Various

Changed layout of User Page to accommodate ADC calibration as well as
software reset data. Added new module NonVolatileMemory to manage this.
Removed RADDS configuration so that we don't need to support SAM3XA
flash memory. Increased number of stack words stored in software reset
data.
Moved exception handlers out of Tasks.cpp to separate module
ExceptionHandlers.
Changed number of decimal places reported in spindle RPMs from default
(7) to 1.
Moved some low-level functions from CanInterface to CanDriver and
started preparing CanDriver to support bith CAN interfaces.
Added L parameter (calibration factor) to laser filament monitor
configuration
Renamed GCodeChannel::USBchan back to USB for backwards compatibility

2 files changed, 98 insertions, 7 deletions

diff --git a/src/Hardware/SAME70/CanDriver.cpp b/src/Hardware/SAME70/CanDriver.cpp
index d9e75711..d91f1847 100644
--- a/src/Hardware/SAME70/CanDriver.cpp
+++ b/src/Hardware/SAME70/CanDriver.cpp
@@ -318,20 +318,17 @@ void mcan_init(mcan_module *const module_inst, Mcan *hw, struct mcan_config *con
 
 	/* Associate the software module instance with the hardware module */
 	module_inst->hw = hw;
+	module_inst->taskWaitingOnFifo[0] = module_inst->taskWaitingOnFifo[1] = nullptr;
 
 	pmc_disable_pck(PMC_PCK_5);
 
-#if 1	// dc42 use UPLL not PLLA as recommended in the documentation, so the MCAN clock is independent of the CPU clock frequency
+	// Use UPLL so the MCAN clock is independent of the CPU clock frequency
 	pmc_switch_pck_to_upllck(PMC_PCK_5, PMC_PCK_PRES(9));		// run PCLK5 at 48MHz
-#else
-	pmc_switch_pck_to_pllack(PMC_PCK_5, PMC_PCK_PRES(9));
-#endif
 	pmc_enable_pck(PMC_PCK_5);
 
 	/* Enable peripheral clock */
 	_mcan_enable_peripheral_clock(module_inst);
 
-
 	/* Configuration Change Enable. */
 	hw->MCAN_CCCR |= MCAN_CCCR_CCE;
 
@@ -739,6 +736,90 @@ bool WaitForTxBufferFree(mcan_module *const module_inst, uint32_t whichTxBuffer,
 	return true;
 }
 
