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|
/****************************************************************************************************
RepRapFirmware - Platform: RepRapPro Ormerod with Duet controller
Platform contains all the code and definitions to deal with machine-dependent things such as control
pins, bed area, number of extruders, tolerable accelerations and speeds and so on.
-----------------------------------------------------------------------------------------------------
Version 0.1
18 November 2012
Adrian Bowyer
RepRap Professional Ltd
http://reprappro.com
Licence: GPL
****************************************************************************************************/
#include "Platform.h"
#include "Heating/Heat.h"
#include "Movement/DDA.h"
#include "Movement/Move.h"
#include "Network.h"
#include "RepRap.h"
#include "Webserver.h"
#include "Libraries/Math/Isqrt.h"
#include "sam/drivers/tc/tc.h"
#include "sam/drivers/hsmci/hsmci.h"
#include "sd_mmc.h"
#ifdef DUET_NG
# include "TMC2660.h"
# include "FirmwareUpdater.h"
#endif
#include <climits>
#include <malloc.h>
extern char _end;
extern "C" char *sbrk(int i);
#ifdef DUET_NG
const uint16_t driverPowerOnAdcReading = (uint16_t)(4096 * 10.0/PowerFailVoltageRange); // minimum voltage at which we initialise the drivers
const uint16_t driverPowerOffAdcReading = (uint16_t)(4096 * 9.5/PowerFailVoltageRange); // voltages below this flag the drivers as unusable
const uint16_t driverOverVoltageAdcReading = (uint16_t)(4096 * 29.0/PowerFailVoltageRange); // voltages above this cause driver shutdown
const uint16_t driverNormalVoltageAdcReading = (uint16_t)(4096 * 27.5/PowerFailVoltageRange); // voltages at or below this are normal
#endif
const uint8_t memPattern = 0xA5;
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 int Heater0LogicalPin = 0;
const int Fan0LogicalPin = 20;
const int EndstopXLogicalPin = 40;
const int Special0LogicalPin = 60;
const int DueX5Gpio0LogicalPin = 100;
//#define MOVE_DEBUG
#ifdef MOVE_DEBUG
unsigned int numInterruptsScheduled = 0;
unsigned int numInterruptsExecuted = 0;
uint32_t nextInterruptTime = 0;
uint32_t nextInterruptScheduledAt = 0;
uint32_t lastInterruptTime = 0;
#endif
// Global functions
// Urgent initialisation function
// This is called before general init has been done, and before constructors for C++ static data have been called.
// Therefore, be very careful what you do here!
void UrgentInit()
{
#ifdef DUET_NG
// When the reset button is pressed on pre-production Duet WiFi boards, if the TMC2660 drivers were previously enabled then we get
// uncommanded motor movements if the STEP lines pick up any noise. Try to reduce that by initialising the pins that control the drivers early here.
// On the production boards the ENN line is pulled high and that prevents motor movements.
for (size_t drive = 0; drive < DRIVES; ++drive)
{
pinMode(STEP_PINS[drive], OUTPUT_LOW);
pinMode(DIRECTION_PINS[drive], OUTPUT_LOW);
pinMode(ENABLE_PINS[drive], OUTPUT_HIGH);
}
#endif
}
// Arduino initialise and loop functions
// Put nothing in these other than calls to the RepRap equivalents
void setup()
{
// Fill the free memory with a pattern so that we can check for stack usage and memory corruption
char* heapend = sbrk(0);
register const char * stack_ptr asm ("sp");
while (heapend + 16 < stack_ptr)
{
*heapend++ = memPattern;
}
// Trap integer divide-by-zero.
// We could also trap unaligned memory access, if we change the gcc options to not generate code that uses unaligned memory access.
SCB->CCR |= SCB_CCR_DIV_0_TRP_Msk;
// When doing a software reset, we disable the NRST input (User reset) to prevent the negative-going pulse that gets generated on it
// being held in the capacitor and changing the reset reason from Software to User. So enable it again here. We hope that the reset signal
// will have gone away by now.
#ifndef RSTC_MR_KEY_PASSWD
// Definition of RSTC_MR_KEY_PASSWD is missing in the SAM3X ASF files
# define RSTC_MR_KEY_PASSWD (0xA5u << 24)
#endif
RSTC->RSTC_MR = RSTC_MR_KEY_PASSWD | RSTC_MR_URSTEN; // ignore any signal on the NRST pin for now so that the reset reason will show as Software
// Go on and do the main initialisation
reprap.Init();
}
void loop()
{
reprap.Spin();
}
extern "C"
{
// This intercepts the 1ms system tick. It must return 'false', otherwise the Arduino core tick handler will be bypassed.
int sysTickHook()
{
reprap.Tick();
return 0;
}
// Exception handlers
// By default the Usage Fault, Bus Fault and Memory Management fault handlers are not enabled,
// so they escalate to a Hard Fault and we don't need to provide separate exception handlers for them.
// We can get information on what caused a Hard Fault form the status registers.
// Also get the program counter when the exception occurred.
void prvGetRegistersFromStack(const uint32_t *pulFaultStackAddress)
{
reprap.GetPlatform()->SoftwareReset((uint16_t)SoftwareResetReason::hardFault, pulFaultStackAddress + 5);
}
// The fault handler implementation calls a function called prvGetRegistersFromStack()
void HardFault_Handler() __attribute__((naked));
void HardFault_Handler()
{
__asm volatile
(
" tst lr, #4 \n"
" ite eq \n"
" mrseq r0, msp \n"
" mrsne r0, psp \n"
" ldr r1, [r0, #24] \n"
" ldr r2, handler2_address_const \n"
" bx r2 \n"
" handler2_address_const: .word prvGetRegistersFromStack \n"
);
}
// We could set up the following fault handlers to retrieve the program counter in the same way as for a Hard Fault,
// however these exceptions are unlikely to occur, so for now we just report the exception type.
void NMI_Handler () { reprap.GetPlatform()->SoftwareReset((uint16_t)SoftwareResetReason::NMI); }
void SVC_Handler () { reprap.GetPlatform()->SoftwareReset((uint16_t)SoftwareResetReason::otherFault); }
void DebugMon_Handler () { reprap.GetPlatform()->SoftwareReset((uint16_t)SoftwareResetReason::otherFault); }
void PendSV_Handler () { reprap.GetPlatform()->SoftwareReset((uint16_t)SoftwareResetReason::otherFault); }
}
// ZProbeParameters class
void ZProbeParameters::Init(float h)
{
adcValue = Z_PROBE_AD_VALUE;
xOffset = yOffset = 0.0;
height = h;
calibTemperature = 20.0;
temperatureCoefficient = 0.0; // no default temperature correction
diveHeight = DEFAULT_Z_DIVE;
probeSpeed = DEFAULT_PROBE_SPEED;
travelSpeed = DEFAULT_TRAVEL_SPEED;
recoveryTime = extraParam = 0.0;
invertReading = false;
}
float ZProbeParameters::GetStopHeight(float temperature) const
{
return ((temperature - calibTemperature) * temperatureCoefficient) + height;
}
bool ZProbeParameters::WriteParameters(FileStore *f, unsigned int probeType) const
{
scratchString.printf("G31 T%u P%d X%.1f Y%.1f Z%.2f\n", probeType, adcValue, xOffset, yOffset, height);
return f->Write(scratchString.Pointer());
}
//*************************************************************************************************
// Platform class
Platform::Platform() :
board(DEFAULT_BOARD_TYPE), active(false), errorCodeBits(0),
auxGCodeReply(nullptr), fileStructureInitialised(false), tickState(0), debugCode(0)
#ifdef DUET_NG
, lastWarningMillis(0)
#endif
{
// Output
auxOutput = new OutputStack();
aux2Output = new OutputStack();
usbOutput = new OutputStack();
// Files
massStorage = new MassStorage(this);
for (size_t i = 0; i < MAX_FILES; i++)
{
files[i] = new FileStore(this);
}
}
//*******************************************************************************************************************
void Platform::Init()
{
// Deal with power first
pinMode(ATX_POWER_PIN, OUTPUT_LOW);
SetBoardType(BoardType::Auto);
// Real-time clock
realTime = 0;
// Comms
baudRates[0] = MAIN_BAUD_RATE;
baudRates[1] = AUX_BAUD_RATE;
#if NUM_SERIAL_CHANNELS >= 2
baudRates[2] = AUX2_BAUD_RATE;
#endif
commsParams[0] = 0;
commsParams[1] = 1; // by default we require a checksum on data from the aux port, to guard against overrun errors
#if NUM_SERIAL_CHANNELS >= 2
commsParams[2] = 0;
#endif
auxDetected = false;
auxSeq = 0;
SERIAL_MAIN_DEVICE.begin(baudRates[0]);
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
#ifdef SERIAL_AUX2_DEVICE
SERIAL_AUX2_DEVICE.begin(baudRates[2]);
#endif
compatibility = marlin; // default to Marlin because the common host programs expect the "OK" response to commands
ARRAY_INIT(ipAddress, DefaultIpAddress);
ARRAY_INIT(netMask, DefaultNetMask);
ARRAY_INIT(gateWay, DefaultGateway);
#if defined(DUET_NG) && defined(DUET_WIFI)
memset(macAddress, 0xFF, sizeof(macAddress));
#else
ARRAY_INIT(macAddress, DefaultMacAddress);
#endif
zProbeType = 0; // Default is to use no Z probe switch
zProbeAxes = Z_PROBE_AXES;
SetZProbeDefaults();
// We need to initialise at least some of the time stuff before we call MassStorage::Init()
addToTime = 0.0;
lastTimeCall = 0;
lastTime = Time();
longWait = lastTime;
// File management
massStorage->Init();
for (size_t file = 0; file < MAX_FILES; file++)
{
files[file]->Init();
}
fileStructureInitialised = true;
#if !defined(DUET_NG) && !defined(__RADDS__)
mcpDuet.begin(); // only call begin once in the entire execution, this begins the I2C comms on that channel for all objects
mcpExpansion.setMCP4461Address(0x2E); // not required for mcpDuet, as this uses the default address
#endif
// DRIVES
ARRAY_INIT(endStopPins, END_STOP_PINS);
ARRAY_INIT(maxFeedrates, MAX_FEEDRATES);
ARRAY_INIT(accelerations, ACCELERATIONS);
ARRAY_INIT(driveStepsPerUnit, DRIVE_STEPS_PER_UNIT);
ARRAY_INIT(instantDvs, INSTANT_DVS);
maxPrintingAcceleration = maxTravelAcceleration = 10000.0;
#if !defined(DUET_NG) && !defined(__RADDS__)
// Motor current setting on Duet 0.6 and 0.8.5
ARRAY_INIT(potWipes, POT_WIPES);
senseResistor = SENSE_RESISTOR;
maxStepperDigipotVoltage = MAX_STEPPER_DIGIPOT_VOLTAGE;
stepperDacVoltageRange = STEPPER_DAC_VOLTAGE_RANGE;
stepperDacVoltageOffset = STEPPER_DAC_VOLTAGE_OFFSET;
#endif
// Z PROBE
zProbePin = Z_PROBE_PIN;
zProbeAdcChannel = PinToAdcChannel(zProbePin);
InitZProbe(); // this also sets up zProbeModulationPin
// AXES
ARRAY_INIT(axisMaxima, AXIS_MAXIMA);
ARRAY_INIT(axisMinima, AXIS_MINIMA);
idleCurrentFactor = DEFAULT_IDLE_CURRENT_FACTOR;
// SD card interfaces
for (size_t i = 0; i < NumSdCards; ++i)
{
const Pin p = SdCardDetectPins[i];
if (p != NoPin)
{
setPullup(p, true);
}
}
// Motors
// Disable parallel writes to all pins. We re-enable them for the step pins.
PIOA->PIO_OWDR = 0xFFFFFFFF;
PIOB->PIO_OWDR = 0xFFFFFFFF;
PIOC->PIO_OWDR = 0xFFFFFFFF;
PIOD->PIO_OWDR = 0xFFFFFFFF;
for (size_t drive = 0; drive < DRIVES; drive++)
{
enableValues[drive] = false; // assume active low enable signal
directions[drive] = true; // drive moves forwards by default
// Map axes and extruders straight through
if (drive < MAX_AXES)
{
axisDrivers[drive].numDrivers = 1;
axisDrivers[drive].driverNumbers[0] = (uint8_t)drive;
endStopType[drive] =
#if defined(DUET_NG) || defined(__RADDS__)
EndStopType::lowEndStop; // default to low endstop
#else
(drive == Y_AXIS)
? EndStopType::lowEndStop // for Ormerod 2/Huxley/Mendel compatibility
: EndStopType::noEndStop; // for Ormerod/Huxley/Mendel compatibility
#endif
endStopLogicLevel[drive] = true; // assume all endstops use active high logic e.g. normally-closed switch to ground
}
if (drive >= MIN_AXES)
{
extruderDrivers[drive - MIN_AXES] = (uint8_t)drive;
SetPressureAdvance(drive - MIN_AXES, 0.0);
}
driveDriverBits[drive] = CalcDriverBitmap(drive);
// Set up the control pins and endstops
pinMode(STEP_PINS[drive], OUTPUT_LOW);
pinMode(DIRECTION_PINS[drive], OUTPUT_LOW);
pinMode(ENABLE_PINS[drive], OUTPUT_HIGH); // this is OK for the TMC2660 CS pins too
const PinDescription& pinDesc = g_APinDescription[STEP_PINS[drive]];
pinDesc.pPort->PIO_OWER = pinDesc.ulPin; // enable parallel writes to the step pins
motorCurrents[drive] = 0.0;
motorCurrentFraction[drive] = 1.0;
driverState[drive] = DriverStatus::disabled;
}
slowDriverStepPulseClocks = 0; // no extended driver timing configured yet
slowDrivers = 0; // assume no drivers need extended step pulse timing
#ifdef DUET_NG
// Test for presence of a DueX2 or DueX5 expansion board and work out how many TMC2660 drivers we have
// The SX1509B has an independent power on reset, so give it some time
delay(200);
expansionBoard = DuetExpansion::Init();
switch (expansionBoard)
{
case ExpansionBoardType::DueX2:
numTMC2660Drivers = 7;
break;
case ExpansionBoardType::DueX5:
numTMC2660Drivers = 10;
break;
case ExpansionBoardType::none:
case ExpansionBoardType::DueX0:
default:
numTMC2660Drivers = 5; // assume that additional drivers are dumb enable/step/dir ones
break;
}
// Initialise TMC2660 driver module
driversPowered = false;
TMC2660::Init(ENABLE_PINS, numTMC2660Drivers);
// Set up the VSSA sense pin. Older Duet WiFis don't have it connected, so we enable the pulldown resistor to keep it inactive.
