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-rw-r--r--src/DuetNG/DuetWiFi/Network.cpp16
-rw-r--r--src/DuetNG/DuetWiFi/Network.h3
-rw-r--r--src/DuetNG/HttpResponder.cpp29
-rw-r--r--src/DuetNG/Pins_DuetNG.h4
-rw-r--r--src/DuetNG/TMC2660.cpp79
-rw-r--r--src/DuetNG/TMC2660.h7
6 files changed, 122 insertions, 16 deletions
diff --git a/src/DuetNG/DuetWiFi/Network.cpp b/src/DuetNG/DuetWiFi/Network.cpp
index 3bb96387..b72e992d 100644
--- a/src/DuetNG/DuetWiFi/Network.cpp
+++ b/src/DuetNG/DuetWiFi/Network.cpp
@@ -376,6 +376,7 @@ void Network::Start()
// The ESP takes about 300ms before it starts talking to us, so don't wait for it here, do that in Spin()
spiTxUnderruns = spiRxOverruns = 0;
reconnectCount = 0;
+ transferAlreadyPendingCount = readyTimeoutCount = responseTimeoutCount = 0;
lastTickMillis = millis();
state = NetworkState::starting1;
@@ -475,6 +476,7 @@ void Network::Spin(bool full)
{
if (espStatusChanged && digitalRead(EspTransferRequestPin))
{
+ Platform::softwareResetDebugInfo = 1;
if (reprap.Debug(moduleNetwork))
{
debugPrintf("ESP reported status change\n");
@@ -487,6 +489,7 @@ void Network::Spin(bool full)
&& currentMode != WiFiState::autoReconnecting
)
{
+ Platform::softwareResetDebugInfo = 2;
// Tell the wifi module to change mode
int32_t rslt = ResponseUnknownError;
if (currentMode != WiFiState::idle)
@@ -515,6 +518,7 @@ void Network::Spin(bool full)
}
else if (currentMode == WiFiState::connected || currentMode == WiFiState::runningAsAccessPoint)
{
+ Platform::softwareResetDebugInfo = 3;
// Find the next socket to poll
const size_t startingSocket = currentSocket;
do
@@ -549,6 +553,7 @@ void Network::Spin(bool full)
{
nr = responders; // 'responders' can't be null at this point
}
+ Platform::softwareResetDebugInfo = 4;
doneSomething = nr->Spin();
nr = nr->GetNext();
} while (!doneSomething && nr != nextResponderToPoll);
@@ -558,6 +563,7 @@ void Network::Spin(bool full)
}
else if (currentMode == requestedMode && (currentMode == WiFiState::connected || currentMode == WiFiState::runningAsAccessPoint))
{
+ Platform::softwareResetDebugInfo = 5;
sockets[currentSocket].Poll(full);
++currentSocket;
if (currentSocket == NumTcpSockets)
@@ -608,6 +614,7 @@ void Network::Spin(bool full)
break;
}
+ Platform::softwareResetDebugInfo = 0;
if (full)
{
platform.ClassReport(longWait);
@@ -651,10 +658,13 @@ void Network::Diagnostics(MessageType mtype)
{
platform.MessageF(mtype, "Network state is %s\n", TranslateNetworkState());
platform.MessageF(mtype, "WiFi module is %s\n", TranslateWiFiState(currentMode));
+ platform.MessageF(mtype, "Failed messages: pending %u, notready %u, noresp %u\n", transferAlreadyPendingCount, readyTimeoutCount, responseTimeoutCount);
+
#if 0
// The underrun/overrun counters don't work at present
platform.MessageF(mtype, "SPI underruns %u, overruns %u\n", spiTxUnderruns, spiRxOverruns);
#endif
+
if (state != NetworkState::disabled && state != NetworkState::starting1 && state != NetworkState::starting2)
{
Receiver<NetworkStatusResponse> status;
@@ -675,7 +685,8 @@ void Network::Diagnostics(MessageType mtype)
if (currentMode == WiFiState::connected)
{
- platform.MessageF(mtype, "WiFi signal strength %ddBm\nReconnections %u\n", (int)r.rssi, reconnectCount);
