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|
/****************************************************************************************************
RepRapFirmware - Platform
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.
No definitions that are system-independent should go in here. Put them in Configuration.h.
-----------------------------------------------------------------------------------------------------
Version 0.3
28 August 2013
Adrian Bowyer
RepRap Professional Ltd
http://reprappro.com
Licence: GPL
****************************************************************************************************/
#ifndef PLATFORM_H
#define PLATFORM_H
// Language-specific includes
// Platform-specific includes
#include "RepRapFirmware.h"
#include "IoPorts.h"
#include "DueFlashStorage.h"
#include "Fan.h"
#include "Heating/TemperatureError.h"
#include "OutputMemory.h"
#include "Storage/FileStore.h"
#include "Storage/FileData.h"
#include "Storage/MassStorage.h" // must be after Pins.h because it needs NumSdCards defined
#include "MessageType.h"
#include "ZProbe.h"
#include "ZProbeProgrammer.h"
#if defined(DUET_NG)
# include "DueXn.h"
#elif defined(DUET_06_085)
# include "MCP4461/MCP4461.h"
#elif defined(__ALLIGATOR__)
# include "DAC/DAC084S085.h" // SPI DAC for motor current vref
# include "EUI48/EUI48EEPROM.h" // SPI EUI48 mac address EEPROM
# include "Microstepping.h"
#endif
constexpr bool FORWARDS = true;
constexpr bool BACKWARDS = !FORWARDS;
// Define the number of ADC filters and the indices of the extra ones
#if HAS_VREF_MONITOR
constexpr size_t VrefFilterIndex = Heaters;
constexpr size_t VssaFilterIndex = Heaters + 1;
# if HAS_CPU_TEMP_SENSOR
constexpr size_t CpuTempFilterIndex = Heaters + 2;
constexpr size_t NumAdcFilters = Heaters + 3;
# else
constexpr size_t NumAdcFilters = Heaters + 2;
# endif
#elif HAS_CPU_TEMP_SENSOR
constexpr size_t CpuTempFilterIndex = Heaters;
constexpr size_t NumAdcFilters = Heaters + 1;
#else
constexpr size_t NumAdcFilters = Heaters;
#endif
/**************************************************************************************************/
#if SUPPORT_INKJET
// Inkjet (if any - no inkjet is flagged by INKJET_BITS negative)
const int8_t INKJET_BITS = 12; // How many nozzles? Set to -1 to disable this feature
const int INKJET_FIRE_MICROSECONDS = 5; // How long to fire a nozzle
const int INKJET_DELAY_MICROSECONDS = 800; // How long to wait before the next bit
#endif
const float MAX_FEEDRATES[DRIVES] = DRIVES_(100.0, 100.0, 3.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0); // mm/sec
const float ACCELERATIONS[DRIVES] = DRIVES_(500.0, 500.0, 20.0, 250.0, 250.0, 250.0, 250.0, 250.0, 250.0, 250.0, 250.0, 250.0); // mm/sec^2
const float DRIVE_STEPS_PER_UNIT[DRIVES] = DRIVES_(87.4890, 87.4890, 4000.0, 420.0, 420.0, 420.0, 420.0, 420.0, 420.0, 420.0, 420.0, 420.0); // steps/mm
const float INSTANT_DVS[DRIVES] = DRIVES_(15.0, 15.0, 0.2, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0); // mm/sec
// AXES
const float AXIS_MINIMA[MaxAxes] = AXES_(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0); // mm
const float AXIS_MAXIMA[MaxAxes] = AXES_(230.0, 210.0, 200.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0); // mm
// Z PROBE
constexpr float Z_PROBE_STOP_HEIGHT = 0.7; // Millimetres
constexpr unsigned int Z_PROBE_AVERAGE_READINGS = 8; // We average this number of readings with IR on, and the same number with IR off
// HEATERS - The bed is assumed to be the at index 0
// Define the number of temperature readings we average for each thermistor. This should be a power of 2 and at least 4 ^ AD_OVERSAMPLE_BITS.
// Keep THERMISTOR_AVERAGE_READINGS * NUM_HEATERS * 2ms no greater than HEAT_SAMPLE_TIME or the PIDs won't work well.
constexpr unsigned int ThermistorAverageReadings = 32;
constexpr uint32_t maxPidSpinDelay = 5000; // Maximum elapsed time in milliseconds between successive temp samples by Pid::Spin() permitted for a temp sensor
/****************************************************************************************************/
enum class BoardType : uint8_t
{
Auto = 0,
#if defined(SAME70_TEST_BOARD)
SamE70TestBoard = 1
#elif defined(DUET_NG)
DuetWiFi_10 = 1,
DuetWiFi_102 = 2,
DuetEthernet_10 = 3,
DuetEthernet_102 = 4
#elif defined(DUET_M)
DuetM_10 = 1,
#elif defined(DUET_06_085)
Duet_06 = 1,
Duet_07 = 2,
Duet_085 = 3
#elif defined(__RADDS__)
RADDS_15 = 1
#elif defined(__ALLIGATOR__)
Alligator_2 = 1
#else
# error Unknown board
#endif
};
enum class EndStopHit
{
noStop = 0, // no endstop hit
lowHit = 1, // low switch hit, or Z-probe in use and above threshold
highHit = 2, // high stop hit
nearStop = 3 // approaching Z-probe threshold
};
// The values of the following enumeration must tally with the X,Y,... parameters for the M574 command
enum class EndStopPosition
{
noEndStop = 0,
lowEndStop = 1,
highEndStop = 2
};
// Type of an endstop input - values must tally with the M574 command S parameter
enum class EndStopInputType
{
activeLow = 0,
activeHigh = 1,
zProbe = 2,
motorStall = 3
};
// Other firmware that we might switch to be compatible with.
enum class Compatibility : uint8_t
{
me = 0,
reprapFirmware = 1,
marlin = 2,
teacup = 3,
sprinter = 4,
repetier = 5
};
/***************************************************************************************************/
// Enumeration describing the reasons for a software reset.
