Refactored AppendDriverStatus and its calling code

6 files changed, 19 insertions, 132 deletions

diff --git a/src/Movement/StepperDrivers/TMC22xx.cpp b/src/Movement/StepperDrivers/TMC22xx.cpp
index 5bab7a0b..abbacc89 100644
--- a/src/Movement/StepperDrivers/TMC22xx.cpp
+++ b/src/Movement/StepperDrivers/TMC22xx.cpp
@@ -1253,51 +1253,9 @@ uint32_t TmcDriverState::ReadAccumulatedStatus(uint32_t bitsToKeep) noexcept
 	return status;
 }
 
-// Append the driver status to a string, and reset the min/max load values
+// Append any additional driver status to a string, and reset the min/max load values
 void TmcDriverState::AppendDriverStatus(const StringRef& reply) noexcept
 {
-	if (!DriverAssumedPresent())
-	{
-		reply.cat(" assumed not present");
-		return;
-	}
-
-	const uint32_t lastReadStatus = readRegisters[ReadDrvStat];
-	if (lastReadStatus & TMC_RR_OT)
-	{
-		reply.cat(" temperature-shutdown!");
-	}
-	else if (lastReadStatus & TMC_RR_OTPW)
-	{
-		reply.cat(" temperature-warning");
-	}
-	if (lastReadStatus & TMC_RR_S2G)
-	{
-		reply.cat(" short-to-ground");
-	}
-	if (lastReadStatus & TMC_RR_OLA)
-	{
-		reply.cat(" open-load-A");
-	}
-	if (lastReadStatus & TMC_RR_OLB)
-	{
-		reply.cat(" open-load-B");
-	}
-	if (lastReadStatus & TMC_RR_STST)
-	{
-		reply.cat(" standstill");
-	}
-#if RESET_MICROSTEP_COUNTERS_AT_INIT
-	if (hadStepFailure)
-	{
-		reply.cat(" stepFail");
-	}
-#endif
-	else if ((lastReadStatus & (TMC_RR_OT | TMC_RR_OTPW | TMC_RR_S2G | TMC_RR_OLA | TMC_RR_OLB | TMC_RR_STST)) == 0)
-	{
-		reply.cat( "ok");
-	}
-
 #if HAS_STALL_DETECT
 	if (minSgLoadRegister <= 1023)
 	{
@@ -1323,14 +1281,22 @@ void TmcDriverState::AppendDriverStatus(const StringRef& reply) noexcept
 StandardDriverStatus TmcDriverState::GetStandardDriverStatus() const noexcept
 {
 	StandardDriverStatus rslt;
-	const uint32_t status = ReadLiveStatus();
-	// The lowest 8 bits of StandardDriverStatus have the same meanings as for the TMC2209 status
-	rslt.all = status & 0x000000FF;
-	rslt.all |= ExtractBit(status, TMC_RR_STST_BIT_POS, StandardDriverStatus::StandstillBitPos);	// put the standstill bit in the right place
-	rslt.all |= ExtractBit(status, TMC_RR_SG_BIT_POS, StandardDriverStatus::StallBitPos);			// put the stall bit in the right place
+	if (DriverAssumedPresent())
+	{
+		const uint32_t status = ReadLiveStatus();
+		// The lowest 8 bits of StandardDriverStatus have the same meanings as for the TMC2209 status
+		rslt.all = status & 0x000000FF;
+		rslt.all |= ExtractBit(status, TMC_RR_STST_BIT_POS, StandardDriverStatus::StandstillBitPos);	// put the standstill bit in the right place
+		rslt.all |= ExtractBit(status, TMC_RR_SG_BIT_POS, StandardDriverStatus::StallBitPos);			// put the stall bit in the right place
 #if HAS_STALL_DETECT
-	rslt.sgresultMin = minSgLoadRegister;
+		rslt.sgresultMin = minSgLoadRegister;
 #endif
+	}
+	else
+	{
+		rslt.all = 0;
+		rslt.notPresent = true;
+	}
 	return rslt;
 }
 
@@ -1980,11 +1946,6 @@ void SmartDrivers::EnableDrive(size_t drive, bool en) noexcept
 	}
 }
 
