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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 "PrintMonitor.h"
#include "FilamentSensors/FilamentSensor.h"
#include "RepRap.h"
#include "Scanner.h"
#include "Version.h"
#include "SoftTimer.h"
#include "Logger.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"
#endif
#if HAS_WIFI_NETWORKING
# include "FirmwareUpdater.h"
#endif
#include <climits>
#include <malloc.h>
extern char _end;
extern "C" char *sbrk(int i);
#if !defined(HAS_LWIP_NETWORKING) || !defined(HAS_CPU_TEMP_SENSOR) || !defined(HAS_HIGH_SPEED_SD)
# error Missing feature definition
#endif
#if SAM4E && USE_CACHE
#include "sam/drivers/cmcc/cmcc.h"
inline void EnableCache()
{
cmcc_invalidate_all(CMCC);
cmcc_enable(CMCC);
}
inline void DisableCache()
{
cmcc_disable(CMCC);
}
#else
inline void EnableCache() {}
inline void DisableCache() {}
#endif
#if HAS_VOLTAGE_MONITOR
inline constexpr float AdcReadingToPowerVoltage(uint16_t adcVal)
{
return adcVal * (PowerMonitorVoltageRange/4096.0);
}
inline constexpr uint16_t PowerVoltageToAdcReading(float voltage)
{
return (uint16_t)(voltage * (4096.0/PowerMonitorVoltageRange));
}
constexpr uint16_t driverPowerOnAdcReading = PowerVoltageToAdcReading(10.0); // minimum voltage at which we initialise the drivers
constexpr uint16_t driverPowerOffAdcReading = PowerVoltageToAdcReading(9.5); // voltages below this flag the drivers as unusable
constexpr uint16_t driverOverVoltageAdcReading = PowerVoltageToAdcReading(29.0); // voltages above this cause driver shutdown
constexpr uint16_t driverNormalVoltageAdcReading = PowerVoltageToAdcReading(27.5); // 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 LogicalPin Heater0LogicalPin = 0;
const LogicalPin Fan0LogicalPin = 20;
const LogicalPin EndstopXLogicalPin = 40;
const LogicalPin Special0LogicalPin = 60;
#ifdef DUET_NG
const LogicalPin DueX5Gpio0LogicalPin = 100;
const LogicalPin AdditionalExpansionLogicalPin = 120;
#endif
//#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
//#define SOFT_TIMER_DEBUG
#ifdef SOFT_TIMER_DEBUG
unsigned int numSoftTimerInterruptsExecuted = 0;
uint32_t lastSoftTimerInterruptScheduledAt = 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()
{
#if HAS_SMART_DRIVERS
// 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
#if SAM4E && USE_CACHE
// Enable the cache
struct cmcc_config g_cmcc_cfg;
cmcc_get_config_defaults(&g_cmcc_cfg);
cmcc_init(CMCC, &g_cmcc_cfg);
EnableCache();
#endif
// 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.
void hardFaultDispatcher(const uint32_t *pulFaultStackAddress)
{
reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::hardFault, pulFaultStackAddress + 5);
}
// The fault handler implementation calls a function called hardFaultDispatcher()
void HardFault_Handler() __attribute__((naked));
void HardFault_Handler()
{
__asm volatile
(
" tst lr, #4 \n" /* test bit 2 of the EXC_RETURN in LR to determine which stack was in use */
" ite eq \n" /* load the appropriate stack pointer into R0 */
" mrseq r0, msp \n"
" mrsne r0, psp \n"
" ldr r2, handler_hf_address_const \n"
" bx r2 \n"
" handler_hf_address_const: .word hardFaultDispatcher \n"
);
}
void wdtFaultDispatcher(const uint32_t *pulFaultStackAddress)
{
reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::wdtFault, pulFaultStackAddress + 5);
}
void WDT_Handler() __attribute__((naked));
void WDT_Handler()
{
__asm volatile
(
" tst lr, #4 \n" /* test bit 2 of the EXC_RETURN in LR to determine which stack was in use */
" ite eq \n" /* load the appropriate stack pointer into R0 */
" mrseq r0, msp \n"
" mrsne r0, psp \n"
" ldr r2, handler_wdt_address_const \n"
" bx r2 \n"
" handler_wdt_address_const: .word wdtFaultDispatcher \n"
);
}
void otherFaultDispatcher(const uint32_t *pulFaultStackAddress)
{
reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::otherFault, pulFaultStackAddress + 5);
}
// The fault handler implementation calls a function called otherFaultDispatcher()
void OtherFault_Handler() __attribute__((naked));
void OtherFault_Handler()
{
__asm volatile
(
" tst lr, #4 \n" /* test bit 2 of the EXC_RETURN in LR to determine which stack was in use */
" ite eq \n" /* load the appropriate stack pointer into R0 */
" mrseq r0, msp \n"
" mrsne r0, psp \n"
" ldr r2, handler_oflt_address_const \n"
" bx r2 \n"
" handler_oflt_address_const: .word otherFaultDispatcher \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); }
// 2017-05-25: A user is getting 'otherFault' reports, so now we do a stack dump for those too.
void SVC_Handler () __attribute__ ((alias("OtherFault_Handler")));
void DebugMon_Handler () __attribute__ ((alias("OtherFault_Handler")));
void PendSV_Handler () __attribute__ ((alias("OtherFault_Handler")));
}
// 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%" PRIu32 " X%.1f Y%.1f Z%.2f\n", probeType, adcValue, (double)xOffset, (double)yOffset, (double)height);
return f->Write(scratchString.Pointer());
}
//*************************************************************************************************
// Platform class
uint8_t Platform::softwareResetDebugInfo = 0; // extra info for debugging
Platform::Platform() :
logger(nullptr), board(DEFAULT_BOARD_TYPE), active(false), errorCodeBits(0),
#if HAS_SMART_DRIVERS
nextDriveToPoll(0),
onBoardDriversFanRunning(false), offBoardDriversFanRunning(false), onBoardDriversFanStartMillis(0), offBoardDriversFanStartMillis(0),
#endif
lastFanCheckTime(0), auxGCodeReply(nullptr), tickState(0), debugCode(0), lastWarningMillis(0)
{
// Output
auxOutput = new OutputStack();
#ifdef SERIAL_AUX2_DEVICE
aux2Output = new OutputStack();
#endif
usbOutput = new OutputStack();
// Files
massStorage = new MassStorage(this);
}
//*******************************************************************************************************************
void Platform::Init()
{
// Deal with power first
pinMode(ATX_POWER_PIN, OUTPUT_LOW);
deferredPowerDown = false;
SetBoardType(BoardType::Auto);
// Real-time clock
realTime = 0;
// Comms
baudRates[0] = MAIN_BAUD_RATE;
baudRates[1] = AUX_BAUD_RATE;
#ifdef SERIAL_AUX2_DEVICE
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
#ifdef SERIAL_AUX2_DEVICE
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)
// The WiFi module has a unique MAC address, so we don't need a default
memset(macAddress, 0xFF, sizeof(macAddress));
#elif (defined(DUET_NG) && defined(DUET_ETHERNET)) || (defined(__SAME70Q21__))
// On the Duet Ethernet and SAM E70, use the unique chip ID as most of the MAC address.
// The unique ID is 128 bits long whereas the whole MAC address is only 48 bits,
// so we can't guarantee that each Duet will get a unique MAC address this way.
{
uint32_t idBuf[4];
memset(idBuf, 0, sizeof(idBuf));
DisableCache();
cpu_irq_disable();
uint32_t rc = flash_read_unique_id(idBuf, 4);
cpu_irq_enable();
EnableCache();
if (rc == 0)
{
memset(macAddress, 0, sizeof(macAddress));
macAddress[0] = 0xBE; // use a fixed first byte with the locally-administered bit set
const uint8_t * const idBytes = reinterpret_cast<const uint8_t *>(idBuf);
for (size_t i = 0; i < 15; ++i)
{
macAddress[(i % 5) + 1] ^= idBytes[i];
}
}
else
{
ARRAY_INIT(macAddress, DefaultMacAddress);
}
}
#else
// Set the default MAC address. The user must change it manually if using more than one Duet 06 or 085 on a network.
ARRAY_INIT(macAddress, DefaultMacAddress);
#endif
// File management
massStorage->Init();
#if defined(DUET_06_085)
// Motor current setting on Duet 0.6 and 0.8.5
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
ARRAY_INIT(potWipes, POT_WIPES);
senseResistor = SENSE_RESISTOR;
maxStepperDigipotVoltage = MAX_STEPPER_DIGIPOT_VOLTAGE;
stepperDacVoltageRange = STEPPER_DAC_VOLTAGE_RANGE;
stepperDacVoltageOffset = STEPPER_DAC_VOLTAGE_OFFSET;
#endif
#if defined(__ALLIGATOR__)
pinMode(EthernetPhyResetPin, INPUT); // Init Ethernet Phy Reset Pin
// Alligator Init DAC for motor current vref
ARRAY_INIT(spiDacCS, SPI_DAC_CS);
dacAlligator.Init(spiDacCS[0]);
dacPiggy.Init(spiDacCS[1]);
// Get macaddress from EUI48 eeprom
eui48MacAddress.Init(Eui48csPin);
if(! eui48MacAddress.getEUI48(macAddress)) {
ARRAY_INIT(macAddress, DefaultMacAddress);
}
Microstepping::Init(); // Init Motor FAULT detect Pin
pinMode(ExpansionVoltageLevelPin, ExpansionVoltageLevel==3 ? OUTPUT_LOW : OUTPUT_HIGH); // Init Expansion Voltage Level Pin
pinMode(MotorFaultDetectPin,INPUT); // Init Motor FAULT detect Pin
pinMode(ExpansionPiggyDetectPin,INPUT); // Init Expansion Piggy module presence Pin
pinMode(FTDIconverterResetPin,INPUT); // Init FTDI Serial Converter Reset Pin
pinMode(SpiEEPROMcsPin,OUTPUT_HIGH); // Init Spi EEPROM Cs pin, not implemented, default unselected
pinMode(SpiFLASHcsPin,OUTPUT_HIGH); // Init Spi FLASH Cs pin, not implemented, default unselected
#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;
// Z PROBE
zProbeType = 0; // default is to use no Z probe
zProbePin = Z_PROBE_PIN;
zProbeAdcChannel = PinToAdcChannel(zProbePin);
SetZProbeDefaults();
InitZProbe(); // this also sets up zProbeModulationPin
// AXES
ARRAY_INIT(axisMaxima, AXIS_MAXIMA);
ARRAY_INIT(axisMinima, AXIS_MINIMA);
axisMaximaProbed = axisMinimaProbed = 0;
idleCurrentFactor = DefaultIdleCurrentFactor;
// 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;
#ifdef PIOD
PIOD->PIO_OWDR = 0xFFFFFFFF;
#endif
#ifdef PIOE
PIOE->PIO_OWDR = 0xFFFFFFFF;
#endif
for (size_t drive = 0; drive < DRIVES; drive++)
{
enableValues[drive] = 0; // assume active low enable signal
directions[drive] = true; // drive moves forwards by default
// Map axes and extruders straight through
if (drive < MaxAxes)
{
axisDrivers[drive].numDrivers = 1;
axisDrivers[drive].driverNumbers[0] = (uint8_t)drive;
endStopPos[drive] = EndStopPosition::lowEndStop; // default to low endstop
endStopInputType[drive] = EndStopInputType::activeHigh; // assume all endstops use active high logic e.g. normally-closed switch to ground
}
driveDriverBits[drive] = driveDriverBits[drive + DRIVES] = 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;
#if HAS_SMART_DRIVERS
motorStandstillCurrentFraction[drive] = 1.0;
#endif
driverState[drive] = DriverStatus::disabled;
// Enable pullup resistors on endstop inputs here if necessary.