// The spin state gets or'ed into this, so keep the lower 4 bits unused.
enum class SoftwareResetReason : uint16_t
{
user = 0, // M999 command
erase = 0x10, // special M999 command to erase firmware and reset
NMI = 0x20,
hardFault = 0x30, // most exceptions get escalated to a hard fault
stuckInSpin = 0x40, // we got stuck in a Spin() function for too long
wdtFault = 0x50, // secondary watchdog
otherFault = 0x70,
inAuxOutput = 0x0800, // this bit is or'ed in if we were in aux output at the time
inLwipSpin = 0x2000, // we got stuck in a call to LWIP for too long
inUsbOutput = 0x4000, // this bit is or'ed in if we were in USB output at the time
deliberate = 0x8000 // this but it or'ed in if we deliberately caused a fault
};
// Enumeration to describe various tests we do in response to the M122 command
enum class DiagnosticTestType : int
{
PrintTestReport = 1, // run some tests and report the processor ID
PrintMoves = 100, // print summary of recent moves (only if recording moves was enabled in firmware)
#ifdef DUET_NG
PrintExpanderStatus = 101, // print DueXn expander status
#endif
TimeSquareRoot = 102, // do a timing test on the square root function
TestWatchdog = 1001, // test that we get a watchdog reset if the tick interrupt stops
TestSpinLockup = 1002, // test that we get a software reset if a Spin() function takes too long
TestSerialBlock = 1003, // test what happens when we write a blocking message via debugPrintf()
DivideByZero = 1004, // do an integer divide by zero to test exception handling
UnalignedMemoryAccess = 1005, // do an unaligned memory access to test exception handling
BusFault = 1006 // generate a bus fault
};
/***************************************************************************************************************/
// Class to perform averaging of values read from the ADC
// numAveraged should be a power of 2 for best efficiency
template<size_t numAveraged> class AveragingFilter
{
public:
AveragingFilter()
{
Init(0);
}
void Init(uint16_t val) volatile
{
irqflags_t flags = cpu_irq_save();
sum = (uint32_t)val * (uint32_t)numAveraged;
index = 0;
isValid = false;
for (size_t i = 0; i < numAveraged; ++i)
{
readings[i] = val;
}
cpu_irq_restore(flags);
}
// Call this to put a new reading into the filter
// This is only called by the ISR, so it not declared volatile to make it faster
void ProcessReading(uint16_t r)
{
sum = sum - readings[index] + r;
readings[index] = r;
++index;
if (index == numAveraged)
{
index = 0;
isValid = true;
}
}
// Return the raw sum
uint32_t GetSum() const volatile
{
return sum;
}
// Return true if we have a valid average
bool IsValid() const volatile
{
return isValid;
}
private:
uint16_t readings[numAveraged];
size_t index;
uint32_t sum;
bool isValid;
//invariant(sum == + over readings)
//invariant(index < numAveraged)
};
typedef AveragingFilter<ThermistorAverageReadings> ThermistorAveragingFilter;
typedef AveragingFilter<Z_PROBE_AVERAGE_READINGS> ZProbeAveragingFilter;
// Enumeration of error condition bits
enum class ErrorCode : uint32_t
{
BadTemp = 1 << 0,
BadMove = 1 << 1,
OutputStarvation = 1 << 2,
OutputStackOverflow = 1 << 3
};
struct AxisDriversConfig
{
size_t numDrivers; // Number of drivers assigned to each axis
uint8_t driverNumbers[MaxDriversPerAxis]; // The driver numbers assigned - only the first numDrivers are meaningful
};
// The main class that defines the RepRap machine for the benefit of the other classes
class Platform
{
public:
// Enumeration to describe the status of a drive
enum class DriverStatus : uint8_t { disabled, idle, enabled };
Platform();
//-------------------------------------------------------------------------------------------------------------
// These are the functions that form the interface between Platform and the rest of the firmware.
void Init(); // Set the machine up after a restart. If called subsequently this should set the machine up as if
// it has just been restarted; it can do this by executing an actual restart if you like, but beware the loop of death...
void Spin(); // This gets called in the main loop and should do any housekeeping needed
void Exit(); // Shut down tidily. Calling Init after calling this should reset to the beginning
Compatibility Emulating() const;
void SetEmulating(Compatibility c);
void Diagnostics(MessageType mtype);
bool DiagnosticTest(GCodeBuffer& gb, const StringRef& reply, int d);
void ClassReport(uint32_t &lastTime); // Called on Spin() return to check everything's live.
void LogError(ErrorCode e) { errorCodeBits |= (uint32_t)e; }
void SoftwareReset(uint16_t reason, const uint32_t *stk = nullptr);
bool AtxPower() const;
void AtxPowerOn();
void AtxPowerOff(bool defer);
void SetBoardType(BoardType bt);
const char* GetElectronicsString() const;
const char* GetBoardString() const;
#ifdef DUET_NG
bool IsDuetWiFi() const;
#endif
const uint8_t *GetDefaultMacAddress() const { return defaultMacAddress; }
// Timing
static uint32_t GetInterruptClocks() __attribute__ ((hot)); // Get the interrupt clock count
static uint32_t GetInterruptClocksInterruptsDisabled() __attribute__ ((hot)); // Get the interrupt clock count, when we know already that interrupts are disabled
static bool ScheduleStepInterrupt(uint32_t tim) __attribute__ ((hot)); // Schedule an interrupt at the specified clock count, or return true if it has passed already
static void DisableStepInterrupt(); // Make sure we get no step interrupts
static bool ScheduleSoftTimerInterrupt(uint32_t tim); // Schedule an interrupt at the specified clock count, or return true if it has passed already
static void DisableSoftTimerInterrupt(); // Make sure we get no software timer interrupts
void Tick() __attribute__((hot)); // Process a systick interrupt
// Real-time clock
bool IsDateTimeSet() const; // Has the RTC been set yet?
time_t GetDateTime() const; // Retrieves the current RTC datetime and returns true if it's valid
bool SetDateTime(time_t time); // Sets the current RTC date and time or returns false on error
// Communications and data storage
OutputBuffer *GetAuxGCodeReply(); // Returns cached G-Code reply for AUX devices and clears its reference
void AppendAuxReply(OutputBuffer *buf, bool rawMessage);
void AppendAuxReply(const char *msg, bool rawMessage);
uint32_t GetAuxSeq() { return auxSeq; }
bool HaveAux() const { return auxDetected; } // Any device on the AUX line?
