diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile new file mode 100644 index 0000000000..4f29a10053 --- /dev/null +++ b/.devcontainer/Dockerfile @@ -0,0 +1,29 @@ +# See here for image contents: https://github.com/microsoft/vscode-dev-containers/tree/v0.187.0/containers/python-3/.devcontainer/base.Dockerfile + +# [Choice] Python version: 3, 3.9, 3.8, 3.7, 3.6 +ARG VARIANT="3.9.0-buster" +FROM python:${VARIANT} + +# [Option] Install Node.js +ARG INSTALL_NODE="true" +ARG NODE_VERSION="lts/*" +RUN if [ "${INSTALL_NODE}" = "true" ]; then su vscode -c "umask 0002 && . /usr/local/share/nvm/nvm.sh && nvm install ${NODE_VERSION} 2>&1"; fi + +# [Optional] If your pip requirements rarely change, uncomment this section to add them to the image. +# COPY requirements.txt /tmp/pip-tmp/ +# RUN pip3 --disable-pip-version-check --no-cache-dir install -r /tmp/pip-tmp/requirements.txt \ +# && rm -rf /tmp/pip-tmp + +# [Optional] Uncomment this section to install additional OS packages. +# RUN apt-get update && export DEBIAN_FRONTEND=noninteractive \ +# && apt-get -y install --no-install-recommends + +# [Optional] Uncomment this line to install global node packages. +# RUN su vscode -c "source /usr/local/share/nvm/nvm.sh && npm install -g " 2>&1 + + +RUN pip install -U https://github.com/platformio/platformio-core/archive/develop.zip +RUN platformio update +# To get the test platforms +RUN pip install PyYaml +#ENV PATH /code/buildroot/bin/:/code/buildroot/tests/:${PATH} diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json new file mode 100644 index 0000000000..54627d462b --- /dev/null +++ b/.devcontainer/devcontainer.json @@ -0,0 +1,51 @@ +// For format details, see https://aka.ms/devcontainer.json. For config options, see the README at: +// https://github.com/microsoft/vscode-dev-containers/tree/v0.187.0/containers/python-3 +{ + "name": "Python 3", + "build": { + "dockerfile": "Dockerfile", + "context": "..", + "args": { + // Update 'VARIANT' to pick a Python version: 3, 3.6, 3.7, 3.8, 3.9 + "VARIANT": "3.9.0-buster", + // Options + "INSTALL_NODE": "false", + "NODE_VERSION": "lts/*" + } + }, + + // Set *default* container specific settings.json values on container create. + "settings": { + "python.pythonPath": "/usr/local/bin/python", + "python.languageServer": "Pylance", + "python.linting.enabled": true, + "python.linting.pylintEnabled": true, + "python.formatting.autopep8Path": "/usr/local/py-utils/bin/autopep8", + "python.formatting.blackPath": "/usr/local/py-utils/bin/black", + "python.formatting.yapfPath": "/usr/local/py-utils/bin/yapf", + "python.linting.banditPath": "/usr/local/py-utils/bin/bandit", + "python.linting.flake8Path": "/usr/local/py-utils/bin/flake8", + "python.linting.mypyPath": "/usr/local/py-utils/bin/mypy", + "python.linting.pycodestylePath": "/usr/local/py-utils/bin/pycodestyle", + "python.linting.pydocstylePath": "/usr/local/py-utils/bin/pydocstyle", + "python.linting.pylintPath": "/usr/local/py-utils/bin/pylint" + }, + + // Add the IDs of extensions you want installed when the container is created. + "extensions": [ + "ms-python.python", + "ms-python.vscode-pylance", + "platformio.platformio-ide", + "marlinfirmware.auto-build", + "editorconfig.editorconfig" + ], + + // Use 'forwardPorts' to make a list of ports inside the container available locally. + // "forwardPorts": [], + + // Use 'postCreateCommand' to run commands after the container is created. + // "postCreateCommand": "pip3 install --user -r requirements.txt", + + // Comment out connect as root instead. More info: https://aka.ms/vscode-remote/containers/non-root. + // "remoteUser": "vscode" +} diff --git a/.editorconfig b/.editorconfig index b8f6ef7f8e..84f2d090b1 100644 --- a/.editorconfig +++ b/.editorconfig @@ -4,16 +4,24 @@ root = true [{*.patch,syntax_test_*}] trim_trailing_whitespace = false -[{*.c,*.cpp,*.h,*.ino}] -charset = utf-8 - -[{*.c,*.cpp,*.h,*.ino,Makefile}] +[{*.c,*.cpp,*.h,*.ino,*.py,Makefile}] trim_trailing_whitespace = true insert_final_newline = true end_of_line = lf + +[{*.c,*.cpp,*.h,*.ino}] +charset = utf-8 indent_style = space indent_size = 2 -[{*.py,*.conf,*.sublime-project}] +[{Makefile}] +indent_style = tab +indent_size = 2 + +[{*.py}] +indent_style = space +indent_size = 4 + +[{*.conf,*.sublime-project}] indent_style = tab indent_size = 4 diff --git a/.github/ISSUE_TEMPLATE/bug_report.yml b/.github/ISSUE_TEMPLATE/bug_report.yml new file mode 100644 index 0000000000..b40d881a75 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/bug_report.yml @@ -0,0 +1,178 @@ +name: 🪲 Report a bug +description: Create a bug report to help improve Marlin Firmware +title: "[BUG] (bug summary)" +body: + - type: markdown + attributes: + value: > + Do you want to ask a question? Are you looking for support? Please use one of the [support links](https://github.com/MarlinFirmware/Marlin/issues/new/choose). + + - type: markdown + attributes: + value: | + **Thank you for reporting a bug in Marlin Firmware!** + + ## Before Reporting a Bug + + - Read and understand Marlin's [Code of Conduct](https://github.com/MarlinFirmware/Marlin/blob/bugfix-2.1.x/.github/code_of_conduct.md). You are expected to comply with it, including treating everyone with respect. + + - Test with the [`bugfix-2.1.x` branch](https://github.com/MarlinFirmware/Marlin/archive/bugfix-2.1.x.zip) to see whether the issue still exists. + + ## Instructions + + Please follow the instructions below. Failure to do so may result in your issue being closed. See [Contributing to Marlin](https://github.com/MarlinFirmware/Marlin/blob/bugfix-2.1.x/.github/contributing.md) for additional guidelines. + + 1. Provide a good title starting with [BUG]. + 2. Fill out all sections of this bug report form. + 3. Always attach configuration files so we can build and test your setup. + + - type: dropdown + attributes: + label: Did you test the latest `bugfix-2.1.x` code? + description: >- + Always try the latest code to make sure the issue you are reporting is not already fixed. To download + the latest code just [click this link](https://github.com/MarlinFirmware/Marlin/archive/bugfix-2.1.x.zip). + options: + - Yes, and the problem still exists. + - No, but I will test it now! + validations: + required: true + + - type: markdown + attributes: + value: | + # Bug Details + + - type: textarea + attributes: + label: Bug Description + description: >- + Describe the bug in this section. Tell us what you were trying to do and what + happened that you did not expect. Provide a clear and concise description of the + problem and include as many details as possible. + + When pasting formatted text don't forget to put ` ``` ` (on its own line) before and after to make it readable. + placeholder: | + Marlin doesn't work. + validations: + required: true + + - type: input + attributes: + label: Bug Timeline + description: Is this a new bug or an old issue? When did it first start? + + - type: textarea + attributes: + label: Expected behavior + description: >- + What did you expect to happen? + placeholder: I expected it to move left. + + - type: textarea + attributes: + label: Actual behavior + description: What actually happened instead? + placeholder: It moved right instead of left. + + - type: textarea + attributes: + label: Steps to Reproduce + description: >- + Please describe the steps needed to reproduce the issue. + placeholder: | + 1. [First Step] ... + 2. [Second Step] ... + 3. [and so on] ... + + - type: markdown + attributes: + value: | + # Your Setup + + - type: input + attributes: + label: Version of Marlin Firmware + description: "See the About Menu on the LCD or the output of `M115`. NOTE: For older releases we only patch critical bugs." + validations: + required: true + + - type: input + attributes: + label: Printer model + description: Creality Ender-3, Prusa mini, or Kossel Delta? + + - type: input + attributes: + label: Electronics + description: Stock electronics, upgrade board, or something else? + + - type: input + attributes: + label: Add-ons + description: Please list any hardware add-ons that could be involved. + + - type: dropdown + attributes: + label: Bed Leveling + description: What kind of bed leveling compensation are you using? + options: + - UBL Bilinear mesh + - ABL Bilinear mesh + - ABL Linear grid + - ABL 3-point + - MBL Manual Bed Leveling + - No Bed Leveling + + - type: dropdown + attributes: + label: Your Slicer + description: Do you use Slic3r, Prusa Slicer, Simplify3D, IdeaMaker...? + options: + - Slic3r + - Simplify3D + - Prusa Slicer + - IdeaMaker + - Cura + - Other (explain below) + + - type: dropdown + attributes: + label: Host Software + description: Do you use OctoPrint, Repetier Host, Pronterface...? + options: + - SD Card (headless) + - Repetier Host + - OctoPrint + - Pronterface + - Cura + - Same as my slicer + - Other (explain below) + + - type: markdown + attributes: + value: | + # Attachments + + - type: checkboxes + attributes: + label: Don't forget to include + options: + - label: A ZIP file containing your `Configuration.h` and `Configuration_adv.h`. + required: true + + - type: markdown + attributes: + value: | + ### Optional items to include: + - 'Log output from the host. (`M111 S247` for maximum logging.)' + - Images or videos demonstrating the problem, if it helps to make it clear. + - A G-Code file that exposes the problem, if not affecting _all_ G-code. + + - type: textarea + attributes: + label: Additional information & file uploads + description: >- + If you've made any other modifications to the firmware, please describe them in detail. + + When pasting formatted text don't forget to put ` ``` ` (on its own line) before and after to make it readable. diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml new file mode 100644 index 0000000000..1fe68966fb --- /dev/null +++ b/.github/ISSUE_TEMPLATE/config.yml @@ -0,0 +1,20 @@ +blank_issues_enabled: false +contact_links: + - name: 📖 Marlin Documentation + url: https://marlinfw.org/ + about: Lots of documentation on installing and using Marlin. + - name: 👤 MarlinFirmware Facebook group + url: https://www.facebook.com/groups/1049718498464482 + about: Please ask and answer questions here. + - name: 🕹 Marlin on Discord + url: https://discord.gg/n5NJ59y + about: Join the Discord server for support and discussion. + - name: 🔗 Marlin Discussion Forum + url: https://reprap.org/forum/list.php?415 + about: A searchable web forum hosted by RepRap dot org. + - name: 📺 Marlin Videos on YouTube + url: https://www.youtube.com/results?search_query=marlin+firmware + about: Tutorials and more from Marlin users all around the world. Great for new users! + - name: 💸 Want to donate? + url: https://www.thinkyhead.com/donate-to-marlin + about: Please take a look at the various options to support Marlin Firmware's development financially! diff --git a/.github/ISSUE_TEMPLATE/feature_request.yml b/.github/ISSUE_TEMPLATE/feature_request.yml new file mode 100644 index 0000000000..b64383cd48 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/feature_request.yml @@ -0,0 +1,44 @@ +name: ✨ Request a feature +description: Request a new Marlin Firmware feature +title: "[FR] (feature summary)" +labels: 'T: Feature Request' +body: + - type: markdown + attributes: + value: > + Do you want to ask a question? Are you looking for support? Please use one of the [support links](https://github.com/MarlinFirmware/Marlin/issues/new/choose). + + - type: markdown + attributes: + value: > + **Thank you for requesting a new Marlin Firmware feature!** + + ## Before Requesting a Feature + + - Read and understand Marlin's [Code of Conduct](https://github.com/MarlinFirmware/Marlin/blob/master/.github/code_of_conduct.md). You are expected to comply with it, including treating everyone with respect. + + - Check the latest [`bugfix-2.1.x` branch](https://github.com/MarlinFirmware/Marlin/archive/bugfix-2.1.x.zip) to see if the feature already exists. + + - Before you proceed with your request, please consider if it is necessary to make it into a firmware feature, or if it may be better suited for a slicer or host feature. + + - type: textarea + attributes: + label: Is your feature request related to a problem? Please describe. + description: A clear description of the problem (e.g., "I need X but Marlin can't do it [...]"). + + - type: textarea + attributes: + label: Are you looking for hardware support? + description: Tell us the printer, board, or peripheral that needs support. + + - type: textarea + attributes: + label: Describe the feature you want + description: A clear description of the feature and how you think it should work. + validations: + required: true + + - type: textarea + attributes: + label: Additional context + description: Add any other context or screenshots about the feature request here. diff --git a/.github/contributing.md b/.github/contributing.md index 6bc7b5a005..ef1726366a 100644 --- a/.github/contributing.md +++ b/.github/contributing.md @@ -34,8 +34,11 @@ This project and everyone participating in it is governed by the [Marlin Code of We have a Message Board and a Facebook group where our knowledgable user community can provide helpful advice if you have questions. -* [Marlin RepRap forum](https://reprap.org/forum/list.php?415) -* [MarlinFirmware on Facebook](https://www.facebook.com/groups/1049718498464482/) +- [Marlin Documentation](https://marlinfw.org) - Official Marlin documentation +- Facebook Group ["Marlin Firmware"](https://www.facebook.com/groups/1049718498464482/) +- RepRap.org [Marlin Forum](https://forums.reprap.org/list.php?415) +- Facebook Group ["Marlin Firmware for 3D Printers"](https://www.facebook.com/groups/3Dtechtalk/) +- [Marlin Configuration](https://www.youtube.com/results?search_query=marlin+configuration) on YouTube If chat is more your speed, you can join the MarlinFirmware Discord server: @@ -50,13 +53,13 @@ If chat is more your speed, you can join the MarlinFirmware Discord server: This section guides you through submitting a Bug Report for Marlin. Following these guidelines helps maintainers and the community understand your report, reproduce the behavior, and find related reports. -Before creating a Bug Report, please test the "nightly" development branch, as you might find out that you don't need to create one. When you are creating a Bug Report, please [include as many details as possible](#how-do-i-submit-a-good-bug-report). Fill out [the required template](issue_template.md), the information it asks for helps us resolve issues faster. +Before creating a Bug Report, please test the "nightly" development branch, as you might find out that you don't need to create one. When you are creating a Bug Report, please [include as many details as possible](#how-do-i-submit-a-good-bug-report). Fill out [the required template](ISSUE_TEMPLATE/bug_report.yml), the information it asks for helps us resolve issues faster. > **Note:** Regressions can happen. If you find a **Closed** issue that seems like your issue, go ahead and open a new issue and include a link to the original issue in the body of your new one. All you need to create a link is the issue number, preceded by #. For example, #8888. #### How Do I Submit A (Good) Bug Report? -Bugs are tracked as [GitHub issues](https://guides.github.com/features/issues/). Use the New Issue button to create an issue and provide the following information by filling in [the template](issue_template.md). +Bugs are tracked as [GitHub issues](https://guides.github.com/features/issues/). Use the New Issue button to create an issue and provide the following information by filling in [the template](ISSUE_TEMPLATE/bug_report.yml). Explain the problem and include additional details to help maintainers reproduce the problem: @@ -88,12 +91,12 @@ Include details about your configuration and environment: This section guides you through submitting a suggestion for Marlin, including completely new features and minor improvements to existing functionality. Following these guidelines helps maintainers and the community understand your suggestion and find related suggestions. -Before creating a suggestion, please check [this list](#before-submitting-a-suggestion) as you might find out that you don't need to create one. When you are creating an enhancement suggestion, please [include as many details as possible](#how-do-i-submit-a-good-enhancement-suggestion). Fill in [the template](issue_template.md), including the steps that you imagine you would take if the feature you're requesting existed. +Before creating a suggestion, please check [this list](https://github.com/MarlinFirmware/Marlin/issues?q=is%3Aopen+is%3Aissue+label%3A%22T%3A+Feature+Request%22) as you might find out that you don't need to create one. When you are creating an enhancement suggestion, please [include as many details as possible](#how-do-i-submit-a-good-feature-request). Fill in [the template](ISSUE_TEMPLATE/feature_request.yml), including the steps that you imagine you would take if the feature you're requesting existed. #### Before Submitting a Feature Request * **Check the [Marlin website](https://marlinfw.org/)** for tips — you might discover that the feature is already included. Most importantly, check if you're using [the latest version of Marlin](https://github.com/MarlinFirmware/Marlin/releases) and if you can get the desired behavior by changing [Marlin's config settings](https://marlinfw.org/docs/configuration/configuration.html). -* **Perform a [cursory search](https://github.com/MarlinFirmware/Marlin/issues?q=is%3Aissue)** to see if the enhancement has already been suggested. If it has, add a comment to the existing issue instead of opening a new one. +* **Perform a [cursory search](https://github.com/MarlinFirmware/Marlin/issues?q=is%3Aopen+is%3Aissue+label%3A%22T%3A+Feature+Request%22)** to see if the enhancement has already been suggested. If it has, add a comment to the existing issue instead of opening a new one. #### How Do I Submit A (Good) Feature Request? @@ -116,7 +119,7 @@ Unsure where to begin contributing to Marlin? You can start by looking through t ### Pull Requests -Pull Requests should always be targeted to working branches (e.g., `bugfix-1.1.x` and/or `bugfix-2.0.x`) and never to release branches (e.g., `1.1.x`). If this is your first Pull Request, please read our [Guide to Pull Requests](https://marlinfw.org/docs/development/getting_started_pull_requests.html) and Github's [Pull Request](https://help.github.com/articles/creating-a-pull-request/) documentation. +Pull Requests should always be targeted to working branches (e.g., `bugfix-2.1.x` and/or `bugfix-1.1.x`) and never to release branches (e.g., `2.0.x` and/or `1.1.x`). If this is your first Pull Request, please read our [Guide to Pull Requests](https://marlinfw.org/docs/development/getting_started_pull_requests.html) and Github's [Pull Request](https://help.github.com/articles/creating-a-pull-request/) documentation. * Fill in [the required template](pull_request_template.md). * Don't include issue numbers in the PR title. diff --git a/.github/issue_template.md b/.github/issue_template.md deleted file mode 100644 index 6cb34b8f58..0000000000 --- a/.github/issue_template.md +++ /dev/null @@ -1,35 +0,0 @@ - - -### Description - - - -### Steps to Reproduce - - - -1. [First Step] -2. [Second Step] -3. [and so on...] - -**Expected behavior:** [What you expect to happen] - -**Actual behavior:** [What actually happens] - -#### Additional Information - -* Include a ZIP file containing your `Configuration.h` and `Configuration_adv.h` files. -* Provide pictures or links to videos that clearly demonstrate the issue. -* See [How Can I Contribute](#how-can-i-contribute) for additional guidelines. diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md index d82fb0f9e3..cd5158b3ce 100644 --- a/.github/pull_request_template.md +++ b/.github/pull_request_template.md @@ -1,23 +1,33 @@ -### Requirements + ### Description +### Requirements + + + ### Benefits - + ### Configurations - + ### Related Issues - + diff --git a/.github/workflows/bump-date.yml b/.github/workflows/bump-date.yml new file mode 100644 index 0000000000..a08eeea561 --- /dev/null +++ b/.github/workflows/bump-date.yml @@ -0,0 +1,59 @@ +# +# bump-date.yml +# Bump the distribution date once per day +# + +name: Bump Distribution Date + +on: + schedule: + - cron: '0 */6 * * *' + +jobs: + bump_date: + name: Bump Distribution Date + if: github.repository == 'MarlinFirmware/Marlin' + + runs-on: ubuntu-latest + + steps: + + - name: Check out bugfix-2.0.x + uses: actions/checkout@v3 + with: + ref: bugfix-2.0.x + + - name: Bump Date (bugfix-2.0.x) + run: | + # Inline Bump Script + if [[ ! "$( git log -1 --pretty=%B )" =~ ^\[cron\] ]]; then + DIST=$( date +"%Y-%m-%d" ) + eval "sed -E -i 's/(#define +STRING_DISTRIBUTION_DATE) .*$/\1 \"$DIST\"/g' Marlin/src/inc/Version.h" && \ + eval "sed -E -i 's/(#define +STRING_DISTRIBUTION_DATE) .*$/\1 \"$DIST\"/g' Marlin/Version.h" && \ + git config user.name "${GITHUB_ACTOR}" && \ + git config user.email "${GITHUB_ACTOR}@users.noreply.github.com" && \ + git add . && \ + git commit -m "[cron] Bump distribution date ($DIST)" && \ + git push + fi + exit 0 + + - name: Check out bugfix-2.1.x + uses: actions/checkout@v3 + with: + ref: bugfix-2.1.x + + - name: Bump Date (bugfix-2.1.x) + run: | + # Inline Bump Script + if [[ ! "$( git log -1 --pretty=%B )" =~ ^\[cron\] ]]; then + DIST=$( date +"%Y-%m-%d" ) + eval "sed -E -i 's/(#define +STRING_DISTRIBUTION_DATE) .*$/\1 \"$DIST\"/g' Marlin/src/inc/Version.h" && \ + eval "sed -E -i 's/(#define +STRING_DISTRIBUTION_DATE) .*$/\1 \"$DIST\"/g' Marlin/Version.h" && \ + git config user.name "${GITHUB_ACTOR}" && \ + git config user.email "${GITHUB_ACTOR}@users.noreply.github.com" && \ + git add . && \ + git commit -m "[cron] Bump distribution date ($DIST)" && \ + git push + fi + exit 0 diff --git a/.github/workflows/check-pr.yml b/.github/workflows/check-pr.yml new file mode 100644 index 0000000000..abb0d44706 --- /dev/null +++ b/.github/workflows/check-pr.yml @@ -0,0 +1,34 @@ +# +# check-pr.yml +# Close PRs directed at release branches +# + +name: PR Bad Target + +on: + pull_request_target: + types: [opened] + branches: + - 1.0.x + - 1.1.x + - 2.0.x + - 2.1.x + +jobs: + bad_target: + name: PR Bad Target + if: github.repository == 'MarlinFirmware/Marlin' + + runs-on: ubuntu-latest + + steps: + - uses: superbrothers/close-pull-request@v3 + with: + comment: > + Thanks for your contribution! Unfortunately we can't accept PRs directed at release branches. We make patches to the bugfix branches and only later do we push them out as releases. + + Please redo this PR starting with the `bugfix-2.1.x` branch and be careful to target `bugfix-2.1.x` when resubmitting the PR. Patches may also target `bugfix-2.0.x` if they are specifically for 2.0.9.x. + + It may help to set your fork's default branch to `bugfix-2.1.x`. + + See [this page](https://marlinfw.org/docs/development/getting_started_pull_requests.html) for full instructions. diff --git a/.github/workflows/clean-closed.yml b/.github/workflows/clean-closed.yml new file mode 100644 index 0000000000..2eab285aee --- /dev/null +++ b/.github/workflows/clean-closed.yml @@ -0,0 +1,39 @@ +# +# clean-closed.yml +# Remove obsolete labels when an Issue or PR is closed +# + +name: Clean Closed + +on: + pull_request: + types: [closed] + issues: + types: [closed] + +jobs: + remove_label: + runs-on: ubuntu-latest + + strategy: + matrix: + label: + - "S: Don't Merge" + - "S: Hold for 2.1" + - "S: Please Merge" + - "S: Please Test" + - "help wanted" + - "Needs: Discussion" + - "Needs: Documentation" + - "Needs: More Data" + - "Needs: Patch" + - "Needs: Testing" + - "Needs: Work" + + steps: + - uses: actions/checkout@v3 + - name: Remove Labels + uses: actions-ecosystem/action-remove-labels@v1 + with: + github_token: ${{ github.token }} + labels: ${{ matrix.label }} diff --git a/.github/workflows/close-stale.yml b/.github/workflows/close-stale.yml new file mode 100644 index 0000000000..88fea1996d --- /dev/null +++ b/.github/workflows/close-stale.yml @@ -0,0 +1,28 @@ +# +# close-stale.yml +# Close open issues after a period of inactivity +# + +name: Close Stale Issues + +on: + schedule: + - cron: "22 1 * * *" + +jobs: + stale: + name: Close Stale Issues + if: github.repository == 'MarlinFirmware/Marlin' + + runs-on: ubuntu-latest + + steps: + - uses: actions/stale@v3 + with: + repo-token: ${{ secrets.GITHUB_TOKEN }} + stale-issue-message: 'This issue has had no activity in the last 60 days. Please add a reply if you want to keep this issue active, otherwise it will be automatically closed within 10 days.' + days-before-stale: 60 + days-before-close: 10 + stale-issue-label: 'stale-closing-soon' + exempt-all-assignees: true + exempt-issue-labels: 'Bug: Confirmed !,T: Feature Request,Needs: More Data,Needs: Discussion,Needs: Documentation,Needs: Patch,Needs: Work,Needs: Testing,help wanted,no-locking' diff --git a/.github/workflows/lock-closed.yml b/.github/workflows/lock-closed.yml new file mode 100644 index 0000000000..8cdcd7a836 --- /dev/null +++ b/.github/workflows/lock-closed.yml @@ -0,0 +1,32 @@ +# +# lock-closed.yml +# Lock closed issues after a period of inactivity +# + +name: Lock Closed Issues + +on: + schedule: + - cron: '0 1/13 * * *' + +jobs: + lock: + name: Lock Closed Issues + if: github.repository == 'MarlinFirmware/Marlin' + + runs-on: ubuntu-latest + + steps: + - uses: dessant/lock-threads@v2 + with: + github-token: ${{ github.token }} + process-only: 'issues' + issue-lock-inactive-days: '60' + issue-exclude-created-before: '' + issue-exclude-labels: 'no-locking' + issue-lock-labels: '' + issue-lock-comment: > + This issue has been automatically locked since there + has not been any recent activity after it was closed. + Please open a new issue for related bugs. + issue-lock-reason: '' diff --git a/.github/workflows/test-builds.yml b/.github/workflows/test-builds.yml index e339f85646..7ebbcd0066 100644 --- a/.github/workflows/test-builds.yml +++ b/.github/workflows/test-builds.yml @@ -8,7 +8,7 @@ name: CI on: pull_request: branches: - - bugfix-2.0.x + - bugfix-2.1.x paths-ignore: - config/** - data/** @@ -16,7 +16,7 @@ on: - '**/*.md' push: branches: - - bugfix-2.0.x + - bugfix-2.1.x paths-ignore: - config/** - data/** @@ -33,84 +33,110 @@ jobs: strategy: matrix: test-platform: - # Base Environments - - DUE - - DUE_archim - - esp32 + # Native - linux_native + + # AVR - mega2560 - - at90usb1286_dfu - - teensy31 - - teensy35 - - teensy41 - - SAMD51_grandcentral_m4 - - # Extended AVR Environments - - - FYSETC_F6 - mega1280 + - at90usb1286_dfu + + # AVR Extended + - FYSETC_F6 + - melzi_optiboot - rambo - sanguino1284p - sanguino644p - # STM32F1 (Maple) Environments + # SAM3X8E + - DUE + - DUE_archim - #- STM32F103RC_btt_maple - - STM32F103RC_btt_USB_maple - - STM32F103RC_fysetc_maple - - STM32F103RC_meeb - - jgaurora_a5s_a1_maple - - STM32F103VE_longer_maple - #- mks_robin_maple - - mks_robin_lite_maple - - mks_robin_pro_maple - #- mks_robin_nano35_maple - #- STM32F103RE_creality_maple - - STM32F103VE_ZM3E4V2_USB_maple + # SAMD21 + - SAMD51_grandcentral_m4 + - SAMD21_minitronics20 - # STM32 (ST) Environments + # ESP32 + - esp32 + - mks_tinybee + # Teensy 2 + #- at90usb1286_cdc + + # Teensy MK20DX256 + - teensy31 + + # Teensy MK64FX512, MK66FX1M0 + - teensy35 + + # Teensy IMXRT1062DVx6A + - teensy41 + + # STM32F0 + - malyan_M300 + - STM32F070CB_malyan + - STM32F070RB_malyan + + # STM32F1 + - chitu_f103 + - mks_robin + - mks_robin_nano_v1v2 + - PANDA_PI_V29 - STM32F103RC_btt - #- STM32F103RC_btt_USB + - STM32F103RC_fysetc - STM32F103RE_btt - STM32F103RE_btt_USB - STM32F103RE_creality - - STM32F401RC_creality - STM32F103VE_longer - - STM32F407VE_black - - STM32F401VE_STEVAL - - BIGTREE_BTT002 - - BIGTREE_SKR_PRO - - BIGTREE_GTR_V1_0 - - mks_robin + #- mks_robin_mini + #- mks_robin_nano_v1_3_f4_usbmod + #- mks_robin_nano_v1v2_usbmod + #- STM32F103CB_malyan + #- STM32F103RC_btt_USB + #- STM32F103RE + + # STM32F4 - ARMED - - FYSETC_S6 - - STM32F070CB_malyan - - STM32F070RB_malyan - - malyan_M300 + - BIGTREE_BTT002 + - BIGTREE_GTR_V1_0 + - BIGTREE_SKR_PRO - FLYF407ZG - - rumba32 - - LERDGEX + - FYSETC_S6 - LERDGEK - - mks_robin_nano35 + - LERDGEX + - mks_robin_pro2 + - Opulo_Lumen_REV3 + - rumba32 + - STM32F401RC_creality + - STM32F407VE_black + - I3DBEEZ9_V1 + + # STM32F7 - NUCLEO_F767ZI - REMRAM_V1 + + # STM32H7 - BTT_SKR_SE_BX - - chitu_f103 - - Index_Mobo_Rev03 - # Put lengthy tests last + # STM32F1 (Maple) + - jgaurora_a5s_a1_maple + - mks_robin_lite_maple + - mks_robin_pro_maple + - STM32F103RC_btt_USB_maple + - STM32F103RC_fysetc_maple + - STM32F103RC_meeb_maple + - STM32F103VE_longer_maple + - STM32F103VE_ZM3E4V2_USB_maple + #- mks_robin_maple + #- mks_robin_nano_v1v2_maple + #- STM32F103RC_btt_maple + #- STM32F103RE_creality_maple + # LPC176x - Lengthy tests - LPC1768 - LPC1769 - # Non-working environment tests - #- at90usb1286_cdc - #- STM32F103CB_malyan - #- STM32F103RE - #- mks_robin_mini - steps: - name: Check out the PR @@ -138,8 +164,9 @@ jobs: - name: Install PlatformIO run: | - pip install -U https://github.com/platformio/platformio-core/archive/v5.2.5.zip - platformio update + pip install -U platformio + pio upgrade --dev + pio pkg update --global - name: Run ${{ matrix.test-platform }} Tests run: | diff --git a/.github/workflows/unlock-reopened.yml b/.github/workflows/unlock-reopened.yml new file mode 100644 index 0000000000..614ef3fab2 --- /dev/null +++ b/.github/workflows/unlock-reopened.yml @@ -0,0 +1,22 @@ +# +# unlock-reopened.yml +# Unlock an issue whenever it is re-opened +# + +name: "Unlock reopened issue" + +on: + issues: + types: [reopened] + +jobs: + unlock: + name: Unlock Reopened + if: github.repository == 'MarlinFirmware/Marlin' + + runs-on: ubuntu-latest + + steps: + - uses: OSDKDev/unlock-issues@v1.1 + with: + repo-token: "${{ secrets.GITHUB_TOKEN }}" diff --git a/.gitignore b/.gitignore index a0b2708b14..c7d47c607f 100755 --- a/.gitignore +++ b/.gitignore @@ -21,35 +21,21 @@ # Generated files _Version.h -bdf2u8g +bdf2u8g.exe +genpages.exe marlin_config.json mczip.h +language*.csv +out-csv/ +out-language/ *.gen *.sublime-workspace -# # OS -# applet/ .DS_Store -# -# Misc -# -*~ -*.orig -*.rej -*.bak -*.idea -*.i -*.ii -*.swp -tags - -# -# C++ -# -# Compiled Object files +# Compiled C++ Object files *.slo *.lo *.o @@ -80,10 +66,7 @@ tags *.out *.app -# -# C -# -# Object files +# Compiled C Object files *.o *.ko *.obj @@ -111,7 +94,7 @@ tags *.app *.i*86 *.x86_64 - +*.hex # Debug files *.dSYM/ @@ -143,13 +126,16 @@ vc-fileutils.settings .vscode/* !.vscode/extensions.json -#Simulation +# Simulation files imgui.ini eeprom.dat spi_flash.bin +fs.img -#cmake +# CMake +buildroot/share/cmake/* CMakeLists.txt +!buildroot/share/cmake/CMakeLists.txt src/CMakeLists.txt CMakeListsPrivate.txt build/ @@ -169,4 +155,16 @@ __pycache__ # IOLogger logs *_log.csv -.vscode/extensions.json + +# Misc. +*~ +*.orig +*.rej +*.bak +*.idea +*.i +*.ii +*.swp +tags +*.logs +*.bak diff --git a/Ender3V2S1_Dwin_TM3DV2.7z b/Ender3V2S1_Dwin_TM3DV2.7z deleted file mode 100644 index 25331bc034..0000000000 Binary files a/Ender3V2S1_Dwin_TM3DV2.7z and /dev/null differ diff --git a/Makefile b/Makefile index ebcdf25e2d..cfe0b77226 100644 --- a/Makefile +++ b/Makefile @@ -1,11 +1,16 @@ +SCRIPTS_DIR := buildroot/share/scripts +CONTAINER_RT_BIN := docker +CONTAINER_RT_OPTS := --rm -v $(PWD):/code -v platformio-cache:/root/.platformio +CONTAINER_IMAGE := marlin-dev + help: @echo "Tasks for local development:" @echo "* tests-single-ci: Run a single test from inside the CI" @echo "* tests-single-local: Run a single test locally" - @echo "* tests-single-local-docker: Run a single test locally, using docker-compose" + @echo "* tests-single-local-docker: Run a single test locally, using docker" @echo "* tests-all-local: Run all tests locally" - @echo "* tests-all-local-docker: Run all tests locally, using docker-compose" - @echo "* setup-local-docker: Setup local docker-compose" + @echo "* tests-all-local-docker: Run all tests locally, using docker" + @echo "* setup-local-docker: Build the local docker image" @echo "" @echo "Options for testing:" @echo " TEST_TARGET Set when running tests-single-*, to select the" @@ -22,31 +27,33 @@ help: tests-single-ci: export GIT_RESET_HARD=true - $(MAKE) tests-single-local TEST_TARGET=$(TEST_TARGET) + $(MAKE) tests-single-local TEST_TARGET=$(TEST_TARGET) PLATFORMIO_BUILD_FLAGS=-DGITHUB_ACTION .PHONY: tests-single-ci tests-single-local: @if ! test -n "$(TEST_TARGET)" ; then echo "***ERROR*** Set TEST_TARGET= or use make tests-all-local" ; return 1; fi - export PATH=./buildroot/bin/:./buildroot/tests/:${PATH} \ + export PATH="./buildroot/bin/:./buildroot/tests/:${PATH}" \ && export VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) \ && run_tests . $(TEST_TARGET) "$(ONLY_TEST)" .PHONY: tests-single-local tests-single-local-docker: @if ! test -n "$(TEST_TARGET)" ; then echo "***ERROR*** Set TEST_TARGET= or use make tests-all-local-docker" ; return 1; fi - docker-compose run --rm marlin $(MAKE) tests-single-local TEST_TARGET=$(TEST_TARGET) VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) GIT_RESET_HARD=$(GIT_RESET_HARD) ONLY_TEST="$(ONLY_TEST)" + @if ! $(CONTAINER_RT_BIN) images -q $(CONTAINER_IMAGE) > /dev/null ; then $(MAKE) setup-local-docker ; fi + $(CONTAINER_RT_BIN) run $(CONTAINER_RT_OPTS) $(CONTAINER_IMAGE) $(MAKE) tests-single-local TEST_TARGET=$(TEST_TARGET) VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) GIT_RESET_HARD=$(GIT_RESET_HARD) ONLY_TEST="$(ONLY_TEST)" .PHONY: tests-single-local-docker tests-all-local: - export PATH=./buildroot/bin/:./buildroot/tests/:${PATH} \ + export PATH="./buildroot/bin/:./buildroot/tests/:${PATH}" \ && export VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) \ - && for TEST_TARGET in $$(./get_test_targets.py) ; do echo "Running tests for $$TEST_TARGET" ; run_tests . $$TEST_TARGET ; done + && for TEST_TARGET in $$($(SCRIPTS_DIR)/get_test_targets.py) ; do echo "Running tests for $$TEST_TARGET" ; run_tests . $$TEST_TARGET ; done .PHONY: tests-all-local tests-all-local-docker: - docker-compose run --rm marlin $(MAKE) tests-all-local VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) GIT_RESET_HARD=$(GIT_RESET_HARD) + @if ! $(CONTAINER_RT_BIN) images -q $(CONTAINER_IMAGE) > /dev/null ; then $(MAKE) setup-local-docker ; fi + $(CONTAINER_RT_BIN) run $(CONTAINER_RT_OPTS) $(CONTAINER_IMAGE) $(MAKE) tests-all-local VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) GIT_RESET_HARD=$(GIT_RESET_HARD) .PHONY: tests-all-local-docker setup-local-docker: - docker-compose build + $(CONTAINER_RT_BIN) build -t $(CONTAINER_IMAGE) -f docker/Dockerfile . .PHONY: setup-local-docker diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h index ab518dc3dc..a4297d1522 100644 --- a/Marlin/Configuration.h +++ b/Marlin/Configuration.h @@ -148,7 +148,7 @@ // Touchscreen options - only 32 bit boards have the open serial ports to use with graphics displays above -//#define FORCE10SPRODISPLAY +//#define INSANITYAUTOMATION_DWIN //#define AddonFilSensor //Adds a filament runout sensor to the CR20 or Ender 4 //#define lerdgeFilSensor //Using lerdge filament sensor, which is opposite polarity to stock @@ -192,7 +192,6 @@ //#define OriginalCrealitySquareBoard //#define MachineCR10Orig // Forces Melzi board //#define Melzi_To_SBoardUpgrade // Upgrade Melzi board to 10S board -//#define CrealitySilentBoard // Creality board with TMC2208 Standalone drivers. Disables Linear Advance //#define Creality422 //#define Creality427 //define CR6_452 // Older recalled Creality 452 motherboard @@ -200,8 +199,16 @@ //#define SKR13 // 32 bit board - assumes 2208 drivers //#define SKR14 //#define SKR14Turbo + + +//#define SKR2 +//#define SKR3 + //#define SKRPRO11 //#define SKRE3Turbo + +//#define SKRMiniE3V3 + //#define SKR_CR6 // Specialty SKR board for CR6 //#define SKR_Switch_Extruder_1 // Switch pins in PINS file for SKRE3Turbo @@ -300,7 +307,7 @@ * * Advanced settings can be found in Configuration_adv.h */ -#define CONFIGURATION_H_VERSION 02010000 +#define CONFIGURATION_H_VERSION 02010300 //=========================================================================== //============================= Getting Started ============================= @@ -311,26 +318,18 @@ * * Example Configs: https://github.com/MarlinFirmware/Configurations/branches/all * - * Průša Calculator: https://blog.prusaprinters.org/calculator_3416/ + * Průša Calculator: https://blog.prusa3d.com/calculator_3416/ * * Calibration Guides: https://reprap.org/wiki/Calibration * https://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide - * https://sites.google.com/site/repraplogphase/calibration-of-your-reprap + * https://web.archive.org/web/20220907014303/https://sites.google.com/site/repraplogphase/calibration-of-your-reprap * https://youtu.be/wAL9d7FgInk + * https://teachingtechyt.github.io/calibration.html * * Calibration Objects: https://www.thingiverse.com/thing:5573 * https://www.thingiverse.com/thing:1278865 */ -//=========================================================================== -//========================== DELTA / SCARA / TPARA ========================== -//=========================================================================== -// -// Download configurations from the link above and customize for your machine. -// Examples are located in config/examples/delta, .../SCARA, and .../TPARA. -// -//=========================================================================== - // @section info // Author info of this build printed to the host during boot and M115 @@ -350,7 +349,7 @@ // Enable to show the bitmap in Marlin/_Bootscreen.h on startup. -#if BOTH(PowerShutoffKit, EnclosureLight) +#if ENABLED(PowerShutoffKit, EnclosureLight) #undef EnclosureLight #endif @@ -366,17 +365,16 @@ #define ABL_BLTOUCH #endif -#if ENABLED(SKRMiniE3V2) +#if ANY(SKRMiniE3V2, SKRMiniE3V3, SKRE3Turbo) #define SKR_2209 #define SKR_UART - #define OrigLCD + #if NONE(INSANITYAUTOMATION_DWIN, MachineEnder3Touchscreen, FORCEV2DISPLAY) + #define OrigLCD + #else + #define NO_CONTROLLER_CUSTOM_WIRING_WARNING + #endif #endif -#if ENABLED(SKRE3Turbo) - #define SKR_2209 - #define SKR_UART - #define OrigLCD -#endif #if ENABLED(CrealityTitan) #define E3DTitan @@ -468,7 +466,7 @@ #define Z_STOP_PIN 19 #endif -#if ANY(MachineEnder2, MachineEnder3, MachineEnder5, MachineCR10, MachineMini) &&NONE(SKR13, SKR14, SKR14Turbo, SKRPRO11, SKRE3Turbo, SKRMiniE3V2, Creality422, Creality427, Melzi_To_SBoardUpgrade) +#if ANY(MachineEnder2, MachineEnder3, MachineEnder5, MachineCR10, MachineMini) &&NONE(SKR13, SKR14, SKR14Turbo, SKRPRO11, SKRE3Turbo, SKRMiniE3V2, SKRMiniE3V3, Creality422, Creality427, Melzi_To_SBoardUpgrade) #define MachineCR10Orig #endif @@ -514,8 +512,8 @@ #endif #if ANY(MachineCRX, MachineCRXPro, MachineEnder5Plus, MachineCR10SPro, MachineCR5, MachineCR10Max, MachineEnder6, MachineSermoonD1, MachineEnder7, MachineCR10Smart, MachineCR10SmartPro) - #if NONE(GraphicLCD, OrigLCD, FORCE10SPRODISPLAY) - #define FORCE10SPRODISPLAY + #if NONE(GraphicLCD, OrigLCD, INSANITYAUTOMATION_DWIN) + #define INSANITYAUTOMATION_DWIN #endif #endif @@ -523,6 +521,10 @@ #define DWINOS_4 #endif +#if NONE(MachineCR10Smart, MachineCR10SmartPro) + #define LOWRES_DWIN +#endif + #if ENABLED(MachineCR30) #define OrigLCD #define RET6_12864_LCD @@ -536,7 +538,6 @@ #if ANY(MachineEnder3V2, MachineEnder3Pro422, MachineEnder3Pro427, Creality422, Creality427, MachineEnder3Max, MachineEnder6, MachineEnder7, MachineSermoonD1, MachineEnder3S1) #define POWER_LOSS_RECOVERY //Screen will not compile without PLR - #define CrealitySilentBoard #endif #if ANY(MachineEnder3Pro422, MachineEnder3Pro427) @@ -560,8 +561,8 @@ #define lerdgeFilSensor #endif -#if (ANY(Creality422, Creality427, MachineEnder2Pro) && DISABLED(MachineEnder3V2)) || BOTH(OrigLCD, MachineEnder6) - #ifndef FORCE10SPRODISPLAY +#if (ANY(Creality422, Creality427, MachineEnder2Pro) && DISABLED(MachineEnder3V2)) || ENABLED(OrigLCD, MachineEnder6) + #ifndef INSANITYAUTOMATION_DWIN #ifndef MachineEnder3Touchscreen #ifndef FORCEV2DISPLAY #define RET6_12864_LCD @@ -577,7 +578,7 @@ #define HotendStock #endif -#if NONE(ABL_UBL, ABL_BI, FORCE10SPRODISPLAY) +#if NONE(ABL_UBL, ABL_BI, INSANITYAUTOMATION_DWIN) #define ABL_BI #endif @@ -636,11 +637,11 @@ #define BedDC #endif -#if ANY(SKR13, SKR14, SKR14Turbo, SKRPRO11, SKRE3Turbo, MachineEnder3V2, MachineEnder3S1, Creality422, Creality427, MachineEnder6, MachineSermoonD1, MachineCR30, MachineCR6, MachineCR6Max, MachineEnder7, MachineCR10Smart, MachineCR10SmartPro) +#if ANY(SKR13, SKR14, SKR14Turbo, SKRPRO11, SKRE3Turbo, SKRMiniE3V3, MachineEnder3V2, MachineEnder3S1, Creality422, Creality427, MachineEnder6, MachineSermoonD1, MachineCR30, MachineCR6, MachineCR6Max, MachineEnder7, MachineCR10Smart, MachineCR10SmartPro) #define MachineLargeROM #endif -#if NONE(MachineCR10Orig, MachineEnder4, MachineCR10SPro, MachineCRX, MachineCR10Max, MachineEnder5Plus, MachineCR5, SKRMiniE3V2, FORCE10SPRODISPLAY) || ENABLED(GraphicLCD) +#if NONE(MachineCR10Orig, MachineEnder4, MachineCR10SPro, MachineCRX, MachineCR10Max, MachineEnder5Plus, MachineCR5, SKRMiniE3V2, INSANITYAUTOMATION_DWIN) || ENABLED(GraphicLCD) #define SHOW_BOOTSCREEN // Show the bitmap in Marlin/_Bootscreen.h on startup. @@ -662,7 +663,7 @@ * * :[-1, 0, 1, 2, 3, 4, 5, 6, 7] */ -#if ANY(SKR13, SKR14, SKR14Turbo, SKRPRO11, SKRMiniE3V2, SKRE3Turbo, SKR_CR6) +#if ANY(SKR13, SKR14, SKR14Turbo, SKRPRO11, SKRMiniE3V2, SKRMiniE3V3, SKRE3Turbo, SKR_CR6) #define SERIAL_PORT -1 #elif ANY(MachineCR10Smart, MachineCR10SmartPro, MachineEnder2Pro) #define SERIAL_PORT 1 @@ -677,18 +678,24 @@ * Currently Ethernet (-2) is only supported on Teensy 4.1 boards. * :[-2, -1, 0, 1, 2, 3, 4, 5, 6, 7] */ -#if ANY(SKR13, SKR14, SKR14Turbo, SKRE3Turbo) && ENABLED(FORCE10SPRODISPLAY) +#if ANY(SKR13, SKR14, SKR14Turbo, SKRE3Turbo) && ENABLED(INSANITYAUTOMATION_DWIN) #define LCD_SERIAL_PORT 0 #define LCD_BAUDRATE 115200 #define SERIAL_CATCHALL -1 #elif ANY(SKR13, SKR14, SKR14Turbo, SKRPRO11, SKRE3Turbo) && NONE(MachineEnder3V2, MachineEnder3S1, MachineEnder3Touchscreen, FORCEV2DISPLAY) #define SERIAL_PORT_2 0 -#elif ENABLED(SKRMiniE3V2) - #define SERIAL_PORT_2 2 +#elif ANY(SKRMiniE3V2, SKRMiniE3V3) + #if ANY(INSANITYAUTOMATION_DWIN, MachineEnder3Touchscreen) + #define LCD_SERIAL_PORT 2 + #define LCD_BAUDRATE 115200 + #define SERIAL_CATCHALL -1 + #elif DISABLED(FORCEV2DISPLAY) + #define SERIAL_PORT_2 2 + #endif #elif ANY(MachineEnder3V2, MachineEnder3S1) && ANY(FORCEV2DISPLAY, SKRE3Turbo) #define LCD_SERIAL_PORT 1 #define LCD_BAUDRATE 115200 - #define SERIAL_CATCHALL -1 + //#define SERIAL_CATCHALL -1 #elif ANY(MachineCR10SPro, MachineCRX, MachineEnder5Plus, MachineCR10Max, MachineCR5) && NONE(GraphicLCD, OrigLCD, MachineEnder3V2, MachineEnder3S1, Creality422, Creality427, MachineEnder6, FORCEV2DISPLAY) #define LCD_SERIAL_PORT 2 #define LCD_BAUDRATE 115200 @@ -696,7 +703,7 @@ #elif ANY(MachineCR10SPro, MachineCRX, MachineEnder5Plus, MachineCR5, MachineCR10Max, MachineEnder6, Creality422, Creality427, MachineSermoonD1, MachineEnder3Touchscreen, MachineCR6, MachineCR6Max, FORCEV2DISPLAY) && NONE(GraphicLCD, OrigLCD) #define LCD_SERIAL_PORT 3 #define LCD_BAUDRATE 115200 - #define SERIAL_CATCHALL 1 + //#define SERIAL_CATCHALL 1 #elif ENABLED(MachineCR10Smart) #define LCD_SERIAL_PORT 3 #define LCD_BAUDRATE 115200 @@ -705,8 +712,6 @@ #define LCD_SERIAL_PORT 2 #define LCD_BAUDRATE 115200 #define SERIAL_CATCHALL 1 -#elif ANY(Creality422, Creality427, MachineEnder2Pro) && NONE(MachineEnder3V2, MachineEnder3S1, FORCE10SPRODISPLAY, MachineEnder3Touchscreen) - #define SERIAL_PORT_2 3 #endif /** @@ -734,7 +739,7 @@ * :[-2, -1, 0, 1, 2, 3, 4, 5, 6, 7] */ //#define SERIAL_PORT_2 -1 -//#define BAUDRATE_2 250000 // Enable to override BAUDRATE +//#define BAUDRATE_2 250000 // :[2400, 9600, 19200, 38400, 57600, 115200, 250000, 500000, 1000000] Enable to override BAUDRATE /** * Select a third serial port on the board to use for communication with the host. @@ -742,7 +747,7 @@ * :[-1, 0, 1, 2, 3, 4, 5, 6, 7] */ //#define SERIAL_PORT_3 1 -//#define BAUDRATE_3 250000 // Enable to override BAUDRATE +//#define BAUDRATE_3 250000 // :[2400, 9600, 19200, 38400, 57600, 115200, 250000, 500000, 1000000] Enable to override BAUDRATE // Enable the Bluetooth serial interface on AT90USB devices //#define BLUETOOTH @@ -759,6 +764,8 @@ #define MOTHERBOARD BOARD_BTT_SKR_PRO_V1_1 #elif ENABLED(SKRMiniE3V2) #define MOTHERBOARD BOARD_BTT_SKR_MINI_E3_V2_0 + #elif ENABLED(SKRMiniE3V3) + #define MOTHERBOARD BOARD_BTT_SKR_MINI_E3_V3_0 #elif ENABLED(SKRE3Turbo) #define MOTHERBOARD BOARD_BTT_SKR_E3_TURBO #elif ENABLED(MachineEnder6) @@ -799,21 +806,121 @@ // Choose your own or use a service like http://www.uuidgenerator.net/version4 //#define MACHINE_UUID "00000000-0000-0000-0000-000000000000" +// @section stepper drivers + /** - * Define the number of coordinated axes. - * See https://github.com/DerAndere1/Marlin/wiki - * Each axis gets its own stepper control and endstop: + * Stepper Drivers * - * Steppers: *_STEP_PIN, *_ENABLE_PIN, *_DIR_PIN, *_ENABLE_ON - * Endstops: *_STOP_PIN, USE_*MIN_PLUG, USE_*MAX_PLUG - * Axes: *_MIN_POS, *_MAX_POS, INVERT_*_DIR - * Planner: DEFAULT_AXIS_STEPS_PER_UNIT, DEFAULT_MAX_FEEDRATE - * DEFAULT_MAX_ACCELERATION, AXIS_RELATIVE_MODES, - * MICROSTEP_MODES, MANUAL_FEEDRATE + * These settings allow Marlin to tune stepper driver timing and enable advanced options for + * stepper drivers that support them. You may also override timing options in Configuration_adv.h. * - * :[3, 4, 5, 6, 7, 8, 9] + * A4988 is assumed for unspecified drivers. + * + * Use TMC2208/TMC2208_STANDALONE for TMC2225 drivers and TMC2209/TMC2209_STANDALONE for TMC2226 drivers. + * + * Options: A4988, A5984, DRV8825, LV8729, TB6560, TB6600, TMC2100, + * TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE, + * TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE, + * TMC26X, TMC26X_STANDALONE, TMC2660, TMC2660_STANDALONE, + * TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE + * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE'] */ -//#define NUM_AXES 3 + +#if (ANY(SKR13, SKR14, SKR14Turbo, SKRPRO11) || ANY(MachineCR10SV2, MachineEnder3S1, MachineCR10SPro, MachineCR10SProV2, MachineCR10Max, MachineCR5, SKRMiniE3V2, SKRMiniE3V3, MachineCR6, MachineCR6Max, MachineEnder6, MachineEnder7, MachineSermoonD1, MachineCR30, MachineCR10Smart, MachineCR10SmartPro)) && DISABLED(SKR_UART) + #if ENABLED(SKR_2209) + #define X_DRIVER_TYPE TMC2209_STANDALONE + #define Y_DRIVER_TYPE TMC2209_STANDALONE + #define Z_DRIVER_TYPE TMC2209_STANDALONE + #define E0_DRIVER_TYPE TMC2209_STANDALONE + #if ENABLED(DualZ) + #define Z2_DRIVER_TYPE TMC2209_STANDALONE + #else + #define E1_DRIVER_TYPE TMC2209_STANDALONE + #endif + #elif ENABLED(SKR_2130) + #define X_DRIVER_TYPE TMC2130_STANDALONE + #define Y_DRIVER_TYPE TMC2130_STANDALONE + #define Z_DRIVER_TYPE TMC2130_STANDALONE + #define E0_DRIVER_TYPE TMC2130_STANDALONE + #if ENABLED(DualZ) + #define Z2_DRIVER_TYPE TMC2130_STANDALONE + #else + #define E1_DRIVER_TYPE TMC2130_STANDALONE + #endif + #else + #define X_DRIVER_TYPE TMC2208_STANDALONE + #define Y_DRIVER_TYPE TMC2208_STANDALONE + #define Z_DRIVER_TYPE TMC2208_STANDALONE + #define E0_DRIVER_TYPE TMC2208_STANDALONE + #if ENABLED(DualZ) + #define Z2_DRIVER_TYPE TMC2208_STANDALONE + #else + #define E1_DRIVER_TYPE TMC2208_STANDALONE + #endif + #endif +#elif ANY(SKR13, SKR14, SKR14Turbo, SKRPRO11, SKRMiniE3V2, SKRMiniE3V3, SKRE3Turbo) && ENABLED(SKR_UART) + #if ENABLED(SKR_2209) + #define X_DRIVER_TYPE TMC2209 + #define Y_DRIVER_TYPE TMC2209 + #define Z_DRIVER_TYPE TMC2209 + #define E0_DRIVER_TYPE TMC2209 + #if ENABLED(DualZ) + #define Z2_DRIVER_TYPE TMC2209 + #else + #define E1_DRIVER_TYPE TMC2209 + #endif + #elif ENABLED(SKR_2130) + #define X_DRIVER_TYPE TMC2130 + #define Y_DRIVER_TYPE TMC2130 + #define Z_DRIVER_TYPE TMC2130 + #define E0_DRIVER_TYPE TMC2130 + #if ENABLED(DualZ) + #define Z2_DRIVER_TYPE TMC2130 + #else + #define E1_DRIVER_TYPE TMC2130 + #endif + #else + #define X_DRIVER_TYPE TMC2208 + #define Y_DRIVER_TYPE TMC2208 + #define Z_DRIVER_TYPE TMC2208 + #define E0_DRIVER_TYPE TMC2208 + #if ENABLED(DualZ) + #define Z2_DRIVER_TYPE TMC2208 + #else + #define E1_DRIVER_TYPE TMC2208 + #endif + #endif +#else + #define X_DRIVER_TYPE A4988 + #define Y_DRIVER_TYPE A4988 + #define Z_DRIVER_TYPE A4988 + #define E0_DRIVER_TYPE A4988 + #if ENABLED(DualZ) + #define Z2_DRIVER_TYPE A4988 + #else + #define E1_DRIVER_TYPE A4988 + #endif +#endif + +//#define X2_DRIVER_TYPE A4988 +//#define Y2_DRIVER_TYPE A4988 +//#define Z2_DRIVER_TYPE A4988 +//#define Z3_DRIVER_TYPE A4988 +//#define Z4_DRIVER_TYPE A4988 +//#define I_DRIVER_TYPE A4988 +//#define J_DRIVER_TYPE A4988 +//#define K_DRIVER_TYPE A4988 +//#define U_DRIVER_TYPE A4988 +//#define V_DRIVER_TYPE A4988 +//#define W_DRIVER_TYPE A4988 +//#define E0_DRIVER_TYPE A4988 +//#define E1_DRIVER_TYPE A4988 +//#define E2_DRIVER_TYPE A4988 +//#define E3_DRIVER_TYPE A4988 +//#define E4_DRIVER_TYPE A4988 +//#define E5_DRIVER_TYPE A4988 +//#define E6_DRIVER_TYPE A4988 +//#define E7_DRIVER_TYPE A4988 /** * Additional Axis Settings @@ -832,27 +939,27 @@ * * Regardless of these settings the axes are internally named I, J, K, U, V, W. */ -#if NUM_AXES >= 4 +#ifdef I_DRIVER_TYPE #define AXIS4_NAME 'A' // :['A', 'B', 'C', 'U', 'V', 'W'] #define AXIS4_ROTATES #endif -#if NUM_AXES >= 5 +#ifdef J_DRIVER_TYPE #define AXIS5_NAME 'B' // :['B', 'C', 'U', 'V', 'W'] #define AXIS5_ROTATES #endif -#if NUM_AXES >= 6 +#ifdef K_DRIVER_TYPE #define AXIS6_NAME 'C' // :['C', 'U', 'V', 'W'] #define AXIS6_ROTATES #endif -#if NUM_AXES >= 7 +#ifdef U_DRIVER_TYPE #define AXIS7_NAME 'U' // :['U', 'V', 'W'] //#define AXIS7_ROTATES #endif -#if NUM_AXES >= 8 +#ifdef V_DRIVER_TYPE #define AXIS8_NAME 'V' // :['V', 'W'] //#define AXIS8_ROTATES #endif -#if NUM_AXES >= 9 +#ifdef W_DRIVER_TYPE #define AXIS9_NAME 'W' // :['W'] //#define AXIS9_ROTATES #endif @@ -881,21 +988,6 @@ #define SINGLENOZZLE_STANDBY_FAN #endif -/** - * Multi-Material Unit - * Set to one of these predefined models: - * - * PRUSA_MMU1 : Průša MMU1 (The "multiplexer" version) - * PRUSA_MMU2 : Průša MMU2 - * PRUSA_MMU2S : Průša MMU2S (Requires MK3S extruder with motion sensor, EXTRUDERS = 5) - * EXTENDABLE_EMU_MMU2 : MMU with configurable number of filaments (ERCF, SMuFF or similar with Průša MMU2 compatible firmware) - * EXTENDABLE_EMU_MMU2S : MMUS with configurable number of filaments (ERCF, SMuFF or similar with Průša MMU2 compatible firmware) - * - * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails. - * See additional options in Configuration_adv.h. - */ -//#define MMU_MODEL PRUSA_MMU2 - // A dual extruder that uses a single stepper motor //#define SWITCHING_EXTRUDER #if ENABLED(SWITCHING_EXTRUDER) @@ -906,14 +998,24 @@ #endif #endif -// A dual-nozzle that uses a servomotor to raise/lower one (or both) of the nozzles +// Switch extruders by bumping the toolhead. Requires EVENT_GCODE_TOOLCHANGE_#. +//#define MECHANICAL_SWITCHING_EXTRUDER + +/** + * A dual-nozzle that uses a servomotor to raise/lower one (or both) of the nozzles. + * Can be combined with SWITCHING_EXTRUDER. + */ //#define SWITCHING_NOZZLE #if ENABLED(SWITCHING_NOZZLE) #define SWITCHING_NOZZLE_SERVO_NR 0 //#define SWITCHING_NOZZLE_E1_SERVO_NR 1 // If two servos are used, the index of the second #define SWITCHING_NOZZLE_SERVO_ANGLES { 0, 90 } // Angles for E0, E1 (single servo) or lowered/raised (dual servo) + #define SWITCHING_NOZZLE_SERVO_DWELL 2500 // Dwell time to wait for servo to make physical move #endif +// Switch nozzles by bumping the toolhead. Requires EVENT_GCODE_TOOLCHANGE_#. +//#define MECHANICAL_SWITCHING_NOZZLE + /** * Two separate X-carriages with extruders that connect to a moving part * via a solenoid docking mechanism. Requires SOL1_PIN and SOL2_PIN. @@ -930,7 +1032,7 @@ */ //#define MAGNETIC_PARKING_EXTRUDER -#if EITHER(PARKING_EXTRUDER, MAGNETIC_PARKING_EXTRUDER) +#if ANY(PARKING_EXTRUDER, MAGNETIC_PARKING_EXTRUDER) #define PARKING_EXTRUDER_PARKING_X { -78, 184 } // X positions for parking the extruders #define PARKING_EXTRUDER_GRAB_DISTANCE 1 // (mm) Distance to move beyond the parking point to grab the extruder @@ -1030,7 +1132,25 @@ #endif //#define HOTEND_OFFSET_Z {0.0, 0.00} // (mm) relative Z-offset for each nozzle -// @section machine +// @section multi-material + +/** + * Multi-Material Unit + * Set to one of these predefined models: + * + * PRUSA_MMU1 : Průša MMU1 (The "multiplexer" version) + * PRUSA_MMU2 : Průša MMU2 + * PRUSA_MMU2S : Průša MMU2S (Requires MK3S extruder with motion sensor, EXTRUDERS = 5) + * EXTENDABLE_EMU_MMU2 : MMU with configurable number of filaments (ERCF, SMuFF or similar with Průša MMU2 compatible firmware) + * EXTENDABLE_EMU_MMU2S : MMUS with configurable number of filaments (ERCF, SMuFF or similar with Průša MMU2 compatible firmware) + * + * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails. + * See additional options in Configuration_adv.h. + * :["PRUSA_MMU1", "PRUSA_MMU2", "PRUSA_MMU2S", "EXTENDABLE_EMU_MMU2", "EXTENDABLE_EMU_MMU2S"] + */ +//#define MMU_MODEL PRUSA_MMU2 + +// @section psu control /** * Power Supply Control @@ -1077,8 +1197,8 @@ #define POWER_TIMEOUT 30 // (s) Turn off power if the machine is idle for this duration //#define POWER_OFF_DELAY 60 // (s) Delay of poweroff after M81 command. Useful to let fans run for extra time. #endif - #if EITHER(AUTO_POWER_CONTROL, POWER_OFF_WAIT_FOR_COOLDOWN) - //#define AUTO_POWER_E_TEMP 50 // (°C) PSU on if any extruder is over this temperature + #if ANY(AUTO_POWER_CONTROL, POWER_OFF_WAIT_FOR_COOLDOWN) + #define AUTO_POWER_E_TEMP 50 // (°C) PSU on if any extruder is over this temperature //#define AUTO_POWER_CHAMBER_TEMP 30 // (°C) PSU on if the chamber is over this temperature //#define AUTO_POWER_COOLER_TEMP 26 // (°C) PSU on if the cooler is over this temperature #endif @@ -1090,12 +1210,82 @@ // @section temperature /** - * --NORMAL IS 4.7kΩ PULLUP!-- 1kΩ pullup can be used on hotend sensor, using correct resistor and table + * Temperature Sensors: * - * Temperature sensors available: + * NORMAL IS 4.7kΩ PULLUP! Hotend sensors can use 1kΩ pullup with correct resistor and table. * - * SPI RTD/Thermocouple Boards - IMPORTANT: Read the NOTE below! - * ------- + * ================================================================ + * Analog Thermistors - 4.7kΩ pullup - Normal + * ================================================================ + * 1 : 100kΩ EPCOS - Best choice for EPCOS thermistors + * 331 : 100kΩ Same as #1, but 3.3V scaled for MEGA + * 332 : 100kΩ Same as #1, but 3.3V scaled for DUE + * 2 : 200kΩ ATC Semitec 204GT-2 + * 202 : 200kΩ Copymaster 3D + * 3 : ???Ω Mendel-parts thermistor + * 4 : 10kΩ Generic Thermistor !! DO NOT use for a hotend - it gives bad resolution at high temp. !! + * 5 : 100kΩ ATC Semitec 104GT-2/104NT-4-R025H42G - Used in ParCan, J-Head, and E3D, SliceEngineering 300°C + * 501 : 100kΩ Zonestar - Tronxy X3A + * 502 : 100kΩ Zonestar - used by hot bed in Zonestar Průša P802M + * 503 : 100kΩ Zonestar (Z8XM2) Heated Bed thermistor + * 504 : 100kΩ Zonestar P802QR2 (Part# QWG-104F-B3950) Hotend Thermistor + * 505 : 100kΩ Zonestar P802QR2 (Part# QWG-104F-3950) Bed Thermistor + * 512 : 100kΩ RPW-Ultra hotend + * 6 : 100kΩ EPCOS - Not as accurate as table #1 (created using a fluke thermocouple) + * 7 : 100kΩ Honeywell 135-104LAG-J01 + * 71 : 100kΩ Honeywell 135-104LAF-J01 + * 8 : 100kΩ Vishay 0603 SMD NTCS0603E3104FXT + * 9 : 100kΩ GE Sensing AL03006-58.2K-97-G1 + * 10 : 100kΩ RS PRO 198-961 + * 11 : 100kΩ Keenovo AC silicone mats, most Wanhao i3 machines - beta 3950, 1% + * 12 : 100kΩ Vishay 0603 SMD NTCS0603E3104FXT (#8) - calibrated for Makibox hot bed + * 13 : 100kΩ Hisens up to 300°C - for "Simple ONE" & "All In ONE" hotend - beta 3950, 1% + * 14 : 100kΩ (R25), 4092K (beta25), 4.7kΩ pull-up, bed thermistor as used in Ender-5 S1 + * 15 : 100kΩ Calibrated for JGAurora A5 hotend + * 18 : 200kΩ ATC Semitec 204GT-2 Dagoma.Fr - MKS_Base_DKU001327 + * 22 : 100kΩ GTM32 Pro vB - hotend - 4.7kΩ pullup to 3.3V and 220Ω to analog input + * 23 : 100kΩ GTM32 Pro vB - bed - 4.7kΩ pullup to 3.3v and 220Ω to analog input + * 30 : 100kΩ Kis3d Silicone heating mat 200W/300W with 6mm precision cast plate (EN AW 5083) NTC100K - beta 3950 + * 60 : 100kΩ Maker's Tool Works Kapton Bed Thermistor - beta 3950 + * 61 : 100kΩ Formbot/Vivedino 350°C Thermistor - beta 3950 + * 66 : 4.7MΩ Dyze Design / Trianglelab T-D500 500°C High Temperature Thermistor + * 67 : 500kΩ SliceEngineering 450°C Thermistor + * 68 : PT100 Smplifier board from Dyze Design + * 70 : 100kΩ bq Hephestos 2 + * 75 : 100kΩ Generic Silicon Heat Pad with NTC100K MGB18-104F39050L32 + * 2000 : 100kΩ Ultimachine Rambo TDK NTCG104LH104KT1 NTC100K motherboard Thermistor + * + * ================================================================ + * Analog Thermistors - 1kΩ pullup + * Atypical, and requires changing out the 4.7kΩ pullup for 1kΩ. + * (but gives greater accuracy and more stable PID) + * ================================================================ + * 51 : 100kΩ EPCOS (1kΩ pullup) + * 52 : 200kΩ ATC Semitec 204GT-2 (1kΩ pullup) + * 55 : 100kΩ ATC Semitec 104GT-2 - Used in ParCan & J-Head (1kΩ pullup) + * + * ================================================================ + * Analog Thermistors - 10kΩ pullup - Atypical + * ================================================================ + * 99 : 100kΩ Found on some Wanhao i3 machines with a 10kΩ pull-up resistor + * + * ================================================================ + * Analog RTDs (Pt100/Pt1000) + * ================================================================ + * 110 : Pt100 with 1kΩ pullup (atypical) + * 147 : Pt100 with 4.7kΩ pullup + * 1010 : Pt1000 with 1kΩ pullup (atypical) + * 1022 : Pt1000 with 2.2kΩ pullup + * 1047 : Pt1000 with 4.7kΩ pullup (E3D) + * 20 : Pt100 with circuit in the Ultimainboard V2.x with mainboard ADC reference voltage = INA826 amplifier-board supply voltage. + * NOTE: (1) Must use an ADC input with no pullup. (2) Some INA826 amplifiers are unreliable at 3.3V so consider using sensor 147, 110, or 21. + * 21 : Pt100 with circuit in the Ultimainboard V2.x with 3.3v ADC reference voltage (STM32, LPC176x....) and 5V INA826 amplifier board supply. + * NOTE: ADC pins are not 5V tolerant. Not recommended because it's possible to damage the CPU by going over 500°C. + * 201 : Pt100 with circuit in Overlord, similar to Ultimainboard V2.x + * + * ================================================================ + * SPI RTD/Thermocouple Boards + * ================================================================ * -5 : MAX31865 with Pt100/Pt1000, 2, 3, or 4-wire (only for sensors 0-1) * NOTE: You must uncomment/set the MAX31865_*_OHMS_n defines below. * -3 : MAX31855 with Thermocouple, -200°C to +700°C (only for sensors 0-1) @@ -1106,81 +1296,26 @@ * Software SPI will be used on those ports instead. You can force Hardware SPI on the default bus in the * Configuration_adv.h file. At this time, separate Hardware SPI buses for sensors are not supported. * - * Analog Themocouple Boards - * ------- + * ================================================================ + * Analog Thermocouple Boards + * ================================================================ * -4 : AD8495 with Thermocouple * -1 : AD595 with Thermocouple * - * Analog Thermistors - 4.7kΩ pullup - Normal - * ------- - * 1 : 100kΩ EPCOS - Best choice for EPCOS thermistors - * 331 : 100kΩ Same as #1, but 3.3V scaled for MEGA - * 332 : 100kΩ Same as #1, but 3.3V scaled for DUE - * 2 : 200kΩ ATC Semitec 204GT-2 - * 202 : 200kΩ Copymaster 3D - * 3 : ???Ω Mendel-parts thermistor - * 4 : 10kΩ Generic Thermistor !! DO NOT use for a hotend - it gives bad resolution at high temp. !! - * 5 : 100kΩ ATC Semitec 104GT-2/104NT-4-R025H42G - Used in ParCan, J-Head, and E3D, SliceEngineering 300°C - * 501 : 100kΩ Zonestar - Tronxy X3A - * 502 : 100kΩ Zonestar - used by hot bed in Zonestar Průša P802M - * 503 : 100kΩ Zonestar (Z8XM2) Heated Bed thermistor - * 504 : 100kΩ Zonestar P802QR2 (Part# QWG-104F-B3950) Hotend Thermistor - * 505 : 100kΩ Zonestar P802QR2 (Part# QWG-104F-3950) Bed Thermistor - * 512 : 100kΩ RPW-Ultra hotend - * 6 : 100kΩ EPCOS - Not as accurate as table #1 (created using a fluke thermocouple) - * 7 : 100kΩ Honeywell 135-104LAG-J01 - * 71 : 100kΩ Honeywell 135-104LAF-J01 - * 8 : 100kΩ Vishay 0603 SMD NTCS0603E3104FXT - * 9 : 100kΩ GE Sensing AL03006-58.2K-97-G1 - * 10 : 100kΩ RS PRO 198-961 - * 11 : 100kΩ Keenovo AC silicone mats, most Wanhao i3 machines - beta 3950, 1% - * 12 : 100kΩ Vishay 0603 SMD NTCS0603E3104FXT (#8) - calibrated for Makibox hot bed - * 13 : 100kΩ Hisens up to 300°C - for "Simple ONE" & "All In ONE" hotend - beta 3950, 1% - * 15 : 100kΩ Calibrated for JGAurora A5 hotend - * 18 : 200kΩ ATC Semitec 204GT-2 Dagoma.Fr - MKS_Base_DKU001327 - * 22 : 100kΩ GTM32 Pro vB - hotend - 4.7kΩ pullup to 3.3V and 220Ω to analog input - * 23 : 100kΩ GTM32 Pro vB - bed - 4.7kΩ pullup to 3.3v and 220Ω to analog input - * 30 : 100kΩ Kis3d Silicone heating mat 200W/300W with 6mm precision cast plate (EN AW 5083) NTC100K - beta 3950 - * 60 : 100kΩ Maker's Tool Works Kapton Bed Thermistor - beta 3950 - * 61 : 100kΩ Formbot/Vivedino 350°C Thermistor - beta 3950 - * 66 : 4.7MΩ Dyze Design High Temperature Thermistor - * 67 : 500kΩ SliceEngineering 450°C Thermistor - * 68 : PT100 amplifier board from Dyze Design - * 70 : 100kΩ bq Hephestos 2 - * 75 : 100kΩ Generic Silicon Heat Pad with NTC100K MGB18-104F39050L32 - * 2000 : 100kΩ Ultimachine Rambo TDK NTCG104LH104KT1 NTC100K motherboard Thermistor - * - * Analog Thermistors - 1kΩ pullup - Atypical, and requires changing out the 4.7kΩ pullup for 1kΩ. - * ------- (but gives greater accuracy and more stable PID) - * 51 : 100kΩ EPCOS (1kΩ pullup) - * 52 : 200kΩ ATC Semitec 204GT-2 (1kΩ pullup) - * 55 : 100kΩ ATC Semitec 104GT-2 - Used in ParCan & J-Head (1kΩ pullup) - * - * Analog Thermistors - 10kΩ pullup - Atypical - * ------- - * 99 : 100kΩ Found on some Wanhao i3 machines with a 10kΩ pull-up resistor - * - * Analog RTDs (Pt100/Pt1000) - * ------- - * 110 : Pt100 with 1kΩ pullup (atypical) - * 147 : Pt100 with 4.7kΩ pullup - * 1010 : Pt1000 with 1kΩ pullup (atypical) - * 1047 : Pt1000 with 4.7kΩ pullup (E3D) - * 20 : Pt100 with circuit in the Ultimainboard V2.x with mainboard ADC reference voltage = INA826 amplifier-board supply voltage. - * NOTE: (1) Must use an ADC input with no pullup. (2) Some INA826 amplifiers are unreliable at 3.3V so consider using sensor 147, 110, or 21. - * 21 : Pt100 with circuit in the Ultimainboard V2.x with 3.3v ADC reference voltage (STM32, LPC176x....) and 5V INA826 amplifier board supply. - * NOTE: ADC pins are not 5V tolerant. Not recommended because it's possible to damage the CPU by going over 500°C. - * 201 : Pt100 with circuit in Overlord, similar to Ultimainboard V2.x + * ================================================================ + * SoC internal sensor + * ================================================================ + * 100 : SoC internal sensor * + * ================================================================ * Custom/Dummy/Other Thermal Sensors - * ------ + * ================================================================ * 0 : not used * 1000 : Custom - Specify parameters in Configuration_adv.h * * !!! Use these for Testing or Development purposes. NEVER for production machine. !!! * 998 : Dummy Table that ALWAYS reads 25°C or the temperature defined below. * 999 : Dummy Table that ALWAYS reads 100°C or the temperature defined below. - * */ #if ENABLED(ConfigurableThermistors) #define TEMP_SENSOR_0 1000 @@ -1226,6 +1361,7 @@ #endif #define TEMP_SENSOR_COOLER 0 #define TEMP_SENSOR_BOARD 0 +#define TEMP_SENSOR_SOC 0 #define TEMP_SENSOR_REDUNDANT 0 // Dummy thermistor constant temperature readings, for use with 998 and 999 @@ -1233,28 +1369,47 @@ #define DUMMY_THERMISTOR_999_VALUE 100 // Resistor values when using MAX31865 sensors (-5) on TEMP_SENSOR_0 / 1 -//#define MAX31865_SENSOR_OHMS_0 100 // (Ω) Typically 100 or 1000 (PT100 or PT1000) -//#define MAX31865_CALIBRATION_OHMS_0 430 // (Ω) Typically 430 for Adafruit PT100; 4300 for Adafruit PT1000 -//#define MAX31865_SENSOR_OHMS_1 100 -//#define MAX31865_CALIBRATION_OHMS_1 430 +#if TEMP_SENSOR_IS_MAX_TC(0) + #define MAX31865_SENSOR_OHMS_0 100 // (Ω) Typically 100 or 1000 (PT100 or PT1000) + #define MAX31865_CALIBRATION_OHMS_0 430 // (Ω) Typically 430 for Adafruit PT100; 4300 for Adafruit PT1000 +#endif +#if TEMP_SENSOR_IS_MAX_TC(1) + #define MAX31865_SENSOR_OHMS_1 100 + #define MAX31865_CALIBRATION_OHMS_1 430 +#endif +#if TEMP_SENSOR_IS_MAX_TC(2) + #define MAX31865_SENSOR_OHMS_2 100 + #define MAX31865_CALIBRATION_OHMS_2 430 +#endif // Use temp sensor 1 as a redundant sensor with sensor 0. If the readings // from the two sensors differ too much the print will be aborted. //#define TEMP_SENSOR_1_AS_REDUNDANT #define TEMP_SENSOR_REDUNDANT_MAX_DIFF 10 -#define TEMP_RESIDENCY_TIME 2 // (seconds) Time to wait for hotend to "settle" in M109 -#if ENABLED(UnstableTemps) - #define TEMP_WINDOW 5 // (°C) Temperature proximity for the "temperature reached" timer - #define TEMP_HYSTERESIS 7 // (°C) Temperature proximity considered "close enough" to the target -#else - #define TEMP_WINDOW 1 // (°C) Temperature proximity for the "temperature reached" timer - #define TEMP_HYSTERESIS 3 // (°C) Temperature proximity considered "close enough" to the target +#if HAS_E_TEMP_SENSOR + #define TEMP_RESIDENCY_TIME 2 // (seconds) Time to wait for hotend to "settle" in M109 + #if ENABLED(UnstableTemps) + #define TEMP_WINDOW 5 // (°C) Temperature proximity for the "temperature reached" timer + #define TEMP_HYSTERESIS 7 // (°C) Temperature proximity considered "close enough" to the target + #else + #define TEMP_WINDOW 1 // (°C) Temperature proximity for the "temperature reached" timer + #define TEMP_HYSTERESIS 3 // (°C) Temperature proximity considered "close enough" to the target + #endif + +#endif +#if TEMP_SENSOR_BED + #define TEMP_BED_RESIDENCY_TIME 5 // (seconds) Time to wait for bed to "settle" in M190 + #define TEMP_BED_WINDOW 2 // (°C) Temperature proximity for the "temperature reached" timer + #define TEMP_BED_HYSTERESIS 3 // (°C) Temperature proximity considered "close enough" to the target +#endif + +#if TEMP_SENSOR_CHAMBER + #define TEMP_CHAMBER_RESIDENCY_TIME 10 // (seconds) Time to wait for chamber to "settle" in M191 + #define TEMP_CHAMBER_WINDOW 1 // (°C) Temperature proximity for the "temperature reached" timer + #define TEMP_CHAMBER_HYSTERESIS 3 // (°C) Temperature proximity considered "close enough" to the target #endif -#define TEMP_BED_RESIDENCY_TIME 5 // (seconds) Time to wait for bed to "settle" in M190 -#define TEMP_BED_WINDOW 2 // (°C) Temperature proximity for the "temperature reached" timer -#define TEMP_BED_HYSTERESIS 3 // (°C) Temperature proximity considered "close enough" to the target /** * Redundant Temperature Sensor (TEMP_SENSOR_REDUNDANT) @@ -1291,11 +1446,11 @@ #if ENABLED(HotendMosquito) #define HEATER_0_MAXTEMP 450 #elif ENABLED(HotendAllMetal) - #define HEATER_0_MAXTEMP 315 + #define HEATER_0_MAXTEMP 300 #else #define HEATER_0_MAXTEMP 255 #endif -#define HEATER_1_MAXTEMP 275 +#define HEATER_1_MAXTEMP HEATER_0_MAXTEMP #define HEATER_2_MAXTEMP 275 #define HEATER_3_MAXTEMP 275 #define HEATER_4_MAXTEMP 275 @@ -1319,14 +1474,20 @@ //============================= PID Settings ================================ //=========================================================================== -// Enable PIDTEMP for PID control or MPCTEMP for Predictive Model. -// temperature control. Disable both for bang-bang heating. -#define PIDTEMP // See the PID Tuning Guide at https://reprap.org/wiki/PID_Tuning -//#define MPCTEMP // ** EXPERIMENTAL ** +// @section hotend temp -#define BANG_MAX 255 // Limits current to nozzle while in bang-bang mode; 255=full current -#define PID_MAX BANG_MAX // Limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current -#define PID_K1 0.95 // Smoothing factor within any PID loop +/** + * Temperature Control + * + * (NONE) : Bang-bang heating + * PIDTEMP : PID temperature control (~4.1K) + * MPCTEMP : Predictive Model temperature control. (~1.8K without auto-tune) + */ +#define PIDTEMP // See the PID Tuning Guide at https://reprap.org/wiki/PID_Tuning +//#define MPCTEMP // ** EXPERIMENTAL ** See https://marlinfw.org/docs/features/model_predictive_control.html + +#define PID_MAX 255 // Limit hotend current while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current +#define PID_K1 0.95 // Smoothing factor within any PID loop #if ENABLED(PIDTEMP) #if NONE(MachineCR10Orig, SKRMiniE3V2) @@ -1334,7 +1495,7 @@ #define PID_AUTOTUNE_MENU // Add PID auto-tuning to the "Advanced Settings" menu. (~250 bytes of PROGMEM) #endif //#define PID_PARAMS_PER_HOTEND // Uses separate PID parameters for each extruder (useful for mismatched extruders) - // Set/get with gcode: M301 E[extruder number, 0-2] + // Set/get with G-code: M301 E[extruder number, 0-2] #if ENABLED(PID_PARAMS_PER_HOTEND) // Specify up to one value per hotend here, according to your setup. @@ -1408,17 +1569,24 @@ //#define DEFAULT_Ki 2.25 //#define DEFAULT_Kd 440 #endif +#else + #define BANG_MAX 255 // Limit hotend current while in bang-bang mode; 255=full current #endif /** * Model Predictive Control for hotend * - * Use a physical model of the hotend to control temperature. When configured correctly - * this gives better responsiveness and stability than PID and it also removes the need - * for PID_EXTRUSION_SCALING and PID_FAN_SCALING. Use M306 to autotune the model. + * Use a physical model of the hotend to control temperature. When configured correctly this gives + * better responsiveness and stability than PID and removes the need for PID_EXTRUSION_SCALING + * and PID_FAN_SCALING. Enable MPC_AUTOTUNE and use M306 T to autotune the model. + * @section mpctemp */ #if ENABLED(MPCTEMP) - #define MPC_MAX BANG_MAX // (0..255) Current to nozzle while MPC is active. + #define MPC_AUTOTUNE // Include a method to do MPC auto-tuning (~6.3K bytes of flash) + //#define MPC_EDIT_MENU // Add MPC editing to the "Advanced Settings" menu. (~1.3K bytes of flash) + //#define MPC_AUTOTUNE_MENU // Add MPC auto-tuning to the "Advanced Settings" menu. (~350 bytes of flash) + + #define MPC_MAX 255 // (0..255) Current to nozzle while MPC is active. #define MPC_HEATER_POWER { 40.0f } // (W) Heat cartridge powers. #define MPC_INCLUDE_FAN // Model the fan speed? @@ -1437,38 +1605,27 @@ //#define MPC_FAN_0_ACTIVE_HOTEND #endif - #define FILAMENT_HEAT_CAPACITY_PERMM 5.6e-3f // 0.0056 J/K/mm for 1.75mm PLA (0.0149 J/K/mm for 2.85mm PLA). - //#define FILAMENT_HEAT_CAPACITY_PERMM 3.6e-3f // 0.0036 J/K/mm for 1.75mm PETG (0.0094 J/K/mm for 2.85mm PETG). + // Filament Heat Capacity (joules/kelvin/mm) + // Set at runtime with M306 H + #define FILAMENT_HEAT_CAPACITY_PERMM { 5.6e-3f } // 0.0056 J/K/mm for 1.75mm PLA (0.0149 J/K/mm for 2.85mm PLA). + // 0.0036 J/K/mm for 1.75mm PETG (0.0094 J/K/mm for 2.85mm PETG). + // 0.00515 J/K/mm for 1.75mm ABS (0.0137 J/K/mm for 2.85mm ABS). + // 0.00522 J/K/mm for 1.75mm Nylon (0.0138 J/K/mm for 2.85mm Nylon). // Advanced options #define MPC_SMOOTHING_FACTOR 0.5f // (0.0...1.0) Noisy temperature sensors may need a lower value for stabilization. #define MPC_MIN_AMBIENT_CHANGE 1.0f // (K/s) Modeled ambient temperature rate of change, when correcting model inaccuracies. #define MPC_STEADYSTATE 0.5f // (K/s) Temperature change rate for steady state logic to be enforced. - #define MPC_TUNING_POS { X_CENTER, Y_CENTER, 1.0f } // (mm) M306 Autotuning position, ideally bed center just above the surface. + #define MPC_TUNING_POS { X_CENTER, Y_CENTER, 1.0f } // (mm) M306 Autotuning position, ideally bed center at first layer height. + #define MPC_TUNING_END_Z 10.0f // (mm) M306 Autotuning final Z position. #endif //=========================================================================== //====================== PID > Bed Temperature Control ====================== //=========================================================================== -/** - * PID Bed Heating - * - * If this option is enabled set PID constants below. - * If this option is disabled, bang-bang will be used and BED_LIMIT_SWITCHING will enable hysteresis. - * - * The PID frequency will be the same as the extruder PWM. - * If PID_dT is the default, and correct for the hardware/configuration, that means 7.689Hz, - * which is fine for driving a square wave into a resistive load and does not significantly - * impact FET heating. This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W - * heater. If your configuration is significantly different than this and you don't understand - * the issues involved, don't use bed PID until someone else verifies that your hardware works. - */ -#if NONE(MachineCR10Orig, LowMemoryBoard, SKRMiniE3V2) || ENABLED(MelziHostOnly) - #define PIDTEMPBED -#endif -//#define BED_LIMIT_SWITCHING +// @section bed temp /** * Max Bed Power @@ -1478,9 +1635,24 @@ */ #define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current +/** + * PID Bed Heating + * + * The PID frequency will be the same as the extruder PWM. + * If PID_dT is the default, and correct for the hardware/configuration, that means 7.689Hz, + * which is fine for driving a square wave into a resistive load and does not significantly + * impact FET heating. This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W + * heater. If your configuration is significantly different than this and you don't understand + * the issues involved, don't use bed PID until someone else verifies that your hardware works. + * + * With this option disabled, bang-bang will be used. BED_LIMIT_SWITCHING enables hysteresis. + */ +#if NONE(MachineCR10Orig, LowMemoryBoard, SKRMiniE3V2) || ENABLED(MelziHostOnly) + #define PIDTEMPBED +#endif #if ENABLED(PIDTEMPBED) //#define MIN_BED_POWER 0 - //#define PID_BED_DEBUG // Sends debug data to the serial port. + //#define PID_BED_DEBUG // Print Bed PID debug data to the serial port. //120V 250W silicone heater into 4mm borosilicate (MendelMax 1.5+) //from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10) @@ -1499,7 +1671,9 @@ #endif // FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles. -#endif // PIDTEMPBED +#else + //#define BED_LIMIT_SWITCHING // Keep the bed temperature within BED_HYSTERESIS of the target +#endif //=========================================================================== //==================== PID > Chamber Temperature Control ==================== @@ -1518,6 +1692,7 @@ * impact FET heating. This also works fine on a Fotek SSR-10DA Solid State Relay into a 200W * heater. If your configuration is significantly different than this and you don't understand * the issues involved, don't use chamber PID until someone else verifies that your hardware works. + * @section chamber temp */ //#define PIDTEMPCHAMBER //#define CHAMBER_LIMIT_SWITCHING @@ -1532,7 +1707,7 @@ #if ENABLED(PIDTEMPCHAMBER) #define MIN_CHAMBER_POWER 0 - //#define PID_CHAMBER_DEBUG // Sends debug data to the serial port. + //#define PID_CHAMBER_DEBUG // Print Chamber PID debug data to the serial port. // Lasko "MyHeat Personal Heater" (200w) modified with a Fotek SSR-10DA to control only the heating element // and placed inside the small Creality printer enclosure tent. @@ -1546,14 +1721,16 @@ #endif // PIDTEMPCHAMBER #if ANY(PIDTEMP, PIDTEMPBED, PIDTEMPCHAMBER) - //#define PID_DEBUG // Sends debug data to the serial port. Use 'M303 D' to toggle activation. //#define PID_OPENLOOP // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX //#define SLOW_PWM_HEATERS // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay #define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature // is more than PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max. + + //#define PID_EDIT_MENU // Add PID editing to the "Advanced Settings" menu. (~700 bytes of flash) + //#define PID_AUTOTUNE_MENU // Add PID auto-tuning to the "Advanced Settings" menu. (~250 bytes of flash) #endif -// @section extruder +// @section safety /** * Prevent extrusion if the temperature is below EXTRUDE_MINTEMP. @@ -1621,47 +1798,210 @@ // Enable for Polargraph Kinematics //#define POLARGRAPH #if ENABLED(POLARGRAPH) - #define POLARGRAPH_MAX_BELT_LEN 1035.0 - #define POLAR_SEGMENTS_PER_SECOND 5 + #define POLARGRAPH_MAX_BELT_LEN 1035.0 // (mm) Belt length at full extension. Override with M665 H. + #define DEFAULT_SEGMENTS_PER_SECOND 5 // Move segmentation based on duration + #define PEN_UP_DOWN_MENU // Add "Pen Up" and "Pen Down" to the MarlinUI menu #endif +// @section delta + +// Enable for DELTA kinematics and configure below +//#define DELTA +#if ENABLED(DELTA) + + // Make delta curves from many straight lines (linear interpolation). + // This is a trade-off between visible corners (not enough segments) + // and processor overload (too many expensive sqrt calls). + #define DEFAULT_SEGMENTS_PER_SECOND 200 + + // After homing move down to a height where XY movement is unconstrained + //#define DELTA_HOME_TO_SAFE_ZONE + + // Delta calibration menu + // Add three-point calibration to the MarlinUI menu. + // See http://minow.blogspot.com/index.html#4918805519571907051 + //#define DELTA_CALIBRATION_MENU + + // G33 Delta Auto-Calibration. Enable EEPROM_SETTINGS to store results. + //#define DELTA_AUTO_CALIBRATION + + #if ENABLED(DELTA_AUTO_CALIBRATION) + // Default number of probe points : n*n (1 -> 7) + #define DELTA_CALIBRATION_DEFAULT_POINTS 4 + #endif + + #if ANY(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU) + // Step size for paper-test probing + #define PROBE_MANUALLY_STEP 0.05 // (mm) + #endif + + // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers). + #define PRINTABLE_RADIUS 140.0 // (mm) + + // Maximum reachable area + #define DELTA_MAX_RADIUS 140.0 // (mm) + + // Center-to-center distance of the holes in the diagonal push rods. + #define DELTA_DIAGONAL_ROD 250.0 // (mm) + + // Distance between bed and nozzle Z home position + #define DELTA_HEIGHT 250.00 // (mm) Get this value from G33 auto calibrate + + #define DELTA_ENDSTOP_ADJ { 0.0, 0.0, 0.0 } // Get these values from G33 auto calibrate + + // Horizontal distance bridged by diagonal push rods when effector is centered. + #define DELTA_RADIUS 124.0 // (mm) Get this value from G33 auto calibrate + + // Trim adjustments for individual towers + // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0 + // measured in degrees anticlockwise looking from above the printer + #define DELTA_TOWER_ANGLE_TRIM { 0.0, 0.0, 0.0 } // Get these values from G33 auto calibrate + + // Delta radius and diagonal rod adjustments (mm) + //#define DELTA_RADIUS_TRIM_TOWER { 0.0, 0.0, 0.0 } + //#define DELTA_DIAGONAL_ROD_TRIM_TOWER { 0.0, 0.0, 0.0 } +#endif + +// @section scara + +/** + * MORGAN_SCARA was developed by QHARLEY in South Africa in 2012-2013. + * Implemented and slightly reworked by JCERNY in June, 2014. + * + * Mostly Printed SCARA is an open source design by Tyler Williams. See: + * https://www.thingiverse.com/thing:2487048 + * https://www.thingiverse.com/thing:1241491 + */ +//#define MORGAN_SCARA +//#define MP_SCARA +#if ANY(MORGAN_SCARA, MP_SCARA) + // If movement is choppy try lowering this value + #define DEFAULT_SEGMENTS_PER_SECOND 200 + + // Length of inner and outer support arms. Measure arm lengths precisely. + #define SCARA_LINKAGE_1 150 // (mm) + #define SCARA_LINKAGE_2 150 // (mm) + + // SCARA tower offset (position of Tower relative to bed zero position) + // This needs to be reasonably accurate as it defines the printbed position in the SCARA space. + #define SCARA_OFFSET_X 100 // (mm) + #define SCARA_OFFSET_Y -56 // (mm) + + #if ENABLED(MORGAN_SCARA) + + //#define DEBUG_SCARA_KINEMATICS + #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + + // Radius around the center where the arm cannot reach + #define MIDDLE_DEAD_ZONE_R 0 // (mm) + + #define THETA_HOMING_OFFSET 0 // Calculated from Calibration Guide and M360 / M114. See https://www.morgan3dp.com/morgan-calibration-guide/ + #define PSI_HOMING_OFFSET 0 // Calculated from Calibration Guide and M364 / M114. See https://www.morgan3dp.com/morgan-calibration-guide/ + + #elif ENABLED(MP_SCARA) + + #define SCARA_OFFSET_THETA1 12 // degrees + #define SCARA_OFFSET_THETA2 131 // degrees + + #endif + +#endif + +// @section tpara + +// Enable for TPARA kinematics and configure below +//#define AXEL_TPARA +#if ENABLED(AXEL_TPARA) + #define DEBUG_TPARA_KINEMATICS + #define DEFAULT_SEGMENTS_PER_SECOND 200 + + // Length of inner and outer support arms. Measure arm lengths precisely. + #define TPARA_LINKAGE_1 120 // (mm) + #define TPARA_LINKAGE_2 120 // (mm) + + // SCARA tower offset (position of Tower relative to bed zero position) + // This needs to be reasonably accurate as it defines the printbed position in the SCARA space. + #define TPARA_OFFSET_X 0 // (mm) + #define TPARA_OFFSET_Y 0 // (mm) + #define TPARA_OFFSET_Z 0 // (mm) + + #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + + // Radius around the center where the arm cannot reach + #define MIDDLE_DEAD_ZONE_R 0 // (mm) + + // Calculated from Calibration Guide and M360 / M114. See https://www.morgan3dp.com/morgan-calibration-guide/ + #define THETA_HOMING_OFFSET 0 + #define PSI_HOMING_OFFSET 0 +#endif + +// @section polar + +/** + * POLAR Kinematics + * developed by Kadir ilkimen for PolarBear CNC and babyBear + * https://github.com/kadirilkimen/Polar-Bear-Cnc-Machine + * https://github.com/kadirilkimen/babyBear-3D-printer + * + * A polar machine can have different configurations. + * This kinematics is only compatible with the following configuration: + * X : Independent linear + * Y or B : Polar + * Z : Independent linear + * + * For example, PolarBear has CoreXZ plus Polar Y or B. + * + * Motion problem for Polar axis near center / origin: + * + * 3D printing: + * Movements very close to the center of the polar axis take more time than others. + * This brief delay results in more material deposition due to the pressure in the nozzle. + * + * Current Kinematics and feedrate scaling deals with this by making the movement as fast + * as possible. It works for slow movements but doesn't work well with fast ones. A more + * complicated extrusion compensation must be implemented. + * + * Ideally, it should estimate that a long rotation near the center is ahead and will cause + * unwanted deposition. Therefore it can compensate the extrusion beforehand. + * + * Laser cutting: + * Same thing would be a problem for laser engraving too. As it spends time rotating at the + * center point, more likely it will burn more material than it should. Therefore similar + * compensation would be implemented for laser-cutting operations. + * + * Milling: + * This shouldn't be a problem for cutting/milling operations. + */ +//#define POLAR +#if ENABLED(POLAR) + #define DEFAULT_SEGMENTS_PER_SECOND 180 // If movement is choppy try lowering this value + #define PRINTABLE_RADIUS 82.0f // (mm) Maximum travel of X axis + + // Movements fall inside POLAR_FAST_RADIUS are assigned the highest possible feedrate + // to compensate unwanted deposition related to the near-origin motion problem. + #define POLAR_FAST_RADIUS 3.0f // (mm) + + // Radius which is unreachable by the tool. + // Needed if the tool is not perfectly aligned to the center of the polar axis. + #define POLAR_CENTER_OFFSET 0.0f // (mm) + + #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly +#endif + +// @section machine + +// Articulated robot (arm). Joints are directly mapped to axes with no kinematics. +//#define ARTICULATED_ROBOT_ARM + +// For a hot wire cutter with parallel horizontal axes (X, I) where the heights of the two wire +// ends are controlled by parallel axes (Y, J). Joints are directly mapped to axes (no kinematics). +//#define FOAMCUTTER_XYUV + //=========================================================================== //============================== Endstop Settings =========================== //=========================================================================== -// @section homing - -// Specify here all the endstop connectors that are connected to any endstop or probe. -// Almost all printers will be using one per axis. Probes will use one or more of the -// extra connectors. Leave undefined any used for non-endstop and non-probe purposes. -#if ANY(MachineEnder5, MachineEnder5Plus, MachineEnder6) - #define USE_ZMIN_PLUG - #define USE_XMAX_PLUG - #define USE_YMAX_PLUG -#else - #define USE_XMIN_PLUG - #if ENABLED(MachineEnder7) - #define USE_YMAX_PLUG - #else - #define USE_YMIN_PLUG - #endif - #define USE_ZMIN_PLUG -#endif -//#define USE_IMIN_PLUG -//#define USE_JMIN_PLUG -//#define USE_KMIN_PLUG -//#define USE_UMIN_PLUG -//#define USE_VMIN_PLUG -//#define USE_WMIN_PLUG -//#define USE_XMAX_PLUG -//#define USE_YMAX_PLUG -//#define USE_ZMAX_PLUG -//#define USE_IMAX_PLUG -//#define USE_JMAX_PLUG -//#define USE_KMAX_PLUG -//#define USE_UMAX_PLUG -//#define USE_VMAX_PLUG -//#define USE_WMAX_PLUG +// @section endstops // Enable pullup for all endstops to prevent a floating state #define ENDSTOPPULLUPS @@ -1715,150 +2055,39 @@ // Mechanical endstop with COM to ground and NC to Signal uses "false" here (most common setup). #if ANY(MachineEnder4, MachineCR2020, MachineCR30, MachineCR5, MachineEnder3S1) - #define X_MIN_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. + #define X_MIN_ENDSTOP_HIT_STATE LOW // set to true to invert the logic of the endstop. #else - #define X_MIN_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. + #define X_MIN_ENDSTOP_HIT_STATE HIGH // set to true to invert the logic of the endstop. #endif +#define X_MAX_ENDSTOP_HIT_STATE X_MIN_ENDSTOP_HIT_STATE #if ANY(MachineCR2020, MachineCR30, MachineCR5, MachineEnder3S1) - #define Y_MIN_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. + #define Y_MIN_ENDSTOP_HIT_STATE LOW // set to true to invert the logic of the endstop. #else - #define Y_MIN_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. + #define Y_MIN_ENDSTOP_HIT_STATE HIGH // set to true to invert the logic of the endstop. #endif -#define I_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. -#define J_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. -#define K_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. -#define U_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. -#define V_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. -#define W_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. -#define X_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. -#define Y_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. -#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. -#define I_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. -#define J_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. -#define K_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. -#define W_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. +#define Y_MAX_ENDSTOP_HIT_STATE Y_MIN_ENDSTOP_HIT_STATE +#define I_MIN_ENDSTOP_HIT_STATE HIGH +#define I_MAX_ENDSTOP_HIT_STATE HIGH +#define J_MIN_ENDSTOP_HIT_STATE HIGH +#define J_MAX_ENDSTOP_HIT_STATE HIGH +#define K_MIN_ENDSTOP_HIT_STATE HIGH +#define K_MAX_ENDSTOP_HIT_STATE HIGH +#define U_MIN_ENDSTOP_HIT_STATE HIGH +#define U_MAX_ENDSTOP_HIT_STATE HIGH +#define V_MIN_ENDSTOP_HIT_STATE HIGH +#define V_MAX_ENDSTOP_HIT_STATE HIGH +#define W_MIN_ENDSTOP_HIT_STATE HIGH +#define W_MAX_ENDSTOP_HIT_STATE HIGH #if NONE(ABL_EZABL, MachineCR2020) - #define Z_MIN_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. - #define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the probe. + #define Z_MIN_ENDSTOP_HIT_STATE HIGH // set to true to invert the logic of the endstop. + #define Z_MIN_PROBE_ENDSTOP_HIT_STATE HIGH // set to true to invert the logic of the probe. #else - #define Z_MIN_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. - #define Z_MIN_PROBE_ENDSTOP_INVERTING true // set to true to invert the logic of the probe. + #define Z_MIN_ENDSTOP_HIT_STATE LOW // set to true to invert the logic of the endstop. + #define Z_MIN_PROBE_ENDSTOP_HIT_STATE LOW // set to true to invert the logic of the probe. #endif -/** - * Stepper Drivers - * - * These settings allow Marlin to tune stepper driver timing and enable advanced options for - * stepper drivers that support them. You may also override timing options in Configuration_adv.h. - * - * A4988 is assumed for unspecified drivers. - * - * Use TMC2208/TMC2208_STANDALONE for TMC2225 drivers and TMC2209/TMC2209_STANDALONE for TMC2226 drivers. - * - * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01, - * TB6560, TB6600, TMC2100, - * TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE, - * TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE, - * TMC26X, TMC26X_STANDALONE, TMC2660, TMC2660_STANDALONE, - * TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE - * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE'] - */ +#define Z_MAX_ENDSTOP_HIT_STATE Z_MIN_ENDSTOP_HIT_STATE -#if (ANY(SKR13, SKR14, SKR14Turbo, SKRPRO11, CrealitySilentBoard) || ANY(MachineCR10SV2, MachineEnder3S1, MachineCR10SPro, MachineCR10SProV2, MachineCR10Max, MachineCR5, SKRMiniE3V2, MachineCR6, MachineCR6Max, MachineEnder6, MachineEnder7, MachineSermoonD1, MachineCR30, MachineCR10Smart, MachineCR10SmartPro)) && DISABLED(SKR_UART) - #if ENABLED(SKR_2209) - #define X_DRIVER_TYPE TMC2209_STANDALONE - #define Y_DRIVER_TYPE TMC2209_STANDALONE - #define Z_DRIVER_TYPE TMC2209_STANDALONE - #define E0_DRIVER_TYPE TMC2209_STANDALONE - #if ENABLED(DualZ) - #define Z2_DRIVER_TYPE TMC2209_STANDALONE - #else - #define E1_DRIVER_TYPE TMC2209_STANDALONE - #endif - #elif ENABLED(SKR_2130) - #define X_DRIVER_TYPE TMC2130_STANDALONE - #define Y_DRIVER_TYPE TMC2130_STANDALONE - #define Z_DRIVER_TYPE TMC2130_STANDALONE - #define E0_DRIVER_TYPE TMC2130_STANDALONE - #if ENABLED(DualZ) - #define Z2_DRIVER_TYPE TMC2130_STANDALONE - #else - #define E1_DRIVER_TYPE TMC2130_STANDALONE - #endif - #else - #define X_DRIVER_TYPE TMC2208_STANDALONE - #define Y_DRIVER_TYPE TMC2208_STANDALONE - #define Z_DRIVER_TYPE TMC2208_STANDALONE - #define E0_DRIVER_TYPE TMC2208_STANDALONE - #if ENABLED(DualZ) - #define Z2_DRIVER_TYPE TMC2208_STANDALONE - #else - #define E1_DRIVER_TYPE TMC2208_STANDALONE - #endif - #endif -#elif ANY(SKR13, SKR14, SKR14Turbo, SKRPRO11, SKRMiniE3V2, SKRE3Turbo) && ENABLED(SKR_UART) - #if ENABLED(SKR_2209) - #define X_DRIVER_TYPE TMC2209 - #define Y_DRIVER_TYPE TMC2209 - #define Z_DRIVER_TYPE TMC2209 - #define E0_DRIVER_TYPE TMC2209 - #if ENABLED(DualZ) - #define Z2_DRIVER_TYPE TMC2209 - #else - #define E1_DRIVER_TYPE TMC2209 - #endif - #elif ENABLED(SKR_2130) - #define X_DRIVER_TYPE TMC2130 - #define Y_DRIVER_TYPE TMC2130 - #define Z_DRIVER_TYPE TMC2130 - #define E0_DRIVER_TYPE TMC2130 - #if ENABLED(DualZ) - #define Z2_DRIVER_TYPE TMC2130 - #else - #define E1_DRIVER_TYPE TMC2130 - #endif - #else - #define X_DRIVER_TYPE TMC2208 - #define Y_DRIVER_TYPE TMC2208 - #define Z_DRIVER_TYPE TMC2208 - #define E0_DRIVER_TYPE TMC2208 - #if ENABLED(DualZ) - #define Z2_DRIVER_TYPE TMC2208 - #else - #define E1_DRIVER_TYPE TMC2208 - #endif - #endif -#else - #define X_DRIVER_TYPE A4988 - #define Y_DRIVER_TYPE A4988 - #define Z_DRIVER_TYPE A4988 - #define E0_DRIVER_TYPE A4988 - #if ENABLED(DualZ) - #define Z2_DRIVER_TYPE A4988 - #else - #define E1_DRIVER_TYPE A4988 - #endif -#endif - -//#define X2_DRIVER_TYPE A4988 -//#define Y2_DRIVER_TYPE A4988 -//#define Z2_DRIVER_TYPE A4988 -//#define Z3_DRIVER_TYPE A4988 -//#define Z4_DRIVER_TYPE A4988 -//#define I_DRIVER_TYPE A4988 -//#define J_DRIVER_TYPE A4988 -//#define K_DRIVER_TYPE A4988 -//#define U_DRIVER_TYPE A4988 -//#define V_DRIVER_TYPE A4988 -//#define W_DRIVER_TYPE A4988 -//#define E0_DRIVER_TYPE A4988 -//#define E1_DRIVER_TYPE A4988 -//#define E2_DRIVER_TYPE A4988 -//#define E3_DRIVER_TYPE A4988 -//#define E4_DRIVER_TYPE A4988 -//#define E5_DRIVER_TYPE A4988 -//#define E6_DRIVER_TYPE A4988 -//#define E7_DRIVER_TYPE A4988 // Enable this feature if all enabled endstop pins are interrupt-capable. // This will remove the need to poll the interrupt pins, saving many CPU cycles. @@ -2124,17 +2353,15 @@ /** * Z_MIN_PROBE_PIN * - * Define this pin if the probe is not connected to Z_MIN_PIN. - * If not defined the default pin for the selected MOTHERBOARD - * will be used. Most of the time the default is what you want. + * Override this pin only if the probe cannot be connected to + * the default Z_MIN_PROBE_PIN for the selected MOTHERBOARD. * * - The simplest option is to use a free endstop connector. * - Use 5V for powered (usually inductive) sensors. * - * - RAMPS 1.3/1.4 boards may use the 5V, GND, and Aux4->D32 pin: - * - For simple switches connect... - * - normally-closed switches to GND and D32. - * - normally-open switches to 5V and D32. + * - For simple switches... + * - Normally-closed (NC) also connect to GND. + * - Normally-open (NO) also connect to 5V. */ #if ENABLED(MachineCR5) #define Z_MIN_PROBE_PIN 19 // Pin 32 is the RAMPS default @@ -2151,7 +2378,7 @@ * Use G29 repeatedly, adjusting the Z height at each point with movement commands * or (with LCD_BED_LEVELING) the LCD controller. */ -#if NONE(ABL_EZABL, ABL_NCSW, ABL_BLTOUCH, ABL_TOUCH_MI, MachineCR6, MachineCR6Max, MachineCR10Smart, MachineCR10SmartPro) +#if NONE(ABL_EZABL, ABL_NCSW, ABL_BLTOUCH, ABL_TOUCH_MI, MachineCR6, MachineCR6Max, MachineCR10Smart, MachineCR10SmartPro, MachineCR30) #define PROBE_MANUALLY #define MANUAL_PROBE_START_Z 0.2 #endif @@ -2175,8 +2402,13 @@ /** * Z Servo Probe, such as an endstop switch on a rotating arm. */ -//#define Z_PROBE_SERVO_NR 0 // Defaults to SERVO 0 connector. -//#define Z_SERVO_ANGLES { 70, 0 } // Z Servo Deploy and Stow angles +//#define Z_PROBE_SERVO_NR 0 +#ifdef Z_PROBE_SERVO_NR + //#define Z_SERVO_ANGLES { 70, 0 } // Z Servo Deploy and Stow angles + //#define Z_SERVO_MEASURE_ANGLE 45 // Use if the servo must move to a "free" position for measuring after deploy + //#define Z_SERVO_INTERMEDIATE_STOW // Stow the probe between points + //#define Z_SERVO_DEACTIVATE_AFTER_STOW // Deactivate the servo when probe is stowed +#endif /** * The BLTouch probe uses a Hall effect sensor and emulates a servo. @@ -2204,7 +2436,7 @@ * on the right, enable and set TOUCH_MI_DEPLOY_XPOS to the deploy position. * * Also requires: BABYSTEPPING, BABYSTEP_ZPROBE_OFFSET, Z_SAFE_HOMING, - * and a minimum Z_HOMING_HEIGHT of 10. + * and a minimum Z_CLEARANCE_FOR_HOMING of 10. */ #if ENABLED(ABL_TOUCH_MI) #define TOUCH_MI_PROBE @@ -2237,7 +2469,28 @@ #define Z_PROBE_RETRACT_X X_MAX_POS #endif -// Duet Smart Effector (for delta printers) - https://bit.ly/2ul5U7J +/** + * Magnetically Mounted Probe + * For probes such as Euclid, Klicky, Klackender, etc. + */ +//#define MAG_MOUNTED_PROBE +#if ENABLED(MAG_MOUNTED_PROBE) + #define PROBE_DEPLOY_FEEDRATE (133*60) // (mm/min) Probe deploy speed + #define PROBE_STOW_FEEDRATE (133*60) // (mm/min) Probe stow speed + + #define MAG_MOUNTED_DEPLOY_1 { PROBE_DEPLOY_FEEDRATE, { 245, 114, 30 } } // Move to side Dock & Attach probe + #define MAG_MOUNTED_DEPLOY_2 { PROBE_DEPLOY_FEEDRATE, { 210, 114, 30 } } // Move probe off dock + #define MAG_MOUNTED_DEPLOY_3 { PROBE_DEPLOY_FEEDRATE, { 0, 0, 0 } } // Extra move if needed + #define MAG_MOUNTED_DEPLOY_4 { PROBE_DEPLOY_FEEDRATE, { 0, 0, 0 } } // Extra move if needed + #define MAG_MOUNTED_DEPLOY_5 { PROBE_DEPLOY_FEEDRATE, { 0, 0, 0 } } // Extra move if needed + #define MAG_MOUNTED_STOW_1 { PROBE_STOW_FEEDRATE, { 245, 114, 20 } } // Move to dock + #define MAG_MOUNTED_STOW_2 { PROBE_STOW_FEEDRATE, { 245, 114, 0 } } // Place probe beside remover + #define MAG_MOUNTED_STOW_3 { PROBE_STOW_FEEDRATE, { 230, 114, 0 } } // Side move to remove probe + #define MAG_MOUNTED_STOW_4 { PROBE_STOW_FEEDRATE, { 210, 114, 20 } } // Side move to remove probe + #define MAG_MOUNTED_STOW_5 { PROBE_STOW_FEEDRATE, { 0, 0, 0 } } // Extra move if needed +#endif + +// Duet Smart Effector (for delta printers) - https://docs.duet3d.com/en/Duet3D_hardware/Accessories/Smart_Effector // When the pin is defined you can use M672 to set/reset the probe sensitivity. //#define DUET_SMART_EFFECTOR #if ENABLED(DUET_SMART_EFFECTOR) @@ -2252,9 +2505,37 @@ */ //#define SENSORLESS_PROBING -// -// For Z_PROBE_ALLEN_KEY see the Delta example configurations. -// +/** + * Allen key retractable z-probe as seen on many Kossel delta printers - https://reprap.org/wiki/Kossel#Autolevel_probe + * Deploys by touching z-axis belt. Retracts by pushing the probe down. + */ +//#define Z_PROBE_ALLEN_KEY +#if ENABLED(Z_PROBE_ALLEN_KEY) + // 2 or 3 sets of coordinates for deploying and retracting the spring loaded touch probe on G29, + // if servo actuated touch probe is not defined. Uncomment as appropriate for your printer/probe. + + #define Z_PROBE_ALLEN_KEY_DEPLOY_1 { 30.0, PRINTABLE_RADIUS, 100.0 } + #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE XY_PROBE_FEEDRATE + + #define Z_PROBE_ALLEN_KEY_DEPLOY_2 { 0.0, PRINTABLE_RADIUS, 100.0 } + #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE (XY_PROBE_FEEDRATE)/10 + + #define Z_PROBE_ALLEN_KEY_DEPLOY_3 { 0.0, (PRINTABLE_RADIUS) * 0.75, 100.0 } + #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE XY_PROBE_FEEDRATE + + #define Z_PROBE_ALLEN_KEY_STOW_1 { -64.0, 56.0, 23.0 } // Move the probe into position + #define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE XY_PROBE_FEEDRATE + + #define Z_PROBE_ALLEN_KEY_STOW_2 { -64.0, 56.0, 3.0 } // Push it down + #define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE (XY_PROBE_FEEDRATE)/10 + + #define Z_PROBE_ALLEN_KEY_STOW_3 { -64.0, 56.0, 50.0 } // Move it up to clear + #define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE XY_PROBE_FEEDRATE + + #define Z_PROBE_ALLEN_KEY_STOW_4 { 0.0, 0.0, 50.0 } + #define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE XY_PROBE_FEEDRATE + +#endif // Z_PROBE_ALLEN_KEY /** * Z Probe to nozzle (X,Y) offset, relative to (0, 0). @@ -2362,6 +2643,12 @@ #endif +// Enable and set to use a specific tool for probing. Disable to allow any tool. +#define PROBING_TOOL 0 +#ifdef PROBING_TOOL + //#define PROBE_TOOLCHANGE_NO_MOVE // Suppress motion on probe tool-change +#endif + // Most probes should stay away from the edges of the bed, but // with NOZZLE_AS_PROBE this can be negative for a wider probing area. #if ENABLED(ABL_BLTOUCH) @@ -2523,25 +2810,25 @@ // Disables axis stepper immediately when it's not being used. // WARNING: When motors turn off there is a chance of losing position accuracy! -#define DISABLE_X false -#define DISABLE_Y false -#define DISABLE_Z false -//#define DISABLE_I false -//#define DISABLE_J false -//#define DISABLE_K false -//#define DISABLE_U false -//#define DISABLE_V false -//#define DISABLE_W false +//#define DISABLE_X +//#define DISABLE_Y +//#define DISABLE_Z +//#define DISABLE_I +//#define DISABLE_J +//#define DISABLE_K +//#define DISABLE_U +//#define DISABLE_V +//#define DISABLE_W // Warn on display about possibly reduced accuracy //#define DISABLE_REDUCED_ACCURACY_WARNING // @section extruder -#define DISABLE_E false // For all extruders -#define DISABLE_INACTIVE_EXTRUDER // Keep only the active extruder enabled +#define DISABLE_E // Disable the extruder when not stepping +#define DISABLE_OTHER_EXTRUDERS // Keep only the active extruder enabled -// @section machine +// @section motion // Invert the stepper direction. Change (or reverse the motor connector) if an axis goes the wrong way. @@ -2574,7 +2861,7 @@ #define INVERT_Z_DIR true #define INVERT_E0_DIR true #define INVERT_E1_DIR false -#elif ANY(MachineCR10Orig, SKR13, SKR14, SKR14Turbo, SKRMiniE3V2, SKRE3Turbo) && DISABLED(SKR_ReverseSteppers) +#elif ANY(MachineCR10Orig, SKR13, SKR14, SKR14Turbo, SKRMiniE3V2, SKRMiniE3V3, SKRE3Turbo) && DISABLED(SKR_ReverseSteppers) #define INVERT_X_DIR true #define INVERT_Y_DIR true #if ANY(MachineEnder5Plus, MachineCR2020) @@ -2590,7 +2877,7 @@ #define INVERT_E1_DIR false #endif #else - #if ANY(MachineCR10Orig, SKR13, SKR14, SKR14Turbo, SKRMiniE3V2, SKRE3Turbo) && ENABLED(SKR_ReverseSteppers) && ENABLED(MachineEnder6) + #if ANY(MachineCR10Orig, SKR13, SKR14, SKR14Turbo, SKRMiniE3V2, SKRMiniE3V3, SKRE3Turbo) && ENABLED(SKR_ReverseSteppers) && ENABLED(MachineEnder6) #define INVERT_X_DIR true #define INVERT_Y_DIR false #else @@ -2648,16 +2935,16 @@ */ //#define Z_IDLE_HEIGHT Z_HOME_POS -//#define UNKNOWN_Z_NO_RAISE // Don't raise Z (lower the bed) if Z is "unknown." For beds that fall when Z is powered off. #if ANY(MachineEnder5) - #define Z_HOMING_HEIGHT 0 + #define Z_CLEARANCE_FOR_HOMING 0 #elif ENABLED(TOUCH_MI_PROBE) - #define Z_HOMING_HEIGHT 10 + #define Z_CLEARANCE_FOR_HOMING 10 #else - #define Z_HOMING_HEIGHT 4 // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ... + #define Z_CLEARANCE_FOR_HOMING 4 // (mm) Minimal Z height before homing (G28) for Z clearance above the bed, clamps, ... + // Be sure to have this much clearance over your Z_MAX_POS to prevent grinding. #endif -//#define Z_AFTER_HOMING 10 // (mm) Height to move to after homing Z +//#define Z_AFTER_HOMING 10 // (mm) Height to move to after homing (if Z was homed) // Direction of endstops when homing; 1=MAX, -1=MIN // :[-1,1] @@ -2681,7 +2968,22 @@ //#define V_HOME_DIR -1 //#define W_HOME_DIR -1 -// @section machine +/** + * Safety Stops + * If an axis has endstops on both ends the one specified above is used for + * homing, while the other can be used for things like SD_ABORT_ON_ENDSTOP_HIT. + */ +//#define X_SAFETY_STOP +//#define Y_SAFETY_STOP +//#define Z_SAFETY_STOP +//#define I_SAFETY_STOP +//#define J_SAFETY_STOP +//#define K_SAFETY_STOP +//#define U_SAFETY_STOP +//#define V_SAFETY_STOP +//#define W_SAFETY_STOP + +// @section geometry // The size of the print bed @@ -2945,7 +3247,7 @@ #define MAX_SOFTWARE_ENDSTOP_W #endif #if(NONE(MachineCR10Orig, LowMemoryBoard)) - #if EITHER(MIN_SOFTWARE_ENDSTOPS, MAX_SOFTWARE_ENDSTOPS) + #if ANY(MIN_SOFTWARE_ENDSTOPS, MAX_SOFTWARE_ENDSTOPS) #define SOFT_ENDSTOPS_MENU_ITEM // Enable/Disable software endstops from the LCD #endif #endif @@ -3092,9 +3394,9 @@ //#define AUTO_BED_LEVELING_LINEAR #if ENABLED(ABL_UBL) #define AUTO_BED_LEVELING_UBL - #elif BOTH(PROBE_MANUALLY, FORCE10SPRODISPLAY) + #elif ENABLED(PROBE_MANUALLY) && ANY(MachineEnder3Touchscreen, INSANITYAUTOMATION_DWIN) #define MESH_BED_LEVELING - #elif !BOTH(OrigLA, MachineCR10Orig) && DISABLED(MachineCR30) + #elif !ENABLED(OrigLA, MachineCR10Orig) && DISABLED(MachineCR30) #define AUTO_BED_LEVELING_BILINEAR #endif /** @@ -3114,6 +3416,15 @@ #define LEVELING_BED_TEMP 50 #endif +/** + * Bed Distance Sensor + * + * Measures the distance from bed to nozzle with accuracy of 0.01mm. + * For information about this sensor https://github.com/markniu/Bed_Distance_sensor + * Uses I2C port, so it requires I2C library markyue/Panda_SoftMasterI2C. + */ +//#define BD_SENSOR + /** * Enable detailed logging of G28, G29, M48, etc. * Turn on with the command 'M111 S32'. @@ -3129,22 +3440,26 @@ #endif #if ANY(MESH_BED_LEVELING, AUTO_BED_LEVELING_BILINEAR, AUTO_BED_LEVELING_UBL) - // Gradually reduce leveling correction until a set height is reached, - // at which point movement will be level to the machine's XY plane. - // The height can be set with M420 Z + /** + * Gradually reduce leveling correction until a set height is reached, + * at which point movement will be level to the machine's XY plane. + * The height can be set with M420 Z + */ #if NONE(MachineCR10Orig, SKRMiniE3V2) #define ENABLE_LEVELING_FADE_HEIGHT #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) - #define DEFAULT_LEVELING_FADE_HEIGHT 0.0 // (mm) Default fade height. + #define DEFAULT_LEVELING_FADE_HEIGHT 10.0 // (mm) Default fade height. #endif #endif - // For Cartesian machines, instead of dividing moves on mesh boundaries, - // split up moves into short segments like a Delta. This follows the - // contours of the bed more closely than edge-to-edge straight moves. + /** + * For Cartesian machines, instead of dividing moves on mesh boundaries, + * split up moves into short segments like a Delta. This follows the + * contours of the bed more closely than edge-to-edge straight moves. + */ #if DISABLED(ABL_UBL) #define SEGMENT_LEVELED_MOVES - #define LEVELED_SEGMENT_LENGTH 20.0 // (mm) Length of all segments (except the last one) + #define LEVELED_SEGMENT_LENGTH 5.0 // (mm) Length of all segments (except the last one) #endif /** @@ -3186,7 +3501,7 @@ #endif #define GRID_MAX_POINTS_Y GRID_MAX_POINTS_X -#if EITHER(AUTO_BED_LEVELING_LINEAR, AUTO_BED_LEVELING_BILINEAR) +#if ANY(AUTO_BED_LEVELING_LINEAR, AUTO_BED_LEVELING_BILINEAR) // Set the number of grid points per dimension. @@ -3201,7 +3516,7 @@ #define EXTRAPOLATE_BEYOND_GRID // - // Experimental Subdivision of the grid by Catmull-Rom method. + // Subdivision of the grid by Catmull-Rom method. // Synthesizes intermediate points to produce a more detailed mesh. // //#define ABL_BILINEAR_SUBDIVISION @@ -3218,12 +3533,15 @@ //========================= Unified Bed Leveling ============================ //=========================================================================== #define MESH_INSET 1 - #if NONE(MachineCR10SPro, MachineCRX, MachineEnder5Plus, MachineCR10Max, MachineEnder4, OrigLCD) || ANY(GraphicLCD, OrigLCD) + #if NONE(MachineCR10SPro, MachineCRX, MachineEnder5Plus, MachineCR10Max, MachineEnder4, OrigLCD, MachineEnder3Touchscreen, INSANITYAUTOMATION_DWIN) || ANY(GraphicLCD, OrigLCD) #define MESH_EDIT_GFX_OVERLAY // Display a graphics overlay while editing the mesh #endif #define UBL_HILBERT_CURVE // Use Hilbert distribution for less travel when probing multiple points + //#define UBL_TILT_ON_MESH_POINTS // Use nearest mesh points with G29 J for better Z reference + //#define UBL_TILT_ON_MESH_POINTS_3POINT // Use nearest mesh points with G29 J0 (3-point) + #define UBL_MESH_EDIT_MOVES_Z // Sophisticated users prefer no movement of nozzle #define UBL_SAVE_ACTIVE_ON_M500 // Save the currently active mesh in the current slot on M500 @@ -3232,6 +3550,25 @@ //#define UBL_MESH_WIZARD // Run several commands in a row to get a complete mesh + /** + * Probing not allowed within the position of an obstacle. + */ + //#define AVOID_OBSTACLES + #if ENABLED(AVOID_OBSTACLES) + #define CLIP_W 23 // Bed clip width, should be padded a few mm over its physical size + #define CLIP_H 14 // Bed clip height, should be padded a few mm over its physical size + + // Obstacle Rectangles defined as { X1, Y1, X2, Y2 } + #define OBSTACLE1 { (X_BED_SIZE) / 4 - (CLIP_W) / 2, 0, (X_BED_SIZE) / 4 + (CLIP_W) / 2, CLIP_H } + #define OBSTACLE2 { (X_BED_SIZE) * 3 / 4 - (CLIP_W) / 2, 0, (X_BED_SIZE) * 3 / 4 + (CLIP_W) / 2, CLIP_H } + #define OBSTACLE3 { (X_BED_SIZE) / 4 - (CLIP_W) / 2, (Y_BED_SIZE) - (CLIP_H), (X_BED_SIZE) / 4 + (CLIP_W) / 2, Y_BED_SIZE } + #define OBSTACLE4 { (X_BED_SIZE) * 3 / 4 - (CLIP_W) / 2, (Y_BED_SIZE) - (CLIP_H), (X_BED_SIZE) * 3 / 4 + (CLIP_W) / 2, Y_BED_SIZE } + + // The probed grid must be inset for G29 J. This is okay, since it is + // only used to compute a linear transformation for the mesh itself. + #define G29J_MESH_TILT_MARGIN ((CLIP_H) + 1) + #endif + #elif ENABLED(MESH_BED_LEVELING) //=========================================================================== @@ -3256,7 +3593,7 @@ * Add a bed leveling sub-menu for ABL or MBL. * Include a guided procedure if manual probing is enabled. */ -#if NONE(ABL_EZABL, ABL_NCSW, ABL_BLTOUCH, ABL_TOUCH_MI, SKRMiniE3V2, MachineEnder3V2, FORCE10SPRODISPLAY, MachineCR6, MachineCR6Max, MachineSermoonD1, MachineEnder7, MachineCR30, MachineCR10Smart, MachineCR10SmartPro, FORCEV2DISPLAY) && (NONE(MachineCRX, MachineEnder3Touchscreen) || ANY(GraphicLCD, OrigLCD)) +#if NONE(ABL_EZABL, ABL_NCSW, ABL_BLTOUCH, ABL_TOUCH_MI, SKRMiniE3V2, MachineEnder3V2, INSANITYAUTOMATION_DWIN, MachineCR6, MachineCR6Max, MachineSermoonD1, MachineEnder7, MachineCR30, MachineCR10Smart, MachineCR10SmartPro, FORCEV2DISPLAY) && (NONE(MachineCRX, MachineEnder3Touchscreen) || ANY(GraphicLCD, OrigLCD)) #define LCD_BED_LEVELING #endif @@ -3270,18 +3607,21 @@ #if NONE(SolidBedMounts, SKRMiniE3V2, MachineCR10Orig, MachineCR30) // Add a menu item to move between bed corners for manual bed adjustment - #define LEVEL_BED_CORNERS + #define LCD_BED_TRAMMING #endif -#if ENABLED(LEVEL_BED_CORNERS) - #define LEVEL_CORNERS_INSET_LFRB { 22, 22, 22, 22 } // (mm) Left, Front, Right, Back insets - #define LEVEL_CORNERS_HEIGHT 0.0 // (mm) Z height of nozzle at leveling points - #define LEVEL_CORNERS_Z_HOP 4.0 // (mm) Z height of nozzle between leveling points - #define LEVEL_CENTER_TOO // Move to the center after the last corner - //#define LEVEL_CORNERS_USE_PROBE - #if ENABLED(LEVEL_CORNERS_USE_PROBE) - #define LEVEL_CORNERS_PROBE_TOLERANCE 0.1 - #define LEVEL_CORNERS_VERIFY_RAISED // After adjustment triggers the probe, re-probe to verify - //#define LEVEL_CORNERS_AUDIO_FEEDBACK +#if ENABLED(LCD_BED_TRAMMING) + #define BED_TRAMMING_HEIGHT 0.0 // (mm) Z height of nozzle at tramming points + #define BED_TRAMMING_Z_HOP 4.0 // (mm) Z height of nozzle between tramming points + #define BED_TRAMMING_INCLUDE_CENTER // Move to the center after the last corner + #if ANY(ABL_EZABL, ABL_NCSW, ABL_BLTOUCH, ABL_TOUCH_MI) + #define BED_TRAMMING_USE_PROBE + #else + #define BED_TRAMMING_INSET_LFRB { 22, 22, 22, 22 } // (mm) Left, Front, Right, Back insets + #endif + #if ENABLED(BED_TRAMMING_USE_PROBE) + #define BED_TRAMMING_PROBE_TOLERANCE 0.1 // (mm) + #define BED_TRAMMING_VERIFY_RAISED // After adjustment triggers the probe, re-probe to verify + //#define BED_TRAMMING_AUDIO_FEEDBACK #endif /** @@ -3301,7 +3641,7 @@ * | 1 2 | | 1 4 | | 1 2 | | 2 | * LF --------- RF LF --------- RF LF --------- RF LF --------- RF */ - #define LEVEL_CORNERS_LEVELING_ORDER { LF, RF, RB, LB } + #define BED_TRAMMING_LEVELING_ORDER { LF, RF, RB, LB } #endif /** @@ -3339,8 +3679,9 @@ #endif #if ENABLED(Z_SAFE_HOMING) - #define Z_SAFE_HOMING_X_POINT (X_BED_SIZE / 2) // X point for Z homing - #define Z_SAFE_HOMING_Y_POINT (Y_BED_SIZE / 2) // Y point for Z homing + #define Z_SAFE_HOMING_X_POINT X_CENTER // X point for Z homing + #define Z_SAFE_HOMING_Y_POINT Y_CENTER // Y point for Z homing + //#define Z_SAFE_HOMING_POINT_ABSOLUTE // Ignore home offsets (M206) for Z homing position #endif // Homing speeds (linear=mm/min, rotational=°/min) @@ -3387,9 +3728,8 @@ #define XY_DIAG_BD 282.8427124746 #define XY_SIDE_AD 200 - // Or, set the default skew factors directly here - // to override the above measurements: - #define XY_SKEW_FACTOR 0.0 + // Or, set the XY skew factor directly: + //#define XY_SKEW_FACTOR 0.0 //#define SKEW_CORRECTION_FOR_Z #if ENABLED(SKEW_CORRECTION_FOR_Z) @@ -3398,8 +3738,10 @@ #define YZ_DIAG_AC 282.8427124746 #define YZ_DIAG_BD 282.8427124746 #define YZ_SIDE_AD 200 - #define XZ_SKEW_FACTOR 0.0 - #define YZ_SKEW_FACTOR 0.0 + + // Or, set the Z skew factors directly: + //#define XZ_SKEW_FACTOR 0.0 + //#define YZ_SKEW_FACTOR 0.0 #endif // Enable this option for M852 to set skew at runtime @@ -3410,7 +3752,7 @@ //============================= Additional Features =========================== //============================================================================= -// @section extras +// @section eeprom /** * EEPROM @@ -3422,10 +3764,9 @@ * M502 - Revert settings to "factory" defaults. (Follow with M500 to init the EEPROM.) */ #define EEPROM_SETTINGS // Persistent storage with M500 and M501 +//#define DISABLE_M503 // Saves ~2700 bytes of flash. Disable for release! #if DISABLED(LowMemoryBoard) #define EEPROM_CHITCHAT // Give feedback on EEPROM commands. Disable to save PROGMEM. -#else - #define DISABLE_M503 // Saves ~2700 bytes of PROGMEM. Disable for release! #endif #define EEPROM_BOOT_SILENT // Keep M503 quiet and only give errors during first load #if ENABLED(EEPROM_SETTINGS) @@ -3433,6 +3774,8 @@ //#define EEPROM_INIT_NOW // Init EEPROM on first boot after a new build. #endif +// @section host + // // Host Keepalive // @@ -3457,7 +3800,7 @@ // @section temperature // -// Preheat Constants - Up to 5 are supported without changes +// Preheat Constants - Up to 10 are supported without changes // #define PREHEAT_1_LABEL "PLA" #define PREHEAT_1_TEMP_HOTEND 180 @@ -3471,6 +3814,8 @@ #define PREHEAT_2_TEMP_CHAMBER 35 #define PREHEAT_2_FAN_SPEED 0 // Value from 0 to 255 +// @section motion + /** * Nozzle Park * @@ -3499,7 +3844,7 @@ #endif /** - * Clean Nozzle Feature -- EXPERIMENTAL + * Clean Nozzle Feature * * Adds the G12 command to perform a nozzle cleaning process. * @@ -3533,17 +3878,23 @@ * Before starting, the nozzle moves to NOZZLE_CLEAN_START_POINT. * * Caveats: The ending Z should be the same as starting Z. - * Attention: EXPERIMENTAL. G-code arguments may change. */ #if ANY(MachineCRX, PurgeBucket) #define NOZZLE_CLEAN_FEATURE #endif #if ENABLED(NOZZLE_CLEAN_FEATURE) - // Default number of pattern repetitions - #define NOZZLE_CLEAN_STROKES 5 + #define NOZZLE_CLEAN_PATTERN_LINE // Provide 'G12 P0' - a simple linear cleaning pattern + //#define NOZZLE_CLEAN_PATTERN_ZIGZAG // Provide 'G12 P1' - a zigzag cleaning pattern + //#define NOZZLE_CLEAN_PATTERN_CIRCLE // Provide 'G12 P2' - a circular cleaning pattern - // Default number of triangles - #define NOZZLE_CLEAN_TRIANGLES 3 + // Default pattern to use when 'P' is not provided to G12. One of the enabled options above. + #define NOZZLE_CLEAN_DEFAULT_PATTERN 0 + + #define NOZZLE_CLEAN_STROKES 5 // Default number of pattern repetitions + + #if ENABLED(NOZZLE_CLEAN_PATTERN_ZIGZAG) + #define NOZZLE_CLEAN_TRIANGLES 3 // Default number of triangles + #endif // Specify positions for each tool as { { X, Y, Z }, { X, Y, Z } } // Dual hotend system may use { { -20, (Y_BED_SIZE / 2), (Z_MIN_POS + 1) }, { 420, (Y_BED_SIZE / 2), (Z_MIN_POS + 1) }} @@ -3551,12 +3902,11 @@ #define NOZZLE_CLEAN_START_POINT { X_MAX_POS, 40, (Z_MIN_POS + 1)} #define NOZZLE_CLEAN_END_POINT { (X_MAX_POS - 10), 40, (Z_MIN_POS + 1) } - // Circular pattern radius - #define NOZZLE_CLEAN_CIRCLE_RADIUS 6.5 - // Circular pattern circle fragments number - #define NOZZLE_CLEAN_CIRCLE_FN 10 - // Middle point of circle - #define NOZZLE_CLEAN_CIRCLE_MIDDLE NOZZLE_CLEAN_START_POINT + #if ENABLED(NOZZLE_CLEAN_PATTERN_CIRCLE) + #define NOZZLE_CLEAN_CIRCLE_RADIUS 6.5 // (mm) Circular pattern radius + #define NOZZLE_CLEAN_CIRCLE_FN 10 // Circular pattern circle number of segments + #define NOZZLE_CLEAN_CIRCLE_MIDDLE NOZZLE_CLEAN_START_POINT // Middle point of circle + #endif // Move the nozzle to the initial position after cleaning #define NOZZLE_CLEAN_GOBACK @@ -3576,6 +3926,8 @@ #endif +// @section host + /** * Print Job Timer * @@ -3622,6 +3974,8 @@ #endif #endif +// @section security + /** * Password * @@ -3647,7 +4001,7 @@ #define PASSWORD_ON_STARTUP #define PASSWORD_UNLOCK_GCODE // Unlock with the M511 P command. Disable to prevent brute-force attack. #define PASSWORD_CHANGE_GCODE // Change the password with M512 P S. - //#define PASSWORD_ON_SD_PRINT_MENU // This does not prevent gcodes from running + //#define PASSWORD_ON_SD_PRINT_MENU // This does not prevent G-codes from running //#define PASSWORD_AFTER_SD_PRINT_END //#define PASSWORD_AFTER_SD_PRINT_ABORT //#include "Configuration_Secure.h" // External file with PASSWORD_DEFAULT_VALUE @@ -3689,7 +4043,7 @@ //============================= LCD and SD support ============================ //============================================================================= -// @section lcd +// @section interface /** * LCD LANGUAGE @@ -3810,6 +4164,16 @@ // //#define REVERSE_SELECT_DIRECTION +// +// Encoder EMI Noise Filter +// +// This option increases encoder samples to filter out phantom encoder clicks caused by EMI noise. +// +//#define ENCODER_NOISE_FILTER +#if ENABLED(ENCODER_NOISE_FILTER) + #define ENCODER_SAMPLES 10 +#endif + // // Individual Axis Homing // @@ -3825,9 +4189,9 @@ // If you have a speaker that can produce tones, enable it here. // By default Marlin assumes you have a buzzer with a fixed frequency. // -#if ANY(MachineCR6, MachineCR6Max, MachineEnder3Touchscreen) +//#if ANY(MachineCR6, MachineCR6Max, MachineEnder3Touchscreen) #define SPEAKER -#endif +//#endif // // The duration and frequency for the UI feedback sound. @@ -3839,10 +4203,23 @@ #define LCD_FEEDBACK_FREQUENCY_DURATION_MS 2 #define LCD_FEEDBACK_FREQUENCY_HZ 5000 +// +// Tone queue size, used to keep beeps from blocking execution. +// Default is 4, or override here. Costs 4 bytes of SRAM per entry. +// +//#define TONE_QUEUE_LENGTH 4 + +// +// A sequence of tones to play at startup, in pairs of tone (Hz), duration (ms). +// Silence in-between tones. +// +//#define STARTUP_TUNE { 698, 300, 0, 50, 523, 50, 0, 25, 494, 50, 0, 25, 523, 100, 0, 50, 554, 300, 0, 100, 523, 300 } + //============================================================================= //======================== LCD / Controller Selection ========================= //======================== (Character-based LCDs) ========================= //============================================================================= +// @section lcd // // RepRapDiscount Smart Controller. @@ -3862,7 +4239,7 @@ // // Original RADDS LCD Display+Encoder+SDCardReader -// http://doku.radds.org/dokumentation/lcd-display/ +// https://web.archive.org/web/20200719145306/http://doku.radds.org/dokumentation/lcd-display/ // //#define RADDS_DISPLAY @@ -3892,7 +4269,6 @@ // // RigidBot Panel V1.0 -// http://www.inventapart.com/ // //#define RIGIDBOT_PANEL @@ -3925,11 +4301,11 @@ #define ENDER2_STOCKDISPLAY #elif ANY(MachineCR20, MachineCR2020) #define MKS_MINI_12864 -#elif ANY(MachineEnder3V2, FORCEV2DISPLAY, MachineEnder3S1) +#elif ANY(MachineEnder3V2, FORCEV2DISPLAY, MachineEnder3S1) && DISABLED(MachineEnder3Touchscreen) #define DWIN_MARLINUI_PORTRAIT -#elif ANY(OrigLCD, MachineCR10Orig, MachineEnder3Pro422, MachineEnder3Pro427, MachineEnder3Max, SKRMiniE3V2, SKRE3Turbo) && NONE(GraphicLCD, MachineEnder3Touchscreen, FORCE10SPRODISPLAY) +#elif ANY(OrigLCD, MachineCR10Orig, MachineEnder3Pro422, MachineEnder3Pro427, MachineEnder3Max, SKRMiniE3V2, SKRE3Turbo) && NONE(GraphicLCD, MachineEnder3Touchscreen, INSANITYAUTOMATION_DWIN) #define CR10_STOCKDISPLAY -#elif NONE(MachineCR10SPro, MachineCRX, MachineEnder5Plus, MachineCR10Max, OrigLCD, MachineCR10Orig, SKRMiniE3V2, FORCE10SPRODISPLAY, MachineCR6, MachineCR6Max, MachineCR10Smart, MachineCR10SmartPro, MachineEnder3Touchscreen) || ENABLED(GraphicLCD) +#elif NONE(MachineCR10SPro, MachineCRX, MachineEnder5Plus, MachineCR10Max, OrigLCD, MachineCR10Orig, SKRMiniE3V2, SKRMiniE3V3, INSANITYAUTOMATION_DWIN, MachineCR6, MachineCR6Max, MachineCR10Smart, MachineCR10SmartPro, MachineEnder3Touchscreen) || ENABLED(GraphicLCD) #define REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER #endif // @@ -3941,15 +4317,16 @@ // // Elefu RA Board Control Panel -// http://www.elefu.com/index.php?route=product/product&product_id=53 +// https://web.archive.org/web/20140823033947/http://www.elefu.com/index.php?route=product/product&product_id=53 // //#define RA_CONTROL_PANEL // // Sainsmart (YwRobot) LCD Displays // -// These require F.Malpartida's LiquidCrystal_I2C library -// https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/Home +// These require LiquidCrystal_I2C library: +// https://github.com/MarlinFirmware/New-LiquidCrystal +// https://github.com/fmalpartida/New-LiquidCrystal/wiki // //#define LCD_SAINSMART_I2C_1602 //#define LCD_SAINSMART_I2C_2004 @@ -3982,7 +4359,7 @@ // // -// 2-wire Non-latching LCD SR from https://goo.gl/aJJ4sH +// 2-wire Non-latching LCD SR from https://github.com/fmalpartida/New-LiquidCrystal/wiki/schematics#user-content-ShiftRegister_connection // LCD configuration: https://reprap.org/wiki/SAV_3D_LCD // //#define SAV_3DLCD @@ -4029,7 +4406,7 @@ // // ReprapWorld Graphical LCD -// https://reprapworld.com/?products_details&products_id/1218 +// https://reprapworld.com/electronics/3d-printer-modules/autonomous-printing/graphical-lcd-screen-v1-0/ // //#define REPRAPWORLD_GRAPHICAL_LCD @@ -4054,7 +4431,7 @@ // // MaKr3d Makr-Panel with graphic controller and SD support. -// https://reprap.org/wiki/MaKr3d_MaKrPanel +// https://reprap.org/wiki/MaKrPanel // //#define MAKRPANEL @@ -4072,7 +4449,7 @@ // // Cartesio UI -// http://mauk.cc/webshop/cartesio-shop/electronics/user-interface +// https://web.archive.org/web/20180605050442/http://mauk.cc/webshop/cartesio-shop/electronics/user-interface // //#define CARTESIO_UI @@ -4117,15 +4494,15 @@ // // BigTreeTech Mini 12864 V1.0 is an alias for FYSETC_MINI_12864_2_1. Type A/B. NeoPixel RGB Backlight. +// https://github.com/bigtreetech/MINI-12864/tree/master/mini12864_v1.0 // //#define BTT_MINI_12864_V1 // -// Factory display for Creality CR-10 +// Factory display for Creality CR-10 / CR-7 / Ender-3 // https://www.aliexpress.com/item/32833148327.html // -// This is RAMPS-compatible using a single 10-pin connector. -// (For CR-10 owners who want to replace the Melzi Creality board but retain the display) +// Connect to EXP1 on RAMPS and compatible boards. // //#define CR10_STOCKDISPLAY @@ -4156,6 +4533,12 @@ // //#define SILVER_GATE_GLCD_CONTROLLER +// +// eMotion Tech LCD with SD +// https://www.reprap-france.com/produit/1234568748-ecran-graphique-128-x-64-points-2-1 +// +//#define EMOTION_TECH_LCD + //============================================================================= //============================== OLED Displays ============================== //============================================================================= @@ -4219,45 +4602,54 @@ //========================== Extensible UI Displays =========================== //============================================================================= -// -// DGUS Touch Display with DWIN OS. (Choose one.) -// ORIGIN : https://www.aliexpress.com/item/32993409517.html -// FYSETC : https://www.aliexpress.com/item/32961471929.html -// MKS : https://www.aliexpress.com/item/1005002008179262.html -// -// Flash display with DGUS Displays for Marlin: -// - Format the SD card to FAT32 with an allocation size of 4kb. -// - Download files as specified for your type of display. -// - Plug the microSD card into the back of the display. -// - Boot the display and wait for the update to complete. -// -// ORIGIN (Marlin DWIN_SET) -// - Download https://github.com/coldtobi/Marlin_DGUS_Resources -// - Copy the downloaded DWIN_SET folder to the SD card. -// -// FYSETC (Supplier default) -// - Download https://github.com/FYSETC/FYSTLCD-2.0 -// - Copy the downloaded SCREEN folder to the SD card. -// -// HIPRECY (Supplier default) -// - Download https://github.com/HiPrecy/Touch-Lcd-LEO -// - Copy the downloaded DWIN_SET folder to the SD card. -// -// MKS (MKS-H43) (Supplier default) -// - Download https://github.com/makerbase-mks/MKS-H43 -// - Copy the downloaded DWIN_SET folder to the SD card. -// -// RELOADED (T5UID1) -// - Download https://github.com/Desuuuu/DGUS-reloaded/releases -// - Copy the downloaded DWIN_SET folder to the SD card. -// -//#define DGUS_LCD_UI_ORIGIN -//#define DGUS_LCD_UI_FYSETC -//#define DGUS_LCD_UI_HIPRECY -//#define DGUS_LCD_UI_MKS -//#define DGUS_LCD_UI_RELOADED -#if ENABLED(DGUS_LCD_UI_MKS) +/** + * DGUS Touch Display with DWIN OS. (Choose one.) + * + * ORIGIN (Marlin DWIN_SET) + * - Download https://github.com/coldtobi/Marlin_DGUS_Resources + * - Copy the downloaded DWIN_SET folder to the SD card. + * - Product: https://www.aliexpress.com/item/32993409517.html + * + * FYSETC (Supplier default) + * - Download https://github.com/FYSETC/FYSTLCD-2.0 + * - Copy the downloaded SCREEN folder to the SD card. + * - Product: https://www.aliexpress.com/item/32961471929.html + * + * HIPRECY (Supplier default) + * - Download https://github.com/HiPrecy/Touch-Lcd-LEO + * - Copy the downloaded DWIN_SET folder to the SD card. + * + * MKS (MKS-H43) (Supplier default) + * - Download https://github.com/makerbase-mks/MKS-H43 + * - Copy the downloaded DWIN_SET folder to the SD card. + * - Product: https://www.aliexpress.com/item/1005002008179262.html + * + * RELOADED (T5UID1) + * - Download https://github.com/Neo2003/DGUS-reloaded/releases + * - Copy the downloaded DWIN_SET folder to the SD card. + * + * IA_CREALITY (T5UID1) + * - Download https://github.com/InsanityAutomation/Marlin/raw/CrealityDwin_2.0/TM3D_Combined480272_Landscape_V7.7z + * - Copy the downloaded DWIN_SET folder to the SD card. + * + * E3S1PRO (T5L) + * - Download https://github.com/CrealityOfficial/Ender-3S1/archive/3S1_Plus_Screen.zip + * - Copy the downloaded DWIN_SET folder to the SD card. + * + * Flash display with DGUS Displays for Marlin: + * - Format the SD card to FAT32 with an allocation size of 4kb. + * - Download files as specified for your type of display. + * - Plug the microSD card into the back of the display. + * - Boot the display and wait for the update to complete. + * + * :[ 'ORIGIN', 'FYSETC', 'HYPRECY', 'MKS', 'RELOADED', 'IA_CREALITY', 'E3S1PRO' ] + */ +//#define DGUS_LCD_UI ORIGIN +#if DGUS_UI_IS(MKS) #define USE_MKS_GREEN_UI +#elif DGUS_UI_IS(IA_CREALITY) + //#define LCD_SCREEN_ROTATE 90 // Portrait Mode or 800x480 displays + //#define IA_CREALITY_BOOT_DELAY 1500 // (ms) #endif // @@ -4271,9 +4663,6 @@ // Touch-screen LCD for Malyan M200/M300 printers // //#define MALYAN_LCD -#if ENABLED(MALYAN_LCD) - #define LCD_SERIAL_PORT 1 // Default is 1 for Malyan M200 -#endif // // Touch UI for FTDI EVE (FT800/FT810) displays @@ -4282,30 +4671,35 @@ //#define TOUCH_UI_FTDI_EVE // -// Touch-screen LCD for Anycubic printers +// Touch-screen LCD for Anycubic Chiron +// +//#define ANYCUBIC_LCD_CHIRON + +// +// Touch-screen LCD for Anycubic i3 Mega // //#define ANYCUBIC_LCD_I3MEGA -//#define ANYCUBIC_LCD_CHIRON -#if EITHER(ANYCUBIC_LCD_I3MEGA, ANYCUBIC_LCD_CHIRON) - #define LCD_SERIAL_PORT 3 // Default is 3 for Anycubic - //#define ANYCUBIC_LCD_DEBUG +#if ENABLED(ANYCUBIC_LCD_I3MEGA) + //#define ANYCUBIC_LCD_GCODE_EXT // Add ".gcode" to menu entries for DGUS clone compatibility #endif +// +// Touch-screen LCD for Anycubic Vyper +// +//#define ANYCUBIC_LCD_VYPER + // // 320x240 Nextion 2.8" serial TFT Resistive Touch Screen NX3224T028 // //#define NEXTION_TFT -#if ENABLED(NEXTION_TFT) - #define LCD_SERIAL_PORT 1 // Default is 1 for Nextion -#endif // // Third-party or vendor-customized controller interfaces. // Sources should be installed in 'src/lcd/extui'. // -#if ANY(MachineCR10SPro, MachineCRX, MachineEnder5Plus, MachineCR10Max, MachineEnder6, MachineCR5, MachineEnder7, MachineSermoonD1, MachineCR10Smart, MachineCR10SmartPro) && (NONE(GraphicLCD, SKRMiniE3V2, OrigLCD) || ENABLED(FORCE10SPRODISPLAY)) - #ifndef FORCE10SPRODISPLAY - #define FORCE10SPRODISPLAY +#if ANY(MachineCR10SPro, MachineCRX, MachineEnder5Plus, MachineCR10Max, MachineEnder6, MachineCR5, MachineEnder7, MachineSermoonD1, MachineCR10Smart, MachineCR10SmartPro) && (NONE(GraphicLCD, OrigLCD)) || ENABLED(INSANITYAUTOMATION_DWIN) + #ifndef INSANITYAUTOMATION_DWIN + #define INSANITYAUTOMATION_DWIN #endif #define EXTENSIBLE_UI #endif @@ -4326,6 +4720,7 @@ // // 480x320, 3.5", SPI Display with Rotary Encoder from MKS // Usually paired with MKS Robin Nano V2 & V3 +// https://github.com/makerbase-mks/MKS-TFT-Hardware/tree/master/MKS%20TS35 // //#define MKS_TS35_V2_0 @@ -4365,7 +4760,7 @@ //#define MKS_ROBIN_TFT_V1_1R // -// 480x320, 3.5", FSMC Stock Display from TronxXY +// 480x320, 3.5", FSMC Stock Display from Tronxy // //#define TFT_TRONXY_X5SA @@ -4390,12 +4785,14 @@ //#define ANET_ET5_TFT35 // -// 1024x600, 7", RGB Stock Display with Rotary Encoder from BIQU-BX +// 1024x600, 7", RGB Stock Display with Rotary Encoder from BIQU BX +// https://github.com/bigtreetech/BIQU-BX/tree/master/Hardware // //#define BIQU_BX_TFT70 // // 480x320, 3.5", SPI Stock Display with Rotary Encoder from BIQU B1 SE Series +// https://github.com/bigtreetech/TFT35-SPI/tree/master/v1 // //#define BTT_TFT35_SPI_V1_0 @@ -4432,8 +4829,32 @@ //#define TFT_COLOR_UI //#define TFT_LVGL_UI +#if ENABLED(TFT_COLOR_UI) + /** + * TFT Font for Color_UI. Choose one of the following: + * + * NOTOSANS - Default font with anti-aliasing. Supports Latin Extended and non-Latin characters. + * UNIFONT - Lightweight font, no anti-aliasing. Supports Latin Extended and non-Latin characters. + * HELVETICA - Lightweight font, no anti-aliasing. Supports Basic Latin (0x0020-0x007F) and Latin-1 Supplement (0x0080-0x00FF) characters only. + */ + #define TFT_FONT NOTOSANS + + /** + * TFT Theme for Color_UI. Choose one of the following or add a new one to 'Marlin/src/lcd/tft/themes' directory + * + * BLUE_MARLIN - Default theme with 'midnight blue' background + * BLACK_MARLIN - Theme with 'black' background + * ANET_BLACK - Theme used for Anet ET4/5 + */ + #define TFT_THEME BLACK_MARLIN + + //#define TFT_SHARED_IO // I/O is shared between TFT display and other devices. Disable async data transfer. + + #define COMPACT_MARLIN_BOOT_LOGO // Use compressed data to save Flash space +#endif + #if ENABLED(TFT_LVGL_UI) - //#define MKS_WIFI_MODULE // MKS WiFi module + //#define MKS_WIFI_MODULE // MKS WiFi module #endif /** @@ -4464,10 +4885,11 @@ // //#define TOUCH_SCREEN #if ENABLED(TOUCH_SCREEN) - #define BUTTON_DELAY_EDIT 50 // (ms) Button repeat delay for edit screens - #define BUTTON_DELAY_MENU 250 // (ms) Button repeat delay for menus + #define BUTTON_DELAY_EDIT 50 // (ms) Button repeat delay for edit screens + #define BUTTON_DELAY_MENU 250 // (ms) Button repeat delay for menus - //#define TOUCH_IDLE_SLEEP 300 // (s) Turn off the TFT backlight if set (5mn) + //#define DISABLE_ENCODER // Disable the click encoder, if any + //#define TOUCH_IDLE_SLEEP_MINS 5 // (minutes) Display Sleep after a period of inactivity. Set with M255 S. #define TOUCH_SCREEN_CALIBRATION @@ -4477,7 +4899,7 @@ //#define TOUCH_OFFSET_Y 257 //#define TOUCH_ORIENTATION TOUCH_LANDSCAPE - #if BOTH(TOUCH_SCREEN_CALIBRATION, EEPROM_SETTINGS) + #if ALL(TOUCH_SCREEN_CALIBRATION, EEPROM_SETTINGS) #define TOUCH_CALIBRATION_AUTO_SAVE // Auto save successful calibration values to EEPROM #endif @@ -4502,7 +4924,7 @@ //=============================== Extra Features ============================== //============================================================================= -// @section extras +// @section fans // Set number of user-controlled fans. Disable to use all board-defined fans. // :[1,2,3,4,5,6,7,8] @@ -4511,9 +4933,9 @@ // Use software PWM to drive the fan, as for the heaters. This uses a very low frequency // which is not as annoying as with the hardware PWM. On the other hand, if this frequency // is too low, you should also increment SOFT_PWM_SCALE. -#if ANY(SKRPRO11, SKRMiniE3V2, MachineEnder6, MachineEnder7, Creality427, Creality422, SKR_CR6, CR6_452, MachineCR30, MachineCR6, MachineCR6Max, MachineCR10Smart, MachineCR10SmartPro, MachineEnder3S1, MachineEnder2Pro) +//#if ANY(SKRPRO11, SKRMiniE3V2, MachineEnder6, MachineEnder7, Creality427, Creality422, SKR_CR6, CR6_452, MachineCR30, MachineCR6, MachineCR6Max, MachineCR10Smart, MachineCR10SmartPro, MachineEnder3S1, MachineEnder2Pro) #define FAN_SOFT_PWM -#endif +//#endif // Incrementing this by 1 will double the software PWM frequency, // affecting heaters, and the fan if FAN_SOFT_PWM is enabled. // However, control resolution will be halved for each increment; @@ -4527,14 +4949,18 @@ // duty cycle is attained. //#define SOFT_PWM_DITHER +// @section extras + +// Support for the BariCUDA Paste Extruder +//#define BARICUDA + +// @section lights + // Temperature status LEDs that display the hotend and bed temperature. // If all hotends, bed temperature, and target temperature are under 54C // then the BLUE led is on. Otherwise the RED led is on. (1C hysteresis) //#define TEMP_STAT_LEDS -// Support for the BariCUDA Paste Extruder -//#define BARICUDA - // Support for BlinkM/CyzRgb //#define BLINKM @@ -4555,53 +4981,65 @@ * luminance values can be set from 0 to 255. * For NeoPixel LED an overall brightness parameter is also available. * - * *** CAUTION *** + * === CAUTION === * LED Strips require a MOSFET Chip between PWM lines and LEDs, * as the Arduino cannot handle the current the LEDs will require. * Failure to follow this precaution can destroy your Arduino! + * * NOTE: A separate 5V power supply is required! The NeoPixel LED needs * more current than the Arduino 5V linear regulator can produce. - * *** CAUTION *** * - * LED Type. Enable only one of the following two options. + * Requires PWM frequency between 50 <> 100Hz (Check HAL or variant) + * Use FAST_PWM_FAN, if possible, to reduce fan noise. */ + +// LED Type. Enable only one of the following two options: //#define RGB_LED //#define RGBW_LED -#if EITHER(RGB_LED, RGBW_LED) +#if ANY(RGB_LED, RGBW_LED) //#define RGB_LED_R_PIN 34 //#define RGB_LED_G_PIN 43 //#define RGB_LED_B_PIN 35 //#define RGB_LED_W_PIN -1 #endif +#if ANY(RGB_LED, RGBW_LED, PCA9632) + //#define RGB_STARTUP_TEST // For PWM pins, fade between all colors + #if ENABLED(RGB_STARTUP_TEST) + #define RGB_STARTUP_TEST_INNER_MS 10 // (ms) Reduce or increase fading speed + #endif +#endif + // Support for Adafruit NeoPixel LED driver //#define NEOPIXEL_LED #if ENABLED(NEOPIXEL_LED) - #define NEOPIXEL_TYPE NEO_GRBW // NEO_GRBW / NEO_GRB - four/three channel driver type (defined in Adafruit_NeoPixel.h) + #define NEOPIXEL_TYPE NEO_RGB // NEO_GRBW / NEO_GRB - four/three channel driver type (defined in Adafruit_NeoPixel.h) //#define NEOPIXEL_PIN 4 // LED driving pin //#define NEOPIXEL2_TYPE NEOPIXEL_TYPE //#define NEOPIXEL2_PIN 5 #define NEOPIXEL_PIXELS 30 // Number of LEDs in the strip. (Longest strip when NEOPIXEL2_SEPARATE is disabled.) #define NEOPIXEL_IS_SEQUENTIAL // Sequential display for temperature change - LED by LED. Disable to change all LEDs at once. #define NEOPIXEL_BRIGHTNESS 127 // Initial brightness (0-255) - //#define NEOPIXEL_STARTUP_TEST // Cycle through colors at startup + #define NEOPIXEL_STARTUP_TEST // Cycle through colors at startup // Support for second Adafruit NeoPixel LED driver controlled with M150 S1 ... //#define NEOPIXEL2_SEPARATE #if ENABLED(NEOPIXEL2_SEPARATE) - #define NEOPIXEL2_PIXELS 15 // Number of LEDs in the second strip - #define NEOPIXEL2_BRIGHTNESS 127 // Initial brightness (0-255) - #define NEOPIXEL2_STARTUP_TEST // Cycle through colors at startup + #define NEOPIXEL2_PIXELS 15 // Number of LEDs in the second strip + #define NEOPIXEL2_BRIGHTNESS 127 // Initial brightness (0-255) + #define NEOPIXEL2_STARTUP_TEST // Cycle through colors at startup + #define NEOPIXEL_M150_DEFAULT -1 // Default strip for M150 without 'S'. Use -1 to set all by default. #else - //#define NEOPIXEL2_INSERIES // Default behavior is NeoPixel 2 in parallel + //#define NEOPIXEL2_INSERIES // Default behavior is NeoPixel 2 in parallel #endif // Use some of the NeoPixel LEDs for static (background) lighting - //#define NEOPIXEL_BKGD_INDEX_FIRST 0 // Index of the first background LED - //#define NEOPIXEL_BKGD_INDEX_LAST 5 // Index of the last background LED - //#define NEOPIXEL_BKGD_COLOR { 255, 255, 255, 0 } // R, G, B, W - //#define NEOPIXEL_BKGD_ALWAYS_ON // Keep the backlight on when other NeoPixels are off + //#define NEOPIXEL_BKGD_INDEX_FIRST 0 // Index of the first background LED + //#define NEOPIXEL_BKGD_INDEX_LAST 5 // Index of the last background LED + //#define NEOPIXEL_BKGD_COLOR { 255, 255, 255, 0 } // R, G, B, W + //#define NEOPIXEL_BKGD_TIMEOUT_COLOR { 25, 25, 25, 0 } // R, G, B, W + //#define NEOPIXEL_BKGD_ALWAYS_ON // Keep the backlight on when other NeoPixels are off #endif /** @@ -4619,6 +5057,8 @@ #define PRINTER_EVENT_LEDS #endif +// @section servos + /** * Number of servos * diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h index 07b5ded275..405daab1fc 100644 --- a/Marlin/Configuration_adv.h +++ b/Marlin/Configuration_adv.h @@ -30,7 +30,25 @@ * * Basic settings can be found in Configuration.h */ -#define CONFIGURATION_ADV_H_VERSION 02010000 +#define CONFIGURATION_ADV_H_VERSION 02010300 + +// @section develop + +/** + * Configuration Export + * + * Export the configuration as part of the build. (See signature.py) + * Output files are saved with the build (e.g., .pio/build/mega2560). + * + * See `build_all_examples --ini` as an example of config.ini archiving. + * + * 1 = marlin_config.json - Dictionary containing the configuration. + * This file is also generated for CONFIGURATION_EMBEDDING. + * 2 = config.ini - File format for PlatformIO preprocessing. + * 3 = schema.json - The entire configuration schema. (13 = pattern groups) + * 4 = schema.yml - The entire configuration schema. + */ +//#define CONFIG_EXPORT 2 // :[1:'JSON', 2:'config.ini', 3:'schema.json', 4:'schema.yml'] //=========================================================================== //============================= Thermal Settings ============================ @@ -54,87 +72,101 @@ // Custom Thermistor 1000 parameters // #if TEMP_SENSOR_0 == 1000 - #define HOTEND0_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor - #define HOTEND0_RESISTANCE_25C_OHMS 100000 // Resistance at 25C - #define HOTEND0_BETA 3950 // Beta value + #define HOTEND0_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define HOTEND0_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define HOTEND0_BETA 3950 // Beta value + #define HOTEND0_SH_C_COEFF 0 // Steinhart-Hart C coefficient #endif #if TEMP_SENSOR_1 == 1000 - #define HOTEND1_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor - #define HOTEND1_RESISTANCE_25C_OHMS 100000 // Resistance at 25C - #define HOTEND1_BETA 3950 // Beta value + #define HOTEND1_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define HOTEND1_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define HOTEND1_BETA 3950 // Beta value + #define HOTEND1_SH_C_COEFF 0 // Steinhart-Hart C coefficient #endif #if TEMP_SENSOR_2 == 1000 - #define HOTEND2_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor - #define HOTEND2_RESISTANCE_25C_OHMS 100000 // Resistance at 25C - #define HOTEND2_BETA 3950 // Beta value + #define HOTEND2_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define HOTEND2_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define HOTEND2_BETA 3950 // Beta value + #define HOTEND2_SH_C_COEFF 0 // Steinhart-Hart C coefficient #endif #if TEMP_SENSOR_3 == 1000 - #define HOTEND3_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor - #define HOTEND3_RESISTANCE_25C_OHMS 100000 // Resistance at 25C - #define HOTEND3_BETA 3950 // Beta value + #define HOTEND3_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define HOTEND3_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define HOTEND3_BETA 3950 // Beta value + #define HOTEND3_SH_C_COEFF 0 // Steinhart-Hart C coefficient #endif #if TEMP_SENSOR_4 == 1000 - #define HOTEND4_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor - #define HOTEND4_RESISTANCE_25C_OHMS 100000 // Resistance at 25C - #define HOTEND4_BETA 3950 // Beta value + #define HOTEND4_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define HOTEND4_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define HOTEND4_BETA 3950 // Beta value + #define HOTEND4_SH_C_COEFF 0 // Steinhart-Hart C coefficient #endif #if TEMP_SENSOR_5 == 1000 - #define HOTEND5_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor - #define HOTEND5_RESISTANCE_25C_OHMS 100000 // Resistance at 25C - #define HOTEND5_BETA 3950 // Beta value + #define HOTEND5_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define HOTEND5_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define HOTEND5_BETA 3950 // Beta value + #define HOTEND5_SH_C_COEFF 0 // Steinhart-Hart C coefficient #endif #if TEMP_SENSOR_6 == 1000 - #define HOTEND6_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor - #define HOTEND6_RESISTANCE_25C_OHMS 100000 // Resistance at 25C - #define HOTEND6_BETA 3950 // Beta value + #define HOTEND6_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define HOTEND6_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define HOTEND6_BETA 3950 // Beta value + #define HOTEND6_SH_C_COEFF 0 // Steinhart-Hart C coefficient #endif #if TEMP_SENSOR_7 == 1000 - #define HOTEND7_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor - #define HOTEND7_RESISTANCE_25C_OHMS 100000 // Resistance at 25C - #define HOTEND7_BETA 3950 // Beta value + #define HOTEND7_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define HOTEND7_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define HOTEND7_BETA 3950 // Beta value + #define HOTEND7_SH_C_COEFF 0 // Steinhart-Hart C coefficient #endif #if TEMP_SENSOR_BED == 1000 - #define BED_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor - #define BED_RESISTANCE_25C_OHMS 100000 // Resistance at 25C - #define BED_BETA 3950 // Beta value + #define BED_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define BED_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define BED_BETA 3950 // Beta value + #define BED_SH_C_COEFF 0 // Steinhart-Hart C coefficient #endif #if TEMP_SENSOR_CHAMBER == 1000 - #define CHAMBER_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor - #define CHAMBER_RESISTANCE_25C_OHMS 100000 // Resistance at 25C - #define CHAMBER_BETA 3950 // Beta value + #define CHAMBER_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define CHAMBER_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define CHAMBER_BETA 3950 // Beta value + #define CHAMBER_SH_C_COEFF 0 // Steinhart-Hart C coefficient #endif #if TEMP_SENSOR_COOLER == 1000 - #define COOLER_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor - #define COOLER_RESISTANCE_25C_OHMS 100000 // Resistance at 25C - #define COOLER_BETA 3950 // Beta value + #define COOLER_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define COOLER_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define COOLER_BETA 3950 // Beta value + #define COOLER_SH_C_COEFF 0 // Steinhart-Hart C coefficient #endif #if TEMP_SENSOR_PROBE == 1000 - #define PROBE_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor - #define PROBE_RESISTANCE_25C_OHMS 100000 // Resistance at 25C - #define PROBE_BETA 3950 // Beta value + #define PROBE_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define PROBE_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define PROBE_BETA 3950 // Beta value + #define PROBE_SH_C_COEFF 0 // Steinhart-Hart C coefficient #endif #if TEMP_SENSOR_BOARD == 1000 - #define BOARD_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor - #define BOARD_RESISTANCE_25C_OHMS 100000 // Resistance at 25C - #define BOARD_BETA 3950 // Beta value + #define BOARD_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define BOARD_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define BOARD_BETA 3950 // Beta value + #define BOARD_SH_C_COEFF 0 // Steinhart-Hart C coefficient #endif #if TEMP_SENSOR_REDUNDANT == 1000 - #define REDUNDANT_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor - #define REDUNDANT_RESISTANCE_25C_OHMS 100000 // Resistance at 25C - #define REDUNDANT_BETA 3950 // Beta value + #define REDUNDANT_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define REDUNDANT_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define REDUNDANT_BETA 3950 // Beta value + #define REDUNDANT_SH_C_COEFF 0 // Steinhart-Hart C coefficient #endif /** @@ -143,6 +175,7 @@ //#define TEMP_SENSOR_FORCE_HW_SPI // Ignore SCK/MOSI/MISO pins; use CS and the default SPI bus. //#define MAX31865_SENSOR_WIRES_0 2 // (2-4) Number of wires for the probe connected to a MAX31865 board. //#define MAX31865_SENSOR_WIRES_1 2 +//#define MAX31865_SENSOR_WIRES_2 2 //#define MAX31865_50HZ_FILTER // Use a 50Hz filter instead of the default 60Hz. //#define MAX31865_USE_READ_ERROR_DETECTION // Treat value spikes (20°C delta in under 1s) as read errors. @@ -153,15 +186,14 @@ //#define MAX31865_WIRE_OHMS_0 0.95f // For 2-wire, set the wire resistances for more accurate readings. //#define MAX31865_WIRE_OHMS_1 0.0f +//#define MAX31865_WIRE_OHMS_2 0.0f /** * Hephestos 2 24V heated bed upgrade kit. - * https://store.bq.com/en/heated-bed-kit-hephestos2 + * https://www.en3dstudios.com/product/bq-hephestos-2-heated-bed-kit/ */ //#define HEPHESTOS2_HEATED_BED_KIT #if ENABLED(HEPHESTOS2_HEATED_BED_KIT) - #undef TEMP_SENSOR_BED - #define TEMP_SENSOR_BED 70 #define HEATER_BED_INVERTING true #endif @@ -244,23 +276,15 @@ #define THERMAL_PROTECTION_BOARD // Halt the printer if the board sensor leaves the temp range below. #define BOARD_MINTEMP 8 // (°C) #define BOARD_MAXTEMP 70 // (°C) - #ifndef TEMP_BOARD_PIN - //#define TEMP_BOARD_PIN -1 // Board temp sensor pin, if not set in pins file. - #endif + //#define TEMP_BOARD_PIN -1 // Board temp sensor pin override. #endif // -// Laser Coolant Flow Meter +// SoC Sensor options // -//#define LASER_COOLANT_FLOW_METER -#if ENABLED(LASER_COOLANT_FLOW_METER) - #define FLOWMETER_PIN 20 // Requires an external interrupt-enabled pin (e.g., RAMPS 2,3,18,19,20,21) - #define FLOWMETER_PPL 5880 // (pulses/liter) Flow meter pulses-per-liter on the input pin - #define FLOWMETER_INTERVAL 1000 // (ms) Flow rate calculation interval in milliseconds - #define FLOWMETER_SAFETY // Prevent running the laser without the minimum flow rate set below - #if ENABLED(FLOWMETER_SAFETY) - #define FLOWMETER_MIN_LITERS_PER_MINUTE 1.5 // (liters/min) Minimum flow required when enabled - #endif +#if TEMP_SENSOR_SOC + #define THERMAL_PROTECTION_SOC // Halt the printer if the SoC sensor leaves the temp range below. + #define SOC_MAXTEMP 85 // (°C) #endif /** @@ -283,11 +307,12 @@ #define THERMAL_PROTECTION_PERIOD 60 // Seconds #define THERMAL_PROTECTION_HYSTERESIS 10 // Degrees Celsius - #if DISABLED(MachineCR10Orig) || ENABLED(MelziHostOnly) - #define ADAPTIVE_FAN_SLOWING // Slow part cooling fan if temperature drops - #endif - #if BOTH(ADAPTIVE_FAN_SLOWING, PIDTEMP) - #define NO_FAN_SLOWING_IN_PID_TUNING // Don't slow fan speed during M303 + #define ADAPTIVE_FAN_SLOWING // Slow down the part-cooling fan if the temperature drops + #if ENABLED(ADAPTIVE_FAN_SLOWING) + #define REPORT_ADAPTIVE_FAN_SLOWING // Report fan slowing activity to the console + #if ANY(MPCTEMP, PIDTEMP) + #define TEMP_TUNING_MAINTAIN_FAN // Don't slow down the fan speed during M303 or M306 T + #endif #endif /** @@ -311,7 +336,7 @@ */ #if ENABLED(THERMAL_PROTECTION_BED) #if(ENABLED(BedDC)) - #if EITHER(MachineS5, MachineCR10Max) + #if ANY(MachineS5, MachineCR10Max) #define THERMAL_PROTECTION_BED_PERIOD 240 // Seconds #define THERMAL_PROTECTION_BED_HYSTERESIS 