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Prusa-Firmware-MMU
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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
.vscode Add vscode configuration to allow easier switching among firmware and unit tests 2021-05-31 12:28:47 +02:00
cmake Define missing definition of CMAKE_OBJDUMP 2021-06-15 06:53:03 +02:00
lib Add first unit test 2021-05-13 17:35:08 +02:00
src Introduce compile-time axis unit type checks and conversions 2021-07-25 16:39:54 +02:00
tests Introduce compile-time axis unit type checks and conversions 2021-07-25 16:39:54 +02:00
utils holly: Fix dependency downloading (clang-format) 2021-07-16 11:57:40 +02:00
.clang-format Disable preprocessor code indentation 2021-07-07 16:33:03 +02:00
.cmake-format.py Prepare parts of the build system 2021-04-19 07:03:47 +02:00
.gitignore Prepare parts of the build system 2021-04-19 07:03:47 +02:00
.pre-commit-config.yaml pre-commit: handle cmake files in subdirectories 2021-07-12 10:45:35 +02:00
CMakeLists.txt Merge remote-tracking branch 'upstream/main' into motion_wip 2021-07-12 10:25:06 +02:00
Doxyfile Update doxyfile + document modules namespace 2021-06-30 07:39:31 +02:00
README.md Update description of the build process 2021-04-19 07:03:47 +02:00
version.txt Prepare parts of the build system 2021-04-19 07:03:47 +02:00

README.md

Prusa-Firmware-MMU-Private

How to prepare build env and tools

As the first step extract the AVR-GCC to some dir, e.g. /home/user/AVRToolchainMMU/avr8-gnu-toolchain-5.4.0

Add /home/user/AVRToolchainMMU/avr8-gnu-toolchain-5.4.0/bin to your PATH.

mkdir .dependencies
cd .dependencies
mkdir gcc-avr-5.4.0
cd ..
utils/bootstrap.py

bootstrap.py will now download all the "missing" dependencies into the .dependencies folder:

  • clang-format-9.0.0-noext
  • cmake-3.15.5
  • ninja-1.9.0

Note: bootstrap.py will not try to download the AVR-GCC as there is already a directory called gcc-avr-5.4.0. This will be fixed when we find out where to download the correct packages reliably.

How to build the preliminary project so far:

Now the process is the same as in the Buddy Firmware:

utils/build.py

builds the firmware.hex in build/mmu_release

In case you'd like to build the project directly via cmake you can use an approach like this:

mkdir build
cd build
cmake .. -G Ninja -DCMAKE_TOOLCHAIN_FILE=../cmake/AnyAvrGcc.cmake
ninja

Should produce a firmware.hex file as well.