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-rw-r--r--.cproject12
-rw-r--r--src/Alligator/Pins_Alligator.h28
-rw-r--r--src/Duet/Pins_Duet.h8
-rw-r--r--src/DuetM/Pins_DuetM.h22
-rw-r--r--src/DuetNG/Pins_DuetNG.h8
-rw-r--r--src/Fans/Fan.cpp (renamed from src/Fan.cpp)0
-rw-r--r--src/Fans/Fan.h (renamed from src/Fan.h)0
-rw-r--r--src/Fans/Tacho.cpp53
-rw-r--r--src/Fans/Tacho.h32
-rw-r--r--src/GCodes/GCodes.cpp38
-rw-r--r--src/GCodes/GCodes.h14
-rw-r--r--src/GCodes/GCodes2.cpp37
-rw-r--r--src/Heating/Sensors/TemperatureSensor.cpp4
-rw-r--r--src/Pccb/Pins_Pccb.h21
-rw-r--r--src/Platform.cpp109
-rw-r--r--src/Platform.h32
-rw-r--r--src/RADDS/Pins_RADDS.h29
-rw-r--r--src/RepRap.cpp46
-rw-r--r--src/SAME70_TEST/Pins_SAME70_TEST.h14
-rw-r--r--src/StepperDrivers/TMC22xx/TMC22xx.cpp186
-rw-r--r--src/StepperDrivers/TMC2660/TMC2660.cpp2
-rw-r--r--src/StepperDrivers/TMC2660/TMC2660.h2
-rw-r--r--src/Version.h2
23 files changed, 480 insertions, 219 deletions
diff --git a/.cproject b/.cproject
index 2256c371..d042dbc4 100644
--- a/.cproject
+++ b/.cproject
@@ -20,7 +20,7 @@
</extensions>
</storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
- <configuration artifactExtension="elf" artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850" name="Duet085" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/${ProjName}.elf ${workspace_loc:/${ProjName}/${ConfigName}}/${ProjName}.bin">
+ <configuration artifactExtension="elf" artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850" name="Duet085" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin">
<folderInfo id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850." name="/" resourcePath="">
<toolChain id="cdt.managedbuild.toolchain.gnu.cross.exe.release.947353540" name="Cross GCC" superClass="cdt.managedbuild.toolchain.gnu.cross.exe.release">
<option id="cdt.managedbuild.option.gnu.cross.path.1742191832" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" useByScannerDiscovery="false" value="${GccPath}" valueType="string"/>
@@ -135,7 +135,7 @@
</extensions>
</storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
- <configuration artifactExtension="elf" artifactName="${ProjName}-RADDS" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.1027429289" name="RADDS" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/${ProjName}-RADDS.elf ${workspace_loc:/${ProjName}/${ConfigName}}/${ProjName}-RADDS.bin">
+ <configuration artifactExtension="elf" artifactName="${ProjName}-RADDS" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.1027429289" name="RADDS" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin">
<folderInfo id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.1027429289." name="/" resourcePath="">
<toolChain id="cdt.managedbuild.toolchain.gnu.cross.exe.release.1973208555" name="Cross GCC" superClass="cdt.managedbuild.toolchain.gnu.cross.exe.release">
<option id="cdt.managedbuild.option.gnu.cross.path.2092504710" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" useByScannerDiscovery="false" value="${GccPath}" valueType="string"/>
@@ -245,7 +245,7 @@
</extensions>
</storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
- <configuration artifactExtension="elf" artifactName="${ProjName}-Alligator" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.1745168887" name="Alligator" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/${ProjName}-Alligator.elf ${workspace_loc:/${ProjName}/${ConfigName}}/${ProjName}-Alligator.bin">
+ <configuration artifactExtension="elf" artifactName="${ProjName}-Alligator" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.1745168887" name="Alligator" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin">
<folderInfo id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.1745168887." name="/" resourcePath="">
<toolChain id="cdt.managedbuild.toolchain.gnu.cross.exe.release.623324432" name="Cross GCC" superClass="cdt.managedbuild.toolchain.gnu.cross.exe.release">
<option id="cdt.managedbuild.option.gnu.cross.path.645044151" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" useByScannerDiscovery="false" value="${GccPath}" valueType="string"/>
@@ -366,7 +366,7 @@
</extensions>
</storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
- <configuration artifactExtension="elf" artifactName="Duet2CombinedFirmware" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622" name="Duet2_RTOS" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/Duet2CombinedFirmware.elf ${workspace_loc:/${ProjName}/${ConfigName}}/Duet2CombinedFirmware.bin">
+ <configuration artifactExtension="elf" artifactName="Duet2CombinedFirmware" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622" name="Duet2_RTOS" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin">
<folderInfo id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622." name="/" resourcePath="">
<toolChain id="cdt.managedbuild.toolchain.gnu.cross.exe.release.435431950" name="Cross GCC" superClass="cdt.managedbuild.toolchain.gnu.cross.exe.release">
<option id="cdt.managedbuild.option.gnu.cross.path.1881231799" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" useByScannerDiscovery="false" value="${GccPath}" valueType="string"/>
@@ -486,7 +486,7 @@
</extensions>
</storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
- <configuration artifactExtension="elf" artifactName="DuetMaestroFirmware" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786" name="DuetM_RTOS" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/DuetMaestroFirmware.elf ${workspace_loc:/${ProjName}/${ConfigName}}/DuetMaestroFirmware.bin">
+ <configuration artifactExtension="elf" artifactName="DuetMaestroFirmware" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786" name="DuetM_RTOS" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin">
<folderInfo id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786." name="/" resourcePath="">
<toolChain id="cdt.managedbuild.toolchain.gnu.cross.exe.release.1494327638" name="Cross GCC" superClass="cdt.managedbuild.toolchain.gnu.cross.exe.release">
<option id="cdt.managedbuild.option.gnu.cross.path.1101985181" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" useByScannerDiscovery="false" value="${GccPath}" valueType="string"/>
@@ -606,7 +606,7 @@
</extensions>
</storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
- <configuration artifactExtension="elf" artifactName="SAME70Firmware" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.1275216290.274082366.1645191116.1852610203" name="SAME70_RTOS" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/SAME70Firmware.elf ${workspace_loc:/${ProjName}/${ConfigName}}/SAME70Firmware.bin">
+ <configuration artifactExtension="elf" artifactName="SAME70Firmware" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.1275216290.274082366.1645191116.1852610203" name="SAME70_RTOS" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin">
<folderInfo id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.1275216290.274082366.1645191116.1852610203." name="/" resourcePath="">
<toolChain id="cdt.managedbuild.toolchain.gnu.cross.exe.release.5959303" name="Cross GCC" superClass="cdt.managedbuild.toolchain.gnu.cross.exe.release">
<option id="cdt.managedbuild.option.gnu.cross.path.163568524" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" useByScannerDiscovery="false" value="${GccPath}" valueType="string"/>
diff --git a/src/Alligator/Pins_Alligator.h b/src/Alligator/Pins_Alligator.h
index 1f965e98..fe3bcff8 100644
--- a/src/Alligator/Pins_Alligator.h
+++ b/src/Alligator/Pins_Alligator.h
@@ -35,16 +35,16 @@ const size_t MaxDriversPerAxis = 4; // The maximum number of stepper drivers
#define AXES_(a,b,c,d,e,f,g,h,i) { a,b,c,d,e,f }
// Alligator + Piggy module max 5 heaters
-const int8_t Heaters = 5; // The number of heaters in the machine; 0 is the heated bed even if there isn't one
-#define HEATERS_(a,b,c,d,e,f,g,h) { a,b,c,d,e }
+constexpr size_t Heaters = 5; // The number of heaters in the machine; 0 is the heated bed even if there isn't one
-const size_t NumExtraHeaterProtections = 4; // The number of extra heater protection instances
+constexpr size_t NumExtraHeaterProtections = 4; // The number of extra heater protection instances
+constexpr size_t NumThermistorInputs = 5;
-const size_t MaxAxes = 7; // The maximum number of movement axes in the machine, usually just X, Y and Z, <= DRIVES
-const size_t MinAxes = 3; // The minimum and default number of axes
-const size_t MaxExtruders = DRIVES - MinAxes; // The maximum number of extruders
+constexpr size_t MaxAxes = 7; // The maximum number of movement axes in the machine, usually just X, Y and Z, <= DRIVES
+constexpr size_t MinAxes = 3; // The minimum and default number of axes
+constexpr size_t MaxExtruders = DRIVES - MinAxes; // The maximum number of extruders
-const size_t NUM_SERIAL_CHANNELS = 3; // The number of serial IO channels (USB and two auxiliary UARTs)
+constexpr size_t NUM_SERIAL_CHANNELS = 3; // The number of serial IO channels (USB and two auxiliary UARTs)
#define SERIAL_MAIN_DEVICE SerialUSB
#define SERIAL_AUX_DEVICE Serial
#define SERIAL_AUX2_DEVICE Serial1
@@ -67,19 +67,18 @@ const Pin MotorFaultDetectPin = 22;
// Alligator End-stop pinout mapping for RepRapFirmware:
// 5V SIGN SIGN GND , 5V SIGN SIGN GND, 5V SIGN SIGN GND
// X E0 Y E1 Z E2-Zprobe
-const Pin END_STOP_PINS[DRIVES] = { 33, 35, 38, 34, 37, 39 ,NoPin };
