diff options
| author | David Crocker <dcrocker@eschertech.com> | 2022-02-07 17:24:23 +0300 |
|---|---|---|
| committer | David Crocker <dcrocker@eschertech.com> | 2022-02-07 17:24:23 +0300 |
| commit | a2e55f4ea1ca876a2cb7f2a36f01ddc1baa5fa8b (patch) | |
| tree | e639bcdaa11247fde7313b9fffbd312e803bf932 | |
| parent | b8b63b24eeced90323f38ce6c71cf65a28aaf4c3 (diff) | |
Various changes for 3.4.rc1
Made most kinematics support a build config option
Made PanelDue flasher a build config option
Made SPI temperature sensors a build config option
Fixed current loop sensor in expansion board mode
Use atanf instead of atan in Hangprinter kinematics
Removed M573 support
Added experimental Mini4 build configuration
Increased version to 3.4.0rc1
44 files changed, 1104 insertions, 85 deletions
@@ -1769,6 +1769,152 @@ </externalSettings> </storageModule> </cconfiguration> + <cconfiguration id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786.957471317.1222249630.1359583846.2076578701"> + <storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786.957471317.1222249630.1359583846.2076578701" moduleId="org.eclipse.cdt.core.settings" name="Duet3Mini4"> + <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"/> + <stringMacro name="CoreName" type="VALUE_TEXT" value="CoreNG"/> + </macros> + <externalSettings/> + <extensions> + <extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/> + <extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/> + <extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/> + <extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/> + <extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/> + <extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/> + </extensions> + </storageModule> + <storageModule moduleId="cdtBuildSystem" version="4.0.0"> + <configuration artifactExtension="elf" artifactName="Duet3Firmware_Mini4" 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.516195201.976458850.241502451.170574622.649587786.957471317.1222249630.1359583846.2076578701" name="Duet3Mini4" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=" 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" && crc32appender "${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin" && python3 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excluding="src/Hardware/SAME5x/Ethernet|src/Networking/LwipEthernet|src/Networking/LwipEthernet/Lwip/src/apps/snmp|src/Networking/LwipEthernet/Lwip/src/apps/smtp|src/Hardware/SAME70|src/DuetNG|src/Networking/LwipEthernet/Lwip/src/apps/tftp|src/Networking/W5500Ethernet|src/Networking/LwipEthernet/Lwip/src/netif/ppp|src/Networking/LwipEthernet/Lwip/src/apps/lwiperf|src/Networking/LwipEthernet/Lwip/src/apps/altcp_tls|src/Networking/LwipEthernet/Lwip/src/apps/sntp|src/Networking/LwipEthernet/Lwip/src/apps/http|src/Duet3_V06|src/Hardware/SAM4E|src/Pccb|src/Hardware/SAM4S|src/Networking/LwipEthernet/Lwip/src/apps/mqtt|src/DuetM|src/Networking/LwipEthernet/Lwip/doc" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> + </sourceEntries> + </configuration> + </storageModule> + <storageModule moduleId="org.eclipse.cdt.core.externalSettings"> + <externalSettings containerId="FreeRTOS;cdt.managedbuild.config.gnu.cross.exe.release.487753828.1418259088" factoryId="org.eclipse.cdt.core.cfg.export.settings.sipplier"> + <externalSetting> + <entry flags="VALUE_WORKSPACE_PATH" kind="libraryPath" name="/FreeRTOS/SAME51"/> + <entry flags="RESOLVED" kind="libraryFile" name="FreeRTOS" srcPrefixMapping="" srcRootPath=""/> + </externalSetting> + </externalSettings> + <externalSettings containerId="RRFLibraries;cdt.managedbuild.config.gnu.cross.lib.release.1693990866.1129583112" factoryId="org.eclipse.cdt.core.cfg.export.settings.sipplier"> + <externalSetting> + <entry flags="VALUE_WORKSPACE_PATH" kind="libraryPath" name="/RRFLibraries/SAME51_RTOS"/> + <entry flags="RESOLVED" kind="libraryFile" name="RRFLibraries" srcPrefixMapping="" srcRootPath=""/> + </externalSetting> + </externalSettings> + <externalSettings containerId="CoreN2G;cdt.managedbuild.config.gnu.cross.lib.release.675522878.1031364120.1670975982" factoryId="org.eclipse.cdt.core.cfg.export.settings.sipplier"> + <externalSetting> + <entry flags="VALUE_WORKSPACE_PATH" kind="includePath" name="/CoreN2G"/> + <entry flags="VALUE_WORKSPACE_PATH" kind="libraryPath" name="/CoreN2G/SAME5x_SDHC_USB_RTOS"/> + <entry flags="RESOLVED" kind="libraryFile" name="CoreN2G" srcPrefixMapping="" srcRootPath=""/> + </externalSetting> + </externalSettings> + <externalSettings containerId="CANlib;cdt.managedbuild.config.gnu.cross.lib.release.1485070058.881130662" factoryId="org.eclipse.cdt.core.cfg.export.settings.sipplier"> + <externalSetting> + <entry flags="VALUE_WORKSPACE_PATH" kind="libraryPath" name="/CANlib/SAME51_RTOS"/> + <entry flags="RESOLVED" kind="libraryFile" name="CANlib" srcPrefixMapping="" srcRootPath=""/> + </externalSetting> + </externalSettings> + </storageModule> + </cconfiguration> </storageModule> <storageModule moduleId="cdtBuildSystem" version="4.0.0"> <project id="RepRapFirmware.cdt.managedbuild.target.gnu.cross.exe.1494358155" name="Executable" projectType="cdt.managedbuild.target.gnu.cross.exe"/> @@ -1847,6 +1993,9 @@ <scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.1275216290.274082366.1645191116.1852610203.289083307.712841925.1685260958;cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.1275216290.274082366.1645191116.1852610203.289083307.712841925.1685260958.;cdt.managedbuild.tool.gnu.cross.cpp.compiler.715778553;cdt.managedbuild.tool.gnu.cpp.compiler.input.2089527705"> <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/> </scannerConfigBuildInfo> + <scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786.957471317.1222249630.1359583846.2076578701;cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786.957471317.1222249630.1359583846.2076578701.;cdt.managedbuild.tool.gnu.cross.cpp.compiler.75143221;cdt.managedbuild.tool.gnu.cpp.compiler.input.91271068"> + <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/> + </scannerConfigBuildInfo> <scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.1027429289;cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.1027429289.;cdt.managedbuild.tool.gnu.cross.c.compiler.764246283;cdt.managedbuild.tool.gnu.c.compiler.input.110609707"> <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/> </scannerConfigBuildInfo> @@ -1874,6 +2023,9 @@ <scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786.957471317.1222249630;cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786.957471317.1222249630.;cdt.managedbuild.tool.gnu.cross.c.compiler.1595573667;cdt.managedbuild.tool.gnu.c.compiler.input.733744821"> <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/> </scannerConfigBuildInfo> + <scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786.957471317.1222249630.1359583846.2076578701;cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786.957471317.1222249630.1359583846.2076578701.;cdt.managedbuild.tool.gnu.cross.c.compiler.1540056409;cdt.managedbuild.tool.gnu.c.compiler.input.158064829"> + <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/> + </scannerConfigBuildInfo> <scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786.957471317;cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786.957471317.;cdt.managedbuild.tool.gnu.cross.cpp.compiler.628323987;cdt.managedbuild.tool.gnu.cpp.compiler.input.612052200"> <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/> </scannerConfigBuildInfo> @@ -18,3 +18,4 @@ /Duet3_MB6XD/ /Duet3_CAN0/ /Duet3_Debug/ +/Duet3Mini4/ diff --git a/src/Comms/FirmwareUpdater.cpp b/src/Comms/FirmwareUpdater.cpp index 32f0d7e4..84597db2 100644 --- a/src/Comms/FirmwareUpdater.cpp +++ b/src/Comms/FirmwareUpdater.cpp @@ -87,7 +87,7 @@ namespace FirmwareUpdater return false; } #endif -#if HAS_AUX_DEVICES +#if SUPPORT_PANELDUE_FLASH PanelDueUpdater * const panelDueUpdater = reprap.GetPlatform().GetPanelDueUpdater(); if (panelDueUpdater != nullptr && !panelDueUpdater->Idle()) { @@ -99,14 +99,13 @@ namespace FirmwareUpdater void UpdateModule(unsigned int module, const size_t serialChannel, const StringRef& filenameRef) noexcept { -#if HAS_WIFI_NETWORKING || HAS_AUX_DEVICES - Platform& platform = reprap.GetPlatform(); +#if HAS_WIFI_NETWORKING || SUPPORT_PANELDUE_FLASH switch(module) { # if HAS_WIFI_NETWORKING case WifiExternalFirmwareModule: # ifdef DUET_NG - if (platform.IsDuetWiFi()) + if (reprap.GetPlatform().IsDuetWiFi()) # endif { reprap.GetNetwork().ResetWiFiForUpload(true); @@ -115,7 +114,7 @@ namespace FirmwareUpdater case WifiFirmwareModule: # ifdef DUET_NG - if (platform.IsDuetWiFi()) + if (reprap.GetPlatform().IsDuetWiFi()) # endif { WifiFirmwareUploader * const uploader = reprap.GetNetwork().GetWifiUploader(); @@ -127,9 +126,10 @@ namespace FirmwareUpdater } break; # endif -# if HAS_AUX_DEVICES +# if SUPPORT_PANELDUE_FLASH case PanelDueFirmwareModule: { + Platform& platform = reprap.GetPlatform(); if (platform.GetPanelDueUpdater() == nullptr) { platform.InitPanelDueUpdater(); diff --git a/src/Comms/PanelDueUpdater.cpp b/src/Comms/PanelDueUpdater.cpp index 92c5989c..bd381e6d 100644 --- a/src/Comms/PanelDueUpdater.cpp +++ b/src/Comms/PanelDueUpdater.cpp @@ -7,7 +7,7 @@ #include "PanelDueUpdater.h" -#if HAS_AUX_DEVICES +#if SUPPORT_PANELDUE_FLASH #include <Platform/Platform.h> #include <Platform/RepRap.h> diff --git a/src/Comms/PanelDueUpdater.h b/src/Comms/PanelDueUpdater.h index f7589d16..bb814371 100644 --- a/src/Comms/PanelDueUpdater.h +++ b/src/Comms/PanelDueUpdater.h @@ -10,7 +10,7 @@ #include <RepRapFirmware.h> -#if HAS_AUX_DEVICES +#if SUPPORT_PANELDUE_FLASH #include <General/NamedEnum.h> diff --git a/src/Config/Pins.h b/src/Config/Pins.h index 3646403b..9cef26ef 100644 --- a/src/Config/Pins.h +++ b/src/Config/Pins.h @@ -23,6 +23,9 @@ # elif defined(DUET3MINI_V04) # define DUET3MINI 1 # define PLATFORM Duet3Mini +# elif defined(DUET3MINI4) +# define DUET3MINI 1 +# define PLATFORM Duet3Mini4 # elif defined(__LPC17xx__) # define