Fix Duet2_SBC configuration

Add SAM4S hardware directory (just a copy of SAM4E for now)
Move contents of AppUrgentInit() into AppInit()

6 files changed, 189 insertions, 1 deletions

diff --git a/src/Hardware/SAM4E/Main.cpp b/src/Hardware/SAM4E/Main.cpp
index 4d26da64..355443b4 100644
--- a/src/Hardware/SAM4E/Main.cpp
+++ b/src/Hardware/SAM4E/Main.cpp
@@ -7,10 +7,20 @@
  */
 
 #include <CoreIO.h>
+#include <RepRapFirmware.h>
 
 // Program initialisation
 void AppInit() noexcept
 {
+	// When the reset button is pressed on pre-production Duet WiFi boards, if the TMC2660 drivers were previously enabled then we get
+	// uncommanded motor movements if the STEP lines pick up any noise. Try to reduce that by initialising the pins that control the drivers early here.
+	// On the production boards the ENN line is pulled high by an external pullup resistor and that prevents motor movements.
+	for (size_t drive = 0; drive < MaxSmartDrivers; ++drive)
+	{
+		pinMode(STEP_PINS[drive], OUTPUT_LOW);
+		pinMode(DIRECTION_PINS[drive], OUTPUT_LOW);
+		pinMode(ENABLE_PINS[drive], OUTPUT_HIGH);
+	}
 }
 
 // End
diff --git a/src/Hardware/SAM4E/PinDescription.h b/src/Hardware/SAM4E/PinDescription.h
index c39b56ef..d08e16de 100644
--- a/src/Hardware/SAM4E/PinDescription.h
+++ b/src/Hardware/SAM4E/PinDescription.h
@@ -46,4 +46,4 @@ struct PinDescription : public PinDescriptionBase
 	const char* GetNames() const noexcept { return pinNames; }
 };
 