+const Pin END_STOP_PINS[DRIVES] = { 33, 35, 38, 34, 37, 39, NoPin };
// SPI DAC Motor for Current Vref
const size_t MaxSpiDac = 2;
const Pin SPI_DAC_CS[MaxSpiDac] = { 53, 6 };
// HEATERS
-const Pin TEMP_SENSE_PINS[Heaters] = HEATERS_(1, 0, 2, 3, 4, f, g, h); // Analogue pin numbers
+const Pin TEMP_SENSE_PINS[NumThermistorInputs] = { 1, 0, 2, 3, 4 }; // Analogue pin numbers
// h1,h2,h3,h4: X2,8,9,X8 is hardware PWM
// b: X3 is not hardware PWM
-const Pin HEAT_ON_PINS[Heaters] = HEATERS_(X3, X2, 8, 9, X8, f, g, h); // b,h1,h2,h3,h4
-
+const Pin HEAT_ON_PINS[Heaters] = { X3, X2, 8, 9, X8 };
// Default thermistor parameters
// Bed thermistor: http://uk.farnell.com/epcos/b57863s103f040/sensor-miniature-ntc-10k/dp/1299930?Ntt=129-9930
@@ -110,11 +109,11 @@ const Pin ATX_POWER_PIN = NoPin; // Arduino Due pin number that control
const Pin Z_PROBE_PIN = 39; // Z min pin ,Last signal of the end-stop connectors
// Digital pin number to turn the IR LED on (high) or off (low)
-const Pin Z_PROBE_MOD_PIN = NoPin; // Digital pin number to turn the IR LED on (high) or off (low) on Duet v0.6 and v1.0 (PB21)
+const Pin Z_PROBE_MOD_PIN = NoPin; // Digital pin number to turn the IR LED on (high) or off (low) on Duet v0.6 and v1.0 (PB21)
const Pin DiagPin = NoPin;
// Pin number that the DAC that controls the second extruder motor current on the Duet 0.8.5 is connected to
-const int Dac0DigitalPin = NoPin; // Arduino Due pin number corresponding to DAC0 output pin
+const int Dac0DigitalPin = NoPin; // Arduino Due pin number corresponding to DAC0 output pin
// COOLING FANS
const size_t NUM_FANS = 4;
@@ -122,7 +121,8 @@ const size_t NUM_FANS = 4;
// Fan2: 31 is not hardware PWM
// J5 pin1 black connector ha hardware PWM, attached to FANS
const Pin COOLING_FAN_PINS[NUM_FANS] = { X0, 31, X17};
-const Pin COOLING_FAN_RPM_PIN = NoPin; // Pin PA15
+constexpr size_t NumTachos = 0;
+constexpr Pin TachoPins[NumTachos] = { };
// SD cards
const size_t NumSdCards = 1;
diff --git a/src/Duet/Pins_Duet.h b/src/Duet/Pins_Duet.h
index 766fd81f..ceefd4bc 100644
--- a/src/Duet/Pins_Duet.h
+++ b/src/Duet/Pins_Duet.h
@@ -30,9 +30,8 @@ constexpr size_t DRIVES = 9; // The number of drives in the machine, includ
#define DRIVES_(a,b,c,d,e,f,g,h,i,j,k,l) { a,b,c,d,e,f,g,h,i }
constexpr size_t Heaters = 7; // The number of heaters in the machine; 0 is the heated bed even if there isn't one
-#define HEATERS_(a,b,c,d,e,f,g,h) { a,b,c,d,e,f,g }
-
constexpr size_t NumExtraHeaterProtections = 4; // The number of extra heater protection instances
+constexpr size_t NumThermistorInputs = 7;
constexpr size_t MinAxes = 3; // The minimum and default number of axes
constexpr size_t MaxAxes = 6; // The maximum number of movement axes in the machine, usually just X, Y and Z, <= DRIVES
@@ -71,7 +70,7 @@ constexpr float STEPPER_DAC_VOLTAGE_RANGE = 2.02; // Stepper motor current
constexpr float STEPPER_DAC_VOLTAGE_OFFSET = -0.025; // Stepper motor current offset voltage for E1 if using a DAC
// HEATERS
-constexpr Pin TEMP_SENSE_PINS[Heaters] = { 5, 4, 0, 7, 8, 9, 11 }; // Analogue pin numbers
+constexpr Pin TEMP_SENSE_PINS[NumThermistorInputs] = { 5, 4, 0, 7, 8, 9, 11 }; // Analogue pin numbers
constexpr Pin HEAT_ON_PINS[Heaters] = { 6, X5, X7, 7, 8, 9, X17 }; // Heater Channel 7 (pin X17) is shared with Fan1
// Default thermistor parameters
@@ -125,7 +124,8 @@ constexpr int Dac0DigitalPin = 66; // Arduino Due pin number correspon
// COOLING FANS
constexpr size_t NUM_FANS = 2;
constexpr Pin COOLING_FAN_PINS[NUM_FANS] = { X6, X17 }; // Pin D34 is PWM capable but not an Arduino PWM pin - use X6 instead
-constexpr Pin COOLING_FAN_RPM_PIN = 23; // Pin PA15
+constexpr size_t NumTachos = 1;
+constexpr Pin TachoPins[NumTachos] = { 23 }; // Pin PA15
// SD cards
constexpr size_t NumSdCards = 2;
diff --git a/src/DuetM/Pins_DuetM.h b/src/DuetM/Pins_DuetM.h
index 62da1bfb..8f11b2fd 100644
--- a/src/DuetM/Pins_DuetM.h
+++ b/src/DuetM/Pins_DuetM.h
@@ -41,10 +41,9 @@ constexpr size_t DRIVES = 7; // The maximum number of drives supported by t
constexpr size_t MaxSmartDrivers = 7; // The maximum number of smart drivers
#define DRIVES_(a,b,c,d,e,f,g,h,i,j,k,l) { a,b,c,d,e,f,g }
-constexpr size_t Heaters = 4; // The number of heaters/thermistors in the machine. Duet M has 3 heaters but 4 thermistors.
-#define HEATERS_(a,b,c,d,e,f,g,h) { a,b,c }
-
+constexpr size_t Heaters = 3; // The number of heaters/thermistors in the machine. Duet M has 3 heaters but 4 thermistors.
constexpr size_t NumExtraHeaterProtections = 4; // The number of extra heater protection instances
+constexpr size_t NumThermistorInputs = 4;
constexpr size_t MinAxes = 3; // The minimum and default number of axes
constexpr size_t MaxAxes = 6; // The maximum number of movement axes in the machine, usually just X, Y and Z, <= DRIVES
@@ -70,12 +69,12 @@ constexpr Pin STEP_PINS[DRIVES] = { 56, 38, 64, 40, 41, 67, 57 };
constexpr Pin DIRECTION_PINS[DRIVES] = { 54, 8, 30, 33, 42, 18, 60 };
// UART interface to stepper drivers
-#define UART_TMC_DRV UART0
-#define SERIAL_TMC_DRV_IRQn UART0_IRQn
-#define ID_UART_TMC_DRV ID_UART0
-#define UART_TMC_DRV_Handler UART0_Handler
+Uart * const UART_TMC_DRV = UART0;
+const IRQn UART_TMC_DRV_IRQn = UART0_IRQn;
+const uint32_t ID_UART_TMC_DRV = ID_UART0;
+const uint8_t UART_TMC_DRV_PINS = APINS_UART0;
-static const uint8_t UART_TMC_DRV_PINS = APINS_UART0;
+#define UART_TMC_DRV_Handler UART0_Handler
constexpr Pin DriverMuxPins[3] = { 50, 52, 53 }; // Pins that control the UART multiplexer, LSB first
@@ -85,8 +84,8 @@ constexpr Pin DriverMuxPins[3] = { 50, 52, 53 }; // Pins that control the UART m
constexpr Pin END_STOP_PINS[DRIVES] = { 24, 32, 46, 25, 43, NoPin, NoPin };
// Heaters and thermistors
-constexpr Pin HEAT_ON_PINS[Heaters] = { 36, 37, 16, NoPin }; // Heater pin numbers
-constexpr Pin TEMP_SENSE_PINS[Heaters] = { 20, 26, 66, 27 }; // Thermistor pin numbers
+constexpr Pin HEAT_ON_PINS[Heaters] = { 36, 37, 16 }; // Heater pin numbers
+constexpr Pin TEMP_SENSE_PINS[NumThermistorInputs] = { 20, 26, 66, 27 }; // Thermistor pin numbers
constexpr Pin VssaSensePin = 19;
constexpr Pin VrefSensePin = 17;
@@ -125,7 +124,8 @@ constexpr Pin DiagPin = Z_PROBE_MOD_PIN;
// Cooling fans
constexpr size_t NUM_FANS = 3;
constexpr Pin COOLING_FAN_PINS[NUM_FANS] = { 59, 58, 65 };
-constexpr Pin COOLING_FAN_RPM_PIN = 21;
+constexpr size_t NumTachos = 1;
+constexpr Pin TachoPins[NumTachos] = { 21 };
// SD cards
constexpr size_t NumSdCards = 2;
diff --git a/src/DuetNG/Pins_DuetNG.h b/src/DuetNG/Pins_DuetNG.h
index c7709380..6f1063fa 100644
--- a/src/DuetNG/Pins_DuetNG.h
+++ b/src/DuetNG/Pins_DuetNG.h
@@ -37,9 +37,8 @@ constexpr size_t MaxSmartDrivers = 10; // The maximum number of smart drivers
#define DRIVES_(a,b,c,d,e,f,g,h,i,j,k,l) { a,b,c,d,e,f,g,h,i,j,k,l }
constexpr size_t Heaters = 8; // The number of heaters in the machine; 0 is the heated bed even if there isn't one
-#define HEATERS_(a,b,c,d,e,f,g,h) { a,b,c,d,e,f,g,h }
-
constexpr size_t NumExtraHeaterProtections = 8; // The number of extra heater protection instances
+constexpr size_t NumThermistorInputs = 8;
constexpr size_t MinAxes = 3; // The minimum and default number of axes
constexpr size_t MaxAxes = 9; // The maximum number of movement axes in the machine, usually just X, Y and Z, <= DRIVES
@@ -77,7 +76,7 @@ constexpr Pin END_STOP_PINS[DRIVES] = { 46, 02, 93, 74, 48, 96, 97, 98, 99, 17,
constexpr Pin DUEX_END_STOP_PINS[5] = { 200, 203, 202, 201, 213 }; // these replace endstops 5-9 if a DueX is present
// HEATERS
-constexpr Pin TEMP_SENSE_PINS[Heaters] = { 45, 47, 44, 61, 62, 63, 59, 18 }; // Thermistor pin numbers
+constexpr Pin TEMP_SENSE_PINS[NumThermistorInputs] = { 45, 47, 44, 61, 62, 63, 59, 18 }; // Thermistor pin numbers
constexpr Pin HEAT_ON_PINS[Heaters] = { 19, 20, 16, 35, 37, 40, 43, 15 }; // Heater pin numbers (heater 7 pin TBC)
// Default thermistor parameters
@@ -129,7 +128,8 @@ constexpr Pin DiagPin = Z_PROBE_MOD_PIN;
// Cooling fans
constexpr size_t NUM_FANS = 9;
constexpr Pin COOLING_FAN_PINS[NUM_FANS] = { 55, 58, 00, 212, 207, 206, 205, 204, 215 };
-constexpr Pin COOLING_FAN_RPM_PIN = 102; // PB6 on expansion connector
+constexpr size_t NumTachos = 1;
+constexpr Pin TachoPins[NumTachos] = { 102 }; // PB6 on expansion connector
// SD cards
constexpr size_t NumSdCards = 2;
diff --git a/src/Fan.cpp b/src/Fans/Fan.cpp
index 0351abce..0351abce 100644
--- a/src/Fan.cpp
+++ b/src/Fans/Fan.cpp
diff --git a/src/Fan.h b/src/Fans/Fan.h
index f0e5598f..f0e5598f 100644
--- a/src/Fan.h
+++ b/src/Fans/Fan.h
diff --git a/src/Fans/Tacho.cpp b/src/Fans/Tacho.cpp
new file mode 100644
index 00000000..00f697ad
--- /dev/null
+++ b/src/Fans/Tacho.cpp
@@ -0,0 +1,53 @@
+/*
+ * Tacho.cpp
+ *
+ * Created on: 16 Jul 2018
+ * Author: David
+ */
+
+#include "Tacho.h"
+#include "Platform.h"
+
+void FanInterrupt(CallbackParameter cb)
+{
+ static_cast<Tacho *>(cb.vp)->Interrupt();
+}
+
+Tacho::Tacho() : fanInterruptCount(0), fanLastResetTime(0), fanInterval(0), pin(NoPin)
+{
+}
+
+void Tacho::Init(Pin p_pin)
+{
+ pin = p_pin;
+ if (pin != NoPin)
+ {
+ pinModeDuet(pin, INPUT_PULLUP, 1500); // enable pullup and 1500Hz debounce filter (500Hz only worked up to 7000RPM)
+ attachInterrupt(pin, FanInterrupt, INTERRUPT_MODE_FALLING, this);
+ }
+}
+
+uint32_t Tacho::GetRPM() const
+{
+ // The ISR sets fanInterval to the number of step interrupt clocks it took to get fanMaxInterruptCount interrupts.