PLATFORM LPC # else @@ -69,8 +72,16 @@ # define SUPPORT_LED_STRIPS 0 #endif +#ifndef SUPPORT_SPI_SENSORS +# define SUPPORT_SPI_SENSORS 1 +#endif + #define HAS_AUX_DEVICES (defined(SERIAL_AUX_DEVICE)) // if SERIAL_AUX_DEVICE is defined then we have one or more aux devices +#ifndef SUPPORT_PANELDUE_FLASH +# define SUPPORT_PANELDUE_FLASH HAS_AUX_DEVICES +#endif + #ifndef ALLOW_ARBITRARY_PANELDUE_PORT # define ALLOW_ARBITRARY_PANELDUE_PORT (0) #endif @@ -207,6 +218,31 @@ # define SUPPORT_ACCELEROMETERS 0 #endif +// Optional kinematics support, to allow us to reduce flash memory usage +#ifndef SUPPORT_LINEAR_DELTA +# define SUPPORT_LINEAR_DELTA 1 +#endif + +#ifndef SUPPORT_ROTARY_DELTA +# define SUPPORT_ROTARY_DELTA 1 +#endif + +#ifndef SUPPORT_POLAR +# define SUPPORT_POLAR 1 +#endif + +#ifndef SUPPORT_SCARA +# define SUPPORT_SCARA 1 +#endif + +#ifndef SUPPORT_FIVEBARSCARA +# define SUPPORT_FIVEBARSCARA 1 +#endif + +#ifndef SUPPORT_HANGPRINTER +# define SUPPORT_HANGPRINTER 1 +#endif + // We must define MCU_HAS_UNIQUE_ID as either 0 or 1 so we can use it in maths #if SAM4E || SAM4S || SAME70 || SAME5x # define MCU_HAS_UNIQUE_ID 1 @@ -221,7 +257,6 @@ #endif // Define SUPPORT_REMOTE_COMMANDS according to whether this hardware accepts commands over CAN -// For now we exclude Duet 3 MB6HC because CoreNG doesn't support analog callbacks #define SUPPORT_REMOTE_COMMANDS (SUPPORT_CAN_EXPANSION && !defined(DUET3_ATE)) #define USE_REMOTE_INPUT_SHAPING (0) //TODO temporary!!! diff --git a/src/Config/Pins_Duet3Mini4.h b/src/Config/Pins_Duet3Mini4.h new file mode 100644 index 00000000..d59551b4 --- /dev/null +++ b/src/Config/Pins_Duet3Mini4.h @@ -0,0 +1,498 @@ +/* + * Pins_Duet3Mini4.h + * + * Created on: 02 Feb 2022 + * Author: David + */ + +#ifndef SRC_DUET3MINI_PINS_DUET3MINI_H_ +#define SRC_DUET3MINI_PINS_DUET3MINI_H_ + +#include <PinDescription.h> + +#define DEFAULT_BOARD_TYPE BoardType::Duet3Mini4 + +#define BOARD_SHORT_NAME "Mini4" +#define BOARD_NAME "Duet 3 Mini 4" +#define FIRMWARE_NAME "RepRapFirmware for Duet 3 Mini 4" + +#define IAP_FIRMWARE_FILE "Duet3Firmware_" BOARD_SHORT_NAME ".uf2" +#define IAP_UPDATE_FILE "Duet3_SDiap32_" BOARD_SHORT_NAME ".bin" +constexpr uint32_t IAP_IMAGE_START = 0x20028000; + +#define WIFI_FIRMWARE_FILE "DuetWiFiServer.bin" + +// Features definition +#define HAS_LWIP_NETWORKING 0 +#define HAS_WIFI_NETWORKING 1 +#define HAS_W5500_NETWORKING 0 +#define HAS_SBC_INTERFACE 0 + +#define HAS_MASS_STORAGE 1 +#define HAS_HIGH_SPEED_SD 1 +//#define HAS_CPU_TEMP_SENSOR 0 // according to the SAME5x errata doc, the temperature sensors don't work in revision A or D chips (revision D is latest as at 2020-06-28) +#define HAS_CPU_TEMP_SENSOR 1 // enable this as an experiment - it may be better than nothing + +#define SUPPORT_TMC22xx 1 +#define HAS_STALL_DETECT 1 + +#define HAS_VOLTAGE_MONITOR 1 +#define ENFORCE_MAX_VIN 0 +#define HAS_VREF_MONITOR 1 + +#define SUPPORT_CAN_EXPANSION 0 + +#define SUPPORT_LED_STRIPS 1 +#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_LASER 1 // support laser cutters and engravers using G1 S parameter +#define SUPPORT_IOBITS 0 // set to support P parameter in G0/G1 commands +#define SUPPORT_DHT_SENSOR 1 // set nonzero to support DHT temperature/humidity sensors (requires RTOS) +#define SUPPORT_WORKPLACE_COORDINATES 1 // set nonzero to support G10 L2 and G53..59 +#define SUPPORT_12864_LCD 1 // set nonzero to support 12864 LCD and rotary encoder +#define SUPPORT_ACCELEROMETERS 1 +#define SUPPORT_OBJECT_MODEL 1 +#define SUPPORT_FTP 0 +#define SUPPORT_TELNET 0 +#define SUPPORT_ASYNC_MOVES 0 +#define ALLOCATE_DEFAULT_PORTS 0 +#define TRACK_OBJECT_NAMES 1 +#define SUPPORT_PANELDUE_FLASH 0 +#define SUPPORT_SPI_SENSORS 0 + +#define USE_CACHE 1 // set nonzero to enable the cache +#define USE_MPU 0 // set nonzero to enable the memory protection unit + +// Disable the kinematcs we don't need to save flash memory space +#define SUPPORT_LINEAR_DELTA 0 +#define SUPPORT_ROTARY_DELTA 0 +#define SUPPORT_POLAR 0 +#define SUPPORT_SCARA 0 +#define SUPPORT_FIVEBARSCARA 0 +#define SUPPORT_HANGPRINTER 0 + +// The physical capabilities of the machine + +#include <Duet3Common.h> + +constexpr size_t NumDirectDrivers = 4; // The maximum number of drives supported by the electronics + +constexpr size_t MaxSmartDrivers = NumDirectDrivers; // The maximum number of smart drivers + +constexpr size_t MaxPortsPerHeater = 2; + +constexpr size_t MaxBedHeaters = 4; +constexpr size_t MaxChamberHeaters = 4; +constexpr int8_t DefaultE0Heater = 1; // Index of the default first extruder heater, used only for the legacy status response + +constexpr size_t NumThermistorInputs = 3; +constexpr size_t NumTmcDriversSenseChannels = 2; + +constexpr size_t MinAxes = 3; // The minimum and default number of axes +constexpr size_t MaxAxes = 10; // The maximum number of movement axes in the machine +constexpr size_t MaxDriversPerAxis = 4; // The maximum number of stepper drivers assigned to one axis + +constexpr size_t MaxExtruders = 8; // The maximum number of extruders +constexpr size_t MaxAxesPlusExtruders = 12; + +constexpr size_t MaxHeatersPerTool = 2; +constexpr size_t MaxExtrudersPerTool = 8; + +constexpr unsigned int MaxTriggers = 16; // Maximum number of triggers + +constexpr size_t NumSerialChannels = 3; // The number of serial IO channels (USB and two auxiliary UARTs) + +#define SERIAL_MAIN_DEVICE (serialUSB) +#define SERIAL_AUX_DEVICE (serialUart0) +#define SERIAL_AUX2_DEVICE (serialUart1) + +// SerialUSB +constexpr Pin UsbVBusPin = PortBPin(6); // Pin used to monitor VBUS on USB port + +//#define I2C_IFACE Wire // First and only I2C interface +//#define I2C_IRQn WIRE_ISR_ID + +// The numbers of entries in each array must correspond with the values of DRIVES, AXES, or HEATERS. Set values to NoPin to flag unavailability. + +// Drivers +constexpr Pin GlobalTmc22xxEnablePin = PortCPin(28); // The pin that drives ENN of all drivers +PortGroup * const StepPio = &(PORT->Group[2]); // The PIO that all the step pins are on (port C) + +constexpr Pin STEP_PINS[NumDirectDrivers] = { PortCPin(26), PortCPin(25), PortCPin(24), PortCPin(19) }; +constexpr Pin DIRECTION_PINS[NumDirectDrivers] = { PortBPin(3), PortBPin(29), PortBPin(28), PortDPin(20) }; +constexpr Pin DriverDiagPins[NumDirectDrivers] = { PortAPin(10), PortBPin(8), PortAPin(22), PortAPin(23) }; +// CCL inputs that the DIAG inputs use. Bits 0-1 are the CCL LUT number. Bits 8-19 are the value to OR in to the control register for that LUT. +constexpr uint32_t CclDiagInputs[NumDirectDrivers] = +{ + 0x01 | CCL_LUTCTRL_INSEL2(0x04), // CCLIN[5] = 1.2 + 0x02 | CCL_LUTCTRL_INSEL2(0x04), // CCLIN[8] = 2.2 + 0x02 | CCL_LUTCTRL_INSEL0(0x04), // CCLIN[6] = 2.0 + 0x02 | CCL_LUTCTRL_INSEL1(0x04), // CCLIN[7] = 2.1 +}; + +// UART interface to stepper drivers +constexpr uint8_t TMC22xxSercomNumber = 1; +Sercom * const SERCOM_TMC22xx = SERCOM1; +constexpr IRQn TMC22xx_SERCOM_IRQn = SERCOM1_0_IRQn; +constexpr Pin TMC22xxSercomTxPin = PortAPin(0); +constexpr GpioPinFunction TMC22xxSercomTxPinPeriphMode = GpioPinFunction::D; +constexpr Pin TMC22xxSercomRxPin = PortAPin(1); +constexpr GpioPinFunction TMC22xxSercomRxPinPeriphMode = GpioPinFunction::D; +constexpr uint8_t TMC22xxSercomRxPad = 1; +constexpr Pin TMC22xxMuxPins[1] = { PortDPin(0) }; + +#define TMC22xx_HAS_ENABLE_PINS 0 +#define TMC22xx_HAS_MUX 0 +#define TMC22xx_USES_SERCOM 1 +#define TMC22xx_VARIABLE_NUM_DRIVERS 0 +#define TMC22xx_SINGLE_DRIVER 0 +#define TMC22xx_USE_SLAVEADDR 1 +#define TMC22xx_DEFAULT_STEALTHCHOP 0 + +// Define the baud rate used to send/receive data to/from the drivers. +// If we assume a worst case clock frequency of 8MHz then the maximum baud rate is 8MHz/16 = 500kbaud. +// We send data via a 1K series resistor. Even if we assume a 200pF load on the shared UART line, this gives a 200ns time constant, which is much less than the 2us bit time @ 500kbaud. +// To write a register we need to send 12 bytes and receive 8 bytes after a programmable delay. To read a register we send 4 bytes and receive 8 bytes after a programmable delay. +// In testing I found that 500kbaud was not reliable. Minimum baud rate is 9000. +constexpr uint32_t DriversBaudRate = 100000; // at 100kbaud a transfer may take up to 2ms +constexpr uint32_t TransferTimeout = 6; // any transfer should complete within 6 ticks @ 1ms/tick. 5 wasn't quite enough. +constexpr uint32_t DefaultStandstillCurrentPercent = 75; +constexpr float DriverSenseResistor = 0.056 + 0.02; // in ohms + +constexpr float DriverVRef = 180.0; // in mV +constexpr float DriverFullScaleCurrent = DriverVRef/DriverSenseResistor; // in mA +constexpr float DriverCsMultiplier = 32.0/DriverFullScaleCurrent; +constexpr float MaximumMotorCurrent = 2000.0; +constexpr float MaximumStandstillCurrent = 1500.0; + +// Thermistors +constexpr Pin TEMP_SENSE_PINS[NumThermistorInputs] = { PortCPin(0), PortCPin(1), PortCPin(2) }; // Thermistor pin numbers +constexpr Pin VssaSensePin = PortBPin(4); +constexpr Pin VrefSensePin = PortBPin(5); + +constexpr float DefaultThermistorSeriesR = 2200.0; // Thermistor series resistor value in ohms +constexpr float MinVrefLoadR = (DefaultThermistorSeriesR / NumThermistorInputs) * 4700.0/((DefaultThermistorSeriesR / NumThermistorInputs) + 4700.0); + // there are 3 temperature sensing channels and a 4K7 load resistor +constexpr float VrefSeriesR = 27.0; + +// Digital pins that SPi devices have their select lines tied to +constexpr Pin SpiTempSensorCsPins[] = { PortDPin(11), PortCPin(7) }; // SPI0_CS1, SPI0_CS2 + +// Analogue pin numbers +constexpr Pin PowerMonitorVinDetectPin = PortCPin(3); // Vin monitor +constexpr float PowerMonitorVoltageRange = 11.0 * 3.3; // We use an 11:1 voltage divider + +#ifdef DEBUG +constexpr Pin DiagPin = NoPin; // Diag/status LED pin is shared with SWD +constexpr Pin ActLedPin = NoPin; // Activity LED pin is shared with SWCLK +#else +constexpr Pin DiagPin = PortAPin(31); // Diag/status LED pin +constexpr Pin ActLedPin = PortAPin(30); // Activity