From 9b0dd2d63337de31141f65d4edfe2aa26255a874 Mon Sep 17 00:00:00 2001
From: Yuri D'Elia <wavexx@thregr.org>
Date: Mon, 12 Jul 2021 09:58:53 +0200
Subject: [PATCH] Motion: fix new Step() prototype

---
 src/modules/motion.cpp                 | 4 +++-
 src/modules/motion.h                   | 1 +
 tests/unit/logic/stubs/stub_motion.cpp | 3 ++-
 3 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/src/modules/motion.cpp b/src/modules/motion.cpp
index fcbe784..a902f7a 100644
--- a/src/modules/motion.cpp
+++ b/src/modules/motion.cpp
@@ -55,7 +55,9 @@ void Motion::AbortPlannedMoves() {
         axisData[i].ctrl.AbortPlannedMoves();
 }
 
-st_timer_t Motion::Step() {}
+st_timer_t Motion::Step() {
+    return 0;
+}
 
 void ISR() {}
 
diff --git a/src/modules/motion.h b/src/modules/motion.h
index 0b78929..fcc3132 100644
--- a/src/modules/motion.h
+++ b/src/modules/motion.h
@@ -11,6 +11,7 @@ namespace motion {
 
 using namespace hal::tmc2130;
 using pulse_gen::pos_t;
+using pulse_gen::st_timer_t;
 using pulse_gen::steps_t;
 
 /// Main axis enumeration
diff --git a/tests/unit/logic/stubs/stub_motion.cpp b/tests/unit/logic/stubs/stub_motion.cpp
index f7cd8e3..48fdf5f 100644
--- a/tests/unit/logic/stubs/stub_motion.cpp
+++ b/tests/unit/logic/stubs/stub_motion.cpp
@@ -45,13 +45,14 @@ void Motion::Home(Axis axis, bool direction) {
 void Motion::SetMode(Axis axis, hal::tmc2130::MotorMode mode) {
 }
 
-void Motion::Step() {
+st_timer_t Motion::Step() {
     for (uint8_t i = 0; i < 3; ++i) {
         if (axes[i].pos != axes[i].targetPos) {
             int8_t dirInc = (axes[i].pos < axes[i].targetPos) ? 1 : -1;
             axes[i].pos += dirInc;
         }
     }
+    return 0;
 }
 
 bool Motion::QueueEmpty() const {