+ // We get 2 tacho pulses per revolution, hence 2 interrupts per revolution.
+ // However, if the fan stops then we get no interrupts and fanInterval stops getting updated.
+ // We must recognise this and return zero.
+ return (fanInterval != 0 && Platform::GetInterruptClocks() - fanLastResetTime < 3 * StepClockRate) // if we have a reading and it is less than 3 second old
+ ? (StepClockRate * fanMaxInterruptCount)/(2 * fanInterval) // then calculate RPM assuming 2 interrupts per rev
+ : 0; // else assume fan is off or tacho not connected
+}
+
+void Tacho::Interrupt()
+{
+ ++fanInterruptCount;
+ if (fanInterruptCount == fanMaxInterruptCount)
+ {
+ const uint32_t now = Platform::GetInterruptClocks();
+ fanInterval = now - fanLastResetTime;
+ fanLastResetTime = now;
+ fanInterruptCount = 0;
+ }
+}
+
+// End
diff --git a/src/Fans/Tacho.h b/src/Fans/Tacho.h
new file mode 100644
index 00000000..279f0d91
--- /dev/null
+++ b/src/Fans/Tacho.h
@@ -0,0 +1,32 @@
+/*
+ * Tacho.h
+ *
+ * Created on: 16 Jul 2018
+ * Author: David
+ */
+
+#ifndef SRC_FANS_TACHO_H_
+#define SRC_FANS_TACHO_H_
+
+#include "RepRapFirmware.h"
+
+class Tacho
+{
+public:
+ Tacho();
+ void Init(Pin p_pin);
+ uint32_t GetRPM() const;
+
+ void Interrupt();
+
+private:
+ static constexpr uint32_t fanMaxInterruptCount = 32; // number of fan interrupts that we average over
+
+ uint32_t fanInterruptCount; // accessed only in ISR, so no need to declare it volatile
+ volatile uint32_t fanLastResetTime; // time (microseconds) at which we last reset the interrupt count, accessed inside and outside ISR
+ volatile uint32_t fanInterval; // written by ISR, read outside the ISR
+
+ Pin pin;
+};
+
+#endif /* SRC_FANS_TACHO_H_ */
diff --git a/src/GCodes/GCodes.cpp b/src/GCodes/GCodes.cpp
index 8724e9e7..28783186 100644
--- a/src/GCodes/GCodes.cpp
+++ b/src/GCodes/GCodes.cpp
@@ -66,16 +66,23 @@ GCodes::GCodes(Platform& p) :
telnetInput = new NetworkGCodeInput;
fileInput = new FileGCodeInput();
serialInput = new StreamGCodeInput(SERIAL_MAIN_DEVICE);
+#ifdef SERIAL_AUX_DEVICE
auxInput = new StreamGCodeInput(SERIAL_AUX_DEVICE);
-
+#endif
httpGCode = new GCodeBuffer("http", HttpMessage, false);
telnetGCode = new GCodeBuffer("telnet", TelnetMessage, true);
fileGCode = new GCodeBuffer("file", GenericMessage, true);
serialGCode = new GCodeBuffer("serial", UsbMessage, true);
+#ifdef SERIAL_AUX_DEVICE
auxGCode = new GCodeBuffer("aux", LcdMessage, false);
+#else
+ auxGCode = nullptr;
+#endif
daemonGCode = new GCodeBuffer("daemon", GenericMessage, false);
#if SUPPORT_12864_LCD
lcdGCode = new GCodeBuffer("lcd", GenericMessage, false);
+#else
+ lcdGCode = nullptr;
#endif
queuedGCode = new GCodeBuffer("queue", GenericMessage, false);
autoPauseGCode = new GCodeBuffer("autopause", GenericMessage, false);
@@ -240,7 +247,7 @@ bool GCodes::DoingFileMacro() const
{
for (const GCodeBuffer *gb : gcodeSources)
{
- if (gb->IsDoingFileMacro())
+ if (gb != nullptr && gb->IsDoingFileMacro())
{
return true;
}
@@ -296,9 +303,12 @@ bool GCodes::IsDaemonBusy() const
// Copy the feed rate etc. from the daemon to the input channels
void GCodes::CopyConfigFinalValues(GCodeBuffer& gb)
{
- for (size_t i = 0; i < ARRAY_SIZE(gcodeSources); ++i)
+ for (GCodeBuffer *gb2 : gcodeSources)
{
- gcodeSources[i]->MachineState().CopyStateFrom(gb.MachineState());
+ if (gb2 != nullptr)
+ {
+ gb2->MachineState().CopyStateFrom(gb.MachineState());
+ }
}
}
@@ -325,12 +335,15 @@ void GCodes::Spin()
GCodeBuffer *gbp = autoPauseGCode;
if (gbp->IsCompletelyIdle() && !(gbp->MachineState().fileState.IsLive()))
{
- gbp = gcodeSources[nextGcodeSource];
- ++nextGcodeSource; // move on to the next gcode source ready for next time
- if (nextGcodeSource == ARRAY_SIZE(gcodeSources) - 1) // the last one is autoPauseGCode, so don't do it again
+ do
{
- nextGcodeSource = 0;
- }
+ gbp = gcodeSources[nextGcodeSource];
+ ++nextGcodeSource; // move on to the next gcode source ready for next time
+ if (nextGcodeSource == ARRAY_SIZE(gcodeSources) - 1) // the last one is autoPauseGCode, so don't do it again
+ {
+ nextGcodeSource = 0;
+ }
+ } while (gbp == nullptr); // we must have at least one GCode source, so this can't loop indefinitely
}
GCodeBuffer& gb = *gbp;
@@ -1416,6 +1429,7 @@ void GCodes::StartNextGCode(GCodeBuffer& gb, const StringRef& reply)
// USB interface. This line may be shared with a 3D scanner
serialInput->FillBuffer(serialGCode);
}
+#ifdef SERIAL_AUX_DEVICE
else if (&gb == auxGCode)
{
// Aux serial port (typically PanelDue)
@@ -1425,6 +1439,7 @@ void GCodes::StartNextGCode(GCodeBuffer& gb, const StringRef& reply)
platform.SetAuxDetected();
}
}
+#endif
}
void GCodes::DoFilePrint(GCodeBuffer& gb, const StringRef& reply)
@@ -2061,7 +2076,10 @@ void GCodes::Diagnostics(MessageType mtype)
for (size_t i = 0; i < ARRAY_SIZE(gcodeSources); ++i)
{
- gcodeSources[i]->Diagnostics(mtype);
+ if (gcodeSources[i] != nullptr)
+ {
+ gcodeSources[i]->Diagnostics(mtype);
+ }
}
codeQueue->Diagnostics(mtype);
diff --git a/src/GCodes/GCodes.h b/src/GCodes/GCodes.h
index 74f86ba9..086deb94 100644
--- a/src/GCodes/GCodes.h
+++ b/src/GCodes/GCodes.h
@@ -379,27 +379,21 @@ private:
NetworkGCodeInput* telnetInput; // ...
FileGCodeInput* fileInput; // ...
StreamGCodeInput* serialInput; // ...