#if defined(DUET_NG)
// The Duets have hardware pullup resistors/LEDs except for the two on the CONN_LCD connector.
// They have RC filtering on the main endstop inputs, so best not to enable the pullup resistors on these.
if (drive >= 10)
{
setPullup(endStopPins[drive], true); // enable pullup on CONN_LCD endstop input
}
#endif
#if defined(__RADDS__) || defined(__ALLIGATOR__)
// I don't know whether RADDS and Alligator have hardware pullup resistors or not. I'll assume they might not.
setPullup(endStopPins[drive], true);
#endif
}
slowDriverStepPulseClocks = 0; // no extended driver timing configured yet
slowDrivers = 0; // assume no drivers need extended step pulse timing
for (size_t extr = 0; extr < MaxExtruders; ++extr)
{
extruderDrivers[extr] = (uint8_t)(extr + MinAxes); // set up default extruder drive mapping
SetPressureAdvance(extr, 0.0); // no pressure advance
}
#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::DueXnInit();
switch (expansionBoard)
{
case ExpansionBoardType::DueX2:
numSmartDrivers = 7;
break;
case ExpansionBoardType::DueX5:
numSmartDrivers = 10;
break;
case ExpansionBoardType::none:
case ExpansionBoardType::DueX0:
default:
numSmartDrivers = 5; // assume that any additional drivers are dumb enable/step/dir ones
break;
}
DuetExpansion::AdditionalOutputInit();
// Initialise TMC2660 driver module
driversPowered = false;
SmartDrivers::Init(ENABLE_PINS, numSmartDrivers);
logOnStallDrivers = pauseOnStallDrivers = rehomeOnStallDrivers = 0;
// 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);
}
}
temperatureShutdownDrivers = temperatureWarningDrivers = shortToGroundDrivers = openLoadDrivers = stalledDrivers = 0;
stalledDriversToLog = stalledDriversToPause = stalledDriversToRehome = 0;
onBoardDriversFanRunning = offBoardDriversFanRunning = false;
autoSaveEnabled = false;
autoSaveState = AutoSaveState::starting;
#endif
extrusionAncilliaryPwmValue = 0.0;
ARRAY_INIT(tempSensePins, TEMP_SENSE_PINS);
ARRAY_INIT(heatOnPins, HEAT_ON_PINS);
ARRAY_INIT(spiTempSenseCsPins, SpiTempSensorCsPins);
configuredHeaters = 0;
for (int8_t bedHeater : DefaultBedHeaters)
{
if (bedHeater >= 0)
{
configuredHeaters |= (1 << bedHeater);
}
}
for (int8_t chamberHeater : DefaultChamberHeaters)
{
if (chamberHeater >= 0)
{
configuredHeaters |= (1 << chamberHeater);
}
}
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],
#if ACTIVE_LOW_HEAT_ON
OUTPUT_LOW
#else
OUTPUT_HIGH
#endif
);
}
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);
thermistorFilters[heater].Init(0);
}
#if HAS_CPU_TEMP_SENSOR
cpuTemperatureFilter.Init(0);
#endif
// 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
#if HAS_CPU_TEMP_SENSOR
// MCU temperature monitoring
temperatureAdcChannel = GetTemperatureAdcChannel();
AnalogInEnableChannel(temperatureAdcChannel, true);
highestMcuTemperature = 0; // the highest output we have seen from the ADC filter
lowestMcuTemperature = 4095 * ThermistorAverageReadings; // the lowest output we have seen from the ADC filter
mcuTemperatureAdjust = 0.0;
#endif
#if HAS_VOLTAGE_MONITOR
// Power monitoring
vInMonitorAdcChannel = PinToAdcChannel(PowerMonitorVinDetectPin);
pinMode(PowerMonitorVinDetectPin, AIN);
AnalogInEnableChannel(vInMonitorAdcChannel, true);
currentVin = highestVin = 0;
lowestVin = 9999;
numUnderVoltageEvents = previousUnderVoltageEvents = numOverVoltageEvents = previousOverVoltageEvents = 0;
#endif
// Clear the spare pin configuration
memset(logicalPinModes, PIN_MODE_NOT_CONFIGURED, sizeof(logicalPinModes)); // set all pins to "not configured"
// Kick everything off
longWait = millis();
InitialiseInterrupts(); // also sets 'active' to true
}
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);
#ifdef DUET_06_085
zProbeModulationPin = (board == BoardType::Duet_07 || board == BoardType::Duet_085) ? Z_PROBE_MOD_PIN07 : Z_PROBE_MOD_PIN06;
#else
zProbeModulationPin = 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);
pinMode(zProbeModulationPin, OUTPUT_LOW); // we now set the modulation output high during probing only when using probe types 4 and higher
break;
case 5:
case 8:
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);
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(endStopPins[Z_AXIS], INPUT);
pinMode(zProbeModulationPin, OUTPUT_LOW); // we now set the modulation output high during probing only when using probe types 4 and higher
break;
}
}
// 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 (zProbeType == 8 || (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
case 7: // Switch connected to Z 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 8: // Switch connected to Z probe input, no filtering
zProbeVal = GetRawZProbeReading()/4;
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;
}
// Get our best estimate of the Z probe temperature
float Platform::GetZProbeTemperature()
{
for (size_t i = 0; i < NumBedHeaters; i++)
{
const int8_t bedHeater = reprap.GetHeat().GetBedHeater(i);
if (bedHeater >= 0)
{
TemperatureError err;
const float temp = reprap.GetHeat().GetTemperature(bedHeater, err);
if (err == TemperatureError::success)
{
return temp;
}
}
}
return 25.0; // assume 25C if we can't read the 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 <= 8) ? 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:
case 8:
return irZProbeParameters;
case 3:
return alternateZProbeParameters;
case 4:
case 6:
case 7:
default:
return switchZProbeParameters;
}
}
void Platform::SetZProbeParameters(int32_t probeType, const ZProbeParameters& params)
{
switch (probeType)
{
case 1:
case 2:
case 5:
case 8:
irZProbeParameters = params;
break;
case 3:
alternateZProbeParameters = params;
break;
case 4:
case 6:
case 7:
default:
switchZProbeParameters = params;
break;
}
}
// Program the Z probe, returning true if error
bool Platform::ProgramZProbe(GCodeBuffer& gb, StringRef& reply)
{
if (gb.Seen('S'))
{
long zProbeProgram[MaxZProbeProgramBytes];
size_t len = MaxZProbeProgramBytes;
gb.GetLongArray(zProbeProgram, len);
if (len != 0)
{
for (size_t i = 0; i < len; ++i)
{
if (zProbeProgram[i] < 0 || zProbeProgram[i] > 255)
{
reply.copy("Out of range value in program bytes");
return true;
}
}
zProbeProg.SendProgram(zProbeProgram, len);
return false;
}
}
reply.copy("No program bytes provided");
return true;
}
// Set the state of the Z probe modulation pin
void Platform::SetZProbeModState(bool b) const
{
IoPort::WriteDigital(zProbeModulationPin, b);
}
// Return true if we are using a bed probe to home Z
bool Platform::HomingZWithProbe() const
{
return zProbeType != 0 && (endStopInputType[Z_AXIS] == EndStopInputType::zProbe || endStopPos[Z_AXIS] == EndStopPosition::noEndStop);
}
// Check the prerequisites for updating the main firmware. Return True if satisfied, else print a message to 'reply' and return false.
bool Platform::CheckFirmwareUpdatePrerequisites(StringRef& reply)
{
FileStore * const firmwareFile = OpenFile(GetSysDir(), IAP_FIRMWARE_FILE, OpenMode::read);
if (firmwareFile == nullptr)
{
reply.printf("Firmware binary \"%s\" not found", IAP_FIRMWARE_FILE);
return false;
}
// Check that the binary looks sensible. The first word is the initial stack pointer, which should be the top of RAM.
uint32_t firstDword;
bool ok = firmwareFile->Read(reinterpret_cast<char*>(&firstDword), sizeof(firstDword)) == (int)sizeof(firstDword);
firmwareFile->Close();
if (!ok || firstDword !=
#if SAM3XA
IRAM1_ADDR + IRAM1_SIZE
#else
IRAM_ADDR + IRAM_SIZE
#endif
)
{
reply.printf("Firmware binary \"%s\" is not valid for this electronics", IAP_FIRMWARE_FILE);
return false;
}
if (!GetMassStorage()->FileExists(GetSysDir(), IAP_UPDATE_FILE))
{
reply.printf("In-application programming binary \"%s\" not found", IAP_UPDATE_FILE);
return false;
}
return true;
}
// Update the firmware. Prerequisites should be checked before calling this.
void Platform::UpdateFirmware()
{
FileStore * const iapFile = OpenFile(GetSysDir(), IAP_UPDATE_FILE, OpenMode::read);
if (iapFile == nullptr)
{
MessageF(FirmwareUpdateMessage, "IAP not found\n");
return;
}
// The machine will be unresponsive for a few seconds, don't risk damaging the heaters...
