Refactor CheckFINDAvsEEPROM and setup2

src/logic/start_up.cpp

@@ -2,12 +2,21 @@
 #include "start_up.h"
 #include "../modules/buttons.h"
 #include "../modules/finda.h"
+#include "../modules/globals.h"
 #include "../modules/user_input.h"
 
 namespace logic {
 
 StartUp startUp;
 
+bool StartUp::Reset(uint8_t) {
+    if (!CheckFINDAvsEEPROM()) {
+        SetInitError(ErrorCode::FINDA_VS_EEPROM_DISREPANCY);
+    }
+
+    return true;
+}
+
 bool StartUp::StepInner() {
     switch (state) {
     case ProgressCode::OK:
@@ -20,7 +29,7 @@ bool StartUp::StepInner() {
             switch (error) {
             case ErrorCode::FINDA_VS_EEPROM_DISREPANCY:
                 // Retry
-                if (!mf::finda.CheckFINDAvsEEPROM()) {
+                if (!CheckFINDAvsEEPROM()) {
                     error = ErrorCode::FINDA_VS_EEPROM_DISREPANCY;
                     state = ProgressCode::ERRWaitingForUser;
                 } else {
@@ -43,4 +52,25 @@ bool StartUp::StepInner() {
     }
     return false;
 }
+
+bool StartUp::CheckFINDAvsEEPROM() {
+    bool ret = true;
+    if (mf::finda.Pressed() && mg::globals.FilamentLoaded() < mg::InFSensor) {
+        // This is a tricky situation - EEPROM doesn't have a record about loaded filament (blocking the Selector)
+        // To be on the safe side, we have to override the EEPROM information about filament position - at least InFSensor
+        // Moreover - we need to override the active slot position as well, because we cannot know where the Selector is.
+        // For this we speculatively set the active slot to 2 (in the middle ;) )
+        // Ideally this should be signalled as an error state and displayed on the printer and recovered properly.
+        //mg::globals.SetFilamentLoaded(2, mg::InFSensor);
+        ret = false;
+    } else if (!mf::finda.Pressed() && mg::globals.FilamentLoaded() >= mg::InSelector) {
+        // Opposite situation - not so dangerous, but definitely confusing to users.
+        // FINDA is not pressed but we have a record in the EEPROM.
+        // It has been decided, that we shall clear such a record from EEPROM automagically
+        // and presume there is no filament at all (requires working FINDA)
+        mg::globals.SetFilamentLoaded(config::toolCount, mg::AtPulley);
+    }
+    return ret;
+}
+
 } // namespace logic

src/logic/start_up.h

@@ -12,7 +12,7 @@ public:
         : CommandBase() {}
 
     /// Restart the automaton
-    bool Reset(uint8_t /*param*/) override { return true; }
+    bool Reset(uint8_t /*param*/) override;
 
     /// @returns true if the state machine finished its job, false otherwise
     bool StepInner() override;
@@ -24,6 +24,10 @@ public:
         error = ec;
         state = ProgressCode::ERRWaitingForUser;
     }
+
+private:
+    /// @returns true if there is no discrepency, false otherwise
+    static bool CheckFINDAvsEEPROM();
 };
 
 /// The one and only instance of StartUp state machine in the FW

src/main.cpp

@@ -90,11 +90,7 @@ static void setup2() {
     // which is abused to let the LEDs shine for ~100ms
     mf::finda.BlockingInit();
 
-    if (!mf::finda.CheckFINDAvsEEPROM()) {
-        logic::startUp.SetInitError(ErrorCode::FINDA_VS_EEPROM_DISREPANCY);
-    }
-
-    /// Turn off all leds
+    // Turn off all leds
     for (uint8_t i = 0; i < config::toolCount; i++) {
         ml::leds.SetMode(i, ml::green, ml::off);
         ml::leds.SetMode(i, ml::red, ml::off);
@@ -103,7 +99,7 @@ static void setup2() {
 
     // Prep hardware sanity:
     logic::hwSanity.Reset(0);
-
+    // Process HW sanity checks exclusively
     while (!logic::hwSanity.StepInner()) {
         ml::leds.Step();
     }
@@ -112,6 +108,9 @@ static void setup2() {
         // forward the issue to the logic startup handler.
         logic::startUp.SetInitError(logic::hwSanity.Error());
     } else {
+        // When HW is sane, activate sequence of start up checks and let it run asynchronnously
+        logic::startUp.Reset(0);
+
         // Idler and Selector decide whether homing is possible/safe
         mi::idler.Init();
         ms::selector.Init();

src/modules/finda.cpp

@@ -1,6 +1,5 @@
 /// @file finda.cpp
 #include "finda.h"
-#include "globals.h"
 #include "timebase.h"
 #include "../hal/gpio.h"
 #include "../pins.h"
@@ -22,25 +21,5 @@ void FINDA::BlockingInit() {
     }
 }
 
-bool FINDA::CheckFINDAvsEEPROM() {
-    bool ret = true;
-    if (mf::finda.Pressed() && mg::globals.FilamentLoaded() < mg::InFSensor) {
-        // This is a tricky situation - EEPROM doesn't have a record about loaded filament (blocking the Selector)
-        // To be on the safe side, we have to override the EEPROM information about filament position - at least InFSensor
-        // Moreover - we need to override the active slot position as well, because we cannot know where the Selector is.
-        // For this we speculatively set the active slot to 2 (in the middle ;) )
-        // Ideally this should be signalled as an error state and displayed on the printer and recovered properly.
-        //mg::globals.SetFilamentLoaded(2, mg::InFSensor);
-        ret = false;
-    } else if (!mf::finda.Pressed() && mg::globals.FilamentLoaded() >= mg::InSelector) {
-        // Opposite situation - not so dangerous, but definitely confusing to users.
-        // FINDA is not pressed but we have a record in the EEPROM.
-        // It has been decided, that we shall clear such a record from EEPROM automagically
-        // and presume there is no filament at all (requires working FINDA)
-        mg::globals.SetFilamentLoaded(config::toolCount, mg::AtPulley);
-    }
-    return ret;
-}
-
 } // namespace finda
 } // namespace modules

src/modules/finda.h

@@ -22,9 +22,6 @@ public:
     /// to set correct FINDA state at startup
     void BlockingInit();
 
-    /// @returns true if there is no discrepency, false otherwise
-    bool CheckFINDAvsEEPROM();
-
     using debounce::Debouncer::Pressed;
 };