feat(motion-control): handle motor driver errors

[pmoegenburg]

Overview

This PR enables Flex motor drivers (tmc2130/2160) to report when they are in error state due to over-temperature, short circuit, or open circuit. A driver's diag0 pin will now go active when the driver is in error state, and will trigger an interrupt for the specific motion subsystem that will:
- produce a MotionControllerTask message that will stop the subsystem motion controller
- set a CancelRequest for the motor interrupt handler, which will produce an ErrorMessage on the CAN bus
- spawn a SPI message to retrieve the specific error from the motor driver, which will surface as a ReadMotorDriverErrorStatusResponse message on the CAN bus

This PR also produces an ErrorMessage when a motor driver is in error state and an EnableMotorRequest,
AddLinearMoveRequest, or HomeRequest message is sent to that motion subsystem.

Test Plan

• Verify pin setup correctly to output low when error state entered
  • Heat driver IC to >150*C (default over-temperature threshold) via heat gun
• Verify interrupt triggered when pin outputs low
• Verify subsystem motion controller enters error state when interrupt triggers
• Verify SPI communication to driver to gather specific error occurs when interrupt triggers
• Verify CAN message reports this specific error
• Verify all of this during an actual move

Changelog

Review requests

Risk assessment

This PR introduces the detection of motor driver errors for each motion subsystem. It will effect each motion subsystem in the ways described above, specifically stopping the subsystem's motion controller and motor interrupt handler and producing an ErrorMessage and ReadMotorDriverErrorStatusResponse message when an error is detected.

[sfoster1]

Structure's looking really good, a last couple tweaks and I think we'll be there!

[sfoster1]

Looking good and almost there, couple things to clean up. Please also update the description of the PR to have more about the flow of information and control through the tasks and describe the high points of the changes you made.

[codecov-commenter]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 83.05%. Comparing base (a6476b3) to head (827a8be).
Report is 1 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #716      +/-   ##
==========================================
- Coverage   83.28%   83.05%   -0.24%     
==========================================
  Files         101      103       +2     
  Lines        4063     4102      +39     
==========================================
+ Hits         3384     3407      +23     
- Misses        679      695      +16     

see 11 files with indirect coverage changes

[sfoster1]

This is looking really good, just a couple small changes I think we should see. This is gonna be a huge step forward!

[sfoster1]

Excellent! Really great work, I'm happy to see this merged. But, let's hold off on actually clicking the button until

• the monorepo side is ready to merge
• we have 7.2 out and know we won't need any other little firmware fixes.