reprap.EmergencyStop();
// Step 0 - disable the cache because it seems to interfere with flash memory access
DisableCache();
// 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 SAM4E || SAM4S || SAME70
// 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(FirmwareUpdateErrorMessage, "flash write failed, code=%" PRIu32 ", address=0x%08" PRIx32 "\n", rc, flashAddr);
return;
}
// Verify written data
if (memcmp(reinterpret_cast<void *>(flashAddr), data, bytesRead) != 0)
{
MessageF(FirmwareUpdateErrorMessage, "verify during flash write failed, address=0x%08" PRIx32 "\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(FirmwareUpdateErrorMessage, "flash %s failed, code=%" PRIu32 ", address=0x%08" PRIx32 "\n", op, rc, flashAddr);
return;
}
// Verify written data
if (memcmp(reinterpret_cast<void *>(flashAddr), data, bytesRead) != 0)
{
MessageF(FirmwareUpdateErrorMessage, "verify during flash write failed, address=0x%08" PRIx32 "\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(LcdMessage, "Updating main firmware\n");
Message(UsbMessage, "Shutting down USB interface to update main firmware. Try reconnecting after 30 seconds.\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
}
// Disable all PIO IRQs, because the core assumes they are all disabled when setting them up
PIOA->PIO_IDR = 0xFFFFFFFF;
PIOB->PIO_IDR = 0xFFFFFFFF;
PIOC->PIO_IDR = 0xFFFFFFFF;
#ifdef PIOD
PIOD->PIO_IDR = 0xFFFFFFFF;
#endif
#ifdef ID_PIOE
PIOE->PIO_IDR = 0xFFFFFFFF;
#endif
// 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 SAM3XA
IRAM1_ADDR + IRAM1_SIZE
#else
IRAM_ADDR + IRAM_SIZE
#endif
)
{
memcpy(reinterpret_cast<char*>(topOfStack), filename, sizeof(filename));
}
#if defined(DUET_NG) || defined(DUET_M)
IoPort::WriteDigital(Z_PROBE_MOD_PIN, false); // turn the DIAG LED off
#endif
wdt_restart(WDT); // kick the watchdog one last time
#if SAM4E || SAME70
rswdt_restart(RSWDT); // kick the secondary watchdog
#endif
// 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(LcdMessage, "{\"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(LcdMessage, buf);
}
}
void Platform::Exit()
{
StopLogging();
massStorage->CloseAllFiles();
// 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(ErrorMessage, "Attempt to emulate unsupported firmware.\n");
}
else
{
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];
}
#if HAS_LWIP_NETWORKING
# if HAS_MULTIPLE_NETWORK_INTERFACES
reprap.GetNetwork().SetIPAddress(EthernetInterfaceIndex, ipAddress, gateWay, netMask);
# else
reprap.GetNetwork().SetIPAddress(ipAddress, gateWay, netMask);
# endif
#endif
}
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);
}
}
#ifdef SERIAL_AUX2_DEVICE
// Write non-blocking data to the second AUX line
OutputBuffer *aux2OutputBuffer = aux2Output->GetFirstItem();
if (aux2OutputBuffer != nullptr)
{
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);
}
}
#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
#ifdef SERIAL_AUX2_DEVICE
|| aux2Output->GetFirstItem() != nullptr
#endif
|| usbOutput->GetFirstItem() != nullptr;
}
void Platform::Spin()
{
if (!active)
{
return;
}
massStorage->Spin();
// Try to flush messages to serial ports
(void)FlushMessages();
// Check the MCU max and min temperatures
#if HAS_CPU_TEMP_SENSOR
if (cpuTemperatureFilter.IsValid())
{
const uint32_t currentMcuTemperature = cpuTemperatureFilter.GetSum();
if (currentMcuTemperature > highestMcuTemperature)
{
highestMcuTemperature= currentMcuTemperature;
}
if (currentMcuTemperature < lowestMcuTemperature)
{
lowestMcuTemperature = currentMcuTemperature;
}
}
#endif
// Diagnostics test
if (debugCode == (int)DiagnosticTestType::TestSpinLockup)
{
for (;;) {}
}
#if HAS_SMART_DRIVERS
// 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
{
// Check one TMC2660 for temperature warning or temperature shutdown
if (enableValues[nextDriveToPoll] >= 0) // don't poll driver if it is flagged "no poll"
{
const uint32_t stat = SmartDrivers::GetAccumulatedStatus(nextDriveToPoll, 0);
const DriversBitmap mask = MakeBitmap<DriversBitmap>(nextDriveToPoll);
if (stat & TMC_RR_OT)
{
temperatureShutdownDrivers |= mask;
temperatureWarningDrivers &= ~mask; // no point in setting warning as well as error
}
else
{
temperatureShutdownDrivers &= ~mask;
if (stat & TMC_RR_OTPW)
{
temperatureWarningDrivers |= mask;
}
else
{
temperatureWarningDrivers &= ~mask;
}
}
if (stat & TMC_RR_S2G)
{
shortToGroundDrivers |= mask;
}
else
{
shortToGroundDrivers &= ~mask;
}
if ((stat & (TMC_RR_OLA | TMC_RR_OLB)) != 0 && (stat & TMC_RR_STST) == 0)
{
openLoadDrivers |= mask;
}
else
{
openLoadDrivers &= ~mask;
}
if ((stat & TMC_RR_SG) != 0)
{
if ((stalledDrivers & mask) == 0)
{
// This stall is new and we are printing, so check whether we need to perform some action in response to the stall
if ((rehomeOnStallDrivers & mask) != 0)
{
stalledDriversToRehome |= mask;
}
else if ((pauseOnStallDrivers & mask) != 0)
{
stalledDriversToPause |= mask;
}
else if ((logOnStallDrivers & mask) != 0)
{
stalledDriversToLog |= mask;
}
}
stalledDrivers |= mask;
}
else
{
stalledDrivers &= ~mask;
}
}
// Action any pause or rehome actions due to motor stalls. This may have to be done more than once.
if (stalledDriversToRehome != 0)
{
if (reprap.GetGCodes().ReHomeOnStall(stalledDriversToRehome))
{
stalledDriversToRehome = 0;
}
}
else if (stalledDriversToPause != 0)
{
if (reprap.GetGCodes().PauseOnStall(stalledDriversToPause))
{
stalledDriversToPause = 0;
}
}
// Advance drive number ready for next time
++nextDriveToPoll;
if (nextDriveToPoll == numSmartDrivers)
{
nextDriveToPoll = 0;
}
}
}
else if (currentVin >= driverPowerOnAdcReading && currentVin <= driverNormalVoltageAdcReading)
{
driversPowered = true;
}
SmartDrivers::SetDriversPowered(driversPowered);
#endif
const uint32_t now = millis();
// Update the time
if (realTime != 0)
{
if (now - timeLastUpdatedMillis >= 1000)
{
++realTime; // this assumes that time_t is a seconds-since-epoch counter, which is not guaranteed by the C standard
timeLastUpdatedMillis += 1000;
}
}
// Thermostatically-controlled fans (do this after getting TMC driver status)
if (now - lastFanCheckTime >= FanCheckInterval)
{
lastFanCheckTime = now;
bool thermostaticFanRunning = false;
for (size_t fan = 0; fan < NUM_FANS; ++fan)
{
if (fans[fan].Check())
{
thermostaticFanRunning = true;
}
}
if (deferredPowerDown && !thermostaticFanRunning)
{
AtxPowerOff(false);
}
// Check whether it is time to report any faults (do this after checking fans in case driver cooling fans are turned on)
if (now - lastWarningMillis > MinimumWarningInterval)
{
bool reported = false;
#if HAS_SMART_DRIVERS
ReportDrivers(shortToGroundDrivers, "Error: Short-to-ground", reported);
ReportDrivers(temperatureShutdownDrivers, "Error: Over temperature shutdown", reported);
// Don't report open load because we get too many spurious open load reports
//ReportDrivers(openLoadDrivers, "Error: Open load", reported);
// Don't warn about a hot driver if we recently turned on a fan to cool it
if (temperatureWarningDrivers != 0)
{
// Don't warn about over-temperature drivers if we have recently turned on a fan to cool them
const bool onBoardOtw = (temperatureWarningDrivers & ((1u << 5) - 1)) != 0;
const bool offBoardOtw = (temperatureWarningDrivers & ~((1u << 5) - 1)) != 0;
if ( (onBoardOtw && (!onBoardDriversFanRunning || now - onBoardDriversFanStartMillis >= DriverCoolingTimeout))
|| (offBoardOtw && (!offBoardDriversFanRunning || now - offBoardDriversFanStartMillis >= DriverCoolingTimeout))
)
{
ReportDrivers(temperatureWarningDrivers, "Warning: high temperature", reported);
}
}
// Check for stalled drivers that need to be reported and logged
if (stalledDriversToLog != 0 && reprap.GetGCodes().IsReallyPrinting())
{
scratchString.Clear();
ListDrivers(scratchString, stalledDriversToLog);
stalledDriversToLog = 0;
float liveCoordinates[DRIVES];
reprap.GetMove().LiveCoordinates(liveCoordinates, reprap.GetCurrentXAxes(), reprap.GetCurrentYAxes());
MessageF(WarningMessage, "Driver(s)%s stalled at Z height %.2f", scratchString.Pointer(), (double)liveCoordinates[Z_AXIS]);
reported = true;
}
#endif
#if HAS_VOLTAGE_MONITOR
if (numOverVoltageEvents != previousOverVoltageEvents)
{
MessageF(WarningMessage, "VIN over-voltage event (%.1fV)", (double)GetCurrentPowerVoltage());
previousOverVoltageEvents = numOverVoltageEvents;
reported = true;
}
if (numUnderVoltageEvents != previousUnderVoltageEvents)
{
MessageF(WarningMessage, "VIN under-voltage event (%.1fV)", (double)GetCurrentPowerVoltage());
previousUnderVoltageEvents = numUnderVoltageEvents;
reported = true;
}
#endif
#ifdef DUET_NG
// Check for a VSSA fault
if (vssaSenseWorking && digitalRead(VssaSensePin))
{
Message(ErrorMessage, "VSSA fault, check thermistor wiring\n");
reported = true;
}
#endif
if (reported)
{
lastWarningMillis = now;
}
}
}
#if HAS_VOLTAGE_MONITOR
// Check for auto-pause, shutdown or resume
if (autoSaveEnabled)
{
switch (autoSaveState)
{
case AutoSaveState::starting:
if (currentVin >= autoResumeReading)
{
autoSaveState = AutoSaveState::normal;
}
break;
case AutoSaveState::normal:
if (currentVin < autoPauseReading)
{
if (reprap.GetGCodes().LowVoltagePause())
{
autoSaveState = AutoSaveState::autoPaused;
}
}
break;
case AutoSaveState::autoPaused:
if (currentVin >= autoResumeReading)
{
if (reprap.GetGCodes().LowVoltageResume())
{
autoSaveState = AutoSaveState::normal;
}
}
break;
default:
break;
}
}
#endif
// Flush the log file it it is time. This may take some time, so do it last.
if (logger != nullptr)
{
logger->Flush(false);
}
ClassReport(longWait);
}
#if HAS_SMART_DRIVERS
// Report driver status conditions that require attention.
// Sets 'reported' if we reported anything, else leaves 'reported' alone.
void Platform::ReportDrivers(DriversBitmap whichDrivers, const char* text, bool& reported)
{
if (whichDrivers != 0)
{
scratchString.printf("%s on drivers", text);
for (unsigned int drive = 0; whichDrivers != 0; ++drive)
{
if ((whichDrivers & 1) != 0)
{
scratchString.catf(" %u", drive);
}
whichDrivers >>= 1;
}
MessageF(WarningMessage, "%s\n", scratchString.Pointer());
reported = true;
}
}
// Return true if any motor driving this axis or extruder is stalled
bool Platform::AnyMotorStalled(size_t drive) const
{
const size_t numAxes = reprap.GetGCodes().GetTotalAxes();
if (drive < numAxes)
{
for (size_t i = 0; i < axisDrivers[drive].numDrivers; ++i)
{
if ((SmartDrivers::GetLiveStatus(axisDrivers[drive].driverNumbers[i]) & TMC_RR_SG) != 0)
{
return true;
}
}
return false;
}
return (SmartDrivers::GetLiveStatus(extruderDrivers[drive - numAxes]) & TMC_RR_SG) != 0;
}
#endif
#if HAS_VOLTAGE_MONITOR
void Platform::DisableAutoSave()
{
autoSaveEnabled = false;
}
bool Platform::IsPowerOk() const
{
return !autoSaveEnabled || currentVin > autoPauseReading;
}
void Platform::EnableAutoSave(float saveVoltage, float resumeVoltage)
{
autoPauseReading = PowerVoltageToAdcReading(saveVoltage);
autoResumeReading = PowerVoltageToAdcReading(resumeVoltage);
autoSaveEnabled = true;
}
bool Platform::GetAutoSaveSettings(float& saveVoltage, float&resumeVoltage)
{
if (autoSaveEnabled)
{
saveVoltage = AdcReadingToPowerVoltage(autoPauseReading);
resumeVoltage = AdcReadingToPowerVoltage(autoResumeReading);
}
return autoSaveEnabled;
}
#endif
// Save some resume information
bool Platform::WriteFanSettings(FileStore *f) const
{
bool ok = true;
for (size_t fanNum = 0; ok && fanNum < NUM_FANS; ++fanNum)
{
ok = fans[fanNum].WriteSettings(f, fanNum);
}
return ok;
}
#if HAS_CPU_TEMP_SENSOR
float Platform::AdcReadingToCpuTemperature(uint32_t adcVal) const
{
const float voltage = (float)adcVal * (3.3/(float)(4096 * ThermistorAverageReadings));
#if SAM4E || SAM4S
return (voltage - 1.44) * (1000.0/4.7) + 27.0 + mcuTemperatureAdjust; // accuracy at 27C is +/-13C
#elif SAM3XA
return (voltage - 0.8) * (1000.0/2.65) + 27.0 + mcuTemperatureAdjust; // accuracy at 27C is +/-45C
#else
# error undefined CPU temp conversion
#endif
}
#endif
// 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)
{
cpu_irq_disable(); // disable interrupts before we call any flash functions. We don't enable them again.
