feat(firmware): add octoaxes multi-axis controller firmware

.github/workflows/firmware.yml

@@ -35,6 +35,10 @@ jobs:
         run: pio run -e teensyLC
         working-directory: ./firmware/joystick
 
+      - name: Build octoaxes firmware (Teensy 4.1)
+        run: pio run -e teensy41
+        working-directory: ./firmware/octoaxes
+
       - name: Run unit tests
         run: pio test -e native
         working-directory: ./firmware/controller

firmware/octoaxes/.gitignore

@@ -0,0 +1,2 @@
+.pio
+*.json

firmware/octoaxes/axesmrg.cpp

@@ -0,0 +1,187 @@
+#include "axesmrg.h"
+#include "build_opt.h"
+
+AxisManager axisManager;  // define the global instance
+
+AxisManager::AxisManager() {
+  axisCount = 0;
+  // initialize the pointer array to nullptr
+  for (uint8_t i = 0; i < MAX_AXES; i++) {
+    axes[i] = nullptr;
+  }
+}
+
+AxisManager::~AxisManager() {
+  // release resources
+  for (uint8_t i = 0; i < axisCount; i++) {
+    if (axes[i] != nullptr) {
+      delete axes[i];
+      axes[i] = nullptr;
+    }
+  }
+}
+
+bool AxisManager::addAxis(Axis* axis) {
+  if (axisCount >= MAX_AXES || axis == nullptr) {
+    DEBUG_PRINTLN("Cannot add axis: maximum limit reached or null axis");
+    return false;
+  }
+
+  axes[axisCount] = axis;
+  axisCount++;
+
+  DEBUG_PRINT("Axis added: ");
+  DEBUG_PRINTLN(axis->getAxisName());  // fix: use the correct function name getAxisName()
+  DEBUG_PRINT("Total axes: ");
+  DEBUG_PRINTLN(axisCount);
+
+  return true;
+}
+
+bool AxisManager::beginAll() {
+  DEBUG_PRINTLN("beginAll:START");  // debug point
+  bool allSuccess = true;
+
+  for (uint8_t i = 0; i < axisCount; i++) {
+    if (axes[i] != nullptr) {
+      bool success = false;
+
+      // select the matching config by axis name
+      String axisName = String(axes[i]->getAxisName());  // fix: use getAxisName() and convert to String
+
+      DEBUG_PRINT("beginAll:INIT_AXIS:");
+      DEBUG_PRINTLN(axisName);  // debug point
+
+      // fix: use the equals() method for string comparison
+      if (axisName.equals("X")) {
+        success = axes[i]->begin(AxisConfigs::X_AXIS);
+      } else if (axisName.equals("Y")) {
+        success = axes[i]->begin(AxisConfigs::Y_AXIS);
+      } else if (axisName.equals("Z")) {
+        success = axes[i]->begin(AxisConfigs::Z_AXIS);
+      } else if (axisName.equals("W")) {
+        success = axes[i]->begin(AxisConfigs::W_AXIS);
+      } else if (axisName.equals("Turret")) {
+        success = axes[i]->begin(AxisConfigs::EXPAND1_AXIS);
+      } else if (axisName.equals("E3")) {
+        success = axes[i]->begin(AxisConfigs::EXPAND3_AXIS);
+      } else if (axisName.equals("E4")) {
+        success = axes[i]->begin(AxisConfigs::EXPAND4_AXIS);
+      } else if (axisName.equals("W2")) {
+        // W2 = the second filter wheel, reusing the EXPAND4_AXIS config (filter wheel + invert_direction=true).
+        // Paired with the legacy Squid protocol (AXIS_W2=6 / MOVE_W2=19 / INITFILTERWHEEL_W2=252).
+        success = axes[i]->begin(AxisConfigs::EXPAND4_AXIS);
+      } else {
+        DEBUG_PRINT("Unknown axis configuration for: ");
+        DEBUG_PRINTLN(axisName);
+        success = false;
+      }
+
+      DEBUG_PRINT("beginAll:AFTER_BEGIN:");
+      DEBUG_PRINTLN(axisName);  // debug point
+
+      if (!success) {
+        DEBUG_PRINT("Failed to initialize axis: ");
+        DEBUG_PRINTLN(axisName);
+        // Compatibility: a begin() failure means the TMC4361A SPI did not respond (board not plugged in /
+        // chip damaged / broken wiring). Delete this Axis instance and set the slot to nullptr so that later
+        // findAxisByName returns nullptr, and every handler's if (axis) guard turns the command into a silent
