Implement motor driver for 4.4#31
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This is based on existing code from 4.4 and 3.10, and further enhanced to allow smoother diagonal movement for any angle. Some differences to 3.10: - no invert_direction_polarity, motor_switch_gpio, hmotor2vmotor - gpio endstops added, but not tested yet - smoother diagonal movement for any angle - The coils power on state is determined by current step count values and proper torque is applied. - Some `gpio_direction_output` are replaced with `gpio_set_value` for spinlock safety.
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Here's my current progress, and I think it's usable right now.
This is based on existing code from both 4.4 and 3.10, and further enhanced to allow smoother diagonal movement.
Current differences to 3.10:
invert_direction_polarity,motor_switch_gpio,hmotor2vmotor