4 // Degrees Celsius @@ -369,14 +394,39 @@ #if ANY(THERMAL_PROTECTION_HOTENDS, THERMAL_PROTECTION_BED, THERMAL_PROTECTION_CHAMBER, THERMAL_PROTECTION_COOLER) /** - * Thermal Protection Variance Monitor - EXPERIMENTAL. - * Kill the machine on a stuck temperature sensor. Disable if you get false positives. + * Thermal Protection Variance Monitor - EXPERIMENTAL + * Kill the machine on a stuck temperature sensor. + * + * This feature may cause some thermally-stable systems to halt. Be sure to test it thoroughly under + * a variety of conditions. Disable if you get false positives. + * + * This feature ensures that temperature sensors are updating regularly. If sensors die or get "stuck", + * or if Marlin stops reading them, temperatures will remain constant while heaters may still be powered! + * This feature only monitors temperature changes so it should catch any issue, hardware or software. + * + * By default it uses the THERMAL_PROTECTION_*_PERIOD constants (above) for the time window, within which + * at least one temperature change must occur, to indicate that sensor polling is working. If any monitored + * heater's temperature remains totally constant (without even a fractional change) during this period, a + * thermal malfunction error occurs and the printer is halted. + * + * A very stable heater might produce a false positive and halt the printer. In this case, try increasing + * the corresponding THERMAL_PROTECTION_*_PERIOD constant a bit. Keep in mind that uncontrolled heating + * shouldn't be allowed to persist for more than a minute or two. + * + * Be careful to distinguish false positives from real sensor issues before disabling this feature. If the + * heater's temperature appears even slightly higher than expected after restarting, you may have a real + * thermal malfunction. Check the temperature graph in your host for any unusual bumps. */ - //#define THERMAL_PROTECTION_VARIANCE_MONITOR // Detect a sensor malfunction preventing temperature updates + //#define THERMAL_PROTECTION_VARIANCE_MONITOR + #if ENABLED(THERMAL_PROTECTION_VARIANCE_MONITOR) + // Variance detection window to override the THERMAL_PROTECTION...PERIOD settings above. + // Keep in mind that some heaters heat up faster than others. + //#define THERMAL_PROTECTION_VARIANCE_MONITOR_PERIOD 30 // (s) Override all watch periods + #endif #endif #if ENABLED(PIDTEMP) - // Add an experimental additional term to the heater power, proportional to the extrusion speed. + // Add an additional term to the heater power, proportional to the extrusion speed. // A well-chosen Kc value should add just enough power to melt the increased material volume. //#define PID_EXTRUSION_SCALING #if ENABLED(PID_EXTRUSION_SCALING) @@ -385,12 +435,12 @@ #endif /** - * Add an experimental additional term to the heater power, proportional to the fan speed. + * Add an additional term to the heater power, proportional to the fan speed. * A well-chosen Kf value should add just enough power to compensate for power-loss from the cooling fan. * You can either just add a constant compensation with the DEFAULT_Kf value * or follow the instruction below to get speed-dependent compensation. * - * Constant compensation (use only with fanspeeds of 0% and 100%) + * Constant compensation (use only with fan speeds of 0% and 100%) * --------------------------------------------------------------------- * A good starting point for the Kf-value comes from the calculation: * kf = (power_fan * eff_fan) / power_heater * 255 @@ -417,7 +467,7 @@ //#define PID_FAN_SCALING_ALTERNATIVE_DEFINITION #if ENABLED(PID_FAN_SCALING_ALTERNATIVE_DEFINITION) // The alternative definition is used for an easier configuration. - // Just figure out Kf at fullspeed (255) and PID_FAN_SCALING_MIN_SPEED. + // Just figure out Kf at full speed (255) and PID_FAN_SCALING_MIN_SPEED. // DEFAULT_Kf and PID_FAN_SCALING_LIN_FACTOR are calculated accordingly. #define PID_FAN_SCALING_AT_FULL_SPEED 13.0 //=PID_FAN_SCALING_LIN_FACTOR*255+DEFAULT_Kf @@ -453,6 +503,9 @@ #endif #if ENABLED(AUTOTEMP) #define AUTOTEMP_OLDWEIGHT 0.98 // Factor used to weight previous readings (0.0 < value < 1.0) + #define AUTOTEMP_MIN 210 + #define AUTOTEMP_MAX 250 + #define AUTOTEMP_FACTOR 0.1f // Turn on AUTOTEMP on M104/M109 by default using proportions set here //#define AUTOTEMP_PROPORTIONAL #if ENABLED(AUTOTEMP_PROPORTIONAL) @@ -472,10 +525,10 @@ * Thermistors able to support high temperature tend to have a hard time getting * good readings at room and lower temperatures. This means TEMP_SENSOR_X_RAW_LO_TEMP * will probably be caught when the heating element first turns on during the - * preheating process, which will trigger a min_temp_error as a safety measure + * preheating process, which will trigger a MINTEMP error as a safety measure * and force stop everything. * To circumvent this limitation, we allow for a preheat time (during which, - * min_temp_error won't be triggered) and add a min_temp buffer to handle + * MINTEMP error won't be triggered) and add a min_temp buffer to handle * aberrant readings. * * If you want to enable this feature for your hotend thermistor(s) @@ -483,21 +536,26 @@ */ // The number of consecutive low temperature errors that can occur -// before a min_temp_error is triggered. (Shouldn't be more than 10.) +// before a MINTEMP error is triggered. (Shouldn't be more than 10.) //#define MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED 0 -// The number of milliseconds a hotend will preheat before starting to check -// the temperature. This value should NOT be set to the time it takes the -// hot end to reach the target temperature, but the time it takes to reach -// the minimum temperature your thermistor can read. The lower the better/safer. -// This shouldn't need to be more than 30 seconds (30000) -//#define MILLISECONDS_PREHEAT_TIME 0 +/** + * The number of milliseconds a hotend will preheat before starting to check + * the temperature. This value should NOT be set to the time it takes the + * hot end to reach the target temperature, but the time it takes to reach + * the minimum temperature your thermistor can read. The lower the better/safer. + * This shouldn't need to be more than 30 seconds (30000) + */ +//#define PREHEAT_TIME_HOTEND_MS 0 +//#define PREHEAT_TIME_BED_MS 0 // @section extruder -// Extruder runout prevention. -// If the machine is idle and the temperature over MINTEMP -// then extrude some filament every couple of SECONDS. +/** + * Extruder runout prevention. + * If the machine is idle and the temperature over MINTEMP + * then extrude some filament every couple of SECONDS. + */ //#define EXTRUDER_RUNOUT_PREVENT #if ENABLED(EXTRUDER_RUNOUT_PREVENT) #define EXTRUDER_RUNOUT_MINTEMP 190 @@ -534,11 +592,15 @@ * The fan turns on automatically whenever any driver is enabled and turns * off (or reduces to idle speed) shortly after drivers are turned off. */ -#if ENABLED(SKRMiniE3V2) +#if ANY(SKRMiniE3V2, SKRMiniE3V3) #define USE_CONTROLLER_FAN #endif #if ENABLED(USE_CONTROLLER_FAN) + #if ENABLED(SKRMiniE3V3) + #define CONTROLLER_FAN_PIN FAN2_PIN // Set a custom pin for the controller fan + #endif //#define CONTROLLER_FAN_PIN -1 // Set a custom pin for the controller fan + //#define CONTROLLER_FAN2_PIN -1 // Set a custom pin for second controller fan //#define CONTROLLER_FAN_USE_Z_ONLY // With this option only the Z axis is considered //#define CONTROLLER_FAN_IGNORE_Z // Ignore Z stepper. Useful when stepper timeout is disabled. #define CONTROLLERFAN_SPEED_MIN 0 // (0-255) Minimum speed. (If set below this value the fan is turned off.) @@ -549,16 +611,23 @@ // Use TEMP_SENSOR_BOARD as a trigger for enabling the controller fan //#define CONTROLLER_FAN_MIN_BOARD_TEMP 40 // (°C) Turn on the fan if the board reaches this temperature + // Use TEMP_SENSOR_SOC as a trigger for enabling the controller fan + //#define CONTROLLER_FAN_MIN_SOC_TEMP 40 // (°C) Turn on the fan if the SoC reaches this temperature + //#define CONTROLLER_FAN_EDITABLE // Enable M710 configurable settings #if ENABLED(CONTROLLER_FAN_EDITABLE) #define CONTROLLER_FAN_MENU // Enable the Controller Fan submenu #endif #endif -// When first starting the main fan, run it at full speed for the -// given number of milliseconds. This gets the fan spinning reliably -// before setting a PWM value. (Does not work with software PWM for fan on Sanguinololu) -#define FAN_KICKSTART_TIME 100 +/** + * Fan Kickstart + * When part cooling or controller fans first start, run at a speed that + * gets it spinning reliably for a short time before setting the requested speed. + * (Does not work on Sanguinololu with FAN_SOFT_PWM.) + */ +#define FAN_KICKSTART_TIME 100 // (ms) +//#define FAN_KICKSTART_POWER 180 // 64-255 // Some coolers may require a non-zero "off" state. //#define FAN_OFF_PWM 1 @@ -587,7 +656,7 @@ * FAST_PWM_FAN_FREQUENCY * Set this to your desired frequency. * For AVR, if left undefined this defaults to F = F_CPU/(2*255*1) - * i.e., F = 31.4kHz on 16MHz microcontrollers or F = 39.2kHz on 20MHz microcontrollers. + * i.e., F = 31.4kHz on 16MHz micro-controllers or F = 39.2kHz on 20MHz micro-controllers. * For non AVR, if left undefined this defaults to F = 1Khz. * This F value is only to protect the hardware from an absence of configuration * and not to complete it when users are not aware that the frequency must be specifically set to support the target board. @@ -617,9 +686,12 @@ #endif /** - * Use one of the PWM fans as a redundant part-cooling fan + * Assign more PWM fans for part cooling, synchronized with Fan 0 */ -//#define REDUNDANT_PART_COOLING_FAN 2 // Index of the fan to sync with FAN 0. +//#define REDUNDANT_PART_COOLING_FAN 1 // Index of the first fan to synchronize with Fan 0 +#ifdef REDUNDANT_PART_COOLING_FAN + //#define NUM_REDUNDANT_FANS 1 // Number of sequential fans to synchronize with Fan 0 +#endif // @section extruder @@ -637,8 +709,8 @@ */ #if ENABLED(MachineEnder3S1) #define E0_AUTO_FAN_PIN PC0 -#else - //#define E0_AUTO_FAN_PIN -1 +#elif HOTENDS == 1 && MOTHERBOARD == BOARD_RAMPS_CREALITY + #define E0_AUTO_FAN_PIN 7 #endif #define E1_AUTO_FAN_PIN -1 #define E2_AUTO_FAN_PIN -1 @@ -649,7 +721,6 @@ #define E7_AUTO_FAN_PIN -1 #define CHAMBER_AUTO_FAN_PIN -1 #define COOLER_AUTO_FAN_PIN -1 -#define COOLER_FAN_PIN -1 #define EXTRUDER_AUTO_FAN_TEMPERATURE 50 #define EXTRUDER_AUTO_FAN_SPEED 255 // 255 == full speed @@ -726,10 +797,10 @@ #if ENABLED(NEOPIXEL_LED) //#define CASE_LIGHT_USE_NEOPIXEL // Use NeoPixel LED as case light #endif - #if EITHER(RGB_LED, RGBW_LED) + #if ANY(RGB_LED, RGBW_LED) //#define CASE_LIGHT_USE_RGB_LED // Use RGB / RGBW LED as case light #endif - #if EITHER(CASE_LIGHT_USE_NEOPIXEL, CASE_LIGHT_USE_RGB_LED) + #if ANY(CASE_LIGHT_USE_NEOPIXEL, CASE_LIGHT_USE_RGB_LED) #define CASE_LIGHT_DEFAULT_COLOR { 255, 255, 255, 255 } // { Red, Green, Blue, White } #endif #endif @@ -751,76 +822,6 @@ //#define CLOSED_LOOP_MOVE_COMPLETE_PIN -1 #endif -/** - * Dual Steppers / Dual Endstops - * - * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes. - * - * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to - * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop - * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug - * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'. - * - * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors - * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error - * in X2. Dual endstop offsets can be set at runtime with 'M666 X Y Z'. - */ - -//#define X_DUAL_STEPPER_DRIVERS -#if ENABLED(X_DUAL_STEPPER_DRIVERS) - //#define INVERT_X2_VS_X_DIR // Enable if X2 direction signal is opposite to X - //#define X_DUAL_ENDSTOPS - #if ENABLED(X_DUAL_ENDSTOPS) - #define X2_USE_ENDSTOP _XMAX_ - #define X2_ENDSTOP_ADJUSTMENT 0 - #endif -#endif - -//#define Y_DUAL_STEPPER_DRIVERS -#if ENABLED(Y_DUAL_STEPPER_DRIVERS) - //#define INVERT_Y2_VS_Y_DIR // Enable if Y2 direction signal is opposite to Y - //#define Y_DUAL_ENDSTOPS - #if ENABLED(Y_DUAL_ENDSTOPS) - #define Y2_USE_ENDSTOP _YMAX_ - #define Y2_ENDSTOP_ADJUSTMENT 0 - #endif -#endif - -// -// For Z set the number of stepper drivers -// -#if ENABLED(DualZ) - #define NUM_Z_STEPPER_DRIVERS 2 // (1-4) Z options change based on how many -#else - #define NUM_Z_STEPPER_DRIVERS 1 // (1-4) Z options change based on how many -#endif -#if NUM_Z_STEPPER_DRIVERS > 1 - // Enable if Z motor direction signals are the opposite of Z1 - //#define INVERT_Z2_VS_Z_DIR - //#define INVERT_Z3_VS_Z_DIR - //#define INVERT_Z4_VS_Z_DIR - - //#define Z_MULTI_ENDSTOPS - #if ENABLED(Z_MULTI_ENDSTOPS) - #define Z2_USE_ENDSTOP _XMAX_ - #define Z2_ENDSTOP_ADJUSTMENT 0 - #if NUM_Z_STEPPER_DRIVERS >= 3 - #define Z3_USE_ENDSTOP _YMAX_ - #define Z3_ENDSTOP_ADJUSTMENT 0 - #endif - #if NUM_Z_STEPPER_DRIVERS >= 4 - #define Z4_USE_ENDSTOP _ZMAX_ - #define Z4_ENDSTOP_ADJUSTMENT 0 - #endif - #endif -#endif - -// Drive the E axis with two synchronized steppers -//#define E_DUAL_STEPPER_DRIVERS -#if ENABLED(E_DUAL_STEPPER_DRIVERS) - //#define INVERT_E1_VS_E0_DIR // Enable if the E motors need opposite DIR states -#endif - /** * Dual X Carriage * @@ -871,6 +872,77 @@ //#define EVENT_GCODE_IDEX_AFTER_MODECHANGE "G28X" #endif +/** + * Multi-Stepper / Multi-Endstop + * + * When X2_DRIVER_TYPE is defined, this indicates that the X and X2 motors work in tandem. + * The following explanations for X also apply to Y and Z multi-stepper setups. + * Endstop offsets may be changed by 'M666 X Y Z' and stored to EEPROM. + * + * - Enable INVERT_X2_VS_X_DIR if the X2 motor requires an opposite DIR signal from X. + * + * - Enable X_DUAL_ENDSTOPS if the second motor has its own endstop, with adjustable offset. + * + * - Extra endstops are included in the output of 'M119'. + * + * - Set X_DUAL_ENDSTOP_ADJUSTMENT to the known error in the X2 endstop. + * Applied to the X2 motor on 'G28' / 'G28 X'. + * Get the offset by homing X and measuring the error. + * Also set with 'M666 X' and stored to EEPROM with 'M500'. + * + * - Define the extra endstop pins here to override defaults. No auto-assignment. + */ +#if HAS_X2_STEPPER && DISABLED(DUAL_X_CARRIAGE) + //#define INVERT_X2_VS_X_DIR // X2 direction signal is the opposite of X + //#define X_DUAL_ENDSTOPS // X2 has its own endstop + #if ENABLED(X_DUAL_ENDSTOPS) + #define X2_USE_ENDSTOP _XMAX_ // X2 endstop board plug. Don't forget to enable USE_*_PLUG. + #define X2_ENDSTOP_ADJUSTMENT 0 // X2 offset relative to X endstop + #endif +#endif + +#if HAS_Y2_STEPPER + //#define INVERT_Y2_VS_Y_DIR // Y2 direction signal is the opposite of Y + //#define Y_DUAL_ENDSTOPS // Y2 has its own endstop + #if ENABLED(Y_DUAL_ENDSTOPS) + //#define Y2_STOP_PIN Y_MAX_PIN // Y2 endstop pin override + #define Y2_ENDSTOP_ADJUSTMENT 0 // Y2 offset relative to Y endstop + #endif +#endif + +// +// Multi-Z steppers +// +#ifdef Z2_DRIVER_TYPE + //#define INVERT_Z2_VS_Z_DIR // Z2 direction signal is the opposite of Z + + //#define Z_MULTI_ENDSTOPS // Other Z axes have their own endstops + #if ENABLED(Z_MULTI_ENDSTOPS) + #define Z2_USE_ENDSTOP _XMAX_ // Z2 endstop board plug. Don't forget to enable USE_*_PLUG. + #define Z2_ENDSTOP_ADJUSTMENT 0 // Z2 offset relative to Z endstop + #endif + #ifdef Z3_DRIVER_TYPE + //#define INVERT_Z3_VS_Z_DIR // Z3 direction signal is the opposite of Z + #if ENABLED(Z_MULTI_ENDSTOPS) + //#define Z3_STOP_PIN Y_MAX_PIN // Z3 endstop pin override + #define Z3_ENDSTOP_ADJUSTMENT 0 // Z3 offset relative to Z endstop + #endif + #endif + #ifdef Z4_DRIVER_TYPE + //#define INVERT_Z4_VS_Z_DIR // Z4 direction signal is the opposite of Z + #if ENABLED(Z_MULTI_ENDSTOPS) + //#define Z4_STOP_PIN Z_MAX_PIN // Z4 endstop pin override + #define Z4_ENDSTOP_ADJUSTMENT 0 // Z4 offset relative to Z endstop + #endif + #endif +#endif + +// Drive the E axis with two synchronized steppers +//#define E_DUAL_STEPPER_DRIVERS +#if ENABLED(E_DUAL_STEPPER_DRIVERS) + //#define INVERT_E1_VS_E0_DIR // E direction signals are opposites +#endif + // Activate a solenoid on the active extruder with M380. Disable all with M381. // Define SOL0_PIN, SOL1_PIN, etc., for each extruder that has a solenoid. //#define EXT_SOLENOID @@ -889,6 +961,7 @@ #define HOMING_BUMP_DIVISOR { 2, 2, 4 } // Re-Bump Speed Divisor (Divides the Homing Feedrate) #define HOMING_BACKOFF_POST_MM { 8, 8, 2 } // (linear=mm, rotational=°) Backoff from endstops after homing +//#define XY_COUNTERPART_BACKOFF_MM 0 // (mm) Backoff X after homing Y, and vice-versa #if DISABLED(MachineCR30) #define QUICK_HOME // If G28 contains XY do a diagonal move first @@ -940,11 +1013,11 @@ * Danger: Don't activate 5V mode unless attached to a 5V-tolerant controller! * V3.0 or 3.1: Set default mode to 5V mode at Marlin startup. * If disabled, OD mode is the hard-coded default on 3.0 - * On startup, Marlin will compare its eeprom to this value. If the selected mode - * differs, a mode set eeprom write will be completed at initialization. - * Use the option below to force an eeprom write to a V3.1 probe regardless. + * On startup, Marlin will compare its EEPROM to this value. If the selected mode + * differs, a mode set EEPROM write will be completed at initialization. + * Use the option below to force an EEPROM write to a V3.1 probe regardless. */ - #if NONE(SKR13, SKR14, SKR14Turbo, SKRPRO11, SKRMiniE3V2, MachineEnder3S1, Creality422, Creality427, MachineEnder6, MachineEnder7, MachineSermoonD1, MachineCR30, MachineCR6, MachineCR6Max, MachineCR10SmartPro, MachineEnder2Pro) + #if NONE(SKR13, SKR14, SKR14Turbo, SKRPRO11, SKRMiniE3V2, SKRMiniE3V3, MachineEnder3S1, Creality422, Creality427, MachineEnder6, MachineEnder7, MachineSermoonD1, MachineCR30, MachineCR6, MachineCR6Max, MachineCR10SmartPro, MachineEnder2Pro) #define BLTOUCH_SET_5V_MODE #endif /** @@ -965,12 +1038,16 @@ */ #define BLTOUCH_HS_MODE true - // Safety: Enable voltage mode settings in the LCD menu. - //#define BLTOUCH_LCD_VOLTAGE_MENU + #ifdef BLTOUCH_HS_MODE + // The probe Z offset (M851 Z) is the height at which the probe triggers. + // This must be large enough to keep the probe pin off the bed and prevent + // it from snagging on the bed clips. + #define BLTOUCH_HS_EXTRA_CLEARANCE 7 // Extra Z Clearance + #endif #endif // BLTOUCH -// @section extras +// @section calibration /** * Z Steppers Auto-Alignment @@ -980,9 +1057,12 @@ #define Z_STEPPER_AUTO_ALIGN #endif #if ENABLED(Z_STEPPER_AUTO_ALIGN) - // Define probe X and Y positions for Z1, Z2 [, Z3 [, Z4]] - // If not defined, probe limits will be used. - // Override with 'M422 S X Y' + /** + * Define probe X and Y positions for Z1, Z2 [, Z3 [, Z4]] + * These positions are machine-relative and do not shift with the M206 home offset! + * If not defined, probe limits will be used. + * Override with 'M422 S X Y'. + */ //#define Z_STEPPER_ALIGN_XY { { 10, 190 }, { 100, 10 }, { 190, 190 } } /** @@ -1010,7 +1090,7 @@ /** * Z Stepper positions for more rapid convergence in bed alignment. - * Requires NUM_Z_STEPPER_DRIVERS to be 3 or 4. + * Requires 3 or 4 Z steppers. * * Define Stepper XY positions for Z1, Z2, Z3... corresponding to the screw * positions in the bed carriage, with one position per Z stepper in stepper @@ -1040,7 +1120,7 @@ //#define ASSISTED_TRAMMING #if ENABLED(ASSISTED_TRAMMING) - // Define positions for probe points. + // Define from 3 to 9 points to probe. #define TRAMMING_POINT_XY { { 20, 20 }, { 180, 20 }, { 180, 180 }, { 20, 180 } } // Define position names for probe points. @@ -1066,6 +1146,93 @@ #endif +// @section motion control + +/** + * Fixed-time-based Motion Control -- EXPERIMENTAL + * Enable/disable and set parameters with G-code M493. + */ +//#define FT_MOTION +#if ENABLED(FT_MOTION) + #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) + #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) + #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. + #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. + #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). + #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. + #define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. + #define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. + + /** + * Advanced configuration + */ + #define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; + #define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. + #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) + #define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) + #define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. + #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. + #define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. + #define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!). + // Calculate as: + // 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. + // (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. + // 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. + // 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. + #define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time. + // Calculate as (FTM_STEPPER_FS / FTM_FS). + #define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm. + // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2). + // These values may be configured to adjust duration of loop(). + #define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop(). + #define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop(). + + // This value may be configured to adjust duration to consume the command buffer. + // Try increasing this value if stepper motion is not smooth. + #define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers. + + //#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. +#endif + +/** + * Input Shaping -- EXPERIMENTAL + * + * Zero Vibration (ZV) Input Shaping for X and/or Y movements. + * + * This option uses a lot of SRAM for the step buffer. The buffer size is + * calculated automatically from SHAPING_FREQ_[XY], DEFAULT_AXIS_STEPS_PER_UNIT, + * DEFAULT_MAX_FEEDRATE and ADAPTIVE_STEP_SMOOTHING. The default calculation can + * be overridden by setting SHAPING_MIN_FREQ and/or SHAPING_MAX_FEEDRATE. + * The higher the frequency and the lower the feedrate, the smaller the buffer. + * If the buffer is too small at runtime, input shaping will have reduced + * effectiveness during high speed movements. + * + * Tune with M593 D F: + * + * D Set the zeta/damping factor. If axes (X, Y, etc.) are not specified, set for all axes. + * F Set the frequency. If axes (X, Y, etc.) are not specified, set for all axes. + * T[map] Input Shaping type, 0:ZV, 1:EI, 2:2H EI (not implemented yet) + * X<1> Set the given parameters only for the X axis. + * Y<1> Set the given parameters only for the Y axis. + */ +#if ENABLED(MachineLargeROM) + #define INPUT_SHAPING_X + #define INPUT_SHAPING_Y +#endif +#if ANY(INPUT_SHAPING_X, INPUT_SHAPING_Y) + #if ENABLED(INPUT_SHAPING_X) + #define SHAPING_FREQ_X 40 // (Hz) The default dominant resonant frequency on the X axis. + #define SHAPING_ZETA_X 0.15f // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping). + #endif + #if ENABLED(INPUT_SHAPING_Y) + #define SHAPING_FREQ_Y 40 // (Hz) The default dominant resonant frequency on the Y axis. + #define SHAPING_ZETA_Y 0.15f // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping). + #endif + //#define SHAPING_MIN_FREQ 20 // By default the minimum of the shaping frequencies. Override to affect SRAM usage. + //#define SHAPING_MAX_STEPRATE 10000 // By default the maximum total step rate of the shaped axes. Override to affect SRAM usage. + //#define SHAPING_MENU // Add a menu to the LCD to set shaping parameters. +#endif + // @section motion #define AXIS_RELATIVE_MODES { false, false, false, false } @@ -1073,34 +1240,34 @@ // Add a Duplicate option for well-separated conjoined nozzles //#define MULTI_NOZZLE_DUPLICATION -// By default pololu step drivers require an active high signal. However, some high power drivers require an active low signal as step. -#define INVERT_X_STEP_PIN false -#define INVERT_Y_STEP_PIN false -#define INVERT_Z_STEP_PIN false -#define INVERT_I_STEP_PIN false -#define INVERT_J_STEP_PIN false -#define INVERT_K_STEP_PIN false -#define INVERT_U_STEP_PIN false -#define INVERT_V_STEP_PIN false -#define INVERT_W_STEP_PIN false -#define INVERT_E_STEP_PIN false +// By default stepper drivers require an active-HIGH signal but some high-power drivers require an active-LOW signal to step. +#define STEP_STATE_X HIGH +#define STEP_STATE_Y HIGH +#define STEP_STATE_Z HIGH +#define STEP_STATE_I HIGH +#define STEP_STATE_J HIGH +#define STEP_STATE_K HIGH +#define STEP_STATE_U HIGH +#define STEP_STATE_V HIGH +#define STEP_STATE_W HIGH +#define STEP_STATE_E HIGH /** * Idle Stepper Shutdown - * Set DISABLE_INACTIVE_? 'true' to shut down axis steppers after an idle period. - * The Deactive Time can be overridden with M18 and M84. Set to 0 for No Timeout. + * Enable DISABLE_IDLE_* to shut down axis steppers after an idle period. + * The default timeout duration can be overridden with M18 and M84. Set to 0 for No Timeout. */ -#define DEFAULT_STEPPER_DEACTIVE_TIME 120 -#define DISABLE_INACTIVE_X true -#define DISABLE_INACTIVE_Y true -#define DISABLE_INACTIVE_Z true // Set 'false' if the nozzle could fall onto your printed part! -#define DISABLE_INACTIVE_I true -#define DISABLE_INACTIVE_J true -#define DISABLE_INACTIVE_K true -#define DISABLE_INACTIVE_U true -#define DISABLE_INACTIVE_V true -#define DISABLE_INACTIVE_W true -#define DISABLE_INACTIVE_E true +#define DEFAULT_STEPPER_TIMEOUT_SEC 120 +#define DISABLE_IDLE_X +#define DISABLE_IDLE_Y +#define DISABLE_IDLE_Z // Disable if the nozzle could fall onto your printed part! +//#define DISABLE_IDLE_I +//#define DISABLE_IDLE_J +//#define DISABLE_IDLE_K +//#define DISABLE_IDLE_U +//#define DISABLE_IDLE_V +//#define DISABLE_IDLE_W +#define DISABLE_IDLE_E // Shut down all idle extruders // If the Nozzle or Bed falls when the Z stepper is disabled, set its resting position here. //#define Z_AFTER_DEACTIVATE Z_HOME_POS @@ -1182,7 +1349,7 @@ #endif /** - * Automatic backlash, position and hotend offset calibration + * Automatic backlash, position, and hotend offset calibration * * Enable G425 to run automatic calibration using an electrically- * conductive cube, bolt, or washer mounted on the bed. @@ -1238,7 +1405,7 @@ //#define CALIBRATION_MEASURE_WMAX // Probing at the exact top center only works if the center is flat. If - // probing on a screwhead or hollow washer, probe near the edges. + // probing on a screw head or hollow washer, probe near the edges. //#define CALIBRATION_MEASURE_AT_TOP_EDGES // Define the pin to read during calibration @@ -1250,6 +1417,12 @@ #endif #endif +/** + * Multi-stepping sends steps in bursts to reduce MCU usage for high step-rates. + * This allows higher feedrates than the MCU could otherwise support. + */ +#define MULTISTEPPING_LIMIT 16 //: [1, 2, 4, 8, 16, 32, 64, 128] + /** * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible @@ -1257,7 +1430,7 @@ * lowest stepping frequencies. */ #if ENABLED(MachineLargeROM) - #define ADAPTIVE_STEP_SMOOTHING + //#define ADAPTIVE_STEP_SMOOTHING #endif /** @@ -1303,7 +1476,7 @@ */ //#define DIGIPOT_MCP4018 // Requires https://github.com/felias-fogg/SlowSoftI2CMaster //#define DIGIPOT_MCP4451 -#if EITHER(DIGIPOT_MCP4018, DIGIPOT_MCP4451) +#if ANY(DIGIPOT_MCP4018, DIGIPOT_MCP4451) #define DIGIPOT_I2C_NUM_CHANNELS 8 // 5DPRINT:4 AZTEEG_X3_PRO:8 MKS_SBASE:5 MIGHTYBOARD_REVE:5 // Actual motor currents in Amps. The number of entries must match DIGIPOT_I2C_NUM_CHANNELS. @@ -1361,9 +1534,9 @@ // // LCD Backlight Timeout // -//#define LCD_BACKLIGHT_TIMEOUT 30 // (s) Timeout before turning off the backlight +//#define LCD_BACKLIGHT_TIMEOUT_MINS 1 // (minutes) Timeout before turning off the backlight -#if HAS_BED_PROBE && EITHER(HAS_MARLINUI_MENU, HAS_TFT_LVGL_UI) +#if HAS_BED_PROBE && ANY(HAS_MARLINUI_MENU, HAS_TFT_LVGL_UI) //#define PROBE_OFFSET_WIZARD // Add a Probe Z Offset calibration option to the LCD menu #if ENABLED(PROBE_OFFSET_WIZARD) /** @@ -1394,6 +1567,9 @@ #define XATC_Y_POSITION Y_CENTER // (mm) Y position to probe #define XATC_Z_OFFSETS { 0, 0, 0 } // Z offsets for X axis sample points #endif + + // Show Deploy / Stow Probe options in the Motion menu. + #define PROBE_DEPLOY_STOW_MENU #endif // Include a page of printer information in the LCD Main Menu @@ -1404,33 +1580,57 @@ //#define LCD_PRINTER_INFO_IS_BOOTSCREEN // Show bootscreen(s) instead of Printer Info pages #endif + // Add 50/100mm moves to MarlinUI even with a smaller bed + //#define LARGE_MOVE_ITEMS + // BACK menu items keep the highlight at the top //#define TURBO_BACK_MENU_ITEM // Insert a menu for preheating at the top level to allow for quick access //#define PREHEAT_SHORTCUT_MENU_ITEM + // Add Configuration > Debug Menu > Endstop Test for endstop/probe/runout testing + //#define LCD_ENDSTOP_TEST + #endif // HAS_MARLINUI_MENU -#if ANY(HAS_DISPLAY, DWIN_LCD_PROUI, DWIN_CREALITY_LCD_JYERSUI) - //#define SOUND_MENU_ITEM // Add a mute option to the LCD menu -#endif - -#if EITHER(HAS_DISPLAY, DWIN_LCD_PROUI) - // The timeout to return to the status screen from sub-menus - //#define LCD_TIMEOUT_TO_STATUS 15000 // (ms) - +#if HAS_DISPLAY + /** + * *** VENDORS PLEASE READ *** + * + * Marlin allows you to add a custom boot image for Graphical LCDs. + * With this option Marlin will first show your custom screen followed + * by the standard Marlin logo with version number and web URL. + * + * We encourage you to take advantage of this new feature and we also + * respectfully request that you retain the unmodified Marlin boot screen. + */ + #define SHOW_BOOTSCREEN // Show the Marlin bootscreen on startup. ** ENABLE FOR PRODUCTION ** #if ENABLED(SHOW_BOOTSCREEN) - #define BOOTSCREEN_TIMEOUT 4000 // (ms) Total Duration to display the boot screen(s) - #if EITHER(HAS_MARLINUI_U8GLIB, TFT_COLOR_UI) + #define BOOTSCREEN_TIMEOUT 3000 // (ms) Total Duration to display the boot screen(s) + #if ANY(HAS_MARLINUI_U8GLIB, TFT_COLOR_UI) #define BOOT_MARLIN_LOGO_SMALL // Show a smaller Marlin logo on the Boot Screen (saving lots of flash) #endif + #if HAS_MARLINUI_U8GLIB + //#define BOOT_MARLIN_LOGO_ANIMATED // Animated Marlin logo. Costs ~3260 (or ~940) bytes of flash. + #endif + #if ANY(HAS_MARLINUI_U8GLIB, TOUCH_UI_FTDI_EVE) + //#define SHOW_CUSTOM_BOOTSCREEN // Show the bitmap in Marlin/_Bootscreen.h on startup. + #endif #endif - #if NONE(MachineCR10Orig, LowMemoryBoard, SKRMiniE3V2) + #if HAS_MARLINUI_U8GLIB + //#define CUSTOM_STATUS_SCREEN_IMAGE // Show the bitmap in Marlin/_Statusscreen.h on the status screen. + #endif + + //#define SOUND_MENU_ITEM // Add a mute option to the LCD menu + #define SOUND_ON_DEFAULT // Buzzer/speaker default enabled state + + // The timeout to return to the status screen from sub-menus + //#define LCD_TIMEOUT_TO_STATUS 15000 // (ms) + // Scroll a longer status message into view #define STATUS_MESSAGE_SCROLLING - #endif // Apply a timeout to low-priority status messages //#define STATUS_MESSAGE_TIMEOUT_SEC 30 // (seconds) @@ -1438,12 +1638,12 @@ // On the Info Screen, display XY with one decimal place when possible //#define LCD_DECIMAL_SMALL_XY - // Add an 'M73' G-code to set the current percentage - #define LCD_SET_PROGRESS_MANUALLY - // Show the E position (filament used) during printing //#define LCD_SHOW_E_TOTAL + // Display a negative temperature instead of "err" + //#define SHOW_TEMPERATURE_BELOW_ZERO + /** * LED Control Menu * Add LED Control to the LCD menu @@ -1458,47 +1658,55 @@ #define LED_USER_PRESET_BLUE 0 // User defined BLUE value #define LED_USER_PRESET_WHITE 255 // User defined WHITE value #define LED_USER_PRESET_BRIGHTNESS 255 // User defined intensity - //#define LED_USER_PRESET_STARTUP // Have the printer display the user preset color on startup + #define LED_USER_PRESET_STARTUP // Have the printer display the user preset color on startup #endif #if ENABLED(NEO2_COLOR_PRESETS) - #define NEO2_USER_PRESET_RED 255 // User defined RED value - #define NEO2_USER_PRESET_GREEN 128 // User defined GREEN value - #define NEO2_USER_PRESET_BLUE 0 // User defined BLUE value - #define NEO2_USER_PRESET_WHITE 255 // User defined WHITE value - #define NEO2_USER_PRESET_BRIGHTNESS 255 // User defined intensity - //#define NEO2_USER_PRESET_STARTUP // Have the printer display the user preset color on startup for the second strip + #define NEO2_USER_PRESET_RED 255 // User defined RED value + #define NEO2_USER_PRESET_GREEN 128 // User defined GREEN value + #define NEO2_USER_PRESET_BLUE 0 // User defined BLUE value + #define NEO2_USER_PRESET_WHITE 255 // User defined WHITE value + #define NEO2_USER_PRESET_BRIGHTNESS 255 // User defined intensity + //#define NEO2_USER_PRESET_STARTUP // Have the printer display the user preset color on startup for the second strip #endif #endif +#endif // HAS_DISPLAY + +// Add 'M73' to set print job progress, overrides Marlin's built-in estimate +#define SET_PROGRESS_MANUALLY +#if ENABLED(SET_PROGRESS_MANUALLY) + #define SET_PROGRESS_PERCENT // Add 'P' parameter to set percentage done + #define SET_REMAINING_TIME // Add 'R' parameter to set remaining time + //#define SET_INTERACTION_TIME // Add 'C' parameter to set time until next filament change or other user interaction + //#define M73_REPORT // Report M73 values to host + #if ALL(M73_REPORT, HAS_MEDIA) + #define M73_REPORT_SD_ONLY // Report only when printing from SD + #endif #endif -// LCD Print Progress options -#if EITHER(SDSUPPORT, LCD_SET_PROGRESS_MANUALLY) - #if CAN_SHOW_REMAINING_TIME - #define SHOW_REMAINING_TIME // Display estimated time to completion - #if ENABLED(SHOW_REMAINING_TIME) - #define USE_M73_REMAINING_TIME // Use remaining time from M73 command instead of estimation - //#define ROTATE_PROGRESS_DISPLAY // Display (P)rogress, (E)lapsed, and (R)emaining time - #endif +// LCD Print Progress options. Multiple times may be displayed in turn. +#if HAS_DISPLAY && ANY(HAS_MEDIA, SET_PROGRESS_MANUALLY) + #define SHOW_PROGRESS_PERCENT // Show print progress percentage (doesn't affect progress bar) + #define SHOW_ELAPSED_TIME // Display elapsed printing time (prefix 'E') + #define SHOW_REMAINING_TIME // Display estimated time to completion (prefix 'R') + #if ENABLED(SET_INTERACTION_TIME) + #define SHOW_INTERACTION_TIME // Display time until next user interaction ('C' = filament change) #endif + //#define PRINT_PROGRESS_SHOW_DECIMALS // Show/report progress with decimal digits, not all UIs support this - #if EITHER(HAS_MARLINUI_U8GLIB, EXTENSIBLE_UI) - //#define PRINT_PROGRESS_SHOW_DECIMALS // Show progress with decimal digits - #endif - - #if EITHER(HAS_MARLINUI_HD44780, IS_TFTGLCD_PANEL) + #if ANY(HAS_MARLINUI_HD44780, IS_TFTGLCD_PANEL) #define LCD_PROGRESS_BAR // Show a progress bar on HD44780 LCDs for SD printing #if ENABLED(LCD_PROGRESS_BAR) #define PROGRESS_BAR_BAR_TIME 2000 // (ms) Amount of time to show the bar #define PROGRESS_BAR_MSG_TIME 3000 // (ms) Amount of time to show the status message - #define PROGRESS_MSG_EXPIRE 0 // (ms) Amount of time to retain the status message (0=forever) + #define PROGRESS_MSG_EXPIRE 0 // (ms) Amount of time to retain the status message (0=forever) //#define PROGRESS_MSG_ONCE // Show the message for MSG_TIME then clear it //#define LCD_PROGRESS_BAR_TEST // Add a menu item to test the progress bar #endif #endif #endif -#if ENABLED(SDSUPPORT) +#if HAS_MEDIA /** * SD Card SPI Speed * May be required to resolve "volume init" errors. @@ -1539,6 +1747,7 @@ //#define NO_SD_AUTOSTART // Remove auto#.g file support completely to save some Flash, SRAM //#define MENU_ADDAUTOSTART // Add a menu option to run auto#.g files + //#define ONE_CLICK_PRINT // Prompt to print the newest file on inserted media //#define BROWSE_MEDIA_ON_INSERT // Open the file browser when media is inserted //#define MEDIA_MENU_AT_TOP // Force the media menu to be listed on the top of the main menu @@ -1626,8 +1835,9 @@ // LCD's font must contain the characters. Check your selected LCD language. #define UTF_FILENAME_SUPPORT - #define LONG_FILENAME_HOST_SUPPORT // Get the long filename of a file/folder with 'M33 ' and list long filenames with 'M20 L' - //#define LONG_FILENAME_WRITE_SUPPORT // Create / delete files with long filenames via M28, M30, and Binary Transfer Protocol + #define LONG_FILENAME_HOST_SUPPORT // Get the long filename of a file/folder with 'M33 ' and list long filenames with 'M20 L' + //#define LONG_FILENAME_WRITE_SUPPORT // Create / delete files with long filenames via M28, M30, and Binary Transfer Protocol + //#define M20_TIMESTAMP_SUPPORT // Include timestamps by adding the 'T' flag to M20 commands #define SCROLL_LONG_FILENAMES // Scroll long filenames in the SD card menu @@ -1641,6 +1851,9 @@ * Endstops must be activated for this option to work. */ //#define SD_ABORT_ON_ENDSTOP_HIT + #if ENABLED(SD_ABORT_ON_ENDSTOP_HIT) + //#define SD_ABORT_ON_ENDSTOP_HIT_GCODE "G28XY" // G-code to run on endstop hit (e.g., "G28XY" or "G27") + #endif //#define SD_REPRINT_LAST_SELECTED_FILE // On print completion open the LCD Menu and select the same file @@ -1680,6 +1893,8 @@ //#define USE_UHS2_USB //#define USE_UHS3_USB + #define DISABLE_DUE_SD_MMC // Disable USB Host access to USB Drive to prevent hangs on block access for DUE platform + /** * Native USB Host supported by some boards (USB OTG) */ @@ -1751,7 +1966,7 @@ #define DEFAULT_SHARED_VOLUME SV_USB_FLASH_DRIVE #endif -#endif // SDSUPPORT +#endif // HAS_MEDIA /** * By default an onboard SD card reader may be shared as a USB mass- @@ -1776,16 +1991,27 @@ #define XYZ_NO_FRAME //#define XYZ_HOLLOW_FRAME - // A bigger font is available for edit items. Costs 3120 bytes of PROGMEM. + // A bigger font is available for edit items. Costs 3120 bytes of flash. // Western only. Not available for Cyrillic, Kana, Turkish, Greek, or Chinese. #if ANY(SKR13, SKR14, SKR14Turbo, SKRPRO11) #define USE_BIG_EDIT_FONT #endif - // A smaller font may be used on the Info Screen. Costs 2434 bytes of PROGMEM. + // A smaller font may be used on the Info Screen. Costs 2434 bytes of flash. // Western only. Not available for Cyrillic, Kana, Turkish, Greek, or Chinese. //#define USE_SMALL_INFOFONT + /** + * Graphical Display Sleep + * + * The U8G library provides sleep / wake functions for SH1106, SSD1306, + * SSD1309, and some other DOGM displays. + * Enable this option to save energy and prevent OLED pixel burn-in. + * Adds the menu item Configuration > LCD Timeout (m) to set a wait period + * from 0 (disabled) to 99 minutes. + */ + //#define DISPLAY_SLEEP_MINUTES 2 // (minutes) Timeout before turning off the screen. Set with M255 S. + /** * ST7920-based LCDs can emulate a 16 x 4 character display using * the ST7920 character-generator for very fast screen updates. @@ -1812,7 +2038,7 @@ #endif /** - * Status (Info) Screen customizations + * Status (Info) Screen customization * These options may affect code size and screen render time. * Custom status screens can forcibly override these settings. */ @@ -1831,12 +2057,6 @@ //#define STATUS_ALT_FAN_BITMAP // Use the alternative fan bitmap //#define STATUS_FAN_FRAMES 3 // :[0,1,2,3,4] Number of fan animation frames //#define STATUS_HEAT_PERCENT // Show heating in a progress bar - //#define BOOT_MARLIN_LOGO_SMALL // Show a smaller Marlin logo on the Boot Screen (saving 399 bytes of flash) - #if ENABLED(MachineLargeROM) - #define BOOT_MARLIN_LOGO_ANIMATED // Animated Marlin logo. Costs ~‭3260 (or ~940) bytes of PROGMEM. - #else - #define BOOT_MARLIN_LOGO_SMALL // Show a smaller Marlin logo on the Boot Screen (saving 399 bytes of flash) - #endif // Frivolous Game Options //#define MARLIN_BRICKOUT @@ -1853,36 +2073,31 @@ #endif // HAS_GRAPHICAL_LCD #if HAS_MARLINUI_U8GLIB || IS_DWIN_MARLINUI - // Show SD percentage next to the progress bar - //#define SHOW_SD_PERCENT - - // Enable to save many cycles by drawing a hollow frame on Menu Screens - #define MENU_HOLLOW_FRAME - - // Swap the CW/CCW indicators in the graphics overlay - //#define OVERLAY_GFX_REVERSE + #define MENU_HOLLOW_FRAME // Enable to save many cycles by drawing a hollow frame on Menu Screens + //#define OVERLAY_GFX_REVERSE // Swap the CW/CCW indicators in the graphics overlay #endif // // Additional options for DGUS / DWIN displays // -#if HAS_DGUS_LCD || ENABLED(DGUS_LCD_UI_CREALITY_TOUCH) || ENABLED(FORCE10SPRODISPLAY) +#if HAS_DGUS_LCD || ENABLED(DGUS_LCD_UI_CREALITY_TOUCH) || ENABLED(INSANITYAUTOMATION_DWIN) + #define DGUS_RX_BUFFER_SIZE 256 + #define DGUS_TX_BUFFER_SIZE 32 #ifndef LCD_SERIAL_PORT #define LCD_SERIAL_PORT 3 #define LCD_BAUDRATE 115200 #endif - #define DGUS_RX_BUFFER_SIZE 128 - #define DGUS_TX_BUFFER_SIZE 48 - //#define SERIAL_STATS_RX_BUFFER_OVERRUNS // Fix Rx overrun situation (Currently only for AVR) - + #if ENABLED(INSANITYAUTOMATION_DWIN) && DISABLED(Creality422, Creality427) + #define SERIAL_STATS_RX_BUFFER_OVERRUNS // Fix Rx overrun situation (Currently only for AVR) + #endif #define DGUS_UPDATE_INTERVAL_MS 500 // (ms) Interval between automatic screen updates - #if ANY(DGUS_LCD_UI_FYSETC, DGUS_LCD_UI_MKS, DGUS_LCD_UI_HIPRECY) + #if DGUS_UI_IS(FYSETC, MKS, HIPRECY) #define DGUS_PRINT_FILENAME // Display the filename during printing #define DGUS_PREHEAT_UI // Display a preheat screen during heatup - #if EITHER(DGUS_LCD_UI_FYSETC, DGUS_LCD_UI_MKS) + #if DGUS_UI_IS(FYSETC, MKS) //#define DGUS_UI_MOVE_DIS_OPTION // Disabled by default for FYSETC and MKS #else #define DGUS_UI_MOVE_DIS_OPTION // Enabled by default for UI_HIPRECY @@ -1899,6 +2114,22 @@ #define DGUS_UI_WAITING_STATUS 10 #define DGUS_UI_WAITING_STATUS_PERIOD 8 // Increase to slower waiting status looping #endif + + #elif DGUS_UI_IS(E3S1PRO) + /** + * The stock Ender-3 S1 Pro/Plus display firmware has rather poor SD file handling. + * + * The autoscroll is mainly useful for status messages, filenames, and the "About" page. + * + * NOTE: The Advanced SD Card option is affected by the stock touchscreen firmware, so + * pages 5 and up will display "4/4". This may get fixed in a screen firmware update. + */ + #define DGUS_SOFTWARE_AUTOSCROLL // Enable long text software auto-scroll + #define DGUS_AUTOSCROLL_START_CYCLES 1 // Refresh cycles without scrolling at the beginning of text strings + #define DGUS_AUTOSCROLL_END_CYCLES 1 // ... at the end of text strings + + #define DGUS_ADVANCED_SDCARD // Allow more than 20 files and navigating directories + #define DGUS_USERCONFIRM // Reuse the SD Card page to show various messages #endif #endif // HAS_DGUS_LCD @@ -1930,7 +2161,7 @@ // // Specify additional languages for the UI. Default specified by LCD_LANGUAGE. // -#if ANY(DOGLCD, TFT_COLOR_UI, TOUCH_UI_FTDI_EVE, IS_DWIN_MARLINUI) +#if ANY(DOGLCD, TFT_COLOR_UI, TOUCH_UI_FTDI_EVE, IS_DWIN_MARLINUI, ANYCUBIC_LCD_VYPER) //#define LCD_LANGUAGE_2 fr //#define LCD_LANGUAGE_3 de //#define LCD_LANGUAGE_4 es @@ -2074,13 +2305,13 @@ */ #define BABYSTEPPING #if ENABLED(BABYSTEPPING) - #define INTEGRATED_BABYSTEPPING // EXPERIMENTAL integration of babystepping into the Stepper ISR + //#define EP_BABYSTEPPING // M293/M294 babystepping with EMERGENCY_PARSER support //#define BABYSTEP_WITHOUT_HOMING - #define BABYSTEP_ALWAYS_AVAILABLE // Allow babystepping at all times (not just during movement). + #define BABYSTEP_ALWAYS_AVAILABLE // Allow babystepping at all times (not just during movement) #if ENABLED(MachineCR30) #define BABYSTEP_XY // Also enable X/Y Babystepping. Not supported on DELTA! #endif - #define BABYSTEP_INVERT_Z false // Change if Z babysteps should go the other way + //#define BABYSTEP_INVERT_Z // Enable if Z babysteps should go the other way //#define BABYSTEP_MILLIMETER_UNITS // Specify BABYSTEP_MULTIPLICATOR_(XY|Z) in mm instead of micro-steps #define BABYSTEP_MULTIPLICATOR_Z 10 // (steps or mm) Steps or millimeter distance for each Z babystep #define BABYSTEP_MULTIPLICATOR_XY 1 // (steps or mm) Steps or millimeter distance for each XY babystep @@ -2089,7 +2320,7 @@ #if ENABLED(DOUBLECLICK_FOR_Z_BABYSTEPPING) #define DOUBLECLICK_MAX_INTERVAL 1250 // Maximum interval between clicks, in milliseconds. // Note: Extra time may be added to mitigate controller latency. - //#define MOVE_Z_WHEN_IDLE // Jump to the move Z menu on doubleclick when printer is idle. + //#define MOVE_Z_WHEN_IDLE // Jump to the move Z menu on double-click when printer is idle. #if ENABLED(MOVE_Z_WHEN_IDLE) #define MOVE_Z_IDLE_MULTIPLICATOR 1 // Multiply 1mm by this factor for the move step size. #endif @@ -2103,7 +2334,7 @@ #if ENABLED(BABYSTEP_ZPROBE_OFFSET) //#define BABYSTEP_HOTEND_Z_OFFSET // For multiple hotends, babystep relative Z offsets #if NONE(MachineCR10Orig, LowMemoryBoard, EXTENSIBLE_UI, SKRMiniE3V2, MachineEnder3V2, MachineEnder3S1, MachineCR6, MachineCR6Max, FORCEV2DISPLAY) && (DISABLED(MachineEnder4) || ENABLED(GraphicLCD)) - #define BABYSTEP_ZPROBE_GFX_OVERLAY // Enable graphical overlay on Z-offset editor + #define BABYSTEP_GFX_OVERLAY // Enable graphical overlay on Z-offset editor #endif #endif #endif @@ -2125,15 +2356,17 @@ * * See https://marlinfw.org/docs/features/lin_advance.html for full instructions. */ -#if NONE(MachineCR10Orig, SKRMiniE3V2, LowMemoryBoard, MachineCR10SPro, MachineCR10Max, SKR13, SKR14, SKR14Turbo, MachineCR10SV2, CrealitySilentBoard, MachineCR5) || ENABLED(OrigLA) || (ANY(SKR13, SKR14, SKR14Turbo, SKRPRO11) && ENABLED(SKR_UART)) - #define LIN_ADVANCE -#endif +#define LIN_ADVANCE #if ENABLED(LIN_ADVANCE) - //#define EXTRA_LIN_ADVANCE_K // Enable for second linear advance constants - #define LIN_ADVANCE_K 0.0 // Unit: mm compression per 1mm/s extruder speed - //#define LA_DEBUG // If enabled, this will generate debug information output over USB. - #define EXPERIMENTAL_SCURVE // Enable this option to permit S-Curve Acceleration - #define ALLOW_LOW_EJERK // Allow a DEFAULT_EJERK value of <10. Recommended for direct drive hotends. + #if ENABLED(DISTINCT_E_FACTORS) + #define ADVANCE_K { 0.0 } // (mm) Compression length per 1mm/s extruder speed, per extruder + #else + #define ADVANCE_K 0.0 // (mm) Compression length applying to all extruders + #endif + //#define ADVANCE_K_EXTRA // Add a second linear advance constant, configurable with M900 L. + //#define LA_DEBUG // Print debug information to serial during operation. Disable for production use. + #define ALLOW_LOW_EJERK // Allow a DEFAULT_EJERK value of <10. Recommended for direct drive hotends. + //#define EXPERIMENTAL_I2S_LA // Allow I2S_STEPPER_STREAM to be used with LA. Performance degrades as the LA step rate reaches ~20kHz. #endif // @section leveling @@ -2157,13 +2390,10 @@ * Points to probe for all 3-point Leveling procedures. * Override if the automatically selected points are inadequate. */ -#if EITHER(AUTO_BED_LEVELING_3POINT, AUTO_BED_LEVELING_UBL) - //#define PROBE_PT_1_X 15 - //#define PROBE_PT_1_Y 180 - //#define PROBE_PT_2_X 15 - //#define PROBE_PT_2_Y 20 - //#define PROBE_PT_3_X 170 - //#define PROBE_PT_3_Y 20 +#if NEEDS_THREE_PROBE_POINTS + //#define PROBE_PT_1 { 15, 180 } // (mm) { x, y } + //#define PROBE_PT_2 { 15, 20 } + //#define PROBE_PT_3 { 170, 20 } #endif /** @@ -2192,7 +2422,7 @@ #define PROBING_MARGIN_BACK (PROBING_MARGIN + ClipClearance) #endif -#if EITHER(MESH_BED_LEVELING, AUTO_BED_LEVELING_UBL) +#if ANY(MESH_BED_LEVELING, AUTO_BED_LEVELING_UBL) // Override the mesh area if the automatic (max) area is too large //#define MESH_MIN_X MESH_INSET //#define MESH_MIN_Y MESH_INSET @@ -2200,7 +2430,7 @@ //#define MESH_MAX_Y Y_BED_SIZE - (MESH_INSET) #endif -#if BOTH(AUTO_BED_LEVELING_UBL, EEPROM_SETTINGS) +#if ALL(AUTO_BED_LEVELING_UBL, EEPROM_SETTINGS) //#define OPTIMIZED_MESH_STORAGE // Store mesh with less precision to save EEPROM space #endif @@ -2272,7 +2502,7 @@ #endif // G76 options - #if BOTH(PTC_PROBE, PTC_BED) + #if ALL(PTC_PROBE, PTC_BED) // Park position to wait for probe cooldown #define PTC_PARK_POS { 0, 0, 100 } @@ -2316,7 +2546,7 @@ // G5 Bézier Curve Support with XYZE destination and IJPQ offsets //#define BEZIER_CURVE_SUPPORT // Requires ~2666 bytes -#if EITHER(ARC_SUPPORT, BEZIER_CURVE_SUPPORT) +#if ANY(ARC_SUPPORT, BEZIER_CURVE_SUPPORT) //#define CNC_WORKSPACE_PLANES // Allow G2/G3/G5 to operate in XY, ZX, or YZ planes #endif @@ -2417,13 +2647,13 @@ // The ASCII buffer for serial input #define MAX_CMD_SIZE 96 -#if ANY(MachineCR10Orig, SKRMiniE3V2, MachineLargeROM) //melzi has more ram than a 2560 +#if ANY(MachineCR10Orig, SKRMiniE3V2, SKRMiniE3V3, MachineLargeROM) //melzi has more ram than a 2560 #define BUFSIZE 16 #else #define BUFSIZE 4 #endif // Transmission to Host Buffer Size -// To save 386 bytes of PROGMEM (and TX_BUFFER_SIZE+3 bytes of RAM) set to 0. +// To save 386 bytes of flash (and TX_BUFFER_SIZE+3 bytes of RAM) set to 0. // To buffer a simple "ok" you need 4 bytes. // For ADVANCED_OK (M105) you need 32 bytes. // For debug-echo: 128 bytes for the optimal speed. @@ -2449,7 +2679,7 @@ //#define SERIAL_XON_XOFF #endif -#if ENABLED(SDSUPPORT) +#if HAS_MEDIA // Enable this option to collect and display the maximum // RX queue usage after transferring a file to SD. //#define SERIAL_STATS_MAX_RX_QUEUED @@ -2473,7 +2703,7 @@ * Currently handles M108, M112, M410, M876 * NOTE: Not yet implemented for all platforms. */ -#if NONE(SKRPRO11, SKRMiniE3V2) +#if NONE(SKRPRO11) #define EMERGENCY_PARSER #endif @@ -2590,11 +2820,19 @@ /** * Extra G-code to run while executing tool-change commands. Can be used to use an additional - * stepper motor (I axis, see option NUM_AXES in Configuration.h) to drive the tool-changer. + * stepper motor (e.g., I axis in Configuration.h) to drive the tool-changer. */ - //#define EVENT_GCODE_TOOLCHANGE_T0 "G28 A\nG1 A0" // Extra G-code to run while executing tool-change command T0 - //#define EVENT_GCODE_TOOLCHANGE_T1 "G1 A10" // Extra G-code to run while executing tool-change command T1 - //#define EVENT_GCODE_TOOLCHANGE_ALWAYS_RUN // Always execute above G-code sequences. Use with caution! + //#define EVENT_GCODE_TOOLCHANGE_T0 "G28 A\nG1 A0" // Extra G-code to run while executing tool-change command T0 + //#define EVENT_GCODE_TOOLCHANGE_T1 "G1 A10" // Extra G-code to run while executing tool-change command T1 + //#define EVENT_GCODE_TOOLCHANGE_ALWAYS_RUN // Always execute above G-code sequences. Use with caution! + + /** + * Consider coordinates for EVENT_GCODE_TOOLCHANGE_Tx as relative to T0 + * so that moves in the specified axes are the same for all tools. + */ + //#define TC_GCODE_USE_GLOBAL_X // Use X position relative to Tool 0 + //#define TC_GCODE_USE_GLOBAL_Y // Use Y position relative to Tool 0 + //#define TC_GCODE_USE_GLOBAL_Z // Use Z position relative to Tool 0 /** * Tool Sensors detect when tools have been picked up or dropped. @@ -2617,19 +2855,23 @@ // Longer prime to clean out a SINGLENOZZLE #define TOOLCHANGE_FS_EXTRA_PRIME 2 // (mm) Extra priming length #define TOOLCHANGE_FS_PRIME_SPEED (4.6*60) // (mm/min) Extra priming feedrate - #define TOOLCHANGE_FS_WIPE_RETRACT 0 // (mm) Retract before cooling for less stringing, better wipe, etc. + #define TOOLCHANGE_FS_WIPE_RETRACT 0 // (mm) Cutting retraction out of park, for less stringing, better wipe, etc. Adjust with LCD or M217 G. // Cool after prime to reduce stringing #define TOOLCHANGE_FS_FAN -1 // Fan index or -1 to skip #define TOOLCHANGE_FS_FAN_SPEED 255 // 0-255 #define TOOLCHANGE_FS_FAN_TIME 10 // (seconds) - // Swap uninitialized extruder (using TOOLCHANGE_FS_PRIME_SPEED feedrate) - // (May break filament if not retracted beforehand.) - //#define TOOLCHANGE_FS_INIT_BEFORE_SWAP + // Use TOOLCHANGE_FS_PRIME_SPEED feedrate the first time each extruder is primed + //#define TOOLCHANGE_FS_SLOW_FIRST_PRIME - // Prime on the first T0 (For other tools use TOOLCHANGE_FS_INIT_BEFORE_SWAP) - // Enable with M217 V1 before printing to avoid unwanted priming on host connect + /** + * Prime T0 the first time T0 is sent to the printer: + * [ Power-On -> T0 { Activate & Prime T0 } -> T1 { Retract T0, Activate & Prime T1 } ] + * If disabled, no priming on T0 until switching back to T0 from another extruder: + * [ Power-On -> T0 { T0 Activated } -> T1 { Activate & Prime T1 } -> T0 { Retract T1, Activate & Prime T0 } ] + * Enable with M217 V1 before printing to avoid unwanted priming on host connect. + */ //#define TOOLCHANGE_FS_PRIME_FIRST_USED /** @@ -2659,6 +2901,8 @@ #endif #endif // HAS_MULTI_EXTRUDER +// @section advanced pause + /** * Advanced Pause for Filament Change * - Adds the G-code M600 Filament Change to initiate a filament change. @@ -2737,169 +2981,33 @@ #endif #endif -// @section tmc - -/** - * TMC26X Stepper Driver options - * - * The TMC26XStepper library is required for this stepper driver. - * https://github.com/trinamic/TMC26XStepper - */ -#if HAS_DRIVER(TMC26X) - - #if AXIS_DRIVER_TYPE_X(TMC26X) - #define X_MAX_CURRENT 1000 // (mA) - #define X_SENSE_RESISTOR 91 // (mOhms) - #define X_MICROSTEPS 16 // Number of microsteps - #endif - - #if AXIS_DRIVER_TYPE_X2(TMC26X) - #define X2_MAX_CURRENT 1000 - #define X2_SENSE_RESISTOR 91 - #define X2_MICROSTEPS X_MICROSTEPS - #endif - - #if AXIS_DRIVER_TYPE_Y(TMC26X) - #define Y_MAX_CURRENT 1000 - #define Y_SENSE_RESISTOR 91 - #define Y_MICROSTEPS 16 - #endif - - #if AXIS_DRIVER_TYPE_Y2(TMC26X) - #define Y2_MAX_CURRENT 1000 - #define Y2_SENSE_RESISTOR 91 - #define Y2_MICROSTEPS Y_MICROSTEPS - #endif - - #if AXIS_DRIVER_TYPE_Z(TMC26X) - #define Z_MAX_CURRENT 1000 - #define Z_SENSE_RESISTOR 91 - #define Z_MICROSTEPS 16 - #endif - - #if AXIS_DRIVER_TYPE_Z2(TMC26X) - #define Z2_MAX_CURRENT 1000 - #define Z2_SENSE_RESISTOR 91 - #define Z2_MICROSTEPS Z_MICROSTEPS - #endif - - #if AXIS_DRIVER_TYPE_Z3(TMC26X) - #define Z3_MAX_CURRENT 1000 - #define Z3_SENSE_RESISTOR 91 - #define Z3_MICROSTEPS Z_MICROSTEPS - #endif - - #if AXIS_DRIVER_TYPE_Z4(TMC26X) - #define Z4_MAX_CURRENT 1000 - #define Z4_SENSE_RESISTOR 91 - #define Z4_MICROSTEPS Z_MICROSTEPS - #endif - - #if AXIS_DRIVER_TYPE_I(TMC26X) - #define I_MAX_CURRENT 1000 - #define I_SENSE_RESISTOR 91 - #define I_MICROSTEPS 16 - #endif - - #if AXIS_DRIVER_TYPE_J(TMC26X) - #define J_MAX_CURRENT 1000 - #define J_SENSE_RESISTOR 91 - #define J_MICROSTEPS 16 - #endif - - #if AXIS_DRIVER_TYPE_K(TMC26X) - #define K_MAX_CURRENT 1000 - #define K_SENSE_RESISTOR 91 - #define K_MICROSTEPS 16 - #endif - - #if AXIS_DRIVER_TYPE_U(TMC26X) - #define U_MAX_CURRENT 1000 - #define U_SENSE_RESISTOR 91 - #define U_MICROSTEPS 16 - #endif - - #if AXIS_DRIVER_TYPE_V(TMC26X) - #define V_MAX_CURRENT 1000 - #define V_SENSE_RESISTOR 91 - #define V_MICROSTEPS 16 - #endif - - #if AXIS_DRIVER_TYPE_W(TMC26X) - #define W_MAX_CURRENT 1000 - #define W_SENSE_RESISTOR 91 - #define W_MICROSTEPS 16 - #endif - - #if AXIS_DRIVER_TYPE_E0(TMC26X) - #define E0_MAX_CURRENT 1000 - #define E0_SENSE_RESISTOR 91 - #define E0_MICROSTEPS 16 - #endif - - #if AXIS_DRIVER_TYPE_E1(TMC26X) - #define E1_MAX_CURRENT 1000 - #define E1_SENSE_RESISTOR 91 - #define E1_MICROSTEPS E0_MICROSTEPS - #endif - - #if AXIS_DRIVER_TYPE_E2(TMC26X) - #define E2_MAX_CURRENT 1000 - #define E2_SENSE_RESISTOR 91 - #define E2_MICROSTEPS E0_MICROSTEPS - #endif - - #if AXIS_DRIVER_TYPE_E3(TMC26X) - #define E3_MAX_CURRENT 1000 - #define E3_SENSE_RESISTOR 91 - #define E3_MICROSTEPS E0_MICROSTEPS - #endif - - #if AXIS_DRIVER_TYPE_E4(TMC26X) - #define E4_MAX_CURRENT 1000 - #define E4_SENSE_RESISTOR 91 - #define E4_MICROSTEPS E0_MICROSTEPS - #endif - - #if AXIS_DRIVER_TYPE_E5(TMC26X) - #define E5_MAX_CURRENT 1000 - #define E5_SENSE_RESISTOR 91 - #define E5_MICROSTEPS E0_MICROSTEPS - #endif - - #if AXIS_DRIVER_TYPE_E6(TMC26X) - #define E6_MAX_CURRENT 1000 - #define E6_SENSE_RESISTOR 91 - #define E6_MICROSTEPS E0_MICROSTEPS - #endif - - #if AXIS_DRIVER_TYPE_E7(TMC26X) - #define E7_MAX_CURRENT 1000 - #define E7_SENSE_RESISTOR 91 - #define E7_MICROSTEPS E0_MICROSTEPS - #endif - -#endif // TMC26X - // @section tmc_smart /** - * To use TMC2130, TMC2160, TMC2660, TMC5130, TMC5160 stepper drivers in SPI mode - * connect your SPI pins to the hardware SPI interface on your board and define - * the required CS pins in your `pins_MYBOARD.h` file. (e.g., RAMPS 1.4 uses AUX3 - * pins `X_CS_PIN 53`, `Y_CS_PIN 49`, etc.). - * You may also use software SPI if you wish to use general purpose IO pins. + * Trinamic Smart Drivers * - * To use TMC2208 stepper UART-configurable stepper drivers connect #_SERIAL_TX_PIN - * to the driver side PDN_UART pin with a 1K resistor. - * To use the reading capabilities, also connect #_SERIAL_RX_PIN to PDN_UART without - * a resistor. - * The drivers can also be used with hardware serial. + * To use TMC2130, TMC2160, TMC2660, TMC5130, TMC5160 stepper drivers in SPI mode: + * - Connect your SPI pins to the Hardware SPI interface on the board. + * Some boards have simple jumper connections! See your board's documentation. + * - Define the required Stepper CS pins in your `pins_MYBOARD.h` file. + * (See the RAMPS pins, for example.) + * - You can also use Software SPI with GPIO pins instead of Hardware SPI. * - * TMCStepper library is required to use TMC stepper drivers. - * https://github.com/teemuatlut/TMCStepper + * To use TMC220x stepper drivers with Serial UART: + * - Connect PDN_UART to the #_SERIAL_TX_PIN through a 1K resistor. + * For reading capabilities also connect PDN_UART to #_SERIAL_RX_PIN with no resistor. + * Some boards have simple jumper connections! See your board's documentation. + * - These drivers can also be used with Hardware Serial. + * + * The TMC26XStepper library is required for TMC26X stepper drivers. + * https://github.com/MarlinFirmware/TMC26XStepper + * + * The TMCStepper library is required for other TMC stepper drivers. + * https://github.com/teemuatlut/TMCStepper + * + * @section tmc/config */ -#if HAS_TRINAMIC_CONFIG +#if HAS_TRINAMIC_CONFIG || HAS_TMC26X #define HOLD_MULTIPLIER 0.5 // Scales down the holding current from run current @@ -2909,27 +3017,27 @@ */ #define INTERPOLATE true - #if AXIS_IS_TMC(X) + #if AXIS_IS_TMC_CONFIG(X) #define X_CURRENT 730 // (mA) RMS current. Multiply by 1.414 for peak current. #define X_CURRENT_HOME X_CURRENT // (mA) RMS current for sensorless homing #define X_MICROSTEPS 16 // 0..256 - #define X_RSENSE 0.11 + #define X_RSENSE 0.11 // Multiplied x1000 for TMC26X #define X_CHAIN_POS -1 // -1..0: Not chained. 1: MCU MOSI connected. 2: Next in chain, ... //#define X_INTERPOLATE true // Enable to override 'INTERPOLATE' for the X axis //#define X_HOLD_MULTIPLIER 0.5 // Enable to override 'HOLD_MULTIPLIER' for the X axis #endif - #if AXIS_IS_TMC(X2) - #define X2_CURRENT 800 - #define X2_CURRENT_HOME X2_CURRENT - #define X2_MICROSTEPS X_MICROSTEPS - #define X2_RSENSE 0.11 + #if AXIS_IS_TMC_CONFIG(X2) + #define X2_CURRENT X_CURRENT + #define X2_CURRENT_HOME X_CURRENT_HOME + #define X2_MICROSTEPS X_MICROSTEPS + #define X2_RSENSE X_RSENSE #define X2_CHAIN_POS -1 //#define X2_INTERPOLATE true //#define X2_HOLD_MULTIPLIER 0.5 #endif - #if AXIS_IS_TMC(Y) + #if AXIS_IS_TMC_CONFIG(Y) #define Y_CURRENT 730 #define Y_CURRENT_HOME Y_CURRENT #define Y_MICROSTEPS 16 @@ -2939,17 +3047,17 @@ //#define Y_HOLD_MULTIPLIER 0.5 #endif - #if AXIS_IS_TMC(Y2) - #define Y2_CURRENT 800 - #define Y2_CURRENT_HOME Y2_CURRENT - #define Y2_MICROSTEPS Y_MICROSTEPS - #define Y2_RSENSE 0.11 + #if AXIS_IS_TMC_CONFIG(Y2) + #define Y2_CURRENT Y_CURRENT + #define Y2_CURRENT_HOME Y_CURRENT_HOME + #define Y2_MICROSTEPS Y_MICROSTEPS + #define Y2_RSENSE Y_RSENSE #define Y2_CHAIN_POS -1 //#define Y2_INTERPOLATE true //#define Y2_HOLD_MULTIPLIER 0.5 #endif - #if AXIS_IS_TMC(Z) + #if AXIS_IS_TMC_CONFIG(Z) #define Z_CURRENT 850 #define Z_CURRENT_HOME Z_CURRENT #define Z_MICROSTEPS 16 @@ -2959,37 +3067,37 @@ //#define Z_HOLD_MULTIPLIER 0.5 #endif - #if AXIS_IS_TMC(Z2) - #define Z2_CURRENT 850 - #define Z2_CURRENT_HOME Z2_CURRENT - #define Z2_MICROSTEPS Z_MICROSTEPS - #define Z2_RSENSE 0.11 + #if AXIS_IS_TMC_CONFIG(Z2) + #define Z2_CURRENT Z_CURRENT + #define Z2_CURRENT_HOME Z_CURRENT_HOME + #define Z2_MICROSTEPS Z_MICROSTEPS + #define Z2_RSENSE Z_RSENSE #define Z2_CHAIN_POS -1 //#define Z2_INTERPOLATE true //#define Z2_HOLD_MULTIPLIER 0.5 #endif - #if AXIS_IS_TMC(Z3) - #define Z3_CURRENT 800 - #define Z3_CURRENT_HOME Z3_CURRENT - #define Z3_MICROSTEPS Z_MICROSTEPS - #define Z3_RSENSE 0.11 + #if AXIS_IS_TMC_CONFIG(Z3) + #define Z3_CURRENT Z_CURRENT + #define Z3_CURRENT_HOME Z_CURRENT_HOME + #define Z3_MICROSTEPS Z_MICROSTEPS + #define Z3_RSENSE Z_RSENSE #define Z3_CHAIN_POS -1 //#define Z3_INTERPOLATE true //#define Z3_HOLD_MULTIPLIER 0.5 #endif - #if AXIS_IS_TMC(Z4) - #define Z4_CURRENT 800 - #define Z4_CURRENT_HOME Z4_CURRENT - #define Z4_MICROSTEPS Z_MICROSTEPS - #define Z4_RSENSE 0.11 + #if AXIS_IS_TMC_CONFIG(Z4) + #define Z4_CURRENT Z_CURRENT + #define Z4_CURRENT_HOME Z_CURRENT_HOME + #define Z4_MICROSTEPS Z_MICROSTEPS + #define Z4_RSENSE Z_RSENSE #define Z4_CHAIN_POS -1 //#define Z4_INTERPOLATE true //#define Z4_HOLD_MULTIPLIER 0.5 #endif - #if AXIS_IS_TMC(I) + #if AXIS_IS_TMC_CONFIG(I) #define I_CURRENT 800 #define I_CURRENT_HOME I_CURRENT #define I_MICROSTEPS 16 @@ -2999,7 +3107,7 @@ //#define I_HOLD_MULTIPLIER 0.5 #endif - #if AXIS_IS_TMC(J) + #if AXIS_IS_TMC_CONFIG(J) #define J_CURRENT 800 #define J_CURRENT_HOME J_CURRENT #define J_MICROSTEPS 16 @@ -3009,7 +3117,7 @@ //#define J_HOLD_MULTIPLIER 0.5 #endif - #if AXIS_IS_TMC(K) + #if AXIS_IS_TMC_CONFIG(K) #define K_CURRENT 800 #define K_CURRENT_HOME K_CURRENT #define K_MICROSTEPS 16 @@ -3019,34 +3127,37 @@ //#define K_HOLD_MULTIPLIER 0.5 #endif - #if AXIS_IS_TMC(U) + #if AXIS_IS_TMC_CONFIG(U) #define U_CURRENT 800 #define U_CURRENT_HOME U_CURRENT #define U_MICROSTEPS 8 #define U_RSENSE 0.11 #define U_CHAIN_POS -1 //#define U_INTERPOLATE true + //#define U_HOLD_MULTIPLIER 0.5 #endif - #if AXIS_IS_TMC(V) + #if AXIS_IS_TMC_CONFIG(V) #define V_CURRENT 800 #define V_CURRENT_HOME V_CURRENT #define V_MICROSTEPS 8 #define V_RSENSE 0.11 #define V_CHAIN_POS -1 //#define V_INTERPOLATE true + //#define V_HOLD_MULTIPLIER 0.5 #endif - #if AXIS_IS_TMC(W) + #if AXIS_IS_TMC_CONFIG(W) #define W_CURRENT 800 #define W_CURRENT_HOME W_CURRENT #define W_MICROSTEPS 8 #define W_RSENSE 0.11 #define W_CHAIN_POS -1 //#define W_INTERPOLATE true + //#define W_HOLD_MULTIPLIER 0.5 #endif - #if AXIS_IS_TMC(E0) + #if AXIS_IS_TMC_CONFIG(E0) #define E0_CURRENT 730 #define E0_MICROSTEPS 16 #define E0_RSENSE 0.11 @@ -3055,95 +3166,97 @@ //#define E0_HOLD_MULTIPLIER 0.5 #endif - #if AXIS_IS_TMC(E1) - #define E1_CURRENT 730 - #define E1_MICROSTEPS 16 - #define E1_RSENSE 0.11 + #if AXIS_IS_TMC_CONFIG(E1) + #define E1_CURRENT E0_CURRENT + #define E1_MICROSTEPS E0_MICROSTEPS + #define E1_RSENSE E0_RSENSE #define E1_CHAIN_POS -1 //#define E1_INTERPOLATE true //#define E1_HOLD_MULTIPLIER 0.5 #endif - #if AXIS_IS_TMC(E2) - #define E2_CURRENT 800 + #if AXIS_IS_TMC_CONFIG(E2) + #define E2_CURRENT E0_CURRENT #define E2_MICROSTEPS E0_MICROSTEPS - #define E2_RSENSE 0.11 + #define E2_RSENSE E0_RSENSE #define E2_CHAIN_POS -1 //#define E2_INTERPOLATE true //#define E2_HOLD_MULTIPLIER 0.5 #endif - #if AXIS_IS_TMC(E3) - #define E3_CURRENT 800 + #if AXIS_IS_TMC_CONFIG(E3) + #define E3_CURRENT E0_CURRENT #define E3_MICROSTEPS E0_MICROSTEPS - #define E3_RSENSE 0.11 + #define E3_RSENSE E0_RSENSE #define E3_CHAIN_POS -1 //#define E3_INTERPOLATE true //#define E3_HOLD_MULTIPLIER 0.5 #endif - #if AXIS_IS_TMC(E4) - #define E4_CURRENT 800 + #if AXIS_IS_TMC_CONFIG(E4) + #define E4_CURRENT E0_CURRENT #define E4_MICROSTEPS E0_MICROSTEPS - #define E4_RSENSE 0.11 + #define E4_RSENSE E0_RSENSE #define E4_CHAIN_POS -1 //#define E4_INTERPOLATE true //#define E4_HOLD_MULTIPLIER 0.5 #endif - #if AXIS_IS_TMC(E5) - #define E5_CURRENT 800 + #if AXIS_IS_TMC_CONFIG(E5) + #define E5_CURRENT E0_CURRENT #define E5_MICROSTEPS E0_MICROSTEPS - #define E5_RSENSE 0.11 + #define E5_RSENSE E0_RSENSE #define E5_CHAIN_POS -1 //#define E5_INTERPOLATE true //#define E5_HOLD_MULTIPLIER 0.5 #endif - #if AXIS_IS_TMC(E6) - #define E6_CURRENT 800 + #if AXIS_IS_TMC_CONFIG(E6) + #define E6_CURRENT E0_CURRENT #define E6_MICROSTEPS E0_MICROSTEPS - #define E6_RSENSE 0.11 + #define E6_RSENSE E0_RSENSE #define E6_CHAIN_POS -1 //#define E6_INTERPOLATE true //#define E6_HOLD_MULTIPLIER 0.5 #endif - #if AXIS_IS_TMC(E7) - #define E7_CURRENT 800 + #if AXIS_IS_TMC_CONFIG(E7) + #define E7_CURRENT E0_CURRENT #define E7_MICROSTEPS E0_MICROSTEPS - #define E7_RSENSE 0.11 + #define E7_RSENSE E0_RSENSE #define E7_CHAIN_POS -1 //#define E7_INTERPOLATE true //#define E7_HOLD_MULTIPLIER 0.5 #endif + // @section tmc/spi + /** * Override default SPI pins for TMC2130, TMC2160, TMC2660, TMC5130 and TMC5160 drivers here. * The default pins can be found in your board's pins file. */ - //#define X_CS_PIN -1 - //#define Y_CS_PIN -1 - //#define Z_CS_PIN -1 - //#define X2_CS_PIN -1 - //#define Y2_CS_PIN -1 - //#define Z2_CS_PIN -1 - //#define Z3_CS_PIN -1 - //#define Z4_CS_PIN -1 - //#define I_CS_PIN -1 - //#define J_CS_PIN -1 - //#define K_CS_PIN -1 - //#define U_CS_PIN -1 - //#define V_CS_PIN -1 - //#define W_CS_PIN -1 - //#define E0_CS_PIN -1 - //#define E1_CS_PIN -1 - //#define E2_CS_PIN -1 - //#define E3_CS_PIN -1 - //#define E4_CS_PIN -1 - //#define E5_CS_PIN -1 - //#define E6_CS_PIN -1 - //#define E7_CS_PIN -1 + //#define X_CS_PIN -1 + //#define Y_CS_PIN -1 + //#define Z_CS_PIN -1 + //#define X2_CS_PIN -1 + //#define Y2_CS_PIN -1 + //#define Z2_CS_PIN -1 + //#define Z3_CS_PIN -1 + //#define Z4_CS_PIN -1 + //#define I_CS_PIN -1 + //#define J_CS_PIN -1 + //#define K_CS_PIN -1 + //#define U_CS_PIN -1 + //#define V_CS_PIN -1 + //#define W_CS_PIN -1 + //#define E0_CS_PIN -1 + //#define E1_CS_PIN -1 + //#define E2_CS_PIN -1 + //#define E3_CS_PIN -1 + //#define E4_CS_PIN -1 + //#define E5_CS_PIN -1 + //#define E6_CS_PIN -1 + //#define E7_CS_PIN -1 /** * Software option for SPI driven drivers (TMC2130, TMC2160, TMC2660, TMC5130 and TMC5160). @@ -3153,9 +3266,11 @@ #if ENABLED(SKR_2130) #define TMC_USE_SW_SPI #endif - //#define TMC_SW_MOSI -1 - //#define TMC_SW_MISO -1 - //#define TMC_SW_SCK -1 + //#define TMC_SPI_MOSI -1 + //#define TMC_SPI_MISO -1 + //#define TMC_SPI_SCK -1 + + // @section tmc/serial /** * Four TMC2209 drivers can use the same HW/SW serial port with hardware configured addresses. @@ -3199,6 +3314,8 @@ //#define E7_SLAVE_ADDRESS 0 #endif + // @section tmc/smart + /** * Software enable * @@ -3207,20 +3324,24 @@ */ //#define SOFTWARE_DRIVER_ENABLE + // @section tmc/stealthchop + /** * TMC2130, TMC2160, TMC2208, TMC2209, TMC5130 and TMC5160 only * Use Trinamic's ultra quiet stepping mode. * When disabled, Marlin will use spreadCycle stepping mode. */ - #define STEALTHCHOP_XY - #define STEALTHCHOP_Z - #define STEALTHCHOP_I - #define STEALTHCHOP_J - #define STEALTHCHOP_K - #define STEALTHCHOP_U - #define STEALTHCHOP_V - #define STEALTHCHOP_W - //#define STEALTHCHOP_E + #if HAS_STEALTHCHOP + #define STEALTHCHOP_XY + #define STEALTHCHOP_Z + #define STEALTHCHOP_I + #define STEALTHCHOP_J + #define STEALTHCHOP_K + #define STEALTHCHOP_U + #define STEALTHCHOP_V + #define STEALTHCHOP_W + #define STEALTHCHOP_E + #endif /** * Optimize spreadCycle chopper parameters by using predefined parameter sets @@ -3261,6 +3382,8 @@ //#define CHOPPER_TIMING_E6 CHOPPER_TIMING_E //#define CHOPPER_TIMING_E7 CHOPPER_TIMING_E + // @section tmc/status + /** * Monitor Trinamic drivers * for error conditions like overtemperature and short to ground. @@ -3282,6 +3405,8 @@ #define STOP_ON_ERROR #endif + // @section tmc/hybrid + /** * TMC2130, TMC2160, TMC2208, TMC2209, TMC5130 and TMC5160 only * The driver will switch to spreadCycle when stepper speed is over HYBRID_THRESHOLD. @@ -3330,7 +3455,7 @@ * * It is recommended to set HOMING_BUMP_MM to { 0, 0, 0 }. * - * SPI_ENDSTOPS *** Beta feature! *** TMC2130/TMC5160 Only *** + * SPI_ENDSTOPS *** TMC2130/TMC5160 Only *** * Poll the driver through SPI to determine load when homing. * Removes the need for a wire from DIAG1 to an endstop pin. * @@ -3338,10 +3463,11 @@ * homing and adds a guard period for endstop triggering. * * Comment *_STALL_SENSITIVITY to disable sensorless homing for that axis. + * @section tmc/stallguard */ //#define SENSORLESS_HOMING // StallGuard capable drivers only - #if EITHER(SENSORLESS_HOMING, SENSORLESS_PROBING) + #if ANY(SENSORLESS_HOMING, SENSORLESS_PROBING) // TMC2209: 0...255. TMC2130: -64...63 #define X_STALL_SENSITIVITY 8 #define X2_STALL_SENSITIVITY X_STALL_SENSITIVITY @@ -3357,10 +3483,12 @@ //#define U_STALL_SENSITIVITY 8 //#define V_STALL_SENSITIVITY 8 //#define W_STALL_SENSITIVITY 8 - //#define SPI_ENDSTOPS // TMC2130 only + //#define SPI_ENDSTOPS // TMC2130/TMC5160 only //#define IMPROVE_HOMING_RELIABILITY #endif + // @section tmc/config + /** * TMC Homing stepper phase. * @@ -3374,10 +3502,9 @@ //#define TMC_HOME_PHASE { 896, 896, 896 } /** - * Beta feature! - * Create a 50/50 square wave step pulse optimal for stepper drivers. + * Step on both rising and falling edge signals (as with a square wave). */ - #define SQUARE_WAVE_STEPPING + #define EDGE_STEPPING /** * Enable M122 debugging command for TMC stepper drivers. @@ -3400,255 +3527,7 @@ */ #define TMC_ADV() { } -#endif // HAS_TRINAMIC_CONFIG - -// @section L64XX - -/** - * L64XX Stepper Driver options - * - * Arduino-L6470 library (0.8.0 or higher) is required. - * https://github.com/ameyer/Arduino-L6470 - * - * Requires the following to be defined in your pins_YOUR_BOARD file - * L6470_CHAIN_SCK_PIN - * L6470_CHAIN_MISO_PIN - * L6470_CHAIN_MOSI_PIN - * L6470_CHAIN_SS_PIN - * ENABLE_RESET_L64XX_CHIPS(Q) where Q is 1 to enable and 0 to reset - */ - -#if HAS_L64XX - - //#define L6470_CHITCHAT // Display additional status info - - #if AXIS_IS_L64XX(X) - #define X_MICROSTEPS 128 // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16 - #define X_OVERCURRENT 2000 // (mA) Current where the driver detects an over current - // L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down - // POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down - #define X_STALLCURRENT 1500 // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) - 4A max - rounds down) - // L6470 & L6474 - VALID: 31.25 * (1-128) - 4A max - rounds down - // POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down - // L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current - #define X_MAX_VOLTAGE 127 // 0-255, Maximum effective voltage seen by stepper - not used by L6474 - #define X_CHAIN_POS -1 // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI - #define X_SLEW_RATE 1 // 0-3, Slew 0 is slowest, 3 is fastest - #endif - - #if AXIS_IS_L64XX(X2) - #define X2_MICROSTEPS X_MICROSTEPS - #define X2_OVERCURRENT 2000 - #define X2_STALLCURRENT 1500 - #define X2_MAX_VOLTAGE 127 - #define X2_CHAIN_POS -1 - #define X2_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(Y) - #define Y_MICROSTEPS 128 - #define Y_OVERCURRENT 2000 - #define Y_STALLCURRENT 1500 - #define Y_MAX_VOLTAGE 127 - #define Y_CHAIN_POS -1 - #define Y_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(Y2) - #define Y2_MICROSTEPS Y_MICROSTEPS - #define Y2_OVERCURRENT 2000 - #define Y2_STALLCURRENT 1500 - #define Y2_MAX_VOLTAGE 127 - #define Y2_CHAIN_POS -1 - #define Y2_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(Z) - #define Z_MICROSTEPS 128 - #define Z_OVERCURRENT 2000 - #define Z_STALLCURRENT 1500 - #define Z_MAX_VOLTAGE 127 - #define Z_CHAIN_POS -1 - #define Z_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(Z2) - #define Z2_MICROSTEPS Z_MICROSTEPS - #define Z2_OVERCURRENT 2000 - #define Z2_STALLCURRENT 1500 - #define Z2_MAX_VOLTAGE 127 - #define Z2_CHAIN_POS -1 - #define Z2_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(Z3) - #define Z3_MICROSTEPS Z_MICROSTEPS - #define Z3_OVERCURRENT 2000 - #define Z3_STALLCURRENT 1500 - #define Z3_MAX_VOLTAGE 127 - #define Z3_CHAIN_POS -1 - #define Z3_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(Z4) - #define Z4_MICROSTEPS Z_MICROSTEPS - #define Z4_OVERCURRENT 2000 - #define Z4_STALLCURRENT 1500 - #define Z4_MAX_VOLTAGE 127 - #define Z4_CHAIN_POS -1 - #define Z4_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(I) - #define I_MICROSTEPS 128 - #define I_OVERCURRENT 2000 - #define I_STALLCURRENT 1500 - #define I_MAX_VOLTAGE 127 - #define I_CHAIN_POS -1 - #define I_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(J) - #define J_MICROSTEPS 128 - #define J_OVERCURRENT 2000 - #define J_STALLCURRENT 1500 - #define J_MAX_VOLTAGE 127 - #define J_CHAIN_POS -1 - #define J_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(K) - #define K_MICROSTEPS 128 - #define K_OVERCURRENT 2000 - #define K_STALLCURRENT 1500 - #define K_MAX_VOLTAGE 127 - #define K_CHAIN_POS -1 - #define K_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(U) - #define U_MICROSTEPS 128 - #define U_OVERCURRENT 2000 - #define U_STALLCURRENT 1500 - #define U_MAX_VOLTAGE 127 - #define U_CHAIN_POS -1 - #define U_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(V) - #define V_MICROSTEPS 128 - #define V_OVERCURRENT 2000 - #define V_STALLCURRENT 1500 - #define V_MAX_VOLTAGE 127 - #define V_CHAIN_POS -1 - #define V_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(W) - #define W_MICROSTEPS 128 - #define W_OVERCURRENT 2000 - #define W_STALLCURRENT 1500 - #define W_MAX_VOLTAGE 127 - #define W_CHAIN_POS -1 - #define W_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(E0) - #define E0_MICROSTEPS 128 - #define E0_OVERCURRENT 2000 - #define E0_STALLCURRENT 1500 - #define E0_MAX_VOLTAGE 127 - #define E0_CHAIN_POS -1 - #define E0_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(E1) - #define E1_MICROSTEPS E0_MICROSTEPS - #define E1_OVERCURRENT 2000 - #define E1_STALLCURRENT 1500 - #define E1_MAX_VOLTAGE 127 - #define E1_CHAIN_POS -1 - #define E1_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(E2) - #define E2_MICROSTEPS E0_MICROSTEPS - #define E2_OVERCURRENT 2000 - #define E2_STALLCURRENT 1500 - #define E2_MAX_VOLTAGE 127 - #define E2_CHAIN_POS -1 - #define E2_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(E3) - #define E3_MICROSTEPS E0_MICROSTEPS - #define E3_OVERCURRENT 2000 - #define E3_STALLCURRENT 1500 - #define E3_MAX_VOLTAGE 127 - #define E3_CHAIN_POS -1 - #define E3_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(E4) - #define E4_MICROSTEPS E0_MICROSTEPS - #define E4_OVERCURRENT 2000 - #define E4_STALLCURRENT 1500 - #define E4_MAX_VOLTAGE 127 - #define E4_CHAIN_POS -1 - #define E4_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(E5) - #define E5_MICROSTEPS E0_MICROSTEPS - #define E5_OVERCURRENT 2000 - #define E5_STALLCURRENT 1500 - #define E5_MAX_VOLTAGE 127 - #define E5_CHAIN_POS -1 - #define E5_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(E6) - #define E6_MICROSTEPS E0_MICROSTEPS - #define E6_OVERCURRENT 2000 - #define E6_STALLCURRENT 1500 - #define E6_MAX_VOLTAGE 127 - #define E6_CHAIN_POS -1 - #define E6_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(E7) - #define E7_MICROSTEPS E0_MICROSTEPS - #define E7_OVERCURRENT 2000 - #define E7_STALLCURRENT 1500 - #define E7_MAX_VOLTAGE 127 - #define E7_CHAIN_POS -1 - #define E7_SLEW_RATE 1 - #endif - - /** - * Monitor L6470 drivers for error conditions like over temperature and over current. - * In the case of over temperature Marlin can decrease the drive until the error condition clears. - * Other detected conditions can be used to stop the current print. - * Relevant G-codes: - * M906 - I1/2/3/4/5 Set or get motor drive level using axis codes X, Y, Z, E. Report values if no axis codes given. - * I not present or I0 or I1 - X, Y, Z or E0 - * I2 - X2, Y2, Z2 or E1 - * I3 - Z3 or E3 - * I4 - Z4 or E4 - * I5 - E5 - * M916 - Increase drive level until get thermal warning - * M917 - Find minimum current thresholds - * M918 - Increase speed until max or error - * M122 S0/1 - Report driver parameters - */ - //#define MONITOR_L6470_DRIVER_STATUS - - #if ENABLED(MONITOR_L6470_DRIVER_STATUS) - #define KVAL_HOLD_STEP_DOWN 1 - //#define L6470_STOP_ON_ERROR - #endif - -#endif // HAS_L64XX +#endif // HAS_TRINAMIC_CONFIG || HAS_TMC26X // @section i2cbus @@ -3691,7 +3570,7 @@ #define I2C_SLAVE_ADDRESS 0 // Set a value from 8 to 127 to act as a slave #endif -// @section extras +// @section photo /** * Photo G-code @@ -3710,7 +3589,7 @@ //#define PHOTOGRAPH_PIN 23 // Canon Hack Development Kit - // https://captain-slow.dk/2014/03/09/3d-printing-timelapses/ + // https://web.archive.org/web/20200920094805/https://captain-slow.dk/2014/03/09/3d-printing-timelapses/ //#define CHDK_PIN 4 // Optional second move with delay to trigger the camera shutter @@ -3734,6 +3613,8 @@ #endif #endif +// @section cnc + /** * Spindle & Laser control * @@ -3751,13 +3632,16 @@ */ //#define SPINDLE_FEATURE //#define LASER_FEATURE -#if EITHER(SPINDLE_FEATURE, LASER_FEATURE) +#if ANY(SPINDLE_FEATURE, LASER_FEATURE) #define SPINDLE_LASER_ACTIVE_STATE LOW // Set to "HIGH" if SPINDLE_LASER_ENA_PIN is active HIGH #define SPINDLE_LASER_USE_PWM // Enable if your controller supports setting the speed/power #if ENABLED(SPINDLE_LASER_USE_PWM) #define SPINDLE_LASER_PWM_INVERT false // Set to "true" if the speed/power goes up when you want it to go slower #define SPINDLE_LASER_FREQUENCY 2500 // (Hz) Spindle/laser frequency (only on supported HALs: AVR, ESP32, and LPC) + // ESP32: If SPINDLE_LASER_PWM_PIN is onboard then <=78125Hz. For I2S expander + // the frequency determines the PWM resolution. 