diff options
| author | David Crocker <dcrocker@eschertech.com> | 2018-08-26 23:27:58 +0300 |
|---|---|---|
| committer | David Crocker <dcrocker@eschertech.com> | 2018-08-26 23:27:58 +0300 |
| commit | cdaf681010845fc6e8300f656bfb213a499f94ae (patch) | |
| tree | 635254f1e141f7feef6ad7d0a1e156a0533e69fd | |
| parent | 7d332ce63c975f5f9d1fe928a4364b4250df88f6 (diff) | |
Refactoring
Allow number of endstop inputs to be configured separately from number of drivers
Started work on experimental support for TMC5130 drivers
Changed name of SAME70 build
Support XDMAC in TMC2660 driver module
Merged partial LPC1769 support into Platform module
42 files changed, 1275 insertions, 254 deletions
@@ -110,7 +110,7 @@ </toolChain> </folderInfo> <sourceEntries> - <entry excluding="src/Pccb|src/Alligator|src/Duet/Lwip/lwip/src/core/ipv6|src/Duet/Lwip/lwip/test|src/SAME70_TEST|src/Display|src/Networking|src/DuetNG|src/DuetM|src/RADDS" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> + <entry excluding="src/Alligator|src/Duet/Lwip/lwip/src/core/ipv6|src/Duet/Lwip/lwip/test|src/Duet3|src/Display|src/Networking|src/Pccb|src/DuetNG|src/DuetM|src/RADDS" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> </sourceEntries> </configuration> </storageModule> @@ -220,7 +220,7 @@ </toolChain> </folderInfo> <sourceEntries> - <entry excluding="src/Pccb|src/Alligator|src/SAME70_TEST|src/Display|src/Duet|src/Networking|src/DuetNG|src/DuetM" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> + <entry excluding="src/Alligator|src/Duet3|src/Display|src/Duet|src/Networking|src/Pccb|src/DuetNG|src/DuetM" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> </sourceEntries> </configuration> </storageModule> @@ -341,7 +341,7 @@ </toolChain> </folderInfo> <sourceEntries> - <entry excluding="src/Pccb|src/Duet/Lwip/lwip/src/core/ipv6|src/Duet/Lwip/lwip/test|src/SAME70_TEST|src/Display|src/Networking|src/DuetNG|src/Alligator/Lwip/lwip/src/include/ipv6|src/Alligator/Lwip/lwip/test|src/DuetM|src/Duet/MCP4461|src/Alligator/Lwip/lwip/src/core/ipv6|src/RADDS" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> + <entry excluding="src/Duet/Lwip/lwip/src/core/ipv6|src/Networking|src/DuetNG|src/Alligator/Lwip/lwip/src/include/ipv6|src/Alligator/Lwip/lwip/test|src/Duet/MCP4461|src/Duet/Lwip/lwip/test|src/Duet3|src/Display|src/Pccb|src/DuetM|src/Alligator/Lwip/lwip/src/core/ipv6|src/RADDS" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> </sourceEntries> </configuration> </storageModule> @@ -461,7 +461,7 @@ </toolChain> </folderInfo> <sourceEntries> - <entry excluding="src/Pccb|src/Alligator|src/SAME70_TEST|src/Display|src/Duet|src/Networking/LwipEthernet|src/DuetM|src/RADDS" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> + <entry excluding="src/Alligator|src/Duet3|src/Display|src/Duet|src/Pccb|src/Networking/LwipEthernet|src/DuetM|src/RADDS" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> </sourceEntries> </configuration> </storageModule> @@ -581,14 +581,14 @@ </toolChain> </folderInfo> <sourceEntries> - <entry excluding="src/Pccb|src/Alligator|src/SAME70_TEST|src/Duet|src/Networking/ESP8266WiFi|src/Networking/LwipEthernet|src/DuetNG|src/RADDS" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> + <entry excluding="src/Alligator|src/Duet3|src/Duet|src/Networking/ESP8266WiFi|src/Pccb|src/Networking/LwipEthernet|src/DuetNG|src/RADDS" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> </sourceEntries> </configuration> </storageModule> <storageModule moduleId="org.eclipse.cdt.core.externalSettings"/> </cconfiguration> <cconfiguration id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.1275216290.274082366.1645191116.1852610203"> - <storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.1275216290.274082366.1645191116.1852610203" moduleId="org.eclipse.cdt.core.settings" name="SAME70_RTOS"> + <storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.1275216290.274082366.1645191116.1852610203" moduleId="org.eclipse.cdt.core.settings" name="Duet3"> <macros> <stringMacro name="LinkFlags2" type="VALUE_TEXT" value="-Wl,--end-group -lm"/> <stringMacro name="LinkFlags1" type="VALUE_TEXT" value="-mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--entry=Reset_Handler -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-section-align -Wl,--warn-unresolved-symbols -Wl,--start-group"/> @@ -606,7 +606,7 @@ </extensions> </storageModule> <storageModule moduleId="cdtBuildSystem" version="4.0.0"> - <configuration artifactExtension="elf" artifactName="SAME70Firmware" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.1275216290.274082366.1645191116.1852610203" name="SAME70_RTOS" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin"> + <configuration artifactExtension="elf" artifactName="Duet3Firmware" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.1275216290.274082366.1645191116.1852610203" name="Duet3" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin"> <folderInfo id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.1275216290.274082366.1645191116.1852610203." name="/" resourcePath=""> <toolChain id="cdt.managedbuild.toolchain.gnu.cross.exe.release.5959303" name="Cross GCC" superClass="cdt.managedbuild.toolchain.gnu.cross.exe.release"> <option id="cdt.managedbuild.option.gnu.cross.path.163568524" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" useByScannerDiscovery="false" value="${GccPath}" valueType="string"/> @@ -640,14 +640,14 @@ <listOptionValue builtIn="false" value=""${workspace_loc:/${CoreName}/asf/sam/utils/preprocessor}""/> <listOptionValue builtIn="false" value=""${workspace_loc:/${CoreName}/asf/thirdparty/CMSIS/Include}""/> <listOptionValue builtIn="false" value=""${workspace_loc:/${CoreName}/variants/same70}""/> - <listOptionValue builtIn="false" value=""${workspace_loc:/${ProjName}/src/SAME70_TEST}""/> + <listOptionValue builtIn="false" value=""${workspace_loc:/${ProjName}/src/Duet3}""/> <listOptionValue builtIn="false" value=""${workspace_loc:/${ProjName}/src/Networking/LwipEthernet}""/> <listOptionValue builtIn="false" value=""${workspace_loc:/${ProjName}/src/Networking/LwipEthernet/Lwip/src/include}""/> </option> <option id="gnu.c.compiler.option.preprocessor.def.symbols.316510289" name="Defined symbols (-D)" superClass="gnu.c.compiler.option.preprocessor.def.symbols" useByScannerDiscovery="false" valueType="definedSymbols"> <listOptionValue builtIn="false" value="__SAME70Q21__"/> <listOptionValue builtIn="false" value="RTOS"/> - <listOptionValue builtIn="false" value="SAME70_TEST_BOARD"/> + <listOptionValue builtIn="false" value="DUET3"/> </option> <option id="gnu.c.compiler.option.dialect.std.133148413" name="Language standard" superClass="gnu.c.compiler.option.dialect.std" useByScannerDiscovery="true" value="gnu.c.compiler.dialect.default" valueType="enumerated"/> <inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.477491021" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/> @@ -695,7 +695,7 @@ <listOptionValue builtIn="false" value=""${workspace_loc:/${CoreName}/asf/thirdparty/CMSIS/Include}""/> <listOptionValue builtIn="false" value=""${workspace_loc:/${CoreName}/variants/same70}""/> <listOptionValue builtIn="false" value=""${workspace_loc:/${ProjName}/src}""/> - <listOptionValue builtIn="false" value=""${workspace_loc:/${ProjName}/src/SAME70_TEST}""/> + <listOptionValue builtIn="false" value=""${workspace_loc:/${ProjName}/src/Duet3}""/> <listOptionValue builtIn="false" value=""${workspace_loc:/${ProjName}/src/Networking}""/> <listOptionValue builtIn="false" value=""${workspace_loc:/${ProjName}/src/Networking/LwipEthernet}""/> <listOptionValue builtIn="false" value=""${workspace_loc:/${ProjName}/src/Networking/LwipEthernet/Lwip/src/include}""/> @@ -706,7 +706,7 @@ <option id="gnu.cpp.compiler.option.preprocessor.def.315745995" name="Defined symbols (-D)" superClass="gnu.cpp.compiler.option.preprocessor.def" useByScannerDiscovery="false" valueType="definedSymbols"> <listOptionValue builtIn="false" value="__SAME70Q21__"/> <listOptionValue builtIn="false" value="RTOS"/> - <listOptionValue builtIn="false" value="SAME70_TEST_BOARD"/> + <listOptionValue builtIn="false" value="DUET3"/> <listOptionValue builtIn="false" value="_XOPEN_SOURCE"/> </option> <option id="gnu.cpp.compiler.option.dialect.std.815297330" name="Language standard" superClass="gnu.cpp.compiler.option.dialect.std" useByScannerDiscovery="true" value="gnu.cpp.compiler.dialect.default" valueType="enumerated"/> @@ -715,7 +715,7 @@ </toolChain> </folderInfo> <sourceEntries> - <entry excluding="src/Pccb|src/DuetNG/DuetWiFi|src/Duet|src/DuetNG/DuetEthernet/Wiznet/Internet/SNTP|src/DuetNG|src/Networking/LwipEthernet/Lwip/test|src/DuetNG/DuetEthernet/Wiznet/Internet/DNS|src/DuetNG/DuetEthernet/Wiznet/Application|src/Networking/W5500Ethernet|src/DuetNG/DuetEthernet/Wiznet/Internet/MQTT|src/Alligator|src/Display|src/Networking/LwipEthernet/Lwip/src/apps/mqtt|src/Networking/LwipEthernet/Lwip/doc|src/DuetNG/DuetEthernet/Wiznet/Internet/TFTP|src/DuetNG/DuetEthernet/Ethernet3|src/Networking/LwipEthernet/Lwip/src/apps/snmp|src/Networking/LwipEthernet/Lwip/src/apps/httpd|src/DuetNG/DuetEthernet/Wiznet/Internet/FTPServer|src/DuetNG/DuetEthernet/Ethernet3/examples|src/Networking/LwipEthernet/Lwip/src/apps/tftp|src/Networking/LwipEthernet/Lwip/src/netif/ppp|src/Networking/LwipEthernet/Lwip/src/apps/lwiperf|src/DuetNG/DuetEthernet/Wiznet/Internet/FTPClient|src/Networking/LwipEthernet/Lwip/src/apps/sntp|src/DuetNG/DuetEthernet/Wiznet/Internet/httpServer|src/DuetNG/DuetEthernet/Wiznet/Internet/SNMP|src/DuetM|src/RADDS" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> + <entry excluding="src/DuetNG/DuetWiFi|src/Duet|src/DuetNG/DuetEthernet/Wiznet/Internet/SNTP|src/DuetNG|src/Networking/LwipEthernet/Lwip/test|src/DuetNG/DuetEthernet/Wiznet/Internet/DNS|src/DuetNG/DuetEthernet/Wiznet/Application|src/Networking/W5500Ethernet|src/DuetNG/DuetEthernet/Wiznet/Internet/MQTT|src/Alligator|src/Display|src/Pccb|src/Networking/LwipEthernet/Lwip/src/apps/mqtt|src/Networking/LwipEthernet/Lwip/doc|src/DuetNG/DuetEthernet/Wiznet/Internet/TFTP|src/DuetNG/DuetEthernet/Ethernet3|src/Networking/LwipEthernet/Lwip/src/apps/snmp|src/Networking/LwipEthernet/Lwip/src/apps/httpd|src/DuetNG/DuetEthernet/Wiznet/Internet/FTPServer|src/DuetNG/DuetEthernet/Ethernet3/examples|src/Networking/LwipEthernet/Lwip/src/apps/tftp|src/Networking/LwipEthernet/Lwip/src/netif/ppp|src/Networking/LwipEthernet/Lwip/src/apps/lwiperf|src/DuetNG/DuetEthernet/Wiznet/Internet/FTPClient|src/Networking/LwipEthernet/Lwip/src/apps/sntp|src/DuetNG/DuetEthernet/Wiznet/Internet/httpServer|src/DuetNG/DuetEthernet/Wiznet/Internet/SNMP|src/DuetM|src/RADDS" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> </sourceEntries> </configuration> </storageModule> @@ -834,7 +834,7 @@ </toolChain> </folderInfo> <sourceEntries> - <entry excluding="src/DuetM|src/Display|src/Networking|src/Alligator|src/SAME70_TEST|src/Duet|src/Networking/ESP8266WiFi|src/Networking/LwipEthernet|src/DuetNG|src/RADDS" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> + <entry excluding="src/Alligator|src/Duet3|src/Display|src/Duet|src/Networking|src/Networking/ESP8266WiFi|src/Networking/LwipEthernet|src/DuetNG|src/DuetM|src/RADDS" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> </sourceEntries> </configuration> </storageModule> @@ -955,7 +955,7 @@ </toolChain> </folderInfo> <sourceEntries> - <entry excluding="src/DuetM|src/Display|src/Networking|src/Alligator|src/SAME70_TEST|src/Duet|src/Networking/ESP8266WiFi|src/Networking/LwipEthernet|src/DuetNG|src/RADDS" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> + <entry excluding="src/Alligator|src/Duet3|src/Display|src/Duet|src/Networking|src/Networking/ESP8266WiFi|src/Networking/LwipEthernet|src/DuetNG|src/DuetM|src/RADDS" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> </sourceEntries> </configuration> </storageModule> diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml index 4f109f3e..0f715a87 100644 --- a/.settings/language.settings.xml +++ b/.settings/language.settings.xml @@ -5,7 +5,7 @@ <provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/> - <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-284248688145585500" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> + <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-1059782738354140179" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> <language-scope id="org.eclipse.cdt.core.gcc"/> <language-scope id="org.eclipse.cdt.core.g++"/> </provider> @@ -16,7 +16,7 @@ <provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/> - <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-284248688145585500" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> + <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-1059782738354140179" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> <language-scope id="org.eclipse.cdt.core.gcc"/> <language-scope id="org.eclipse.cdt.core.g++"/> </provider> @@ -27,7 +27,7 @@ <provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/> - <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-284248688145585500" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> + <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-1059782738354140179" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> <language-scope id="org.eclipse.cdt.core.gcc"/> <language-scope id="org.eclipse.cdt.core.g++"/> </provider> @@ -38,7 +38,7 @@ <provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/> - <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-284248688145585500" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> + <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-1059782738354140179" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> <language-scope id="org.eclipse.cdt.core.gcc"/> <language-scope id="org.eclipse.cdt.core.g++"/> </provider> @@ -49,18 +49,18 @@ <provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/> - <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-284248688145585500" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> + <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-1059782738354140179" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> <language-scope id="org.eclipse.cdt.core.gcc"/> <language-scope id="org.eclipse.cdt.core.g++"/> </provider> </extension> </configuration> - <configuration id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.1275216290.274082366.1645191116.1852610203" name="SAME70_RTOS"> + <configuration id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.1275216290.274082366.1645191116.1852610203" name="Duet3"> <extension point="org.eclipse.cdt.core.LanguageSettingsProvider"> <provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/> - <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-284248688145585500" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> + <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-1059782738354140179" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> <language-scope id="org.eclipse.cdt.core.gcc"/> <language-scope id="org.eclipse.cdt.core.g++"/> </provider> @@ -71,7 +71,7 @@ <provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/> - <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-284248688145585500" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> + <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-1059782738354140179" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> <language-scope id="org.eclipse.cdt.core.gcc"/> <language-scope id="org.eclipse.cdt.core.g++"/> </provider> @@ -82,7 +82,7 @@ <provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/> - <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-284248688145585500" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> + <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-1059782738354140179" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> <language-scope id="org.eclipse.cdt.core.gcc"/> <language-scope id="org.eclipse.cdt.core.g++"/> </provider> diff --git a/.settings/org.eclipse.core.resources.prefs b/.settings/org.eclipse.core.resources.prefs new file mode 100644 index 00000000..6ebe5254 --- /dev/null +++ b/.settings/org.eclipse.core.resources.prefs @@ -0,0 +1,4 @@ +eclipse.preferences.version=1 +encoding//src/Display/ST7920/glcd11x14.cpp=UTF-8 +encoding//src/Display/ST7920/glcd7x11.cpp=UTF-8 +encoding//src/Movement/StepperDrivers/TMC51xx.cpp=UTF-8 diff --git a/src/Alligator/Pins_Alligator.h b/src/Alligator/Pins_Alligator.h index ba7d0c35..6cdc61ce 100644 --- a/src/Alligator/Pins_Alligator.h +++ b/src/Alligator/Pins_Alligator.h @@ -33,8 +33,9 @@ const size_t MaxDriversPerAxis = 4; // The maximum number of stepper drivers // Initialization macro used in statements needing to initialize values in arrays of size MAX_AXES #define AXES_(a,b,c,d,e,f,g,h,i) { a,b,c,d,e,f } +constexpr size_t NumEndstops = 6; // The number of inputs we have for endstops, filament sensors etc. // Alligator + Piggy module max 5 heaters -constexpr size_t Heaters = 5; // The number of heaters in the machine; 0 is the heated bed even if there isn't one +constexpr size_t NumHeaters = 5; // The number