{
pinMode(VssaSensePin, INPUT_PULLUP);
delayMicroseconds(10);
const bool vssaHighVal = digitalRead(VssaSensePin);
pinMode(VssaSensePin, INPUT_PULLDOWN);
delayMicroseconds(10);
const bool vssaLowVal = digitalRead(VssaSensePin);
vssaSenseWorking = vssaLowVal || !vssaHighVal;
if (vssaSenseWorking)
{
pinMode(VssaSensePin, INPUT);
}
}
#endif
// Allow extrusion ancilliary PWM to use FAN0 even if FAN0 has not been disabled, for backwards compatibility
extrusionAncilliaryPwmValue = 0.0;
extrusionAncilliaryPwmFrequency = DefaultPinWritePwmFreq;
extrusionAncilliaryPwmLogicalPin = Fan0LogicalPin;
extrusionAncilliaryPwmFirmwarePin = COOLING_FAN_PINS[0];
extrusionAncilliaryPwmInvert =
#if defined(DUET_NG) || defined(__RADDS__)
false;
#else
(board == BoardType::Duet_06 || board == BoardType::Duet_07);
#endif
ARRAY_INIT(tempSensePins, TEMP_SENSE_PINS);
ARRAY_INIT(heatOnPins, HEAT_ON_PINS);
ARRAY_INIT(spiTempSenseCsPins, SpiTempSensorCsPins);
configuredHeaters = (DefaultBedHeater >= 0) ? (1 << DefaultBedHeater) : 0;
heatSampleTicks = HEAT_SAMPLE_TIME * SecondsToMillis;
// Enable pullups on all the SPI CS pins. This is required if we are using more than one device on the SPI bus.
// Otherwise, when we try to initialise the first device, the other devices may respond as well because their CS lines are not high.
for (size_t i = 0; i < MaxSpiTempSensors; ++i)
{
setPullup(SpiTempSensorCsPins[i], true);
}
for (size_t heater = 0; heater < HEATERS; heater++)
{
if (heatOnPins[heater] != NoPin)
{
pinMode(heatOnPins[heater], (HEAT_ON) ? OUTPUT_LOW : OUTPUT_HIGH);
}
AnalogChannelNumber chan = PinToAdcChannel(tempSensePins[heater]); // translate the Arduino Due Analog pin number to the SAM ADC channel number
pinMode(tempSensePins[heater], AIN);
thermistorAdcChannels[heater] = chan;
AnalogInEnableChannel(chan, true);
SetThermistorNumber(heater, heater); // map the thermistor straight through
thermistors[heater].SetParameters(
(heater == DefaultBedHeater) ? BED_R25 : EXT_R25,
(heater == DefaultBedHeater) ? BED_BETA : EXT_BETA,
(heater == DefaultBedHeater) ? BED_SHC : EXT_SHC,
THERMISTOR_SERIES_RS); // initialise the thermistor parameters
thermistorFilters[heater].Init(0);
}
// Fans
InitFans();
// Hotend configuration
nozzleDiameter = NOZZLE_DIAMETER;
filamentWidth = FILAMENT_WIDTH;
#if SUPPORT_INKJET
// Inkjet
inkjetBits = INKJET_BITS;
if (inkjetBits >= 0)
{
inkjetFireMicroseconds = INKJET_FIRE_MICROSECONDS;
inkjetDelayMicroseconds = INKJET_DELAY_MICROSECONDS;
inkjetSerialOut = INKJET_SERIAL_OUT;
pinMode(inkjetSerialOut, OUTPUT_LOW);
inkjetShiftClock = INKJET_SHIFT_CLOCK;
pinMode(inkjetShiftClock, OUTPUT_LOW);
inkjetStorageClock = INKJET_STORAGE_CLOCK;
pinMode(inkjetStorageClock, OUTPUT_LOW);
inkjetOutputEnable = INKJET_OUTPUT_ENABLE;
pinMode(inkjetOutputEnable, OUTPUT_HIGH);
inkjetClear = INKJET_CLEAR;
pinMode(inkjetClear, OUTPUT_HIGH);
}
#endif
// MCU temperature monitoring - doesn't work in RADDS due to pin assignmentgs and SAM3X chip bug
#ifndef __RADDS__
temperatureAdcChannel = GetTemperatureAdcChannel();
AnalogInEnableChannel(temperatureAdcChannel, true);
currentMcuTemperature = highestMcuTemperature = 0;
lowestMcuTemperature = 4095;
mcuAlarmTemperature = 80.0; // need to set the quite high here because the sensor is not be calibrated yet
#endif
mcuTemperatureAdjust = 0.0;
#ifdef DUET_NG
// Power monitoring
vInMonitorAdcChannel = PinToAdcChannel(PowerMonitorVinDetectPin);
pinMode(PowerMonitorVinDetectPin, AIN);
AnalogInEnableChannel(vInMonitorAdcChannel, true);
currentVin = highestVin = 0;
lowestVin = 9999;
numUnderVoltageEvents = numOverVoltageEvents = 0;
#endif
// Clear the spare pin configuration
memset(logicalPinModes, PIN_MODE_NOT_CONFIGURED, sizeof(logicalPinModes)); // set all pins to "not configured"
// Kick everything off
lastTime = Time();
longWait = lastTime;
InitialiseInterrupts(); // also sets 'active' to true
}
void Platform::InvalidateFiles(const FATFS *fs)
{
for (size_t i = 0; i < MAX_FILES; i++)
{
files[i]->Invalidate(fs);
}
}
bool Platform::AnyFileOpen(const FATFS *fs) const
{
for (size_t i = 0; i < MAX_FILES; i++)
{
if (files[i]->IsOpenOn(fs))
{
return true;
}
}
return false;
}
// Specify which thermistor channel a particular heater uses
void Platform::SetThermistorNumber(size_t heater, size_t thermistor)
{
heaterTempChannels[heater] = thermistor;
// Initialize the associated SPI temperature sensor?
if (thermistor >= FirstThermocoupleChannel && thermistor < FirstThermocoupleChannel + MaxSpiTempSensors)
{
SpiTempSensors[thermistor - FirstThermocoupleChannel].InitThermocouple(SpiTempSensorCsPins[thermistor - FirstThermocoupleChannel]);
}
else if (thermistor >= FirstRtdChannel && thermistor < FirstRtdChannel + MaxSpiTempSensors)
{
SpiTempSensors[thermistor - FirstRtdChannel].InitRtd(spiTempSenseCsPins[thermistor - FirstRtdChannel]);
}
reprap.GetHeat()->ResetFault(heater);
}
int Platform::GetThermistorNumber(size_t heater) const
{
return heaterTempChannels[heater];
}
void Platform::SetZProbeDefaults()
{
switchZProbeParameters.Init(0.0);
irZProbeParameters.Init(Z_PROBE_STOP_HEIGHT);
alternateZProbeParameters.Init(Z_PROBE_STOP_HEIGHT);
}
void Platform::InitZProbe()
{
zProbeOnFilter.Init(0);
zProbeOffFilter.Init(0);
#if defined(DUET_NG) || defined(__RADDS__)
zProbeModulationPin = Z_PROBE_MOD_PIN;
#else
zProbeModulationPin = (board == BoardType::Duet_07 || board == BoardType::Duet_085) ? Z_PROBE_MOD_PIN07 : Z_PROBE_MOD_PIN;
#endif
switch (zProbeType)
{
case 1:
case 2:
AnalogInEnableChannel(zProbeAdcChannel, true);
pinMode(zProbePin, AIN);
pinMode(zProbeModulationPin, OUTPUT_HIGH); // enable the IR LED
break;
case 3:
AnalogInEnableChannel(zProbeAdcChannel, true);
pinMode(zProbePin, AIN);
pinMode(zProbeModulationPin, OUTPUT_LOW); // enable the alternate sensor
break;
case 4:
AnalogInEnableChannel(zProbeAdcChannel, false);
pinMode(zProbePin, INPUT_PULLUP);
pinMode(endStopPins[E0_AXIS], INPUT_PULLUP);
pinMode(zProbeModulationPin, OUTPUT_LOW); // we now set the modulation output high during probing only when using probe types 4 and higher
break;
case 5:
default:
AnalogInEnableChannel(zProbeAdcChannel, false);
pinMode(zProbePin, INPUT_PULLUP);
pinMode(zProbeModulationPin, OUTPUT_LOW); // we now set the modulation output high during probing only when using probe types 4 and higher
break;
case 6:
AnalogInEnableChannel(zProbeAdcChannel, false);
pinMode(zProbePin, INPUT_PULLUP);
pinMode(endStopPins[E0_AXIS + 1], INPUT_PULLUP);
pinMode(zProbeModulationPin, OUTPUT_LOW); // we now set the modulation output high during probing only when using probe types 4 and higher
break;
case 7:
AnalogInEnableChannel(zProbeAdcChannel, false);
pinMode(zProbePin, INPUT_PULLUP);
pinMode(zProbeModulationPin, OUTPUT_LOW); // we now set the modulation output high during probing only when using probe types 4 and higher
break; //TODO (DeltaProbe)
}
}
// Return the Z probe data.
// The ADC readings are 12 bits, so we convert them to 10-bit readings for compatibility with the old firmware.
int Platform::GetZProbeReading() const
{
int zProbeVal = 0; // initialised to avoid spurious compiler warning
if (zProbeOnFilter.IsValid() && zProbeOffFilter.IsValid())
{
switch (zProbeType)
{
case 1: // Simple or intelligent IR sensor
case 3: // Alternate sensor
case 4: // Switch connected to E0 endstop input
case 5: // Switch connected to Z probe input
case 6: // Switch connected to E1 endstop input
zProbeVal = (int) ((zProbeOnFilter.GetSum() + zProbeOffFilter.GetSum()) / (8 * Z_PROBE_AVERAGE_READINGS));
break;
case 2: // Dumb modulated IR sensor.
// We assume that zProbeOnFilter and zProbeOffFilter average the same number of readings.
// Because of noise, it is possible to get a negative reading, so allow for this.
zProbeVal = (int) (((int32_t) zProbeOnFilter.GetSum() - (int32_t) zProbeOffFilter.GetSum()) / (int)(4 * Z_PROBE_AVERAGE_READINGS));
break;
case 7: // Delta humming probe
zProbeVal = (int) ((zProbeOnFilter.GetSum() + zProbeOffFilter.GetSum()) / (8 * Z_PROBE_AVERAGE_READINGS)); //TODO this is temporary
break;
default:
return 0;
}
}
return (GetCurrentZProbeParameters().invertReading) ? 1000 - zProbeVal : zProbeVal;
}
// Return the Z probe secondary values.
int Platform::GetZProbeSecondaryValues(int& v1, int& v2)
{
if (zProbeOnFilter.IsValid() && zProbeOffFilter.IsValid())
{
switch (zProbeType)
{
case 2: // modulated IR sensor
v1 = (int) (zProbeOnFilter.GetSum() / (4 * Z_PROBE_AVERAGE_READINGS)); // pass back the reading with IR turned on
return 1;
default:
break;
}
}
return 0;
}
void Platform::SetZProbeAxes(uint32_t axes)
{
zProbeAxes = axes;
}
// Get our best estimate of the Z probe temperature
float Platform::GetZProbeTemperature()
{
const int8_t bedHeater = reprap.GetHeat()->GetBedHeater();
if (bedHeater >= 0)
{
TemperatureError err;
const float temp = GetTemperature(bedHeater, err);
if (err == TemperatureError::success)
{
return temp;
}
}
return 25.0; // assume 25C if we can't read he bed temperature
}
float Platform::ZProbeStopHeight()
{
return GetCurrentZProbeParameters().GetStopHeight(GetZProbeTemperature());
}
float Platform::GetZProbeDiveHeight() const
{
return GetCurrentZProbeParameters().diveHeight;
}
float Platform::GetZProbeStartingHeight()
{
const ZProbeParameters& params = GetCurrentZProbeParameters();
return params.diveHeight + max<float>(params.GetStopHeight(GetZProbeTemperature()), 0.0);
}
float Platform::GetZProbeTravelSpeed() const
{
return GetCurrentZProbeParameters().travelSpeed;
}
void Platform::SetZProbeType(int pt)
{
zProbeType = (pt >= 0 && pt <= 7) ? pt : 0;
InitZProbe();
}
void Platform::SetProbing(bool isProbing)
{
if (zProbeType > 3)
{
// For Z probe types other than 1/2/3 we set the modulation pin high at the start of a probing move and low at the end
digitalWrite(zProbeModulationPin, isProbing);
}
}
const ZProbeParameters& Platform::GetZProbeParameters(int32_t probeType) const
{
switch (probeType)
{
case 1:
case 2:
case 5:
return irZProbeParameters;
case 3:
case 7:
return alternateZProbeParameters;
case 4:
case 6:
default:
return switchZProbeParameters;
}
}
void Platform::SetZProbeParameters(int32_t probeType, const ZProbeParameters& params)
{
switch (probeType)
{
case 1:
case 2:
case 5:
irZProbeParameters = params;
break;
case 3:
case 7:
alternateZProbeParameters = params;
break;
case 4:
case 6:
default:
switchZProbeParameters = params;
break;
}
}
// Return true if the specified point is accessible to the Z probe
bool Platform::IsAccessibleProbePoint(float x, float y) const
{
x -= GetCurrentZProbeParameters().xOffset;
y -= GetCurrentZProbeParameters().yOffset;
return (reprap.GetMove()->IsDeltaMode())
? x * x + y * y < reprap.GetMove()->GetDeltaParams().GetPrintRadiusSquared()
: x >= axisMinima[X_AXIS] && y >= axisMinima[Y_AXIS] && x <= axisMaxima[X_AXIS] && y <= axisMaxima[Y_AXIS];
}
// Return true if we must home X and Y before we home Z (i.e. we are using a bed probe)
bool Platform::MustHomeXYBeforeZ() const
{
return (zProbeType != 0) && ((zProbeAxes & (1 << Z_AXIS)) != 0);
}
// Check the prerequisites for updating the main firmware. Return True if satisfied, else print as message and return false.
