More work on MB6XD step generation

Also removed some obsolete Duet 085, RADDs and Alligator code

6 files changed, 86 insertions, 99 deletions

diff --git a/src/Config/Pins_Duet3_MB6XD.h b/src/Config/Pins_Duet3_MB6XD.h
index 11e9324d..730a26b7 100644
--- a/src/Config/Pins_Duet3_MB6XD.h
+++ b/src/Config/Pins_Duet3_MB6XD.h
@@ -3,10 +3,10 @@
 
 #include <PinDescription.h>
 
-#define BOARD_SHORT_NAME		"MB6HC"
-#define BOARD_NAME				"Duet 3 MB6HC"
+#define BOARD_SHORT_NAME		"MB6XD"
+#define BOARD_NAME				"Duet 3 MB6XD"
 #define DEFAULT_BOARD_TYPE		BoardType::Auto
-#define FIRMWARE_NAME			"RepRapFirmware for Duet 3 MB6HC"
+#define FIRMWARE_NAME			"RepRapFirmware for Duet 3 MB6XD"
 #define IAP_FIRMWARE_FILE		"Duet3Firmware_" BOARD_SHORT_NAME ".bin"
 
 #define IAP_UPDATE_FILE			"Duet3_SDiap32_" BOARD_SHORT_NAME ".bin"
@@ -103,7 +103,8 @@ constexpr Pin DRIVER_ERR_PINS[NumDirectDrivers] =	{ PortDPin(29), PortCPin(17),
 constexpr Pin StepGatePin = PortDPin(22);
 constexpr GpioPinFunction StepGatePinFunction = GpioPinFunction::C;			// TIOB11
 
-#define STEP_GATE_TC		(TC3)
+#define STEP_GATE_TC		(TC3)					// TC11 is really TC3 channel 2
+#define STEP_GATE_TC_ID		(ID_TC11)				// ID for peripheral clock and interrupt
 #define STEP_GATE_TC_CHAN	(2)
 
 // Thermistor/PT1000 inputs
diff --git a/src/Heating/Sensors/Thermistor.cpp b/src/Heating/Sensors/Thermistor.cpp
index caa0abd2..fbca1e12 100644
--- a/src/Heating/Sensors/Thermistor.cpp
+++ b/src/Heating/Sensors/Thermistor.cpp
@@ -77,10 +77,10 @@ bool Thermistor::ConfigureHParam(int hVal, const StringRef& reply) noexcept
 		if (valid)
 		{
 			int32_t vrefReading = reprap.GetPlatform().GetAdcFilter(VrefFilterIndex).GetSum();
-# ifdef DUET3
+# ifdef DUET3_MB6HC
 			// Duet 3 MB6HC board revisions 0.6 and 1.0 have the series resistor connected to VrefP, not VrefMon, so extrapolate the VrefMon reading to estimate VrefP.
 			// Version 1.01 and later boards have the series resistors connected to VrefMon.
-			if (reprap.GetPlatform().GetBoardType() == BoardType::Duet3_v06_100)
+			if (reprap.GetPlatform().GetBoardType() == BoardType::Duet3_6HC_v06_100)
 			{
 				const int32_t vssaReading = reprap.GetPlatform().GetAdcFilter(VssaFilterIndex).GetSum();
 				vrefReading = vssaReading + lrintf((vrefReading - vssaReading) * (4715.0/4700.0));
@@ -367,10 +367,10 @@ void Thermistor::Poll() noexcept
 		const int32_t rawAveragedVssaReading = vssaFilter.GetSum()/(vssaFilter.NumAveraged() >> AdcOversampleBits);
 		const int32_t rawAveragedVrefReading = vrefFilter.GetSum()/(vrefFilter.NumAveraged() >> AdcOversampleBits);
 		const int32_t averagedVssaReading = rawAveragedVssaReading + (adcLowOffset * (1 << (AdcBits + AdcOversampleBits - 13)));
-# ifdef DUET3
+# ifdef DUET3_MB6HC
 		// Duet 3 MB6HC board revisions 0.6 and 1.0 have the series resistor connected to VrefP, not VrefMon, so extrapolate the VrefMon reading to estimate VrefP.
 		// Version 1.01 and later boards have the series resistors connected to VrefMon.
-		const int32_t correctedVrefReading = (reprap.GetPlatform().GetBoardType() == BoardType::Duet3_v06_100)
+		const int32_t correctedVrefReading = (reprap.GetPlatform().GetBoardType() == BoardType::Duet3_6HC_v06_100)
 											? rawAveragedVssaReading + lrintf((rawAveragedVrefReading - rawAveragedVssaReading) * (4715.0/4700.0))
 											: rawAveragedVrefReading;
 		const int32_t averagedVrefReading = correctedVrefReading + (adcHighOffset * (1 << (AdcBits + AdcOversampleBits - 13)));
diff --git a/src/ObjectModel/ObjectModel.cpp b/src/ObjectModel/ObjectModel.cpp
index db00a77c..4d3f7ef5 100644
--- a/src/ObjectModel/ObjectModel.cpp
+++ b/src/ObjectModel/ObjectModel.cpp
@@ -1125,7 +1125,7 @@ decrease(strlen(idString))	// recursion variant
 		}
 		break;
 
