Fixed Status and Activity LEDs on Duet 3 MB6HC v1.02

6 files changed, 89 insertions, 24 deletions

diff --git a/src/CAN/CanInterface.cpp b/src/CAN/CanInterface.cpp
index 6bcdb362..2ddde129 100644
--- a/src/CAN/CanInterface.cpp
+++ b/src/CAN/CanInterface.cpp
@@ -239,14 +239,14 @@ static inline void UpdateLed(uint32_t stepClocks) noexcept
 		else
 		{
 			// Blink the LED fast. This function gets called every 200ms, so that's the fastest we can blink it without having another task do it.
-			digitalWrite(DiagPin, !digitalRead(DiagPin));
+			reprap.GetPlatform().InvertDiagLed();
 			return;
 		}
 	}
 #endif
 
 	// Blink the LED at about 1Hz. Duet 3 expansion boards will blink in sync when they have established clock sync with us.
-	digitalWrite(DiagPin, XNor(DiagOnPolarity,  (stepClocks & (1u << 19)) != 0));
+	reprap.GetPlatform().SetDiagLed((stepClocks & (1u << 19)) != 0);
 }
 
 static void InitReceiveFilters() noexcept
diff --git a/src/Config/Pins_Duet3_MB6HC.h b/src/Config/Pins_Duet3_MB6HC.h
index 0a66ad79..c773d284 100644
--- a/src/Config/Pins_Duet3_MB6HC.h
+++ b/src/Config/Pins_Duet3_MB6HC.h
@@ -153,11 +153,20 @@ constexpr float PowerMonitorVoltageRange_v101 = (60.4 + 4.7)/4.7 * 3.3;		// volt
 constexpr float V12MonitorVoltageRange = (60.4 + 4.7)/4.7 * 3.3;			// voltage divider ratio times the reference voltage
 
 // Digital pin number to turn the IR LED on (high) or off (low), also controls the DIAG LED
-constexpr Pin DiagPin = PortCPin(20);
-constexpr bool DiagOnPolarity = true;
-constexpr Pin ActLedPin = NoPin;
+constexpr Pin DiagPinPre102 = PortCPin(20);
+constexpr bool DiagOnPolarityPre102 = true;
+constexpr Pin ActLedPinPre102 = NoPin;
+
+constexpr Pin DiagPin102 = PortBPin(6);
+constexpr bool DiagOnPolarity102 = false;
+constexpr Pin ActLedPin102 = PortBPin(7);
 constexpr bool ActOnPolarity = false;
 
+// MB6HC 1.02 USB control
+constexpr Pin UsbPowerSwitchPin = PortCPin(6);
+constexpr Pin UsbModePin = PortCPin(20);
+constexpr Pin UsbDetectPin = PortCPin(19);
+
 // SD cards
 constexpr size_t NumSdCards = 2;											// we now allow one SPI-connected SD card to be configured at boot time
 constexpr Pin SdCardDetectPins[NumSdCards] = { PortAPin(29), NoPin };		// the CD pin for the second SD card is allocated using M950
@@ -176,7 +185,7 @@ constexpr uint32_t DotStarClockId = ID_QSPI;
 constexpr IRQn DotStarIRQn = QSPI_IRQn;
 
 // Ethernet
-constexpr Pin EthernetPhyInterruptPin = PortCPin(6);
+constexpr Pin EthernetPhyInterruptPinPre102 = PortCPin(6);
 constexpr Pin EthernetPhyResetPin = PortDPin(11);
 constexpr Pin EthernetPhyOtherPins[] = {
 		PortDPin(0), PortDPin(1), PortDPin(2), PortDPin(3), PortDPin(4),
diff --git a/src/Hardware/SAME70/Devices.cpp b/src/Hardware/SAME70/Devices.cpp
index 19f14226..2af3ed6a 100644
--- a/src/Hardware/SAME70/Devices.cpp
+++ b/src/Hardware/SAME70/Devices.cpp
@@ -62,7 +62,6 @@ void SdhcInit() noexcept
 void EthernetInit() noexcept
 {
 	// Initialize Ethernet pins
-	pinMode(EthernetPhyInterruptPin, INPUT_PULLUP);
 	for (Pin p : EthernetPhyOtherPins)
 	{
 		SetPinFunction(p, EthernetPhyOtherPinsFunction);
@@ -78,10 +77,7 @@ void DeviceInit() noexcept
 	SdhcInit();
 	EthernetInit();
 