bool Platform::CheckFirmwareUpdatePrerequisites()
{
FileStore * const firmwareFile = GetFileStore(GetSysDir(), IAP_FIRMWARE_FILE, false);
if (firmwareFile == nullptr)
{
MessageF(GENERIC_MESSAGE, "Error: Firmware binary \"%s\" not found\n", IAP_FIRMWARE_FILE);
return false;
}
uint32_t firstDword;
bool ok = firmwareFile->Read(reinterpret_cast<char*>(&firstDword), sizeof(firstDword)) == (int)sizeof(firstDword);
firmwareFile->Close();
if (!ok || firstDword !=
#if (SAM4S || SAM4E)
IRAM_ADDR + IRAM_SIZE
#else
IRAM1_ADDR + IRAM1_SIZE
#endif
)
{
MessageF(GENERIC_MESSAGE, "Error: Firmware binary \"%s\" is not valid for this electronics\n", IAP_FIRMWARE_FILE);
return false;
}
if (!GetMassStorage()->FileExists(GetSysDir(), IAP_UPDATE_FILE))
{
MessageF(GENERIC_MESSAGE, "Error: In-application programming binary \"%s\" not found\n", IAP_UPDATE_FILE);
return false;
}
return true;
}
// Update the firmware. Prerequisites should be checked before calling this.
void Platform::UpdateFirmware()
{
FileStore * const iapFile = GetFileStore(GetSysDir(), IAP_UPDATE_FILE, false);
if (iapFile == nullptr)
{
MessageF(FIRMWARE_UPDATE_MESSAGE, "IAP not found\n");
return;
}
// The machine will be unresponsive for a few seconds, don't risk damaging the heaters...
reprap.EmergencyStop();
// Step 1 - Write update binary to Flash and overwrite the remaining space with zeros
// Leave the last 1KB of Flash memory untouched, so we can reuse the NvData after this update
#if !defined(IFLASH_PAGE_SIZE) && defined(IFLASH0_PAGE_SIZE)
# define IFLASH_PAGE_SIZE IFLASH0_PAGE_SIZE
#endif
// Use a 32-bit aligned buffer. This gives us the option of calling the EFC functions directly in future.
uint32_t data32[IFLASH_PAGE_SIZE/4];
char* const data = reinterpret_cast<char *>(data32);
#if (SAM4S || SAM4E)
// The EWP command is not supported for non-8KByte sectors in the SAM4 series.
// So we have to unlock and erase the complete 64Kb sector first.
flash_unlock(IAP_FLASH_START, IAP_FLASH_END, nullptr, nullptr);
flash_erase_sector(IAP_FLASH_START);
for (uint32_t flashAddr = IAP_FLASH_START; flashAddr < IAP_FLASH_END; flashAddr += IFLASH_PAGE_SIZE)
{
const int bytesRead = iapFile->Read(data, IFLASH_PAGE_SIZE);
if (bytesRead > 0)
{
// Do we have to fill up the remaining buffer with zeros?
if (bytesRead != IFLASH_PAGE_SIZE)
{
memset(data + bytesRead, 0, sizeof(data[0]) * (IFLASH_PAGE_SIZE - bytesRead));
}
// Write one page at a time
cpu_irq_disable();
const uint32_t rc = flash_write(flashAddr, data, IFLASH_PAGE_SIZE, 0);
cpu_irq_enable();
if (rc != FLASH_RC_OK)
{
MessageF(FIRMWARE_UPDATE_MESSAGE, "Error: Flash write failed, code=%u, address=0x%08x\n", rc, flashAddr);
return;
}
// Verify written data
if (memcmp(reinterpret_cast<void *>(flashAddr), data, bytesRead) != 0)
{
MessageF(FIRMWARE_UPDATE_MESSAGE, "Error: Verify during flash write failed, address=0x%08x\n", flashAddr);
return;
}
}
else
{
// Fill up the remaining space with zeros
memset(data, 0, sizeof(data[0]) * sizeof(data));
cpu_irq_disable();
flash_write(flashAddr, data, IFLASH_PAGE_SIZE, 0);
cpu_irq_enable();
}
}
// Re-lock the whole area
flash_lock(IAP_FLASH_START, IAP_FLASH_END, nullptr, nullptr);
#else // SAM3X code
for (uint32_t flashAddr = IAP_FLASH_START; flashAddr < IAP_FLASH_END; flashAddr += IFLASH_PAGE_SIZE)
{
const int bytesRead = iapFile->Read(data, IFLASH_PAGE_SIZE);
if (bytesRead > 0)
{
// Do we have to fill up the remaining buffer with zeros?
if (bytesRead != IFLASH_PAGE_SIZE)
{
memset(data + bytesRead, 0, sizeof(data[0]) * (IFLASH_PAGE_SIZE - bytesRead));
}
// Write one page at a time
cpu_irq_disable();
const char* op = "unlock";
uint32_t rc = flash_unlock(flashAddr, flashAddr + IFLASH_PAGE_SIZE - 1, nullptr, nullptr);
if (rc == FLASH_RC_OK)
{
op = "write";
rc = flash_write(flashAddr, data, IFLASH_PAGE_SIZE, 1);
}
if (rc == FLASH_RC_OK)
{
op = "lock";
rc = flash_lock(flashAddr, flashAddr + IFLASH_PAGE_SIZE - 1, nullptr, nullptr);
}
cpu_irq_enable();
if (rc != FLASH_RC_OK)
{
MessageF(FIRMWARE_UPDATE_MESSAGE, "Error: Flash %s failed, code=%u, address=0x%08x\n", op, rc, flashAddr);
return;
}
// Verify written data
if (memcmp(reinterpret_cast<void *>(flashAddr), data, bytesRead) != 0)
{
MessageF(FIRMWARE_UPDATE_MESSAGE, "Error: Verify during flash write failed, address=0x%08x\n", flashAddr);
return;
}
}
else
{
// Fill up the remaining space
memset(data, 0, sizeof(data[0]) * sizeof(data));
cpu_irq_disable();
flash_unlock(flashAddr, flashAddr + IFLASH_PAGE_SIZE - 1, nullptr, nullptr);
flash_write(flashAddr, data, IFLASH_PAGE_SIZE, 1);
flash_lock(flashAddr, flashAddr + IFLASH_PAGE_SIZE - 1, nullptr, nullptr);
cpu_irq_enable();
}
}
#endif
iapFile->Close();
Message(FIRMWARE_UPDATE_MESSAGE, "Updating main firmware\n");
// Allow time for the firmware update message to be sent
const uint32_t now = millis();
while (FlushMessages() && millis() - now < 2000) { }
// Step 2 - Let the firmware do whatever is necessary before we exit this program
reprap.Exit();
// Step 3 - Reallocate the vector table and program entry point to the new IAP binary
// This does essentially what the Atmel AT02333 paper suggests (see 3.2.2 ff)
// Disable all IRQs
SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk; // disable the system tick exception
cpu_irq_disable();
for (size_t i = 0; i < 8; i++)
{
NVIC->ICER[i] = 0xFFFFFFFF; // Disable IRQs
NVIC->ICPR[i] = 0xFFFFFFFF; // Clear pending IRQs
}
// Newer versions of iap4e.bin reserve space above the stack for us to pass the firmware filename
static const char filename[] = "0:/sys/" IAP_FIRMWARE_FILE;
const uint32_t topOfStack = *reinterpret_cast<uint32_t *>(IAP_FLASH_START);
if (topOfStack + sizeof(filename) <=
#if (SAM4S || SAM4E)
IRAM_ADDR + IRAM_SIZE
#else
IRAM1_ADDR + IRAM1_SIZE
#endif
)
{
memcpy(reinterpret_cast<char*>(topOfStack), filename, sizeof(filename));
}
wdt_restart(WDT); // kick the watchdog one last time
// Modify vector table location
__DSB();
__ISB();
SCB->VTOR = ((uint32_t)IAP_FLASH_START & SCB_VTOR_TBLOFF_Msk);
__DSB();
__ISB();
cpu_irq_enable();
__asm volatile ("mov r3, %0" : : "r" (IAP_FLASH_START) : "r3");
__asm volatile ("ldr sp, [r3]");
__asm volatile ("ldr r1, [r3, #4]");
__asm volatile ("orr r1, r1, #1");
__asm volatile ("bx r1");
}
// Send the beep command to the aux channel. There is no flow control on this port, so it can't block for long.
void Platform::Beep(int freq, int ms)
{
MessageF(AUX_MESSAGE, "{\"beep_freq\":%d,\"beep_length\":%d}\n", freq, 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)
{
OutputBuffer *buf;
if (OutputBuffer::Allocate(buf))
{
buf->copy("{\"message\":");
buf->EncodeString(msg, strlen(msg), false, true);
buf->cat("}\n");
Message(AUX_MESSAGE, buf);
}
}
// Note: the use of floating point time will cause the resolution to degrade over time.
// For example, 1ms time resolution will only be available for about half an hour from startup.
// Personally, I (dc42) would rather just maintain and provide the time in milliseconds in a uint32_t.
// This would wrap round after about 49 days, but that isn't difficult to handle.
float Platform::Time()
{
unsigned long now = micros();
if (now < lastTimeCall) // Has timer overflowed?
{
addToTime += ((float) ULONG_MAX) * TIME_FROM_REPRAP;
}
lastTimeCall = now;
return addToTime + TIME_FROM_REPRAP * (float) now;
}
void Platform::Exit()
{
// Close all files
for (size_t i = 0; i < MAX_FILES; i++)
{
while (files[i]->inUse)
{
files[i]->Close();
}
}
// Release the aux output stack (should release the others too!)
while (auxGCodeReply != nullptr)
{
auxGCodeReply = OutputBuffer::Release(auxGCodeReply);
}
// Stop processing data. Don't try to send a message because it will probably never get there.
active = false;
// Close down USB and serial ports
SERIAL_MAIN_DEVICE.end();
SERIAL_AUX_DEVICE.end();
#ifdef SERIAL_AUX2_DEVICE
SERIAL_AUX2_DEVICE.end();
#endif
}
Compatibility Platform::Emulating() const
{
return (compatibility == reprapFirmware) ? me : compatibility;
}
void Platform::SetEmulating(Compatibility c)
{
if (c != me && c != reprapFirmware && c != marlin)
{
Message(GENERIC_MESSAGE, "Attempt to emulate unsupported firmware.\n");
return;
}
if (c == reprapFirmware)
{
c = me;
}
compatibility = c;
}
void Platform::UpdateNetworkAddress(byte dst[4], const byte src[4])
{
for (uint8_t i = 0; i < 4; i++)
{
dst[i] = src[i];
}
}
void Platform::SetIPAddress(byte ip[])
{
UpdateNetworkAddress(ipAddress, ip);
}
void Platform::SetGateWay(byte gw[])
{
UpdateNetworkAddress(gateWay, gw);
}
void Platform::SetNetMask(byte nm[])
{
UpdateNetworkAddress(netMask, nm);
}
// Flush messages to USB and aux, returning true if there is more to send
bool Platform::FlushMessages()
{
// Write non-blocking data to the AUX line
OutputBuffer *auxOutputBuffer = auxOutput->GetFirstItem();
if (auxOutputBuffer != nullptr)
{
size_t bytesToWrite = min<size_t>(SERIAL_AUX_DEVICE.canWrite(), auxOutputBuffer->BytesLeft());
if (bytesToWrite > 0)
{
SERIAL_AUX_DEVICE.write(auxOutputBuffer->Read(bytesToWrite), bytesToWrite);
}
if (auxOutputBuffer->BytesLeft() == 0)
{
auxOutputBuffer = OutputBuffer::Release(auxOutputBuffer);
auxOutput->SetFirstItem(auxOutputBuffer);
}
}
// Write non-blocking data to the second AUX line
OutputBuffer *aux2OutputBuffer = aux2Output->GetFirstItem();
if (aux2OutputBuffer != nullptr)
{
#ifdef SERIAL_AUX2_DEVICE
size_t bytesToWrite = min<size_t>(SERIAL_AUX2_DEVICE.canWrite(), aux2OutputBuffer->BytesLeft());
if (bytesToWrite > 0)
{
SERIAL_AUX2_DEVICE.write(aux2OutputBuffer->Read(bytesToWrite), bytesToWrite);
}
if (aux2OutputBuffer->BytesLeft() == 0)
{
aux2OutputBuffer = OutputBuffer::Release(aux2OutputBuffer);
aux2Output->SetFirstItem(aux2OutputBuffer);
}
#else
aux2OutputBuffer = OutputBuffer::Release(aux2OutputBuffer);
#endif
}
// Write non-blocking data to the USB line
OutputBuffer *usbOutputBuffer = usbOutput->GetFirstItem();
if (usbOutputBuffer != nullptr)
{
if (!SERIAL_MAIN_DEVICE)
{
// If the USB port is not opened, free the data left for writing
OutputBuffer::ReleaseAll(usbOutputBuffer);
usbOutput->SetFirstItem(nullptr);
}
else
{
// Write as much data as we can...