LED pin (Ethernet Yellow LED on v0.2 board) +#endif + +constexpr bool DiagOnPolarity = false; +constexpr bool ActOnPolarity = false; + +// SD cards +constexpr size_t NumSdCards = 2; +constexpr Pin SdCardDetectPins[NumSdCards] = { PortBPin(16), PortDPin(12) }; + +constexpr Pin SdWriteProtectPins[NumSdCards] = { NoPin, NoPin }; +constexpr Pin SdSpiCSPins[NumSdCards - 1] = { PortCPin(14) }; +constexpr Pin SdMciPins[] = { PortAPin(20), PortAPin(21), PortBPin(18), PortBPin(19), PortBPin(20), PortBPin(21) }; +constexpr GpioPinFunction SdMciPinsFunction = GpioPinFunction::I; +Sdhc * const SdDevice = SDHC0; +constexpr IRQn_Type SdhcIRQn = SDHC0_IRQn; +constexpr uint32_t ExpectedSdCardSpeed = 15000000; + +// 12864 LCD +// The ST7920 datasheet specifies minimum clock cycle time 400ns @ Vdd=4.5V, min. clock width 200ns high and 20ns low. +// This assumes that the Vih specification is met, which is 0.7 * Vcc = 3.5V @ Vcc=5V +// The Duet Maestro level shifts all 3 LCD signals to 5V, so we meet the Vih specification and can reliably run at 2MHz. +// For other electronics, there are reports that operation with 3.3V LCD signals may work if you reduce the clock frequency. +// The ST7567 specifies minimum clock cycle time 50ns i.e. 20MHz @ Vcc=3.3V +constexpr uint32_t LcdSpiClockFrequency = 2000000; // 2.0MHz +constexpr Pin LcdCSPin = PortCPin(6); +constexpr Pin EncoderPinA = PortCPin(11); +constexpr Pin EncoderPinB = PortDPin(1); +constexpr Pin EncoderPinSw = PortBPin(9); + +constexpr Pin LcdA0Pin = PortAPin(2); +constexpr Pin LcdBeepPin = PortAPin(9); + +// Neopixel output +constexpr Pin NeopixelOutPin = PortAPin(8); +constexpr GpioPinFunction NeopixelOutPinFunction = GpioPinFunction::H; // QSPI Data[0] +#define LEDSTRIP_USES_USART (0) + +// Shared SPI definitions +constexpr uint8_t SharedSpiSercomNumber = 7; +constexpr Pin SharedSpiMosiPin = PortCPin(12); +constexpr Pin SharedSpiMisoPin = PortCPin(15); +constexpr Pin SharedSpiSclkPin = PortCPin(13); +constexpr GpioPinFunction SharedSpiPinFunction = GpioPinFunction::C; + +// Serial on IO0 +constexpr uint8_t Serial0SercomNumber = 2; +constexpr uint8_t Sercom0RxPad = 1; +#define SERIAL0_ISR0 SERCOM2_0_Handler +#define SERIAL0_ISR1 SERCOM2_1_Handler +#define SERIAL0_ISR2 SERCOM2_2_Handler +#define SERIAL0_ISR3 SERCOM2_3_Handler + +constexpr Pin Serial0TxPin = PortBPin(25); +constexpr Pin Serial0RxPin = PortBPin(24); +constexpr GpioPinFunction Serial0PinFunction = GpioPinFunction::D; + +// Serial on IO1 +constexpr uint8_t Serial1SercomNumber = 5; +constexpr uint8_t Sercom1RxPad = 1; +#define SERIAL1_ISR0 SERCOM5_0_Handler +#define SERIAL1_ISR1 SERCOM5_1_Handler +#define SERIAL1_ISR2 SERCOM5_2_Handler +#define SERIAL1_ISR3 SERCOM5_3_Handler + +constexpr Pin Serial1TxPin = PortBPin(31); +constexpr Pin Serial1RxPin = PortBPin(30); +constexpr GpioPinFunction Serial1PinFunction = GpioPinFunction::D; + +// WiFi pins +constexpr unsigned int WiFiUartSercomNumber = 3; +constexpr uint8_t WiFiUartRxPad = 1; +constexpr Pin WiFiUartSercomPins[] = { PortAPin(16), PortAPin(17) }; +constexpr GpioPinFunction WiFiUartSercomPinsMode = GpioPinFunction::D; +constexpr IRQn WiFiUartSercomIRQn = SERCOM3_0_IRQn; // this is the first of 4 interrupt numbers +#define SERIAL_WIFI_ISR0 SERCOM3_0_Handler +#define SERIAL_WIFI_ISR1 SERCOM3_1_Handler +#define SERIAL_WIFI_ISR2 SERCOM3_2_Handler +#define SERIAL_WIFI_ISR3 SERCOM3_3_Handler + +constexpr unsigned int WiFiSpiSercomNumber = 4; +Sercom * const WiFiSpiSercom = SERCOM4; +constexpr Pin EspMosiPin = PortAPin(15); +constexpr Pin EspMisoPin = PortAPin(13); +constexpr Pin EspSclkPin = PortAPin(12); +constexpr Pin EspSSPin = PortAPin(14); +constexpr Pin WiFiSpiSercomPins[] = { EspSclkPin, EspMisoPin, EspSSPin, EspMosiPin }; +constexpr GpioPinFunction WiFiSpiSercomPinsMode = GpioPinFunction::D; +constexpr IRQn WiFiSpiSercomIRQn = SERCOM4_3_IRQn; // this is the SS Low interrupt, the only one we use +#define ESP_SPI_HANDLER SERCOM4_3_Handler + +constexpr Pin EspResetPin = PortCPin(17); +constexpr Pin EspEnablePin = PortCPin(20); +constexpr Pin EspDataReadyPin = PortAPin(18); +constexpr Pin SamTfrReadyPin = PortAPin(19); +constexpr Pin SamCsPin = PortAPin(14); + +// Function to look up a pin name and pass back the corresponding index into the pin table +bool LookupPinName(const char *pn, LogicalPin& lpin, bool& hardwareInverted) noexcept; + +// List of assignable pins and their mapping from names to MPU ports. This is indexed by logical pin number. +// The names must match user input that has been concerted to lowercase and had _ and - characters stripped out. +// Aliases are separate by the , character. +// If a pin name is prefixed by ! then this means the pin is hardware inverted. The same pin may have names for both the inverted and non-inverted cases, +// for example the inverted heater pins on the expansion connector are available as non-inverted servo pins on a DueX. + +constexpr PinDescription PinTable[] = +{ + // TC TCC ADC SERCOM in SERCOM out Exint Capability PinNames + // Port A + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PA00 TMC UART TxD + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PA01 TMC UART RxD + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, "ate.lcd.a0" }, // PA02 LCD A0 + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, "ate.sbc.dr" }, // PA03 SBC data ready + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PA04 SBC SPI MISO + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PA05 SBC SPI SCLK + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PA06 SBC SPI SS + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PA07 SBC SPI MOSI + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PA08 Neopixel output (QSPI MOSI) + { TcOutput::tc0_1, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, "are.lcd.buzz" }, // PA09 LCD buzzer + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, "ate.d0.diag" }, // PA10 driver 0 diag + { TcOutput::tc1_1, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::wpwm, "out4" }, // PA11 OUT4 + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PA12 Ethernet/WiFi SCLK (SERCOM4.1) + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PA13 Ethernet/WiFi MISO (SERCOM4.0) + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PA14 Ethernet/WiFi SS (SERCOM4.2) + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PA15 Ethernet/WiFi MOSI (SERCOM4.3) + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PA16 Ethernet GCLK2 out/WiFi RxD (SERCOM3.1) + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PA17 Ethernet/WiFi TxD (SERCOM3.0) + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, 2, PinCapability::none, nullptr }, // PA18 Ethernet/WiFi ESP_DATA_RDY + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PA19 Ethernet/WiFi SAM_TRANSFER_RDY + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PA20 SDHC CMD + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PA21 SDHC CLK + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, "ate.d2.diag" }, // PA22 driver 2 diag + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, "ate.d3.diag" }, // PA23 driver 3 diag + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PA24 USB + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PA25 USB + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PA26 not on chip + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, "ate.d6.dir" }, // PA27 driver 6 dir + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PA28 not on chip + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PA29 not on chip + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PA30 swclk/ACT LED + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PA31 swdio/STATUS LED + + // Port B + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, "ate.d5.dir" }, // PB00 driver 5 dir + { TcOutput::tc7_1, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::wpwm, "out6,laser,vfd" }, // PB01 OUT6 + { TcOutput::none, TccOutput::tcc2_2F, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::wpwm, "out5" }, // PB02 OUT5 + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, "ate.d0.dir" }, // PB03 driver 0 dir + { TcOutput::none, TccOutput::none, AdcInput::adc1_6, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PB04 VssaMon + { TcOutput::none, TccOutput::none, AdcInput::adc1_7, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PB05 VrefMon + { TcOutput::none, TccOutput::none, AdcInput::adc1_8, SercomIo::none, SercomIo::none, 6, PinCapability::none, "ate.vbus" }, // PB06 Vbus + { TcOutput::none, TccOutput::none, AdcInput::adc1_9, SercomIo::none, SercomIo::none, 7, PinCapability::ainr, "io3.in" }, // PB07 IO3_IN + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, "ate.d1.diag" }, // PB08 driver 1 diag + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, 9, PinCapability::none, "ate.enc.sw" }, // PB09 ENC SW + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, "ate.d5.diag" }, // PB10 driver 5 diag + { TcOutput::tc5_1, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::wpwm, "out3" }, // PB11 OUT3 + { TcOutput::none, TccOutput::tcc3_0F, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::wpwm, "io3.out" }, // PB12 IO3_OUT + { TcOutput::tc4_1, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::wpwm, "out2" }, // PB13 OUT2 + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::wpwm, nullptr }, // PB14 CAN Tx + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::read, nullptr }, // PB15 CAN Rx + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, "ate.cd" }, // PB16 SD CD + { TcOutput::tc6_1, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::wpwm, "out0" }, // PB17 OUT0 + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PB18 SD DAT0 + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PB19 SD DAT1 + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none , Nx, PinCapability::none, nullptr }, // PB20 SD DAT2 + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PB21 SD DAT3 + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PB22 