of heaters in the machine; 0 is the heated bed even if there isn't one constexpr size_t NumExtraHeaterProtections = 4; // The number of extra heater protection instances constexpr size_t NumThermistorInputs = 5; @@ -66,7 +67,7 @@ const Pin MotorFaultDetectPin = 22; // Alligator End-stop pinout mapping for RepRapFirmware: // 5V SIGN SIGN GND , 5V SIGN SIGN GND, 5V SIGN SIGN GND // X E0 Y E1 Z E2-Zprobe -const Pin END_STOP_PINS[DRIVES] = { 33, 35, 38, 34, 37, 39, NoPin }; +const Pin END_STOP_PINS[NumEndstops] = { 33, 35, 38, 34, 37, 39 }; // SPI DAC Motor for Current Vref const size_t MaxSpiDac = 2; @@ -77,7 +78,7 @@ const Pin TEMP_SENSE_PINS[NumThermistorInputs] = { 1, 0, 2, 3, 4 }; // Analogue // h1,h2,h3,h4: X2,8,9,X8 is hardware PWM // b: X3 is not hardware PWM -const Pin HEAT_ON_PINS[Heaters] = { X3, X2, 8, 9, X8 }; +const Pin HEAT_ON_PINS[NumHeaters] = { X3, X2, 8, 9, X8 }; // Default thermistor parameters // Bed thermistor: http://uk.farnell.com/epcos/b57863s103f040/sensor-miniature-ntc-10k/dp/1299930?Ntt=129-9930 diff --git a/src/BugList.txt b/src/BugList.txt index 9745763b..c8fa66b8 100644 --- a/src/BugList.txt +++ b/src/BugList.txt @@ -30,11 +30,13 @@ Implemented in 2.02beta1: Remaining: - [done, ok on DuetM, test on Duet2] No warning messages when TMC2224 drivers overheat, https://forum.duet3d.com/topic/6309/little-monster-s-hort-to-ground/13 +- G30 S-1 when no Z probe, https://forum.duet3d.com/topic/6510/a-couple-of-dwc-odd-things/2 - Command to copy output from the following commands to the log file? - Track which devices use which pins - Matt's display changes/other display fixes - Hangprinter PRs - PR to have any enabled driver report 50C +- PR to allow endstop input number to be specified in M558 - M116 parameter to set allowed temperature difference - M208 xaa:bb etc. - M557 option to set number of X and Y points instead of limits and spacing diff --git a/src/Duet/Pins_Duet.h b/src/Duet/Pins_Duet.h index 5d9e193a..322840ae 100644 --- a/src/Duet/Pins_Duet.h +++ b/src/Duet/Pins_Duet.h @@ -28,7 +28,8 @@ constexpr size_t NumFirmwareUpdateModules = 1; constexpr size_t DRIVES = 9; // The number of drives in the machine, including X, Y, and Z plus extruder drives #define DRIVES_(a,b,c,d,e,f,g,h,i,j,k,l) { a,b,c,d,e,f,g,h,i } -constexpr size_t Heaters = 7; // The number of heaters in the machine; 0 is the heated bed even if there isn't one +constexpr size_t NumEndstops = 9; // The number of inputs we have for endstops, filament sensors etc. +constexpr size_t NumHeaters = 7; // The number of heaters in the machine; 0 is the heated bed even if there isn't one constexpr size_t NumExtraHeaterProtections = 4; // The number of extra heater protection instances constexpr size_t NumThermistorInputs = 7; @@ -59,7 +60,7 @@ constexpr Pin DIRECTION_PINS[DRIVES] = { 15, 26, 4, X3, 35, 53, 51, 48, X11 }; // Endstops // RepRapFirmware only has a single endstop per axis. // Gcode defines if it is a max ("high end") or min ("low end") endstop and sets if it is active HIGH or LOW. -constexpr Pin END_STOP_PINS[DRIVES] = { 11, 28, 60, 31, 24, 46, 45, 44, X9 }; +constexpr Pin END_STOP_PINS[NumEndstops] = { 11, 28, 60, 31, 24, 46, 45, 44, X9 }; // Indices for motor current digipots (if any): first 4 are for digipot 1 (on duet), second 4 for digipot 2 (on expansion board) constexpr uint8_t POT_WIPES[8] = { 1, 3, 2, 0, 1, 3, 2, 0 }; @@ -70,7 +71,7 @@ constexpr float STEPPER_DAC_VOLTAGE_OFFSET = -0.025; // Stepper motor curre // HEATERS constexpr Pin TEMP_SENSE_PINS[NumThermistorInputs] = { 5, 4, 0, 7, 8, 9, 11 }; // Analogue pin numbers -constexpr Pin HEAT_ON_PINS[Heaters] = { 6, X5, X7, 7, 8, 9, X17 }; // Heater Channel 7 (pin X17) is shared with Fan1 +constexpr Pin HEAT_ON_PINS[NumHeaters] = { 6, X5, X7, 7, 8, 9, X17 }; // Heater Channel 7 (pin X17) is shared with Fan1 // Default thermistor parameters // Bed thermistor: http://uk.farnell.com/epcos/b57863s103f040/sensor-miniature-ntc-10k/dp/1299930?Ntt=129-9930 diff --git a/src/SAME70_TEST/GMAC/ethernet_sam.c b/src/Duet3/GMAC/ethernet_sam.c index c2329262..c2329262 100644 --- a/src/SAME70_TEST/GMAC/ethernet_sam.c +++ b/src/Duet3/GMAC/ethernet_sam.c diff --git a/src/SAME70_TEST/GMAC/ethernet_sam.h b/src/Duet3/GMAC/ethernet_sam.h index 46de9e67..46de9e67 100644 --- a/src/SAME70_TEST/GMAC/ethernet_sam.h +++ b/src/Duet3/GMAC/ethernet_sam.h diff --git a/src/SAME70_TEST/GMAC/same70_gmac.c b/src/Duet3/GMAC/same70_gmac.c index 0a8b18de..0a8b18de 100644 --- a/src/SAME70_TEST/GMAC/same70_gmac.c +++ b/src/Duet3/GMAC/same70_gmac.c diff --git a/src/SAME70_TEST/GMAC/same70_gmac.h b/src/Duet3/GMAC/same70_gmac.h index 1cb25970..1cb25970 100644 --- a/src/SAME70_TEST/GMAC/same70_gmac.h +++ b/src/Duet3/GMAC/same70_gmac.h diff --git a/src/SAME70_TEST/Pins_SAME70_TEST.h b/src/Duet3/Pins_Duet3.h index b73428a9..5b1a12d5 100644 --- a/src/SAME70_TEST/Pins_SAME70_TEST.h +++ b/src/Duet3/Pins_Duet3.h @@ -1,10 +1,10 @@ #ifndef PINS_SAME70_H__ #define PINS_SAME70_H__ -#define FIRMWARE_NAME "RepRapFirmware for SAME70" -#define DEFAULT_BOARD_TYPE BoardType::SamE70TestBoard +#define FIRMWARE_NAME "RepRapFirmware for Duet 3" +#define DEFAULT_BOARD_TYPE BoardType::Duet3_10 const size_t NumFirmwareUpdateModules = 4; // 3 modules, plus one for manual upload to WiFi module (module 2 not used) -#define IAP_FIRMWARE_FILE "SAME70Firmware.bin" +#define IAP_FIRMWARE_FILE "Duet3Firmware.bin" #define WIFI_FIRMWARE_FILE "DuetWiFiServer.bin" #define IAP_UPDATE_FILE "iape70.bin" // need special build for SAME70 @@ -13,26 +13,44 @@ const size_t NumFirmwareUpdateModules = 4; // 3 modules, plus one for manual up #define HAS_WIFI_NETWORKING 1 #define HAS_CPU_TEMP_SENSOR 1 #define HAS_HIGH_SPEED_SD 1 + +//#define VARIANT_TMC5130 1 + +#ifdef VARIANT_TMC5130 +# define SUPPORT_TMC51xx 1 +# define TMC51xx_USES_USART 1 +#else +# define SUPPORT_TMC2660 1 +# define TMC2660_USES_USART 1 +#endif + #define HAS_VOLTAGE_MONITOR 0 // TBD #define HAS_VREF_MONITOR 0 // TBD -#define ACTIVE_LOW_HEAT_ON 0 // TBD +#define ACTIVE_LOW_HEAT_ON 0 -#define SUPPORT_INKJET 0 // set nonzero to support inkjet control -#define SUPPORT_ROLAND 0 // set nonzero to support Roland mill -#define SUPPORT_SCANNER 0 // set zero to disable support for FreeLSS scanners -#define SUPPORT_IOBITS 1 // set to support P parameter in G0/G1 commands -#define SUPPORT_DHT_SENSOR 1 // set nonzero to support DHT temperature/humidity sensors -#define SUPPORT_WORKPLACE_COORDINATES 1 // set nonzero to support G10 L2 and G53..59 +#define SUPPORT_INKJET 0 // set nonzero to support inkjet control +#define SUPPORT_ROLAND 0 // set nonzero to support Roland mill +#define SUPPORT_SCANNER 0 // set zero to disable support for FreeLSS scanners +#define SUPPORT_IOBITS 1 // set to support P parameter in G0/G1 commands +#define SUPPORT_DHT_SENSOR 1 // set nonzero to support DHT temperature/humidity sensors +#define SUPPORT_WORKPLACE_COORDINATES 1 // set nonzero to support G10 L2 and G53..59 -#define USE_CACHE 0 // Cache controller has some problems on the SAME70 +#define USE_CACHE 0 // Cache controller disabled for now // The physical capabilities of the machine -const size_t DRIVES = 6; // The maximum number of drives supported by the electronics -const size_t MaxSmartDrivers = 6; // The maximum number of smart drivers -#define DRIVES_(a,b,c,d,e,f,g,h,i,j,k,l) { a,b,c,d,e,f } +#ifdef VARIANT_TMC5130 +constexpr size_t DRIVES = 6; // The maximum number of drives supported by the electronics +constexpr size_t MaxSmartDrivers = 6; // The maximum number of smart drivers +# define DRIVES_(a,b,c,d,e,f,g,h,i,j,k,l) { a,b,c,d,e,f } +#else +constexpr size_t DRIVES = 5; // The maximum number of drives supported by the electronics +constexpr size_t MaxSmartDrivers = 5; // The maximum number of smart drivers +# define DRIVES_(a,b,c,d,e,f,g,h,i,j,k,l) { a,b,c,d,e } +#endif -constexpr size_t Heaters = 4; // The number of heaters in the machine; 0 is the heated bed even if there isn't one +constexpr size_t NumEndstops = 6; // The number of inputs we have for endstops, filament sensors etc. +constexpr size_t NumHeaters = 4; // The number of heaters in the machine; 0 is the heated bed even if there isn't one constexpr size_t NumExtraHeaterProtections = 8; // The number of extra heater protection instances constexpr size_t NumThermistorInputs = 4; @@ -55,22 +73,51 @@ constexpr size_t NUM_SERIAL_CHANNELS = 2; // The number of serial IO channels // The numbers of entries in each array must correspond with the values of DRIVES, AXES, or HEATERS. Set values to NoPin to flag unavailability. // DRIVES -constexpr Pin GlobalTmcEnablePin = NoPin; // The pin that drives ENN of all TMC2660 drivers on production boards (on pre-production boards they are grounded) + +#ifdef VARIANT_TMC5130 + constexpr Pin ENABLE_PINS[DRIVES] = { NoPin, NoPin, NoPin, NoPin, NoPin, NoPin }; constexpr Pin STEP_PINS[DRIVES] = { NoPin, NoPin, NoPin, NoPin, NoPin, NoPin }; constexpr Pin DIRECTION_PINS[DRIVES] = { NoPin, NoPin, NoPin, NoPin, NoPin, NoPin }; -constexpr Pin DueX_SG = NoPin; // DueX stallguard detect pin (TBD) -constexpr Pin DueX_INT = NoPin; // DueX interrupt pin (TBD) +// Pin assignments etc. using USART1 in SPI mode +constexpr Pin GlobalTmc51xxEnablePin = NoPin; // The pin that drives ENN of all TMC drivers +Usart * const USART_TMC51xx = USART1; +constexpr uint32_t ID_TMC51xx_SPI = ID_USART1; +constexpr IRQn TMC51xx_SPI_IRQn = USART1_IRQn; +# define TMC51xx_SPI_Handler USART1_Handler + +constexpr Pin TMC51xxMosiPin = NoPin; +constexpr Pin TMC51xxMisoPin = NoPin; +constexpr Pin TMC51xxSclkPin = NoPin; + +#else + +constexpr Pin ENABLE_PINS[DRIVES] = { NoPin, NoPin, NoPin, NoPin, NoPin }; +constexpr Pin STEP_PINS[DRIVES] = { NoPin, NoPin, NoPin, NoPin, NoPin }; +constexpr Pin DIRECTION_PINS[DRIVES] = { NoPin, NoPin, NoPin, NoPin, NoPin }; + +// Pin assignments etc. using USART1 in SPI mode +constexpr Pin GlobalTmc2660EnablePin = NoPin; // The pin that drives ENN of all TMC drivers +Usart * const USART_TMC2660 = USART1; +constexpr uint32_t ID_TMC2660_SPI = ID_USART1; +constexpr IRQn TMC2660_SPI_IRQn = USART1_IRQn; +# define TMC2660_SPI_Handler USART1_Handler + +constexpr Pin TMC2660MosiPin = NoPin; +constexpr Pin TMC2660MisoPin = NoPin; +constexpr Pin TMC2660SclkPin = NoPin; + +#endif // Endstops // RepRapFirmware only has a single endstop per axis. // Gcode defines if it is a max ("high end") or min ("low end") endstop and sets if it is active HIGH or LOW. -constexpr Pin END_STOP_PINS[DRIVES] = { NoPin, NoPin, NoPin, NoPin, NoPin, NoPin }; +constexpr Pin END_STOP_PINS[NumEndstops] = { NoPin, NoPin, NoPin, NoPin, NoPin, NoPin }; // Heater and thermistors -constexpr Pin TEMP_SENSE_PINS[NumThermistorInputs] = { 66, 86, 48, 65 }; // Thermistor pin numbers (labelled AD1-2 and AD4-5 on test board, but AD5 has a 0R resistor missing) -constexpr Pin HEAT_ON_PINS[Heaters] = { NoPin, NoPin, NoPin, NoPin }; // Heater pin numbers (TBD) +constexpr Pin TEMP_SENSE_PINS[NumThermistorInputs] = { 66, 86, 48, 65 }; // Thermistor pin numbers (labelled AD1-2 and AD4-5 on eval board, but AD5 has a 0R resistor missing) +constexpr Pin HEAT_ON_PINS[NumHeaters] = { NoPin, NoPin, NoPin, NoPin }; // Heater pin numbers (TBD) // Default thermistor parameters constexpr float BED_R25 = 100000.0; diff --git a/src/DuetM/Pins_DuetM.h b/src/DuetM/Pins_DuetM.h index bc489001..f54bd298 100644 --- a/src/DuetM/Pins_DuetM.h +++ b/src/DuetM/Pins_DuetM.h @@ -41,7 +41,8 @@ constexpr size_t DRIVES = 7; // The maximum number of drives supported by t constexpr size_t MaxSmartDrivers = 7; // The maximum number of smart drivers #define DRIVES_(a,b,c,d,e,f,g,h,i,j,k,l) { a,b,c,d,e,f,g } -constexpr size_t Heaters = 3; // The number of heaters/thermistors in the machine. Duet M has 3 heaters but 4 thermistors. +constexpr size_t NumEndstops = 5; // The number of inputs we have for endstops, filament sensors etc. +constexpr size_t NumHeaters = 3; // The number of heaters/thermistors in the machine. Duet M has 3 heaters but 4 thermistors. constexpr size_t NumExtraHeaterProtections = 4; // The number of extra heater protection instances constexpr size_t NumThermistorInputs = 4; @@ -89,10 +90,10 @@ constexpr Pin TMC22xxMuxPins[3] = { 50, 52, 53 }; // Pins that control the UART // Endstops // RepRapFirmware only has a single endstop per axis. // Gcode defines if it is a max ("high end") or min ("low end") endstop and sets if it is active HIGH or LOW. -constexpr Pin END_STOP_PINS[DRIVES] = { 24, 32, 46, 25, 43, NoPin, NoPin }; +constexpr Pin END_STOP_PINS[NumEndstops] = { 24, 32, 46, 25, 43 }; // Heaters and thermistors -constexpr Pin HEAT_ON_PINS[Heaters] = { 36, 37, 16 }; // Heater pin numbers +constexpr Pin HEAT_ON_PINS[NumHeaters] = { 36, 37, 16 }; // Heater pin numbers constexpr Pin TEMP_SENSE_PINS[NumThermistorInputs] = { 20, 26, 66, 27 }; // Thermistor pin numbers constexpr Pin VssaSensePin = 19; constexpr Pin VrefSensePin = 17; diff --git a/src/DuetNG/Pins_DuetNG.h b/src/DuetNG/Pins_DuetNG.h index 92151b1e..34d37893 100644 --- a/src/DuetNG/Pins_DuetNG.h +++ b/src/DuetNG/Pins_DuetNG.h @@ -38,7 +38,8 @@ constexpr size_t DRIVES = 12; // The maximum number of drives supported by constexpr size_t MaxSmartDrivers = 10; // The maximum number of smart drivers #define DRIVES_(a,b,c,d,e,f,g,h,i,j,k,l) { a,b,c,d,e,f,g,h,i,j,k,l } -constexpr size_t Heaters = 8; // The number of heaters in the machine; 0 is the heated bed even if there isn't one +constexpr size_t NumEndstops = 12; // The number of inputs we have for endstops, filament sensors etc. +constexpr size_t NumHeaters = 8; // The number of heaters in the machine; 0 is the heated bed even if there isn't one constexpr size_t NumExtraHeaterProtections = 8; // The number of extra heater protection instances constexpr size_t NumThermistorInputs = 8; @@ -85,12 +86,12 @@ constexpr Pin DueX_INT = 17; // DueX interrupt pin = PA17 (was E6_STOP) // Endstops // RepRapFirmware only has a single endstop per axis. // Gcode defines if it is a max ("high end") or min ("low end") endstop and sets if it is active HIGH or LOW. -constexpr Pin END_STOP_PINS[DRIVES] = { 46, 02, 93, 74, 48, 96, 97, 98, 99, 17, 39, 8 }; -constexpr Pin DUEX_END_STOP_PINS[5] = { 200, 203, 202, 201, 213 }; // these replace endstops 5-9 if a DueX is present +constexpr Pin END_STOP_PINS[NumEndstops] = { 46, 02, 93, 74, 48, 96, 97, 98, 99, 17, 39, 8 }; +constexpr Pin DUEX_END_STOP_PINS[5] = { 200, 203, 202, 201, 213 }; // these replace endstops 5-9 if a DueX is present // HEATERS constexpr Pin TEMP_SENSE_PINS[NumThermistorInputs] = { 45, 47, 44, 61, 62, 63, 59, 18 }; // Thermistor pin numbers -constexpr Pin HEAT_ON_PINS[Heaters] = { 19, 20, 16, 35, 37, 40, 43, 15 }; // Heater pin numbers (heater 7 pin TBC) +constexpr Pin HEAT_ON_PINS[NumHeaters] = { 19, 20, 16, 35, 37, 40, 43, 15 }; // Heater pin numbers (heater 7 pin TBC) // Default thermistor parameters constexpr float BED_R25 = 100000.0; diff --git a/src/Fans/Fan.cpp b/src/Fans/Fan.cpp index 40f419f3..7e90f538 100644 --- a/src/Fans/Fan.cpp +++ b/src/Fans/Fan.cpp @@ -129,7 +129,7 @@ bool Fan::Configure(unsigned int mcode, int fanNum, GCodeBuffer& gb, const Strin if (gb.Seen('H')) // Set thermostatically-controlled heaters { seen = true; - int32_t heaters[Heaters + MaxVirtualHeaters]; // signed because we use H-1 to disable thermostatic mode + int32_t heaters[NumHeaters + MaxVirtualHeaters]; // signed because we use H-1 to disable thermostatic mode size_t numH = ARRAY_SIZE(heaters); gb.GetIntArray(heaters, numH, false); @@ -138,14 +138,14 @@ bool Fan::Configure(unsigned int mcode, int fanNum, GCodeBuffer& gb, const Strin for (size_t h = 0; h < numH; ++h) { const int hnum = heaters[h]; - if (hnum >= 0 && hnum < (int)Heaters) + if (hnum >= 0 && hnum < (int)NumHeaters) { SetBit(heatersMonitored, (unsigned int)hnum); } else if (hnum >= (int)FirstVirtualHeater && hnum < (int)(FirstVirtualHeater + MaxVirtualHeaters)) { // Heaters 100, 101... are virtual heaters i.e. CPU and driver temperatures - SetBit(heatersMonitored, Heaters + (unsigned int)hnum - FirstVirtualHeater); + SetBit(heatersMonitored, NumHeaters + (unsigned int)hnum - FirstVirtualHeater); } } if (heatersMonitored != 0) @@ -191,11 +191,11 @@ bool Fan::Configure(unsigned int mcode, int fanNum, GCodeBuffer& gb, const Strin if (heatersMonitored != 0) { reply.catf(", temperature: %.1f:%.1fC, heaters:", (double)triggerTemperatures[0], (double)triggerTemperatures[1]); - for (unsigned int i = 0; i < Heaters + MaxVirtualHeaters; ++i) + for (unsigned int i = 0; i < NumHeaters + MaxVirtualHeaters; ++i) { if (IsBitSet(heatersMonitored, i)) { - reply.catf(" %u", (i < Heaters) ? i : FirstVirtualHeater + i - Heaters); + reply.catf(" %u", (i < NumHeaters) ? i : FirstVirtualHeater + i - NumHeaters); } } reply.catf(", current speed: %d%%:", (int)(lastVal * 100.0)); @@ -264,21 +264,21 @@ void Fan::Refresh() { reqVal = 0.0; const bool bangBangMode = (triggerTemperatures[1] <= triggerTemperatures[0]); - for (size_t h = 0; h < Heaters + MaxVirtualHeaters; ++h) + for (size_t h = 0; h < NumHeaters + MaxVirtualHeaters; ++h) { // Check if this heater is both monitored by this fan and in use if ( IsBitSet(heatersMonitored, h) - && (h < reprap.GetToolHeatersInUse() || (h >= Heaters && h < Heaters + MaxVirtualHeaters) || reprap.GetHeat().IsBedOrChamberHeater(h)) + && (h < reprap.GetToolHeatersInUse() || (h >= NumHeaters && h < NumHeaters + MaxVirtualHeaters) || reprap.GetHeat().IsBedOrChamberHeater(h)) ) { // This heater is both monitored and potentially active - if (h < Heaters && reprap.GetHeat().IsTuning(h)) + if (h < NumHeaters && reprap.GetHeat().IsTuning(h)) { reqVal = 1.0; // when turning the PID for a monitored heater, turn the fan on } else { - const size_t heaterHumber = (h >= Heaters) ? (h - Heaters) + FirstVirtualHeater : h; + const size_t heaterHumber = (h >= NumHeaters) ? (h - NumHeaters) + FirstVirtualHeater : h; TemperatureError err; const float ht = reprap.GetHeat().GetTemperature(heaterHumber, err); if (err != TemperatureError::success || ht < BAD_LOW_TEMPERATURE || ht >= triggerTemperatures[1]) diff --git a/src/GCodes/GCodes.cpp b/src/GCodes/GCodes.cpp index 22f41cd7..88c1c9fb 100644 --- a/src/GCodes/GCodes.cpp +++ b/src/GCodes/GCodes.cpp @@ -1785,7 +1785,7 @@ bool GCodes::IsHeatingUp() const && ((num = fileGCode->GetCommandNumber()) == 109 || num == 116 || num == 190 || num == 191); } -#if HAS_VOLTAGE_MONITOR || HAS_SMART_DRIVERS +#if HAS_VOLTAGE_MONITOR || HAS_STALL_DETECT // Do an emergency pause following loss of power or a motor stall returning true if successful, false if needs to be retried bool GCodes::DoEmergencyPause() @@ -1798,7 +1798,7 @@ bool GCodes::DoEmergencyPause() // Save the resume info, stop movement immediately and run the low voltage pause script to lift the nozzle etc. GrabMovement(*autoPauseGCode); - const bool movesSkipped = reprap.GetMove().LowPowerPause(pauseRestorePoint); + const bool movesSkipped = reprap.GetMove().LowPowerOrStallPause(pauseRestorePoint); if (movesSkipped) { // The PausePrint call has filled in the restore point with machine coordinates @@ -3356,7 +3356,7 @@ GCodeResult GCodes::SetOrReportOffsets(GCodeBuffer &gb, const StringRef& reply) settingTemps = true; if (simulationMode == 0) { - float standby[Heaters]; + float standby[NumHeaters]; gb.GetFloatArray(standby, hCount, true); for (size_t h = 0; h < hCount; ++h) { @@ -3369,7 +3369,7 @@ GCodeResult GCodes::SetOrReportOffsets(GCodeBuffer &gb, const StringRef& reply) settingTemps = true; if (simulationMode == 0) { - float active[Heaters]; + float active[NumHeaters]; gb.GetFloatArray(active, hCount, true); for (size_t h = 0; h < hCount; ++h) { @@ -3448,8 +3448,8 @@ bool GCodes::ManageTool(GCodeBuffer& gb, const StringRef& reply) } // Check heaters - int32_t heaters[Heaters]; - size_t hCount = Heaters; + int32_t heaters[NumHeaters]; + size_t hCount = NumHeaters; if (gb.Seen('H')) { gb.GetIntArray(heaters, hCount, false); @@ -3780,7 +3780,7 @@ bool GCodes::SetHeaterProtection(GCodeBuffer& gb, const StringRef& reply) const int index = (gb.Seen('P')) ? gb.GetIValue() : (gb.Seen('H')) ? gb.GetIValue() : 1; // default to extruder 1 if no heater number provided - if ((index < 0 || index >= (int)Heaters) && (index < (int)FirstExtraHeaterProtection || index >= (int)(FirstExtraHeaterProtection + NumExtraHeaterProtections))) + if ((index < 0 || index >= (int)NumHeaters) && (index < (int)FirstExtraHeaterProtection || index >= (int)(FirstExtraHeaterProtection + NumExtraHeaterProtections))) { reply.printf("Invalid heater protection item '%d'", index); return true; @@ -3793,7 +3793,7 @@ bool GCodes::SetHeaterProtection(GCodeBuffer& gb, const StringRef& reply) if (gb.Seen('P') && gb.Seen('H')) { const int heater = gb.GetIValue(); - if (heater > (int)Heaters) // allow negative values to disable heater protection + if (heater > (int)NumHeaters) // allow negative values to disable heater protection { reply.printf("Invalid heater number '%d'", heater); return true; @@ -3807,7 +3807,7 @@ bool GCodes::SetHeaterProtection(GCodeBuffer& gb, const StringRef& reply) if (gb.Seen('X')) { const int heater = gb.GetIValue(); - if ((heater < 0 || heater > (int)Heaters) && (heater < (int)FirstVirtualHeater || heater >= (int)(FirstVirtualHeater + MaxVirtualHeaters))) + if ((heater < 0 || heater > (int)NumHeaters) && (heater < (int)FirstVirtualHeater || heater >= (int)(FirstVirtualHeater + MaxVirtualHeaters))) { reply.printf("Invalid heater number '%d'", heater); return true; @@ -3912,7 +3912,7 @@ void GCodes::SetPidParameters(GCodeBuffer& gb, int heater, const StringRef& repl heater = gb.GetIValue(); } - if (heater >= 0 && heater < (int)Heaters) + if (heater >= 0 && heater < (int)NumHeaters) { const FopDt& model = reprap.GetHeat().GetHeaterModel(heater); M301PidParameters pp = model.GetM301PidParameters(false); @@ -3946,7 +3946,7 @@ GCodeResult GCodes::SetHeaterParameters(GCodeBuffer& gb, const StringRef& reply) if (gb.Seen('P')) { const int heater = gb.GetIValue(); - if ((heater >= 0 && heater < (int)Heaters) || (heater >= (int)FirstVirtualHeater && heater < (int)(FirstVirtualHeater + MaxVirtualHeaters))) + if ((heater >= 0 && heater < (int)NumHeaters) || (heater >= (int)FirstVirtualHeater && heater < (int)(FirstVirtualHeater + MaxVirtualHeaters))) { Heat& heat = reprap.GetHeat(); const int oldChannel = heat.GetHeaterChannel(heater); @@ -3956,7 +3956,7 @@ GCodeResult GCodes::SetHeaterParameters(GCodeBuffer& gb, const StringRef& reply) if (!seen && oldChannel < 0) { // For backwards compatibility, if no sensor has been configured on this channel then assume the thermistor normally associated with the heater - if (heater < (int)Heaters && (gb.Seen('R') || gb.Seen('T') || gb.Seen('B'))) // if it has a thermistor and we are trying to configure it + if (heater < (int)NumHeaters && (gb.Seen('R') || gb.Seen('T') || gb.Seen('B'))) // if it has a thermistor and we are trying to configure it { channel = heater; } @@ -4808,7 +4808,7 @@ void GCodes::GrabResource(const GCodeBuffer& gb, Resource r) bool GCodes::LockHeater(const GCodeBuffer& gb, int heater) { - if (heater >= 0 && heater < (int)Heaters) + if (heater >= 0 && heater < (int)NumHeaters) { return LockResource(gb, HeaterResourceBase + heater); } diff --git a/src/GCodes/GCodes.h b/src/GCodes/GCodes.h index bce37642..7afa207f 100644 --- a/src/GCodes/GCodes.h +++ b/src/GCodes/GCodes.h @@ -237,7 +237,7 @@ private: static const Resource MoveResource = 0; // Movement system, including canned cycle variables static const Resource FileSystemResource = 1; // Non-sharable parts of the file system static const Resource HeaterResourceBase = 2; - static const Resource FanResourceBase = HeaterResourceBase + Heaters; + static const Resource FanResourceBase = HeaterResourceBase + NumHeaters; static const size_t NumResources = FanResourceBase + NUM_FANS; static_assert(NumResources <= 32, "Too many resources to keep a bitmap of them in class GCodeMachineState"); diff --git a/src/GCodes/GCodes2.cpp b/src/GCodes/GCodes2.cpp index d0e1e392..81a5599c 100644 --- a/src/GCodes/GCodes2.cpp +++ b/src/GCodes/GCodes2.cpp @@ -33,10 +33,12 @@ #if SUPPORT_TMC2660 # include "Movement/StepperDrivers/TMC2660.h" #endif - #if SUPPORT_TMC22xx # include "Movement/StepperDrivers/TMC22xx.h" #endif +#if SUPPORT_TMC51xx +# include "Movement/StepperDrivers/TMC51xx.h" +#endif #if SUPPORT_12864_LCD # include "Display/Display.h" @@ -1459,8 +1461,8 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) if (gb.Seen('H')) { // Wait for specified heaters to be ready - uint32_t heaters[Heaters]; - size_t heaterCount = Heaters; + uint32_t heaters[NumHeaters]; + size_t heaterCount = NumHeaters; gb.GetUnsignedArray(heaters, heaterCount, false); for (size_t i = 0; i < heaterCount; i++) @@ -1644,7 +1646,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) { heater = -1; } - else if (heater >= (int)Heaters) + else if (heater >= (int)NumHeaters) { reply.printf("Invalid heater number '%d'", heater); result = GCodeResult::error; @@ -2289,7 +2291,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) : reprap.GetHeat().IsChamberHeater(heater) ? 50.0 : 200.0; const float maxPwm = (gb.Seen('P')) ? gb.GetFValue() : reprap.GetHeat().GetHeaterModel(heater).GetMaxPwm(); - if (heater >= Heaters) + if (heater >= NumHeaters) { reply.copy("Bad heater number in M303 command"); } @@ -2324,7 +2326,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) if (gb.Seen('H')) { const unsigned int heater = gb.GetUIValue(); - if (heater < Heaters) + if (heater < NumHeaters) { const FopDt& model = reprap.GetHeat().GetHeaterModel(heater); bool seen = false; @@ -3014,7 +3016,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) if (gb.Seen('P')) { const unsigned int heater = gb.GetUIValue(); - if (heater < Heaters) + if (heater < NumHeaters) { reprap.ClearTemperatureFault(heater); } @@ -3027,7 +3029,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) else { // Clear all heater faults - for (unsigned int heater = 0; heater < Heaters; ++heater) + for (unsigned int heater = 0; heater < NumHeaters; ++heater) { reprap.ClearTemperatureFault(heater); } @@ -3246,7 +3248,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) if (gb.Seen('H')) { const unsigned heater = gb.GetUIValue(); - if (heater < Heaters) + if (heater < NumHeaters) { bool seenValue = false; float maxTempExcursion, maxFaultTime; @@ -3344,7 +3346,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) if (gb.Seen('P')) { const unsigned int heater = gb.GetUIValue(); - if (heater < Heaters) + if (heater < NumHeaters) { reply.printf("Average heater %u PWM: %.3f", heater, (double)reprap.GetHeat().GetAveragePWM(heater)); } diff --git a/src/Heating/Heat.cpp b/src/Heating/Heat.cpp index 3a05527c..3fb88247 100644 --- a/src/Heating/Heat.cpp +++ b/src/Heating/Heat.cpp @@ -92,7 +92,7 @@ void Heat::Init() const float tempLimit = (IsBedOrChamberHeater(index)) ? DefaultBedTemperatureLimit : DefaultExtruderTemperatureLimit; prot->Init(tempLimit); - if (index < Heaters) + if (index < NumHeaters) { pids[index]->SetHeaterProtection(prot); } @@ -111,7 +111,7 @@ void Heat::Init() pids[heater]->Init(DefaultBedHeaterGain, DefaultBedHeaterTimeConstant, DefaultBedHeaterDeadTime, false, false); } #if defined(DUET_06_085) - else if (heater == Heaters - 1) + else if (heater == NumHeaters - 1) { // On the Duet 085, the heater 6 pin is also the fan 1 pin. By default we support fan 1, so disable heater 6. pids[heater]->Init(-1.0, -1.0, -1.0, true, false); @@ -182,7 +182,7 @@ void Heat::Task() lastWakeTime = xTaskGetTickCount(); for (;;) { - for (size_t heater = 0; heater < Heaters; heater++) + for (size_t heater = 0; heater < NumHeaters; heater++) { pids[heater]->Spin(); } @@ -212,7 +212,7 @@ void Heat::Spin() if (now - lastTime >= platform.HeatSampleInterval()) { lastTime = now; - for (size_t heater = 0; heater < Heaters; heater++) + for (size_t heater = 0; heater < NumHeaters; heater++) { pids[heater]->Spin(); } @@ -273,7 +273,7 @@ bool Heat::AllHeatersAtSetTemperatures(bool includingBed) const bool Heat::HeaterAtSetTemperature(int8_t heater, bool waitWhenCooling) const { // If it hasn't anything to do, it must be right wherever it is... - if (heater < 0 || heater >= (int)Heaters || pids[heater]->SwitchedOff() || pids[heater]->FaultOccurred()) + if (heater < 0 || heater >= (int)NumHeaters || pids[heater]->SwitchedOff() || pids[heater]->FaultOccurred()) { return true; } @@ -287,7 +287,7 @@ bool Heat::HeaterAtSetTemperature(int8_t heater, bool waitWhenCooling) const Heat::HeaterStatus Heat::GetStatus(int8_t heater) const { - if (heater < 0 || heater >= (int)Heaters) + if (heater < 0 || heater >= (int)NumHeaters) { return HS_off; } @@ -345,7 +345,7 @@ bool Heat::IsChamberHeater(int8_t heater) const void Heat::SetActiveTemperature(int8_t heater, float t) { - if (heater >= 0 && heater < (int)Heaters) + if (heater >= 0 && heater < (int)NumHeaters) { pids[heater]->SetActiveTemperature(t); } @@ -353,12 +353,12 @@ void Heat::SetActiveTemperature(int8_t heater, float t) float Heat::GetActiveTemperature(int8_t heater) const { - return (heater >= 0 && heater < (int)Heaters) ? pids[heater]->GetActiveTemperature() : ABS_ZERO; + return (heater >= 0 && heater < (int)NumHeaters) ? pids[heater]->GetActiveTemperature() : ABS_ZERO; } void Heat::SetStandbyTemperature(int8_t heater, float t) { - if (heater >= 0 && heater < (int)Heaters) + if (heater >= 0 && heater < (int)NumHeaters) { pids[heater]->SetStandbyTemperature(t); } @@ -366,13 +366,13 @@ void Heat::SetStandbyTemperature(int8_t heater, float t) float Heat::GetStandbyTemperature(int8_t heater) const { - return (heater >= 0 && heater < (int)Heaters) ? pids[heater]->GetStandbyTemperature() : ABS_ZERO; + return (heater >= 0 && heater < (int)NumHeaters) ? pids[heater]->GetStandbyTemperature() : ABS_ZERO; } float Heat::GetHighestTemperatureLimit(int8_t heater) const { float limit = BAD_ERROR_TEMPERATURE; - if (heater >= 0 && heater < (int)Heaters) + if (heater >= 0 && heater < (int)NumHeaters) { for (const HeaterProtection *prot : heaterProtections) { @@ -392,7 +392,7 @@ float Heat::GetHighestTemperatureLimit(int8_t heater) const float Heat::GetLowestTemperatureLimit(int8_t heater) const { float limit = ABS_ZERO; - if (heater >= 0 && heater < (int)Heaters) + if (heater >= 0 && heater < (int)NumHeaters) { for (const HeaterProtection *prot : heaterProtections) { @@ -412,7 +412,7 @@ float Heat::GetLowestTemperatureLimit(int8_t heater) const // Get the current temperature of a heater float Heat::GetTemperature(int8_t heater) const { - return (heater >= 0 && heater < (int)Heaters) ? pids[heater]->GetTemperature() : ABS_ZERO; + return (heater >= 0 && heater < (int)NumHeaters) ? pids[heater]->GetTemperature() : ABS_ZERO; } // Get the target temperature of a heater @@ -426,7 +426,7 @@ float Heat::GetTargetTemperature(int8_t heater) const void Heat::Activate(int8_t heater) { - if (heater >= 0 && heater < (int)Heaters) + if (heater >= 0 && heater < (int)NumHeaters) { pids[heater]->Activate(); } @@ -434,7 +434,7 @@ void Heat::Activate(int8_t heater) void Heat::SwitchOff(int8_t heater) { - if (heater >= 0 && heater < (int)Heaters) + if (heater >= 0 && heater < (int)NumHeaters) { pids[heater]->SwitchOff(); lastStandbyTools[heater] = nullptr; @@ -443,7 +443,7 @@ void Heat::SwitchOff(int8_t heater) void Heat::SwitchOffAll(bool includingChamberAndBed) { - for (int heater = 0; heater < (int)Heaters; ++heater) + for (int heater = 0; heater < (int)NumHeaters; ++heater) { if (includingChamberAndBed || !IsBedOrChamberHeater(heater)) { @@ -454,7 +454,7 @@ void Heat::SwitchOffAll(bool includingChamberAndBed) void Heat::Standby(int8_t heater, const Tool *tool) { - if (heater >= 0 && heater < (int)Heaters) + if (heater >= 0 && heater < (int)NumHeaters) { pids[heater]->Standby(); lastStandbyTools[heater] = tool; @@ -463,7 +463,7 @@ void Heat::Standby(int8_t heater, const Tool *tool) void Heat::ResetFault(int8_t heater) { - if (heater >= 0 && heater < (int)Heaters) + if (heater >= 0 && heater < (int)NumHeaters) { pids[heater]->ResetFault(); } @@ -599,7 +599,7 @@ GCodeResult Heat::ConfigureHeaterSensor(unsigned int mcode, size_t heater, GCode // Get a pointer to the temperature sensor entry, or nullptr if the heater number is bad TemperatureSensor **Heat::GetSensor(size_t heater) { - if (heater < Heaters) + if (heater < NumHeaters) { return &heaterSensors[heater]; } @@ -613,7 +613,7 @@ TemperatureSensor **Heat::GetSensor(size_t heater) // Get a pointer to the temperature sensor entry, or nullptr if the heater number is bad (const version of above) TemperatureSensor * const *Heat::GetSensor(size_t heater) const { - if (heater < Heaters) + if (heater < NumHeaters) { return &heaterSensors[heater]; } @@ -636,7 +636,7 @@ HeaterProtection& Heat::AccessHeaterProtection(size_t index) const { if (index >= FirstExtraHeaterProtection && index < FirstExtraHeaterProtection + NumExtraHeaterProtections) { - return *heaterProtections[index + Heaters - FirstExtraHeaterProtection]; + return *heaterProtections[index + NumHeaters - FirstExtraHeaterProtection]; } return *heaterProtections[index]; } diff --git a/src/Heating/Heat.h b/src/Heating/Heat.h index 941db7c7..c139f4a6 100644 --- a/src/Heating/Heat.h +++ b/src/Heating/Heat.h @@ -60,13 +60,13 @@ public: int8_t GetBedHeater(size_t index) const // Get a hot bed heater number pre(index < NumBedHeaters); void SetBedHeater(size_t index, int8_t heater) // Set a hot bed heater number - pre(index < NumBedHeaters; -1 <= heater; heater < Heaters); + pre(index < NumBedHeaters; -1 <= heater; heater < NumHeaters); bool IsBedHeater(int8_t heater) const; // Check if this heater is a bed heater int8_t GetChamberHeater(size_t index) const // Get a chamber heater number pre(index < NumChamberHeaters); void SetChamberHeater(size_t index, int8_t heater) // Set a chamber heater number - pre(index < NumChamberHeaters; -1 <= heater; heater < Heaters); + pre(index < NumChamberHeaters; -1 <= heater; heater < NumHeaters); bool IsChamberHeater(int8_t heater) const; // Check if this heater is a chamber heater void SetActiveTemperature(int8_t heater, float t); @@ -88,46 +88,46 @@ public: void Diagnostics(MessageType mtype); // Output useful information float GetAveragePWM(size_t heater) const // Return the running average PWM to the heater as a fraction in [0, 1]. - pre(heater < Heaters); + pre(heater < NumHeaters); - bool IsBedOrChamberHeater(int8_t heater) const; // Queried by the Platform class + bool IsBedOrChamberHeater(int8_t heater) const; // Queried by the Platform class uint32_t GetLastSampleTime(size_t heater) const - pre(heater < Heaters); + pre(heater < NumHeaters); void StartAutoTune(size_t heater, float temperature, float maxPwm, const StringRef& reply) // Auto tune a PID - pre(heater < Heaters); + pre(heater < NumHeaters); bool IsTuning(size_t heater) const // Return true if the specified heater is auto tuning - pre(heater < Heaters); + pre(heater < NumHeaters); void GetAutoTuneStatus(const StringRef& reply) const; // Get the status of the current or last auto tune const FopDt& GetHeaterModel(size_t heater) const // Get the process model for the specified heater - pre(heater < Heaters); + pre(heater < NumHeaters); bool SetHeaterModel(size_t heater, float gain, float tc, float td, float maxPwm, float voltage, bool usePid, bool inverted, PwmFrequency pwmFreq) // Set the heater process model - pre(heater < Heaters); + pre(heater < NumHeaters); bool IsHeaterSignalInverted(size_t heater) // Set PWM signal inversion - pre(heater < Heaters); + pre(heater < NumHeaters); void SetHeaterSignalInverted(size_t heater, bool IsInverted) // Set PWM signal inversion - pre(heater < Heaters); + pre(heater < NumHeaters); void GetFaultDetectionParameters(size_t heater, float& maxTempExcursion, float& maxFaultTime) const - pre(heater < Heaters); + pre(heater < NumHeaters); void SetFaultDetectionParameters(size_t heater, float maxTempExcursion, float maxFaultTime) - pre(heater < Heaters); + pre(heater < NumHeaters); bool IsHeaterEnabled(size_t heater) const // Is this heater enabled? - pre(heater < Heaters); + pre(heater < NumHeaters); float GetHighestTemperatureLimit() const; // Get the highest temperature limit of any heater void SetM301PidParameters(size_t heater, const M301PidParameters& params) - pre(heater < Heaters); + pre(heater < NumHeaters); bool WriteModelParameters(FileStore *f) const; // Write heater model parameters to file returning true if no error @@ -140,12 +140,12 @@ public: void UpdateHeaterProtection(); // Updates the PIDs and HeaterProtection items when a heater is remapped bool CheckHeater(size_t heater) // Check if the heater is able to operate - pre(heater < Heaters); + pre(heater < NumHeaters); float GetTemperature(size_t heater, TemperatureError& err); // Result is in degrees Celsius const Tool* GetLastStandbyTool(int heater) const - pre(heater >= 0; heater < Heaters) + pre(heater >= 0; heater < NumHeaters) { return lastStandbyTools[heater]; } @@ -162,12 +162,12 @@ private: Platform& platform; // The instance of the RepRap hardware class - HeaterProtection *heaterProtections[Heaters + NumExtraHeaterProtections]; // Heater protection instances to guarantee legal heater temperature ranges + HeaterProtection *heaterProtections[NumHeaters + NumExtraHeaterProtections]; // Heater protection instances to guarantee legal heater temperature ranges - PID* pids[Heaters]; // A PID controller for each heater - const Tool* lastStandbyTools[Heaters]; // The last tool that caused the corresponding heater to be set to standby + PID* pids[NumHeaters]; // A PID controller for each heater + const Tool* lastStandbyTools[NumHeaters]; // The last tool that caused the corresponding heater to be set to standby - TemperatureSensor *heaterSensors[Heaters]; // The sensor used by the real heaters + TemperatureSensor *heaterSensors[NumHeaters]; // The sensor used by the real heaters TemperatureSensor *virtualHeaterSensors[MaxVirtualHeaters]; // Sensors for virtual heaters #ifdef RTOS diff --git a/src/Heating/HeaterProtection.cpp b/src/Heating/HeaterProtection.cpp index e8d4a9a5..fe94a933 100644 --- a/src/Heating/HeaterProtection.cpp +++ b/src/Heating/HeaterProtection.cpp @@ -16,7 +16,7 @@ HeaterProtection::HeaterProtection(size_t index) : next(nullptr) { // By default each heater protection element is mapped to its corresponding heater. // All other heater protection elements are unused and can be optionally assigned. - heater = supervisedHeater = (index >= Heaters) ? -1 : (int8_t)index; + heater = supervisedHeater = (index >= NumHeaters) ? -1 : (int8_t)index; } void HeaterProtection::Init(float tempLimit) diff --git a/src/Heating/Pid.cpp b/src/Heating/Pid.cpp index 1472583f..152bdd40 100644 --- a/src/Heating/Pid.cpp +++ b/src/Heating/Pid.cpp @@ -86,7 +86,7 @@ bool PID::SetModel(float gain, float tc, float td, float maxPwm, float voltage, if (rslt) { #if defined(DUET_06_085) - if (heater == Heaters - 1) + if (heater == NumHeaters - 1) { // The last heater on the Duet 0.8.5 + DueX4 shares its pin with Fan1 platform.EnableSharedFan(!model.IsEnabled()); diff --git a/src/Movement/Move.cpp b/src/Movement/Move.cpp index 37d5a771..ddb7a462 100644 --- a/src/Movement/Move.cpp +++ b/src/Movement/Move.cpp @@ -518,10 +518,10 @@ bool Move::PausePrint(RestorePoint& rp) return true; } -#if HAS_VOLTAGE_MONITOR +#if HAS_VOLTAGE_MONITOR || HAS_STALL_DETECT // Pause the print immediately, returning true if we were able to skip or abort any moves and setting up to the move we aborted -bool Move::LowPowerPause(RestorePoint& rp) +bool Move::LowPowerOrStallPause(RestorePoint& rp) { const DDA * const savedDdaRingAddPointer = ddaRingAddPointer; bool abortedMove = false; diff --git a/src/Movement/Move.h b/src/Movement/Move.h index 87070b4b..504693aa 100644 --- a/src/Movement/Move.h +++ b/src/Movement/Move.h @@ -112,8 +112,8 @@ public: void PrintCurrentDda() const; // For debugging bool PausePrint(RestorePoint& rp); // Pause the print as soon as we can, returning true if we were able to -#if HAS_VOLTAGE_MONITOR - bool LowPowerPause(RestorePoint& rp); // Pause the print immediately, returning true if we were able to +#if HAS_VOLTAGE_MONITOR || HAS_STALL_DETECT + bool LowPowerOrStallPause(RestorePoint& rp); // Pause the print immediately, returning true if we were able to #endif bool NoLiveMovement() const; // Is a move running, or are there any queued? diff --git a/src/Movement/StepperDrivers/TMC22xx.cpp b/src/Movement/StepperDrivers/TMC22xx.cpp index 68ec86f8..0515be81 100644 --- a/src/Movement/StepperDrivers/TMC22xx.cpp +++ b/src/Movement/StepperDrivers/TMC22xx.cpp @@ -1,5 +1,5 @@ /* - * TMC2660.cpp + * TMC22xx.cpp * * Created on: 23 Jan 2016 * Author: David @@ -36,8 +36,6 @@ enum class DriversState : uint8_t static DriversState driversState = DriversState::noPower; -const int ChopperControlRegisterMode = 999; // mode passed to get/set microstepping to indicate we want the chopper control register - // GCONF register (0x00, RW) constexpr uint8_t REGNUM_GCONF = 0x00; constexpr uint32_t GCONF_USE_VREF = 1 << 0; // use external VRef diff --git a/src/Movement/StepperDrivers/TMC22xx.h b/src/Movement/StepperDrivers/TMC22xx.h index d3f2d627..7aed6ca2 100644 --- a/src/Movement/StepperDrivers/TMC22xx.h +++ b/src/Movement/StepperDrivers/TMC22xx.h @@ -1,5 +1,5 @@ /* - * ExternalDrivers.h + * TMC22xx.h * * Created on: 23 Jan 2016 * Author: David diff --git a/src/Movement/StepperDrivers/TMC2660.cpp b/src/Movement/StepperDrivers/TMC2660.cpp index 9405847a..4c439f9e 100644 --- a/src/Movement/StepperDrivers/TMC2660.cpp +++ b/src/Movement/StepperDrivers/TMC2660.cpp @@ -12,7 +12,13 @@ #include "TMC2660.h" #include "RepRap.h" #include "Movement/Move.h" -#include "sam/drivers/pdc/pdc.h" + +# if SAME70 +# include "sam/drivers/xdmac/xdmac.h" +# else +# include "sam/drivers/pdc/pdc.h" +# endif + #include "sam/drivers/usart/usart.h" const float MaximumMotorCurrent = 2400.0; @@ -26,8 +32,6 @@ static size_t numTmc2660Drivers; static bool driversPowered = false; -const int ChopperControlRegisterMode = 999; // mode passed to get/set microstepping to indicate we want the chopper control register - // The SPI clock speed is a compromise: // - too high and polling the driver chips take too much of the CPU time // - too low and we won't detect stalls quickly enough @@ -227,12 +231,14 @@ private: // State structures for all drivers static TmcDriverState driverStates[MaxSmartDrivers]; +#if !SAME70 // PDC address static Pdc * const spiPdc = -#if TMC2660_USES_USART +# if TMC2660_USES_USART usart_get_pdc_base(USART_TMC2660); -#else +# else spi_get_pdc_base(SPI_TMC2660); +# endif #endif // Words to send and receive driver SPI data from/to @@ -245,6 +251,97 @@ static TmcDriverState * volatile currentDriver = nullptr; // volatile because th // Set up the PDC to send a register and receive the status /*static*/ inline void TmcDriverState::SetupDMA(uint32_t outVal) { +#if SAME70 + /* From the data sheet: + * Single Block Transfer With Single Microblock + 1. Read the XDMAC Global Channel Status Register (XDMAC_GS) to select a free channel. [we use fixed channel numbers instead.] + 2. Clear the pending Interrupt Status bit(s) by reading the selected XDMAC Channel x Interrupt Status + Register (XDMAC_CISx). + 3. Write the XDMAC Channel x Source Address Register (XDMAC_CSAx) for channel x. + 4. Write the XDMAC Channel x Destination Address Register (XDMAC_CDAx) for channel x. + 5. Program field UBLEN in the XDMAC Channel x Microblock Control Register (XDMAC_CUBCx) with + the number of data. + 6. Program the XDMAC Channel x Configuration Register (XDMAC_CCx): + 6.1. Clear XDMAC_CCx.TYPE for a memory-to-memory transfer, otherwise set this bit. + 6.2. Configure XDMAC_CCx.MBSIZE to the memory burst size used. + 6.3. Configure XDMAC_CCx.SAM and DAM to Memory Addressing mode. + 6.4. Configure XDMAC_CCx.DSYNC to select the peripheral transfer direction. + 6.5. Configure XDMAC_CCx.CSIZE to configure the channel chunk size (only relevant for + peripheral synchronized transfer). + 6.6. Configure XDMAC_CCx.DWIDTH to configure the transfer data width. + 6.7. Configure XDMAC_CCx.SIF, XDMAC_CCx.DIF to configure the master interface used to + read data and write data, respectively. + 6.8. Configure XDMAC_CCx.PERID to select the active hardware request line (only relevant for + a peripheral synchronized transfer). + 6.9. Set XDMAC_CCx.SWREQ to use a software request (only relevant for a peripheral + synchronized transfer). + 7. Clear the following five registers: + – XDMAC Channel x Next Descriptor Control Register (XDMAC_CNDCx) + – XDMAC Channel x Block Control Register (XDMAC_CBCx) + – XDMAC Channel x Data Stride Memory Set Pattern Register (XDMAC_CDS_MSPx) + – XDMAC Channel x Source Microblock Stride Register (XDMAC_CSUSx) + – XDMAC Channel x Destination Microblock Stride Register (XDMAC_CDUSx) + This indicates that the linked list is disabled, there is only one block and striding is disabled. + 8. Enable the Microblock interrupt by writing a ‘1’ to bit BIE in the XDMAC Channel x Interrupt Enable + Register (XDMAC_CIEx). Enable the Channel x Interrupt Enable bit by writing a ‘1’ to bit IEx in the + XDMAC Global Interrupt Enable Register (XDMAC_GIE). + 9. Enable channel x by writing a ‘1’ to bit ENx in the XDMAC Global Channel Enable Register + (XDMAC_GE). XDMAC_GS.STx (XDMAC Channel x Status bit) is set by hardware. + 10. Once completed, the DMA channel sets XDMAC_CISx.BIS (End of Block Interrupt Status bit) and + generates an interrupt. XDMAC_GS.STx is cleared by hardware. The software can either wait for + an interrupt or poll the channel status bit. + + The following code is adapted form the code in the HSMCI driver. + */ + + // Receive + { + xdmac_channel_disable(XDMAC, XDMAC_CHAN_TMC_RX); + xdmac_channel_config_t p_cfg = {0, 0, 0, 0, 0, 0, 0, 0}; + p_cfg.mbr_cfg = XDMAC_CC_TYPE_PER_TRAN + | XDMAC_CC_MBSIZE_SINGLE + | XDMAC_CC_DSYNC_PER2MEM + | XDMAC_CC_CSIZE_CHK_1 + | XDMAC_CC_DWIDTH_BYTE + | XDMAC_CC_SIF_AHB_IF1 + | XDMAC_CC_DIF_AHB_IF0 + | XDMAC_CC_SAM_FIXED_AM + | XDMAC_CC_DAM_INCREMENTED_AM + | XDMAC_CC_PERID(XDMAC_CHAN_TMC_RX); + p_cfg.mbr_ubc = 3; + HSMCI->HSMCI_MR |= HSMCI_MR_FBYTE; + p_cfg.mbr_sa = reinterpret_cast<uint32_t>(&(USART_TMC2660->US_RHR)); + p_cfg.mbr_da = reinterpret_cast<uint32_t>(&spiDataIn); + xdmac_configure_transfer(XDMAC, XDMAC_CHAN_TMC_RX, &p_cfg); + } + + // Transmit + { + xdmac_channel_disable(XDMAC, XDMAC_CHAN_TMC_TX); + xdmac_channel_config_t p_cfg = {0, 0, 0, 0, 0, 0, 0, 0}; + p_cfg.mbr_cfg = XDMAC_CC_TYPE_PER_TRAN + | XDMAC_CC_MBSIZE_SINGLE + | XDMAC_CC_DSYNC_MEM2PER + | XDMAC_CC_CSIZE_CHK_1 + | XDMAC_CC_DWIDTH_BYTE + | XDMAC_CC_SIF_AHB_IF0 + | XDMAC_CC_DIF_AHB_IF1 + | XDMAC_CC_SAM_INCREMENTED_AM + | XDMAC_CC_DAM_FIXED_AM + | XDMAC_CC_PERID(XDMAC_CHAN_TMC_TX); + p_cfg.mbr_ubc = 3; + HSMCI->HSMCI_MR |= HSMCI_MR_FBYTE; + p_cfg.mbr_sa = reinterpret_cast<uint32_t>(&spiDataOut); + p_cfg.mbr_da = reinterpret_cast<uint32_t>(&(USART_TMC2660->US_THR)); + xdmac_configure_transfer(XDMAC, XDMAC_CHAN_TMC_TX, &p_cfg); + } + + // SPI sends data MSB first, but the firmware uses little-endian mode, so we need to reverse the byte order + spiDataOut = cpu_to_be32(outVal << 8); + + xdmac_channel_enable(XDMAC, XDMAC_CHAN_TMC_RX); + xdmac_channel_enable(XDMAC, XDMAC_CHAN_TMC_TX); +#else // Faster code, not using the ASF spiPdc->PERIPH_PTCR = (PERIPH_PTCR_RXTDIS | PERIPH_PTCR_TXTDIS); // disable the PDC @@ -258,6 +355,7 @@ static TmcDriverState * volatile currentDriver = nullptr; // volatile because th spiPdc->PERIPH_RCR = 3; spiPdc->PERIPH_PTCR = (PERIPH_PTCR_RXTEN | PERIPH_PTCR_TXTEN); // enable the PDC +#endif } // Initialise the state of the driver and its CS pin @@ -591,13 +689,21 @@ inline void TmcDriverState::StartTransfer() #endif fastDigitalWriteLow(pin); // set CS low - SetupDMA(regVal); // set up the PDC + SetupDMA(regVal); // set up the PDC or DMAC -#if TMC2660_USES_USART + // Enable the interrupt +#if SAME70 + xdmac_channel_enable_interrupt(XDMAC, XDMAC_CHAN_TMC_RX, XDMAC_CIE_BIE); +#elif TMC2660_USES_USART USART_TMC2660->US_IER = US_IER_ENDRX; // enable end-of-transfer interrupt - USART_TMC2660->US_CR = US_CR_RXEN | US_CR_TXEN; // enable transmitter and receiver #else SPI_TMC2660->SPI_IER = SPI_IER_ENDRX; // enable end-of-transfer interrupt +#endif + + // Enable the transfer +#if TMC2660_USES_USART + USART_TMC2660->US_CR = US_CR_RXEN | US_CR_TXEN; // enable transmitter and receiver +#else SPI_TMC2660->SPI_CR = SPI_CR_SPIEN; // enable SPI #endif @@ -633,7 +739,9 @@ void TMC2660_SPI_Handler(void) // Driver power is down or there is no current driver, so stop polling -#if TMC2660_USES_USART +#if SAME70 + xdmac_channel_disable_interrupt(XDMAC, XDMAC_CHAN_TMC_RX, XDMAC_CIE_BIE); +#elif TMC2660_USES_USART USART_TMC2660->US_IDR = US_IDR_ENDRX; #else SPI_TMC2660->SPI_IDR = SPI_IDR_ENDRX; @@ -702,6 +810,13 @@ namespace SmartDrivers { driverStates[driver].Init(driver, driverSelectPins[driver]); // axes are mapped straight through to drivers initially } + +#if SAME70 + pmc_enable_periph_clk(ID_XDMAC); + xdmac_channel_disable_interrupt(XDMAC, XDMAC_CHAN_TMC_TX, 0xFFFFFFFF); + xdmac_channel_disable_interrupt(XDMAC, XDMAC_CHAN_TMC_RX, 0xFFFFFFFF); + xdmac_enable_interrupt(XDMAC, XDMAC_CHAN_TMC_RX); +#endif } void SetAxisNumber(size_t driver, uint32_t axisNumber) diff --git a/src/Movement/StepperDrivers/TMC2660.h b/src/Movement/StepperDrivers/TMC2660.h index a659cc7b..a94aedcb 100644 --- a/src/Movement/StepperDrivers/TMC2660.h +++ b/src/Movement/StepperDrivers/TMC2660.h @@ -1,5 +1,5 @@ /* - * ExternalDrivers.h + * TMC2660.h * * Created on: 23 Jan 2016 * Author: David diff --git a/src/Movement/StepperDrivers/TMC51xx.cpp b/src/Movement/StepperDrivers/TMC51xx.cpp new file mode 100644 index 00000000..2c5efd18 --- /dev/null +++ b/src/Movement/StepperDrivers/TMC51xx.cpp @@ -0,0 +1,617 @@ +/* + * TMC51xx.cpp + * + * Created on: 26 Aug 2018 + * Author: David + * Purpose: + * Support for TMC5130 and TMC5160 stepper drivers + */ + +#include "RepRapFirmware.h" + +#if SUPPORT_TMC51xx + +#include "TMC51xx.h" + +// The SPI clock speed is a compromise: +// - too high and polling the driver chips take too much of the CPU time +// - too low and we won't detect stalls quickly enough +// With a 4MHz SPI clock: +// - polling the drivers makes calculations take ??% longer, so it is taking about ??% of the CPU time +// - we poll all ?? drivers in about ??us +// With a 2MHz SPI clock: +// - polling the drivers makes calculations take ??% longer, so it is taking about ??