-#ifdef DUET3
+#if defined(DUET3) || defined(DUET3MINI)
 	case TypeCode::CanExpansionBoardDetails:
 		if (*idString == 0)
 		{
diff --git a/src/Platform/Platform.cpp b/src/Platform/Platform.cpp
index c4877c96..0ae91ba1 100644
--- a/src/Platform/Platform.cpp
+++ b/src/Platform/Platform.cpp
@@ -49,6 +49,7 @@
 # include <AnalogIn.h>
 # include <DmacManager.h>
 using LegacyAnalogIn::AdcBits;
+# include <pmc/pmc.h>
 # if SAME70
 static_assert(NumDmaChannelsUsed <= NumDmaChannelsSupported, "Need more DMA channels in CoreNG");
 # endif
@@ -58,9 +59,6 @@ static_assert(NumDmaChannelsUsed <= NumDmaChannelsSupported, "Need more DMA chan
 using AnalogIn::AdcBits;			// for compatibility with CoreNG, which doesn't have the AnalogIn namespace
 #elif defined(__LPC17xx__)
 # include "LPC/BoardConfig.h"
-#else
-# include "sam/drivers/tc/tc.h"
-# include "sam/drivers/hsmci/hsmci.h"
 #endif
 
 #include <Libraries/sd_mmc/sd_mmc.h>
@@ -684,6 +682,16 @@ void Platform::Init() noexcept
 
 #ifdef DUET3_MB6XD
 	driverErrPinsActiveLow = (numErrorHighDrivers >= NumDirectDrivers/2);				// determine the error signal polarity by assuming most drivers are not in the error state
+
+	// Set up the step gate timer
+	pmc_enable_periph_clk(STEP_GATE_TC_ID);
+	STEP_GATE_TC->TC_CHANNEL[STEP_GATE_TC_CHAN].TC_CMR =  TC_CMR_BSWTRG_SET				// software trigger sets TIOB
+														| TC_CMR_BCPC_CLEAR				// RC compare clears TIOB
+														| TC_CMR_WAVE					// waveform mode
+														| TC_CMR_WAVSEL_UP				// count up
+														| TC_CMR_CPCSTOP				// counter clock is stopped when counter reaches RC
+														| TC_CMR_TCCLKS_TIMER_CLOCK2;	// divide MCLK (150MHz) by 8 = 18.75MHz
+	SetPinFunction(StepGatePin, StepGatePinFunction);
 #endif
 
 	// Set up the axis+extruder arrays
@@ -2780,6 +2788,44 @@ GCodeResult Platform::SetMotorCurrent(size_t axisOrExtruder, float currentOrPerc
 #endif
 }
 