2500Hz = 0-100, 977Hz = 0-255, ... + // (250000 / SPINDLE_LASER_FREQUENCY) = max value. #endif //#define AIR_EVACUATION // Cutter Vacuum / Laser Blower motor control with G-codes M10-M11 @@ -3831,83 +3715,55 @@ #endif // Define the minimum and maximum test pulse time values for a laser test fire function - #define LASER_TEST_PULSE_MIN 1 // Used with Laser Control Menu - #define LASER_TEST_PULSE_MAX 999 // Caution: Menu may not show more than 3 characters + #define LASER_TEST_PULSE_MIN 1 // (ms) Used with Laser Control Menu + #define LASER_TEST_PULSE_MAX 999 // (ms) Caution: Menu may not show more than 3 characters + + #define SPINDLE_LASER_POWERUP_DELAY 50 // (ms) Delay to allow the spindle/laser to come up to speed/power + #define SPINDLE_LASER_POWERDOWN_DELAY 50 // (ms) Delay to allow the spindle to stop + + /** + * Laser Safety Timeout + * + * The laser should be turned off when there is no movement for a period of time. + * Consider material flammability, cut rate, and G-code order when setting this + * value. Too low and it could turn off during a very slow move; too high and + * the material could ignite. + */ + #define LASER_SAFETY_TIMEOUT_MS 1000 // (ms) /** - * Enable inline laser power to be handled in the planner / stepper routines. - * Inline power is specified by the I (inline) flag in an M3 command (e.g., M3 S20 I) - * or by the 'S' parameter in G0/G1/G2/G3 moves (see LASER_MOVE_POWER). + * Any M3 or G1/2/3/5 command with the 'I' parameter enables continuous inline power mode. * - * This allows the laser to keep in perfect sync with the planner and removes - * the powerup/down delay since lasers require negligible time. + * e.g., 'M3 I' enables continuous inline power which is processed by the planner. + * Power is stored in move blocks and applied when blocks are processed by the Stepper ISR. + * + * 'M4 I' sets dynamic mode which uses the current feedrate to calculate a laser power OCR value. + * + * Any move in dynamic mode will use the current feedrate to calculate the laser power. + * Feed rates are set by the F parameter of a move command e.g. G1 X0 Y10 F6000 + * Laser power would be calculated by bit shifting off 8 LSB's. In binary this is div 256. + * The calculation gives us ocr values from 0 to 255, values over F65535 will be set as 255 . + * More refined power control such as compensation for accel/decel will be addressed in future releases. + * + * M5 I clears inline mode and set power to 0, M5 sets the power output to 0 but leaves inline mode on. */ - //#define LASER_POWER_INLINE - #if ENABLED(LASER_POWER_INLINE) - /** - * Scale the laser's power in proportion to the movement rate. - * - * - Sets the entry power proportional to the entry speed over the nominal speed. - * - Ramps the power up every N steps to approximate the speed trapezoid. - * - Due to the limited power resolution this is only approximate. - */ - #define LASER_POWER_INLINE_TRAPEZOID + /** + * Enable M3 commands for laser mode inline power planner syncing. + * This feature enables any M3 S-value to be injected into the block buffers while in + * CUTTER_MODE_CONTINUOUS. The option allows M3 laser power to be committed without waiting + * for a planner synchronization + */ + //#define LASER_POWER_SYNC - /** - * Continuously calculate the current power (nominal_power * current_rate / nominal_rate). - * Required for accurate power with non-trapezoidal acceleration (e.g., S_CURVE_ACCELERATION). - * This is a costly calculation so this option is discouraged on 8-bit AVR boards. - * - * LASER_POWER_INLINE_TRAPEZOID_CONT_PER defines how many step cycles there are between power updates. If your - * board isn't able to generate steps fast enough (and you are using LASER_POWER_INLINE_TRAPEZOID_CONT), increase this. - * Note that when this is zero it means it occurs every cycle; 1 means a delay wait one cycle then run, etc. - */ - //#define LASER_POWER_INLINE_TRAPEZOID_CONT - - /** - * Stepper iterations between power updates. Increase this value if the board - * can't keep up with the processing demands of LASER_POWER_INLINE_TRAPEZOID_CONT. - * Disable (or set to 0) to recalculate power on every stepper iteration. - */ - //#define LASER_POWER_INLINE_TRAPEZOID_CONT_PER 10 - - /** - * Include laser power in G0/G1/G2/G3/G5 commands with the 'S' parameter - */ - //#define LASER_MOVE_POWER - - #if ENABLED(LASER_MOVE_POWER) - // Turn off the laser on G0 moves with no power parameter. - // If a power parameter is provided, use that instead. - //#define LASER_MOVE_G0_OFF - - // Turn off the laser on G28 homing. - //#define LASER_MOVE_G28_OFF - #endif - - /** - * Inline flag inverted - * - * WARNING: M5 will NOT turn off the laser unless another move - * is done (so G-code files must end with 'M5 I'). - */ - //#define LASER_POWER_INLINE_INVERT - - /** - * Continuously apply inline power. ('M3 S3' == 'G1 S3' == 'M3 S3 I') - * - * The laser might do some weird things, so only enable this - * feature if you understand the implications. - */ - //#define LASER_POWER_INLINE_CONTINUOUS - - #else - - #define SPINDLE_LASER_POWERUP_DELAY 50 // (ms) Delay to allow the spindle/laser to come up to speed/power - #define SPINDLE_LASER_POWERDOWN_DELAY 50 // (ms) Delay to allow the spindle to stop - - #endif + /** + * Scale the laser's power in proportion to the movement rate. + * + * - Sets the entry power proportional to the entry speed over the nominal speed. + * - Ramps the power up every N steps to approximate the speed trapezoid. + * - Due to the limited power resolution this is only approximate. + */ + //#define LASER_POWER_TRAP // // Laser I2C Ammeter (High precision INA226 low/high side module) @@ -3918,6 +3774,20 @@ #define I2C_AMMETER_SHUNT_RESISTOR 0.1 // (Ohms) Calibration shunt resistor value #endif + // + // Laser Coolant Flow Meter + // + //#define LASER_COOLANT_FLOW_METER + #if ENABLED(LASER_COOLANT_FLOW_METER) + #define FLOWMETER_PIN 20 // Requires an external interrupt-enabled pin (e.g., RAMPS 2,3,18,19,20,21) + #define FLOWMETER_PPL 5880 // (pulses/liter) Flow meter pulses-per-liter on the input pin + #define FLOWMETER_INTERVAL 1000 // (ms) Flow rate calculation interval in milliseconds + #define FLOWMETER_SAFETY // Prevent running the laser without the minimum flow rate set below + #if ENABLED(FLOWMETER_SAFETY) + #define FLOWMETER_MIN_LITERS_PER_MINUTE 1.5 // (liters/min) Minimum flow required when enabled + #endif + #endif + #endif #endif // SPINDLE_FEATURE || LASER_FEATURE @@ -3948,6 +3818,8 @@ #define COOLANT_FLOOD_INVERT false // Set "true" if the on/off function is reversed #endif +// @section filament width + /** * Filament Width Sensor * @@ -3981,6 +3853,8 @@ //#define FILAMENT_LCD_DISPLAY #endif +// @section power + /** * Power Monitor * Monitor voltage (V) and/or current (A), and -when possible- power (W) @@ -4004,6 +3878,8 @@ #define POWER_MONITOR_VOLTAGE_OFFSET 0 // Offset (in volts) applied to the calculated voltage #endif +// @section safety + /** * Stepper Driver Anti-SNAFU Protection * @@ -4013,6 +3889,8 @@ */ //#define DISABLE_DRIVER_SAFE_POWER_PROTECT +// @section cnc + /** * CNC Coordinate Systems * @@ -4021,6 +3899,8 @@ */ //#define CNC_COORDINATE_SYSTEMS +// @section reporting + /** * Auto-report fan speed with M123 S * Requires fans with tachometer pins @@ -4033,10 +3913,17 @@ #if NONE(MachineCR10Orig, LowMemoryBoard) #define AUTO_REPORT_TEMPERATURES #endif +#if ENABLED(AUTO_REPORT_TEMPERATURES) && TEMP_SENSOR_REDUNDANT + //#define AUTO_REPORT_REDUNDANT // Include the "R" sensor in the auto-report +#endif + /** * Auto-report position with M154 S */ //#define AUTO_REPORT_POSITION +#if ENABLED(AUTO_REPORT_POSITION) + //#define AUTO_REPORT_REAL_POSITION // Auto-report the real position +#endif /** * Include capabilities in M115 output @@ -4048,6 +3935,8 @@ #endif #endif +// @section security + /** * Expected Printer Check * Add the M16 G-code to compare a string to the MACHINE_NAME. @@ -4055,6 +3944,8 @@ */ //#define EXPECTED_PRINTER_CHECK +// @section volumetrics + /** * Disable all Volumetric extrusion options */ @@ -4083,14 +3974,7 @@ #endif #endif -/** - * Enable this option for a leaner build of Marlin that removes all - * workspace offsets, simplifying coordinate transformations, leveling, etc. - * - * - M206 and M428 are disabled. - * - G92 will revert to its behavior from Marlin 1.0. - */ -//#define NO_WORKSPACE_OFFSETS +// @section reporting // Extra options for the M114 "Current Position" report //#define M114_DETAIL // Use 'M114` for details to check planner calculations @@ -4099,6 +3983,8 @@ //#define REPORT_FAN_CHANGE // Report the new fan speed when changed by M106 (and others) +// @section gcode + /** * Spend 28 bytes of SRAM to optimize the G-code parser */ @@ -4118,6 +4004,18 @@ //#define REPETIER_GCODE_M360 // Add commands originally from Repetier FW +/** + * Enable this option for a leaner build of Marlin that removes + * workspace offsets to slightly optimize performance. + * G92 will revert to its behavior from Marlin 1.0. + */ +//#define NO_WORKSPACE_OFFSETS + +/** + * Disable M206 and M428 if you don't need home offsets. + */ +//#define NO_HOME_OFFSETS + /** * CNC G-code options * Support CNC-style G-code dialects used by laser cutters, drawing machine cams, etc. @@ -4133,6 +4031,8 @@ //#define VARIABLE_G0_FEEDRATE // The G0 feedrate is set by F in G0 motion mode #endif +// @section gcode + /** * Startup commands * @@ -4212,6 +4112,8 @@ //#define MAIN_MENU_ITEM_5_CONFIRM // Show a confirmation dialog before this action #endif +// @section custom config menu + // Custom Menu: Configuration Menu //#define CUSTOM_MENU_CONFIG #if ENABLED(CUSTOM_MENU_CONFIG) @@ -4242,6 +4144,8 @@ //#define CONFIG_MENU_ITEM_5_CONFIRM #endif +// @section custom buttons + /** * User-defined buttons to run custom G-code. * Up to 25 may be defined. @@ -4273,6 +4177,8 @@ #endif #endif +// @section host + /** * Host Action Commands * @@ -4300,6 +4206,8 @@ //#define HOST_SHUTDOWN_MENU_ITEM // Add a menu item that tells the host to shut down #endif +// @section extras + /** * Cancel Objects * @@ -4319,10 +4227,11 @@ * Wiki: https://wiki.aus3d.com.au/Magnetic_Encoder * Github: https://github.com/Aus3D/MagneticEncoder * - * Supplier: https://aus3d.com.au/magnetic-encoder-module + * Supplier: https://aus3d.com.au/products/magnetic-encoder-module * Alternative Supplier: https://reliabuild3d.com/ * * Reliabuild encoders have been modified to improve reliability. + * @section i2c encoders */ //#define I2C_POSITION_ENCODERS @@ -4394,6 +4303,7 @@ /** * Analog Joystick(s) + * @section joystick */ //#define JOYSTICK #if ENABLED(JOYSTICK) @@ -4415,9 +4325,10 @@ /** * Mechanical Gantry Calibration - * Modern replacement for the Prusa TMC_Z_CALIBRATION. + * Modern replacement for the Průša TMC_Z_CALIBRATION. * Adds capability to work with any adjustable current drivers. * Implemented as G34 because M915 is deprecated. + * @section calibrate */ //#define MECHANICAL_GANTRY_CALIBRATION #if ENABLED(MECHANICAL_GANTRY_CALIBRATION) @@ -4435,6 +4346,7 @@ /** * Instant freeze / unfreeze functionality * Potentially useful for emergency stop that allows being resumed. + * @section interface */ //#define FREEZE_FEATURE #if ENABLED(FREEZE_FEATURE) @@ -4447,6 +4359,7 @@ * * Add support for a low-cost 8x8 LED Matrix based on the Max7219 chip as a realtime status display. * Requires 3 signal wires. Some useful debug options are included to demonstrate its usage. + * @section debug matrix */ //#define MAX7219_DEBUG #if ENABLED(MAX7219_DEBUG) @@ -4459,20 +4372,25 @@ #define MAX7219_NUMBER_UNITS 1 // Number of Max7219 units in chain. #define MAX7219_ROTATE 0 // Rotate the display clockwise (in multiples of +/- 90°) // connector at: right=0 bottom=-90 top=90 left=180 - //#define MAX7219_REVERSE_ORDER // The individual LED matrix units may be in reversed order + //#define MAX7219_REVERSE_ORDER // The order of the LED matrix units may be reversed + //#define MAX7219_REVERSE_EACH // The LEDs in each matrix unit row may be reversed //#define MAX7219_SIDE_BY_SIDE // Big chip+matrix boards can be chained side-by-side /** * Sample debug features * If you add more debug displays, be careful to avoid conflicts! */ - #define MAX7219_DEBUG_PRINTER_ALIVE // Blink corner LED of 8x8 matrix to show that the firmware is functioning - #define MAX7219_DEBUG_PLANNER_HEAD 3 // Show the planner queue head position on this and the next LED matrix row - #define MAX7219_DEBUG_PLANNER_TAIL 5 // Show the planner queue tail position on this and the next LED matrix row + #define MAX7219_DEBUG_PRINTER_ALIVE // Blink corner LED of 8x8 matrix to show that the firmware is functioning + #define MAX7219_DEBUG_PLANNER_HEAD 2 // Show the planner queue head position on this and the next LED matrix row + #define MAX7219_DEBUG_PLANNER_TAIL 4 // Show the planner queue tail position on this and the next LED matrix row - #define MAX7219_DEBUG_PLANNER_QUEUE 0 // Show the current planner queue depth on this and the next LED matrix row - // If you experience stuttering, reboots, etc. this option can reveal how - // tweaks made to the configuration are affecting the printer in real-time. + #define MAX7219_DEBUG_PLANNER_QUEUE 0 // Show the current planner queue depth on this and the next LED matrix row + // If you experience stuttering, reboots, etc. this option can reveal how + // tweaks made to the configuration are affecting the printer in real-time. + #define MAX7219_DEBUG_PROFILE 6 // Display the fraction of CPU time spent in profiled code on this LED matrix + // row. By default idle() is profiled so this shows how "idle" the processor is. + // See class CodeProfiler. + //#define MAX7219_DEBUG_MULTISTEPPING 6 // Show multi-stepping 1 to 128 on this LED matrix row. #endif /** @@ -4481,6 +4399,7 @@ * Support for Synchronized Z moves when used with NanoDLP. G0/G1 axis moves will * output a "Z_move_comp" string to enable synchronization with DLP projector exposure. * This feature allows you to use [[WaitForDoneMessage]] instead of M400 commands. + * @section nanodlp */ //#define NANODLP_Z_SYNC #if ENABLED(NANODLP_Z_SYNC) @@ -4489,6 +4408,7 @@ /** * Ethernet. Use M552 to enable and set the IP address. + * @section network */ #if HAS_ETHERNET #define MAC_ADDRESS { 0xDE, 0xAD, 0xBE, 0xEF, 0xF0, 0x0D } // A MAC address unique to your network @@ -4497,10 +4417,10 @@ /** * WiFi Support (Espressif ESP32 WiFi) */ -//#define WIFISUPPORT // Marlin embedded WiFi managenent +//#define WIFISUPPORT // Marlin embedded WiFi management //#define ESP3D_WIFISUPPORT // ESP3D Library WiFi management (https://github.com/luc-github/ESP3DLib) -#if EITHER(WIFISUPPORT, ESP3D_WIFISUPPORT) +#if ANY(WIFISUPPORT, ESP3D_WIFISUPPORT) //#define WEBSUPPORT // Start a webserver (which may include auto-discovery) //#define OTASUPPORT // Support over-the-air firmware updates //#define WIFI_CUSTOM_COMMAND // Accept feature config commands (e.g., WiFi ESP3D) from the host @@ -4516,6 +4436,8 @@ //#include "Configuration_Secure.h" // External file with WiFi SSID / Password #endif +// @section multi-material + /** * Průša Multi-Material Unit (MMU) * Enable in Configuration.h @@ -4549,35 +4471,34 @@ // Add an LCD menu for MMU2 //#define MMU2_MENUS - #if EITHER(MMU2_MENUS, HAS_PRUSA_MMU2S) - // Settings for filament load / unload from the LCD menu. - // This is for Průša MK3-style extruders. Customize for your hardware. - #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0 - #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \ - { 7.2, 1145 }, \ - { 14.4, 871 }, \ - { 36.0, 1393 }, \ - { 14.4, 871 }, \ - { 50.0, 198 } - #define MMU2_RAMMING_SEQUENCE \ - { 1.0, 1000 }, \ - { 1.0, 1500 }, \ - { 2.0, 2000 }, \ - { 1.5, 3000 }, \ - { 2.5, 4000 }, \ - { -15.0, 5000 }, \ - { -14.0, 1200 }, \ - { -6.0, 600 }, \ - { 10.0, 700 }, \ - { -10.0, 400 }, \ - { -50.0, 2000 } - #endif + // Settings for filament load / unload from the LCD menu. + // This is for Průša MK3-style extruders. Customize for your hardware. + #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0 + #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \ + { 7.2, 1145 }, \ + { 14.4, 871 }, \ + { 36.0, 1393 }, \ + { 14.4, 871 }, \ + { 50.0, 198 } + + #define MMU2_RAMMING_SEQUENCE \ + { 1.0, 1000 }, \ + { 1.0, 1500 }, \ + { 2.0, 2000 }, \ + { 1.5, 3000 }, \ + { 2.5, 4000 }, \ + { -15.0, 5000 }, \ + { -14.0, 1200 }, \ + { -6.0, 600 }, \ + { 10.0, 700 }, \ + { -10.0, 400 }, \ + { -50.0, 2000 } /** * Using a sensor like the MMU2S * This mode requires a MK3S extruder with a sensor at the extruder idler, like the MMU2S. - * See https://help.prusa3d.com/en/guide/3b-mk3s-mk2-5s-extruder-upgrade_41560, step 11 + * See https://help.prusa3d.com/guide/3b-mk3s-mk2-5s-extruder-upgrade_41560#42048, step 11 */ #if HAS_PRUSA_MMU2S #define MMU2_C0_RETRY 5 // Number of retries (total time = timeout*retries) @@ -4595,6 +4516,8 @@ #define MMU2_CAN_LOAD_INCREMENT_SEQUENCE \ { -MMU2_CAN_LOAD_INCREMENT, MMU2_CAN_LOAD_FEEDRATE } + // Continue unloading if sensor detects filament after the initial unload move + //#define MMU_IR_UNLOAD_MOVE #else /** @@ -4621,6 +4544,7 @@ /** * Advanced Print Counter settings + * @section stats */ #if ENABLED(PRINTCOUNTER) #define SERVICE_WARNING_BUZZES 3 @@ -4648,9 +4572,12 @@ // // M43 - display pin status, toggle pins, watch pins, watch endstops & toggle LED, test servo probe // - #define PINS_DEBUGGING + //#define PINS_DEBUGGING //#endif +// Enable Tests that will run at startup and produce a report +//#define MARLIN_TEST_BUILD + // Enable Marlin dev mode which adds some special commands //#define MARLIN_DEV_MODE diff --git a/Marlin/Makefile b/Marlin/Makefile index f1c89ff7f5..e5ba9cb341 100644 --- a/Marlin/Makefile +++ b/Marlin/Makefile @@ -63,8 +63,8 @@ HARDWARE_MOTHERBOARD ?= 1020 ifeq ($(OS),Windows_NT) # Windows - ARDUINO_INSTALL_DIR ?= ${HOME}/Arduino - ARDUINO_USER_DIR ?= ${HOME}/Arduino + ARDUINO_INSTALL_DIR ?= ${HOME}/AppData/Local/Arduino + ARDUINO_USER_DIR ?= ${HOME}/Documents/Arduino else UNAME_S := $(shell uname -s) ifeq ($(UNAME_S),Linux) @@ -82,11 +82,11 @@ endif # Arduino source install directory, and version number # On most linuxes this will be /usr/share/arduino -ARDUINO_INSTALL_DIR ?= ${HOME}/Arduino -ARDUINO_VERSION ?= 106 +ARDUINO_INSTALL_DIR ?= ${HOME}/AppData/Local/Arduino # C:/Users/${USERNAME}/AppData/Local/Arduino +ARDUINO_VERSION ?= 10819 # The installed Libraries are in the User folder -ARDUINO_USER_DIR ?= ${HOME}/Arduino +ARDUINO_USER_DIR ?= ${HOME}/Documents/Arduino # You can optionally set a path to the avr-gcc tools. # Requires a trailing slash. For example, /usr/local/avr-gcc/bin/ @@ -109,7 +109,7 @@ LIQUID_TWI2 ?= 0 # This defines if Wire is needed WIRE ?= 0 -# This defines if Tone is needed (i.e SPEAKER is defined in Configuration.h) +# This defines if Tone is needed (i.e., SPEAKER is defined in Configuration.h) # Disabling this (and SPEAKER) saves approximately 350 bytes of memory. TONE ?= 1 @@ -307,133 +307,22 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1154) else ifeq ($(HARDWARE_MOTHERBOARD),1155) # Tenlog D3 Hero IDEX printer else ifeq ($(HARDWARE_MOTHERBOARD),1156) -# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Fan, Bed) +# Tenlog D3,5,6 Pro IDEX printers else ifeq ($(HARDWARE_MOTHERBOARD),1157) -# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Hotend2, Bed) +# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Fan, Bed) else ifeq ($(HARDWARE_MOTHERBOARD),1158) -# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend, Fan0, Fan1, Bed) +# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Hotend2, Bed) else ifeq ($(HARDWARE_MOTHERBOARD),1159) -# Longer LK1 PRO / Alfawise U20 Pro (PRO version) +# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend, Fan0, Fan1, Bed) else ifeq ($(HARDWARE_MOTHERBOARD),1160) -# Longer LKx PRO / Alfawise Uxx Pro (PRO version) +# Longer LK1 PRO / Alfawise U20 Pro (PRO version) else ifeq ($(HARDWARE_MOTHERBOARD),1161) - - -# 3Drag Controller -else ifeq ($(HARDWARE_MOTHERBOARD),1100) -# Velleman K8200 Controller (derived from 3Drag Controller) -else ifeq ($(HARDWARE_MOTHERBOARD),1101) -# Velleman K8400 Controller (derived from 3Drag Controller) -else ifeq ($(HARDWARE_MOTHERBOARD),1102) -# Velleman K8600 Controller (Vertex Nano) -else ifeq ($(HARDWARE_MOTHERBOARD),1103) -# Velleman K8800 Controller (Vertex Delta) -else ifeq ($(HARDWARE_MOTHERBOARD),1104) -# 2PrintBeta BAM&DICE with STK drivers -else ifeq ($(HARDWARE_MOTHERBOARD),1105) -# 2PrintBeta BAM&DICE Due with STK drivers -else ifeq ($(HARDWARE_MOTHERBOARD),1106) -# MKS BASE v1.0 -else ifeq ($(HARDWARE_MOTHERBOARD),1107) -# MKS v1.4 with A4982 stepper drivers -else ifeq ($(HARDWARE_MOTHERBOARD),1108) -# MKS v1.5 with Allegro A4982 stepper drivers -else ifeq ($(HARDWARE_MOTHERBOARD),1109) -# MKS v1.6 with Allegro A4982 stepper drivers -else ifeq ($(HARDWARE_MOTHERBOARD),1110) -# MKS BASE 1.0 with Heroic HR4982 stepper drivers -else ifeq ($(HARDWARE_MOTHERBOARD),1111) -# MKS GEN v1.3 or 1.4 -else ifeq ($(HARDWARE_MOTHERBOARD),1112) -# MKS GEN L -else ifeq ($(HARDWARE_MOTHERBOARD),1113) -# zrib V2.0 control board (Chinese RAMPS replica) -else ifeq ($(HARDWARE_MOTHERBOARD),1114) -# BigTreeTech or BIQU KFB2.0 -else ifeq ($(HARDWARE_MOTHERBOARD),1115) -# Felix 2.0+ Electronics Board (RAMPS like) -else ifeq ($(HARDWARE_MOTHERBOARD),1116) -# Invent-A-Part RigidBoard -else ifeq ($(HARDWARE_MOTHERBOARD),1117) -# Invent-A-Part RigidBoard V2 -else ifeq ($(HARDWARE_MOTHERBOARD),1118) -# Sainsmart 2-in-1 board -else ifeq ($(HARDWARE_MOTHERBOARD),1119) -# Ultimaker -else ifeq ($(HARDWARE_MOTHERBOARD),1120) -# Ultimaker (Older electronics. Pre 1.5.4. This is rare) -else ifeq ($(HARDWARE_MOTHERBOARD),1121) - MCU ?= atmega1280 - PROG_MCU ?= m1280 - -# Azteeg X3 -else ifeq ($(HARDWARE_MOTHERBOARD),1122) -# Azteeg X3 Pro -else ifeq ($(HARDWARE_MOTHERBOARD),1123) -# Ultimainboard 2.x (Uses TEMP_SENSOR 20) -else ifeq ($(HARDWARE_MOTHERBOARD),1124) -# Rumba -else ifeq ($(HARDWARE_MOTHERBOARD),1125) -# Raise3D Rumba -else ifeq ($(HARDWARE_MOTHERBOARD),1126) -# Rapide Lite RL200 Rumba -else ifeq ($(HARDWARE_MOTHERBOARD),1127) -# Formbot T-Rex 2 Plus -else ifeq ($(HARDWARE_MOTHERBOARD),1128) -# Formbot T-Rex 3 -else ifeq ($(HARDWARE_MOTHERBOARD),1129) -# Formbot Raptor -else ifeq ($(HARDWARE_MOTHERBOARD),1130) -# Formbot Raptor 2 -else ifeq ($(HARDWARE_MOTHERBOARD),1131) -# bq ZUM Mega 3D -else ifeq ($(HARDWARE_MOTHERBOARD),1132) -# MakeBoard Mini v2.1.2 is a control board sold by MicroMake -else ifeq ($(HARDWARE_MOTHERBOARD),1133) -# TriGorilla Anycubic version 1.3 based on RAMPS EFB -else ifeq ($(HARDWARE_MOTHERBOARD),1134) -# TriGorilla Anycubic version 1.4 based on RAMPS EFB -else ifeq ($(HARDWARE_MOTHERBOARD),1135) -# TriGorilla Anycubic version 1.4 Rev 1.1 -else ifeq ($(HARDWARE_MOTHERBOARD),1136) -# Creality: Ender-4, CR-8 -else ifeq ($(HARDWARE_MOTHERBOARD),1137) -# Creality: CR10S, CR20, CR-X -else ifeq ($(HARDWARE_MOTHERBOARD),1138) -# Dagoma F5 -else ifeq ($(HARDWARE_MOTHERBOARD),1139) -# FYSETC F6 1.3 -else ifeq ($(HARDWARE_MOTHERBOARD),1140) -# FYSETC F6 1.5 -else ifeq ($(HARDWARE_MOTHERBOARD),1141) -# Duplicator i3 Plus -else ifeq ($(HARDWARE_MOTHERBOARD),1142) -# VORON -else ifeq ($(HARDWARE_MOTHERBOARD),1143) -# TRONXY V3 1.0 -else ifeq ($(HARDWARE_MOTHERBOARD),1144) -# Z-Bolt X Series -else ifeq ($(HARDWARE_MOTHERBOARD),1145) -# TT OSCAR -else ifeq ($(HARDWARE_MOTHERBOARD),1146) -# Overlord/Overlord Pro -else ifeq ($(HARDWARE_MOTHERBOARD),1147) -# ADIMLab Gantry v1 -else ifeq ($(HARDWARE_MOTHERBOARD),1148) -# ADIMLab Gantry v2 -else ifeq ($(HARDWARE_MOTHERBOARD),1149) -# BIQU Tango V1 -else ifeq ($(HARDWARE_MOTHERBOARD),1150) -# MKS GEN L V2 -else ifeq ($(HARDWARE_MOTHERBOARD),1151) -# MKS GEN L V2.1 -else ifeq ($(HARDWARE_MOTHERBOARD),1152) -# Copymaster 3D -else ifeq ($(HARDWARE_MOTHERBOARD),1153) -# Ortur 4 -else ifeq ($(HARDWARE_MOTHERBOARD),1154) -# Tenlog D3 Hero -else ifeq ($(HARDWARE_MOTHERBOARD),1155) +# Longer LKx PRO / Alfawise Uxx Pro (PRO version) +else ifeq ($(HARDWARE_MOTHERBOARD),1162) +# Zonestar zrib V5.3 (Chinese RAMPS replica) +else ifeq ($(HARDWARE_MOTHERBOARD),1163) +# Pxmalion Core I3 +else ifeq ($(HARDWARE_MOTHERBOARD),1164) # # RAMBo and derivatives @@ -512,7 +401,7 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1324) else ifeq ($(HARDWARE_MOTHERBOARD),1325) # Intamsys 4.0 (Funmat HT) else ifeq ($(HARDWARE_MOTHERBOARD),1326) -# Malyan M180 Mainboard Version 2 (no display function, direct gcode only) +# Malyan M180 Mainboard Version 2 (no display function, direct G-code only) else ifeq ($(HARDWARE_MOTHERBOARD),1327) # Geeetech GT2560 Rev B for A20(M/T/D) else ifeq ($(HARDWARE_MOTHERBOARD),1328) @@ -767,18 +656,18 @@ ifeq ($(HARDWARE_VARIANT), $(filter $(HARDWARE_VARIANT),arduino Teensy Sanguino) # Old libraries (avr-core 1.6.21 < / Arduino < 1.6.8) VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/libraries/SPI # New libraries (avr-core >= 1.6.21 / Arduino >= 1.6.8) - VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/libraries/SPI/src + VPATH += $(ARDUINO_INSTALL_DIR)/packages/arduino/hardware/arduino/avr/1.8.6/libraries/SPI/src endif ifeq ($(IS_MCU),1) - VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/cores/arduino + VPATH += $(ARDUINO_INSTALL_DIR)/packages/arduino/hardware/arduino/avr/1.8.6/cores/arduino # Old libraries (avr-core 1.6.21 < / Arduino < 1.6.8) VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/libraries/SPI VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/libraries/SoftwareSerial # New libraries (avr-core >= 1.6.21 / Arduino >= 1.6.8) - VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/libraries/SPI/src - VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/libraries/SoftwareSerial/src + VPATH += $(ARDUINO_INSTALL_DIR)/packages/arduino/hardware/arduino/avr/1.8.6/libraries/SPI/src + VPATH += $(ARDUINO_INSTALL_DIR)/packages/arduino/hardware/arduino/avr/1.8.6/libraries/SoftwareSerial/src endif VPATH += $(ARDUINO_INSTALL_DIR)/libraries/LiquidCrystal/src @@ -792,17 +681,17 @@ ifeq ($(WIRE), 1) VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/libraries/Wire VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/libraries/Wire/utility # New libraries (avr-core >= 1.6.21 / Arduino >= 1.6.8) - VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/libraries/Wire/src - VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/libraries/Wire/src/utility + VPATH += $(ARDUINO_INSTALL_DIR)/packages/arduino/hardware/avr/1.8.6/libraries/Wire/src + VPATH += $(ARDUINO_INSTALL_DIR)/packages/arduino/hardware/avr/1.8.6/libraries/Wire/src/utility endif ifeq ($(NEOPIXEL), 1) VPATH += $(ARDUINO_INSTALL_DIR)/libraries/Adafruit_NeoPixel endif ifeq ($(U8GLIB), 1) -VPATH += $(ARDUINO_INSTALL_DIR)/libraries/U8glib -VPATH += $(ARDUINO_INSTALL_DIR)/libraries/U8glib/csrc -VPATH += $(ARDUINO_INSTALL_DIR)/libraries/U8glib/cppsrc -VPATH += $(ARDUINO_INSTALL_DIR)/libraries/U8glib/fntsrc +VPATH += $(ARDUINO_INSTALL_DIR)/libraries/U8glib-HAL +VPATH += $(ARDUINO_INSTALL_DIR)/libraries/U8glib-HAL/src +# VPATH += $(ARDUINO_INSTALL_DIR)/libraries/U8glib +# VPATH += $(ARDUINO_INSTALL_DIR)/libraries/U8glib/src endif ifeq ($(TMC), 1) VPATH += $(ARDUINO_INSTALL_DIR)/libraries/TMCStepper/src @@ -811,9 +700,9 @@ endif ifeq ($(HARDWARE_VARIANT), arduino) HARDWARE_SUB_VARIANT ?= mega - VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/variants/$(HARDWARE_SUB_VARIANT) + VPATH += $(ARDUINO_INSTALL_DIR)/packages/arduino/hardware/avr/1.8.6/variants/$(HARDWARE_SUB_VARIANT) else ifeq ($(HARDWARE_VARIANT), Sanguino) - VPATH += $(ARDUINO_INSTALL_DIR)/hardware/marlin/avr/variants/sanguino + VPATH += $(ARDUINO_INSTALL_DIR)/packages/arduino/hardware/avr/1.8.6/variants/sanguino else ifeq ($(HARDWARE_VARIANT), archim) VPATH += $(ARDUINO_INSTALL_DIR)/packages/ultimachine/hardware/sam/1.6.9-b/system/libsam VPATH += $(ARDUINO_INSTALL_DIR)/packages/ultimachine/hardware/sam/1.6.9-b/system/CMSIS/CMSIS/Include/ @@ -829,7 +718,7 @@ else ifeq ($(HARDWARE_VARIANT), archim) LDLIBS = $(ARDUINO_INSTALL_DIR)/packages/ultimachine/hardware/sam/1.6.9-b/variants/archim/libsam_sam3x8e_gcc_rel.a else HARDWARE_SUB_VARIANT ?= standard - VPATH += $(ARDUINO_INSTALL_DIR)/hardware/$(HARDWARE_VARIANT)/variants/$(HARDWARE_SUB_VARIANT) + VPATH += $(ARDUINO_INSTALL_DIR)/packages/arduino/hardware/avr/1.8.6/variants/$(HARDWARE_SUB_VARIANT) endif LIB_SRC = wiring.c \ @@ -844,7 +733,7 @@ endif ifeq ($(HARDWARE_VARIANT), Teensy) LIB_SRC = wiring.c - VPATH += $(ARDUINO_INSTALL_DIR)/hardware/teensy/cores/teensy + VPATH += $(ARDUINO_INSTALL_DIR)/packages/arduino/hardware/teensy/cores/teensy endif LIB_CXXSRC = WMath.cpp WString.cpp Print.cpp SPI.cpp @@ -991,7 +880,7 @@ AVRDUDE_WRITE_FLASH = -Uflash:w:$(BUILD_DIR)/$(TARGET).hex:i ifeq ($(shell uname -s), Linux) AVRDUDE_CONF = /etc/avrdude/avrdude.conf else - AVRDUDE_CONF = $(ARDUINO_INSTALL_DIR)/hardware/tools/avr/etc/avrdude.conf + AVRDUDE_CONF = $(ARDUINO_INSTALL_DIR)/packages/arduino/tools/avrdude/6.3.0-arduino17/etc/avrdude.conf endif AVRDUDE_FLAGS = -D -C$(AVRDUDE_CONF) \ -p$(PROG_MCU) -P$(AVRDUDE_PORT) -c$(AVRDUDE_PROGRAMMER) \ diff --git a/Marlin/Marlin.ino b/Marlin/Marlin.ino index 57c825445f..744e98c2e3 100644 --- a/Marlin/Marlin.ino +++ b/Marlin/Marlin.ino @@ -27,7 +27,7 @@ Configuration - https://github.com/MarlinFirmware/Configurations Example configurations for several printer models. - - https://www.youtube.com/watch?v=3gwWVFtdg-4 + - https://youtu.be/3gwWVFtdg-4 A good 20-minute overview of Marlin configuration by Tom Sanladerer. (Applies to Marlin 1.0.x, so Jerk and Acceleration should be halved.) Also... https://www.google.com/search?tbs=vid%3A1&q=configure+marlin diff --git a/Marlin/Version.h b/Marlin/Version.h index a1939f7ed4..6361932ce3 100644 --- a/Marlin/Version.h +++ b/Marlin/Version.h @@ -28,7 +28,7 @@ /** * Marlin release version identifier */ -#define SHORT_BUILD_VERSION "DW7.4.6" +#define SHORT_BUILD_VERSION "DW7.4.8" /** * Verbose version identifier which should contain a reference to the location @@ -131,7 +131,7 @@ * here we define this default string as the date where the latest release * version was tagged. */ -#define STRING_DISTRIBUTION_DATE "2022-04-03" +#define STRING_DISTRIBUTION_DATE "2023-08-04" /** * Defines a generic printer name to be output to the LCD after booting Marlin. diff --git a/Marlin/config.ini b/Marlin/config.ini new file mode 100644 index 0000000000..17ff3bec7e --- /dev/null +++ b/Marlin/config.ini @@ -0,0 +1,207 @@ +# +# Marlin Firmware +# config.ini - Options to apply before the build +# +[config:base] +ini_use_config = none + +# Load all config: sections in this file +;ini_use_config = all +# Load config file relative to Marlin/ +;ini_use_config = another.ini +# Download configurations from GitHub +;ini_use_config = example/Creality/Ender-5 Plus @ bugfix-2.1.x +# Download configurations from your server +;ini_use_config = https://me.myserver.com/path/to/configs +# Evaluate config:base and do a config dump +;ini_use_config = base +;config_export = 2 + +[config:minimal] +motherboard = BOARD_RAMPS_14_EFB +serial_port = 0 +baudrate = 250000 + +use_watchdog = on +thermal_protection_hotends = on +thermal_protection_hysteresis = 4 +thermal_protection_period = 40 + +bufsize = 4 +block_buffer_size = 16 +max_cmd_size = 96 + +extruders = 1 +temp_sensor_0 = 1 + +temp_hysteresis = 3 +heater_0_mintemp = 5 +heater_0_maxtemp = 275 +preheat_1_temp_hotend = 180 + +bang_max = 255 +pidtemp = on +pid_k1 = 0.95 +pid_max = 255 +pid_functional_range = 10 + +default_kp = 22.20 +default_ki = 1.08 +default_kd = 114.00 + +x_driver_type = A4988 +y_driver_type = A4988 +z_driver_type = A4988 +e0_driver_type = A4988 + +x_bed_size = 200 +x_min_pos = 0 +x_max_pos = X_BED_SIZE + +y_bed_size = 200 +y_min_pos = 0 +y_max_pos = Y_BED_SIZE + +z_min_pos = 0 +z_max_pos = 200 + +x_home_dir = -1 +y_home_dir = -1 +z_home_dir = -1 + +x_min_endstop_hit_state = HIGH +y_min_endstop_hit_state = HIGH +z_min_endstop_hit_state = HIGH + +default_axis_steps_per_unit = { 80, 80, 400, 500 } +axis_relative_modes = { false, false, false, false } +default_max_feedrate = { 300, 300, 5, 25 } +default_max_acceleration = { 3000, 3000, 100, 10000 } + +homing_feedrate_mm_m = { (50*60), (50*60), (4*60) } +homing_bump_divisor = { 2, 2, 4 } + +x_enable_on = 0 +y_enable_on = 0 +z_enable_on = 0 +e_enable_on = 0 + +invert_x_dir = false +invert_y_dir = true +invert_z_dir = false +invert_e0_dir = false + +step_state_e = HIGH +step_state_x = HIGH +step_state_y = HIGH +step_state_z = HIGH + +disable_x = off +disable_y = off +disable_z = off +disable_e = off + +proportional_font_ratio = 1.0 +default_nominal_filament_dia = 1.75 + +junction_deviation_mm = 0.013 + +default_acceleration = 3000 +default_travel_acceleration = 3000 +default_retract_acceleration = 3000 + +default_minimumfeedrate = 0.0 +default_mintravelfeedrate = 0.0 + +minimum_planner_speed = 0.05 +min_steps_per_segment = 6 +default_minsegmenttime = 20000 + +[config:basic] +bed_overshoot = 10 +busy_while_heating = on +default_ejerk = 5.0 +default_keepalive_interval = 2 +default_leveling_fade_height = 0.0 +disable_other_extruders = on +display_charset_hd44780 = JAPANESE +eeprom_boot_silent = on +eeprom_chitchat = on +endstoppullups = on +extrude_maxlength = 200 +extrude_mintemp = 170 +host_keepalive_feature = on +hotend_overshoot = 15 +jd_handle_small_segments = on +lcd_info_screen_style = 0 +lcd_language = en +max_bed_power = 255 +mesh_inset = 0 +min_software_endstops = on +max_software_endstops = on +min_software_endstop_x = on +min_software_endstop_y = on +min_software_endstop_z = on +max_software_endstop_x = on +max_software_endstop_y = on +max_software_endstop_z = on +preheat_1_fan_speed = 0 +preheat_1_label = "PLA" +preheat_1_temp_bed = 70 +prevent_cold_extrusion = on +prevent_lengthy_extrude = on +printjob_timer_autostart = on +probing_margin = 10 +show_bootscreen = on +soft_pwm_scale = 0 +string_config_h_author = "(none, default config)" +temp_bed_hysteresis = 3 +temp_bed_residency_time = 10 +temp_bed_window = 1 +temp_residency_time = 10 +temp_window = 1 +validate_homing_endstops = on +xy_probe_feedrate = (133*60) +z_clearance_between_probes = 5 +z_clearance_deploy_probe = 10 +z_clearance_multi_probe = 5 + +[config:advanced] +arc_support = on +auto_report_temperatures = on +autotemp = on +autotemp_oldweight = 0.98 +bed_check_interval = 5000 +default_stepper_timeout_sec = 120 +default_volumetric_extruder_limit = 0.00 +disable_idle_x = on +disable_idle_y = on +disable_idle_z = on +disable_idle_e = on +e0_auto_fan_pin = -1 +encoder_100x_steps_per_sec = 80 +encoder_10x_steps_per_sec = 30 +encoder_rate_multiplier = on +extended_capabilities_report = on +extruder_auto_fan_speed = 255 +extruder_auto_fan_temperature = 50 +fanmux0_pin = -1 +fanmux1_pin = -1 +fanmux2_pin = -1 +faster_gcode_parser = on +homing_bump_mm = { 5, 5, 2 } +max_arc_segment_mm = 1.0 +min_arc_segment_mm = 0.1 +min_circle_segments = 72 +n_arc_correction = 25 +serial_overrun_protection = on +slowdown = on +slowdown_divisor = 2 +temp_sensor_bed = 0 +thermal_protection_bed_hysteresis = 2 +thermocouple_max_errors = 15 +tx_buffer_size = 0 +watch_bed_temp_increase = 2 +watch_bed_temp_period = 60 +watch_temp_increase = 2 +watch_temp_period = 20 diff --git a/Marlin/src/HAL/AVR/HAL.cpp b/Marlin/src/HAL/AVR/HAL.cpp index 7c39c5200b..407a570cde 100644 --- a/Marlin/src/HAL/AVR/HAL.cpp +++ b/Marlin/src/HAL/AVR/HAL.cpp @@ -23,6 +23,7 @@ #include "../../inc/MarlinConfig.h" #include "HAL.h" +#include #ifdef USBCON DefaultSerial1 MSerial0(false, Serial); @@ -60,23 +61,40 @@ void save_reset_reason() { wdt_disable(); } +#include "registers.h" + +MarlinHAL::MarlinHAL() { + TERN_(HAL_AVR_DIRTY_INIT, _ATmega_resetperipherals()); // Clean-wipe the device state. +} + void MarlinHAL::init() { // Init Servo Pins - #define INIT_SERVO(N) OUT_WRITE(SERVO##N##_PIN, LOW) #if HAS_SERVO_0 - INIT_SERVO(0); + OUT_WRITE(SERVO0_PIN, LOW); #endif #if HAS_SERVO_1 - INIT_SERVO(1); + OUT_WRITE(SERVO1_PIN, LOW); #endif #if HAS_SERVO_2 - INIT_SERVO(2); + OUT_WRITE(SERVO2_PIN, LOW); #endif #if HAS_SERVO_3 - INIT_SERVO(3); + OUT_WRITE(SERVO3_PIN, LOW); #endif init_pwm_timers(); // Init user timers to default frequency - 1000HZ + + #if PIN_EXISTS(BEEPER) && ENABLED(HAL_AVR_DIRTY_INIT) && DISABLED(ATMEGA_NO_BEEPFIX) + // Make sure no alternative is locked onto the BEEPER. + // This fixes the issue where the ATmega is constantly beeping. + // Might disable other peripherals using the pin; to circumvent that please undefine one of the above things! + // The true culprit is the AVR ArduinoCore that enables peripherals redundantly. + // (USART1 on the GeeeTech GT2560) + // https://www.youtube.com/watch?v=jMgCvRXkexk + _ATmega_savePinAlternate(BEEPER_PIN); + + OUT_WRITE(BEEPER_PIN, LOW); + #endif } void MarlinHAL::reboot() { @@ -88,12 +106,68 @@ void MarlinHAL::reboot() { #endif } -#if ENABLED(SDSUPPORT) +// ------------------------ +// Watchdog Timer +// ------------------------ + +#if ENABLED(USE_WATCHDOG) + + #include + #include "../../MarlinCore.h" + + // Initialize watchdog with 8s timeout, if possible. Otherwise, make it 4s. + void MarlinHAL::watchdog_init() { + #if ENABLED(WATCHDOG_DURATION_8S) && defined(WDTO_8S) + #define WDTO_NS WDTO_8S + #else + #define WDTO_NS WDTO_4S + #endif + #if ENABLED(WATCHDOG_RESET_MANUAL) + // Enable the watchdog timer, but only for the interrupt. + // Take care, as this requires the correct order of operation, with interrupts disabled. + // See the datasheet of any AVR chip for details. + wdt_reset(); + cli(); + _WD_CONTROL_REG = _BV(_WD_CHANGE_BIT) | _BV(WDE); + _WD_CONTROL_REG = _BV(WDIE) | (WDTO_NS & 0x07) | ((WDTO_NS & 0x08) << 2); // WDTO_NS directly does not work. bit 0-2 are consecutive in the register but the highest value bit is at bit 5 + // So worked for up to WDTO_2S + sei(); + wdt_reset(); + #else + wdt_enable(WDTO_NS); // The function handles the upper bit correct. + #endif + //delay(10000); // test it! + } + + //=========================================================================== + //=================================== ISR =================================== + //=========================================================================== + + // Watchdog timer interrupt, called if main program blocks >4sec and manual reset is enabled. + #if ENABLED(WATCHDOG_RESET_MANUAL) + ISR(WDT_vect) { + sei(); // With the interrupt driven serial we need to allow interrupts. + SERIAL_ERROR_MSG(STR_WATCHDOG_FIRED); + minkill(); // interrupt-safe final kill and infinite loop + } + #endif + + // Reset watchdog. MUST be called at least every 4 seconds after the + // first watchdog_init or AVR will go into emergency procedures. + void MarlinHAL::watchdog_refresh() { wdt_reset(); } + +#endif // USE_WATCHDOG + +// ------------------------ +// Free Memory Accessor +// ------------------------ + +#if HAS_MEDIA #include "../../sd/SdFatUtil.h" int freeMemory() { return SdFatUtil::FreeRam(); } -#else // !SDSUPPORT +#else // !HAS_MEDIA extern "C" { extern char __bss_end; @@ -110,6 +184,6 @@ void MarlinHAL::reboot() { } } -#endif // !SDSUPPORT +#endif // !HAS_MEDIA #endif // __AVR__ diff --git a/Marlin/src/HAL/AVR/HAL.h b/Marlin/src/HAL/AVR/HAL.h index 55aa24b83e..a049ce076a 100644 --- a/Marlin/src/HAL/AVR/HAL.h +++ b/Marlin/src/HAL/AVR/HAL.h @@ -19,17 +19,20 @@ */ #pragma once +/** + * HAL for Arduino AVR + */ + #include "../shared/Marduino.h" #include "../shared/HAL_SPI.h" #include "fastio.h" -#include "watchdog.h" #include "math.h" #ifdef USBCON #include #else - #define HardwareSerial_h // Hack to prevent HardwareSerial.h header inclusion #include "MarlinSerial.h" + #define BOARD_NO_NATIVE_USB #endif #include @@ -104,39 +107,39 @@ typedef Servo hal_servo_t; #define MYSERIAL1 TERN(BLUETOOTH, btSerial, MSerial0) #else - #if !WITHIN(SERIAL_PORT, -1, 3) - #error "SERIAL_PORT must be from 0 to 3, or -1 for USB Serial." + #if !WITHIN(SERIAL_PORT, 0, 3) + #error "SERIAL_PORT must be from 0 to 3." #endif #define MYSERIAL1 customizedSerial1 #ifdef SERIAL_PORT_2 - #if !WITHIN(SERIAL_PORT_2, -1, 3) - #error "SERIAL_PORT_2 must be from 0 to 3, or -1 for USB Serial." + #if !WITHIN(SERIAL_PORT_2, 0, 3) + #error "SERIAL_PORT_2 must be from 0 to 3." #endif #define MYSERIAL2 customizedSerial2 #endif #ifdef SERIAL_PORT_3 - #if !WITHIN(SERIAL_PORT_3, -1, 3) - #error "SERIAL_PORT_3 must be from 0 to 3, or -1 for USB Serial." + #if !WITHIN(SERIAL_PORT_3, 0, 3) + #error "SERIAL_PORT_3 must be from 0 to 3." #endif #define MYSERIAL3 customizedSerial3 #endif #endif #ifdef MMU2_SERIAL_PORT - #if !WITHIN(MMU2_SERIAL_PORT, -1, 3) - #error "MMU2_SERIAL_PORT must be from 0 to 3, or -1 for USB Serial." + #if !WITHIN(MMU2_SERIAL_PORT, 0, 3) + #error "MMU2_SERIAL_PORT must be from 0 to 3" #endif #define MMU2_SERIAL mmuSerial #endif #ifdef LCD_SERIAL_PORT - #if !WITHIN(LCD_SERIAL_PORT, -1, 3) - #error "LCD_SERIAL_PORT must be from 0 to 3, or -1 for USB Serial." + #if !WITHIN(LCD_SERIAL_PORT, 0, 3) + #error "LCD_SERIAL_PORT must be from 0 to 3." #endif #define LCD_SERIAL lcdSerial - #if HAS_DGUS_LCD || ENABLED(DGUS_LCD_UI_CREALITY_TOUCH) + #if HAS_DGUS_LCD || ENABLED(DGUS_LCD_UI_CREALITY_TOUCH) || ENABLED(EXTENSIBLE_UI) #define SERIAL_GET_TX_BUFFER_FREE() LCD_SERIAL.get_tx_buffer_free() #endif #endif @@ -144,8 +147,8 @@ typedef Servo hal_servo_t; // // ADC // -#define HAL_ADC_VREF 5.0 -#define HAL_ADC_RESOLUTION 10 +#define HAL_ADC_VREF_MV 5000 +#define HAL_ADC_RESOLUTION 10 // // Pin Mapping for M42, M43, M226 @@ -164,7 +167,7 @@ typedef Servo hal_servo_t; #define strtof strtod // ------------------------ -// Class Utilities +// Free Memory Accessor // ------------------------ #pragma GCC diagnostic push @@ -184,7 +187,11 @@ class MarlinHAL { public: // Earliest possible init, before setup() - MarlinHAL() {} + MarlinHAL(); + + // Watchdog + static void watchdog_init() IF_DISABLED(USE_WATCHDOG, {}); + static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {}); static void init(); // Called early in setup() static void init_board() {} // Called less early in setup() @@ -229,7 +236,7 @@ public: SBI(DIDR0, ch); } - // Begin ADC sampling on the given channel + // Begin ADC sampling on the given channel. Called from Temperature::isr! static void adc_start(const uint8_t ch) { #ifdef MUX5 ADCSRB = ch > 7 ? _BV(MUX5) : 0; diff --git a/Marlin/src/HAL/AVR/HAL_SPI.cpp b/Marlin/src/HAL/AVR/HAL_SPI.cpp index dc98f2f79e..32c0361d03 100644 --- a/Marlin/src/HAL/AVR/HAL_SPI.cpp +++ b/Marlin/src/HAL/AVR/HAL_SPI.cpp @@ -198,7 +198,7 @@ void spiBegin() { // output pin high - like sending 0xFF WRITE(SD_MOSI_PIN, HIGH); - LOOP_L_N(i, 8) { + for (uint8_t i = 0; i < 8; ++i) { WRITE(SD_SCK_PIN, HIGH); nop; // adjust so SCK is nice @@ -225,7 +225,7 @@ void spiBegin() { void spiSend(uint8_t data) { // no interrupts during byte send - about 8µs cli(); - LOOP_L_N(i, 8) { + for (uint8_t i = 0; i < 8; ++i) { WRITE(SD_SCK_PIN, LOW); WRITE(SD_MOSI_PIN, data & 0x80); data <<= 1; diff --git a/Marlin/src/HAL/AVR/MarlinSerial.cpp b/Marlin/src/HAL/AVR/MarlinSerial.cpp index eedbeb2d5d..48d2368a79 100644 --- a/Marlin/src/HAL/AVR/MarlinSerial.cpp +++ b/Marlin/src/HAL/AVR/MarlinSerial.cpp @@ -629,7 +629,7 @@ MSerialT1 customizedSerial1(MSerialT1::HasEmergencyParser); template class MarlinSerial< LCDSerialCfg >; MSerialLCD lcdSerial(MSerialLCD::HasEmergencyParser); - #if HAS_DGUS_LCD || ENABLED(DGUS_LCD_UI_CREALITY_TOUCH) + #if HAS_DGUS_LCD || ENABLED(DGUS_LCD_UI_CREALITY_TOUCH) || ENABLED(EXTENSIBLE_UI) template typename MarlinSerial::ring_buffer_pos_t MarlinSerial::get_tx_buffer_free() { const ring_buffer_pos_t t = tx_buffer.tail, // next byte to send. diff --git a/Marlin/src/HAL/AVR/MarlinSerial.h b/Marlin/src/HAL/AVR/MarlinSerial.h index 0b6ed9ded4..fc5696f9a8 100644 --- a/Marlin/src/HAL/AVR/MarlinSerial.h +++ b/Marlin/src/HAL/AVR/MarlinSerial.h @@ -34,6 +34,7 @@ #include #include "../../inc/MarlinConfigPre.h" +#include "../../core/types.h" #include "../../core/serial_hook.h" #ifndef SERIAL_PORT @@ -138,10 +139,6 @@ #define BYTE 0 - // Templated type selector - template struct TypeSelector { typedef T type;} ; - template struct TypeSelector { typedef F type; }; - template class MarlinSerial { protected: @@ -164,7 +161,7 @@ static constexpr B_U2Xx B_U2X = 0; // Base size of type on buffer size - typedef typename TypeSelector<(Cfg::RX_SIZE>256), uint16_t, uint8_t>::type ring_buffer_pos_t; + typedef uvalue_t(Cfg::RX_SIZE - 1) ring_buffer_pos_t; struct ring_buffer_r { volatile ring_buffer_pos_t head, tail; @@ -212,7 +209,7 @@ static ring_buffer_pos_t available(); static void write(const uint8_t c); static void flushTX(); - #if HAS_DGUS_LCD || ENABLED(DGUS_LCD_UI_CREALITY_TOUCH) + #if HAS_DGUS_LCD || ENABLED(DGUS_LCD_UI_CREALITY_TOUCH) || ENABLED(EXTENSIBLE_UI) static ring_buffer_pos_t get_tx_buffer_free(); #endif @@ -283,7 +280,7 @@ static constexpr bool DROPPED_RX = false; static constexpr bool RX_FRAMING_ERRORS = false; static constexpr bool MAX_RX_QUEUED = false; - static constexpr bool RX_OVERRUNS = BOTH(HAS_DGUS_LCD, SERIAL_STATS_RX_BUFFER_OVERRUNS); + static constexpr bool RX_OVERRUNS = (ANY(HAS_DGUS_LCD, SERIAL_STATS_RX_BUFFER_OVERRUNS) || ENABLED(DWINOS_4)); }; typedef Serial1Class< MarlinSerial< LCDSerialCfg > > MSerialLCD; diff --git a/Marlin/src/HAL/AVR/Servo.cpp b/Marlin/src/HAL/AVR/Servo.cpp index 526352b773..0a1ef5337a 100644 --- a/Marlin/src/HAL/AVR/Servo.cpp +++ b/Marlin/src/HAL/AVR/Servo.cpp @@ -66,27 +66,26 @@ static volatile int8_t Channel[_Nbr_16timers]; // counter for the s /************ static functions common to all instances ***********************/ -static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t* TCNTn, volatile uint16_t* OCRnA) { - if (Channel[timer] < 0) - *TCNTn = 0; // channel set to -1 indicated that refresh interval completed so reset the timer - else { - if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && SERVO(timer, Channel[timer]).Pin.isActive) - extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, LOW); // pulse this channel low if activated - } +static inline void handle_interrupts(const timer16_Sequence_t timer, volatile uint16_t* TCNTn, volatile uint16_t* OCRnA) { + int8_t cho = Channel[timer]; // Handle the prior Channel[timer] first + if (cho < 0) // Channel -1 indicates the refresh interval completed... + *TCNTn = 0; // ...so reset the timer + else if (SERVO_INDEX(timer, cho) < ServoCount) // prior channel handled? + extDigitalWrite(SERVO(timer, cho).Pin.nbr, LOW); // pulse the prior channel LOW - Channel[timer]++; // increment to the next channel - if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) { - *OCRnA = *TCNTn + SERVO(timer, Channel[timer]).ticks; - if (SERVO(timer, Channel[timer]).Pin.isActive) // check if activated - extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, HIGH); // it's an active channel so pulse it high + Channel[timer] = ++cho; // Handle the next channel (or 0) + if (cho < SERVOS_PER_TIMER && SERVO_INDEX(timer, cho) < ServoCount) { + *OCRnA = *TCNTn + SERVO(timer, cho).ticks; // set compare to current ticks plus duration + if (SERVO(timer, cho).Pin.isActive) // activated? + extDigitalWrite(SERVO(timer, cho).Pin.nbr, HIGH); // yes: pulse HIGH } else { // finished all channels so wait for the refresh period to expire before starting over - if (((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL)) // allow a few ticks to ensure the next OCR1A not missed - *OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL); - else - *OCRnA = *TCNTn + 4; // at least REFRESH_INTERVAL has elapsed - Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel + const unsigned int cval = ((unsigned)*TCNTn) + 32 / (SERVO_TIMER_PRESCALER), // allow 32 cycles to ensure the next OCR1A not missed + ival = (unsigned int)usToTicks(REFRESH_INTERVAL); // at least REFRESH_INTERVAL has elapsed + *OCRnA = max(cval, ival); + + Channel[timer] = -1; // reset the timer counter to 0 on the next call } } @@ -123,91 +122,102 @@ static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t /****************** end of static functions ******************************/ -void initISR(timer16_Sequence_t timer) { - #ifdef _useTimer1 - if (timer == _timer1) { - TCCR1A = 0; // normal counting mode - TCCR1B = _BV(CS11); // set prescaler of 8 - TCNT1 = 0; // clear the timer count - #if defined(__AVR_ATmega8__) || defined(__AVR_ATmega128__) - SBI(TIFR, OCF1A); // clear any pending interrupts; - SBI(TIMSK, OCIE1A); // enable the output compare interrupt - #else - // here if not ATmega8 or ATmega128 - SBI(TIFR1, OCF1A); // clear any pending interrupts; - SBI(TIMSK1, OCIE1A); // enable the output compare interrupt - #endif - #ifdef WIRING - timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service); - #endif - } - #endif +void initISR(const timer16_Sequence_t timer_index) { + switch (timer_index) { + default: break; - #ifdef _useTimer3 - if (timer == _timer3) { - TCCR3A = 0; // normal counting mode - TCCR3B = _BV(CS31); // set prescaler of 8 - TCNT3 = 0; // clear the timer count - #ifdef __AVR_ATmega128__ - SBI(TIFR, OCF3A); // clear any pending interrupts; - SBI(ETIMSK, OCIE3A); // enable the output compare interrupt - #else - SBI(TIFR3, OCF3A); // clear any pending interrupts; - SBI(TIMSK3, OCIE3A); // enable the output compare interrupt - #endif - #ifdef WIRING - timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service); // for Wiring platform only - #endif - } - #endif + #ifdef _useTimer1 + case _timer1: + TCCR1A = 0; // normal counting mode + TCCR1B = _BV(CS11); // set prescaler of 8 + TCNT1 = 0; // clear the timer count + #if defined(__AVR_ATmega8__) || defined(__AVR_ATmega128__) + SBI(TIFR, OCF1A); // clear any pending interrupts; + SBI(TIMSK, OCIE1A); // enable the output compare interrupt + #else + // here if not ATmega8 or ATmega128 + SBI(TIFR1, OCF1A); // clear any pending interrupts; + SBI(TIMSK1, OCIE1A); // enable the output compare interrupt + #endif + #ifdef WIRING + timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service); + #endif + break; + #endif - #ifdef _useTimer4 - if (timer == _timer4) { - TCCR4A = 0; // normal counting mode - TCCR4B = _BV(CS41); // set prescaler of 8 - TCNT4 = 0; // clear the timer count - TIFR4 = _BV(OCF4A); // clear any pending interrupts; - TIMSK4 = _BV(OCIE4A); // enable the output compare interrupt - } - #endif + #ifdef _useTimer3 + case _timer3: + TCCR3A = 0; // normal counting mode + TCCR3B = _BV(CS31); // set prescaler of 8 + TCNT3 = 0; // clear the timer count + #ifdef __AVR_ATmega128__ + SBI(TIFR, OCF3A); // clear any pending interrupts; + SBI(ETIMSK, OCIE3A); // enable the output compare interrupt + #else + SBI(TIFR3, OCF3A); // clear any pending interrupts; + SBI(TIMSK3, OCIE3A); // enable the output compare interrupt + #endif + #ifdef WIRING + timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service); // for Wiring platform only + #endif + break; + #endif - #ifdef _useTimer5 - if (timer == _timer5) { - TCCR5A = 0; // normal counting mode - TCCR5B = _BV(CS51); // set prescaler of 8 - TCNT5 = 0; // clear the timer count - TIFR5 = _BV(OCF5A); // clear any pending interrupts; - TIMSK5 = _BV(OCIE5A); // enable the output compare interrupt - } - #endif + #ifdef _useTimer4 + case _timer4: + TCCR4A = 0; // normal counting mode + TCCR4B = _BV(CS41); // set prescaler of 8 + TCNT4 = 0; // clear the timer count + TIFR4 = _BV(OCF4A); // clear any pending interrupts; + TIMSK4 = _BV(OCIE4A); // enable the output compare interrupt + break; + #endif + + #ifdef _useTimer5 + case _timer5: + TCCR5A = 0; // normal counting mode + TCCR5B = _BV(CS51); // set prescaler of 8 + TCNT5 = 0; // clear the timer count + TIFR5 = _BV(OCF5A); // clear any pending interrupts; + TIMSK5 = _BV(OCIE5A); // enable the output compare interrupt + break; + #endif + } } -void finISR(timer16_Sequence_t timer) { +void finISR(const timer16_Sequence_t timer_index) { // Disable use of the given timer #ifdef WIRING - if (timer == _timer1) { - CBI( - #if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__) - TIMSK1 - #else - TIMSK - #endif - , OCIE1A); // disable timer 1 output compare interrupt - timerDetach(TIMER1OUTCOMPAREA_INT); - } - else if (timer == _timer3) { - CBI( - #if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__) - TIMSK3 - #else - ETIMSK - #endif - , OCIE3A); // disable the timer3 output compare A interrupt - timerDetach(TIMER3OUTCOMPAREA_INT); + switch (timer_index) { + default: break; + + case _timer1: + CBI( + #if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__) + TIMSK1 + #else + TIMSK + #endif + , OCIE1A // disable timer 1 output compare interrupt + ); + timerDetach(TIMER1OUTCOMPAREA_INT); + break; + + case _timer3: + CBI( + #if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__) + TIMSK3 + #else + ETIMSK + #endif + , OCIE3A // disable the timer3 output compare A interrupt + ); + timerDetach(TIMER3OUTCOMPAREA_INT); + break; } #else // !WIRING // For arduino - in future: call here to a currently undefined function to reset the timer - UNUSED(timer); + UNUSED(timer_index); #endif } diff --git a/Marlin/src/HAL/AVR/eeprom.cpp b/Marlin/src/HAL/AVR/eeprom.cpp index 8d084dec7f..6465e47025 100644 --- a/Marlin/src/HAL/AVR/eeprom.cpp +++ b/Marlin/src/HAL/AVR/eeprom.cpp @@ -23,7 +23,7 @@ #include "../../inc/MarlinConfig.h" -#if EITHER(EEPROM_SETTINGS, SD_FIRMWARE_UPDATE) +#if ANY(EEPROM_SETTINGS, SD_FIRMWARE_UPDATE) /** * PersistentStore for Arduino-style EEPROM interface diff --git a/Marlin/src/HAL/AVR/endstop_interrupts.h b/Marlin/src/HAL/AVR/endstop_interrupts.h index 5511aa406f..2532624d39 100644 --- a/Marlin/src/HAL/AVR/endstop_interrupts.h +++ b/Marlin/src/HAL/AVR/endstop_interrupts.h @@ -120,7 +120,7 @@ void pciSetup(const int8_t pin) { void setup_endstop_interrupts() { #define _ATTACH(P) attachInterrupt(digitalPinToInterrupt(P), endstop_ISR, CHANGE) - #if HAS_X_MAX + #if USE_X_MAX #if (digitalPinToInterrupt(X_MAX_PIN) != NOT_AN_INTERRUPT) _ATTACH(X_MAX_PIN); #else @@ -128,7 +128,7 @@ void setup_endstop_interrupts() { pciSetup(X_MAX_PIN); #endif #endif - #if HAS_X_MIN + #if USE_X_MIN #if (digitalPinToInterrupt(X_MIN_PIN) != NOT_AN_INTERRUPT) _ATTACH(X_MIN_PIN); #else @@ -136,7 +136,7 @@ void setup_endstop_interrupts() { pciSetup(X_MIN_PIN); #endif #endif - #if HAS_Y_MAX + #if USE_Y_MAX #if (digitalPinToInterrupt(Y_MAX_PIN) != NOT_AN_INTERRUPT) _ATTACH(Y_MAX_PIN); #else @@ -144,7 +144,7 @@ void setup_endstop_interrupts() { pciSetup(Y_MAX_PIN); #endif #endif - #if HAS_Y_MIN + #if USE_Y_MIN #if (digitalPinToInterrupt(Y_MIN_PIN) != NOT_AN_INTERRUPT) _ATTACH(Y_MIN_PIN); #else @@ -152,7 +152,7 @@ void setup_endstop_interrupts() { pciSetup(Y_MIN_PIN); #endif #endif - #if HAS_Z_MAX + #if USE_Z_MAX #if (digitalPinToInterrupt(Z_MAX_PIN) != NOT_AN_INTERRUPT) _ATTACH(Z_MAX_PIN); #else @@ -160,7 +160,7 @@ void setup_endstop_interrupts() { pciSetup(Z_MAX_PIN); #endif #endif - #if HAS_Z_MIN + #if USE_Z_MIN #if (digitalPinToInterrupt(Z_MIN_PIN) != NOT_AN_INTERRUPT) _ATTACH(Z_MIN_PIN); #else @@ -168,97 +168,97 @@ void setup_endstop_interrupts() { pciSetup(Z_MIN_PIN); #endif #endif - #if HAS_I_MAX + #if USE_I_MAX #if (digitalPinToInterrupt(I_MAX_PIN) != NOT_AN_INTERRUPT) _ATTACH(I_MAX_PIN); #else - static_assert(digitalPinHasPCICR(I_MAX_PIN), "I_MAX_PIN is not interrupt-capable"); + static_assert(digitalPinHasPCICR(I_MAX_PIN), "I_MAX_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."); pciSetup(I_MAX_PIN); #endif - #elif HAS_I_MIN + #elif USE_I_MIN #if (digitalPinToInterrupt(I_MIN_PIN) != NOT_AN_INTERRUPT) _ATTACH(I_MIN_PIN); #else - static_assert(digitalPinHasPCICR(I_MIN_PIN), "I_MIN_PIN is not interrupt-capable"); + static_assert(digitalPinHasPCICR(I_MIN_PIN), "I_MIN_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."); pciSetup(I_MIN_PIN); #endif #endif - #if HAS_J_MAX + #if USE_J_MAX #if (digitalPinToInterrupt(J_MAX_PIN) != NOT_AN_INTERRUPT) _ATTACH(J_MAX_PIN); #else - static_assert(digitalPinHasPCICR(J_MAX_PIN), "J_MAX_PIN is not interrupt-capable"); + static_assert(digitalPinHasPCICR(J_MAX_PIN), "J_MAX_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."); pciSetup(J_MAX_PIN); #endif - #elif HAS_J_MIN + #elif USE_J_MIN #if (digitalPinToInterrupt(J_MIN_PIN) != NOT_AN_INTERRUPT) _ATTACH(J_MIN_PIN); #else - static_assert(digitalPinHasPCICR(J_MIN_PIN), "J_MIN_PIN is not interrupt-capable"); + static_assert(digitalPinHasPCICR(J_MIN_PIN), "J_MIN_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."); pciSetup(J_MIN_PIN); #endif #endif - #if HAS_K_MAX + #if USE_K_MAX #if (digitalPinToInterrupt(K_MAX_PIN) != NOT_AN_INTERRUPT) _ATTACH(K_MAX_PIN); #else - static_assert(digitalPinHasPCICR(K_MAX_PIN), "K_MAX_PIN is not interrupt-capable"); + static_assert(digitalPinHasPCICR(K_MAX_PIN), "K_MAX_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."); pciSetup(K_MAX_PIN); #endif - #elif HAS_K_MIN + #elif USE_K_MIN #if (digitalPinToInterrupt(K_MIN_PIN) != NOT_AN_INTERRUPT) _ATTACH(K_MIN_PIN); #else - static_assert(digitalPinHasPCICR(K_MIN_PIN), "K_MIN_PIN is not interrupt-capable"); + static_assert(digitalPinHasPCICR(K_MIN_PIN), "K_MIN_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."); pciSetup(K_MIN_PIN); #endif #endif - #if HAS_U_MAX + #if USE_U_MAX #if (digitalPinToInterrupt(U_MAX_PIN) != NOT_AN_INTERRUPT) _ATTACH(U_MAX_PIN); #else - static_assert(digitalPinHasPCICR(U_MAX_PIN), "U_MAX_PIN is not interrupt-capable"); + static_assert(digitalPinHasPCICR(U_MAX_PIN), "U_MAX_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."); pciSetup(U_MAX_PIN); #endif - #elif HAS_U_MIN + #elif USE_U_MIN #if (digitalPinToInterrupt(U_MIN_PIN) != NOT_AN_INTERRUPT) _ATTACH(U_MIN_PIN); #else - static_assert(digitalPinHasPCICR(U_MIN_PIN), "U_MIN_PIN is not interrupt-capable"); + static_assert(digitalPinHasPCICR(U_MIN_PIN), "U_MIN_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."); pciSetup(U_MIN_PIN); #endif #endif - #if HAS_V_MAX + #if USE_V_MAX #if (digitalPinToInterrupt(V_MAX_PIN) != NOT_AN_INTERRUPT) _ATTACH(V_MAX_PIN); #else - static_assert(digitalPinHasPCICR(V_MAX_PIN), "V_MAX_PIN is not interrupt-capable"); + static_assert(digitalPinHasPCICR(V_MAX_PIN), "V_MAX_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."); pciSetup(V_MAX_PIN); #endif - #elif HAS_V_MIN + #elif USE_V_MIN #if (digitalPinToInterrupt(V_MIN_PIN) != NOT_AN_INTERRUPT) _ATTACH(V_MIN_PIN); #else - static_assert(digitalPinHasPCICR(V_MIN_PIN), "V_MIN_PIN is not interrupt-capable"); + static_assert(digitalPinHasPCICR(V_MIN_PIN), "V_MIN_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."); pciSetup(V_MIN_PIN); #endif #endif - #if HAS_W_MAX + #if USE_W_MAX #if (digitalPinToInterrupt(W_MAX_PIN) != NOT_AN_INTERRUPT) _ATTACH(W_MAX_PIN); #else - static_assert(digitalPinHasPCICR(W_MAX_PIN), "W_MAX_PIN is not interrupt-capable"); + static_assert(digitalPinHasPCICR(W_MAX_PIN), "W_MAX_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."); pciSetup(W_MAX_PIN); #endif - #elif HAS_W_MIN + #elif USE_W_MIN #if (digitalPinToInterrupt(W_MIN_PIN) != NOT_AN_INTERRUPT) _ATTACH(W_MIN_PIN); #else - static_assert(digitalPinHasPCICR(W_MIN_PIN), "W_MIN_PIN is not interrupt-capable"); + static_assert(digitalPinHasPCICR(W_MIN_PIN), "W_MIN_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."); pciSetup(W_MIN_PIN); #endif #endif - #if HAS_X2_MAX + #if USE_X2_MAX #if (digitalPinToInterrupt(X2_MAX_PIN) != NOT_AN_INTERRUPT) _ATTACH(X2_MAX_PIN); #else @@ -266,7 +266,7 @@ void setup_endstop_interrupts() { pciSetup(X2_MAX_PIN); #endif #endif - #if HAS_X2_MIN + #if USE_X2_MIN #if (digitalPinToInterrupt(X2_MIN_PIN) != NOT_AN_INTERRUPT) _ATTACH(X2_MIN_PIN); #else @@ -274,7 +274,7 @@ void setup_endstop_interrupts() { pciSetup(X2_MIN_PIN); #endif #endif - #if HAS_Y2_MAX + #if USE_Y2_MAX #if (digitalPinToInterrupt(Y2_MAX_PIN) != NOT_AN_INTERRUPT) _ATTACH(Y2_MAX_PIN); #else @@ -282,7 +282,7 @@ void setup_endstop_interrupts() { pciSetup(Y2_MAX_PIN); #endif #endif - #if HAS_Y2_MIN + #if USE_Y2_MIN #if (digitalPinToInterrupt(Y2_MIN_PIN) != NOT_AN_INTERRUPT) _ATTACH(Y2_MIN_PIN); #else @@ -290,7 +290,7 @@ void setup_endstop_interrupts() { pciSetup(Y2_MIN_PIN); #endif #endif - #if HAS_Z2_MAX + #if USE_Z2_MAX #if (digitalPinToInterrupt(Z2_MAX_PIN) != NOT_AN_INTERRUPT) _ATTACH(Z2_MAX_PIN); #else @@ -298,7 +298,7 @@ void setup_endstop_interrupts() { pciSetup(Z2_MAX_PIN); #endif #endif - #if HAS_Z2_MIN + #if USE_Z2_MIN #if (digitalPinToInterrupt(Z2_MIN_PIN) != NOT_AN_INTERRUPT) _ATTACH(Z2_MIN_PIN); #else @@ -306,7 +306,7 @@ void setup_endstop_interrupts() { pciSetup(Z2_MIN_PIN); #endif #endif - #if HAS_Z3_MAX + #if USE_Z3_MAX #if (digitalPinToInterrupt(Z3_MAX_PIN) != NOT_AN_INTERRUPT) _ATTACH(Z3_MAX_PIN); #else @@ -314,7 +314,7 @@ void setup_endstop_interrupts() { pciSetup(Z3_MAX_PIN); #endif #endif - #if HAS_Z3_MIN + #if USE_Z3_MIN #if (digitalPinToInterrupt(Z3_MIN_PIN) != NOT_AN_INTERRUPT) _ATTACH(Z3_MIN_PIN); #else @@ -322,7 +322,7 @@ void setup_endstop_interrupts() { pciSetup(Z3_MIN_PIN); #endif #endif - #if HAS_Z4_MAX + #if USE_Z4_MAX #if (digitalPinToInterrupt(Z4_MAX_PIN) != NOT_AN_INTERRUPT) _ATTACH(Z4_MAX_PIN); #else @@ -330,7 +330,7 @@ void setup_endstop_interrupts() { pciSetup(Z4_MAX_PIN); #endif #endif - #if HAS_Z4_MIN + #if USE_Z4_MIN #if (digitalPinToInterrupt(Z4_MIN_PIN) != NOT_AN_INTERRUPT) _ATTACH(Z4_MIN_PIN); #else @@ -338,7 +338,7 @@ void setup_endstop_interrupts() { pciSetup(Z4_MIN_PIN); #endif #endif - #if HAS_Z_MIN_PROBE_PIN + #if USE_Z_MIN_PROBE #if (digitalPinToInterrupt(Z_MIN_PROBE_PIN) != NOT_AN_INTERRUPT) _ATTACH(Z_MIN_PROBE_PIN); #else diff --git a/Marlin/src/HAL/AVR/fast_pwm.cpp b/Marlin/src/HAL/AVR/fast_pwm.cpp index 0a384172c3..6da68e6245 100644 --- a/Marlin/src/HAL/AVR/fast_pwm.cpp +++ b/Marlin/src/HAL/AVR/fast_pwm.cpp @@ -23,6 +23,10 @@ #include "../../inc/MarlinConfig.h" +//#define DEBUG_AVR_FAST_PWM +#define DEBUG_OUT ENABLED(DEBUG_AVR_FAST_PWM) +#include "../../core/debug_out.h" + struct Timer { volatile uint8_t* TCCRnQ[3]; // max 3 TCCR registers per timer volatile uint16_t* OCRnQ[3]; // max 3 OCR registers per timer @@ -108,12 +112,15 @@ const Timer get_pwm_timer(const pin_t pin) { } void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) { + DEBUG_ECHOLNPGM("set_pwm_frequency(pin=", pin, ", freq=", f_desired, ")"); const Timer timer = get_pwm_timer(pin); if (timer.isProtected || !timer.isPWM) return; // Don't proceed if protected timer or not recognized const bool is_timer2 = timer.n == 2; const uint16_t maxtop = is_timer2 ? 