+#ifdef SERIAL_AUX_DEVICE
StreamGCodeInput* auxInput; // ...for the GCodeBuffers below
+#endif
-#if SUPPORT_12864_LCD
GCodeBuffer* gcodeSources[9]; // The various sources of gcodes
-#else
- GCodeBuffer* gcodeSources[8]; // The various sources of gcodes
-#endif
GCodeBuffer*& httpGCode = gcodeSources[0];
GCodeBuffer*& telnetGCode = gcodeSources[1];
GCodeBuffer*& fileGCode = gcodeSources[2];
GCodeBuffer*& serialGCode = gcodeSources[3];
- GCodeBuffer*& auxGCode = gcodeSources[4]; // This one is for the LCD display on the async serial interface
+ GCodeBuffer*& auxGCode = gcodeSources[4]; // This one is for the PanelDue on the async serial interface
GCodeBuffer*& daemonGCode = gcodeSources[5]; // Used for executing config.g and trigger macro files
GCodeBuffer*& queuedGCode = gcodeSources[6];
-#if SUPPORT_12864_LCD
- GCodeBuffer*& lcdGCode = gcodeSources[7]; // This one for the internally-supported LCD
+ GCodeBuffer*& lcdGCode = gcodeSources[7]; // This one for the 12864 LCD
GCodeBuffer*& autoPauseGCode = gcodeSources[8]; // ***THIS ONE MUST BE LAST*** GCode state machine used to run macros on power fail, heater faults and filament out
-#else
- GCodeBuffer*& autoPauseGCode = gcodeSources[7]; // ***THIS ONE MUST BE LAST*** GCode state machine used to run macros on power fail, heater faults and filament out
-#endif
size_t nextGcodeSource; // The one to check next
diff --git a/src/GCodes/GCodes2.cpp b/src/GCodes/GCodes2.cpp
index f996eb02..46d846eb 100644
--- a/src/GCodes/GCodes2.cpp
+++ b/src/GCodes/GCodes2.cpp
@@ -2021,13 +2021,16 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
{
// Update the feed rate for ALL input sources, and all feed rates on the stack
const float speedFactorRatio = newSpeedFactor / speedFactor;
- for (size_t i = 0; i < ARRAY_SIZE(gcodeSources); ++i)
+ for (GCodeBuffer *gb : gcodeSources)
{
- GCodeMachineState *ms = &gcodeSources[i]->MachineState();
- while (ms != nullptr)
+ if (gb != nullptr)
{
- ms->feedRate *= speedFactorRatio;
- ms = ms->previous;
+ GCodeMachineState *ms = &gb->MachineState();
+ while (ms != nullptr)
+ {
+ ms->feedRate *= speedFactorRatio;
+ ms = ms->previous;
+ }
}
}
// If the last move hasn't gone yet, update its feed rate too if it is not a firmware retraction
@@ -2262,13 +2265,13 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
case 303: // Run PID tuning
if (gb.Seen('H'))
{
- const int heater = gb.GetIValue();
+ const unsigned int heater = gb.GetUIValue();
const float temperature = (gb.Seen('S')) ? gb.GetFValue()
: reprap.GetHeat().IsBedHeater(heater) ? 75.0
: reprap.GetHeat().IsChamberHeater(heater) ? 50.0
: 200.0;
const float maxPwm = (gb.Seen('P')) ? gb.GetFValue() : reprap.GetHeat().GetHeaterModel(heater).GetMaxPwm();
- if (heater < 0 || heater >= (int)Heaters)
+ if (heater >= Heaters)
{
reply.copy("Bad heater number in M303 command");
}
@@ -2302,8 +2305,8 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
case 307: // Set heater process model parameters
if (gb.Seen('H'))
{
- const int heater = gb.GetIValue();
- if (heater >= 0 && heater < (int)Heaters)
+ const unsigned int heater = gb.GetUIValue();
+ if (heater < Heaters)
{
const FopDt& model = reprap.GetHeat().GetHeaterModel(heater);
bool seen = false;
@@ -2992,8 +2995,8 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
case 562: // Reset temperature fault - use with great caution
if (gb.Seen('P'))
{
- const int heater = gb.GetIValue();
- if (heater >= 0 && heater < (int)Heaters)
+ const unsigned int heater = gb.GetUIValue();
+ if (heater < Heaters)
{
reprap.ClearTemperatureFault(heater);
}
@@ -3006,7 +3009,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
else
{
// Clear all heater faults
- for (int heater = 0; heater < (int)Heaters; ++heater)
+ for (unsigned int heater = 0; heater < Heaters; ++heater)
{
reprap.ClearTemperatureFault(heater);
}
@@ -3207,8 +3210,8 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
}
if (gb.Seen('H'))
{
- const int heater = gb.GetIValue();
- if (heater >= 0 && heater < (int)Heaters)
+ const unsigned heater = gb.GetUIValue();
+ if (heater < Heaters)
{
bool seenValue = false;
float maxTempExcursion, maxFaultTime;
@@ -3305,10 +3308,10 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
case 573: // Report heater average PWM
if (gb.Seen('P'))
{
- const int heater = gb.GetIValue();
- if (heater >= 0 && heater < (int)Heaters)
+ const unsigned int heater = gb.GetUIValue();
+ if (heater < Heaters)
{
- reply.printf("Average heater %d PWM: %.3f", heater, (double)reprap.GetHeat().GetAveragePWM(heater));
+ reply.printf("Average heater %u PWM: %.3f", heater, (double)reprap.GetHeat().GetAveragePWM(heater));
}
}
break;
diff --git a/src/Heating/Sensors/TemperatureSensor.cpp b/src/Heating/Sensors/TemperatureSensor.cpp
index 2f97a41a..12b45866 100644
--- a/src/Heating/Sensors/TemperatureSensor.cpp
+++ b/src/Heating/Sensors/TemperatureSensor.cpp
@@ -86,11 +86,11 @@ void TemperatureSensor::TryConfigureHeaterName(GCodeBuffer& gb, bool& seen)
TemperatureSensor *TemperatureSensor::Create(unsigned int channel)
{
TemperatureSensor *ts = nullptr;
- if (channel < Heaters)
+ if (channel < NumThermistorInputs)
{
ts = new Thermistor(channel, false);
}
- else if (FirstPT1000Channel <= channel && channel < FirstPT1000Channel + Heaters)
+ else if (FirstPT1000Channel <= channel && channel < FirstPT1000Channel + NumThermistorInputs)
{
ts = new Thermistor(channel, true);
}
diff --git a/src/Pccb/Pins_Pccb.h b/src/Pccb/Pins_Pccb.h
index 32d988c8..3a70f215 100644
--- a/src/Pccb/Pins_Pccb.h
+++ b/src/Pccb/Pins_Pccb.h
@@ -41,10 +41,9 @@ constexpr size_t DRIVES = 8; // The maximum number of drives supported by t
constexpr size_t MaxSmartDrivers = 2; // The maximum number of smart drivers
#define DRIVES_(a,b,c,d,e,f,g,h,i,j,k,l) { a,b,c,d,e,f,g,h }
-constexpr size_t Heaters = 2; // The number of heaters/thermistors in the machine. PCCB has no heaters but 2 thermistors.
-#define HEATERS_(a,b,c,d,e,f,g,h) { a,b }
-
+constexpr size_t Heaters = 1; // The number of heaters in the machine. PCCB has no heaters, but the code doesn't like that so we say 1
constexpr size_t NumExtraHeaterProtections = 4; // The number of extra heater protection instances
+constexpr size_t NumThermistorInputs = 2;
constexpr size_t MinAxes = 3; // The minimum and default number of axes
constexpr size_t MaxAxes = 6; // The maximum number of movement axes in the machine, usually just X, Y and Z, <= DRIVES
@@ -70,9 +69,13 @@ constexpr Pin DIRECTION_PINS[DRIVES] = { 8, 11, 17, 57, 54, 34, 1, 53 };
#define TMC22xx_NO_MUX 1 // each driver has its own UART
-const Uart *DriverUarts[MaxSmartDrivers] = { UART0, UART1 };
+Uart * const DriverUarts[MaxSmartDrivers] = { UART0, UART1 };
constexpr uint32_t DriverUartIds[MaxSmartDrivers] = { ID_UART0, ID_UART1 };
constexpr IRQn DriverUartIRQns[MaxSmartDrivers] = { UART0_IRQn, UART1_IRQn };
+constexpr Pin DriverUartPins[MaxSmartDrivers] = { APINS_UART0, APINS_UART1 };
+
+#define UART_TMC_DRV0_Handler UART0_Handler
+#define UART_TMC_DRV1_Handler UART1_Handler
// Endstops
// RepRapFirmware only has a single endstop per axis.
@@ -80,8 +83,8 @@ constexpr IRQn DriverUartIRQns[MaxSmartDrivers] = { UART0_IRQn, UART1_IRQn };
constexpr Pin END_STOP_PINS[DRIVES] = { 24, 25, 67, 63, NoPin, NoPin, NoPin, NoPin };
// Heaters and thermistors
-constexpr Pin HEAT_ON_PINS[Heaters] = { NoPin, NoPin }; // Heater pin numbers
-constexpr Pin TEMP_SENSE_PINS[Heaters] = { 20, 49 }; // Thermistor pin numbers
+constexpr Pin HEAT_ON_PINS[Heaters] = { NoPin }; // Heater pin numbers
+constexpr Pin TEMP_SENSE_PINS[NumThermistorInputs] = { 20, 49 }; // Thermistor pin numbers
constexpr Pin VssaSensePin = 19;
constexpr Pin VrefSensePin = 27;
@@ -116,16 +119,16 @@ constexpr Pin DiagPin = NoPin;
// Cooling fans
constexpr size_t NUM_FANS = 4;
-constexpr size_t NUM_TACHOS = 2;
+constexpr size_t NumTachos = 2;
constexpr Pin COOLING_FAN_PINS[NUM_FANS] = { 16, 39, 15, 37 }; // PWML2, PWML3, TIOA1, PWML1
-constexpr Pin TACHO_PINS[NUM_TACHOS] = { 26, 66 };
+constexpr Pin TachoPins[NumTachos] = { 26, 66 };
// Main LED control
constexpr size_t NUM_LEDS = 2; // number of main LEDs
constexpr Pin LedOnPins[NUM_LEDS] = { 36, 59 }; // LED control pins
// DotStar LED control
-const Usart *DotStarUsart = USART1;
+Usart * const DotStarUsart = USART1;
constexpr uint32_t DotStarUsartId = ID_USART1;
constexpr IRQn DotStarUsartIRQn = USART1_IRQn;
diff --git a/src/Platform.cpp b/src/Platform.cpp
index bf5a6053..8550bb6f 100644
--- a/src/Platform.cpp
+++ b/src/Platform.cpp
@@ -107,11 +107,6 @@ constexpr uint16_t driverNormalVoltageAdcReading = PowerVoltageToAdcReading(27.5
#endif
-static uint32_t fanInterruptCount = 0; // accessed only in ISR, so no need to declare it volatile
-const uint32_t fanMaxInterruptCount = 32; // number of fan interrupts that we average over
-static volatile uint32_t fanLastResetTime = 0; // time (microseconds) at which we last reset the interrupt count, accessed inside and outside ISR
-static volatile uint32_t fanInterval = 0; // written by ISR, read outside the ISR
-
const float MinStepPulseTiming = 0.2; // we assume that we always generate step high and low times at least this wide without special action
const LogicalPin Heater0LogicalPin = 0;
@@ -208,23 +203,31 @@ void Platform::Init()
// Comms
baudRates[0] = MAIN_BAUD_RATE;
+#ifdef SERIAL_AUX_DEVICE
baudRates[1] = AUX_BAUD_RATE;
+#endif
#ifdef SERIAL_AUX2_DEVICE
baudRates[2] = AUX2_BAUD_RATE;
#endif
commsParams[0] = 0;
+#ifdef SERIAL_AUX_DEVICE
commsParams[1] = 1; // by default we require a checksum on data from the aux port, to guard against overrun errors
+#endif
#ifdef SERIAL_AUX2_DEVICE
commsParams[2] = 0;
#endif
usbMutex.Create("USB");
+#ifdef SERIAL_AUX_DEVICE
auxMutex.Create("Aux");
auxDetected = false;
auxSeq = 0;
+#endif
SERIAL_MAIN_DEVICE.begin(baudRates[0]);
+#ifdef SERIAL_AUX_DEVICE
SERIAL_AUX_DEVICE.begin(baudRates[1]); // this can't be done in the constructor because the Arduino port initialisation isn't complete at that point
+#endif
#ifdef SERIAL_AUX2_DEVICE
SERIAL_AUX2_DEVICE.begin(baudRates[2]);
aux2Mutex.Create("Aux2");
@@ -493,18 +496,20 @@ void Platform::Init()
for (size_t heater = 0; heater < Heaters; heater++)
{
- if (heatOnPins[heater] != NoPin)
- {
- pinMode(heatOnPins[heater],
+ // pinMode is safe to call when the pin is NoPin, so we don't need to check it here
+ pinMode(heatOnPins[heater],
#if ACTIVE_LOW_HEAT_ON
OUTPUT_LOW
#else
OUTPUT_HIGH
#endif
);
- }
- pinMode(tempSensePins[heater], AIN);
- filteredAdcChannels[heater] = PinToAdcChannel(tempSensePins[heater]); // translate the pin number to the SAM ADC channel number;
+ }
+
+ for (size_t thermistor = 0; thermistor < NumThermistorInputs; thermistor++)
+ {
+ pinMode(tempSensePins[thermistor], AIN);
+ filteredAdcChannels[thermistor] = PinToAdcChannel(tempSensePins[thermistor]); // translate the pin number to the SAM ADC channel number;
}
#if HAS_VREF_MONITOR
@@ -528,6 +533,10 @@ void Platform::Init()
// Fans
InitFans();
+ for (size_t i = 0; i < NumTachos; ++i)
+ {
+ tachos[i].Init(TachoPins[i]);
+ }
// Hotend configuration
nozzleDiameter = NOZZLE_DIAMETER;
@@ -1120,6 +1129,7 @@ void Platform::Beep(int freq, int ms)
// Send a short message to the aux channel. There is no flow control on this port, so it can't block for long.
