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Refactor original solution from @leptun 

- rename stall*guard to StallGuard (match name with the vendor)
- separate TMC2130 module from EEPROM (they do not need to know about each other at all)
- separate SGTHRS settings from motion - moved to globals like all other "global" parameters
- improved EEPROM storage for SGTHRS
pull/206/head
D.R.racer 2022-09-21 11:25:18 +02:00 committed by DRracer
parent d5249f99fd
commit 0fa8a3c278
20 changed files with 102 additions and 42 deletions
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2
src/config/config.h
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@ -83,7 +83,7 @@ static constexpr U_mm couplerToBowden = 3.5_mm; /// 3.5_mm /// FINDA Coupler scr
// @@TODO this is very tricky - the same MMU, same PTFE,
// just another piece of PLA (probably having more resistance in the tubes)
// and we are at least 40mm off! It looks like this really depends on the exact position
// We'll probably need to check for stallguard while pushing the filament to avoid ginding the filament
// We'll probably need to check for StallGuard while pushing the filament to avoid ginding the filament
static constexpr U_mm defaultBowdenLength = 427.0_mm; ///< ~427.0_mm - Default Bowden length. @TODO Should be stored in EEPROM. 392 a 784
static constexpr U_mm minimumBowdenLength = 341.0_mm; ///< ~341.0_mm - Minimum bowden length. @TODO Should be stored in EEPROM.
static constexpr U_mm maximumBowdenLength = 792.0_mm; ///< ~792.0_mm - Maximum bowden length. @TODO Should be stored in EEPROM.

5
src/hal/avr/eeprom.cpp
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@ -11,6 +11,11 @@ uint8_t EEPROM::ReadByte(EEPROM::addr_t addr) {
return eeprom_read_byte((const uint8_t *)addr);
}
uint8_t EEPROM::ReadByte(EEPROM::addr_t addr, uint8_t defaultValue) {
uint8_t v = ReadByte(addr);
return v == 0xff ? defaultValue : v;
}
void EEPROM::UpdateByte(EEPROM::addr_t addr, uint8_t value) {
eeprom_update_byte((uint8_t *)addr, value);
}

5
src/hal/eeprom.h
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@ -15,6 +15,11 @@ public:
static void UpdateByte(addr_t addr, uint8_t value);
static uint8_t ReadByte(addr_t addr);
/// Convenience function to read a 1-byte value from EEPROM and check for unitialized EEPROM cells.
/// @returns 1-byte value read from the EEPROM.
/// In case the EEPROM has a default value at @addr, this function returns @defaultValue
static uint8_t ReadByte(addr_t addr, uint8_t defaultValue);
static void WriteWord(addr_t addr, uint16_t value);
static void UpdateWord(addr_t addr, uint16_t value);
static uint16_t ReadWord(addr_t addr);

9
src/hal/progmem.h
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@ -22,5 +22,14 @@ static inline uint16_t read_word(const uint16_t *addr) {
#endif
}
/// read a 8bit byte from PROGMEM
static inline uint8_t read_byte(const uint8_t *addr) {
#ifndef __AVR__
return *addr;
#else
return (uint8_t)pgm_read_byte(addr);
#endif
}
} // namespace progmem
} // namespace hal

7
src/hal/tmc2130.cpp
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@ -1,7 +1,6 @@
/// @file tmc2130.cpp
#include "tmc2130.h"
#include "../config/config.h"
#include "../modules/permanent_storage.h"
#include "../debug.h"
namespace hal {
@ -44,7 +43,7 @@ bool TMC2130::Init(const MotorParams &params, const MotorCurrents &currents, Mot
WriteRegister(params, Registers::TPOWERDOWN, 0);
///Stallguard parameters
SetSGTHRS(params, mps::AxisSGTHRS::get((mm::Axis)params.axis));
SetSGTHRS(params);
WriteRegister(params, Registers::TCOOLTHRS, config::tmc2130_coolStepThreshold);
///Write stealth mode config and setup diag0 output
@ -79,8 +78,8 @@ void TMC2130::SetCurrents(const MotorParams &params, const MotorCurrents &curren
WriteRegister(params, Registers::IHOLD_IRUN, ihold_irun);
}
void TMC2130::SetSGTHRS(const MotorParams &params, uint8_t sgthrs) {
uint32_t tmc2130_coolConf = (((uint32_t)sgthrs) << 16U);
void TMC2130::SetSGTHRS(const MotorParams &params) {
uint32_t tmc2130_coolConf = (((uint32_t)params.sg_thrs) << 16U);
WriteRegister(params, Registers::COOLCONF, tmc2130_coolConf);
}

