- 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
Should also hopefully fix the random behavior of the DIR pins. When I was testing a really slow timing, the steppers seemed to want to not go in the right direction. That was fixed with the critical section. The 1us delay might be overkill, but I'm not the one that added a 100nF capacitor on the LATCH line (basically chip select). This might be part of the randomness that happened and why some board behaved better than others (stronger GPIO outputs)
I hate when the compiler doesn't check something what it normally does:
`pgm_read_byte` is more than happy with a parameter (*str), which reads
an address at a location where *str points to - which is obviously not the intent.
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.
Remove the constructor from GPIO_pin so that we can use brace
initialization at compile time.
Rewrite the contents of pins.h to construct GPIO_pin types directly by
the use of a simple preprocessor macro.
Makes the code type-check and easier to read/extend.
Guðni Már Gilbert
D.R.racer
Alex Voinea
Yuri D'Elia
Alan Dragomirecký