void Platform::SendAuxMessage(const char* msg)
{
+#ifdef SERIAL_AUX_DEVICE
OutputBuffer *buf;
if (OutputBuffer::Allocate(buf))
{
@@ -1129,6 +1139,7 @@ void Platform::SendAuxMessage(const char* msg)
auxOutput.Push(buf);
FlushAuxMessages();
}
+#endif
}
void Platform::Exit()
@@ -1147,7 +1158,9 @@ void Platform::Exit()
// Close down USB and serial ports
SERIAL_MAIN_DEVICE.end();
+#ifdef SERIAL_AUX_DEVICE
SERIAL_AUX_DEVICE.end();
+#endif
#ifdef SERIAL_AUX2_DEVICE
SERIAL_AUX2_DEVICE.end();
#endif
@@ -1202,6 +1215,7 @@ void Platform::SetNetMask(uint8_t nm[])
// Flush messages to aux, returning true if there is more to send
bool Platform::FlushAuxMessages()
{
+#ifdef SERIAL_AUX_DEVICE
// Write non-blocking data to the AUX line
MutexLocker lock(auxMutex);
OutputBuffer *auxOutputBuffer = auxOutput.GetFirstItem();
@@ -1220,6 +1234,9 @@ bool Platform::FlushAuxMessages()
}
}
return auxOutput.GetFirstItem() != nullptr;
+#else
+ return false;
+#endif
}
// Flush messages to USB and aux, returning true if there is more to send
@@ -1743,14 +1760,17 @@ void Platform::SoftwareReset(uint16_t reason, const uint32_t *stk)
reason |= (uint16_t)SoftwareResetReason::inLwipSpin;
}
#endif
+
+#ifdef SERIAL_AUX_DEVICE
if (SERIAL_AUX_DEVICE.canWrite() == 0
-#ifdef SERIAL_AUX2_DEVICE
+# ifdef SERIAL_AUX2_DEVICE
|| SERIAL_AUX2_DEVICE.canWrite() == 0
-#endif
+# endif
)
{
reason |= (uint16_t)SoftwareResetReason::inAuxOutput; // if we are resetting because we are stuck in a Spin function, record whether we are trying to send to aux
}
+#endif
}
reason |= (uint8_t)reprap.GetSpinningModule();
reason |= (softwareResetDebugInfo & 0x07) << 5;
@@ -1839,18 +1859,6 @@ void NETWORK_TC_HANDLER()
#endif
-static void FanInterrupt(CallbackParameter)
-{
- ++fanInterruptCount;
- if (fanInterruptCount == fanMaxInterruptCount)
- {
- const uint32_t now = Platform::GetInterruptClocks();
- fanInterval = now - fanLastResetTime;
- fanLastResetTime = now;
- fanInterruptCount = 0;
- }
-}
-
void Platform::InitialiseInterrupts()
{
#if SAM4E || SAM7E
@@ -1864,17 +1872,23 @@ void Platform::InitialiseInterrupts()
NVIC_SetPriority(SysTick_IRQn, NvicPrioritySystick); // set priority for tick interrupts
#endif
-#if SAM4E || SAME70
+ // Set UART interrupt priorities
+#ifdef PCCB
+ NVIC_SetPriority(DriverUartIRQns[0], NvicPriorityDriversSerialTMC);
+ NVIC_SetPriority(DriverUartIRQns[1], NvicPriorityDriversSerialTMC);
+#else
+# if SAM4E || SAME70
NVIC_SetPriority(UART0_IRQn, NvicPriorityPanelDueUart); // set priority for UART interrupt
NVIC_SetPriority(UART1_IRQn, NvicPriorityWiFiUart); // set priority for WiFi UART interrupt
-#elif SAM4S
+# elif SAM4S
NVIC_SetPriority(UART1_IRQn, NvicPriorityPanelDueUart); // set priority for UART interrupt
-#else
+# else
NVIC_SetPriority(UART_IRQn, NvicPriorityPanelDueUart); // set priority for UART interrupt
-#endif
+# endif
-#if HAS_SMART_DRIVERS
- NVIC_SetPriority(SERIAL_TMC_DRV_IRQn, NvicPriorityDriversSerialTMC);
+# if HAS_SMART_DRIVERS
+ NVIC_SetPriority(UART_TMC_DRV_IRQn, NvicPriorityDriversSerialTMC);
+# endif
#endif
// Timer interrupt for stepper motors
@@ -1946,12 +1960,6 @@ void Platform::InitialiseInterrupts()
NVIC_SetPriority(I2C_IRQn, NvicPriorityTwi);
#endif
- // Interrupt for 4-pin PWM fan sense line
- if (coolingFanRpmPin != NoPin)
- {
- attachInterrupt(coolingFanRpmPin, FanInterrupt, INTERRUPT_MODE_FALLING, nullptr);
- }
-
// Tick interrupt for ADC conversions
tickState = 0;
currentFilterNumber = 0;
@@ -3230,15 +3238,9 @@ const char *Platform::GetFanName(size_t fan) const
}
// Get current fan RPM
-float Platform::GetFanRPM() const
+uint32_t Platform::GetFanRPM(size_t tachoIndex) const
{
- // The ISR sets fanInterval to the number of microseconds it took to get fanMaxInterruptCount interrupts.
- // We get 2 tacho pulses per revolution, hence 2 interrupts per revolution.
- // However, if the fan stops then we get no interrupts and fanInterval stops getting updated.
- // We must recognise this and return zero.
- return (fanInterval != 0 && Platform::GetInterruptClocks() - fanLastResetTime < 3 * StepClockRate) // if we have a reading and it is less than 3 second old
- ? (float)(3 * StepClockRate * fanMaxInterruptCount)/fanInterval // then calculate RPM assuming 2 interrupts per rev
- : 0.0; // else assume fan is off or tacho not connected
+ return (tachoIndex < NumTachos) ? tachos[tachoIndex].GetRPM() : 0;
}
bool Platform::FansHardwareInverted(size_t fanNumber) const
@@ -3285,12 +3287,6 @@ void Platform::InitFans()
fans[1].SetPwm(1.0); // set it full on
#endif
}
-
- coolingFanRpmPin = COOLING_FAN_RPM_PIN;
- if (coolingFanRpmPin != NoPin)
- {
- pinModeDuet(coolingFanRpmPin, INPUT_PULLUP, 1500); // enable pullup and 1500Hz debounce filter (500Hz only worked up to 7000RPM)
- }
}
void Platform::SetEndStopConfiguration(size_t axis, EndStopPosition esPos, EndStopInputType inputType)
@@ -3309,6 +3305,7 @@ void Platform::GetEndStopConfiguration(size_t axis, EndStopPosition& esType, End
void Platform::AppendAuxReply(const char *msg, bool rawMessage)
{
+#ifdef SERIAL_AUX_DEVICE
// Discard this response if either no aux device is attached or if the response is empty
if (msg[0] != 0 && HaveAux())
{
@@ -3333,10 +3330,12 @@ void Platform::AppendAuxReply(const char *msg, bool rawMessage)
}
}
}
+#endif
}
void Platform::AppendAuxReply(OutputBuffer *reply, bool rawMessage)
{
+#ifdef SERIAL_AUX_DEVICE
// Discard this response if either no aux device is attached or if the response is empty
if (reply == nullptr || reply->Length() == 0 || !HaveAux())
{
@@ -3365,6 +3364,9 @@ void Platform::AppendAuxReply(OutputBuffer *reply, bool rawMessage)
}
}
}
+#else
+ OutputBuffer::ReleaseAll(reply);
+#endif
}
// Send the specified message to the specified destinations. The Error and Warning flags have already been handled.