9
src/hal/tmc2130.h
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@ -23,7 +23,7 @@ struct MotorParams {
bool dirOn; ///< forward direction
gpio::GPIO_pin csPin; ///< CS pin
gpio::GPIO_pin stepPin; ///< step pin
gpio::GPIO_pin sgPin; ///< stallguard pin
gpio::GPIO_pin sgPin; ///< StallGuard pin
config::MRes mRes; ///< microstep resolution
int8_t sg_thrs;
uint8_t axis;
@ -92,8 +92,11 @@ public:
/// Set the current motor currents
void SetCurrents(const MotorParams &params, const MotorCurrents &currents);
/// Set stallguard threshold
void SetSGTHRS(const MotorParams &params, uint8_t sgthrs);
/// Set StallGuard threshold
/// New SGTHRS must be already set in @params
/// Beware - there are no checks, new value is written into the TMC register immediately.
/// It is advised to prefer setting the SGTHRS via the Init() method.
void SetSGTHRS(const MotorParams &params);
/// Return enabled state
const bool Enabled() const {

2
src/logic/error_codes.h
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@ -37,7 +37,7 @@ enum class ErrorCode : uint_fast16_t {
HOMING_FAILED = 0x8007, ///< generic homing failed error - always reported with the corresponding axis bit set (Idler or Selector) as follows:
HOMING_SELECTOR_FAILED = HOMING_FAILED | TMC_SELECTOR_BIT, ///< E32903 the Selector was unable to home properly - that means something is blocking its movement
HOMING_IDLER_FAILED = HOMING_FAILED | TMC_IDLER_BIT, ///< E33031 the Idler was unable to home properly - that means something is blocking its movement
STALLED_PULLEY = HOMING_FAILED | TMC_PULLEY_BIT, ///< E32839 for the Pulley "homing" means just stallguard detected during Pulley's operation (Pulley doesn't home)
STALLED_PULLEY = HOMING_FAILED | TMC_PULLEY_BIT, ///< E32839 for the Pulley "homing" means just StallGuard detected during Pulley's operation (Pulley doesn't home)
FINDA_VS_EEPROM_DISREPANCY = 0x8008, ///< E32776 FINDA is pressed but we have no such record in EEPROM - this can only happen at the start of the MMU and can be resolved by issuing an Unload command

2
src/logic/feed_to_bondtech.cpp
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@ -64,7 +64,7 @@ bool FeedToBondtech::Step() {
mm::motion.AbortPlannedMoves(); // stop pushing filament
GoToPushToNozzle();
// } else if (mm::motion.StallGuard(mm::Pulley)) {
// // stall guard occurred during movement - the filament got stuck
// // StallGuard occurred during movement - the filament got stuck
// state = PulleyStalled;
} else if (mm::motion.QueueEmpty()) { // all moves have been finished and the fsensor didn't switch on
state = Failed;

