Switched to new SAME5x AnalogIn non-DMA interface

Also reduced TMC2209 baud rate form 250 to 100kbps and increased the
timeout, because we were getting lots of timeouts, especially with SBC
connected
Also temporarily removed new seqs.volChanges array because DCS chokes on
it

1 files changed, 16 insertions, 29 deletions

diff --git a/src/Duet3Mini/Pins_Duet3Mini.h b/src/Duet3Mini/Pins_Duet3Mini.h
index 85b210ab..4fc0030b 100644
--- a/src/Duet3Mini/Pins_Duet3Mini.h
+++ b/src/Duet3Mini/Pins_Duet3Mini.h
@@ -204,11 +204,10 @@ constexpr Pin TMC22xxMuxPins[1] = { PortDPin(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 8 bytes. To read a register we send 4 bytes and receive 8 bytes after a programmable delay.
-// So at 500kbaud it takes about 128us to write a register, and 192us+ to read a register.
-// In testing I found that 500kbaud was not reliable, so now using 200kbaud.
-constexpr uint32_t DriversBaudRate = 250000;
-constexpr uint32_t TransferTimeout = 2;										// any transfer should complete within 2 ticks @ 1ms/tick
+// 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 = 5;										// any transfer should complete within 5 ticks @ 1ms/tick
 constexpr uint32_t DefaultStandstillCurrentPercent = 75;
 
 #if defined(DUET3MINI_V04)
@@ -709,35 +708,23 @@ 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 DmacChanTmcTx = 0;
-constexpr DmaChannel DmacChanTmcRx = 1;
-constexpr DmaChannel FirstAdcDmaChannel = 2;			// the ADCs use 4 DMA channels
-constexpr DmaChannel DmacChanWiFiTx = 6;
-constexpr DmaChannel DmacChanWiFiRx = 7;
-constexpr DmaChannel DmacChanSbcTx = 8;
-constexpr DmaChannel DmacChanSbcRx = 9;
-constexpr DmaChannel DmacChanDotStarTx = 10;
-
-constexpr unsigned int NumDmaChannelsUsed = 11;
-
-#if 0
+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 = 0;				// the baud rate is 250kbps so this is not very critical
-constexpr DmaPriority DmacPrioAdcTx = 0;
-constexpr DmaPriority DmacPrioAdcRx = 0;
-constexpr DmaPriority DmacPrioWiFi = 0;					// high speed SPI in slave mode
-constexpr DmaPriority DmacPrioSbc = 0;					// high speed SPI in slave mode
-constexpr DmaPriority DmacPrioDotStar = 0;				// QSPI in master mode
-#else
-constexpr DmaPriority DmacPrioTmcTx = 0;
-constexpr DmaPriority DmacPrioTmcRx = 1;				// the baud rate is 250kbps so this is not very critical
-constexpr DmaPriority DmacPrioAdcTx = 0;
-constexpr DmaPriority DmacPrioAdcRx = 3;
+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
-#endif
 
 // Timer allocation
 // TC2 and TC3 are used for step pulse generation and software timers