% of the CPU time +// - we poll all ?? drivers in about ??us +const uint32_t DriversSpiClockFrequency = 2000000; // 2MHz SPI clock +const uint32_t TransferTimeout = 2; // any transfer should complete within 2 ticks @ 1ms/tick + +// GCONF register (0x00, RW) +constexpr uint8_t REGNUM_GCONF = 0x00; + +constexpr uint32_t GCONF_5130_USE_VREF = 1 << 0; // use external VRef +constexpr uint32_t GCONF_5130_INT_RSENSE = 1 << 1; // use internal sense resistors +constexpr uint32_t GCONF_5130_END_COMMUTATION = 1 << 3; // Enable commutation by full step encoder (DCIN_CFG5 = ENC_A, DCEN_CFG4 = ENC_B) + +constexpr uint32_t GCONF_5160_RECAL = 1 << 0; // Zero crossing recalibration during driver disable (via ENN or via TOFF setting) +constexpr uint32_t GCONF_5160_FASTSTANDSTILL = 1 << 1; // Timeout for step execution until standstill detection: 1: Short time: 2^18 clocks, 0: Normal time: 2^20 clocks +constexpr uint32_t GCONF_5160_MULTISTEP_FILT = 1 << 3; // Enable step input filtering for stealthChop optimization with external step source (default=1) + +constexpr uint32_t GCONF_SPREAD_CYCLE = 1 << 2; // use spread cycle mode (else stealthchop mode) +constexpr uint32_t GCONF_REV_DIR = 1 << 4; // reverse motor direction +constexpr uint32_t GCONF_DIAG0_ERROR = 1 << 5; // Enable DIAG0 active on driver errors: Over temperature (ot), short to GND (s2g), undervoltage chargepump (uv_cp) + // DIAG0 always shows the reset-status, i.e. is active low during reset condition. +constexpr uint32_t GCONF_DIAG0_OTPW = 1 << 6; // Enable DIAG0 active on driver over temperature prewarning (otpw) +constexpr uint32_t GCONF_DIAG0_STALL = 1 << 7; // Enable DIAG0 active on motor stall (set TCOOLTHRS before using this feature) +constexpr uint32_t GCONF_DIAG1_STALL = 1 << 8; // Enable DIAG1 active on motor stall (set TCOOLTHRS before using this feature) +constexpr uint32_t GCONF_DIAG1_INDEX = 1 << 9; // Enable DIAG1 active on index position (microstep look up table position 0) +constexpr uint32_t GCONF_DIAG1_ONSTATE = 1 << 10; // Enable DIAG1 active when chopper is on (for the coil which is in the second half of the fullstep) +constexpr uint32_t GCONF_DIAG1_STEPS_SKIPPED = 1 << 11; // Enable output toggle when steps are skipped in dcStep mode (increment of LOST_STEPS). Do not enable in conjunction with other DIAG1 options. +constexpr uint32_t GCONF_DIAG0_PUSHPULL = 1 << 12; // 0: SWN_DIAG0 is open collector output (active low), 1: Enable SWN_DIAG0 push pull output (active high) +constexpr uint32_t GCONF_DIAG1_PUSHPULL = 1 << 13; // 0: SWN_DIAG1 is open collector output (active low), 1: Enable SWN_DIAG1 push pull output (active high) +constexpr uint32_t GCONF_SMALL_HYSTERESIS = 1 << 14; // 0: Hysteresis for step frequency comparison is 1/16, 1: Hysteresis for step frequency comparison is 1/32 +constexpr uint32_t GCONF_STOP_ENABLE = 1 << 15; // 0: Normal operation, 1: Emergency stop: ENCA_DCIN stops the sequencer when tied high (no steps become executed by the sequencer, motor goes to standstill state) +constexpr uint32_t GCONF_DIRECT_MODE = 1 << 16; // 0: Normal operation, 1: Motor coil currents and polarity directly programmed via serial interface: + // Register XTARGET (0x2D) specifies signed coil A current (bits 8..0) and coil B current (bits 24..16). + // In this mode, the current is scaled by IHOLD setting. Velocity based current regulation of stealthChop + // is not available in this mode. The automatic stealthChop current regulation will work only for low stepper motor velocities. +constexpr uint32_t GCONF_TEST_MODE = 1 << 17; // 0: Normal operation, 1: Enable analog test output on pin ENCN_DCO. IHOLD[1..0] selects the function of ENCN_DCO: 0…2: T120, DAC, VDDH + +constexpr uint32_t DefaultGConfReg_5130 = 0; +constexpr uint32_t DefaultGConfReg_5160 = GCONF_5160_MULTISTEP_FILT; + +// General configuration and status registers + +// GSTAT register (0x01, RW). Write 1 bits to clear the flags. +constexpr uint8_t REGNUM_GSTAT = 0x01; +constexpr uint32_t GSTAT_RESET = 1 << 0; // driver has been reset since last read +constexpr uint32_t GSTAT_DRV_ERR = 1 << 1; // driver has been shut down due to over temp or short circuit +constexpr uint32_t GSTAT_UV_CP = 1 << 2; // undervoltage on charge pump, driver disabled. Not latched so does not need to be cleared. + +// IFCOUNT register (0x02, RO) is not used in SPI mode +// SLAVECONF register (0x03, WO) is not used in SPI mode +// IOIN register (0x04, RO) reads the state of all input pins. We don't use it. +// OUTPUT register (0x04, WO) is not used in SPI mode +// X_COMPARE register (0x05, WO) allows us to get a pulse on DIAG1 when an index is passed. We don't use it. +// OTP_PROG register (0x06, WO, 5160 only) is not used in this firmware +// OTP_READ register (0x07, RO, 5160 only) is not used in this firmware +// FACTORY_CONF register (0x08, RW, 5160 only) trims the clock frequency and is preset for 12MHz + +// SHORT_CONF register +constexpr uint8_t REGNUM_5160_SHORTCONF = 0x09; + +constexpr uint32_t SHORTCONF_S2VS_LEVEL_SHIFT = 0; +constexpr uint32_t SHORTCONF_S2VS_LEVEL_MASK = 15; // Short to VS detector level for lowside FETs. Checks for voltage drop in LS MOSFET and sense resistor. + // 4 (highest sensitivity) … 15 (lowest sensitivity); 10 recommended for normal operation (Reset default 12 via OTP) + // Hint: Settings from 1 to 3 will trigger during normal operation due to voltage drop on sense resistor. +constexpr uint32_t SHORTCONF_S2G_LEVEL_SHIFT = 8; +constexpr uint32_t SHORTCONF_S2G_LEVEL_MASK = (15 << 8); // Short to GND detector level for highside FETs. Checks for voltage drop on high side MOSFET + // 2 (highest sensitivity) … 15 (lowest sensitivity) 6 to 10 recommended (Reset Default: 12 via OTP) +constexpr uint32_t SHORTCONF_FILTER_SHIFT = 16; +constexpr uint32_t SHORTCONF_FILTER_MASK = (3 << 16); // Spike filtering bandwidth for short detection 0 (lowest, 100ns), 1 (1us), 2 (2us) 3 (3us) + // Hint: A good PCB layout will allow using setting 0. Increase value, if erroneous short detection occurs. Reset Default = 1 +constexpr uint32_t SHORTCONF_DELAY = (1 << 18); // Short detection delay 0=750ns: normal, 1=1500ns: high The short detection delay shall cover the bridge switching time. + // 0 will work for most applications. (Reset Default = 0) + +// DRV_CONF register +constexpr uint8_t REGNUM_5160_DRVCONF = 0x0A; +constexpr uint32_t DRVCONF_BBMTIME_SHIFT = 0; +constexpr uint32_t DRVCONF_BBMTIME_MASK = 31; // Break-Before make delay 0=shortest (100ns) … 16 (200ns) … 24=longest (375ns) >24 not recommended, use BBMCLKS instead + // Hint: 0 recommended due to fast switching MOSFETs (Reset Default = 0) +constexpr uint32_t DRVCONF_BBMCLKS_SHIFT = 8; +constexpr uint32_t DRVCONF_BBMCLKS_MASK = (15 << 8); // Digital BBM time in clock cycles (typ. 83ns). The longer setting rules (BBMTIME vs. BBMCLKS). + // Reset Default: 2 via OTP. Hint: 2, or down to 0 recommended due to fast switching MOSFETs +constexpr uint32_t DRVCONF_OTSELECT_SHIFT = 16; +constexpr uint32_t DRVCONF_OTSELECT_MASK = (3 << 16); // Selection of over temperature level for bridge disable, switch on after cool down to 120°C / OTPW level. Reset Default = 0. + // 00: 150°C (not recommended – MOSFET might overheat); 01: 143°C 10: 136°C (Recommended); 11: 120°C (not recommended, no hysteresis) + // Hint: Adapt overtemperature threshold as required to protect the MOSFETs or other components on the PCB. +constexpr uint32_t DRVCONF_STRENGTH_SHIFT = 18; +constexpr uint32_t DRVCONF_STRENGTH_MASK = (3 << 18); // Selection of gate driver current. Adapts the gate driver current to the gate charge of the external MOSFETs. + // 00: Normal slope (Recommended) 01: Normal+TC (medium above OTPW level) 10: Fast slope. Reset Default = 10. +constexpr uint32_t DRVCONF_FILT_ISENSE_SHIFT = 20; +constexpr uint32_t DRVCONF_FILT_ISENSE_MASK = (3 << 20); // Filter time constant of sense amplifier to suppress ringing and coupling from second coil operation + // 00: low – 100ns 01: – 200ns 10: – 300ns 11: high – 400ns + // Hint: Increase setting if motor chopper noise occurs due to cross-coupling of both coils. Reset Default = 0. + +constexpr uint8_t REGNUM_5160_GLOBAL_SCALER = 0x0B; // Global scaling of Motor current. This value is multiplied to the current scaling in order to adapt a drive to a + // certain motor type. This value should be chosen before tuning other settings, because it also influences chopper hysteresis. + // 0: Full Scale (or write 256) 1 … 31: Not allowed for operation 32 … 255: 32/256 … 255/256 of maximum current. + // Hint: Values >128 recommended for best results. Reset Default 0. + +constexpr uint8_t REGNUM_5160_OFFSET_READ = 0x0B; // Bits 8..15: Offset calibration result phase A (signed). Bits 0..7: Offset calibration result phase B (signed). + +// Velocity dependent control registers + +// IHOLD_IRUN register (WO) +constexpr uint8_t REGNUM_IHOLDIRUN = 0x10; +constexpr uint32_t IHOLDIRUN_IHOLD_SHIFT = 0; // standstill current +constexpr uint32_t IHOLDIRUN_IHOLD_MASK = 0x1F << IHOLDIRUN_IHOLD_SHIFT; +constexpr uint32_t IHOLDIRUN_IRUN_SHIFT = 8; +constexpr uint32_t IHOLDIRUN_IRUN_MASK = 0x1F << IHOLDIRUN_IRUN_SHIFT; +constexpr uint32_t IHOLDIRUN_IHOLDDELAY_SHIFT = 16; +constexpr uint32_t IHOLDIRUN_IHOLDDELAY_MASK = 0x0F << IHOLDIRUN_IHOLDDELAY_SHIFT; + +constexpr uint32_t DefaultIholdIrunReg = (0 << IHOLDIRUN_IHOLD_SHIFT) | (0 << IHOLDIRUN_IRUN_SHIFT) | (2 << IHOLDIRUN_IHOLDDELAY_SHIFT); + // approx. 0.5 sec motor current reduction to half power + +constexpr uint8_t REGNUM_TPOWER_DOWN = 0x11; +constexpr uint8_t REGNUM_TSTEP = 0x12; +constexpr uint8_t REGNUM_TPWMTHRS = 0x13; +constexpr uint8_t REGNUM_VACTUAL = 0x22; + +// Sequencer registers (read only) +constexpr uint8_t REGNUM_MSCNT = 0x6A; +constexpr uint8_t REGNUM_MSCURACT = 0x6B; + +// Chopper control registers + +// CHOPCONF register +constexpr uint8_t REGNUM_CHOPCONF = 0x6C; +constexpr uint32_t CHOPCONF_TOFF_SHIFT = 0; // off time setting, 0 = disable driver +constexpr uint32_t CHOPCONF_TOFF_MASK = 0x0F << CHOPCONF_TOFF_SHIFT; +constexpr uint32_t CHOPCONF_HSTRT_SHIFT = 4; // hysteresis start +constexpr uint32_t CHOPCONF_HSTRT_MASK = 0x07 << CHOPCONF_HSTRT_SHIFT; +constexpr uint32_t CHOPCONF_HEND_SHIFT = 7; // hysteresis end +constexpr uint32_t CHOPCONF_HEND_MASK = 0x0F << CHOPCONF_HEND_SHIFT; +constexpr uint32_t CHOPCONF_TBL_SHIFT = 15; // blanking time +constexpr uint32_t CHOPCONF_TBL_MASK = 0x03 << CHOPCONF_TBL_SHIFT; +constexpr uint32_t CHOPCONF_VSENSE_HIGH = 1 << 17; // use high sensitivity current scaling +constexpr uint32_t CHOPCONF_MRES_SHIFT = 24; // microstep resolution +constexpr uint32_t CHOPCONF_MRES_MASK = 0x0F << CHOPCONF_MRES_SHIFT; +constexpr uint32_t CHOPCONF_INTPOL = 1 << 28; // use interpolation +constexpr uint32_t CHOPCONF_DEDGE = 1 << 29; // step on both edges +constexpr uint32_t CHOPCONF_DISS2G = 1 << 30; // disable short to ground protection +constexpr uint32_t CHOPCONF_DISS2VS = 1 << 31; // disable low side short protection + +constexpr uint32_t DefaultChopConfReg = 0x10000053 | CHOPCONF_VSENSE_HIGH; // this is the reset default + CHOPCONF_VSENSE_HIGH - try it until we find something better + +// DRV_STATUS register. See the .h file for the bit definitions. +constexpr uint8_t REGNUM_DRV_STATUS = 0x6F; + +// PWMCONF register +constexpr uint8_t REGNUM_PWMCONF = 0x70; + +constexpr uint32_t DefaultPwmConfReg = 0xC10D0024; // this is the reset default - try it until we find something better + +constexpr uint8_t REGNUM_PWM_SCALE = 0x71; +constexpr uint8_t REGNUM_PWM_AUTO = 0x72; + +// Common data +static size_t numTmc51xxDrivers; + +enum class DriversState : uint8_t +{ + noPower = 0, + initialising, + ready +}; + +static DriversState driversState = DriversState::noPower; + +//---------------------------------------------------------------------------------------------------------------------------------- +// Private types and methods + +class TmcDriverState +{ +public: + void Init(uint32_t p_driverNumber, Pin p_pin); + void SetAxisNumber(size_t p_axisNumber); + void WriteAll(); + bool SetChopConf(uint32_t newVal); + bool SetOffTime(uint32_t newVal); + uint32_t GetChopConf() const; + uint32_t GetOffTime() const; + void SetCoolStep(uint16_t coolStepConfig); + bool SetMicrostepping(uint32_t shift, bool interpolate); + unsigned int GetMicrostepping(bool& interpolation) const; // Get microstepping + bool SetDriverMode(unsigned int mode); + DriverMode GetDriverMode() const; + void SetCurrent(float current); + void Enable(bool en); + void AppendDriverStatus(const StringRef& reply); + uint8_t GetDriverNumber() const { return driverNumber; } + bool UpdatePending() const { return registersToUpdate != 0; } + void SetStallDetectThreshold(int sgThreshold); + void SetStallDetectFilter(bool sgFilter); + void SetStallMinimumStepsPerSecond(unsigned int stepsPerSecond); + void AppendStallConfig(const StringRef& reply) const; + + float GetStandstillCurrentPercent() const; + void SetStandstillCurrentPercent(float percent); + + void TransferDone() __attribute__ ((hot)); // called by the ISR when the SPI transfer has completed + void StartTransfer() __attribute__ ((hot)); // called to start a transfer + void TransferTimedOut() { ++numTimeouts; } + void AbortTransfer(); + + uint32_t ReadLiveStatus() const; + uint32_t ReadAccumulatedStatus(uint32_t bitsToKeep); + + // Variables used by the ISR + static TmcDriverState * volatile currentDriver; // volatile because the ISR changes it + static uint32_t transferStartedTime; + + void UartTmcHandler(); // core of the ISR for this driver + +private: + void UpdateRegister(size_t regIndex, uint32_t regVal); + void UpdateChopConfRegister(); // calculate the chopper control register and flag it for sending + void UpdateCurrent(); + +#if TMC22xx_HAS_MUX + void SetUartMux(); + static void SetupDMASend(uint8_t regnum, uint32_t outVal, uint8_t crc) __attribute__ ((hot)); // set up the PDC to send a register + static void SetupDMAReceive(uint8_t regnum, uint8_t crc) __attribute__ ((hot)); // set up the PDC to receive a register +#else + void SetupDMASend(uint8_t regnum, uint32_t outVal, uint8_t crc) __attribute__ ((hot)); // set up the PDC to send a register + void SetupDMAReceive(uint8_t regnum, uint8_t crc) __attribute__ ((hot)); // set up the PDC to receive a register +#endif + + static constexpr unsigned int NumWriteRegisters = 5; // the number of registers that we write to + static const uint8_t WriteRegNumbers[NumWriteRegisters]; // the register numbers that we write to + + // Write register numbers are in priority order, most urgent first, in same order as WriteRegNumbers + static constexpr unsigned int WriteGConf = 0; // microstepping + static constexpr unsigned int WriteSlaveConf = 1; // read response timing + static constexpr unsigned int WriteChopConf = 2; // enable/disable and microstep setting + static constexpr unsigned int WriteIholdIrun = 3; // current setting + static constexpr unsigned int WritePwmConf = 4; // read register select, sense voltage high/low sensitivity + + static constexpr unsigned int NumReadRegisters = 2; // the number of registers that we read from + static const uint8_t ReadRegNumbers[NumReadRegisters]; // the register numbers that we read from + + // Read register numbers, in same order as ReadRegNumbers + static constexpr unsigned int ReadGStat = 0; + static constexpr unsigned int ReadDrvStat = 1; + + volatile uint32_t writeRegisters[NumWriteRegisters]; // the values we want the TMC22xx writable registers to have + volatile uint32_t readRegisters[NumReadRegisters]; // the last values read from the TMC22xx readable registers + volatile uint32_t accumulatedReadRegisters[NumReadRegisters]; + + uint32_t configuredChopConfReg; // the configured chopper control register, in the Enabled state, without the microstepping bits + volatile uint32_t registersToUpdate; // bitmap of register indices whose values need to be sent to the driver chip + volatile uint32_t registerBeingUpdated; // which register we are sending + + uint32_t axisNumber; // the axis number of this driver as used to index the DriveMovements in the DDA + uint32_t microstepShiftFactor; // how much we need to shift 1 left by to get the current microstepping + uint32_t motorCurrent; // the configured motor current + +#if TMC22xx_HAS_MUX + static Uart * const uart; // the UART that controls all drivers +#else + Uart *uart; // the UART that controls this driver +#endif + + // To write a register, we send one 8-byte packet to write it, then a 4-byte packet to ask for the IFCOUNT register, then we receive an 8-byte packet containing IFCOUNT. + // This is the message we send - volatile because we care about when it is written + static volatile uint8_t sendData[12]; + + // Buffer for the message we receive when reading data. The first 4 or 12 bytes bytes are our own transmitted data. + static volatile uint8_t receiveData[20]; + + uint16_t readErrors; // how many read errors we had + uint16_t writeErrors; // how many write errors we had + uint16_t numReads; // how many successful reads we had + uint16_t numTimeouts; // how many times a transfer timed out + + Pin enablePin; // the enable pin of this driver, if it has its own + uint8_t driverNumber; // the number of this driver as addressed by the UART multiplexer + uint8_t standstillCurrentFraction; // divide this by 256 to get the motor current standstill fraction + uint8_t registerToRead; // the next register we need to read + uint8_t lastIfCount; // the value of the IFCNT register last time we read it + volatile uint8_t writeRegCRCs[NumWriteRegisters]; // CRCs of the messages needed to update the registers + static const uint8_t ReadRegCRCs[NumReadRegisters]; // CRCs of the messages needed to read the registers + bool enabled; // true if driver is enabled +}; + +// State structures for all drivers +static TmcDriverState driverStates[MaxSmartDrivers]; + +namespace SmartDrivers +{ + // Initialise the driver interface and the drivers, leaving each drive disabled. + // It is assumed that the drivers are not powered, so driversPowered(true) must be called after calling this before the motors can be