wdt_restart(WDT); // kick the watchdog
#if SAM4E || SAME70
rswdt_restart(RSWDT); // kick the secondary watchdog
#endif
DisableCache(); // disable the cache, it seems to upset flash memory access
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 HAS_LWIP_NETWORKING
if (reprap.GetNetwork().InLwip())
{
reason |= (uint16_t)SoftwareResetReason::inLwipSpin;
}
#endif
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 |= (uint8_t)reprap.GetSpinningModule();
reason |= (softwareResetDebugInfo & 0x07) << 5;
// Record the reason for the software reset
// First find a free slot (wear levelling)
size_t slot = SoftwareResetData::numberOfSlots;
SoftwareResetData srdBuf[SoftwareResetData::numberOfSlots];
#if SAM4E || SAM4S || SAME70
if (flash_read_user_signature(reinterpret_cast<uint32_t*>(srdBuf), sizeof(srdBuf)/sizeof(uint32_t)) == FLASH_RC_OK)
#elif SAM3XA
DueFlashStorage::read(SoftwareResetData::nvAddress, srdBuf, sizeof(srdBuf));
#else
# error
#endif
{
while (slot != 0 && srdBuf[slot - 1].isVacant())
{
--slot;
}
}
if (slot == SoftwareResetData::numberOfSlots)
{
// No free slots, so erase the area
#if SAM4E || SAM4S || SAME70
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
#if SAM4E || SAM4S || SAME70
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
#if HAS_LWIP_NETWORKING
void NETWORK_TC_HANDLER()
{
tc_get_status(NETWORK_TC, NETWORK_TC_CHAN);
reprap.GetNetwork().Interrupt();
}
#endif
static void FanInterrupt(CallbackParameter)
{
++fanInterruptCount;
if (fanInterruptCount == fanMaxInterruptCount)
{
uint32_t now = micros();
fanInterval = now - fanLastResetTime;
fanLastResetTime = now;
fanInterruptCount = 0;
}
}
void Platform::InitialiseInterrupts()
{
#if SAM4E || SAM7E
NVIC_SetPriority(WDT_IRQn, NvicPriorityWatchdog); // set priority for watchdog interrupts
#endif
// Set the tick interrupt to the highest priority. We need to to monitor the heaters and kick the watchdog.
NVIC_SetPriority(SysTick_IRQn, NvicPrioritySystick); // set priority for tick interrupts
#if SAM4E || SAM4S || SAME70
NVIC_SetPriority(UART0_IRQn, NvicPriorityPanelDueUart); // set priority for UART interrupt
NVIC_SetPriority(UART1_IRQn, NvicPriorityWiFiUart); // set priority for WiFi UART interrupt
#else
NVIC_SetPriority(UART_IRQn, NvicPriorityPanelDueUart); // set priority for UART interrupt
#endif
#if HAS_SMART_DRIVERS
NVIC_SetPriority(USART_TMC_DRV_IRQn, NvicPriorityDriversUsart);
#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)
// 1.067us resolution on the Duet WiFi (120MHz clock)
// 0.853us resolution on the SAM E70 (150MHz clock)
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 | TC_CMR_EEVT_XC0); // must set TC_CMR_EEVT nonzero to get RB compare interrupts
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, NvicPriorityStep); // set high priority for this IRQ; it's time-critical
NVIC_EnableIRQ(STEP_TC_IRQN);
#if HAS_LWIP_NETWORKING
pmc_enable_periph_clk((uint32_t) NETWORK_TC_IRQN);
# if SAME70
// Timer interrupt to keep the networking timers running (called at 18Hz)
tc_init(NETWORK_TC, NETWORK_TC_CHAN, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK4);
const uint32_t rc = (VARIANT_MCK/128)/18; // 128 because we selected TIMER_CLOCK4 above (16-bit counter)
# else
// Timer interrupt to keep the networking timers running (called at 16Hz)
tc_init(NETWORK_TC, NETWORK_TC_CHAN, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK2);
const uint32_t rc = (VARIANT_MCK/8)/16; // 8 because we selected TIMER_CLOCK2 above (32-bit counter)
# endif
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, NvicPriorityNetworkTick);
NVIC_EnableIRQ(NETWORK_TC_IRQN);
// Set up the Ethernet interface priority here to because we have access to the priority definitions
# if SAME70
NVIC_SetPriority(GMAC_IRQn, NvicPriorityEthernet);
# else
NVIC_SetPriority(EMAC_IRQn, NvicPriorityEthernet);
# endif
#endif
NVIC_SetPriority(PIOA_IRQn, NvicPriorityPins);
NVIC_SetPriority(PIOB_IRQn, NvicPriorityPins);
NVIC_SetPriority(PIOC_IRQn, NvicPriorityPins);
#ifdef ID_PIOD
NVIC_SetPriority(PIOD_IRQn, NvicPriorityPins);
#endif
#ifdef ID_PIOE
NVIC_SetPriority(PIOE_IRQn, NvicPriorityPins);
#endif
#if SAME70
NVIC_SetPriority(USBHS_IRQn, NvicPriorityUSB);
#elif SAM4E || SAM4S
NVIC_SetPriority(UDP_IRQn, NvicPriorityUSB);
#elif SAM3XA
NVIC_SetPriority(UOTGHS_IRQn, NvicPriorityUSB);
#else
# error
#endif
#if !SAME70
NVIC_SetPriority(TWI1_IRQn, NvicPriorityTwi);
#endif
// Interrupt for 4-pin PWM fan sense line
if (coolingFanRpmPin != NoPin)
{
attachInterrupt(coolingFanRpmPin, FanInterrupt, FALLING, nullptr);
}
// Tick interrupt for ADC conversions
tickState = 0;
currentHeater = 0;
// Set up the timeout of the regulator watchdog, and set up the backup watchdog if there is one
// The clock frequency for both watchdogs is 32768/128 = 256Hz
const uint16_t timeout = 32768/128; // set watchdog timeout to 1 second (max allowed value is 4095 = 16 seconds)
wdt_init(WDT, WDT_MR_WDRSTEN, timeout, timeout); // reset the processor on a watchdog fault
#if SAM4E || SAME70
// The RSWDT must be initialised *after* the main WDT
const uint16_t rsTimeout = 16384/128; // set secondary watchdog timeout to 0.5 second (max allowed value is 4095 = 16 seconds)
rswdt_init(RSWDT, RSWDT_MR_WDFIEN, rsTimeout, rsTimeout); // generate an interrupt on a watchdog fault
NVIC_EnableIRQ(WDT_IRQn); // enable the watchdog interrupt
#endif
active = true; // this enables the tick interrupt, which keeps the watchdog happy
}
//*************************************************************************************************
// Debugging variables
//extern "C" uint32_t longestWriteWaitTime, shortestWriteWaitTime, longestReadWaitTime, shortestReadWaitTime;
//extern uint32_t maxRead, maxWrite;
#if SAM4E || SAM4S || SAME70
// Print the unique processor ID
void Platform::PrintUniqueId(MessageType mtype)
{
uint32_t idBuf[5];
const irqflags_t flags = cpu_irq_save();
DisableCache();
const uint32_t rc = flash_read_unique_id(idBuf, 4);
EnableCache();
cpu_irq_restore(flags);
if (rc == 0)
{
// Put the checksum at the end
idBuf[4] = idBuf[0] ^ idBuf[1] ^ idBuf[2] ^ idBuf[3];
// We are only going to print 30 5-bit characters = 128 data bits + 22 checksum bits. So compress the 32 checksum bits into 22.
idBuf[4] ^= (idBuf[4] >> 10);
// Print the unique ID and checksum as 30 base5 alphanumeric digits
char digits[30 + 5 + 1]; // 30 characters, 5 separators, 1 null terminator
char *digitPtr = digits;
for (size_t i = 0; i < 30; ++i)
{
if ((i % 5) == 0 && i != 0)
{
*digitPtr++ = '-';
}
const size_t index = (i * 5) / 32;
const size_t shift = (i * 5) % 32;
uint32_t val = idBuf[index] >> shift;
if (shift > 32 - 5)
{
// We need some bits from the next dword too
val |= idBuf[index + 1] << (32 - shift);
}
val &= 31;
char c;
if (val < 10)
{
c = val + '0';
}
else
{
c = val + ('A' - 10);
// We have 26 letters in the usual A-Z alphabet and we only need 22 of them plus 0-9.
// So avoid using letters C, E, I and O which are easily mistaken for G, F, 1 and 0.
if (c >= 'C')
{
++c;
}
if (c >= 'E')
{
++c;
}
if (c >= 'I')
{
++c;
}
if (c >= 'O')
{
++c;
}
}
*digitPtr++ = c;
}
*digitPtr = 0;
MessageF(mtype, "Board ID: %s\n", digits);
}
}
#endif
// Return diagnostic information
void Platform::Diagnostics(MessageType mtype)
{
#if SAM4E && USE_CACHE
// Get the cache statistics before we start messing around with the cache
const uint32_t cacheCount = cmcc_get_monitor_cnt(CMCC);
#endif
Message(mtype, "=== Platform ===\n");
// Print the firmware version and board type
MessageF(mtype, "%s version %s running on %s", FIRMWARE_NAME, VERSION, GetElectronicsString());
#ifdef DUET_NG
const char* const expansionName = DuetExpansion::GetExpansionBoardName();
if (expansionName != nullptr)
{
MessageF(mtype, " + %s", expansionName);
}
#endif
Message(mtype, "\n");
#if SAM4E || SAM4S || SAME70
PrintUniqueId(mtype);
#endif
// Print memory stats and error codes to USB and copy them to the current webserver reply
const char *ramstart =
#if SAME70
(char *) 0x20400000;
#elif SAM4E || SAM4S
(char *) 0x20000000;
#elif SAM3XA
(char *) 0x20070000;
#else
# error
#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: %" PRIu32 " current, %" PRIu32 " maximum\n", currentStack, maxStack);
MessageF(mtype, "Never used ram: %" PRIu32 "\n", neverUsed);
// Show the up time and reason for the last reset
const uint32_t now = (uint32_t)(millis64()/1000u); // get up time in seconds
const char* resetReasons[8] = { "power up", "backup", "watchdog", "software",
#if SAM4E || SAM4S
// 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;
#if SAM4E || SAM4S || SAME70
// Work around bug in ASF flash library: flash_read_user_signature calls a RAMFUNC without 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();
DisableCache();
const uint32_t rc = flash_read_user_signature(reinterpret_cast<uint32_t*>(srdBuf), sizeof(srdBuf)/sizeof(uint32_t));
EnableCache();
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 reason: ");
if (slot >= 0 && srdBuf[slot].magic == SoftwareResetData::magicValue)
{
const uint32_t reason = srdBuf[slot].resetReason & 0xF0;
const char* const reasonText = (reason == (uint32_t)SoftwareResetReason::user) ? "User"
: (reason == (uint32_t)SoftwareResetReason::NMI) ? "NMI"
: (reason == (uint32_t)SoftwareResetReason::hardFault) ? "Hard fault"
: (reason == (uint32_t)SoftwareResetReason::stuckInSpin) ? "Stuck in spin loop"
: (reason == (uint32_t)SoftwareResetReason::wdtFault) ? "Watchdog timeout"