size_t bytesToWrite = min<size_t>(SERIAL_MAIN_DEVICE.canWrite(), usbOutputBuffer->BytesLeft());
if (bytesToWrite > 0)
{
SERIAL_MAIN_DEVICE.write(usbOutputBuffer->Read(bytesToWrite), bytesToWrite);
}
if (usbOutputBuffer->BytesLeft() == 0 || usbOutputBuffer->GetAge() > SERIAL_MAIN_TIMEOUT)
{
usbOutputBuffer = OutputBuffer::Release(usbOutputBuffer);
usbOutput->SetFirstItem(usbOutputBuffer);
}
}
}
return auxOutput->GetFirstItem() != nullptr
|| aux2Output->GetFirstItem() != nullptr
|| usbOutput->GetFirstItem() != nullptr;
}
void Platform::Spin()
{
if (!active)
return;
// Check if any files are supposed to be closed
for (size_t i = 0; i < MAX_FILES; i++)
{
if (files[i]->closeRequested)
{
// We cannot do this in ISRs, so do it here
files[i]->Close();
}
}
// Try to flush messages to serial ports
(void)FlushMessages();
// Thermostatically-controlled fans
for (size_t fan = 0; fan < NUM_FANS; ++fan)
{
fans[fan].Check();
}
// Check the MCU max and min temperatures
#ifndef __RADDS__
if (currentMcuTemperature > highestMcuTemperature)
{
highestMcuTemperature= currentMcuTemperature;
}
if (currentMcuTemperature < lowestMcuTemperature && currentMcuTemperature != 0)
{
lowestMcuTemperature = currentMcuTemperature;
}
#endif
// Diagnostics test
if (debugCode == (int)DiagnosticTestType::TestSpinLockup)
{
for (;;) {}
}
#ifdef DUET_NG
// Check whether the TMC drivers need to be initialised.
// The tick ISR also looks for over-voltage events, but it just disables the driver without changing driversPowerd or numOverVoltageEvents
if (driversPowered)
{
if (currentVin < driverPowerOffAdcReading)
{
++numUnderVoltageEvents;
driversPowered = false;
}
else if (currentVin > driverOverVoltageAdcReading)
{
driversPowered = false;
++numOverVoltageEvents;
}
}
else if (currentVin >= driverPowerOnAdcReading && currentVin <= driverNormalVoltageAdcReading)
{
driversPowered = true;
}
TMC2660::SetDriversPowered(driversPowered);
// Check for a VSSA fault
const uint32_t now = millis();
if (vssaSenseWorking && now - lastWarningMillis > MinimumWarningInterval && digitalRead(VssaSensePin))
{
Message(GENERIC_MESSAGE, "Error: VSSA fault\n");
lastWarningMillis = now;
}
#endif
// Update the time
if (realTime != 0)
{
if (millis() - timeLastUpdatedMillis >= 1000)
{
++realTime; // this assumes that time_t is a seconds-since-epoch counter, which is not guaranteed by the C standard
timeLastUpdatedMillis += 1000;
}
}
ClassReport(longWait);
}
// Perform a software reset. 'stk' points to the program counter on the stack if the cause is an exception, otherwise it is nullptr.
void Platform::SoftwareReset(uint16_t reason, const uint32_t *stk)
{
wdt_restart(WDT); // kick the watchdog
if (reason == (uint16_t)SoftwareResetReason::erase)
{
EraseAndReset();
}
else
{
if (reason != (uint16_t)SoftwareResetReason::user)
{
if (SERIAL_MAIN_DEVICE.canWrite() == 0)
{
reason |= (uint16_t)SoftwareResetReason::inUsbOutput; // if we are resetting because we are stuck in a Spin function, record whether we are trying to send to USB
}
if (reprap.GetNetwork()->InLwip())
{
reason |= (uint16_t)SoftwareResetReason::inLwipSpin;
}
if (SERIAL_AUX_DEVICE.canWrite() == 0
#ifdef SERIAL_AUX2_DEVICE
|| SERIAL_AUX2_DEVICE.canWrite() == 0
#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
}
}
reason |= (uint16_t)reprap.GetSpinningModule();
// Record the reason for the software reset
// First find a free slot (wear levelling)
size_t slot = SoftwareResetData::numberOfSlots;
SoftwareResetData srdBuf[SoftwareResetData::numberOfSlots];
#ifdef DUET_NG
if (flash_read_user_signature(reinterpret_cast<uint32_t*>(srdBuf), sizeof(srdBuf)/sizeof(uint32_t)) == FLASH_RC_OK)
#else
DueFlashStorage::read(SoftwareResetData::nvAddress, srdBuf, sizeof(srdBuf));
#endif
{
while (slot != 0 && srdBuf[slot - 1].isVacant())
{
--slot;
}
}
if (slot == SoftwareResetData::numberOfSlots)
{
// No free slots, so erase the area
#ifdef DUET_NG
flash_erase_user_signature();
#endif
memset(srdBuf, 0xFF, sizeof(srdBuf));
slot = 0;
}
srdBuf[slot].magic = SoftwareResetData::magicValue;
srdBuf[slot].resetReason = reason;
GetStackUsage(nullptr, nullptr, &srdBuf[slot].neverUsedRam);
srdBuf[slot].hfsr = SCB->HFSR;
srdBuf[slot].cfsr = SCB->CFSR;
srdBuf[slot].icsr = SCB->ICSR;
srdBuf[slot].bfar = SCB->BFAR;
if (stk != nullptr)
{
srdBuf[slot].sp = reinterpret_cast<uint32_t>(stk);
for (size_t i = 0; i < ARRAY_SIZE(srdBuf[slot].stack); ++i)
{
srdBuf[slot].stack[i] = stk[i];
}
}
// Save diagnostics data to Flash
#ifdef DUET_NG
flash_write_user_signature(srdBuf, sizeof(srdBuf)/sizeof(uint32_t));
#else
DueFlashStorage::write(SoftwareResetData::nvAddress, srdBuf, sizeof(srdBuf));
#endif
}
RSTC->RSTC_MR = RSTC_MR_KEY_PASSWD; // ignore any signal on the NRST pin for now so that the reset reason will show as Software
Reset();
for(;;) {}
}
//*****************************************************************************************************************
// Interrupts
#ifndef DUET_NG
void NETWORK_TC_HANDLER()
{
tc_get_status(NETWORK_TC, NETWORK_TC_CHAN);
reprap.GetNetwork()->Interrupt();
}
#endif
void FanInterrupt()
{
++fanInterruptCount;
if (fanInterruptCount == fanMaxInterruptCount)
{
uint32_t now = micros();
fanInterval = now - fanLastResetTime;
fanLastResetTime = now;
fanInterruptCount = 0;
}
}
void Platform::InitialiseInterrupts()
{
// Set the tick interrupt to the highest priority. We need to to monitor the heaters and kick the watchdog.
NVIC_SetPriority(SysTick_IRQn, 0); // set priority for tick interrupts - highest, because it kicks the watchdog
#ifdef DUET_NG
NVIC_SetPriority(UART0_IRQn, 1); // set priority for UART interrupt - must be higher than step interrupt
#else
NVIC_SetPriority(UART_IRQn, 1); // set priority for UART interrupt - must be higher than step interrupt
#endif
// Timer interrupt for stepper motors
// The clock rate we use is a compromise. Too fast and the 64-bit square roots take a long time to execute. Too slow and we lose resolution.
// We choose a clock divisor of 128 which gives 1.524us resolution on the Duet 085 (84MHz clock) and 0.9375us resolution on the Duet WiFi.
pmc_set_writeprotect(false);
pmc_enable_periph_clk((uint32_t) STEP_TC_IRQN);
tc_init(STEP_TC, STEP_TC_CHAN, TC_CMR_WAVE | TC_CMR_WAVSEL_UP | TC_CMR_TCCLKS_TIMER_CLOCK4);
STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_IDR = ~(uint32_t)0; // interrupts disabled for now
tc_start(STEP_TC, STEP_TC_CHAN);
tc_get_status(STEP_TC, STEP_TC_CHAN); // clear any pending interrupt
NVIC_SetPriority(STEP_TC_IRQN, 2); // set high priority for this IRQ; it's time-critical
NVIC_EnableIRQ(STEP_TC_IRQN);
#ifndef DUET_NG
// Timer interrupt to keep the networking timers running (called at 16Hz)
pmc_enable_periph_clk((uint32_t) NETWORK_TC_IRQN);
tc_init(NETWORK_TC, NETWORK_TC_CHAN, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK2);
uint32_t rc = (VARIANT_MCK/8)/16; // 8 because we selected TIMER_CLOCK2 above
tc_write_ra(NETWORK_TC, NETWORK_TC_CHAN, rc/2); // 50% high, 50% low
tc_write_rc(NETWORK_TC, NETWORK_TC_CHAN, rc);
tc_start(NETWORK_TC, NETWORK_TC_CHAN);
NETWORK_TC ->TC_CHANNEL[NETWORK_TC_CHAN].TC_IER = TC_IER_CPCS;
NETWORK_TC ->TC_CHANNEL[NETWORK_TC_CHAN].TC_IDR = ~TC_IER_CPCS;
NVIC_SetPriority(NETWORK_TC_IRQN, 4); // step interrupt is more time-critical than this one
NVIC_EnableIRQ(NETWORK_TC_IRQN);
#endif
// Interrupt for 4-pin PWM fan sense line
if (coolingFanRpmPin != NoPin)
{
attachInterrupt(coolingFanRpmPin, FanInterrupt, FALLING);
}
// Tick interrupt for ADC conversions
tickState = 0;
currentHeater = 0;
active = true; // this enables the tick interrupt, which keeps the watchdog happy
}
#if 0 // not used
void Platform::DisableInterrupts()
{
NVIC_DisableIRQ(STEP_IRQN);
#ifdef DUET_NG
NVIC_DisableIRQ(NETWORK_IRQN);
#endif
}
#endif
//*************************************************************************************************
// Debugging variables
//extern "C" uint32_t longestWriteWaitTime, shortestWriteWaitTime, longestReadWaitTime, shortestReadWaitTime;
//extern uint32_t maxRead, maxWrite;
// Return diagnostic information
void Platform::Diagnostics(MessageType mtype)
{
Message(mtype, "=== Platform ===\n");
// Print memory stats and error codes to USB and copy them to the current webserver reply
const char *ramstart =
#ifdef DUET_NG
(char *) 0x20000000;
#else
(char *) 0x20070000;
#endif
const struct mallinfo mi = mallinfo();
MessageF(mtype, "Static ram used: %d\n", &_end - ramstart);
MessageF(mtype, "Dynamic ram used: %d\n", mi.uordblks);
MessageF(mtype, "Recycled dynamic ram: %d\n", mi.fordblks);
uint32_t currentStack, maxStack, neverUsed;
GetStackUsage(¤tStack, &maxStack, &neverUsed);
MessageF(mtype, "Stack ram used: %u current, %u maximum\n", currentStack, maxStack);
MessageF(mtype, "Never used ram: %u\n", neverUsed);
// Show the up time and reason for the last reset
const uint32_t now = (uint32_t)Time(); // get up time in seconds
const char* resetReasons[8] = { "power up", "backup", "watchdog", "software",
#ifdef DUET_NG
// On the SAM4E a watchdog reset may be reported as a user reset because of the capacitor on the NRST pin
"reset button or watchdog",
#else
"reset button",
#endif
"?", "?", "?" };
MessageF(mtype, "Last reset %02d:%02d:%02d ago, cause: %s\n",
(unsigned int)(now/3600), (unsigned int)((now % 3600)/60), (unsigned int)(now % 60),
resetReasons[(REG_RSTC_SR & RSTC_SR_RSTTYP_Msk) >> RSTC_SR_RSTTYP_Pos]);
// Show the reset code stored at the last software reset
{
SoftwareResetData srdBuf[SoftwareResetData::numberOfSlots];
memset(srdBuf, 0, sizeof(srdBuf));
int slot = -1;
#ifdef DUET_NG
// Work around bug in ASF flash library: flash_read_user_signature calls a RAMFUNC wito7ut disabling interrupts first.