moved. + void Init(const Pin driverSelectPins[DRIVES], size_t numTmcDrivers) + { + numTmc51xxDrivers = min<size_t>(numTmcDrivers, MaxSmartDrivers); + + // Make sure the ENN pins are high + pinMode(GlobalTmc51xxEnablePin, OUTPUT_HIGH); + + // The pins are already set up for SPI in the pins table + ConfigurePin(GetPinDescription(TMC51xxMosiPin)); + ConfigurePin(GetPinDescription(TMC51xxMisoPin)); + ConfigurePin(GetPinDescription(TMC51xxSclkPin)); + + // Enable the clock to the USART or SPI + pmc_enable_periph_clk(ID_TMC51xx_SPI); + +#if TMC51xx_USES_USART + // Set USART_EXT_DRV in SPI mode, with data changing on the falling edge of the clock and captured on the rising edge + USART_TMC51xx->US_IDR = ~0u; + USART_TMC51xx->US_CR = US_CR_RSTRX | US_CR_RSTTX | US_CR_RXDIS | US_CR_TXDIS; + USART_TMC51xx->US_MR = US_MR_USART_MODE_SPI_MASTER + | US_MR_USCLKS_MCK + | US_MR_CHRL_8_BIT + | US_MR_CHMODE_NORMAL + | US_MR_CPOL + | US_MR_CLKO; + USART_TMC51xx->US_BRGR = VARIANT_MCK/DriversSpiClockFrequency; // set SPI clock frequency + USART_TMC51xx->US_CR = US_CR_RSTRX | US_CR_RSTTX | US_CR_RXDIS | US_CR_TXDIS | US_CR_RSTSTA; + + // We need a few microseconds of delay here for the USART to sort itself out before we send any data, + // otherwise the processor generates two short reset pulses on its own NRST pin, and resets itself. + // 2016-07-07: removed this delay, because we no longer send commands to the TMC2660 drivers immediately. + //delay(10); +#else + // Set up the SPI interface with data changing on the falling edge of the clock and captured on the rising edge + spi_reset(SPI_TMC51xx); // this clears the transmit and receive registers and puts the SPI into slave mode + SPI_TMC51xx->SPI_MR = SPI_MR_MSTR // master mode + | SPI_MR_MODFDIS // disable fault detection + | SPI_MR_PCS(0); // fixed peripheral select + + // Set SPI mode, clock frequency, CS active after transfer, delay between transfers + const uint16_t baud_div = (uint16_t)spi_calc_baudrate_div(DriversSpiClockFrequency, SystemCoreClock); + const uint32_t csr = SPI_CSR_SCBR(baud_div) // Baud rate + | SPI_CSR_BITS_8_BIT // Transfer bit width + | SPI_CSR_DLYBCT(0) // Transfer delay + | SPI_CSR_CSAAT // Keep CS low after transfer in case we are slow in writing the next byte + | SPI_CSR_CPOL; // clock high between transfers + SPI_TMC51xx->SPI_CSR[0] = csr; +#endif + + driversState = DriversState::noPower; + for (size_t driver = 0; driver < numTmc51xxDrivers; ++driver) + { + driverStates[driver].Init(driver, driverSelectPins[driver]); // axes are mapped straight through to drivers initially + } + +#if SAME70 + pmc_enable_periph_clk(ID_XDMAC); +#endif + } + + void SetAxisNumber(size_t driver, uint32_t axisNumber) + { + if (driver < numTmc51xxDrivers) + { + driverStates[driver].SetAxisNumber(axisNumber); + } + } + + void SetCurrent(size_t driver, float current) + { + if (driver < numTmc51xxDrivers) + { + driverStates[driver].SetCurrent(current); + } + } + + void EnableDrive(size_t driver, bool en) + { + if (driver < numTmc51xxDrivers) + { + driverStates[driver].Enable(en); + } + } + + uint32_t GetLiveStatus(size_t driver) + { + return (driver < numTmc51xxDrivers) ? driverStates[driver].ReadLiveStatus() : 0; + } + + uint32_t GetAccumulatedStatus(size_t driver, uint32_t bitsToKeep) + { + return (driver < numTmc51xxDrivers) ? driverStates[driver].ReadAccumulatedStatus(bitsToKeep) : 0; + } + + // Set microstepping and microstep interpolation + bool SetMicrostepping(size_t driver, unsigned int microsteps, bool interpolate) + { + if (driver < numTmc51xxDrivers && microsteps > 0) + { + // Set the microstepping. We need to determine how many bits right to shift the desired microstepping to reach 1. + unsigned int shift = 0; + unsigned int uSteps = (unsigned int)microsteps; + while ((uSteps & 1) == 0) + { + uSteps >>= 1; + ++shift; + } + if (uSteps == 1 && shift <= 8) + { + driverStates[driver].SetMicrostepping(shift, interpolate); + return true; + } + } + return false; + } + + // Get microstepping and interpolation + unsigned int GetMicrostepping(size_t driver, bool& interpolation) + { + if (driver < numTmc51xxDrivers) + { + return driverStates[driver].GetMicrostepping(interpolation); + } + interpolation = false; + return 1; + } + + bool SetDriverMode(size_t driver, unsigned int mode) + { + return driver < numTmc51xxDrivers && driverStates[driver].SetDriverMode(mode); + } + + DriverMode GetDriverMode(size_t driver) + { + return (driver < numTmc51xxDrivers) ? driverStates[driver].GetDriverMode() : DriverMode::unknown; + } + + bool SetChopperControlRegister(size_t driver, uint32_t ccr) + { + return driver < numTmc51xxDrivers && driverStates[driver].SetChopConf(ccr); + } + + uint32_t GetChopperControlRegister(size_t driver) + { + return (driver < numTmc51xxDrivers) ? driverStates[driver].GetChopConf() : 0; + } + + bool SetOffTime(size_t driver, uint32_t offTime) + { + return driver < numTmc51xxDrivers && driverStates[driver].SetOffTime(offTime); + } + + uint32_t GetOffTime(size_t driver) + { + return (driver < numTmc51xxDrivers) ? driverStates[driver].GetOffTime() : 0; + } + + // Flag that the the drivers have been powered up or down and handle any timeouts + // Before the first call to this function with 'powered' true, you must call Init() + void Spin(bool powered) + { + if (driversState == DriversState::noPower) + { + if (powered) + { + // Power to the drivers has been provided or restored, so we need to enable and re-initialise them + for (size_t drive = 0; drive < numTmc51xxDrivers; ++drive) + { + driverStates[drive].WriteAll(); + } + driversState = DriversState::initialising; + } + } + else if (powered) + { + // If no transfer is in progress, kick one off. + // If a transfer has timed out, abort it. + if (TmcDriverState::currentDriver == nullptr) + { + // No transfer in progress, so start one + if (numTmc51xxDrivers != 0) + { + // Kick off the first transfer + driverStates[0].StartTransfer(); + } + } + else if (millis() - TmcDriverState::transferStartedTime > TransferTimeout) + { + // A UART transfer was started but has timed out + TmcDriverState::currentDriver->TransferTimedOut(); + TmcDriverState::currentDriver->AbortTransfer(); + uint8_t driverNum = TmcDriverState::currentDriver->GetDriverNumber(); + TmcDriverState::currentDriver = nullptr; + + ++driverNum; + if (driverNum >= numTmc51xxDrivers) + { + driverNum = 0; + } + driverStates[driverNum].StartTransfer(); + } + + if (driversState == DriversState::initialising) + { + // If all drivers that share the global enable have been initialised, set the global enable + bool allInitialised = true; + for (size_t i = 0; i < numTmc51xxDrivers; ++i) + { + if (driverStates[i].UpdatePending()) + { + allInitialised = false; + break; + } + } + + if (allInitialised) + { + digitalWrite(GlobalTmc51xxEnablePin, LOW); + driversState = DriversState::ready; + } + } + } + else + { + // We had power but we lost it + digitalWrite(GlobalTmc51xxEnablePin, HIGH); // disable the drivers + if (TmcDriverState::currentDriver == nullptr) + { + TmcDriverState::currentDriver->AbortTransfer(); + TmcDriverState::currentDriver = nullptr; + } + driversState = DriversState::noPower; + } + } + + + // This is called from the tick ISR, possibly while Spin (with powered either true or false) is being executed + void TurnDriversOff() + { + digitalWrite(GlobalTmc51xxEnablePin, HIGH); // disable the drivers + driversState = DriversState::noPower; + } + + void SetStallThreshold(size_t driver, int sgThreshold) + { + if (driver < numTmc51xxDrivers) + { + driverStates[driver].SetStallDetectThreshold(sgThreshold); + } + } + + void SetStallFilter(size_t driver, bool sgFilter) + { + if (driver < numTmc51xxDrivers) + { + driverStates[driver].SetStallDetectFilter(sgFilter); + } + } + + void SetStallMinimumStepsPerSecond(size_t driver, unsigned int stepsPerSecond) + { + if (driver < numTmc51xxDrivers) + { + driverStates[driver].SetStallMinimumStepsPerSecond(stepsPerSecond); + } + } + + void SetCoolStep(size_t drive, uint16_t coolStepConfig) + { + if (drive < numTmc51xxDrivers) + { + driverStates[drive].SetCoolStep(coolStepConfig); + } + } + + void AppendStallConfig(size_t driver, const StringRef& reply) + { + if (driver < numTmc51xxDrivers) + { + driverStates[driver].AppendStallConfig(reply); + } + } + + void AppendDriverStatus(size_t driver, const StringRef& reply) + { + if (driver < numTmc51xxDrivers) + { + driverStates[driver].AppendDriverStatus(reply); + } + } + + float GetStandstillCurrentPercent(size_t driver) + { + return 100.0; // not supported + } + + void SetStandstillCurrentPercent(size_t driver, float percent) + { + // not supported so nothing to see here + } + +}; // end namespace +#endif + +// End diff --git a/src/Movement/StepperDrivers/TMC51xx.h b/src/Movement/StepperDrivers/TMC51xx.h new file mode 100644 index 00000000..587a73cf --- /dev/null +++ b/src/Movement/StepperDrivers/TMC51xx.h @@ -0,0 +1,60 @@ +/* + * TMC51xx.h + * + * Created on: 26 Aug 2018 + * Author: David + */ + +#ifndef SRC_MOVEMENT_STEPPERDRIVERS_TMC51XX_H_ +#define SRC_MOVEMENT_STEPPERDRIVERS_TMC51XX_H_ + +#if SUPPORT_TMC51xx + +#include "RepRapFirmware.h" +#include "GCodes/DriverMode.h" +#include "Pins.h" +#include "MessageType.h" +#include "Libraries/General/StringRef.h" + +// TMC22xx DRV_STATUS register bit assignments +const uint32_t TMC_RR_SG = 1 << 24; // stall detected +const uint32_t TMC_RR_OT = 1 << 25; // over temperature shutdown +const uint32_t TMC_RR_OTPW = 1 << 26; // over temperature warning +const uint32_t TMC_RR_S2G = (3 << 27) | (3 << 12); // short to ground indicator (1 bit for each phase) + short to VS indicator +const uint32_t TMC_RR_OLA = 1 << 29; // open load A +const uint32_t TMC_RR_OLB = 1 << 30; // open load B +const uint32_t TMC_RR_STST = 1 << 31; // standstill detected + +namespace SmartDrivers +{ + void Init(const Pin[DRIVES], size_t numTmcDrivers) + pre(numTmcDrivers <= DRIVES); + void Spin(bool powered); + void TurnDriversOff(); + + void SetAxisNumber(size_t driver, uint32_t axisNumber); + void SetCurrent(size_t driver, float current); + void EnableDrive(size_t driver, bool en); + uint32_t GetLiveStatus(size_t driver); + uint32_t GetAccumulatedStatus(size_t drive, uint32_t bitsToKeep); + bool SetMicrostepping(size_t drive, unsigned int microsteps, bool interpolation); + unsigned int GetMicrostepping(size_t drive, bool& interpolation); + bool SetDriverMode(size_t driver, unsigned int mode); + DriverMode GetDriverMode(size_t driver); + bool SetChopperControlRegister(size_t driver, uint32_t ccr); + uint32_t GetChopperControlRegister(size_t driver); + bool SetOffTime(size_t driver, uint32_t ccr); + uint32_t GetOffTime(size_t driver); + void SetStallThreshold(size_t driver, int sgThreshold); + void SetStallFilter(size_t driver, bool sgFilter); + void SetStallMinimumStepsPerSecond(size_t driver, unsigned int stepsPerSecond); + void SetCoolStep(size_t driver, uint16_t coolStepConfig); + void AppendStallConfig(size_t driver, const StringRef& reply); + void AppendDriverStatus(size_t driver, const StringRef& reply); + float GetStandstillCurrentPercent(size_t driver); + void SetStandstillCurrentPercent(size_t driver, float percent); +}; + +#endif + +#endif /* SRC_MOVEMENT_STEPPERDRIVERS_TMC51XX_H_ */ diff --git a/src/Networking/ESP8266WiFi/WiFiInterface.cpp b/src/Networking/ESP8266WiFi/WiFiInterface.cpp index 2eb1efcd..5b6e32d9 100644 --- a/src/Networking/ESP8266WiFi/WiFiInterface.cpp +++ b/src/Networking/ESP8266WiFi/WiFiInterface.cpp @@ -33,7 +33,7 @@ static_assert(SsidLength == SsidBufferLength, "SSID lengths in NetworkDefs.h and # define ESP_SPI_IRQn SPI_IRQn # define ESP_SPI_HANDLER SPI_Handler -#elif defined(SAME70_TEST_BOARD) +#elif defined(DUET3) # define USE_PDC 0 // use peripheral DMA controller # define USE_DMAC 0 // use general DMA controller diff --git a/src/Networking/Network.cpp b/src/Networking/Network.cpp index 40a9d742..0cc31f1a 100644 --- a/src/Networking/Network.cpp +++ b/src/Networking/Network.cpp @@ -44,7 +44,7 @@ static Task<NetworkStackWords> networkTask; Network::Network(Platform& p) : platform(p), responders(nullptr), nextResponderToPoll(nullptr) { -#if defined(SAME70_TEST_BOARD) +#if defined(DUET3) interfaces[0] = new LwipEthernetInterface(p); interfaces[1] = new WiFiInterface(p); #elif defined(DUET_NG) diff --git a/src/Networking/Network.h b/src/Networking/Network.h index 0355e625..473775a8 100644 --- a/src/Networking/Network.h +++ b/src/Networking/Network.h @@ -14,7 +14,7 @@ #include "GCodes/GCodeResult.h" #include "RTOSIface.h" -#if defined(SAME70_TEST_BOARD) +#if defined(DUET3) const size_t NumNetworkInterfaces = 2; #elif defined(DUET_NG) || defined(DUET_M) const size_t NumNetworkInterfaces = 1; diff --git a/src/Pccb/Pins_Pccb.h b/src/Pccb/Pins_Pccb.h index 79cb1e03..7a702677 100644 --- a/src/Pccb/Pins_Pccb.h +++ b/src/Pccb/Pins_Pccb.h @@ -64,7 +64,8 @@ constexpr size_t MaxSmartDrivers = 2; // The maximum number of smart drivers #endif -constexpr size_t Heaters = 2; // The number of heaters in the machine. PCCB has no heaters, but we pretend that the LED pins are heaters. +constexpr size_t NumEndstops = 4; // The number of inputs we have for endstops, filament sensors etc. +constexpr size_t NumHeaters = 2; // The number of heaters in the machine. PCCB has no heaters, but we pretend that the LED pins are heaters. constexpr size_t NumExtraHeaterProtections = 4; // The number of extra heater protection instances constexpr size_t NumThermistorInputs = 2; @@ -133,14 +134,10 @@ const uint32_t TransferTimeout = 10; // any transfer should complete within // Endstops // RepRapFirmware only has a single endstop per axis. // Gcode defines if it is a max ("high end") or min ("low end") endstop and sets if it is active HIGH or LOW. -#ifdef PCCB_X5 -constexpr Pin END_STOP_PINS[DRIVES] = { 25, 67, 24, 63, NoPin, NoPin }; -#else -constexpr Pin END_STOP_PINS[DRIVES] = { 25, 67, 24, 63, NoPin, NoPin, NoPin, NoPin }; -#endif +constexpr Pin END_STOP_PINS[NumEndstops] = { 25, 67, 24, 63 }; // Heaters and thermistors -constexpr Pin HEAT_ON_PINS[Heaters] = { 36, 59 }; // these are actually the LED control pins +constexpr Pin HEAT_ON_PINS[NumHeaters] = { 36, 59 }; // these are actually the LED control pins constexpr Pin TEMP_SENSE_PINS[NumThermistorInputs] = { 20, 49 }; // Thermistor pin numbers constexpr Pin VssaSensePin = 19; constexpr Pin VrefSensePin = 27; @@ -15,7 +15,7 @@ # elif defined(__SAM4E8E__) # define PLATFORM DuetNG # elif defined(__SAME70Q21__) -# define PLATFORM SAME70_TEST +# define PLATFORM Duet3 # elif defined(DUET_M) # define PLATFORM DuetM # elif defined(PCCB) @@ -72,8 +72,12 @@ # define SUPPORT_TMC22xx 0 #endif -#define HAS_SMART_DRIVERS (SUPPORT_TMC2660 || SUPPORT_TMC22xx) -#define HAS_STALL_DETECT SUPPORT_TMC2660 +#ifndef SUPPORT_TMC51xx +# define SUPPORT_TMC51xx 0 +#endif + +#define HAS_SMART_DRIVERS (SUPPORT_TMC2660 || SUPPORT_TMC22xx || SUPPORT_TMC51xx) +#define HAS_STALL_DETECT (SUPPORT_TMC2660 || SUPPORT_TMC51xx) // HAS_LWIP_NETWORKING refers to Lwip 2 support in the Networking folder, not legacy SAM3XA networking using Lwip 1 #ifndef HAS_LWIP_NETWORKING diff --git a/src/Platform.cpp b/src/Platform.cpp index 531932e6..2cf4eb56 100644 --- a/src/Platform.cpp +++ b/src/Platform.cpp @@ -36,8 +36,10 @@ #include "Libraries/Math/Isqrt.h" #include "Wire.h" -#include "sam/drivers/tc/tc.h" -#include "sam/drivers/hsmci/hsmci.h" +#ifndef __LPC17xx__ +# include "sam/drivers/tc/tc.h" +# include "sam/drivers/hsmci/hsmci.h" +#endif #include "sd_mmc.h" @@ -47,6 +49,9 @@ #if SUPPORT_TMC22xx # include "Movement/StepperDrivers/TMC22xx.h" #endif +#if SUPPORT_TMC51xx +# include "Movement/StepperDrivers/TMC51xx.h" +#endif #if HAS_WIFI_NETWORKING # include "FirmwareUpdater.h" @@ -320,6 +325,13 @@ void Platform::Init() pinMode(SpiFLASHcsPin,OUTPUT_HIGH); // Init Spi FLASH Cs pin, not implemented, default unselected #endif +#if defined(__LPC17xx__) +# if HAS_DRIVER_CURRENT_CONTROL + mcp4451.begin(); +# endif + Microstepping::Init(); // basic class to remember the Microstepping. +#endif + // DRIVES ARRAY_INIT(endStopPins, END_STOP_PINS); ARRAY_INIT(maxFeedrates, MAX_FEEDRATES); @@ -352,15 +364,17 @@ void Platform::Init() } // Motors +#ifndef __LPC17xx__ // Disable parallel writes to all pins. We re-enable them for the step pins. PIOA->PIO_OWDR = 0xFFFFFFFF; PIOB->PIO_OWDR = 0xFFFFFFFF; PIOC->PIO_OWDR = 0xFFFFFFFF; -#ifdef PIOD +# ifdef PIOD PIOD->PIO_OWDR = 0xFFFFFFFF; -#endif -#ifdef PIOE +# endif +# ifdef PIOE PIOE->PIO_OWDR = 0xFFFFFFFF; +# endif #endif for (size_t drive = 0; drive < DRIVES; drive++) @@ -384,27 +398,29 @@ void Platform::Init() pinMode(DIRECTION_PINS[drive], OUTPUT_LOW); pinMode(ENABLE_PINS[drive], OUTPUT_HIGH); // this is OK for the TMC2660 CS pins too +#ifndef __LPC17xx__ const PinDescription& pinDesc = g_APinDescription[STEP_PINS[drive]]; pinDesc.pPort->PIO_OWER = pinDesc.ulPin; // enable parallel writes to the step pins - +#endif motorCurrents[drive] = 0.0; motorCurrentFraction[drive] = 1.0; driverState[drive] = DriverStatus::disabled; + } - // Enable pullup resistors on endstop inputs here if necessary. -#if defined(DUET_NG) || defined(DUET_06_085) - // The Duets