: (reason == (uint32_t)SoftwareResetReason::otherFault) ? "Other fault"
: "Unknown";
MessageF(mtype, "%s, spinning module %s, available RAM %" PRIu32 " bytes (slot %d)\n",
reasonText, moduleName[srdBuf[slot].resetReason & 0x0F], srdBuf[slot].neverUsedRam, slot);
// Our format buffer is only 256 characters long, so the next 2 lines must be written separately
MessageF(mtype, "Software reset code 0x%04x, HFSR 0x%08" PRIx32 ", CFSR 0x%08" PRIx32 ", ICSR 0x%08" PRIx32 ", BFAR 0x%08" PRIx32 ", SP 0x%08" PRIx32 "\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(" %08" PRIx32, srdBuf[slot].stack[i]);
}
MessageF(mtype, "Stack:%s\n", scratchString.Pointer());
}
}
else
{
Message(mtype, "not available\n");
}
}
// Show the current error codes
MessageF(mtype, "Error status: %" PRIu32 "\n", errorCodeBits);
// Show the number of free entries in the file table
MessageF(mtype, "Free file entries: %u\n", massStorage->GetNumFreeFiles());
// Show the HSMCI CD pin and speed
#if HAS_HIGH_SPEED_SD
MessageF(mtype, "SD card 0 %s, interface speed: %.1fMBytes/sec\n", (massStorage->IsCardDetected(0) ? "detected" : "not detected"), (double)((float)hsmci_get_speed() * 0.000001));
#else
MessageF(mtype, "SD card 0 %s\n", (massStorage->IsCardDetected(0) ? "detected" : "not detected"));
#endif
// Show the longest SD card write time
MessageF(mtype, "SD card longest block write time: %.1fms\n", (double)FileStore::GetAndClearLongestWriteTime());
#if HAS_CPU_TEMP_SENSOR
// Show the MCU temperatures
const uint32_t currentMcuTemperature = cpuTemperatureFilter.GetSum();
MessageF(mtype, "MCU temperature: min %.1f, current %.1f, max %.1f\n",
(double)AdcReadingToCpuTemperature(lowestMcuTemperature), (double)AdcReadingToCpuTemperature(currentMcuTemperature), (double)AdcReadingToCpuTemperature(highestMcuTemperature));
lowestMcuTemperature = highestMcuTemperature = currentMcuTemperature;
#endif
#if HAS_VOLTAGE_MONITOR
// Show the supply voltage
MessageF(mtype, "Supply voltage: min %.1f, current %.1f, max %.1f, under voltage events: %" PRIu32 ", over voltage events: %" PRIu32 "\n",
(double)AdcReadingToPowerVoltage(lowestVin), (double)AdcReadingToPowerVoltage(currentVin), (double)AdcReadingToPowerVoltage(highestVin),
numUnderVoltageEvents, numOverVoltageEvents);
lowestVin = highestVin = currentVin;
#endif
#if HAS_SMART_DRIVERS
// Show the motor stall status
for (size_t drive = 0; drive < numSmartDrivers; ++drive)
{
String<100> driverStatus;
SmartDrivers::AppendDriverStatus(drive, driverStatus.GetRef());
MessageF(mtype, "Driver %u:%s\n", drive, driverStatus.c_str());
}
#endif
#ifdef DUET_NG
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");
}
#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");
}
#if SAM4E && USE_CACHE
// Get the cache statistics before we start messing around with the cache
MessageF(mtype, "Cache data hit count %" PRIu32 "\n", cacheCount);
#endif
// 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
#ifdef SOFT_TIMER_DEBUG
MessageF(mtype, "Soft timer interrupts executed %u, next %u scheduled at %u, now %u\n",
numSoftTimerInterruptsExecuted, STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_RB, lastSoftTimerInterruptScheduledAt, GetInterruptClocks());
#endif
}
bool Platform::DiagnosticTest(GCodeBuffer& gb, StringRef& reply, int d)
{
static const uint32_t dummy[2] = { 0, 0 };
switch (d)
{
case (int)DiagnosticTestType::PrintTestReport:
{
const MessageType mtype = gb.GetResponseMessageType();
bool testFailed = false;
// Check the SD card detect and speed
if (!massStorage->IsCardDetected(0))
{
Message(AddError(mtype), "SD card 0 not detected\n");
testFailed = true;
}
#if HAS_HIGH_SPEED_SD
else if (hsmci_get_speed() != ExpectedSdCardSpeed)
{
MessageF(AddError(mtype), "SD card speed %.2fMbytes/sec is unexpected\n", (double)((float)hsmci_get_speed() * 0.000001));
testFailed = true;
}
#endif
else
{
Message(mtype, "SD card interface OK\n");
}
#if HAS_CPU_TEMP_SENSOR
// Check the MCU temperature
{
float tempMinMax[2];
size_t numTemps = 2;
bool seen = false;
if (gb.TryGetFloatArray('T', numTemps, tempMinMax, reply, seen, false))
{
return true;
}
if (!seen)
{
reply.copy("Missing T parameter");
return true;
}
const float currentMcuTemperature = AdcReadingToCpuTemperature(cpuTemperatureFilter.GetSum());
if (currentMcuTemperature < tempMinMax[0])
{
MessageF(AddError(mtype), "MCU temperature %.1f is lower than expected\n", (double)currentMcuTemperature);
testFailed = true;
}
else if (currentMcuTemperature > tempMinMax[1])
{
MessageF(AddError(mtype), "MCU temperature %.1f is higher than expected\n", (double)currentMcuTemperature);
testFailed = true;
}
else
{
Message(mtype, "MCU temperature reading OK\n");
}
}
#endif
#if HAS_VOLTAGE_MONITOR
// Check the supply voltage
{
float voltageMinMax[2];
size_t numVoltages = 2;
bool seen = false;
if (gb.TryGetFloatArray('V', numVoltages, voltageMinMax, reply, seen, false))
{
return true;
}
if (!seen)
{
reply.copy("Missing V parameter");
return true;
}
const float voltage = AdcReadingToPowerVoltage(currentVin);
if (voltage < voltageMinMax[0])
{
MessageF(AddError(mtype), "Voltage reading %.1f is lower than expected\n", (double)voltage);
testFailed = true;
}
else if (voltage > voltageMinMax[1])
{
MessageF(AddError(mtype), "Voltage reading %.1f is higher than expected\n", (double)voltage);
testFailed = true;
}
else
{
Message(mtype, "Voltage reading OK\n");
}
}
#endif
#if HAS_SMART_DRIVERS
// Check the stepper driver status
bool driversOK = true;
for (size_t driver = 0; driver < numSmartDrivers; ++driver)
{
const uint32_t stat = SmartDrivers::GetAccumulatedStatus(driver, 0xFFFFFFFF);
if ((stat & (TMC_RR_OT || TMC_RR_OTPW)) != 0)
{
MessageF(AddError(mtype), "Driver %u reports over temperature\n", driver);
driversOK = false;
}
if ((stat & TMC_RR_S2G) != 0)
{
MessageF(AddError(mtype), "Driver %u reports short-to-ground\n", driver);
driversOK = false;
}
}
if (driversOK)
{
Message(mtype, "Driver status OK\n");
}
else
{
testFailed = true;
}
#endif
Message(mtype, (testFailed) ? "***** ONE OR MORE CHECKS FAILED *****\n" : "All checks passed\n");
#if SAM4E || SAM4S || SAME70
if (!testFailed)
{
PrintUniqueId(mtype);
}
#endif
}
break;
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
#if SAME70
// FIXME: The SAME70 provides an MPU, maybe we should configure it as well?
// I guess this can wait until we have the RTOS working though.
Message(WarningMessage, "There is no abort area on the SAME70");
#elif SAM4E || SAM4S
(void)RepRap::ReadDword(reinterpret_cast<const char*>(0x20800000));
#elif SAM3XA
(void)RepRap::ReadDword(reinterpret_cast<const char*>(0x20200000));
#else
# error
#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.
{
uint32_t tim1 = 0;
bool ok1 = true;
for (uint32_t i = 0; i < 100; ++i)
{
const uint32_t num1 = 0x7265ac3d + i;
const uint32_t now1 = Platform::GetInterruptClocks();
const uint32_t num1a = isqrt64((uint64_t)num1 * num1);
tim1 += Platform::GetInterruptClocks() - now1;
if (num1a != num1)
{
ok1 = false;
}
}
uint32_t tim2 = 0;
bool ok2 = true;
for (uint32_t i = 0; i < 100; ++i)
{
const uint32_t num2 = 0x0000a4c5 + i;
const uint32_t now2 = Platform::GetInterruptClocks();
const uint32_t num2a = isqrt64((uint64_t)num2 * num2);
tim2 += Platform::GetInterruptClocks() - now2;
if (num2a != num2)
{
ok2 = false;
}
}
reply.printf("Square roots: 62-bit %.2fus %s, 32-bit %.2fus %s\n",
(double)(tim1 * 10000)/DDA::stepClockRate, (ok1) ? "ok" : "ERROR",
(double)(tim2 * 10000)/DDA::stepClockRate, (ok2) ? "ok" : "ERROR");
}
break;
#ifdef DUET_NG
case (int)DiagnosticTestType::PrintExpanderStatus:
reply.printf("Expander status %04X\n", DuetExpansion::DiagnosticRead());
break;
#endif
default:
break;
}
return false;
}
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(uint32_t &lastTime)
{
const Module spinningModule = reprap.GetSpinningModule();
if (reprap.Debug(spinningModule))
{
const uint32_t now = millis();
if (now - lastTime >= LongTime)
{
lastTime = now;
MessageF(UsbMessage, "Class %s spinning\n", moduleName[spinningModule]);
}
}
}
#if HAS_SMART_DRIVERS
// This is called when a fan that monitors driver temperatures is turned on when it was off
void Platform::DriverCoolingFansOn(uint32_t driverChannelsMonitored)
{
if (driverChannelsMonitored & 1)
{
onBoardDriversFanStartMillis = millis();
onBoardDriversFanRunning = true;
}
if (driverChannelsMonitored & 2)
{
offBoardDriversFanStartMillis = millis();
offBoardDriversFanRunning = true;
}
}
#endif
// Power is a fraction in [0,1]
void Platform::SetHeater(size_t heater, float power, PwmFrequency freq)
{
if (heatOnPins[heater] != NoPin)
{
if (freq == 0)
{
freq = (reprap.GetHeat().IsBedOrChamberHeater(heater)) ? SlowHeaterPwmFreq : NormalHeaterPwmFreq; // use sefault PWM frequency
}
const float pwm =
#if ACTIVE_LOW_HEAT_ON
1.0 - power;
#else
power;
#endif
IoPort::WriteAnalog(heatOnPins[heater], pwm, freq);
}
}
void Platform::UpdateConfiguredHeaters()
{
configuredHeaters = 0;
// Check bed heaters
for (size_t i = 0; i < NumBedHeaters; i++)
{
const int8_t bedHeater = reprap.GetHeat().GetBedHeater(i);
if (bedHeater >= 0)
{
configuredHeaters |= (1 << bedHeater);
}
}
// Check chamber heaters
for (size_t i = 0; i < NumChamberHeaters; i++)
{
const int8_t chamberHeater = reprap.GetHeat().GetChamberHeater(i);
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)
{
if (drive >= reprap.GetGCodes().GetTotalAxes())
{
// 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.