0xFF : 0xFFFF; + DEBUG_ECHOLNPGM("maxtop=", maxtop); + uint16_t res = 0xFF; // resolution (TOP value) uint8_t j = CS_NONE; // prescaler index uint8_t wgm = WGM_PWM_PC_8; // waveform generation mode @@ -121,23 +128,29 @@ void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) { // Calculating the prescaler and resolution to use to achieve closest frequency if (f_desired != 0) { constexpr uint16_t prescaler[] = { 1, 8, (32), 64, (128), 256, 1024 }; // (*) are Timer 2 only - uint16_t f = (F_CPU) / (2 * 1024 * maxtop) + 1; // Start with the lowest non-zero frequency achievable (1 or 31) + uint16_t f = (F_CPU) / (uint32_t(maxtop) << 11) + 1; // Start with the lowest non-zero frequency achievable (for 16MHz, 1 or 31) - LOOP_L_N(i, COUNT(prescaler)) { // Loop through all prescaler values - const uint16_t p = prescaler[i]; + DEBUG_ECHOLNPGM("f=", f); + DEBUG_ECHOLNPGM("(prescaler loop)"); + for (uint8_t i = 0; i < COUNT(prescaler); ++i) { // Loop through all prescaler values + const uint32_t p = prescaler[i]; // Extend to 32 bits for calculations + DEBUG_ECHOLNPGM("prescaler[", i, "]=", p); uint16_t res_fast_temp, res_pc_temp; if (is_timer2) { #if ENABLED(USE_OCR2A_AS_TOP) // No resolution calculation for TIMER2 unless enabled USE_OCR2A_AS_TOP const uint16_t rft = (F_CPU) / (p * f_desired); res_fast_temp = rft - 1; res_pc_temp = rft / 2; + DEBUG_ECHOLNPGM("(Timer2) res_fast_temp=", res_fast_temp, " res_pc_temp=", res_pc_temp); #else res_fast_temp = res_pc_temp = maxtop; + DEBUG_ECHOLNPGM("(Timer2) res_fast_temp=", maxtop, " res_pc_temp=", maxtop); #endif } else { if (p == 32 || p == 128) continue; // Skip TIMER2 specific prescalers when not TIMER2 const uint16_t rft = (F_CPU) / (p * f_desired); + DEBUG_ECHOLNPGM("(Not Timer 2) F_CPU=" STRINGIFY(F_CPU), " prescaler=", p, " f_desired=", f_desired); res_fast_temp = rft - 1; res_pc_temp = rft / 2; } @@ -146,24 +159,28 @@ void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) { LIMIT(res_pc_temp, 1U, maxtop); // Calculate frequencies of test prescaler and resolution values - const uint32_t f_diff = _MAX(f, f_desired) - _MIN(f, f_desired), - f_fast_temp = (F_CPU) / (p * (1 + res_fast_temp)), + const uint16_t f_fast_temp = (F_CPU) / (p * (1 + res_fast_temp)), + f_pc_temp = (F_CPU) / ((p * res_pc_temp) << 1), + f_diff = _MAX(f, f_desired) - _MIN(f, f_desired), f_fast_diff = _MAX(f_fast_temp, f_desired) - _MIN(f_fast_temp, f_desired), - f_pc_temp = (F_CPU) / (2 * p * res_pc_temp), f_pc_diff = _MAX(f_pc_temp, f_desired) - _MIN(f_pc_temp, f_desired); + DEBUG_ECHOLNPGM("f_fast_temp=", f_fast_temp, " f_pc_temp=", f_pc_temp, " f_diff=", f_diff, " f_fast_diff=", f_fast_diff, " f_pc_diff=", f_pc_diff); + if (f_fast_diff < f_diff && f_fast_diff <= f_pc_diff) { // FAST values are closest to desired f // Set the Wave Generation Mode to FAST PWM wgm = is_timer2 ? uint8_t(TERN(USE_OCR2A_AS_TOP, WGM2_FAST_PWM_OCR2A, WGM2_FAST_PWM)) : uint8_t(WGM_FAST_PWM_ICRn); // Remember this combination f = f_fast_temp; res = res_fast_temp; j = i + 1; + DEBUG_ECHOLNPGM("(FAST) updated f=", f); } else if (f_pc_diff < f_diff) { // PHASE CORRECT values are closes to desired f // Set the Wave Generation Mode to PWM PHASE CORRECT wgm = is_timer2 ? uint8_t(TERN(USE_OCR2A_AS_TOP, WGM2_PWM_PC_OCR2A, WGM2_PWM_PC)) : uint8_t(WGM_PWM_PC_ICRn); f = f_pc_temp; res = res_pc_temp; j = i + 1; + DEBUG_ECHOLNPGM("(PHASE) updated f=", f); } - } + } // prescaler loop } _SET_WGMnQ(timer, wgm); @@ -215,7 +232,7 @@ void MarlinHAL::init_pwm_timers() { #endif }; - LOOP_L_N(i, COUNT(pwm_pin)) + for (uint8_t i = 0; i < COUNT(pwm_pin); ++i) set_pwm_frequency(pwm_pin[i], 1000); } diff --git a/Marlin/src/HAL/AVR/fastio.h b/Marlin/src/HAL/AVR/fastio.h index 51d3b311ee..4516d9cd54 100644 --- a/Marlin/src/HAL/AVR/fastio.h +++ b/Marlin/src/HAL/AVR/fastio.h @@ -255,84 +255,6 @@ enum ClockSource2 : uint8_t { #define SET_FOCB(T,V) SET_FOC(T,B,V) #define SET_FOCC(T,V) SET_FOC(T,C,V) -#if 0 - -/** - * PWM availability macros - */ - -// Determine which hardware PWMs are already in use -#define _PWM_CHK_FAN_B(P) (P == E0_AUTO_FAN_PIN || P == E1_AUTO_FAN_PIN || P == E2_AUTO_FAN_PIN || P == E3_AUTO_FAN_PIN || P == E4_AUTO_FAN_PIN || P == E5_AUTO_FAN_PIN || P == E6_AUTO_FAN_PIN || P == E7_AUTO_FAN_PIN || P == CHAMBER_AUTO_FAN_PIN || P == COOLER_AUTO_FAN_PIN) -#if PIN_EXISTS(CONTROLLER_FAN) - #define PWM_CHK_FAN_B(P) (_PWM_CHK_FAN_B(P) || P == CONTROLLER_FAN_PIN) -#else - #define PWM_CHK_FAN_B(P) _PWM_CHK_FAN_B(P) -#endif - -#if ANY_PIN(FAN, FAN1, FAN2, FAN3, FAN4, FAN5, FAN6, FAN7) - #if PIN_EXISTS(FAN7) - #define PWM_CHK_FAN_A(P) (P == FAN0_PIN || P == FAN1_PIN || P == FAN2_PIN || P == FAN3_PIN || P == FAN4_PIN || P == FAN5_PIN || P == FAN6_PIN || P == FAN7_PIN) - #elif PIN_EXISTS(FAN6) - #define PWM_CHK_FAN_A(P) (P == FAN0_PIN || P == FAN1_PIN || P == FAN2_PIN || P == FAN3_PIN || P == FAN4_PIN || P == FAN5_PIN || P == FAN6_PIN) - #elif PIN_EXISTS(FAN5) - #define PWM_CHK_FAN_A(P) (P == FAN0_PIN || P == FAN1_PIN || P == FAN2_PIN || P == FAN3_PIN || P == FAN4_PIN || P == FAN5_PIN) - #elif PIN_EXISTS(FAN4) - #define PWM_CHK_FAN_A(P) (P == FAN0_PIN || P == FAN1_PIN || P == FAN2_PIN || P == FAN3_PIN || P == FAN4_PIN) - #elif PIN_EXISTS(FAN3) - #define PWM_CHK_FAN_A(P) (P == FAN0_PIN || P == FAN1_PIN || P == FAN2_PIN || P == FAN3_PIN) - #elif PIN_EXISTS(FAN2) - #define PWM_CHK_FAN_A(P) (P == FAN0_PIN || P == FAN1_PIN || P == FAN2_PIN) - #elif PIN_EXISTS(FAN1) - #define PWM_CHK_FAN_A(P) (P == FAN0_PIN || P == FAN1_PIN) - #else - #define PWM_CHK_FAN_A(P) (P == FAN0_PIN) - #endif -#else - #define PWM_CHK_FAN_A(P) false -#endif - -#if HAS_MOTOR_CURRENT_PWM - #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY) - #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_Z || P == MOTOR_CURRENT_PWM_XY) - #elif PIN_EXISTS(MOTOR_CURRENT_PWM_Z) - #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_Z) - #else - #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E) - #endif -#else - #define PWM_CHK_MOTOR_CURRENT(P) false -#endif - -#ifdef NUM_SERVOS - #if AVR_ATmega2560_FAMILY - #define PWM_CHK_SERVO(P) (P == 5 || (NUM_SERVOS > 12 && P == 6) || (NUM_SERVOS > 24 && P == 46)) // PWMS 3A, 4A & 5A - #elif AVR_ATmega2561_FAMILY - #define PWM_CHK_SERVO(P) (P == 5) // PWM3A - #elif AVR_ATmega1284_FAMILY - #define PWM_CHK_SERVO(P) false - #elif AVR_AT90USB1286_FAMILY - #define PWM_CHK_SERVO(P) (P == 16) // PWM3A - #elif AVR_ATmega328_FAMILY - #define PWM_CHK_SERVO(P) false - #endif -#else - #define PWM_CHK_SERVO(P) false -#endif - -#if ENABLED(BARICUDA) - #if HAS_HEATER_1 && HAS_HEATER_2 - #define PWM_CHK_HEATER(P) (P == HEATER_1_PIN || P == HEATER_2_PIN) - #elif HAS_HEATER_1 - #define PWM_CHK_HEATER(P) (P == HEATER_1_PIN) - #endif -#else - #define PWM_CHK_HEATER(P) false -#endif - -#define PWM_CHK(P) (PWM_CHK_HEATER(P) || PWM_CHK_SERVO(P) || PWM_CHK_MOTOR_CURRENT(P) || PWM_CHK_FAN_A(P) || PWM_CHK_FAN_B(P)) - -#endif // PWM_CHK is not used in Marlin - // define which hardware PWMs are available for the current CPU // all timer 1 PWMS deleted from this list because they are never available #if AVR_ATmega2560_FAMILY diff --git a/Marlin/src/HAL/AVR/fastio/fastio_1280.h b/Marlin/src/HAL/AVR/fastio/fastio_1280.h index f482f823e8..633774dda9 100644 --- a/Marlin/src/HAL/AVR/fastio/fastio_1280.h +++ b/Marlin/src/HAL/AVR/fastio/fastio_1280.h @@ -27,43 +27,44 @@ * Hardware Pin : 02 03 06 07 01 05 15 16 17 18 23 24 25 26 64 63 13 12 46 45 44 43 78 77 76 75 74 73 72 71 60 59 58 57 56 55 54 53 50 70 52 51 42 41 40 39 38 37 36 35 22 21 20 19 97 96 95 94 93 92 91 90 89 88 87 86 85 84 83 82 | 04 08 09 10 11 14 27 28 29 30 31 32 33 34 47 48 49 61 62 65 66 67 68 69 79 80 81 98 99 100 * Port : E0 E1 E4 E5 G5 E3 H3 H4 H5 H6 B4 B5 B6 B7 J1 J0 H1 H0 D3 D2 D1 D0 A0 A1 A2 A3 A4 A5 A6 A7 C7 C6 C5 C4 C3 C2 C1 C0 D7 G2 G1 G0 L7 L6 L5 L4 L3 L2 L1 L0 B3 B2 B1 B0 F0 F1 F2 F3 F4 F5 F6 F7 K0 K1 K2 K3 K4 K5 K6 K7 | E2 E6 E7 xx xx H2 H7 G3 G4 xx xx xx xx xx D4 D5 D6 xx xx J2 J3 J4 J5 J6 J7 xx xx xx xx xx * Logical Pin : 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 | 78 79 80 xx xx 84 85 71 70 xx xx xx xx xx 81 82 83 xx xx 72 73 75 76 77 74 xx xx xx xx xx + * Analog Input : 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 + * + * Arduino Pin Layout video: https://youtu.be/rIqeVCX09FA + * AVR alternate pin function overview video: https://youtu.be/1yd8wuI5Plg */ #include "../fastio.h" -// change for your board -#define DEBUG_LED DIO21 - // UART -#define RXD DIO0 -#define TXD DIO1 +#define RXD 0 +#define TXD 1 // SPI -#define SCK DIO52 -#define MISO DIO50 -#define MOSI DIO51 -#define SS DIO53 +#define MISO 50 +#define MOSI 51 +#define SCK 52 +#define SS 53 // TWI (I2C) -#define SCL DIO21 -#define SDA DIO20 +#define SCL 21 +#define SDA 20 // Timers and PWM -#define OC0A DIO13 -#define OC0B DIO4 -#define OC1A DIO11 -#define OC1B DIO12 -#define OC2A DIO10 -#define OC2B DIO9 -#define OC3A DIO5 -#define OC3B DIO2 -#define OC3C DIO3 -#define OC4A DIO6 -#define OC4B DIO7 -#define OC4C DIO8 -#define OC5A DIO46 -#define OC5B DIO45 -#define OC5C DIO44 +#define OC0A 13 +#define OC0B 4 +#define OC1A 11 +#define OC1B 12 +#define OC2A 10 +#define OC2B 9 +#define OC3A 5 +#define OC3B 2 +#define OC3C 3 +#define OC4A 6 +#define OC4B 7 +#define OC4C 8 +#define OC5A 46 +#define OC5B 45 +#define OC5C 44 // Digital I/O diff --git a/Marlin/src/HAL/AVR/fastio/fastio_1281.h b/Marlin/src/HAL/AVR/fastio/fastio_1281.h index e0bc5e2995..6067248978 100644 --- a/Marlin/src/HAL/AVR/fastio/fastio_1281.h +++ b/Marlin/src/HAL/AVR/fastio/fastio_1281.h @@ -26,36 +26,36 @@ * * Logical Pin: 38 39 40 41 42 43 44 45 16 10 11 12 06 07 08 09 30 31 32 33 34 35 36 37 17 18 19 20 21 22 23 24 00 01 13 05 02 03 14 15 46 47 48 49 50 51 52 53 25 26 27 28 29 04 * Port: A0 A1 A2 A3 A4 A5 A6 A7 B0 B1 B2 B3 B4 B5 B6 B7 C0 C1 C2 C3 C4 C5 C6 C7 D0 D1 D2 D3 D4 D5 D6 D7 E0 E1 E2 E3 E4 E5 E6 E7 F0 F1 F2 F3 F4 F5 F6 F7 G0 G1 G2 G3 G4 G5 + * + * Arduino Pin Layout video: https://youtu.be/rIqeVCX09FA + * AVR alternate pin function overview video: https://youtu.be/1yd8wuI5Plg */ #include "../fastio.h" -// change for your board -#define DEBUG_LED DIO46 - // UART -#define RXD DIO0 -#define TXD DIO1 +#define RXD 0 +#define TXD 1 // SPI -#define SCK DIO10 -#define MISO DIO12 -#define MOSI DIO11 -#define SS DIO16 +#define SCK 10 +#define MISO 12 +#define MOSI 11 +#define SS 16 // TWI (I2C) -#define SCL DIO17 -#define SDA DIO18 +#define SCL 17 +#define SDA 18 // Timers and PWM -#define OC0A DIO9 -#define OC0B DIO4 -#define OC1A DIO7 -#define OC1B DIO8 -#define OC2A DIO6 -#define OC3A DIO5 -#define OC3B DIO2 -#define OC3C DIO3 +#define OC0A 9 +#define OC0B 4 +#define OC1A 7 +#define OC1B 8 +#define OC2A 6 +#define OC3A 5 +#define OC3B 2 +#define OC3C 3 // Digital I/O diff --git a/Marlin/src/HAL/AVR/fastio/fastio_168.h b/Marlin/src/HAL/AVR/fastio/fastio_168.h index 8cfdd1e8f8..cc55979740 100644 --- a/Marlin/src/HAL/AVR/fastio/fastio_168.h +++ b/Marlin/src/HAL/AVR/fastio/fastio_168.h @@ -26,33 +26,34 @@ * * Logical Pin: 08 09 10 11 12 13 14 15 16 17 18 19 20 21 00 01 02 03 04 05 06 07 * Port: B0 B1 B2 B3 B4 B5 C0 C1 C2 C3 C4 C5 C6 C7 D0 D1 D2 D3 D4 D5 D6 D7 + * + * Arduino Pin Layout video: https://youtu.be/rIqeVCX09FA + * AVR alternate pin function overview video: https://youtu.be/1yd8wuI5Plg */ #include "../fastio.h" -#define DEBUG_LED AIO5 - // UART -#define RXD DIO0 -#define TXD DIO1 +#define RXD 0 +#define TXD 1 // SPI -#define SCK DIO13 -#define MISO DIO12 -#define MOSI DIO11 -#define SS DIO10 +#define SS 10 +#define MOSI 11 +#define MISO 12 +#define SCK 13 // TWI (I2C) #define SCL AIO5 #define SDA AIO4 // Timers and PWM -#define OC0A DIO6 -#define OC0B DIO5 -#define OC1A DIO9 -#define OC1B DIO10 -#define OC2A DIO11 -#define OC2B DIO3 +#define OC0A 6 +#define OC0B 5 +#define OC1A 9 +#define OC1B 10 +#define OC2A 11 +#define OC2B 3 // Digital I/O diff --git a/Marlin/src/HAL/AVR/fastio/fastio_644.h b/Marlin/src/HAL/AVR/fastio/fastio_644.h index f4a9427e0a..94b322a819 100644 --- a/Marlin/src/HAL/AVR/fastio/fastio_644.h +++ b/Marlin/src/HAL/AVR/fastio/fastio_644.h @@ -26,6 +26,9 @@ * * Logical Pin: 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 * Port: B0 B1 B2 B3 B4 B5 B6 B7 D0 D1 D2 D3 D4 D5 D6 D7 C0 C1 C2 C3 C4 C5 C6 C7 A7 A6 A5 A4 A3 A2 A1 A0 + * + * Arduino Pin Layout video: https://youtu.be/rIqeVCX09FA + * AVR alternate pin function overview video: https://youtu.be/1yd8wuI5Plg */ /** ATMega644 @@ -56,34 +59,32 @@ #include "../fastio.h" -#define DEBUG_LED DIO0 - // UART -#define RXD DIO8 -#define TXD DIO9 -#define RXD0 DIO8 -#define TXD0 DIO9 +#define RXD 8 +#define TXD 9 +#define RXD0 8 +#define TXD0 9 -#define RXD1 DIO10 -#define TXD1 DIO11 +#define RXD1 10 +#define TXD1 11 // SPI -#define SCK DIO7 -#define MISO DIO6 -#define MOSI DIO5 -#define SS DIO4 +#define SS 4 +#define MOSI 5 +#define MISO 6 +#define SCK 7 // TWI (I2C) -#define SCL DIO16 -#define SDA DIO17 +#define SCL 16 +#define SDA 17 // Timers and PWM -#define OC0A DIO3 -#define OC0B DIO4 -#define OC1A DIO13 -#define OC1B DIO12 -#define OC2A DIO15 -#define OC2B DIO14 +#define OC0A 3 +#define OC0B 4 +#define OC1A 13 +#define OC1B 12 +#define OC2A 15 +#define OC2B 14 // Digital I/O diff --git a/Marlin/src/HAL/AVR/fastio/fastio_AT90USB.h b/Marlin/src/HAL/AVR/fastio/fastio_AT90USB.h index 51d400b705..0c434b157c 100644 --- a/Marlin/src/HAL/AVR/fastio/fastio_AT90USB.h +++ b/Marlin/src/HAL/AVR/fastio/fastio_AT90USB.h @@ -27,18 +27,18 @@ * Logical Pin: 28 29 30 31 32 33 34 35 20 21 22 23 24 25 26 27 10 11 12 13 14 15 16 17 00 01 02 03 04 05 06 07 08 09(46*47)36 37 18 19 38 39 40 41 42 43 44 45 * Port: A0 A1 A2 A3 A4 A5 A6 A7 B0 B1 B2 B3 B4 B5 B6 B7 C0 C1 C2 C3 C4 C5 C6 C7 D0 D1 D2 D3 D4 D5 D6 D7 E0 E1 E2 E3 E4 E5 E6 E7 F0 F1 F2 F3 F4 F5 F6 F7 * The logical pins 46 and 47 are not supported by Teensyduino, but are supported below as E2 and E3 + * + * Arduino Pin Layout video: https://youtu.be/rIqeVCX09FA + * AVR alternate pin function overview video: https://youtu.be/1yd8wuI5Plg */ #include "../fastio.h" -// change for your board -#define DEBUG_LED DIO31 /* led D5 red */ - // SPI -#define SCK DIO21 // 9 -#define MISO DIO23 // 11 -#define MOSI DIO22 // 10 -#define SS DIO20 // 8 +#define SS 20 // 8 +#define SCK 21 // 9 +#define MOSI 22 // 10 +#define MISO 23 // 11 // Digital I/O diff --git a/Marlin/src/HAL/AVR/inc/Conditionals_LCD.h b/Marlin/src/HAL/AVR/inc/Conditionals_LCD.h index a611ccd7c4..5f1c4b1601 100644 --- a/Marlin/src/HAL/AVR/inc/Conditionals_LCD.h +++ b/Marlin/src/HAL/AVR/inc/Conditionals_LCD.h @@ -20,7 +20,3 @@ * */ #pragma once - -#if HAS_SPI_TFT || HAS_FSMC_TFT - #error "Sorry! TFT displays are not available for HAL/AVR." -#endif diff --git a/Marlin/src/HAL/AVR/inc/SanityCheck.h b/Marlin/src/HAL/AVR/inc/SanityCheck.h index 15a5be4cd2..85ee683685 100644 --- a/Marlin/src/HAL/AVR/inc/SanityCheck.h +++ b/Marlin/src/HAL/AVR/inc/SanityCheck.h @@ -25,6 +25,44 @@ * Test AVR-specific configuration values for errors at compile-time. */ +#if HAS_SPI_TFT || HAS_FSMC_TFT + #error "Sorry! TFT displays are not available for HAL/AVR." +#endif + +/** + * Check for common serial pin conflicts + */ +#define CHECK_SERIAL_PIN(N) ( \ + X_STOP_PIN == N || Y_STOP_PIN == N || Z_STOP_PIN == N \ + || X_MIN_PIN == N || Y_MIN_PIN == N || Z_MIN_PIN == N \ + || X_MAX_PIN == N || Y_MAX_PIN == N || Z_MAX_PIN == N \ + || X_STEP_PIN == N || Y_STEP_PIN == N || Z_STEP_PIN == N \ + || X_DIR_PIN == N || Y_DIR_PIN == N || Z_DIR_PIN == N \ + || X_ENA_PIN == N || Y_ENA_PIN == N || Z_ENA_PIN == N \ + || BTN_EN1 == N || BTN_EN2 == N || LCD_PINS_EN == N \ +) +#if SERIAL_IN_USE(0) + // D0-D1. No known conflicts. +#endif +#if SERIAL_IN_USE(1) + #if NOT_TARGET(__AVR_ATmega644P__, __AVR_ATmega1284P__) + #if CHECK_SERIAL_PIN(18) || CHECK_SERIAL_PIN(19) + #error "Serial Port 1 pin D18 and/or D19 conflicts with another pin on the board." + #endif + #else + #if CHECK_SERIAL_PIN(10) || CHECK_SERIAL_PIN(11) + #error "Serial Port 1 pin D10 and/or D11 conflicts with another pin on the board." + #endif + #endif +#endif +#if SERIAL_IN_USE(2) && (CHECK_SERIAL_PIN(16) || CHECK_SERIAL_PIN(17)) + #error "Serial Port 2 pin D16 and/or D17 conflicts with another pin on the board." +#endif +#if SERIAL_IN_USE(3) && (CHECK_SERIAL_PIN(14) || CHECK_SERIAL_PIN(15)) + #error "Serial Port 3 pin D14 and/or D15 conflicts with another pin on the board." +#endif +#undef CHECK_SERIAL_PIN + /** * Checks for FAST PWM */ @@ -35,8 +73,8 @@ /** * Checks for SOFT PWM */ -#if HAS_FAN0 && FAN_PIN == 9 && DISABLED(FAN_SOFT_PWM) && ENABLED(SPEAKER) - #error "FAN_PIN 9 Hardware PWM uses Timer 2 which conflicts with Arduino AVR Tone Timer (for SPEAKER)." +#if HAS_FAN0 && FAN0_PIN == 9 && DISABLED(FAN_SOFT_PWM) && ENABLED(SPEAKER) + #error "FAN0_PIN 9 Hardware PWM uses Timer 2 which conflicts with Arduino AVR Tone Timer (for SPEAKER)." #error "Disable SPEAKER or enable FAN_SOFT_PWM." #endif @@ -57,11 +95,11 @@ /** * The Trinamic library includes SoftwareSerial.h, leading to a compile error. */ -#if BOTH(HAS_TRINAMIC_CONFIG, ENDSTOP_INTERRUPTS_FEATURE) +#if ALL(HAS_TRINAMIC_CONFIG, ENDSTOP_INTERRUPTS_FEATURE) #error "TMCStepper includes SoftwareSerial.h which is incompatible with ENDSTOP_INTERRUPTS_FEATURE. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif -#if BOTH(HAS_TMC_SW_SERIAL, MONITOR_DRIVER_STATUS) +#if ALL(HAS_TMC_SW_SERIAL, MONITOR_DRIVER_STATUS) #error "MONITOR_DRIVER_STATUS causes performance issues when used with SoftwareSerial-connected drivers. Disable MONITOR_DRIVER_STATUS or use hardware serial to continue." #endif diff --git a/Marlin/src/HAL/AVR/math.h b/Marlin/src/HAL/AVR/math.h index 7dd1018ff1..16848524fa 100644 --- a/Marlin/src/HAL/AVR/math.h +++ b/Marlin/src/HAL/AVR/math.h @@ -27,13 +27,14 @@ // intRes = longIn1 * longIn2 >> 24 // uses: -// A[tmp] to store 0 -// B[tmp] to store bits 16-23 of the 48bit result. The top bit is used to round the two byte result. -// note that the lower two bytes and the upper byte of the 48bit result are not calculated. -// this can cause the result to be out by one as the lower bytes may cause carries into the upper ones. -// B A are bits 24-39 and are the returned value -// C B A is longIn1 -// D C B A is longIn2 +// r1, r0 for the result of mul. +// [tmp1] to store 0. +// [tmp2] to store bits 16-23 of the 56 bit result. The top bit of [tmp2] is used for rounding. +// Note that the lower two bytes and the upper two bytes of the 56 bit result are not calculated. +// This can cause the result to be out by one as the lower bytes may cause carries into the upper ones. +// [intRes] (A B) is bits 24-39 and is the returned value. +// [longIn1] (C B A) is a 24 bit parameter. +// [longIn2] (D C B A) is a 32 bit parameter. // FORCE_INLINE static uint16_t MultiU24X32toH16(uint32_t longIn1, uint32_t longIn2) { uint8_t tmp1; @@ -66,11 +67,9 @@ FORCE_INLINE static uint16_t MultiU24X32toH16(uint32_t longIn1, uint32_t longIn2 A("add %[tmp2], r1") A("adc %A[intRes], %[tmp1]") A("adc %B[intRes], %[tmp1]") - A("lsr %[tmp2]") - A("adc %A[intRes], %[tmp1]") - A("adc %B[intRes], %[tmp1]") A("mul %D[longIn2], %A[longIn1]") - A("add %A[intRes], r0") + A("lsl %[tmp2]") + A("adc %A[intRes], r0") A("adc %B[intRes], r1") A("mul %D[longIn2], %B[longIn1]") A("add %B[intRes], r0") @@ -85,29 +84,26 @@ FORCE_INLINE static uint16_t MultiU24X32toH16(uint32_t longIn1, uint32_t longIn2 return intRes; } -// intRes = intIn1 * intIn2 >> 16 +// charRes = charIn1 * charIn2 >> 8 // uses: -// r26 to store 0 -// r27 to store the byte 1 of the 24 bit result -FORCE_INLINE static uint16_t MultiU16X8toH16(uint8_t charIn1, uint16_t intIn2) { - uint8_t tmp; - uint16_t intRes; +// r1, r0 for the result of mul. After the mul, r0 holds bits 0-7 of the 16 bit result, +// and the top bit of r0 is used for rounding. +// [charRes] is bits 8-15 and is the returned value. +// [charIn1] is an 8 bit parameter. +// [charIn2] is an 8 bit parameter. +// +FORCE_INLINE static uint8_t MultiU8X8toH8(uint8_t charIn1, uint8_t charIn2) { + uint8_t charRes; __asm__ __volatile__ ( - A("clr %[tmp]") - A("mul %[charIn1], %B[intIn2]") - A("movw %A[intRes], r0") - A("mul %[charIn1], %A[intIn2]") - A("add %A[intRes], r1") - A("adc %B[intRes], %[tmp]") - A("lsr r0") - A("adc %A[intRes], %[tmp]") - A("adc %B[intRes], %[tmp]") + A("mul %[charIn1], %[charIn2]") + A("mov %[charRes], r1") A("clr r1") - : [intRes] "=&r" (intRes), - [tmp] "=&r" (tmp) + A("lsl r0") + A("adc %[charRes], r1") + : [charRes] "=&r" (charRes) : [charIn1] "d" (charIn1), - [intIn2] "d" (intIn2) + [charIn2] "d" (charIn2) : "cc" ); - return intRes; + return charRes; } diff --git a/Marlin/src/HAL/AVR/pinsDebug.h b/Marlin/src/HAL/AVR/pinsDebug.h index 0f564df987..fc51f41ef8 100644 --- a/Marlin/src/HAL/AVR/pinsDebug.h +++ b/Marlin/src/HAL/AVR/pinsDebug.h @@ -64,23 +64,25 @@ #define VALID_PIN(pin) (pin >= 0 && pin < NUM_DIGITAL_PINS ? 1 : 0) #if AVR_ATmega1284_FAMILY - #define DIGITAL_PIN_TO_ANALOG_PIN(P) int(analogInputToDigitalPin(0) - (P)) - #define IS_ANALOG(P) ((P) >= analogInputToDigitalPin(7) && (P) <= analogInputToDigitalPin(0)) + #define IS_ANALOG(P) WITHIN(P, analogInputToDigitalPin(7), analogInputToDigitalPin(0)) + #define DIGITAL_PIN_TO_ANALOG_PIN(P) int(IS_ANALOG(P) ? (P) - analogInputToDigitalPin(7) : -1) #else - #define DIGITAL_PIN_TO_ANALOG_PIN(P) int((P) - analogInputToDigitalPin(0)) - #define IS_ANALOG(P) ((P) >= analogInputToDigitalPin(0) && ((P) <= analogInputToDigitalPin(15) || (P) <= analogInputToDigitalPin(7))) + #define _ANALOG1(P) WITHIN(P, analogInputToDigitalPin(0), analogInputToDigitalPin(7)) + #define _ANALOG2(P) WITHIN(P, analogInputToDigitalPin(8), analogInputToDigitalPin(15)) + #define IS_ANALOG(P) (_ANALOG1(P) || _ANALOG2(P)) + #define DIGITAL_PIN_TO_ANALOG_PIN(P) int(_ANALOG1(P) ? (P) - analogInputToDigitalPin(0) : _ANALOG2(P) ? (P) - analogInputToDigitalPin(8) + 8 : -1) #endif #define GET_ARRAY_PIN(p) pgm_read_byte(&pin_array[p].pin) #define MULTI_NAME_PAD 26 // space needed to be pretty if not first name assigned to a pin void PRINT_ARRAY_NAME(uint8_t x) { - char *name_mem_pointer = (char*)pgm_read_ptr(&pin_array[x].name); - LOOP_L_N(y, MAX_NAME_LENGTH) { + PGM_P const name_mem_pointer = (PGM_P)pgm_read_ptr(&pin_array[x].name); + for (uint8_t y = 0; y < MAX_NAME_LENGTH; ++y) { char temp_char = pgm_read_byte(name_mem_pointer + y); if (temp_char != 0) SERIAL_CHAR(temp_char); else { - LOOP_L_N(i, MAX_NAME_LENGTH - y) SERIAL_CHAR(' '); + for (uint8_t i = 0; i < MAX_NAME_LENGTH - y; ++i) SERIAL_CHAR(' '); break; } } @@ -88,7 +90,6 @@ void PRINT_ARRAY_NAME(uint8_t x) { #define GET_ARRAY_IS_DIGITAL(x) pgm_read_byte(&pin_array[x].is_digital) - #if defined(__AVR_ATmega1284P__) // 1284 IDE extensions set this to the number of #undef NUM_DIGITAL_PINS // digital only pins while all other CPUs have it #define NUM_DIGITAL_PINS 32 // set to digital only + digital/analog @@ -108,7 +109,7 @@ void PRINT_ARRAY_NAME(uint8_t x) { * Print a pin's PWM status. * Return true if it's currently a PWM pin. */ -static bool pwm_status(uint8_t pin) { +bool pwm_status(uint8_t pin) { char buffer[20]; // for the sprintf statements switch (digitalPinToTimer_DEBUG(pin)) { @@ -231,12 +232,12 @@ const volatile uint8_t* const PWM_OCR[][3] PROGMEM = { #define OCR_VAL(T, L) pgm_read_word(&PWM_OCR[T][L]) -static void err_is_counter() { SERIAL_ECHOPGM(" non-standard PWM mode"); } -static void err_is_interrupt() { SERIAL_ECHOPGM(" compare interrupt enabled"); } -static void err_prob_interrupt() { SERIAL_ECHOPGM(" overflow interrupt enabled"); } -static void print_is_also_tied() { SERIAL_ECHOPGM(" is also tied to this pin"); SERIAL_ECHO_SP(14); } +void err_is_counter() { SERIAL_ECHOPGM(" non-standard PWM mode"); } +void err_is_interrupt() { SERIAL_ECHOPGM(" compare interrupt enabled"); } +void err_prob_interrupt() { SERIAL_ECHOPGM(" overflow interrupt enabled"); } +void print_is_also_tied() { SERIAL_ECHOPGM(" is also tied to this pin"); SERIAL_ECHO_SP(14); } -inline void com_print(const uint8_t N, const uint8_t Z) { +void com_print(const uint8_t N, const uint8_t Z) { const uint8_t *TCCRA = (uint8_t*)TCCR_A(N); SERIAL_ECHOPGM(" COM", AS_DIGIT(N)); SERIAL_CHAR(Z); @@ -278,7 +279,7 @@ void timer_prefix(uint8_t T, char L, uint8_t N) { // T - timer L - pwm N - if (TEST(*TMSK, TOIE)) err_prob_interrupt(); } -static void pwm_details(uint8_t pin) { +void pwm_details(uint8_t pin) { switch (digitalPinToTimer_DEBUG(pin)) { #if ABTEST(0) @@ -352,47 +353,41 @@ static void pwm_details(uint8_t pin) { } // pwm_details #ifndef digitalRead_mod // Use Teensyduino's version of digitalRead - it doesn't disable the PWMs - int digitalRead_mod(const int8_t pin) { // same as digitalRead except the PWM stop section has been removed + int digitalRead_mod(const pin_t pin) { // same as digitalRead except the PWM stop section has been removed const uint8_t port = digitalPinToPort_DEBUG(pin); return (port != NOT_A_PIN) && (*portInputRegister(port) & digitalPinToBitMask_DEBUG(pin)) ? HIGH : LOW; } #endif -#ifndef PRINT_PORT +void print_port(const pin_t pin) { // print port number + #ifdef digitalPinToPort_DEBUG + uint8_t x; + SERIAL_ECHOPGM(" Port: "); + #if AVR_AT90USB1286_FAMILY + x = (pin == 46 || pin == 47) ? 'E' : digitalPinToPort_DEBUG(pin) + 64; + #else + x = digitalPinToPort_DEBUG(pin) + 64; + #endif + SERIAL_CHAR(x); - void print_port(int8_t pin) { // print port number - #ifdef digitalPinToPort_DEBUG - uint8_t x; - SERIAL_ECHOPGM(" Port: "); - #if AVR_AT90USB1286_FAMILY - x = (pin == 46 || pin == 47) ? 'E' : digitalPinToPort_DEBUG(pin) + 64; - #else - x = digitalPinToPort_DEBUG(pin) + 64; - #endif - SERIAL_CHAR(x); - - #if AVR_AT90USB1286_FAMILY - if (pin == 46) - x = '2'; - else if (pin == 47) - x = '3'; - else { - uint8_t temp = digitalPinToBitMask_DEBUG(pin); - for (x = '0'; x < '9' && temp != 1; x++) temp >>= 1; - } - #else + #if AVR_AT90USB1286_FAMILY + if (pin == 46) + x = '2'; + else if (pin == 47) + x = '3'; + else { uint8_t temp = digitalPinToBitMask_DEBUG(pin); for (x = '0'; x < '9' && temp != 1; x++) temp >>= 1; - #endif - SERIAL_CHAR(x); + } #else - SERIAL_ECHO_SP(10); + uint8_t temp = digitalPinToBitMask_DEBUG(pin); + for (x = '0'; x < '9' && temp != 1; x++) temp >>= 1; #endif - } - - #define PRINT_PORT(p) print_port(p) - -#endif + SERIAL_CHAR(x); + #else + SERIAL_ECHO_SP(10); + #endif +} #define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%3d "), p); SERIAL_ECHO(buffer); }while(0) #define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d) "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0) diff --git a/Marlin/src/HAL/AVR/pinsDebug_Teensyduino.h b/Marlin/src/HAL/AVR/pinsDebug_Teensyduino.h index 582ae79ba7..c812d4fb11 100644 --- a/Marlin/src/HAL/AVR/pinsDebug_Teensyduino.h +++ b/Marlin/src/HAL/AVR/pinsDebug_Teensyduino.h @@ -22,11 +22,10 @@ #pragma once // -// some of the pin mapping functions of the Teensduino extension to the Arduino IDE -// do not function the same as the other Arduino extensions +// Some of the pin mapping functions of the Arduino IDE Teensduino extension +// function differently from other Arduino extensions. // - #define TEENSYDUINO_IDE //digitalPinToTimer(pin) function works like Arduino but Timers are not defined @@ -48,8 +47,6 @@ #define PE 5 #define PF 6 -#undef digitalPinToPort - const uint8_t PROGMEM digital_pin_to_port_PGM[] = { PD, // 0 - PD0 - INT0 - PWM PD, // 1 - PD1 - INT1 - PWM @@ -101,7 +98,7 @@ const uint8_t PROGMEM digital_pin_to_port_PGM[] = { PE, // 47 - PE3 (not defined in teensyduino) }; -#define digitalPinToPort(P) ( pgm_read_byte( digital_pin_to_port_PGM + (P) ) ) +#define digitalPinToPort(P) pgm_read_byte(digital_pin_to_port_PGM[P]) // digitalPinToBitMask(pin) is OK diff --git a/Marlin/src/HAL/AVR/pinsDebug_plus_70.h b/Marlin/src/HAL/AVR/pinsDebug_plus_70.h index d9aa44c3cb..fa479cfe8f 100644 --- a/Marlin/src/HAL/AVR/pinsDebug_plus_70.h +++ b/Marlin/src/HAL/AVR/pinsDebug_plus_70.h @@ -231,7 +231,6 @@ const uint8_t PROGMEM digital_pin_to_bit_mask_PGM_plus_70[] = { #define digitalPinToBitMask_plus_70(P) ( pgm_read_byte( digital_pin_to_bit_mask_PGM_plus_70 + (P) ) ) - const uint8_t PROGMEM digital_pin_to_timer_PGM_plus_70[] = { // TIMERS // ------------------------ diff --git a/Marlin/src/HAL/AVR/registers.cpp b/Marlin/src/HAL/AVR/registers.cpp new file mode 100644 index 0000000000..08a74c952a --- /dev/null +++ b/Marlin/src/HAL/AVR/registers.cpp @@ -0,0 +1,979 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2023 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#ifdef __AVR__ + +#include "../../inc/MarlinConfigPre.h" + +#if ENABLED(HAL_AVR_DIRTY_INIT) + +#include "registers.h" + +// Since the compiler could be creating multiple copies of function code-graphs for each header inline-inclusion, +// we want to off-load the function definitions that define static memory into this solitary compilation unit. +// This way the ROM is NOT bloated (who knows if the compiler is optimizing same-content constant objects into one?) + +ATmegaPinFunctions _ATmega_getPinFunctions(int pin) { + if (pin < 0) return {}; + + ATmegaPinInfo info = _ATmega_getPinInfo((unsigned int)pin); + + #ifdef __AVR_TRM01__ + if (info.port == eATmegaPort::PORT_A) { + if (info.pinidx == 7) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD7 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 6) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD6 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 5) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD5 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 4) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD4 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 3) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD3 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 2) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD2 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 1) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD1 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 0) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD0 }; + return { funcs, countof(funcs) }; + } + } + else if (info.port == eATmegaPort::PORT_B) { + if (info.pinidx == 7) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TOC0A, eATmegaPinFunc::TOC1C, eATmegaPinFunc::PCI7 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 6) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TOC1B, eATmegaPinFunc::PCI6 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 5) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TOC1A, eATmegaPinFunc::PCI5 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 4) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TOC2A, eATmegaPinFunc::PCI4 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 3) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::SPI_MISO, eATmegaPinFunc::PCI3 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 2) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::SPI_MOSI, eATmegaPinFunc::PCI2 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 1) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::SPI_SCK, eATmegaPinFunc::PCI1 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 0) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::SPI_CS, eATmegaPinFunc::PCI0 }; + return { funcs, countof(funcs) }; + } + } + else if (info.port == eATmegaPort::PORT_C) { + if (info.pinidx == 7) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD15 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 6) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD14 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 5) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD13 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 4) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD12 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 3) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD11 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 2) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD10 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 1) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD9 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 0) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD8 }; + return { funcs, countof(funcs) }; + } + } + else if (info.port == eATmegaPort::PORT_D) { + if (info.pinidx == 7) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TIMER0_CLKI }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 6) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TIMER1_CLKI }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 5) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::USART1_CLK }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 4) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TIMER1_ICP }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 3) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EINT3, eATmegaPinFunc::USART1_TXD }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 2) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EINT2, eATmegaPinFunc::USART1_RXD }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 1) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EINT1, eATmegaPinFunc::TWI_SDA }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 0) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EINT0, eATmegaPinFunc::TWI_CLK }; + return { funcs, countof(funcs) }; + } + } + else if (info.port == eATmegaPort::PORT_E) { + if (info.pinidx == 7) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EINT7, eATmegaPinFunc::TIMER3_ICP, eATmegaPinFunc::CLKO }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 6) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EINT6, eATmegaPinFunc::TIMER3_CLKI }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 5) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EINT5, eATmegaPinFunc::TOC3C }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 4) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EINT4, eATmegaPinFunc::TOC3B }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 3) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::AIN1, eATmegaPinFunc::TOC3A }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 2) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::AIN0, eATmegaPinFunc::USART0_CLK }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 1) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::PDO, eATmegaPinFunc::USART0_TXD }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 0) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::PDI, eATmegaPinFunc::USART0_RXD, eATmegaPinFunc::PCI8 }; + return { funcs, countof(funcs) }; + } + } + else if (info.port == eATmegaPort::PORT_F) { + if (info.pinidx == 7) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC7 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 6) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC6 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 5) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC5 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 4) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC4 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 3) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC3 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 2) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC2 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 1) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC1 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 0) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC0 }; + return { funcs, countof(funcs) }; + } + } + else if (info.port == eATmegaPort::PORT_G) { + if (info.pinidx == 5) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TOC0B }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 4) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TOSC1 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 3 ) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TOSC2 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 2) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_ALE }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 1) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_RD }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 0) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_WR }; + return { funcs, countof(funcs) }; + } + } + else if (info.port == eATmegaPort::PORT_H) { + if (info.pinidx == 7) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TIMER4_CLKI }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 6) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TOC2B }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 5) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TOC4C }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 4) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TOC4B }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 3) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TOC4A }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 2) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::USART2_CLK }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 1) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::USART2_TXD }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 0) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::USART2_RXD }; + return { funcs, countof(funcs) }; + } + } + else if (info.port == eATmegaPort::PORT_J) { + if (info.pinidx == 6) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::PCI15 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 5) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::PCI14 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 4) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::PCI13 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 3) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::PCI12 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 2) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::USART3_CLK, eATmegaPinFunc::PCI11 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 1) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::USART3_TXD, eATmegaPinFunc::PCI10 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 0) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::USART3_RXD, eATmegaPinFunc::PCI9 }; + return { funcs, countof(funcs) }; + } + } + else if (info.port == eATmegaPort::PORT_K) { + if (info.pinidx == 7) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC15, eATmegaPinFunc::PCI23 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 6) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC14, eATmegaPinFunc::PCI22 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 5) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC13, eATmegaPinFunc::PCI21 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 4) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC12, eATmegaPinFunc::PCI20 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 3) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC11, eATmegaPinFunc::PCI19 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 2) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC10, eATmegaPinFunc::PCI18 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 1) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC9, eATmegaPinFunc::PCI17 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 0) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC8, eATmegaPinFunc::PCI16 }; + return { funcs, countof(funcs) }; + } + } + else if (info.port == eATmegaPort::PORT_L) { + if (info.pinidx == 5) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TOC5C }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 4) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TOC5B }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 3) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TOC5A }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 2) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TIMER5_CLKI }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 1) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TIMER5_ICP }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 0) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TIMER4_ICP }; + return { funcs, countof(funcs) }; + } + } + #elif defined(__AVR_TRM02__) + if (info.port == eATmegaPort::PORT_A) { + if (info.pinidx == 7) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::PCI7, eATmegaPinFunc::ADC7 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 6) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::PCI6, eATmegaPinFunc::ADC6 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 5) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::PCI5, eATmegaPinFunc::ADC5 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 4) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::PCI4, eATmegaPinFunc::ADC4 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 3) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::PCI3, eATmegaPinFunc::ADC3 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 2) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::PCI2, eATmegaPinFunc::ADC2 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 1) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::PCI1, eATmegaPinFunc::ADC1 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 0) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::PCI0, eATmegaPinFunc::ADC0 }; + return { funcs, countof(funcs) }; + } + } + else if (info.port == eATmegaPort::PORT_B) { + if (info.pinidx == 7) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::SPI_SCK, eATmegaPinFunc::TOC3B, eATmegaPinFunc::PCI15 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 6) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::SPI_MISO, eATmegaPinFunc::TOC3A, eATmegaPinFunc::PCI14 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 5) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::SPI_MOSI, eATmegaPinFunc::TIMER3_ICP, eATmegaPinFunc::PCI13 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 4) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::SPI_CS, eATmegaPinFunc::TOC0B, eATmegaPinFunc::PCI12 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 3) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::AIN1, eATmegaPinFunc::TOC0A, eATmegaPinFunc::PCI11 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 2) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::AIN0, eATmegaPinFunc::EINT2, eATmegaPinFunc::PCI10 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 1) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TIMER1_ECI, eATmegaPinFunc::CLKO, eATmegaPinFunc::PCI9 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 0) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TIMER0_ECI, eATmegaPinFunc::USART0_CLK, eATmegaPinFunc::PCI8 }; + return { funcs, countof(funcs) }; + } + } + else if (info.port == eATmegaPort::PORT_C) { + if (info.pinidx == 7) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TOSC2, eATmegaPinFunc::PCI23 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 6) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TOSC1, eATmegaPinFunc::PCI22 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 5) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::PCI21 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 4) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::PCI20 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 3) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::PCI19 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 2) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::PCI18 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 1) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::PCI17, eATmegaPinFunc::TWI_SDA }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 0) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TWI_CLK, eATmegaPinFunc::PCI16 }; + return { funcs, countof(funcs) }; + } + } + else if (info.port == eATmegaPort::PORT_D) { + if (info.pinidx == 7) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TOC2A, eATmegaPinFunc::PCI31 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 6) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TIMER1_ICP, eATmegaPinFunc::TOC2B, eATmegaPinFunc::PCI30 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 5) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TOC1A, eATmegaPinFunc::PCI29 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 4) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TOC1B, eATmegaPinFunc::USART1_CLK, eATmegaPinFunc::PCI28 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 3) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EINT1, eATmegaPinFunc::USART1_TXD, eATmegaPinFunc::PCI27 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 2) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EINT0, eATmegaPinFunc::USART1_RXD, eATmegaPinFunc::PCI26 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 1) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::USART0_TXD, eATmegaPinFunc::PCI25 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 0) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::USART0_TXD, eATmegaPinFunc::PCI24, eATmegaPinFunc::TIMER3_ECI }; + return { funcs, countof(funcs) }; + } + } + #elif defined(__AVR_TRM03__) + if (info.port == eATmegaPort::PORT_B) { + if (info.pinidx == 7) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::XTAL2, eATmegaPinFunc::TOSC2, eATmegaPinFunc::PCI7 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 6) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::XTAL1, eATmegaPinFunc::TOSC1, eATmegaPinFunc::PCI6 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 5) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::SPI_SCK, eATmegaPinFunc::PCI5 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 4) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::SPI_MISO, eATmegaPinFunc::PCI4 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 3) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::SPI_MOSI, eATmegaPinFunc::TOC2A, eATmegaPinFunc::PCI3 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 2) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::SPI_CS, eATmegaPinFunc::TOC1B, eATmegaPinFunc::PCI2 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 1) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TOC1A, eATmegaPinFunc::PCI1 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 0) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TIMER1_ICP, eATmegaPinFunc::CLKO, eATmegaPinFunc::PCI0 }; + return { funcs, countof(funcs) }; + } + } + else if (info.port == eATmegaPort::PORT_C) { + if (info.pinidx == 6) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::PCI14 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 5) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC5, eATmegaPinFunc::TWI_CLK, eATmegaPinFunc::PCI13 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 4) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC4, eATmegaPinFunc::TWI_SDA, eATmegaPinFunc::PCI12 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 3) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC3, eATmegaPinFunc::PCI11 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 2) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC2, eATmegaPinFunc::PCI10 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 1) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC1, eATmegaPinFunc::PCI9 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 0) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC0, eATmegaPinFunc::PCI8 }; + return { funcs, countof(funcs) }; + } + } + else if (info.port == eATmegaPort::PORT_D) { + if (info.pinidx == 7) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::AIN1, eATmegaPinFunc::PCI23 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 6) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::AIN0, eATmegaPinFunc::TOC0A, eATmegaPinFunc::PCI22 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 5) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TIMER1_ECI, eATmegaPinFunc::TOC0B, eATmegaPinFunc::PCI21 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 4) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::USART_CLK, eATmegaPinFunc::TIMER0_ECI, eATmegaPinFunc::PCI20 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 3) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EINT1, eATmegaPinFunc::TOC2B, eATmegaPinFunc::PCI19 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 2) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EINT0, eATmegaPinFunc::PCI18 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 1) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::USART_TXD, eATmegaPinFunc::PCI17 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 0) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::USART_RXD, eATmegaPinFunc::PCI16 }; + return { funcs, countof(funcs) }; + } + } + #elif defined(__AVR_TRM04__) + if (info.port == eATmegaPort::PORT_A) { + if (info.pinidx == 7) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD7 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 6) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD6 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 5) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD5 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 4) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD4 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 3) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD3 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 2) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD2 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 1) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD1 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 0) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD0 }; + return { funcs, countof(funcs) }; + } + } + else if (info.port == eATmegaPort::PORT_B) { + if (info.pinidx == 7) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TOC0A, eATmegaPinFunc::TOC1C, eATmegaPinFunc::PCI7 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 6) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TOC1B, eATmegaPinFunc::PCI6 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 5) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TOC1A, eATmegaPinFunc::PCI5 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 4) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TOC2A, eATmegaPinFunc::PCI4 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 3) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::PDO, eATmegaPinFunc::SPI_MISO, eATmegaPinFunc::PCI3 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 2) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::PDI, eATmegaPinFunc::SPI_MOSI, eATmegaPinFunc::PCI2 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 1) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::SPI_SCK, eATmegaPinFunc::PCI1 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 0) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::SPI_CS, eATmegaPinFunc::PCI0 }; + return { funcs, countof(funcs) }; + } + } + else if (info.port == eATmegaPort::PORT_C) { + if (info.pinidx == 7) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD15, eATmegaPinFunc::TIMER3_ICP, eATmegaPinFunc::CLKO }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 6) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD14, eATmegaPinFunc::TOC3A }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 5) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD13, eATmegaPinFunc::TOC3B }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 4) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD12, eATmegaPinFunc::TOC3C }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 3) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD11, eATmegaPinFunc::TIMER3_CLKI }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 2) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD10 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 1) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD9 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 0) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_AD8 }; + return { funcs, countof(funcs) }; + } + } + else if (info.port == eATmegaPort::PORT_D) { + if (info.pinidx == 7) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TIMER0_CLKI }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 6) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TIMER1_CLKI }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 5) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::USART1_CLK }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 4) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TIMER1_ICP }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 3) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EINT3, eATmegaPinFunc::USART1_TXD }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 2) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EINT2, eATmegaPinFunc::USART1_RXD }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 1) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EINT1, eATmegaPinFunc::TWI_SDA, eATmegaPinFunc::TOC2B }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 0) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EINT0, eATmegaPinFunc::TWI_CLK, eATmegaPinFunc::TOC0B }; + return { funcs, countof(funcs) }; + } + } + else if (info.port == eATmegaPort::PORT_E) { + if (info.pinidx == 7) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EINT7, eATmegaPinFunc::AIN1, eATmegaPinFunc::UVCON }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 6) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EINT6, eATmegaPinFunc::AIN0 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 5) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EINT5, eATmegaPinFunc::TOSC2 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 4) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EINT4, eATmegaPinFunc::TOSC2 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 3) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::UID }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 2) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_ALE }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 1) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_RD }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 0) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EXTMEM_WR }; + return { funcs, countof(funcs) }; + } + } + else if (info.port == eATmegaPort::PORT_F) { + if (info.pinidx == 7) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC7 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 6) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC6 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 5) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC5 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 4) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC4 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 3) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC3 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 2) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC2 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 1) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC1 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 0) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC0 }; + return { funcs, countof(funcs) }; + } + } + #elif defined(__AVR_TRM05__) + if (info.port == eATmegaPort::PORT_A) { + if (info.pinidx == 7) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC7, eATmegaPinFunc::PCI7 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 6) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC6, eATmegaPinFunc::PCI6 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 5) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC5, eATmegaPinFunc::PCI5 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 4) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC4, eATmegaPinFunc::PCI4 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 3) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC3, eATmegaPinFunc::PCI3 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 2) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC2, eATmegaPinFunc::PCI2 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 1) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC1, eATmegaPinFunc::PCI1 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 0) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::ADC0, eATmegaPinFunc::PCI0 }; + return { funcs, countof(funcs) }; + } + } + else if (info.port == eATmegaPort::PORT_B) { + if (info.pinidx == 7) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::SPI_SCK, eATmegaPinFunc::PCI15 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 6) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::SPI_MISO, eATmegaPinFunc::PCI14 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 5) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::SPI_MOSI, eATmegaPinFunc::PCI13 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 4) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::SPI_CS, eATmegaPinFunc::TOC0B, eATmegaPinFunc::PCI12 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 3) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::AIN1, eATmegaPinFunc::TOC0A, eATmegaPinFunc::PCI11 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 2) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::AIN0, eATmegaPinFunc::EINT2, eATmegaPinFunc::PCI10 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 1) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TIMER1_ECI, eATmegaPinFunc::CLKO, eATmegaPinFunc::PCI9 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 0) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TIMER0_ECI, eATmegaPinFunc::USART0_CLK, eATmegaPinFunc::PCI8 }; + return { funcs, countof(funcs) }; + } + } + else if (info.port == eATmegaPort::PORT_C) { + if (info.pinidx == 7) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TOSC2, eATmegaPinFunc::PCI23 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 6) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TOSC1, eATmegaPinFunc::PCI22 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 5) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::PCI21 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 4) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::PCI20 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 3) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::PCI19 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 2) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::PCI18 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 1) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TWI_SDA, eATmegaPinFunc::PCI17 }; + return { funcs, countof(funcs) }; + } + else if (info.pinidx == 0) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TWI_CLK, eATmegaPinFunc::PCI16 }; + return { funcs, countof(funcs) }; + } + } + else if (info.port == eATmegaPort::PORT_D) { + if (info.pinidx == 7) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TOC2A, eATmegaPinFunc::PCI31 }; + return { funcs, countof(funcs) }; + } + if (info.pinidx == 6) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TIMER1_ICP, eATmegaPinFunc::TOC2B, eATmegaPinFunc::PCI30 }; + return { funcs, countof(funcs) }; + } + if (info.pinidx == 5) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TOC1A, eATmegaPinFunc::PCI29 }; + return { funcs, countof(funcs) }; + } + if (info.pinidx == 4) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::TOC1B, eATmegaPinFunc::USART1_CLK, eATmegaPinFunc::PCI28 }; + return { funcs, countof(funcs) }; + } + if (info.pinidx == 3) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EINT1, eATmegaPinFunc::USART1_TXD, eATmegaPinFunc::PCI27 }; + return { funcs, countof(funcs) }; + } + if (info.pinidx == 2) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::EINT0, eATmegaPinFunc::USART1_RXD, eATmegaPinFunc::PCI26 }; + return { funcs, countof(funcs) }; + } + if (info.pinidx == 1) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::USART0_TXD, eATmegaPinFunc::PCI25 }; + return { funcs, countof(funcs) }; + } + if (info.pinidx == 0) { + static const eATmegaPinFunc funcs[] = { eATmegaPinFunc::USART0_RXD, eATmegaPinFunc::PCI24 }; + return { funcs, countof(funcs) }; + } + } + #endif + + return ATmegaPinFunctions(); // default and empty. +} + +#endif // HAL_AVR_DIRTY_INIT +#endif // __AVR__ diff --git a/Marlin/src/HAL/AVR/registers.h b/Marlin/src/HAL/AVR/registers.h new file mode 100644 index 0000000000..64c0955c3e --- /dev/null +++ b/Marlin/src/HAL/AVR/registers.h @@ -0,0 +1,5080 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2023 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include + +// This volatile-nonsense has to be done due to the C++ platform language specialization that specifies, for it's own compiler ideology, +// that memory writes and reads can be optimized across easily-reachable code spaces. This is in contrast to MSVC which specifies that +// memory writes and reads are holy. + +// OVERVIEW OF PREPROCESSOR DEFINITIONS: +// __AVR_ATmega2560__ +// __AVR_ATmega1284P__ +// __AVR_ATmega1280__ +// __AVR_ATmega644__ +// __AVR_ATmega644P__ +// __AVR_ATmega2561__ + +// Contributed by Martin Turski, company owner of EirDev, on the 29th of November, 2022 +// Contact E-Mail: turningtides@outlook.de +// Created specifically for the Marlin FW for AVR backwards-compatibility. +// Please expand this file with details of every supported AVR implementation. +// 1) download the latest technical reference manual +// 2) add the new technical reference manual below using a set of __AVR_*__ preprocessor definitions and a new __AVR_TRM*__ incrementing define +// 3) check which of the existing AVR registers exist on the new implementation and enable them +// 4) add any new register definitions +// 5) add the register memory layout below the definitions +// 6) extend the _ATmega_resetperipherals functions +// 7) extend the _ATmega_savePinAlternate function +// 8) copy the extension idea to _ATmega_restorePinAlternate and finish implementing it +// You need to adjust the eATmegaPort enumeration aswell. + +#if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + #error "Fatal error: __AVR_TRMn__ already defined! (n: 01|02|03|04|05)" +#endif + +#if defined(__AVR_ATmega2560__) || defined(__AVR_ATmega2561__) || defined(__AVR_ATmega1280__) || defined(__AVR_ATmega1281__) || defined(__AVR_ATmega640__) + // ATmega2560 technical reference manual date: 28th of November, 2022 + // ATmega640-1280-1281-2560-2561-Datasheet-DS40002211A.pdf + #define __AVR_TRM01__ +#elif defined(__AVR_ATmega164A__) || defined(__AVR_ATmega164PA__) || defined(__AVR_ATmega324A__) || defined(__AVR_ATmega324PA__) || defined(__AVR_ATmega644A__) || defined(__AVR_ATmega644PA__) || defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__) + // ATmega1284 technical reference manual date: 29th of November, 2022 + // ATmega164A_PA-324A_PA-644A_PA-1284_P_Data-Sheet-40002070B.pdf + #define __AVR_TRM02__ +#elif defined(__AVR_ATmega48A__) || defined(__AVR_ATmega48PA__) || defined(__AVR_ATmega88A__) || defined(__AVR_ATmega88PA__) || defined(__AVR_ATmega168A__) || defined(__AVR_ATmega168PA__) || defined(__AVR_ATmega328__) || defined(__AVR_ATmega328P__) + // ATmega328 technical reference manual date: 29th of November, 2022 + // ATmega48A-PA-88A-PA-168A-PA-328-P-DS-DS40002061B.pdf + #define __AVR_TRM03__ +#elif defined(__AVR_AT90USB1287__) || defined(__AVR_AT90USB1286__) || defined(__AVR_AT90USB1286P__) || defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB646P__) || defined(__AVR_AT90USB647__) + // AT90USB1287 technical reference manual ID: 7593D–AVR–07/06 + // Preliminary. + #define __AVR_TRM04__ +#elif defined(__AVR_ATmega164P__) || defined(__AVR_ATmega164V__) || defined(__AVR_ATmega324P__) || defined(__AVR_ATmega324V__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644V__) + // ATmega644P technical reference manual date: 14th of February, 2023 + // ATmega164P-324P-644P-Data-Sheet-40002071A.pdf + #define __AVR_TRM05__ +#endif + +/** + * HELPER FUNCTIONS + */ +namespace AVRHelpers { + + template + struct no_volatile { + typedef T type; + }; + + template + struct no_volatile : public no_volatile {}; + + template + struct voltype { + typedef T type; + }; + template + struct voltype { + typedef uint8_t type; + }; + template + struct voltype { + typedef uint16_t type; + }; + template + struct voltype { + typedef uint32_t type; + }; + + template + inline void dwrite(volatile T& v, const T& V) noexcept { + (volatile typename voltype ::type&)v = (const typename voltype ::type&)V; + } + +} // namespace AVRHelpers + +// As old as the ATmega series of CPU is, the worse the actual libraries making +// use of the MCU likely are. + +// These registers as references do not take program space since they are purely references. + +// It would be great if the old AVR definitions could be wasted in favor of these +// and code be rewritten to use the following more robust definitions. + +struct _bit_reg_t { + uint8_t val; + + bool getValue(uint8_t idx) const volatile { + return ( val & (1 << idx) ); + } + void setValue(uint8_t idx, bool value) volatile { + if (value) + val |= (1 << idx); + else + val &= ~(1 << idx); + } +}; + +#if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + + typedef _bit_reg_t PIN_reg_t; + typedef _bit_reg_t DDR_reg_t; + typedef _bit_reg_t PORT_reg_t; + + struct PORT_dev_t { + PIN_reg_t _PIN; + DDR_reg_t _DDR; + PORT_reg_t _PORT; + + inline void operator = ( const PORT_dev_t& r ) volatile { + using namespace AVRHelpers; + dwrite(this->_PIN, r._PIN); + dwrite(this->_DDR, r._DDR); + dwrite(this->_PORT, r._PORT); + } + }; + static_assert(sizeof(PORT_dev_t) == 3, "invalid size of ATmega2560 GPIO_dev_t"); + +#endif // __AVR_TRM01__ || __AVR_TRM02__ || __AVR_TRM03__ || __AVR_TRM04__ || __AVR_TRM05__ + +#ifdef __AVR_TRM01__ + + struct _bitG_reg_t { + uint8_t val : 6; + uint8_t reserved1 : 2; + + bool getValue(uint8_t idx) const volatile { + return val & (1 << idx); + } + void setValue(uint8_t idx, bool value) volatile { + if (value) + val |= (1 << idx); + else + val &= ~(1 << idx); + } + }; + typedef _bitG_reg_t PING_reg_t; + typedef _bitG_reg_t DDRG_reg_t; + typedef _bitG_reg_t PORTG_reg_t; + + struct PORTG_dev_t { + PING_reg_t _PIN; + DDRG_reg_t _DDR; + PORTG_reg_t _PORT; + + inline void operator = ( const PORTG_dev_t& r ) volatile { + using namespace AVRHelpers; + dwrite(this->_PIN, r._PIN); + dwrite(this->_DDR, r._DDR); + dwrite(this->_PORT, r._PORT); + } + }; + +#endif + +#ifdef __AVR_TRM03__ + + struct _bitC_reg_t { + uint8_t val : 7; + uint8_t reserved1 : 1; + + bool getValue(uint8_t idx) const volatile { + return ( val & (1 << idx) ); + } + void setValue(uint8_t idx, bool value) volatile { + if (value) + val |= (1 << idx); + else + val &= ~(1 << idx); + } + }; + typedef _bitC_reg_t PINC_reg_t; + typedef _bitC_reg_t DDRC_reg_t; + typedef _bitC_reg_t PORTC_reg_t; + + struct PORTC_dev_t { + PINC_reg_t _PIN; + DDRC_reg_t _DDR; + PORTC_reg_t _PORT; + + inline void operator = ( const PORTC_dev_t& r ) volatile { + this->_PIN = r._PIN; + this->_DDR = r._DDR; + this->_PORT = r._PORT; + } + }; + +#endif + +#if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + + struct TIFR0_reg_t { + uint8_t _TOV0 : 1; + uint8_t _OCF0A : 1; + uint8_t _OCF0B : 1; + uint8_t reserved1 : 5; + }; + static_assert(sizeof(TIFR0_reg_t) == 1, "invalid size of ATmega2560 TIFR0_reg_t"); + + struct TIFR1_reg_t { + #if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) + uint8_t _TOV1 : 1; + uint8_t _OCF1A : 1; + uint8_t _OCF1B : 1; + uint8_t _OCF1C : 1; + uint8_t reserved1 : 1; + uint8_t _ICF1 : 1; + uint8_t reserved2 : 2; + #elif defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM05__) + uint8_t _TOV1 : 1; + uint8_t _OCF1A : 1; + uint8_t _OCF1B : 1; + uint8_t reserved1 : 2; + uint8_t _ICF1 : 1; + uint8_t reserved2 : 2; + #endif + }; + static_assert(sizeof(TIFR1_reg_t) == 1, "invalid size of ATmega2560 TIFR1_reg_t"); + + struct TIFR2_reg_t { + uint8_t _TOV2 : 1; + uint8_t _OCF2A : 1; + uint8_t _OCF2B : 1; + uint8_t reserved1 : 5; + }; + static_assert(sizeof(TIFR2_reg_t) == 1, "invalid size of ATmega2560 TIFR2_reg_t"); + +#endif // __AVR_TRM01__ || __AVR_TRM02__ || __AVR_TRM03__ || __AVR_TRM04__ || __AVR_TRM05__ + +#if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM04__) + + struct TIFR3_reg_t { + #if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) + uint8_t _TOV3 : 1; + uint8_t _OCF3A : 1; + uint8_t _OCF3B : 1; + uint8_t _OCF3C : 1; + uint8_t reserved1 : 1; + uint8_t _ICF3 : 1; + uint8_t reserved2 : 2; + #elif defined(__AVR_TRM02__) + uint8_t _TOV3 : 1; + uint8_t _OCF3A : 1; + uint8_t _OCF3B : 1; + uint8_t reserved1 : 2; + uint8_t _ICF3 : 1; + uint8_t reserved2 : 2; + #endif + }; + static_assert(sizeof(TIFR3_reg_t) == 1, "invalid size of ATmega2560 TIFR3_reg_t"); + +#endif // __AVR_TRM01__ || __AVR_TRM02__ || __AVR_TRM04__ + +#ifdef __AVR_TRM01__ + + struct TIFR4_reg_t { + uint8_t _TOV4 : 1; + uint8_t _OCF4A : 1; + uint8_t _OCF4B : 1; + uint8_t _OCF4C : 1; + uint8_t reserved1 : 1; + uint8_t _ICF4 : 1; + uint8_t reserved2 : 2; + }; + static_assert(sizeof(TIFR4_reg_t) == 1, "invalid size of ATmega2560 TIFR4_reg_t"); + + struct TIFR5_reg_t { + uint8_t _TOV5 : 1; + uint8_t _OCF5A : 1; + uint8_t _OCF5B : 1; + uint8_t _OCF5C : 1; + uint8_t reserved1 : 1; + uint8_t _ICF5 : 1; + uint8_t reserved2 : 2; + }; + static_assert(sizeof(TIFR5_reg_t) == 1, "invalid size of ATmega2560 TIFR5_reg_t"); + +#endif // __AVR_TRM01__ + +#if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + + struct PCIFR_reg_t { + #if defined(__AVR_TRM01__) || defined(__AVR_TRM03__) + uint8_t _PCIF0 : 1; + uint8_t _PCIF1 : 1; + uint8_t _PCIF2 : 1; + uint8_t reserved1 : 5; + #elif defined(__AVR_TRM02__) || defined(__AVR_TRM05__) + uint8_t _PCIF0 : 1; + uint8_t _PCIF1 : 1; + uint8_t _PCIF2 : 1; + uint8_t _PCIF3 : 1; + uint8_t reserved1 : 4; + #elif defined(__AVR_TRM04__) + uint8_t _PCIF0 : 1; + uint8_t reserved1 : 7; + #endif + }; + static_assert(sizeof(PCIFR_reg_t) == 1, "invalid size of ATmega2560 PCIFR_reg_t"); + + struct EIFR_reg_t { + #if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) + uint8_t _INTF0 : 1; + uint8_t _INTF1 : 1; + uint8_t _INTF2 : 1; + uint8_t _INTF3 : 1; + uint8_t _INTF4 : 1; + uint8_t _INTF5 : 1; + uint8_t _INTF6 : 1; + uint8_t _INTF7 : 1; + #elif defined(__AVR_TRM02__) || defined(__AVR_TRM05__) + uint8_t _INTF0 : 1; + uint8_t _INTF1 : 1; + uint8_t _INTF2 : 1; + uint8_t reserved1 : 5; + #elif defined(__AVR_TRM03__) + uint8_t _INTF0 : 1; + uint8_t _INTF1 : 1; + uint8_t reserved1 : 6; + #endif + }; + static_assert(sizeof(EIFR_reg_t) == 1, "invalid size of ATmega2560 EIFR_reg_t"); + + struct EIMSK_reg_t { + #if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) + uint8_t _INT0 : 1; + uint8_t _INT1 : 1; + uint8_t _INT2 : 1; + uint8_t _INT3 : 1; + uint8_t _INT4 : 1; + uint8_t _INT5 : 1; + uint8_t _INT6 : 1; + uint8_t _INT7 : 1; + #elif defined(__AVR_TRM02__) || defined(__AVR_TRM05__) + uint8_t _INT0 : 1; + uint8_t _INT1 : 1; + uint8_t _INT2 : 1; + uint8_t reserved1 : 5; + #elif defined(__AVR_TRM03__) + uint8_t _INT0 : 1; + uint8_t _INT1 : 1; + uint8_t reserved1 : 6; + #endif + }; + static_assert(sizeof(EIMSK_reg_t) == 1, "invalid size of ATmega2560 EIMSK_reg_t"); + + struct EECR_reg_t { + uint8_t _EERE : 1; + uint8_t _EEPE : 1; + uint8_t _EEMPE : 1; + uint8_t _EERIE : 1; + uint8_t _EEPM0 : 1; + uint8_t _EEPM1 : 1; + uint8_t reserved1 : 2; + }; + static_assert(sizeof(EECR_reg_t) == 1, "invalid size of ATmega2560 EECR_reg_t"); + + struct EEAR_reg_t { + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + uint16_t _EEAR : 12; + uint16_t reserved1 : 4; + #elif defined(__AVR_TRM03__) + #if defined(__AVR_ATmega88A__) || defined(__AVR_ATmega88PA__) || defined(__AVR_ATmega168A__) || defined(__AVR_ATmega168PA__) || defined(__AVR_ATmega328P__) + uint16_t _EEAR : 16; + #else + uint8_t _EEAR : 8; + uint8_t reserved1 : 8; + #endif + #endif + }; + static_assert(sizeof(EEAR_reg_t) == 2, "invalid size of ATmega2560 EEAR_reg_t"); + + struct GTCCR_reg_t { + uint8_t _PSRSYNC : 1; + uint8_t _PSRASY : 1; + uint8_t reserved1 : 5; + uint8_t _TSM : 1; + }; + static_assert(sizeof(GTCCR_reg_t) == 1, "invalid size of ATmega2560 GTCCR_reg_t"); + + struct SPCR_reg_t { + uint8_t _SPR : 2; + uint8_t _CPHA : 1; + uint8_t _CPOL : 1; + uint8_t _MSTR : 1; + uint8_t _DORD : 1; + uint8_t _SPE : 1; + uint8_t _SPIE : 1; + }; + static_assert(sizeof(SPCR_reg_t) == 1, "invalid size of ATmega2560 SPCR_reg_t"); + + struct SPSR_reg_t { + uint8_t _SPI2X : 1; + uint8_t reserved1 : 5; + uint8_t _WCOL : 1; + uint8_t _SPIF : 1; + }; + static_assert(sizeof(SPSR_reg_t) == 1, "invalid size of ATmega2560 SPSR_reg_t"); + + struct ACSR_reg_t { + uint8_t _ACIS : 2; + uint8_t _ACIC : 1; + uint8_t _ACIE : 1; + uint8_t _ACI : 1; + uint8_t _ACO : 1; + uint8_t _ACBG : 1; + uint8_t _ACD : 1; + }; + static_assert(sizeof(ACSR_reg_t) == 1, "invalid size of ATmega2560 ACSR_reg_t"); + + struct SMCR_reg_t { + uint8_t _SE : 1; + uint8_t _SM : 3; + uint8_t reserved1 : 4; + }; + static_assert(sizeof(SMCR_reg_t) == 1, "invalid size of ATmega2560 SMCR_reg_t"); + + struct MCUSR_reg_t { + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + uint8_t _PORF : 1; + uint8_t _EXTRF : 1; + uint8_t _BORF : 1; + uint8_t _WDRF : 1; + uint8_t _JTRF : 1; + uint8_t reserved1 : 3; + #elif defined(__AVR_TRM03__) + uint8_t _PORF : 1; + uint8_t _EXTRF : 1; + uint8_t _BORF : 1; + uint8_t _WDRF : 1; + uint8_t reserved1 : 4; + #endif + }; + static_assert(sizeof(MCUSR_reg_t) == 1, "invalid size of ATmega2560 MCUSR_reg_t"); + + struct MCUCR_reg_t { + #if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) + uint8_t _IVCE : 1; + uint8_t _IVSEL : 1; + uint8_t reserved1 : 2; + uint8_t _PUD : 1; + uint8_t reserved2 : 2; + uint8_t _JTD : 1; + #elif defined(__AVR_TRM02__) || defined(__AVR_TRM05__) + uint8_t _IVCE : 1; + uint8_t _IVSEL : 1; + uint8_t reserved1 : 2; + uint8_t _PUD : 1; + uint8_t _BODSE : 1; + uint8_t _BODS : 1; + uint8_t _JTD : 1; + #elif defined(__AVR_TRM03__) + uint8_t _IVCE : 1; + uint8_t _IVSEL : 1; + uint8_t reserved1 : 2; + uint8_t _PUD : 1; + uint8_t _BODSE : 1; + uint8_t _BODS : 1; + uint8_t reserved2 : 1; + #endif + }; + static_assert(sizeof(MCUCR_reg_t) == 1, "invalid size of ATmega2560 MCUCR_reg_t"); + + struct SPMCSR_reg_t { + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + uint8_t _SPMEN : 1; + uint8_t _PGERS : 1; + uint8_t _PGWRT : 1; + uint8_t _BLBSET : 1; + uint8_t _RWWSRE : 1; + uint8_t _SIGRD : 1; + uint8_t _RWWSB : 1; + uint8_t _SPMIE : 1; + #elif defined(__AVR_TRM03__) + #if defined(__AVR_ATmega88A__) || defined(__AVR_ATmega88PA__) || defined(__AVR_ATmega168A__) || defined(__AVR_ATmega168PA__) || defined(__AVR_ATmega328P__) + uint8_t _SPMEN : 1; + uint8_t _PGERS : 1; + uint8_t _PGWRT : 1; + uint8_t _BLBSET : 1; + uint8_t _RWWSRE : 1; + uint8_t _SIGRD : 1; + uint8_t _RWWSB : 1; + uint8_t _SPMIE : 1; + #else + uint8_t _SPMEN : 1; + uint8_t _PGERS : 1; + uint8_t _PGWRT : 1; + uint8_t _BLBSET : 1; + uint8_t reserved1 : 1; + uint8_t _SIGRD : 1; + uint8_t reserved2 : 1; + uint8_t _SPMIE : 1; + #endif + #endif + }; + static_assert(sizeof(SPMCSR_reg_t) == 1, "invalid size of ATmega2560 SPMCSR_reg_t"); + +#endif // __AVR_TRM01__ || __AVR_TRM02__ || __AVR_TRM03__ || __AVR_TRM04__ + +#if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + + struct RAMPZ_reg_t { + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM04__) + uint8_t _RAMPZ : 2; + uint8_t reserved1 : 6; + #elif defined(__AVR_TRM05__) + uint8_t _RAMPZ : 1; + uint8_t reserved1 : 7; + #endif + }; + static_assert(sizeof(RAMPZ_reg_t) == 1, "invalid size of ATmega2560 RAMPZ_reg_t"); + +#endif // __AVR_TRM01__ || __AVR_TRM02__ || __AVR_TRM04__ || __AVR_TRM05__ + +#ifdef __AVR_TRM01__ + + struct EIND_reg_t { + uint8_t _EIND0 : 1; + uint8_t reserved1 : 7; + }; + static_assert(sizeof(EIND_reg_t) == 1, "invalid size of ATmega2560 EIND_reg_t"); + +#endif // __AVR_TRM01__ + +#if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + + struct SP_reg_t { + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + uint16_t _SP; + #elif defined(__AVR_TRM03__) + #if defined(__AVR_ATmega88A__) || defined(__AVR_ATmega88PA__) || defined(__AVR_ATmega168A__) || defined(__AVR_ATmega168PA__) || defined(__AVR_ATmega328P__) + uint16_t _SP : 11; + uint16_t reserved1 : 5; + #else + uint16_t _SP : 10; + uint16_t reserved1 : 6; + #endif + #endif + }; + static_assert(sizeof(SP_reg_t) == 2, "invalid size of ATmega2560 SP_reg_t"); + + struct SREG_reg_t { + uint8_t _C : 1; + uint8_t _Z : 1; + uint8_t _N : 1; + uint8_t _V : 1; + uint8_t _S : 1; + uint8_t _H : 1; + uint8_t _T : 1; + uint8_t _I : 1; + }; + static_assert(sizeof(SREG_reg_t) == 1, "invalid size of ATmega2560 SREG_reg_t"); + + struct WDTCSR_reg_t { + uint8_t _WDP0 : 1; + uint8_t _WDP1 : 1; + uint8_t _WDP2 : 1; + uint8_t _WDE : 1; + uint8_t _WDCE : 1; + uint8_t _WDP3 : 1; + uint8_t _WDIE : 1; + uint8_t _WDIF : 1; + }; + static_assert(sizeof(WDTCSR_reg_t) == 1, "invalid size of ATmega2560 WDTCSR_reg_t"); + + struct CLKPR_reg_t { + uint8_t _CLKPS : 4; + uint8_t reserved1 : 3; + uint8_t _CLKPCE : 1; + }; + static_assert(sizeof(CLKPR_reg_t) == 1, "invalid size of ATmega2560 CLKPR_reg_t"); + + struct PRR0_reg_t { + #ifdef __AVR_TRM01__ + uint8_t _PRADC : 1; + uint8_t _PRUSART0 : 1; + uint8_t _PRSPI : 1; + uint8_t _PRTIM1 : 1; + uint8_t reserved1 : 1; + uint8_t _PRTIM0 : 1; + uint8_t _PRTIM2 : 1; + uint8_t _PRTWI : 1; + #elif defined(__AVR_TRM02__) || defined(__AVR_TRM05__) + uint8_t _PRADC : 1; + uint8_t _PRUSART0 : 1; + uint8_t _PRSPI : 1; + uint8_t _PRTIM1 : 1; + uint8_t _PRUSART1 : 1; + uint8_t _PRTIM0 : 1; + uint8_t _PRTIM2 : 1; + uint8_t _PRTWI : 1; + #elif defined(__AVR_TRM03__) + uint8_t _PRADC : 1; + uint8_t _PRUSART0 : 1; + uint8_t _PRSPI : 1; + uint8_t _PRTIM1 : 1; + uint8_t reserved1 : 1; + uint8_t _PRTIM0 : 1; + uint8_t _PRTIM2 : 1; + uint8_t _PRTWI : 1; + #elif defined(__AVR_TRM04__) + uint8_t _PRADC : 1; + uint8_t reserved1 : 1; + uint8_t _PRSPI : 1; + uint8_t _PRTIM1 : 1; + uint8_t reserved2 : 1; + uint8_t _PRTIM0 : 1; + uint8_t _PRTIM2 : 1; + uint8_t _PRTWI : 1; + #endif + }; + static_assert(sizeof(PRR0_reg_t) == 1, "invalid size of ATmega2560 PRR0_reg_t"); + +#endif // __AVR_TRM01__ || __AVR_TRM02__ || __AVR_TRM03__ || __AVR_TRM04__ || __AVR_TRM05__ + +#if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM04__) + + struct PRR1_reg_t { + #ifdef __AVR_TRM01__ + uint8_t _PRUSART1 : 1; + uint8_t _PRUSART2 : 1; + uint8_t _PRUSART3 : 1; + uint8_t _PRTIM3 : 1; + uint8_t _PRTIM4 : 1; + uint8_t _PRTIM5 : 1; + uint8_t reserved1 : 2; + #elif defined(__AVR_TRM02__) + uint8_t _PRTIM3 : 1; + uint8_t reserved1 : 7; + #elif defined(__AVR_TRM04__) + uint8_t _PRUSART1 : 1; + uint8_t reserved1 : 2; + uint8_t _PRTIM3 : 1; + uint8_t reserved2 : 3; + uint8_t _PRUSB : 1; + #endif + }; + static_assert(sizeof(PRR1_reg_t) == 1, "invalid size of ATmega2560 PRR1_reg_t"); + +#endif // __AVR_TRM01__ || __AVR_TRM02__ || __AVR_TRM04__ + +#if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + + struct PCICR_reg_t { + #if defined(__AVR_TRM01__) || defined(__AVR_TRM03__) + uint8_t _PCIE0 : 1; + uint8_t _PCIE1 : 1; + uint8_t _PCIE2 : 1; + uint8_t reserved1 : 5; + #elif defined(__AVR_TRM02__) || defined(__AVR_TRM05__) + uint8_t _PCIE0 : 1; + uint8_t _PCIE1 : 1; + uint8_t _PCIE2 : 1; + uint8_t _PCIE3 : 1; + uint8_t reserved1 : 4; + #elif defined(__AVR_TRM04__) + uint8_t _PCIE0 : 1; + uint8_t reserved1 : 7; + #endif + }; + static_assert(sizeof(PCICR_reg_t) == 1, "invalid size of ATmega2560 PCICR_reg_t"); + + struct EICRA_reg_t { + #if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) + uint8_t _ISC0 : 2; + uint8_t _ISC1 : 2; + uint8_t _ISC2 : 2; + uint8_t _ISC3 : 2; + #elif defined(__AVR_TRM02__) || defined(__AVR_TRM05__) + uint8_t _ISC0 : 2; + uint8_t _ISC1 : 2; + uint8_t _ISC2 : 2; + uint8_t reserved1 : 2; + #elif defined(__AVR_TRM03__) + uint8_t _ISC0 : 2; + uint8_t _ISC1 : 2; + uint8_t reserved1 : 4; + #endif + }; + static_assert(sizeof(EICRA_reg_t) == 1, "invalid size of ATmega2560 EICRA_reg_t"); + +#endif // __AVR_TRM01__ || __AVR_TRM02__ || __AVR_TRM03__ || __AVR_TRM04__ || __AVR_TRM05__ + +#if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) + + struct EICRB_reg_t { + uint8_t _ISC4 : 2; + uint8_t _ISC5 : 2; + uint8_t _ISC6 : 2; + uint8_t _ISC7 : 2; + }; + static_assert(sizeof(EICRB_reg_t) == 1, "invalid size of ATmega2560 EICRB_reg_t"); + +#endif // __AVR_TRM01__ || __AVR_TRM04__ + +#if defined(__AVR_TRM03__) + + struct _bitPCMSK1_reg_t { + uint8_t val : 7; + uint8_t reserved1 : 1; + + bool getValue(uint8_t idx) { return val & (1 << idx); } + void setValue(uint8_t idx, bool value) { + if (value) + val |= (1 << idx); + else + val &= ~(1 << idx); + } + }; + +#endif // __AVR_TRM03__ + +#if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + + struct TIMSK0_reg_t { + #ifdef __AVR_TRM01__ + uint8_t _TOIE0 : 1; + uint8_t _OCIE0A : 1; + uint8_t _OCIE0B : 1; + uint8_t _OCIE0C : 1; + uint8_t reserved1 : 1; + uint8_t _ICIE0 : 1; + uint8_t reserved2 : 2; + #elif defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + uint8_t _TOIE0 : 1; + uint8_t _OCIE0A : 1; + uint8_t _OCIE0B : 1; + uint8_t reserved1 : 5; + #endif + }; + static_assert(sizeof(TIMSK0_reg_t) == 1, "invalid size of ATmega2560 TIMSK0_reg_t"); + + struct TIMSK1_reg_t { + #if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) + uint8_t _TOIE1 : 1; + uint8_t _OCIE1A : 1; + uint8_t _OCIE1B : 1; + uint8_t _OCIE1C : 1; + uint8_t reserved1 : 1; + uint8_t _ICIE1: 1; + uint8_t reserved2 : 2; + #elif defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM05__) + uint8_t _TOIE1 : 1; + uint8_t _OCIE1A : 1; + uint8_t _OCIE1B : 1; + uint8_t reserved1 : 2; + uint8_t _ICIE1: 1; + uint8_t reserved2 : 2; + #endif + }; + static_assert(sizeof(TIMSK1_reg_t) == 1, "invalid size of ATmega2560 TIMSK1_reg_t"); + + struct TIMSK2_reg_t { + uint8_t _TOIE2 : 1; + uint8_t _OCIE2A : 1; + uint8_t _OCIE2B : 1; + uint8_t reserved1 : 5; + }; + static_assert(sizeof(TIMSK2_reg_t) == 1, "invalid size of ATmega2560 TIMSK2_reg_t"); + +#endif // __AVR_TRM01__ || __AVR_TRM02__ || __AVR_TRM03__ || __AVR_TRM04__ || __AVR_TRM05__ + +#if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM04__) + + struct TIMSK3_reg_t { + #if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) + uint8_t _TOIE3 : 1; + uint8_t _OCIE3A : 1; + uint8_t _OCIE3B : 1; + uint8_t _OCIE3C : 1; + uint8_t reserved1 : 1; + uint8_t _ICIE3 : 1; + uint8_t reserved2 : 2; + #elif defined(__AVR_TRM02__) + uint8_t _TOIE3 : 1; + uint8_t _OCIE3A : 1; + uint8_t _OCIE3B : 1; + uint8_t reserved1 : 2; + uint8_t _ICIE3 : 1; + uint8_t reserved2 : 2; + #endif + }; + static_assert(sizeof(TIMSK3_reg_t) == 1, "invalid size of ATmega2560 TIMSK3_reg_t"); + +#endif // __AVR_TRM01__ || __AVR_TRM02__ || __AVR_TRM04__ + +#ifdef __AVR_TRM01__ + + struct TIMSK4_reg_t { + uint8_t _TOIE4 : 1; + uint8_t _OCIE4A : 1; + uint8_t _OCIE4B : 1; + uint8_t _OCIE4C : 1; + uint8_t reserved1 : 1; + uint8_t _ICIE4 : 1; + uint8_t reserved2 : 2; + }; + static_assert(sizeof(TIMSK4_reg_t) == 1, "invalid size of ATmega2560 TIMSK4_reg_t"); + + struct TIMSK5_reg_t { + uint8_t _TOIE5 : 1; + uint8_t _OCIE5A : 1; + uint8_t _OCIE5B : 1; + uint8_t _OCIE5C : 1; + uint8_t reserved1 : 1; + uint8_t _ICIE5 : 1; + uint8_t reserved2 : 2; + }; + static_assert(sizeof(TIMSK5_reg_t) == 1, "invalid size of ATmega2560 TIMSK5_reg_t"); + +#endif // __AVR_TRM01__ + +#if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) + + struct XMCRA_reg_t { + uint8_t _SRW0 : 2; + uint8_t _SRW1 : 2; + uint8_t _SRL : 3; + uint8_t _SRE : 1; + }; + static_assert(sizeof(XMCRA_reg_t) == 1, "invalid size of ATmega2560 XMCRA_reg_t"); + + struct XMCRB_reg_t { + uint8_t _XMM : 3; + uint8_t reserved1 : 4; + uint8_t _XMBK : 1; + }; + static_assert(sizeof(XMCRB_reg_t) == 1, "invalid size of ATmega2560 XMCRB_reg_t"); + +#endif // __AVR_TRM01__ || __AVR_TRM04__ + +#if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + + struct ADCSRA_reg_t { + uint8_t _ADPS : 3; + uint8_t _ADIE : 1; + uint8_t _ADIF : 1; + uint8_t _ADATE : 1; + uint8_t _ADSC : 1; + uint8_t _ADEN : 1; + }; + static_assert(sizeof(ADCSRA_reg_t) == 1, "invalid size of ATmega2560 ADCSRA_reg_t"); + + struct ADCSRB_reg_t { + #if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) + uint8_t _ADTS : 3; + uint8_t _MUX5 : 1; + uint8_t reserved1 : 2; + uint8_t _ACME : 1; + uint8_t reserved2 : 1; + #elif defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM05__) + uint8_t _ADTS : 3; + uint8_t reserved1 : 3; + uint8_t _ACME : 1; + uint8_t reserved2 : 1; + #endif + }; + static_assert(sizeof(ADCSRB_reg_t) == 1, "invalid size of ATmega2560 ADCSRB_reg_t"); + + struct ADMUX_reg_t { + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + uint8_t _MUX0 : 1; + uint8_t _MUX1 : 1; + uint8_t _MUX2 : 1; + uint8_t _MUX3 : 1; + uint8_t _MUX4 : 1; + uint8_t _ADLAR : 1; + uint8_t _REFS0 : 1; + uint8_t _REFS1 : 1; + #elif defined(__AVR_TRM03__) + uint8_t _MUX0 : 1; + uint8_t _MUX1 : 1; + uint8_t _MUX2 : 1; + uint8_t _MUX3 : 1; + uint8_t reserved1 : 1; + uint8_t _ADLAR : 1; + uint8_t _REFS0 : 1; + uint8_t _REFS1 : 1; + #endif + }; + static_assert(sizeof(ADMUX_reg_t) == 1, "invalid size of ATmega2560 ADMUX_reg_t"); + +#endif // __AVR_TRM01__ || __AVR_TRM02__ || __AVR_TRM03__ || __AVR_TRM04__ + +#ifdef __AVR_TRM01__ + + struct DIDR2_reg_t { + uint8_t _ADC8D : 1; + uint8_t _ADC9D : 1; + uint8_t _ADC10D : 1; + uint8_t _ADC11D : 1; + uint8_t _ADC12D : 1; + uint8_t _ADC13D : 1; + uint8_t _ADC14D : 1; + uint8_t _ADC15D : 1; + }; + static_assert(sizeof(DIDR2_reg_t) == 1, "invalid size of ATmega2560 DIDR2_reg_t"); + +#endif // __AVR_TRM01__ + +#if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + + struct DIDR0_reg_t { + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + uint8_t _ADC0D : 1; + uint8_t _ADC1D : 1; + uint8_t _ADC2D : 1; + uint8_t _ADC3D : 1; + uint8_t _ADC4D : 1; + uint8_t _ADC5D : 1; + uint8_t _ADC6D : 1; + uint8_t _ADC7D : 1; + #elif defined(__AVR_TRM03__) + uint8_t _ADC0D : 1; + uint8_t _ADC1D : 1; + uint8_t _ADC2D : 1; + uint8_t _ADC3D : 1; + uint8_t _ADC4D : 1; + uint8_t _ADC5D : 1; + uint8_t reserved1 : 2; + #endif + }; + static_assert(sizeof(DIDR0_reg_t) == 1, "invalid size of ATmega2560 DIDR0_reg_t"); + + struct DIDR1_reg_t { + uint8_t _AIN0D : 1; + uint8_t _AIN1D : 1; + uint8_t reserved1 : 6; + }; + static_assert(sizeof(DIDR1_reg_t) == 1, "invalid size of ATmega2560 DIDR1_reg_t"); + + struct TCCRnA_reg_t { + #if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) + uint8_t _WGMn0 : 1; + uint8_t _WGMn1 : 1; + uint8_t _COMnC : 2; + uint8_t _COMnB : 2; + uint8_t _COMnA : 2; + #elif defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM05__) + uint8_t _WGMn0 : 1; + uint8_t _WGMn1 : 1; + uint8_t reserved1 : 2; + uint8_t _COMnB : 2; + uint8_t _COMnA : 2; + #endif + }; + static_assert(sizeof(TCCRnA_reg_t) == 1, "invalid size of ATmega2560 TCCRnA_reg_t"); + + struct TCCRnB_reg_t { + uint8_t _CSn : 3; + uint8_t _WGMn2 : 1; + uint8_t _WGMn3 : 1; + uint8_t reserved1 : 1; + uint8_t _ICESn : 1; + uint8_t _ICNCn : 1; + }; + static_assert(sizeof(TCCRnB_reg_t) == 1, "invalid size of ATmega2560 TCCRnB_reg_t"); + + struct TCCRnC_reg_t { + #if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) + uint8_t reserved1 : 5; + uint8_t _FOCnC : 1; + uint8_t _FOCnB : 1; + uint8_t _FOCnA : 1; + #elif defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM05__) + uint8_t reserved1 : 6; + uint8_t _FOCnB : 1; + uint8_t _FOCnA : 1; + #endif + }; + static_assert(sizeof(TCCRnC_reg_t) == 1, "invalid size of ATmega2560 TCCRnC_reg_t"); + + struct TIMER_dev_t { + TCCRnA_reg_t _TCCRnA; + TCCRnB_reg_t _TCCRnB; + TCCRnC_reg_t _TCCRnC; + uint8_t reserved1; + uint16_t _TCNTn; + uint16_t _ICRn; + uint16_t _OCRnA; + uint16_t _OCRnB; + #if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) + uint16_t _OCRnC; + #endif + + inline void operator = ( const TIMER_dev_t& r ) volatile { + using namespace AVRHelpers; + dwrite(this->_TCCRnA, r._TCCRnA); + dwrite(this->_TCCRnB, r._TCCRnB); + dwrite(this->_TCCRnC, r._TCCRnC); + this->reserved1 = r.reserved1; + this->_TCNTn = r._TCNTn; + this->_ICRn = r._ICRn; + this->_OCRnA = r._OCRnA; + this->_OCRnB = r._OCRnB; + #if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) + this->_OCRnC = r._OCRnC; + #endif + } + }; + #if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) + static_assert(sizeof(TIMER_dev_t) == 14, "invalid size of ATmega2560 TIMER_dev_t"); + #elif defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM05__) + static_assert(sizeof(TIMER_dev_t) == 12, "invalid size of ATmega1284 TIMER_dev_t"); + #endif + + struct TCCRnA_8bit_reg_t { + uint8_t _WGMn0 : 1; + uint8_t _WGMn1 : 1; + uint8_t reserved1 : 2; + uint8_t _COMnB : 2; + uint8_t _COMnA : 2; + }; + static_assert(sizeof(TCCRnA_8bit_reg_t) == 1, "invalid size of ATmega2560 TCCRnA_8bit_reg_t"); + + struct TCCRnB_8bit_reg_t { + uint8_t _CSn : 3; + uint8_t _WGMn2 : 1; + uint8_t reserved1 : 2; + uint8_t _FOCnB : 1; + uint8_t _FOCnA : 1; + }; + static_assert(sizeof(TCCRnB_8bit_reg_t) == 1, "invalid size of ATmega2560 TCCRnB_8bit_reg_t"); + + struct TIMER_8bit_dev_t { + TCCRnA_8bit_reg_t _TCCRnA; + TCCRnB_8bit_reg_t _TCCRnB; + uint8_t _TCNTn; + uint8_t _OCRnA; + uint8_t _OCRnB; + + inline void operator = ( const TIMER_8bit_dev_t& r ) volatile { + using namespace AVRHelpers; + dwrite(this->_TCCRnA, r._TCCRnA); + dwrite(this->_TCCRnB, r._TCCRnB); + this->_TCNTn = r._TCNTn; + this->_OCRnA = r._OCRnA; + this->_OCRnB = r._OCRnB; + } + }; + static_assert(sizeof(TIMER_8bit_dev_t) == 5, "invalid size of ATmega2560 TIMER_8bit_dev_t"); + + struct ASSR_reg_t { + uint8_t _TCR2BUB : 1; + uint8_t _TCR2AUB : 1; + uint8_t _OCR2BUB : 1; + uint8_t _OCR2AUB : 1; + uint8_t _TCN2UB : 1; + uint8_t _AS2 : 1; + uint8_t _EXCLK : 1; + uint8_t reserved1 : 1; + }; + static_assert(sizeof(ASSR_reg_t) == 1, "invalid size of ATmega2560 ASSR_reg_t"); + + struct TWSR_reg_t { + uint8_t _TWPS0 : 1; + uint8_t _TWPS1 : 1; + uint8_t reserved1 : 1; + uint8_t _TWS3 : 1; + uint8_t _TWS4 : 1; + uint8_t _TWS5 : 1; + uint8_t _TWS6 : 1; + uint8_t _TWS7 : 1; + }; + static_assert(sizeof(TWSR_reg_t) == 1, "invalid size of ATmega2560 TWSR_reg_t"); + + struct TWAR_reg_t { + uint8_t _TWGCE : 1; + uint8_t _TWA : 7; + }; + static_assert(sizeof(TWAR_reg_t) == 1, "invalid size of ATmega2560 TWAR_reg_t"); + + struct TWCR_reg_t { + uint8_t _TWIE : 1; + uint8_t reserved1 : 1; + uint8_t _TWEN : 1; + uint8_t _TWWC : 1; + uint8_t _TWSTO : 1; + uint8_t _TWSTA : 1; + uint8_t _TWEA : 1; + uint8_t _TWINT : 1; + }; + static_assert(sizeof(TWCR_reg_t) == 1, "invalid size of ATmega2560 TWCR_reg_t"); + + struct TWAMR_reg_t { + uint8_t reserved1 : 1; + uint8_t _TWAM : 7; + }; + static_assert(sizeof(TWAMR_reg_t) == 1, "invalid size of ATmega2560 TWAMR_reg_t"); + + struct UBRRn_reg_t { + uint16_t _UBRR : 12; + uint16_t reserved1 : 4; + }; + static_assert(sizeof(UBRRn_reg_t) == 2, "invalid size of ATmega2560 UBRRn_reg_t)"); + + struct UCSRnC_reg_t { + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) + uint8_t _UCPOL : 1; + uint8_t _UCSZn0 : 1; + uint8_t _UCSZn1 : 1; + uint8_t _USBS : 1; + uint8_t _UPM : 2; + uint8_t _UMSEL : 2; + #elif defined(__AVR_TRM05__) + uint8_t _UCPOL : 1; + uint8_t _UCPHA : 1; + uint8_t _UDORD : 1; + uint8_t reserved1 : 3; + uint8_t _UMSEL : 2; + #endif + }; + static_assert(sizeof(UCSRnC_reg_t) == 1, "invalid size of ATmega2560 UCSRnC_reg_t"); + + struct UCSRnB_reg_t { + uint8_t _TXB8 : 1; + uint8_t _RXB8 : 1; + uint8_t _UCSZn2 : 1; + uint8_t _TXEN : 1; + uint8_t _RXEN : 1; + uint8_t _UDRIE : 1; + uint8_t _TXCIE : 1; + uint8_t _RXCIE : 1; + }; + static_assert(sizeof(UCSRnB_reg_t) == 1, "invalid size of ATmega2560 UCSRnB_reg_t"); + + struct UCSRnA_reg_t { + uint8_t _MPCM : 1; + uint8_t _U2X : 1; + uint8_t _UPE : 1; + uint8_t _DOR : 1; + uint8_t _FE : 1; + uint8_t _UDRE : 1; + uint8_t _TXC : 1; + uint8_t _RXC : 1; + }; + static_assert(sizeof(UCSRnA_reg_t) == 1, "invalid size of ATmega2560 UCSRnA_reg_t"); + + struct USART_dev_t { + UCSRnA_reg_t _UCSRnA; + UCSRnB_reg_t _UCSRnB; + UCSRnC_reg_t _UCSRnC; + uint8_t reserved1; + UBRRn_reg_t _UBRRn; + uint8_t _UDRn; + + inline void operator = ( const USART_dev_t& r ) volatile { + using namespace AVRHelpers; + dwrite(this->_UCSRnA, r._UCSRnA); + dwrite(this->_UCSRnB, r._UCSRnB); + dwrite(this->_UCSRnC, r._UCSRnC); + dwrite(this->reserved1, r.reserved1); + dwrite(this->_UBRRn, r._UBRRn); + dwrite(this->_UDRn, r._UDRn); + } + }; + static_assert(sizeof(USART_dev_t) == 7, "invalid size of ATmega2560 USART_dev_t"); + +#endif // __AVR_TRM01__ || __AVR_TRM02__ || __AVR_TRM03__ || __AVR_TRM04__ + +#ifdef __AVR_TRM04__ + + struct UHCON_reg_t { + uint8_t _SOFEN : 1; + uint8_t _RESET : 1; + uint8_t _RESUME : 1; + uint8_t reserved1 : 5; + }; + static_assert(sizeof(UHCON_reg_t) == 1, "invalid size of ATUSB90 UHCON_reg_t"); + + struct UHINT_reg_t { + uint8_t _DCONNI : 1; + uint8_t _DDISCI : 1; + uint8_t _RSTI : 1; + uint8_t _RSMEDI : 1; + uint8_t _RXRSMI : 1; + uint8_t _HSOFI : 1; + uint8_t _HWUPI : 1; + uint8_t reserved1 : 1; + }; + static_assert(sizeof(UHINT_reg_t) == 1, "invalid size of ATUSB90 UHINT_reg_t"); + + struct UHIEN_reg_t { + uint8_t _SUSPE : 1; + uint8_t _MSOFE : 1; + uint8_t _SOFE : 1; + uint8_t _EORSTE : 1; + uint8_t _WAKEUPE : 1; + uint8_t _EORSME : 1; + uint8_t _UPRSME : 1; + uint8_t reserved1 : 1; + }; + static_assert(sizeof(UHIEN_reg_t) == 1, "invalid size of ATUSB90 UHIEN_reg_t"); + + struct UHADDR_reg_t { + uint8_t _HADD : 7; + uint8_t reserved1 : 1; + }; + static_assert(sizeof(UHADDR_reg_t) == 1, "invalid size of ATUSB90 UHADDR_reg_t"); + + struct UHFNUM_reg_t { + uint16_t _FNUM : 11; + uint16_t reserved1 : 5; + }; + static_assert(sizeof(UHFNUM_reg_t) == 2, "invalid size of ATUSB90 UHFNUM_reg_t"); + + struct UPINTX_reg_t { + uint8_t _RXINI : 1; + uint8_t _RXSTALLI : 1; + uint8_t _TXOUTI : 1; + uint8_t _TXSTPI : 1; + uint8_t _PERRI : 1; + uint8_t _RWAL : 1; + uint8_t _NAKEDI : 1; + uint8_t _FIFOCON : 1; + }; + static_assert(sizeof(UPINTX_reg_t) == 1, "invalid size of ATUSB90 UPINTX_reg_t"); + + struct UPNUM_reg_t { + uint8_t _PNUM : 3; + uint8_t reserved1 : 5; + }; + static_assert(sizeof(UPNUM_reg_t) == 1, "invalid size of ATUSB90 UPNUM_reg_t"); + + struct UPRST_reg_t { + uint8_t _PRST : 7; + uint8_t reserved1 : 1; + }; + static_assert(sizeof(UPRST_reg_t) == 1, "invalid size of ATUSB90 UPRST_reg_t"); + + struct UPCONX_reg_t { + uint8_t _PEN : 1; + uint8_t reserved1 : 2; + uint8_t _RSTDT : 1; + uint8_t _AUTOSW : 1; + uint8_t _INMODE : 1; + uint8_t _PFREEZE : 1; + uint8_t reserved2 : 1; + }; + static_assert(sizeof(UPCONX_reg_t) == 1, "invalid size of ATUSB90 UPCONX_reg_t"); + + struct UPCFG0X_reg_t { + uint8_t _PEPNUM : 4; + uint8_t _PTOKEN : 2; + uint8_t _PTYPE : 2; + }; + static_assert(sizeof(UPCFG0X_reg_t) == 1, "invalid size of ATUSB90 UPCFG0_reg_t"); + + struct UPCFG1X_reg_t { + uint8_t reserved1 : 1; + uint8_t _ALLOC : 1; + uint8_t _PBK : 2; + uint8_t _PSIZE : 3; + uint8_t reserved2 : 1; + }; + static_assert(sizeof(UPCFG1X_reg_t) == 1, "invalid size of ATUSB90 UPCFG1X_reg_t"); + + struct UPSTAX_reg_t { + uint8_t _NBUSYBK : 2; + uint8_t _DTSEQ : 2; + uint8_t reserved1 : 1; + uint8_t _UNDERFI : 1; + uint8_t _OVERFI : 1; + uint8_t _CFGOK : 1; + }; + static_assert(sizeof(UPSTAX_reg_t) == 1, "invalid size of ATUSB90 UPSTAX_reg_t"); + + struct UPIENX_reg_t { + uint8_t _RXINE : 1; + uint8_t _RXSTALLE : 1; + uint8_t _TXOUTE : 1; + uint8_t _TXSTPE : 1; + uint8_t _PERRE : 1; + uint8_t reserved1 : 1; + uint8_t _NAKEDE : 1; + uint8_t _FLERRE : 1; + }; + static_assert(sizeof(UPIENX_reg_t) == 1, "invalid size of ATUSB90 UPIENX_reg_t"); + + struct UHWCON_reg_t { + uint8_t _UVREGE : 1; + uint8_t reserved1 : 3; + uint8_t _UVCONE : 1; + uint8_t reserved2 : 1; + uint8_t _UIDE : 1; + uint8_t _UIMOD : 1; + }; + static_assert(sizeof(UHWCON_reg_t) == 1, "invalid size of ATUSB90 UHWCON_reg_t"); + + struct USBCON_reg_t { + uint8_t _VBUSTE : 1; + uint8_t _IDTE : 1; + uint8_t reserved1 : 2; + uint8_t _OTGPADE : 1; + uint8_t _FRZCLK : 1; + uint8_t _HOST : 1; + uint8_t _USBE : 1; + }; + static_assert(sizeof(USBCON_reg_t) == 1, "invalid size of ATUSB90 USBCON_reg_t"); + + struct USBSTA_reg_t { + uint8_t _VBUS : 1; + uint8_t _ID : 1; + uint8_t reserved1 : 1; + uint8_t _SPEED : 1; + uint8_t reserved2 : 4; + }; + static_assert(sizeof(USBSTA_reg_t) == 1, "invalid size of ATUSB90 USBSTA_reg_t"); + + struct USBINT_reg_t { + uint8_t _VBUSTI : 1; + uint8_t _IDTI : 1; + uint8_t reserved1 : 6; + }; + static_assert(sizeof(USBINT_reg_t) == 1, "invalid size of ATUSB90 USBINT_reg_t"); + + struct UDPADD_reg_t { + uint16_t _DPADD : 11; + uint16_t reserved1 : 4; + uint16_t _DPACC : 1; + }; + static_assert(sizeof(UDPADD_reg_t) == 2, "invalid size of ATUSB90 UDPADD_reg_t"); + + struct OTGCON_reg_t { + uint8_t _VBUSRQC : 1; + uint8_t _VBUSREQ : 1; + uint8_t _VBUSHWC : 1; + uint8_t _SRPSEL : 1; + uint8_t _SRPREQ : 1; + uint8_t _HNPREQ : 1; + uint8_t reserved1 : 1; + uint8_t _zero : 1; + }; + static_assert(sizeof(OTGCON_reg_t) == 1, "invalid size of ATUSB90 OTGCON_reg_t"); + + struct OTGIEN_reg_t { + uint8_t _SRPE : 1; + uint8_t _VBERRE : 1; + uint8_t _BCERRE : 1; + uint8_t _ROLEEXE : 1; + uint8_t _HNPERRE : 1; + uint8_t _STOE : 1; + uint8_t reserved1 : 2; + }; + static_assert(sizeof(OTGIEN_reg_t) == 1, "invalid size of ATUSB90 OTGIEN_reg_t"); + + struct OTGINT_reg_t { + uint8_t _SRPI : 1; + uint8_t _VBERRI : 1; + uint8_t _BCERRI : 1; + uint8_t _ROLEEXI : 1; + uint8_t _HNPERRI : 1; + uint8_t _STOI : 1; + uint8_t reserved1 : 2; + }; + static_assert(sizeof(OTGINT_reg_t) == 1, "invalid size of ATUSB90 OTGINT_reg_t"); + + struct UDCON_reg_t { + uint8_t _DETACH : 1; + uint8_t _RMWKUP : 1; + uint8_t _LSM : 1; + uint8_t reserved1 : 5; + }; + static_assert(sizeof(UDCON_reg_t) == 1, "invalid size of ATUSB90 UDCON_reg_t"); + + struct UDINT_reg_t { + uint8_t _SUSPI : 1; + uint8_t _MSOFI : 1; + uint8_t _SOFI : 1; + uint8_t _EORSTI : 1; + uint8_t _WAKEUPI : 1; + uint8_t _EORSMI : 1; + uint8_t _UPRSMI : 1; + uint8_t reserved1 : 1; + }; + static_assert(sizeof(UDINT_reg_t) == 1, "invalid size of ATUSB90 UDINT_reg_t"); + + struct UDIEN_reg_t { + uint8_t _SUSPE : 1; + uint8_t _MSOFE : 1; + uint8_t _SOFE : 1; + uint8_t _EORSTE : 1; + uint8_t _WAKEUPE : 1; + uint8_t _EORSME : 1; + uint8_t _UPRSME : 1; + uint8_t reserved1 : 1; + }; + static_assert(sizeof(UDIEN_reg_t) == 1, "invalid size of ATUSB90 UDIEN_reg_t"); + + struct UDADDR_reg_t { + uint8_t _UADD : 7; + uint8_t _ADDEN : 1; + }; + static_assert(sizeof(UDADDR_reg_t) == 1, "invalid size of ATUSB90 UADDR_reg_t"); + + struct UDFNUM_reg_t { + uint16_t _FNUM : 11; + uint16_t reserved1 : 5; + }; + static_assert(sizeof(UDFNUM_reg_t) == 2, "invalid size of ATUSB90 UDFNUM_reg_t"); + + struct UDMFN_reg_t { + uint8_t reserved1 : 4; + uint8_t _FNCERR : 1; + uint8_t reserved2 : 3; + }; + static_assert(sizeof(UDMFN_reg_t) == 1, "invalid size of ATUSB90 UDMFN_reg_t"); + + struct UDTST_reg_t { + uint8_t reserved1 : 2; + uint8_t _TSTJ : 1; + uint8_t _TSTK : 1; + uint8_t _TSTPCKT : 1; + uint8_t _OPMODE2 : 1; + uint8_t reserved2 : 2; + }; + static_assert(sizeof(UDTST_reg_t) == 1, "invalid size of ATUSB90 UDTST_reg_t"); + + struct UEINTX_reg_t { + uint8_t _TXINI : 1; + uint8_t _STALLEDI : 1; + uint8_t _RXOUTI : 1; + uint8_t _RXSTPI : 1; + uint8_t _NAKOUTI : 1; + uint8_t _RWAL : 1; + uint8_t _NAKINI : 1; + uint8_t _FIFOCON : 1; + }; + static_assert(sizeof(UEINTX_reg_t) == 1, "invalid size of ATUSB90 UEINTX_reg_t"); + + struct UENUM_reg_t { + uint8_t _EPNUM : 3; + uint8_t reserved1 : 5; + }; + static_assert(sizeof(UENUM_reg_t) == 1, "invalid size of ATUSB90 UENUM_reg_t"); + + struct UERST_reg_t { + uint8_t _EPRST : 7; + uint8_t reserved1 : 1; + }; + static_assert(sizeof(UERST_reg_t) == 1, "invalid size of ATUSB90 UERST_reg_t"); + + struct UECONX_reg_t { + uint8_t _EPEN : 1; + uint8_t reserved1 : 2; + uint8_t _RSTDT : 1; + uint8_t _STALLRQC : 1; + uint8_t _STALLRQ : 1; + uint8_t reserved2 : 2; + }; + static_assert(sizeof(UECONX_reg_t) == 1, "invalid size of ATUSB90 UECONX_reg_t"); + + struct UECFG0X_reg_t { + uint8_t _EPDIR : 1; + uint8_t _NYETSDIS : 1; + uint8_t _AUTOSW : 1; + uint8_t _ISOSW : 1; + uint8_t reserved1 : 2; + uint8_t _EPTYPE : 2; + }; + static_assert(sizeof(UECFG0X_reg_t) == 1, "invalid size of ATUSB90 UECFG0X_reg_t"); + + struct UECFG1X_reg_t { + uint8_t reserved1 : 1; + uint8_t _ALLOC : 1; + uint8_t _EPBK : 2; + uint8_t _EPSIZE : 3; + uint8_t reserved2 : 1; + }; + static_assert(sizeof(UECFG1X_reg_t) == 1, "invalid size of ATUSB90 UECFG1X_reg_t"); + + struct UESTA0X_reg_t { + uint8_t _NBUSYBK : 2; + uint8_t _DTSEQ : 2; + uint8_t _ZLPSEEN : 1; + uint8_t _UNDERFI : 1; + uint8_t _OVERFI : 1; + uint8_t _CFGOK : 1; + }; + static_assert(sizeof(UESTA0X_reg_t) == 1, "invalid size of ATUSB90 UESTA0X_reg_t"); + + struct UESTA1X_reg_t { + uint8_t _CURRBK : 2; + uint8_t _CTRLDIR : 1; + uint8_t reserved1 : 5; + }; + static_assert(sizeof(UESTA1X_reg_t) == 1, "invalid size of ATUSB90 UESTA1X_reg_t"); + + struct UEIENX_reg_t { + uint8_t _TXINE : 1; + uint8_t _STALLEDE : 1; + uint8_t _RXOUTE : 1; + uint8_t _RXSTPE : 1; + uint8_t _NAKOUTE : 1; + uint8_t reserved1 : 1; + uint8_t _NAKINE : 1; + uint8_t _FLERRE : 1; + }; + static_assert(sizeof(UEIENX_reg_t) == 1, "invalid size of ATUSB90 UEIENX_reg_t"); + + struct UEBCX_reg_t { + uint16_t _BYCT : 11; + uint16_t reserved1 : 5; + }; + static_assert(sizeof(UEBCX_reg_t) == 2, "invalid size of ATUSB90 UEBCX_reg_t"); + + struct UEINT_reg_t { + uint8_t _EPINT : 7; + uint8_t reserved1 : 1; + }; + static_assert(sizeof(UEINT_reg_t) == 1, "invalid size of ATUSB90 UEINT_reg_t"); + + struct UPERRX_reg_t { + uint8_t _DATATGL : 1; + uint8_t _DATAPID : 1; + uint8_t _PID : 1; + uint8_t _TIMEOUT : 1; + uint8_t _CRC16 : 1; + uint8_t _COUNTER : 2; + uint8_t reserved1 : 1; + }; + static_assert(sizeof(UPERRX_reg_t) == 1, "invalid size of ATUSB90 UPERRX_reg_t"); + + struct UPBCX_reg_t { + uint16_t _PBYCT : 11; + uint16_t reserved1 : 5; + }; + static_assert(sizeof(UPBCX_reg_t) == 2, "invalid size of ATUSB90 UPBCX_reg_t"); + + struct OTGTCON_reg_t { + uint8_t _VALUE : 2; + uint8_t reserved1 : 3; + uint8_t _PAGE : 2; + uint8_t _one : 1; + }; + static_assert(sizeof(OTGTCON_reg_t) == 1, "invalid size of ATUSB90 OTGTCON_reg_t"); + + struct PLLCSR_reg_t { + uint8_t _PLOCK : 1; + uint8_t _PLLE : 1; + uint8_t _PLLP : 3; + uint8_t reserved1 : 3; + }; + static_assert(sizeof(PLLCSR_reg_t) == 1, "invalid size of ATUSB90 PLLCSR_reg_t"); + +#endif // __AVR_TRM04__ + +/** + * REGISTER MEMORY MAP + */ + +#define __AVR_DEFREG(tn,n,a) static volatile tn& n = *(tn*)a +#define _AVR_DEFREG(n,a) __AVR_DEFREG(n##_reg_t, _##n, a) + +#ifdef __AVR_TRM01__ + // page 399ff of ATmega640-1280-1281-2560-2561-Datasheet-DS40002211A.pdf + + __AVR_DEFREG(PORT_dev_t, _PORTA, 0x20); + __AVR_DEFREG(PORT_dev_t, _PORTB, 0x23); + __AVR_DEFREG(PORT_dev_t, _PORTC, 0x26); + __AVR_DEFREG(PORT_dev_t, _PORTD, 0x29); + __AVR_DEFREG(PORT_dev_t, _PORTE, 0x2C); + __AVR_DEFREG(PORT_dev_t, _PORTF, 0x2F); + __AVR_DEFREG(PORTG_dev_t, _PORTG, 0x32); + __AVR_DEFREG(PORT_dev_t, _PORTH, 0x100); + __AVR_DEFREG(PORT_dev_t, _PORTJ, 0x103); + __AVR_DEFREG(PORT_dev_t, _PORTK, 0x106); + __AVR_DEFREG(PORT_dev_t, _PORTL, 0x109); + __AVR_DEFREG(TIFR0_reg_t, _TIFR0, 0x35); + __AVR_DEFREG(TIFR1_reg_t, _TIFR1, 0x36); + __AVR_DEFREG(TIFR2_reg_t, _TIFR2, 0x37); + __AVR_DEFREG(TIFR3_reg_t, _TIFR3, 0x38); + __AVR_DEFREG(TIFR4_reg_t, _TIFR4, 0x39); + __AVR_DEFREG(TIFR5_reg_t, _TIFR5, 0x3A); + __AVR_DEFREG(PCIFR_reg_t, _PCIFR, 0x3B); + __AVR_DEFREG(EIFR_reg_t, _EIFR, 0x3C); + __AVR_DEFREG(EIMSK_reg_t, _EIMSK, 0x3D); + __AVR_DEFREG(_bit_reg_t, _GPIOR0, 0x3E); + __AVR_DEFREG(EECR_reg_t, _EECR, 0x3F); + __AVR_DEFREG(uint8_t, _EEDR, 0x40); + __AVR_DEFREG(EEAR_reg_t, _EEAR, 0x41); + __AVR_DEFREG(GTCCR_reg_t, _GTCCR, 0x43); + __AVR_DEFREG(TIMER_8bit_dev_t, TIMER0, 0x44); + __AVR_DEFREG(_bit_reg_t, _GPIOR1, 0x4A); + __AVR_DEFREG(_bit_reg_t, _GPIOR2, 0x4B); + __AVR_DEFREG(SPCR_reg_t, _SPCR, 0x4C); + __AVR_DEFREG(SPSR_reg_t, _SPSR, 0x4D); + __AVR_DEFREG(uint8_t, _SPDR, 0x4E); + __AVR_DEFREG(ACSR_reg_t, _ACSR, 0x50); + __AVR_DEFREG(_bit_reg_t, _OCDR, 0x51); + __AVR_DEFREG(SMCR_reg_t, _SMCR, 0x53); + __AVR_DEFREG(MCUSR_reg_t, _MCUSR, 0x54); + __AVR_DEFREG(MCUCR_reg_t, _MCUCR, 0x55); + __AVR_DEFREG(SPMCSR_reg_t, _SPMCSR, 0x57); + __AVR_DEFREG(RAMPZ_reg_t, _RAMPZ, 0x5B); + __AVR_DEFREG(EIND_reg_t, _EIND, 0x5C); + __AVR_DEFREG(SP_reg_t, _SP, 0x5D); + __AVR_DEFREG(SREG_reg_t, _SREG, 0x5F); + __AVR_DEFREG(WDTCSR_reg_t, _WDTCSR, 0x60); + __AVR_DEFREG(CLKPR_reg_t, _CLKPR, 0x61); + __AVR_DEFREG(PRR0_reg_t, _PRR0, 0x64); + __AVR_DEFREG(PRR1_reg_t, _PRR1, 0x65); + __AVR_DEFREG(uint8_t, _OSCCAL, 0x66); + __AVR_DEFREG(PCICR_reg_t, _PCICR, 0x68); + __AVR_DEFREG(EICRA_reg_t, _EICRA, 0x69); + __AVR_DEFREG(EICRB_reg_t, _EICRB, 0x6A); + __AVR_DEFREG(_bit_reg_t, _PCMSK0, 0x6B); + __AVR_DEFREG(_bit_reg_t, _PCMSK1, 0x6C); + __AVR_DEFREG(_bit_reg_t, _PCMSK2, 0x6D); + __AVR_DEFREG(TIMSK0_reg_t, _TIMSK0, 0x6E); + __AVR_DEFREG(TIMSK1_reg_t, _TIMSK1, 0x6F); + __AVR_DEFREG(TIMSK2_reg_t, _TIMSK2, 0x70); + __AVR_DEFREG(TIMSK3_reg_t, _TIMSK3, 0x71); + __AVR_DEFREG(TIMSK4_reg_t, _TIMSK4, 0x72); + __AVR_DEFREG(TIMSK5_reg_t, _TIMSK5, 0x73); + __AVR_DEFREG(XMCRA_reg_t, _XMCRA, 0x74); + __AVR_DEFREG(XMCRB_reg_t, _XMCRB, 0x75); + __AVR_DEFREG(uint16_t, _ADC, 0x78); + __AVR_DEFREG(ADCSRA_reg_t, _ADCSRA, 0x7A); + __AVR_DEFREG(ADCSRB_reg_t, _ADCSRB, 0x7B); + __AVR_DEFREG(ADMUX_reg_t, _ADMUX, 0x7C); + __AVR_DEFREG(DIDR2_reg_t, _DIDR2, 0x7D); + __AVR_DEFREG(DIDR0_reg_t, _DIDR0, 0x7E); + __AVR_DEFREG(DIDR1_reg_t, _DIDR1, 0x7F); + __AVR_DEFREG(TIMER_dev_t, TIMER1, 0x80); + __AVR_DEFREG(TIMER_dev_t, TIMER3, 0x90); + __AVR_DEFREG(TIMER_dev_t, TIMER4, 0xA0); + __AVR_DEFREG(TIMER_dev_t, TIMER5, 0x120); + __AVR_DEFREG(TIMER_8bit_dev_t, _TIMER2, 0xB0); + __AVR_DEFREG(ASSR_reg_t, _ASSR, 0xB6); + __AVR_DEFREG(uint8_t, _TWBR, 0xB8); + __AVR_DEFREG(TWSR_reg_t, _TWSR, 0xB9); + __AVR_DEFREG(TWAR_reg_t, _TWAR, 0xBA); + __AVR_DEFREG(uint8_t, _TWDR, 0xBB); + __AVR_DEFREG(TWCR_reg_t, _TWCR, 0xBC); + __AVR_DEFREG(TWAMR_reg_t, _TWAMR, 0xBD); + __AVR_DEFREG(USART_dev_t, USART0, 0xC0); + __AVR_DEFREG(USART_dev_t, USART1, 0xC8); + __AVR_DEFREG(USART_dev_t, USART2, 0xD0); + __AVR_DEFREG(USART_dev_t, USART3, 0x130); + +#elif defined(__AVR_TRM02__) + // page 637ff of ATmega164A_PA-324A_PA-644A_PA-1284_P_Data-Sheet-40002070B.pdf + __AVR_DEFREG(PORT_dev_t, _PORTA, 0x20); + __AVR_DEFREG(PORT_dev_t, _PORTB, 0x23); + __AVR_DEFREG(PORT_dev_t, _PORTC, 0x26); + __AVR_DEFREG(PORT_dev_t, _PORTD, 0x29); + __AVR_DEFREG(TIFR0_reg_t, _TIFR0, 0x35); + __AVR_DEFREG(TIFR1_reg_t, _TIFR1, 0x36); + __AVR_DEFREG(TIFR2_reg_t, _TIFR2, 0x37); + __AVR_DEFREG(TIFR3_reg_t, _TIFR3, 0x38); + __AVR_DEFREG(PCIFR_reg_t, _PCIFR, 0x3B); + __AVR_DEFREG(EIFR_reg_t, _EIFR, 0x3C); + __AVR_DEFREG(EIMSK_reg_t, _EIMSK, 0x3D); + __AVR_DEFREG(_bit_reg_t, _GPIOR0, 0x3E); + __AVR_DEFREG(EECR_reg_t, _EECR, 0x3F); + __AVR_DEFREG(uint8_t, _EEDR, 0x40); + __AVR_DEFREG(EEAR_reg_t, _EEAR, 0x41); + __AVR_DEFREG(GTCCR_reg_t, _GTCCR, 0x43); + __AVR_DEFREG(TIMER_8bit_dev_t, TIMER0, 0x44); + __AVR_DEFREG(_bit_reg_t, _GPIOR1, 0x4A); + __AVR_DEFREG(_bit_reg_t, _GPIOR2, 0x4B); + __AVR_DEFREG(SPCR_reg_t, _SPCR, 0x4C); + __AVR_DEFREG(SPSR_reg_t, _SPSR, 0x4D); + __AVR_DEFREG(uint8_t, _SPDR, 0x4E); + __AVR_DEFREG(ACSR_reg_t, _ACSR, 0x50); + __AVR_DEFREG(SMCR_reg_t, _SMCR, 0x53); + __AVR_DEFREG(MCUSR_reg_t, _MSUSR, 0x54); + __AVR_DEFREG(MCUCR_reg_t, _MCUCR, 0x55); + __AVR_DEFREG(SPMCSR_reg_t, _SPMCSR, 0x57); + __AVR_DEFREG(SP_reg_t, _SP, 0x5D); + __AVR_DEFREG(SREG_reg_t, _SREG, 0x5F); + __AVR_DEFREG(WDTCSR_reg_t, _WDTCSR, 0x60); + __AVR_DEFREG(CLKPR_reg_t, _CLKPR, 0x61); + __AVR_DEFREG(PRR0_reg_t, _PRR0, 0x64); + __AVR_DEFREG(PRR1_reg_t, _PRR1, 0x65); + __AVR_DEFREG(uint8_t, _OSCCAL, 0x66); + __AVR_DEFREG(PCICR_reg_t, _PCICR, 0x68); + __AVR_DEFREG(EICRA_reg_t, _EICRA, 0x69); + __AVR_DEFREG(_bit_reg_t, _PCMSK0, 0x6B); + __AVR_DEFREG(_bit_reg_t, _PCMSK1, 0x6C); + __AVR_DEFREG(_bit_reg_t, _PCMSK2, 0x6D); + __AVR_DEFREG(TIMSK0_reg_t, _TIMSK0, 0x6E); + __AVR_DEFREG(TIMSK1_reg_t, _TIMSK1, 0x6F); + __AVR_DEFREG(TIMSK2_reg_t, _TIMSK2, 0x70); + __AVR_DEFREG(TIMSK3_reg_t, _TIMSK3, 0x71); + __AVR_DEFREG(_bit_reg_t, _PCMSK3, 0x73); + __AVR_DEFREG(uint16_t, _ADC, 0x78); + __AVR_DEFREG(ADCSRA_reg_t, _ADCSRA, 0x7A); + __AVR_DEFREG(ADCSRB_reg_t, _ADCSRB, 0x7B); + __AVR_DEFREG(ADMUX_reg_t, _ADMUX, 0x7C); + __AVR_DEFREG(DIDR0_reg_t, _DIDR0, 0x7E); + __AVR_DEFREG(DIDR1_reg_t, _DIDR1, 0x7F); + __AVR_DEFREG(TIMER_dev_t, TIMER1, 0x80); + __AVR_DEFREG(TIMER_dev_t, TIMER3, 0x90); + __AVR_DEFREG(TIMER_8bit_dev_t, _TIMER2, 0xB0); + __AVR_DEFREG(ASSR_reg_t, _ASSR, 0xB6); + __AVR_DEFREG(uint8_t, _TWBR, 0xB8); + __AVR_DEFREG(TWSR_reg_t, _TWSR, 0xB9); + __AVR_DEFREG(TWAR_reg_t, _TWAR, 0xBA); + __AVR_DEFREG(uint8_t, _TWDR, 0xBB); + __AVR_DEFREG(TWCR_reg_t, _TWCR, 0xBC); + __AVR_DEFREG(TWAMR_reg_t, _TWAMR, 0xBD); + __AVR_DEFREG(USART_dev_t, USART0, 0xC0); + __AVR_DEFREG(USART_dev_t, USART1, 0xC8); + +#elif defined(__AVR_TRM03__) + // page 621ff of ATmega48A-PA-88A-PA-168A-PA-328-P-DS-DS40002061B.pdf + __AVR_DEFREG(PORT_dev_t, _PORTB, 0x23); + __AVR_DEFREG(PORTC_dev_t, _PORTC, 0x26); + __AVR_DEFREG(PORT_dev_t, _PORTD, 0x29); + __AVR_DEFREG(TIFR0_reg_t, _TIFR0, 0x35); + __AVR_DEFREG(TIFR1_reg_t, _TIFR1, 0x36); + __AVR_DEFREG(TIFR2_reg_t, _TIFR2, 0x37); + __AVR_DEFREG(PCIFR_reg_t, _PCIFR, 0x3B); + __AVR_DEFREG(EIFR_reg_t, _EIFR, 0x3C); + __AVR_DEFREG(EIMSK_reg_t, _EIMSK, 0x3D); + __AVR_DEFREG(_bit_reg_t, _GPIOR0, 0x3E); + __AVR_DEFREG(EECR_reg_t, _EECR, 0x3F); + __AVR_DEFREG(uint8_t, _EEDR, 0x40); + __AVR_DEFREG(EEAR_reg_t, _EEAR, 0x41); + __AVR_DEFREG(GTCCR_reg_t, _GTCCR, 0x43); + __AVR_DEFREG(TIMER_8bit_dev_t, TIMER0, 0x44); + __AVR_DEFREG(_bit_reg_t, _GPIOR1, 0x4A); + __AVR_DEFREG(_bit_reg_t, _GPIOR2, 0x4B); + __AVR_DEFREG(SPCR_reg_t, _SPCR, 0x4C); + __AVR_DEFREG(SPSR_reg_t, _SPSR, 0x4D); + __AVR_DEFREG(uint8_t, _SPDR, 0x4E); + __AVR_DEFREG(ACSR_reg_t, _ACSR, 0x50); + __AVR_DEFREG(SMCR_reg_t, _SMCR, 0x53); + __AVR_DEFREG(MCUSR_reg_t, _MSUCR, 0x54); + __AVR_DEFREG(MCUCR_reg_t, _MCUCR, 0x55); + __AVR_DEFREG(SPMCSR_reg_t, _SPMCSR, 0x57); + __AVR_DEFREG(SP_reg_t, _SP, 0x5D); + __AVR_DEFREG(SREG_reg_t, _SREG, 0x5F); + __AVR_DEFREG(WDTCSR_reg_t, _WDTCSR, 0x60); + __AVR_DEFREG(CLKPR_reg_t, _CLKPR, 0x61); + __AVR_DEFREG(PRR0_reg_t, _PRR0, 0x64); + __AVR_DEFREG(uint8_t, _OSCCAL, 0x66); + __AVR_DEFREG(PCICR_reg_t, _PCICR, 0x68); + __AVR_DEFREG(EICRA_reg_t, _EICRA, 0x69); + __AVR_DEFREG(_bit_reg_t, _PCMSK0, 0x6B); + __AVR_DEFREG(_bitPCMSK1_reg_t, _PCMSK1, 0x6C); + __AVR_DEFREG(_bit_reg_t, _PCMSK2, 0x6D); + __AVR_DEFREG(TIMSK0_reg_t, _TIMSK0, 0x6E); + __AVR_DEFREG(TIMSK1_reg_t, _TIMSK1, 0x6F); + __AVR_DEFREG(TIMSK2_reg_t, _TIMSK2, 0x70); + __AVR_DEFREG(uint16_t, _ADC, 0x78); + __AVR_DEFREG(ADCSRA_reg_t, _ADCSRA, 0x7A); + __AVR_DEFREG(ADCSRB_reg_t, _ADCSRB, 0x7B); + __AVR_DEFREG(ADMUX_reg_t, _ADMUX, 0x7C); + __AVR_DEFREG(DIDR0_reg_t, _DIDR0, 0x7E); + __AVR_DEFREG(DIDR1_reg_t, _DIDR1, 0x7F); + __AVR_DEFREG(TIMER_dev_t, TIMER1, 0x80); + __AVR_DEFREG(TIMER_8bit_dev_t, _TIMER2, 0xB0); + __AVR_DEFREG(ASSR_reg_t, _ASSR, 0xB6); + __AVR_DEFREG(uint8_t, _TWBR, 0xB8); + __AVR_DEFREG(TWSR_reg_t, _TWSR, 0xB9); + __AVR_DEFREG(TWAR_reg_t, _TWAR, 0xBA); + __AVR_DEFREG(uint8_t, _TWDR, 0xBB); + __AVR_DEFREG(TWCR_reg_t, _TWCR, 0xBC); + __AVR_DEFREG(TWAMR_reg_t, _TWAMR, 0xBD); + __AVR_DEFREG(USART_dev_t, USART0, 0xC0); + +#elif defined(__AVR_TRM04__) + __AVR_DEFREG(PORT_dev_t, _PORTA, 0x20); + __AVR_DEFREG(PORT_dev_t, _PORTB, 0x23); + __AVR_DEFREG(PORT_dev_t, _PORTC, 0x26); + __AVR_DEFREG(PORT_dev_t, _PORTD, 0x29); + __AVR_DEFREG(PORT_dev_t, _PORTE, 0x2C); + __AVR_DEFREG(PORT_dev_t, _PORTF, 0x2F); + __AVR_DEFREG(TIFR0_reg_t, _TIFR0, 0x35); + __AVR_DEFREG(TIFR1_reg_t, _TIFR1, 0x36); + __AVR_DEFREG(TIFR2_reg_t, _TIFR2, 0x37); + __AVR_DEFREG(TIFR3_reg_t, _TIFR3, 0x38); + __AVR_DEFREG(PCIFR_reg_t, _PCIFR, 0x3B); + __AVR_DEFREG(EIFR_reg_t, _EIFR, 0x3C); + __AVR_DEFREG(EIMSK_reg_t, _EIMSK, 0x3D); + __AVR_DEFREG(_bit_reg_t, _GPIOR0, 0x3E); + __AVR_DEFREG(EECR_reg_t, _EECR, 0x3F); + __AVR_DEFREG(uint8_t, _EEDR, 0x40); + __AVR_DEFREG(EEAR_reg_t, _EEAR, 0x41); + __AVR_DEFREG(GTCCR_reg_t, _GTCCR, 0x43); + __AVR_DEFREG(TIMER_8bit_dev_t, TIMER0, 0x44); + __AVR_DEFREG(PLLCSR_reg_t, _PLLCSR, 0x49); + __AVR_DEFREG(_bit_reg_t, _GPIOR1, 0x4A); + __AVR_DEFREG(_bit_reg_t, _GPIOR2, 0x4B); + __AVR_DEFREG(SPCR_reg_t, _SPCR, 0x4C); + __AVR_DEFREG(SPSR_reg_t, _SPSR, 0x4D); + __AVR_DEFREG(uint8_t, _SPDR, 0x4E); + __AVR_DEFREG(ACSR_reg_t, _ACSR, 0x50); + __AVR_DEFREG(uint8_t, _OCDR, 0x51); + __AVR_DEFREG(SMCR_reg_t, _SMCR, 0x53); + __AVR_DEFREG(MCUSR_reg_t, _MCUSR, 0x54); + __AVR_DEFREG(MCUCR_reg_t, _MCUCR, 0x55); + __AVR_DEFREG(SPMCSR_reg_t, _SPMCSR, 0x57); + __AVR_DEFREG(RAMPZ_reg_t, _RAMPZ, 0x5B); + __AVR_DEFREG(SP_reg_t, _SP, 0x5D); + __AVR_DEFREG(SREG_reg_t, _SREG, 0x5F); + __AVR_DEFREG(WDTCSR_reg_t, _WDTCSR, 0x60); + __AVR_DEFREG(CLKPR_reg_t, _CLKPR, 0x61); + __AVR_DEFREG(PRR0_reg_t, _PRR0, 0x64); + __AVR_DEFREG(PRR1_reg_t, _PRR1, 0x65); + __AVR_DEFREG(uint8_t, _OSCCAL, 0x66); + __AVR_DEFREG(PCICR_reg_t, _PCICR, 0x68); + __AVR_DEFREG(EICRA_reg_t, _EICRA, 0x69); + __AVR_DEFREG(EICRB_reg_t, _EICRB, 0x6A); + __AVR_DEFREG(_bit_reg_t, _PCMSK0, 0x6B); + __AVR_DEFREG(TIMSK0_reg_t, _TIMSK0, 0x6E); + __AVR_DEFREG(TIMSK1_reg_t, _TIMSK1, 0x6F); + __AVR_DEFREG(TIMSK2_reg_t, _TIMSK2, 0x70); + __AVR_DEFREG(TIMSK3_reg_t, _TIMSK3, 0x71); + __AVR_DEFREG(XMCRA_reg_t, _XMCRA, 0x74); + __AVR_DEFREG(XMCRB_reg_t, _XMCRB, 0x75); + __AVR_DEFREG(uint16_t, _ADC, 0x78); + __AVR_DEFREG(ADCSRA_reg_t, _ADCSRA, 0x7A); + __AVR_DEFREG(ADCSRB_reg_t, _ADCSRB, 0x7B); + __AVR_DEFREG(ADMUX_reg_t, _ADMUX, 0x7C); + __AVR_DEFREG(DIDR0_reg_t, _DIDR0, 0x7E); + __AVR_DEFREG(DIDR1_reg_t, _DIDR1, 0x7F); + __AVR_DEFREG(TIMER_dev_t, TIMER1, 0x80); + __AVR_DEFREG(TIMER_dev_t, TIMER3, 0x90); + __AVR_DEFREG(UHCON_reg_t, _UHCON, 0x9E); + __AVR_DEFREG(UHINT_reg_t, _UHINT, 0x9F); + __AVR_DEFREG(UHIEN_reg_t, _UHIEN, 0xA0); + __AVR_DEFREG(UHADDR_reg_t, _UHADDR, 0xA1); + __AVR_DEFREG(UHFNUM_reg_t, _UHFNUM, 0xA2); + __AVR_DEFREG(uint8_t, _UHFLEN, 0xA4); + __AVR_DEFREG(uint8_t, _UPINRQX, 0xA5); + __AVR_DEFREG(UPINTX_reg_t, _UPINTX, 0xA6); + __AVR_DEFREG(UPNUM_reg_t, _UPNUM, 0xA7); + __AVR_DEFREG(UPRST_reg_t, _UPRST, 0xA8); + __AVR_DEFREG(UPCONX_reg_t, _UPCONX, 0xA9); + _AVR_DEFREG(UPCFG0X, 0xAA); + _AVR_DEFREG(UPCFG1X, 0xAB); + _AVR_DEFREG(UPSTAX, 0xAC); + __AVR_DEFREG(uint8_t, _UPCFG2X, 0xAD); + _AVR_DEFREG(UPIENX, 0xAE); + __AVR_DEFREG(uint8_t, _UPDATX, 0xAF); + __AVR_DEFREG(TIMER_8bit_dev_t, _TIMER2, 0xB0); + __AVR_DEFREG(ASSR_reg_t, _ASSR, 0xB6); + __AVR_DEFREG(uint8_t, _TWBR, 0xB8); + __AVR_DEFREG(TWSR_reg_t, _TWSR, 0xB9); + __AVR_DEFREG(TWAR_reg_t, _TWAR, 0xBA); + __AVR_DEFREG(uint8_t, _TWDR, 0xBB); + __AVR_DEFREG(TWCR_reg_t, _TWCR, 0xBC); + __AVR_DEFREG(TWAMR_reg_t, _TWAMR, 0xBD); + __AVR_DEFREG(USART_dev_t, USART1, 0xC8); + _AVR_DEFREG(UHWCON, 0xD7); + _AVR_DEFREG(USBCON, 0xD8); + _AVR_DEFREG(USBSTA, 0xD9); + _AVR_DEFREG(USBINT, 0xDA); + _AVR_DEFREG(UDPADD, 0xDB); + _AVR_DEFREG(OTGCON, 0xDD); + _AVR_DEFREG(OTGIEN, 0xDE); + _AVR_DEFREG(OTGINT, 0xDF); + _AVR_DEFREG(UDCON, 0xE0); + _AVR_DEFREG(UDINT, 0xE1); + _AVR_DEFREG(UDIEN, 0xE2); + _AVR_DEFREG(UDADDR, 0xE3); + _AVR_DEFREG(UDFNUM, 0xE4); + _AVR_DEFREG(UDMFN, 0xE6); + _AVR_DEFREG(UDTST, 0xE7); + _AVR_DEFREG(UEINTX, 0xE8); + _AVR_DEFREG(UENUM, 0xE9); + _AVR_DEFREG(UERST, 0xEA); + _AVR_DEFREG(UECONX, 0xEB); + _AVR_DEFREG(UECFG0X, 0xEC); + _AVR_DEFREG(UECFG1X, 0xED); + _AVR_DEFREG(UESTA0X, 0xEE); + _AVR_DEFREG(UESTA1X, 0xEF); + _AVR_DEFREG(UEIENX, 0xF0); + __AVR_DEFREG(uint8_t, _UEDATx, 0xF1); + _AVR_DEFREG(UEBCX, 0xF2); + _AVR_DEFREG(UEINT, 0xF4); + _AVR_DEFREG(UPERRX, 0xF5); + _AVR_DEFREG(UPBCX, 0xF6); + __AVR_DEFREG(uint8_t, _UPINT, 0xF8); + _AVR_DEFREG(OTGTCON, 0xF9); +#elif defined(__AVR_TRM05__) + // page 476ff. of ATmega164P-324P-644P-Data-Sheet-40002071A.pdf + __AVR_DEFREG(PORT_dev_t, _PORTA, 0x20); + __AVR_DEFREG(PORT_dev_t, _PORTB, 0x23); + __AVR_DEFREG(PORT_dev_t, _PORTC, 0x26); + __AVR_DEFREG(PORT_dev_t, _PORTD, 0x29); + __AVR_DEFREG(TIFR0_reg_t, _TIFR0, 0x35); + __AVR_DEFREG(TIFR1_reg_t, _TIFR1, 0x36); + __AVR_DEFREG(TIFR2_reg_t, _TIFR2, 0x37); + __AVR_DEFREG(PCIFR_reg_t, _PCIFR, 0x3B); + __AVR_DEFREG(EIFR_reg_t, _EIFR, 0x3C); + __AVR_DEFREG(EIMSK_reg_t, _EIMSK, 0x3D); + __AVR_DEFREG(_bit_reg_t, _GPIOR0, 0x3E); + __AVR_DEFREG(EECR_reg_t, _EECR, 0x3F); + __AVR_DEFREG(uint8_t, _EEDR, 0x40); + __AVR_DEFREG(EEAR_reg_t, _EEAR, 0x41); + __AVR_DEFREG(GTCCR_reg_t, _GTCCR, 0x43); + __AVR_DEFREG(TIMER_8bit_dev_t, TIMER0, 0x44); + __AVR_DEFREG(_bit_reg_t, _GPIOR1, 0x4A); + __AVR_DEFREG(_bit_reg_t, _GPIOR2, 0x4B); + __AVR_DEFREG(SPCR_reg_t, _SPCR, 0x4C); + __AVR_DEFREG(SPSR_reg_t, _SPSR, 0x4D); + __AVR_DEFREG(uint8_t, _SPDR, 0x4E); + __AVR_DEFREG(ACSR_reg_t, _ACSR, 0x50); + __AVR_DEFREG(uint8_t, _OCDR, 0x51); + __AVR_DEFREG(SMCR_reg_t, _SMCR, 0x53); + __AVR_DEFREG(MCUSR_reg_t, _MCUSR, 0x54); + __AVR_DEFREG(MCUCR_reg_t, _MCUCR, 0x55); + __AVR_DEFREG(SPMCSR_reg_t, _SPMCSR, 0x57); + __AVR_DEFREG(RAMPZ_reg_t, _RAMPZ, 0x5B); + __AVR_DEFREG(SP_reg_t, _SP, 0x5D); + __AVR_DEFREG(SREG_reg_t, _SREG, 0x5F); + __AVR_DEFREG(WDTCSR_reg_t, _WDTCSR, 0x60); + __AVR_DEFREG(CLKPR_reg_t, _CLKPR, 0x61); + __AVR_DEFREG(PRR0_reg_t, _PRR0, 0x64); + __AVR_DEFREG(uint8_t, _OSCCAL, 0x66); + __AVR_DEFREG(PCICR_reg_t, _PCICR, 0x68); + __AVR_DEFREG(EICRA_reg_t, _EICRA, 0x69); + __AVR_DEFREG(_bit_reg_t, _PCMSK0, 0x6B); + __AVR_DEFREG(_bit_reg_t, _PCMSK1, 0x6C); + __AVR_DEFREG(_bit_reg_t, _PCMSK2, 0x6D); + __AVR_DEFREG(TIMSK0_reg_t, _TIMSK0, 0x6E); + __AVR_DEFREG(TIMSK1_reg_t, _TIMSK1, 0x6F); + __AVR_DEFREG(TIMSK2_reg_t, _TIMSK2, 0x70); + __AVR_DEFREG(_bit_reg_t, _PCMKS3, 0x73); + __AVR_DEFREG(uint16_t, _ADC, 0x78); + __AVR_DEFREG(ADCSRA_reg_t, _ADCSRA, 0x7A); + __AVR_DEFREG(ADCSRB_reg_t, _ADCSRB, 0x7B); + __AVR_DEFREG(ADMUX_reg_t, _ADMUX, 0x7C); + __AVR_DEFREG(DIDR0_reg_t, _DIDR0, 0x7E); + __AVR_DEFREG(DIDR1_reg_t, _DIDR1, 0x7F); + __AVR_DEFREG(TIMER_dev_t, TIMER1, 0x80); + __AVR_DEFREG(TIMER_8bit_dev_t, _TIMER2, 0xB0); + __AVR_DEFREG(ASSR_reg_t, _ASSR, 0xB6); + __AVR_DEFREG(uint8_t, _TWBR, 0xB8); + __AVR_DEFREG(TWSR_reg_t, _TWSR, 0xB8); + __AVR_DEFREG(TWAR_reg_t, _TWAR, 0xBA); + __AVR_DEFREG(uint8_t, _TWDR, 0xBB); + __AVR_DEFREG(TWCR_reg_t, _TWCR, 0xBC); + __AVR_DEFREG(TWAMR_reg_t, _TWAMR, 0xBD); + __AVR_DEFREG(USART_dev_t, USART0, 0xC0); + __AVR_DEFREG(USART_dev_t, USART1, 0xC8); +#endif + +inline void _ATmega_resetperipherals() { + using namespace AVRHelpers; + + // Due to BOOTLOADER or other board inconsistencies we could get launched into Marlin FW + // with configuration that does not match the reset state in the documentation. That is why + // we should clean-reset the entire device. + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + SREG_reg_t __SREG; + __SREG._C = false; + __SREG._Z = false; + __SREG._N = false; + __SREG._V = false; + __SREG._S = false; + __SREG._H = false; + __SREG._T = false; + __SREG._I = false; + dwrite(_SREG, __SREG); + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + _RAMPZ._RAMPZ = 0; + #endif + #ifdef __AVR_TRM01__ + _EIND._EIND0 = false; + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM05__) + _EEAR._EEAR = 0; + dwrite(_EEDR, (uint8_t)0u); + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + EECR_reg_t __EECR; + __EECR._EERE = false; + __EECR._EEPE = false; + __EECR._EEMPE = false; + __EECR._EERIE = false; + __EECR._EEPM0 = 0; + __EECR._EEPM1 = 0; + __EECR.reserved1 = 0; + dwrite(_EECR, __EECR); + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + _GPIOR2.val = 0; + _GPIOR1.val = 0; + _GPIOR0.val = 0; + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) + XMCRA_reg_t __XMCRA; + __XMCRA._SRW0 = 0; + __XMCRA._SRW1 = 0; + __XMCRA._SRL = 0; + __XMCRA._SRE = 0; + dwrite(_XMCRA, __XMCRA); + + XMCRB_reg_t __XMCRB; + __XMCRB._XMM = 0; + __XMCRB.reserved1 = 0; + __XMCRB._XMBK = false; + dwrite(_XMCRB, __XMCRB); + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + SMCR_reg_t __SMCR; + __SMCR._SE = false; + __SMCR._SM = 0; + __SMCR.reserved1 = 0; + dwrite(_SMCR, __SMCR); + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + PRR0_reg_t __PRR0; + #if defined(__AVR_TRM01__) || defined(__AVR_TRM03__) + __PRR0._PRADC = false; + __PRR0._PRUSART0 = false; + __PRR0._PRSPI = false; + __PRR0._PRTIM1 = false; + __PRR0.reserved1 = false; + __PRR0._PRTIM0 = false; + __PRR0._PRTIM2 = false; + __PRR0._PRTWI = false; + #elif defined(__AVR_TRM02__) + __PRR0._PRADC = false; + __PRR0._PRUSART0 = false; + __PRR0._PRSPI = false; + __PRR0._PRTIM1 = false; + __PRR0._PRUSART1 = false; + __PRR0._PRTIM0 = false; + __PRR0._PRTIM2 = false; + __PRR0._PRTWI = false; + #elif defined(__AVR_TRM04__) + __PRR0._PRADC = false; + __PRR0.reserved1 = false; + __PRR0._PRSPI = false; + __PRR0._PRTIM1 = false; + __PRR0.reserved2 = false; + __PRR0._PRTIM0 = false; + __PRR0._PRTIM2 = false; + __PRR0._PRTWI = false; + #endif + dwrite(_PRR0, __PRR0); + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM04__) + PRR1_reg_t __PRR1; + #ifdef __AVR_TRM01__ + __PRR1._PRUSART1 = false; + __PRR1._PRUSART2 = false; + __PRR1._PRUSART3 = false; + __PRR1._PRTIM3 = false; + __PRR1._PRTIM4 = false; + __PRR1._PRTIM5 = false; + __PRR1.reserved1 = 0; + #elif defined(__AVR_TRM02__) + __PRR1._PRTIM3 = false; + __PRR1.reserved1 = 0; + #elif defined(__AVR_TRM04__) + __PRR1._PRUSART1 = false; + __PRR1.reserved1 = 0; + #endif + dwrite(_PRR1, __PRR1); + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + WDTCSR_reg_t __WDTCSR; + __WDTCSR._WDP0 = 0; + __WDTCSR._WDP1 = 0; + __WDTCSR._WDP2 = 0; + __WDTCSR._WDE = false; + __WDTCSR._WDCE = false; + __WDTCSR._WDP3 = 0; + __WDTCSR._WDIE = false; + __WDTCSR._WDIF = false; + dwrite(_WDTCSR, __WDTCSR); + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + _MCUCR._PUD = false; + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + PORT_dev_t __PORT; + __PORT._PIN.val = 0; + __PORT._DDR.val = 0; + __PORT._PORT.val = 0; + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + dwrite(_PORTA, __PORT); + dwrite(_PORTC, __PORT); + #endif + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + dwrite(_PORTB, __PORT); + dwrite(_PORTD, __PORT); + #endif + #if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) + dwrite(_PORTE, __PORT); + dwrite(_PORTF, __PORT); + #endif + + #ifdef __AVR_TRM01__ + PORTG_dev_t __PORTG; + __PORTG._PIN.val = 0; + __PORTG._PIN.reserved1 = 0; + __PORTG._DDR.val = 0; + __PORTG._DDR.reserved1 = 0; + __PORTG._PORT.val = 0; + __PORTG._PORT.reserved1 = 0; + dwrite(_PORTG, __PORTG); + #endif + + #ifdef __AVR_TRM03__ + PORTC_dev_t __PORTC; + __PORTC._PIN.val = 0; + __PORTC._PIN.reserved1 = 0; + __PORTC._DDR.val = 0; + __PORTC._DDR.reserved1 = 0; + __PORTC._PORT.val = 0; + __PORTC._PORT.reserved1 = 0; + dwrite(_PORTC, __PORTC); + #endif + + #ifdef __AVR_TRM01__ + dwrite(_PORTH, __PORT); + dwrite(_PORTJ, __PORT); + dwrite(_PORTK, __PORT); + dwrite(_PORTL, __PORT); + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + EICRA_reg_t __EICRA; + #if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) + __EICRA._ISC0 = 0; + __EICRA._ISC1 = 0; + __EICRA._ISC2 = 0; + __EICRA._ISC3 = 0; + #elif defined(__AVR_TRM02__) || defined(__AVR_TRM05__) + __EICRA._ISC0 = 0; + __EICRA._ISC1 = 0; + __EICRA._ISC2 = 0; + __EICRA.reserved1 = 0; + #elif defined(__AVR_TRM03__) + __EICRA._ISC0 = 0; + __EICRA._ISC1 = 0; + __EICRA.reserved1 = 0; + #endif + dwrite(_EICRA, __EICRA); + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) + EICRB_reg_t __EICRB; + __EICRB._ISC4 = 0; + __EICRB._ISC5 = 0; + __EICRB._ISC6 = 0; + __EICRB._ISC7 = 0; + dwrite(_EICRB, __EICRB); + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + EIMSK_reg_t __EIMSK; + #if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) + __EIMSK._INT0 = false; + __EIMSK._INT1 = false; + __EIMSK._INT2 = false; + __EIMSK._INT3 = false; + __EIMSK._INT4 = false; + __EIMSK._INT5 = false; + __EIMSK._INT6 = false; + __EIMSK._INT7 = false; + #elif defined(__AVR_TRM02__) || defined(__AVR_TRM05__) + __EIMSK._INT0 = false; + __EIMSK._INT1 = false; + __EIMSK._INT2 = false; + __EIMSK.reserved1 = 0; + #elif defined(__AVR_TRM03__) + __EIMSK._INT0 = false; + __EIMSK._INT1 = false; + __EIMSK.reserved1 = 0; + #endif + dwrite(_EIMSK, __EIMSK); + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + EIFR_reg_t __EIFR; + #if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) + __EIFR._INTF0 = false; + __EIFR._INTF1 = false; + __EIFR._INTF2 = false; + __EIFR._INTF3 = false; + __EIFR._INTF4 = false; + __EIFR._INTF5 = false; + __EIFR._INTF6 = false; + __EIFR._INTF7 = false; + #elif defined(__AVR_TRM02__) || defined(__AVR_TRM05__) + __EIFR._INTF0 = false; + __EIFR._INTF1 = false; + __EIFR._INTF2 = false; + __EIFR.reserved1 = 0; + #elif defined(__AVR_TRM03__) + __EIFR._INTF0 = false; + __EIFR._INTF1 = false; + __EIFR.reserved1 = 0; + #endif + dwrite(_EIFR, __EIFR); + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + PCICR_reg_t __PCICR; + #if defined(__AVR_TRM01__) || defined(__AVR_TRM03__) + __PCICR._PCIE0 = false; + __PCICR._PCIE1 = false; + __PCICR._PCIE2 = false; + __PCICR.reserved1 = 0; + #elif defined(__AVR_TRM02__) || defined(__AVR_TRM05__) + __PCICR._PCIE0 = false; + __PCICR._PCIE1 = false; + __PCICR._PCIE2 = false; + __PCICR._PCIE3 = false; + __PCICR.reserved1 = 0; + #elif defined(__AVR_TRM04__) + __PCICR._PCIE0 = false; + __PCICR.reserved1 = 0; + #endif + dwrite(_PCICR, __PCICR); + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + PCIFR_reg_t __PCIFR; + #if defined(__AVR_TRM01__) || defined(__AVR_TRM03__) + __PCIFR._PCIF0 = false; + __PCIFR._PCIF1 = false; + __PCIFR._PCIF2 = false; + __PCIFR.reserved1 = 0; + #elif defined(__AVR_TRM02__) || defined(__AVR_TRM05__) + __PCIFR._PCIF0 = false; + __PCIFR._PCIF1 = false; + __PCIFR._PCIF2 = false; + __PCIFR._PCIF3 = false; + __PCIFR.reserved1 = 0; + #elif defined(__AVR_TRM04__) + __PCIFR._PCIF0 = false; + __PCIFR.reserved1 = 0; + #endif + dwrite(_PCIFR, __PCIFR); + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + _PCMSK0.val = 0; + #endif + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM05__) + _PCMSK1.val = 0; + _PCMSK2.val = 0; + #endif + #if defined(__AVR_TRM03__) + _PCMSK1.reserved1 = 0; + #endif + #if defined(__AVR_TRM02__) + _PCMSK3.val = 0; + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + TIMER_8bit_dev_t __TIMER_8bit; + __TIMER_8bit._TCCRnA._WGMn0 = 0; + __TIMER_8bit._TCCRnA._WGMn1 = 0; + __TIMER_8bit._TCCRnA.reserved1 = 0; + __TIMER_8bit._TCCRnA._COMnB = 0; + __TIMER_8bit._TCCRnA._COMnA = 0; + __TIMER_8bit._TCCRnB._CSn = 0; + __TIMER_8bit._TCCRnB._WGMn2 = 0; + __TIMER_8bit._TCCRnB.reserved1 = 0; + __TIMER_8bit._TCCRnB._FOCnB = false; + __TIMER_8bit._TCCRnB._FOCnA = false, + __TIMER_8bit._TCNTn = 0; + __TIMER_8bit._OCRnA = 0; + __TIMER_8bit._OCRnB = 0; + dwrite(TIMER0, __TIMER_8bit); + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + TIMSK0_reg_t __TIMSK0; + __TIMSK0._TOIE0 = false; + __TIMSK0._OCIE0A = false; + __TIMSK0._OCIE0B = false; + __TIMSK0.reserved1 = 0; + dwrite(_TIMSK0, __TIMSK0); + + TIFR0_reg_t __TIFR0; + __TIFR0._TOV0 = false; + __TIFR0._OCF0A = false; + __TIFR0._OCF0B = false; + __TIFR0.reserved1 = 0; + dwrite(_TIFR0, __TIFR0); + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + TIMER_dev_t TIMER; + TIMER._TCCRnA._WGMn0 = 0; + TIMER._TCCRnA._WGMn1 = 0; + #if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) + TIMER._TCCRnA._COMnC = 0; + #endif + TIMER._TCCRnA._COMnB = 0; + TIMER._TCCRnA._COMnA = 0; + TIMER._TCCRnB._CSn = 0; + TIMER._TCCRnB._WGMn2 = 0; + TIMER._TCCRnB.reserved1 = 0; + TIMER._TCCRnB._ICESn = 0; + TIMER._TCCRnB._ICNCn = 0; + TIMER._TCCRnC.reserved1 = 0; + #if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) + TIMER._TCCRnC._FOCnC = false; + #endif + TIMER._TCCRnC._FOCnB = false; + TIMER._TCCRnC._FOCnA = false; + TIMER._TCNTn = 0; + TIMER._OCRnA = 0; + TIMER._OCRnB = 0; + #if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) + TIMER._OCRnC = 0; + #endif + TIMER._ICRn = 0; + dwrite(TIMER1, TIMER); + #endif + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM04__) + dwrite(TIMER3, TIMER); + #endif + #ifdef __AVR_TRM01__ + dwrite(TIMER4, TIMER); + dwrite(TIMER5, TIMER); + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + TIMSK1_reg_t __TIMSK1; + __TIMSK1._TOIE1 = false; + __TIMSK1._OCIE1A = false; + __TIMSK1._OCIE1B = false; + #if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) + __TIMSK1._OCIE1C = false; + #endif + __TIMSK1.reserved1 = 0; + __TIMSK1._ICIE1 = false; + __TIMSK1.reserved2 = 0; + dwrite(_TIMSK1, __TIMSK1); + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM04__) + TIMSK3_reg_t __TIMSK3; + __TIMSK3._TOIE3 = false; + __TIMSK3._OCIE3A = false; + __TIMSK3._OCIE3B = false; + #if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) + __TIMSK3._OCIE3C = false; + #endif + __TIMSK3.reserved1 = 0; + __TIMSK3._ICIE3 = false; + __TIMSK3.reserved2 = 0; + dwrite(_TIMSK3, __TIMSK3); + #endif + + #ifdef __AVR_TRM01__ + TIMSK4_reg_t __TIMSK4; + __TIMSK4._TOIE4 = false; + __TIMSK4._OCIE4A = false; + __TIMSK4._OCIE4B = false; + __TIMSK4._OCIE4C = false; + __TIMSK4.reserved1 = false; + __TIMSK4._ICIE4 = false; + __TIMSK4.reserved2 = false; + dwrite(_TIMSK4, __TIMSK4); + + TIMSK5_reg_t __TIMSK5; + __TIMSK5._TOIE5 = false; + __TIMSK5._OCIE5A = false; + __TIMSK5._OCIE5B = false; + __TIMSK5._OCIE5C = false; + __TIMSK5.reserved1 = 0; + __TIMSK5._ICIE5 = false; + __TIMSK5.reserved2 = 0; + dwrite(_TIMSK5, __TIMSK5); + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + TIFR1_reg_t __TIFR1; + __TIFR1._TOV1 = false; + __TIFR1._OCF1A = false; + __TIFR1._OCF1B = false; + #if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) + __TIFR1._OCF1C = false; + #endif + __TIFR1.reserved1 = 0; + __TIFR1._ICF1 = false; + __TIFR1.reserved2 = 0; + dwrite(_TIFR1, __TIFR1); + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM04__) + TIFR3_reg_t __TIFR3; + __TIFR3._TOV3 = false; + __TIFR3._OCF3A = false; + __TIFR3._OCF3B = false; + #if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) + __TIFR3._OCF3C = false; + #endif + __TIFR3.reserved1 = 0; + __TIFR3._ICF3 = false; + __TIFR3.reserved2 = 0; + dwrite(_TIFR3, __TIFR3); + #endif + + #ifdef __AVR_TRM01__ + TIFR4_reg_t __TIFR4; + __TIFR4._TOV4 = false; + __TIFR4._OCF4A = false; + __TIFR4._OCF4B = false; + __TIFR4._OCF4C = false; + __TIFR4.reserved1 = 0; + __TIFR4._ICF4 = false; + __TIFR4.reserved2 = 0; + dwrite(_TIFR4, __TIFR4); + + TIFR5_reg_t __TIFR5; + __TIFR5._TOV5 = false; + __TIFR5._OCF5A = false; + __TIFR5._OCF5B = false; + __TIFR5._OCF5C = false; + __TIFR5.reserved1 = 0; + __TIFR5._ICF5 = false; + __TIFR5.reserved2 = 0; + dwrite(_TIFR5, __TIFR5); + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + dwrite(_TIMER2, __TIMER_8bit); + #endif + + #if defined(__AV_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + ASSR_reg_t __ASSR; + __ASSR._TCR2BUB = false; + __ASSR._TCR2AUB = false; + __ASSR._OCR2BUB = false; + __ASSR._OCR2AUB = false; + __ASSR._TCN2UB = false; + __ASSR._AS2 = false; + __ASSR._EXCLK = false; + __ASSR.reserved1 = 0; + dwrite(_ASSR, __ASSR); + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + TIMSK2_reg_t __TIMSK2; + __TIMSK2._TOIE2 = false; + __TIMSK2._OCIE2A = false; + __TIMSK2._OCIE2B = false; + __TIMSK2.reserved1 = 0; + dwrite(_TIMSK2, __TIMSK2); + + TIFR2_reg_t __TIFR2; + __TIFR2._TOV2 = false; + __TIFR2._OCF2A = false; + __TIFR2._OCF2B = false; + __TIFR2.reserved1 = 0; + dwrite(_TIFR2, __TIFR2); + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + SPCR_reg_t __SPCR; + __SPCR._SPR = 0; + __SPCR._CPHA = 0; + __SPCR._CPOL = 0; + __SPCR._MSTR = 0; + __SPCR._DORD = 0; + __SPCR._SPE = false; + __SPCR._SPIE = false; + dwrite(_SPCR, __SPCR); + + SPSR_reg_t __SPSR; + __SPSR._SPI2X = false; + __SPSR.reserved1 = 0; + __SPSR._WCOL = false; + __SPSR._SPIF = false; + dwrite(_SPSR, __SPSR); + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + USART_dev_t USART; + USART._UDRn = 0; + USART._UCSRnA._MPCM = false; + USART._UCSRnA._U2X = false; + USART._UCSRnA._UPE = false; + USART._UCSRnA._DOR = false; + USART._UCSRnA._FE = false; + USART._UCSRnA._UDRE = true; + USART._UCSRnA._TXC = false; + USART._UCSRnA._RXC = false; + USART._UCSRnB._TXB8 = false; + USART._UCSRnB._RXB8 = false; + USART._UCSRnB._UCSZn2 = false; + USART._UCSRnB._TXEN = false; + USART._UCSRnB._RXEN = false; + USART._UCSRnB._UDRIE = false; + USART._UCSRnB._TXCIE = false; + USART._UCSRnB._RXCIE = false; + USART._UCSRnC._UCPOL = false; + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) + USART._UCSRnC._UCSZn0 = 1; + USART._UCSRnC._UCSZn1 = 1; + USART._UCSRnC._USBS = false; + USART._UCSRnC._UPM = 0; + USART._UCSRnC._UPM = 0; + USART._UCSRnC._UMSEL = 0; + #elif defined(__AVR_TRM05__) + USART._UCSRnC._UCPOL = 0; + USART._UCSRnC._UCPHA = 0; + USART._UCSRnC._UDORD = 0; + USART._UCSRnC.reserved1 = 0; + USART._UCSRnC._UMSEL = 0; + #endif + USART._UBRRn._UBRR = 0; + USART._UBRRn.reserved1 = 0; + #endif + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM05__) + dwrite(USART0, USART); + #endif + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + dwrite(USART1, USART); + #endif + #ifdef __AVR_TRM01__ + dwrite(USART2, USART); + dwrite(USART3, USART); + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + dwrite(_TWBR, (uint8_t)0); + + TWCR_reg_t __TWCR; + __TWCR._TWIE = false; + __TWCR.reserved1 = 0; + __TWCR._TWEN = false; + __TWCR._TWWC = false; + __TWCR._TWSTO = false; + __TWCR._TWSTA = false; + __TWCR._TWEA = false; + __TWCR._TWINT = false; + dwrite(_TWCR, __TWCR); + + TWSR_reg_t __TWSR; + __TWSR._TWPS0 = false; + __TWSR._TWPS1 = false; + __TWSR.reserved1 = 0; + __TWSR._TWS3 = 1; + __TWSR._TWS4 = 1; + __TWSR._TWS5 = 1; + __TWSR._TWS6 = 1; + __TWSR._TWS7 = 1; + dwrite(_TWSR, __TWSR); + + dwrite(_TWDR, (uint8_t)0xFF); + + TWAR_reg_t __TWAR; + __TWAR._TWGCE = false; + __TWAR._TWA = 0x7F; + dwrite(_TWAR, __TWAR); + + TWAMR_reg_t __TWAMR; + __TWAMR.reserved1 = false; + __TWAMR._TWAM = 0; + dwrite(_TWAMR, __TWAMR); + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + ADCSRB_reg_t __ADCSRB; + __ADCSRB._ADTS = 0; + #ifdef __AVR_TRM01__ + __ADCSRB._MUX5 = 0; + #endif + __ADCSRB.reserved1 = 0; + __ADCSRB._ACME = false; + __ADCSRB.reserved2 = 0; + dwrite(_ADCSRB, __ADCSRB); + + ACSR_reg_t __ACSR; + __ACSR._ACIS = 0; + __ACSR._ACIC = false; + __ACSR._ACIE = false; + __ACSR._ACI = false; + __ACSR._ACO = false; + __ACSR._ACBG = false; + __ACSR._ACD = false; + dwrite(_ACSR, __ACSR); + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + DIDR1_reg_t __DIDR1; + __DIDR1._AIN0D = false; + __DIDR1._AIN1D = false; + __DIDR1.reserved1 = false; + dwrite(_DIDR1, __DIDR1); + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + ADMUX_reg_t __ADMUX; + __ADMUX._MUX0 = 0; + __ADMUX._MUX1 = 0; + __ADMUX._MUX2 = 0; + __ADMUX._MUX3 = 0; + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + __ADMUX._MUX4 = 0; + #elif defined(__AVR_TRM03__) + __ADMUX.reserved1 = 0; + #endif + __ADMUX._ADLAR = 0; + __ADMUX._REFS0 = 0; + __ADMUX._REFS1 = 0; + dwrite(_ADMUX, __ADMUX); + + ADCSRA_reg_t __ADCSRA; + __ADCSRA._ADPS = 0; + __ADCSRA._ADIE = false; + __ADCSRA._ADIF = false; + __ADCSRA._ADATE = false; + __ADCSRA._ADSC = false; + __ADCSRA._ADEN = false; + dwrite(_ADCSRA, __ADCSRA); + + dwrite(_ADC, (uint16_t)0); + #endif + + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + SPMCSR_reg_t __SPMCSR; + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + __SPMCSR._SPMEN = false; + __SPMCSR._PGERS = false; + __SPMCSR._PGWRT = false; + __SPMCSR._BLBSET = false; + __SPMCSR._RWWSRE = false; + __SPMCSR._SIGRD = false; + __SPMCSR._RWWSB = false; + __SPMCSR._SPMIE = false; + #elif defined(__AVR_TRM03__) + #if defined(__AVR_ATmega88A__) || defined(__AVR_ATmega88PA__) || defined(__AVR_ATmega168A__) || defined(__AVR_ATmega168PA__) || defined(__AVR_ATmega328P__) + __SPMCSR._SPMEN = false; + __SPMCSR._PGERS = false; + __SPMCSR._PGWRT = false; + __SPMCSR._BLBSET = false; + __SPMCSR._RWWSRE = false; + __SPMCSR._SIGRD = false; + __SPMCSR._RWWSB = false; + __SPMCSR._SPMIE = false; + #else + __SPMCSR._SPMEN = false; + __SPMCSR._PGERS = false; + __SPMCSR._PGWRT = false; + __SPMCSR._BLBSET = false; + __SPMCSR.reserved1 = false; + __SPMCSR._SIGRD = false; + __SPMCSR.reserved2 = false; + __SPMCSR._SPMIE = false; + #endif + #endif + dwrite(_SPMCSR, __SPMCSR); + #endif + + // TODO: add the __AVR_TRM04__ initializations, if required (mostly USB related) +} + +struct pin_dev_state_t { + #ifdef __AVR_TRM01__ + uint8_t _SRE : 1; // port A + uint8_t _COM0B : 2; + uint8_t _COM1A : 2; + uint8_t _COM1B : 2; + uint8_t _COM1C : 2; + uint8_t _COM2A : 2; + uint8_t _COM2B : 2; + uint8_t _COM3A : 2; + uint8_t _COM3B : 2; + uint8_t _COM3C : 2; + uint8_t _COM4A : 2; + uint8_t _COM4B : 2; + uint8_t _COM4C : 2; + uint8_t _COM5A : 2; + uint8_t _COM5B : 2; + uint8_t _COM5C : 2; + uint8_t _PCIE0 : 1; + uint8_t _PCIE1 : 1; // INTn + uint8_t _PCIE2 : 1; + uint8_t _SPE : 1; + uint8_t _USART0_RXEN : 1; + uint8_t _USART0_TXEN : 1; + uint8_t _USART1_RXEN : 1; + uint8_t _USART1_TXEN : 1; + uint8_t _USART2_RXEN : 1; + uint8_t _USART2_TXEN : 1; + uint8_t _USART3_RXEN : 1; + uint8_t _USART3_TXEN : 1; + //uint8_t _JTAGEN : 1; + uint8_t _AS2 : 1; + #elif defined(__AVR_TRM02__) + uint8_t _PCIE0 : 1; + uint8_t _PCIE1 : 1; + uint8_t _PCIE2 : 1; + uint8_t _PCIE3 : 1; + uint8_t _ADC7D : 1; + uint8_t _ADC6D : 1; + uint8_t _ADC5D : 1; + uint8_t _ADC4D : 1; + uint8_t _ADC3D : 1; + uint8_t _ADC2D : 1; + uint8_t _ADC1D : 1; + uint8_t _ADC0D : 1; + uint8_t _SPE : 1; + uint8_t _COM0A : 2; + uint8_t _COM0B : 2; + uint8_t _COM2A : 2; + uint8_t _COM2B : 2; + uint8_t _COM1A : 2; + uint8_t _COM1B : 2; + //uint8_t _JTAGEN : 1; + uint8_t _AS2 : 1; + uint8_t _TWEN : 1; + uint8_t _USART1_TXEN : 1; + uint8_t _USART1_RXEN : 1; + uint8_t _USART0_TXEN : 1; + uint8_t _USART0_RXEN : 1; + #elif defined(__AVR_TRM03__) + uint8_t _AS2 : 1; + uint8_t _PCIE0 : 1; + uint8_t _PCIE1 : 1; + uint8_t _PCIE2 : 1; + uint8_t _SPE : 1; + uint8_t _COM2B : 2; + uint8_t _COM2A : 2; + uint8_t _COM1B : 2; + uint8_t _COM1A : 2; + uint8_t _COM0A : 2; + uint8_t _COM0B : 2; + uint8_t _TWEN : 1; + uint8_t _ADC7D : 1; + uint8_t _ADC6D : 1; + uint8_t _ADC5D : 1; + uint8_t _ADC4D : 1; + uint8_t _ADC3D : 1; + uint8_t _ADC2D : 1; + uint8_t _ADC1D : 1; + uint8_t _ADC0D : 1; + uint8_t _UMSEL : 2; + uint8_t _USART0_TXEN : 1; + uint8_t _USART0_RXEN : 1; + #elif defined(__AVR_TRM04__) + uint8_t _SRE : 1; + uint8_t _SPE : 1; + uint8_t _COM0B : 2; + uint8_t _COM1C : 2; + uint8_t _COM1B : 2; + uint8_t _COM1A : 2; + uint8_t _COM2A : 2; + uint8_t _COM2B : 2; + uint8_t _PCIE0 : 1; + uint8_t _USART1_RXEN : 1; + uint8_t _USART1_TXEN : 1; + uint8_t _TWEN : 1; + uint8_t _INT7 : 1; + uint8_t _INT6 : 1; + uint8_t _INT5 : 1; + uint8_t _INT4 : 1; + uint8_t _INT3 : 1; + uint8_t _INT2 : 1; + uint8_t _INT1 : 1; + uint8_t _INT0; + uint8_t _UVCONE : 1; + uint8_t _UIDE : 1; + //uint8_t _JTAGEN : 1; + #elif defined(__AVR_TRM05__) + uint8_t _ADC7D : 1; + uint8_t _ADC6D : 1; + uint8_t _ADC5D : 1; + uint8_t _ADC4D : 1; + uint8_t _ADC3D : 1; + uint8_t _ADC2D : 1; + uint8_t _ADC1D : 1; + uint8_t _ADC0D : 1; + uint8_t _PCIE0 : 1; + uint8_t _PCIE1 : 1; + uint8_t _PCIE2 : 1; + uint8_t _PCIE3 : 1; + uint8_t _SPE : 1; + uint8_t _COM0A : 2; + uint8_t _COM0B : 2; + uint8_t _COM2A : 2; + uint8_t _COM2B : 2; + uint8_t _COM1A : 2; + uint8_t _COM1B : 2; + uint8_t _AS2 : 1; + uint8_t _TWEN : 1; + uint8_t _TXEN1 : 1; + uint8_t _RXEN1 : 1; + uint8_t _TXEN0 : 1; + uint8_t _RXEN0 : 1; + uint8_t _INT2 : 1; + uint8_t _INT1 : 1; + uint8_t _INT0 : 1; + //uint8_t _JTAGEN : 1; + #endif +}; + +// AVR ArduinoCore is written like a hack-job (random peripherals enabled all-the-time). + +enum class eATmegaPort { + #ifdef __AVR_TRM01__ + PORT_A, PORT_B, PORT_C, PORT_D, PORT_E, PORT_F, PORT_G, PORT_H, PORT_J, PORT_K, PORT_L + #elif defined(__AVR_TRM02__) || defined(__AVR_TRM05__) + PORT_A, PORT_B, PORT_C, PORT_D + #elif defined(__AVR_TRM03__) + PORT_B, PORT_C, PORT_D + #elif defined(__AVR_TRM04__) + PORT_A, PORT_B, PORT_C, PORT_D, PORT_E, PORT_F + #endif +}; + +struct ATmegaPinInfo { + eATmegaPort port; + uint8_t pinidx; +}; + +#if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + #define _SPA_DIO_DDRA (eATmegaPort::PORT_A) +#endif +#if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + #define _SPA_DIO_DDRB (eATmegaPort::PORT_B) + #define _SPA_DIO_DDRC (eATmegaPort::PORT_C) + #define _SPA_DIO_DDRD (eATmegaPort::PORT_D) +#endif +#if defined(__AVR_TRM01__) || defined(__AVR_TRM04__) + #define _SPA_DIO_DDRE (eATmegaPort::PORT_E) + #define _SPA_DIO_DDRF (eATmegaPort::PORT_F) +#endif +#ifdef __AVR_TRM01__ + #define _SPA_DIO_DDRG (eATmegaPort::PORT_G) + #define _SPA_DIO_DDRH (eATmegaPort::PORT_H) + #define _SPA_DIO_DDRJ (eATmegaPort::PORT_J) + #define _SPA_DIO_DDRK (eATmegaPort::PORT_K) + #define _SPA_DIO_DDRL (eATmegaPort::PORT_L) +#endif + +#define __SPA_IFPORT_STMT(dr) if (ddrp == &D##dr) port = _SPA_DIO_D##dr; + +#ifdef _SPA_DIO_DDRA + #define _SPA_IFPORT_PORTA __SPA_IFPORT_STMT(DRA) +#else + #define _SPA_IFPORT_PORTA +#endif +#ifdef _SPA_DIO_DDRB + #define _SPA_IFPORT_PORTB __SPA_IFPORT_STMT(DRB) +#else + #define _SPA_IFPORT_PORTB +#endif +#ifdef _SPA_DIO_DDRC + #define _SPA_IFPORT_PORTC __SPA_IFPORT_STMT(DRC) +#else + #define _SPA_IFPORT_PORTC +#endif +#ifdef _SPA_DIO_DDRD + #define _SPA_IFPORT_PORTD __SPA_IFPORT_STMT(DRD) +#else + #define _SPA_IFPORT_PORTD +#endif +#ifdef _SPA_DIO_DDRE + #define _SPA_IFPORT_PORTE __SPA_IFPORT_STMT(DRE) +#else + #define _SPA_IFPORT_PORTE +#endif +#ifdef _SPA_DIO_DDRF + #define _SPA_IFPORT_PORTF __SPA_IFPORT_STMT(DRF) +#else + #define _SPA_IFPORT_PORTF +#endif +#ifdef _SPA_DIO_DDRG + #define _SPA_IFPORT_PORTG __SPA_IFPORT_STMT(DRG) +#else + #define _SPA_IFPORT_PORTG +#endif +#ifdef _SPA_DIO_DDRH + #define _SPA_IFPORT_PORTH __SPA_IFPORT_STMT(DRH) +#else + #define _SPA_IFPORT_PORTH +#endif +#ifdef _SPA_DIO_DDRJ + #define _SPA_IFPORT_PORTJ __SPA_IFPORT_STMT(DRJ) +#else + #define _SPA_IFPORT_PORTJ +#endif +#ifdef _SPA_DIO_DDRK + #define _SPA_IFPORT_PORTK __SPA_IFPORT_STMT(DRK) +#else + #define _SPA_IFPORT_PORTK +#endif +#ifdef _SPA_DIO_DDRL + #define _SPA_IFPORT_PORTL __SPA_IFPORT_STMT(DRL) +#else + #define _SPA_IFPORT_PORTL +#endif + +#define _SPA_RESOLVE_DIO(ddr) _SPA_DIO_##ddr +#define _SPA_DIOn_PORTRET(val, n) if (val == n) { \ + auto *ddrp = &DIO##n##_DDR; \ + eATmegaPort port; \ + _SPA_IFPORT_PORTA \ + _SPA_IFPORT_PORTB \ + _SPA_IFPORT_PORTC \ + _SPA_IFPORT_PORTD \ + _SPA_IFPORT_PORTE \ + _SPA_IFPORT_PORTF \ + _SPA_IFPORT_PORTG \ + _SPA_IFPORT_PORTH \ + _SPA_IFPORT_PORTJ \ + _SPA_IFPORT_PORTK \ + _SPA_IFPORT_PORTL \ + return { port, DIO##n##_PIN }; \ + } + +inline ATmegaPinInfo _ATmega_getPinInfo(uint8_t pin) { + #if DIO_NUM > 0 + _SPA_DIOn_PORTRET(pin, 0) + #endif + #if DIO_NUM > 1 + _SPA_DIOn_PORTRET(pin, 1) + #endif + #if DIO_NUM > 2 + _SPA_DIOn_PORTRET(pin, 2) + #endif + #if DIO_NUM > 3 + _SPA_DIOn_PORTRET(pin, 3) + #endif + #if DIO_NUM > 4 + _SPA_DIOn_PORTRET(pin, 4) + #endif + #if DIO_NUM > 5 + _SPA_DIOn_PORTRET(pin, 5) + #endif + #if DIO_NUM > 6 + _SPA_DIOn_PORTRET(pin, 6) + #endif + #if DIO_NUM > 7 + _SPA_DIOn_PORTRET(pin, 7) + #endif + #if DIO_NUM > 8 + _SPA_DIOn_PORTRET(pin, 8) + #endif + #if DIO_NUM > 9 + _SPA_DIOn_PORTRET(pin, 9) + #endif + + #if DIO_NUM > 10 + _SPA_DIOn_PORTRET(pin, 10) + #endif + #if DIO_NUM > 11 + _SPA_DIOn_PORTRET(pin, 11) + #endif + #if DIO_NUM > 12 + _SPA_DIOn_PORTRET(pin, 12) + #endif + #if DIO_NUM > 13 + _SPA_DIOn_PORTRET(pin, 13) + #endif + #if DIO_NUM > 14 + _SPA_DIOn_PORTRET(pin, 14) + #endif + #if DIO_NUM > 15 + _SPA_DIOn_PORTRET(pin, 15) + #endif + #if DIO_NUM > 16 + _SPA_DIOn_PORTRET(pin, 16) + #endif + #if DIO_NUM > 17 + _SPA_DIOn_PORTRET(pin, 17) + #endif + #if DIO_NUM > 18 + _SPA_DIOn_PORTRET(pin, 18) + #endif + #if DIO_NUM > 19 + _SPA_DIOn_PORTRET(pin, 19) + #endif + + #if DIO_NUM > 20 + _SPA_DIOn_PORTRET(pin, 20) + #endif + #if DIO_NUM > 21 + _SPA_DIOn_PORTRET(pin, 21) + #endif + #if DIO_NUM > 22 + _SPA_DIOn_PORTRET(pin, 22) + #endif + #if DIO_NUM > 23 + _SPA_DIOn_PORTRET(pin, 23) + #endif + #if DIO_NUM > 24 + _SPA_DIOn_PORTRET(pin, 24) + #endif + #if DIO_NUM > 25 + _SPA_DIOn_PORTRET(pin, 25) + #endif + #if DIO_NUM > 26 + _SPA_DIOn_PORTRET(pin, 26) + #endif + #if DIO_NUM > 27 + _SPA_DIOn_PORTRET(pin, 27) + #endif + #if DIO_NUM > 28 + _SPA_DIOn_PORTRET(pin, 28) + #endif + #if DIO_NUM > 29 + _SPA_DIOn_PORTRET(pin, 29) + #endif + + #if DIO_NUM > 30 + _SPA_DIOn_PORTRET(pin, 30) + #endif + #if DIO_NUM > 31 + _SPA_DIOn_PORTRET(pin, 31) + #endif + #if DIO_NUM > 32 + _SPA_DIOn_PORTRET(pin, 32) + #endif + #if DIO_NUM > 33 + _SPA_DIOn_PORTRET(pin, 33) + #endif + #if DIO_NUM > 34 + _SPA_DIOn_PORTRET(pin, 34) + #endif + #if DIO_NUM > 35 + _SPA_DIOn_PORTRET(pin, 35) + #endif + #if DIO_NUM > 36 + _SPA_DIOn_PORTRET(pin, 36) + #endif + #if DIO_NUM > 37 + _SPA_DIOn_PORTRET(pin, 37) + #endif + #if DIO_NUM > 38 + _SPA_DIOn_PORTRET(pin, 38) + #endif + #if DIO_NUM > 39 + _SPA_DIOn_PORTRET(pin, 39) + #endif + + #if DIO_NUM > 40 + _SPA_DIOn_PORTRET(pin, 40) + #endif + #if DIO_NUM > 41 + _SPA_DIOn_PORTRET(pin, 41) + #endif + #if DIO_NUM > 42 + _SPA_DIOn_PORTRET(pin, 42) + #endif + #if DIO_NUM > 43 + _SPA_DIOn_PORTRET(pin, 43) + #endif + #if DIO_NUM > 44 + _SPA_DIOn_PORTRET(pin, 44) + #endif + #if DIO_NUM > 45 + _SPA_DIOn_PORTRET(pin, 45) + #endif + #if DIO_NUM > 46 + _SPA_DIOn_PORTRET(pin, 46) + #endif + #if DIO_NUM > 47 + _SPA_DIOn_PORTRET(pin, 47) + #endif + #if DIO_NUM > 48 + _SPA_DIOn_PORTRET(pin, 48) + #endif + #if DIO_NUM > 49 + _SPA_DIOn_PORTRET(pin, 49) + #endif + + #if DIO_NUM > 50 + _SPA_DIOn_PORTRET(pin, 50) + #endif + #if DIO_NUM > 51 + _SPA_DIOn_PORTRET(pin, 51) + #endif + #if DIO_NUM > 52 + _SPA_DIOn_PORTRET(pin, 52) + #endif + #if DIO_NUM > 53 + _SPA_DIOn_PORTRET(pin, 53) + #endif + #if DIO_NUM > 54 + _SPA_DIOn_PORTRET(pin, 54) + #endif + #if DIO_NUM > 55 + _SPA_DIOn_PORTRET(pin, 55) + #endif + #if DIO_NUM > 56 + _SPA_DIOn_PORTRET(pin, 56) + #endif + #if DIO_NUM > 57 + _SPA_DIOn_PORTRET(pin, 57) + #endif + #if DIO_NUM > 58 + _SPA_DIOn_PORTRET(pin, 58) + #endif + #if DIO_NUM > 59 + _SPA_DIOn_PORTRET(pin, 59) + #endif + + #if DIO_NUM > 60 + _SPA_DIOn_PORTRET(pin, 60) + #endif + #if DIO_NUM > 61 + _SPA_DIOn_PORTRET(pin, 61) + #endif + #if DIO_NUM > 62 + _SPA_DIOn_PORTRET(pin, 62) + #endif + #if DIO_NUM > 63 + _SPA_DIOn_PORTRET(pin, 63) + #endif + #if DIO_NUM > 64 + _SPA_DIOn_PORTRET(pin, 64) + #endif + #if DIO_NUM > 65 + _SPA_DIOn_PORTRET(pin, 65) + #endif + #if DIO_NUM > 66 + _SPA_DIOn_PORTRET(pin, 66) + #endif + #if DIO_NUM > 67 + _SPA_DIOn_PORTRET(pin, 67) + #endif + #if DIO_NUM > 68 + _SPA_DIOn_PORTRET(pin, 68) + #endif + #if DIO_NUM > 69 + _SPA_DIOn_PORTRET(pin, 69) + #endif + + #if DIO_NUM > 70 + _SPA_DIOn_PORTRET(pin, 70) + #endif + #if DIO_NUM > 71 + _SPA_DIOn_PORTRET(pin, 71) + #endif + #if DIO_NUM > 72 + _SPA_DIOn_PORTRET(pin, 72) + #endif + #if DIO_NUM > 73 + _SPA_DIOn_PORTRET(pin, 73) + #endif + #if DIO_NUM > 74 + _SPA_DIOn_PORTRET(pin, 74) + #endif + #if DIO_NUM > 75 + _SPA_DIOn_PORTRET(pin, 75) + #endif + #if DIO_NUM > 76 + _SPA_DIOn_PORTRET(pin, 76) + #endif + #if DIO_NUM > 77 + _SPA_DIOn_PORTRET(pin, 77) + #endif + #if DIO_NUM > 78 + _SPA_DIOn_PORTRET(pin, 78) + #endif + #if DIO_NUM > 79 + _SPA_DIOn_PORTRET(pin, 79) + #endif + + #if DIO_NUM > 80 + _SPA_DIOn_PORTRET(pin, 80) + #endif + #if DIO_NUM > 81 + _SPA_DIOn_PORTRET(pin, 81) + #endif + #if DIO_NUM > 82 + _SPA_DIOn_PORTRET(pin, 82) + #endif + #if DIO_NUM > 83 + _SPA_DIOn_PORTRET(pin, 83) + #endif + #if DIO_NUM > 84 + _SPA_DIOn_PORTRET(pin, 84) + #endif + #if DIO_NUM > 85 + _SPA_DIOn_PORTRET(pin, 85) + #endif + #if DIO_NUM > 86 + _SPA_DIOn_PORTRET(pin, 86) + #endif + #if DIO_NUM > 87 + _SPA_DIOn_PORTRET(pin, 87) + #endif + #if DIO_NUM > 88 + _SPA_DIOn_PORTRET(pin, 88) + #endif + #if DIO_NUM > 89 + _SPA_DIOn_PORTRET(pin, 89) + #endif + + // Default. + #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__) + return { eATmegaPort::PORT_A, 0 }; + #elif defined(__AVR_TRM03__) + return { eATmegaPort::PORT_B, 0 }; + #endif +} + +enum class eATmegaPeripheral { + UNDEFINED, + #ifdef __AVR_TRM01__ + PADC, PUSART0, PSPI, PTIM1, PTIM0, PTIM2, PTWI, PUSART1, PUSART2, PUSART3, PTIM3, PTIM4, PTIM5 + #elif defined(__AVR_TRM02__) + PADC, PUSART0, PSPI, PTIM1, PUSART1, PTIM0, PTIM2, PTWI, PTIM3 + #elif defined(__AVR_TRM03__) + PADC, PUSART0, PSPI, PTIM1, PTIM0, PTIM2, PTWI + #elif defined(__AVR_TRM04__) + PADC, PSPI, PTIM1, PTIM0, PTIM2, PTWI, PUSART1, PTIM3, PUSB + #elif defined(__AVR_TRM05__) + PADC, PUSART0, PSPI, PTIM1, PUSART1, PTIM0, PTIM2, PTWI + #endif + , NUM_PERIPHERALS +}; + +enum class eATmegaPinFunc : uint8_t { + #ifdef __AVR_TRM01__ + EXTMEM_AD15, EXTMEM_AD14, EXTMEM_AD13, EXTMEM_AD12, EXTMEM_AD11, EXTMEM_AD10, EXTMEM_AD9, EXTMEM_AD8, + EXTMEM_AD7, EXTMEM_AD6, EXTMEM_AD5, EXTMEM_AD4, EXTMEM_AD3, EXTMEM_AD2, EXTMEM_AD1, EXTMEM_AD0, + EXTMEM_ALE, EXTMEM_RD, EXTMEM_WR, + TOC0A, TOC0B, TOC1A, TOC1B, TOC1C, TOC2A, TOC2B, TOC3C, TOC3B, TOC3A, TOC4C, TOC4B, TOC4A, TOC5C, TOC5B, TOC5A, + EINT7, EINT6, EINT5, EINT4, EINT3, EINT2, EINT1, EINT0, + PCI0, PCI1, PCI2, PCI3, PCI4, PCI5, PCI6, PCI7, + PCI8, PCI9, PCI10, PCI11, PCI12, PCI13, PCI14, PCI15, + PCI16, PCI17, PCI18, PCI19, PCI20, PCI21, PCI22, PCI23, + SPI_MISO, SPI_MOSI, SPI_SCK, SPI_CS, + TOSC1, TOSC2, + TIMER0_CLKI, TIMER1_CLKI, TIMER3_CLKI, TIMER4_CLKI, TIMER5_CLKI, + TIMER1_ICP, TIMER3_ICP, TIMER5_ICP, TIMER4_ICP, + USART0_CLK, USART1_CLK, USART2_CLK, USART3_CLK, + USART0_TXD, USART0_RXD, USART1_TXD, USART1_RXD, USART2_TXD, USART2_RXD, USART3_TXD, USART3_RXD, + TWI_SDA, TWI_CLK, + CLKO, PDO, PDI, + AIN0, AIN1, + ADC15, ADC14, ADC13, ADC12, ADC11, ADC10, ADC9, ADC8, + ADC7, ADC6, ADC5, ADC4, ADC3, ADC2, ADC1, ADC0 + #elif defined(__AVR_TRM02__) + ADC7, ADC6, ADC5, ADC4, ADC3, ADC2, ADC1, ADC0, + SPI_SCK, SPI_MISO, SPI_MOSI, SPI_CS, + PCI31, PCI30, PCI29, PCI28, PCI27, PCI26, PCI25, PCI24, + PCI23, PCI22, PCI21, PCI20, PCI19, PCI18, PCI17, PCI16, + PCI15, PCI14, PCI13, PCI12, PCI11, PCI10, PCI9, PCI8, + PCI7, PCI6, PCI5, PCI4, PCI3, PCI2, PCI1, PCI0, + EINT2, EINT1, EINT0, + TIMER3_ICP, + TIMER3_ECI, TIMER1_ECI, TIMER0_ECI, + TIMER1_ICP, + TOC3B, TOC3A, TOC2A, TOC2B, TOC1A, TOC1B, TOC0B, TOC0A, + AIN1, AIN0, + USART0_CLK, USART1_CLK, + USART0_TXD, USART0_RXD, USART1_TXD, USART1_RXD, + CLKO, + TOSC2, TOSC1, + TWI_SDA, TWI_CLK + #elif defined(__AVR_TRM03__) + ADC5, ADC4, ADC3, ADC2, ADC1, ADC0, + XTAL2, XTAL1, + TOSC2, TOSC1, + SPI_SCK, SPI_MISO, SPI_MOSI, SPI_CS, + TOC2B, TOC2A, TOC1B, TOC1A, TOC0A, TOC0B, + TIMER1_ICP, + TIMER1_ECI, TIMER0_ECI, + TWI_CLK, TWI_SDA, + PCI23, PCI22, PCI21, PCI20, PCI19, PCI18, PCI17, PCI16, + PCI14, PCI13, PCI12, PCI11, PCI10, PCI9, PCI8, + PCI7, PCI6, PCI5, PCI4, PCI3, PCI2, PCI1, PCI0, + CLKO, + AIN1, AIN0, + USART_CLK, + USART_TXD, USART_RXD, + EINT1, EINT0 + #elif defined(__AVR_TRM04__) + EXTMEM_AD15, EXTMEM_AD14, EXTMEM_AD13, EXTMEM_AD12, EXTMEM_AD11, EXTMEM_AD10, EXTMEM_AD9, EXTMEM_AD8, + EXTMEM_AD7, EXTMEM_AD6, EXTMEM_AD5, EXTMEM_AD4, EXTMEM_AD3, EXTMEM_AD2, EXTMEM_AD1, EXTMEM_AD0, + EXTMEM_ALE, EXTMEM_RD, EXTMEM_WR, + TOC0B, TOC0A, TOC1C, TOC1B, TOC1A, TOC2B, TOC2A, TOC3A, TOC3B, TOC3C, + CLKO, PDO, PDI, + SPI_MISO, SPI_MOSI, SPI_SCK, SPI_CS, + TIMER3_ICP, TIMER1_ICP, + TIMER3_CLKI, TIMER0_CLKI, TIMER1_CLKI, + USART1_CLK, USART1_TXD, USART1_RXD, + EINT7, EINT6, EINT5, EINT4, EINT3, EINT2, EINT1, EINT0, + PCI7, PCI6, PCI5, PCI4, PCI3, PCI2, PCI1, PCI0, + TWI_SDA, TWI_CLK, + AIN1, AIN0, + TOSC2, + UID, UVCON, + ADC7, ADC6, ADC5, ADC4, ADC3, ADC2, ADC1, ADC0 + #elif defined(__AVR_TRM05__) + ADC7, ADC6, ADC5, ADC4, ADC3, ADC2, ADC1, ADC0, + PCI31, PCI30, PCI29, PCI28, PCI27, PCI26, PCI25, PCI24, + PCI23, PCI22, PCI21, PCI20, PCI19, PCI18, PCI17, PCI16, + PCI15, PCI14, PCI13, PCI12, PCI11, PCI10, PCI9, PCI8, + PCI7, PCI6, PCI5, PCI4, PCI3, PCI2, PCI1, PCI0, + SPI_SCK, SPI_MISO, SPI_MOSI, SPI_CS, + AIN1, AIN0, + TIMER1_ICP, TIMER0_ICP, + TIMER1_ECI, TIMER0_ECI, + TOC0B, TOC0A, TOC2A, TOC2B, TOC1A, TOC1B, + TOSC2, TOSC1, + //JTAG_TDI, JTAG_TDO, JTAG_TMS, JTAG_TCK, + TWI_CLK, TWI_SDA, + EINT2, EINT1, EINT0, + CLKO, + USART0_CLK, USART0_TXD, USART0_RXD, + USART1_CLK, USART1_TXD, USART1_RXD + #endif + , NUM_FUNCS +}; + +#ifndef countof + #define countof(x) (sizeof(x) / sizeof(*x)) +#endif + +struct ATmegaPinFunctions { + inline ATmegaPinFunctions(const eATmegaPinFunc *funcs, uint8_t cnt) noexcept : funcs(funcs), cnt(cnt) {} + inline ATmegaPinFunctions() = default; + inline ATmegaPinFunctions(const ATmegaPinFunctions&) = default; + + const eATmegaPinFunc *funcs = nullptr; + uint8_t cnt = 0; + + inline bool hasFunc(eATmegaPinFunc query) const { + for (uint8_t n = 0; n < this->cnt; n++) { + eATmegaPinFunc func = this->funcs[n]; + if (func == query) return true; + } + return false; + } + template + inline bool hasFunc(eATmegaPinFunc func, otherItemType&&... items) const { + return hasFunc(func) || hasFunc(((otherItemType&&)items)...); + } + + template + inline void iterate(callbackType&& cb) const { + for (uint8_t n = 0; n < this->cnt; n++) { + eATmegaPinFunc func = this->funcs[n]; + cb(func); + } + } +}; + +ATmegaPinFunctions _ATmega_getPinFunctions(int pin); + +struct ATmegaPinFuncSet { + inline ATmegaPinFuncSet() noexcept { + for (bool& f : this->funcs) f = false; + } + template + inline ATmegaPinFuncSet(eATmegaPinFunc func, funcItemType&&... items) noexcept : ATmegaPinFuncSet() { + add(func, ((funcItemType&&)items)...); + } + template + inline ATmegaPinFuncSet(int pin, funcItemType&&... items) noexcept : ATmegaPinFuncSet() { + addFromPin(pin, ((funcItemType&&)items)...); + } + inline ATmegaPinFuncSet(const ATmegaPinFuncSet&) = default; + + inline void add(eATmegaPinFunc value) noexcept { + this->funcs[(uint8_t)value] = true; + } + template + inline void add(eATmegaPinFunc value, funcItemType&&... items) { + add(value); + add(((eATmegaPinFunc&&)items)...); + } + + inline void addFromPin(int pin) noexcept { + ATmegaPinFunctions funcs = _ATmega_getPinFunctions(pin); + funcs.iterate( + [this]( eATmegaPinFunc func ) noexcept { this->add(func); } + ); + } + template + inline void