have hardware pullup resistors/LEDs except for the two on the CONN_LCD connector. - // They have RC filtering on the main endstop inputs, so best not to enable the pullup resistors on these. - // 2017-12-19: some users are having trouble with the endstops not being recognised in recent firmware versions. - // Probably the LED+resistor isn't pulling them up fast enough. So enable the pullup resistors again. - // Note: if we don't have a DueX board connected, the pullups on endstop inputs 5-9 must always be enabled. - // Also the pullups on endstop inputs 10-11 must always be enabled. - setPullup(endStopPins[drive], true); // enable pullup on endstop input -#elif defined(__RADDS__) || defined(__ALLIGATOR__) - // I don't know whether RADDS and Alligator have hardware pullup resistors or not. I'll assume they might not. - setPullup(endStopPins[drive], true); -#endif +#if defined(DUET_NG) || defined(DUET_06_085) || defined(__RADDS__) || defined(__ALLIGATOR__) + // Enable pullup resistors on endstop inputs here if necessary. + // The Duets have hardware pullup resistors/LEDs except for the two on the CONN_LCD connector. + // They have RC filtering on the main endstop inputs, so best not to enable the pullup resistors on these. + // 2017-12-19: some users are having trouble with the endstops not being recognised in recent firmware versions. + // Probably the LED+resistor isn't pulling them up fast enough. So enable the pullup resistors again. + // Note: if we don't have a DueX board connected, the pullups on endstop inputs 5-9 must always be enabled. + // Also the pullups on endstop inputs 10-11 must always be enabled. + // I don't know whether RADDS and Alligator have hardware pullup resistors or not. I'll assume they might not. + for (size_t endstop = 0; endstop < NumEndstops; ++endstop) + { + setPullup(endStopPins[endstop], true); // enable pullup on endstop input } +#endif for (uint32_t& entry : slowDriverStepTimingClocks) { @@ -502,7 +518,7 @@ void Platform::Init() setPullup(SpiTempSensorCsPins[i], true); } - for (size_t heater = 0; heater < Heaters; heater++) + for (size_t heater = 0; heater < NumHeaters; heater++) { // pinMode is safe to call when the pin is NoPin, so we don't need to check it here pinMode(HEAT_ON_PINS[heater], @@ -636,7 +652,7 @@ void Platform::InitZProbe() case ZProbeType::e0Switch: AnalogInEnableChannel(zProbeAdcChannel, false); pinMode(zProbePin, INPUT_PULLUP); - pinMode(endStopPins[E0_AXIS], INPUT); + pinMode(GetEndstopPin(E0_AXIS), INPUT); pinMode(zProbeModulationPin, OUTPUT_LOW); // we now set the modulation output high during probing only when using probe types 4 and higher break; @@ -653,7 +669,7 @@ void Platform::InitZProbe() case ZProbeType::e1Switch: AnalogInEnableChannel(zProbeAdcChannel, false); pinMode(zProbePin, INPUT_PULLUP); - pinMode(endStopPins[E0_AXIS + 1], INPUT); + pinMode(GetEndstopPin(E0_AXIS + 1), INPUT); pinMode(zProbeModulationPin, OUTPUT_LOW); // we now set the modulation output high during probing only when using probe types 4 and higher break; @@ -1354,6 +1370,7 @@ void Platform::Spin() // The tick ISR also looks for over-voltage events, but it just disables the driver without changing driversPowerd or numOverVoltageEvents if (driversPowered) { +# if HAS_VOLTAGE_MONITOR if (currentVin < driverPowerOffAdcReading) { driversPowered = false; @@ -1367,6 +1384,7 @@ void Platform::Spin() lastOverVoltageValue = currentVin; // save this because the voltage may have changed by the time we report it } else +# endif { // Check one TMC2660 or TMC2224 for temperature warning or temperature shutdown if (enableValues[nextDriveToPoll] >= 0) // don't poll driver if it is flagged "no poll" @@ -1471,10 +1489,12 @@ void Platform::Spin() } } } +# if HAS_VOLTAGE_MONITOR else if (currentVin >= driverPowerOnAdcReading && currentVin <= driverNormalVoltageAdcReading) { driversPowered = true; } +# endif SmartDrivers::Spin(driversPowered); #endif @@ -1900,13 +1920,15 @@ void NETWORK_TC_HANDLER() void Platform::InitialiseInterrupts() { -#if SAM4E || SAM7E +#if SAM4E || SAM7E || __LPC17xx__ NVIC_SetPriority(WDT_IRQn, NvicPriorityWatchdog); // set priority for watchdog interrupts #endif -#ifdef RTOS +#if HAS_HIGH_SPEED_SD && defined(RTOS) NVIC_SetPriority(HSMCI_IRQn, NvicPriorityHSMCI); // set priority for SD interface interrupts -#else +#endif + +#ifndef RTOS // Set the tick interrupt to the highest priority. We need to to monitor the heaters and kick the watchdog. NVIC_SetPriority(SysTick_IRQn, NvicPrioritySystick); // set priority for tick interrupts #endif @@ -1942,17 +1964,34 @@ void Platform::InitialiseInterrupts() // 1.524us resolution on the Duet 085 (84MHz clock) // 1.067us resolution on the Duet WiFi (120MHz clock) // 0.853us resolution on the SAM E70 (150MHz clock) + +#if __LPC17xx__ + //LPC has 32bit timers + //Using the same 128 divisor (as also specified in DDA) + //LPC Timers default to /4 --> (SystemCoreClock/4) + const uint32_t res = (VARIANT_MCK/128); // 1.28us for 100MHz (LPC1768) and 1.067us for 120MHz (LPC1769) + + //Start a free running Timer using Match Registers 0 and 1 to generate interrupts + LPC_SC->PCONP |= ((uint32_t) 1<<SBIT_PCTIM0); // Ensure the Power bit is set for the Timer + STEP_TC->MCR = 0; //disable all MRx interrupts + STEP_TC->PR = (getPclk(PCLK_TIMER0) / res) - 1; // Set the LPC Prescaler (i.e. TC increment every 32 TimerClock Ticks) + STEP_TC->TC = 0x00; // Restart the Timer Count + NVIC_SetPriority(STEP_TC_IRQN, NvicPriorityStep); // set high priority for this IRQ; it's time-critical + NVIC_EnableIRQ(STEP_TC_IRQN); + STEP_TC->TCR = (1 <<SBIT_CNTEN); // Start Timer +#else pmc_set_writeprotect(false); pmc_enable_periph_clk(STEP_TC_ID); tc_init(STEP_TC, STEP_TC_CHAN, TC_CMR_WAVE | TC_CMR_WAVSEL_UP | TC_CMR_TCCLKS_TIMER_CLOCK4 | TC_CMR_EEVT_XC0); // must set TC_CMR_EEVT nonzero to get RB compare interrupts STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_IDR = ~(uint32_t)0; // interrupts disabled for now #if SAM4S || SAME70 // if 16-bit TCs - STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_IER = TC_IER_COVFS; // enable the overflow interrupt so that we can use it to extend the count to 32-bits + STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_IER = TC_IER_COVFS; // enable the overflow interrupt so that we can use it to extend the count to 32-bits #endif tc_start(STEP_TC, STEP_TC_CHAN); tc_get_status(STEP_TC, STEP_TC_CHAN); // clear any pending interrupt NVIC_SetPriority(STEP_TC_IRQN, NvicPriorityStep); // set priority for this IRQ NVIC_EnableIRQ(STEP_TC_IRQN); +#endif #if HAS_LWIP_NETWORKING pmc_enable_periph_clk(NETWORK_TC_ID); @@ -1981,14 +2020,19 @@ void Platform::InitialiseInterrupts() # endif #endif +#if __LPC17xx__ + //SD: Int for GPIO pins on port 0 and 2 share EINT3 + NVIC_SetPriority(EINT3_IRQn, NvicPriorityPins); +#else NVIC_SetPriority(PIOA_IRQn, NvicPriorityPins); NVIC_SetPriority(PIOB_IRQn, NvicPriorityPins); NVIC_SetPriority(PIOC_IRQn, NvicPriorityPins); -#ifdef ID_PIOD +# ifdef ID_PIOD NVIC_SetPriority(PIOD_IRQn, NvicPriorityPins); -#endif -#ifdef ID_PIOE +# endif +# ifdef ID_PIOE NVIC_SetPriority(PIOE_IRQn, NvicPriorityPins); +# endif #endif #if SAME70 @@ -1997,12 +2041,17 @@ void Platform::InitialiseInterrupts() NVIC_SetPriority(UDP_IRQn, NvicPriorityUSB); #elif SAM3XA NVIC_SetPriority(UOTGHS_IRQn, NvicPriorityUSB); +#elif __LPC17xx__ + NVIC_SetPriority(USB_IRQn, NvicPriorityUSB); #else # error #endif #if defined(DUET_NG) || defined(DUET_M) || defined(DUET_06_085) NVIC_SetPriority(I2C_IRQn, NvicPriorityTwi); +#elif __LPC17xx__ + NVIC_SetPriority(I2C0_IRQn, NvicPriorityTwi); + NVIC_SetPriority(I2C1_IRQn, NvicPriorityTwi); #endif // Tick interrupt for ADC conversions @@ -2010,9 +2059,13 @@ void Platform::InitialiseInterrupts() currentFilterNumber = 0; // Set up the timeout of the regulator watchdog, and set up the backup watchdog if there is one +#if __LPC17xx__ + wdt_init(1); // set wdt to 1 second. reset the processor on a watchdog fault +#else // The clock frequency for both watchdogs is 32768/128 = 256Hz const uint16_t timeout = 32768/128; // set watchdog timeout to 1 second (max allowed value is 4095 = 16 seconds) wdt_init(WDT, WDT_MR_WDRSTEN, timeout, timeout); // reset the processor on a watchdog fault +#endif #if SAM4E || SAME70 // The RSWDT must be initialised *after* the main WDT @@ -2098,23 +2151,43 @@ void Platform::Diagnostics(MessageType mtype) Message(mtype, "=== Platform ===\n"); +#ifndef __LPC17xx__ // Show the up time and reason for the last reset const uint32_t now = (uint32_t)(millis64()/1000u); // get up time in seconds const char* resetReasons[8] = { "power up", "backup", "watchdog", "software", -#ifdef DUET_NG +# ifdef DUET_NG // On the SAM4E a watchdog reset may be reported as a user reset because of the capacitor on the NRST pin. // The SAM4S is the same but the Duet M has a diode in the reset circuit to avoid this problem. "reset button or watchdog", -#else +# else "reset button", -#endif +# endif "?", "?", "?" }; MessageF(mtype, "Last reset %02d:%02d:%02d ago, cause: %s\n", (unsigned int)(now/3600), (unsigned int)((now % 3600)/60), (unsigned int)(now % 60), resetReasons[(REG_RSTC_SR & RSTC_SR_RSTTYP_Msk) >> RSTC_SR_RSTTYP_Pos]); +#endif //end ifndef __LPC17xx__ // Show the reset code stored at the last software reset { +#if __LPC17xx__ + SoftwareResetData srdBuf[1]; + int slot = -1; + + for (int s = SoftwareResetData::numberOfSlots - 1; s >= 0; s--) + { + SoftwareResetData *sptr = reinterpret_cast<SoftwareResetData *>(LPC_GetSoftwareResetDataSlotPtr(s)); + if(sptr->magic != 0xFFFF) + { + //slot = s; + MessageF(mtype, "Flash Slot[%d]: \n", s); + slot=0;// we only have 1 slot in the array, set this to zero to be compatible with existing code below + //copy the data into srdBuff + LPC_ReadSoftwareResetDataSlot(s, &srdBuf[0], sizeof(srdBuf[0])); + break; + } + } +#else SoftwareResetData srdBuf[SoftwareResetData::numberOfSlots]; memset(srdBuf, 0, sizeof(srdBuf)); int slot = -1; @@ -2141,6 +2214,7 @@ void Platform::Diagnostics(MessageType mtype) } while (slot >= 0 && srdBuf[slot].magic == 0xFFFF); } +#endif if (slot >= 0 && srdBuf[slot].magic == SoftwareResetData::magicValue) { @@ -2460,6 +2534,8 @@ bool Platform::DiagnosticTest(GCodeBuffer& gb, const StringRef& reply, int d) (void)*(reinterpret_cast<const volatile char*>(0x20800000)); #elif SAM3XA (void)*(reinterpret_cast<const volatile char*>(0x20200000)); +#elif __LPC17xx__ + Message(WarningMessage, "TODO:: Skipping test on LPC");//???? #else # error #endif @@ -2584,7 +2660,7 @@ void Platform::UpdateConfiguredHeaters() } // Check tool heaters - for (size_t heater = 0; heater < Heaters; heater++) + for (size_t heater = 0; heater < NumHeaters; heater++) { if (reprap.IsHeaterAssignedToTool(heater)) { @@ -2649,7 +2725,7 @@ EndStopHit Platform::Stopped(size_t drive) const #endif case EndStopInputType::activeLow: - if (endStopPins[drive] != NoPin) + if (drive < NumEndstops && endStopPins[drive] != NoPin) { const bool b = IoPort::ReadPin(endStopPins[drive]); return (b) ? EndStopHit::noStop : (endStopPos[drive] == EndStopPosition::highEndStop) ? EndStopHit::highHit : EndStopHit::lowHit; @@ -2657,7 +2733,7 @@ EndStopHit Platform::Stopped(size_t drive) const break; case EndStopInputType::activeHigh: - if (endStopPins[drive] != NoPin) + if (drive < NumEndstops && endStopPins[drive] != NoPin) { const bool b = !IoPort::ReadPin(endStopPins[drive]); return (b) ? EndStopHit::noStop : (endStopPos[drive] == EndStopPosition::highEndStop) ? EndStopHit::highHit : EndStopHit::lowHit; @@ -2681,14 +2757,14 @@ EndStopHit Platform::Stopped(size_t drive) const // Return the state of the endstop input, regardless of whether we are actually using it as an endstop bool Platform::EndStopInputState(size_t drive) const { - return endStopPins[drive] != NoPin && IoPort::ReadPin(endStopPins[drive]); + return drive < NumEndstops && endStopPins[drive] != NoPin && IoPort::ReadPin(endStopPins[drive]); } -// Get the statues of all the endstop inputs, regardless of what they are used for. Used for triggers. +// Get the statuses of all the endstop inputs, regardless of what they are used for. Used for triggers. uint32_t Platform::GetAllEndstopStates() const { uint32_t rslt = 0; - for (unsigned int drive = 0; drive < DRIVES; ++drive) + for (unsigned int drive = 0; drive < NumEndstops; ++drive) { const Pin pin = endStopPins[drive]; if (pin != NoPin && IoPort::ReadPin(pin)) @@ -3020,6 +3096,23 @@ void Platform::UpdateMotorCurrent(size_t driver) { dacPiggy.setChannel(7-driver, current * 0.102); } +#elif defined(__LPC17xx__) +# if HAS_DRIVER_CURRENT_CONTROL + //Has digipots to set current control for drivers + //Current is in mA + const uint16_t pot = (unsigned short) (current * digipotFactor / 1000); + if (pot > 256) { pot = 255; } + if (driver < 4) + { + mcp4451.setMCP4461Address(0x2C); //A0 and A1 Grounded. (001011 00) + mcp4451.setVolatileWiper(POT_WIPES[driver], pot); + } + else + { + mcp4451.setMCP4461Address(0x2D); //A0 Vcc, A1 Grounded. (001011 01) + mcp4451.setVolatileWiper(POT_WIPES[driver-4], pot); + } +# endif #else // otherwise we can't set the motor current #endif @@ -3087,6 +3180,8 @@ bool Platform::SetDriverMicrostepping(size_t driver, unsigned int microsteps, in } #elif defined(__ALLIGATOR__) return Microstepping::Set(driver, microsteps); // no mode in Alligator board +#elif __LPC17xx__ + return Microstepping::Set(driver, microsteps); #else // Assume only x16 microstepping supported return microsteps == 16; @@ -3130,6 +3225,9 @@ unsigned int Platform::GetDriverMicrostepping(size_t driver, bool& interpolation #elif defined(__ALLIGATOR__) interpolation = false; return Microstepping::Read(driver); // no mode, no interpolation for Alligator +#elif __LPC17xx__ + interpolation = false; + return Microstepping::Read(driver); //get the value we saved #else interpolation = false; return 16; @@ -3276,7 +3374,11 @@ void Platform::SetFanValue(size_t fan, float speed) void Platform::EnableSharedFan(bool enable) { const size_t sharedFanNumber = NUM_FANS - 1; - fans[sharedFanNumber].Init((enable) ? COOLING_FAN_PINS[sharedFanNumber] : NoPin, FansHardwareInverted(sharedFanNumber), DefaultFanPwmFreq); + fans[sharedFanNumber].Init( + (enable) ? COOLING_FAN_PINS[sharedFanNumber] : NoPin, + (enable) ? Fan0LogicalPin + sharedFanNumber : NoLogicalPin, + FansHardwareInverted(sharedFanNumber), + DefaultFanPwmFreq); } #endif @@ -3347,7 +3449,7 @@ void Platform::InitFans() SetBit(bedAndChamberHeaterMask, chamberHeater); } } - fans[1].SetHeatersMonitored(LowestNBits<Fan::HeatersMonitoredBitmap>(Heaters) & ~bedAndChamberHeaterMask); + fans[1].SetHeatersMonitored(LowestNBits<Fan::HeatersMonitoredBitmap>(NumHeaters) & ~bedAndChamberHeaterMask); fans[1].SetPwm(1.0); // set it full on #elif defined(PCCB) // Fan 3 needs to be set explicitly to zero PWM, otherwise it turns on because the MCU output pin isn't set low @@ -3863,8 +3965,8 @@ void Platform::SetBoardType(BoardType bt) { if (bt == BoardType::Auto) { -#if defined(SAME70_TEST_BOARD) - board = BoardType::SamE70TestBoard; +#if defined(DUET3) + board = BoardType::Duet3_10; #elif defined(DUET_NG) // Get ready to test whether the Ethernet module is present, so that we avoid additional delays pinMode(EspResetPin, OUTPUT_LOW); // reset the WiFi module or the W5500. We assume that this forces the ESP8266 UART output pin to high impedance. @@ -3909,6 +4011,8 @@ void Platform::SetBoardType(BoardType bt) board = BoardType::Alligator_2; #elif defined(PCCB) board = BoardType::PCCB_10; +#elif defined(__LPC17xx__) + board = BoardType::Lpc; #else # error Undefined board type #endif @@ -3930,8 +4034,8 @@ const char* Platform::GetElectronicsString() const { switch (board) { -#if defined(SAME70_TEST_BOARD) - case BoardType::SamE70TestBoard: return "SAM E70 prototype 1"; +#if defined(DUET3) + case BoardType::Duet3_10: return "Duet 3 prototype 1"; #elif defined(DUET_NG) case BoardType::DuetWiFi_10: return "Duet WiFi 1.0 or 1.01"; case BoardType::DuetWiFi_102: return "Duet WiFi 1.02 or later"; @@ -3949,6 +4053,8 @@ const char* Platform::GetElectronicsString() const case BoardType::Alligator_2: return "Alligator r2"; #elif defined(PCCB) case BoardType::PCCB_10: return "PCCB 1.0"; +#elif defined(__LPC17xx__) + case BoardType::Lpc: return LPC_ELECTRONICS_STRING; #else # error Undefined board type #endif @@ -3961,8 +4067,8 @@ const char* Platform::GetBoardString() const { switch (board) { -#if defined(SAME70_TEST_BOARD) - case BoardType::SamE70TestBoard: return "same70prototype1"; +#if defined(DUET3) + case BoardType::Duet3_10: return "duet3proto"; #elif defined(DUET_NG) case BoardType::DuetWiFi_10: return "duetwifi10"; case BoardType::DuetWiFi_102: return "duetwifi102"; @@ -3980,6 +4086,8 @@ const char* Platform::GetBoardString() const case BoardType::Alligator_2: return "alligator2"; #elif defined(PCCB) case BoardType::PCCB_10: return "pccb10"; +#elif defined(__LPC17xx__) + case BoardType::Lpc: return LPC_BOARD_STRING; #else # error Undefined board type #endif @@ -4002,7 +4110,7 @@ bool Platform::GetFirmwarePin(LogicalPin logicalPin, PinAccess access, Pin& firm { firmwarePin = NoPin; // assume failure