+ const char* const sleepMode = (r.sleepMode == 1) ? "none" : (r.sleepMode == 2) ? "light" : (r.sleepMode == 3) ? "modem" : "unknown";
+ platform.MessageF(mtype, "WiFi signal strength %ddBm, reconnections %u, sleep mode %s\n", (int)r.rssi, reconnectCount, sleepMode);
}
else if (currentMode == WiFiState::runningAsAccessPoint)
{
@@ -1192,6 +1203,7 @@ int32_t Network::SendCommand(NetworkCommand cmd, SocketNumber socketNum, uint8_t
{
debugPrintf("ResponseBusy\n");
}
+ ++transferAlreadyPendingCount;
return ResponseBusy;
}
@@ -1206,6 +1218,7 @@ int32_t Network::SendCommand(NetworkCommand cmd, SocketNumber socketNum, uint8_t
{
debugPrintf("ResponseBusy\n");
}
+ ++readyTimeoutCount;
return ResponseBusy;
}
}
@@ -1255,6 +1268,7 @@ int32_t Network::SendCommand(NetworkCommand cmd, SocketNumber socketNum, uint8_t
}
transferPending = false;
spi_dma_disable();
+ ++responseTimeoutCount;
return ResponseTimeout;
}
}
diff --git a/src/DuetNG/DuetWiFi/Network.h b/src/DuetNG/DuetWiFi/Network.h
index 4c97f7e8..fa89cb0b 100644
--- a/src/DuetNG/DuetWiFi/Network.h
+++ b/src/DuetNG/DuetWiFi/Network.h
@@ -158,6 +158,9 @@ private:
unsigned int spiTxUnderruns;
unsigned int spiRxOverruns;
unsigned int reconnectCount;
+ unsigned int transferAlreadyPendingCount;
+ unsigned int readyTimeoutCount;
+ unsigned int responseTimeoutCount;
char wiFiServerVersion[16];
};
diff --git a/src/DuetNG/HttpResponder.cpp b/src/DuetNG/HttpResponder.cpp
index 484b0d50..cb25d9d8 100644
--- a/src/DuetNG/HttpResponder.cpp
+++ b/src/DuetNG/HttpResponder.cpp
@@ -463,11 +463,12 @@ bool HttpResponder::GetJsonResponse(const char* request, OutputBuffer *&response
}
// See if we can update the current RTC date and time
- if (numQualKeys > 1 && StringEquals(qualifiers[1].key, "time") && !GetPlatform().IsDateTimeSet())
+ const char* const timeString = GetKeyValue("time");
+ if (timeString != nullptr && !GetPlatform().IsDateTimeSet())
{
struct tm timeInfo;
memset(&timeInfo, 0, sizeof(timeInfo));
- if (strptime(qualifiers[1].value, "%Y-%m-%dT%H:%M:%S", &timeInfo) != nullptr)
+ if (strptime(timeString, "%Y-%m-%dT%H:%M:%S", &timeInfo) != nullptr)
{
time_t newTime = mktime(&timeInfo);
GetPlatform().SetDateTime(newTime);
@@ -876,10 +877,14 @@ void HttpResponder::SendJsonResponse(const char* command)
return;
}
- if (StringEquals(command, "download") && StringEquals(qualifiers[0].key, "name"))
+ if (StringEquals(command, "download"))
{
- SendFile(qualifiers[0].value, false);
- return;
+ const char* const filename = GetKeyValue("name");
+ if (filename != nullptr)
+ {
+ SendFile(filename, false);
+ return;
+ }
}
}
@@ -996,7 +1001,8 @@ void HttpResponder::ProcessMessage()
|| (commandWords[1][0] == '/' && StringEquals(commandWords[1] + 1, KO_START "upload"));
if (isUploadRequest)
{
- if (numQualKeys > 0 && StringEquals(qualifiers[0].key, "name"))
+ const char* const filename = GetKeyValue("name");
+ if (filename != nullptr)
{
// See how many bytes we expect to read
bool contentLengthFound = false;
@@ -1018,21 +1024,22 @@ void HttpResponder::ProcessMessage()
}
// Start a new file upload
- FileStore *file = GetPlatform().GetFileStore(FS_PREFIX, qualifiers[0].value, OpenMode::write);
+ FileStore *file = GetPlatform().GetFileStore(FS_PREFIX, filename, OpenMode::write);
if (file == nullptr)
{
RejectMessage("could not create file");
return;
}
- StartUpload(file, qualifiers[0].value);