+#ifdef DUET3_MB6XD
+
+// Fetch the worst (longest) timings of any driver, set up the step pulse width timer, and convert the other timings from microseconds to step clocks
+void Platform::UpdateDriverTimings()
+{
+	float worstTimings[4];
+	memcpyf(worstTimings, driverTimingMicroseconds[0], 4);
+	for (size_t driver = 1; driver < NumDirectDrivers; ++driver)
+	{
+		for (size_t i = 0; i < 4; ++i)
+		{
+			if (driverTimingMicroseconds[driver][i] > worstTimings[i])
+			{
+				worstTimings[i] = driverTimingMicroseconds[driver][i];
+			}
+		}
+	}
+
+	// Convert the step pulse width to clocks of the step pulse gate timer. First define some constants.
+	constexpr uint32_t StepGateTcClockFrequency = (SystemCoreClockFreq/2)/8;
+	constexpr float StepGateClocksPerMicrosecond = (float)StepGateTcClockFrequency/1.0e6;
+	constexpr float MicrosecondsPerStepGateClock = 1.0e6/(float)StepGateTcClockFrequency;
+
+	const float fclocks = ceilf(worstTimings[0] * StepGateClocksPerMicrosecond);
+	const uint32_t gateClocks = (uint32_t)fclocks;
+	STEP_GATE_TC->TC_CHANNEL[STEP_GATE_TC_CHAN].TC_RC = gateClocks;
+
+	// Convert the quantised step pulse width back to microseconds
+	const float actualStepPulseMicroseconds = fclocks * MicrosecondsPerStepGateClock;
+
+	// Now convert the other values from microseconds to step clocks
+	stepPulseMinimumPeriodClocks = MicrosecondsToStepClocks(worstTimings[1] + actualStepPulseMicroseconds);
+	directionSetupClocks = MicrosecondsToStepClocks(worstTimings[2]);
+	directionHoldClocksFromLeadingEdge = MicrosecondsToStepClocks(worstTimings[3] + actualStepPulseMicroseconds);
+}
+
+#endif
+
 // This must not be called from an ISR, or with interrupts disabled.
 void Platform::UpdateMotorCurrent(size_t driver, float current) noexcept
 {
@@ -2790,46 +2836,6 @@ void Platform::UpdateMotorCurrent(size_t driver, float current) noexcept
 		{
 			SmartDrivers::SetCurrent(driver, current);
 		}
-#elif defined (DUET_06_085)
-		const uint16_t pot = (unsigned short)((0.256*current*8.0*senseResistor + maxStepperDigipotVoltage/2)/maxStepperDigipotVoltage);
-		if (driver < 4)
-		{
-			mcpDuet.setNonVolatileWiper(potWipes[driver], pot);
-			mcpDuet.setVolatileWiper(potWipes[driver], pot);
-		}
-		else
-		{
-			if (board == BoardType::Duet_085)
-			{
-				// Extruder 0 is on DAC channel 0
-				if (driver == 4)
-				{
-					const float dacVoltage = max<float>(current * 0.008 * senseResistor + stepperDacVoltageOffset, 0.0);	// the voltage we want from the DAC relative to its minimum
-					const float dac = dacVoltage/stepperDacVoltageRange;
-					AnalogOut(DAC0, dac);
-				}
-				else
-				{
-					mcpExpansion.setNonVolatileWiper(potWipes[driver-1], pot);
-					mcpExpansion.setVolatileWiper(potWipes[driver-1], pot);
-				}
-			}
-			else if (driver < 8)		// on a Duet 0.6 we have a maximum of 8 drives
-			{
-				mcpExpansion.setNonVolatileWiper(potWipes[driver], pot);
-				mcpExpansion.setVolatileWiper(potWipes[driver], pot);
-			}
-		}
-#elif defined(__ALLIGATOR__)
-		// Alligator SPI DAC current
-		if (driver < 4)  // Onboard DAC
-		{
-			dacAlligator.setChannel(3-driver, current * 0.102);
-		}
-		else // Piggy module DAC
-		{
-			dacPiggy.setChannel(7-driver, current * 0.102);
-		}
 #elif defined(__LPC17xx__)
 		if (hasDriverCurrentControl)
 		{
@@ -3103,8 +3109,8 @@ void Platform::SetDriverStepTiming(size_t driver, const float microseconds[4]) n
 	{
 		if (microseconds[i] > MinStepPulseTiming)
 		{
-			slowDriversBitmap |= StepPins::CalcDriverBitmap(driver);		// this drive does need extended timing
-			const uint32_t clocks = (uint32_t)(((float)StepClockRate * microseconds[i] * 0.000001) + 0.99);	// convert microseconds to step clocks, rounding up
+			slowDriversBitmap |= StepPins::CalcDriverBitmap(driver);			// this drive does need extended timing
+			const uint32_t clocks = MicrosecondsToStepClocks(microseconds[i]);	// convert microseconds to step clocks, rounding up
 			if (clocks > slowDriverStepTimingClocks[i])
 			{
 				slowDriverStepTimingClocks[i] = clocks;
@@ -3770,11 +3776,13 @@ void Platform::SetBoardType(BoardType bt) noexcept
 		board = (digitalRead(DIRECTION_PINS[1]))				// if SAME54P20A
 					? BoardType::Duet3Mini_WiFi
 						: BoardType::Duet3Mini_Ethernet;
-#elif defined(DUET3)
+#elif defined(DUET3_MB6HC)
 		// Driver 0 direction has a pulldown resistor on v0.6 and v1.0 boards, but won't on v1.01 boards
 		pinMode(DIRECTION_PINS[0], INPUT_PULLUP);
