5 Commits (2cf690816f0f4715c1ecc2819d9e31a26947a343)

Author	SHA1	Message	Date
D.R.racer	a8147be803	Fix unit tests + rebase onto main + extract TMC parameters into config	2021-07-29 10:01:33 +02:00
D.R.racer	3d1880c006	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)	2021-07-29 10:01:33 +02:00
D.R.racer	f62cb99b13	Fix TMC2130 stub ... so that motion unit tests build and run	2021-07-14 08:38:10 +02:00
Yuri D'Elia	4fd22f0656	Motion: add initial test infrastructure and stubs	2021-07-13 16:16:56 +02:00
Yuri D'Elia	d87db1ff76	Revised WIP for the Motion API ... - 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.	2021-07-07 16:59:39 +02:00