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Prusa-Firmware-MMU
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277 Commits (e9889ec066138429c5ad46b21b60150776be73d8)

Author SHA1 Message Date
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 98845008aa Rename Motion::CurrentPos to Position() 
This matches PulseGen::Position() and avoids confusion around the term
"current": Position() returns the head position in the queue, not the
"live" axis position.

We have PulseGen::CurPosition() now for this purpose, although we don't
expose it to Motion yet.
 2021-07-13 01:03:03 +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
Yuri D'Elia 9b0dd2d633 Motion: fix new Step() prototype 2021-07-12 09:58:53 +02:00
Alan Dragomirecký cf5b1c3955 Do not use hard-to-read relative paths in CMake 2021-07-12 09:09:21 +02:00
Alan Dragomirecký 3a131cfa0a Remove mentions of the -m32 flag (commented code) 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 7337e97765 Rename Motion::DisableAxis to Disable 
Implement Motion::SetEnabled (for symmetry with TMC2130::SetEnabled).

Rename DisableAxis to Disable and use the new SetEnabled. This makes the
member names more consistent.
 2021-07-11 21:38:01 +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 ef7c776461 Update Motion for the new TMC2130/pins definitions 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
Alan Dragomirecký 996f0f5dc0 Fix formatting of cmake files 2021-07-07 16:33:16 +02:00
Alan Dragomirecký 9448c04b36 Disable preprocessor code indentation 2021-07-07 16:33:03 +02:00
Yuri D'Elia 4362d77083 CircularIndex: alternate index management for full capacity 
Comparing head/tail indexes cannot distinguish between empty/full cases,
so we end up wasting one item in the circular buffer. This also limits
the smallest and efficient size choice to be 4.

If the circular buffer is large, there's no issue, however for the
motion planner the block size is significant, and I was planning to use
exactly a ring buffer of two: one busy block, plus one planned.

Modify the indexer to store the internal "index" (aka cursor) pointer to
be one extra bit deeper than the final index. Comparing the underlying
cursor allow to distinguish the empty/full case due to the extra bit,
while producing the final index requires simple masking.

This is just as efficient if the size is a power of two with
2-complement wrap-around logic, which is the optimized case. However
the implementation also works for non-power-of-two sizes.

Add tests for more failure cases in the CircularBuffer which is built on
top.

(tecnique described in the Art of Computer Programming by Knuth)
 2021-07-06 12:51:56 +02:00
D.R.racer 43a423f299 Change buttons' ADC limits into an array 
as proposed by @vintagePC

cleaned-up some of the unit tests by this change
 2021-07-05 18:07:54 +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
Yuri D'Elia ea8b335f8d progmem: fix for AVR 
- Fix header name
- Rename pgm_read_word to read_word since pgm_read_word is a macro
  and cannot be scoped
 2021-07-05 13:33:49 +02:00
Yuri D'Elia a9937b94e2 Add initial AVR PROGMEM abstraction in hal::progmem 2021-07-05 13:33:49 +02:00
D.R.racer 9efb127acb Explain and fix the LED states while cutting filament 
now the test is correct including LEDs
 2021-07-01 08:12:47 +02:00
D.R.racer d81b00a0f8 Test all filament slots 2021-07-01 08:12:47 +02:00
D.R.racer 974c1ba6db Verify Cut filament state machine + update unit tests 2021-07-01 07:03:39 +02:00
D.R.racer 75fe7b20b5 Verify and fix Tool Change state machine + unit tests 2021-07-01 07:03:02 +02:00
D.R.racer ffae941a28 Fix unit tests of load/unload filament 2021-06-30 07:39:31 +02:00
D.R.racer 9a8038ccb6 Add user_input module and use it instead of raw buttons 
Encapsulates buttons and commands coming from the communication
 2021-06-30 07:39:31 +02:00
D.R.racer c15b1d59c4 Introduce Doxyfile + fix modules documentation 2021-06-30 07:39:31 +02:00
D.R.racer f6e5d4ae76 Improve and verify Load filament alg and unit tests 2021-06-30 07:39:31 +02:00
D.R.racer 46a40f7488 Extend Unload filament unit tests 
+ now error states are covered as well
+ greatly cleaned-up code
 2021-06-30 07:39:31 +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 807eda7db3 Add prototypes of remaining logic layer's unit tests 
- load filament
- feed to bondtech
- tool change
 2021-06-30 07:39:31 +02:00
D.R.racer f81ecf1294 Circular buffer - basic unit test 2021-06-29 12:17:10 +02:00
Yuri D'Elia 3cd94996e9 Remove invalid/useless test sizeof(ptr) == 4 
This test is currently valid only for 32bit architectures.

There doesn't seem to be a true reason for this test to
ensure a pointer is exactly 4 bytes, so remove the test.
 2021-06-29 08:59:36 +02:00
D.R.racer 4d6d6fe0af Add more checks (esp. positions of idler and selector) 
that resulted in finding several weak spots and now Cut and Eject filament
do not pass the test (which is correct, they really have logical issues)
 2021-06-21 10:28:56 +02:00
D.R.racer 317a486d1e Logic layer Eject filament unit tests 
initial setup, it compiles, but is blocked by Unload filament
 2021-06-21 10:26:04 +02:00
D.R.racer 1f8934c2c1 Fix+verify Cut filament unit test 
it now finished ok, but future tweaks and improvements are expected
 2021-06-21 10:22:17 +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 398181e26c Feed to FINDA unit tests : green 2021-06-21 10:22:17 +02:00
D.R.racer d9b368bb92 Verify+fix second Feed to FINDA's unit test 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 b338949acb Shorten ADC reinit usage 2021-06-21 10:22:17 +02:00
D.R.racer 3cb3cebed9 Add forced reinit of all automata for the unit tests 
+ added a few constexpr to constructors on the way
 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 6ebb281eda Update CMakeFiles.txt and temporarily fix compilation of unit tests 2021-05-18 08:58:23 +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
D.R.racer 257d0ec340 Prepare parts of the build system 
extracted and slightly modified from Buddy-FW, still doesn't work
 2021-04-19 07:03:47 +02:00