- Improve count() for non-power-of-two sizes by handling wrap-around
- Improve full() to use always use count(), which is cheaper in both
scenarios now
static_assert(sizeof(ChopConfU::S) == 4) would return 5 == 4
static_assert(sizeof(ChopConfU) == 4); would return 8 == 4
using uint32_t on all types instead of uint8_t fixes the issue
No change in memory
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.
This commit introduces a new set of registers 0x1e, 0x1f and 0x20 which allow reading and writing iRun current values for each axis/motor.
Please note the register contains raw TMC2130 iRun value which needs to be translated into mA to be understandable by people.
Translation table of iRun -> mA is present in tmc2130.cpp for now.
Unfortunately, there is no way to differentiate between an optimized gpio write (safe always on the atmega32u4) and an unoptimized write (read-modify-write, dangerous if any other pin on that Port is used in an ISR).
While very quickly polling the tmc registers, I noticed that the moving stepper would do some random extra steps. That can only be explained by the following sequence of actions:
- the spi code reads the PORT register
- ISR toggles the step line, changing the value in the PORT register
- the spi code writes the upated PORT back, resetting the step line to the old state
After making the writes atomic, the stepping issue disappeared and the driver checks also worked correctly
- 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
We cannot get a constexpr definition of the register addresses, and any
reinterpret cast is currently illegal for a constexpr in c++17.
Change the SPI0, TIFR and TIMSK to volatile const pointers instead.
SPI0 has volatile members instead of marking the entire struct as
volatile, which is probably not a good idea as it technically drops the
volatile from the original pointer.
- circular buffer can return its count of elements (even though a better solution may be implemeted later)
- stub_motion can handle multiple planned moves
- improved load/unload filament tests
This PR brings the option to move the selector directly using
buttons of the MMU - obviously while the MMU is idle and no
filament is stuck in the selector.
Left/Right buttons move the selector Left/Right.
Middle button performs a LoadFilament (into the MMU) on the active slot.
With this PR a change of LoadFilament behavior is also introduced.
Now, LoadFilament spins the Pulley for infinite time while waiting
for either FINDA trigger and/or a button pressed.
- 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
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.
Guðni Már Gilbert
D.R.racer
Yuri D'Elia
Alex Voinea
vintagepc