 		delayMicroseconds(20);									// give the pullup resistor time to work
-		board = (digitalRead(DIRECTION_PINS[0])) ? BoardType::Duet3_v101 : BoardType::Duet3_v06_100;
+		board = (digitalRead(DIRECTION_PINS[0])) ? BoardType::Duet3_6HC_v101 : BoardType::Duet3_6HC_v06_100;
+#elif defined(DUET3_MB6XD)
+		board = BoardType::Duet3_6XD;
 #elif defined(SAME70XPLD)
 		board = BoardType::SAME70XPLD_0;
 #elif defined(DUET_NG)
@@ -3848,9 +3856,11 @@ const char *_ecv_array Platform::GetElectronicsString() const noexcept
 	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";
-#elif defined(DUET3)
-	case BoardType::Duet3_v06_100:			return "Duet 3 " BOARD_SHORT_NAME " v0.6 or 1.0";
-	case BoardType::Duet3_v101:				return "Duet 3 " BOARD_SHORT_NAME " v1.01 or later";
+#elif defined(DUET3_MB6HC)
+	case BoardType::Duet3_6HC_v06_100:			return "Duet 3 " BOARD_SHORT_NAME " v0.6 or 1.0";
+	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(SAME70XPLD)
 	case BoardType::SAME70XPLD_0:			return "SAME70-XPLD";
 #elif defined(DUET_NG)
@@ -3863,18 +3873,8 @@ const char *_ecv_array Platform::GetElectronicsString() const noexcept
 	case BoardType::Duet2SBC_102:			return "Duet 2 + SBC 1.02 or later";
 #elif defined(DUET_M)
 	case BoardType::DuetM_10:				return "Duet Maestro 1.0";
-#elif defined(DUET_06_085)
-	case BoardType::Duet_06:				return "Duet 0.6";
-	case BoardType::Duet_07:				return "Duet 0.7";
-	case BoardType::Duet_085:				return "Duet 0.85";
-#elif defined(__RADDS__)
-	case BoardType::RADDS_15:				return "RADDS 1.5";
-#elif defined(__ALLIGATOR__)
-	case BoardType::Alligator_2:			return "Alligator r2";
 #elif defined(PCCB_10)
 	case BoardType::PCCB_v10:				return "PC001373";
-#elif defined(PCCB_08) || defined(PCCB_08_X5)
-	case BoardType::PCCB_v08:				return "PCCB 0.8";
 #elif defined(__LPC17xx__)
 	case BoardType::Lpc:					return LPC_ELECTRONICS_STRING;
 #else
@@ -3893,9 +3893,11 @@ const char *_ecv_array Platform::GetBoardString() const noexcept
 	case BoardType::Duet3Mini_Unknown:		return "duet5lcunknown";
 	case BoardType::Duet3Mini_WiFi:			return "duet5lcwifi";
 	case BoardType::Duet3Mini_Ethernet:		return "duet5lcethernet";
-#elif defined(DUET3)
-	case BoardType::Duet3_v06_100:			return "duet3mb6hc100";
-	case BoardType::Duet3_v101:				return "duet3mb6hc101";
+#elif defined(DUET3_MB6HC)
+	case BoardType::Duet3_6HC_v06_100:			return "duet3mb6hc100";
+	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(SAME70XPLD)
 	case BoardType::SAME70XPLD_0:			return "same70xpld";
 #elif defined(DUET_NG)
@@ -3907,18 +3909,8 @@ const char *_ecv_array Platform::GetBoardString() const noexcept
 	case BoardType::Duet2SBC_102:			return "duet2sbc102";
 #elif defined(DUET_M)
 	case BoardType::DuetM_10:				return "duetmaestro100";
-#elif defined(DUET_06_085)
-	case BoardType::Duet_06:				return "duet06";
-	case BoardType::Duet_07:				return "duet07";
-	case BoardType::Duet_085:				return "duet085";
-#elif defined(__RADDS__)
-	case BoardType::RADDS_15:				return "radds15";
-#elif defined(__ALLIGATOR__)
-	case BoardType::Alligator_2:			return "alligator2";
 #elif defined(PCCB_10)
 	case BoardType::PCCB_v10:				return "pc001373";
-#elif defined(PCCB_08) || defined(PCCB_08_X5)
-	case BoardType::PCCB_v08:				return "pccb08";
 #elif defined(__LPC17xx__)
 	case BoardType::Lpc:					return LPC_BOARD_STRING;
 #else
diff --git a/src/Platform/Platform.h b/src/Platform/Platform.h
index ac82fcd4..b1d80221 100644
--- a/src/Platform/Platform.h
+++ b/src/Platform/Platform.h
@@ -123,9 +123,11 @@ enum class BoardType : uint8_t
 	Duet3Mini_Unknown,
 	Duet3Mini_WiFi,
 	Duet3Mini_Ethernet,
-#elif defined(DUET3)
-	Duet3_v06_100 = 1,
-	Duet3_v101 = 2,
+#elif defined(DUET3_MB6HC)
+	Duet3_6HC_v06_100 = 1,
+	Duet3_6HC_v101 = 2,
+#elif defined(DUET3_MB6XD)
+	Duet3_6XD = 1,
 #elif defined(SAME70XPLD)
 	SAME70XPLD_0 = 1
 #elif defined(DUET_NG)
@@ -137,18 +139,8 @@ enum class BoardType : uint8_t
 	Duet2SBC_102 = 6,
 #elif defined(DUET_M)
 	DuetM_10 = 1,
-#elif defined(DUET_06_085)
-	Duet_06 = 1,
-	Duet_07 = 2,
-	Duet_085 = 3
-#elif defined(__RADDS__)
-	RADDS_15 = 1
 #elif defined(PCCB_10)
 	PCCB_v10 = 1
-#elif defined(PCCB_08) || defined(PCCB_08_X5)
-	PCCB_v08 = 1
-#elif defined(DUET3MINI)
-	Duet_5LC = 1
 #elif defined(__LPC17xx__)
 	Lpc = 1
 #else
@@ -704,6 +696,12 @@ private:
 	void ReportDrivers(MessageType mt, DriversBitmap& whichDrivers, const char *_ecv_array text, bool& reported) noexcept;
 #endif
 