void SetAuxDetected() { auxDetected = true; }
void SetIPAddress(uint8_t ip[]);
const uint8_t* GetIPAddress() const;
void SetNetMask(uint8_t nm[]);
const uint8_t* NetMask() const;
void SetGateWay(uint8_t gw[]);
const uint8_t* GateWay() const;
void SetBaudRate(size_t chan, uint32_t br);
uint32_t GetBaudRate(size_t chan) const;
void SetCommsProperties(size_t chan, uint32_t cp);
uint32_t GetCommsProperties(size_t chan) const;
#if defined(__ALLIGATOR__)
// Mac address from EUI48 EEPROM
EUI48EEPROM eui48MacAddress;
#endif
friend class FileStore;
MassStorage* GetMassStorage() const;
FileStore* OpenFile(const char* directory, const char* fileName, OpenMode mode) { return massStorage->OpenFile(directory, fileName, mode); }
const char* GetWebDir() const; // Where the html etc files are
const char* GetGCodeDir() const; // Where the gcodes are
const char* GetSysDir() const; // Where the system files are
const char* GetMacroDir() const; // Where the user-defined macros are
const char* GetConfigFile() const; // Where the configuration is stored (in the system dir).
const char* GetDefaultFile() const; // Where the default configuration is stored (in the system dir).
// Message output (see MessageType for further details)
void Message(MessageType type, const char *message);
void Message(MessageType type, OutputBuffer *buffer);
void MessageF(MessageType type, const char *fmt, ...) __attribute__ ((format (printf, 3, 4)));
void MessageF(MessageType type, const char *fmt, va_list vargs);
bool FlushAuxMessages();
bool FlushMessages(); // Flush messages to USB and aux, returning true if there is more to send
void SendAlert(MessageType mt, const char *message, const char *title, int sParam, float tParam, AxesBitmap controls);
void StopLogging();
// Movement
void EmergencyStop();
void SetDirection(size_t drive, bool direction);
void SetDirectionValue(size_t driver, bool dVal);
bool GetDirectionValue(size_t driver) const;
void SetEnableValue(size_t driver, int8_t eVal);
bool GetEnableValue(size_t driver) const;
void EnableDriver(size_t driver);
void DisableDriver(size_t driver);
void EnableDrive(size_t drive);
void DisableDrive(size_t drive);
void DisableAllDrives();
void SetDriversIdle();
void SetMotorCurrent(size_t drive, float current, int code);
float GetMotorCurrent(size_t drive, int code) const;
void SetIdleCurrentFactor(float f);
float GetIdleCurrentFactor() const
{ return idleCurrentFactor; }
bool SetDriverMicrostepping(size_t driver, unsigned int microsteps, int mode);
unsigned int GetDriverMicrostepping(size_t drive, int mode, bool& interpolation) const;
bool SetMicrostepping(size_t drive, int microsteps, int mode);
unsigned int GetMicrostepping(size_t drive, int mode, bool& interpolation) const;
void SetDriverStepTiming(size_t driver, const float microseconds[4]);
void GetDriverStepTiming(size_t driver, float microseconds[4]) const;
float DriveStepsPerUnit(size_t drive) const;
const float *GetDriveStepsPerUnit() const
{ return driveStepsPerUnit; }
void SetDriveStepsPerUnit(size_t drive, float value);
float Acceleration(size_t drive) const;
const float* Accelerations() const;
void SetAcceleration(size_t drive, float value);
float GetMaxPrintingAcceleration() const
{ return maxPrintingAcceleration; }
void SetMaxPrintingAcceleration(float acc)
{ maxPrintingAcceleration = acc; }
float GetMaxTravelAcceleration() const
{ return maxTravelAcceleration; }
void SetMaxTravelAcceleration(float acc)
{ maxTravelAcceleration = acc; }
float MaxFeedrate(size_t drive) const;
const float* MaxFeedrates() const;
void SetMaxFeedrate(size_t drive, float value);
float GetInstantDv(size_t drive) const;
void SetInstantDv(size_t drive, float value);
EndStopHit Stopped(size_t drive) const;
bool EndStopInputState(size_t drive) const;
float AxisMaximum(size_t axis) const;
void SetAxisMaximum(size_t axis, float value, bool byProbing);
float AxisMinimum(size_t axis) const;
void SetAxisMinimum(size_t axis, float value, bool byProbing);
float AxisTotalLength(size_t axis) const;
float GetPressureAdvance(size_t drive) const;
void SetPressureAdvance(size_t extruder, float factor);
void SetEndStopConfiguration(size_t axis, EndStopPosition endstopPos, EndStopInputType inputType)
pre(axis < MaxAxes);
void GetEndStopConfiguration(size_t axis, EndStopPosition& endstopPos, EndStopInputType& inputType) const
pre(axis < MaxAxes);
uint32_t GetAllEndstopStates() const;
void SetAxisDriversConfig(size_t axis, const AxisDriversConfig& config);
const AxisDriversConfig& GetAxisDriversConfig(size_t drive) const
{ return axisDrivers[drive]; }
void SetExtruderDriver(size_t extruder, uint8_t driver);
uint8_t GetExtruderDriver(size_t extruder) const
{ return extruderDrivers[extruder]; }
uint32_t GetDriversBitmap(size_t drive) const // get the bitmap of driver step bits for this axis or extruder
{ return driveDriverBits[drive]; }
static void StepDriversLow(); // set all step pins low
static void StepDriversHigh(uint32_t driverMap); // set the specified step pins high
uint32_t GetSlowDriversBitmap() const { return slowDriversBitmap; }
uint32_t GetSlowDriverStepHighClocks() const { return slowDriverStepTimingClocks[0]; }
uint32_t GetSlowDriverStepLowClocks() const { return slowDriverStepTimingClocks[1]; }
uint32_t GetSlowDriverDirSetupClocks() const { return slowDriverStepTimingClocks[2]; }
uint32_t GetSlowDriverDirHoldClocks() const { return slowDriverStepTimingClocks[3]; }
#if SUPPORT_NONLINEAR_EXTRUSION
bool GetExtrusionCoefficients(size_t extruder, float& a, float& b, float& limit) const;
void SetNonlinearExtrusion(size_t extruder, float a, float b, float limit);
#endif
// Z probe
void SetZProbeDefaults();
float ZProbeStopHeight();
float GetZProbeDiveHeight() const;
