Change the simulator to use the generic timer_irq.c and serial_irq.c
code for (dummy) timer and io handling. This is just to make the code
a better example for other developers (most micro-controllers will use
the timer_irq.c and serial_irq.c code).
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The SPI interface needs to be enabled and configured to the correct
settings of a given oid before CS is asserted. The new function
spi_prepare() allows ports to do that.
This port only introduces the new function in all ports with no
implementation and adds the call to the Klipper generic firmware code.
That means everything still works as before. Ports need to be changed
to fix the underlying issue.
Discussion about the motivation here:
https://github.com/KevinOConnor/klipper/pull/453#issuecomment-403131149
Signed-off-by: Grigori Goronzy <greg@chown.ath.cx>
Add basic SPI support and associated documentation.
v2: remove baud rate check, fix baud rate calculations
v3: finish transaction with BSY check, disable SPI when not in use
Signed-off-by: Grigori Goronzy <greg@chown.ath.cx>
Extend the ADC out of range check so that it is possible to sample
multiple times before going into a shutdown state. This reduces the
chance that measurement noise will cause an error. In an actual over
temperature (or under temperature event) it is expected that the
sensor will consistently report the problem, so extra checks for an
additional second or two should not substantially increase risk.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add mcu support for periodically polling for a button press. Add host
code support for registering buttons and invoking callbacks for them.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
For some reason, the upper two pin definitions were missing. Found while
writing the port documentation.
Signed-off-by: Grigori Goronzy <greg@chown.ath.cx>
Add a command that can immediately set the value of a digital output
pin created with config_digital_out.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The AVR requires that the SS pin be an output pin for correct SPI
operation. Some boards use the SS pin to control devices separate
from SPI, however. Don't change the output level if the pin is
already an output, and prefer setting it low if it is not already an
output pin.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The PRU code size has grown too close to the maximum - remove the ADC
code to reduce its overall size. (On the beaglebone, the Linux
process can, and typically does, do the ADC reading.)
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It appears the st7920 requires a longer delay when switching from
command to data mode (and vice-versa). Slower MCUs don't show a
problem because the klipper command processing time results in a
sufficient delay. However, some of the faster MCUs can process
klipper commands fast enough that the next st7920 transfer is sent too
fast. Add an additional delay to account for this.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Change the get_status command to get_clock. Don't report the shutdown
status in the new get_clock command.
The primary purpose of this change is to force the host code to report
a firmware version mismatch with older firmwares as recent changes
(namely the ordering of message block acks) have subtle
incompatibilities if different host/mcu code is used.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Normally, the MCU is restarted on a config change. However, that
should not be done automatically if the MCU is in a shutdown state.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
If the mcu is using a traditional serial port, then only send a new
message block if there is space available in the mcu receive buffer.
This should make it significantly less likely that high load on the
mcu will result in retransmits.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Send the ack after processing commands - this gives the host code more
information on serial buffer utilization.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Prefer using 'uint8_t' buffers as it is too easy to run into C sign
extension problems with 'char' buffers. Prefer using 'uint_fast8_t'
for buffer lengths as gcc does a better job compiling them on 32bit
mcus.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The gpio_out_toggle() function in the sam3x8e and stm32f1 code was
only valid if it was called with irqs disabled.
Commits 018c5daa and 9c52ad43 enabled the lcd code which called
gpio_out_toggle() with irqs enabled. This could cause corruption of
the gpio state.
Introduce a gpio_out_toggle_noirq() function that will only be invoked
with irqs disabled, and fix gpio_out_toggle() on sam3x8e and stm32f1
so that it safe to call even if irqs are enabled.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Use the generic spi send/receive code on Linux. Update the replicape
code to use the updated command format.
Also, update the replicape code to turn off the stepper motors on a
shutdown event.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Improve the SPI message transmit system. Add support for bus speed
and bus mode. Add support for sending SPI messages on shutdown.
Signed-off-by: Petri Honkala <cruwaller@gmail.com>
Signed-off-by: Douglas Hammond <wizhippo@gmail.com>
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The AVR chips (bizarrely) start an ADC conversion when entering Idle
mode. This behavior can cause the ADC to be busy when a sample is
required. Worse, if a series of events cause the cpu to enter and
leave Idle mode with a timing similar to the ADC checking rate then it
can cause the ADC to show as busy for extended periods. This could
cause high MCU load and possibly lead to a "Rescheduled timer in the
past" shutdown.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Don't logically or the ADSC bit on the start of a conversion -
explicitly set the full contents of the register. Also, clear the
ADIF flag on each write.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Define unique register aliases for all of the hardware serial port
definitions. This makes it easier to deal with the AVR chips that use
different register names.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Extract out common code from avr/serial.c, sam3x8e/serial.c, and
stm32f1/serial.c into a new generic/serial_irq.c file.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
With the optimized timer_read_time() it is no longer necessary to
implement custom timer dispatch code - use the generic mechanism in
timer_irq.c. This simplifies the code and provides a small
performance increase.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Implement 32bit timer conversion without disabling interrupts. This
uses the 16th bit of timer_high as a rollover detection flag.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add a fully functional STM32F1 port, currently mostly targeting STM32F103
microcontrollers. This requires an 8 MHz XTAL. The maximum possible step rate
is around 282K steps per second.