crystal XIN1 + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PB23 crystal XOUT1 + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::sercom2d, SercomIo::none, 8, PinCapability::read, "io0.in" }, // PB24 IO0_IN + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::sercom2d, Nx, PinCapability::write, "io0.out" }, // PB25 IO0_OUT + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, 12, PinCapability::read, "out4.tach" }, // PB26 OUT4 tacho + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, 13, PinCapability::read, "out3.tach" }, // PB27 OUT3 tacho + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, "ate.d2.dir" }, // PB28 driver 2 dir + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, "ate.d1.dir" }, // PB29 driver 1 dir + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::sercom5d, SercomIo::none, 14, PinCapability::read, "io1.in" }, // PB30 IO1_IN + { TcOutput::none, TccOutput::tcc0_7G, AdcInput::none, SercomIo::none, SercomIo::sercom5d, Nx, PinCapability::wpwm, "io1.out" }, // PB31 IO1_OUT + + // Port C + { TcOutput::none, TccOutput::none, AdcInput::adc1_10, SercomIo::none, SercomIo::none, Nx, PinCapability::ain, "temp0" }, // PC00 thermistor0 + { TcOutput::none, TccOutput::none, AdcInput::adc1_11, SercomIo::none, SercomIo::none, Nx, PinCapability::ain, "temp1" }, // PC01 thermistor1 + { TcOutput::none, TccOutput::none, AdcInput::adc1_4, SercomIo::none, SercomIo::none, Nx, PinCapability::ain, "temp2" }, // PC02 thermistor2 + { TcOutput::none, TccOutput::none, AdcInput::adc1_5, SercomIo::none, SercomIo::none, Nx, PinCapability::none, "ate.vin" }, // PC03 VIN monitor + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, 4, PinCapability::read, "io5.in" }, // PC04 IO5_IN + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, 5, PinCapability::read, "io4.in" }, // PC05 IO4_IN + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::write, "spi.cs3" }, // PC06 SPI_CS3 + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::write, "spi.cs2" }, // PC07 SPI CS2 + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PC08 not on chip + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PC09 not on chip + { TcOutput::none, TccOutput::tcc1_4G, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::wpwm, "out1" }, // PC10 OUT1 + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, 11, PinCapability::none, "ate.enc.a" }, // PC11 ENC A + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PC12 SPI MOSI + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PC13 SPI SCK + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PC14 SPI CS0 (external SD card) + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PC15 SPI_MISO + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, "ate.d4.step" }, // PC16 driver4 step + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PC17 phy reset/ESP reset + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, "ate.d6.step" }, // PC18 driver 6 step + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, "ate.d3.step" }, // PC19 driver 3 step + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PC20 Ethernet/WiFi ESP_EN + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, "ate.d6.diag" }, // PC21 driver 4 diag + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PC22 Ethernet + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PC23 Ethernet + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, "ate.d2.step" }, // PC24 driver2 step + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, "ate.d1.step" }, // PC25 driver1 step + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, "ate.d0.step" }, // PC26 driver0 step + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, "ate.d6.diag" }, // PC27 driver 6 diag + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PC28 driver ENN + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PC29 not on chip + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, "ate.d5.step" }, // PC30 driver 5 step + { TcOutput::none, TccOutput::none, AdcInput::adc1_13, SercomIo::none, SercomIo::none, 15, PinCapability::ainr, "io6.in" }, // PC31 IO6_IN + + // Port D + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PD00 drivers UART mux + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, 1, PinCapability::none, "ate.enc.b" }, // PD01 ENC B + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PD02 not on chip + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PD03 not on chip + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PD04 not on chip + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PD05 not on chip + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PD06 not on chip + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::none, nullptr }, // PD07 not on chip + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::sercom6d, SercomIo::none, 3, PinCapability::read, "io2.in" }, // PD08 IO2_IN + { TcOutput::none, TccOutput::tcc0_2F, AdcInput::none, SercomIo::none, SercomIo::sercom6d, Nx, PinCapability::write, "io2.out" }, // PD09 IO2_OUT + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::write, "io4.out,pson" }, // PD10 IO4_OUT and PS_ON + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, PinCapability::write, "spi.cs1" }, // PD11 SPI2 CS1 + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, 7, PinCapability::read , "ate.spi2.cd" }, // PD12 SPI2_CD + +#if 1 + // Port D 13-19 are not on the chip + // Port D 20-21 are driver 3 dir and driver 4 dir but those don't need to be in the pin table +#else + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PD13 not on chip + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PD14 not on chip + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PD15 not on chip + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PD16 not on chip + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PD17 not on chip + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PD18 not on chip + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PD19 not on chip + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PD20 driver6 dir + { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PD21 driver5 dir +#endif +}; + +constexpr unsigned int NumNamedPins = ARRAY_SIZE(PinTable); +static_assert(NumNamedPins == 32+32+32+13); + +// DMA channel assignments. Channels 0-3 have individual interrupt vectors, channels 4-31 share an interrupt vector. +// When static arbitration within a priority level is selected, lower channel number have higher priority. +// So we use the low channel numbers for the highest priority sources. +constexpr DmaChannel DmacChanSbcTx = 0; +constexpr DmaChannel DmacChanSbcRx = 1; +constexpr DmaChannel DmacChanWiFiTx = 2; +constexpr DmaChannel DmacChanWiFiRx = 3; +constexpr DmaChannel DmacChanDotStarTx = 4; +constexpr DmaChannel DmacChanTmcTx = 5; +constexpr DmaChannel DmacChanTmcRx = 6; + +constexpr unsigned int NumDmaChannelsUsed = 7; + +// The DMAC has priority levels 0-3 but on revision A chips it is unsafe to use multiple levels +// Fortunately, all our SAME54P20Achips seem to be revision D +constexpr DmaPriority DmacPrioTmcTx = 0; +constexpr DmaPriority DmacPrioTmcRx = 1; // the baud rate is 100kbps so this is not very critical +constexpr DmaPriority DmacPrioWiFi = 2; // high speed SPI in slave mode +constexpr DmaPriority DmacPrioSbc = 2; // high speed SPI in slave mode +constexpr DmaPriority DmacPrioDotStar = 1; // QSPI in master mode + +// Timer allocation +// TC2 and TC3 are used for step pulse generation and software timers +TcCount32 * const StepTc = &(TC2->COUNT32); +constexpr IRQn StepTcIRQn = TC2_IRQn; +constexpr unsigned int StepTcNumber = 2; +#define STEP_TC_HANDLER TC2_Handler + +// SAME5x event channel allocation, max 32 channels. Only the first 12 provide a synchronous or resynchronised path and can generate interrupts. + +constexpr EventNumber CclLut0Event = 0; // this uses up 4 channels +constexpr EventNumber NextFreeEvent = CclLut0Event + 4; + +// Step pulse generation +namespace StepPins +{ + // *** These next three functions must use the same bit assignments in the drivers bitmap *** + // Each stepper driver must be assigned one bit in a 32-bit word, in such a way that multiple drivers can be stepped efficiently + // and more or less simultaneously by doing parallel writes to several bits in one or more output ports. + // All our step pins are on port C, so the bitmap is just the map of step bits in port C. + + // Calculate the step bit for a driver. This doesn't need to be fast. It must return 0 if the driver is remote. + static inline uint32_t CalcDriverBitmap(size_t driver) noexcept + { + return (driver < NumDirectDrivers) + ? 