@@ -3770,16 +3772,21 @@ void Platform::ResetChannel(size_t chan)
SERIAL_MAIN_DEVICE.end();
SERIAL_MAIN_DEVICE.begin(baudRates[0]);
break;
+
+#ifdef SERIAL_AUX_DEVICE
case 1:
SERIAL_AUX_DEVICE.end();
SERIAL_AUX_DEVICE.begin(baudRates[1]);
break;
+#endif
+
#ifdef SERIAL_AUX2_DEVICE
case 2:
SERIAL_AUX2_DEVICE.end();
SERIAL_AUX2_DEVICE.begin(baudRates[2]);
break;
#endif
+
default:
break;
}
diff --git a/src/Platform.h b/src/Platform.h
index 6afdb6b7..57d83de2 100644
--- a/src/Platform.h
+++ b/src/Platform.h
@@ -31,7 +31,8 @@ Licence: GPL
#include "RepRapFirmware.h"
#include "IoPorts.h"
#include "DueFlashStorage.h"
-#include "Fan.h"
+#include "Fans/Fan.h"
+#include "Fans/Tacho.h"
#include "Heating/TemperatureError.h"
#include "OutputMemory.h"
#include "Storage/FileStore.h"
@@ -57,19 +58,19 @@ constexpr bool BACKWARDS = !FORWARDS;
// Define the number of ADC filters and the indices of the extra ones
#if HAS_VREF_MONITOR
-constexpr size_t VrefFilterIndex = Heaters;
-constexpr size_t VssaFilterIndex = Heaters + 1;
+constexpr size_t VrefFilterIndex = NumThermistorInputs;
+constexpr size_t VssaFilterIndex = NumThermistorInputs + 1;
# if HAS_CPU_TEMP_SENSOR
-constexpr size_t CpuTempFilterIndex = Heaters + 2;
-constexpr size_t NumAdcFilters = Heaters + 3;
+constexpr size_t CpuTempFilterIndex = NumThermistorInputs + 2;
+constexpr size_t NumAdcFilters = NumThermistorInputs + 3;
# else
-constexpr size_t NumAdcFilters = Heaters + 2;
+constexpr size_t NumAdcFilters = NumThermistorInputs + 2;
# endif
#elif HAS_CPU_TEMP_SENSOR
-constexpr size_t CpuTempFilterIndex = Heaters;
-constexpr size_t NumAdcFilters = Heaters + 1;
+constexpr size_t CpuTempFilterIndex = NumThermistorInputs;
+constexpr size_t NumAdcFilters = NumThermistorInputs + 1;
#else
-constexpr size_t NumAdcFilters = Heaters;
+constexpr size_t NumAdcFilters = NumThermistorInputs;
#endif
/**************************************************************************************************/
@@ -525,7 +526,7 @@ public:
const char *GetFanName(size_t fan) const;
bool WriteFanSettings(FileStore *f) const; // Save some resume information
- float GetFanRPM() const;
+ uint32_t GetFanRPM(size_t tachoIndex) const;
// Flash operations
void UpdateFirmware();
@@ -813,7 +814,7 @@ private:
static bool WriteAxisLimits(FileStore *f, AxesBitmap axesProbed, const float limits[MaxAxes], int sParam);
// Heaters - bed is assumed to be the first
- Pin tempSensePins[Heaters];
+ Pin tempSensePins[NumThermistorInputs];
Pin heatOnPins[Heaters];
Pin spiTempSenseCsPins[MaxSpiTempSensors];
uint32_t configuredHeaters; // bitmask of all real heaters in use
@@ -821,20 +822,25 @@ private:
// Fans
Fan fans[NUM_FANS];
- Pin coolingFanRpmPin; // we currently support only one fan RPM input
uint32_t lastFanCheckTime;
void InitFans();
bool FansHardwareInverted(size_t fanNumber) const;
+ // Fan tachos
+ Tacho tachos[NumTachos];
+
// Serial/USB
uint32_t baudRates[NUM_SERIAL_CHANNELS];
uint8_t commsParams[NUM_SERIAL_CHANNELS];
+#ifdef SERIAL_AUX_DEVICE
volatile OutputStack auxOutput;
Mutex auxMutex;
+#endif
+
OutputBuffer *auxGCodeReply; // G-Code reply for AUX devices (special one because it is actually encapsulated before sending)
uint32_t auxSeq; // Sequence number for AUX devices
- bool auxDetected; // Have we processed at least one G-Code from an AUX device?
+ bool auxDetected; // Have we processed at least one G-Code from an AUX device?
#ifdef SERIAL_AUX2_DEVICE
volatile OutputStack aux2Output;
diff --git a/src/RADDS/Pins_RADDS.h b/src/RADDS/Pins_RADDS.h
index 01eac0ed..902c8e84 100644
--- a/src/RADDS/Pins_RADDS.h
+++ b/src/RADDS/Pins_RADDS.h
@@ -37,24 +37,20 @@ const size_t DRIVES = 9;
// The number of heaters in the machine
// 0 is the heated bed even if there isn't one.
-const size_t Heaters = 4;
+constexpr size_t Heaters = 4;
+constexpr size_t NumExtraHeaterProtections = 4; // The number of extra heater protection instances
+constexpr size_t NumThermistorInputs = 4;
-const size_t NumExtraHeaterProtections = 4; // The number of extra heater protection instances
-
-// Initialization macro used in statements needing to initialize values in arrays of size HEATERS. E.g.,
-// defaultPidKis[HEATERS] = {HEATERS_(5.0, 0.1, 0.1, 0.1, 0.1, 0.1)};
-#define HEATERS_(a,b,c,d,e,f,g,h) { a,b,c,d }
-
-const size_t MinAxes = 3; // The minimum and default number of axes
-const size_t MaxAxes = 6; // The maximum number of movement axes in the machine, usually just X, Y and Z, <= DRIVES
+constexpr size_t MinAxes = 3; // The minimum and default number of axes
+constexpr size_t MaxAxes = 6; // The maximum number of movement axes in the machine, usually just X, Y and Z, <= DRIVES
// Initialization macro used in statements needing to initialize values in arrays of size MAX_AXES
#define AXES_(a,b,c,d,e,f,g,h,i) { a,b,c,d,e,f }
-const size_t MIN_AXES = 3; // The minimum and default number of axes
-const size_t MaxExtruders = DRIVES - MIN_AXES; // The maximum number of extruders
-const size_t MaxDriversPerAxis = 4; // The maximum number of stepper drivers assigned to one axis
+constexpr size_t MIN_AXES = 3; // The minimum and default number of axes
+constexpr size_t MaxExtruders = DRIVES - MIN_AXES; // The maximum number of extruders
+constexpr size_t MaxDriversPerAxis = 4; // The maximum number of stepper drivers assigned to one axis
-const size_t NUM_SERIAL_CHANNELS = 2;
+constexpr size_t NUM_SERIAL_CHANNELS = 2;
// Use TX0/RX0 for the auxiliary serial line
#define SERIAL_MAIN_DEVICE SerialUSB
#define SERIAL_AUX_DEVICE Serial1
@@ -85,14 +81,14 @@ const Pin END_STOP_PINS[DRIVES] = { 28, 30, 32, 39, NoPin, NoPin, NoPin, NoPin }
// HEATERS - The bed is assumed to be the at index 0
// Analogue pin numbers
-const Pin TEMP_SENSE_PINS[Heaters] = HEATERS_(4, 0, 1, 2, e, f, g, h);
+const Pin TEMP_SENSE_PINS[NumThermistorInputs] = { 4, 0, 1, 2 };
// Heater outputs
// Bed PMW: D7 has hardware PWM so bed has PWM
// h0, h1 PMW: D13 & D12 are on TIOB0 & B8 which are both TC B channels, so they get PWM
// h2 bang-bang: D11 is on TIOA8 which is a TC A channel shared with h1, it gets bang-bang control
-const Pin HEAT_ON_PINS[Heaters] = HEATERS_(7, 13, 12, 11, e, f, g, h); // bed, h0, h1, h2
+const Pin HEAT_ON_PINS[Heaters] = { 7, 13, 12, 11 }; // bed, h0, h1, h2
// Default thermistor betas
const float BED_R25 = 10000.0;
@@ -131,7 +127,8 @@ const Pin COOLING_FAN_PINS[NUM_FANS] = { 9, 8 }; // Fan 0, Fan 1
// see FanInterrupt() in Platform.cpp
//
// D25 -- Unused GPIO on AUX1
-const Pin COOLING_FAN_RPM_PIN = 25;
+constexpr size_t NumTachos = 1;
+constexpr Pin TachoPins[NumTachos] = { 25 };
// SD cards
const size_t NumSdCards = 2;
diff --git a/src/RepRap.cpp b/src/RepRap.cpp
index 1f8c15cd..e9ec6605 100644
--- a/src/RepRap.cpp
+++ b/src/RepRap.cpp
@@ -931,8 +931,27 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source)
break;
}
- // Fan RPM
- response->catf(",\"fanRPM\":%d}", static_cast<unsigned int>(platform->GetFanRPM()));
+ // Send fan RPM value(s)
+ if (NumTachos != 0)
+ {
+ response->cat(",\"fanRPM\":");
+ // For compatibility with older versions of DWC, if there is only one tacho value then we send it as a simple variable
+ if (NumTachos > 1)
+ {
+ char ch = '[';
+ for (size_t i = 0; i < NumTachos; ++i)
+ {
+ response->catf("%c%" PRIu32, ch, platform->GetFanRPM(i));
+ ch = ',';
+ }
+ response->cat(']');
+ }
+ else
+ {
+ response->catf("%" PRIu32, platform->GetFanRPM(0));
+ }
+ }
+ response->cat('}'); // end sensors
}
/* Temperatures */
@@ -1628,8 +1647,27 @@ OutputBuffer *RepRap::GetLegacyStatusResponse(uint8_t type, int seq)
ch = ',';
}
- // Send fan RPM value (we only support one)
- response->catf("],\"fanRPM\":%u", static_cast<unsigned int>(platform->GetFanRPM()));
+ // Send fan RPM value(s)
+ response->cat(']');
+ if (NumTachos != 0)
+ {
+ response->cat(",\"fanRPM\":");
+ // For compatibility with older versions of DWC, if there is only one tacho value then we send it as a simple variable
+ if (NumTachos > 1)
+ {
+ char ch = '[';
+ for (size_t i = 0; i < NumTachos; ++i)
+ {
+ response->catf("%c%" PRIu32, ch, platform->GetFanRPM(i));
+ ch = ',';
+ }
+ response->cat(']');
+ }
+ else
+ {
+ response->catf("%" PRIu32, platform->GetFanRPM(0));
+ }
+ }
// Send the home state. To keep the messages short, we send 1 for homed and 0 for not homed, instead of true and false.
response->cat(",\"homed\":");
diff --git a/src/SAME70_TEST/Pins_SAME70_TEST.h b/src/SAME70_TEST/Pins_SAME70_TEST.h
index 0c028c60..3dce6245 100644
--- a/src/SAME70_TEST/Pins_SAME70_TEST.h
+++ b/src/SAME70_TEST/Pins_SAME70_TEST.h
@@ -34,9 +34,8 @@ const size_t MaxSmartDrivers = 10; // The maximum number of smart drivers
#define DRIVES_(a,b,c,d,e,f,g,h,i,j,k,l) { a,b,c,d,e,f,g,h,i,j,k,l }
constexpr size_t Heaters = 8; // The number of heaters in the machine; 0 is the heated bed even if there isn't one
-#define HEATERS_(a,b,c,d,e,f,g,h) { a,b,c,d,e,f,g,h }
-
constexpr size_t NumExtraHeaterProtections = 8; // The number of extra heater protection instances
+constexpr size_t NumThermistorInputs = 8;
constexpr size_t MinAxes = 3; // The minimum and default number of axes
constexpr size_t MaxAxes = 9; // The maximum number of movement axes in the machine, usually just X, Y and Z, <= DRIVES
@@ -59,12 +58,12 @@ constexpr Pin AdditionalIoExpansionStart = 220; // Pin numbers 220-235 are on t
// The numbers of entries in each array must correspond with the values of DRIVES, AXES, or HEATERS. Set values to NoPin to flag unavailability.