-#if defined(DUET3_MB6HC)
-	// Set up PB4..PB5 as normal I/O, not JTAG
-	matrix_set_system_io(CCFG_SYSIO_SYSIO4 | CCFG_SYSIO_SYSIO5);
-#elif defined(DUET3_MB6XD)
+#if defined(DUET3_MB6HC) || defined(DUET3_MB6XD)
 # ifdef DEBUG
 	// Set up PB4..PB5 as normal I/O, not JTAG. Leave PB6/7 pins as SWD. STATUS and ACT LEDs will not work.
 	matrix_set_system_io(CCFG_SYSIO_SYSIO4 | CCFG_SYSIO_SYSIO5);
diff --git a/src/Platform/Platform.cpp b/src/Platform/Platform.cpp
index 08489c13..e82780c4 100644
--- a/src/Platform/Platform.cpp
+++ b/src/Platform/Platform.cpp
@@ -3761,6 +3761,29 @@ void Platform::ResetChannel(size_t chan) noexcept
 #endif
 }
 
+#if defined(DUET3_MB6HC)
+
+// this is safe to call before Platform has been created
+/*static*/ BoardType Platform::GetMB6HCBoardType() noexcept
+{
+	// Driver 0 direction has a pulldown resistor on v0.6 and v1.0 boards, but not on v1.01 or v1.02 boards
+	// Driver 1 has a pulldown resistor on v0.1 and v1.0 boards, however we don't support v0.1 and we don't care about the difference between v0.6 and v1.0, so we don't need to read it
+	// Driver 2 has a pulldown resistor on v1.02 only
+	pinMode(DIRECTION_PINS[2], INPUT_PULLUP);
+	pinMode(DIRECTION_PINS[0], INPUT_PULLUP);
+	delayMicroseconds(20);									// give the pullup resistor time to work
+	if (digitalRead(DIRECTION_PINS[2]))
+	{
+		return (digitalRead(DIRECTION_PINS[0])) ? BoardType::Duet3_6HC_v101 : BoardType::Duet3_6HC_v06_100;
+	}
+	else
+	{
+		return BoardType::Duet3_6HC_v102;
+	}
+}
+
+#endif
+
 // Set the board type. This must be called quite early, because for some builds it relies on pins not having been programmed for their intended use yet.
 void Platform::SetBoardType(BoardType bt) noexcept
 {
@@ -3774,21 +3797,20 @@ void Platform::SetBoardType(BoardType bt) noexcept
 					? BoardType::Duet3Mini_WiFi
 						: BoardType::Duet3Mini_Ethernet;
 #elif defined(DUET3_MB6HC)
-		// Driver 0 direction has a pulldown resistor on v0.6 and v1.0 boards, but not on v1.01 or v1.02 boards
-		// Driver 1 has a pulldown resistor on v0.1 and v1.0 boards, however we don't support v0.1 and we don't care about the difference between v0.6 and v1.0, so we don't need to read it
-		// Driver 2 has a pulldown resistor on v1.02 only
-		pinMode(DIRECTION_PINS[2], INPUT_PULLUP);
-		pinMode(DIRECTION_PINS[0], INPUT_PULLUP);
-		delayMicroseconds(20);									// give the pullup resistor time to work
-		if (digitalRead(DIRECTION_PINS[2]))
+		board = GetMB6HCBoardType();
+		if (board == BoardType::Duet3_6HC_v102)
 		{
-			board = (digitalRead(DIRECTION_PINS[0])) ? BoardType::Duet3_6HC_v101 : BoardType::Duet3_6HC_v06_100;
-			powerMonitorVoltageRange = PowerMonitorVoltageRange_v101;
+			powerMonitorVoltageRange = PowerMonitorVoltageRange_v102;
+			DiagPin = DiagPin102;
+			ActLedPin = ActLedPin102;
+			DiagOnPolarity = DiagOnPolarity102;
 		}
 		else
 		{
-			board = BoardType::Duet3_6HC_v102;
-			powerMonitorVoltageRange = PowerMonitorVoltageRange_v102;
+			powerMonitorVoltageRange = PowerMonitorVoltageRange_v101;
+			DiagPin = DiagPinPre102;
+			ActLedPin = ActLedPinPre102;
+			DiagOnPolarity = DiagOnPolarityPre102;
 		}
 		driverPowerOnAdcReading = PowerVoltageToAdcReading(10.0);
 		driverPowerOffAdcReading = PowerVoltageToAdcReading(9.5);
@@ -4646,6 +4668,20 @@ uint32_t Platform::Random() noexcept
 