This uses stm32flash to burn the firmware. The bootloader needs to be started
by setting BOOT0 to 1 and resetting the MCU. There is no automatic bootloader,
unlike on Arduino.
Signed-off-by: Grigori Goronzy <greg@kinoho.net>
When initializing the ADC, explicitly clear the registers (instead of
logically or'ing them with their previous values).
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It appears the most common type of avrdude protocol for devices other
than the atmega2560 is the "arduino" protocol. Update the build to
select a different protocol based on the avr processor type.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
On the AVR platform (and possibly others) the longjmp() call will
restore the interrupt state saved during the setjmp() call. So, the
setjmp() call must be invoked with interrupts disabled to ensure that
shutdown handling is run with interrupts disabled. This fixes
potential corruption of the shutdown processing on AVR.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Properly handle the (unlikely) case that a schedule_soft_pwm_out
command is received before a previous command is fully processed,
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Only open the watchdog device after the console has been opened. The
machine should not reboot in the unlikely event the console can't be
opened.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allow the start value to be different from the default/shutdown value
for the pin. This will be useful for "heater fans" that should
startup in the off state, and transition to full on in a shutdown
state.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Continue to sample the ADC input pins even if the MCU goes into a
shutdown state. This enables the printer to continue reporting
temperatures even on an mcu error.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Pass the sample_ticks and sample_count parameters directly in the
end_stop_home command instead. This simplifies the code.
Also, simplify calculation of next wakeup time in
end_stop_oversample_event().
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Some printers can show occasional noise on the endstop pin. Support
sampling the endstop pin multiple times to attempt to filter out this
noise.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Update the scripts used to install and "flash" the pru
micro-controller code. Also, add a "flash" script for the linux
micro-controller code. This makes it easier to install Klipper on a
Beaglebone board that uses a Replicape.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add support for reading analog values via the standard Linux IIO
interface. This can be used on Replicape boards to sample analog
input pins.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add support for sending SPI messages to devices via the standard Linux
SPI interface. This can be used to configure the shift registers on
Replicape boards.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add support for controlling pca9685 PWM drivers using the standard
Linux I2C interface. The pca9685 device is found on Replicape boards.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add support for compiling the Klipper micro-controller code as a
real-time process capable of running on standard Linux systems.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
If pru0 waits in sleep mode then a full beaglebone reboot is needed to
reprogram the pru0 firmware. For now, avoid using the "slp"
instruction as a workaround.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allow pru0 to gather multiple outgoing message blocks into a single
rpmsg. This can reduce communication overhead.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Each irq flag must only be cleared after it has been serviced. This
fixes a race condition that could cause incoming commands to be
delayed for extended period.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It's possible for multiple blocks to be pending on the incoming
"rpmsg" stream. Don't sleep unless the input is confirmed to be
empty.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Compile the PRU binary with -Os optimization, but request that the
timer dispatch code be compiled with -O2 optimization. This improves
the performance of timers slightly.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The gcc -Os option significantly reduces the size of the PRU binary
and it has little impact on performance.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The command_encodef() can read the max_size parameter directly from
the 'struct command_encoder' passed into it. Also, there is no need
to check that a message will fit in a buffer if the buffer is declared
to be MESSAGE_MAX in size.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Go back to scheduling the unstep time instead of busy waiting in the
timer dispatch. With the unstep time increased to 2us, it no longer
makes sense to spin while waiting for the unstep.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allow timer_dispatch_many() to run for extended periods if there are
no tasks pending. This reduces the amount of lost cpu time spent
entering and exiting the irq handler.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Send a "startup" message after completing the mcu init functions.
This may help detect mcu reboots during debugging.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allow the timer dispatch irq handler to run for extended periods if
there are no tasks pending. This reduces the amount of lost cpu time
spent entering and exiting the irq handler.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Track when tasks are pending and spin in irq_wait() when no tasks are
pending. This improves the mechanism for sleeping the processor -
it's simpler for the board specific code and it reduces the
possibility of the processor sleeping when tasks are busy.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add function to indicate when tasks need to be run. This will allow
the scheduler code to know if there are any tasks that need to be
processed.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Don't rely on the generic scheduler code to always have a timer no
more than 1ms in the future. Instead, create an avr specific timer
that will be called every 0x8000 ticks. This simplifies the generic
code and it reduces the amount of code that needs to be run every
millisecond.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
If sched_add_timer() is called on a timer that would make it the new
head of the list, then add it and signal the board code that the timer
should be rescheduled.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It's not necessary to keep a millisecond counter. Replace the two
users of sched_check_periodic() with explicit task wakeup flags.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The simulavr simulator will warn when writing to the watchdog
registers, but running code closer to what real hardware runs is worth
a few extra warnings.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Kevin O'Connor