float GetZProbeStartingHeight();
float GetZProbeTravelSpeed() const;
int GetZProbeReading() const;
EndStopHit GetZProbeResult() const;
int GetZProbeSecondaryValues(int& v1, int& v2);
void SetZProbeType(unsigned int iZ);
ZProbeType GetZProbeType() const { return zProbeType; }
const ZProbe& GetZProbeParameters(ZProbeType probeType) const;
const ZProbe& GetCurrentZProbeParameters() const { return GetZProbeParameters(zProbeType); }
void SetZProbeParameters(ZProbeType probeType, const struct ZProbe& params);
bool HomingZWithProbe() const;
bool WritePlatformParameters(FileStore *f, bool includingG31) const;
void SetProbing(bool isProbing);
bool ProgramZProbe(GCodeBuffer& gb, const StringRef& reply);
void SetZProbeModState(bool b) const;
// Heat and temperature
float GetZProbeTemperature(); // Get our best estimate of the Z probe temperature
volatile ThermistorAveragingFilter& GetAdcFilter(size_t channel)
pre(channel < ARRAY_SIZE(adcFilters))
{
return adcFilters[channel];
}
void SetHeater(size_t heater, float power, PwmFrequency freq = 0) // power is a fraction in [0,1]
pre(heater < Heaters);
uint32_t HeatSampleInterval() const;
void SetHeatSampleTime(float st);
float GetHeatSampleTime() const;
void UpdateConfiguredHeaters();
// Fans
bool ConfigureFan(unsigned int mcode, int fanNumber, GCodeBuffer& gb, const StringRef& reply, bool& error);
float GetFanValue(size_t fan) const; // Result is returned in percent
void SetFanValue(size_t fan, float speed); // Accepts values between 0..1 and 1..255
#if defined(DUET_06_085)
void EnableSharedFan(bool enable); // enable/disable the fan that shares its PWM pin with the last heater
#endif
bool WriteFanSettings(FileStore *f) const; // Save some resume information
float GetFanRPM() const;
// Flash operations
void UpdateFirmware();
bool CheckFirmwareUpdatePrerequisites(const StringRef& reply);
// AUX device
void Beep(int freq, int ms);
void SendAuxMessage(const char* msg);
// Hotend configuration
float GetFilamentWidth() const;
void SetFilamentWidth(float width);
float GetNozzleDiameter() const;
void SetNozzleDiameter(float diameter);
// 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 Inkjet(int bitPattern);
// MCU temperature
#if HAS_CPU_TEMP_SENSOR
void GetMcuTemperatures(float& minT, float& currT, float& maxT) const;
void SetMcuTemperatureAdjust(float v) { mcuTemperatureAdjust = v; }
float GetMcuTemperatureAdjust() const { return mcuTemperatureAdjust; }
#endif
#if HAS_VOLTAGE_MONITOR
// Power in voltage
void GetPowerVoltages(float& minV, float& currV, float& maxV) const;
float GetCurrentPowerVoltage() const;
bool IsPowerOk() const;
void DisableAutoSave();
void EnableAutoSave(float saveVoltage, float resumeVoltage);
bool GetAutoSaveSettings(float& saveVoltage, float&resumeVoltage);
#endif
#if HAS_SMART_DRIVERS
float GetTmcDriversTemperature(unsigned int board) const;
void DriverCoolingFansOn(uint32_t driverChannelsMonitored);
#endif
#if HAS_STALL_DETECT
bool ConfigureStallDetection(GCodeBuffer& gb, const StringRef& reply);
#endif
// User I/O and servo support
bool GetFirmwarePin(LogicalPin logicalPin, PinAccess access, Pin& firmwarePin, bool& invert);
// For filament sensor support
Pin GetEndstopPin(int endstop) const; // Get the firmware pin number for an endstop
// Logging support
bool ConfigureLogging(GCodeBuffer& gb, const StringRef& reply);
// Ancillary PWM
void SetExtrusionAncilliaryPwmValue(float v);
float GetExtrusionAncilliaryPwmValue() const;
void SetExtrusionAncilliaryPwmFrequency(float f);
float GetExtrusionAncilliaryPwmFrequency() const;
bool SetExtrusionAncilliaryPwmPin(LogicalPin logicalPin, bool invert);
LogicalPin GetExtrusionAncilliaryPwmPin(bool& invert) const { return extrusionAncilliaryPwmPort.GetLogicalPin(invert); }
void ExtrudeOn();
void ExtrudeOff();
// CNC and laser support
void SetSpindlePwm(float pwm);
void SetLaserPwm(float pwm);
bool SetSpindlePins(LogicalPin lpf, LogicalPin lpr, bool invert);
void GetSpindlePins(LogicalPin& lpf, LogicalPin& lpr, bool& invert) const;
void SetSpindlePwmFrequency(float freq);
float GetSpindlePwmFrequency() const { return spindleForwardPort.GetFrequency(); }
bool SetLaserPin(LogicalPin lp, bool invert);
LogicalPin GetLaserPin(bool& invert) const { return laserPort.GetLogicalPin(invert); }
void SetLaserPwmFrequency(float freq);
float GetLaserPwmFrequency() const { return laserPort.GetFrequency(); }
// Misc
void InitI2c();
#if SAM4E || SAM4S || SAME70
uint32_t Random();
#endif
static uint8_t softwareResetDebugInfo; // extra info for debugging
#if SAM4S || SAME70
// Static data used by step ISR
static volatile uint32_t stepTimerPendingStatus; // for holding status bits that we have read (and therefore cleared) but haven't serviced yet
static volatile uint32_t stepTimerHighWord; // upper 16 bits of step timer
#endif
//-------------------------------------------------------------------------------------------------------
private:
Platform(const Platform&); // private copy constructor to make sure we don't try to copy a Platform
void RawMessage(MessageType type, const char *message); // called by Message after handling error/warning flags
void ResetChannel(size_t chan); // re-initialise a serial channel
float AdcReadingToCpuTemperature(uint32_t reading) const;
#if HAS_SMART_DRIVERS
void ReportDrivers(MessageType mt, DriversBitmap whichDrivers, const char* text, bool& reported);
#endif
#if HAS_STALL_DETECT
bool AnyAxisMotorStalled(size_t drive) const pre(drive < DRIVES);
bool ExtruderMotorStalled(size_t extruder) const pre(extruder < MaxExtruders);
#endif
#if SAM4E || SAM4S || SAME70
void PrintUniqueId(MessageType mtype);
#endif
// These are the structures used to hold our non-volatile data.