+        // no-op (the response packet reports any_moving=false and COMPLETED immediately, so the host's
+        // wait_till_operation_is_completed wakes up at once).
+        // This avoids later SPI operations hitting a dead chip, wasting the bus, and producing false-positive status.
+        delete axes[i];
+        axes[i] = nullptr;
+        allSuccess = false;
+      } else {
+        DEBUG_PRINT("Successfully initialized axis: ");
+        DEBUG_PRINTLN(axisName);
+      }
+    }
+  }
+
+  return allSuccess;
+}
+
+void AxisManager::updateAll() {
+  for (uint8_t i = 0; i < axisCount; i++) {
+    if (axes[i] != nullptr) {
+      axes[i]->update();
+    }
+  }
+}
+
+Axis* AxisManager::findAxisByName(const String& axisName) {
+  for (uint8_t i = 0; i < axisCount; i++) {
+    // fix: use getAxisName() and convert to String for comparison
+    if (axes[i] != nullptr && String(axes[i]->getAxisName()).equals(axisName)) {
+      return axes[i];
+    }
+  }
+  return nullptr;
+}
+
+bool AxisManager::processCommand(const String& command) {
+  DEBUG_PRINT("AxisMgr:CMD:");
+  DEBUG_PRINTLN(command);  // debug point A - command received
+
+  // Command format: "axisName:commandBody", e.g. "E3:HOMING"
+  int colonIndex = command.indexOf(':');
+
+  if (colonIndex == -1) {
+    DEBUG_PRINTLN("Invalid command format. Expected: AXIS:COMMAND");
+    return false;
+  }
+
+  String axisName = command.substring(0, colonIndex);
+  String cmd = command.substring(colonIndex + 1);
+
+  axisName.trim();
+  cmd.trim();
+
+  DEBUG_PRINT("AxisMgr:AXIS=");
+  DEBUG_PRINT(axisName);
+  DEBUG_PRINT(",CMD=");
+  DEBUG_PRINTLN(cmd);  // debug point B - parse result
+
+  if (axisName.length() == 0 || cmd.length() == 0) {
+    DEBUG_PRINTLN("Empty axis name or command");
+    return false;
+  }
+
+  // find the matching axis
+  DEBUG_PRINT("AxisMgr:FIND_AXIS,count=");
+  DEBUG_PRINTLN(axisCount);  // debug point C - axis count
+
+  Axis* targetAxis = findAxisByName(axisName);
+  if (targetAxis == nullptr) {
+    DEBUG_PRINT("Axis not found: ");
+    DEBUG_PRINTLN(axisName);
+    return false;
+  }
+
+  DEBUG_PRINTLN("AxisMgr:AXIS_FOUND");  // debug point D - axis found
+
+  // forward the command to the matching axis for handling
+  bool success = targetAxis->processCommand(cmd);
+
+  if (success) {
+    DEBUG_PRINT("Command '");
+    DEBUG_PRINT(cmd);
+    DEBUG_PRINT("' sent to axis ");
+    DEBUG_PRINTLN(axisName);
+  } else {
+    DEBUG_PRINT("Failed to process command '");
+    DEBUG_PRINT(cmd);
+    DEBUG_PRINT("' on axis ");
+    DEBUG_PRINTLN(axisName);
+  }
+
+  return success;
+}
+
+Axis* AxisManager::getAxis(uint8_t index) {
+  if (index < axisCount) {
+    return axes[index];
+  }
+  return nullptr;
+}

firmware/octoaxes/axesmrg.h

@@ -0,0 +1,42 @@
+#ifndef AXES_MANAGER_H
+#define AXES_MANAGER_H
+
+#include <Arduino.h>
+#include "axis.h"
+#include "config.h"
+
+class AxisManager {
+private:
+  static const uint8_t MAX_AXES = 8;  // supports up to 8 axes
+  Axis* axes[MAX_AXES];              // array of axis object pointers
+  uint8_t axisCount;                 // current number of axes
+
+public:
+  AxisManager();
+  ~AxisManager();
+
+  // Add an axis to the manager
+  bool addAxis(Axis* axis);
+
+  // Initialize all axes
+  bool beginAll();
+
+  // Update all axis state machines
+  void updateAll();
+
+  // Process a serial command
+  bool processCommand(const String& command);
+
+  // Get the number of axes
+  uint8_t getAxisCount() const { return axisCount; }
+
+  // Get an axis by index
+  Axis* getAxis(uint8_t index);
+
+  // Find an axis object by name
+  Axis* findAxisByName(const String& axisName);
+};
+
+extern AxisManager axisManager;  // global axis manager instance
+
+#endif