From 3ef113cf6cf82581504c502c31160bff9331467e Mon Sep 17 00:00:00 2001
From: "D.R.racer" <drracer@drracer.eu>
Date: Fri, 28 May 2021 09:50:09 +0200
Subject: [PATCH] Add basic motion API

---
 CMakeLists.txt         |  1 +
 src/modules/motion.cpp | 19 +++++++++++++++++++
 src/modules/motion.h   | 41 +++++++++++++++++++++++++++++++++++++++++
 3 files changed, 61 insertions(+)
 create mode 100644 src/modules/motion.cpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8faa2ee..5e96867 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -192,6 +192,7 @@ target_sources(
           src/modules/protocol.cpp
           src/modules/buttons.cpp
           src/modules/leds.cpp
+          src/modules/motion.cpp
   )
 
 set_property(
diff --git a/src/modules/motion.cpp b/src/modules/motion.cpp
new file mode 100644
index 0000000..a92e906
--- /dev/null
+++ b/src/modules/motion.cpp
@@ -0,0 +1,19 @@
+#include "motion.h"
+
+namespace modules {
+namespace motion {
+
+Motion motion;
+
+void Motion::PlanMove(Axis axis, float targetPosition, uint16_t feedrate) {}
+
+void Motion::Home(Axis axis) {}
+
+void Motion::SetMode(Mode mode) {}
+
+void Motion::Step() {}
+
+void ISR() {}
+
+} // namespace motion
+} // namespace modules
diff --git a/src/modules/motion.h b/src/modules/motion.h
index 6e468f2..c56050b 100644
--- a/src/modules/motion.h
+++ b/src/modules/motion.h
@@ -1,4 +1,5 @@
 #pragma once
+#include <stdint.h>
 
 /// @@TODO
 /// Logic of motor handling
@@ -19,3 +20,43 @@
 /// rotate(speed)
 /// rotate(speed, angle/steps)
 /// home?
+
+namespace modules {
+namespace motion {
+
+enum Axis {
+    Idler,
+    Selector,
+    Pulley
+};
+
+enum Mode {
+    Stealth,
+    Normal
+};
+
+class Motion {
+public:
+    /// Enqueue move of a specific motor/axis into planner buffer
+    void PlanMove(Axis axis, float targetPosition, uint16_t feedrate);
+
+    /// Enqueue performing of homing of an axis
+    void Home(Axis axis);
+
+    /// Set mode of TMC/motors operation
+    /// Common for all axes/motors
+    void SetMode(Mode mode);
+
+    /// State machine doing all the planning and stepping preparation based on received commands
+    void Step();
+
+private:
+};
+
+/// ISR stepping routine
+extern void ISR();
+
+extern Motion motion;
+
+} // namespace motion
+} // namespace modules