// The SAM3X and SAM4E don't have EEPROM so we save the data to flash. This unfortunately means that it gets cleared
// every time we reprogram the firmware via bossa, but it can be retained when firmware updates are performed
// via the web interface. That's why it's a good idea to implement versioning here - increase these values
// whenever the fields of the following structs have changed.
//
// The SAM4E has a large page erase size (8K). For this reason we store the software reset data in the 512-byte user signature area
// instead, which doesn't get cleared when the Erase button is pressed. The SoftareResetData struct must have at least one 32-bit
// field to guarantee that values of this type will be 32-bit aligned. It must have no virtual members because it is read/written
// directly from/to flash memory.
struct SoftwareResetData
{
static const uint16_t versionValue = 8; // increment this whenever this struct changes
static const uint16_t magicValue = 0x7D00 | versionValue; // value we use to recognise that all the flash data has been written
#if SAM3XA
static const uint32_t nvAddress = 0; // must be 4-byte aligned
#endif
static const size_t numberOfSlots = 4; // number of storage slots used to implement wear levelling - must fit in 512 bytes
uint16_t magic; // the magic number, including the version
uint16_t resetReason; // this records why we did a software reset, for diagnostic purposes
uint32_t neverUsedRam; // the amount of never used RAM at the last abnormal software reset
uint32_t hfsr; // hard fault status register
uint32_t cfsr; // configurable fault status register
uint32_t icsr; // interrupt control and state register
uint32_t bfar; // bus fault address register
uint32_t sp; // stack pointer
uint32_t when; // value of the RTC when the software reset occurred
uint32_t stack[24]; // stack when the exception occurred, with the program counter at the bottom
bool isVacant() const // return true if this struct can be written without erasing it first
{
const uint32_t *p = reinterpret_cast<const uint32_t*>(this);
for (size_t i = 0; i < sizeof(*this)/sizeof(uint32_t); ++i)
{
if (*p != 0xFFFFFFFF)
{
return false;
}
++p;
}
return true;
}
};
#if SAM4E || SAM4S || SAME70
static_assert(SoftwareResetData::numberOfSlots * sizeof(SoftwareResetData) <= 512, "Can't fit software reset data in user signature area");
#else
static_assert(SoftwareResetData::numberOfSlots * sizeof(SoftwareResetData) <= FLASH_DATA_LENGTH, "NVData too large");
#endif
// Logging
Logger *logger;
// Z probes
ZProbe switchZProbeParameters; // Z probe values for the switch Z-probe
ZProbe irZProbeParameters; // Z probe values for the IR sensor
ZProbe alternateZProbeParameters; // Z probe values for the alternate sensor
ZProbeType zProbeType; // the type of Z probe we are currently using
// Network
uint8_t ipAddress[4];
uint8_t netMask[4];
uint8_t gateWay[4];
uint8_t defaultMacAddress[6];
// Board and processor
#if SAM4E || SAM4S || SAME70
uint32_t uniqueId[5];
#endif
BoardType board;
#ifdef DUET_NG
ExpansionBoardType expansionBoard;
#endif
uint32_t longWait;
bool active;
Compatibility compatibility;
uint32_t errorCodeBits;
void InitialiseInterrupts();
void GetStackUsage(uint32_t* currentStack, uint32_t* maxStack, uint32_t* neverUsed) const;
// DRIVES
void SetDriverCurrent(size_t driver, float current, int code);
void UpdateMotorCurrent(size_t driver);
void SetDriverDirection(uint8_t driver, bool direction)
pre(driver < DRIVES);
static uint32_t CalcDriverBitmap(size_t driver); // calculate the step bit(s) for this driver
volatile DriverStatus driverState[DRIVES];
bool directions[DRIVES];
int8_t enableValues[DRIVES];
Pin endStopPins[DRIVES];
float maxFeedrates[DRIVES];
float accelerations[DRIVES];
float maxPrintingAcceleration;
float maxTravelAcceleration;
float driveStepsPerUnit[DRIVES];
float instantDvs[DRIVES];
float pressureAdvance[MaxExtruders];
#if SUPPORT_NONLINEAR_EXTRUSION
float nonlinearExtrusionA[MaxExtruders], nonlinearExtrusionB[MaxExtruders], nonlinearExtrusionLimit[MaxExtruders];
#endif
float motorCurrents[DRIVES]; // the normal motor current for each stepper driver
float motorCurrentFraction[DRIVES]; // the percentages of normal motor current that each driver is set to
AxisDriversConfig axisDrivers[MaxAxes]; // the driver numbers assigned to each axis
uint8_t extruderDrivers[MaxExtruders]; // the driver number assigned to each extruder
uint32_t driveDriverBits[2 * DRIVES]; // the bitmap of driver port bits for each axis or extruder, followed by the raw versions