+ StartUpload(file, filename);
// Try to get the last modified file date and time
- if (numQualKeys > 1 && StringEquals(qualifiers[1].key, "time"))
+ const char* const lastModifiedString = GetKeyValue("time");
+ if (lastModifiedString != nullptr)
{
struct tm timeInfo;
memset(&timeInfo, 0, sizeof(timeInfo));
- if (strptime(qualifiers[1].value, "%Y-%m-%dT%H:%M:%S", &timeInfo) != nullptr)
+ if (strptime(lastModifiedString, "%Y-%m-%dT%H:%M:%S", &timeInfo) != nullptr)
{
fileLastModified = mktime(&timeInfo);
}
@@ -1048,7 +1055,7 @@ void HttpResponder::ProcessMessage()
if (reprap.Debug(moduleWebserver))
{
- GetPlatform().MessageF(UsbMessage, "Start uploading file %s length %lu\n", qualifiers[0].value, postFileLength);
+ GetPlatform().MessageF(UsbMessage, "Start uploading file %s length %lu\n", filename, postFileLength);
}
uploadedBytes = 0;
diff --git a/src/DuetNG/Pins_DuetNG.h b/src/DuetNG/Pins_DuetNG.h
index 85b02396..047dfc18 100644
--- a/src/DuetNG/Pins_DuetNG.h
+++ b/src/DuetNG/Pins_DuetNG.h
@@ -25,6 +25,9 @@ const size_t NumFirmwareUpdateModules = 1; // 1 module
#define HAS_LWIP_NETWORKING 0
#define HAS_CPU_TEMP_SENSOR 1
#define HAS_HIGH_SPEED_SD 1
+#define HAS_SMART_DRIVERS 1
+#define HAS_VOLTAGE_MONITOR 1
+#define ACTIVE_LOW_HEAT_ON 1
#define IAP_UPDATE_FILE "iap4e.bin" // using the same IAP file for both Duet WiFi and Duet Ethernet
@@ -73,7 +76,6 @@ constexpr Pin DueX_INT = 17; // DueX interrupt pin = PA17 (was E6_STOP)
constexpr Pin END_STOP_PINS[DRIVES] = { 46, 02, 93, 74, 48, 200, 203, 202, 201, 213, 39, 8 };
// HEATERS
-constexpr bool HEAT_ON = false; // false for inverted heater (e.g. Duet v0.6), true for not (e.g. Duet v0.4)
constexpr Pin TEMP_SENSE_PINS[Heaters] = { 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)
diff --git a/src/DuetNG/TMC2660.cpp b/src/DuetNG/TMC2660.cpp
index fb0c9477..12f2f4fb 100644
--- a/src/DuetNG/TMC2660.cpp
+++ b/src/DuetNG/TMC2660.cpp
@@ -85,6 +85,7 @@ const uint32_t TMC_DRVCTRL_INTPOL = 1 << 9;
const uint32_t TMC_SGCSCONF_CS_MASK = 31;
#define TMC_SGCSCONF_CS(n) ((((uint32_t)n) & 31) << 0)
const uint32_t TMC_SGCSCONF_SGT_MASK = 127 << 8;
+const uint32_t TMC_SGCSCONF_SGT_SHIFT = 8;
#define TMC_SGCSCONF_SGT(n) ((((uint32_t)n) & 127) << 8)
const uint32_t TMC_SGCSCONF_SGT_SFILT = 1 << 16;
@@ -126,6 +127,7 @@ const uint32_t defaultSgscConfReg =
const uint32_t defaultDrvConfReg =
TMC_REG_DRVCONF
| TMC_DRVCONF_VSENSE // use high sensitivity range
+ | TMC_DRVCONF_TS2G_0P8 // fast short-to-ground detection
| 0;
// Driver control register
@@ -137,7 +139,7 @@ const uint32_t defaultDrvCtrlReg =
// coolStep control register
const uint32_t defaultSmartEnReg =
TMC_REG_SMARTEN
- | 0; // disable coolStep, we already do this in the main firmware
+ | 0; // disable coolStep, it needs to be tuned ot the motor to work properly
//----------------------------------------------------------------------------------------------------------------------------------
// Private types and methods
@@ -161,6 +163,10 @@ struct TmcDriverState
void Enable(bool en);
void SpiSendWord(uint32_t dataOut);
uint32_t ReadStatus();
+ void SetStallThreshold(int sgThreshold);
+ void SetStallFilter(bool sgFilter);
+ void SetCoolStep(uint16_t coolStepConfig);
+ void AppendStallConfig(StringRef& reply);
};
// Initialise the state of the driver.
