f56e32d8472d17b0f611a7488 Mon Sep 17 00:00:00 2001
From: "D.R.racer" <drracer@drracer.eu>
Date: Tue, 31 Aug 2021 09:19:37 +0200
Subject: [PATCH] Cache TMC error flags inside movable_base class

---
 src/hal/tmc2130.h            |  2 +-
 src/logic/command_base.cpp   | 16 ++++++++--------
 src/modules/movable_base.cpp |  3 ++-
 src/modules/movable_base.h   |  6 ++++++
 4 files changed, 17 insertions(+), 10 deletions(-)

diff --git a/src/hal/tmc2130.h b/src/hal/tmc2130.h
index 9c8ac5f..6c29536 100644
--- a/src/hal/tmc2130.h
+++ b/src/hal/tmc2130.h
@@ -39,7 +39,7 @@ struct __attribute__((packed)) ErrorFlags {
     uint8_t s2g : 1; ///< short to ground
     uint8_t otpw : 1; ///< over temperature pre-warning
     uint8_t ot : 1; ///< over temperature hard
-    inline ErrorFlags()
+    inline constexpr ErrorFlags()
         : reset_flag(0)
         , uv_cp(0)
         , s2g(0)
diff --git a/src/logic/command_base.cpp b/src/logic/command_base.cpp
index f0abe5b..3893a9c 100644
--- a/src/logic/command_base.cpp
+++ b/src/logic/command_base.cpp
@@ -10,22 +10,22 @@ inline ErrorCode &operator|=(ErrorCode &a, ErrorCode b) {
     return a = (ErrorCode)((uint16_t)a | (uint16_t)b);
 }
 
-static ErrorCode TMC2130ToErrorCode(const hal::tmc2130::TMC2130 &tmc, uint8_t tmcIndex) {
+static ErrorCode TMC2130ToErrorCode(const hal::tmc2130::ErrorFlags &ef, uint8_t tmcIndex) {
     ErrorCode e = ErrorCode::RUNNING;
 
-    if (tmc.GetErrorFlags().reset_flag) {
+    if (ef.reset_flag) {
         e |= ErrorCode::TMC_RESET;
     }
-    if (tmc.GetErrorFlags().uv_cp) {
+    if (ef.uv_cp) {
         e |= ErrorCode::TMC_UNDERVOLTAGE_ON_CHARGE_PUMP;
     }
-    if (tmc.GetErrorFlags().s2g) {
+    if (ef.s2g) {
         e |= ErrorCode::TMC_SHORT_TO_GROUND;
     }
-    if (tmc.GetErrorFlags().otpw) {
+    if (ef.otpw) {
         e |= ErrorCode::TMC_OVER_TEMPERATURE_WARN;
     }
-    if (tmc.GetErrorFlags().ot) {
+    if (ef.ot) {
         e |= ErrorCode::TMC_OVER_TEMPERATURE_ERROR;
     }
 
@@ -53,11 +53,11 @@ bool CommandBase::Step() {
     // check the global HW errors - may be we should avoid the modules layer and check for the HAL layer errors directly
     if (mi::idler.State() == mi::Idler::Failed) {
         state = ProgressCode::ERRTMCFailed;
-        tmcErr |= TMC2130ToErrorCode(mm::motion.DriverForAxis(mm::Axis::Idler), mm::Axis::Idler);
+        tmcErr |= TMC2130ToErrorCode(mi::idler.TMCErrorFlags(), mm::Axis::Idler);
     }
     if (ms::selector.State() == ms::Selector::Failed) {
         state = ProgressCode::ERRTMCFailed;
-        tmcErr |= TMC2130ToErrorCode(mm::motion.DriverForAxis(mm::Axis::Selector), mm::Axis::Selector);
+        tmcErr |= TMC2130ToErrorCode(ms::selector.TMCErrorFlags(), mm::Axis::Selector);
     }
     // may be we should model the Pulley as well...
     //    if (ms::selector.State() == ms::Selector::Failed) {
diff --git a/src/modules/movable_base.cpp b/src/modules/movable_base.cpp
index 52d8378..9363993 100644
--- a/src/modules/movable_base.cpp
+++ b/src/modules/movable_base.cpp
@@ -16,8 +16,9 @@ MovableBase::OperationResult MovableBase::InitMovement(config::Axis axis) {
 }
 
 void MovableBase::PerformMove(config::Axis axis) {
-    if (!mm::motion.DriverForAxis(axis).GetErrorFlags().Good()) {
+    if (!mm::motion.DriverForAxis(axis).GetErrorFlags().Good()) { // @@TODO check occasionally, i.e. not every time?
         // 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
         state = Failed;
     } else if (mm::motion.QueueEmpty(axis)) {
         // move finished
diff --git a/src/modules/movable_base.h b/src/modules/movable_base.h
index d02d9ca..82ca466 100644
--- a/src/modules/movable_base.h
+++ b/src/modules/movable_base.h
@@ -1,6 +1,7 @@
 #pragma once
 #include <stdint.h>
 #include "../config/axis.h"
+#include "../hal/tmc2130.h"
 
 namespace modules {
 namespace motion {
@@ -37,6 +38,8 @@ public:
     /// @returns internal state of the state machine
     inline uint8_t State() const { return state; }
 
+    inline hal::tmc2130::ErrorFlags TMCErrorFlags() const { return tmcErrorFlags; }
+
 protected:
     /// internal state of the automaton
     uint8_t state;
@@ -47,6 +50,9 @@ protected:
     /// current slot
     uint8_t currentSlot;
 
+    /// cached TMC2130 error flags - being read only if the axis is enabled and doing something (moving)
+    hal::tmc2130::ErrorFlags tmcErrorFlags;
+
     virtual void PrepareMoveToPlannedSlot() = 0;
 
     OperationResult InitMovement(config::Axis axis);