return (endStopPins[drive] != NoPin && IoPort::ReadPin(endStopPins[drive])) ? EndStopHit::highHit : EndStopHit::noStop;
}
else
{
switch (endStopInputType[drive])
{
case EndStopInputType::zProbe:
{
const EndStopHit rslt = GetZProbeResult();
return (rslt == EndStopHit::lowHit && endStopPos[drive] == EndStopPosition::highEndStop)
? EndStopHit::highHit
: rslt;
}
#if HAS_SMART_DRIVERS
case EndStopInputType::motorStall:
{
bool motorIsStalled;
switch (reprap.GetMove().GetKinematics().GetKinematicsType())
{
case KinematicsType::coreXY:
// Both X and Y motors are involved in homing X or Y
motorIsStalled = (drive == X_AXIS || drive == Y_AXIS)
? AnyMotorStalled(X_AXIS) || AnyMotorStalled(Y_AXIS)
: AnyMotorStalled(drive);
break;
case KinematicsType::coreXYU:
// Both X and Y motors are involved in homing X or Y, and both U and V motors are involved in homing U
motorIsStalled = (drive == X_AXIS || drive == Y_AXIS)
? AnyMotorStalled(X_AXIS) || AnyMotorStalled(Y_AXIS)
: (drive == U_AXIS)
? AnyMotorStalled(U_AXIS) || AnyMotorStalled(V_AXIS)
: AnyMotorStalled(drive);
break;
case KinematicsType::coreXZ:
// Both X and Z motors are involved in homing X or Z
motorIsStalled = (drive == X_AXIS || drive == Z_AXIS)
? AnyMotorStalled(X_AXIS) || AnyMotorStalled(Z_AXIS)
: AnyMotorStalled(drive);
break;
default:
motorIsStalled = AnyMotorStalled(drive);
break;
}
return (!motorIsStalled) ? EndStopHit::noStop
: (endStopPos[drive] == EndStopPosition::highEndStop) ? EndStopHit::highHit
: EndStopHit::lowHit;
}
break;
#endif
case EndStopInputType::activeLow:
case EndStopInputType::activeHigh:
if (endStopPins[drive] != NoPin)
{
bool b = IoPort::ReadPin(endStopPins[drive]);
if (endStopInputType[drive] == EndStopInputType::activeHigh)
{
b = !b;
}
return (b) ? EndStopHit::noStop : (endStopPos[drive] == EndStopPosition::highEndStop) ? EndStopHit::highHit : EndStopHit::lowHit;
}
break;
default:
break;
}
}
}
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 && IoPort::ReadPin(pin))
{
rslt |= (1u << 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::nearStop // if we are at/above 90% of the target value
: EndStopHit::noStop;
}
// Write the platform parameters to file
bool Platform::WritePlatformParameters(FileStore *f) const
{
bool ok;
if (axisMinimaProbed != 0 || axisMaximaProbed != 0)
{
ok = f->Write("; Probed axis limits\n");
if (ok)
{
ok = WriteAxisLimits(f, axisMinimaProbed, axisMinima, 1);
}
if (ok)
{
ok = WriteAxisLimits(f, axisMaximaProbed, axisMaxima, 0);
}
}
else
{
ok = true;
}
#if 0 // From version 1.20 we no longer write the Z probe parameters, but keep the code for now in case too many users complain
if (ok)
{
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);
}
#endif
return ok;
}
bool Platform::WriteAxisLimits(FileStore *f, AxesBitmap axesProbed, const float limits[MaxAxes], int sParam)
{
if (axesProbed == 0)
{
return true;
}
scratchString.printf("M208 S%d", sParam);
for (size_t axis = 0; axis < MaxAxes; ++axis)
{
if (IsBitSet(axesProbed, axis))
{
scratchString.catf(" %c%.2f", reprap.GetGCodes().GetAxisLetters()[axis], (double)limits[axis]);
}
}
scratchString.cat('\n');
return f->Write(scratchString.Pointer());
}
// This is called from the step ISR as well as other places, so keep it fast
// If drive >= DRIVES then we are setting an individual motor direction
void Platform::SetDirection(size_t drive, bool direction)
{
const size_t numAxes = reprap.GetGCodes().GetTotalAxes();
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);
}
else if (drive < 2 * DRIVES)
{
SetDriverDirection(drive - DRIVES, 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 HAS_SMART_DRIVERS
if (driver < numSmartDrivers)
{
SmartDrivers::EnableDrive(driver, true);
}
else
{
#endif
digitalWrite(ENABLE_PINS[driver], enableValues[driver] > 0);
#if HAS_SMART_DRIVERS
}
#endif
}
}
// Disable a driver
void Platform::DisableDriver(size_t driver)
{
if (driver < DRIVES)
{
#if HAS_SMART_DRIVERS
if (driver < numSmartDrivers)
{
SmartDrivers::EnableDrive(driver, false);
}
else
{
#endif
digitalWrite(ENABLE_PINS[driver], enableValues[driver] <= 0);
#if HAS_SMART_DRIVERS
}
#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().GetTotalAxes();
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().GetTotalAxes();
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]);
}
}
// Disable all drives
void Platform::DisableAllDrives()
{
for (size_t drive = 0; drive < DRIVES; drive++)
{
SetDriverCurrent(drive, 0.0, false);
DisableDriver(drive);
}
}
// 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, int code)
{
if (driver < DRIVES)
{
switch (code)
{
case 906:
motorCurrents[driver] = currentOrPercent;
break;
case 913:
motorCurrentFraction[driver] = 0.01 * currentOrPercent;
break;
#if HAS_SMART_DRIVERS
case 917:
motorStandstillCurrentFraction[driver] = 0.01 * currentOrPercent;
break;
#endif
default:
break;
}
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, int code)
{
const size_t numAxes = reprap.GetGCodes().GetTotalAxes();
if (drive < numAxes)
{
for (size_t i = 0; i < axisDrivers[drive].numDrivers; ++i)
{
SetDriverCurrent(axisDrivers[drive].driverNumbers[i], currentOrPercent, code);
}
}
else if (drive < DRIVES)
{
SetDriverCurrent(extruderDrivers[drive - numAxes], currentOrPercent, code);
}
}
// 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 HAS_SMART_DRIVERS
if (driver < numSmartDrivers)
{
SmartDrivers::SetCurrent(driver, current);
}
#elif defined (DUET_06_085)
const uint16_t pot = (unsigned short)((0.256*current*8.0*senseResistor + maxStepperDigipotVoltage/2)/maxStepperDigipotVoltage);
if (driver < 4)
{
mcpDuet.setNonVolatileWiper(potWipes[driver], pot);
mcpDuet.setVolatileWiper(potWipes[driver], pot);
}
else
{
if (board == BoardType::Duet_085)
{
// Extruder 0 is on DAC channel 0
if (driver == 4)
{
const float dacVoltage = max<float>(current * 0.008 * senseResistor + stepperDacVoltageOffset, 0.0); // the voltage we want from the DAC relative to its minimum
const float dac = dacVoltage/stepperDacVoltageRange;
AnalogOut(DAC0, dac);
}
else
{
mcpExpansion.setNonVolatileWiper(potWipes[driver-1], pot);
mcpExpansion.setVolatileWiper(potWipes[driver-1], pot);
}
}
else if (driver < 8) // on a Duet 0.6 we have a maximum of 8 drives
{
mcpExpansion.setNonVolatileWiper(potWipes[driver], pot);
mcpExpansion.setVolatileWiper(potWipes[driver], pot);
}
}
#elif defined(__ALLIGATOR__)
// Alligator SPI DAC current
if (driver < 4) // Onboard DAC
{
dacAlligator.setChannel(3-driver, current * 0.102);
}
else // Piggy module DAC
{
dacPiggy.setChannel(7-driver, current * 0.102);
}
#else
// otherwise we can't set the motor current
#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, int code) const
{
if (drive < DRIVES)
{
const size_t numAxes = reprap.GetGCodes().GetTotalAxes();
const uint8_t driver = (drive < numAxes) ? axisDrivers[drive].driverNumbers[0] : extruderDrivers[drive - numAxes];
if (driver < DRIVES)
{
switch (code)
{
case 906:
return motorCurrents[driver];
case 913:
return motorCurrentFraction[driver] * 100.0;
#if HAS_SMART_DRIVERS
case 917:
return motorStandstillCurrentFraction[driver] * 100.0;
#endif
default:
break;
}
}
}
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 HAS_SMART_DRIVERS
if (driver < numSmartDrivers)
{
return SmartDrivers::SetMicrostepping(driver, microsteps, mode);
}
else
{
// 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;
}
#elif defined(__ALLIGATOR__)
return Microstepping::Set(driver, microsteps); // no mode in Alligator board
#else
// Assume only x16 microstepping supported
return microsteps == 16;
#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)
{
// Check that it is a valid microstepping number
const size_t numAxes = reprap.GetGCodes().GetTotalAxes();
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 HAS_SMART_DRIVERS
if (driver < numSmartDrivers)
{
return SmartDrivers::GetMicrostepping(driver, mode, interpolation);
}
// On-board drivers only support x16 microstepping without interpolation
interpolation = false;
return 16;
#elif defined(__ALLIGATOR__)
interpolation = false;
return Microstepping::Read(driver); // no mode, no interpolation for Alligator
#else
interpolation = false;
return 16;
#endif
}
// 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().GetTotalAxes();
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::SetEnableValue(size_t driver, int8_t eVal)
{
enableValues[driver] = eVal;
DisableDriver(driver); // disable the drive, because the enable polarity may have been wrong before
#if HAS_SMART_DRIVERS
if (eVal == -1)
{
// User has asked to disable status monitoring for this driver, so clear its error bits
DriversBitmap mask = ~MakeBitmap<DriversBitmap>(driver);
temperatureShutdownDrivers &= mask;
temperatureWarningDrivers &= mask;
shortToGroundDrivers &= mask;
openLoadDrivers &= mask;
}
#endif
}
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]);
#if HAS_SMART_DRIVERS
SmartDrivers::SetAxisNumber(config.driverNumbers[i], drive);
#endif
}
driveDriverBits[drive] = bitmap;
}
// Map an extruder to a driver
void Platform::SetExtruderDriver(size_t extruder, uint8_t driver)
{
extruderDrivers[extruder] = driver;
#if HAS_SMART_DRIVERS
SmartDrivers::SetAxisNumber(driver, extruder + reprap.GetGCodes().GetTotalAxes());
#endif
driveDriverBits[extruder + reprap.GetGCodes().GetTotalAxes()] = 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 * 0.000001) + 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;
}
// Set or report the parameters for the specified fan
// If 'mCode' is an M-code used to set parameters for the current kinematics (which should only ever be 106 or 107)
// then search for parameters used to configure the fan. If any are found, perform appropriate actions and return true.
// If errors were discovered while processing parameters, put an appropriate error message in 'reply' and set 'error' to true.
// If no relevant parameters are found, print the existing ones to 'reply' and return false.
bool Platform::ConfigureFan(unsigned int mcode, int fanNum, GCodeBuffer& gb, StringRef& reply, bool& error)
{
if (fanNum < 0 || fanNum >= (int)NUM_FANS)
{
reply.printf("Fan number %d is invalid, must be between 0 and %u", fanNum, NUM_FANS - 1);
error = true;
return false;
}
return fans[fanNum].Configure(mcode, fanNum, gb, reply, error);
}
// 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_06_085)
// 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() const
{
// The ISR sets fanInterval to the number of microseconds it took to get fanMaxInterruptCount interrupts.
// We get 2 tacho pulses per revolution, hence 2 interrupts per revolution.
// However, if the fan stops then we get no interrupts and fanInterval stops getting updated.
