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>
Kevin O'Connor