54 lines
1.6 KiB
C++
54 lines
1.6 KiB
C++
/// @file hw_sanity.h
|
|
#pragma once
|
|
#include <stdint.h>
|
|
#include "command_base.h"
|
|
#include "config/axis.h"
|
|
|
|
namespace logic {
|
|
|
|
/// @brief Performs a sanity check of the hardware at reset/boot. Checks the following:
|
|
/// - TMC drivers using their IOIN registers (DIR/STEP/DRV_EN)
|
|
/// - ...
|
|
/// - Profit!
|
|
|
|
class HWSanity : public CommandBase {
|
|
public:
|
|
inline HWSanity()
|
|
: CommandBase() {
|
|
Reset(0);
|
|
}
|
|
|
|
/// Restart the automaton
|
|
bool Reset(uint8_t param) override;
|
|
|
|
/// @returns true if the state machine finished its job, false otherwise.
|
|
/// LED indicators during the test execution:
|
|
/// Slots 1-3: Pin states for STEP, DIR, and ENA - G: Set value matches readback, R: Readback disagrees.
|
|
/// Slot 4: Axis under test - G: Idler, R: Selector, RG: Pully.
|
|
/// Slot 5: G: Blinking to indicate test progression. R: Solid to indicate completed test w/ fault.
|
|
/// Indicators at test end (fault condition):
|
|
/// Slots 1-3 now indicate pins for Idler/Selector/Pulley, respectively:
|
|
/// - Off: No faults detected.
|
|
/// - G: STEP fault
|
|
/// - R: DIR fault
|
|
/// - RG: EN fault.
|
|
/// - Blinking R/G: Multiple fault, e.g both an EN fault together with STEP and/or DIR.
|
|
/// Slot 4: Reserved
|
|
/// Slot 5: R: Solid
|
|
bool StepInner() override;
|
|
|
|
private:
|
|
static void SetFaultDisplay(uint8_t slot, uint8_t mask);
|
|
|
|
static uint8_t test_step;
|
|
static config::Axis axis;
|
|
static uint8_t fault_masks[3];
|
|
static ProgressCode next_state;
|
|
static uint16_t wait_start;
|
|
};
|
|
|
|
/// The one and only instance of hwSanity state machine in the FW
|
|
extern HWSanity hwSanity;
|
|
|
|
} // namespace logic
|