Update Motion for the new TMC2130/pins definitions

src/modules/motion.cpp

@@ -1,5 +1,4 @@
 #include "motion.h"
-#include "../hal/shr16.h"
 
 namespace modules {
 namespace motion {
@@ -22,7 +21,7 @@ uint16_t Motion::CurrentPos(Axis axis) const { return 0; }
 
 void Motion::Home(Axis axis, bool direction) {}
 
-void Motion::SetMode(MotorMode mode) {}
+void Motion::SetMode(hal::tmc2130::MotorMode mode) {}
 
 void Motion::Step() {}
 
@@ -32,40 +31,5 @@ void Motion::AbortPlannedMoves() {}
 
 void ISR() {}
 
-//@@TODO check the directions
-void StepDirPins::SetIdlerDirUp() {
-    hal::shr16::shr16.SetTMCDir(Axis::Idler, true);
-}
-
-void StepDirPins::SetIdlerDirDown() {
-    hal::shr16::shr16.SetTMCDir(Axis::Idler, false);
-}
-
-void StepDirPins::SetSelectorDirLeft() {
-    hal::shr16::shr16.SetTMCDir(Axis::Selector, true);
-}
-void StepDirPins::SetSelectorDirRight() {
-    hal::shr16::shr16.SetTMCDir(Axis::Selector, false);
-}
-
-void StepDirPins::SetPulleyDirPull() {
-    hal::shr16::shr16.SetTMCDir(Axis::Pulley, true);
-}
-void StepDirPins::SetPulleyDirPush() {
-    hal::shr16::shr16.SetTMCDir(Axis::Pulley, false);
-}
-
-void StepDirPins::StepIdler(uint8_t on) {
-    // PORTD |= idler_step_pin;
-}
-
-void StepDirPins::StepSelector(uint8_t on) {
-    // PORTD |= selector_step_pin;
-}
-
-void StepDirPins::StepPulley(uint8_t on) {
-    // PORTB |= pulley_step_pin;
-}
-
 } // namespace motion
 } // namespace modules

src/modules/motion.h

@@ -1,5 +1,10 @@
 #pragma once
 #include <stdint.h>
+#include "../config/config.h"
+#include "../hal/tmc2130.h"
+#include "../pins.h"
+
+namespace modules {
 
 /// @@TODO
 /// Logic of motor handling
@@ -20,8 +25,6 @@
 /// rotate(speed)
 /// rotate(speed, angle/steps)
 /// home?
-
-namespace modules {
 namespace motion {
 
 enum Axis {
@@ -30,35 +33,11 @@ enum Axis {
     Idler,
 };
 
-enum MotorMode {
-    Stealth,
-    Normal
-};
-
 enum IdlerMode {
     Engage,
     Disengage
 };
 
-/// As step and dir pins are randomly scattered on the board for each of the axes/motors
-/// it is convenient to make a common interface for them
-class StepDirPins {
-public:
-    static void SetIdlerDirUp();
-    static void SetIdlerDirDown();
-
-    static void SetSelectorDirLeft();
-    static void SetSelectorDirRight();
-
-    static void SetPulleyDirPull();
-    static void SetPulleyDirPush();
-
-    static void StepIdler(uint8_t on);
-    static void StepSelector(uint8_t on);
-    static void StepPulley(uint8_t on);
-};
-
-/// @@TODO this is subject of discussion and change in the future
 class Motion {
 public:
     inline constexpr Motion() = default;
@@ -96,7 +75,7 @@ public:
 
     /// Set mode of TMC/motors operation
     /// Common for all axes/motors
-    void SetMode(MotorMode mode);
+    void SetMode(hal::tmc2130::MotorMode mode);
 
     /// State machine doing all the planning and stepping preparation based on received commands
     void Step();

src/pins.h

@@ -13,3 +13,15 @@ static constexpr hal::gpio::GPIO_pin SHR16_CLOCK = { GPIOC, 7 }; ///SHCP
 
 static constexpr hal::gpio::GPIO_pin USART_RX = { GPIOD, 2 };
 static constexpr hal::gpio::GPIO_pin USART_TX = { GPIOD, 3 };
+
+static constexpr hal::gpio::GPIO_pin IDLER_CS_PIN = { GPIOB, 0 }; // TODO
+static constexpr hal::gpio::GPIO_pin IDLER_SG_PIN = { GPIOB, 0 }; // TODO
+static constexpr hal::gpio::GPIO_pin IDLER_STEP_PIN = { GPIOB, 0 }; // TODO
+
+static constexpr hal::gpio::GPIO_pin PULLEY_CS_PIN = { GPIOB, 0 }; // TODO
+static constexpr hal::gpio::GPIO_pin PULLEY_SG_PIN = { GPIOB, 0 }; // TODO
+static constexpr hal::gpio::GPIO_pin PULLEY_STEP_PIN = { GPIOB, 0 }; // TODO
+
+static constexpr hal::gpio::GPIO_pin SELECTOR_CS_PIN = { GPIOB, 0 }; // TODO
+static constexpr hal::gpio::GPIO_pin SELECTOR_SG_PIN = { GPIOB, 0 }; // TODO
+static constexpr hal::gpio::GPIO_pin SELECTOR_STEP_PIN = { GPIOB, 0 }; // TODO

tests/unit/logic/stubs/stub_motion.cpp

@@ -49,7 +49,7 @@ void Motion::Home(Axis axis, bool direction) {
     axes[Pulley].homed = true;
 }
 
-void Motion::SetMode(MotorMode mode) {
+void Motion::SetMode(hal::tmc2130::MotorMode mode) {
 }
 
 void Motion::Step() {