Needs to be tweaked further to make it a production code.
But my primary concern now is the fact that it doesn't seem to help too much while homing over the too-tightened Idler cover.
- 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
It turned out FINDA needs running timer to perform BlockingInit() correctly.
Therefore setup() was split into setup() (no IRQ) and setup2() (IRQ enabled).
Then, finally, the check for FINDA state became reliable upon start of the FW.
This commit looks horribly complex, but the main idea is to have each of the logic::commands
report their terminal OK state in the same way. That allow for leveraging this very moment
to initiate the idle timeout.
Additionally, I wanted to hide the logic of idle mode detection, which resulted in moving the
top level logic from main.cpp into logic/idle_mode.cpp and a set of additional files to compile
in unit tests.
- fix homing procedure for Idler and Selector
(homing now ends with a move to the Parking position)
- fix unit tests' startup conditions with regard to necessary
homing of Idler and Selector
TODO: still test_cut_filament fails for minor reasons
If the queue is full and a new move is queued, panic!
Introduce a new error code QUEUE_FULL to help diagnose situations where
the queue is handled improperly: likely one of the state machines not
waiting for the previous actions to finish.
PulseGen::PlanMove returns a boolean if the queue cannot be moved.
We could extend this to Motion::PlanMove, however all moves would then
have to check for this. Having a global check such as this ensures
we never ignore such situation.
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)
- Remove the combined PlanMove(a,b,c,rate) call. If we allow the units
of the various motors to be changed at compile time, the unit of
rate can vary between axes.
- Build PlanMove on top of the absolute PlanMoveTo.
- Add required stubs for TMC2130.
- Allow each axis mode to be set independently, since we have this
feature for free anyway.
- Rework internals to use PulseGen data types and structs.
D.R.racer
Guðni Már Gilbert
Alex Voinea
Yuri D'Elia