FIx: move the calib data in heap instead of stack, add state to autotune and cogging to react to security in RUN process.

Author: manoukianv

Firmware/FFBoard/UserExtensions/Inc/TMC4671.h

@@ -73,8 +73,16 @@ enum class TMC_PwmMode : uint8_t {off = 0,HSlow_LShigh = 1, HShigh_LSlow = 2, re
 
 enum class TMC_StartupType{NONE,coldStart,warmStart};
 
-enum class TMC_GpioMode{DebugSpi,DSAdcClkOut,DSAdcClkIn,Aout_Bin,Ain_Bout,Aout_Bout,Ain_Bin};
+enum class CoggingState : uint8_t { Init, ForwardWait, ForwardMeasure, BackwardWait, BackwardMeasure, Compute };
+
+struct CoggingCalibData {
+	int32_t temp_fw[CALIB_MAP_SIZE] = {0};
+	int32_t temp_bw[CALIB_MAP_SIZE] = {0};
+	uint16_t counts_fw[CALIB_MAP_SIZE] = {0};
+	uint16_t counts_bw[CALIB_MAP_SIZE] = {0};
+};
 
+enum class TMC_GpioMode{DebugSpi,DSAdcClkOut,DSAdcClkIn,Aout_Bin,Ain_Bout,Aout_Bout,Ain_Bin};
 enum class MotorType : uint8_t {NONE=0,DC=1,STEPPER=2,BLDC=3};
 enum class PhiE : uint8_t {ext=1,openloop=2,abn=3,hall=5,aenc=6,aencE=7,NONE,extEncoder};
 enum class MotionMode : uint8_t {stop=0,torque=1,velocity=2,position=3,prbsflux=4,prbstorque=5,prbsvelocity=6,uqudext=8,encminimove=9,NONE};
@@ -725,11 +733,27 @@ friend class TMCDebugBridge;
 	bool cogging_enabled = false;
 	void saveCoggingTable();
 	void clearCoggingTable();
+
+	CoggingState coggingCalibState = CoggingState::Init;
+	std::unique_ptr<CoggingCalibData> coggingData = nullptr;
+	uint32_t calibStartTime = 0;
+	MotionMode prevCalibMode = MotionMode::stop;
+	void handleStateCoggingCalibration();
 #endif
 
 	uint16_t maxSlewRate = MAX_SLEW_RATE; // in mA/ms
 	void measureMaxSlewRate();
 
+	enum class PidTuneState : uint8_t { Init, RampFluxP, TuneFluxI_Pulse, TuneFluxI_Measure, Done };
+	PidTuneState pidTuneState = PidTuneState::Init;
+	uint32_t pidTuneStartTime = 0;
+	uint16_t tuneFluxI = 0, tuneFluxP = 100;
+	int32_t tuneMeasurePeak = 0;
+	PhiE lastPidTunePhiE = PhiE::NONE;
+	MotionMode lastPidTuneMode = MotionMode::stop;
+	TMC4671PIDConf pidTuneNewPids;
+	void handleStatePidAutoTune();
+
 	void initAdc(uint16_t mdecA, uint16_t mdecB,uint32_t mclkA,uint32_t mclkB);
 	void setPwm(uint8_t val,uint16_t maxcnt,uint8_t bbmL,uint8_t bbmH);// 100MHz/maxcnt+1
 	void setPwm(TMC_PwmMode val);// pwm mode