It appears the usbotg controller can get confused if the usb irq
handler runs while processing a usb request. Disable usb irqs during
usb processing to avoid this.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Use the XFRC interrupt instead of TXFE. Don't mask/unmask the tx
interrupts during runtime. This fixes some race conditions where a tx
notification may have previously gotten lost.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The ADC pins (on at least the sam3x8e) need to be configured in input
mode with the internal pullups disabled in order to get accurate ADC
readings.
Reported by @bryanboettcher.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Rename the linker script so the build does not have any conflicts with
the armcm_boot.d dependency file.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Replace the custom encoding with a hex encoding. This makes it a
little easier to inspect the CTR conversions.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Store the CTR requests in compile_time_request.txt with the null
characters removed. This makes it slightly easier to inspect the CTR
conversions.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add basic ARM Cortex-M C init code and build linker scripts to
src/generic/ code. This can be used to simplify the various ARM board
code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add a general build rule to precompile *.lds.S files to *.ld files.
Remove the custom rules in src/atsamd/Makefile and src/stm32/Makefile.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
On fast MCUs (like the SAMD51) it is possible for the gpio to toggle
faster than the st7920 can accept. Add a small delay around the clock
rise signal.
Signed-off-by: Lars R. Hansen <popshansen@hotmail.com>
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Rework the spi_config commands so that bus configuration and shutdown
message configuration is done separately from the main "config_spi"
command. This makes the spi configuration more flexible. It's now
possible to use software spi without a CS pin. It's now possible to
define multiple SPI messages to send on a shutdown event.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Now that the stm32f1 code has been merged into the stm32 code, there
is no longer a need to keep the stm32f1/ directory.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Rename the clock.c file to stm32f4.c to make it more clear that the
code is specific to the stm32f4 chips.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Now that the code in stm32f4/ can handle both stm32f1 and stm32f4
chips, rename the directory to just "stm32".
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Update the stm32f1 code to the latest from ST. Merge the
lib/cmsis-stm32f1/ and lib/hal-stm32f1/ into a single lib/stm32f1/
directory. Document all the differences from the pristine upstream
code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Rename the commands.
The main reason for this change is to force a micro-controller code
updated (due to important bugfix in 7fefe52d).
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
If the move is not added to the move queue, then the SF_LAST_DIR
setting must not be changed. Otherwise, it could result in an
incorrect direction being set on the stepper after a homing operation.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The popular "LPC17xx-DFU-Bootloader" alters the LPC_UART0->FDR
register, so be sure to reset it back to its default when using serial
in Klipper.
Reported by @b-vs.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commit 1096075d changed CONFIG_CLOCK_FREQ to the actual cpu frequency,
but that commit failed to update adc.c accordingly. That made the adc
run 4 times slower. Make the corresponding change to adc.c.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Improve the precision of soft pwm pulses by allowing the host to
directly specify the clock duration of the pulse. This improvement in
precision may be noticeable when controller servos (and bltouch).
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The replicape servo pins (P9_14/P9_16) are muxed to the SOCs hardware
PWM unit driven by a 13MHz GP timer. They have to be driven by the
linux host mcu. This commits adds hardware PWM support using the linux
sysfs user space interface.
Signed-off-by: Janne Grunau <janne-3d@jannau.net>
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The sampling time of the ADC was too slow (239 ADC clock cycles), causing the reading of the next ADC channel to have cross talk as per issue #1261. Sampling time updated to 41 ADC clock cycles.
Signed-off-by: Marco D'Alessio <marco@wrecklab.com>
It appears the PRU timer will not trigger on a match of exactly zero.