// We must recognise this and return zero.
return (fanInterval != 0 && 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_06_085)
// 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);
#else
return false;
#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)
{
#if defined(DUET_06_085)
// 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
#else
// Set fan 1 to be thermostatic by default, monitoring all heaters except the default bed and chamber heaters
Fan::HeatersMonitoredBitmap bedAndChamberHeaterMask = 0;
for (uint8_t bedHeater : DefaultBedHeaters)
{
if (bedHeater >= 0)
{
SetBit(bedAndChamberHeaterMask, bedHeater);
}
}
for (uint8_t chamberHeater : DefaultChamberHeaters)
{
if (chamberHeater >= 0)
{
SetBit(bedAndChamberHeaterMask, chamberHeater);
}
}
fans[1].SetHeatersMonitored(LowestNBits<Fan::HeatersMonitoredBitmap>(Heaters) & ~bedAndChamberHeaterMask);
fans[1].SetValue(1.0); // set it full on
#endif
}
coolingFanRpmPin = COOLING_FAN_RPM_PIN;
if (coolingFanRpmPin != NoPin)
{
pinModeDuet(coolingFanRpmPin, INPUT_PULLUP, 1500); // enable pullup and 1500Hz debounce filter (500Hz only worked up to 7000RPM)
}
}
void Platform::SetMACAddress(uint8_t mac[])
{
for (size_t i = 0; i < 6; i++)
{
macAddress[i] = mac[i];
}
}
void Platform::SetEndStopConfiguration(size_t axis, EndStopPosition esPos, EndStopInputType inputType)
{
endStopPos[axis] = esPos;
endStopInputType[axis] = inputType;
}
void Platform::GetEndStopConfiguration(size_t axis, EndStopPosition& esType, EndStopInputType& inputType) const
{
esType = endStopPos[axis];
inputType = endStopInputType[axis];
}
//-----------------------------------------------------------------------------------------------------
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);
}
}
}
// Send the specified message to the specified destinations. The Error and Warning flags have already been handled.
void Platform::RawMessage(MessageType type, const char *message)
{
// Deal with logging
if ((type & LogMessage) != 0 && logger != nullptr)
{
logger->LogMessage(realTime, message);
}
// Send the nessage to the destinations
if ((type & ImmediateLcdMessage) != 0)
{
SendAuxMessage(message);
}
else if ((type & LcdMessage) != 0)
{
AppendAuxReply(message);
}
if ((type & HttpMessage) != 0)
{
reprap.GetNetwork().HandleHttpGCodeReply(message);
}
if ((type & TelnetMessage) != 0)
{
reprap.GetNetwork().HandleTelnetGCodeReply(message);
}
if ((type & AuxMessage) != 0)
{
#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
}
if ((type & BlockingUsbMessage) != 0)
{
// Debug output sends messages in blocking mode. We now give up sending if we are close to software watchdog timeout.
const char *p = message;
size_t len = strlen(p);
while (SERIAL_MAIN_DEVICE && len != 0 && !reprap.SpinTimeoutImminent())
{
const size_t written = SERIAL_MAIN_DEVICE.write(p, len);
len -= written;
p += written;
}
// We no longer flush afterwards
}
else if ((type & UsbMessage) != 0)
{
// Message that is to be sent via the USB line (non-blocking)
#if SUPPORT_SCANNER
if (!reprap.GetScanner().IsRegistered() || reprap.GetScanner().DoingGCodes())
#endif
{
// 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);
}
}
}
// Note: this overload of Platform::Message does not process the special action flags in the MessageType.
// Also it treats calls to send a blocking USB message the same as ordinary USB messages,
// and calls to send an immediate LCD message the same as ordinary LCD messages
void Platform::Message(const MessageType type, OutputBuffer *buffer)
{
// First deal with logging because it doesn't hand on to the buffer
if ((type & LogMessage) != 0 && logger != nullptr)
{
logger->LogMessage(realTime, buffer);
}
// Now send the message to all the destinations
size_t numDestinations = 0;
if ((type & (LcdMessage | ImmediateLcdMessage)) != 0)
{
++numDestinations;
}
if ((type & (UsbMessage | BlockingUsbMessage)) != 0)
{
++numDestinations;
}
if ((type & HttpMessage) != 0)
{
++numDestinations;
}
if ((type & TelnetMessage) != 0)
{
++numDestinations;
}
#ifdef SERIAL_AUX2_DEVICE
if ((type & AuxMessage) != 0)
{
++numDestinations;
}
#endif
if (numDestinations == 0)
{
OutputBuffer::ReleaseAll(buffer);
}
else
{
buffer->IncreaseReferences(numDestinations - 1);
if ((type & (LcdMessage | ImmediateLcdMessage)) != 0)
{
AppendAuxReply(buffer);
}
if ((type & HttpMessage) != 0)
{
reprap.GetNetwork().HandleHttpGCodeReply(buffer);
}
if ((type & TelnetMessage) != 0)
{
reprap.GetNetwork().HandleTelnetGCodeReply(buffer);
}
#ifdef SERIAL_AUX2_DEVICE
if ((type & AuxMessage) != 0)
{
// Send this message to the second UART device
aux2Output->Push(buffer);
}
#endif
if ((type & (UsbMessage | BlockingUsbMessage)) != 0)
{
if ( !SERIAL_MAIN_DEVICE
#if SUPPORT_SCANNER
|| (reprap.GetScanner().IsRegistered() && !reprap.GetScanner().DoingGCodes())
#endif
)
{
// 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);
}
}
}
}
void Platform::MessageF(MessageType type, const char *fmt, va_list vargs)
{
char formatBuffer[FORMAT_STRING_LENGTH];
StringRef formatString(formatBuffer, ARRAY_SIZE(formatBuffer));
if ((type & ErrorMessageFlag) != 0)
{
formatString.copy("Error: ");
formatString.vcatf(fmt, vargs);
}
else if ((type & WarningMessageFlag) != 0)
{
formatString.copy("Warning: ");
formatString.vcatf(fmt, vargs);
}
else
{
formatString.vprintf(fmt, vargs);
}
RawMessage((MessageType)(type & ~(ErrorMessageFlag | WarningMessageFlag)), formatBuffer);
}
void Platform::MessageF(MessageType type, const char *fmt, ...)
{
va_list vargs;
va_start(vargs, fmt);
MessageF(type, fmt, vargs);
va_end(vargs);
}
void Platform::Message(MessageType type, const char *message)
{
if ((type & (ErrorMessageFlag | WarningMessageFlag)) == 0)
{
RawMessage(type, message);
}
else
{
char formatBuffer[FORMAT_STRING_LENGTH];
StringRef formatString(formatBuffer, ARRAY_SIZE(formatBuffer));
formatString.copy(((type & ErrorMessageFlag) != 0) ? "Error: " : "Warning: ");
formatString.cat(message);
RawMessage((MessageType)(type & ~(ErrorMessageFlag | WarningMessageFlag)), formatBuffer);
}
}
// Send a message box, which may require an acknowledgement
// sParam = 0 Just display the message box, optional timeout
// sParam = 1 As for 0 but display a Close button as well
// sParam = 2 Display the message box with an OK button, wait for acknowledgement (waiting is set up by the caller)
// sParam = 3 As for 2 but also display a Cancel button
void Platform::SendAlert(MessageType mt, const char *message, const char *title, int sParam, float tParam, AxesBitmap controls)
{
if ((mt & (HttpMessage | LcdMessage)) != 0)
{
reprap.SetAlert(message, title, sParam, tParam, controls); // make the RepRap class cache this message until it's picked up by the HTTP clients and/or PanelDue
}
mt = (MessageType)(mt & (UsbMessage | TelnetMessage));
if (mt != 0)
{
if (strlen(title) > 0)
{
MessageF(mt, "- %s -\n", title);
}
MessageF(mt, "%s\n", message);
if (sParam == 2)
{
Message(mt, "Send M292 to continue\n");
}
else if (sParam == 3)
{
Message(mt, "Send M292 to continue or M292 P1 to cancel\n");
}
}
}
// Configure logging according to the M929 command received, returning true if error
bool Platform::ConfigureLogging(GCodeBuffer& gb, StringRef& reply)
{
if (gb.Seen('S'))
{
StopLogging();
if (gb.GetIValue() > 0)
{
// Start logging
if (logger == nullptr)
{
logger = new Logger();
}
else
{
StopLogging();
}
char buf[FILENAME_LENGTH + 1];
StringRef filename(buf, ARRAY_SIZE(buf));
if (gb.Seen('P'))
{
if (!gb.GetQuotedString(filename))
{
reply.copy("Missing filename in M929 command");
return true;
}
}
else
{
filename.copy(DEFAULT_LOG_FILE);
}
logger->Start(realTime, filename);
}
}
else
{
reply.printf("Event logging is %s", (logger != nullptr && logger->IsActive()) ? "enabled" : "disabled");
}
return false;
}
// This is called from EmergencyStop. It closes the log file and stops logging.
void Platform::StopLogging()
{
if (logger != nullptr)
{
logger->Stop(realTime);
}
}
bool Platform::AtxPower() const
{
return IoPort::ReadPin(ATX_POWER_PIN);
}
void Platform::AtxPowerOn()
{
deferredPowerDown = false;
IoPort::WriteDigital(ATX_POWER_PIN, true);
}
void Platform::AtxPowerOff(bool defer)
{
deferredPowerDown = defer;
if (!defer)
{
deferredPowerDown = false;
if (logger != nullptr)
{
logger->LogMessage(realTime, "Power off commanded");
logger->Flush(true);
// We don't call logger->Stop() here because we don't now whether turning off the power will work
}
IoPort::WriteDigital(ATX_POWER_PIN, false);
}
}
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().GetTotalAxes();
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(__SAME70Q21__)
board = BoardType::SAME70_TEST;
#elif defined(DUET_NG) && defined(DUET_WIFI)
board = BoardType::DuetWiFi_10;
#elif defined(DUET_NG) && defined(DUET_ETHERNET)
board = BoardType::DuetEthernet_10;
#elif defined(DUET_M)
board = BoardType::DuetM_10;
#elif defined(DUET_06_085)
// 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
#elif defined(__RADDS__)
board = BoardType::RADDS_15;
#elif defined(__ALLIGATOR__)
board = BoardType::Alligator_2;
#else
# error Undefined board type
#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(__SAME70Q21__)
case BoardType::SAME70_TEST: return "SAM E70 prototype 1";
#elif 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(DUET_M)
case BoardType::DuetM_10: return "unnamed board 1.0";
#elif defined(DUET_06_085)
case BoardType::Duet_06: return "Duet 0.6";
case BoardType::Duet_07: return "Duet 0.7";
case BoardType::Duet_085: return "Duet 0.85";
#elif defined(__RADDS__)
case BoardType::RADDS_15: return "RADDS 1.5";
#elif defined(__ALLIGATOR__)
case BoardType::Alligator_2: return "Alligator r2";
#else
# error Undefined board type
#endif
default: return "Unidentified";
}
}
// Get the board string
const char* Platform::GetBoardString() const
{
switch (board)
{
#if defined(__SAME70Q21__)
case BoardType::SAME70_TEST: return "same70prototype1";
#elif 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(DUET_M)
case BoardType::DuetM_10: return "unnamedboard10";
#elif defined(DUET_06_085)
case BoardType::Duet_06: return "duet06";
case BoardType::Duet_07: return "duet07";
case BoardType::Duet_085: return "duet085";
#elif defined(__RADDS__)
case BoardType::RADDS_15: return "radds15";
#elif defined(__ALLIGATOR__)
case BoardType::Alligator_2: return "alligator2";
#else
# error Undefined board type
#endif
default: return "unknown";
}
}
// User I/O and servo support
bool Platform::GetFirmwarePin(LogicalPin logicalPin, PinAccess access, Pin& firmwarePin, bool& invert)
{
firmwarePin = NoPin; // assume failure
invert = false; // this is the common case
if (logicalPin > HighestLogicalPin)
{
// Pin number out of range, so nothing to do here
}
else if (logicalPin >= Heater0LogicalPin && logicalPin < Heater0LogicalPin + (int)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];
#if ACTIVE_LOW_HEAT_ON
invert = true;
#else
invert = false;
#endif
}
}
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_06_085)
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
{
// GPIO pins on DueX5
if (access != PinAccess::servo)
{
firmwarePin = DueX5GpioPinMap[logicalPin - DueX5Gpio0LogicalPin];
}
}