11
src/modules/globals.cpp
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@ -2,6 +2,7 @@
#include "globals.h"
#include "../config/config.h"
#include "permanent_storage.h"
#include "../hal/progmem.h"
namespace modules {
namespace globals {
@ -76,5 +77,15 @@ void Globals::SetMotorsMode(bool stealth) {
// @@TODO store into EEPROM
}
uint8_t Globals::StallGuardThreshold(config::Axis axis) const {
// @@TODO this is not nice but we need some simple way of indexing the default SGTHRs
static constexpr uint8_t defaultAxisSGTHRs[3] PROGMEM = { config::pulley.sg_thrs, config::selector.sg_thrs, config::idler.sg_thrs };
return mps::AxisTMCSetup::get(axis, hal::progmem::read_byte(defaultAxisSGTHRs + axis));
}
void Globals::SetStallGuardThreshold(config::Axis axis, uint8_t sgthrs){
mps::AxisTMCSetup::set(axis, sgthrs); // store the value in EEPROM
}
} // namespace globals
} // namespace modules

4
src/modules/globals.h
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@ -90,6 +90,10 @@ public:
void ResetIdlerFeedrate() { idlerFeedrate_deg_s = config::idlerFeedrate.v; }
void SetIdlerFeedrate_deg_s(uint16_t idlerFR_deg_s) { idlerFeedrate_deg_s = idlerFR_deg_s; }
/// @returns current StallGuard threshold for an axis
uint8_t StallGuardThreshold(config::Axis axis) const;
/// Stores the new StallGuard threshold for an axis into EEPROM (does not affect the current state of TMC drivers at all)
void SetStallGuardThreshold(config::Axis axis, uint8_t sgthrs);
private:
/// Sets the active slot, usually after some command/operation.
/// Also updates the EEPROM records accordingly

7
src/modules/motion.cpp
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@ -2,6 +2,7 @@
#include "motion.h"
#include "../panic.h"
#include "../debug.h"
#include "permanent_storage.h"
// TODO: use proper timer abstraction
#ifdef __AVR__
@ -56,6 +57,8 @@ bool Motion::InitAxis(Axis axis) {
// disable the axis and re-init the driver: this will clear the internal
// StallGuard data as a result without special handling
Disable(axis);
// Init also applies the currently pre-set StallGuard threshold into the TMC driver
return axisData[axis].drv.Init(axisParams[axis].params, axisParams[axis].currents, axisParams[axis].mode);
}
@ -83,6 +86,10 @@ void Motion::StallGuardReset(Axis axis) {
axisData[axis].drv.ClearStallguard();
}
void Motion::PlanStallGuardThreshold(config::Axis axis, uint8_t sg_thrs) {
axisParams[axis].params.sg_thrs = sg_thrs;
}
void Motion::PlanMoveTo(Axis axis, pos_t pos, steps_t feed_rate, steps_t end_rate) {
dbg_logic_fP(PSTR("Move axis %d to %u"), axis, pos);

8
src/modules/motion.h
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@ -96,12 +96,16 @@ public:
/// Set the same mode of TMC/motors operation for all axes. @see SetMode
void SetMode(MotorMode mode);
/// @returns true if a stall guard event occurred recently on the axis
/// @returns true if a StallGuard event occurred recently on the axis
bool StallGuard(Axis axis);
/// clear stall guard flag reported on an axis
/// clear StallGuard flag reported on an axis
void StallGuardReset(Axis axis);
/// Sets (plans) StallGuard threshold for an axis (basically the higher number the lower sensitivity)
/// The new SGTHRS value gets applied in Init(), it is _NOT_ written into the TMC immediately in this method.
void PlanStallGuardThreshold(Axis axis, uint8_t sg_thrs);
/// Enqueue a single axis move in steps starting and ending at zero speed with maximum
/// feedrate. Moves can only be enqueued if the axis is not Full().
/// @param axis axis affected

4
src/modules/movable_base.cpp
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@ -10,6 +10,9 @@ void MovableBase::PlanHome() {
InvalidateHoming();
// switch to normal mode on this axis
// Update StallGuard threshold
mm::motion.PlanStallGuardThreshold(axis, mg::globals.StallGuardThreshold(axis));
mm::motion.InitAxis(axis);
mm::motion.SetMode(axis, mm::Normal);
mm::motion.StallGuardReset(axis);
@ -21,6 +24,7 @@ void MovableBase::PlanHome() {
}
MovableBase::OperationResult MovableBase::InitMovement() {
mm::motion.PlanStallGuardThreshold(axis, mg::globals.StallGuardThreshold(axis));
if (motion.InitAxis(axis)) {
PrepareMoveToPlannedSlot();
state = Moving;

