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refactor Fibre to AsyncStream architecture

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The previous implementation was based on blocking calls, i.e. the
platform dependent output channel would block on a write operation and
by extension the Fibre decoder could also block when given data by an
input channel. The revised implementation in this commit is based around
a fully asynchronous (i.e. non-blocking)  stream interface.
This commit is contained in:
Samuel Sadok
2020-09-15 12:57:39 +02:00
parent d2b469eca0
commit a1c67e6ba1
75 changed files with 5761 additions and 2078 deletions
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docs/developer-guide.md
-12
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@@ -109,18 +109,6 @@ To customize the compile time parameters, copy or rename the file `Firmware/tup.
__CONFIG_BOARD_VERSION__: The board version you're using. Can be `v3.1`, `v3.2`, `v3.3`, `v3.4-24V`, `v3.4-48V`, `v3.5-24V`, `v3.5-48V`, etc. Check for a label on the upper side of the ODrive to find out which version you have. Some ODrive versions don't specify the voltage: in that case you can read the value of the main capacitors: 120uF are 48V ODrives, 470uF are 24V ODrives.
__CONFIG_USB_PROTOCOL__: Defines which protocol the ODrive should use on the USB interface.
* `native`: The native ODrive protocol. Use this if you want to use the python tools in this repo. Can maybe work with macOS.
* `native-stream`: Like the native ODrive protocol, but the ODrive will treat the USB connection exactly as if it was a UART connection. __You may need to use this if you're on macOS__. This is necessary because macOS doesn't grant our python tools sufficient low-level access to treat the device as the USB device that it is.
* `none`: Disable USB. The device will still show up when plugged in but it will ignore any commands.
**Note**: There is a second USB interface that is always a serial port.
__CONFIG_UART_PROTOCOL__: Defines which protocol the ODrive should use on the UART interface (GPIO1 and GPIO2). Note that UART is only supported on ODrive v3.3 and higher.
* `native`: The native ODrive protocol. Use this if you're connecting the ODrive to a PC using UART and want to use the python tools to control and setup the ODrive.
* `ascii`: The ASCII protocol. Use this option if you control the ODrive with an Arduino. The ODrive Arduino library is not yet updated to the native protocol.
* `none`: Disable UART.
__CONFIG_DEBUG__: Defines wether debugging will be enabled when compiling the firmware; specifically the `-g -gdwarf-2` flags. Note that printf debugging will only function if your tup.config specifies the `USB_PROTOCOL` or `UART_PROTOCOL` as stdout and `DEBUG_PRINT` is defined. See the IDE specific documentation for more information.
You can also modify the compile-time defaults for all `.config` parameters. You will find them if you search for `AxisConfig`, `MotorConfig`, etc.