Claude/duet3 async actors a0j gn#2
Merged
Merged
Conversation
Complete rewrite as an async actor-based embedded firmware targeting the ATSAME54P20A (Cortex-M4F, 120MHz) on the Duet 3 Mini 5+ board. Architecture — Embassy async actors with zero-allocation message passing: - actor-framework: Typed mailboxes, event bus, select primitives - board-hal: Duet 3 Mini 5+ pin mappings, TMC2209 UART protocol, thermistors, PWM - gcode-parser: Zero-alloc no_std parser for RepRapFirmware G-codes (13 tests passing) - motion-planner: Trapezoidal acceleration profiles, multi-axis Bresenham coordination - thermal: PID temperature control with anti-windup, thermal runaway detection - sdcard: FAT32 line reader for config.g and G-code job files - firmware: Main binary wiring 6 concurrent async actor tasks Supported G-codes: G0/G1/G28/G90/G91/G92, M92/M104/M106/M109/M112/M114/M140/ M190/M201/M203/M204/M206/M208/M350/M400/M500/M501/M503/M569/M584/M906 Control is always responsive — G-code dispatch never blocks on motor moves. Motion commands are queued to the planner and step generator runs independently. https://claude.ai/code/session_01HW3tB5wfRQxiio5qmPbFmt
Runs check, test (gcode-parser on host), rustfmt, and clippy on push/PR to main. https://claude.ai/code/session_01HW3tB5wfRQxiio5qmPbFmt
- Use core::f32::consts::SQRT_2 instead of magic number in TMC2209 current calc - Remove no-op bit shift in CHOPCONF builder - Add Default impls for MotionPlanner, ThermalManager, LineReader - Use is_none_or instead of map_or in gcode parser - Replace manual loops with iterators (copy_from_slice, enumerate) - Collapse nested if statements in trapezoid generator - Allow too_many_arguments on internal segment builder functions - Fix unnecessary i32 cast in step generator - Apply rustfmt across entire workspace - Update CI to auto-commit cargo fmt changes on PRs via stefanzweifel/git-auto-commit-action, with check/test/clippy gated behind the fmt job https://claude.ai/code/session_01HW3tB5wfRQxiio5qmPbFmt
Architecture changes: - Create `printer-hal` crate with platform-agnostic traits (StepperDriver, TemperatureSensor, HeaterOutput, FileSystem, EndstopReader) - Create `dispatcher` crate — portable G-code command routing (was in main.rs) - Move step generator from main.rs into `motion-planner::step_generator`, parameterized by StepperDriver trait - Decouple `thermal` from `board-hal` — now depends only on `printer-hal` - Decouple `sdcard` from all Embassy/embedded deps — pure no_std line reader - Slim `firmware/main.rs` from 804→492 lines — only channels + task wrappers + hardware HAL impls (Duet3Stepper stub) - Create `wasm-sim` crate with mock HAL impls for browser/host testing - Move DutyCycle, TempChannel, PwmChannel to `printer-hal` (shared types) - `board-hal` re-exports from `printer-hal` for backward compat Testing: - 63 tests across 5 crates (gcode-parser, motion-planner, thermal, sdcard, dispatcher), all run on host x86_64 - motion-planner: 10 planner + 5 step generator tests - thermal: 7 PID + 10 manager tests - sdcard: 7 line reader tests - dispatcher: 11 command routing tests - gcode-parser: 13 existing parser tests Requirements: - Add MVP.md checklist with pressure advance, input shaping, CAN toolboard/CBOR, and 13 categories of functional requirements - Update CLAUDE.md with architecture docs and workspace test command https://claude.ai/code/session_01HW3tB5wfRQxiio5qmPbFmt
New board crates with complete pin mappings: - board-ebb42: BTT EBB42 v1.2 CAN toolboard (STM32G0B1CBT6) - board-pico: BTT SKR Pico v1.0 mainboard (RP2040) New firmware binary crates: - firmware-ebb42: CAN toolboard firmware (stepper + thermal + CAN tasks) - firmware-pico: Full mainboard firmware (dispatcher + planner + thermal) Each firmware is a thin wiring layer — all business logic stays in portable library crates via printer-hal traits. https://claude.ai/code/session_01HW3tB5wfRQxiio5qmPbFmt
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
No description provided.