// This caused a crash (watchdog timeout) sometimes if we run M122 while a print is in progress
const irqflags_t flags = cpu_irq_save();
const uint32_t rc = flash_read_user_signature(reinterpret_cast<uint32_t*>(srdBuf), sizeof(srdBuf)/sizeof(uint32_t));
cpu_irq_restore(flags);
if (rc == FLASH_RC_OK)
#else
DueFlashStorage::read(SoftwareResetData::nvAddress, srdBuf, sizeof(srdBuf));
#endif
{
// Find the last slot written
slot = SoftwareResetData::numberOfSlots - 1;
while (slot >= 0 && srdBuf[slot].magic == 0xFFFF)
{
--slot;
}
}
Message(mtype, "Last software reset code ");
if (slot >= 0 && srdBuf[slot].magic == SoftwareResetData::magicValue)
{
// Our format buffer is only 256 characters long, so the next 2 lines must be written separately
MessageF(mtype, "0x%04x, HFSR 0x%08x, CFSR 0x%08x, ICSR 0x%08x, BFAR 0x%08x, SP 0x%08x\n",
srdBuf[slot].resetReason, srdBuf[slot].hfsr, srdBuf[slot].cfsr, srdBuf[slot].icsr, srdBuf[slot].bfar, srdBuf[slot].sp);
if (srdBuf[slot].sp != 0xFFFFFFFF)
{
// We saved a stack dump, so print it
scratchString.Clear();
for (size_t i = 0; i < ARRAY_SIZE(srdBuf[slot].stack); ++i)
{
scratchString.catf(" %08x", srdBuf[slot].stack[i]);
}
MessageF(mtype, "Stack:%s\n", scratchString.Pointer());
}
MessageF(mtype, "Spinning module during software reset: %s, available RAM %u bytes (slot %d)\n",
moduleName[srdBuf[slot].resetReason & 0x0F], srdBuf[slot].neverUsedRam, slot);
}
else
{
Message(mtype, "not available\n");
}
}
// Show the current error codes
MessageF(mtype, "Error status: %u\n", errorCodeBits);
// Show the number of free entries in the file table
unsigned int numFreeFiles = 0;
for (size_t i = 0; i < MAX_FILES; i++)
{
if (!files[i]->inUse)
{
++numFreeFiles;
}
}
MessageF(mtype, "Free file entries: %u\n", numFreeFiles);
// Show the HSMCI CD pin and speed
#ifdef __RADDS__
MessageF(mtype, "SD card 0 %s\n", (sd_mmc_card_detected(0) ? "detected" : "not detected"));
#else
MessageF(mtype, "SD card 0 %s, interface speed: %.1fMBytes/sec\n", (sd_mmc_card_detected(0) ? "detected" : "not detected"), (float)hsmci_get_speed()/1000000.0);
#endif
// Show the longest SD card write time
MessageF(mtype, "SD card longest block write time: %.1fms\n", FileStore::GetAndClearLongestWriteTime());
#ifndef __RADDS__
// Show the MCU temperatures
MessageF(mtype, "MCU temperature: min %.1f, current %.1f, max %.1f\n",
AdcReadingToCpuTemperature(lowestMcuTemperature), AdcReadingToCpuTemperature(currentMcuTemperature), AdcReadingToCpuTemperature(highestMcuTemperature));
lowestMcuTemperature = highestMcuTemperature = currentMcuTemperature;
#endif
#ifdef DUET_NG
// Show the supply voltage
MessageF(mtype, "Supply voltage: min %.1f, current %.1f, max %.1f, under voltage events: %u, over voltage events: %u\n",
AdcReadingToPowerVoltage(lowestVin), AdcReadingToPowerVoltage(currentVin), AdcReadingToPowerVoltage(highestVin),
numUnderVoltageEvents, numOverVoltageEvents);
lowestVin = highestVin = currentVin;
// Show the motor stall status
if (expansionBoard == ExpansionBoardType::DueX2 || expansionBoard == ExpansionBoardType::DueX5)
{
const bool stalled = digitalRead(DueX_SG);
MessageF(mtype, "Expansion motor(s) stall indication: %s\n", (stalled) ? "yes" : "no");
}
for (size_t drive = 0; drive < numTMC2660Drivers; ++drive)
{
const uint32_t stat = TMC2660::GetStatus(drive);
MessageF(mtype, "Driver %d:%s%s%s%s%s%s\n", drive,
(stat & TMC_RR_SG) ? " stalled" : "",
(stat & TMC_RR_OT) ? " temperature-shutdown!"
: (stat & TMC_RR_OTPW) ? " temperature-warning" : "",
(stat & TMC_RR_S2G) ? " short-to-ground" : "",
((stat & TMC_RR_OLA) && !(stat & TMC_RR_STST)) ? " open-load-A" : "",
((stat & TMC_RR_OLB) && !(stat & TMC_RR_STST)) ? " open-load-B" : "",
(stat & TMC_RR_STST) ? " standstill"
: (stat & (TMC_RR_SG | TMC_RR_OT | TMC_RR_OTPW | TMC_RR_S2G | TMC_RR_OLA | TMC_RR_OLB))
? "" : " ok"
);
}
#endif
// Show current RTC time
Message(mtype, "Date/time: ");
struct tm timeInfo;
if (gmtime_r(&realTime, &timeInfo) != nullptr)
{
MessageF(mtype, "%04u-%02u-%02u %02u:%02u:%02u\n",
timeInfo.tm_year + 1900, timeInfo.tm_mon + 1, timeInfo.tm_mday,
timeInfo.tm_hour, timeInfo.tm_min, timeInfo.tm_sec);
}
else
{
Message(mtype, "not set\n");
}
// Debug
//MessageF(mtype, "TC_FMR = %08x, PWM_FPE = %08x, PWM_FSR = %08x\n", TC2->TC_FMR, PWM->PWM_FPE, PWM->PWM_FSR);
//MessageF(mtype, "PWM2 period %08x, duty %08x\n", PWM->PWM_CH_NUM[2].PWM_CPRD, PWM->PWM_CH_NUM[2].PWM_CDTY);
//MessageF(mtype, "Shortest/longest times read %.1f/%.1f write %.1f/%.1f ms, %u/%u\n",
// (float)shortestReadWaitTime/1000, (float)longestReadWaitTime/1000, (float)shortestWriteWaitTime/1000, (float)longestWriteWaitTime/1000,
// maxRead, maxWrite);
//longestWriteWaitTime = longestReadWaitTime = 0; shortestReadWaitTime = shortestWriteWaitTime = 1000000;
reprap.Timing(mtype);
#ifdef MOVE_DEBUG
MessageF(mtype, "Interrupts scheduled %u, done %u, last %u, next %u sched at %u, now %u\n",
numInterruptsScheduled, numInterruptsExecuted, lastInterruptTime, nextInterruptTime, nextInterruptScheduledAt, GetInterruptClocks());
#endif
}
void Platform::DiagnosticTest(int d)
{
static const uint32_t dummy[2] = { 0, 0 };
switch (d)
{
case (int)DiagnosticTestType::TestWatchdog:
SysTick ->CTRL &= ~(SysTick_CTRL_TICKINT_Msk); // disable the system tick interrupt so that we get a watchdog timeout reset
break;
case (int)DiagnosticTestType::TestSpinLockup:
debugCode = d; // tell the Spin function to loop
break;
case (int)DiagnosticTestType::TestSerialBlock: // write an arbitrary message via debugPrintf()
debugPrintf("Diagnostic Test\n");
break;
case (int)DiagnosticTestType::DivideByZero: // do an integer divide by zero to test exception handling
(void)RepRap::DoDivide(1, 0); // call function in another module so it can't be optimised away
break;
case (int)DiagnosticTestType::UnalignedMemoryAccess: // do an unaligned memory access to test exception handling
SCB->CCR |= SCB_CCR_UNALIGN_TRP_Msk; // by default, unaligned memory accesses are allowed, so change that
(void)RepRap::ReadDword(reinterpret_cast<const char*>(dummy) + 1); // call function in another module so it can't be optimised away
break;
case (int)DiagnosticTestType::BusFault:
// Read from the "Undefined (Abort)" area
#ifdef DUET_NG
(void)RepRap::ReadDword(reinterpret_cast<const char*>(0x20800000));
#else
(void)RepRap::ReadDword(reinterpret_cast<const char*>(0x20200000));
#endif
break;
case (int)DiagnosticTestType::PrintMoves:
DDA::PrintMoves();
break;
case (int)DiagnosticTestType::TimeSquareRoot: // Show the square root calculation time. The displayed value is subject to interrupts.
{
const uint32_t num1 = 0x7265ac3d;
const uint32_t now1 = Platform::GetInterruptClocks();
const uint32_t num1a = isqrt64((uint64_t)num1 * num1);
const uint32_t tim1 = Platform::GetInterruptClocks() - now1;
const uint32_t num2 = 0x0000a4c5;
const uint32_t now2 = Platform::GetInterruptClocks();
const uint32_t num2a = isqrt64((uint64_t)num2 * num2);
const uint32_t tim2 = Platform::GetInterruptClocks() - now2;
MessageF(GENERIC_MESSAGE, "Square roots: 64-bit %.1fus %s, 32-bit %.1fus %s\n",
(float)(tim1 * 1000000)/DDA::stepClockRate, (num1a == num1) ? "ok" : "ERROR",
(float)(tim2 * 1000000)/DDA::stepClockRate, (num2a == num2) ? "ok" : "ERROR");
}
break;
#ifdef DUET_NG
case (int)DiagnosticTestType::PrintExpanderStatus:
MessageF(GENERIC_MESSAGE, "Expander status %04X\n", DuetExpansion::DiagnosticRead());
break;
#endif
default:
break;
}
}
extern "C" uint32_t _estack; // this is defined in the linker script
// Return the stack usage and amount of memory that has never been used, in bytes
void Platform::GetStackUsage(uint32_t* currentStack, uint32_t* maxStack, uint32_t* neverUsed) const
{
const char * const ramend = (const char *)&_estack;
register const char * stack_ptr asm ("sp");
const char * const heapend = sbrk(0);
const char * stack_lwm = heapend;
while (stack_lwm < stack_ptr && *stack_lwm == memPattern)
{
++stack_lwm;
}
if (currentStack != nullptr) { *currentStack = ramend - stack_ptr; }
if (maxStack != nullptr) { *maxStack = ramend - stack_lwm; }
if (neverUsed != nullptr) { *neverUsed = stack_lwm - heapend; }
}
void Platform::ClassReport(float &lastTime)
{
const Module spinningModule = reprap.GetSpinningModule();
if (reprap.Debug(spinningModule))
{
if (Time() - lastTime >= LONG_TIME)
{
lastTime = Time();
MessageF(HOST_MESSAGE, "Class %s spinning.\n", moduleName[spinningModule]);
}
}
}
//===========================================================================
//=============================Thermal Settings ============================
//===========================================================================
// See http://en.wikipedia.org/wiki/Thermistor#B_or_.CE.B2_parameter_equation
// BETA is the B value
// RS is the value of the series resistor in ohms
// R_INF is R0.exp(-BETA/T0), where R0 is the thermistor resistance at T0 (T0 is in kelvin)
// Normally T0 is 298.15K (25 C).
// If the A->D converter has a range of 0..1023 and the measured voltage is V (between 0 and 1023)
// then the thermistor resistance, R = V.RS/(1024 - V)
// and the temperature, T = BETA/ln(R/R_INF)
// To get degrees celsius (instead of kelvin) add -273.15 to T
// Result is in degrees celsius
float Platform::GetTemperature(size_t heater, TemperatureError& err)
{
// Note that at this point we're actually getting an averaged ADC read, not a "raw" temp. For thermistors,
// we're getting an averaged voltage reading which we'll convert to a temperature.
if (IsThermistorChannel(heater))
{
const volatile ThermistorAveragingFilter& filter = thermistorFilters[heater];
if (filter.IsValid())
{
const int32_t averagedReading = filter.GetSum()/(ThermistorAverageReadings >> Thermistor::AdcOversampleBits);
const float temp = thermistors[heater].CalcTemperature(averagedReading);
if (temp < MinimumConnectedTemperature)
{
// thermistor is disconnected
err = TemperatureError::openCircuit;
return ABS_ZERO;
}
err = TemperatureError::success;
return temp;
}
// Filter is not ready yet
err = TemperatureError::busBusy;
return BAD_ERROR_TEMPERATURE;
}
if (IsThermocoupleChannel(heater))
{
// MAX31855 thermocouple chip
float temp;
err = SpiTempSensors[heaterTempChannels[heater] - FirstThermocoupleChannel].GetThermocoupleTemperature(&temp);
return (err == TemperatureError::success) ? temp : BAD_ERROR_TEMPERATURE;
}
if (IsRtdChannel(heater))
{
// MAX31865 RTD chip
float temp;
err = SpiTempSensors[heaterTempChannels[heater] - FirstRtdChannel].GetRtdTemperature(&temp);
return (err == TemperatureError::success) ? temp : BAD_ERROR_TEMPERATURE;
}
err = TemperatureError::unknownChannel;
return BAD_ERROR_TEMPERATURE;
}
// See if we need to turn on a thermostatically-controlled fan
bool Platform::AnyHeaterHot(uint16_t heaters, float t)
{
for (size_t h = 0; h < HEATERS; ++h)
{
// Check if this heater is both monitored by this fan and in use
if ( ((1 << h) & heaters) != 0
&& (h < reprap.GetToolHeatersInUse() || (int)h == reprap.GetHeat()->GetBedHeater() || (int)h == reprap.GetHeat()->GetChamberHeater())
)
{
if (reprap.GetHeat()->IsTuning(h))
{
return true; // when turning the PID for a monitored heater, turn the fan on
}
TemperatureError err;
const float ht = GetTemperature(h, err);
if (err != TemperatureError::success || ht >= t || ht < BAD_LOW_TEMPERATURE)
{
return true;
}
}
}
return false;
}
// Power is a fraction in [0,1]
void Platform::SetHeater(size_t heater, float power)
{
if (heatOnPins[heater] != NoPin)
{
uint16_t freq = (reprap.GetHeat()->UseSlowPwm(heater)) ? SlowHeaterPwmFreq : NormalHeaterPwmFreq;
WriteAnalog(heatOnPins[heater], (HEAT_ON) ? power : 1.0 - power, freq);
}
}
void Platform::UpdateConfiguredHeaters()
{
configuredHeaters = 0;
// Check bed heater
const int8_t bedHeater = reprap.GetHeat()->GetBedHeater();
if (bedHeater >= 0)
{
configuredHeaters |= (1 << bedHeater);
}
// Check chamber heater
const int8_t chamberHeater = reprap.GetHeat()->GetChamberHeater();
if (chamberHeater >= 0)
{
configuredHeaters |= (1 << chamberHeater);
}
// Check tool heaters
for(size_t heater = 0; heater < HEATERS; heater++)
{
if (reprap.IsHeaterAssignedToTool(heater))
{
configuredHeaters |= (1 << heater);
}
}
}
EndStopHit Platform::Stopped(size_t drive) const
{
if (drive < DRIVES && endStopPins[drive] != NoPin)
{
if (drive >= reprap.GetGCodes()->GetNumAxes())
{
// Endstop not used for an axis, so no configuration data available.