 #endif
 
+void Platform::SetDiagLed(bool on) const noexcept
+{
+	digitalWrite(DiagPin, XNor(DiagOnPolarity, on));
+}
+
+#if SUPPORT_MULTICAST_DISCOVERY
+
+void Platform::InvertDiagLed() const noexcept
+{
+	digitalWrite(DiagPin, !digitalRead(DiagPin));
+}
+
+#endif
+
 #if HAS_CPU_TEMP_SENSOR && SAME5x
 
 void Platform::TemperatureCalibrationInit() noexcept
diff --git a/src/Platform/Platform.h b/src/Platform/Platform.h
index 1ed5186b..22735a98 100644
--- a/src/Platform/Platform.h
+++ b/src/Platform/Platform.h
@@ -672,7 +672,17 @@ public:
 #endif
 
 #if SUPPORT_CAN_EXPANSION
-	void OnProcessingCanMessage() noexcept;								// called when we start processing any CAN message except for regular messages e.g. time sync
+	void OnProcessingCanMessage() noexcept;										// called when we start processing any CAN message except for regular messages e.g. time sync
+#endif
+
+#if defined(DUET3_MB6HC)
+	static BoardType GetMB6HCBoardType() noexcept;								// this is safe to call before Platform has been created
+#endif
+
+	void SetDiagLed(bool on) const noexcept;
+
+#if SUPPORT_MULTICAST_DISCOVERY
+	void InvertDiagLed() const noexcept;
 #endif
 
 protected:
@@ -894,6 +904,9 @@ private:
 	float powerMonitorVoltageRange;
 	uint16_t driverPowerOnAdcReading;
 	uint16_t driverPowerOffAdcReading;
+	Pin DiagPin;
+	Pin ActLedPin;
+	bool DiagOnPolarity;
 #endif
 
 	bool autoSaveEnabled;
diff --git a/src/Platform/Tasks.cpp b/src/Platform/Tasks.cpp
index 7d7c39e8..4d42d332 100644
--- a/src/Platform/Tasks.cpp
+++ b/src/Platform/Tasks.cpp
@@ -128,8 +128,19 @@ void *Tasks::GetNVMBuffer(const uint32_t *_ecv_array null stk) noexcept
 // Application entry point
 [[noreturn]] void AppMain() noexcept
 {
+#if defined(DUET3_MB6HC)													// for MB6HC the Status and Activity pins and polarity depend on the board version
+	const BoardType bt = Platform::GetMB6HCBoardType();
+	const Pin DiagPin = (bt == BoardType::Duet3_6HC_v102) ? DiagPin102 : DiagPinPre102;
+	const Pin ActLedPin = (bt == BoardType::Duet3_6HC_v102) ? ActLedPin102 : ActLedPinPre102;
+	const bool DiagOnPolarity = (bt == BoardType::Duet3_6HC_v102) ? DiagOnPolarity102 : DiagOnPolarityPre102;
+	if (bt == BoardType::Duet3_6HC_v102)
+	{
+		pinMode(UsbPowerSwitchPin, OUTPUT_LOW);								// turn USB power off
+		pinMode(UsbModePin, OUTPUT_LOW);									// USB mode = device/UFP
+	}
+#endif
 	pinMode(DiagPin, (DiagOnPolarity) ? OUTPUT_LOW : OUTPUT_HIGH);			// set up status LED for debugging and turn it off
-#if defined(DUET3MINI) || defined(DUET3_MB6XD)
+#if defined(DUET3MINI) || defined(DUET3_MB6HC) || defined(DUET3_MB6XD)
 	pinMode(ActLedPin, (ActOnPolarity) ? OUTPUT_LOW : OUTPUT_HIGH);			// set up activity LED and turn it off
 #endif