9
src/modules/permanent_storage.cpp
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@ -360,14 +360,11 @@ void DriveError::setH(uint8_t highByte) {
ee::EEPROM::UpdateByte(EEOFFSET(eepromBase->eepromDriveErrorCountH), highByte - 1);
}
uint8_t AxisSGTHRS::get(mm::Axis axis) {
uint8_t sg_thrs = ee::EEPROM::ReadByte(EEOFFSET(eepromBase->sg_thrs[axis]));
if (sg_thrs & 0x80)
sg_thrs = mm::axisParams[axis].params.sg_thrs;
return sg_thrs;
uint8_t AxisTMCSetup::get(config::Axis axis, uint8_t defaultValue) {
return ee::EEPROM::ReadByte(EEOFFSET(eepromBase->sg_thrs[axis]), defaultValue);
}
void AxisSGTHRS::set(mm::Axis axis, uint8_t val) {
void AxisTMCSetup::set(config::Axis axis, uint8_t val) {
ee::EEPROM::UpdateByte(EEOFFSET(eepromBase->sg_thrs[axis]), val);
}

13
src/modules/permanent_storage.h
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@ -1,7 +1,7 @@
/// @file permanent_storage.h
#pragma once
#include "../hal/eeprom.h"
#include "motion.h"
#include "../config/axis.h"
namespace modules {
@ -99,16 +99,13 @@ private:
static void setH(uint8_t highByte);
};
/// @brief Read and increment drive errors
///
/// (Motor power rail voltage loss)
class AxisSGTHRS {
/// Axis TMC persistent setup
class AxisTMCSetup {
public:
static uint8_t get(mm::Axis axis);
static void set(mm::Axis axis, uint8_t val);
static uint8_t get(config::Axis axis, uint8_t defaultValue);
static void set(config::Axis axis, uint8_t val);
};
} // namespace permanent_storage
} // namespace modules

