This is a tentative/crude implementation of an Init and ISR for the MMU
in order to check the motion API.
We remove the "extern void Isr", declaring it "static inline" instead.
We need to inline the ISR here in order to avoid the function call.
Include the missing speed_table data in the executable. This bumps the
code size to ~60% of the flash.
Implemement motion::Init to setup the ISR and timers, and replace the
call in main from tmc::Init to motion::Init. Motion will init each
driver every time the axis is enabled, so there should be no need for
a global module initialization (we need SPI, but this is initialized
earlier on by it's own module anyway).
The timer is currently setup without any HAL or proper TIMER1 wrapper.
This is to be improved later.
The real MMU unit seems to slow down quite a bit during acceleration.
At this point we need to inline some methods in PulseGen to avoid
overhead, however this breaks the stubs.
The parameter config::AxisConfig::uSteps was supposed to be
microstepping resolution, but it's instead being used as the driver's
MRES directly.
To avoid a runtime conversion, rename the field to mRes and define a new
enum listing all the possible (and valid) microstepping resolutions.
This simplifies the code and makes clear the stepsPerUnit scale.
Assign correct stepsPerUnit to all axes as a result, including working
limits.
Besides Unload Filament, which only operates on active slot, all other
top level state machines check the validity of the command's parameter.
If the parameter is out of range for available slots, they return
ErrorCode::INVALID_TOOL now.
Extracted from the previous FW, may need some tuning based on units selected
for each of these axes (degrees, millimeters) - waiting for an update
of the motion implementation.
Updated starting conditions of the unit tests to reflect the global configuration.
MMU-58
- Distinguish among FINDA on/off failuje
- The same applies to newly introduced Filament sensor errors
- Add TMC init error
- Add a communication error ID - to be used on the printer
This allows Unit<> and AxisUnit<> to be scaled with a fraction as
expected, promoting the scaler to the same unit:
0.2_mm * 10 => 2_mm (mm*f => mm)
Multiplication type is commutative:
10 * 0.2_mm => 2_mm (f*mm => mm)
Division isn't:
0.2_mm / 10 => 0.02_mm (mm*1/f => mm)
10 / 0.2_mm => error (illegal type conversion)
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)
Yuri D'Elia
D.R.racer
Alex Voinea