addFromPin(int pin, itemType&&... items) noexcept { + addFromPin(pin); + addFromPin(((itemType&&)items)...); + } + + inline bool hasFunc(eATmegaPinFunc value) const noexcept { + return this->funcs[(uint8_t)value]; + } + + inline bool hasAnyFunc() const noexcept { return false; } + template + inline bool hasAnyFunc(funcItem&& item, otherFuncItem&&... funcs) const noexcept { + return hasFunc(item) || hasAnyFunc(((otherFuncItem&&)funcs)...); + } + + template + inline void iterate(callbackType&& cb) const { + for (uint8_t n = 1; n < countof(this->funcs); n++) { + const bool& f = this->funcs[n]; + if (f) cb((eATmegaPinFunc)n); + } + } + +private: + bool funcs[(uint8_t)eATmegaPinFunc::NUM_FUNCS]; +}; + +inline void _ATmega_setPeripheralPower(eATmegaPeripheral peri, bool fullPower) { + bool reducePower = (fullPower == false); + switch(peri) { + #ifdef __AVR_TRM01__ + case eATmegaPeripheral::PADC: _PRR0._PRADC = reducePower; break; + case eATmegaPeripheral::PUSART0: _PRR0._PRUSART0 = reducePower; break; + case eATmegaPeripheral::PSPI: _PRR0._PRSPI = reducePower; break; + case eATmegaPeripheral::PTIM1: _PRR0._PRTIM1 = reducePower; break; + case eATmegaPeripheral::PTIM0: _PRR0._PRTIM0 = reducePower; break; + case eATmegaPeripheral::PTIM2: _PRR0._PRTIM2 = reducePower; break; + case eATmegaPeripheral::PTWI: _PRR0._PRTWI = reducePower; break; + case eATmegaPeripheral::PUSART1: _PRR1._PRUSART1 = reducePower; break; + case eATmegaPeripheral::PUSART2: _PRR1._PRUSART2 = reducePower; break; + case eATmegaPeripheral::PUSART3: _PRR1._PRUSART3 = reducePower; break; + case eATmegaPeripheral::PTIM3: _PRR1._PRTIM3 = reducePower; break; + case eATmegaPeripheral::PTIM4: _PRR1._PRTIM4 = reducePower; break; + case eATmegaPeripheral::PTIM5: _PRR1._PRTIM5 = reducePower; break; + #elif defined(__AVR_TRM02__) + case eATmegaPeripheral::PADC: _PRR0._PRADC = reducePower; break; + case eATmegaPeripheral::PUSART0: _PRR0._PRUSART0 = reducePower; break; + case eATmegaPeripheral::PSPI: _PRR0._PRSPI = reducePower; break; + case eATmegaPeripheral::PTIM1: _PRR0._PRTIM1 = reducePower; break; + case eATmegaPeripheral::PUSART1: _PRR0._PRUSART1 = reducePower; break; + case eATmegaPeripheral::PTIM0: _PRR0._PRTIM0 = reducePower; break; + case eATmegaPeripheral::PTIM2: _PRR0._PRTIM2 = reducePower; break; + case eATmegaPeripheral::PTWI: _PRR0._PRTWI = reducePower; break; + case eATmegaPeripheral::PTIM3: _PRR1._PRTIM3 = reducePower; break; + #elif defined(__AVR_TRM03__) + case eATmegaPeripheral::PADC: _PRR0._PRADC = reducePower; break; + case eATmegaPeripheral::PUSART0: _PRR0._PRUSART0 = reducePower; break; + case eATmegaPeripheral::PSPI: _PRR0._PRSPI = reducePower; break; + case eATmegaPeripheral::PTIM1: _PRR0._PRTIM1 = reducePower; break; + case eATmegaPeripheral::PTIM0: _PRR0._PRTIM0 = reducePower; break; + case eATmegaPeripheral::PTIM2: _PRR0._PRTIM2 = reducePower; break; + case eATmegaPeripheral::PTWI: _PRR0._PRTWI = reducePower; break; + #elif defined(__AVR_TRM04__) + case eATmegaPeripheral::PADC: _PRR0._PRADC = reducePower; break; + case eATmegaPeripheral::PSPI: _PRR0._PRSPI = reducePower; break; + case eATmegaPeripheral::PTIM1: _PRR0._PRTIM1 = reducePower; break; + case eATmegaPeripheral::PTIM0: _PRR0._PRTIM0 = reducePower; break; + case eATmegaPeripheral::PTIM2: _PRR0._PRTIM2 = reducePower; break; + case eATmegaPeripheral::PTWI: _PRR0._PRTWI = reducePower; break; + case eATmegaPeripheral::PUSART1: _PRR1._PRUSART1 = reducePower; break; + case eATmegaPeripheral::PTIM3: _PRR1._PRTIM3 = reducePower; break; + case eATmegaPeripheral::PUSB: _PRR1._PRUSB = reducePower; break; + #elif defined(__AVR_TRM05__) + case eATmegaPeripheral::PADC: _PRR0._PRADC = reducePower; break; + case eATmegaPeripheral::PUSART0: _PRR0._PRUSART0 = reducePower; break; + case eATmegaPeripheral::PSPI: _PRR0._PRSPI = reducePower; break; + case eATmegaPeripheral::PTIM1: _PRR0._PRTIM1 = reducePower; break; + case eATmegaPeripheral::PUSART1: _PRR0._PRUSART1 = reducePower; break; + case eATmegaPeripheral::PTIM0: _PRR0._PRTIM0 = reducePower; break; + case eATmegaPeripheral::PTIM2: _PRR0._PRTIM2 = reducePower; break; + case eATmegaPeripheral::PTWI: _PRR0._PRTWI = reducePower; break; + #endif + case eATmegaPeripheral::UNDEFINED: case eATmegaPeripheral::NUM_PERIPHERALS: break; + } +} + +inline bool _ATmega_getPeripheralPower(eATmegaPeripheral peri) { + switch(peri) { + #ifdef __AVR_TRM01__ + case eATmegaPeripheral::PADC: return _PRR0._PRADC == false; + case eATmegaPeripheral::PUSART0: return _PRR0._PRUSART0 == false; + case eATmegaPeripheral::PSPI: return _PRR0._PRSPI == false; + case eATmegaPeripheral::PTIM1: return _PRR0._PRTIM1 == false; + case eATmegaPeripheral::PTIM0: return _PRR0._PRTIM0 == false; + case eATmegaPeripheral::PTIM2: return _PRR0._PRTIM2 == false; + case eATmegaPeripheral::PTWI: return _PRR0._PRTWI == false; + case eATmegaPeripheral::PUSART1: return _PRR1._PRUSART1 == false; + case eATmegaPeripheral::PUSART2: return _PRR1._PRUSART2 == false; + case eATmegaPeripheral::PUSART3: return _PRR1._PRUSART3 == false; + case eATmegaPeripheral::PTIM3: return _PRR1._PRTIM3 == false; + case eATmegaPeripheral::PTIM4: return _PRR1._PRTIM4 == false; + case eATmegaPeripheral::PTIM5: return _PRR1._PRTIM5 == false; + #elif defined(__AVR_TRM02__) + case eATmegaPeripheral::PADC: return _PRR0._PRADC == false; + case eATmegaPeripheral::PUSART0: return _PRR0._PRUSART0 == false; + case eATmegaPeripheral::PSPI: return _PRR0._PRSPI == false; + case eATmegaPeripheral::PTIM1: return _PRR0._PRTIM1 == false; + case eATmegaPeripheral::PUSART1: return _PRR0._PRUSART1 == false; + case eATmegaPeripheral::PTIM0: return _PRR0._PRTIM0 == false; + case eATmegaPeripheral::PTIM2: return _PRR0._PRTIM2 == false; + case eATmegaPeripheral::PTWI: return _PRR0._PRTWI == false; + case eATmegaPeripheral::PTIM3: return _PRR1._PRTIM3 == false; + #elif defined(__AVR_TRM03__) + case eATmegaPeripheral::PADC: return _PRR0._PRADC == false; + case eATmegaPeripheral::PUSART0: return _PRR0._PRUSART0 == false; + case eATmegaPeripheral::PSPI: return _PRR0._PRSPI == false; + case eATmegaPeripheral::PTIM1: return _PRR0._PRTIM1 == false; + case eATmegaPeripheral::PTIM0: return _PRR0._PRTIM0 == false; + case eATmegaPeripheral::PTIM2: return _PRR0._PRTIM2 == false; + case eATmegaPeripheral::PTWI: return _PRR0._PRTWI == false; + #elif defined(__AVR_TRM04__) + case eATmegaPeripheral::PADC: return _PRR0._PRADC == false; + case eATmegaPeripheral::PSPI: return _PRR0._PRSPI == false; + case eATmegaPeripheral::PTIM1: return _PRR0._PRTIM1 == false; + case eATmegaPeripheral::PTIM0: return _PRR0._PRTIM0 == false; + case eATmegaPeripheral::PTIM2: return _PRR0._PRTIM2 == false; + case eATmegaPeripheral::PTWI: return _PRR0._PRTWI == false; + case eATmegaPeripheral::PUSART1: return _PRR1._PRUSART1 == false; + case eATmegaPeripheral::PTIM3: return _PRR1._PRTIM3 == false; + case eATmegaPeripheral::PUSB: return _PRR1._PRUSB == false; + #elif defined(__AVR_TRM05__) + case eATmegaPeripheral::PADC: return _PRR0._PRADC == false; + case eATmegaPeripheral::PUSART0: return _PRR0._PRUSART0 == false; + case eATmegaPeripheral::PSPI: return _PRR0._PRSPI == false; + case eATmegaPeripheral::PTIM1: return _PRR0._PRTIM1 == false; + case eATmegaPeripheral::PUSART1: return _PRR0._PRUSART1 == false; + case eATmegaPeripheral::PTIM0: return _PRR0._PRTIM0 == false; + case eATmegaPeripheral::PTIM2: return _PRR0._PRTIM2 == false; + case eATmegaPeripheral::PTWI: return _PRR0._PRTWI == false; + #endif + case eATmegaPeripheral::UNDEFINED: case eATmegaPeripheral::NUM_PERIPHERALS: break; + } + return false; +} + +inline eATmegaPeripheral _ATmega_getPeripheralForFunc( eATmegaPinFunc func ) { + // In C++20 there is the "using-enum" statement. I wish we had C++20 over here... + //using enum eATmegaPinFunc; + switch(func) { + #ifdef __AVR_TRM01__ + case eATmegaPinFunc::TOC0A: case eATmegaPinFunc::TOC0B: return eATmegaPeripheral::PTIM0; + case eATmegaPinFunc::TOC1A: case eATmegaPinFunc::TOC1B: case eATmegaPinFunc::TOC1C: return eATmegaPeripheral::PTIM1; + case eATmegaPinFunc::TOC2A: case eATmegaPinFunc::TOC2B: return eATmegaPeripheral::PTIM2; + case eATmegaPinFunc::TOC3A: case eATmegaPinFunc::TOC3B: case eATmegaPinFunc::TOC3C: return eATmegaPeripheral::PTIM3; + case eATmegaPinFunc::TOC4A: case eATmegaPinFunc::TOC4B: case eATmegaPinFunc::TOC4C: return eATmegaPeripheral::PTIM4; + case eATmegaPinFunc::TOC5A: case eATmegaPinFunc::TOC5B: case eATmegaPinFunc::TOC5C: return eATmegaPeripheral::PTIM5; + case eATmegaPinFunc::SPI_MISO: case eATmegaPinFunc::SPI_MOSI: case eATmegaPinFunc::SPI_SCK: case eATmegaPinFunc::SPI_CS: return eATmegaPeripheral::PSPI; + case eATmegaPinFunc::TIMER0_CLKI: return eATmegaPeripheral::PTIM0; + case eATmegaPinFunc::TIMER1_CLKI: case eATmegaPinFunc::TIMER1_ICP: return eATmegaPeripheral::PTIM1; + case eATmegaPinFunc::TIMER3_CLKI: case eATmegaPinFunc::TIMER3_ICP: return eATmegaPeripheral::PTIM3; + case eATmegaPinFunc::TIMER4_CLKI: case eATmegaPinFunc::TIMER4_ICP: return eATmegaPeripheral::PTIM4; + case eATmegaPinFunc::TIMER5_CLKI: case eATmegaPinFunc::TIMER5_ICP: return eATmegaPeripheral::PTIM5; + case eATmegaPinFunc::USART0_CLK: case eATmegaPinFunc::USART0_TXD: case eATmegaPinFunc::USART0_RXD: return eATmegaPeripheral::PUSART0; + case eATmegaPinFunc::USART1_CLK: case eATmegaPinFunc::USART1_TXD: case eATmegaPinFunc::USART1_RXD: return eATmegaPeripheral::PUSART1; + case eATmegaPinFunc::USART2_CLK: case eATmegaPinFunc::USART2_TXD: case eATmegaPinFunc::USART2_RXD: return eATmegaPeripheral::PUSART2; + case eATmegaPinFunc::USART3_CLK: case eATmegaPinFunc::USART3_TXD: case eATmegaPinFunc::USART3_RXD: return eATmegaPeripheral::PUSART3; + case eATmegaPinFunc::TWI_SDA: case eATmegaPinFunc::TWI_CLK: return eATmegaPeripheral::PTWI; + case eATmegaPinFunc::ADC15: case eATmegaPinFunc::ADC14: case eATmegaPinFunc::ADC13: case eATmegaPinFunc::ADC12: case eATmegaPinFunc::ADC11: case eATmegaPinFunc::ADC10: case eATmegaPinFunc::ADC9: case eATmegaPinFunc::ADC8: + case eATmegaPinFunc::ADC7: case eATmegaPinFunc::ADC6: case eATmegaPinFunc::ADC5: case eATmegaPinFunc::ADC4: case eATmegaPinFunc::ADC3: case eATmegaPinFunc::ADC2: case eATmegaPinFunc::ADC1: case eATmegaPinFunc::ADC0: + return eATmegaPeripheral::PADC; + #elif defined(__AVR_TRM02__) + case eATmegaPinFunc::ADC7: case eATmegaPinFunc::ADC6: case eATmegaPinFunc::ADC5: case eATmegaPinFunc::ADC4: case eATmegaPinFunc::ADC3: case eATmegaPinFunc::ADC2: case eATmegaPinFunc::ADC1: case eATmegaPinFunc::ADC0: + return eATmegaPeripheral::PADC; + case eATmegaPinFunc::SPI_SCK: case eATmegaPinFunc::SPI_MISO: case eATmegaPinFunc::SPI_MOSI: case eATmegaPinFunc::SPI_CS: return eATmegaPeripheral::PSPI; + case eATmegaPinFunc::TIMER3_ICP: case eATmegaPinFunc::TIMER3_ECI: return eATmegaPeripheral::PTIM3; + case eATmegaPinFunc::TIMER1_ECI: case eATmegaPinFunc::TIMER1_ICP: return eATmegaPeripheral::PTIM1; + case eATmegaPinFunc::TIMER0_ECI: return eATmegaPeripheral::PTIM0; + case eATmegaPinFunc::TOC3B: case eATmegaPinFunc::TOC3A: return eATmegaPeripheral::PTIM3; + case eATmegaPinFunc::TOC2A: case eATmegaPinFunc::TOC2B: return eATmegaPeripheral::PTIM2; + case eATmegaPinFunc::TOC1A: case eATmegaPinFunc::TOC1B: return eATmegaPeripheral::PTIM1; + case eATmegaPinFunc::TOC0B: case eATmegaPinFunc::TOC0A: return eATmegaPeripheral::PTIM0; + case eATmegaPinFunc::USART0_CLK: case eATmegaPinFunc::USART0_TXD: case eATmegaPinFunc::USART0_RXD: return eATmegaPeripheral::PUSART0; + case eATmegaPinFunc::USART1_CLK: case eATmegaPinFunc::USART1_TXD: case eATmegaPinFunc::USART1_RXD: return eATmegaPeripheral::PUSART1; + case eATmegaPinFunc::TWI_SDA: case eATmegaPinFunc::TWI_CLK: return eATmegaPeripheral::PTWI; + #elif defined(__AVR_TRM03__) + case eATmegaPinFunc::ADC5: case eATmegaPinFunc::ADC4: case eATmegaPinFunc::ADC3: case eATmegaPinFunc::ADC2: case eATmegaPinFunc::ADC1: case eATmegaPinFunc::ADC0: + return eATmegaPeripheral::PADC; + case eATmegaPinFunc::SPI_SCK: case eATmegaPinFunc::SPI_MISO: case eATmegaPinFunc::SPI_MOSI: case eATmegaPinFunc::SPI_CS: return eATmegaPeripheral::PSPI; + case eATmegaPinFunc::TOC2B: case eATmegaPinFunc::TOC2A: return eATmegaPeripheral::PTIM2; + case eATmegaPinFunc::TOC1B: case eATmegaPinFunc::TOC1A: return eATmegaPeripheral::PTIM1; + case eATmegaPinFunc::TOC0A: case eATmegaPinFunc::TOC0B: return eATmegaPeripheral::PTIM0; + case eATmegaPinFunc::TIMER1_ICP: case eATmegaPinFunc::TIMER1_ECI: return eATmegaPeripheral::PTIM1; + case eATmegaPinFunc::TIMER0_ECI: return eATmegaPeripheral::PTIM0; + case eATmegaPinFunc::TWI_CLK: case eATmegaPinFunc::TWI_SDA: return eATmegaPeripheral::PTWI; + case eATmegaPinFunc::USART_CLK: case eATmegaPinFunc::USART_TXD: case eATmegaPinFunc::USART_RXD: return eATmegaPeripheral::PUSART0; + #elif defined(__AVR_TRM04__) + case eATmegaPinFunc::TOC0B: case eATmegaPinFunc::TOC0A: return eATmegaPeripheral::PTIM0; + case eATmegaPinFunc::TOC1C: case eATmegaPinFunc::TOC1B: case eATmegaPinFunc::TOC1A: return eATmegaPeripheral::PTIM1; + case eATmegaPinFunc::TOC2B: case eATmegaPinFunc::TOC2A: return eATmegaPeripheral::PTIM2; + case eATmegaPinFunc::TOC3A: case eATmegaPinFunc::TOC3B: case eATmegaPinFunc::TOC3C: return eATmegaPeripheral::PTIM3; + case eATmegaPinFunc::SPI_MISO: case eATmegaPinFunc::SPI_MOSI: case eATmegaPinFunc::SPI_SCK: case eATmegaPinFunc::SPI_CS: return eATmegaPeripheral::PSPI; + case eATmegaPinFunc::TIMER3_ICP: case eATmegaPinFunc::TIMER3_CLKI: return eATmegaPeripheral::PTIM3; + case eATmegaPinFunc::TIMER1_ICP: case eATmegaPinFunc::TIMER1_CLKI: return eATmegaPeripheral::PTIM1; + case eATmegaPinFunc::TIMER0_CLKI: return eATmegaPeripheral::PTIM0; + case eATmegaPinFunc::USART1_CLK: case eATmegaPinFunc::USART1_TXD: case eATmegaPinFunc::USART1_RXD: return eATmegaPeripheral::PUSART1; + case eATmegaPinFunc::TWI_SDA: case eATmegaPinFunc::TWI_CLK: return eATmegaPeripheral::PTWI; + case eATmegaPinFunc::UID: case eATmegaPinFunc::UVCON: return eATmegaPeripheral::PUSB; + case eATmegaPinFunc::ADC7: case eATmegaPinFunc::ADC6: case eATmegaPinFunc::ADC5: case eATmegaPinFunc::ADC4: case eATmegaPinFunc::ADC3: case eATmegaPinFunc::ADC2: case eATmegaPinFunc::ADC1: case eATmegaPinFunc::ADC0: + return eATmegaPeripheral::PADC; + #elif defined(__AVR_TRM05__) + case eATmegaPinFunc::ADC7: case eATmegaPinFunc::ADC6: case eATmegaPinFunc::ADC5: case eATmegaPinFunc::ADC4: case eATmegaPinFunc::ADC3: case eATmegaPinFunc::ADC2: case eATmegaPinFunc::ADC1: case eATmegaPinFunc::ADC0: + return eATmegaPeripheral::PADC; + case eATmegaPinFunc::SPI_MISO: case eATmegaPinFunc::SPI_MOSI: case eATmegaPinFunc::SPI_SCK: case eATmegaPinFunc::SPI_CS: return eATmegaPeripheral::PSPI; + case eATmegaPinFunc::TIMER1_ICP: case eATmegaPinFunc::TIMER1_ECI: return eATmegaPeripheral::PTIM1; + case eATmegaPinFunc::TIMER0_ICP: case eATmegaPinFunc::TIMER0_ECI: return eATmegaPeripheral::PTIM0; + case eATmegaPinFunc::TOC0B: case eATmegaPinFunc::TOC0A: return eATmegaPeripheral::PTIM0; + case eATmegaPinFunc::TOC1A: case eATmegaPinFunc::TOC1B: return eATmegaPeripheral::PTIM1; + case eATmegaPinFunc::TOC2A: case eATmegaPinFunc::TOC2B: return eATmegaPeripheral::PTIM2; + case eATmegaPinFunc::TWI_CLK: case eATmegaPinFunc::TWI_SDA: return eATmegaPeripheral::PTWI; + case eATmegaPinFunc::USART0_CLK: case eATmegaPinFunc::USART0_TXD: case eATmegaPinFunc::USART0_RXD: return eATmegaPeripheral::PUSART0; + case eATmegaPinFunc::USART1_CLK: case eATmegaPinFunc::USART1_TXD: case eATmegaPinFunc::USART1_RXD: return eATmegaPeripheral::PUSART1; + #endif + // There are quite some pin functions that have no peripheral assignment, and that is OK! + default: break; + } + return eATmegaPeripheral::UNDEFINED; +} + +struct ATmegaPeripheralSet { + inline ATmegaPeripheralSet() noexcept { + for (bool& f : this->funcs) f = false; + } + template + inline ATmegaPeripheralSet(funcItemType&&... items) noexcept : ATmegaPinFuncSet() { + add(((eATmegaPinFunc&&)items)...); + } + inline ATmegaPeripheralSet(const ATmegaPeripheralSet&) = default; + + inline void add(eATmegaPeripheral value) noexcept { + this->funcs[(uint8_t)value] = true; + } + template + inline void add(eATmegaPeripheral value, funcItemType&&... items) noexcept { + add(value); + add(((funcItemType&&)items)...); + } + + inline bool hasItem(eATmegaPeripheral value) const noexcept { + return this->funcs[(uint8_t)value]; + } + template + inline bool hasItem(eATmegaPeripheral&& item, otherFuncItem&&... funcs) const noexcept { + return hasItem(item) || hasItem(((otherFuncItem&&)funcs)...); + } + + template + inline void iterate(callbackType&& cb) const { + for (uint8_t n = 1; n < countof(funcs); n++) { + const bool& f = this->funcs[n]; + if (f) cb( (eATmegaPeripheral)n ); + } + } + + inline void fromPinFuncs(const ATmegaPinFuncSet& funcSet) { + funcSet.iterate( + [this]( eATmegaPinFunc func ) noexcept { + this->add( _ATmega_getPeripheralForFunc(func) ); + } + ); + } + +private: + bool funcs[(uint8_t)eATmegaPeripheral::NUM_PERIPHERALS]; +}; + +struct ATmegaPeripheralPowerGate { + inline ATmegaPeripheralPowerGate(ATmegaPeripheralSet& periSet) noexcept : periSet(periSet) { + periSet.iterate( + [this]( eATmegaPeripheral peri ) noexcept { + this->states[(uint8_t)peri] = _ATmega_getPeripheralPower(peri); + _ATmega_setPeripheralPower(peri, true); + } + ); + } + inline ATmegaPeripheralPowerGate(const ATmegaPeripheralPowerGate&) = delete; + + inline ~ATmegaPeripheralPowerGate() { + periSet.iterate( + [this]( eATmegaPeripheral peri ) noexcept { + _ATmega_setPeripheralPower(peri, this->states[(uint8_t)peri]); + } + ); + } + + inline ATmegaPeripheralPowerGate& operator = (const ATmegaPeripheralPowerGate&) = delete; + +private: + ATmegaPeripheralSet& periSet; + bool states[(uint8_t)eATmegaPeripheral::NUM_PERIPHERALS]; +}; + +inline pin_dev_state_t _ATmega_savePinAlternates(const ATmegaPinFuncSet& funcSet) { + // TODO: the manual states that registers of power-reduced peripherals cannot be read or written, and that + // the resources (GPIO pins) remain occupied during power-reduction. This is a serious problem and we should + // add power-reduction awareness to this logic! + + pin_dev_state_t state; + + ATmegaPeripheralSet periSet; + periSet.fromPinFuncs(funcSet); + + ATmegaPeripheralPowerGate pgate(periSet); + + #ifdef __AVR_TRM01__ + // See page 75ff of ATmega2560 technical reference manual. + if (funcSet.hasAnyFunc( + eATmegaPinFunc::EXTMEM_AD15, eATmegaPinFunc::EXTMEM_AD14, eATmegaPinFunc::EXTMEM_AD13, eATmegaPinFunc::EXTMEM_AD12, eATmegaPinFunc::EXTMEM_AD11, eATmegaPinFunc::EXTMEM_AD10, eATmegaPinFunc::EXTMEM_AD9, eATmegaPinFunc::EXTMEM_AD8, + eATmegaPinFunc::EXTMEM_AD7, eATmegaPinFunc::EXTMEM_AD6, eATmegaPinFunc::EXTMEM_AD5, eATmegaPinFunc::EXTMEM_AD4, eATmegaPinFunc::EXTMEM_AD3, eATmegaPinFunc::EXTMEM_AD2, eATmegaPinFunc::EXTMEM_AD1, eATmegaPinFunc::EXTMEM_AD0, + eATmegaPinFunc::EXTMEM_ALE, eATmegaPinFunc::EXTMEM_RD, eATmegaPinFunc::EXTMEM_WR + )) { + state._SRE = _XMCRA._SRE; + _XMCRA._SRE = false; + } + if (funcSet.hasAnyFunc( + eATmegaPinFunc::PCI0, eATmegaPinFunc::PCI1, eATmegaPinFunc::PCI2, eATmegaPinFunc::PCI3, eATmegaPinFunc::PCI4, eATmegaPinFunc::PCI5, eATmegaPinFunc::PCI6, eATmegaPinFunc::PCI7 + )) { + state._PCIE0 = _PCICR._PCIE0; + _PCICR._PCIE0 = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC1C)) { + state._COM1C = TIMER1._TCCRnA._COMnC; + TIMER1._TCCRnA._COMnC = 0; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC1B)) { + state._COM1B = TIMER1._TCCRnA._COMnB; + TIMER1._TCCRnA._COMnB = 0; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC1A)) { + state._COM1A = TIMER1._TCCRnA._COMnA; + TIMER1._TCCRnA._COMnA = 0; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC2A)) { + state._COM2A = _TIMER2._TCCRnA._COMnA; + _TIMER2._TCCRnA._COMnA = 0; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::USART1_TXD, eATmegaPinFunc::USART1_CLK)) { + state._USART1_TXEN = USART1._UCSRnB._TXEN; + USART1._UCSRnB._TXEN = false; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::USART1_RXD, eATmegaPinFunc::USART1_CLK)) { + state._USART1_RXEN = USART1._UCSRnB._RXEN; + USART1._UCSRnB._RXEN = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC3C)) { + state._COM3C = TIMER3._TCCRnA._COMnC; + TIMER3._TCCRnA._COMnC = 0; + } + // There is an error in the technical reference manual signal mapping table + // of ATmega2560 where is says that pin 3 is mapped to OC3B, but the list + // says OC3A. + if (funcSet.hasFunc(eATmegaPinFunc::TOC3B)) { + state._COM3B = TIMER3._TCCRnA._COMnB; + TIMER3._TCCRnA._COMnB = 0; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC3A)) { + state._COM3A = TIMER3._TCCRnA._COMnA; + TIMER3._TCCRnA._COMnA = 0; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::USART0_RXD, eATmegaPinFunc::USART0_CLK)) { + state._USART0_RXEN = USART0._UCSRnB._RXEN; + USART0._UCSRnB._RXEN = false; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::USART0_TXD, eATmegaPinFunc::USART0_CLK)) { + state._USART0_TXEN = USART0._UCSRnB._TXEN; + USART0._UCSRnB._TXEN = false; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::PCI15, eATmegaPinFunc::PCI14, eATmegaPinFunc::PCI13, eATmegaPinFunc::PCI12, eATmegaPinFunc::PCI11, eATmegaPinFunc::PCI10, eATmegaPinFunc::PCI9, eATmegaPinFunc::PCI8)) { + state._PCIE1 = _PCICR._PCIE1; + _PCICR._PCIE1 = false; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::TOC0B)) { + state._COM0B = TIMER0._TCCRnA._COMnB; + TIMER0._TCCRnA._COMnB = 0; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::TOSC1, eATmegaPinFunc::TOSC2)) { + state._AS2 = _ASSR._AS2; + _ASSR._AS2 = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC2B)) { + state._COM2B = _TIMER2._TCCRnA._COMnB; + _TIMER2._TCCRnA._COMnB = 0; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC4C)) { + state._COM4C = TIMER4._TCCRnA._COMnC; + TIMER4._TCCRnA._COMnC = 0; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC4B)) { + state._COM4B = TIMER4._TCCRnA._COMnB; + TIMER4._TCCRnA._COMnB = 0; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC4A)) { + state._COM4A = TIMER4._TCCRnA._COMnA; + TIMER4._TCCRnA._COMnA = 0; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::USART2_RXD, eATmegaPinFunc::USART2_CLK)) { + state._USART2_RXEN = USART2._UCSRnB._RXEN; + USART2._UCSRnB._RXEN = false; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::USART2_TXD, eATmegaPinFunc::USART2_CLK)) { + state._USART2_TXEN = USART2._UCSRnB._TXEN; + USART2._UCSRnB._TXEN = false; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::USART3_TXD, eATmegaPinFunc::USART3_CLK)) { + state._USART3_RXEN = USART3._UCSRnB._RXEN; + USART3._UCSRnB._RXEN = false; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::USART3_TXD, eATmegaPinFunc::USART3_CLK)) { + state._USART3_TXEN = USART3._UCSRnB._TXEN; + USART3._UCSRnB._TXEN = false; + } + if (funcSet.hasAnyFunc( + eATmegaPinFunc::PCI23, eATmegaPinFunc::PCI22, eATmegaPinFunc::PCI21, eATmegaPinFunc::PCI20, eATmegaPinFunc::PCI19, eATmegaPinFunc::PCI18, eATmegaPinFunc::PCI17, eATmegaPinFunc::PCI16 + )) { + state._PCIE2 = _PCICR._PCIE2; + _PCICR._PCIE2 = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC5C)) { + state._COM5C = TIMER5._TCCRnA._COMnC; + TIMER5._TCCRnA._COMnC = 0; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC5B)) { + state._COM5B = TIMER5._TCCRnA._COMnB; + TIMER5._TCCRnA._COMnB = 0; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC5A)) { + state._COM5A = TIMER5._TCCRnA._COMnA; + TIMER5._TCCRnA._COMnA = 0; + } + #elif defined(__AVR_TRM02__) + if (funcSet.hasAnyFunc(eATmegaPinFunc::PCI7, eATmegaPinFunc::PCI6, eATmegaPinFunc::PCI5, eATmegaPinFunc::PCI4, eATmegaPinFunc::PCI3, eATmegaPinFunc::PCI2, eATmegaPinFunc::PCI1, eATmegaPinFunc::PCI0)) { + state._PCIE0 = _PCICR._PCIE0; + _PCICR._PCIE0 = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::ADC7)) { + state._ADC7D = _DIDR0._ADC7D; + _DIDR0._ADC7D = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::ADC6)) { + state._ADC6D = _DIDR0._ADC6D; + _DIDR0._ADC6D = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::ADC5)) { + state._ADC5D = _DIDR0._ADC5D; + _DIDR0._ADC5D = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::ADC4)) { + state._ADC4D = _DIDR0._ADC4D; + _DIDR0._ADC4D = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::ADC3)) { + state._ADC3D = _DIDR0._ADC3D; + _DIDR0._ADC3D = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::ADC2)) { + state._ADC2D = _DIDR0._ADC2D; + _DIDR0._ADC2D = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::ADC1)) { + state._ADC1D = _DIDR0._ADC1D; + _DIDR0._ADC1D = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::ADC0)) { + state._ADC0D = _DIDR0._ADC0D; + _DIDR0._ADC0D = false; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::PCI15, eATmegaPinFunc::PCI14, eATmegaPinFunc::PCI13, eATmegaPinFunc::PCI12, eATmegaPinFunc::PCI11, eATmegaPinFunc::PCI10, eATmegaPinFunc::PCI9, eATmegaPinFunc::PCI8)) { + state._PCIE1 = _PCICR._PCIE1; + _PCICR._PCIE1 = false; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::SPI_SCK, eATmegaPinFunc::SPI_MISO, eATmegaPinFunc::SPI_MOSI, eATmegaPinFunc::SPI_CS)) { + state._SPE = _SPCR._SPE; + _SPCR._SPE = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC0A)) { + state._COM0A = TIMER0._TCCRnA._COMnA; + TIMER0._TCCRnA._COMnA = 0; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC0B)) { + state._COM0B = TIMER0._TCCRnA._COMnB; + TIMER0._TCCRnA._COMnB = 0; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::TOSC1, eATmegaPinFunc::TOSC2)) { + state._AS2 = _ASSR._AS2; + _ASSR._AS2 = false; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::PCI23, eATmegaPinFunc::PCI22, eATmegaPinFunc::PCI21, eATmegaPinFunc::PCI20, eATmegaPinFunc::PCI19, eATmegaPinFunc::PCI18, eATmegaPinFunc::PCI17, eATmegaPinFunc::PCI16)) { + state._PCIE2 = _PCICR._PCIE2; + _PCICR._PCIE2 = false; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::PCI31, eATmegaPinFunc::PCI30, eATmegaPinFunc::PCI29, eATmegaPinFunc::PCI28, eATmegaPinFunc::PCI27, eATmegaPinFunc::PCI26, eATmegaPinFunc::PCI25, eATmegaPinFunc::PCI24)) { + state._PCIE3 = _PCICR._PCIE3; + _PCICR._PCIE3 = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC2A)) { + state._COM2A = _TIMER2._TCCRnA._COMnA; + _TIMER2._TCCRnA._COMnA = 0; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC2B)) { + state._COM2B = _TIMER2._TCCRnA._COMnB; + _TIMER2._TCCRnA._COMnB = 0; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC1A)) { + state._COM1A = TIMER1._TCCRnA._COMnA; + TIMER1._TCCRnA._COMnA = 0; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC1B)) { + state._COM1B = TIMER1._TCCRnA._COMnB; + TIMER1._TCCRnA._COMnB = 0; + } + if (funcSet.hasFunc(eATmegaPinFunc::USART1_TXD)) { + state._USART1_TXEN = USART1._UCSRnB._TXEN; + USART1._UCSRnB._TXEN = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::USART1_RXD)) { + state._USART1_RXEN = USART1._UCSRnB._RXEN; + USART1._UCSRnB._RXEN = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::USART0_TXD)) { + state._USART0_TXEN = USART0._UCSRnB._TXEN; + USART0._UCSRnB._TXEN = false; + } + // There is a bug in the ATmega164A technical reference manual where + // it says that pin 0 is mapped to USART1 RXD in the signal mapping table + // but the associated list says USART0 RXD. + if (funcSet.hasFunc(eATmegaPinFunc::USART0_RXD)) { + state._USART0_RXEN = USART0._UCSRnB._RXEN; + USART0._UCSRnB._RXEN = false; + } + #elif defined(__AVR_TRM03__) + if (funcSet.hasAnyFunc(eATmegaPinFunc::PCI7, eATmegaPinFunc::PCI6, eATmegaPinFunc::PCI5, eATmegaPinFunc::PCI4, eATmegaPinFunc::PCI3, eATmegaPinFunc::PCI2, eATmegaPinFunc::PCI1, eATmegaPinFunc::PCI0)) { + state._PCIE0 = _PCICR._PCIE0; + _PCICR._PCIE0 = false; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::TOSC1, eATmegaPinFunc::TOSC2)) { + state._AS2 = _ASSR._AS2; + _ASSR._AS2 = false; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::SPI_SCK, eATmegaPinFunc::SPI_MISO, eATmegaPinFunc::SPI_MOSI, eATmegaPinFunc::SPI_CS)) { + state._SPE = _SPCR._SPE; + _SPCR._SPE = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC2A)) { + state._COM2A = _TIMER2._TCCRnA._COMnA; + _TIMER2._TCCRnA._COMnA = 0; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC1B)) { + state._COM1B = TIMER1._TCCRnA._COMnB; + TIMER1._TCCRnA._COMnB = 0; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC1A)) { + state._COM1A = TIMER1._TCCRnA._COMnA; + TIMER1._TCCRnA._COMnA = 0; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::PCI14, eATmegaPinFunc::PCI13, eATmegaPinFunc::PCI12, eATmegaPinFunc::PCI11, eATmegaPinFunc::PCI10, eATmegaPinFunc::PCI9, eATmegaPinFunc::PCI8)) { + state._PCIE1 = _PCICR._PCIE1; + _PCICR._PCIE1 = false; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::TWI_CLK, eATmegaPinFunc::TWI_SDA)) { + state._TWEN = _TWCR._TWEN; + _TWCR._TWEN = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::ADC5)) { + state._ADC5D = _DIDR0._ADC5D; + _DIDR0._ADC5D = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::ADC4)) { + state._ADC4D = _DIDR0._ADC4D; + _DIDR0._ADC4D = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::ADC3)) { + state._ADC3D = _DIDR0._ADC3D; + _DIDR0._ADC3D = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::ADC2)) { + state._ADC2D = _DIDR0._ADC2D; + _DIDR0._ADC2D = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::ADC1)) { + state._ADC1D = _DIDR0._ADC1D; + _DIDR0._ADC1D = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::ADC0)) { + state._ADC0D = _DIDR0._ADC0D; + _DIDR0._ADC0D = false; + } + // There is a bug in the ATmega48A technical reference manual where pin 2 + // is said to be mapped to PCIE1 but logically it should be PCIE2 instead. + // The real mapping can be read in the documentation of the PCICR register. + if (funcSet.hasAnyFunc(eATmegaPinFunc::PCI23, eATmegaPinFunc::PCI22, eATmegaPinFunc::PCI21, eATmegaPinFunc::PCI20, eATmegaPinFunc::PCI19, eATmegaPinFunc::PCI18, eATmegaPinFunc::PCI17, eATmegaPinFunc::PCI16)) { + state._PCIE2 = _PCICR._PCIE2; + _PCICR._PCIE2 = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC0A)) { + state._COM0A = TIMER0._TCCRnA._COMnA; + TIMER0._TCCRnA._COMnA = 0; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC0B)) { + state._COM0B = TIMER0._TCCRnA._COMnB; + TIMER0._TCCRnA._COMnB = 0; + } + if (funcSet.hasFunc(eATmegaPinFunc::USART_CLK)) { + state._UMSEL = USART0._UCSRnC._UMSEL; + USART0._UCSRnC._UMSEL = 0; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC2B)) { + state._COM2B = _TIMER2._TCCRnA._COMnB; + _TIMER2._TCCRnA._COMnB = 0; + } + if (funcSet.hasFunc(eATmegaPinFunc::USART_TXD)) { + state._USART0_TXEN = USART0._UCSRnB._TXEN; + USART0._UCSRnB._TXEN = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::USART_RXD)) { + state._USART0_RXEN = USART0._UCSRnB._RXEN; + USART0._UCSRnB._RXEN = false; + } + #elif defined(__AVR_TRM04__) + if (funcSet.hasAnyFunc( + eATmegaPinFunc::EXTMEM_AD15, eATmegaPinFunc::EXTMEM_AD14, eATmegaPinFunc::EXTMEM_AD13, eATmegaPinFunc::EXTMEM_AD12, eATmegaPinFunc::EXTMEM_AD11, eATmegaPinFunc::EXTMEM_AD10, eATmegaPinFunc::EXTMEM_AD9, eATmegaPinFunc::EXTMEM_AD8, + eATmegaPinFunc::EXTMEM_AD7, eATmegaPinFunc::EXTMEM_AD6, eATmegaPinFunc::EXTMEM_AD5, eATmegaPinFunc::EXTMEM_AD4, eATmegaPinFunc::EXTMEM_AD3, eATmegaPinFunc::EXTMEM_AD2, eATmegaPinFunc::EXTMEM_AD1, eATmegaPinFunc::EXTMEM_AD0, + eATmegaPinFunc::EXTMEM_ALE, eATmegaPinFunc::EXTMEM_RD, eATmegaPinFunc::EXTMEM_WR + )) { + state._SRE = _XMCRA._SRE; + _XMCRA._SRE = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC1C)) { + state._COM1C = TIMER1._TCCRnA._COMnC; + TIMER1._TCCRnA._COMnC = 0; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC1B)) { + state._COM1B = TIMER1._TCCRnA._COMnB; + TIMER1._TCCRnA._COMnB = 0; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC1A)) { + state._COM1A = TIMER1._TCCRnA._COMnA; + TIMER1._TCCRnA._COMnA = 0; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC2A)) { + state._COM2A = _TIMER2._TCCRnA._COMnA; + _TIMER2._TCCRnA._COMnA = 0; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::SPI_MISO, eATmegaPinFunc::SPI_MOSI, eATmegaPinFunc::SPI_SCK, eATmegaPinFunc::SPI_CS)) { + state._SPE = _SPCR._SPE; + _SPCR._SPE = false; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::PCI7, eATmegaPinFunc::PCI6, eATmegaPinFunc::PCI5, eATmegaPinFunc::PCI4, eATmegaPinFunc::PCI3, eATmegaPinFunc::PCI2, eATmegaPinFunc::PCI1, eATmegaPinFunc::PCI0)) { + state._PCIE0 = _PCICR._PCIE0; + _PCICR._PCIE0 = false; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::USART1_CLK, eATmegaPinFunc::USART1_TXD)) { + state._USART1_TXEN = USART1._UCSRnB._TXEN; + USART1._UCSRnB._TXEN = false; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::USART1_CLK, eATmegaPinFunc::USART1_RXD)) { + state._USART1_RXEN = USART1._UCSRnB._RXEN; + USART1._UCSRnB._RXEN = false; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::TWI_SDA, eATmegaPinFunc::TWI_CLK)) { + state._TWEN = _TWCR._TWEN; + _TWCR._TWEN = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC2B)) { + state._COM2B = _TIMER2._TCCRnA._COMnB; + _TIMER2._TCCRnA._COMnB = 0; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC0B)) { + state._COM0B = TIMER0._TCCRnA._COMnB; + TIMER0._TCCRnA._COMnB = 0; + } + if (funcSet.hasFunc(eATmegaPinFunc::EINT3)) { + state._INT3 = _EIMSK._INT3; + _EIMSK._INT3 = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::EINT2)) { + state._INT2 = _EIMSK._INT2; + _EIMSK._INT2 = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::EINT1)) { + state._INT1 = _EIMSK._INT1; + _EIMSK._INT1 = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::EINT0)) { + state._INT0 = _EIMSK._INT0; + _EIMSK._INT0 = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::UVCON)) { + state._UVCONE = _UHWCON._UVCONE; + _UHWCON._UVCONE = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::UID)) { + state._UIDE = _UHWCON._UIDE; + _UHWCON._UIDE = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::EINT7)) { + state._INT7 = _EIMSK._INT7; + _EIMSK._INT7 = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::EINT6)) { + state._INT6 = _EIMSK._INT6; + _EIMSK._INT6 = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::EINT5)) { + state._INT5 = _EIMSK._INT5; + _EIMSK._INT5 = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::EINT4)) { + state._INT4 = _EIMSK._INT4; + _EIMSK._INT4 = false; + } + #elif defined(__AVR_TRM05__) + if (funcSet.hasAnyFunc(eATmegaPinFunc::PCI7, eATmegaPinFunc::PCI6, eATmegaPinFunc::PCI5, eATmegaPinFunc::PCI4, eATmegaPinFunc::PCI3, eATmegaPinFunc::PCI2, eATmegaPinFunc::PCI1, eATmegaPinFunc::PCI0)) { + state._PCIE0 = _PCICR._PCIE0; + _PCICR._PCIE0 = false; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::PCI15, eATmegaPinFunc::PCI14, eATmegaPinFunc::PCI13, eATmegaPinFunc::PCI12, eATmegaPinFunc::PCI11, eATmegaPinFunc::PCI10, eATmegaPinFunc::PCI9, eATmegaPinFunc::PCI8)) { + state._PCIE1 = _PCICR._PCIE1; + _PCICR._PCIE1 = false; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::PCI23, eATmegaPinFunc::PCI22, eATmegaPinFunc::PCI21, eATmegaPinFunc::PCI20, eATmegaPinFunc::PCI19, eATmegaPinFunc::PCI18, eATmegaPinFunc::PCI17, eATmegaPinFunc::PCI16)) { + state._PCIE2 = _PCICR._PCIE2; + _PCICR._PCIE2 = false; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::PCI31, eATmegaPinFunc::PCI30, eATmegaPinFunc::PCI29, eATmegaPinFunc::PCI28, eATmegaPinFunc::PCI27, eATmegaPinFunc::PCI26, eATmegaPinFunc::PCI25, eATmegaPinFunc::PCI24)) { + state._PCIE3 = _PCICR._PCIE3; + _PCICR._PCIE3 = false; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::SPI_SCK, eATmegaPinFunc::SPI_MISO, eATmegaPinFunc::SPI_MOSI, eATmegaPinFunc::SPI_CS)) { + state._SPE = _SPCR._SPE; + _SPCR._SPE = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC0B)) { + state._COM0B = TIMER0._TCCRnA._COMnB; + TIMER0._TCCRnA._COMnB = 0; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC0A)) { + state._COM0A = TIMER0._TCCRnA._COMnA; + TIMER0._TCCRnA._COMnA = 0; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC2A)) { + state._COM2A = _TIMER2._TCCRnA._COMnA; + _TIMER2._TCCRnA._COMnA = 0; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC2B)) { + state._COM2B = _TIMER2._TCCRnA._COMnB; + _TIMER2._TCCRnA._COMnB = 0; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC1A)) { + state._COM1A = TIMER1._TCCRnA._COMnA; + TIMER1._TCCRnA._COMnA = 0; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC1B)) { + state._COM1B = TIMER1._TCCRnA._COMnB; + TIMER1._TCCRnA._COMnB = 0; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::TWI_CLK, eATmegaPinFunc::TWI_SDA)) { + state._TWEN = _TWCR._TWEN; + _TWCR._TWEN = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::EINT2)) { + state._INT2 = _EIMSK._INT2; + _EIMSK._INT2 = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::EINT1)) { + state._INT1 = _EIMSK._INT1; + _EIMSK._INT1 = false; + } + if (funcSet.hasFunc(eATmegaPinFunc::EINT0)) { + state._INT0 = _EIMSK._INT0; + _EIMSK._INT0 = false; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::USART0_CLK, eATmegaPinFunc::USART0_TXD)) { + state._TXEN0 = USART0._UCSRnB._TXEN; + USART0._UCSRnB._TXEN = false; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::USART0_CLK, eATmegaPinFunc::USART0_RXD)) { + state._RXEN0 = USART0._UCSRnB._RXEN; + USART0._UCSRnB._RXEN = false; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::USART1_CLK, eATmegaPinFunc::USART1_TXD)) { + state._TXEN1 = USART1._UCSRnB._TXEN; + USART1._UCSRnB._TXEN = false; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::USART1_CLK, eATmegaPinFunc::USART1_RXD)) { + state._RXEN1 = USART1._UCSRnB._RXEN; + USART1._UCSRnB._RXEN = false; + } + #endif + + return state; +} + +inline void _ATmega_restorePinAlternates(const ATmegaPinFuncSet& funcSet, const pin_dev_state_t& state) { + ATmegaPeripheralSet periSet; + periSet.fromPinFuncs(funcSet); + + ATmegaPeripheralPowerGate pgate(periSet); + + #ifdef __AVR_TRM01__ + // See page 75ff of ATmega2560 technical reference manual. + if (funcSet.hasAnyFunc( + eATmegaPinFunc::EXTMEM_AD15, eATmegaPinFunc::EXTMEM_AD14, eATmegaPinFunc::EXTMEM_AD13, eATmegaPinFunc::EXTMEM_AD12, eATmegaPinFunc::EXTMEM_AD11, eATmegaPinFunc::EXTMEM_AD10, eATmegaPinFunc::EXTMEM_AD9, eATmegaPinFunc::EXTMEM_AD8, + eATmegaPinFunc::EXTMEM_AD7, eATmegaPinFunc::EXTMEM_AD6, eATmegaPinFunc::EXTMEM_AD5, eATmegaPinFunc::EXTMEM_AD4, eATmegaPinFunc::EXTMEM_AD3, eATmegaPinFunc::EXTMEM_AD2, eATmegaPinFunc::EXTMEM_AD1, eATmegaPinFunc::EXTMEM_AD0, + eATmegaPinFunc::EXTMEM_ALE, eATmegaPinFunc::EXTMEM_RD, eATmegaPinFunc::EXTMEM_WR + )) { + _XMCRA._SRE = state._SRE; + } + if (funcSet.hasAnyFunc( + eATmegaPinFunc::PCI0, eATmegaPinFunc::PCI1, eATmegaPinFunc::PCI2, eATmegaPinFunc::PCI3, eATmegaPinFunc::PCI4, eATmegaPinFunc::PCI5, eATmegaPinFunc::PCI6, eATmegaPinFunc::PCI7 + )) { + _PCICR._PCIE0 = state._PCIE0; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC1C)) { + TIMER1._TCCRnA._COMnC = state._COM1C; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC1B)) { + TIMER1._TCCRnA._COMnB = state._COM1B; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC1A)) { + TIMER1._TCCRnA._COMnA = state._COM1A; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC2A)) { + _TIMER2._TCCRnA._COMnA = state._COM2A; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::USART1_TXD, eATmegaPinFunc::USART1_CLK)) { + USART1._UCSRnB._TXEN = state._USART1_TXEN; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::USART1_RXD, eATmegaPinFunc::USART1_CLK)) { + USART1._UCSRnB._RXEN = state._USART1_RXEN; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC3C)) { + TIMER3._TCCRnA._COMnC = state._COM3C; + } + // There is an error in the technical reference manual signal mapping table + // of ATmega2560 where is says that pin 3 is mapped to OC3B, but the list + // says OC3A. + if (funcSet.hasFunc(eATmegaPinFunc::TOC3B)) { + TIMER3._TCCRnA._COMnB = state._COM3B; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC3A)) { + TIMER3._TCCRnA._COMnA = state._COM3A; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::USART0_RXD, eATmegaPinFunc::USART0_CLK)) { + USART0._UCSRnB._RXEN = state._USART0_RXEN; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::USART0_TXD, eATmegaPinFunc::USART0_CLK)) { + USART0._UCSRnB._TXEN = state._USART0_TXEN; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::PCI15, eATmegaPinFunc::PCI14, eATmegaPinFunc::PCI13, eATmegaPinFunc::PCI12, eATmegaPinFunc::PCI11, eATmegaPinFunc::PCI10, eATmegaPinFunc::PCI9, eATmegaPinFunc::PCI8)) { + _PCICR._PCIE1 = state._PCIE1; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::TOC0B)) { + TIMER0._TCCRnA._COMnB = state._COM0B; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::TOSC1, eATmegaPinFunc::TOSC2)) { + _ASSR._AS2 = state._AS2; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC2B)) { + _TIMER2._TCCRnA._COMnB = state._COM2B; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC4C)) { + TIMER4._TCCRnA._COMnC = state._COM4C; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC4B)) { + TIMER4._TCCRnA._COMnB = state._COM4B; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC4A)) { + TIMER4._TCCRnA._COMnA = state._COM4A; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::USART2_RXD, eATmegaPinFunc::USART2_CLK)) { + USART2._UCSRnB._RXEN = state._USART2_RXEN; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::USART2_TXD, eATmegaPinFunc::USART2_CLK)) { + USART2._UCSRnB._TXEN = state._USART2_TXEN; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::USART3_TXD, eATmegaPinFunc::USART3_CLK)) { + USART3._UCSRnB._RXEN = state._USART3_RXEN; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::USART3_TXD, eATmegaPinFunc::USART3_CLK)) { + USART3._UCSRnB._TXEN = state._USART3_TXEN; + } + if (funcSet.hasAnyFunc( + eATmegaPinFunc::PCI23, eATmegaPinFunc::PCI22, eATmegaPinFunc::PCI21, eATmegaPinFunc::PCI20, eATmegaPinFunc::PCI19, eATmegaPinFunc::PCI18, eATmegaPinFunc::PCI17, eATmegaPinFunc::PCI16 + )) { + _PCICR._PCIE2 = state._PCIE2; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC5C)) { + TIMER5._TCCRnA._COMnC = state._COM5C; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC5B)) { + TIMER5._TCCRnA._COMnB = state._COM5B; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC5A)) { + TIMER5._TCCRnA._COMnA = state._COM5A; + } + #elif defined(__AVR_TRM02__) + if (funcSet.hasAnyFunc(eATmegaPinFunc::PCI7, eATmegaPinFunc::PCI6, eATmegaPinFunc::PCI5, eATmegaPinFunc::PCI4, eATmegaPinFunc::PCI3, eATmegaPinFunc::PCI2, eATmegaPinFunc::PCI1, eATmegaPinFunc::PCI0)) { + _PCICR._PCIE0 = state._PCIE0; + } + if (funcSet.hasFunc(eATmegaPinFunc::ADC7)) { + _DIDR0._ADC7D = state._ADC7D; + } + if (funcSet.hasFunc(eATmegaPinFunc::ADC6)) { + _DIDR0._ADC6D = state._ADC6D; + } + if (funcSet.hasFunc(eATmegaPinFunc::ADC5)) { + _DIDR0._ADC5D = state._ADC5D; + } + if (funcSet.hasFunc(eATmegaPinFunc::ADC4)) { + _DIDR0._ADC4D = state._ADC4D; + } + if (funcSet.hasFunc(eATmegaPinFunc::ADC3)) { + _DIDR0._ADC3D = state._ADC3D; + } + if (funcSet.hasFunc(eATmegaPinFunc::ADC2)) { + _DIDR0._ADC2D = state._ADC2D; + } + if (funcSet.hasFunc(eATmegaPinFunc::ADC1)) { + _DIDR0._ADC1D = state._ADC1D; + } + if (funcSet.hasFunc(eATmegaPinFunc::ADC0)) { + _DIDR0._ADC0D = state._ADC0D; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::PCI15, eATmegaPinFunc::PCI14, eATmegaPinFunc::PCI13, eATmegaPinFunc::PCI12, eATmegaPinFunc::PCI11, eATmegaPinFunc::PCI10, eATmegaPinFunc::PCI9, eATmegaPinFunc::PCI8)) { + _PCICR._PCIE1 = state._PCIE1; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::SPI_SCK, eATmegaPinFunc::SPI_MISO, eATmegaPinFunc::SPI_MOSI, eATmegaPinFunc::SPI_CS)) { + _SPCR._SPE = state._SPE; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC0A)) { + TIMER0._TCCRnA._COMnA = state._COM0A; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC0B)) { + TIMER0._TCCRnA._COMnB = state._COM0B; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::TOSC1, eATmegaPinFunc::TOSC2)) { + _ASSR._AS2 = state._AS2; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::PCI23, eATmegaPinFunc::PCI22, eATmegaPinFunc::PCI21, eATmegaPinFunc::PCI20, eATmegaPinFunc::PCI19, eATmegaPinFunc::PCI18, eATmegaPinFunc::PCI17, eATmegaPinFunc::PCI16)) { + _PCICR._PCIE2 = state._PCIE2; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::PCI31, eATmegaPinFunc::PCI30, eATmegaPinFunc::PCI29, eATmegaPinFunc::PCI28, eATmegaPinFunc::PCI27, eATmegaPinFunc::PCI26, eATmegaPinFunc::PCI25, eATmegaPinFunc::PCI24)) { + _PCICR._PCIE3 = state._PCIE3; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC2A)) { + _TIMER2._TCCRnA._COMnA = state._COM2A; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC2B)) { + _TIMER2._TCCRnA._COMnB = state._COM2B; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC1A)) { + TIMER1._TCCRnA._COMnA = state._COM1A; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC1B)) { + TIMER1._TCCRnA._COMnB = state._COM1B; + } + if (funcSet.hasFunc(eATmegaPinFunc::USART1_TXD)) { + USART1._UCSRnB._TXEN = state._USART1_TXEN; + } + if (funcSet.hasFunc(eATmegaPinFunc::USART1_RXD)) { + USART1._UCSRnB._RXEN = state._USART1_RXEN; + } + if (funcSet.hasFunc(eATmegaPinFunc::USART0_TXD)) { + USART0._UCSRnB._TXEN = state._USART0_TXEN; + } + // There is a bug in the ATmega164A technical reference manual where + // it says that pin 0 is mapped to USART1 RXD in the signal mapping table + // but the associated list says USART0 RXD. + if (funcSet.hasFunc(eATmegaPinFunc::USART0_RXD)) { + USART0._UCSRnB._RXEN = state._USART0_RXEN; + } + #elif defined(__AVR_TRM03__) + if (funcSet.hasAnyFunc(eATmegaPinFunc::PCI7, eATmegaPinFunc::PCI6, eATmegaPinFunc::PCI5, eATmegaPinFunc::PCI4, eATmegaPinFunc::PCI3, eATmegaPinFunc::PCI2, eATmegaPinFunc::PCI1, eATmegaPinFunc::PCI0)) { + _PCICR._PCIE0 = state._PCIE0; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::TOSC1, eATmegaPinFunc::TOSC2)) { + _ASSR._AS2 = state._AS2; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::SPI_SCK, eATmegaPinFunc::SPI_MISO, eATmegaPinFunc::SPI_MOSI, eATmegaPinFunc::SPI_CS)) { + _SPCR._SPE = state._SPE; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC2A)) { + _TIMER2._TCCRnA._COMnA = state._COM2A; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC1B)) { + TIMER1._TCCRnA._COMnB = state._COM1B; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC1A)) { + TIMER1._TCCRnA._COMnA = state._COM1A; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::PCI14, eATmegaPinFunc::PCI13, eATmegaPinFunc::PCI12, eATmegaPinFunc::PCI11, eATmegaPinFunc::PCI10, eATmegaPinFunc::PCI9, eATmegaPinFunc::PCI8)) { + _PCICR._PCIE1 = state._PCIE1; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::TWI_CLK, eATmegaPinFunc::TWI_SDA)) { + _TWCR._TWEN = state._TWEN; + } + if (funcSet.hasFunc(eATmegaPinFunc::ADC5)) { + _DIDR0._ADC5D = state._ADC5D; + } + if (funcSet.hasFunc(eATmegaPinFunc::ADC4)) { + _DIDR0._ADC4D = state._ADC4D; + } + if (funcSet.hasFunc(eATmegaPinFunc::ADC3)) { + _DIDR0._ADC3D = state._ADC3D; + } + if (funcSet.hasFunc(eATmegaPinFunc::ADC2)) { + _DIDR0._ADC2D = state._ADC2D; + } + if (funcSet.hasFunc(eATmegaPinFunc::ADC1)) { + _DIDR0._ADC1D = state._ADC1D; + } + if (funcSet.hasFunc(eATmegaPinFunc::ADC0)) { + _DIDR0._ADC0D = state._ADC0D; + } + // There is a bug in the ATmega48A technical reference manual where pin 2 + // is said to be mapped to PCIE1 but logically it should be PCIE2 instead. + // The real mapping can be read in the documentation of the PCICR register. + if (funcSet.hasAnyFunc(eATmegaPinFunc::PCI23, eATmegaPinFunc::PCI22, eATmegaPinFunc::PCI21, eATmegaPinFunc::PCI20, eATmegaPinFunc::PCI19, eATmegaPinFunc::PCI18, eATmegaPinFunc::PCI17, eATmegaPinFunc::PCI16)) { + _PCICR._PCIE2 = state._PCIE2; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC0A)) { + TIMER0._TCCRnA._COMnA = state._COM0A; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC0B)) { + TIMER0._TCCRnA._COMnB = state._COM0B; + } + if (funcSet.hasFunc(eATmegaPinFunc::USART_CLK)) { + USART0._UCSRnC._UMSEL = state._UMSEL; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC2B)) { + _TIMER2._TCCRnA._COMnB = state._COM2B; + } + if (funcSet.hasFunc(eATmegaPinFunc::USART_TXD)) { + USART0._UCSRnB._TXEN = state._USART0_TXEN; + } + if (funcSet.hasFunc(eATmegaPinFunc::USART_RXD)) { + USART0._UCSRnB._RXEN = state._USART0_RXEN; + } + #elif defined(__AVR_TRM04__) + if (funcSet.hasAnyFunc( + eATmegaPinFunc::EXTMEM_AD15, eATmegaPinFunc::EXTMEM_AD14, eATmegaPinFunc::EXTMEM_AD13, eATmegaPinFunc::EXTMEM_AD12, eATmegaPinFunc::EXTMEM_AD11, eATmegaPinFunc::EXTMEM_AD10, eATmegaPinFunc::EXTMEM_AD9, eATmegaPinFunc::EXTMEM_AD8, + eATmegaPinFunc::EXTMEM_AD7, eATmegaPinFunc::EXTMEM_AD6, eATmegaPinFunc::EXTMEM_AD5, eATmegaPinFunc::EXTMEM_AD4, eATmegaPinFunc::EXTMEM_AD3, eATmegaPinFunc::EXTMEM_AD2, eATmegaPinFunc::EXTMEM_AD1, eATmegaPinFunc::EXTMEM_AD0, + eATmegaPinFunc::EXTMEM_ALE, eATmegaPinFunc::EXTMEM_RD, eATmegaPinFunc::EXTMEM_WR + )) { + _XMCRA._SRE = state._SRE; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC1C)) { + TIMER1._TCCRnA._COMnC = state._COM1C; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC1B)) { + TIMER1._TCCRnA._COMnB = state._COM1B; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC1A)) { + TIMER1._TCCRnA._COMnA = state._COM1A; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC2A)) { + _TIMER2._TCCRnA._COMnA = state._COM2A; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::SPI_MISO, eATmegaPinFunc::SPI_MOSI, eATmegaPinFunc::SPI_SCK, eATmegaPinFunc::SPI_CS)) { + _SPCR._SPE = state._SPE; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::PCI7, eATmegaPinFunc::PCI6, eATmegaPinFunc::PCI5, eATmegaPinFunc::PCI4, eATmegaPinFunc::PCI3, eATmegaPinFunc::PCI2, eATmegaPinFunc::PCI1, eATmegaPinFunc::PCI0)) { + _PCICR._PCIE0 = state._PCIE0; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::USART1_CLK, eATmegaPinFunc::USART1_TXD)) { + USART1._UCSRnB._TXEN = state._USART1_TXEN; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::USART1_CLK, eATmegaPinFunc::USART1_RXD)) { + USART1._UCSRnB._RXEN = state._USART1_RXEN; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::TWI_SDA, eATmegaPinFunc::TWI_CLK)) { + _TWCR._TWEN = state._TWEN; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC2B)) { + _TIMER2._TCCRnA._COMnB = state._COM2B; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC0B)) { + TIMER0._TCCRnA._COMnB = state._COM0B; + } + if (funcSet.hasFunc(eATmegaPinFunc::EINT3)) { + _EIMSK._INT3 = state._INT3; + } + if (funcSet.hasFunc(eATmegaPinFunc::EINT2)) { + _EIMSK._INT2 = state._INT2; + } + if (funcSet.hasFunc(eATmegaPinFunc::EINT1)) { + _EIMSK._INT1 = state._INT1; + } + if (funcSet.hasFunc(eATmegaPinFunc::EINT0)) { + _EIMSK._INT0 = state._INT0; + } + if (funcSet.hasFunc(eATmegaPinFunc::UVCON)) { + _UHWCON._UVCONE = state._UVCONE; + } + if (funcSet.hasFunc(eATmegaPinFunc::UID)) { + _UHWCON._UIDE = state._UIDE; + } + if (funcSet.hasFunc(eATmegaPinFunc::EINT7)) { + _EIMSK._INT7 = state._INT7; + } + if (funcSet.hasFunc(eATmegaPinFunc::EINT6)) { + _EIMSK._INT6 = state._INT6; + } + if (funcSet.hasFunc(eATmegaPinFunc::EINT5)) { + _EIMSK._INT5 = state._INT5; + } + if (funcSet.hasFunc(eATmegaPinFunc::EINT4)) { + _EIMSK._INT4 = state._INT4; + } + #elif defined(__AVR_TRM05__) + if (funcSet.hasAnyFunc(eATmegaPinFunc::PCI7, eATmegaPinFunc::PCI6, eATmegaPinFunc::PCI5, eATmegaPinFunc::PCI4, eATmegaPinFunc::PCI3, eATmegaPinFunc::PCI2, eATmegaPinFunc::PCI1, eATmegaPinFunc::PCI0)) { + _PCICR._PCIE0 = state._PCIE0; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::PCI15, eATmegaPinFunc::PCI14, eATmegaPinFunc::PCI13, eATmegaPinFunc::PCI12, eATmegaPinFunc::PCI11, eATmegaPinFunc::PCI10, eATmegaPinFunc::PCI9, eATmegaPinFunc::PCI8)) { + _PCICR._PCIE1 = state._PCIE1; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::PCI23, eATmegaPinFunc::PCI22, eATmegaPinFunc::PCI21, eATmegaPinFunc::PCI20, eATmegaPinFunc::PCI19, eATmegaPinFunc::PCI18, eATmegaPinFunc::PCI17, eATmegaPinFunc::PCI16)) { + _PCICR._PCIE2 = state._PCIE2; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::PCI31, eATmegaPinFunc::PCI30, eATmegaPinFunc::PCI29, eATmegaPinFunc::PCI28, eATmegaPinFunc::PCI27, eATmegaPinFunc::PCI26, eATmegaPinFunc::PCI25, eATmegaPinFunc::PCI24)) { + _PCICR._PCIE3 = state._PCIE3; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::SPI_SCK, eATmegaPinFunc::SPI_MISO, eATmegaPinFunc::SPI_MOSI, eATmegaPinFunc::SPI_CS)) { + _SPCR._SPE = state._SPE; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC0B)) { + TIMER0._TCCRnA._COMnB = state._COM0B; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC0A)) { + TIMER0._TCCRnA._COMnA = state._COM0A; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC2A)) { + _TIMER2._TCCRnA._COMnA = state._COM2A; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC2B)) { + _TIMER2._TCCRnA._COMnB = state._COM2B; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC1A)) { + TIMER1._TCCRnA._COMnA = state._COM1A; + } + if (funcSet.hasFunc(eATmegaPinFunc::TOC1B)) { + TIMER1._TCCRnA._COMnB = state._COM1B; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::TWI_CLK, eATmegaPinFunc::TWI_SDA)) { + _TWCR._TWEN = state._TWEN; + } + if (funcSet.hasFunc(eATmegaPinFunc::EINT2)) { + _EIMSK._INT2 = state._INT2; + } + if (funcSet.hasFunc(eATmegaPinFunc::EINT1)) { + _EIMSK._INT1 = state._INT1; + } + if (funcSet.hasFunc(eATmegaPinFunc::EINT0)) { + _EIMSK._INT0 = state._INT0; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::USART0_CLK, eATmegaPinFunc::USART0_TXD)) { + USART0._UCSRnB._TXEN = state._TXEN0; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::USART0_CLK, eATmegaPinFunc::USART0_RXD)) { + USART0._UCSRnB._RXEN = state._RXEN0; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::USART1_CLK, eATmegaPinFunc::USART1_TXD)) { + USART1._UCSRnB._TXEN = state._TXEN1; + } + if (funcSet.hasAnyFunc(eATmegaPinFunc::USART1_CLK, eATmegaPinFunc::USART1_RXD)) { + USART1._UCSRnB._RXEN = state._RXEN1; + } + #endif +} + +inline pin_dev_state_t _ATmega_savePinAlternate(uint8_t pin) { + return _ATmega_savePinAlternates({pin}); +} + +inline void _ATmega_restorePinAlternate(uint8_t pin, const pin_dev_state_t& state) { + _ATmega_restorePinAlternate({pin}, state); +} + +#ifndef LOW + #define LOW 0 +#endif +#ifndef HIGH + #define HIGH 1 +#endif + +inline void _ATmega_digitalWrite(int pin, int state) { + if (pin < 0) return; + + ATmegaPinInfo info = _ATmega_getPinInfo((unsigned int)pin); + + #ifdef __AVR_TRM01__ + if (info.port == eATmegaPort::PORT_A) { + _PORTA._PORT.setValue(info.pinidx, state == HIGH); + } + else if (info.port == eATmegaPort::PORT_B) { + _PORTB._PORT.setValue(info.pinidx, state == HIGH); + } + else if (info.port == eATmegaPort::PORT_C) { + _PORTC._PORT.setValue(info.pinidx, state == HIGH); + } + else if (info.port == eATmegaPort::PORT_D) { + _PORTD._PORT.setValue(info.pinidx, state == HIGH); + } + else if (info.port == eATmegaPort::PORT_E) { + _PORTE._PORT.setValue(info.pinidx, state == HIGH); + } + else if (info.port == eATmegaPort::PORT_F) { + _PORTF._PORT.setValue(info.pinidx, state == HIGH); + } + else if (info.port == eATmegaPort::PORT_G) { + _PORTG._PORT.setValue(info.pinidx, state == HIGH); + } + else if (info.port == eATmegaPort::PORT_H) { + _PORTH._PORT.setValue(info.pinidx, state == HIGH); + } + else if (info.port == eATmegaPort::PORT_J) { + _PORTJ._PORT.setValue(info.pinidx, state == HIGH); + } + else if (info.port == eATmegaPort::PORT_K) { + _PORTK._PORT.setValue(info.pinidx, state == HIGH); + } + else if (info.port == eATmegaPort::PORT_L) { + _PORTL._PORT.setValue(info.pinidx, state == HIGH); + } + #elif defined(__AVR_TRM02__) || defined(__AVR_TRM05__) + if (info.port == eATmegaPort::PORT_A) { + _PORTA._PORT.setValue(info.pinidx, state == HIGH); + } + else if (info.port == eATmegaPort::PORT_B) { + _PORTB._PORT.setValue(info.pinidx, state == HIGH); + } + else if (info.port == eATmegaPort::PORT_C) { + _PORTC._PORT.setValue(info.pinidx, state == HIGH); + } + else if (info.port == eATmegaPort::PORT_D) { + _PORTD._PORT.setValue(info.pinidx, state == HIGH); + } + #elif defined(__AVR_TRM03__) + if (info.port == eATmegaPort::PORT_B) { + _PORTB._PORT.setValue(info.pinidx, state == HIGH); + } + else if (info.port == eATmegaPort::PORT_C) { + _PORTC._PORT.setValue(info.pinidx, state == HIGH); + } + else if (info.port == eATmegaPort::PORT_D) { + _PORTD._PORT.setValue(info.pinidx, state == HIGH); + } + #elif defined(__AVR_TRM04__) + if (info.port == eATmegaPort::PORT_A) { + _PORTA._PORT.setValue(info.pinidx, state == HIGH); + } + else if (info.port == eATmegaPort::PORT_B) { + _PORTB._PORT.setValue(info.pinidx, state == HIGH); + } + else if (info.port == eATmegaPort::PORT_C) { + _PORTC._PORT.setValue(info.pinidx, state == HIGH); + } + else if (info.port == eATmegaPort::PORT_D) { + _PORTD._PORT.setValue(info.pinidx, state == HIGH); + } + else if (info.port == eATmegaPort::PORT_E) { + _PORTE._PORT.setValue(info.pinidx, state == HIGH); + } + else if (info.port == eATmegaPort::PORT_F) { + _PORTF._PORT.setValue(info.pinidx, state == HIGH); + } + #endif +} + +inline int _ATmega_digitalRead(int pin) { + int value = LOW; + + if (pin < 0) return value; + + ATmegaPinInfo info = _ATmega_getPinInfo((unsigned int)pin); + + #ifdef __AVR_TRM01__ + if (info.port == eATmegaPort::PORT_A) { + value = _PORTA._PIN.getValue(info.pinidx); + } + else if (info.port == eATmegaPort::PORT_B) { + value = _PORTB._PIN.getValue(info.pinidx); + } + else if (info.port == eATmegaPort::PORT_C) { + value = _PORTC._PIN.getValue(info.pinidx); + } + else if (info.port == eATmegaPort::PORT_D) { + value = _PORTD._PIN.getValue(info.pinidx); + } + else if (info.port == eATmegaPort::PORT_E) { + value = _PORTE._PIN.getValue(info.pinidx); + } + else if (info.port == eATmegaPort::PORT_F) { + value = _PORTF._PIN.getValue(info.pinidx); + } + else if (info.port == eATmegaPort::PORT_G) { + value = _PORTG._PIN.getValue(info.pinidx); + } + else if (info.port == eATmegaPort::PORT_H) { + value = _PORTH._PIN.getValue(info.pinidx); + } + else if (info.port == eATmegaPort::PORT_J) { + value = _PORTJ._PIN.getValue(info.pinidx); + } + else if (info.port == eATmegaPort::PORT_K) { + value = _PORTK._PIN.getValue(info.pinidx); + } + else if (info.port == eATmegaPort::PORT_L) { + value = _PORTL._PIN.getValue(info.pinidx); + } + #elif defined(__AVR_TRM02__) || defined(__AVR_TRM05__) + if (info.port == eATmegaPort::PORT_A) { + value = _PORTA._PIN.getValue(info.pinidx); + } + else if (info.port == eATmegaPort::PORT_B) { + value = _PORTB._PIN.getValue(info.pinidx); + } + else if (info.port == eATmegaPort::PORT_C) { + value = _PORTC._PIN.getValue(info.pinidx); + } + else if (info.port == eATmegaPort::PORT_D) { + value = _PORTD._PIN.getValue(info.pinidx); + } + #elif defined(__AVR_TRM03__) + if (info.port == eATmegaPort::PORT_B) { + value = _PORTB._PIN.getValue(info.pinidx); + } + else if (info.port == eATmegaPort::PORT_C) { + value = _PORTC._PIN.getValue(info.pinidx); + } + else if (info.port == eATmegaPort::PORT_D) { + value = _PORTD._PIN.getValue(info.pinidx); + } + #elif defined(__AVR_TRM04__) + if (info.port == eATmegaPort::PORT_A) { + value = _PORTA._PIN.getValue(info.pinidx); + } + else if (info.port == eATmegaPort::PORT_B) { + value = _PORTB._PIN.getValue(info.pinidx); + } + else if (info.port == eATmegaPort::PORT_C) { + value = _PORTC._PIN.getValue(info.pinidx); + } + else if (info.port == eATmegaPort::PORT_D) { + value = _PORTD._PIN.getValue(info.pinidx); + } + else if (info.port == eATmegaPort::PORT_E) { + value = _PORTE._PIN.getValue(info.pinidx); + } + else if (info.port == eATmegaPort::PORT_F) { + value = _PORTF._PIN.getValue(info.pinidx); + } + #endif + + return value; +} + +#ifndef OUTPUT + #define OUTPUT 1 +#endif +#ifndef INPUT + #define INPUT 0 +#endif + +inline void _ATmega_pinMode(int pin, int mode) { + if (pin < 0) return; + + ATmegaPinInfo info = _ATmega_getPinInfo((unsigned int)pin); + + #ifdef __AVR_TRM01__ + if (info.port == eATmegaPort::PORT_A) { + _PORTA._DDR.setValue(info.pinidx, mode == OUTPUT); + } + else if (info.port == eATmegaPort::PORT_B) { + _PORTB._DDR.setValue(info.pinidx, mode == OUTPUT); + } + else if (info.port == eATmegaPort::PORT_C) { + _PORTC._DDR.setValue(info.pinidx, mode == OUTPUT); + } + else if (info.port == eATmegaPort::PORT_D) { + _PORTD._DDR.setValue(info.pinidx, mode == OUTPUT); + } + else if (info.port == eATmegaPort::PORT_E) { + _PORTE._DDR.setValue(info.pinidx, mode == OUTPUT); + } + else if (info.port == eATmegaPort::PORT_F) { + _PORTF._DDR.setValue(info.pinidx, mode == OUTPUT); + } + else if (info.port == eATmegaPort::PORT_G) { + _PORTG._DDR.setValue(info.pinidx, mode == OUTPUT); + } + else if (info.port == eATmegaPort::PORT_H) { + _PORTH._DDR.setValue(info.pinidx, mode == OUTPUT); + } + else if (info.port == eATmegaPort::PORT_J) { + _PORTJ._DDR.setValue(info.pinidx, mode == OUTPUT); + } + else if (info.port == eATmegaPort::PORT_K) { + _PORTK._DDR.setValue(info.pinidx, mode == OUTPUT); + } + else if (info.port == eATmegaPort::PORT_L) { + _PORTL._DDR.setValue(info.pinidx, mode == OUTPUT); + } + #elif defined(__AVR_TRM02__) || defined(__AVR_TRM05__) + if (info.port == eATmegaPort::PORT_A) { + _PORTA._DDR.setValue(info.pinidx, mode == OUTPUT); + } + else if (info.port == eATmegaPort::PORT_B) { + _PORTB._DDR.setValue(info.pinidx, mode == OUTPUT); + } + else if (info.port == eATmegaPort::PORT_C) { + _PORTC._DDR.setValue(info.pinidx, mode == OUTPUT); + } + else if (info.port == eATmegaPort::PORT_D) { + _PORTD._DDR.setValue(info.pinidx, mode == OUTPUT); + } + #elif defined(__AVR_TRM03__) + if (info.port == eATmegaPort::PORT_B) { + _PORTB._DDR.setValue(info.pinidx, mode == OUTPUT); + } + else if (info.port == eATmegaPort::PORT_C) { + _PORTC._DDR.setValue(info.pinidx, mode == OUTPUT); + } + else if (info.port == eATmegaPort::PORT_D) { + _PORTD._DDR.setValue(info.pinidx, mode == OUTPUT); + } + #elif defined(__AVR_TRM04__) + if (info.port == eATmegaPort::PORT_A) { + _PORTA._DDR.setValue(info.pinidx, mode == OUTPUT); + } + else if (info.port == eATmegaPort::PORT_B) { + _PORTB._DDR.setValue(info.pinidx, mode == OUTPUT); + } + else if (info.port == eATmegaPort::PORT_C) { + _PORTC._DDR.setValue(info.pinidx, mode == OUTPUT); + } + else if (info.port == eATmegaPort::PORT_D) { + _PORTD._DDR.setValue(info.pinidx, mode == OUTPUT); + } + else if (info.port == eATmegaPort::PORT_E) { + _PORTE._DDR.setValue(info.pinidx, mode == OUTPUT); + } + else if (info.port == eATmegaPort::PORT_F) { + _PORTF._DDR.setValue(info.pinidx, mode == OUTPUT); + } + #endif +} + +#if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) + struct _ATmega_efuse { + uint8_t _BODLEVEL : 3; + uint8_t reserved1 : 5; + }; + + struct _ATmega_hfuse { + uint8_t _BOOTRST : 1; + uint8_t _BOOTSZ : 2; + uint8_t _EESAVE : 1; + uint8_t _WDTON : 1; + uint8_t _SPIEN : 1; + uint8_t _JTAGEN : 1; + uint8_t _OCDEN : 1; + }; + + struct _ATmega_lfuse { + uint8_t _CKSEL : 4; + uint8_t _SUT0 : 1; + uint8_t _SUT1 : 1; + uint8_t _CKOUT : 1; + uint8_t _CKDIV8 : 1; + }; + + #ifndef AVR_DEFAULT_LFUSE_VALUE + #define AVR_DEFAULT_LFUSE_VALUE 0xFF + #endif + #ifndef AVR_DEFAULT_HFUSE_VALUE + #define AVR_DEFAULT_HFUSE_VALUE 0x99 + #endif + #ifndef AVR_DEFAULT_LFUSE_VALUE + #define AVR_DEFAULT_LFUSE_VALUE 0x62 + #endif + +#elif defined(__AVR_TRM03__) + #if defined(__AVR_ATmega48A__) || defined(__AVR_ATmega48PA__) + struct _ATmega_efuse { + uint8_t _SELFPRGEN : 1; + uint8_t reserved1 : 7; + }; + + #ifndef AVR_DEFAULT_EFUSE_VALUE + #define AVR_DEFAULT_EFUSE_VALUE 0xFF + #endif + + #elif defined(__AVR_ATmega88A__) || defined(__AVR_ATmega88PA__) || defined(__AVR_ATmega168A__) || defined(__AVR_ATmega168PA__) + struct _ATmega_efuse { + uint8_t _BOOTRST : 1; + uint8_t _BOOTSZ : 2; + uint8_t reserved1 : 5; + }; + + #ifndef AVR_DEFAULT_EFUSE_VALUE + #define AVR_DEFAULT_EFUSE_VALUE 0xF9 + #endif + + #else // defined(__AVR_ATmega328__) || defined(__AVR_ATmega328P__) + struct _ATmega_efuse { + uint8_t _BODLEVEL : 3; + uint8_t reserved1 : 5; + }; + + #ifndef AVR_DEFAULT_EFUSE_VALUE + #define AVR_DEFAULT_EFUSE_VALUE 0xFF + #endif + + #endif + + #if defined(__AVR_ATmega48A__) || defined(__AVR_ATmega48PA__) || defined(__AVR_ATmega88A__) || defined(__AVR_ATmega88PA__) || defined(__AVR_ATmega168A__) || defined(__AVR_ATmega168PA__) + struct _ATmega_hfuse { + uint8_t _BODLEVEL : 3; + uint8_t _EESAVE : 1; + uint8_t _WDTON : 1; + uint8_t _SPIEN : 1; + uint8_t _DWEN : 1; + uint8_t _RSTDISBL : 1; + }; + + #ifndef AVR_DEFAULT_HFUSE_VALUE + #define AVR_DEFAULT_HFUSE_VALUE 0xCF + #endif + + #else // defined(__AVR_ATmega328__) || defined(__AVR_ATmega328P__) + struct _ATmega_hfuse { + uint8_t _BOOTRST : 1; + uint8_t _BOOTSZ : 2; + uint8_t _EESAVE : 1; + uint8_t _WDTON : 1; + uint8_t _SPIEN : 1; + uint8_t _DWEN : 1; + uint8_t _RSTDISBL : 1; + }; + + #ifndef AVR_DEFAULT_HFUSE_VALUE + #define AVR_DEFAULT_HFUSE_VALUE 0xC9 + #endif + + #endif + + struct _ATmega_lfuse { + uint8_t _CKSEL : 4; + uint8_t _SUT0 : 1; + uint8_t _SUT1 : 1; + uint8_t _CKOUT : 1; + uint8_t _CKDIV8 : 1; + }; + + #ifndef AVR_DEFAULT_LFUSE_VALUE + #define AVR_DEFAULT_LFUSE_VALUE 0xC9 + #endif + +#elif defined(__AVR_TRM04__) + struct _ATmega_efuse { + uint8_t _BODLEVEL : 3; + uint8_t _HWBE : 1; + uint8_t reserved1 : 4; + }; + + struct _ATmega_hfuse { + uint8_t _BOOTRST : 1; + uint8_t _BOOTSZ : 2; + uint8_t _EESAVE : 1; + uint8_t _WDTON : 1; + uint8_t _SPIEN : 1; + uint8_t _JTAGEN : 1; + uint8_t _OCDEN : 1; + }; + + struct _ATmega_lfuse { + uint8_t _CKSEL : 4; + uint8_t _SUT0 : 1; + uint8_t _SUT1 : 1; + uint8_t _CKOUT : 1; + uint8_t _CKDIV8 : 1; + }; + + // Default values if not already defined. + #ifndef AVR_DEFAULT_EFUSE_VALUE + #define AVR_DEFAULT_EFUSE_VALUE 0xF3 + #endif + #ifndef AVR_DEFAULT_HFUSE_VALUE + #define AVR_DEFAULT_HFUSE_VALUE 0x99 + #endif + #ifndef AVR_DEFAULT_LFUSE_VALUE + #define AVR_DEFAULT_LFUSE_VALUE 0x62 + #endif + +#elif defined(__AVR_TRM05__) + struct _ATmega_efuse { + uint8_t _BODLEVEL0 : 1; + uint8_t _BODLEVEL1 : 1; + uint8_t _BODLEVEL2 : 1; + uint8_t reserved1 : 5; + }; + + struct _ATmega_hfuse { + uint8_t _BOOTRST : 1; + uint8_t _BOOTSZ : 2; + uint8_t _EESAVE : 1; + uint8_t _WDTON : 1; + uint8_t _SPIEN : 1; + uint8_t _JTAGEN : 1; + uint8_t _OCDEN : 1; + }; + + struct _ATmega_lfuse { + uint8_t _CKSEL : 4; + uint8_t _SUT0 : 1; + uint8_t _SUT1 : 1; + uint8_t _CKOUT : 1; + uint8_t _CKDIV8 : 1; + }; + + #ifndef AVR_DEFAULT_EFUSE_VALUE + #define AVR_DEFAULT_EFUSE_VALUE 0xFF + #endif + #ifndef AVR_DEFAULT_HFUSE_VALUE + #define AVR_DEFAULT_HFUSE_VALUE 0x88 + #endif + #ifndef AVR_DEFAULT_LFUSE_VALUE + #define AVR_DEFAULT_LFUSE_VALUE 0x62 + #endif +#endif + +struct ATmega_efuse : public _ATmega_efuse { + inline ATmega_efuse(uint8_t val = 0) { *(uint8_t*)this = val; } + inline ATmega_efuse(const ATmega_efuse&) = default; +}; +struct ATmega_hfuse : public _ATmega_hfuse { + inline ATmega_hfuse(uint8_t val = 0) { *(uint8_t*)this = val; } + inline ATmega_hfuse(const ATmega_hfuse&) = default; +}; +struct ATmega_lfuse : public _ATmega_lfuse { + inline ATmega_lfuse(uint8_t val = 0) { *(uint8_t*)this = val; } + inline ATmega_lfuse(const ATmega_lfuse&) = default; +}; diff --git a/Marlin/src/HAL/AVR/timers.h b/Marlin/src/HAL/AVR/timers.h index 33c3880b6b..d9cdfc4f01 100644 --- a/Marlin/src/HAL/AVR/timers.h +++ b/Marlin/src/HAL/AVR/timers.h @@ -44,14 +44,14 @@ typedef uint16_t hal_timer_t; #define MF_TIMER_TEMP 0 #endif -#define TEMP_TIMER_FREQUENCY ((F_CPU) / 64.0 / 256.0) +#define TEMP_TIMER_FREQUENCY (((F_CPU) + 0x2000) / 0x4000) #define STEPPER_TIMER_RATE HAL_TIMER_RATE #define STEPPER_TIMER_PRESCALE 8 -#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // Cannot be of type double +#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) -#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer -#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE +#define PULSE_TIMER_RATE STEPPER_TIMER_RATE +#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE #define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US #define ENABLE_STEPPER_DRIVER_INTERRUPT() SBI(TIMSK1, OCIE1A) diff --git a/Marlin/src/HAL/AVR/u8g_com_HAL_AVR_sw_spi.cpp b/Marlin/src/HAL/AVR/u8g_com_HAL_AVR_sw_spi.cpp index 45b54379db..79bafe2939 100644 --- a/Marlin/src/HAL/AVR/u8g_com_HAL_AVR_sw_spi.cpp +++ b/Marlin/src/HAL/AVR/u8g_com_HAL_AVR_sw_spi.cpp @@ -88,7 +88,7 @@ void u8g_spiSend_sw_AVR_mode_0(uint8_t val) { volatile uint8_t *outData = u8g_outData, *outClock = u8g_outClock; U8G_ATOMIC_START(); - LOOP_L_N(i, 8) { + for (uint8_t i = 0; i < 8; ++i) { if (val & 0x80) *outData |= bitData; else @@ -108,7 +108,7 @@ void u8g_spiSend_sw_AVR_mode_3(uint8_t val) { volatile uint8_t *outData = u8g_outData, *outClock = u8g_outClock; U8G_ATOMIC_START(); - LOOP_L_N(i, 8) { + for (uint8_t i = 0; i < 8; ++i) { *outClock &= bitNotClock; if (val & 0x80) *outData |= bitData; diff --git a/Marlin/src/HAL/AVR/watchdog.cpp b/Marlin/src/HAL/AVR/watchdog.cpp deleted file mode 100644 index 3f10c4adff..0000000000 --- a/Marlin/src/HAL/AVR/watchdog.cpp +++ /dev/null @@ -1,70 +0,0 @@ -/** - * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * - * Based on Sprinter and grbl. - * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program. If not, see . - * - */ -#ifdef __AVR__ - -#include "../../inc/MarlinConfig.h" - -#if ENABLED(USE_WATCHDOG) - -#include "watchdog.h" - -#include "../../MarlinCore.h" - -// Initialize watchdog with 8s timeout, if possible. Otherwise, make it 4s. -void watchdog_init() { - #if ENABLED(WATCHDOG_DURATION_8S) && defined(WDTO_8S) - #define WDTO_NS WDTO_8S - #else - #define WDTO_NS WDTO_4S - #endif - #if ENABLED(WATCHDOG_RESET_MANUAL) - // Enable the watchdog timer, but only for the interrupt. - // Take care, as this requires the correct order of operation, with interrupts disabled. - // See the datasheet of any AVR chip for details. - wdt_reset(); - cli(); - _WD_CONTROL_REG = _BV(_WD_CHANGE_BIT) | _BV(WDE); - _WD_CONTROL_REG = _BV(WDIE) | (WDTO_NS & 0x07) | ((WDTO_NS & 0x08) << 2); // WDTO_NS directly does not work. bit 0-2 are consecutive in the register but the highest value bit is at bit 5 - // So worked for up to WDTO_2S - sei(); - wdt_reset(); - #else - wdt_enable(WDTO_NS); // The function handles the upper bit correct. - #endif - //delay(10000); // test it! -} - -//=========================================================================== -//=================================== ISR =================================== -//=========================================================================== - -// Watchdog timer interrupt, called if main program blocks >4sec and manual reset is enabled. -#if ENABLED(WATCHDOG_RESET_MANUAL) - ISR(WDT_vect) { - sei(); // With the interrupt driven serial we need to allow interrupts. - SERIAL_ERROR_MSG(STR_WATCHDOG_FIRED); - minkill(); // interrupt-safe final kill and infinite loop - } -#endif - -#endif // USE_WATCHDOG -#endif // __AVR__ diff --git a/Marlin/src/HAL/DUE/HAL.cpp b/Marlin/src/HAL/DUE/HAL.cpp index bbd13dc05a..1b57bdb2fa 100644 --- a/Marlin/src/HAL/DUE/HAL.cpp +++ b/Marlin/src/HAL/DUE/HAL.cpp @@ -25,7 +25,7 @@ #ifdef ARDUINO_ARCH_SAM #include "../../inc/MarlinConfig.h" -#include "HAL.h" +#include "../../MarlinCore.h" #include #include "usb/usb_task.h" @@ -40,14 +40,15 @@ uint16_t MarlinHAL::adc_result; // Public functions // ------------------------ -TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial()); +#if ENABLED(POSTMORTEM_DEBUGGING) + extern void install_min_serial(); +#endif void MarlinHAL::init() { - // Initialize the USB stack - #if ENABLED(SDSUPPORT) + #if HAS_MEDIA OUT_WRITE(SDSS, HIGH); // Try to set SDSS inactive before any other SPI users start up #endif - usb_task_init(); + usb_task_init(); // Initialize the USB stack TERN_(POSTMORTEM_DEBUGGING, install_min_serial()); // Install the min serial handler } @@ -72,6 +73,103 @@ uint8_t MarlinHAL::get_reset_source() { void MarlinHAL::reboot() { rstc_start_software_reset(RSTC); } +// ------------------------ +// Watchdog Timer +// ------------------------ + +#if ENABLED(USE_WATCHDOG) + + // Initialize watchdog - On SAM3X, Watchdog was already configured + // and enabled or disabled at startup, so no need to reconfigure it + // here. + void MarlinHAL::watchdog_init() { WDT_Restart(WDT); } // Reset watchdog to start clean + + // Reset watchdog. MUST be called at least every 4 seconds after the + // first watchdog_init or AVR will go into emergency procedures. + void MarlinHAL::watchdog_refresh() { watchdogReset(); } + +#endif + +// Override Arduino runtime to either config or disable the watchdog +// +// We need to configure the watchdog as soon as possible in the boot +// process, because watchdog initialization at hardware reset on SAM3X8E +// is unreliable, and there is risk of unintended resets if we delay +// that initialization to a later time. +void watchdogSetup() { + + #if ENABLED(USE_WATCHDOG) + + // 4 seconds timeout + uint32_t timeout = TERN(WATCHDOG_DURATION_8S, 8000, 4000); + + // Calculate timeout value in WDT counter ticks: This assumes + // the slow clock is running at 32.768 kHz watchdog + // frequency is therefore 32768 / 128 = 256 Hz + timeout = (timeout << 8) / 1000; + if (timeout == 0) + timeout = 1; + else if (timeout > 0xFFF) + timeout = 0xFFF; + + // We want to enable the watchdog with the specified timeout + uint32_t value = + WDT_MR_WDV(timeout) | // With the specified timeout + WDT_MR_WDD(timeout) | // and no invalid write window + #if !