@@ -270,11 +276,48 @@ uint32_t TmcDriverState::ReadStatus()
return lastReadValue & (TMC_RR_SG | TMC_RR_OT | TMC_RR_OTPW | TMC_RR_S2G | TMC_RR_OLA | TMC_RR_OLB | TMC_RR_STST);
}
+void TmcDriverState::SetStallThreshold(int sgThreshold)
+{
+ const uint32_t sgVal = ((uint32_t)constrain<int>(sgThreshold, -64, 63)) & 127;
+ sgcsConfReg = (sgcsConfReg & ~TMC_SGCSCONF_SGT_MASK) | (sgVal << TMC_SGCSCONF_SGT_SHIFT);
+ SpiSendWord(sgcsConfReg);
+}
+
+void TmcDriverState::SetStallFilter(bool sgFilter)
+{
+ if (sgFilter)
+ {
+ sgcsConfReg |= TMC_SGCSCONF_SGT_SFILT;
+ }
+ else
+ {
+ sgcsConfReg &= ~TMC_SGCSCONF_SGT_SFILT;
+ }
+ SpiSendWord(sgcsConfReg);
+}
+
+void TmcDriverState::SetCoolStep(uint16_t coolStepConfig)
+{
+ smartEnReg = TMC_REG_SMARTEN | coolStepConfig;
+ SpiSendWord(smartEnReg);
+}
+
+void TmcDriverState::AppendStallConfig(StringRef& reply)
+{
+ const bool filtered = ((sgcsConfReg & TMC_SGCSCONF_SGT_SFILT) != 0);
+ int threshold = (int)((sgcsConfReg & TMC_SGCSCONF_SGT_MASK) >> TMC_SGCSCONF_SGT_SHIFT);
+ if (threshold >= 64)
+ {
+ threshold -= 128;
+ }
+ reply.catf("stall threshold %d, filter %s, coolstep %" PRIx32, threshold, ((filtered) ? "on" : "off"), smartEnReg & 0xFFFF);
+}
+
static TmcDriverState driverStates[DRIVES];
//--------------------------- Public interface ---------------------------------
-namespace TMC2660
+namespace SmartDrivers
{
// Initialise the driver interface and the drivers, leaving each drive disabled.
// It is assumed that the drivers are not powered, so driversPowered(true) must be called after calling this before the motors can be moved.
@@ -434,6 +477,38 @@ namespace TMC2660
}
}
+ void SetStallThreshold(size_t drive, int sgThreshold)
+ {
+ if (drive < numTmc2660Drivers)
+ {
+ driverStates[drive].SetStallThreshold(sgThreshold);
+ }
+ }
+
+ void SetStallFilter(size_t drive, bool sgFilter)
+ {
+ if (drive < numTmc2660Drivers)
+ {
+ driverStates[drive].SetStallFilter(sgFilter);
+ }
+ }
+
+ void SetCoolStep(size_t drive, uint16_t coolStepConfig)
+ {
+ if (drive < numTmc2660Drivers)
+ {
+ driverStates[drive].SetCoolStep(coolStepConfig);
+ }
+ }
+
+ void AppendStallConfig(size_t drive, StringRef& reply)
+ {
+ if (drive < numTmc2660Drivers)
+ {
+ driverStates[drive].AppendStallConfig(reply);
+ }
+ }
+
}; // end namespace
// End
diff --git a/src/DuetNG/TMC2660.h b/src/DuetNG/TMC2660.h
index 5284789b..91f4b40c 100644
--- a/src/DuetNG/TMC2660.h
+++ b/src/DuetNG/TMC2660.h
@@ -9,6 +9,7 @@
#define TMC2660_H_
#include "Pins.h"
+#include "Libraries/General/StringRef.h"
// TMC2660 Read response. The microstep counter can also be read, but we don't include that here.
const uint32_t TMC_RR_SG = 1 << 0; // stall detected
@@ -19,7 +20,7 @@ const uint32_t TMC_RR_OLA = 1 << 5; // open load A
const uint32_t TMC_RR_OLB = 1 << 6; // open load B
const uint32_t TMC_RR_STST = 1 << 7; // standstill detected
-namespace TMC2660
+namespace SmartDrivers
{
void Init(const Pin[DRIVES], size_t numTmcDrivers)
pre(numTmcDrivers <= DRIVES);
@@ -29,6 +30,10 @@ namespace TMC2660
bool SetMicrostepping(size_t drive, int microsteps, int mode);
unsigned int GetMicrostepping(size_t drive, int mode, bool& interpolation);
void SetDriversPowered(bool powered);
+ void SetStallThreshold(size_t drive, int sgThreshold);
+ void SetStallFilter(size_t drive, bool sgFilter);
+ void SetCoolStep(size_t drive, uint16_t coolStepConfig);
+ void AppendStallConfig(size_t drive, StringRef& reply);
};
#endif /* TMC2660_H_ */
generated by cgit v1.2.3 (git 2.25.1) at 2024-08-22 03:11:14 +0300