If the next timer happened to be set to exactly zero, it could cause
software timers to get stuck and result in "move queue empty" errors.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It appears some host machines may not recognize that the USB device
has disconnected upon start of bootloader mode. Explicitly disable
USB and add a 5ms delay to help signal the host of the upcoming
change.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commit b9b03dd0 had a typo in the flag updating. The typo could
result in corruption of the stepper state.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Now that enumerations are available, any variable named "pin" can only
be used to describe a gpio pin. Rename the end_stop_state "pin"
parameter to "pin_value". Also, rename "end_stop_query" command to
"end_stop_query_state" to notify users to upgrade both host and mcu
code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Make it clear that the name of the constant being defined is a string.
When the value being defined is also a string, use a new
DECL_CONSTANT_STR() macro.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
If the stepper is stopped by the endstop code, then ignore any further
stepper moves until a reset_step_clock command is received.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Default to running dfu-util via sudo as most machines will not have
the user setup with permissions to access the raw usb device.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add support for entering the "stm32duino" bootloader via the arduino
1200 baud USB request. Add supprot for flashing over USB via the
"make flash" command.
Rename the existing "make flash" command to "make serialflash".
Default to using a bootloader in Kconfig.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It's rare to use all of a target's prerequisites in a recipe - replace
most cases with $< (the target's first prerequisite).
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commit e18501d0 broke the build for targets that added objects to
klipper.elf via adding dependencies. Rework the build so that it is
possible to add objects to klipper.elf via a new OBJS_klipper.elf
makefile variable.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Some of the samd21 chips have limited memory - change the code to
reduce the size of global variables.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Use a local linker script instead of the linker script provided by
Atmel. This will allow Klipper to use dynamic memory allocation.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Most samd boards have the crystal and it does improve the clock
accuracy, so default to enabling it.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add support for using the internal clocks (with USB clock recovery
mode if available) on the SAMD21. Don't use the internal clock if the
external crystal is requested (instead use the PLL synced to the
external 32Khz signal).
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add support for USB clock recovery mode if an external 32Khz crystal
is not in use. If using an external crystal, then don't use the
internal 48Mhz DFLL48Mhz clock (just use the PLLs synced to the
external 32Khz signal).
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The SAMD51 ADC is only clocked on rising edges (vs both rising and
falling edges on the SAMD21) and it has a greater minimum frequency
than the SAMD21. So, increase the ADC clock.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The cpu is almost always 16Mhz and the serial port is almost always
UART0, so no need to prompt in the normal case.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Now that the internal DWT timer is used for software timers, there is
no need to clock the peripherals at a higher clock speed. Clock all
peripherals at 48Mhz and simplify the clock generation code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Clearing the watchdog while it is in progress can cause bus stalls on
the SAMD21. It appears that clearing the watchdog on the SAMD51 can
cause lockups of the watchdog device.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The sram matrix configuration is, bizarrely, configured with a slow
default. It will typically add an extra wait state to every memory
access. Set the matrix sram controller to improve the performance.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Avoid using the "low-level" library timing utilities. This is in
preparation for using SysTick as part of the timer implementation.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The ARM CortexM3 (and later) chips almost always have a 32bit timer in
the "Debug and Watch Trace" (DWT) unit which resides within the cpu
core itself. This timer is generally faster to access than timers
located on the chip's peripheral bus. When combined with the standard
ARM SysTick timer it provides a (generally) portable mechanism to
implement Klipper's software timer mechanism. It's generally also
faster than using the vendor specific timers.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move the definition of SERIAL_BAUD to the main src/Kconfig file. Only
show this as an option if the user selects the ability to configure
low-level options.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The lpc176x ADC is extremely noisy. Implement a 5 order median filter
on each ADC read to weed out obviously incorrect readings.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Order the adc config code so that a shutdown from gpio_adc_setup()
doesn't result in analog_in_shutdown() running on a 'struct analog_in'
that hasn't yet been configured.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Make sure to explicitly cast to 32bit integers when doing math on
16bit integers that require the extra precision as the AVR uses a
16bit int.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The sam3 i2c code and the linux code use a 7-bit i2c address, while
the avr, lpc176x, and samd21 i2c code uses an 8-bit address with the
least significant bit always zero. A similar issue occurred in the
host code (sx1509.py and replicape.py use 7-bit addresses while
uc1701.py and mcp4451.py use 8-bit addresses).