// To allow us to see its status in DWC, pretend it is configured as a high-end active high endstop.
if (ReadPin(endStopPins[drive]))
{
return EndStopHit::highHit;
}
}
else if (endStopType[drive] == EndStopType::noEndStop)
{
// No homing switch is configured for this axis, so see if we should use the Z probe
if (zProbeType > 0 && drive < reprap.GetGCodes()->GetNumAxes() && (zProbeAxes & (1 << drive)) != 0)
{
return GetZProbeResult(); // using the Z probe as a low homing stop for this axis, so just get its result
}
}
else if (ReadPin(endStopPins[drive]) == endStopLogicLevel[drive])
{
return (endStopType[drive] == EndStopType::highEndStop) ? EndStopHit::highHit : EndStopHit::lowHit;
}
}
return EndStopHit::noStop;
}
// Get the statues of all the endstop inputs, regardless of what they are used for. Used for triggers.
uint32_t Platform::GetAllEndstopStates() const
{
uint32_t rslt = 0;
for (unsigned int drive = 0; drive < DRIVES; ++drive)
{
const Pin pin = endStopPins[drive];
if (pin != NoPin && ReadPin(pin))
{
rslt |= (1 << drive);
}
}
return rslt;
}
// Return the Z probe result. We assume that if the Z probe is used as an endstop, it is used as the low stop.
EndStopHit Platform::GetZProbeResult() const
{
const int zProbeVal = GetZProbeReading();
const int zProbeADValue = GetCurrentZProbeParameters().adcValue;
return (zProbeVal >= zProbeADValue) ? EndStopHit::lowHit
: (zProbeVal * 10 >= zProbeADValue * 9) ? EndStopHit::lowNear // if we are at/above 90% of the target value
: EndStopHit::noStop;
}
// Write the Z probe parameters to file
bool Platform::WriteZProbeParameters(FileStore *f) const
{
bool ok = f->Write("; Z probe parameters\n");
if (ok)
{
ok = irZProbeParameters.WriteParameters(f, 1);
}
if (ok)
{
ok = alternateZProbeParameters.WriteParameters(f, 3);
}
if (ok)
{
ok = switchZProbeParameters.WriteParameters(f, 4);
}
return ok;
}
// This is called from the step ISR as well as other places, so keep it fast
void Platform::SetDirection(size_t drive, bool direction)
{
const size_t numAxes = reprap.GetGCodes()->GetNumAxes();
if (drive < numAxes)
{
for (size_t i = 0; i < axisDrivers[drive].numDrivers; ++i)
{
SetDriverDirection(axisDrivers[drive].driverNumbers[i], direction);
}
}
else if (drive < DRIVES)
{
SetDriverDirection(extruderDrivers[drive - numAxes], direction);
}
}
// Enable a driver. Must not be called from an ISR, or with interrupts disabled.
void Platform::EnableDriver(size_t driver)
{
if (driver < DRIVES && driverState[driver] != DriverStatus::enabled)
{
driverState[driver] = DriverStatus::enabled;
UpdateMotorCurrent(driver); // the current may have been reduced by the idle timeout
#if defined(DUET_NG)
if (driver < numTMC2660Drivers)
{
TMC2660::EnableDrive(driver, true);
}
else
{
#endif
digitalWrite(ENABLE_PINS[driver], enableValues[driver]);
#if defined(DUET_NG)
}
#endif
}
}
// Disable a driver
void Platform::DisableDriver(size_t driver)
{
if (driver < DRIVES)
{
#if defined(DUET_NG)
if (driver < numTMC2660Drivers)
{
TMC2660::EnableDrive(driver, false);
}
else
{
#endif
digitalWrite(ENABLE_PINS[driver], !enableValues[driver]);
#if defined(DUET_NG)
}
#endif
driverState[driver] = DriverStatus::disabled;
}
}
// Enable the drivers for a drive. Must not be called from an ISR, or with interrupts disabled.
void Platform::EnableDrive(size_t drive)
{
const size_t numAxes = reprap.GetGCodes()->GetNumAxes();
if (drive < numAxes)
{
for (size_t i = 0; i < axisDrivers[drive].numDrivers; ++i)
{
EnableDriver(axisDrivers[drive].driverNumbers[i]);
}
}
else if (drive < DRIVES)
{
EnableDriver(extruderDrivers[drive - numAxes]);
}
}
// Disable the drivers for a drive
void Platform::DisableDrive(size_t drive)
{
const size_t numAxes = reprap.GetGCodes()->GetNumAxes();
if (drive < numAxes)
{
for (size_t i = 0; i < axisDrivers[drive].numDrivers; ++i)
{
DisableDriver(axisDrivers[drive].driverNumbers[i]);
}
}
else if (drive < DRIVES)
{
DisableDriver(extruderDrivers[drive - numAxes]);
}
}
// Set drives to idle hold if they are enabled. If a drive is disabled, leave it alone.
// Must not be called from an ISR, or with interrupts disabled.
void Platform::SetDriversIdle()
{
for (size_t driver = 0; driver < DRIVES; ++driver)
{
if (driverState[driver] == DriverStatus::enabled)
{
driverState[driver] = DriverStatus::idle;
UpdateMotorCurrent(driver);
}
}
}
// Set the current for a drive. Current is in mA.
void Platform::SetDriverCurrent(size_t driver, float currentOrPercent, bool isPercent)
{
if (driver < DRIVES)
{
if (isPercent)
{
motorCurrentFraction[driver] = 0.01 * currentOrPercent;
}
else
{
motorCurrents[driver] = currentOrPercent;
}
UpdateMotorCurrent(driver);
}
}
// Set the current for all drivers on an axis or extruder. Current is in mA.
void Platform::SetMotorCurrent(size_t drive, float currentOrPercent, bool isPercent)
{
const size_t numAxes = reprap.GetGCodes()->GetNumAxes();
if (drive < numAxes)
{
for (size_t i = 0; i < axisDrivers[drive].numDrivers; ++i)
{
SetDriverCurrent(axisDrivers[drive].driverNumbers[i], currentOrPercent, isPercent);
}
}
else if (drive < DRIVES)
{
SetDriverCurrent(extruderDrivers[drive - numAxes], currentOrPercent, isPercent);
}
}
// This must not be called from an ISR, or with interrupts disabled.
void Platform::UpdateMotorCurrent(size_t driver)
{
if (driver < DRIVES)
{
float current = motorCurrents[driver];
if (driverState[driver] == DriverStatus::idle)
{
current *= idleCurrentFactor;
}
else
{
current *= motorCurrentFraction[driver];
}
#if defined(DUET_NG)
if (driver < numTMC2660Drivers)
{
TMC2660::SetCurrent(driver, current);
}
// else we can't set the current
#elif defined (__RADDS__)
// we can't set the current on RADDS
#else
unsigned short 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
{
# ifndef DUET_NG
if (board == BoardType::Duet_085)
{
# endif
// 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;
# ifdef DUET_NG
AnalogOut(DAC1, dac);
# else
AnalogOut(DAC0, dac);
# endif
}
else
{
mcpExpansion.setNonVolatileWiper(potWipes[driver-1], pot);
mcpExpansion.setVolatileWiper(potWipes[driver-1], pot);
}
# ifndef DUET_NG
}
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);
}
# endif
}
#endif
}
}
// Get the configured motor current for a drive.
// Currently we don't allow multiple motors on a single axis to have different currents, so we can just return the current for the first one.
float Platform::GetMotorCurrent(size_t drive, bool isPercent) const
{
if (drive < DRIVES)
{
const size_t numAxes = reprap.GetGCodes()->GetNumAxes();
const uint8_t driver = (drive < numAxes) ? axisDrivers[drive].driverNumbers[0] : extruderDrivers[drive - numAxes];
if (driver < DRIVES)
{
return (isPercent) ? motorCurrentFraction[driver] * 100.0 : motorCurrents[driver];
}
}
return 0.0;
}
// Set the motor idle current factor
void Platform::SetIdleCurrentFactor(float f)
{
idleCurrentFactor = f;
for (size_t driver = 0; driver < DRIVES; ++driver)
{
if (driverState[driver] == DriverStatus::idle)
{
UpdateMotorCurrent(driver);
}
}
}
// Set the microstepping for a driver, returning true if successful
bool Platform::SetDriverMicrostepping(size_t driver, int microsteps, int mode)
{
if (driver < DRIVES)
{
#if defined(DUET_NG)
if (driver < numTMC2660Drivers)
{
return TMC2660::SetMicrostepping(driver, microsteps, mode);
}
else
{
# endif
// Other drivers only support x16 microstepping.
// We ignore the interpolation on/off parameter so that e.g. M350 I1 E16:128 won't give an error if E1 supports interpolation but E0 doesn't.
return microsteps == 16;
#if defined(DUET_NG)
}
#endif
}
return false;
}
// Set the microstepping, returning true if successful. All drivers for the same axis must use the same microstepping.
bool Platform::SetMicrostepping(size_t drive, int microsteps, int mode)
{
const size_t numAxes = reprap.GetGCodes()->GetNumAxes();
if (drive < numAxes)
{
bool ok = true;
for (size_t i = 0; i < axisDrivers[drive].numDrivers; ++i)
{
ok = SetDriverMicrostepping(axisDrivers[drive].driverNumbers[i], microsteps, mode) && ok;
}
return ok;
}
else if (drive < DRIVES)
{
return SetDriverMicrostepping(extruderDrivers[drive - numAxes], microsteps, mode);
}
return false;
}
// Get the microstepping for a driver
unsigned int Platform::GetDriverMicrostepping(size_t driver, int mode, bool& interpolation) const
{
#if defined(DUET_NG)
if (driver < numTMC2660Drivers)
{
return TMC2660::GetMicrostepping(driver, mode, interpolation);
}
#endif
// On-board drivers only support x16 microstepping without interpolation
interpolation = false;
return 16;
}
// Get the microstepping for an axis or extruder
unsigned int Platform::GetMicrostepping(size_t drive, int mode, bool& interpolation) const
{
const size_t numAxes = reprap.GetGCodes()->GetNumAxes();
if (drive < numAxes)
{
return GetDriverMicrostepping(axisDrivers[drive].driverNumbers[0], mode, interpolation);
}
else if (drive < DRIVES)
{
return GetDriverMicrostepping(extruderDrivers[drive - numAxes], mode, interpolation);
}
else
{
interpolation = false;
return 16;
}
}
void Platform::SetAxisDriversConfig(size_t drive, const AxisDriversConfig& config)
{
axisDrivers[drive] = config;
uint32_t bitmap = 0;
for (size_t i = 0; i < config.numDrivers; ++i)
{
bitmap |= CalcDriverBitmap(config.driverNumbers[i]);
}
driveDriverBits[drive] = bitmap;
}
// Map an extruder to a driver
void Platform::SetExtruderDriver(size_t extruder, uint8_t driver)
{
extruderDrivers[extruder] = driver;
driveDriverBits[extruder + reprap.GetGCodes()->GetNumAxes()] = CalcDriverBitmap(driver);
}
void Platform::SetDriverStepTiming(size_t driver, float microseconds)
{
if (microseconds < minStepPulseTiming)
{
slowDrivers &= ~CalcDriverBitmap(driver); // this drive does not need extended timing
}
else
{
const uint32_t clocks = (uint32_t)(((float)DDA::stepClockRate * microseconds/1000000.0) + 0.99); // convert microseconds to step clocks, rounding up
if (clocks > slowDriverStepPulseClocks)
{
slowDriverStepPulseClocks = clocks;
}
slowDrivers |= CalcDriverBitmap(driver); // this drive does need extended timing
}
}
float Platform::GetDriverStepTiming(size_t driver) const
{
return ((slowDrivers & CalcDriverBitmap(driver)) != 0)
? (float)slowDriverStepPulseClocks * 1000000.0/(float)DDA::stepClockRate
: 0.0;
}
// Get current cooling fan speed on a scale between 0 and 1
float Platform::GetFanValue(size_t fan) const
{
return (fan < NUM_FANS) ? fans[fan].GetValue() : -1;
}
// This is a bit of a compromise - old RepRaps used fan speeds in the range
// [0, 255], which is very hardware dependent. It makes much more sense
// to specify speeds in [0.0, 1.0]. This looks at the value supplied (which
// the G Code reader will get right for a float or an int) and attempts to
// do the right thing whichever the user has done.
void Platform::SetFanValue(size_t fan, float speed)
{
if (fan < NUM_FANS)
{
fans[fan].SetValue(speed);
}
}
#if !defined(DUET_NG) && !defined(__RADDS__)
// Enable or disable the fan that shares its PWM pin with the last heater. Called when we disable or enable the last heater.
void Platform::EnableSharedFan(bool enable)
{
const size_t sharedFanNumber = NUM_FANS - 1;
fans[sharedFanNumber].Init((enable) ? COOLING_FAN_PINS[sharedFanNumber] : NoPin, FansHardwareInverted(sharedFanNumber));
}
#endif
// Get current fan RPM
float Platform::GetFanRPM()
{
// 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 && micros() - fanLastResetTime < 3000000U) // if we have a reading and it is less than 3 second old
? (float)((30000000U * fanMaxInterruptCount)/fanInterval) // then calculate RPM assuming 2 interrupts per rev
: 0.0; // else assume fan is off or tacho not connected
}
bool Platform::FansHardwareInverted(size_t fanNumber) const
{
#if defined(DUET_NG) || defined(__RADDS__)
return false;
#else
// The cooling fan output pin gets inverted on a Duet 0.6 or 0.7.