uint32_t slowDriverStepTimingClocks[4]; // minimum step high, step low, dir setup and dir hold timing for slow drivers
uint32_t slowDriversBitmap; // bitmap of driver port bits that need extended step pulse timing
float idleCurrentFactor;
#if HAS_SMART_DRIVERS
size_t numSmartDrivers; // the number of TMC2660 drivers we have, the remaining are simple enable/step/dir drivers
DriversBitmap temperatureShutdownDrivers, temperatureWarningDrivers, shortToGroundDrivers, openLoadDrivers;
uint8_t nextDriveToPoll;
bool driversPowered;
bool onBoardDriversFanRunning; // true if a fan is running to cool the on-board drivers
bool offBoardDriversFanRunning; // true if a fan is running to cool the drivers on the DueX
uint32_t onBoardDriversFanStartMillis; // how many times we have suppressed a temperature warning
uint32_t offBoardDriversFanStartMillis; // how many times we have suppressed a temperature warning
#endif
#if HAS_STALL_DETECT
DriversBitmap logOnStallDrivers, pauseOnStallDrivers, rehomeOnStallDrivers;
DriversBitmap stalledDrivers, stalledDriversToLog, stalledDriversToPause, stalledDriversToRehome;
#endif
#if defined(DUET_06_085)
// Digipots
MCP4461 mcpDuet;
MCP4461 mcpExpansion;
Pin potWipes[8]; // we have only 8 digipots, on the Duet 0.8.5 we use the DAC for the 9th
float senseResistor;
float maxStepperDigipotVoltage;
float stepperDacVoltageRange, stepperDacVoltageOffset;
#elif defined(__ALLIGATOR__)
Pin spiDacCS[MaxSpiDac];
DAC084S085 dacAlligator;
DAC084S085 dacPiggy;
#endif
// Z probe
Pin zProbePin;
Pin zProbeModulationPin;
ZProbeProgrammer zProbeProg;
volatile ZProbeAveragingFilter zProbeOnFilter; // Z probe readings we took with the IR turned on
volatile ZProbeAveragingFilter zProbeOffFilter; // Z probe readings we took with the IR turned off
// Thermistors and temperature monitoring
volatile ThermistorAveragingFilter adcFilters[NumAdcFilters]; // ADC reading averaging filters
#if HAS_CPU_TEMP_SENSOR
uint32_t highestMcuTemperature, lowestMcuTemperature;
float mcuTemperatureAdjust;
#endif
void InitZProbe();
uint16_t GetRawZProbeReading() const;
void UpdateNetworkAddress(uint8_t dst[4], const uint8_t src[4]);
// Axes and endstops
float axisMaxima[MaxAxes];
float axisMinima[MaxAxes];
AxesBitmap axisMinimaProbed, axisMaximaProbed;
EndStopPosition endStopPos[MaxAxes];
EndStopInputType endStopInputType[MaxAxes];
static bool WriteAxisLimits(FileStore *f, AxesBitmap axesProbed, const float limits[MaxAxes], int sParam);
// Heaters - bed is assumed to be the first
Pin tempSensePins[Heaters];
Pin heatOnPins[Heaters];
Pin spiTempSenseCsPins[MaxSpiTempSensors];
uint32_t configuredHeaters; // bitmask of all real heaters in use
uint32_t heatSampleTicks;
// Fans
Fan fans[NUM_FANS];
Pin coolingFanRpmPin; // we currently support only one fan RPM input
uint32_t lastFanCheckTime;
void InitFans();
bool FansHardwareInverted(size_t fanNumber) const;
// Serial/USB
uint32_t baudRates[NUM_SERIAL_CHANNELS];
uint8_t commsParams[NUM_SERIAL_CHANNELS];
OutputStack *auxOutput;
#ifdef SERIAL_AUX2_DEVICE
OutputStack *aux2Output;
#endif
OutputStack *usbOutput;
bool auxDetected; // Have we processed at least one G-Code from an AUX device?
OutputBuffer *auxGCodeReply; // G-Code reply for AUX devices (special one because it is actually encapsulated before sending)
uint32_t auxSeq; // Sequence number for AUX devices
// Files
MassStorage* massStorage;
// Data used by the tick interrupt handler
// Heater #n, 0 <= n < HEATERS, uses "temperature channel" tc given by
//
// tc = heaterTempChannels[n]
//
// Temperature channels follow a convention of
//
// if (0 <= tc < HEATERS) then
// The temperature channel is a thermistor read using ADC.
// The actual ADC to read for tc is
//
// thermistorAdcChannel[tc]
//
// which, is equivalent to
//
// PinToAdcChannel(tempSensePins[tc])
//
// if (100 <= tc < 100 + (MaxSpiTempSensors - 1)) then
// The temperature channel is a thermocouple attached to a MAX31855 chip
// The MAX31855 object corresponding to the specific MAX31855 chip is
//
// Max31855Devices[tc - 100]
//
// Note that the MAX31855 objects, although statically declared, are not
// initialized until configured via a "M305 Pn X10m" command with 0 <= n < HEATERS
// and 0 <= m < MaxSpiTempSensors.
//
// NOTE BENE: When a M305 command is processed, the onus is on the gcode processor,
// GCodes.cpp, to range check the value of the X parameter. Code consuming the results
// of the M305 command (e.g., SetThermistorNumber() and array lookups assume range
// checking has already been performed.