// DRIVES
-constexpr Pin GlobalTmcEnablePin = NoPin; // The pin that drives ENN of all TMC2660 drivers on production boards (on pre-production boards they are grounded)
+constexpr Pin GlobalTmcEnablePin = NoPin; // The pin that drives ENN of all TMC2660 drivers on production boards (on pre-production boards they are grounded)
constexpr Pin ENABLE_PINS[DRIVES] = { NoPin, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin };
constexpr Pin STEP_PINS[DRIVES] = { NoPin, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin };
constexpr Pin DIRECTION_PINS[DRIVES] = { NoPin, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin };
-constexpr Pin DueX_SG = NoPin; // DueX stallguard detect pin (TBD)
+constexpr Pin DueX_SG = NoPin; // DueX stallguard detect pin (TBD)
constexpr Pin DueX_INT = NoPin; // DueX interrupt pin (TBD)
// Endstops
@@ -72,8 +71,8 @@ constexpr Pin DueX_INT = NoPin; // DueX interrupt pin (TBD)
// Gcode defines if it is a max ("high end") or min ("low end") endstop and sets if it is active HIGH or LOW.
constexpr Pin END_STOP_PINS[DRIVES] = { NoPin, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin };
-// HEATERS
-constexpr Pin TEMP_SENSE_PINS[Heaters] = { NoPin, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin }; // Thermistor pin numbers
+// Heater and thermistors
+constexpr Pin TEMP_SENSE_PINS[NumThermistorInputs] = { NoPin, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin }; // Thermistor pin numbers
constexpr Pin HEAT_ON_PINS[Heaters] = { NoPin, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin }; // Heater pin numbers (TBD)
// Default thermistor parameters
@@ -116,7 +115,8 @@ constexpr Pin DiagPin = NoPin; // TBD
// Cooling fans
constexpr size_t NUM_FANS = 1;
constexpr Pin COOLING_FAN_PINS[NUM_FANS] = { NoPin };
-constexpr Pin COOLING_FAN_RPM_PIN = NoPin; // TBD
+constexpr size_t NumTachos = 1;
+constexpr Pin TachoPins[NumTachos] = { NoPin }; // TBD
// SD cards
constexpr size_t NumSdCards = 2;
diff --git a/src/StepperDrivers/TMC22xx/TMC22xx.cpp b/src/StepperDrivers/TMC22xx/TMC22xx.cpp
index 3a52f2e8..55ee62a6 100644
--- a/src/StepperDrivers/TMC22xx/TMC22xx.cpp
+++ b/src/StepperDrivers/TMC22xx/TMC22xx.cpp
@@ -280,11 +280,22 @@ public:
void TransferDone() __attribute__ ((hot)); // called by the ISR when the SPI transfer has completed
void StartTransfer() __attribute__ ((hot)); // called to start a transfer
void TransferTimedOut() { ++numTimeouts; }
- static void AbortTransfer();
+ void AbortTransfer();
uint32_t ReadLiveStatus() const;
uint32_t ReadAccumulatedStatus(uint32_t bitsToKeep);
+ // Variables used by the ISR
+#if TMC22xx_HAS_MUX
+ static TmcDriverState * volatile currentDriver; // volatile because the ISR changes it
+ static uint32_t transferStartedTime;
+#else
+ uint32_t transferStartedTime;
+
+ void CheckTransfer(); // start a transfer or check for timeout
+ void UartTmcHandler(); // core of the ISR for this driver
+#endif
+
private:
void UpdateRegister(size_t regIndex, uint32_t regVal);
void UpdateChopConfRegister(); // calculate the chopper control register and flag it for sending
@@ -326,6 +337,12 @@ private:
uint32_t microstepShiftFactor; // how much we need to shift 1 left by to get the current microstepping
uint32_t motorCurrent; // the configured motor current
+#if TMC22xx_HAS_MUX
+ static Uart * const uart;
+#else
+ Uart *uart; // the UART that controls this driver
+#endif
+
uint16_t readErrors; // how many read errors we had
uint16_t writeErrors; // how many write errors we had
uint16_t numReads; // how many successful reads we had
@@ -341,6 +358,10 @@ private:
bool enabled; // true if driver is enabled
};
+#if TMC22xx_HAS_MUX
+Uart * const TmcDriverState::uart = UART_TMC_DRV;
+#endif
+
const uint8_t TmcDriverState::WriteRegNumbers[NumWriteRegisters] =
{
REGNUM_GCONF,
@@ -365,15 +386,6 @@ const uint8_t TmcDriverState::ReadRegCRCs[NumReadRegisters] =
// State structures for all drivers
static TmcDriverState driverStates[MaxSmartDrivers];
-#if TMC22xx_HAS_MUX
-// PDC address for the single UART that communicates with all drivers
-static Pdc * const uartPdc = uart_get_pdc_base(UART_TMC_DRV);
-#endif
-
-// Variables used by the ISR
-static TmcDriverState * volatile currentDriver = nullptr; // volatile because the ISR changes it
-static uint32_t transferStartedTime;
-
// Set up the PDC to send a register
/*static*/ inline void TmcDriverState::SetupDMASend(Pdc *pdc, uint8_t regNum, uint32_t regVal, uint8_t crc)
{
@@ -444,10 +456,16 @@ pre(!driversPowered)
driverNumber = p_driverNumber;
axisNumber = p_driverNumber; // assume straight-through axis mapping initially
enablePin = p_pin; // this is NoPin for the built-in drivers
+
+#if !TMC22xx_HAS_MUX
+ uart = DriverUarts[p_driverNumber];
+#endif
+
if (p_pin != NoPin)
{
pinMode(p_pin, OUTPUT_HIGH);
}
+
enabled = false;
registersToUpdate = 0;
motorCurrent = 0;
@@ -677,14 +695,16 @@ inline void TmcDriverState::TransferDone()
// This is called to abandon the current transfer, if any
void TmcDriverState::AbortTransfer()
{
- UART_TMC_DRV->UART_IDR = UART_IDR_ENDRX; // disable end-of-receive interrupt
- uartPdc->PERIPH_PTCR = (PERIPH_PTCR_RXTDIS | PERIPH_PTCR_TXTDIS); // disable the PDC
- UART_TMC_DRV->UART_CR = UART_CR_RSTRX | UART_CR_RSTTX | UART_CR_RXDIS | UART_CR_TXDIS | UART_CR_RSTSTA;
- currentDriver = nullptr;
+ uart->UART_IDR = UART_IDR_ENDRX; // disable end-of-receive interrupt
+ uart_get_pdc_base(uart)->PERIPH_PTCR = (PERIPH_PTCR_RXTDIS | PERIPH_PTCR_TXTDIS); // disable the PDC
+ uart->UART_CR = UART_CR_RSTRX | UART_CR_RSTTX | UART_CR_RXDIS | UART_CR_TXDIS | UART_CR_RSTSTA;
}
#if TMC22xx_HAS_MUX
+TmcDriverState * volatile TmcDriverState::currentDriver = nullptr; // volatile because the ISR changes it
+uint32_t TmcDriverState::transferStartedTime;
+
// Set up the UART multiplexer to address the selected driver
inline void TmcDriverState::SetUartMux()
{
@@ -714,14 +734,31 @@ inline void TmcDriverState::SetUartMux()
}
}
+#else
+
+// If no transfer is in progress, start one
+// If a transfer is in progress, check for timeout
+void TmcDriverState::CheckTransfer()
+{
+ if ((uart->UART_IMR & UART_IMR_ENDRX) == 0) // if no transfer is in progress
+ {
+ StartTransfer();
+ }
+ else if (millis() - TmcDriverState::transferStartedTime > TransferTimeout)
+ {
+ // A UART transfer was started but has timed out
+ TransferTimedOut();
+ AbortTransfer();
+ }
+}
+
#endif
// This is called from the ISR or elsewhere to start a new SPI transfer. Inlined for ISR speed.
