Make tests compile

Introduces a nasty hack to forcefully write into the constexpr SPI descriptor's registers
(which is the correct way in ASM, but kind of cumbersome in C++ now)

src/config/config.h

@@ -1,7 +1,6 @@
 #pragma once
 #include <stdint.h>
 #include "axis.h"
-#include "hal/spi.h"
 
 /// Wrangler for assorted compile-time configuration and constants.
 namespace config {
@@ -51,22 +50,14 @@ static constexpr uint8_t stepTimerFrequencyDivider = 8;
 /// 16 = 8us (25us is the max frequency interval per maxStepFrequency)
 static constexpr uint8_t stepTimerQuantum = 16;
 
-//<<<<<<< HEAD
 /// Pulley axis configuration
 static constexpr AxisConfig pulley = {
-//=======
-//static constexpr hal::spi::SPI_TypeDef *TmcSpiBus = SPI0;
-
-///// Idler configuration
-//static constexpr AxisConfig idler = {
-//>>>>>>> tmc2130: Define the SPI bus for the tmc drivers
     .dirOn = true,
     .uSteps = 4, //x16
     .vSense = false,
     .iRun = 20,
     .iHold = 20,
     .stealth = false,
-    .uSteps = 16,
     .stepsPerUnit = 100,
 };
 
@@ -85,7 +76,6 @@ static constexpr AxisConfig selector = {
     .iRun = 20,
     .iHold = 20,
     .stealth = false,
-    .uSteps = 16,
     .stepsPerUnit = 100,
 };
 
@@ -104,7 +94,6 @@ static constexpr AxisConfig idler = {
     .iRun = 20,
     .iHold = 20,
     .stealth = false,
-    .uSteps = 16,
     .stepsPerUnit = 100,
 };
 

src/hal/CMakeLists.txt

@@ -1,3 +1,10 @@
 target_sources(
-  firmware PRIVATE avr/cpu.cpp avr/usart.cpp avr/shr16.cpp avr/eeprom.cpp avr/tmc2130.cpp adc.cpp
+  firmware
+  PRIVATE avr/cpu.cpp
+          avr/usart.cpp
+          avr/shr16.cpp
+          avr/eeprom.cpp
+          avr/tmc2130.cpp
+          adc.cpp
+          avr/spi.cpp
   )

src/hal/avr/spi.cpp

@@ -0,0 +1,29 @@
+#include "../spi.h"
+
+namespace hal {
+namespace spi {
+
+#ifdef __AVR__
+void Init(SPI_TypeDef *const hspi, SPI_InitTypeDef *const conf) {
+    gpio::Init(conf->miso_pin, gpio::GPIO_InitTypeDef(gpio::Mode::input, gpio::Pull::none));
+    gpio::Init(conf->mosi_pin, gpio::GPIO_InitTypeDef(gpio::Mode::output, gpio::Level::low));
+    gpio::Init(conf->sck_pin, gpio::GPIO_InitTypeDef(gpio::Mode::output, gpio::Level::low));
+    gpio::Init(conf->ss_pin, gpio::GPIO_InitTypeDef(gpio::Mode::output, gpio::Level::high)); //the AVR requires this pin to be an output for SPI master mode to work properly.
+
+    const uint8_t spi2x = (conf->prescaler == 7) ? 0 : (conf->prescaler & 0x01);
+    const uint8_t spr = ((conf->prescaler - 1) >> 1) & 0x03;
+
+    hspi->SPCRx = (0 << SPIE) | (1 << SPE) | (0 << DORD) | (1 << MSTR) | ((conf->cpol & 0x01) << CPOL) | ((conf->cpha & 0x01) << CPHA) | (spr << SPR0);
+    hspi->SPSRx = (spi2x << SPI2X);
+}
+
+uint8_t TxRx(SPI_TypeDef *hspi, uint8_t val) {
+    hspi->SPDRx = val;
+    while (!(hspi->SPSRx & (1 << SPIF)))
+        ;
+    return hspi->SPDRx;
+}
+#endif
+
+} // namespace spi
+} // namespace hal