26
src/registers.cpp
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@ -28,6 +28,12 @@
__Bold = Status__
---------------------------------------------------------------------------------
Access type:
- Read: the register can be only read
- Write: the register can be read and written to. The written change is not persistent (applies only until reset of the MMU)
- Write Persistent: the register can be read and written to and the written values is stored in EEPROM (persistent across restarts)
---------------------------------------------------------------------------------
How can you use the M707/M708 gcodes?
- Serial terminal like Putty.
@ -50,7 +56,7 @@
| 0x01h 01 | uint8 | project_minor | 00h 0 | ffh 255 | Project Minor Version | Read only | M707 A0x01 | N/A
| 0x02h 02 | uint8 | project_revision | 00h 0 | ffh 255 | Project Revision | Read only | M707 A0x02 | N/A
| 0x03h 03 | uint8 | project_build_number | 00h 0 | ffh 255 | Project Build Number | Read only | M707 A0x03 | N/A
| 0x04h 04 | uint16 | MMU_errors | 0000h 0 | ffffh 65535 | MMU Errors | Read / Write | M707 A0x04 | M708 A0x04 Xnnnn
| 0x04h 04 | uint16 | MMU_errors | 0000h 0 | ffffh 65535 | MMU Errors | Read / Write Persistent | M707 A0x04 | M708 A0x04 Xnnnn
| 0x05h 05 | uint8 | Current_Progress_Code | ffh 255 | ffh 255 | Emtpy | Read only | M707 A0x05 | N/A
| ^ | ^ | ^ | 00h 0 | ^ | OK | ^ | ^ | ^
| ^ | ^ | ^ | 01h 1 | ^ | EngagingIdler | ^ | ^ | ^
@ -146,9 +152,9 @@
| 0x14h 20 | uint16 | Pulley_slow_feedrate | 0000h 0 | 0014h 20 | unit mm/s | Read / Write | M707 A0x14 | M708 A0x14 Xnnnn
| 0x15h 21 | uint16 | Selector_homing_feedrate | 0000h 0 | 001eh 30 | unit mm/s | Read (Write) | M707 A0x15 | (M708 A0x15 Xnnnn)
| 0x16h 22 | uint16 | Idler_homing_feedrate | 0000h 0 | 0109h 265 | unit deg/s | Read (Write) | M707 A0x16 | (M708 A0x16 Xnnnn)
| 0x17h 23 | uint8 | Pulley_sg_thrs__R | 00h 0 | 08h 8 | | Read (Write) | M707 A0x17 | M708 A0x17 Xnn
| 0x18h 24 | uint8 | Selector_sg_thrs_R | 00h 0 | 03h 3 | | Read (Write) | M707 A0x18 | M708 A0x18 Xnn
| 0x19h 25 | uint8 | Idler_sg_thrs_R | 00h 0 | 05h 6 | | Read (Write) | M707 A0x19 | M708 A0x19 Xnn
| 0x17h 23 | uint8 | Pulley_sg_thrs__R | 00h 0 | 08h 8 | | Read / Write Persistent | M707 A0x17 | M708 A0x17 Xnn
| 0x18h 24 | uint8 | Selector_sg_thrs_R | 00h 0 | 03h 3 | | Read / Write Persistent | M707 A0x18 | M708 A0x18 Xnn
| 0x19h 25 | uint8 | Idler_sg_thrs_R | 00h 0 | 05h 6 | | Read / Write Persistent | M707 A0x19 | M708 A0x19 Xnn
| 0x1ah 26 | uint16 | Get Pulley position | 0000h 0 | ffffh 65535 | unit mm | Read only | M707 A0x1a | N/A
| 0x1bh 27 | uint16 | Set/Get_Selector_slot | 0000h 0 | ffffh 65535 | unit slot [0-4/5] 5=park pos | Read / Write | M707 A0x1b | M708 A0x1b Xn
| 0x1ch 28 | uint16 | Set/Get_Idler_slot | 0000h 0 | ffffh 65535 | unit slot [0-4/5] 5=disengaged | Read / Write | M707 A0x1c | M708 A0x1c Xn
@ -334,18 +340,18 @@ static const RegisterRec registers[] /*PROGMEM*/ = {
// 0x17 Pulley sg_thrs threshold RW
RegisterRec(
[]() -> uint16_t { return mps::AxisSGTHRS::get(mm::Axis::Pulley); },
[](uint16_t d) { mm::motion.DriverForAxis(mm::Axis::Pulley).SetSGTHRS(mm::axisParams[mm::Axis::Pulley].params, d); mps::AxisSGTHRS::set(mm::Axis::Pulley, d); },
[]() -> uint16_t { return mg::globals.StallGuardThreshold(config::Pulley); },
[](uint16_t d) { mg::globals.SetStallGuardThreshold(config::Pulley, d); },
1),
// 0x18 Selector sg_thrs RW
RegisterRec(
[]() -> uint16_t { return mps::AxisSGTHRS::get(mm::Axis::Selector); },
[](uint16_t d) { mm::motion.DriverForAxis(mm::Axis::Selector).SetSGTHRS(mm::axisParams[mm::Axis::Selector].params, d); mps::AxisSGTHRS::set(mm::Axis::Selector, d); },
[]() -> uint16_t { return mg::globals.StallGuardThreshold(mm::Axis::Selector); },
[](uint16_t d) { mg::globals.SetStallGuardThreshold(mm::Axis::Selector, d); },
1),
// 0x19 Idler sg_thrs RW
RegisterRec(
[]() -> uint16_t { return mps::AxisSGTHRS::get(mm::Axis::Idler); },
[](uint16_t d) { mm::motion.DriverForAxis(mm::Axis::Idler).SetSGTHRS(mm::axisParams[mm::Axis::Idler].params, d); mps::AxisSGTHRS::set(mm::Axis::Idler, d); },
[]() -> uint16_t { return mg::globals.StallGuardThreshold(mm::Axis::Idler); },
[](uint16_t d) { mg::globals.SetStallGuardThreshold(mm::Axis::Idler, d); },
1),
// 0x1a Get Pulley position [mm] R