1u << (STEP_PINS[driver] & 0x1Fu) + : 0; + } + + // Set the specified step pins high. This needs to be fast. + static inline __attribute__((always_inline)) void StepDriversHigh(uint32_t driverMap) noexcept + { + StepPio->OUTSET.reg = driverMap; // all step pins are on port C + } + + // Set the specified step pins low. This needs to be fast. + static inline void __attribute__((always_inline)) StepDriversLow(uint32_t driverMap) noexcept + { + StepPio->OUTCLR.reg = driverMap; // all step pins are on port C + } +} + +#endif /* SRC_DUET3MINI_PINS_DUET3MINI_H_ */ diff --git a/src/Fans/LedStripDriver.cpp b/src/Fans/LedStripDriver.cpp index 3b790f1d..ccb6ae35 100644 --- a/src/Fans/LedStripDriver.cpp +++ b/src/Fans/LedStripDriver.cpp @@ -5,7 +5,7 @@ * Author: David */ -#include <Fans/LedStripDriver.h> +#include "LedStripDriver.h" #if SUPPORT_LED_STRIPS @@ -17,7 +17,7 @@ // Define which types of LED strip this hardware supports #define SUPPORT_DMA_NEOPIXEL (defined(DUET3_MB6HC) || defined(DUET3_MB6XD) || defined(DUET3MINI) || defined(PCCB_10)) #define SUPPORT_DMA_DOTSTAR (defined(DUET3_MB6HC) || defined(DUET3_MB6XD) || defined(PCCB_10)) -#define SUPPORT_BITBANG_NEOPIXEL (defined(DUET3MINI) || defined(DUET_NG)) +#define SUPPORT_BITBANG_NEOPIXEL (defined(DUET3MINI_V04) || defined(DUET_NG)) #if SUPPORT_DMA_NEOPIXEL || SUPPORT_DMA_DOTSTAR diff --git a/src/GCodes/GCodes2.cpp b/src/GCodes/GCodes2.cpp index 91afae7e..cb42348e 100644 --- a/src/GCodes/GCodes2.cpp +++ b/src/GCodes/GCodes2.cpp @@ -3506,12 +3506,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeEx result = reprap.GetMove().ConfigurePressureAdvance(gb, reply); break; - case 573: // Report heater average PWM - { - const unsigned int heater = gb.GetLimitedUIValue('P', MaxHeaters); - reply.printf("Average heater %u PWM: %.3f", heater, (double)reprap.GetHeat().GetAveragePWM(heater)); - } - break; + // case 573 was report heater average PWM but is no longer supported because you can use "echo heat/heaters[N].avgPwm" instead case 574: // Set endstop configuration // We may be about to delete endstops, so make sure we are not executing a move that uses them @@ -4600,7 +4595,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeEx } } #endif -#if HAS_AUX_DEVICES +#if SUPPORT_PANELDUE_FLASH if (gb.Seen('A')) { const uint32_t serialChannel = gb.GetLimitedUIValue('A', 1, NumSerialChannels); diff --git a/src/GCodes/GCodes4.cpp b/src/GCodes/GCodes4.cpp index fe89f463..1170bcc3 100644 --- a/src/GCodes/GCodes4.cpp +++ b/src/GCodes/GCodes4.cpp @@ -562,7 +562,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) noexcept gb.SetState(GCodeState::flashing2); } } -# if HAS_AUX_DEVICES +# if SUPPORT_PANELDUE_FLASH else { PanelDueUpdater* const panelDueUpdater = platform.GetPanelDueUpdater(); diff --git a/src/Hardware/SAME5x/Devices.cpp b/src/Hardware/SAME5x/Devices.cpp index a8114cca..dc78165d 100644 --- a/src/Hardware/SAME5x/Devices.cpp +++ b/src/Hardware/SAME5x/Devices.cpp @@ -111,55 +111,31 @@ static void UsbInit() noexcept static void SdhcInit() noexcept { // Set up SDHC clock +#if defined(DUET3MINI_V04) + // Using SDHC 1 hri_mclk_set_AHBMASK_SDHC1_bit(MCLK); hri_gclk_write_PCHCTRL_reg(GCLK, SDHC1_GCLK_ID, GCLK_PCHCTRL_GEN(GclkNum90MHz) | GCLK_PCHCTRL_CHEN); hri_gclk_write_PCHCTRL_reg(GCLK, SDHC1_GCLK_ID_SLOW, GCLK_PCHCTRL_GEN(GclkNum31KHz) | GCLK_PCHCTRL_CHEN); - - // Set up SDHC pins -#if 1 - // This is the code generated by Atmel Start. I don't know whether it is all necessary. - gpio_set_pin_direction(PortAPin(21), GPIO_DIRECTION_OUT); - gpio_set_pin_level(PortAPin(21), false); - gpio_set_pin_pull_mode(PortAPin(21), GPIO_PULL_OFF); - gpio_set_pin_function(PortAPin(21), PINMUX_PA21I_SDHC1_SDCK); - - gpio_set_pin_direction(PortAPin(20), GPIO_DIRECTION_OUT); - gpio_set_pin_level(PortAPin(20), false); - gpio_set_pin_pull_mode(PortAPin(20), GPIO_PULL_OFF); - gpio_set_pin_function(PortAPin(20), PINMUX_PA20I_SDHC1_SDCMD); - - gpio_set_pin_direction(PortBPin(18), GPIO_DIRECTION_OUT); - gpio_set_pin_level(PortBPin(18), false); - gpio_set_pin_pull_mode(PortBPin(18), GPIO_PULL_OFF); - gpio_set_pin_function(PortBPin(18), PINMUX_PB18I_SDHC1_SDDAT0); - - gpio_set_pin_direction(PortBPin(19), GPIO_DIRECTION_OUT); - gpio_set_pin_level(PortBPin(19), false); - gpio_set_pin_pull_mode(PortBPin(19), GPIO_PULL_OFF); - gpio_set_pin_function(PortBPin(19), PINMUX_PB19I_SDHC1_SDDAT1); - - gpio_set_pin_direction(PortBPin(20), GPIO_DIRECTION_OUT); - gpio_set_pin_level(PortBPin(20), false); - gpio_set_pin_pull_mode(PortBPin(20), GPIO_PULL_OFF); - gpio_set_pin_function(PortBPin(20), PINMUX_PB20I_SDHC1_SDDAT2); - - gpio_set_pin_direction(PortBPin(21), GPIO_DIRECTION_OUT); - gpio_set_pin_level(PortBPin(21), false); - gpio_set_pin_pull_mode(PortBPin(21), GPIO_PULL_OFF); - gpio_set_pin_function(PortBPin(21), PINMUX_PB21I_SDHC1_SDDAT3); +#elif defined(DUET3MINI4) + // Using SDHC 0 + hri_mclk_set_AHBMASK_SDHC0_bit(MCLK); + hri_gclk_write_PCHCTRL_reg(GCLK, SDHC0_GCLK_ID, GCLK_PCHCTRL_GEN(GclkNum90MHz) | GCLK_PCHCTRL_CHEN); + hri_gclk_write_PCHCTRL_reg(GCLK, SDHC0_GCLK_ID_SLOW, GCLK_PCHCTRL_GEN(GclkNum31KHz) | GCLK_PCHCTRL_CHEN); #else +# error Unknown board +#endif + // Setup SD card interface pins for (Pin p : SdMciPins) { SetPinFunction(p, SdMciPinsFunction); } -#endif } void DeviceInit() noexcept { // Ensure the Ethernet PHY or WiFi module is held reset - pinMode(EthernetPhyResetPin, OUTPUT_LOW); + pinMode(EspResetPin, OUTPUT_LOW); UsbInit(); SdhcInit(); diff --git a/src/Hardware/SAME5x/same51n19a_flash_16k_bootloader.ld b/src/Hardware/SAME5x/same51n19a_flash_16k_bootloader.ld new file mode 100644 index 00000000..b5b0f6f8 --- /dev/null +++ b/src/Hardware/SAME5x/same51n19a_flash_16k_bootloader.ld @@ -0,0 +1,181 @@ +/** + * \file + * + * \brief Linker script for running in internal FLASH on the SAME51N19A + * + * Copyright (c) 2019 Microchip Technology Inc. + * + * \asf_license_start + * + * \page License + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may + * not use this file except in compliance with the License. + * You may obtain a copy of the Licence at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an AS IS BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * \asf_license_stop + * + */ + + +OUTPUT_FORMAT("elf32-littlearm", "elf32-littlearm", "elf32-littlearm") +OUTPUT_ARCH(arm) +SEARCH_DIR(.) + +/* Memory Spaces Definitions */ +MEMORY +{ + rom (rx) : ORIGIN = 0x00004000, LENGTH = 0x0007c000 + ram (rwx) : ORIGIN = 0x20000000, LENGTH = 0x00030000 + bkupram (rwx) : ORIGIN = 0x47000000, LENGTH = 0x00002000 + qspi (rwx) : ORIGIN = 0x04000000, LENGTH = 0x01000000 +} + +/* Section Definitions */ +SECTIONS +{ + .text : + { + . = ALIGN(4); + _sfixed = .; + KEEP(*(.vectors .vectors.*)) + *(.text .text.* .gnu.linkonce.t.*) + *(.glue_7t) *(.glue_7) + *(.rodata .rodata* .gnu.linkonce.r.*) + + /* Support C constructors, and C destructors in both user code + and the C library. This also provides support for C++ code. */ + . = ALIGN(4); + KEEP(*(.init)) + . = ALIGN(4); + __preinit_array_start = .; + KEEP (*(.preinit_array)) + __preinit_array_end = .; + + . = ALIGN(4); + __init_array_start = .; + KEEP (*(SORT(.init_array.*))) + KEEP (*(.init_array)) + __init_array_end = .; + + . = ALIGN(4); + KEEP (*crtbegin.o(.ctors)) + KEEP (*(EXCLUDE_FILE (*crtend.o) .ctors)) + KEEP (*(SORT(.ctors.*))) + KEEP (*crtend.o(.ctors)) + + . = ALIGN(4); + KEEP(*(.fini)) + + . = ALIGN(4); + __fini_array_start = .; + KEEP (*(.fini_array)) + KEEP (*(SORT(.fini_array.*))) + __fini_array_end = .; + + KEEP (*crtbegin.o(.dtors)) + KEEP (*(EXCLUDE_FILE (*crtend.o) .dtors)) + KEEP (*(SORT(.dtors.*))) + KEEP (*crtend.o(.dtors)) + + . = ALIGN(4); + _efixed = .; /* End of text section */ + } > rom + + .ARM.extab : + { + *(.ARM.extab* .gnu.linkonce.armextab.*) + } > rom + + /* .ARM.exidx is sorted, so has to go in its own output section. */ + PROVIDE_HIDDEN (__exidx_start = .); + .ARM.exidx : + { + *(.ARM.exidx* .gnu.linkonce.armexidx.*) + } > rom + PROVIDE_HIDDEN (__exidx_end = .); + + . = ALIGN(4); + _etext = .; + + /* CAN message buffers must be in the first 64K of RAM */ + .canMessage (NOLOAD) : + { + . = ALIGN(4); + _sCanMessage = . ; + *(.CanMessage .CanMessage.*) + . = ALIGN(4); + _eCanMessage = . ; + } > ram + + .relocate : AT (_etext) + { + . = ALIGN(4); + _srelocate = .; + *(.ramfunc .ramfunc.*); + *(.data .data.*); + . = ALIGN(4); + _erelocate = .; + } > ram + + _firmware_end = _etext + (_erelocate - _srelocate); /* Embedded files start here */ + _firmware_crc = _firmware_end; /* We append the CRC32 to the binary file. This is its offset in memory if we don't append embedded files */ + + /* .bss section which is used for uninitialized data */ + .bss ALIGN(16) (NOLOAD) : + { + _sbss = . ; + _szero = .; + *(.bss .bss.*) + *(COMMON) + . = ALIGN(4); + _ebss = . ; + _ezero = .; + } > ram + + . = ALIGN(4); + _end = . ; + + /* .stack_dummy section doesn't contains any symbols. It is only + used for linker to calculate size of stack sections, and assign + values to stack symbols later */ + .stack_dummy : + { + *(.stack*) + } > ram + + .bkupram (NOLOAD): + { + . = ALIGN(8); + _sbkupram = .; + *(.bkupram .bkupram.*); + . = ALIGN(8); + _ebkupram = .; + } > bkupram + + .qspi (NOLOAD): + { + . = ALIGN(8); + _sqspi = .; + *(.qspi .qspi.*); + . = ALIGN(8); + _eqspi = .; + } > qspi + + /* Set stack top to end of ram, and stack limit move down by + * size of stack_dummy section */ + __StackTop = ORIGIN(ram) + LENGTH(ram); + __StackLimit = __StackTop - SIZEOF(.stack_dummy); + PROVIDE(_sstack = __StackLimit); + PROVIDE(_estack = __StackTop); +} diff --git a/src/Heating/Sensors/CurrentLoopTemperatureSensor.cpp b/src/Heating/Sensors/CurrentLoopTemperatureSensor.cpp index 5b0be7f1..24100285 100644 --- a/src/Heating/Sensors/CurrentLoopTemperatureSensor.cpp +++ b/src/Heating/Sensors/CurrentLoopTemperatureSensor.cpp @@ -6,10 +6,17 @@ */ #include "CurrentLoopTemperatureSensor.h" + +#if SUPPORT_SPI_SENSORS + #include <Platform/RepRap.h> #include <Platform/Platform.h> #include <GCodes/GCodeBuffer/GCodeBuffer.h> +#if SUPPORT_REMOTE_COMMANDS +# include <CanMessageGenericParser.h> +#endif + const uint32_t MCP3204_Frequency = 1000000; // maximum for MCP3204 is 1MHz @ 2.7V, will be slightly higher at 3.3V // The MCP3204 samples input data on the rising edge and changes the output data on the rising edge. @@ -38,7 +45,26 @@ GCodeResult CurrentLoopTemperatureSensor::Configure(GCodeBuffer& gb, const Strin gb.TryGetUIValue('C', chipChannel, changed); gb.TryGetUIValue('D', isDifferential, changed); TryConfigureSensorName(gb, changed); + return FinishConfiguring(changed, reply); +} +#if SUPPORT_REMOTE_COMMANDS + +GCodeResult CurrentLoopTemperatureSensor::Configure(const CanMessageGenericParser& parser, const StringRef& reply) noexcept +{ + bool seen = false; + if (!ConfigurePort(parser, reply, seen)) + { + return GCodeResult::error; + } + + return FinishConfiguring(seen, reply); +} + +#endif + +GCodeResult CurrentLoopTemperatureSensor::FinishConfiguring(bool changed, const StringRef& reply) noexcept +{ if (changed) { CalcDerivedParameters(); @@ -135,4 +161,6 @@ TemperatureError CurrentLoopTemperatureSensor::TryGetLinearAdcTemperature(float& return rslt; } +#endif // SUPPORT_SPI_SENSORS + // End diff --git a/src/Heating/Sensors/CurrentLoopTemperatureSensor.h