else if (logicalPin >= AdditionalExpansionLogicalPin && logicalPin <= AdditionalExpansionLogicalPin + 15)
{
// Pins on additional SX1509B expansion
if (access != PinAccess::servo)
{
firmwarePin = AdditionalIoExpansionStart + (logicalPin - AdditionalExpansionLogicalPin);
}
}
#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)
{
IoPort::SetPinMode(firmwarePin, desiredMode);
logicalPinModes[logicalPin] = (int8_t)desiredMode;
}
return true;
}
return false;
}
bool Platform::SetExtrusionAncilliaryPwmPin(LogicalPin logicalPin)
{
return extrusionAncilliaryPwmPort.Set(logicalPin, PinAccess::pwm);
}
// CNC and laser support
void Platform::SetSpindlePwm(float pwm)
{
if (pwm >= 0)
{
spindleReversePort.WriteAnalog(0.0);
spindleForwardPort.WriteAnalog(pwm);
}
else
{
spindleForwardPort.WriteAnalog(0.0);
spindleReversePort.WriteAnalog(-pwm);
}
}
void Platform::SetLaserPwm(float pwm)
{
laserPort.WriteAnalog(pwm);
}
bool Platform::SetSpindlePins(LogicalPin lpf, LogicalPin lpr)
{
const bool ok1 = spindleForwardPort.Set(lpf, PinAccess::pwm);
if (lpr == NoLogicalPin)
{
spindleReversePort.Clear();
return ok1;
}
const bool ok2 = spindleReversePort.Set(lpr, PinAccess::pwm);
return ok1 && ok2;
}
void Platform::GetSpindlePins(LogicalPin& lpf, LogicalPin& lpr) const
{
lpf = spindleForwardPort.GetLogicalPin();
lpr = spindleReversePort.GetLogicalPin();
}
void Platform::SetSpindlePwmFrequency(float freq)
{
spindleForwardPort.SetFrequency(freq);
spindleReversePort.SetFrequency(freq);
}
bool Platform::SetLaserPin(LogicalPin lp)
{
return laserPort.Set(lp, PinAccess::pwm);
}
void Platform::SetLaserPwmFrequency(float freq)
{
laserPort.SetFrequency(freq);
}
// Get the firmware pin number for an endstop, or NoPin if it is out of range
Pin Platform::GetEndstopPin(int endstop) const
{
return (endstop >= 0 && endstop < (int)ARRAY_SIZE(endStopPins)) ? endStopPins[endstop] : NoPin;
}
// Axis limits
void Platform::SetAxisMaximum(size_t axis, float value, bool byProbing)
{
axisMaxima[axis] = value;
if (byProbing)
{
SetBit(axisMaximaProbed, axis);
}
}
void Platform::SetAxisMinimum(size_t axis, float value, bool byProbing)
{
axisMinima[axis] = value;
if (byProbing)
{
SetBit(axisMinimaProbed, axis);
}
}
#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
#if HAS_CPU_TEMP_SENSOR
// CPU temperature
void Platform::GetMcuTemperatures(float& minT, float& currT, float& maxT) const
{
minT = AdcReadingToCpuTemperature(lowestMcuTemperature);
currT = AdcReadingToCpuTemperature(cpuTemperatureFilter.GetSum());
maxT = AdcReadingToCpuTemperature(highestMcuTemperature);
}
#endif
#if HAS_VOLTAGE_MONITOR
// Power in voltage
void Platform::GetPowerVoltages(float& minV, float& currV, float& maxV) const
{
minV = AdcReadingToPowerVoltage(lowestVin);
currV = AdcReadingToPowerVoltage(currentVin);
maxV = AdcReadingToPowerVoltage(highestVin);
}
float Platform::GetCurrentPowerVoltage() const
{
return AdcReadingToPowerVoltage(currentVin);
}
#endif
#if HAS_SMART_DRIVERS
// TMC driver temperatures
float Platform::GetTmcDriversTemperature(unsigned int board) const
{
const uint16_t mask = ((1u << 5) - 1) << (5 * board); // there are 5 driver son each board
return ((temperatureShutdownDrivers & mask) != 0) ? 150.0
: ((temperatureWarningDrivers & mask) != 0) ? 100.0
: 0.0;
}
// Configure the motor stall detection, returning true if an error was encountered
bool Platform::ConfigureStallDetection(GCodeBuffer& gb, StringRef& reply)
{
// Build a bitmap of all the drivers referenced
// First looks for explicit driver numbers
DriversBitmap drivers = 0;
if (gb.Seen('P'))
{
long int drives[DRIVES];
size_t dCount = DRIVES;
gb.GetLongArray(drives, dCount);
for (size_t i = 0; i < dCount; i++)
{
if (drives[i] < 0 || (size_t)drives[i] >= numSmartDrivers)
{
reply.printf("Invalid drive number '%ld'", drives[i]);
return true;
}
SetBit(drivers, drives[i]);
}
}
// Now look for axes
for (size_t i = 0; i < reprap.GetGCodes().GetTotalAxes(); ++i)
{
if (gb.Seen(reprap.GetGCodes().GetAxisLetters()[i]))
{
for (size_t j = 0; j < axisDrivers[i].numDrivers; ++j)
{
SetBit(drivers, axisDrivers[i].driverNumbers[j]);
}
}
}
// Now check for values to change
bool seen = false;
if (gb.Seen('S'))
{
seen = true;
const int sgThreshold = gb.GetIValue();
for (size_t drive = 0; drive < numSmartDrivers; ++drive)
{
if (IsBitSet(drivers, drive))
{
SmartDrivers::SetStallThreshold(drive, sgThreshold);
}
}
}
if (gb.Seen('F'))
{
seen = true;
const int sgFilter = (gb.GetIValue() == 1);
for (size_t drive = 0; drive < numSmartDrivers; ++drive)
{
if (IsBitSet(drivers, drive))
{
SmartDrivers::SetStallFilter(drive, sgFilter);
}
}
}
if (gb.Seen('H'))
{
seen = true;
const unsigned int stepsPerSecond = gb.GetUIValue();
for (size_t drive = 0; drive < numSmartDrivers; ++drive)
{
if (IsBitSet(drivers, drive))
{
SmartDrivers::SetStallMinimumStepsPerSecond(drive, stepsPerSecond);
}
}
}
if (gb.Seen('T'))
{
seen = true;
const uint16_t coolStepConfig = (uint16_t)gb.GetUIValue();
for (size_t drive = 0; drive < numSmartDrivers; ++drive)
{
if (IsBitSet(drivers, drive))
{
SmartDrivers::SetCoolStep(drive, coolStepConfig);
}
}
}
if (gb.Seen('R'))
{
seen = true;
const int action = gb.GetIValue();
switch (action)
{
case 0:
default:
logOnStallDrivers &= ~drivers;
pauseOnStallDrivers &= ~drivers;
rehomeOnStallDrivers &= ~drivers;
break;
case 1:
rehomeOnStallDrivers &= ~drivers;
pauseOnStallDrivers &= ~drivers;
logOnStallDrivers |= drivers;
break;
case 2:
logOnStallDrivers &= ~drivers;
rehomeOnStallDrivers &= ~drivers;
pauseOnStallDrivers |= drivers;
break;
case 3:
logOnStallDrivers &= ~drivers;
pauseOnStallDrivers &= ~drivers;
rehomeOnStallDrivers |= drivers;
break;
}
}
if (!seen)
{
if (drivers == 0)
{
drivers = LowestNBits<DriversBitmap>(numSmartDrivers);
}
bool printed = false;
for (size_t drive = 0; drive < numSmartDrivers; ++drive)
{
if (IsBitSet(drivers, drive))
{
if (printed)
{
reply.cat('\n');
}
reply.catf("Driver %u: ", drive);
SmartDrivers::AppendStallConfig(drive, reply);
reply.catf(", action: %s",
(IsBitSet(rehomeOnStallDrivers, drive)) ? "rehome"
: (IsBitSet(pauseOnStallDrivers, drive)) ? "pause"
: (IsBitSet(logOnStallDrivers, drive)) ? "log"
: "none"
);
printed = true;
}
}
}
return false;
}
#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; // set the date and time
// Write a log message, giving the time since power up in same format as the logger does
const uint32_t timeSincePowerUp = (uint32_t)(millis64()/1000u);
MessageF(LogMessage, "Date and time set at power up + %02" PRIu32 ":%02" PRIu32 ":%02" PRIu32 "\n", timeSincePowerUp/3600u, (timeSincePowerUp % 3600u)/60u, timeSincePowerUp % 60u);
timeLastUpdatedMillis = millis();
}
return ok;
}
// Step pulse timer interrupt
void STEP_TC_HANDLER() __attribute__ ((hot));
void STEP_TC_HANDLER()
{
uint32_t tcsr = STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_SR; // read the status register, which clears the interrupt
tcsr &= STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_IMR; // select only enabled interrupts
if ((tcsr & TC_SR_CPAS) != 0) // the step interrupt uses RA compare
{
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(); // execute the step interrupt
}
if ((tcsr & TC_SR_CPBS) != 0)
{
STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_IDR = TC_IER_CPBS; // disable the interrupt
#ifdef SOFT_TIMER_DEBUG
++numSoftTimerInterruptsExecuted;
#endif
SoftTimer::Interrupt();
}
}
// Schedule an interrupt at the specified clock count, or return true if that time is imminent or has passed already.
/*static*/ bool Platform::ScheduleStepInterrupt(uint32_t tim)
{
const irqflags_t flags = cpu_irq_save();
const int32_t diff = (int32_t)(tim - GetInterruptClocks()); // see how long we have to go
if (diff < (int32_t)DDA::minInterruptInterval) // if less than about 6us or already passed
{
cpu_irq_restore(flags);
return true; // tell the caller to simulate an interrupt instead
}
STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_RA = tim; // set up the compare register
// We would like to clear any pending step interrupt. To do this, we must read the TC status register.
// Unfortunately, this would clear any other pending interrupts from the same TC.
// So we don't, and the step ISR must allow for getting called prematurely.
STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_IER = TC_IER_CPAS; // enable the interrupt
cpu_irq_restore(flags);
#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;
}
// Schedule an interrupt at the specified clock count, or return true if that time is imminent or has passed already.
/*static*/ bool Platform::ScheduleSoftTimerInterrupt(uint32_t tim)
{
const irqflags_t flags = cpu_irq_save();
const int32_t diff = (int32_t)(tim - GetInterruptClocks()); // see how long we have to go
if (diff < (int32_t)DDA::minInterruptInterval) // if less than about 6us or already passed
{
cpu_irq_restore(flags);
return true; // tell the caller to simulate an interrupt instead
}
STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_RB = tim; // set up the compare register
// We would like to clear any pending step interrupt. To do this, we must read the TC status register.
// Unfortunately, this would clear any other pending interrupts from the same TC.
// So we don't, and the timer ISR must allow for getting called prematurely.
STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_IER = TC_IER_CPBS; // enable the interrupt
cpu_irq_restore(flags);
#ifdef SOFT_TIMER_DEBUG
lastSoftTimerInterruptScheduledAt = GetInterruptClocks();
#endif
return false;
}
// Make sure we get no step interrupts
/*static*/ void Platform::DisableSoftTimerInterrupt()
{
STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_IDR = TC_IER_CPBS;
}
// 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.
void Platform::Tick()
{
#if SAM4E || SAME70
rswdt_restart(RSWDT); // kick the secondary watchdog (the primary one is kicked in CoreNG)
#endif
if (tickState != 0)
{
#if HAS_VOLTAGE_MONITOR
// Read the power input voltage
currentVin = AnalogInReadChannel(vInMonitorAdcChannel);
if (currentVin > highestVin)
{
highestVin = currentVin;
}
if (currentVin < lowestVin)
{
lowestVin = currentVin;
}
# if HAS_SMART_DRIVERS
if (driversPowered && currentVin > driverOverVoltageAdcReading)
{
SmartDrivers::SetDriversPowered(false);
// We deliberately do not clear driversPowered here or increase the over voltage event count - we let the spin loop handle that
}
# endif
#endif
}
switch (tickState)
{
case 1:
case 3:
{
// We read a thermistor channel on alternate ticks
// Because we are in the tick ISR and no other ISR reads the averaging filter, we can cast away 'volatile' here.
// The following code assumes number of thermistor channels = number of heater channels
ThermistorAveragingFilter& currentFilter = const_cast<ThermistorAveragingFilter&>(thermistorFilters[currentHeater]);
currentFilter.ProcessReading(AnalogInReadChannel(thermistorAdcChannels[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)
#if HAS_CPU_TEMP_SENSOR
const_cast<ThermistorAveragingFilter&>(cpuTemperatureFilter).ProcessReading(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();
}
// Pragma pop_options is not supported on this platform
//#pragma GCC pop_options
// End
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