2
tests/unit/logic/load_filament/test_load_filament.cpp
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@ -195,7 +195,7 @@ void FailedLoadToFindaResolveManual(uint8_t slot, logic::LoadFilament &lf) {
// its moves (which is correct), but we don't have enough cycles to home the selector afterwards
// - basically it will just start homing
// Moreover, the Idler is to disengage meanwhile, which makes the simulation even harder.
// Therefore we just tick the stallguard of the Selector and hope for the best
// Therefore we just tick the StallGuard of the Selector and hope for the best
//
// With the introduction of dual-side homing, the simulation gets even harder,
// so let's assume the MMU does its job -> prefer simulating selector homing properly and check the machine's state afterwards

10
tests/unit/logic/stubs/homing.cpp
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@ -10,7 +10,7 @@
void SimulateIdlerAndSelectorHoming(logic::CommandBase &cb) {
#if 0
// do 5 steps until we trigger the simulated stallguard
// do 5 steps until we trigger the simulated StallGuard
for (uint8_t i = 0; i < 5; ++i) {
main_loop();
cb.Step();
@ -57,7 +57,7 @@ void SimulateIdlerAndSelectorHoming(logic::CommandBase &cb) {
}
void SimulateIdlerHoming(logic::CommandBase &cb) {
// do 5 steps until we trigger the simulated stallguard
// do 5 steps until we trigger the simulated StallGuard
for (uint8_t i = 0; i < 5; ++i) {
main_loop();
cb.Step();
@ -91,7 +91,7 @@ void SimulateIdlerHoming(logic::CommandBase &cb) {
}
void SimulateSelectorHoming(logic::CommandBase &cb) {
// do 5 steps until we trigger the simulated stallguard
// do 5 steps until we trigger the simulated StallGuard
for (uint8_t i = 0; i < 5; ++i) {
main_loop();
cb.Step();
@ -164,7 +164,7 @@ bool SimulateFailedHomeFirstTime(logic::CommandBase &cb) {
return false;
{
// do 5 steps until we trigger the simulated stallguard
// do 5 steps until we trigger the simulated StallGuard
for (uint8_t i = 0; i < 5; ++i) {
main_loop();
cb.Step();
@ -221,7 +221,7 @@ bool SimulateFailedHomeSelectorRepeated(logic::CommandBase &cb) {
return false;
{
// do 5 steps until we trigger the simulated stallguard
// do 5 steps until we trigger the simulated StallGuard
for (uint8_t i = 0; i < 5; ++i) {
main_loop();
cb.Step();

4
tests/unit/logic/stubs/stub_motion.cpp
View File

@ -36,6 +36,10 @@ void TriggerStallGuard(Axis axis) {
axes[axis].stallGuard = true;
}
void Motion::PlanStallGuardThreshold(Axis axis, uint8_t sg_thrs){
// do nothing for now
}
void Motion::PlanMoveTo(Axis axis, pos_t pos, steps_t feed_rate, steps_t end_rate) {
axes[axis].plannedMoves.push_back(pos);
if (!axisData[axis].enabled)

5
tests/unit/modules/stubs/stub_eeprom.cpp
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@ -34,6 +34,11 @@ uint8_t EEPROM::ReadByte(EEPROM::addr_t offset) {
return EE[offset];
}
uint8_t EEPROM::ReadByte(EEPROM::addr_t offset, uint8_t defaultValue) {
REQUIRE(offset < EE.size());
return EE[offset] == 0xff ? defaultValue : EE[offset];
}
void EEPROM::WriteWord(EEPROM::addr_t offset, uint16_t value) {
REQUIRE(offset < EE.size() - 1);
*reinterpret_cast<uint16_t *>(&EE[offset]) = value;