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Prusa-Firmware-MMU
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48 Commits (dc36afb82cd258f6b2f07c1a45d9a8bb59046f17)

Author SHA1 Message Date
DRracer dc36afb82c
Merge branch 'main' into motion_units 2021-07-26 09:35:13 +02:00
D.R.racer 6af65bc4c8 Rename ISR -> Isr to avoid clash with AVR libc ISR #define 2021-07-26 09:34:24 +02:00
Yuri D'Elia 888cdf7cd5 Introduce compile-time axis unit type checks and conversions 
Introduces:

- config::Unit: base class for physical quantities
- motion::AxisUnit: type-checked steps type

"config/unit.h" defines basic physical quantities, which are not
normally used elsewhere besides config.h.

"modules/axisunit.h" extends the modules::motion namespace with
Axis-aware units, with one type per axis per unit.

P_pos_t defines step positions for the pulley, I_pos_t for the idler,
etc. These are defined through the literar operators which are
similarly named and automatically convert a physical quantity to an
AxisUnit at compile time:

P_pos_t pulley_pos = 10.0_P_mm;

Besides type-checking, AxisUnit are otherwise identical to raw step
counts and are intended to be used along with the updated Motion API.

PlanMove/PlanMoveTo has been extended to support moves using these units
or physical quantities. Again, conversion is performed at compile time.
 2021-07-25 16:39:54 +02:00
Yuri D'Elia 5e04d4ccaf Add getters/setters for Jerk in Motion/PulseGen 
This allows us to make tests that expect jerk to be the same across two
axes, even if they're statically configured differently.
 2021-07-25 01:24:40 +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 f28567a051 Motion tests: improve comments 2021-07-13 20:21:28 +02:00
Yuri D'Elia 324fb92fd5 Motion: implement timer multiplexing 2021-07-13 19:21:13 +02:00
Yuri D'Elia d0581bf494 Motion: Add more methods and tests 
- Add SetPosition/CurPosition (not only) for testing
- Implement some real tests
 2021-07-13 17:43:50 +02:00
Yuri D'Elia 4fd22f0656 Motion: add initial test infrastructure and stubs 2021-07-13 16:16:56 +02:00
Yuri D'Elia 18ced44341 Merge remote-tracking branch 'upstream/main' into motion_wip 2021-07-13 15:31:31 +02:00
Yuri D'Elia 16e7f62aee PulseGen: introduce CurPosition() for testing 
CurPosition() returns the live axis position, which in this
implementation is inherently expensive to compute.

This shouldn't be required for the MMU, but it /will/ come in handy to
check for the axis position/s in Motion tests.
 2021-07-13 00:48:44 +02:00
D.R.racer eed1c3f07a Fix buttons unit tests after ADC update 2021-07-12 18:01:57 +02:00
Yuri D'Elia a5a91cbaa8 tests: remove relative cmake paths in pulse_gen/speed_table 2021-07-12 11:11:49 +02:00
Yuri D'Elia 787c73ecff Merge remote-tracking branch 'upstream/main' into motion_wip 2021-07-12 10:25:06 +02:00
Alan Dragomirecký cf5b1c3955 Do not use hard-to-read relative paths in CMake 2021-07-12 09:09:21 +02:00
Yuri D'Elia 9b77623be1 PulseGen: ensure Abort calculates the current remainder correctly 
Instead of stepping halfway, step ~1/3 of the way through.