+	// Convert microseconds to step clocks, rounding up to the next step clock
+	static constexpr uint32_t MicrosecondsToStepClocks(float us) noexcept
+	{
+		return (uint32_t)(((float)StepClockRate * 0.000001 * us) + 0.99);
+	}
+
 #ifdef DUET3_MB6XD
 	void UpdateDriverTimings();
 #endif
diff --git a/src/RepRapFirmware.h b/src/RepRapFirmware.h
index a6c743f4..e956dd50 100644
--- a/src/RepRapFirmware.h
+++ b/src/RepRapFirmware.h
@@ -329,11 +329,7 @@ typedef Bitmap<uint32_t> DriversBitmap;			// Type of a bitmap representing a set
 typedef Bitmap<uint32_t> FansBitmap;			// Type of a bitmap representing a set of fan numbers
 typedef Bitmap<uint32_t> HeatersBitmap;			// Type of a bitmap representing a set of heater numbers
 typedef Bitmap<uint16_t> DriverChannelsBitmap;	// Type of a bitmap representing a set of drivers that typically have a common cooling fan
-#if defined(DUET3) || defined(DUET_NG)
 typedef Bitmap<uint32_t> InputPortsBitmap;		// Type of a bitmap representing a set of input ports
-#else
-typedef Bitmap<uint16_t> InputPortsBitmap;		// Type of a bitmap representing a set of input ports
-#endif
 typedef Bitmap<uint32_t> TriggerNumbersBitmap;	// Type of a bitmap representing a set of trigger numbers
 
 #if defined(DUET3) || defined(DUET3MINI)