// We allow a second fan controlled by a mosfet on the PC4 pin, which is not inverted.
return fanNumber == 0 && (board == BoardType::Duet_06 || board == BoardType::Duet_07);
#endif
}
void Platform::InitFans()
{
for (size_t i = 0; i < NUM_FANS; ++i)
{
fans[i].Init(COOLING_FAN_PINS[i], FansHardwareInverted(i));
}
if (NUM_FANS > 1)
{
#ifdef DUET_NG
// Set fan 1 to be thermostatic by default, monitoring all heaters except the default bed heater
fans[1].SetHeatersMonitored(0xFFFF & ~(1 << DefaultBedHeater));
fans[1].SetValue(1.0); // set it full on
#else
// Fan 1 on the Duet 0.8.5 shares its control pin with heater 6. Set it full on to make sure the heater (if present) is off.
fans[1].SetValue(1.0); // set it full on
#endif
}
coolingFanRpmPin = COOLING_FAN_RPM_PIN;
lastRpmResetTime = 0.0;
if (coolingFanRpmPin != NoPin)
{
pinModeDuet(coolingFanRpmPin, INPUT_PULLUP, 1500); // enable pullup and 1500Hz debounce filter (500Hz only worked up to 7000RPM)
}
}
void Platform::SetMACAddress(uint8_t mac[])
{
for (size_t i = 0; i < 6; i++)
{
macAddress[i] = mac[i];
}
}
//-----------------------------------------------------------------------------------------------------
FileStore* Platform::GetFileStore(const char* directory, const char* fileName, bool write)
{
if (!fileStructureInitialised)
{
return nullptr;
}
for (size_t i = 0; i < MAX_FILES; i++)
{
if (!files[i]->inUse)
{
if (files[i]->Open(directory, fileName, write))
{
files[i]->inUse = true;
return files[i];
}
else
{
return nullptr;
}
}
}
Message(HOST_MESSAGE, "Max open file count exceeded.\n");
return NULL;
}
void Platform::AppendAuxReply(const char *msg)
{
// Discard this response if either no aux device is attached or if the response is empty
if (msg[0] != 0 && HaveAux())
{
if (msg[0] == '{')
{
// JSON responses are always sent directly to the AUX device
OutputBuffer *buf;
if (OutputBuffer::Allocate(buf))
{
buf->copy(msg);
auxOutput->Push(buf);
}
}
else
{
// Regular text-based responses for AUX are currently stored and processed by M105/M408
if (auxGCodeReply != nullptr || OutputBuffer::Allocate(auxGCodeReply))
{
auxSeq++;
auxGCodeReply->cat(msg);
}
}
}
}
void Platform::AppendAuxReply(OutputBuffer *reply)
{
// Discard this response if either no aux device is attached or if the response is empty
if (reply == nullptr || reply->Length() == 0 || !HaveAux())
{
OutputBuffer::ReleaseAll(reply);
}
else if ((*reply)[0] == '{')
{
// JSON responses are always sent directly to the AUX device
// For big responses it makes sense to write big chunks of data in portions. Store this data here
auxOutput->Push(reply);
}
else
{
// Other responses are stored for M105/M408
auxSeq++;
if (auxGCodeReply == nullptr)
{
auxGCodeReply = reply;
}
else
{
auxGCodeReply->Append(reply);
}
}
}
void Platform::Message(MessageType type, const char *message)
{
switch (type)
{
case AUX_MESSAGE:
AppendAuxReply(message);
break;
case AUX2_MESSAGE:
#ifdef SERIAL_AUX2_DEVICE
// Message that is to be sent to the second auxiliary device (blocking)
if (!aux2Output->IsEmpty())
{
// If we're still busy sending a response to the USART device, append this message to the output buffer
aux2Output->GetLastItem()->cat(message);
}
else
{
// Send short strings immediately through the aux channel. There is no flow control on this port, so it can't block for long
SERIAL_AUX2_DEVICE.write(message);
SERIAL_AUX2_DEVICE.flush();
}
#endif
break;
case DEBUG_MESSAGE:
// Debug messages in blocking mode - potentially DANGEROUS, use with care!
SERIAL_MAIN_DEVICE.write(message);
SERIAL_MAIN_DEVICE.flush();
break;
case HOST_MESSAGE:
// Message that is to be sent via the USB line (non-blocking)
{
// Ensure we have a valid buffer to write to that isn't referenced for other destinations
OutputBuffer *usbOutputBuffer = usbOutput->GetLastItem();
if (usbOutputBuffer == nullptr || usbOutputBuffer->IsReferenced())
{
if (!OutputBuffer::Allocate(usbOutputBuffer))
{
// Should never happen
return;
}
usbOutput->Push(usbOutputBuffer);
}
// Append the message string
usbOutputBuffer->cat(message);
}
break;
case HTTP_MESSAGE:
reprap.GetWebserver()->HandleGCodeReply(WebSource::HTTP, message);
break;
case TELNET_MESSAGE:
reprap.GetWebserver()->HandleGCodeReply(WebSource::Telnet, message);
break;
case FIRMWARE_UPDATE_MESSAGE:
Message(HOST_MESSAGE, message); // send message to USB
SendAuxMessage(message); // send message to aux
break;
case GENERIC_MESSAGE:
// Message that is to be sent to the web & host. Make this the default one, too.
default:
Message(HTTP_MESSAGE, message);
Message(TELNET_MESSAGE, message);
Message(HOST_MESSAGE, message);
Message(AUX_MESSAGE, message);
break;
}
}
void Platform::Message(const MessageType type, OutputBuffer *buffer)
{
switch (type)
{
case AUX_MESSAGE:
AppendAuxReply(buffer);
break;
case AUX2_MESSAGE:
// Send this message to the second UART device
aux2Output->Push(buffer);
break;
case DEBUG_MESSAGE:
// Probably rarely used, but supported.
while (buffer != nullptr)
{
SERIAL_MAIN_DEVICE.write(buffer->Data(), buffer->DataLength());
SERIAL_MAIN_DEVICE.flush();
buffer = OutputBuffer::Release(buffer);
}
break;
case HOST_MESSAGE:
if (!SERIAL_MAIN_DEVICE)
{
// If the serial USB line is not open, discard the message right away
OutputBuffer::ReleaseAll(buffer);
}
else
{
// Else append incoming data to the stack
usbOutput->Push(buffer);
}
break;
case HTTP_MESSAGE:
reprap.GetWebserver()->HandleGCodeReply(WebSource::HTTP, buffer);
break;
case TELNET_MESSAGE:
reprap.GetWebserver()->HandleGCodeReply(WebSource::Telnet, buffer);
break;
case GENERIC_MESSAGE:
// Message that is to be sent to the web & host.
buffer->IncreaseReferences(3); // This one is handled by three additional destinations
Message(HTTP_MESSAGE, buffer);
Message(TELNET_MESSAGE, buffer);
Message(HOST_MESSAGE, buffer);
Message(AUX_MESSAGE, buffer);
break;
case FIRMWARE_UPDATE_MESSAGE:
// We don't generate any of these with an OutputBuffer argument, but if do we get one, just send it to USB
Message(HOST_MESSAGE, buffer);
break;
default:
// Everything else is unsupported (and probably not used)
OutputBuffer::ReleaseAll(buffer);
MessageF(HOST_MESSAGE, "Error: Unsupported Message call for type %u!\n", type);
break;
}
}
void Platform::MessageF(MessageType type, const char *fmt, va_list vargs)
{
char formatBuffer[FORMAT_STRING_LENGTH];
StringRef formatString(formatBuffer, ARRAY_SIZE(formatBuffer));
formatString.vprintf(fmt, vargs);
Message(type, formatBuffer);
}
void Platform::MessageF(MessageType type, const char *fmt, ...)
{
char formatBuffer[FORMAT_STRING_LENGTH];
StringRef formatString(formatBuffer, ARRAY_SIZE(formatBuffer));
va_list vargs;
va_start(vargs, fmt);
formatString.vprintf(fmt, vargs);
va_end(vargs);
Message(type, formatBuffer);
}
bool Platform::AtxPower() const
{
return ReadPin(ATX_POWER_PIN);
}
void Platform::SetAtxPower(bool on)
{
WriteDigital(ATX_POWER_PIN, on);
}
void Platform::SetPressureAdvance(size_t extruder, float factor)
{
if (extruder < MaxExtruders)
{
pressureAdvance[extruder] = factor;
}
}
float Platform::ActualInstantDv(size_t drive) const
{
const float idv = instantDvs[drive];
const size_t numAxes = reprap.GetGCodes()->GetNumAxes();
if (drive >= numAxes)
{
const float eComp = pressureAdvance[drive - numAxes];
// If we are using pressure advance then we need to limit the extruder instantDv to avoid velocity mismatches.
// Assume that we want the extruder motor position to be accurate to within 0.01mm of extrusion.
// TODO remove this limit and add/remove steps to the previous and/or next move instead
return (eComp <= 0.0) ? idv : min<float>(idv, 0.01/eComp);
}
else
{
return idv;
}
}
void Platform::SetBaudRate(size_t chan, uint32_t br)
{
if (chan < NUM_SERIAL_CHANNELS)
{
baudRates[chan] = br;
ResetChannel(chan);
}
}
uint32_t Platform::GetBaudRate(size_t chan) const
{
return (chan < NUM_SERIAL_CHANNELS) ? baudRates[chan] : 0;
}
void Platform::SetCommsProperties(size_t chan, uint32_t cp)
{
if (chan < NUM_SERIAL_CHANNELS)
{
commsParams[chan] = cp;
ResetChannel(chan);
}
}
uint32_t Platform::GetCommsProperties(size_t chan) const
{
return (chan < NUM_SERIAL_CHANNELS) ? commsParams[chan] : 0;
}
// Re-initialise a serial channel.
// Ideally, this would be part of the Line class. However, the Arduino core inexplicably fails to make the serial I/O begin() and end() members
// virtual functions of a base class, which makes that difficult to do.
void Platform::ResetChannel(size_t chan)
{
switch(chan)
{
case 0:
SERIAL_MAIN_DEVICE.end();
SERIAL_MAIN_DEVICE.begin(baudRates[0]);
break;
case 1:
SERIAL_AUX_DEVICE.end();
SERIAL_AUX_DEVICE.begin(baudRates[1]);
break;
#ifdef SERIAL_AUX2_DEVICE
case 2:
SERIAL_AUX2_DEVICE.end();
SERIAL_AUX2_DEVICE.begin(baudRates[2]);
break;
#endif
default:
break;
}
}
void Platform::SetBoardType(BoardType bt)
{
if (bt == BoardType::Auto)
{
#if defined(DUET_NG) && defined(DUET_WIFI)
board = BoardType::DuetWiFi_10;
#elif defined(DUET_NG) && defined(DUET_ETHERNET)
board = BoardType::DuetEthernet_10;
#elif defined(__RADDS__)
board = BoardType::RADDS_15;
#else
// Determine whether this is a Duet 0.6 or a Duet 0.8.5 board.
// If it is a 0.85 board then DAC0 (AKA digital pin 67) is connected to ground via a diode and a 2.15K resistor.
// So we enable the pullup (value 100K-150K) on pin 67 and read it, expecting a LOW on a 0.8.5 board and a HIGH on a 0.6 board.