Consistently use 7-bit addresses in all the code. This breaks
compatibility between host and mcu software, so make a change to the
config_i2c command to force users to synchronize software updates.
This also breaks common Smoothieboard configs, so update the mcp4451
code to validate the i2c_address.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Most of the peripherals on the sam4e8e are similar to the ones on the
sam3x8e mcu. Merge the code together and use just one code directory.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Remove the 'pin' and 'afec' variables from 'struct gpio_adc'. This is
in preparation to merge the sam3x8e and sam4e8e code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Use internal.h in a similar way to the internal.h in sam3x8e. Also,
move the twi pin definitions from internal.h to i2c.c (as they are only
used there).
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
These two files from atmel have different licenses than the other
files. Neither files provide any real value, so just remove them to
avoid any confusion.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Pass the gpio id instead of the bank/pin to gpio_peripheral(). This
is in keeping with other ARM ports.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Scale the bus speed within the peripheral instead of on the system bus
as scaling on the system bus slows down general register access to the
peripheral.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Simultaneously define the hardware pin and the timer registers. This
makes the table a little easier to understand.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Increase the amount of time to "busy wait" in the timer dispatch loop
to 2 micro-seconds. This, in practice, causes stepper step and unstep
events to occur within a single hardware interrupt. Doing that helps
stabilize the single active stepper performance benchmarks.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The atmega328p is basically the same as the atmega328 - add explicit
support for it so that avrdude doesn't complain while flashing.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Sometime bossac reports an error during chip restart. It appears this
error is spurious - just suppress it.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Scaling the timer on the system bus has a notable impact on
performance. So, scale the timer within the timer hardware itself.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It appears the sam3x8e has a primitive cache prefetch mechanism (it
prefetches 32 bytes at a time aligned to a 16 byte boundary).
Aligning the main loop in timer_dispatch_many() to a 16 byte boundary
significantly improves performance.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
If sched_try_shutdown() is not inlined into timer_dispatch_many() it
can have a significant impact on benchmarks. (Even though the
function isn't called in practice, the call causes gcc to organize the
function differently.)
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Some older versions of gcc need the __always_inline directive in order
to inline timer_read_time. Inlining that function is important for
performance on the stm32f1.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
As long as timer_read_time() is inlined, I get better performance with
gcc -O2 optimization. The binary is also dramatically smaller and O2
better matches the other platforms.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It's possible for the code to stay in the timer irq for up to 100ms,
so serial irqs should have a higher irq priority to prevent them from
being starved. (The timer code disables irqs during event dispatch,
so serial irqs would only be permitted between events anyway.)
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The usb_cdc code will arrange to call usb_read_ep0_setup() after a
shutdown, so no need to have an explicit shutdown handler.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Call usb_read_bulk_out() before calling command_find_and_dispatch() as
this optimizes the common case where each usb packet contains a single
new message block.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Recent code additions have increased the stack usage and it is no
longer clear that everything will fit in 128 bytes. Increase all
targets to 256 bytes (the atmega2560 was already at 256 bytes).
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Fix travis-ci build failure by forcing the data field of the struct
usb_string_descriptor to be the same type as a 16bit unicode string.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Use new usb_read_ep0_setup() function when reading a setup packet -
this allows the low-level usb hardware code to better handle errors.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
A zero length packet should only be sent at the end of a transmission
if the host is expecting more data.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Maintain the state tracking code entirely within a usb_do_xfer()
method. This simplifies the callers.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Use "ep0" when referring to endpoint0 - don't use "setup" as that can
be confused with the low-level usb setup token.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The atmega168 doesn't have enough flash space to fit all features -
disable the "bit banging" interfaces to make room.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The bank_id was calculated erroneously. Also unify gpio_in_setup and gpio_out_setup a bit. Also disable make flash for the sam4e8e port as it currently references a version of bossac that is not present on all systems.