+// Get a message from a FIFO with timeout. Return true if successful, false if we timed out
+bool GetMessageFromFifo(mcan_module *const module_inst, CanMessageBuffer *buf, unsigned int fifoNumber, uint32_t timeout) noexcept
+{
+	volatile uint32_t* const fifoRegisters = &(module_inst->hw->MCAN_RXF0S) + (4 * fifoNumber);	// pointer to FIFO status register followed by FIFO acknowledge register
+	module_inst->taskWaitingOnFifo[fifoNumber] = TaskBase::GetCallerTaskHandle();
+	while (true)
+	{
+		const uint32_t status = fifoRegisters[0];									// get FIFO status
+		if ((status & MCAN_RXF0S_F0FL_Msk) != 0)									// if there are any messages
+		{
+			const uint32_t getIndex = (status & MCAN_RXF0S_F0GI_Msk) >> MCAN_RXF0S_F0GI_Pos;
+			mcan_rx_element elem;
+			if (fifoNumber == 1)
+			{
+				mcan_get_rx_fifo_1_element(module_inst, &elem, getIndex);		// copy the data (TODO use our own driver, avoid double copying)
+			}
+			else
+			{
+				mcan_get_rx_fifo_0_element(module_inst, &elem, getIndex);		// copy the data (TODO use our own driver, avoid double copying)
+			}
+			fifoRegisters[1] = getIndex;											// acknowledge it, release the FIFO entry
+
+			if (elem.R0.bit.XTD == 1 && elem.R0.bit.RTR != 1)						// if extended address and not a remote frame
+			{
+				// Copy the message and accompanying data to our buffer
+				buf->id.SetReceivedId(elem.R0.bit.ID);
+				buf->dataLength = dlc2len[elem.R1.bit.DLC];
+				memcpy(buf->msg.raw, elem.data, buf->dataLength);
+				module_inst->taskWaitingOnFifo[fifoNumber] = nullptr;
+				return true;
+			}
+		}
+		else if (!TaskBase::Take(timeout))
+		{
+			module_inst->taskWaitingOnFifo[fifoNumber] = nullptr;
+			return false;
+		}
+	}
+}
+
+void GetLocalCanTiming(mcan_module *const module_inst, CanTiming& timing) noexcept
+{
+	const uint32_t nbtp = module_inst->hw->MCAN_NBTP;
+	const uint32_t tseg1 = (nbtp & MCAN_NBTP_NTSEG1_Msk) >> MCAN_NBTP_NTSEG1_Pos;
+	const uint32_t tseg2 = (nbtp & MCAN_NBTP_NTSEG2_Msk) >> MCAN_NBTP_NTSEG2_Pos;
+	const uint32_t jw = (nbtp & MCAN_NBTP_NSJW_Msk) >> MCAN_NBTP_NSJW_Pos;
+	const uint32_t brp = (nbtp & MCAN_NBTP_NBRP_Msk) >> MCAN_NBTP_NBRP_Pos;
+	timing.period = (tseg1 + tseg2 + 3) * (brp + 1);
+	timing.tseg1 = (tseg1 + 1) * (brp + 1);
+	timing.jumpWidth = (jw + 1) * (brp + 1);
+}
+
+void ChangeLocalCanTiming(mcan_module *const module_inst, const CanTiming& timing) noexcept
+{
+	// Sort out the bit timing
+	uint32_t period = timing.period;
+	uint32_t tseg1 = timing.tseg1;
+	uint32_t jumpWidth = timing.jumpWidth;
+	uint32_t prescaler = 1;						// 48MHz main clock
+	uint32_t tseg2;
+
+	for (;;)
+	{
+		tseg2 = period - tseg1 - 1;
+		if (tseg1 <= 32 && tseg2 <= 16 && jumpWidth <= 16)
+		{
+			break;
+		}
+		prescaler <<= 1;
+		period >>= 1;
+		tseg1 >>= 1;
+		jumpWidth >>= 1;
+	}
+
+	//TODO stop transmissions in an orderly fashion, or postpone initialising CAN until we have the timing data
+	module_inst->hw->MCAN_CCCR |= MCAN_CCCR_CCE | MCAN_CCCR_INIT;
+	module_inst->hw->MCAN_NBTP =  ((tseg1 - 1) << MCAN_NBTP_NTSEG1_Pos)
+							| ((tseg2 - 1) << MCAN_NBTP_NTSEG2_Pos)
+							| ((jumpWidth - 1) << MCAN_NBTP_NSJW_Pos)
+							| ((prescaler - 1) << MCAN_NBTP_NBRP_Pos);
+	module_inst->hw->MCAN_CCCR &= ~MCAN_CCCR_CCE;
+}
+
+
 #endif	// SUPPORT_CAN_EXPANSION
 
 // End
diff --git a/src/Hardware/SAME70/CanDriver.h b/src/Hardware/SAME70/CanDriver.h
index ae2f5290..bd505233 100644
--- a/src/Hardware/SAME70/CanDriver.h
+++ b/src/Hardware/SAME70/CanDriver.h
@@ -42,7 +42,9 @@
 
 #if SUPPORT_CAN_EXPANSION
 
-#include <compiler.h>
+#include <CanSettings.h>
+#include <CanMessageBuffer.h>
+#include <RTOSIface/RTOSIface.h>
 #include <status_codes.h>
 
 /** The value should be 8/12/16/20/24/32/48/64. */
@@ -529,8 +531,10 @@ enum mcan_nonmatching_frames_action {
  * \note The fields of this structure should not be altered by the user
  *       application; they are reserved for module-internal use only.
  */
-struct mcan_module {
+struct mcan_module
+{
 	Mcan *hw;
+	TaskHandle taskWaitingOnFifo[2];
 };
 
 /**
@@ -692,6 +696,12 @@ status_code mcan_fd_send_ext_message_no_wait(mcan_module *const module_inst, uin
 // Return true if we cancelled the pending transmission.
 bool WaitForTxBufferFree(mcan_module *const module_inst, uint32_t whichTxBuffer, uint32_t maxWait) noexcept;
 
+// Get a message from a FIFO with timeout. Return true if successful, false if we timed out
+bool GetMessageFromFifo(mcan_module *const module_inst, CanMessageBuffer *buf, unsigned int fifoNumber, uint32_t timeout) noexcept;
+
+void GetLocalCanTiming(mcan_module *const module_inst, CanTiming& timing) noexcept;
+void ChangeLocalCanTiming(mcan_module *const module_inst, const CanTiming& timing) noexcept;
+
 /**
  * \brief Can read timestamp count value.
  *