// This may fail if anyone connects a load to the DAC0 pin on a Duet 0.6, hence we implement board selection in M115 as well.
pinMode(Dac0DigitalPin, INPUT_PULLUP);
board = (digitalRead(Dac0DigitalPin)) ? BoardType::Duet_06 : BoardType::Duet_085;
pinMode(Dac0DigitalPin, INPUT); // turn pullup off
#endif
}
else
{
board = bt;
}
if (active)
{
InitZProbe(); // select and initialise the Z probe modulation pin
InitFans(); // select whether cooling is inverted or not
}
}
// Get a string describing the electronics
const char* Platform::GetElectronicsString() const
{
switch (board)
{
#if defined(DUET_NG) && defined(DUET_WIFI)
case BoardType::DuetWiFi_10: return "Duet WiFi 1.0";
#elif defined(DUET_NG) && defined(DUET_ETHERNET)
case BoardType::DuetEthernet_10: return "Duet Ethernet 1.0";
#elif defined(__RADDS__)
case BoardType::RADDS_15: return "RADDS 1.5";
#else
case BoardType::Duet_06: return "Duet 0.6";
case BoardType::Duet_07: return "Duet 0.7";
case BoardType::Duet_085: return "Duet 0.85";
#endif
default: return "Unidentified";
}
}
// Get the board string
const char* Platform::GetBoardString() const
{
switch (board)
{
#if defined(DUET_NG) && defined(DUET_WIFI)
case BoardType::DuetWiFi_10: return "duetwifi10";
#elif defined(DUET_NG) && defined(DUET_ETHERNET)
case BoardType::DuetEthernet_10: return "duetethernet10";
#elif defined(__RADDS__)
case BoardType::RADDS_15: return "radds15";
#else
case BoardType::Duet_06: return "duet06";
case BoardType::Duet_07: return "duet07";
case BoardType::Duet_085: return "duet085";
#endif
default: return "unknown";
}
}
// User I/O and servo support
bool Platform::GetFirmwarePin(int logicalPin, PinAccess access, Pin& firmwarePin, bool& invert)
{
firmwarePin = NoPin; // assume failure
invert = false; // this is the common case
if (logicalPin < 0 || logicalPin > HighestLogicalPin)
{
// Pin number out of range, so nothing to do here
}
else if (logicalPin >= Heater0LogicalPin && logicalPin < Heater0LogicalPin + HEATERS) // pins 0-9 correspond to heater channels
{
// For safety, we don't allow a heater channel to be used for servos until the heater has been disabled
if (!reprap.GetHeat()->IsHeaterEnabled(logicalPin - Heater0LogicalPin))
{
firmwarePin = heatOnPins[logicalPin - Heater0LogicalPin];
invert = !HEAT_ON;
}
}
else if (logicalPin >= Fan0LogicalPin && logicalPin < Fan0LogicalPin + (int)NUM_FANS) // pins 20- correspond to fan channels
{
// Don't allow a fan channel to be used unless the fan has been disabled
if (!fans[logicalPin - Fan0LogicalPin].IsEnabled()
#ifdef DUET_NG
// Fan pins on the DueX2/DueX5 cannot be used to control servos because the frequency is not well-defined.
&& (logicalPin <= Fan0LogicalPin + 2 || access != PinAccess::servo)
#endif
)
{
firmwarePin = COOLING_FAN_PINS[logicalPin - Fan0LogicalPin];
#if !defined(DUET_NG) && !defined(__RADDS__)
invert = (board == BoardType::Duet_06 || board == BoardType::Duet_07);
#endif
}
}
else if (logicalPin >= EndstopXLogicalPin && logicalPin < EndstopXLogicalPin + (int)ARRAY_SIZE(endStopPins)) // pins 40-49 correspond to endstop pins
{
if (access == PinAccess::read
#ifdef DUET_NG
// Endstop pins on the DueX2/DueX5 can be used as digital outputs too
|| (access == PinAccess::write && logicalPin >= EndstopXLogicalPin + 5)
#endif
)
{
firmwarePin = endStopPins[logicalPin - EndstopXLogicalPin];
}
}
else if (logicalPin >= Special0LogicalPin && logicalPin < Special0LogicalPin + (int)ARRAY_SIZE(SpecialPinMap))
{
firmwarePin = SpecialPinMap[logicalPin - Special0LogicalPin];
}
#ifdef DUET_NG
else if (logicalPin >= DueX5Gpio0LogicalPin && logicalPin < DueX5Gpio0LogicalPin + (int)ARRAY_SIZE(DueX5GpioPinMap)) // Pins 100-103 are the GPIO pins on the DueX2/X5
{
if (access != PinAccess::servo)
{
firmwarePin = DueX5GpioPinMap[logicalPin - DueX5Gpio0LogicalPin];
}
}
#endif
if (firmwarePin != NoPin)
{
// Check that the pin mode has been defined suitably
PinMode desiredMode;
if (access == PinAccess::write)
{
desiredMode = (invert) ? OUTPUT_HIGH : OUTPUT_LOW;
}
else if (access == PinAccess::pwm || access == PinAccess::servo)
{
desiredMode = (invert) ? OUTPUT_PWM_HIGH : OUTPUT_PWM_LOW;
}
else
{
desiredMode = INPUT_PULLUP;
}
if (logicalPinModes[logicalPin] != (int8_t)desiredMode)
{
SetPinMode(firmwarePin, desiredMode);
logicalPinModes[logicalPin] = (int8_t)desiredMode;
}
return true;
}
return false;
}
bool Platform::SetExtrusionAncilliaryPwmPin(int logicalPin)
{
return GetFirmwarePin(logicalPin, PinAccess::pwm, extrusionAncilliaryPwmFirmwarePin, extrusionAncilliaryPwmInvert);
}
#if SUPPORT_INKJET
// Fire the inkjet (if any) in the given pattern
// If there is no inkjet, false is returned; if there is one this returns true
// So you can test for inkjet presence with if(platform->Inkjet(0))
bool Platform::Inkjet(int bitPattern)
{
if (inkjetBits < 0)
return false;
if (!bitPattern)
return true;
for(int8_t i = 0; i < inkjetBits; i++)
{
if (bitPattern & 1)
{
digitalWrite(inkjetSerialOut, 1); // Write data to shift register
for(int8_t j = 0; j <= i; j++)
{
digitalWrite(inkjetShiftClock, HIGH);
digitalWrite(inkjetShiftClock, LOW);
digitalWrite(inkjetSerialOut, 0);
}
digitalWrite(inkjetStorageClock, HIGH); // Transfers data from shift register to output register
digitalWrite(inkjetStorageClock, LOW);
digitalWrite(inkjetOutputEnable, LOW); // Fire the droplet out
delayMicroseconds(inkjetFireMicroseconds);
digitalWrite(inkjetOutputEnable, HIGH);
digitalWrite(inkjetClear, LOW); // Clear to 0
digitalWrite(inkjetClear, HIGH);
delayMicroseconds(inkjetDelayMicroseconds); // Wait for the next bit
}
bitPattern >>= 1; // Put the next bit in the units column
}
return true;
}
#endif
#ifndef __RADDS__
// CPU temperature
void Platform::GetMcuTemperatures(float& minT, float& currT, float& maxT) const
{
minT = AdcReadingToCpuTemperature(lowestMcuTemperature);
currT = AdcReadingToCpuTemperature(currentMcuTemperature);
maxT = AdcReadingToCpuTemperature(highestMcuTemperature);
}
#endif
#ifdef DUET_NG
// Power in voltage
void Platform::GetPowerVoltages(float& minV, float& currV, float& maxV) const
{
minV = AdcReadingToPowerVoltage(lowestVin);
currV = AdcReadingToPowerVoltage(currentVin);
maxV = AdcReadingToPowerVoltage(highestVin);
}
#endif
// Real-time clock
bool Platform::IsDateTimeSet() const
{
return realTime != 0;
}
time_t Platform::GetDateTime() const
{
return realTime;
}
bool Platform::SetDateTime(time_t time)
{
struct tm brokenDateTime;
const bool ok = (gmtime_r(&time, &brokenDateTime) != nullptr);
if (ok)
{
realTime = time;
timeLastUpdatedMillis = millis();
}
return ok;
}
bool Platform::SetDate(time_t date)
{
// Check the validity of the date passed in
struct tm brokenNewDate;
const bool ok = (gmtime_r(&date, &brokenNewDate) != nullptr);
if (ok)
{
struct tm brokenTimeNow;
if (realTime == 0 || gmtime_r(&realTime, &brokenTimeNow) == nullptr)
{
// We didn't have a valid date/time set, so set the date and time to the value passed in
realTime = date;
timeLastUpdatedMillis = millis();
}
else
{
// Merge the existing time into the date passed in
brokenNewDate.tm_hour = brokenTimeNow.tm_hour;
brokenNewDate.tm_min = brokenTimeNow.tm_min;
brokenNewDate.tm_sec = brokenTimeNow.tm_sec;
realTime = mktime(&brokenNewDate);
}
}
return ok;
}
bool Platform::SetTime(time_t time)
{
// Check the validity of the date passed in
struct tm brokenNewTime;
const bool ok = (gmtime_r(&time, &brokenNewTime) != nullptr);
if (ok)
{
struct tm brokenTimeNow;
if (realTime == 0 || gmtime_r(&realTime, &brokenTimeNow) == nullptr)
{
// We didn't have a valid date/time set, so set the date and time to the value passed in
realTime = time;
}
else
{
// Merge the new time into the current date/time
brokenTimeNow.tm_hour = brokenNewTime.tm_hour;
brokenTimeNow.tm_min = brokenNewTime.tm_min;
brokenTimeNow.tm_sec = brokenNewTime.tm_sec;
realTime = mktime(&brokenTimeNow);
}
timeLastUpdatedMillis = millis();
}
return ok;
}
// Step pulse timer interrupt
void STEP_TC_HANDLER()
{
STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_IDR = TC_IER_CPAS; // disable the interrupt
#ifdef MOVE_DEBUG
++numInterruptsExecuted;
lastInterruptTime = Platform::GetInterruptClocks();
#endif
reprap.GetMove()->Interrupt();
}
// Schedule an interrupt at the specified clock count, or return true if that time is imminent or has passed already.
// Must be called with interrupts disabled,
/*static*/ bool Platform::ScheduleInterrupt(uint32_t tim)
{
tc_write_ra(STEP_TC, STEP_TC_CHAN, tim); // set up the compare register
tc_get_status(STEP_TC, STEP_TC_CHAN); // clear any pending interrupt
int32_t diff = (int32_t)(tim - GetInterruptClocks()); // see how long we have to go
if (diff < (int32_t)DDA::minInterruptInterval) // if less than about 2us or already passed
{
return true; // tell the caller to simulate an interrupt instead
}
STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_IER = TC_IER_CPAS; // enable the interrupt
#ifdef MOVE_DEBUG
++numInterruptsScheduled;
nextInterruptTime = tim;
nextInterruptScheduledAt = Platform::GetInterruptClocks();
#endif
return false;
}
// Make sure we get no step interrupts
/*static*/ void Platform::DisableStepInterrupt()
{
STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_IDR = TC_IER_CPAS;
}
// Process a 1ms tick interrupt
// This function must be kept fast so as not to disturb the stepper timing, so don't do any floating point maths in here.
// This is what we need to do:
// 1. Kick off a new ADC conversion.
// 2. Fetch and process the result of the last ADC conversion.
// 3a. If the last ADC conversion was for the Z probe, toggle the modulation output if using a modulated IR sensor.
// 3b. If the last ADC reading was a thermistor reading, check for an over-temperature situation and turn off the heater if necessary.
// We do this here because the usual polling loop sometimes gets stuck trying to send data to the USB port.
//#define TIME_TICK_ISR 1 // define this to store the tick ISR time in errorCodeBits
void Platform::Tick()
{
#ifdef TIME_TICK_ISR
uint32_t now = micros();
#endif
if (tickState != 0)
{
#ifdef DUET_NG
// Read the power input voltage
currentVin = AnalogInReadChannel(vInMonitorAdcChannel);
if (currentVin > highestVin)
{
highestVin = currentVin;
}
if (currentVin < lowestVin)
{
lowestVin = currentVin;
}
if (driversPowered && currentVin > driverOverVoltageAdcReading)
{
TMC2660::SetDriversPowered(false);
// We deliberately do not clear driversPowered here or increase the over voltage event count - we let the spin loop handle that
}
#endif
}
switch (tickState)
{
case 1:
case 3:
// We process a thermistor reading on alternate ticks
if (IsThermistorChannel(currentHeater))
{
// Because we are in the tick ISR and no other ISR reads the averaging filter, we can cast away 'volatile' here
ThermistorAveragingFilter& currentFilter = const_cast<ThermistorAveragingFilter&>(thermistorFilters[currentHeater]);
currentFilter.ProcessReading(AnalogInReadChannel(thermistorAdcChannels[heaterTempChannels[currentHeater]]));
}
// Guard against overly long delays between successive calls of PID::Spin().
// Do not call Time() here, it isn't safe. We use millis() instead.
if ((configuredHeaters & (1 << currentHeater)) != 0 && (millis() - reprap.GetHeat()->GetLastSampleTime(currentHeater)) > maxPidSpinDelay)
{
SetHeater(currentHeater, 0.0);
LogError(ErrorCode::BadTemp);
}
++currentHeater;
if (currentHeater == HEATERS)
{
currentHeater = 0;
}
// If we are not using a simple modulated IR sensor, process the Z probe reading on every tick for a faster response.
// If we are using a simple modulated IR sensor then we need to allow the reading to settle after turning the IR emitter on or off,
// so on alternate ticks we read it and switch the emitter
if (zProbeType != 2)
{
const_cast<ZProbeAveragingFilter&>((tickState == 1) ? zProbeOnFilter : zProbeOffFilter).ProcessReading(GetRawZProbeReading());
}
++tickState;
break;
case 2:
const_cast<ZProbeAveragingFilter&>(zProbeOnFilter).ProcessReading(GetRawZProbeReading());
if (zProbeType == 2) // if using a modulated IR sensor
{
digitalWrite(zProbeModulationPin, LOW); // turn off the IR emitter
}
// Read the MCU temperature as well (no need to do it in every state)
#ifndef __RADDS__
currentMcuTemperature = AnalogInReadChannel(temperatureAdcChannel);
#endif
++tickState;
break;
case 4: // last conversion started was the Z probe, with IR LED off if modulation is enabled
const_cast<ZProbeAveragingFilter&>(zProbeOffFilter).ProcessReading(GetRawZProbeReading());
// no break
case 0: // this is the state after initialisation, no conversion has been started
default:
if (zProbeType == 2) // if using a modulated IR sensor
{
digitalWrite(zProbeModulationPin, HIGH); // turn on the IR emitter
}
tickState = 1;
break;
}
AnalogInStartConversion();
#ifdef TIME_TICK_ISR
uint32_t now2 = micros();
if (now2 - now > errorCodeBits)
{
errorCodeBits = now2 - now;
}
#endif
}
// Pragma pop_options is not supported on this platform
//#pragma GCC pop_options
// End
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