invert = false; // this is the common case - if (logicalPin >= Heater0LogicalPin && logicalPin < Heater0LogicalPin + (int)Heaters) // pins 0-9 correspond to heater channels + if (logicalPin >= Heater0LogicalPin && logicalPin < Heater0LogicalPin + (int)NumHeaters) // pins 0-9 correspond to heater channels { // For safety, we don't allow a heater channel to be used for servos until the heater has been disabled if (!reprap.GetHeat().IsHeaterEnabled(logicalPin - Heater0LogicalPin)) @@ -4095,7 +4203,7 @@ bool Platform::GetFirmwarePin(LogicalPin logicalPin, PinAccess access, Pin& firm // For fan pin mapping bool Platform::TranslateFanPin(LogicalPin logicalPin, Pin& firmwarePin, bool& invert) const { - if (logicalPin >= Heater0LogicalPin && logicalPin < Heater0LogicalPin + (int)Heaters) // pins 0-9 correspond to heater channels + if (logicalPin >= Heater0LogicalPin && logicalPin < Heater0LogicalPin + (int)NumHeaters) // pins 0-9 correspond to heater channels { // For safety, we don't allow a heater channel to be used for fans until the heater has been disabled if (!reprap.GetHeat().IsHeaterEnabled(logicalPin - Heater0LogicalPin)) @@ -4122,7 +4230,7 @@ bool Platform::TranslateFanPin(LogicalPin logicalPin, Pin& firmwarePin, bool& in // Append the name of a logical pin to a string void Platform::AppendPinName(LogicalPin logicalPin, const StringRef& str) const { - if (logicalPin >= Heater0LogicalPin && logicalPin < Heater0LogicalPin + (int)Heaters) // pins 0-9 correspond to heater channels + if (logicalPin >= Heater0LogicalPin && logicalPin < Heater0LogicalPin + (int)NumHeaters) // pins 0-9 correspond to heater channels { str.catf("H%u", logicalPin - Heater0LogicalPin); } @@ -4480,6 +4588,9 @@ uint32_t Platform::Random() #endif // Step pulse timer interrupt +#if __LPC17xx__ +extern "C" +#endif void STEP_TC_HANDLER() __attribute__ ((hot)); #if SAM4S || SAME70 @@ -4529,6 +4640,32 @@ void STEP_TC_HANDLER() SoftTimer::Interrupt(); } } +#elif __LPC17xx__ + uint32_t regval = STEP_TC->IR; + //find which Match Register triggered the interrupt + if (regval & (1 << SBIT_MRI0_IFM)) //Interrupt flag for match channel 0. + { + STEP_TC->IR |= (1<<SBIT_MRI0_IFM); //clear interrupt on MR0 (setting bit will clear int) + STEP_TC->MCR &= ~(1<<SBIT_MR0I); //Disable Int on MR0 + +# ifdef MOVE_DEBUG + ++numInterruptsExecuted; + lastInterruptTime = Platform::GetInterruptClocks(); +# endif + reprap.GetMove().Interrupt(); // execute the step interrupt + } + + if (regval & (1 << SBIT_MRI1_IFM)) //Interrupt flag for match channel 1. + { + STEP_TC->IR |= (1<<SBIT_MRI1_IFM); //clear interrupt + STEP_TC->MCR &= ~(1<<SBIT_MR1I); //Disable Int on MR1 +# ifdef SOFT_TIMER_DEBUG + ++numSoftTimerInterruptsExecuted; +# endif + SoftTimer::Interrupt(); + } +//end __LPC17xx__ + #else uint32_t tcsr = STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_SR; // read the status register, which clears the status bits, and or-in any pending status bits tcsr &= STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_IMR; // select only enabled interrupts @@ -4592,6 +4729,10 @@ void STEP_TC_HANDLER() return true; // tell the caller to simulate an interrupt instead } +#ifdef __LPC17xx__ + STEP_TC->MR0 = tim; + STEP_TC->MCR |= (1 << SBIT_MR0I); // Enable Int on MR0 match +#else STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_RA = tim; // set up the compare register // We would like to clear any pending step interrupt. To do this, we must read the TC status register. @@ -4599,6 +4740,7 @@ void STEP_TC_HANDLER() // So we don't, and the step ISR must allow for getting called prematurely. STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_IER = TC_IER_CPAS; // enable the interrupt cpu_irq_restore(flags); +#endif #ifdef MOVE_DEBUG ++numInterruptsScheduled; @@ -4611,9 +4753,13 @@ void STEP_TC_HANDLER() // Make sure we get no step interrupts /*static*/ void Platform::DisableStepInterrupt() { +#ifdef __LPC17xx__ + STEP_TC->MCR &= ~(1<<SBIT_MR0I); //Disable Int on MR0 +#else STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_IDR = TC_IER_CPAS; -#if SAM4S || SAME70 +# if SAM4S || SAME70 stepTimerPendingStatus &= ~TC_SR_CPAS; +# endif #endif } @@ -4628,12 +4774,17 @@ void STEP_TC_HANDLER() return true; // tell the caller to simulate an interrupt instead } +#ifdef __LPC17xx__ + STEP_TC->MR1 = tim; //set MR1 compare register + STEP_TC->MCR |= (1<<SBIT_MR1I); // Int on MR1 match +#else STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_RB = tim; // set up the compare register // We would like to clear any pending step interrupt. To do this, we must read the TC status register. // Unfortunately, this would clear any other pending interrupts from the same TC. // So we don't, and the timer ISR must allow for getting called prematurely. STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_IER = TC_IER_CPBS; // enable the interrupt +#endif cpu_irq_restore(flags); #ifdef SOFT_TIMER_DEBUG @@ -4645,9 +4796,13 @@ void STEP_TC_HANDLER() // Make sure we get no step interrupts /*static*/ void Platform::DisableSoftTimerInterrupt() { +#ifdef __LPC17xx__ + STEP_TC->MCR &= ~(1<<SBIT_MR1I); //Disable Int on MR1 +#else STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_IDR = TC_IER_CPBS; -#if SAM4S || SAME70 +# if SAM4S || SAME70 stepTimerPendingStatus &= ~TC_SR_CPBS; +# endif #endif } diff --git a/src/Platform.h b/src/Platform.h index be703e1b..1f282663 100644 --- a/src/Platform.h +++ b/src/Platform.h @@ -113,8 +113,8 @@ constexpr uint32_t maxPidSpinDelay = 5000; // Maximum elapsed time in millisec enum class BoardType : uint8_t { Auto = 0, -#if defined(SAME70_TEST_BOARD) - SamE70TestBoard = 1 +#if defined(DUET3) + Duet3_10 = 1 #elif defined(DUET_NG) DuetWiFi_10 = 1, DuetWiFi_102 = 2, @@ -731,7 +731,7 @@ private: volatile DriverStatus driverState[DRIVES]; bool directions[DRIVES]; int8_t enableValues[DRIVES]; - Pin endStopPins[DRIVES]; + Pin endStopPins[NumEndstops]; float maxFeedrates[DRIVES]; float accelerations[DRIVES]; float driveStepsPerUnit[DRIVES]; @@ -1184,7 +1184,7 @@ inline uint16_t Platform::GetRawZProbeReading() const case ZProbeType::e0Switch: { - const bool b = IoPort::ReadPin(endStopPins[E0_AXIS]); + const bool b = IoPort::ReadPin(GetEndstopPin(E0_AXIS)); return (b) ? 4000 : 0; } @@ -1195,7 +1195,7 @@ inline uint16_t Platform::GetRawZProbeReading() const case ZProbeType::e1Switch: { - const bool b = IoPort::ReadPin(endStopPins[E0_AXIS + 1]); + const bool b = IoPort::ReadPin(GetEndstopPin(E0_AXIS + 1)); return (b) ? 4000 : 0; } @@ -1249,7 +1249,7 @@ inline OutputBuffer *Platform::GetAuxGCodeReply() // The bitmaps for various controller electronics are organised like this: // Duet WiFi: // All step pins are on port D, so the bitmap is just the map of step bits in port D. -// Duet Maestro and PCCB: +// Duet Maestro, PCCB and Duet 3: // All step pins are on port C, so the bitmap is just the map of step bits in port C. // Duet 0.6 and 0.8.5: // Step pins are PA0, PC7,9,11,14,25,29 and PD0,3. @@ -1269,11 +1269,11 @@ inline OutputBuffer *Platform::GetAuxGCodeReply() return 0; } -#if defined(SAME70_TEST_BOARD) - return 0; // TODO assign step pins -#else +#ifndef __LPC17xx__ //LPC doesn't need pinDesc const PinDescription& pinDesc = g_APinDescription[STEP_PINS[driver]]; -#if defined(DUET_NG) || defined(DUET_M) || defined(PCCB) +#endif + +#if defined(DUET_NG) || defined(DUET_M) || defined(PCCB) || defined(DUET3) return pinDesc.ulPin; #elif defined(DUET_06_085) return (pinDesc.pPort == PIOA) ? pinDesc.ulPin << 1 : pinDesc.ulPin; @@ -1281,10 +1281,11 @@ inline OutputBuffer *Platform::GetAuxGCodeReply() return (pinDesc.pPort == PIOC) ? pinDesc.ulPin << 1 : pinDesc.ulPin; #elif defined(__ALLIGATOR__) return pinDesc.ulPin; +# elif defined(__LPC17xx__) + return 1u << STEP_PIN_PORT2_POS[driver]; #else # error Unknown board #endif -#endif } // Set the specified step pins high @@ -1292,11 +1293,9 @@ inline OutputBuffer *Platform::GetAuxGCodeReply() // We rely on only those port bits that are step pins being set in the PIO_OWSR register of each port /*static*/ inline void Platform::StepDriversHigh(uint32_t driverMap) { -#if defined(SAME70_TEST_BOARD) - // TODO -#elif defined(DUET_NG) +#if defined(DUET_NG) PIOD->PIO_ODSR = driverMap; // on Duet WiFi all step pins are on port D -#elif defined(DUET_M) || defined(PCCB) +#elif defined(DUET_M) || defined(PCCB) || defined(DUET3) PIOC->PIO_ODSR = driverMap; // on Duet Maestro all step pins are on port C #elif defined(DUET_06_085) PIOD->PIO_ODSR = driverMap; @@ -1311,6 +1310,11 @@ inline OutputBuffer *Platform::GetAuxGCodeReply() PIOB->PIO_ODSR = driverMap; PIOD->PIO_ODSR = driverMap; PIOC->PIO_ODSR = driverMap; +#elif defined(__LPC17xx__) + //On Azteeg X5 Mini all step pins are on Port 2 + //On Smoothieboard all step pins are on Port 2 + //On ReArm all step pins are on Port 2 + LPC_GPIO2->FIOSET = driverMap; #else # error Unknown board #endif @@ -1321,11 +1325,9 @@ inline OutputBuffer *Platform::GetAuxGCodeReply() // We rely on only those port bits that are step pins being set in the PIO_OWSR register of each port /*static*/ inline void Platform::StepDriversLow() { -#if defined(SAME70_TEST_BOARD) - // TODO -#elif defined(DUET_NG) +#if defined(DUET_NG) PIOD->PIO_ODSR = 0; // on Duet WiFi all step pins are on port D -#elif defined(DUET_M) || defined(PCCB) +#elif defined(DUET_M) || defined(PCCB) || defined(DUET3) PIOC->PIO_ODSR = 0; // on Duet Maestro all step pins are on port C #elif defined(DUET_06_085) PIOD->PIO_ODSR = 0; @@ -1340,6 +1342,8 @@ inline OutputBuffer *Platform::GetAuxGCodeReply() PIOD->PIO_ODSR = 0; PIOC->PIO_ODSR = 0; PIOB->PIO_ODSR = 0; +#elif defined(__LPC17xx__) + LPC_GPIO2->FIOCLR = STEP_DRIVER_MASK; #else # error Unknown board #endif diff --git a/src/RADDS/Pins_RADDS.h b/src/RADDS/Pins_RADDS.h index 902c8e84..40a51827 100644 --- a/src/RADDS/Pins_RADDS.h +++ b/src/RADDS/Pins_RADDS.h @@ -37,7 +37,8 @@ const size_t DRIVES = 9; // The number of heaters in the machine // 0 is the heated bed even if there isn't one. -constexpr size_t Heaters = 4; +constexpr size_t NumEndstops = 4; // The number of inputs we have for endstops, filament sensors etc. +constexpr size_t NumHeaters = 4; constexpr size_t NumExtraHeaterProtections = 4; // The number of extra heater protection instances constexpr size_t NumThermistorInputs = 4; @@ -76,7 +77,7 @@ const Pin DIRECTION_PINS[DRIVES] = { 23, 16, 3, 60, 63, 53, 33, 27, 66 }; // // This leaves 34, 36, and 38 as spare pins (X, Y, Z max) -const Pin END_STOP_PINS[DRIVES] = { 28, 30, 32, 39, NoPin, NoPin, NoPin, NoPin }; +const Pin END_STOP_PINS[NumEndstops] = { 28, 30, 32, 39 }; // HEATERS - The bed is assumed to be the at index 0 @@ -88,7 +89,7 @@ const Pin TEMP_SENSE_PINS[NumThermistorInputs] = { 4, 0, 1, 2 }; // h0, h1 PMW: D13 & D12 are on TIOB0 & B8 which are both TC B channels, so they get PWM // h2 bang-bang: D11 is on TIOA8 which is a TC A channel shared with h1, it gets bang-bang control -const Pin HEAT_ON_PINS[Heaters] = { 7, 13, 12, 11 }; // bed, h0, h1, h2 +const Pin HEAT_ON_PINS[NumHeaters] = { 7, 13, 12, 11 }; // bed, h0, h1, h2 // Default thermistor betas const float BED_R25 = 10000.0; diff --git a/src/RepRap.cpp b/src/RepRap.cpp index 6499ee16..76e18a59 100644 --- a/src/RepRap.cpp +++ b/src/RepRap.cpp @@ -27,6 +27,9 @@ #if HAS_HIGH_SPEED_SD # include "sam/drivers/hsmci/hsmci.h" # include "conf_sd_mmc.h" +# if SAME70 +static_assert(CONF_HSMCI_XDMAC_CHANNEL == XDMAC_CHAN_HSMCI, "mismatched DMA channel assignment"); +# endif #endif #ifdef RTOS @@ -715,7 +718,7 @@ void RepRap::Tick() #endif { resetting = true; - for (size_t i = 0; i < Heaters; i++) + for (size_t i = 0; i < NumHeaters; i++) { platform->SetHeater(i, 0.0); } @@ -1014,7 +1017,7 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source) // Current temperatures response->cat("\"current\":"); ch = '['; - for (size_t heater = 0; heater < Heaters; heater++) + for (size_t heater = 0; heater < NumHeaters; heater++) { response->catf("%c%.1f", ch, (double)heat->GetTemperature(heater)); ch = ','; @@ -1024,7 +1027,7 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source) // Current states response->cat(",\"state\":"); ch = '['; - for (size_t heater = 0; heater < Heaters; heater++) + for (size_t heater = 0; heater < NumHeaters; heater++) { response->catf("%c%d", ch, heat->GetStatus(heater)); ch = ','; @@ -1036,7 +1039,7 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source) { response->cat(",\"names\":"); ch = '['; - for (size_t heater = 0; heater < Heaters; heater++) + for (size_t heater = 0; heater < NumHeaters; heater++) { response->cat(ch); ch = ','; @@ -1197,7 +1200,7 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source) // Endstops uint32_t endstops = 0; const size_t numTotalAxes = gCodes->GetTotalAxes(); - for (size_t drive = 0; drive < DRIVES; drive++) + for (size_t drive = 0; drive < NumEndstops; drive++) { if (drive < numTotalAxes) { diff --git a/src/RepRapFirmware.h b/src/RepRapFirmware.h index 5a52a2af..084265d9 100644 --- a/src/RepRapFirmware.h +++ b/src/RepRapFirmware.h @@ -300,7 +300,12 @@ constexpr float RadiansToDegrees = 180.0/3.141592653589793; typedef uint32_t FilePosition; const FilePosition noFilePosition = 0xFFFFFFFF; +//------------------------------------------------------------------------------------------------- // Interrupt priorities - must be chosen with care! 0 is the highest priority, 15 is the lowest. +// This interacts with FreeRTOS config constant configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY which is currently defined as 5. +// ISRs with better (numerically lower) priorities than this value cannot make FreeRTOS calls, but those interrupts wont be disabled even in FreeRTOS critical sections. +// So use priority 4 or lower for interrupts where low latency is critical and FreeRTOS calls are not needed. + #if SAM4E || SAME70 const uint32_t NvicPriorityWatchdog = 0; // the secondary watchdog has the highest priority #endif @@ -312,22 +317,25 @@ const uint32_t NvicPriorityDriversSerialTMC = 2; // USART or UART used to contro const uint32_t NvicPrioritySystick = 3; // systick kicks the watchdog and starts the ADC conversions, so must be quite high #endif -const uint32_t NvicPriorityPins = 4; // priority for GPIO pin interrupts - filament sensors must be higher than step - -// Currently we set configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY in FreeRTOS to 5. -// This means that only interrupts with priority numerically at least 5 can make ISR-safe calls to FreeRTOS in an ISR. - +const uint32_t NvicPriorityPins = 5; // priority for GPIO pin interrupts - filament sensors must be higher than step const uint32_t NvicPriorityStep = 6; // step interrupt is next highest, it can preempt most other interrupts const uint32_t NvicPriorityWiFiUart = 7; // UART used to receive debug data from the WiFi module const uint32_t NvicPriorityUSB = 7; // USB interrupt const uint32_t NvicPriorityHSMCI = 7; // HSMCI command complete interrupt #if HAS_LWIP_NETWORKING -const uint32_t NvicPriorityNetworkTick = 8; // priority for network tick interrupt +const uint32_t NvicPriorityNetworkTick = 8; // priority for network tick interrupt (to be replaced by a FreeRTOS task) const uint32_t NvicPriorityEthernet = 8; // priority for Ethernet interface #endif const uint32_t NvicPrioritySpi = 8; // SPI is used for network transfers on Duet WiFi/Duet vEthernet const uint32_t NvicPriorityTwi = 9; // TWI is used to read endstop and other inputs on the DueXn +#if SAME70 +// DMA channel allocations +const uint32_t XDMAC_CHAN_HSMCI = 0; // DMA channel used for HSMCI interface, see CONF_HSMCI_XDMAC_CHANNEL in file conf_sd_mmc.h in project CoreNG +const uint32_t XDMAC_CHAN_TMC_TX = 1; // DMA channel for sending to SPI-controlled TMC drivers +const uint32_t XDMAC_CHAN_TMC_RX = 2; // DMA channel for receiving from SPI-controlled TMC drivers +#endif + #endif diff --git a/src/Tools/Tool.cpp b/src/Tools/Tool.cpp index c2622adf..64a03fb1 100644 --- a/src/Tools/Tool.cpp +++ b/src/Tools/Tool.cpp @@ -60,7 +60,7 @@ Tool * Tool::freelist = nullptr; } for (size_t i = 0; i < hCount; ++i) { - if (h[i] < 0 || h[i] >= (int)Heaters) + if (h[i] < 0 || h[i] >= (int)NumHeaters) { reply.copy("Tool creation: bad heater number"); return nullptr; diff --git a/src/Tools/Tool.h b/src/Tools/Tool.h index ba859e45..b208768d 100644 --- a/src/Tools/Tool.h +++ b/src/Tools/Tool.h @@ -99,8 +99,8 @@ private: char *name; float offset[MaxAxes]; float mix[MaxExtruders]; - float activeTemperatures[Heaters]; - float standbyTemperatures[Heaters]; + float activeTemperatures[NumHeaters]; + float standbyTemperatures[NumHeaters]; size_t driveCount; size_t heaterCount; int myNumber; @@ -108,7 +108,7 @@ private: AxesBitmap axisOffsetsProbed; FansBitmap fanMapping; uint8_t drives[MaxExtruders]; - int8_t heaters[Heaters]; + int8_t heaters[NumHeaters]; ToolState state; bool heaterFault; diff --git a/src/Version.h b/src/Version.h index 6e287564..bb45bea1 100644 --- a/src/Version.h +++ b/src/Version.h @@ -22,7 +22,7 @@ #endif #ifndef DATE -# define DATE "2018-08-22b2" +# define DATE "2018-08-26b3" #endif #define AUTHORS "reprappro, dc42, chrishamm, t3p3, dnewman" |