Signed-off-by: Florian Heilmann <Florian.Heilmann@gmx.net>
This can be flashed to e.g. the duet wifi using bossac. It requires a
later version as is currently included in the klipper repo (1.8
vs. 1.2). Comms are currently via UART0 only, USB serial is still TBD
Signed-off-by: Florian Heilmann <Florian.Heilmann@gmx.net>
It's common for boards to have restrictions on the type of each
endpoint. So, make it possible for the board to select the endpoint
ids for each endpoint.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
No need to include separate cmsis files from the mbed project - the
standard CMSIS_5 files work fine.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Update the sam3x8e port use the most recent SAM3X CMSIS files from
Atmel. The Atmel files appear to have a more consistent license and
it is unclear if there were Arduino specific changes in the CMSIS
files obtained from the Arduino repo.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Send the temperature before checking for an out of range error (that
makes it easier to debug).
The query_thermocouple clock parameter is unpredictable and a value of
zero can't be used to disable the query - use rest_ticks instead.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The MAX6675 chip has a different read sequence than the MAX31855 chip.
Signed-off-by: Ricardo Amézquita <ramezquitao@cihologramas.com>
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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>
Allow the micro-controller code to be built without support for
regular gpio pins. In this case, the code for endstops, steppers, and
gpiocmds will be disabled.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Implement new dynmem_start() and dynmem_end() functions instead of
alloc_chunk() and alloc_chunks() in the board code. This simplifies
the board code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Change the command dispatch and response generation so that most of
the work is done on pru0 instead of pru1. This allows more code to
fit into the limited space on pru1.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Don't use the sendf() macro for ack and nak messages - directly call
the command_sendf() code instead.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Now that console_get_input(), console_pop_input(),
console_get_output() and console_push_output() are local functions,
integrate them into their callers. This simplifies the code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Now that console_get_input(), console_pop_input(),
console_get_output() and console_push_output() are local functions,
integrate them into their callers. This simplifies the code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Now that console_get_input(), console_pop_input(),
console_get_output() and console_push_output() are local functions,
integrate them into their callers. This simplifies the code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Export a new console_sendf() function from the board code instead of
console_get_output() and console_push_output(). This enables more
flexibility in how the board specific code produces output.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move the command_task() code from the generic code to the board
specific code. This enables more flexibility in how the board
specific code processes input.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Refactor the code so that message block framing, command parsing, and
command dispatch are distinct.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It appears this option is commonly needed on the at90usb1286 avr chip
(the printrboard requires it), so default it on.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add a CONFIG_SIMULAVR option to the Kbuild menus and don't directly
prompt users for CONFIG_WATCHDOG or CONFIG_SERIAL_BAUD_U2X. The only
reason to disable these options would be if one were running on
simulavr. This simplifies the user visible menu options.
Also, only show CONFIG_CLEAR_PRESCALER for at90usb1286 chips.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The atmega328 is basically the same as the atmega168 - it just adds
some additional memory. Allow the chip to be selected during the
build.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Reorder the MCU list so that newer chips are at the top of the list.
This causes the very popular atmega2560 to be the default chip
selected.
Reorder the frequency list so that higher frequencies are at the top
of the list. Restrict the 20Mhz frequency to only chips that support
that speed. This causes the popular 16Mhz frequency to be the default
speed on AVR.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Avoid using linker magic to define the init, task, and shutdown
functions. Instead, use the compile_time_request system. This
simplifies the build and produces more efficient code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Avoid generating unique ids via memory locations and linker scripts.
Instead, generate them using code produced by buildcommands.py.
Utilize gcc's ability to perform static string comparisons at compile
time to produce a unique id for each unique string.