-uint32_t SmartDrivers::GetLiveStatus(size_t drive) noexcept
-{
-	return (drive < GetNumTmcDrivers()) ? driverStates[drive].ReadLiveStatus() : 0;
-}
-
 uint32_t SmartDrivers::GetAccumulatedStatus(size_t drive, uint32_t bitsToKeep) noexcept
 {
 	return (drive < GetNumTmcDrivers()) ? driverStates[drive].ReadAccumulatedStatus(bitsToKeep) : 0;
diff --git a/src/Movement/StepperDrivers/TMC22xx.h b/src/Movement/StepperDrivers/TMC22xx.h
index 02898616..15f75e97 100644
--- a/src/Movement/StepperDrivers/TMC22xx.h
+++ b/src/Movement/StepperDrivers/TMC22xx.h
@@ -48,7 +48,6 @@ namespace SmartDrivers
 	uint32_t GetAxisNumber(size_t drive) noexcept;
 	void SetCurrent(size_t drive, float current) noexcept;
 	void EnableDrive(size_t drive, bool en) noexcept;
-	uint32_t GetLiveStatus(size_t drive) noexcept;
 	uint32_t GetAccumulatedStatus(size_t drive, uint32_t bitsToKeep) noexcept;
 	bool SetMicrostepping(size_t drive, unsigned int microsteps, bool interpolation) noexcept;
 	unsigned int GetMicrostepping(size_t drive, bool& interpolation) noexcept;
diff --git a/src/Movement/StepperDrivers/TMC2660.cpp b/src/Movement/StepperDrivers/TMC2660.cpp
index 44f18bd0..37032ea2 100644
--- a/src/Movement/StepperDrivers/TMC2660.cpp
+++ b/src/Movement/StepperDrivers/TMC2660.cpp
@@ -686,45 +686,16 @@ void TmcDriverState::AppendStallConfig(const StringRef& reply) const noexcept
 				threshold, ((filtered) ? "on" : "off"), fullstepsPerSecond, (double)speed, registers[SmartEnable] & 0xFFFF);
 }
 
-// Append the driver status to a string, and reset the min/max load values
+// Append any additional driver status to a string, and reset the min/max load values
 void TmcDriverState::AppendDriverStatus(const StringRef& reply) noexcept
 {
-	if (lastReadStatus & TMC_RR_OT)
-	{
-		reply.cat("temperature-shutdown! ");
-	}
-	else if (lastReadStatus & TMC_RR_OTPW)
-	{
-		reply.cat("temperature-warning, ");
-	}
-	if (lastReadStatus & TMC_RR_S2G)
-	{
-		reply.cat("short-to-ground, ");
-	}
-	if (lastReadStatus & TMC_RR_OLA)
-	{
-		reply.cat("open-load-A, ");
-	}
-	if (lastReadStatus & TMC_RR_OLB)
-	{
-		reply.cat("open-load-B, ");
-	}
-	if (lastReadStatus & TMC_RR_STST)
-	{
-		reply.cat("standstill, ");
-	}
-	else if ((lastReadStatus & (TMC_RR_OT | TMC_RR_OTPW | TMC_RR_S2G | TMC_RR_OLA | TMC_RR_OLB)) == 0)
-	{
-		reply.cat("ok, ");
-	}
-
 	if (minSgLoadRegister <= 1023)
 	{
-		reply.catf("SG min %u", minSgLoadRegister);
+		reply.catf(", SG min %u", minSgLoadRegister);
 	}
 	else
 	{
-		reply.cat("SG min n/a");
+		reply.cat(", SG min n/a");
 	}
 	ResetLoadRegisters();
 }
@@ -1009,11 +980,6 @@ void SmartDrivers::EnableDrive(size_t driver, bool en) noexcept
 	}
 }
 
-uint32_t SmartDrivers::GetLiveStatus(size_t driver) noexcept
-{
-	return (driver < numTmc2660Drivers) ? driverStates[driver].ReadLiveStatus() : 0;
-}
-
 uint32_t SmartDrivers::GetAccumulatedStatus(size_t driver, uint32_t bitsToKeep) noexcept
 {
 	return (driver < numTmc2660Drivers) ? driverStates[driver].ReadAccumulatedStatus(bitsToKeep) : 0;
diff --git a/src/Movement/StepperDrivers/TMC2660.h b/src/Movement/StepperDrivers/TMC2660.h
index 8bb8d97e..df12be5f 100644
--- a/src/Movement/StepperDrivers/TMC2660.h
+++ b/src/Movement/StepperDrivers/TMC2660.h
@@ -39,7 +39,6 @@ namespace SmartDrivers
 	void SetAxisNumber(size_t driver, uint32_t axisNumber) noexcept;
 	void SetCurrent(size_t driver, float current) noexcept;
 	void EnableDrive(size_t driver, bool en) noexcept;
-	uint32_t GetLiveStatus(size_t driver) noexcept;
 	uint32_t GetAccumulatedStatus(size_t drive, uint32_t bitsToKeep) noexcept;
 	bool SetMicrostepping(size_t drive, unsigned int microsteps, bool interpolation) noexcept;
 	unsigned int GetMicrostepping(size_t drive, bool& interpolation) noexcept;
diff --git a/src/Movement/StepperDrivers/TMC51xx.cpp b/src/Movement/StepperDrivers/TMC51xx.cpp
index e105fe0b..eca0a573 100644
--- a/src/Movement/StepperDrivers/TMC51xx.cpp
+++ b/src/Movement/StepperDrivers/TMC51xx.cpp
@@ -760,39 +760,9 @@ uint32_t TmcDriverState::ReadAccumulatedStatus(uint32_t bitsToKeep) noexcept
 	return status & (TMC_RR_SG | TMC_RR_OT | TMC_RR_OTPW | TMC_RR_S2G | TMC_RR_OLA | TMC_RR_OLB | TMC_RR_STST);
 }
 