-#endif /* SRC_HARDWARE_SAME70_PINDESCRIPTION_H_ */
+#endif /* SRC_HARDWARE_SAM4E_PINDESCRIPTION_H_ */
diff --git a/src/Hardware/SAM4S/Devices.cpp b/src/Hardware/SAM4S/Devices.cpp
new file mode 100644
index 00000000..11d01398
--- /dev/null
+++ b/src/Hardware/SAM4S/Devices.cpp
@@ -0,0 +1,74 @@
+/*
+ * Devices.cpp
+ *
+ *  Created on: 11 Aug 2020
+ *      Author: David
+ */
+
+#include "Devices.h"
+#include <RepRapFirmware.h>
+#include <AnalogIn.h>
+#include <AnalogOut.h>
+#include <pmc/pmc.h>
+
+AsyncSerial Serial (UART0, UART0_IRQn, ID_UART0, 512, 512, 	[](AsyncSerial*) noexcept { }, [](AsyncSerial*) noexcept { });
+AsyncSerial Serial1(UART1, UART1_IRQn, ID_UART1, 512, 512,	[](AsyncSerial*) noexcept { }, [](AsyncSerial*) noexcept { });
+SerialCDC SerialUSB;
+
+void UART0_Handler(void) noexcept
+{
+	Serial.IrqHandler();
+}
+
+void UART1_Handler(void) noexcept
+{
+	Serial1.IrqHandler();
+}
+
+void SerialInit() noexcept
+{
+	SetPinFunction(APIN_Serial0_RXD, Serial0PeriphMode);
+	SetPinFunction(APIN_Serial0_TXD, Serial0PeriphMode);
+	SetPullup(APIN_Serial0_RXD, true);
+
+	SetPinFunction(APIN_Serial1_RXD, Serial1PeriphMode);
+	SetPinFunction(APIN_Serial1_TXD, Serial1PeriphMode);
+	SetPullup(APIN_Serial1_RXD, true);
+}
+
+void SdhcInit() noexcept
+{
+	for (Pin p : HsmciPins)
+	{
+		SetPinFunction(p, HsmciPinsFunction);
+	}
+}
+
+void WireInit() noexcept
+{
+	pmc_enable_periph_clk(WIRE_INTERFACE_ID);
+	SetPinFunction(TWI_Data, TWIPeriphMode);
+	SetPinFunction(TWI_CK, TWIPeriphMode);
+
+	NVIC_DisableIRQ(WIRE_ISR_ID);
+	NVIC_ClearPendingIRQ(WIRE_ISR_ID);
+}
+
+TwoWire Wire(WIRE_INTERFACE, WireInit);
+
+
+// Device initialisation
+void DeviceInit() noexcept
+{
+	LegacyAnalogIn::AnalogInInit();
+	AnalogOut::Init();
+
+	SerialInit();
+	SdhcInit();
+}
+
+void StopAnalogTask() noexcept
+{
+}
+
+// End
diff --git a/src/Hardware/SAM4S/Devices.h b/src/Hardware/SAM4S/Devices.h
new file mode 100644
index 00000000..da8d3c08
--- /dev/null
+++ b/src/Hardware/SAM4S/Devices.h
@@ -0,0 +1,29 @@
+/*
+ * Devices.h
+ *
+ *  Created on: 11 Aug 2020
+ *      Author: David
+ */
+
+#ifndef SRC_HARDWARE_SAM4S_DEVICES_H_
+#define SRC_HARDWARE_SAM4S_DEVICES_H_
+
+#include <AsyncSerial.h>
+typedef AsyncSerial UARTClass;
+#include <USARTClass.h>
+
+extern AsyncSerial Serial;
+extern AsyncSerial Serial1;
+
+#define SUPPORT_USB		1		// needed by SerialCDC.h
+#include <SerialCDC.h>
+
+extern SerialCDC SerialUSB;
+
+#include <Wire.h>
+extern TwoWire Wire;
+
+void DeviceInit() noexcept;
+void StopAnalogTask() noexcept;
+
+#endif /* SRC_HARDWARE_SAM4S_DEVICES_H_ */
diff --git a/src/Hardware/SAM4S/Main.cpp b/src/Hardware/SAM4S/Main.cpp
new file mode 100644
index 00000000..13261267
--- /dev/null
+++ b/src/Hardware/SAM4S/Main.cpp
@@ -0,0 +1,26 @@
+/*
+ * Main.cpp
+ *  Program entry point
+ *  Created on: 11 Jul 2020
+ *      Author: David
+ *  License: GNU GPL version 3
+ */
+
+#include <CoreIO.h>
+#include <RepRapFirmware.h>
+
+// Program initialisation
+void AppInit() noexcept
+{
+	// The prototype boards don't have a pulldown on LCD_BEEP, which causes a hissing sound from the beeper on the 12864 display until the pin is initialised
+	pinMode(LcdBeepPin, OUTPUT_LOW);
+
+	// Set the 12864 display CS pin low to prevent it from receiving garbage due to other SPI traffic
+	pinMode(LcdCSPin, OUTPUT_LOW);
+
+	// On the prototype boards the stepper driver expansion ports don't have external pullup resistors on their enable pins
+	pinMode(ENABLE_PINS[5], OUTPUT_HIGH);
+	pinMode(ENABLE_PINS[6], OUTPUT_HIGH);
+}
+
+// End
diff --git a/src/Hardware/SAM4S/PinDescription.h b/src/Hardware/SAM4S/PinDescription.h
new file mode 100644
index 00000000..6f552cff
--- /dev/null
+++ b/src/Hardware/SAM4S/PinDescription.h
@@ -0,0 +1,49 @@
+/*
+ * PinDescription.h
+ *
+ *  Created on: 10 Jul 2020
+ *      Author: David
+ */
+
+#ifndef SRC_HARDWARE_SAM4S_PINDESCRIPTION_H_
+#define SRC_HARDWARE_SAM4S_PINDESCRIPTION_H_
+
+#include <CoreIO.h>
+
+// Enum to represent allowed types of pin access
+// We don't have a separate bit for servo, because Duet PWM-capable ports can be used for servos if they are on the Duet main board
+enum class PinCapability: uint8_t
+{
+	// Individual capabilities
+	none = 0,
+	read = 1,
+	ain = 2,
+	write = 4,
+	pwm = 8,
+
+	// Combinations
+	ainr = 1|2,
+	rw = 1|4,
+	wpwm = 4|8,
+	rwpwm = 1|4|8,
+	ainrw = 1|2|4,
+	ainrwpwm = 1|2|4|8
+};
+
+constexpr inline PinCapability operator|(PinCapability a, PinCapability b) noexcept
+{
+	return (PinCapability)((uint8_t)a | (uint8_t)b);
+}
+
+// The pin description says what functions are available on each pin, filtered to avoid allocating the same function to more than one pin..
+// It is a struct not a class so that it can be direct initialised in read-only memory.
+struct PinDescription : public PinDescriptionBase
+{
+	PinCapability cap;
+	const char* pinNames;
+
+	PinCapability GetCapability() const noexcept { return cap; }
+	const char* GetNames() const noexcept { return pinNames; }
+};
+
+#endif /* SRC_HARDWARE_SAM4S_PINDESCRIPTION_H_ */