This fixes a build failure on ARM introduced in 142b92b8. It also
reduces the complexity of the build.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The gpio_out_write() and gpio_out_setup() calls will check for zero
and non-zero, so it is not necessary to explicitly convert to 0/1 in
the stepper.c code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
On some architectures, gcc will allocate a register for inline
assembler with an "m" constraint. Use "i" to avoid that.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Change the range of values used for software PWM to avoid doing an
integer division in the main code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Instead of assuming the maximum PWM value is 255, export a constant
from the firmware to the host with the maximum value.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
On regular 32bit machines there is no need to implement explicit
signed conversion on 16bit integers.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Introduce a new board function alloc_chunk() to allocate dynamic
memory. This allows the board code to implement memory allocations
without using the standard malloc() interface.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Detect avr gcc v4.8.1 and then disable warnings during the klipper.o
linking to suppress bogus "misspelled signal handler" warnings.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Support a "make flash FLASH_DEVICE=/dev/ttyACM0" rule with the default
commands for flashing a device.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move the PWM, ADC, and SPI pin tables closer to their corresponding
code. This is code movement only - no code changes.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Extend the endstop code so that more than one stepper can be halted
during endstop homing. Some kinematic setups (eg, corexy) require an
endstop to support this.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The relax option corrupts the compilation on at least some versions of
gcc/binutils (eg, on fedora's avr-gcc 6.2.0 / binutils 2.27) due to
corruption of switch tables that use jump offsets. This issue is also
the root cause that resulted in commit d67f962a. Since the --relax
option provides minimal size / performance improvements it can simply
be dropped.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commmit a1c61563 renamed timer_shutdown() to timer_reset() but
neglected to delete timer_shutdown().
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commit 16e3dbb1 changed the avr implementation of timer_read_time().
Unfortunately, it raised the possibility for timer_read_time() to be
out of sync with the scheduler's understanding of the current time.
In particular, it was common for the timer irq to overflow the 16bit
hardware counter once at startup, and this would lead to
timer_read_time() always returning a time ~4ms ahead of the scheduler
on 16Mhz chips. This resulted in "Move queue empty" errors.
To resolve this issue, only increment timer_high from timer_periodic()
and make sure the timer irqs start immediately after timer_init().
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The code alignment of the TC0_Handler function seems to noticeably
impact performance benchmarks. Set the function alignment to 16 bytes
to improve testing consistency. An alignment of 16 doesn't
necessarily improve performance, but it seems to improve testing
consistency on code changes unrelated to timer dispatch.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Rename the file to make it clear that the code is helper functions for
boards with irq based timers.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Rename sched_timer_kick() to sched_timer_dispatch() and move its loop
into its callers in the board code. This eliminates the need to
export timer_try_set_next() from the board code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Reset the timer repeat checks on shutdown, otherwise it is possible to
get into an infinite shutdown loop.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
On faster MCUs where a delay is needed between step and unstep use a
"busy loop" in the scheduler instead of trying to schedule to the
unstep time. This reduces the chance of jitter in the scheduler
accumulating.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Directly use the Kconfig defined CONFIG_CLOCK_FREQ in the code and
avoid defining F_CPU. Also, remove the unnecessary O2 option - that
is already the default from the main makefile.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Explicilty load the timer waketime variable into local variables in
sched_timer_kick(). Change the optimization level from Os to O2.
This helps gcc to avoid unnecessary reloads from memory in the common
stepper_event() case.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Provide hand-coded assembler for timer_is_before() on AVR as that code
is used frequently in the time-critical timer dispatch loop and gcc
doesn't do a good job at compiling that comparison code. Remove the
no longer needed waketime+1 hack from reschedule_timer().
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move sched_is_before() from sched.c to timer_is_before() in the board
specific timer code. This allows the board code to provide its own
definition.
Also, remove the sched_from_us() and sched_read_time() wrapper
functions and change the callers to directly invoke timer_from_us() /
timer_read_time().
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Kevin O'Connor