AnalogChannelNumber filteredAdcChannels[NumAdcFilters];
AnalogChannelNumber zProbeAdcChannel;
uint8_t tickState;
size_t currentFilterNumber;
int debugCode;
// Hotend configuration
float filamentWidth;
float nozzleDiameter;
// Power monitoring
#if HAS_VOLTAGE_MONITOR
AnalogChannelNumber vInMonitorAdcChannel;
volatile uint16_t currentVin, highestVin, lowestVin;
uint16_t autoPauseReading, autoResumeReading;
uint32_t numUnderVoltageEvents, previousUnderVoltageEvents;
volatile uint32_t numOverVoltageEvents, previousOverVoltageEvents;
bool autoSaveEnabled;
enum class AutoSaveState : uint8_t
{
starting = 0,
normal,
autoPaused
};
AutoSaveState autoSaveState;
#endif
uint32_t lastWarningMillis; // When we last sent a warning message
// RTC
time_t realTime; // the current date/time, or zero if never set
uint32_t timeLastUpdatedMillis; // the milliseconds counter when we last incremented the time
// CNC and laser support
float extrusionAncilliaryPwmValue;
PwmPort extrusionAncilliaryPwmPort;
PwmPort spindleForwardPort, spindleReversePort, laserPort;
// Power on/off
bool deferredPowerDown;
// Direct pin manipulation
int8_t logicalPinModes[HighestLogicalPin + 1]; // what mode each logical pin is set to - would ideally be class PinMode not int8_t
// Misc
bool deliberateError; // true if we deliberately caused an exception for testing purposes
bool i2cInitialised; // true if the I2C subsystem has been initialised
};
// Where the htm etc files are
inline const char* Platform::GetWebDir() const
{
return WEB_DIR;
}
// Where the gcodes are
inline const char* Platform::GetGCodeDir() const
{
return GCODE_DIR;
}
// Where the system files are
inline const char* Platform::GetSysDir() const
{
return SYS_DIR;
}
inline const char* Platform::GetMacroDir() const
{
return MACRO_DIR;
}
inline const char* Platform::GetConfigFile() const
{
return CONFIG_FILE;
}
inline const char* Platform::GetDefaultFile() const
{
return DEFAULT_FILE;
}
//*****************************************************************************************************************
// Drive the RepRap machine - Movement
inline float Platform::DriveStepsPerUnit(size_t drive) const
{
return driveStepsPerUnit[drive];
}
inline void Platform::SetDriveStepsPerUnit(size_t drive, float value)
{
driveStepsPerUnit[drive] = max<float>(value, 1.0); // don't allow zero or negative
}
inline float Platform::Acceleration(size_t drive) const
{
return accelerations[drive];
}
inline const float* Platform::Accelerations() const
{
return accelerations;
}
inline void Platform::SetAcceleration(size_t drive, float value)
{
accelerations[drive] = max<float>(value, 1.0); // don't allow zero or negative
}
inline float Platform::MaxFeedrate(size_t drive) const
{
return maxFeedrates[drive];
}
inline const float* Platform::MaxFeedrates() const
{
return maxFeedrates;
}
inline void Platform::SetMaxFeedrate(size_t drive, float value)
{
maxFeedrates[drive] = max<float>(value, 1.0); // don't allow zero or negative
}
inline float Platform::GetInstantDv(size_t drive) const
{
return instantDvs[drive];
}
inline void Platform::SetInstantDv(size_t drive, float value)
{
instantDvs[drive] = max<float>(value, 1.0); // don't allow zero or negative values, they causes Move to loop indefinitely
}
inline void Platform::SetDirectionValue(size_t drive, bool dVal)
{
directions[drive] = dVal;
}
inline bool Platform::GetDirectionValue(size_t drive) const
{
return directions[drive];
}
inline void Platform::SetDriverDirection(uint8_t driver, bool direction)
{
const bool d = (direction == FORWARDS) ? directions[driver] : !directions[driver];
digitalWrite(DIRECTION_PINS[driver], d);
}
inline bool Platform::GetEnableValue(size_t driver) const
{
return enableValues[driver];
}
inline float Platform::AxisMaximum(size_t axis) const
{
return axisMaxima[axis];
}
inline float Platform::AxisMinimum(size_t axis) const
{
return axisMinima[axis];
}
inline float Platform::AxisTotalLength(size_t axis) const
{
return axisMaxima[axis] - axisMinima[axis];
}
inline void Platform::SetExtrusionAncilliaryPwmValue(float v)
{
extrusionAncilliaryPwmValue = min<float>(v, 1.0); // negative values are OK, they mean don't set the output
}
inline float Platform::GetExtrusionAncilliaryPwmValue() const
{
return extrusionAncilliaryPwmValue;
}
inline void Platform::SetExtrusionAncilliaryPwmFrequency(float f)
{
extrusionAncilliaryPwmPort.SetFrequency(f);
}
inline float Platform::GetExtrusionAncilliaryPwmFrequency() const
{
return extrusionAncilliaryPwmPort.GetFrequency();
}
// For the Duet we use the fan output for this
// DC 2015-03-21: To allow users to control the cooling fan via gcodes generated by slic3r etc.,
// only turn the fan on/off if the extruder ancilliary PWM has been set nonzero.
// Caution: this is often called from an ISR, or with interrupts disabled!
inline void Platform::ExtrudeOn()
{
if (extrusionAncilliaryPwmValue > 0.0)
{
extrusionAncilliaryPwmPort.WriteAnalog(extrusionAncilliaryPwmValue);
}
}
// DC 2015-03-21: To allow users to control the cooling fan via gcodes generated by slic3r etc.,
// only turn the fan on/off if the extruder ancilliary PWM has been set nonzero.
// Caution: this is often called from an ISR, or with interrupts disabled!
inline void Platform::ExtrudeOff()
{
if (extrusionAncilliaryPwmValue > 0.0)
{
extrusionAncilliaryPwmPort.WriteAnalog(0.0);
}
}
//********************************************************************************************************
// Drive the RepRap machine - Heat and temperature
inline uint32_t Platform::HeatSampleInterval() const
{
return heatSampleTicks;
}
inline float Platform::GetHeatSampleTime() const
{
return (float)heatSampleTicks/1000.0;
}
inline void Platform::SetHeatSampleTime(float st)
{
if (st > 0)
{
heatSampleTicks = (uint32_t)(st * 1000.0);
}
}
inline const uint8_t* Platform::GetIPAddress() const
{
return ipAddress;
}
inline const uint8_t* Platform::NetMask() const
{
return netMask;
}
inline const uint8_t* Platform::GateWay() const
{
return gateWay;
}
inline float Platform::GetPressureAdvance(size_t extruder) const