This ensures we can check if the steps performed is correct due to the
internal step subtraction.
 2021-07-11 22:19:44 +02:00
Yuri D'Elia 9e935f6a07 Comment Typo 2021-07-11 22:17:04 +02:00
Yuri D'Elia 066aab7adc Move cpuFrequencyDivider to config::stepTimerFrequencyDivider 2021-07-11 21:17:08 +02:00
Yuri D'Elia 0c47d8f0d1 PulseGen: add comprehensive tests (no acceleration yet) 2021-07-11 20:52:27 +02:00
Yuri D'Elia 5250cfd4fe Implement the SHR16::SetTMCDir stub for testing 2021-07-11 20:33:59 +02:00
Yuri D'Elia 1ff9b81630 Rename PulseGen::Move to PlanMoveTo 
Make Motion and PulseGen intentionally very similar.
 2021-07-07 16:59:40 +02:00
Yuri D'Elia 16cf02726b test_speed_table: improve static assertion 
Test against the resulting timer speed, not against the CPU clock
 2021-07-07 16:59:40 +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
Yuri D'Elia ed04bd02e2 PulseGen/speed_tables: cleanup constants 2021-07-07 16:59:04 +02:00
Yuri D'Elia 006dfd4abc PulseGen: remove all floating point calculations 
Work in steps, steps/s, steps/s2 directly.
 2021-07-07 16:59:04 +02:00
Yuri D'Elia cf5be5aade PulseGen: initial version of the ramp/pulse generator 2021-07-07 16:59:04 +02:00
Yuri D'Elia de88ed4c6b Add initial Axis configuration static structs 2021-07-07 16:59:04 +02:00
Yuri D'Elia 531f60ed27 Add modules::speed_table for acceleration lookup tables 2021-07-07 16:59:04 +02:00
D.R.racer b484eeacb6 Start using config.h 
Added some constexpr vars for buttons, finda, fsensor and
applied them in the FW and unit tests accordingly.
 2021-07-05 18:07:54 +02:00
Yuri D'Elia 3ccfc3adfb GPIO: correctly stub known ports 
- Use the correct port name in the #define
- Fully qualify all references
 2021-07-05 15:20:11 +02:00
Yuri D'Elia 7c7aa95445 Mock GPIO when building tests 
Add some conditional statements in gpio.h so that we can mock the GPIO
registers when building tests.
 2021-07-05 15:20:11 +02:00
D.R.racer ce20f0b001 Greatly improve unload filament unit test 
+ relevant changes for other unit tests -> prepare for improving
of the other unit tests as well
 2021-06-30 07:39:31 +02:00
D.R.racer ede475c5a6 Introduce Timebase module, refactor timing code + unit tests 2021-06-21 10:22:17 +02:00
D.R.racer 85910497f7 Unify buttons' API with other modules 
- accepts millis() instead of doing the timing internally (which has
been a temporary solution just for the tests until now)
 2021-06-21 10:22:17 +02:00
D.R.racer b8f6bc9a4e Tune Feed to FINDA state machine and its unit test 
so that it works as expected

Still, there is a task of resetting all of the state machines just for
the next unit test to be run.
 2021-06-21 10:22:17 +02:00
D.R.racer f0a042c1b6 Add unit tests for Feed to FINDA state machine 
+ improve infrastructure
 2021-06-21 10:22:17 +02:00
D.R.racer 925201d77a Basic unit test structure for the logic layer 
It compiles the Cut Filament unit test with all the necessary components.
Still, the unit test does nothing.
 2021-06-21 10:22:17 +02:00
D.R.racer 019f74d6f2 Add debouncing for FINDA 2021-06-08 07:00:07 +02:00
D.R.racer bd335ec30d Unit test for LEDs interface + fixes 2021-05-26 11:39:24 +02:00
D.R.racer c377674aee Prepare unit tests for LEDs 2021-05-25 12:33:50 +02:00
D.R.racer 9226230fd5 Reformat sources to fit the new namespace formatting rules 2021-05-25 12:24:19 +02:00
D.R.racer fce2195558 Interface module for driving LEDs 
+ start shaping up main.cpp
+ make the usage of namespaces and class names more consistent throughout the whole project
+ refactor related unit tests accordingly
 2021-05-25 11:00:30 +02:00
D.R.racer 7611b98830 Add more unit tests and optimize (saved 1 byte per button on the AVR) 2021-05-25 10:02:02 +02:00
D.R.racer ba8eacfe33 Buttons module implementation 
A module representing a model of the 3 buttons
Includes a unit test project (empty at this stage)
 2021-05-25 10:02:02 +02:00
D.R.racer fe0ac4f9f9 More unit tests for decoding of response messages 
+ related changes in code
 2021-05-18 08:18:11 +02:00
D.R.racer 30fbf6d870 Unit tests for decoding requests and responses 
+errors on requests
 2021-05-18 08:18:11 +02:00
D.R.racer 0633dea881 Protocol implementation 
+ unit tests for encoding of messages

API still subject to minor changes
 2021-05-18 08:18:11 +02:00
D.R.racer 7eb346a54d Add first unit test 
+proof of concept of Catch2 builds working in our repo
 2021-05-13 17:35:08 +02:00