inline void TmcDriverState::StartTransfer()
{
- currentDriver = this;
-
#if TMC22xx_HAS_MUX
+ currentDriver = this;
SetUartMux();
#endif
@@ -732,10 +769,10 @@ inline void TmcDriverState::StartTransfer()
// Read a register
const irqflags_t flags = cpu_irq_save(); // avoid race condition
- UART_TMC_DRV->UART_CR = UART_CR_RSTRX | UART_CR_RSTTX; // reset transmitter and receiver
- SetupDMAReceive(uartPdc, ReadRegNumbers[registerToRead], ReadRegCRCs[registerToRead]); // set up the PDC
- UART_TMC_DRV->UART_IER = UART_IER_ENDRX; // enable end-of-receive interrupt
- UART_TMC_DRV->UART_CR = UART_CR_RXEN | UART_CR_TXEN; // enable transmitter and receiver
+ uart->UART_CR = UART_CR_RSTRX | UART_CR_RSTTX; // reset transmitter and receiver
+ SetupDMAReceive(uart_get_pdc_base(uart), ReadRegNumbers[registerToRead], ReadRegCRCs[registerToRead]); // set up the PDC
+ uart->UART_IER = UART_IER_ENDRX; // enable end-of-receive interrupt
+ uart->UART_CR = UART_CR_RXEN | UART_CR_TXEN; // enable transmitter and receiver
transferStartedTime = millis();
cpu_irq_restore(flags);
}
@@ -757,21 +794,25 @@ inline void TmcDriverState::StartTransfer()
// Kick off a transfer for that register
const irqflags_t flags = cpu_irq_save(); // avoid race condition
registerBeingUpdated = mask;
- UART_TMC_DRV->UART_CR = UART_CR_RSTRX | UART_CR_RSTTX; // reset transmitter and receiver
- SetupDMASend(uartPdc, WriteRegNumbers[regNum], writeRegisters[regNum], writeRegCRCs[regNum]); // set up the PDC
- UART_TMC_DRV->UART_IER = UART_IER_ENDRX; // enable end-of-transfer interrupt
- UART_TMC_DRV->UART_CR = UART_CR_RXEN | UART_CR_TXEN; // enable transmitter and receiver
+ uart->UART_CR = UART_CR_RSTRX | UART_CR_RSTTX; // reset transmitter and receiver
+ SetupDMASend(uart_get_pdc_base(uart), WriteRegNumbers[regNum], writeRegisters[regNum], writeRegCRCs[regNum]); // set up the PDC
+ uart->UART_IER = UART_IER_ENDRX; // enable end-of-transfer interrupt
+ uart->UART_CR = UART_CR_RXEN | UART_CR_TXEN; // enable transmitter and receiver
transferStartedTime = millis();
cpu_irq_restore(flags);
}
}
-// ISR for the UART
-extern "C" void UART_TMC_DRV_Handler(void) __attribute__ ((hot));
+// ISR(s) for the UART(s)
-void UART_TMC_DRV_Handler(void)
+#if TMC22xx_HAS_MUX
+
+// ISR for the single UART
+extern "C" void UART_TMC_DRV_Handler() __attribute__ ((hot));
+
+void UART_TMC_DRV_Handler()
{
- TmcDriverState *driver = currentDriver; // capture volatile variable
+ TmcDriverState *driver = TmcDriverState::currentDriver; // capture volatile variable
if (driver != nullptr)
{
driver->TransferDone(); // tidy up after the transfer we just completed
@@ -790,9 +831,40 @@ void UART_TMC_DRV_Handler(void)
// Driver power is down or there is no current driver, so stop polling
UART_TMC_DRV->UART_IDR = UART_IDR_ENDRX;
- currentDriver = nullptr; // signal that we are not waiting for an interrupt
+ TmcDriverState::currentDriver = nullptr; // signal that we are not waiting for an interrupt
+}
+
+#else
+
+inline void TmcDriverState::UartTmcHandler()
+{
+ TransferDone(); // tidy up after the transfer we just completed
+ if (driversState != DriversState::noPower)
+ {
+ // Power is still good, so send/receive again
+ StartTransfer();
+ }
+ else
+ {
+ // Driver power is down so disable interrupt to stop polling
+ uart->UART_IDR = UART_IDR_ENDRX;
+ }
+}
+
+extern "C" void UART_TMC_DRV0_Handler() __attribute__ ((hot));
+void UART_TMC_DRV0_Handler()
+{
+ driverStates[0].UartTmcHandler();
+}
+
+extern "C" void UART_TMC_DRV1_Handler() __attribute__ ((hot));
+void UART_TMC_DRV1_Handler()
+{
+ driverStates[1].UartTmcHandler();
}
+#endif
+
//--------------------------- Public interface ---------------------------------
namespace SmartDrivers
@@ -807,8 +879,8 @@ namespace SmartDrivers
pinMode(GlobalTmcEnablePin, OUTPUT_HIGH);
#if TMC22xx_HAS_MUX
- // The pins are already set up for UART use in the pins table
- ConfigurePin(GetPinDescription(UART_TMC_DRV_PINS));
+ // Set up- the single UART that communicates with all TMC22xx drivers
+ ConfigurePin(GetPinDescription(UART_TMC_DRV_PINS)); // the pins are already set up for UART use in the pins table
// Enable the clock to the UART
pmc_enable_periph_clk(ID_UART_TMC_DRV);
@@ -819,6 +891,7 @@ namespace SmartDrivers
UART_TMC_DRV->UART_MR = UART_MR_CHMODE_NORMAL | UART_MR_PAR_NO;
UART_TMC_DRV->UART_BRGR = VARIANT_MCK/(16 * DriversBaudRate); // set baud rate
UART_TMC_DRV->UART_CR = UART_CR_RSTRX | UART_CR_RSTTX | UART_CR_RXDIS | UART_CR_TXDIS | UART_CR_RSTSTA;
+ NVIC_EnableIRQ(UART_TMC_DRV_IRQn);
// Set up the multiplexer control pins as outputs
pinMode(DriverMuxPins[0], OUTPUT_LOW);
@@ -829,6 +902,23 @@ namespace SmartDrivers
driversState = DriversState::noPower;
for (size_t drive = 0; drive < numTmc22xxDrivers; ++drive)
{
+#if !TMC22xx_HAS_MUX
+ // Initialise the UART that controls this driver
+ // The pins are already set up for UART use in the pins table
+ ConfigurePin(GetPinDescription(DriverUartPins[drive]));
+
+ // Enable the clock to the UART
+ pmc_enable_periph_clk(DriverUartIds[drive]);
+
+ // Set the UART baud rate, 8 bits, 2 stop bits, no parity
+ Uart * const uart = DriverUarts[drive];
+ uart->UART_IDR = ~0u;
+ uart->UART_CR = UART_CR_RSTRX | UART_CR_RSTTX | UART_CR_RXDIS | UART_CR_TXDIS;
+ uart->UART_MR = UART_MR_CHMODE_NORMAL | UART_MR_PAR_NO;
+ uart->UART_BRGR = VARIANT_MCK/(16 * DriversBaudRate); // set baud rate
+ uart->UART_CR = UART_CR_RSTRX | UART_CR_RSTTX | UART_CR_RXDIS | UART_CR_TXDIS | UART_CR_RSTSTA;
+ NVIC_EnableIRQ(DriverUartIRQns[drive]);
+#endif
driverStates[drive].Init(drive, driverSelectPins[drive]); // axes are mapped straight through to drivers initially
}
}
@@ -933,28 +1023,37 @@ namespace SmartDrivers
}
else if (powered)
{
- if (currentDriver == nullptr)
+ // If no transfer is in progress, kick one off.
+ // If a transfer has timed out, abort it.
+#if TMC22xx_HAS_MUX
+ if (TmcDriverState::currentDriver == nullptr)
{
// No transfer in progress, so start one
if (numTmc22xxDrivers != 0)
{
// Kick off the first transfer
- NVIC_EnableIRQ(SERIAL_TMC_DRV_IRQn);
driverStates[0].StartTransfer();
}
}
- else if (millis() - transferStartedTime > TransferTimeout)
+ else if (millis() - TmcDriverState::transferStartedTime > TransferTimeout)
{
// A UART transfer was started but has timed out
- currentDriver->TransferTimedOut();
- uint8_t driverNum = currentDriver->GetDriverNumber();
- TmcDriverState::AbortTransfer(); // this clears currentDriver
+ TmcDriverState::currentDriver->TransferTimedOut();
+ TmcDriverState::currentDriver->AbortTransfer();
+ TmcDriverState::currentDriver = nullptr;
+ uint8_t driverNum = TmcDriverState::currentDriver->GetDriverNumber();
++driverNum;
if (driverNum >= numTmc22xxDrivers)
{
driverNum = 0;
}
}
+#else
+ for (size_t drive = 0; drive < numTmc22xxDrivers; ++drive)
+ {
+ driverStates[drive].CheckTransfer();
+ }
+#endif
if (driversState == DriversState::initialising)
{
@@ -980,7 +1079,18 @@ namespace SmartDrivers
{
// We had power but we lost it
digitalWrite(GlobalTmcEnablePin, HIGH); // disable the drivers
- TmcDriverState::AbortTransfer();
+#if TMC22xx_HAS_MUX
+ if (TmcDriverState::currentDriver == nullptr)
+ {
+ TmcDriverState::currentDriver->AbortTransfer();
+ TmcDriverState::currentDriver = nullptr;
+ }
+#else
+ for (size_t drive = 0; drive < numTmc22xxDrivers; ++drive)
+ {
+ driverStates[drive].AbortTransfer();
+ }
+#endif
driversState = DriversState::noPower;
}
}
diff --git a/src/StepperDrivers/TMC2660/TMC2660.cpp b/src/StepperDrivers/TMC2660/TMC2660.cpp
index 51fbc84c..f99961ea 100644
--- a/src/StepperDrivers/TMC2660/TMC2660.cpp
+++ b/src/StepperDrivers/TMC2660/TMC2660.cpp
@@ -750,7 +750,7 @@ namespace SmartDrivers
if (currentDriver == nullptr && numTmc2660Drivers != 0)
{
// Kick off the first transfer
- NVIC_EnableIRQ(SERIAL_TMC_DRV_IRQn);
+ NVIC_EnableIRQ(UART_TMC_DRV_IRQn);
driverStates[0].StartTransfer();
}
}
diff --git a/src/StepperDrivers/TMC2660/TMC2660.h b/src/StepperDrivers/TMC2660/TMC2660.h
index fa18c27c..ceed9734 100644
--- a/src/StepperDrivers/TMC2660/TMC2660.h
+++ b/src/StepperDrivers/TMC2660/TMC2660.h
@@ -18,7 +18,7 @@
// The Platform class needs to know which USART we are using when assigning interrupt priorities
#define USART_TMC_DRV USART1
-#define SERIAL_TMC_DRV_IRQn USART1_IRQn
+#define UART_TMC_DRV_IRQn USART1_IRQn
#define ID_USART_TMC_DRV ID_USART1
#define USART_TMC_DRV_Handler USART1_Handler
diff --git a/src/Version.h b/src/Version.h
index 5d4587ba..2c5b9195 100644
--- a/src/Version.h
+++ b/src/Version.h
@@ -22,7 +22,7 @@
#endif
#ifndef DATE
-# define DATE "2018-07-15b1"
+# define DATE "2018-07-16b2"
#endif
#define AUTHORS "reprappro, dc42, chrishamm, t3p3, dnewman"
generated by cgit v1.2.3 (git 2.25.1) at 2024-08-20 10:54:12 +0300