{
return (extruder < MaxExtruders) ? pressureAdvance[extruder] : 0.0;
}
#if SAM4S || SAME70 // if the TCs are 16-bit
// Get the interrupt clock count
/*static*/ inline uint32_t Platform::GetInterruptClocks()
{
const irqflags_t flags = cpu_irq_save(); // ensure interrupts are disabled
const uint32_t rslt = GetInterruptClocksInterruptsDisabled();
cpu_irq_restore(flags); // restore interrupt enable state
return rslt;
}
// Function GetInterruptClocksInterruptsDisabled() is quite long for these processors, so it is moved to Platform.cpp and no longer inlined
#else // TCs are 32-bit
// Get the interrupt clock count
/*static*/ inline uint32_t Platform::GetInterruptClocks()
{
return STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_CV;
}
// Get the interrupt clock count, when we know that interrupts are already disabled
/*static*/ inline uint32_t Platform::GetInterruptClocksInterruptsDisabled()
{
return STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_CV;
}
#endif
// This is called by the tick ISR to get the raw Z probe reading to feed to the filter
inline uint16_t Platform::GetRawZProbeReading() const
{
switch (zProbeType)
{
case ZProbeType::analog:
case ZProbeType::dumbModulated:
case ZProbeType::alternateAnalog:
return min<uint16_t>(AnalogInReadChannel(zProbeAdcChannel), 4000);
case ZProbeType::e0Switch:
{
const bool b = IoPort::ReadPin(endStopPins[E0_AXIS]);
return (b) ? 4000 : 0;
}
case ZProbeType::digital:
case ZProbeType::unfilteredDigital:
case ZProbeType::blTouch:
return (IoPort::ReadPin(zProbePin)) ? 4000 : 0;
case ZProbeType::e1Switch:
{
const bool b = IoPort::ReadPin(endStopPins[E0_AXIS + 1]);
return (b) ? 4000 : 0;
}
case ZProbeType::zSwitch:
{
const bool b = IoPort::ReadPin(endStopPins[Z_AXIS]);
return (b) ? 4000 : 0;
}
default:
return 4000;
}
}
inline float Platform::GetFilamentWidth() const
{
return filamentWidth;
}
inline void Platform::SetFilamentWidth(float width)
{
filamentWidth = width;
}
inline float Platform::GetNozzleDiameter() const
{
return nozzleDiameter;
}
inline void Platform::SetNozzleDiameter(float diameter)
{
nozzleDiameter = diameter;
}
inline MassStorage* Platform::GetMassStorage() const
{
return massStorage;
}
inline OutputBuffer *Platform::GetAuxGCodeReply()
{
OutputBuffer *temp = auxGCodeReply;
auxGCodeReply = nullptr;
return temp;
}
// *** These next three functions must use the same bit assignments in the drivers bitmap ***
// Each stepper driver must be assigned one bit in a 32-bit word, in such a way that multiple drivers can be stepped efficiently
// and more or less simultaneously by doing parallel writes to several bits in one or more output ports.
// The bitmaps for various controller electronics are organised like this:
// Duet WiFi:
// All step pins are on port D, so the bitmap is just the map of step bits in port D.
// Duet M:
// All step pins are on port C, so the bitmap is just the map of step bits in port C.
// Duet 0.6 and 0.8.5:
// Step pins are PA0, PC7,9,11,14,25,29 and PD0,3.
// The PC and PD bit numbers don't overlap, so we use their actual positions.
// PA0 clashes with PD0, so we use bit 1 to represent PA0.
// RADDS:
// Step pins are PA2,9,12,15 PB16,19 PC3,12 PD6
// PC12 clashes with PA12 so we shift PC3,12 left one bit
// Alligator:
// Pins on ports B,C,D are used but the bit numbers are all different, so we use their actual positions
// Calculate the step bit for a driver. This doesn't need to be fast.
/*static*/ inline uint32_t Platform::CalcDriverBitmap(size_t driver)
{
#if defined(SAME70_TEST_BOARD)
return 0;
#else
const PinDescription& pinDesc = g_APinDescription[STEP_PINS[driver]];
#if defined(DUET_NG)
return pinDesc.ulPin;
#elif defined(DUET_M)
return pinDesc.ulPin;
#elif defined(DUET_06_085)
return (pinDesc.pPort == PIOA) ? pinDesc.ulPin << 1 : pinDesc.ulPin;
#elif defined(__RADDS__)
return (pinDesc.pPort == PIOC) ? pinDesc.ulPin << 1 : pinDesc.ulPin;
#elif defined(__ALLIGATOR__)
return pinDesc.ulPin;
#else
# error Unknown board
#endif
#endif
}
// Set the specified step pins high
// This needs to be as fast as possible, so we do a parallel write to the port(s).
// We rely on only those port bits that are step pins being set in the PIO_OWSR register of each port
/*static*/ inline void Platform::StepDriversHigh(uint32_t driverMap)
{
#if defined(SAME70_TEST_BOARD)
// TBD
#elif defined(DUET_NG)
PIOD->PIO_ODSR = driverMap; // on Duet WiFi all step pins are on port D
#elif defined(DUET_M)
PIOC->PIO_ODSR = driverMap; // on Duet M all step pins are on port C
#elif defined(DUET_06_085)
PIOD->PIO_ODSR = driverMap;
PIOC->PIO_ODSR = driverMap;
PIOA->PIO_ODSR = driverMap >> 1; // do this last, it means the processor doesn't need to preserve the register containing driverMap
#elif defined(__RADDS__)
PIOA->PIO_ODSR = driverMap;
PIOB->PIO_ODSR = driverMap;
PIOD->PIO_ODSR = driverMap;
PIOC->PIO_ODSR = driverMap >> 1; // do this last, it means the processor doesn't need to preserve the register containing driverMap
#elif defined(__ALLIGATOR__)
PIOB->PIO_ODSR = driverMap;
PIOD->PIO_ODSR = driverMap;
PIOC->PIO_ODSR = driverMap;
#else
# error Unknown board
#endif
}
// Set all step pins low
// This needs to be as fast as possible, so we do a parallel write to the port(s).
// We rely on only those port bits that are step pins being set in the PIO_OWSR register of each port
/*static*/ inline void Platform::StepDriversLow()
{
#if defined(SAME70_TEST_BOARD)
// TODO
#elif defined(DUET_NG)
PIOD->PIO_ODSR = 0; // on Duet WiFi all step pins are on port D
#elif defined(DUET_M)
PIOC->PIO_ODSR = 0; // on Duet M all step pins are on port C
#elif defined(DUET_06_085)
PIOD->PIO_ODSR = 0;
PIOC->PIO_ODSR = 0;
PIOA->PIO_ODSR = 0;
#elif defined(__RADDS__)
PIOD->PIO_ODSR = 0;
PIOC->PIO_ODSR = 0;
PIOB->PIO_ODSR = 0;
PIOA->PIO_ODSR = 0;
#elif defined(__ALLIGATOR__)
PIOD->PIO_ODSR = 0;
PIOC->PIO_ODSR = 0;
PIOB->PIO_ODSR = 0;
#else
# error Unknown board
#endif
}
//***************************************************************************************
#endif
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