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.
D.R.racer
Alex Voinea
Yuri D'Elia