src/hal/avr/tmc2130.cpp

@@ -104,8 +104,11 @@ void TMC2130::WriteRegister(const MotorParams &params, Registers reg, uint32_t d
 
 void TMC2130::_spi_tx_rx(const MotorParams &params, uint8_t (&pData)[5]) {
     hal::gpio::WritePin(params.csPin, hal::gpio::Level::low);
-    for (uint8_t i = 0; i < sizeof(pData); i++)
+    for (uint8_t i = 0; i < sizeof(pData); i++) {
-        pData[i] = hal::spi::TxRx(params.spi, pData[i]);
+        // @@TODO horrible hack to persuate the compiler, that the expression is const in terms of memory layout and meaning,
+        // but we need to write into those registers
+        pData[i] = hal::spi::TxRx(const_cast<hal::spi::SPI_TypeDef *>(params.spi), pData[i]);
+    }
     hal::gpio::WritePin(params.csPin, hal::gpio::Level::high);
 }
 

src/hal/spi.h

@@ -2,6 +2,7 @@
 #include <inttypes.h>
 #include "gpio.h"
 
+#define SPI0 ((hal::spi::SPI_TypeDef *)&SPCR)
 namespace hal {
 
 /// SPI interface
@@ -23,27 +24,15 @@ struct SPI_InitTypeDef {
     uint8_t cpol;
 };
 
-__attribute__((always_inline)) inline void Init(SPI_TypeDef *const hspi, SPI_InitTypeDef *const conf) {
+void Init(SPI_TypeDef *const hspi, SPI_InitTypeDef *const conf);
-    using namespace hal;
-    gpio::Init(conf->miso_pin, gpio::GPIO_InitTypeDef(gpio::Mode::input, gpio::Pull::none));
-    gpio::Init(conf->mosi_pin, gpio::GPIO_InitTypeDef(gpio::Mode::output, gpio::Level::low));
-    gpio::Init(conf->sck_pin, gpio::GPIO_InitTypeDef(gpio::Mode::output, gpio::Level::low));
-    gpio::Init(conf->ss_pin, gpio::GPIO_InitTypeDef(gpio::Mode::output, gpio::Level::high)); //the AVR requires this pin to be an output for SPI master mode to work properly.
 
-    const uint8_t spi2x = (conf->prescaler == 7) ? 0 : (conf->prescaler & 0x01);
+uint8_t TxRx(SPI_TypeDef *hspi, uint8_t val);
-    const uint8_t spr = ((conf->prescaler - 1) >> 1) & 0x03;
 
-    hspi->SPCRx = (0 << SPIE) | (1 << SPE) | (0 << DORD) | (1 << MSTR) | ((conf->cpol & 0x01) << CPOL) | ((conf->cpha & 0x01) << CPHA) | (spr << SPR0);
+#ifdef __AVR__
-    hspi->SPSRx = (spi2x << SPI2X);
+constexpr SPI_TypeDef *TmcSpiBus = SPI0;
-}
+#else
+constexpr SPI_TypeDef *TmcSpiBus = nullptr;
+#endif
 
-__attribute__((always_inline)) inline uint8_t TxRx(SPI_TypeDef *const hspi, uint8_t val) {
-    hspi->SPDRx = val;
-    while (!(hspi->SPSRx & (1 << SPIF)))
-        ;
-    return hspi->SPDRx;
 }
 }
-}
-
-#define SPI0 ((hal::spi::SPI_TypeDef *)&SPCR)

src/hal/tmc2130.h

@@ -17,7 +17,7 @@ enum MotorMode : uint8_t {
 };
 
 struct MotorParams {
-    hal::spi::SPI_TypeDef *spi;
+    const hal::spi::SPI_TypeDef *spi;
     uint8_t idx; ///< SHR16 index
     bool dirOn; ///< forward direction
     gpio::GPIO_pin csPin; ///< CS pin