-// Append the driver status to a string, and reset the min/max load values
+// Append any additional driver status to a string, and reset the min/max load values
 void TmcDriverState::AppendDriverStatus(const StringRef& reply, bool clearGlobalStats) noexcept
 {
-	const uint32_t lastReadStatus = readRegisters[ReadDrvStat];
-	if (lastReadStatus & TMC_RR_OT)
-	{
-		reply.cat(" temperature-shutdown!");
-	}
-	else if (lastReadStatus & TMC_RR_OTPW)
-	{
-		reply.cat(" temperature-warning");
-	}
-	if (lastReadStatus & TMC_RR_S2G)
-	{
-		reply.cat(" short-to-ground");
-	}
-	if ((lastReadStatus & TMC_RR_OLA) && !(lastReadStatus & TMC_RR_STST))
-	{
-		reply.cat(" open-load-A");
-	}
-	if ((lastReadStatus & TMC_RR_OLB) && !(lastReadStatus & TMC_RR_STST))
-	{
-		reply.cat(" open-load-B");
-	}
-	if (lastReadStatus & TMC_RR_STST)
-	{
-		reply.cat(" standstill");
-	}
-	else if ((lastReadStatus & (TMC_RR_OT | TMC_RR_OTPW | TMC_RR_S2G | TMC_RR_OLA | TMC_RR_OLB)) == 0)
-	{
-		reply.cat(" ok");
-	}
-
 	if (minSgLoadRegister <= 1023)
 	{
 		reply.catf(", SG min %u", minSgLoadRegister);
@@ -802,14 +772,12 @@ void TmcDriverState::AppendDriverStatus(const StringRef& reply, bool clearGlobal
 		reply.cat(", SG min n/a");
 	}
 	ResetLoadRegisters();
-
 	reply.catf(", reads %u, writes %u timeouts %u", numReads, numWrites, numTimeouts);
 	numReads = numWrites = 0;
 	if (clearGlobalStats)
 	{
 		numTimeouts = 0;
 	}
-
 }
 
 StandardDriverStatus TmcDriverState::GetStandardDriverStatus() const noexcept
@@ -1443,11 +1411,6 @@ void SmartDrivers::EnableDrive(size_t driver, bool en) noexcept
 	}
 }
 
-uint32_t SmartDrivers::GetLiveStatus(size_t driver) noexcept
-{
-	return (driver < numTmc51xxDrivers) ? driverStates[driver].ReadLiveStatus() : 0;
-}
-
 uint32_t SmartDrivers::GetAccumulatedStatus(size_t driver, uint32_t bitsToKeep) noexcept
 {
 	return (driver < numTmc51xxDrivers) ? driverStates[driver].ReadAccumulatedStatus(bitsToKeep) : 0;
diff --git a/src/Movement/StepperDrivers/TMC51xx.h b/src/Movement/StepperDrivers/TMC51xx.h
index aa77821e..4066cf93 100644
--- a/src/Movement/StepperDrivers/TMC51xx.h
+++ b/src/Movement/StepperDrivers/TMC51xx.h
@@ -39,7 +39,6 @@ namespace SmartDrivers
 	uint32_t GetAxisNumber(size_t drive) noexcept;
 	void SetCurrent(size_t driver, float current) noexcept;
 	void EnableDrive(size_t driver, bool en) noexcept;
-	uint32_t GetLiveStatus(size_t driver) noexcept;
 	uint32_t GetAccumulatedStatus(size_t drive, uint32_t bitsToKeep) noexcept;
 	bool SetMicrostepping(size_t drive, unsigned int microsteps, bool interpolation) noexcept;
 	unsigned int GetMicrostepping(size_t drive, bool& interpolation) noexcept;