137 lines
4.8 KiB
C++
137 lines
4.8 KiB
C++
/// @file movable_base.h
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#pragma once
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#include <stdint.h>
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#include "../config/axis.h"
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#include "../hal/tmc2130.h"
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namespace modules {
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namespace motion {
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/// Base class for movable modules - #modules::idler::Idler and #modules::selector::Selector contains the common code
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class MovableBase {
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public:
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/// Internal states of the state machine
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enum {
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Ready = 0, // intentionally set as zero in order to allow zeroing the Idler structure upon startup -> avoid explicit initialization code
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Moving,
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PlannedHome,
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HomeForward,
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HomeBack,
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TMCFailed,
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HomingFailed,
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OnHold,
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};
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/// Operation (Engage/Disengage/MoveToSlot) return values
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enum class OperationResult : uint8_t {
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Accepted, ///< the operation has been successfully started
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Refused, ///< another operation is currently underway, cannot start a new one
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Failed ///< the operation could not been started due to HW issues
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};
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inline constexpr MovableBase(config::Axis axis)
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: state(Ready)
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, plannedSlot(-1)
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, currentSlot(-1)
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, homingValid(false)
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, axis(axis)
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, axisStart(0) {}
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/// virtual ~MovableBase(); intentionally disabled, see description in logic::CommandBase
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/// @returns currently active slot
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/// This state is updated only when a planned move is successfully finished, so it is safe for higher-level
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/// state machines to use this call as a waiting condition for the desired state of the derive class (idler/selector)
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/// While homing, Slot() returns 0xff as the current slot index is invalid.
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inline uint8_t Slot() const { return currentSlot; }
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/// @returns internal state of the state machine
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inline uint8_t State() const { return state; }
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inline hal::tmc2130::ErrorFlags TMCErrorFlags() const { return tmcErrorFlags; }
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/// Invalidates the homing flag - that is now used to inform the movable component (Idler or Selector)
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/// that their current coordinates may have been compromised and a new homing move is to be performed.
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/// Each movable component performs the homing move immediately after it is possible to do so:
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/// - Idler immediately (and then moves to desired slot again)
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/// - Selector once there is no filament stuck in it (and then moves to desired slot again)
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/// Homing procedure therefore becomes completely transparent to upper layers
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/// and it will not be necessary to call it explicitly.
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/// Please note this method does not clear any planned move on the component
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/// - on the contrary - the planned move will be peformed immediately after homing
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/// (which makes homing completely transparent)
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inline void InvalidateHoming() { homingValid = false; }
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/// Prepare a homing move of the axis
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/// @returns true if the move has been planned successfully (i.e. movable is NOT on-hold)
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OperationResult PlanHome();
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inline bool HomingValid() const { return homingValid; }
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inline config::Axis Axis() const { return axis; }
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/// Set TMC2130 iRun current level for this axis
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/// iRun == 0 means set the default from config
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void SetCurrents(uint8_t iRun, uint8_t iHold);
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/// Puts the movable on-hold
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/// Also, disables the axis
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void HoldOn();
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/// Allows the movable to move/home again after begin suspended by HoldOn
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void Resume() { state = Ready; }
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#ifndef UNITTEST
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protected:
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#endif
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/// internal state of the automaton
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uint8_t state;
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/// planned slot - where to move to
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uint8_t plannedSlot;
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/// current slot
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uint8_t currentSlot;
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/// true if the axis is considered as homed
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bool homingValid;
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/// cached TMC2130 error flags - being read only if the axis is enabled and doing something (moving)
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hal::tmc2130::ErrorFlags tmcErrorFlags;
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config::Axis axis;
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int32_t axisStart;
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virtual void PrepareMoveToPlannedSlot() = 0;
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virtual void PlanHomingMoveForward() = 0;
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virtual void PlanHomingMoveBack() = 0;
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/// @returns true if the measured axis length is within the expected range, false otherwise
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virtual bool FinishHomingAndPlanMoveToParkPos() = 0;
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virtual void FinishMove() = 0;
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/// default implementation is empty
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virtual void UpdateAdaptiveSGTHRS(bool /*forward*/) {}
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/// Initializes movement of a movable module.
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/// Beware: this operation reinitializes the axis/TMC driver as well (may introduce axis creep as we have seen on the Idler)
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OperationResult InitMovement();
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/// Initializes movement of a movable module without reinitializing the axis/TMC driver
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OperationResult InitMovementNoReinitAxis();
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void PerformMove();
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void PerformHomeForward();
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void PerformHomeBack();
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void HomeFailed();
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void CheckTMC();
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uint16_t AxisDistance(int32_t curPos) const;
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};
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} // namespace motion
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} // namespace modules
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