src/modules/motion.h

@@ -42,7 +42,7 @@ static constexpr AxisParams axisParams[NUM_AXIS] = {
     // Pulley
     {
         .name = 'P',
-        .params = { .spi = config::TmcSpiBus, .idx = Pulley, .dirOn = config::pulley.dirOn, .csPin = PULLEY_CS_PIN, .stepPin = PULLEY_STEP_PIN, .sgPin = PULLEY_SG_PIN, .uSteps = config::pulley.uSteps },
+        .params = { .spi = hal::spi::TmcSpiBus, .idx = Pulley, .dirOn = config::pulley.dirOn, .csPin = PULLEY_CS_PIN, .stepPin = PULLEY_STEP_PIN, .sgPin = PULLEY_SG_PIN, .uSteps = config::pulley.uSteps },
         .currents = { .vSense = config::pulley.vSense, .iRun = config::pulley.iRun, .iHold = config::pulley.iHold },
         .mode = DefaultMotorMode(config::pulley),
         .jerk = unitToSteps<P_speed_t>(config::pulleyLimits.jerk),
@@ -51,7 +51,7 @@ static constexpr AxisParams axisParams[NUM_AXIS] = {
     // Selector
     {
         .name = 'S',
-        .params = { .spi = config::TmcSpiBus, .idx = Selector, .dirOn = config::selector.dirOn, .csPin = SELECTOR_CS_PIN, .stepPin = SELECTOR_STEP_PIN, .sgPin = SELECTOR_SG_PIN, .uSteps = config::selector.uSteps },
+        .params = { .spi = hal::spi::TmcSpiBus, .idx = Selector, .dirOn = config::selector.dirOn, .csPin = SELECTOR_CS_PIN, .stepPin = SELECTOR_STEP_PIN, .sgPin = SELECTOR_SG_PIN, .uSteps = config::selector.uSteps },
         .currents = { .vSense = config::selector.vSense, .iRun = config::selector.iRun, .iHold = config::selector.iHold },
         .mode = DefaultMotorMode(config::selector),
         .jerk = unitToSteps<S_speed_t>(config::selectorLimits.jerk),
@@ -60,7 +60,7 @@ static constexpr AxisParams axisParams[NUM_AXIS] = {
     // Idler
     {
         .name = 'I',
-        .params = { .spi = config::TmcSpiBus, .idx = Idler, .dirOn = config::idler.dirOn, .csPin = IDLER_CS_PIN, .stepPin = IDLER_STEP_PIN, .sgPin = IDLER_SG_PIN, .uSteps = config::idler.uSteps },
+        .params = { .spi = hal::spi::TmcSpiBus, .idx = Idler, .dirOn = config::idler.dirOn, .csPin = IDLER_CS_PIN, .stepPin = IDLER_STEP_PIN, .sgPin = IDLER_SG_PIN, .uSteps = config::idler.uSteps },
         .currents = { .vSense = config::idler.vSense, .iRun = config::idler.iRun, .iHold = config::idler.iHold },
         .mode = DefaultMotorMode(config::idler),
         .jerk = unitToSteps<I_speed_t>(config::idlerLimits.jerk),

tests/unit/modules/stubs/stub_tmc2130.cpp

@@ -9,12 +9,17 @@ TMC2130::TMC2130(const MotorParams &params,
     // TODO
 }
 
-void TMC2130::SetMode(MotorMode mode) {
+void TMC2130::SetMode(const MotorParams &params, MotorMode mode) {
     // TODO
 }
 
-void TMC2130::Init(const MotorParams & /*params*/) {
+bool TMC2130::Init(const MotorParams & /*params*/) {
     // TODO
+    return true;
+}
+
+void TMC2130::SetEnabled(const MotorParams &params, bool enabled) {
+    this->enabled = enabled;
 }
 
 } // namespace tmc2130