b/src/Heating/Sensors/CurrentLoopTemperatureSensor.h index 0fd0133c..6b080f92 100644 --- a/src/Heating/Sensors/CurrentLoopTemperatureSensor.h +++ b/src/Heating/Sensors/CurrentLoopTemperatureSensor.h @@ -10,18 +10,26 @@ #include "SpiTemperatureSensor.h" +#if SUPPORT_SPI_SENSORS + class CurrentLoopTemperatureSensor : public SpiTemperatureSensor { public: CurrentLoopTemperatureSensor(unsigned int sensorNum) noexcept; GCodeResult Configure(GCodeBuffer& gb, const StringRef& reply, bool& changed) override THROWS(GCodeException); - const char *GetShortSensorType() const noexcept override { return TypeName; } + +#if SUPPORT_REMOTE_COMMANDS + GCodeResult Configure(const CanMessageGenericParser& parser, const StringRef& reply) noexcept override; // configure the sensor from M308 parameters +#endif + void Poll() noexcept override; + const char *GetShortSensorType() const noexcept override { return TypeName; } static constexpr const char *TypeName = "currentloop"; private: TemperatureError TryGetLinearAdcTemperature(float& t) noexcept; + GCodeResult FinishConfiguring(bool changed, const StringRef& reply) noexcept; void CalcDerivedParameters() noexcept; // Configurable parameters @@ -36,4 +44,6 @@ private: static constexpr uint32_t DefaultChipChannel = 0; }; +#endif // SUPPORT_SPI_SENSORS + #endif /* SRC_HEATING_LINEARADCTEMPERATURESENSOR_H_ */ diff --git a/src/Heating/Sensors/RtdSensor31865.cpp b/src/Heating/Sensors/RtdSensor31865.cpp index 8815475c..6f8a4034 100644 --- a/src/Heating/Sensors/RtdSensor31865.cpp +++ b/src/Heating/Sensors/RtdSensor31865.cpp @@ -6,6 +6,9 @@ */ #include "RtdSensor31865.h" + +#if SUPPORT_SPI_SENSORS + #include <Platform/RepRap.h> #include <Platform/Platform.h> #include <GCodes/GCodeBuffer/GCodeBuffer.h> @@ -238,4 +241,6 @@ void RtdSensor31865::Poll() noexcept } } +#endif // SUPPORT_SPI_SENSORS + // End diff --git a/src/Heating/Sensors/RtdSensor31865.h b/src/Heating/Sensors/RtdSensor31865.h index 18c242cd..ea2cc11e 100644 --- a/src/Heating/Sensors/RtdSensor31865.h +++ b/src/Heating/Sensors/RtdSensor31865.h @@ -10,6 +10,8 @@ #include "SpiTemperatureSensor.h" +#if SUPPORT_SPI_SENSORS + class RtdSensor31865 : public SpiTemperatureSensor { public: @@ -34,4 +36,6 @@ private: uint8_t cr0; }; +#endif //SUPPORT_SPI_SENSORS + #endif /* SRC_HEATING_RTDSENSOR31865_H_ */ diff --git a/src/Heating/Sensors/SpiTemperatureSensor.cpp b/src/Heating/Sensors/SpiTemperatureSensor.cpp index fed34a72..f511b580 100644 --- a/src/Heating/Sensors/SpiTemperatureSensor.cpp +++ b/src/Heating/Sensors/SpiTemperatureSensor.cpp @@ -6,6 +6,9 @@ */ #include "SpiTemperatureSensor.h" + +#if SUPPORT_SPI_SENSORS + #include <Platform/Tasks.h> #include <Hardware/SharedSpi/SharedSpiDevice.h> @@ -73,4 +76,6 @@ TemperatureError SpiTemperatureSensor::DoSpiTransaction(const uint8_t dataOut[], return TemperatureError::success; } +#endif // SUPPORT_SPI_SENSORS + // End diff --git a/src/Heating/Sensors/SpiTemperatureSensor.h b/src/Heating/Sensors/SpiTemperatureSensor.h index ca78568c..52909d71 100644 --- a/src/Heating/Sensors/SpiTemperatureSensor.h +++ b/src/Heating/Sensors/SpiTemperatureSensor.h @@ -9,6 +9,9 @@ #define SRC_HEATING_SPITEMPERATURESENSOR_H_ #include "SensorWithPort.h" + +#if SUPPORT_SPI_SENSORS + #include <Hardware/SharedSpi/SharedSpiClient.h> class SpiTemperatureSensor : public SensorWithPort @@ -32,4 +35,6 @@ protected: TemperatureError lastResult; }; +#endif // SUPPORT_SPI_SENSORS + #endif /* SRC_HEATING_SPITEMPERATURESENSOR_H_ */ diff --git a/src/Heating/Sensors/TemperatureSensor.cpp b/src/Heating/Sensors/TemperatureSensor.cpp index 070b2504..c326b6d1 100644 --- a/src/Heating/Sensors/TemperatureSensor.cpp +++ b/src/Heating/Sensors/TemperatureSensor.cpp @@ -203,6 +203,7 @@ TemperatureSensor *TemperatureSensor::Create(unsigned int sensorNum, const char { ts = new LinearAnalogSensor(sensorNum); } +#if SUPPORT_SPI_SENSORS else if (ReducedStringEquals(typeName, ThermocoupleSensor31855::TypeName)) { ts = new ThermocoupleSensor31855(sensorNum); @@ -219,6 +220,7 @@ TemperatureSensor *TemperatureSensor::Create(unsigned int sensorNum, const char { ts = new CurrentLoopTemperatureSensor(sensorNum); } +#endif #if SUPPORT_DHT_SENSOR else if (ReducedStringEquals(typeName, DhtTemperatureSensor::TypeNameDht21)) { diff --git a/src/Heating/Sensors/ThermocoupleSensor31855.cpp b/src/Heating/Sensors/ThermocoupleSensor31855.cpp index 92081791..38da9524 100644 --- a/src/Heating/Sensors/ThermocoupleSensor31855.cpp +++ b/src/Heating/Sensors/ThermocoupleSensor31855.cpp @@ -46,6 +46,9 @@ // used by anything else as the Arduino Due leaves pin 78 unconnected. #include "ThermocoupleSensor31855.h" + +#if SUPPORT_SPI_SENSORS + #include <Platform/RepRap.h> #include <Platform/Platform.h> #include <GCodes/GCodeBuffer/GCodeBuffer.h> @@ -176,4 +179,6 @@ void ThermocoupleSensor31855::Poll() noexcept } } +#endif // SUPPORT_SPI_SENSORS + // End diff --git a/src/Heating/Sensors/ThermocoupleSensor31855.h b/src/Heating/Sensors/ThermocoupleSensor31855.h index b5d62444..2a452e7c 100644 --- a/src/Heating/Sensors/ThermocoupleSensor31855.h +++ b/src/Heating/Sensors/ThermocoupleSensor31855.h @@ -10,6 +10,8 @@ #include "SpiTemperatureSensor.h" +#if SUPPORT_SPI_SENSORS + class ThermocoupleSensor31855 : public SpiTemperatureSensor { public: @@ -29,4 +31,6 @@ private: GCodeResult FinishConfiguring(bool changed, const StringRef& reply) noexcept; }; +#endif // SUPPORT_SPI_SENSORS + #endif /* SRC_HEATING_THERMOCOUPLESENSOR31855_H_ */ diff --git a/src/Heating/Sensors/ThermocoupleSensor31856.cpp b/src/Heating/Sensors/ThermocoupleSensor31856.cpp index 6fe3e346..c4e9441e 100644 --- a/src/Heating/Sensors/ThermocoupleSensor31856.cpp +++ b/src/Heating/Sensors/ThermocoupleSensor31856.cpp @@ -6,6 +6,9 @@ */ #include "ThermocoupleSensor31856.h" + +#if SUPPORT_SPI_SENSORS + #include <Platform/RepRap.h> #include <Platform/Platform.h> #include <GCodes/GCodeBuffer/GCodeBuffer.h> @@ -242,4 +245,6 @@ void ThermocoupleSensor31856::Poll() noexcept } } +#endif // SUPPORT_SPI_SENSORS + // End diff --git a/src/Heating/Sensors/ThermocoupleSensor31856.h b/src/Heating/Sensors/ThermocoupleSensor31856.h index 5633309c..e33d4042 100644 --- a/src/Heating/Sensors/ThermocoupleSensor31856.h +++ b/src/Heating/Sensors/ThermocoupleSensor31856.h @@ -10,6 +10,8 @@ #include "SpiTemperatureSensor.h" +#if SUPPORT_SPI_SENSORS + class ThermocoupleSensor31856 : public SpiTemperatureSensor { public: @@ -33,4 +35,6 @@ private: uint8_t thermocoupleType; }; +#endif // SUPPORT_SPI_SENSORS + #endif /* SRC_HEATING_SENSORS_THERMOCOUPLESENSOR31856_H_ */ diff --git a/src/Movement/DDA.cpp b/src/Movement/DDA.cpp index e98c7042..880f02f5 100644 --- a/src/Movement/DDA.cpp +++ b/src/Movement/DDA.cpp @@ -316,8 +316,10 @@ bool DDA::InitStandardMove(DDARing& ring, const RawMove &nextMove, bool doMotorM { return false; // throw away the move if it couldn't be transformed } +#if SUPPORT_LINEAR_DELTA flags.isDeltaMovement = move.IsDeltaMode() && (endPoint[X_AXIS] != positionNow[X_AXIS] || endPoint[Y_AXIS] != positionNow[Y_AXIS] || endPoint[Z_AXIS] != positionNow[Z_AXIS]); +#endif } bool linearAxesMoving = false; @@ -1085,6 +1087,7 @@ float DDA::AdvanceBabyStepping(DDARing& ring, size_t axis, float amount) noexcep // Even if there is no babystepping to do this move, we may need to adjust the end coordinates cdda->endCoordinates[Z_AXIS] += babySteppingDone; +#if SUPPORT_LINEAR_DELTA if (cdda->flags.isDeltaMovement) { for (size_t motor = 0; motor < reprap.GetGCodes().GetTotalAxes(); ++motor) @@ -1096,6 +1099,7 @@ float DDA::AdvanceBabyStepping(DDARing& ring, size_t axis, float amount) noexcep } } else +#endif { cdda->endPoint[Z_AXIS] += (int32_t)(babySteppingDone * reprap.GetPlatform().DriveStepsPerUnit(Z_AXIS)); } @@ -1320,26 +1324,28 @@ void DDA::Prepare(SimulationMode simMode) noexcept if (simMode < SimulationMode::normal) { +#if SUPPORT_LINEAR_DELTA if (flags.isDeltaMovement) { // This code assumes that the previous move in the DDA ring is the previously-executed move, because it fetches the X and Y end coordinates from that move. // Therefore the Move code must not store a new move in that entry until this one has been prepared! (It took me ages to track this down.) // Ideally we would store the initial X and Y coordinates in the DDA, but we need to be economical with memory -#if MS_USE_FPU +# if MS_USE_FPU // Nothing needed here, use directionVector[Z_AXIS] directly -#else +# else afterPrepare.cKc = lrintf(directionVector[Z_AXIS] * MoveSegment::KdirectionVector); -#endif +# endif params.a2plusb2 = fsquare(directionVector[X_AXIS]) + fsquare(directionVector[Y_AXIS]); params.initialX = prev->GetEndCoordinate(X_AXIS, false); params.initialY = prev->GetEndCoordinate(Y_AXIS, false); -#if SUPPORT_CAN_EXPANSION + params.dparams = static_cast<const LinearDeltaKinematics*>(&(reprap.GetMove().GetKinematics())); +# if SUPPORT_CAN_EXPANSION params.finalX = GetEndCoordinate(X_AXIS, false); params.finalY = GetEndCoordinate(Y_AXIS, false); params.zMovement = GetEndCoordinate(Z_AXIS, false) - prev->GetEndCoordinate(Z_AXIS, false); -#endif - params.dparams = static_cast<const LinearDeltaKinematics*>(&(reprap.GetMove().GetKinematics())); +# endif } +#endif activeDMs = completedDMs = nullptr; @@ -1405,6 +1411,7 @@ void DDA::Prepare(SimulationMode simMode) noexcept } } } +#if SUPPORT_LINEAR_DELTA else if (flags.isDeltaMovement && reprap.GetMove().GetKinematics().GetMotionType(drive) == MotionType::segmentFreeDelta) { // On a delta we need to move all towers even if some of them have no net movement @@ -1438,7 +1445,7 @@ void DDA::Prepare(SimulationMode simMode) noexcept } } -#if SUPPORT_CAN_EXPANSION +# if SUPPORT_CAN_EXPANSION afterPrepare.drivesMoving.SetBit(drive); const AxisDriversConfig& config = platform.GetAxisDriversConfig(drive); for (size_t i = 0; i < config.numDrivers; ++i) @@ -1449,9 +1456,10 @@ void DDA::Prepare(SimulationMode simMode) noexcept CanMotion::AddMovement(params, driver, delta, false); } } -#endif +# endif axisMotorsEnabled.SetBit(drive); } +#endif else if (drive < reprap.GetGCodes().GetTotalAxes()) { // It's a linear axis diff --git a/src/Movement/DDA.h b/src/Movement/DDA.h index 290c6d69..c4ce6b34 100644 --- a/src/Movement/DDA.h +++ b/src/Movement/DDA.h @@ -51,14 +51,16 @@ struct PrepParams float initialSpeedFraction, finalSpeedFraction; #endif +#if SUPPORT_LINEAR_DELTA // Parameters used only for delta moves float initialX, initialY; -#if SUPPORT_CAN_EXPANSION +# if SUPPORT_CAN_EXPANSION float finalX, finalY; float zMovement; -#endif +# endif const LinearDeltaKinematics *dparams; float a2plusb2; // sum of the squares of the X and Y movement fractions +#endif // Set up the parameters from the DDA, excluding steadyClocks because that may be affected by input shaping void SetFromDDA(const DDA& dda) noexcept; @@ -272,8 +274,10 @@ private: { struct { - uint16_t endCoordinatesValid : 1, // True if endCoordinates can be relied on + uint16_t endCoordinatesValid : 1, // True if endCoordinates can be relied +#if SUPPORT_LINEAR_DELTA isDeltaMovement : 1, // True if this is a delta printer movement +#endif canPauseAfter : 1, // True if we can pause at the end of this move isPrintingMove : 1, // True if this move includes XY movement and extrusion usePressureAdvance : 1, // True if pressure advance should be applied to any forward extrusion @@ -340,7 +344,7 @@ private: static_assert(MaxAxesPlusExtruders <= DriversBitmap::MaxBits()); #endif // These are used only in delta calculations -#if !MS_USE_FPU +#if SUPPORT_LINEAR_DELTA && !MS_USE_FPU int32_t cKc; // The Z movement fraction multiplied by Kc and converted to integer #endif } afterPrepare; diff --git a/src/Movement/DriveMovement.cpp b/src/Movement/DriveMovement.cpp index 77351302..fce12e1f 100644 --- a/src/Movement/DriveMovement.cpp +++ b/src/Movement/DriveMovement.cpp @@ -172,6 +172,8 @@ bool DriveMovement::NewCartesianSegment() noexcept } } +#if SUPPORT_LINEAR_DELTA + // This is called when currentSegment has just been changed to a new segment. Return true if there is a new segment to execute. bool DriveMovement::NewDeltaSegment(const DDA& dda) noexcept { @@ -311,6 +313,8 @@ bool DriveMovement::NewDeltaSegment(const DDA& dda) noexcept } } +#endif // SUPPORT_LINEAR_DELTA + // This is called when currentSegment has just been changed to a new segment. Return true if there is a new segment to execute. bool DriveMovement::NewExtruderSegment() noexcept { @@ -437,6 +441,8 @@ bool DriveMovement::PrepareCartesianAxis(const DDA& dda, const PrepParams& param return CalcNextStepTime(dda); } +#if SUPPORT_LINEAR_DELTA + // Prepare this DM for a Delta axis move, returning true if there are steps to do bool DriveMovement::PrepareDeltaAxis(const DDA& dda, const PrepParams& params) noexcept { @@ -616,6 +622,8 @@ bool DriveMovement::PrepareDeltaAxis(const DDA& dda, const PrepParams& params) n return CalcNextStepTime(dda); } +#endif // SUPPORT_LINEAR_DELTA + // Prepare this DM for an extruder move, returning true if there are steps to do // If there are no steps to do, set nextStep = 0 so that DDARing::CurrentMoveCompleted doesn't add any steps to the movement accumulator // We have already generated the extruder segments and we know that there are some @@ -902,9 +910,12 @@ pre(nextStep <= totalSteps; stepsTillRecalc == 0) if (stepsToLimit == 0) { currentSegment = currentSegment->GetNext(); - const bool more = (isDelta) ? NewDeltaSegment(dda) - : (isExtruder) ? NewExtruderSegment() - : NewCartesianSegment(); + const bool more = +#if SUPPORT_LINEAR_DELTA + (isDelta) ? NewDeltaSegment(dda) : +#endif + (isExtruder) ? NewExtruderSegment() + : NewCartesianSegment(); if (!more) { state = DMState::stepError; diff --git a/src/Movement/DriveMovement.h b/src/Movement/DriveMovement.h index 0315e808..473091d3 100644 --- a/src/Movement/DriveMovement.h +++ b/src/Movement/DriveMovement.h @@ -50,7 +50,9 @@ public: bool CalcNextStepTime(const DDA &dda) noexcept SPEED_CRITICAL; bool PrepareCartesianAxis(const DDA& dda, const PrepParams& params) noexcept SPEED_CRITICAL; +#if SUPPORT_LINEAR_DELTA bool PrepareDeltaAxis(const DDA& dda, const PrepParams& params) noexcept SPEED_CRITICAL; +#endif bool PrepareExtruder(const DDA& dda, const PrepParams& params) noexcept SPEED_CRITICAL; void DebugPrint() const noexcept; @@ -70,7 +72,9 @@ private: bool CalcNextStepTimeFull(const DDA &dda) noexcept SPEED_CRITICAL; bool NewCartesianSegment() noexcept SPEED_CRITICAL; bool NewExtruderSegment() noexcept SPEED_CRITICAL; +#if SUPPORT_LINEAR_DELTA bool NewDeltaSegment(const DDA& dda) noexcept SPEED_CRITICAL; +#endif static DriveMovement *freeList; static unsigned int numCreated; diff --git a/src/Movement/Kinematics/FiveBarScaraKinematics.cpp b/src/Movement/Kinematics/FiveBarScaraKinematics.cpp index fe44440b..7615e261 100644 --- a/src/Movement/Kinematics/FiveBarScaraKinematics.cpp +++ b/src/Movement/Kinematics/FiveBarScaraKinematics.cpp @@ -8,6 +8,9 @@ */ #include "FiveBarScaraKinematics.h" + +#if SUPPORT_FIVEBARSCARA + #include <Platform/RepRap.h> #include <Platform/Platform.h> #include <Storage/MassStorage.h> @@ -948,4 +951,6 @@ void FiveBarScaraKinematics::Recalc() noexcept cachedInvalid = true; } +#endif // SUPPORT_FIVEBARSCARA + // End diff --git a/src/Movement/Kinematics/FiveBarScaraKinematics.h b/src/Movement/Kinematics/FiveBarScaraKinematics.h index 7c20a9ca..beaa5905 100644 --- a/src/Movement/Kinematics/FiveBarScaraKinematics.h +++ b/src/Movement/Kinematics/FiveBarScaraKinematics.h @@ -12,6 +12,8 @@ #include "ZLeadscrewKinematics.h" +#if SUPPORT_FIVEBARSCARA + // Standard setup for 5 Bar SCARA (parallel SCARA) machines assumed by this firmware enum class Arm : uint8_t { @@ -103,4 +105,6 @@ private: mutable bool cachedInvalid; }; +#endif // SUPPORT_FIVEBARSCARA + #endif /* SRC_MOVEMENT_KINEMATICS_FIVEBARSCARAKINEMATICS_H_ */ diff --git a/src/Movement/Kinematics/HangprinterKinematics.cpp b/src/Movement/Kinematics/HangprinterKinematics.cpp index a99e71ae..71566e83 100644 --- a/src/Movement/Kinematics/HangprinterKinematics.cpp +++ b/src/Movement/Kinematics/HangprinterKinematics.cpp @@ -6,6 +6,9 @@ */ #include "HangprinterKinematics.h" + +#if SUPPORT_HANGPRINTER + #include <Platform/RepRap.h> #include <Platform/Platform.h> #include <GCodes/GCodeBuffer/GCodeBuffer.h> @@ -521,7 +524,7 @@ void HangprinterKinematics::ForwardTransform(float const a, float const b, float { // Force the anchor location norms Ax=0, Dx=0, Dy=0 // through a series of rotations. - float const x_angle = atan(anchors[D_AXIS][Y_AXIS]/anchors[D_AXIS][Z_AXIS]); + float const x_angle = atanf(anchors[D_AXIS][Y_AXIS]/anchors[D_AXIS][Z_AXIS]); float const rxt[3][3] = {{1, 0, 0}, {0, cosf(x_angle), sinf(x_angle)}, {0, -sinf(x_angle), cosf(x_angle)}}; float anchors_tmp0[4][3] = { 0 }; for (size_t row{0}; row < 4; ++row) { @@ -529,7 +532,7 @@ void HangprinterKinematics::ForwardTransform(float const a, float const b, float anchors_tmp0[row][col] = rxt[0][col]*anchors[row][0] + rxt[1][col]*anchors[row][1] + rxt[2][col]*anchors[row][2]; } } - float const y_angle = atan(-anchors_tmp0[D_AXIS][X_AXIS]/anchors_tmp0[D_AXIS][Z_AXIS]); + float const y_angle = atanf(-anchors_tmp0[D_AXIS][X_AXIS]/anchors_tmp0[D_AXIS][Z_AXIS]); float const ryt[3][3] = {{cosf(y_angle), 0, -sinf(y_angle)}, {0, 1, 0}, {sinf(y_angle), 0, cosf(y_angle)}}; float anchors_tmp1[4][3] = { 0 }; for (size_t row{0}; row < 4; ++row) { @@ -537,7 +540,7 @@ void HangprinterKinematics::ForwardTransform(float const a, float const b, float anchors_tmp1[row][col] = ryt[0][col]*anchors_tmp0[row][0] + ryt[1][col]*anchors_tmp0[row][1] + ryt[2][col]*anchors_tmp0[row][2]; } } - float const z_angle = atan(anchors_tmp1[A_AXIS][X_AXIS]/anchors_tmp1[A_AXIS][Y_AXIS]); + float const z_angle = atanf(anchors_tmp1[A_AXIS][X_AXIS]/anchors_tmp1[A_AXIS][Y_AXIS]); float const rzt[3][3] = {{cosf(z_angle), sinf(z_angle), 0}, {-sinf(z_angle), cosf(z_angle), 0}, {0, 0, 1}}; for (size_t row{0}; row < 4; ++row) { for (size_t col{0}; col < 3; ++col) { @@ -778,4 +781,6 @@ GCodeResult HangprinterKinematics::SetODrive3TorqueMode(DriverId const driver, f } #endif // DUAL_CAN +#endif // SUPPORT_HANGPRINTER + // End diff --git a/src/Movement/Kinematics/HangprinterKinematics.h b/src/Movement/Kinematics/HangprinterKinematics.h index 6a64977d..8584a389 100644 --- a/src/Movement/Kinematics/HangprinterKinematics.h +++ b/src/Movement/Kinematics/HangprinterKinematics.h @@ -10,6 +10,8 @@ #include "RoundBedKinematics.h" +#if SUPPORT_HANGPRINTER + class HangprinterKinematics : public RoundBedKinematics { public: @@ -137,4 +139,6 @@ class CANSimple { static const int32_t INPUT_MODE_TUNING = 8; }; +#endif // SUPPORT_HANGPRINTER + #endif /* SRC_MOVEMENT_KINEMATICS_HANGPRINTERKINEMATICS_H_ */ diff --git a/src/Movement/Kinematics/Kinematics.cpp b/src/Movement/Kinematics/Kinematics.cpp index e2ebdc71..6ccc5f9d 100644 --- a/src/Movement/Kinematics/Kinematics.cpp +++ b/src/Movement/Kinematics/Kinematics.cpp @@ -238,18 +238,35 @@ void Kinematics::LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDire case KinematicsType::markForged: return new CoreKinematics(k); +#if SUPPORT_LINEAR_DELTA case KinematicsType::linearDelta: return new LinearDeltaKinematics(); +#endif + +#if SUPPORT_SCARA case KinematicsType::scara: return new ScaraKinematics(); +#endif + +#if SUPPORT_HANGPRINTER case KinematicsType::hangprinter: return new HangprinterKinematics(); +#endif + +#if SUPPORT_POLAR case KinematicsType::polar: return new PolarKinematics(); +#endif + +#if SUPPORT_ROTARY_DELTA case KinematicsType::rotaryDelta: return new RotaryDeltaKinematics(); +#endif + +#if SUPPORT_FIVEBARSCARA case KinematicsType::fiveBarScara: return new FiveBarScaraKinematics(); +#endif } } diff --git a/src/Movement/Kinematics/LinearDeltaKinematics.cpp b/src/Movement/Kinematics/LinearDeltaKinematics.cpp index 13f951a5..e0d2ff10 100644 --- a/src/Movement/Kinematics/LinearDeltaKinematics.cpp +++ b/src/Movement/Kinematics/LinearDeltaKinematics.cpp @@ -7,6 +7,8 @@ #include "LinearDeltaKinematics.h" +#if SUPPORT_LINEAR_DELTA + #include <Movement/Move.h> #include <Platform/RepRap.h> #include <Storage/FileStore.h> @@ -1046,4 +1048,6 @@ AxesBitmap LinearDeltaKinematics::GetLinearAxes() const noexcept return AxesBitmap::MakeFromBits(Z_AXIS); } +#endif // SUPPORT_LINEAR_DELTA + // End diff --git a/src/Movement/Kinematics/LinearDeltaKinematics.h b/src/Movement/Kinematics/LinearDeltaKinematics.h index 0132c33e..8bd55d5d 100644 --- a/src/Movement/Kinematics/LinearDeltaKinematics.h +++ b/src/Movement/Kinematics/LinearDeltaKinematics.h @@ -9,6 +9,9 @@ #define LINEARDELTAKINEMATICS_H_ #include "RepRapFirmware.h" + +#if SUPPORT_LINEAR_DELTA + #include "RoundBedKinematics.h" // Class to hold the parameter for a delta machine. @@ -106,4 +109,6 @@ private: bool doneAutoCalibration; // True if we have done auto calibration }; +#endif // SUPPORT_LINEAR_DELTA + #endif /* LINEARDELTAKINEMATICS_H_ */ diff --git a/src/Movement/Kinematics/PolarKinematics.cpp b/src/Movement/Kinematics/PolarKinematics.cpp index 25a26735..1e00c145 100644 --- a/src/Movement/Kinematics/PolarKinematics.cpp +++ b/src/Movement/Kinematics/PolarKinematics.cpp @@ -7,6 +7,8 @@ #include "PolarKinematics.h" +#if SUPPORT_POLAR + #include <Platform/RepRap.h> #include <Platform/Platform.h> #include <Storage/MassStorage.h> @@ -340,4 +342,6 @@ void PolarKinematics::Recalc() maxRadiusSquared = fsquare(maxRadius); } +#endif // SUPPORT_POLAR + // End diff --git a/src/Movement/Kinematics/PolarKinematics.h b/src/Movement/Kinematics/PolarKinematics.h index 60483b38..0cb0951f 100644 --- a/src/Movement/Kinematics/PolarKinematics.h +++ b/src/Movement/Kinematics/PolarKinematics.h @@ -10,6 +10,8 @@ #include "Kinematics.h" +#if SUPPORT_POLAR + class PolarKinematics : public Kinematics { public: @@ -51,4 +53,6 @@ private: float minRadiusSquared, maxRadiusSquared; }; +#endif // SUPPORT_POLAR + #endif /* SRC_MOVEMENT_KINEMATICS_POLARKINEMATICS_H_ */ diff --git a/src/Movement/Kinematics/RotaryDeltaKinematics.cpp b/src/Movement/Kinematics/RotaryDeltaKinematics.cpp index 9ef081a2..eb2b8fc3 100644 --- a/src/Movement/Kinematics/RotaryDeltaKinematics.cpp +++ b/src/Movement/Kinematics/RotaryDeltaKinematics.cpp @@ -7,6 +7,8 @@ #include "RotaryDeltaKinematics.h" +#if SUPPORT_ROTARY_DELTA + #include <Movement/Move.h> #include <Platform/RepRap.h> #include <Storage/FileStore.h> @@ -813,4 +815,6 @@ void RotaryDeltaKinematics::ForwardTransform(float Ha, float Hb, float Hc, float } } +#endif // SUPPORT_ROTARY_DELTA + // End diff --git a/src/Movement/Kinematics/RotaryDeltaKinematics.h b/src/Movement/Kinematics/RotaryDeltaKinematics.h index b0361fdb..9c916010 100644 --- a/src/Movement/Kinematics/RotaryDeltaKinematics.h +++ b/src/Movement/Kinematics/RotaryDeltaKinematics.h @@ -10,6 +10,8 @@ #include "RoundBedKinematics.h" +#if SUPPORT_ROTARY_DELTA + class RotaryDeltaKinematics : public RoundBedKinematics { public: @@ -92,4 +94,6 @@ private: bool doneAutoCalibration; // True if we have done auto calibration }; +#endif // SUPPORT_ROTARY_DELTA + #endif /* SRC_MOVEMENT_KINEMATICS_ROTARYDELTAKINEMATICS_H_ */ diff --git a/src/Movement/Kinematics/ScaraKinematics.cpp b/src/Movement/Kinematics/ScaraKinematics.cpp index c6c95e30..2ff4597e 100644 --- a/src/Movement/Kinematics/ScaraKinematics.cpp +++ b/src/Movement/Kinematics/ScaraKinematics.cpp @@ -6,6 +6,9 @@ */ #include "ScaraKinematics.h" + +#if SUPPORT_SCARA + #include <Platform/RepRap.h> #include <Platform/Platform.h> #include <Storage/MassStorage.h> @@ -494,4 +497,6 @@ void ScaraKinematics::Recalc() noexcept cachedX = cachedY = std::numeric_limits<float>::quiet_NaN(); // make sure that the cached values won't match any coordinates } +#endif // SUPPORT_SCARA + // End diff --git a/src/Movement/Kinematics/ScaraKinematics.h b/src/Movement/Kinematics/ScaraKinematics.h index 2a6920bf..27d69999 100644 --- a/src/Movement/Kinematics/ScaraKinematics.h +++ b/src/Movement/Kinematics/ScaraKinematics.h @@ -10,6 +10,8 @@ #include "ZLeadscrewKinematics.h" +#if SUPPORT_SCARA + // Standard setup for SCARA machines assumed by this firmware // The X motor output drives the proximal arm joint, unless remapped using M584 // The Y motor output drives the distal arm joint, unless remapped using M584 @@ -83,4 +85,6 @@ private: mutable bool currentArmMode, cachedArmMode; }; +#endif // SUPPORT_SCARA + #endif /* SRC_MOVEMENT_KINEMATICS_SCARAKINEMATICS_H_ */ diff --git a/src/Movement/Move.h b/src/Movement/Move.h index 5d274600..057c79b4 100644 --- a/src/Movement/Move.h +++ b/src/Movement/Move.h @@ -121,7 +121,9 @@ public: bool IsAccessibleProbePoint(float axesCoords[MaxAxes], AxesBitmap axes) const noexcept; // Temporary kinematics functions +#if SUPPORT_LINEAR_DELTA bool IsDeltaMode() const noexcept { return kinematics->GetKinematicsType() == KinematicsType::linearDelta; } +#endif // End temporary functions bool IsRawMotorMove(uint8_t moveType) const noexcept; // Return true if this is a raw motor move diff --git a/src/Platform/Platform.cpp b/src/Platform/Platform.cpp index c16cb8f8..bad21c1b 100644 --- a/src/Platform/Platform.cpp +++ b/src/Platform/Platform.cpp @@ -407,7 +407,7 @@ Platform::Platform() noexcept : board(DEFAULT_BOARD_TYPE), active(false), errorCodeBits(0), nextDriveToPoll(0), lastFanCheckTime(0), -#if HAS_AUX_DEVICES +#if SUPPORT_PANELDUE_FLASH panelDueUpdater(nullptr), #endif #if HAS_MASS_STORAGE || HAS_SBC_INTERFACE || HAS_EMBEDDED_FILES @@ -429,10 +429,6 @@ Platform::Platform() noexcept : // Initialise the Platform. Note: this is the first module to be initialised, so don't call other modules from here! void Platform::Init() noexcept { -#if defined(DUET3) || defined(DUET3MINI) - pinMode(EthernetPhyResetPin, OUTPUT_LOW); // hold the Ethernet Phy chip in reset, hopefully this will prevent it being too noisy if Ethernet is not enabled -#endif - // Make sure the on-board drivers are disabled #if defined(DUET_NG) || defined(PCCB_10) pinMode(GlobalTmc2660EnablePin, OUTPUT_HIGH); @@ -3210,7 +3206,7 @@ void Platform::SetAuxRaw(size_t auxNumber, bool raw) noexcept #endif } -#if HAS_AUX_DEVICES +#if SUPPORT_PANELDUE_FLASH void Platform::InitPanelDueUpdater() noexcept { if (panelDueUpdater == nullptr) @@ -3792,6 +3788,8 @@ void Platform::SetBoardType(BoardType bt) noexcept board = (digitalRead(DIRECTION_PINS[0])) ? BoardType::Duet3_6HC_v101 : BoardType::Duet3_6HC_v06_100; #elif defined(DUET3_MB6XD) board = BoardType::Duet3_6XD; +#elif defined(DUET3MINI4) + board = BoardType::Duet3Mini4; #elif defined(SAME70XPLD) board = BoardType::SAME70XPLD_0; #elif defined(DUET_NG) @@ -3861,7 +3859,7 @@ const char *_ecv_array Platform::GetElectronicsString() const noexcept { switch (board) { -#if defined(DUET3MINI) +#if defined(DUET3MINI_V04) case BoardType::Duet3Mini_Unknown: return "Duet 3 " BOARD_SHORT_NAME " unknown variant"; case BoardType::Duet3Mini_WiFi: return "Duet 3 " BOARD_SHORT_NAME " WiFi"; case BoardType::Duet3Mini_Ethernet: return "Duet 3 " BOARD_SHORT_NAME " Ethernet"; @@ -3870,6 +3868,8 @@ const char *_ecv_array Platform::GetElectronicsString() const noexcept case BoardType::Duet3_6HC_v101: return "Duet 3 " BOARD_SHORT_NAME " v1.01 or later"; #elif defined(DUET3_MB6XD) case BoardType::Duet3_6XD: return "Duet 3 " BOARD_SHORT_NAME; // we have only one version at present +#elif defined(DUET3MINI4) + case BoardType::Duet3Mini4: return "Duet 3 " BOARD_SHORT_NAME; #elif defined(SAME70XPLD) case BoardType::SAME70XPLD_0: return "SAME70-XPLD"; #elif defined(DUET_NG) @@ -3898,7 +3898,7 @@ const char *_ecv_array Platform::GetBoardString() const noexcept { switch (board) { -#if defined(DUET3MINI) +#if defined(DUET3MINI_V04) case BoardType::Duet3Mini_Unknown: return "duet5lcunknown"; case BoardType::Duet3Mini_WiFi: return "duet5lcwifi"; case BoardType::Duet3Mini_Ethernet: return "duet5lcethernet"; @@ -3907,6 +3907,8 @@ const char *_ecv_array Platform::GetBoardString() const noexcept case BoardType::Duet3_6HC_v101: return "duet3mb6hc101"; #elif defined(DUET3_MB6XD) case BoardType::Duet3_6XD: return "duet3mb6xd"; // we have only one version at present +#elif defined(DUET3MINI4) + case BoardType::Duet3Mini4: return "duet3mini4"; #elif defined(SAME70XPLD) case BoardType::SAME70XPLD_0: return "same70xpld"; #elif defined(DUET_NG) @@ -3953,7 +3955,7 @@ const char *_ecv_array Platform::GetBoardShortName() const noexcept #endif -#ifdef DUET3MINI +#ifdef DUET3MINI_V04 // Return true if this is a WiFi board, false if it has Ethernet bool Platform::IsDuetWiFi() const noexcept diff --git a/src/Platform/Platform.h b/src/Platform/Platform.h index df74dad2..4035aeb5 100644 --- a/src/Platform/Platform.h +++ b/src/Platform/Platform.h @@ -119,7 +119,7 @@ constexpr uint32_t maxPidSpinDelay = 5000; // Maximum elapsed time in millisec enum class BoardType : uint8_t { Auto = 0, -#if defined(DUET3MINI) // we use the same values for both v0.2 and v0.4 +#if defined(DUET3MINI_V04) // we use the same values for both v0.2 and v0.4 Duet3Mini_Unknown, Duet3Mini_WiFi, Duet3Mini_Ethernet, @@ -128,6 +128,8 @@ enum class BoardType : uint8_t Duet3_6HC_v101 = 2, #elif defined(DUET3_MB6XD) Duet3_6XD = 1, +#elif defined(DUET3MINI4) + Duet3Mini4, #elif defined(SAME70XPLD) SAME70XPLD_0 = 1 #elif defined(DUET_NG) @@ -386,7 +388,7 @@ public: void EnableAux(size_t auxNumber) noexcept; bool IsAuxRaw(size_t auxNumber) const noexcept; void SetAuxRaw(size_t auxNumber, bool raw) noexcept; -#if HAS_AUX_DEVICES +#if SUPPORT_PANELDUE_FLASH PanelDueUpdater* GetPanelDueUpdater() noexcept { return panelDueUpdater; } void InitPanelDueUpdater() noexcept; #endif @@ -859,6 +861,8 @@ private: #if HAS_AUX_DEVICES AuxDevice auxDevices[NumSerialChannels - 1]; +#endif +#if SUPPORT_PANELDUE_FLASH PanelDueUpdater* panelDueUpdater; #endif diff --git a/src/Version.h b/src/Version.h index c0848d1f..323d79ca 100644 --- a/src/Version.h +++ b/src/Version.h @@ -10,7 +10,7 @@ #ifndef VERSION // Note: the complete VERSION string must be in standard version number format and must not contain spaces! This is so that DWC can parse it. -# define MAIN_VERSION "3.4.0beta7+8" +# define MAIN_VERSION "3.4.0rc1" # ifdef USE_CAN0 # define VERSION_SUFFIX "(CAN0)" # else |