(SAMV70 || SAMV71 || SAME70 || SAMS70) + WDT_MR_WDRPROC | // WDT fault resets processor only - We want + // to keep PIO controller state + #endif + WDT_MR_WDDBGHLT | // WDT stops in debug state. + WDT_MR_WDIDLEHLT; // WDT stops in idle state. + + #if ENABLED(WATCHDOG_RESET_MANUAL) + // We enable the watchdog timer, but only for the interrupt. + + // Configure WDT to only trigger an interrupt + value |= WDT_MR_WDFIEN; // Enable WDT fault interrupt. + + // Disable WDT interrupt (just in case, to avoid triggering it!) + NVIC_DisableIRQ(WDT_IRQn); + + // We NEED memory barriers to ensure Interrupts are actually disabled! + // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the ) + __DSB(); + __ISB(); + + // Initialize WDT with the given parameters + WDT_Enable(WDT, value); + + // Configure and enable WDT interrupt. + NVIC_ClearPendingIRQ(WDT_IRQn); + NVIC_SetPriority(WDT_IRQn, 0); // Use highest priority, so we detect all kinds of lockups + NVIC_EnableIRQ(WDT_IRQn); + + #else + + // a WDT fault triggers a reset + value |= WDT_MR_WDRSTEN; + + // Initialize WDT with the given parameters + WDT_Enable(WDT, value); + + #endif + + // Reset the watchdog + WDT_Restart(WDT); + + #else + + // Make sure to completely disable the Watchdog + WDT_Disable(WDT); + + #endif +} + +// ------------------------ +// Free Memory Accessor +// ------------------------ + extern "C" { extern unsigned int _ebss; // end of bss section } @@ -82,6 +180,10 @@ int freeMemory() { return (int)&free_memory - (heap_end ?: (int)&_ebss); } +// ------------------------ +// Serial Ports +// ------------------------ + // Forward the default serial ports #if USING_HW_SERIAL0 DefaultSerial1 MSerial0(false, Serial); diff --git a/Marlin/src/HAL/DUE/HAL.h b/Marlin/src/HAL/DUE/HAL.h index 9a02c9a0dc..7b9285488f 100644 --- a/Marlin/src/HAL/DUE/HAL.h +++ b/Marlin/src/HAL/DUE/HAL.h @@ -32,7 +32,6 @@ #include "../shared/math_32bit.h" #include "../shared/HAL_SPI.h" #include "fastio.h" -#include "watchdog.h" #include @@ -115,8 +114,8 @@ typedef Servo hal_servo_t; // // Interrupts // -#define sei() noInterrupts() -#define cli() interrupts() +#define sei() interrupts() +#define cli() noInterrupts() #define CRITICAL_SECTION_START() const bool _irqon = hal.isr_state(); hal.isr_off() #define CRITICAL_SECTION_END() if (_irqon) hal.isr_on() @@ -124,7 +123,7 @@ typedef Servo hal_servo_t; // // ADC // -#define HAL_ADC_VREF 3.3 +#define HAL_ADC_VREF_MV 3300 #define HAL_ADC_RESOLUTION 10 #ifndef analogInputToDigitalPin @@ -176,9 +175,13 @@ public: // Earliest possible init, before setup() MarlinHAL() {} - static void init(); // Called early in setup() - static void init_board(); // Called less early in setup() - static void reboot(); // Software reset + // Watchdog + static void watchdog_init() IF_DISABLED(USE_WATCHDOG, {}); + static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {}); + + static void init(); // Called early in setup() + static void init_board(); // Called less early in setup() + static void reboot(); // Restart the firmware // Interrupts static bool isr_state() { return !__get_PRIMASK(); } @@ -207,9 +210,9 @@ public: static void adc_init() {} // Called by Temperature::init for each sensor at startup - static void adc_enable(const uint8_t ch) {} + static void adc_enable(const uint8_t /*ch*/) {} - // Begin ADC sampling on the given channel + // Begin ADC sampling on the given channel. Called from Temperature::isr! static void adc_start(const uint8_t ch) { adc_result = analogRead(ch); } // Is the ADC ready for reading? diff --git a/Marlin/src/HAL/DUE/HAL_SPI.cpp b/Marlin/src/HAL/DUE/HAL_SPI.cpp index c5e8f2433d..63ebf164f2 100644 --- a/Marlin/src/HAL/DUE/HAL_SPI.cpp +++ b/Marlin/src/HAL/DUE/HAL_SPI.cpp @@ -31,8 +31,6 @@ /** * HAL for Arduino Due and compatible (SAM3X8E) - * - * For ARDUINO_ARCH_SAM */ #ifdef ARDUINO_ARCH_SAM @@ -44,7 +42,7 @@ // Public functions // ------------------------ -#if EITHER(DUE_SOFTWARE_SPI, FORCE_SOFT_SPI) +#if ANY(DUE_SOFTWARE_SPI, FORCE_SOFT_SPI) // ------------------------ // Software SPI @@ -249,12 +247,12 @@ b <<= 1; // little setup time WRITE(SD_SCK_PIN, HIGH); - DELAY_NS(spiDelayNS); + DELAY_NS_VAR(spiDelayNS); b |= (READ(SD_MISO_PIN) != 0); WRITE(SD_SCK_PIN, LOW); - DELAY_NS(spiDelayNS); + DELAY_NS_VAR(spiDelayNS); } while (--bits); return b; } diff --git a/Marlin/src/HAL/DUE/InterruptVectors.cpp b/Marlin/src/HAL/DUE/InterruptVectors.cpp index e4e0ce99f2..70795d1c30 100644 --- a/Marlin/src/HAL/DUE/InterruptVectors.cpp +++ b/Marlin/src/HAL/DUE/InterruptVectors.cpp @@ -41,7 +41,7 @@ practice, we need alignment to 256 bytes to make this work in all cases */ __attribute__ ((aligned(256))) -static DeviceVectors ram_tab = { nullptr }; +static DeviceVectors ram_tab[61] = { nullptr }; /** * This function checks if the exception/interrupt table is already in SRAM or not. diff --git a/Marlin/src/HAL/DUE/MarlinSerial.h b/Marlin/src/HAL/DUE/MarlinSerial.h index 5a61bffee0..b80ae21823 100644 --- a/Marlin/src/HAL/DUE/MarlinSerial.h +++ b/Marlin/src/HAL/DUE/MarlinSerial.h @@ -30,6 +30,7 @@ #include #include "../../inc/MarlinConfigPre.h" +#include "../../core/types.h" #include "../../core/serial_hook.h" // Define constants and variables for buffering incoming serial data. We're @@ -52,10 +53,6 @@ // #error "TX_BUFFER_SIZE must be 0, a power of 2 greater than 1, and no greater than 256." //#endif -// Templated type selector -template struct TypeSelector { typedef T type;} ; -template struct TypeSelector { typedef F type; }; - // Templated structure wrapper template struct StructWrapper { constexpr StructWrapper(int) {} @@ -76,7 +73,7 @@ protected: static constexpr int HWUART_IRQ_ID = IRQ_IDS[Cfg::PORT]; // Base size of type on buffer size - typedef typename TypeSelector<(Cfg::RX_SIZE>256), uint16_t, uint8_t>::type ring_buffer_pos_t; + typedef uvalue_t(Cfg::RX_SIZE - 1) ring_buffer_pos_t; struct ring_buffer_r { volatile ring_buffer_pos_t head, tail; diff --git a/Marlin/src/HAL/DUE/HAL_MinSerial.cpp b/Marlin/src/HAL/DUE/MinSerial.cpp similarity index 81% rename from Marlin/src/HAL/DUE/HAL_MinSerial.cpp rename to Marlin/src/HAL/DUE/MinSerial.cpp index 93c4ed67d6..505a712aa9 100644 --- a/Marlin/src/HAL/DUE/HAL_MinSerial.cpp +++ b/Marlin/src/HAL/DUE/MinSerial.cpp @@ -25,7 +25,7 @@ #if ENABLED(POSTMORTEM_DEBUGGING) -#include "../shared/HAL_MinSerial.h" +#include "../shared/MinSerial.h" #include @@ -73,18 +73,18 @@ void install_min_serial() { } #if DISABLED(DYNAMIC_VECTORTABLE) -extern "C" { - __attribute__((naked)) void JumpHandler_ASM() { - __asm__ __volatile__ ( - "b CommonHandler_ASM\n" - ); + extern "C" { + __attribute__((naked)) void JumpHandler_ASM() { + __asm__ __volatile__ ( + "b CommonHandler_ASM\n" + ); + } + void __attribute__((naked, alias("JumpHandler_ASM"))) HardFault_Handler(); + void __attribute__((naked, alias("JumpHandler_ASM"))) BusFault_Handler(); + void __attribute__((naked, alias("JumpHandler_ASM"))) UsageFault_Handler(); + void __attribute__((naked, alias("JumpHandler_ASM"))) MemManage_Handler(); + void __attribute__((naked, alias("JumpHandler_ASM"))) NMI_Handler(); } - void __attribute__((naked, alias("JumpHandler_ASM"))) HardFault_Handler(); - void __attribute__((naked, alias("JumpHandler_ASM"))) BusFault_Handler(); - void __attribute__((naked, alias("JumpHandler_ASM"))) UsageFault_Handler(); - void __attribute__((naked, alias("JumpHandler_ASM"))) MemManage_Handler(); - void __attribute__((naked, alias("JumpHandler_ASM"))) NMI_Handler(); -} #endif #endif // POSTMORTEM_DEBUGGING diff --git a/Marlin/src/HAL/DUE/Servo.cpp b/Marlin/src/HAL/DUE/Servo.cpp index 5524aa9cef..2dab88238d 100644 --- a/Marlin/src/HAL/DUE/Servo.cpp +++ b/Marlin/src/HAL/DUE/Servo.cpp @@ -47,12 +47,12 @@ #include "../shared/servo.h" #include "../shared/servo_private.h" -static volatile int8_t Channel[_Nbr_16timers]; // counter for the servo being pulsed for each timer (or -1 if refresh interval) +static Flags<_Nbr_16timers> DisablePending; // ISR should disable the timer at the next timer reset // ------------------------ /// Interrupt handler for the TC0 channel 1. // ------------------------ -void Servo_Handler(timer16_Sequence_t timer, Tc *pTc, uint8_t channel); +void Servo_Handler(const timer16_Sequence_t, Tc*, const uint8_t); #ifdef _useTimer1 void HANDLER_FOR_TIMER1() { Servo_Handler(_timer1, TC_FOR_TIMER1, CHANNEL_FOR_TIMER1); } @@ -70,88 +70,92 @@ void Servo_Handler(timer16_Sequence_t timer, Tc *pTc, uint8_t channel); void HANDLER_FOR_TIMER5() { Servo_Handler(_timer5, TC_FOR_TIMER5, CHANNEL_FOR_TIMER5); } #endif -void Servo_Handler(timer16_Sequence_t timer, Tc *tc, uint8_t channel) { - // clear interrupt - tc->TC_CHANNEL[channel].TC_SR; - if (Channel[timer] < 0) - tc->TC_CHANNEL[channel].TC_CCR |= TC_CCR_SWTRG; // channel set to -1 indicated that refresh interval completed so reset the timer - else if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && SERVO(timer, Channel[timer]).Pin.isActive) - extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, LOW); // pulse this channel low if activated +void Servo_Handler(const timer16_Sequence_t timer, Tc *tc, const uint8_t channel) { + static int8_t Channel[_Nbr_16timers]; // Servo counters to pulse (or -1 for refresh interval) + int8_t cho = Channel[timer]; // Handle the prior Channel[timer] first + if (cho < 0) { // Channel -1 indicates the refresh interval completed... + tc->TC_CHANNEL[channel].TC_CCR |= TC_CCR_SWTRG; // ...so reset the timer + if (DisablePending[timer]) { + // Disabling only after the full servo period expires prevents + // pulses being too close together if immediately re-enabled. + DisablePending.clear(timer); + TC_Stop(tc, channel); + tc->TC_CHANNEL[channel].TC_SR; // clear interrupt + return; + } + } + else if (SERVO_INDEX(timer, cho) < ServoCount) // prior channel handled? + extDigitalWrite(SERVO(timer, cho).Pin.nbr, LOW); // pulse the prior channel LOW - Channel[timer]++; // increment to the next channel - if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) { - tc->TC_CHANNEL[channel].TC_RA = tc->TC_CHANNEL[channel].TC_CV + SERVO(timer,Channel[timer]).ticks; - if (SERVO(timer,Channel[timer]).Pin.isActive) // check if activated - extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, HIGH); // its an active channel so pulse it high + Channel[timer] = ++cho; // go to the next channel (or 0) + if (cho < SERVOS_PER_TIMER && SERVO_INDEX(timer, cho) < ServoCount) { + tc->TC_CHANNEL[channel].TC_RA = tc->TC_CHANNEL[channel].TC_CV + SERVO(timer, cho).ticks; + if (SERVO(timer, cho).Pin.isActive) // activated? + extDigitalWrite(SERVO(timer, cho).Pin.nbr, HIGH); // yes: pulse HIGH } else { // finished all channels so wait for the refresh period to expire before starting over - tc->TC_CHANNEL[channel].TC_RA = - tc->TC_CHANNEL[channel].TC_CV < usToTicks(REFRESH_INTERVAL) - 4 - ? (unsigned int)usToTicks(REFRESH_INTERVAL) // allow a few ticks to ensure the next OCR1A not missed - : tc->TC_CHANNEL[channel].TC_CV + 4; // at least REFRESH_INTERVAL has elapsed - Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel + const unsigned int cval = tc->TC_CHANNEL[channel].TC_CV + 128 / (SERVO_TIMER_PRESCALER), // allow 128 cycles to ensure the next CV not missed + ival = (unsigned int)usToTicks(REFRESH_INTERVAL); // at least REFRESH_INTERVAL has elapsed + tc->TC_CHANNEL[channel].TC_RA = max(cval, ival); + + Channel[timer] = -1; // reset the timer CCR on the next call } + + tc->TC_CHANNEL[channel].TC_SR; // clear interrupt } static void _initISR(Tc *tc, uint32_t channel, uint32_t id, IRQn_Type irqn) { pmc_enable_periph_clk(id); TC_Configure(tc, channel, - TC_CMR_TCCLKS_TIMER_CLOCK3 | // MCK/32 - TC_CMR_WAVE | // Waveform mode - TC_CMR_WAVSEL_UP_RC ); // Counter running up and reset when equals to RC + TC_CMR_WAVE // Waveform mode + | TC_CMR_WAVSEL_UP_RC // Counter running up and reset when equal to RC + | (SERVO_TIMER_PRESCALER == 2 ? TC_CMR_TCCLKS_TIMER_CLOCK1 : 0) // MCK/2 + | (SERVO_TIMER_PRESCALER == 8 ? TC_CMR_TCCLKS_TIMER_CLOCK2 : 0) // MCK/8 + | (SERVO_TIMER_PRESCALER == 32 ? TC_CMR_TCCLKS_TIMER_CLOCK3 : 0) // MCK/32 + | (SERVO_TIMER_PRESCALER == 128 ? TC_CMR_TCCLKS_TIMER_CLOCK4 : 0) // MCK/128 + ); - /* 84MHz, MCK/32, for 1.5ms: 3937 */ - TC_SetRA(tc, channel, 2625); // 1ms + // Wait 1ms before the first ISR + TC_SetRA(tc, channel, (F_CPU) / (SERVO_TIMER_PRESCALER) / 1000UL); // 1ms - /* Configure and enable interrupt */ + // Configure and enable interrupt NVIC_EnableIRQ(irqn); - // TC_IER_CPAS: RA Compare - tc->TC_CHANNEL[channel].TC_IER = TC_IER_CPAS; + tc->TC_CHANNEL[channel].TC_IER = TC_IER_CPAS; // TC_IER_CPAS: RA Compare // Enables the timer clock and performs a software reset to start the counting TC_Start(tc, channel); } -void initISR(timer16_Sequence_t timer) { - #ifdef _useTimer1 - if (timer == _timer1) - _initISR(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1, ID_TC_FOR_TIMER1, IRQn_FOR_TIMER1); - #endif - #ifdef _useTimer2 - if (timer == _timer2) - _initISR(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2, ID_TC_FOR_TIMER2, IRQn_FOR_TIMER2); - #endif - #ifdef _useTimer3 - if (timer == _timer3) - _initISR(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3, ID_TC_FOR_TIMER3, IRQn_FOR_TIMER3); - #endif - #ifdef _useTimer4 - if (timer == _timer4) - _initISR(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4, ID_TC_FOR_TIMER4, IRQn_FOR_TIMER4); - #endif - #ifdef _useTimer5 - if (timer == _timer5) - _initISR(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5, ID_TC_FOR_TIMER5, IRQn_FOR_TIMER5); - #endif +void initISR(const timer16_Sequence_t timer_index) { + CRITICAL_SECTION_START(); + const bool disable_soon = DisablePending[timer_index]; + DisablePending.clear(timer_index); + CRITICAL_SECTION_END(); + + if (!disable_soon) switch (timer_index) { + default: break; + #ifdef _useTimer1 + case _timer1: return _initISR(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1, ID_TC_FOR_TIMER1, IRQn_FOR_TIMER1); + #endif + #ifdef _useTimer2 + case _timer2: return _initISR(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2, ID_TC_FOR_TIMER2, IRQn_FOR_TIMER2); + #endif + #ifdef _useTimer3 + case _timer3: return _initISR(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3, ID_TC_FOR_TIMER3, IRQn_FOR_TIMER3); + #endif + #ifdef _useTimer4 + case _timer4: return _initISR(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4, ID_TC_FOR_TIMER4, IRQn_FOR_TIMER4); + #endif + #ifdef _useTimer5 + case _timer5: return _initISR(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5, ID_TC_FOR_TIMER5, IRQn_FOR_TIMER5); + #endif + } } -void finISR(timer16_Sequence_t) { - #ifdef _useTimer1 - TC_Stop(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1); - #endif - #ifdef _useTimer2 - TC_Stop(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2); - #endif - #ifdef _useTimer3 - TC_Stop(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3); - #endif - #ifdef _useTimer4 - TC_Stop(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4); - #endif - #ifdef _useTimer5 - TC_Stop(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5); - #endif +void finISR(const timer16_Sequence_t timer_index) { + // Timer is disabled from the ISR, to ensure proper final pulse length. + DisablePending.set(timer_index); } #endif // HAS_SERVOS diff --git a/Marlin/src/HAL/DUE/ServoTimers.h b/Marlin/src/HAL/DUE/ServoTimers.h index c32c938253..95bd404c80 100644 --- a/Marlin/src/HAL/DUE/ServoTimers.h +++ b/Marlin/src/HAL/DUE/ServoTimers.h @@ -37,7 +37,7 @@ #define _useTimer5 #define TRIM_DURATION 2 // compensation ticks to trim adjust for digitalWrite delays -#define SERVO_TIMER_PRESCALER 32 // timer prescaler +#define SERVO_TIMER_PRESCALER 2 // timer prescaler /* TC0, chan 0 => TC0_Handler diff --git a/Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_sw_spi_shared.cpp b/Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_sw_spi_shared.cpp index 904924793b..86c8a48470 100644 --- a/Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_sw_spi_shared.cpp +++ b/Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_sw_spi_shared.cpp @@ -81,7 +81,7 @@ Pio *SCK_pPio, *MOSI_pPio; uint32_t SCK_dwMask, MOSI_dwMask; void u8g_spiSend_sw_DUE_mode_0(uint8_t val) { // 3MHz - LOOP_L_N(i, 8) { + for (uint8_t i = 0; i < 8; ++i) { if (val & 0x80) MOSI_pPio->PIO_SODR = MOSI_dwMask; else @@ -95,7 +95,7 @@ void u8g_spiSend_sw_DUE_mode_0(uint8_t val) { // 3MHz } void u8g_spiSend_sw_DUE_mode_3(uint8_t val) { // 3.5MHz - LOOP_L_N(i, 8) { + for (uint8_t i = 0; i < 8; ++i) { SCK_pPio->PIO_CODR = SCK_dwMask; DELAY_NS(50); if (val & 0x80) diff --git a/Marlin/src/HAL/DUE/eeprom_flash.cpp b/Marlin/src/HAL/DUE/eeprom_flash.cpp index 7ce4a84df5..607764155b 100644 --- a/Marlin/src/HAL/DUE/eeprom_flash.cpp +++ b/Marlin/src/HAL/DUE/eeprom_flash.cpp @@ -199,8 +199,7 @@ static bool ee_PageWrite(uint16_t page, const void *data) { for (i = 0; i > 2; i++) pageContents[i] = (((uint32_t*)data)[i]) | (~(pageContents[i] ^ ((uint32_t*)data)[i])); - DEBUG_ECHO_START(); - DEBUG_ECHOLNPGM("EEPROM PageWrite ", page); + DEBUG_ECHO_MSG("EEPROM PageWrite ", page); DEBUG_ECHOLNPGM(" in FLASH address ", (uint32_t)addrflash); DEBUG_ECHOLNPGM(" base address ", (uint32_t)getFlashStorage(0)); DEBUG_FLUSH(); @@ -245,8 +244,7 @@ static bool ee_PageWrite(uint16_t page, const void *data) { // Reenable interrupts __enable_irq(); - DEBUG_ECHO_START(); - DEBUG_ECHOLNPGM("EEPROM Unlock failure for page ", page); + DEBUG_ECHO_MSG("EEPROM Unlock failure for page ", page); return false; } @@ -270,8 +268,7 @@ static bool ee_PageWrite(uint16_t page, const void *data) { // Reenable interrupts __enable_irq(); - DEBUG_ECHO_START(); - DEBUG_ECHOLNPGM("EEPROM Write failure for page ", page); + DEBUG_ECHO_MSG("EEPROM Write failure for page ", page); return false; } @@ -286,8 +283,7 @@ static bool ee_PageWrite(uint16_t page, const void *data) { if (memcmp(getFlashStorage(page),data,PageSize)) { #ifdef EE_EMU_DEBUG - DEBUG_ECHO_START(); - DEBUG_ECHOLNPGM("EEPROM Verify Write failure for page ", page); + DEBUG_ECHO_MSG("EEPROM Verify Write failure for page ", page); ee_Dump( page, (uint32_t *)addrflash); ee_Dump(-page, data); @@ -325,8 +321,7 @@ static bool ee_PageErase(uint16_t page) { uint16_t i; uint32_t addrflash = uint32_t(getFlashStorage(page)); - DEBUG_ECHO_START(); - DEBUG_ECHOLNPGM("EEPROM PageErase ", page); + DEBUG_ECHO_MSG("EEPROM PageErase ", page); DEBUG_ECHOLNPGM(" in FLASH address ", (uint32_t)addrflash); DEBUG_ECHOLNPGM(" base address ", (uint32_t)getFlashStorage(0)); DEBUG_FLUSH(); @@ -370,8 +365,7 @@ static bool ee_PageErase(uint16_t page) { // Reenable interrupts __enable_irq(); - DEBUG_ECHO_START(); - DEBUG_ECHOLNPGM("EEPROM Unlock failure for page ",page); + DEBUG_ECHO_MSG("EEPROM Unlock failure for page ",page); return false; } @@ -394,8 +388,7 @@ static bool ee_PageErase(uint16_t page) { // Reenable interrupts __enable_irq(); - DEBUG_ECHO_START(); - DEBUG_ECHOLNPGM("EEPROM Erase failure for page ",page); + DEBUG_ECHO_MSG("EEPROM Erase failure for page ",page); return false; } @@ -410,8 +403,7 @@ static bool ee_PageErase(uint16_t page) { uint32_t * aligned_src = (uint32_t *) addrflash; for (i = 0; i < PageSize >> 2; i++) { if (*aligned_src++ != 0xFFFFFFFF) { - DEBUG_ECHO_START(); - DEBUG_ECHOLNPGM("EEPROM Verify Erase failure for page ",page); + DEBUG_ECHO_MSG("EEPROM Verify Erase failure for page ",page); ee_Dump(page, (uint32_t *)addrflash); return false; } @@ -921,8 +913,7 @@ static void ee_Init() { // If all groups seem to be used, default to first group if (curGroup >= GroupCount) curGroup = 0; - DEBUG_ECHO_START(); - DEBUG_ECHOLNPGM("EEPROM Current Group: ",curGroup); + DEBUG_ECHO_MSG("EEPROM Current Group: ",curGroup); DEBUG_FLUSH(); // Now, validate that all the other group pages are empty @@ -931,8 +922,7 @@ static void ee_Init() { for (int page = 0; page < PagesPerGroup; page++) { if (!ee_IsPageClean(grp * PagesPerGroup + page)) { - DEBUG_ECHO_START(); - DEBUG_ECHOLNPGM("EEPROM Page ", page, " not clean on group ", grp); + DEBUG_ECHO_MSG("EEPROM Page ", page, " not clean on group ", grp); DEBUG_FLUSH(); ee_PageErase(grp * PagesPerGroup + page); } @@ -948,15 +938,13 @@ static void ee_Init() { } } - DEBUG_ECHO_START(); - DEBUG_ECHOLNPGM("EEPROM Active page: ", curPage); + DEBUG_ECHO_MSG("EEPROM Active page: ", curPage); DEBUG_FLUSH(); // Make sure the pages following the first clean one are also clean for (int page = curPage + 1; page < PagesPerGroup; page++) { if (!ee_IsPageClean(curGroup * PagesPerGroup + page)) { - DEBUG_ECHO_START(); - DEBUG_ECHOLNPGM("EEPROM Page ", page, " not clean on active group ", curGroup); + DEBUG_ECHO_MSG("EEPROM Page ", page, " not clean on active group ", curGroup); DEBUG_FLUSH(); ee_Dump(curGroup * PagesPerGroup + page, getFlashStorage(curGroup * PagesPerGroup + page)); ee_PageErase(curGroup * PagesPerGroup + page); diff --git a/Marlin/src/HAL/DUE/endstop_interrupts.h b/Marlin/src/HAL/DUE/endstop_interrupts.h index c1bbcb121b..954eb625a5 100644 --- a/Marlin/src/HAL/DUE/endstop_interrupts.h +++ b/Marlin/src/HAL/DUE/endstop_interrupts.h @@ -47,33 +47,33 @@ void endstop_ISR() { endstops.update(); } void setup_endstop_interrupts() { #define _ATTACH(P) attachInterrupt(digitalPinToInterrupt(P), endstop_ISR, CHANGE) - TERN_(HAS_X_MAX, _ATTACH(X_MAX_PIN)); - TERN_(HAS_X_MIN, _ATTACH(X_MIN_PIN)); - TERN_(HAS_Y_MAX, _ATTACH(Y_MAX_PIN)); - TERN_(HAS_Y_MIN, _ATTACH(Y_MIN_PIN)); - TERN_(HAS_Z_MAX, _ATTACH(Z_MAX_PIN)); - TERN_(HAS_Z_MIN, _ATTACH(Z_MIN_PIN)); - TERN_(HAS_X2_MAX, _ATTACH(X2_MAX_PIN)); - TERN_(HAS_X2_MIN, _ATTACH(X2_MIN_PIN)); - TERN_(HAS_Y2_MAX, _ATTACH(Y2_MAX_PIN)); - TERN_(HAS_Y2_MIN, _ATTACH(Y2_MIN_PIN)); - TERN_(HAS_Z2_MAX, _ATTACH(Z2_MAX_PIN)); - TERN_(HAS_Z2_MIN, _ATTACH(Z2_MIN_PIN)); - TERN_(HAS_Z3_MAX, _ATTACH(Z3_MAX_PIN)); - TERN_(HAS_Z3_MIN, _ATTACH(Z3_MIN_PIN)); - TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN)); - TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN)); - TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN)); - TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN)); - TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN)); - TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN)); - TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN)); - TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN)); - TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN)); - TERN_(HAS_U_MAX, _ATTACH(U_MAX_PIN)); - TERN_(HAS_U_MIN, _ATTACH(U_MIN_PIN)); - TERN_(HAS_V_MAX, _ATTACH(V_MAX_PIN)); - TERN_(HAS_V_MIN, _ATTACH(V_MIN_PIN)); - TERN_(HAS_W_MAX, _ATTACH(W_MAX_PIN)); - TERN_(HAS_W_MIN, _ATTACH(W_MIN_PIN)); + TERN_(USE_X_MAX, _ATTACH(X_MAX_PIN)); + TERN_(USE_X_MIN, _ATTACH(X_MIN_PIN)); + TERN_(USE_Y_MAX, _ATTACH(Y_MAX_PIN)); + TERN_(USE_Y_MIN, _ATTACH(Y_MIN_PIN)); + TERN_(USE_Z_MAX, _ATTACH(Z_MAX_PIN)); + TERN_(USE_Z_MIN, _ATTACH(Z_MIN_PIN)); + TERN_(USE_X2_MAX, _ATTACH(X2_MAX_PIN)); + TERN_(USE_X2_MIN, _ATTACH(X2_MIN_PIN)); + TERN_(USE_Y2_MAX, _ATTACH(Y2_MAX_PIN)); + TERN_(USE_Y2_MIN, _ATTACH(Y2_MIN_PIN)); + TERN_(USE_Z2_MAX, _ATTACH(Z2_MAX_PIN)); + TERN_(USE_Z2_MIN, _ATTACH(Z2_MIN_PIN)); + TERN_(USE_Z3_MAX, _ATTACH(Z3_MAX_PIN)); + TERN_(USE_Z3_MIN, _ATTACH(Z3_MIN_PIN)); + TERN_(USE_Z4_MAX, _ATTACH(Z4_MAX_PIN)); + TERN_(USE_Z4_MIN, _ATTACH(Z4_MIN_PIN)); + TERN_(USE_Z_MIN_PROBE, _ATTACH(Z_MIN_PROBE_PIN)); + TERN_(USE_I_MAX, _ATTACH(I_MAX_PIN)); + TERN_(USE_I_MIN, _ATTACH(I_MIN_PIN)); + TERN_(USE_J_MAX, _ATTACH(J_MAX_PIN)); + TERN_(USE_J_MIN, _ATTACH(J_MIN_PIN)); + TERN_(USE_K_MAX, _ATTACH(K_MAX_PIN)); + TERN_(USE_K_MIN, _ATTACH(K_MIN_PIN)); + TERN_(USE_U_MAX, _ATTACH(U_MAX_PIN)); + TERN_(USE_U_MIN, _ATTACH(U_MIN_PIN)); + TERN_(USE_V_MAX, _ATTACH(V_MAX_PIN)); + TERN_(USE_V_MIN, _ATTACH(V_MIN_PIN)); + TERN_(USE_W_MAX, _ATTACH(W_MAX_PIN)); + TERN_(USE_W_MIN, _ATTACH(W_MIN_PIN)); } diff --git a/Marlin/src/HAL/DUE/fastio.h b/Marlin/src/HAL/DUE/fastio.h index a609210d81..77bc1911d8 100644 --- a/Marlin/src/HAL/DUE/fastio.h +++ b/Marlin/src/HAL/DUE/fastio.h @@ -189,12 +189,12 @@ */ // UART -#define RXD DIO0 -#define TXD DIO1 +#define RXD 0 +#define TXD 1 // TWI (I2C) -#define SCL DIO21 -#define SDA DIO20 +#define SCL 21 +#define SDA 20 /** * pins diff --git a/Marlin/src/HAL/DUE/fastio/G2_PWM.h b/Marlin/src/HAL/DUE/fastio/G2_PWM.h index dc4edffff8..2afe246cea 100644 --- a/Marlin/src/HAL/DUE/fastio/G2_PWM.h +++ b/Marlin/src/HAL/DUE/fastio/G2_PWM.h @@ -63,7 +63,7 @@ extern PWM_map ISR_table[NUM_PWMS]; extern uint32_t motor_current_setting[3]; #define IR_BIT(p) (WITHIN(p, 0, 3) ? (p) : (p) + 4) -#define COPY_ACTIVE_TABLE() do{ LOOP_L_N(i, 6) work_table[i] = active_table[i]; }while(0) +#define COPY_ACTIVE_TABLE() do{ for (uint8_t i = 0; i < 6; ++i) work_table[i] = active_table[i]; }while(0) #define PWM_MR0 19999 // base repetition rate minus one count - 20mS #define PWM_PR 24 // prescaler value - prescaler divide by 24 + 1 - 1 MHz output diff --git a/Marlin/src/HAL/DUE/inc/Conditionals_LCD.h b/Marlin/src/HAL/DUE/inc/Conditionals_LCD.h index 5867414447..5f1c4b1601 100644 --- a/Marlin/src/HAL/DUE/inc/Conditionals_LCD.h +++ b/Marlin/src/HAL/DUE/inc/Conditionals_LCD.h @@ -20,7 +20,3 @@ * */ #pragma once - -#if HAS_SPI_TFT || HAS_FSMC_TFT - #error "Sorry! TFT displays are not available for HAL/DUE." -#endif diff --git a/Marlin/src/HAL/DUE/inc/Conditionals_post.h b/Marlin/src/HAL/DUE/inc/Conditionals_post.h index ce6d3fdde2..295596b78b 100644 --- a/Marlin/src/HAL/DUE/inc/Conditionals_post.h +++ b/Marlin/src/HAL/DUE/inc/Conditionals_post.h @@ -23,6 +23,6 @@ #if USE_FALLBACK_EEPROM #define FLASH_EEPROM_EMULATION -#elif EITHER(I2C_EEPROM, SPI_EEPROM) +#elif ANY(I2C_EEPROM, SPI_EEPROM) #define USE_SHARED_EEPROM 1 #endif diff --git a/Marlin/src/HAL/DUE/inc/SanityCheck.h b/Marlin/src/HAL/DUE/inc/SanityCheck.h index 75480acaf2..a8f5de8298 100644 --- a/Marlin/src/HAL/DUE/inc/SanityCheck.h +++ b/Marlin/src/HAL/DUE/inc/SanityCheck.h @@ -25,6 +25,34 @@ * Test Arduino Due specific configuration values for errors at compile-time. */ +#if HAS_SPI_TFT || HAS_FSMC_TFT + #error "Sorry! TFT displays are not available for HAL/DUE." +#endif + +/** + * Check for common serial pin conflicts + */ +#define CHECK_SERIAL_PIN(N) ( \ + X_STOP_PIN == N || Y_STOP_PIN == N || Z_STOP_PIN == N \ + || X_MIN_PIN == N || Y_MIN_PIN == N || Z_MIN_PIN == N \ + || X_MAX_PIN == N || Y_MAX_PIN == N || Z_MAX_PIN == N \ + || X_STEP_PIN == N || Y_STEP_PIN == N || Z_STEP_PIN == N \ + || X_DIR_PIN == N || Y_DIR_PIN == N || Z_DIR_PIN == N \ + || X_ENA_PIN == N || Y_ENA_PIN == N || Z_ENA_PIN == N \ +) +#if SERIAL_IN_USE(0) // D0-D1. No known conflicts. +#endif +#if SERIAL_IN_USE(1) && (CHECK_SERIAL_PIN(18) || CHECK_SERIAL_PIN(19)) + #error "Serial Port 1 pin D18 and/or D19 conflicts with another pin on the board." +#endif +#if SERIAL_IN_USE(2) && (CHECK_SERIAL_PIN(16) || CHECK_SERIAL_PIN(17)) + #error "Serial Port 2 pin D16 and/or D17 conflicts with another pin on the board." +#endif +#if SERIAL_IN_USE(3) && (CHECK_SERIAL_PIN(14) || CHECK_SERIAL_PIN(15)) + #error "Serial Port 3 pin D14 and/or D15 conflicts with another pin on the board." +#endif +#undef CHECK_SERIAL_PIN + /** * HARDWARE VS. SOFTWARE SPI COMPATIBILITY * @@ -40,9 +68,9 @@ * Usually the hardware SPI pins are only available to the LCD. This makes the DUE hard SPI used at the same time * as the TMC2130 soft SPI the most common setup. */ -#define _IS_HW_SPI(P) (defined(TMC_SW_##P) && (TMC_SW_##P == SD_MOSI_PIN || TMC_SW_##P == SD_MISO_PIN || TMC_SW_##P == SD_SCK_PIN)) +#define _IS_HW_SPI(P) (defined(TMC_SPI_##P) && (TMC_SPI_##P == SD_MOSI_PIN || TMC_SPI_##P == SD_MISO_PIN || TMC_SPI_##P == SD_SCK_PIN)) -#if ENABLED(SDSUPPORT) && HAS_DRIVER(TMC2130) +#if HAS_MEDIA && HAS_DRIVER(TMC2130) #if ENABLED(TMC_USE_SW_SPI) #if DISABLED(DUE_SOFTWARE_SPI) && (_IS_HW_SPI(MOSI) || _IS_HW_SPI(MISO) || _IS_HW_SPI(SCK)) #error "DUE hardware SPI is required but is incompatible with TMC2130 software SPI. Either disable TMC_USE_SW_SPI or use separate pins for the two SPIs." @@ -53,7 +81,7 @@ #endif #if ENABLED(FAST_PWM_FAN) || SPINDLE_LASER_FREQUENCY - #error "Features requiring Hardware PWM (FAST_PWM_FAN, SPINDLE_LASER_FREQUENCY) are not yet supported on DUE." + #error "Features requiring Hardware PWM (FAST_PWM_FAN, SPINDLE_LASER_FREQUENCY) are not yet supported for HAL/DUE." #endif #if HAS_TMC_SW_SERIAL diff --git a/Marlin/src/HAL/DUE/pinsDebug.h b/Marlin/src/HAL/DUE/pinsDebug.h index 6c08585974..1544853553 100644 --- a/Marlin/src/HAL/DUE/pinsDebug.h +++ b/Marlin/src/HAL/DUE/pinsDebug.h @@ -64,13 +64,12 @@ #define NUMBER_PINS_TOTAL PINS_COUNT #define digitalRead_mod(p) extDigitalRead(p) // AVR digitalRead disabled PWM before it read the pin -#define PRINT_PORT(p) #define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0) #define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%02d"), p); SERIAL_ECHO(buffer); }while(0) #define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d) "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0) #define GET_ARRAY_PIN(p) pin_array[p].pin #define GET_ARRAY_IS_DIGITAL(p) pin_array[p].is_digital -#define VALID_PIN(pin) (pin >= 0 && pin < (int8_t)NUMBER_PINS_TOTAL ? 1 : 0) +#define VALID_PIN(pin) (pin >= 0 && pin < int8_t(NUMBER_PINS_TOTAL)) #define DIGITAL_PIN_TO_ANALOG_PIN(p) int(p - analogInputToDigitalPin(0)) #define IS_ANALOG(P) WITHIN(P, char(analogInputToDigitalPin(0)), char(analogInputToDigitalPin(NUM_ANALOG_INPUTS - 1))) #define pwm_status(pin) (((g_pinStatus[pin] & 0xF) == PIN_STATUS_PWM) && \ @@ -86,7 +85,6 @@ bool GET_PINMODE(int8_t pin) { // 1: output, 0: input || pwm_status(pin)); } - void pwm_details(int32_t pin) { if (pwm_status(pin)) { uint32_t chan = g_APinDescription[pin].ulPWMChannel; @@ -94,6 +92,8 @@ void pwm_details(int32_t pin) { } } +void print_port(const pin_t) {} + /** * DUE Board pin | PORT | Label * ----------------+--------+------- diff --git a/Marlin/src/HAL/DUE/timers.cpp b/Marlin/src/HAL/DUE/timers.cpp index a7bf7fbd6d..e5647817b6 100644 --- a/Marlin/src/HAL/DUE/timers.cpp +++ b/Marlin/src/HAL/DUE/timers.cpp @@ -89,10 +89,17 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { NVIC_SetPriority(irq, timer_config[timer_num].priority); // wave mode, reset counter on match with RC, - TC_Configure(tc, channel, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK1); + TC_Configure(tc, channel, + TC_CMR_WAVE + | TC_CMR_WAVSEL_UP_RC + | (HAL_TIMER_PRESCALER == 2 ? TC_CMR_TCCLKS_TIMER_CLOCK1 : 0) + | (HAL_TIMER_PRESCALER == 8 ? TC_CMR_TCCLKS_TIMER_CLOCK2 : 0) + | (HAL_TIMER_PRESCALER == 32 ? TC_CMR_TCCLKS_TIMER_CLOCK3 : 0) + | (HAL_TIMER_PRESCALER == 128 ? TC_CMR_TCCLKS_TIMER_CLOCK4 : 0) + ); // Set compare value - TC_SetRC(tc, channel, VARIANT_MCK / 2 / frequency); + TC_SetRC(tc, channel, VARIANT_MCK / (HAL_TIMER_PRESCALER) / frequency); // And start timer TC_Start(tc, channel); diff --git a/Marlin/src/HAL/DUE/timers.h b/Marlin/src/HAL/DUE/timers.h index bcfd07e268..dc35c77e63 100644 --- a/Marlin/src/HAL/DUE/timers.h +++ b/Marlin/src/HAL/DUE/timers.h @@ -35,7 +35,8 @@ typedef uint32_t hal_timer_t; #define HAL_TIMER_TYPE_MAX 0xFFFFFFFF -#define HAL_TIMER_RATE ((F_CPU) / 2) // frequency of timers peripherals +#define HAL_TIMER_PRESCALER 2 +#define HAL_TIMER_RATE ((F_CPU) / (HAL_TIMER_PRESCALER)) // frequency of timers peripherals #ifndef MF_TIMER_STEP #define MF_TIMER_STEP 2 // Timer Index for Stepper diff --git a/Marlin/src/HAL/DUE/upload_extra_script.py b/Marlin/src/HAL/DUE/upload_extra_script.py index 4f7a494512..ca12b3b54f 100644 --- a/Marlin/src/HAL/DUE/upload_extra_script.py +++ b/Marlin/src/HAL/DUE/upload_extra_script.py @@ -6,14 +6,14 @@ # import pioutil if pioutil.is_pio_build(): - import platform - current_OS = platform.system() + import platform + current_OS = platform.system() - if current_OS == 'Windows': + if current_OS == 'Windows': - Import("env") + Import("env") - # Use bossac.exe on Windows - env.Replace( - UPLOADCMD="bossac --info --unlock --write --verify --reset --erase -U false --boot $SOURCE" - ) + # Use bossac.exe on Windows + env.Replace( + UPLOADCMD="bossac --info --unlock --write --verify --reset --erase -U false --boot $SOURCE" + ) diff --git a/Marlin/src/HAL/DUE/usb/compiler.h b/Marlin/src/HAL/DUE/usb/compiler.h index f89e554c45..633197914e 100644 --- a/Marlin/src/HAL/DUE/usb/compiler.h +++ b/Marlin/src/HAL/DUE/usb/compiler.h @@ -1059,7 +1059,7 @@ static inline void convert_64_bit_to_byte_array(uint64_t value, uint8_t *data) while (val_index < 8) { data[val_index++] = value & 0xFF; - value = value >> 8; + value >>= 8; } } diff --git a/Marlin/src/HAL/DUE/usb/conf_usb.h b/Marlin/src/HAL/DUE/usb/conf_usb.h index 4de9e347e2..f66194c6e6 100644 --- a/Marlin/src/HAL/DUE/usb/conf_usb.h +++ b/Marlin/src/HAL/DUE/usb/conf_usb.h @@ -101,7 +101,7 @@ #define USB_DEVICE_SPECIFIC_REQUEST() usb_task_other_requests() //@} -#if ENABLED(SDSUPPORT) +#if HAS_MEDIA /** * USB Device low level configuration * When only one interface is used, these configurations are defined by the class module. @@ -185,7 +185,7 @@ //! Enable id string of interface to add an extra USB string #define UDI_CDC_IAD_STRING_ID 4 -#if ENABLED(SDSUPPORT) +#if HAS_MEDIA /** * USB CDC low level configuration * In standalone these configurations are defined by the CDC module. diff --git a/Marlin/src/HAL/DUE/usb/genclk.h b/Marlin/src/HAL/DUE/usb/genclk.h index cde03bc0d1..45eba5873f 100644 --- a/Marlin/src/HAL/DUE/usb/genclk.h +++ b/Marlin/src/HAL/DUE/usb/genclk.h @@ -74,17 +74,17 @@ extern "C" { //@{ enum genclk_source { - GENCLK_PCK_SRC_SLCK_RC = 0, //!< Internal 32kHz RC oscillator as PCK source clock - GENCLK_PCK_SRC_SLCK_XTAL = 1, //!< External 32kHz crystal oscillator as PCK source clock - GENCLK_PCK_SRC_SLCK_BYPASS = 2, //!< External 32kHz bypass oscillator as PCK source clock - GENCLK_PCK_SRC_MAINCK_4M_RC = 3, //!< Internal 4MHz RC oscillator as PCK source clock - GENCLK_PCK_SRC_MAINCK_8M_RC = 4, //!< Internal 8MHz RC oscillator as PCK source clock - GENCLK_PCK_SRC_MAINCK_12M_RC = 5, //!< Internal 12MHz RC oscillator as PCK source clock - GENCLK_PCK_SRC_MAINCK_XTAL = 6, //!< External crystal oscillator as PCK source clock - GENCLK_PCK_SRC_MAINCK_BYPASS = 7, //!< External bypass oscillator as PCK source clock - GENCLK_PCK_SRC_PLLACK = 8, //!< Use PLLACK as PCK source clock - GENCLK_PCK_SRC_PLLBCK = 9, //!< Use PLLBCK as PCK source clock - GENCLK_PCK_SRC_MCK = 10, //!< Use Master Clk as PCK source clock + GENCLK_PCK_SRC_SLCK_RC = 0, //!< Internal 32kHz RC oscillator as PCK source clock + GENCLK_PCK_SRC_SLCK_XTAL = 1, //!< External 32kHz crystal oscillator as PCK source clock + GENCLK_PCK_SRC_SLCK_BYPASS = 2, //!< External 32kHz bypass oscillator as PCK source clock + GENCLK_PCK_SRC_MAINCK_4M_RC = 3, //!< Internal 4MHz RC oscillator as PCK source clock + GENCLK_PCK_SRC_MAINCK_8M_RC = 4, //!< Internal 8MHz RC oscillator as PCK source clock + GENCLK_PCK_SRC_MAINCK_12M_RC = 5, //!< Internal 12MHz RC oscillator as PCK source clock + GENCLK_PCK_SRC_MAINCK_XTAL = 6, //!< External crystal oscillator as PCK source clock + GENCLK_PCK_SRC_MAINCK_BYPASS = 7, //!< External bypass oscillator as PCK source clock + GENCLK_PCK_SRC_PLLACK = 8, //!< Use PLLACK as PCK source clock + GENCLK_PCK_SRC_PLLBCK = 9, //!< Use PLLBCK as PCK source clock + GENCLK_PCK_SRC_MCK = 10, //!< Use Master Clk as PCK source clock }; //@} @@ -93,176 +93,162 @@ enum genclk_source { //@{ enum genclk_divider { - GENCLK_PCK_PRES_1 = PMC_PCK_PRES_CLK_1, //!< Set PCK clock prescaler to 1 - GENCLK_PCK_PRES_2 = PMC_PCK_PRES_CLK_2, //!< Set PCK clock prescaler to 2 - GENCLK_PCK_PRES_4 = PMC_PCK_PRES_CLK_4, //!< Set PCK clock prescaler to 4 - GENCLK_PCK_PRES_8 = PMC_PCK_PRES_CLK_8, //!< Set PCK clock prescaler to 8 - GENCLK_PCK_PRES_16 = PMC_PCK_PRES_CLK_16, //!< Set PCK clock prescaler to 16 - GENCLK_PCK_PRES_32 = PMC_PCK_PRES_CLK_32, //!< Set PCK clock prescaler to 32 - GENCLK_PCK_PRES_64 = PMC_PCK_PRES_CLK_64, //!< Set PCK clock prescaler to 64 + GENCLK_PCK_PRES_1 = PMC_PCK_PRES_CLK_1, //!< Set PCK clock prescaler to 1 + GENCLK_PCK_PRES_2 = PMC_PCK_PRES_CLK_2, //!< Set PCK clock prescaler to 2 + GENCLK_PCK_PRES_4 = PMC_PCK_PRES_CLK_4, //!< Set PCK clock prescaler to 4 + GENCLK_PCK_PRES_8 = PMC_PCK_PRES_CLK_8, //!< Set PCK clock prescaler to 8 + GENCLK_PCK_PRES_16 = PMC_PCK_PRES_CLK_16, //!< Set PCK clock prescaler to 16 + GENCLK_PCK_PRES_32 = PMC_PCK_PRES_CLK_32, //!< Set PCK clock prescaler to 32 + GENCLK_PCK_PRES_64 = PMC_PCK_PRES_CLK_64, //!< Set PCK clock prescaler to 64 }; //@} struct genclk_config { - uint32_t ctrl; + uint32_t ctrl; }; -static inline void genclk_config_defaults(struct genclk_config *p_cfg, - uint32_t ul_id) -{ - ul_id = ul_id; - p_cfg->ctrl = 0; +static inline void genclk_config_defaults(struct genclk_config *p_cfg, uint32_t ul_id) { + ul_id = ul_id; + p_cfg->ctrl = 0; } -static inline void genclk_config_read(struct genclk_config *p_cfg, - uint32_t ul_id) -{ - p_cfg->ctrl = PMC->PMC_PCK[ul_id]; +static inline void genclk_config_read(struct genclk_config *p_cfg, uint32_t ul_id) { + p_cfg->ctrl = PMC->PMC_PCK[ul_id]; } -static inline void genclk_config_write(const struct genclk_config *p_cfg, - uint32_t ul_id) -{ - PMC->PMC_PCK[ul_id] = p_cfg->ctrl; +static inline void genclk_config_write(const struct genclk_config *p_cfg, uint32_t ul_id) { + PMC->PMC_PCK[ul_id] = p_cfg->ctrl; } //! \name Programmable Clock Source and Prescaler configuration //@{ -static inline void genclk_config_set_source(struct genclk_config *p_cfg, - enum genclk_source e_src) -{ - p_cfg->ctrl &= (~PMC_PCK_CSS_Msk); +static inline void genclk_config_set_source(struct genclk_config *p_cfg, enum genclk_source e_src) { + p_cfg->ctrl &= (~PMC_PCK_CSS_Msk); - switch (e_src) { - case GENCLK_PCK_SRC_SLCK_RC: - case GENCLK_PCK_SRC_SLCK_XTAL: - case GENCLK_PCK_SRC_SLCK_BYPASS: - p_cfg->ctrl |= (PMC_PCK_CSS_SLOW_CLK); - break; + switch (e_src) { + case GENCLK_PCK_SRC_SLCK_RC: + case GENCLK_PCK_SRC_SLCK_XTAL: + case GENCLK_PCK_SRC_SLCK_BYPASS: + p_cfg->ctrl |= (PMC_PCK_CSS_SLOW_CLK); + break; - case GENCLK_PCK_SRC_MAINCK_4M_RC: - case GENCLK_PCK_SRC_MAINCK_8M_RC: - case GENCLK_PCK_SRC_MAINCK_12M_RC: - case GENCLK_PCK_SRC_MAINCK_XTAL: - case GENCLK_PCK_SRC_MAINCK_BYPASS: - p_cfg->ctrl |= (PMC_PCK_CSS_MAIN_CLK); - break; + case GENCLK_PCK_SRC_MAINCK_4M_RC: + case GENCLK_PCK_SRC_MAINCK_8M_RC: + case GENCLK_PCK_SRC_MAINCK_12M_RC: + case GENCLK_PCK_SRC_MAINCK_XTAL: + case GENCLK_PCK_SRC_MAINCK_BYPASS: + p_cfg->ctrl |= (PMC_PCK_CSS_MAIN_CLK); + break; - case GENCLK_PCK_SRC_PLLACK: - p_cfg->ctrl |= (PMC_PCK_CSS_PLLA_CLK); - break; + case GENCLK_PCK_SRC_PLLACK: + p_cfg->ctrl |= (PMC_PCK_CSS_PLLA_CLK); + break; - case GENCLK_PCK_SRC_PLLBCK: - p_cfg->ctrl |= (PMC_PCK_CSS_UPLL_CLK); - break; + case GENCLK_PCK_SRC_PLLBCK: + p_cfg->ctrl |= (PMC_PCK_CSS_UPLL_CLK); + break; - case GENCLK_PCK_SRC_MCK: - p_cfg->ctrl |= (PMC_PCK_CSS_MCK); - break; - } + case GENCLK_PCK_SRC_MCK: + p_cfg->ctrl |= (PMC_PCK_CSS_MCK); + break; + } } -static inline void genclk_config_set_divider(struct genclk_config *p_cfg, - uint32_t e_divider) -{ - p_cfg->ctrl &= ~PMC_PCK_PRES_Msk; - p_cfg->ctrl |= e_divider; +static inline void genclk_config_set_divider(struct genclk_config *p_cfg, uint32_t e_divider) { + p_cfg->ctrl &= ~PMC_PCK_PRES_Msk; + p_cfg->ctrl |= e_divider; } //@} -static inline void genclk_enable(const struct genclk_config *p_cfg, - uint32_t ul_id) -{ - PMC->PMC_PCK[ul_id] = p_cfg->ctrl; - pmc_enable_pck(ul_id); +static inline void genclk_enable(const struct genclk_config *p_cfg, uint32_t ul_id) { + PMC->PMC_PCK[ul_id] = p_cfg->ctrl; + pmc_enable_pck(ul_id); } -static inline void genclk_disable(uint32_t ul_id) -{ - pmc_disable_pck(ul_id); +static inline void genclk_disable(uint32_t ul_id) { + pmc_disable_pck(ul_id); } -static inline void genclk_enable_source(enum genclk_source e_src) -{ - switch (e_src) { - case GENCLK_PCK_SRC_SLCK_RC: - if (!osc_is_ready(OSC_SLCK_32K_RC)) { - osc_enable(OSC_SLCK_32K_RC); - osc_wait_ready(OSC_SLCK_32K_RC); - } - break; +static inline void genclk_enable_source(enum genclk_source e_src) { + switch (e_src) { + case GENCLK_PCK_SRC_SLCK_RC: + if (!osc_is_ready(OSC_SLCK_32K_RC)) { + osc_enable(OSC_SLCK_32K_RC); + osc_wait_ready(OSC_SLCK_32K_RC); + } + break; - case GENCLK_PCK_SRC_SLCK_XTAL: - if (!osc_is_ready(OSC_SLCK_32K_XTAL)) { - osc_enable(OSC_SLCK_32K_XTAL); - osc_wait_ready(OSC_SLCK_32K_XTAL); - } - break; + case GENCLK_PCK_SRC_SLCK_XTAL: + if (!osc_is_ready(OSC_SLCK_32K_XTAL)) { + osc_enable(OSC_SLCK_32K_XTAL); + osc_wait_ready(OSC_SLCK_32K_XTAL); + } + break; - case GENCLK_PCK_SRC_SLCK_BYPASS: - if (!osc_is_ready(OSC_SLCK_32K_BYPASS)) { - osc_enable(OSC_SLCK_32K_BYPASS); - osc_wait_ready(OSC_SLCK_32K_BYPASS); - } - break; + case GENCLK_PCK_SRC_SLCK_BYPASS: + if (!osc_is_ready(OSC_SLCK_32K_BYPASS)) { + osc_enable(OSC_SLCK_32K_BYPASS); + osc_wait_ready(OSC_SLCK_32K_BYPASS); + } + break; - case GENCLK_PCK_SRC_MAINCK_4M_RC: - if (!osc_is_ready(OSC_MAINCK_4M_RC)) { - osc_enable(OSC_MAINCK_4M_RC); - osc_wait_ready(OSC_MAINCK_4M_RC); - } - break; + case GENCLK_PCK_SRC_MAINCK_4M_RC: + if (!osc_is_ready(OSC_MAINCK_4M_RC)) { + osc_enable(OSC_MAINCK_4M_RC); + osc_wait_ready(OSC_MAINCK_4M_RC); + } + break; - case GENCLK_PCK_SRC_MAINCK_8M_RC: - if (!osc_is_ready(OSC_MAINCK_8M_RC)) { - osc_enable(OSC_MAINCK_8M_RC); - osc_wait_ready(OSC_MAINCK_8M_RC); - } - break; + case GENCLK_PCK_SRC_MAINCK_8M_RC: + if (!osc_is_ready(OSC_MAINCK_8M_RC)) { + osc_enable(OSC_MAINCK_8M_RC); + osc_wait_ready(OSC_MAINCK_8M_RC); + } + break; - case GENCLK_PCK_SRC_MAINCK_12M_RC: - if (!osc_is_ready(OSC_MAINCK_12M_RC)) { - osc_enable(OSC_MAINCK_12M_RC); - osc_wait_ready(OSC_MAINCK_12M_RC); - } - break; + case GENCLK_PCK_SRC_MAINCK_12M_RC: + if (!osc_is_ready(OSC_MAINCK_12M_RC)) { + osc_enable(OSC_MAINCK_12M_RC); + osc_wait_ready(OSC_MAINCK_12M_RC); + } + break; - case GENCLK_PCK_SRC_MAINCK_XTAL: - if (!osc_is_ready(OSC_MAINCK_XTAL)) { - osc_enable(OSC_MAINCK_XTAL); - osc_wait_ready(OSC_MAINCK_XTAL); - } - break; + case GENCLK_PCK_SRC_MAINCK_XTAL: + if (!osc_is_ready(OSC_MAINCK_XTAL)) { + osc_enable(OSC_MAINCK_XTAL); + osc_wait_ready(OSC_MAINCK_XTAL); + } + break; - case GENCLK_PCK_SRC_MAINCK_BYPASS: - if (!osc_is_ready(OSC_MAINCK_BYPASS)) { - osc_enable(OSC_MAINCK_BYPASS); - osc_wait_ready(OSC_MAINCK_BYPASS); - } - break; + case GENCLK_PCK_SRC_MAINCK_BYPASS: + if (!osc_is_ready(OSC_MAINCK_BYPASS)) { + osc_enable(OSC_MAINCK_BYPASS); + osc_wait_ready(OSC_MAINCK_BYPASS); + } + break; -#ifdef CONFIG_PLL0_SOURCE - case GENCLK_PCK_SRC_PLLACK: - pll_enable_config_defaults(0); - break; -#endif + #ifdef CONFIG_PLL0_SOURCE + case GENCLK_PCK_SRC_PLLACK: + pll_enable_config_defaults(0); + break; + #endif -#ifdef CONFIG_PLL1_SOURCE - case GENCLK_PCK_SRC_PLLBCK: - pll_enable_config_defaults(1); - break; -#endif + #ifdef CONFIG_PLL1_SOURCE + case GENCLK_PCK_SRC_PLLBCK: + pll_enable_config_defaults(1); + break; + #endif - case GENCLK_PCK_SRC_MCK: - break; + case GENCLK_PCK_SRC_MCK: + break; - default: - Assert(false); - break; - } + default: + Assert(false); + break; + } } //! @} diff --git a/Marlin/src/HAL/DUE/usb/osc.h b/Marlin/src/HAL/DUE/usb/osc.h index 953bcbbed1..c0ae24381a 100644 --- a/Marlin/src/HAL/DUE/usb/osc.h +++ b/Marlin/src/HAL/DUE/usb/osc.h @@ -62,28 +62,28 @@ extern "C" { * should be defined by the board code, otherwise default value are used. */ #ifndef BOARD_FREQ_SLCK_XTAL -# warning The board slow clock xtal frequency has not been defined. -# define BOARD_FREQ_SLCK_XTAL (32768UL) + #warning The board slow clock xtal frequency has not been defined. + #define BOARD_FREQ_SLCK_XTAL (32768UL) #endif #ifndef BOARD_FREQ_SLCK_BYPASS -# warning The board slow clock bypass frequency has not been defined. -# define BOARD_FREQ_SLCK_BYPASS (32768UL) + #warning The board slow clock bypass frequency has not been defined. + #define BOARD_FREQ_SLCK_BYPASS (32768UL) #endif #ifndef BOARD_FREQ_MAINCK_XTAL -# warning The board main clock xtal frequency has not been defined. -# define BOARD_FREQ_MAINCK_XTAL (12000000UL) + #warning The board main clock xtal frequency has not been defined. + #define BOARD_FREQ_MAINCK_XTAL (12000000UL) #endif #ifndef BOARD_FREQ_MAINCK_BYPASS -# warning The board main clock bypass frequency has not been defined. -# define BOARD_FREQ_MAINCK_BYPASS (12000000UL) + #warning The board main clock bypass frequency has not been defined. + #define BOARD_FREQ_MAINCK_BYPASS (12000000UL) #endif #ifndef BOARD_OSC_STARTUP_US -# warning The board main clock xtal startup time has not been defined. -# define BOARD_OSC_STARTUP_US (15625UL) + #warning The board main clock xtal startup time has not been defined. + #define BOARD_OSC_STARTUP_US (15625UL) #endif /** @@ -115,122 +115,118 @@ extern "C" { #define OSC_MAINCK_BYPASS_HZ BOARD_FREQ_MAINCK_BYPASS //!< External bypass oscillator. //@} -static inline void osc_enable(uint32_t ul_id) -{ - switch (ul_id) { - case OSC_SLCK_32K_RC: - break; +static inline void osc_enable(uint32_t ul_id) { + switch (ul_id) { + case OSC_SLCK_32K_RC: + break; - case OSC_SLCK_32K_XTAL: - pmc_switch_sclk_to_32kxtal(PMC_OSC_XTAL); - break; + case OSC_SLCK_32K_XTAL: + pmc_switch_sclk_to_32kxtal(PMC_OSC_XTAL); + break; - case OSC_SLCK_32K_BYPASS: - pmc_switch_sclk_to_32kxtal(PMC_OSC_BYPASS); - break; + case OSC_SLCK_32K_BYPASS: + pmc_switch_sclk_to_32kxtal(PMC_OSC_BYPASS); + break; - case OSC_MAINCK_4M_RC: - pmc_switch_mainck_to_fastrc(CKGR_MOR_MOSCRCF_4_MHz); - break; + case OSC_MAINCK_4M_RC: + pmc_switch_mainck_to_fastrc(CKGR_MOR_MOSCRCF_4_MHz); + break; - case OSC_MAINCK_8M_RC: - pmc_switch_mainck_to_fastrc(CKGR_MOR_MOSCRCF_8_MHz); - break; + case OSC_MAINCK_8M_RC: + pmc_switch_mainck_to_fastrc(CKGR_MOR_MOSCRCF_8_MHz); + break; - case OSC_MAINCK_12M_RC: - pmc_switch_mainck_to_fastrc(CKGR_MOR_MOSCRCF_12_MHz); - break; + case OSC_MAINCK_12M_RC: + pmc_switch_mainck_to_fastrc(CKGR_MOR_MOSCRCF_12_MHz); + break; - case OSC_MAINCK_XTAL: - pmc_switch_mainck_to_xtal(PMC_OSC_XTAL/*, - pmc_us_to_moscxtst(BOARD_OSC_STARTUP_US, - OSC_SLCK_32K_RC_HZ)*/); - break; + case OSC_MAINCK_XTAL: + pmc_switch_mainck_to_xtal(PMC_OSC_XTAL/*, + pmc_us_to_moscxtst(BOARD_OSC_STARTUP_US, + OSC_SLCK_32K_RC_HZ)*/); + break; - case OSC_MAINCK_BYPASS: - pmc_switch_mainck_to_xtal(PMC_OSC_BYPASS/*, - pmc_us_to_moscxtst(BOARD_OSC_STARTUP_US, - OSC_SLCK_32K_RC_HZ)*/); - break; - } + case OSC_MAINCK_BYPASS: + pmc_switch_mainck_to_xtal(PMC_OSC_BYPASS/*, + pmc_us_to_moscxtst(BOARD_OSC_STARTUP_US, + OSC_SLCK_32K_RC_HZ)*/); + break; + } } -static inline void osc_disable(uint32_t ul_id) -{ - switch (ul_id) { - case OSC_SLCK_32K_RC: - case OSC_SLCK_32K_XTAL: - case OSC_SLCK_32K_BYPASS: - break; +static inline void osc_disable(uint32_t ul_id) { + switch (ul_id) { + case OSC_SLCK_32K_RC: + case OSC_SLCK_32K_XTAL: + case OSC_SLCK_32K_BYPASS: + break; - case OSC_MAINCK_4M_RC: - case OSC_MAINCK_8M_RC: - case OSC_MAINCK_12M_RC: - pmc_osc_disable_fastrc(); - break; + case OSC_MAINCK_4M_RC: + case OSC_MAINCK_8M_RC: + case OSC_MAINCK_12M_RC: + pmc_osc_disable_fastrc(); + break; - case OSC_MAINCK_XTAL: - pmc_osc_disable_xtal(PMC_OSC_XTAL); - break; + case OSC_MAINCK_XTAL: + pmc_osc_disable_xtal(PMC_OSC_XTAL); + break; - case OSC_MAINCK_BYPASS: - pmc_osc_disable_xtal(PMC_OSC_BYPASS); - break; - } + case OSC_MAINCK_BYPASS: + pmc_osc_disable_xtal(PMC_OSC_BYPASS); + break; + } } -static inline bool osc_is_ready(uint32_t ul_id) -{ - switch (ul_id) { - case OSC_SLCK_32K_RC: - return 1; +static inline bool osc_is_ready(uint32_t ul_id) { + switch (ul_id) { + case OSC_SLCK_32K_RC: + return 1; - case OSC_SLCK_32K_XTAL: - case OSC_SLCK_32K_BYPASS: - return pmc_osc_is_ready_32kxtal(); + case OSC_SLCK_32K_XTAL: + case OSC_SLCK_32K_BYPASS: + return pmc_osc_is_ready_32kxtal(); - case OSC_MAINCK_4M_RC: - case OSC_MAINCK_8M_RC: - case OSC_MAINCK_12M_RC: - case OSC_MAINCK_XTAL: - case OSC_MAINCK_BYPASS: - return pmc_osc_is_ready_mainck(); - } + case OSC_MAINCK_4M_RC: + case OSC_MAINCK_8M_RC: + case OSC_MAINCK_12M_RC: + case OSC_MAINCK_XTAL: + case OSC_MAINCK_BYPASS: + return pmc_osc_is_ready_mainck(); + } - return 0; + return 0; } -static inline uint32_t osc_get_rate(uint32_t ul_id) -{ - switch (ul_id) { - case OSC_SLCK_32K_RC: - return OSC_SLCK_32K_RC_HZ; +static inline uint32_t osc_get_rate(uint32_t ul_id) { + switch (ul_id) { + case OSC_SLCK_32K_RC: + return OSC_SLCK_32K_RC_HZ; - case OSC_SLCK_32K_XTAL: - return BOARD_FREQ_SLCK_XTAL; + case OSC_SLCK_32K_XTAL: + return BOARD_FREQ_SLCK_XTAL; - case OSC_SLCK_32K_BYPASS: - return BOARD_FREQ_SLCK_BYPASS; + case OSC_SLCK_32K_BYPASS: + return BOARD_FREQ_SLCK_BYPASS; - case OSC_MAINCK_4M_RC: - return OSC_MAINCK_4M_RC_HZ; + case OSC_MAINCK_4M_RC: + return OSC_MAINCK_4M_RC_HZ; - case OSC_MAINCK_8M_RC: - return OSC_MAINCK_8M_RC_HZ; + case OSC_MAINCK_8M_RC: + return OSC_MAINCK_8M_RC_HZ; - case OSC_MAINCK_12M_RC: - return OSC_MAINCK_12M_RC_HZ; + case OSC_MAINCK_12M_RC: + return OSC_MAINCK_12M_RC_HZ; - case OSC_MAINCK_XTAL: - return BOARD_FREQ_MAINCK_XTAL; + case OSC_MAINCK_XTAL: + return BOARD_FREQ_MAINCK_XTAL; - case OSC_MAINCK_BYPASS: - return BOARD_FREQ_MAINCK_BYPASS; - } + case OSC_MAINCK_BYPASS: + return BOARD_FREQ_MAINCK_BYPASS; + } - return 0; + return 0; } /** @@ -241,11 +237,10 @@ static inline uint32_t osc_get_rate(uint32_t ul_id) * * \param id A number identifying the oscillator to wait for. */ -static inline void osc_wait_ready(uint8_t id) -{ - while (!osc_is_ready(id)) { - /* Do nothing */ - } +static inline void osc_wait_ready(uint8_t id) { + while (!osc_is_ready(id)) { + /* Do nothing */ + } } //! @} diff --git a/Marlin/src/HAL/DUE/usb/pll.h b/Marlin/src/HAL/DUE/usb/pll.h index 8eaf27672b..d25a1f65d0 100644 --- a/Marlin/src/HAL/DUE/usb/pll.h +++ b/Marlin/src/HAL/DUE/usb/pll.h @@ -77,22 +77,22 @@ extern "C" { #define PLL_COUNT 0x3FU enum pll_source { - PLL_SRC_MAINCK_4M_RC = OSC_MAINCK_4M_RC, //!< Internal 4MHz RC oscillator. - PLL_SRC_MAINCK_8M_RC = OSC_MAINCK_8M_RC, //!< Internal 8MHz RC oscillator. - PLL_SRC_MAINCK_12M_RC = OSC_MAINCK_12M_RC, //!< Internal 12MHz RC oscillator. - PLL_SRC_MAINCK_XTAL = OSC_MAINCK_XTAL, //!< External crystal oscillator. - PLL_SRC_MAINCK_BYPASS = OSC_MAINCK_BYPASS, //!< External bypass oscillator. - PLL_NR_SOURCES, //!< Number of PLL sources. + PLL_SRC_MAINCK_4M_RC = OSC_MAINCK_4M_RC, //!< Internal 4MHz RC oscillator. + PLL_SRC_MAINCK_8M_RC = OSC_MAINCK_8M_RC, //!< Internal 8MHz RC oscillator. + PLL_SRC_MAINCK_12M_RC = OSC_MAINCK_12M_RC, //!< Internal 12MHz RC oscillator. + PLL_SRC_MAINCK_XTAL = OSC_MAINCK_XTAL, //!< External crystal oscillator. + PLL_SRC_MAINCK_BYPASS = OSC_MAINCK_BYPASS, //!< External bypass oscillator. + PLL_NR_SOURCES, //!< Number of PLL sources. }; struct pll_config { - uint32_t ctrl; + uint32_t ctrl; }; #define pll_get_default_rate(pll_id) \ - ((osc_get_rate(CONFIG_PLL##pll_id##_SOURCE) \ - * CONFIG_PLL##pll_id##_MUL) \ - / CONFIG_PLL##pll_id##_DIV) + ((osc_get_rate(CONFIG_PLL##pll_id##_SOURCE) \ + * CONFIG_PLL##pll_id##_MUL) \ + / CONFIG_PLL##pll_id##_DIV) /* Force UTMI PLL parameters (Hardware defined) */ #ifdef CONFIG_PLL1_SOURCE @@ -113,145 +113,130 @@ struct pll_config { * is hidden in this implementation. Use mul as mul effective value. */ static inline void pll_config_init(struct pll_config *p_cfg, - enum pll_source e_src, uint32_t ul_div, uint32_t ul_mul) -{ - uint32_t vco_hz; + enum pll_source e_src, uint32_t ul_div, uint32_t ul_mul) { + uint32_t vco_hz; - Assert(e_src < PLL_NR_SOURCES); + Assert(e_src < PLL_NR_SOURCES); - if (ul_div == 0 && ul_mul == 0) { /* Must only be true for UTMI PLL */ - p_cfg->ctrl = CKGR_UCKR_UPLLCOUNT(PLL_COUNT); - } else { /* PLLA */ - /* Calculate internal VCO frequency */ - vco_hz = osc_get_rate(e_src) / ul_div; - Assert(vco_hz >= PLL_INPUT_MIN_HZ); - Assert(vco_hz <= PLL_INPUT_MAX_HZ); + if (ul_div == 0 && ul_mul == 0) { /* Must only be true for UTMI PLL */ + p_cfg->ctrl = CKGR_UCKR_UPLLCOUNT(PLL_COUNT); + } + else { /* PLLA */ + /* Calculate internal VCO frequency */ + vco_hz = osc_get_rate(e_src) / ul_div; + Assert(vco_hz >= PLL_INPUT_MIN_HZ); + Assert(vco_hz <= PLL_INPUT_MAX_HZ); - vco_hz *= ul_mul; - Assert(vco_hz >= PLL_OUTPUT_MIN_HZ); - Assert(vco_hz <= PLL_OUTPUT_MAX_HZ); + vco_hz *= ul_mul; + Assert(vco_hz >= PLL_OUTPUT_MIN_HZ); + Assert(vco_hz <= PLL_OUTPUT_MAX_HZ); - /* PMC hardware will automatically make it mul+1 */ - p_cfg->ctrl = CKGR_PLLAR_MULA(ul_mul - 1) | CKGR_PLLAR_DIVA(ul_div) | CKGR_PLLAR_PLLACOUNT(PLL_COUNT); - } + /* PMC hardware will automatically make it mul+1 */ + p_cfg->ctrl = CKGR_PLLAR_MULA(ul_mul - 1) | CKGR_PLLAR_DIVA(ul_div) | CKGR_PLLAR_PLLACOUNT(PLL_COUNT); + } } -#define pll_config_defaults(cfg, pll_id) \ - pll_config_init(cfg, \ - CONFIG_PLL##pll_id##_SOURCE, \ - CONFIG_PLL##pll_id##_DIV, \ - CONFIG_PLL##pll_id##_MUL) +#define pll_config_defaults(cfg, pll_id) \ + pll_config_init(cfg, \ + CONFIG_PLL##pll_id##_SOURCE, \ + CONFIG_PLL##pll_id##_DIV, \ + CONFIG_PLL##pll_id##_MUL) -static inline void pll_config_read(struct pll_config *p_cfg, uint32_t ul_pll_id) -{ - Assert(ul_pll_id < NR_PLLS); - - if (ul_pll_id == PLLA_ID) { - p_cfg->ctrl = PMC->CKGR_PLLAR; - } else { - p_cfg->ctrl = PMC->CKGR_UCKR; - } +static inline void pll_config_read(struct pll_config *p_cfg, uint32_t ul_pll_id) { + Assert(ul_pll_id < NR_PLLS); + p_cfg->ctrl = ul_pll_id == PLLA_ID ? PMC->CKGR_PLLAR : PMC->CKGR_UCKR; } -static inline void pll_config_write(const struct pll_config *p_cfg, uint32_t ul_pll_id) -{ - Assert(ul_pll_id < NR_PLLS); +static inline void pll_config_write(const struct pll_config *p_cfg, uint32_t ul_pll_id) { + Assert(ul_pll_id < NR_PLLS); - if (ul_pll_id == PLLA_ID) { - pmc_disable_pllack(); // Always stop PLL first! - PMC->CKGR_PLLAR = CKGR_PLLAR_ONE | p_cfg->ctrl; - } else { - PMC->CKGR_UCKR = p_cfg->ctrl; - } + if (ul_pll_id == PLLA_ID) { + pmc_disable_pllack(); // Always stop PLL first! + PMC->CKGR_PLLAR = CKGR_PLLAR_ONE | p_cfg->ctrl; + } + else + PMC->CKGR_UCKR = p_cfg->ctrl; } -static inline void pll_enable(const struct pll_config *p_cfg, uint32_t ul_pll_id) -{ - Assert(ul_pll_id < NR_PLLS); +static inline void pll_enable(const struct pll_config *p_cfg, uint32_t ul_pll_id) { + Assert(ul_pll_id < NR_PLLS); - if (ul_pll_id == PLLA_ID) { - pmc_disable_pllack(); // Always stop PLL first! - PMC->CKGR_PLLAR = CKGR_PLLAR_ONE | p_cfg->ctrl; - } else { - PMC->CKGR_UCKR = p_cfg->ctrl | CKGR_UCKR_UPLLEN; - } + if (ul_pll_id == PLLA_ID) { + pmc_disable_pllack(); // Always stop PLL first! + PMC->CKGR_PLLAR = CKGR_PLLAR_ONE | p_cfg->ctrl; + } + else + PMC->CKGR_UCKR = p_cfg->ctrl | CKGR_UCKR_UPLLEN; } /** * \note This will only disable the selected PLL, not the underlying oscillator (mainck). */ -static inline void pll_disable(uint32_t ul_pll_id) -{ - Assert(ul_pll_id < NR_PLLS); +static inline void pll_disable(uint32_t ul_pll_id) { + Assert(ul_pll_id < NR_PLLS); - if (ul_pll_id == PLLA_ID) { - pmc_disable_pllack(); - } else { - PMC->CKGR_UCKR &= ~CKGR_UCKR_UPLLEN; - } + if (ul_pll_id == PLLA_ID) + pmc_disable_pllack(); + else + PMC->CKGR_UCKR &= ~CKGR_UCKR_UPLLEN; } -static inline uint32_t pll_is_locked(uint32_t ul_pll_id) -{ - Assert(ul_pll_id < NR_PLLS); +static inline uint32_t pll_is_locked(uint32_t ul_pll_id) { + Assert(ul_pll_id < NR_PLLS); - if (ul_pll_id == PLLA_ID) { - return pmc_is_locked_pllack(); - } else { - return pmc_is_locked_upll(); - } + if (ul_pll_id == PLLA_ID) + return pmc_is_locked_pllack(); + else + return pmc_is_locked_upll(); } -static inline void pll_enable_source(enum pll_source e_src) -{ - switch (e_src) { - case PLL_SRC_MAINCK_4M_RC: - case PLL_SRC_MAINCK_8M_RC: - case PLL_SRC_MAINCK_12M_RC: - case PLL_SRC_MAINCK_XTAL: - case PLL_SRC_MAINCK_BYPASS: - osc_enable(e_src); - osc_wait_ready(e_src); - break; +static inline void pll_enable_source(enum pll_source e_src) { + switch (e_src) { + case PLL_SRC_MAINCK_4M_RC: + case PLL_SRC_MAINCK_8M_RC: + case PLL_SRC_MAINCK_12M_RC: + case PLL_SRC_MAINCK_XTAL: + case PLL_SRC_MAINCK_BYPASS: + osc_enable(e_src); + osc_wait_ready(e_src); + break; - default: - Assert(false); - break; - } + default: + Assert(false); + break; + } } -static inline void pll_enable_config_defaults(unsigned int ul_pll_id) -{ - struct pll_config pllcfg; +static inline void pll_enable_config_defaults(unsigned int ul_pll_id) { + struct pll_config pllcfg; - if (pll_is_locked(ul_pll_id)) { - return; // Pll already running - } - switch (ul_pll_id) { -#ifdef CONFIG_PLL0_SOURCE - case 0: - pll_enable_source(CONFIG_PLL0_SOURCE); - pll_config_init(&pllcfg, - CONFIG_PLL0_SOURCE, - CONFIG_PLL0_DIV, - CONFIG_PLL0_MUL); - break; -#endif -#ifdef CONFIG_PLL1_SOURCE - case 1: - pll_enable_source(CONFIG_PLL1_SOURCE); - pll_config_init(&pllcfg, - CONFIG_PLL1_SOURCE, - CONFIG_PLL1_DIV, - CONFIG_PLL1_MUL); - break; -#endif - default: - Assert(false); - break; - } - pll_enable(&pllcfg, ul_pll_id); - while (!pll_is_locked(ul_pll_id)); + if (pll_is_locked(ul_pll_id)) return; // Pll already running + + switch (ul_pll_id) { + #ifdef CONFIG_PLL0_SOURCE + case 0: + pll_enable_source(CONFIG_PLL0_SOURCE); + pll_config_init(&pllcfg, + CONFIG_PLL0_SOURCE, + CONFIG_PLL0_DIV, + CONFIG_PLL0_MUL); + break; + #endif + #ifdef CONFIG_PLL1_SOURCE + case 1: + pll_enable_source(CONFIG_PLL1_SOURCE); + pll_config_init(&pllcfg, + CONFIG_PLL1_SOURCE, + CONFIG_PLL1_DIV, + CONFIG_PLL1_MUL); + break; + #endif + default: + Assert(false); + break; + } + pll_enable(&pllcfg, ul_pll_id); + while (!pll_is_locked(ul_pll_id)); } /** @@ -264,15 +249,12 @@ static inline void pll_enable_config_defaults(unsigned int ul_pll_id) * \retval STATUS_OK The PLL is now locked. * \retval ERR_TIMEOUT Timed out waiting for PLL to become locked. */ -static inline int pll_wait_for_lock(unsigned int pll_id) -{ - Assert(pll_id < NR_PLLS); +static inline int pll_wait_for_lock(unsigned int pll_id) { + Assert(pll_id < NR_PLLS); - while (!pll_is_locked(pll_id)) { - /* Do nothing */ - } + while (!pll_is_locked(pll_id)) { /* Do nothing */ } - return 0; + return 0; } //! @} diff --git a/Marlin/src/HAL/DUE/usb/sbc_protocol.h b/Marlin/src/HAL/DUE/usb/sbc_protocol.h index ab845739fd..983ec7adca 100644 --- a/Marlin/src/HAL/DUE/usb/sbc_protocol.h +++ b/Marlin/src/HAL/DUE/usb/sbc_protocol.h @@ -57,7 +57,6 @@ #ifndef _SBC_PROTOCOL_H_ #define _SBC_PROTOCOL_H_ - /** * \ingroup usb_msc_protocol * \defgroup usb_sbc_protocol SCSI Block Commands protocol definitions @@ -81,82 +80,82 @@ //@{ enum scsi_sbc_mode { - SCSI_MS_MODE_RW_ERR_RECOV = 0x01, //!< Read-Write Error Recovery mode page - SCSI_MS_MODE_FORMAT_DEVICE = 0x03, //!< Format Device mode page - SCSI_MS_MODE_FLEXIBLE_DISK = 0x05, //!< Flexible Disk mode page - SCSI_MS_MODE_CACHING = 0x08, //!< Caching mode page + SCSI_MS_MODE_RW_ERR_RECOV = 0x01, //!< Read-Write Error Recovery mode page + SCSI_MS_MODE_FORMAT_DEVICE = 0x03, //!< Format Device mode page + SCSI_MS_MODE_FLEXIBLE_DISK = 0x05, //!< Flexible Disk mode page + SCSI_MS_MODE_CACHING = 0x08, //!< Caching mode page }; //! \name SBC-2 Device-Specific Parameter //@{ -#define SCSI_MS_SBC_WP 0x80 //!< Write Protected -#define SCSI_MS_SBC_DPOFUA 0x10 //!< DPO and FUA supported +#define SCSI_MS_SBC_WP 0x80 //!< Write Protected +#define SCSI_MS_SBC_DPOFUA 0x10 //!< DPO and FUA supported //@} /** * \brief SBC-2 Short LBA mode parameter block descriptor */ struct sbc_slba_block_desc { - be32_t nr_blocks; //!< Number of Blocks - be32_t block_len; //!< Block Length -#define SBC_SLBA_BLOCK_LEN_MASK 0x00FFFFFFU //!< Mask reserved bits + be32_t nr_blocks; //!< Number of Blocks + be32_t block_len; //!< Block Length +#define SBC_SLBA_BLOCK_LEN_MASK 0x00FFFFFFU //!< Mask reserved bits }; /** * \brief SBC-2 Caching mode page */ struct sbc_caching_mode_page { - uint8_t page_code; - uint8_t page_length; - uint8_t flags2; -#define SBC_MP_CACHE_IC (1 << 7) //!< Initiator Control -#define SBC_MP_CACHE_ABPF (1 << 6) //!< Abort Pre-Fetch -#define SBC_MP_CACHE_CAP (1 << 5) //!< Catching Analysis Permitted -#define SBC_MP_CACHE_DISC (1 << 4) //!< Discontinuity -#define SBC_MP_CACHE_SIZE (1 << 3) //!< Size enable -#define SBC_MP_CACHE_WCE (1 << 2) //!< Write back Cache Enable -#define SBC_MP_CACHE_MF (1 << 1) //!< Multiplication Factor -#define SBC_MP_CACHE_RCD (1 << 0) //!< Read Cache Disable - uint8_t retention; - be16_t dis_pf_transfer_len; - be16_t min_prefetch; - be16_t max_prefetch; - be16_t max_prefetch_ceil; - uint8_t flags12; -#define SBC_MP_CACHE_FSW (1 << 7) //!< Force Sequential Write -#define SBC_MP_CACHE_LBCSS (1 << 6) //!< Logical Blk Cache Seg Sz -#define SBC_MP_CACHE_DRA (1 << 5) //!< Disable Read-Ahead -#define SBC_MP_CACHE_NV_DIS (1 << 0) //!< Non-Volatile Cache Disable - uint8_t nr_cache_segments; - be16_t cache_segment_size; - uint8_t reserved[4]; + uint8_t page_code; + uint8_t page_length; + uint8_t flags2; +#define SBC_MP_CACHE_IC (1 << 7) //!< Initiator Control +#define SBC_MP_CACHE_ABPF (1 << 6) //!< Abort Pre-Fetch +#define SBC_MP_CACHE_CAP (1 << 5) //!< Catching Analysis Permitted +#define SBC_MP_CACHE_DISC (1 << 4) //!< Discontinuity +#define SBC_MP_CACHE_SIZE (1 << 3) //!< Size enable +#define SBC_MP_CACHE_WCE (1 << 2) //!< Write back Cache Enable +#define SBC_MP_CACHE_MF (1 << 1) //!< Multiplication Factor +#define SBC_MP_CACHE_RCD (1 << 0) //!< Read Cache Disable + uint8_t retention; + be16_t dis_pf_transfer_len; + be16_t min_prefetch; + be16_t max_prefetch; + be16_t max_prefetch_ceil; + uint8_t flags12; +#define SBC_MP_CACHE_FSW (1 << 7) //!< Force Sequential Write +#define SBC_MP_CACHE_LBCSS (1 << 6) //!< Logical Blk Cache Seg Sz +#define SBC_MP_CACHE_DRA (1 << 5) //!< Disable Read-Ahead +#define SBC_MP_CACHE_NV_DIS (1 << 0) //!< Non-Volatile Cache Disable + uint8_t nr_cache_segments; + be16_t cache_segment_size; + uint8_t reserved[4]; }; /** * \brief SBC-2 Read-Write Error Recovery mode page */ struct sbc_rdwr_error_recovery_mode_page { - uint8_t page_code; - uint8_t page_length; -#define SPC_MP_RW_ERR_RECOV_PAGE_LENGTH 0x0A - uint8_t flags1; -#define SBC_MP_RW_ERR_RECOV_AWRE (1 << 7) -#define SBC_MP_RW_ERR_RECOV_ARRE (1 << 6) -#define SBC_MP_RW_ERR_RECOV_TB (1 << 5) -#define SBC_MP_RW_ERR_RECOV_RC (1 << 4) -#define SBC_MP_RW_ERR_RECOV_ERR (1 << 3) -#define SBC_MP_RW_ERR_RECOV_PER (1 << 2) -#define SBC_MP_RW_ERR_RECOV_DTE (1 << 1) -#define SBC_MP_RW_ERR_RECOV_DCR (1 << 0) - uint8_t read_retry_count; - uint8_t correction_span; - uint8_t head_offset_count; - uint8_t data_strobe_offset_count; - uint8_t flags2; - uint8_t write_retry_count; - uint8_t flags3; - be16_t recovery_time_limit; + uint8_t page_code; + uint8_t page_length; + #define SPC_MP_RW_ERR_RECOV_PAGE_LENGTH 0x0A + uint8_t flags1; + #define SBC_MP_RW_ERR_RECOV_AWRE (1 << 7) + #define SBC_MP_RW_ERR_RECOV_ARRE (1 << 6) + #define SBC_MP_RW_ERR_RECOV_TB (1 << 5) + #define SBC_MP_RW_ERR_RECOV_RC (1 << 4) + #define SBC_MP_RW_ERR_RECOV_ERR (1 << 3) + #define SBC_MP_RW_ERR_RECOV_PER (1 << 2) + #define SBC_MP_RW_ERR_RECOV_DTE (1 << 1) + #define SBC_MP_RW_ERR_RECOV_DCR (1 << 0) + uint8_t read_retry_count; + uint8_t correction_span; + uint8_t head_offset_count; + uint8_t data_strobe_offset_count; + uint8_t flags2; + uint8_t write_retry_count; + uint8_t flags3; + be16_t recovery_time_limit; }; //@} @@ -164,8 +163,8 @@ struct sbc_rdwr_error_recovery_mode_page { * \brief SBC-2 READ CAPACITY (10) parameter data */ struct sbc_read_capacity10_data { - be32_t max_lba; //!< LBA of last logical block - be32_t block_len; //!< Number of bytes in the last logical block + be32_t max_lba; //!< LBA of last logical block + be32_t block_len; //!< Number of bytes in the last logical block }; //@} diff --git a/Marlin/src/HAL/DUE/usb/sd_mmc_spi_mem.cpp b/Marlin/src/HAL/DUE/usb/sd_mmc_spi_mem.cpp index 34cc256b30..65a926ff36 100644 --- a/Marlin/src/HAL/DUE/usb/sd_mmc_spi_mem.cpp +++ b/Marlin/src/HAL/DUE/usb/sd_mmc_spi_mem.cpp @@ -6,7 +6,7 @@ #include "../../../inc/MarlinConfig.h" -#if ENABLED(SDSUPPORT) +#if HAS_MEDIA #include "../../../sd/cardreader.h" extern "C" { @@ -138,5 +138,5 @@ Ctrl_status sd_mmc_spi_usb_write_10(uint32_t addr, uint16_t nb_sector) { #endif // ACCESS_USB == true -#endif // SDSUPPORT +#endif // HAS_MEDIA #endif // ARDUINO_ARCH_SAM diff --git a/Marlin/src/HAL/DUE/usb/spc_protocol.h b/Marlin/src/HAL/DUE/usb/spc_protocol.h index d67cc5c788..808c388f4f 100644 --- a/Marlin/src/HAL/DUE/usb/spc_protocol.h +++ b/Marlin/src/HAL/DUE/usb/spc_protocol.h @@ -59,23 +59,23 @@ //! \name SCSI commands defined by SPC-2 //@{ -#define SPC_TEST_UNIT_READY 0x00 -#define SPC_REQUEST_SENSE 0x03 -#define SPC_INQUIRY 0x12 -#define SPC_MODE_SELECT6 0x15 -#define SPC_MODE_SENSE6 0x1A -#define SPC_SEND_DIAGNOSTIC 0x1D -#define SPC_PREVENT_ALLOW_MEDIUM_REMOVAL 0x1E -#define SPC_MODE_SENSE10 0x5A -#define SPC_REPORT_LUNS 0xA0 +#define SPC_TEST_UNIT_READY 0x00 +#define SPC_REQUEST_SENSE 0x03 +#define SPC_INQUIRY 0x12 +#define SPC_MODE_SELECT6 0x15 +#define SPC_MODE_SENSE6 0x1A +#define SPC_SEND_DIAGNOSTIC 0x1D +#define SPC_PREVENT_ALLOW_MEDIUM_REMOVAL 0x1E +#define SPC_MODE_SENSE10 0x5A +#define SPC_REPORT_LUNS 0xA0 //@} //! \brief May be set in byte 0 of the INQUIRY CDB //@{ //! Enable Vital Product Data -#define SCSI_INQ_REQ_EVPD 0x01 +#define SCSI_INQ_REQ_EVPD 0x01 //! Command Support Data specified by the PAGE OR OPERATION CODE field -#define SCSI_INQ_REQ_CMDT 0x02 +#define SCSI_INQ_REQ_CMDT 0x02 //@} COMPILER_PACK_SET(1) @@ -84,110 +84,110 @@ COMPILER_PACK_SET(1) * \brief SCSI Standard Inquiry data structure */ struct scsi_inquiry_data { - uint8_t pq_pdt; //!< Peripheral Qual / Peripheral Dev Type -#define SCSI_INQ_PQ_CONNECTED 0x00 //!< Peripheral connected -#define SCSI_INQ_PQ_NOT_CONN 0x20 //!< Peripheral not connected -#define SCSI_INQ_PQ_NOT_SUPP 0x60 //!< Peripheral not supported -#define SCSI_INQ_DT_DIR_ACCESS 0x00 //!< Direct Access (SBC) -#define SCSI_INQ_DT_SEQ_ACCESS 0x01 //!< Sequential Access -#define SCSI_INQ_DT_PRINTER 0x02 //!< Printer -#define SCSI_INQ_DT_PROCESSOR 0x03 //!< Processor device -#define SCSI_INQ_DT_WRITE_ONCE 0x04 //!< Write-once device -#define SCSI_INQ_DT_CD_DVD 0x05 //!< CD/DVD device -#define SCSI_INQ_DT_OPTICAL 0x07 //!< Optical Memory -#define SCSI_INQ_DT_MC 0x08 //!< Medium Changer -#define SCSI_INQ_DT_ARRAY 0x0C //!< Storage Array Controller -#define SCSI_INQ_DT_ENCLOSURE 0x0D //!< Enclosure Services -#define SCSI_INQ_DT_RBC 0x0E //!< Simplified Direct Access -#define SCSI_INQ_DT_OCRW 0x0F //!< Optical card reader/writer -#define SCSI_INQ_DT_BCC 0x10 //!< Bridge Controller Commands -#define SCSI_INQ_DT_OSD 0x11 //!< Object-based Storage -#define SCSI_INQ_DT_NONE 0x1F //!< No Peripheral - uint8_t flags1; //!< Flags (byte 1) -#define SCSI_INQ_RMB 0x80 //!< Removable Medium - uint8_t version; //!< Version -#define SCSI_INQ_VER_NONE 0x00 //!< No standards conformance -#define SCSI_INQ_VER_SPC 0x03 //!< SCSI Primary Commands (link to SBC) -#define SCSI_INQ_VER_SPC2 0x04 //!< SCSI Primary Commands - 2 (link to SBC-2) -#define SCSI_INQ_VER_SPC3 0x05 //!< SCSI Primary Commands - 3 (link to SBC-2) -#define SCSI_INQ_VER_SPC4 0x06 //!< SCSI Primary Commands - 4 (link to SBC-3) - uint8_t flags3; //!< Flags (byte 3) -#define SCSI_INQ_NORMACA 0x20 //!< Normal ACA Supported -#define SCSI_INQ_HISUP 0x10 //!< Hierarchal LUN addressing -#define SCSI_INQ_RSP_SPC2 0x02 //!< SPC-2 / SPC-3 response format - uint8_t addl_len; //!< Additional Length (n-4) -#define SCSI_INQ_ADDL_LEN(tot) ((tot)-5) //!< Total length is \a tot - uint8_t flags5; //!< Flags (byte 5) -#define SCSI_INQ_SCCS 0x80 - uint8_t flags6; //!< Flags (byte 6) -#define SCSI_INQ_BQUE 0x80 -#define SCSI_INQ_ENCSERV 0x40 -#define SCSI_INQ_MULTIP 0x10 -#define SCSI_INQ_MCHGR 0x08 -#define SCSI_INQ_ADDR16 0x01 - uint8_t flags7; //!< Flags (byte 7) -#define SCSI_INQ_WBUS16 0x20 -#define SCSI_INQ_SYNC 0x10 -#define SCSI_INQ_LINKED 0x08 -#define SCSI_INQ_CMDQUE 0x02 - uint8_t vendor_id[8]; //!< T10 Vendor Identification - uint8_t product_id[16]; //!< Product Identification - uint8_t product_rev[4]; //!< Product Revision Level + uint8_t pq_pdt; //!< Peripheral Qual / Peripheral Dev Type + #define SCSI_INQ_PQ_CONNECTED 0x00 //!< Peripheral connected + #define SCSI_INQ_PQ_NOT_CONN 0x20 //!< Peripheral not connected + #define SCSI_INQ_PQ_NOT_SUPP 0x60 //!< Peripheral not supported + #define SCSI_INQ_DT_DIR_ACCESS 0x00 //!< Direct Access (SBC) + #define SCSI_INQ_DT_SEQ_ACCESS 0x01 //!< Sequential Access + #define SCSI_INQ_DT_PRINTER 0x02 //!< Printer + #define SCSI_INQ_DT_PROCESSOR 0x03 //!< Processor device + #define SCSI_INQ_DT_WRITE_ONCE 0x04 //!< Write-once device + #define SCSI_INQ_DT_CD_DVD 0x05 //!< CD/DVD device + #define SCSI_INQ_DT_OPTICAL 0x07 //!< Optical Memory + #define SCSI_INQ_DT_MC 0x08 //!< Medium Changer + #define SCSI_INQ_DT_ARRAY 0x0C //!< Storage Array Controller + #define SCSI_INQ_DT_ENCLOSURE 0x0D //!< Enclosure Services + #define SCSI_INQ_DT_RBC 0x0E //!< Simplified Direct Access + #define SCSI_INQ_DT_OCRW 0x0F //!< Optical card reader/writer + #define SCSI_INQ_DT_BCC 0x10 //!< Bridge Controller Commands + #define SCSI_INQ_DT_OSD 0x11 //!< Object-based Storage + #define SCSI_INQ_DT_NONE 0x1F //!< No Peripheral + uint8_t flags1; //!< Flags (byte 1) + #define SCSI_INQ_RMB 0x80 //!< Removable Medium + uint8_t version; //!< Version + #define SCSI_INQ_VER_NONE 0x00 //!< No standards conformance + #define SCSI_INQ_VER_SPC 0x03 //!< SCSI Primary Commands (link to SBC) + #define SCSI_INQ_VER_SPC2 0x04 //!< SCSI Primary Commands - 2 (link to SBC-2) + #define SCSI_INQ_VER_SPC3 0x05 //!< SCSI Primary Commands - 3 (link to SBC-2) + #define SCSI_INQ_VER_SPC4 0x06 //!< SCSI Primary Commands - 4 (link to SBC-3) + uint8_t flags3; //!< Flags (byte 3) + #define SCSI_INQ_NORMACA 0x20 //!< Normal ACA Supported + #define SCSI_INQ_HISUP 0x10 //!< Hierarchal LUN addressing + #define SCSI_INQ_RSP_SPC2 0x02 //!< SPC-2 / SPC-3 response format + uint8_t addl_len; //!< Additional Length (n-4) + #define SCSI_INQ_ADDL_LEN(tot) ((tot)-5) //!< Total length is \a tot + uint8_t flags5; //!< Flags (byte 5) + #define SCSI_INQ_SCCS 0x80 + uint8_t flags6; //!< Flags (byte 6) + #define SCSI_INQ_BQUE 0x80 + #define SCSI_INQ_ENCSERV 0x40 + #define SCSI_INQ_MULTIP 0x10 + #define SCSI_INQ_MCHGR 0x08 + #define SCSI_INQ_ADDR16 0x01 + uint8_t flags7; //!< Flags (byte 7) + #define SCSI_INQ_WBUS16 0x20 + #define SCSI_INQ_SYNC 0x10 + #define SCSI_INQ_LINKED 0x08 + #define SCSI_INQ_CMDQUE 0x02 + uint8_t vendor_id[8]; //!< T10 Vendor Identification + uint8_t product_id[16]; //!< Product Identification + uint8_t product_rev[4]; //!< Product Revision Level }; /** * \brief SCSI Standard Request sense data structure */ struct scsi_request_sense_data { - /* 1st byte: REQUEST SENSE response flags*/ - uint8_t valid_reponse_code; -#define SCSI_SENSE_VALID 0x80 //!< Indicates the INFORMATION field contains valid information -#define SCSI_SENSE_RESPONSE_CODE_MASK 0x7F -#define SCSI_SENSE_CURRENT 0x70 //!< Response code 70h (current errors) -#define SCSI_SENSE_DEFERRED 0x71 + /* 1st byte: REQUEST SENSE response flags*/ + uint8_t valid_reponse_code; + #define SCSI_SENSE_VALID 0x80 //!< Indicates the INFORMATION field contains valid information + #define SCSI_SENSE_RESPONSE_CODE_MASK 0x7F + #define SCSI_SENSE_CURRENT 0x70 //!< Response code 70h (current errors) + #define SCSI_SENSE_DEFERRED 0x71 - /* 2nd byte */ - uint8_t obsolete; + /* 2nd byte */ + uint8_t obsolete; - /* 3rd byte */ - uint8_t sense_flag_key; -#define SCSI_SENSE_FILEMARK 0x80 //!< Indicates that the current command has read a filemark or setmark. -#define SCSI_SENSE_EOM 0x40 //!< Indicates that an end-of-medium condition exists. -#define SCSI_SENSE_ILI 0x20 //!< Indicates that the requested logical block length did not match the logical block length of the data on the medium. -#define SCSI_SENSE_RESERVED 0x10 //!< Reserved -#define SCSI_SENSE_KEY(x) (x&0x0F) //!< Sense Key + /* 3rd byte */ + uint8_t sense_flag_key; + #define SCSI_SENSE_FILEMARK 0x80 //!< Indicates that the current command has read a filemark or setmark. + #define SCSI_SENSE_EOM 0x40 //!< Indicates that an end-of-medium condition exists. + #define SCSI_SENSE_ILI 0x20 //!< Indicates that the requested logical block length did not match the logical block length of the data on the medium. + #define SCSI_SENSE_RESERVED 0x10 //!< Reserved + #define SCSI_SENSE_KEY(x) (x&0x0F) //!< Sense Key - /* 4th to 7th bytes - INFORMATION field */ - uint8_t information[4]; + /* 4th to 7th bytes - INFORMATION field */ + uint8_t information[4]; - /* 8th byte - ADDITIONAL SENSE LENGTH field */ - uint8_t AddSenseLen; -#define SCSI_SENSE_ADDL_LEN(total_len) ((total_len) - 8) + /* 8th byte - ADDITIONAL SENSE LENGTH field */ + uint8_t AddSenseLen; + #define SCSI_SENSE_ADDL_LEN(total_len) ((total_len) - 8) - /* 9th to 12th byte - COMMAND-SPECIFIC INFORMATION field */ - uint8_t CmdSpecINFO[4]; + /* 9th to 12th byte - COMMAND-SPECIFIC INFORMATION field */ + uint8_t CmdSpecINFO[4]; - /* 13th byte - ADDITIONAL SENSE CODE field */ - uint8_t AddSenseCode; + /* 13th byte - ADDITIONAL SENSE CODE field */ + uint8_t AddSenseCode; - /* 14th byte - ADDITIONAL SENSE CODE QUALIFIER field */ - uint8_t AddSnsCodeQlfr; + /* 14th byte - ADDITIONAL SENSE CODE QUALIFIER field */ + uint8_t AddSnsCodeQlfr; - /* 15th byte - FIELD REPLACEABLE UNIT CODE field */ - uint8_t FldReplUnitCode; + /* 15th byte - FIELD REPLACEABLE UNIT CODE field */ + uint8_t FldReplUnitCode; - /* 16th byte */ - uint8_t SenseKeySpec[3]; -#define SCSI_SENSE_SKSV 0x80 //!< Indicates the SENSE-KEY SPECIFIC field contains valid information + /* 16th byte */ + uint8_t SenseKeySpec[3]; + #define SCSI_SENSE_SKSV 0x80 //!< Indicates the SENSE-KEY SPECIFIC field contains valid information }; COMPILER_PACK_RESET() /* Vital Product Data page codes */ enum scsi_vpd_page_code { - SCSI_VPD_SUPPORTED_PAGES = 0x00, - SCSI_VPD_UNIT_SERIAL_NUMBER = 0x80, - SCSI_VPD_DEVICE_IDENTIFICATION = 0x83, + SCSI_VPD_SUPPORTED_PAGES = 0x00, + SCSI_VPD_UNIT_SERIAL_NUMBER = 0x80, + SCSI_VPD_DEVICE_IDENTIFICATION = 0x83, }; #define SCSI_VPD_HEADER_SIZE 4 @@ -200,37 +200,36 @@ enum scsi_vpd_page_code { #define SCSI_VPD_ID_TYPE_T10 1 - /* Sense keys */ enum scsi_sense_key { - SCSI_SK_NO_SENSE = 0x0, - SCSI_SK_RECOVERED_ERROR = 0x1, - SCSI_SK_NOT_READY = 0x2, - SCSI_SK_MEDIUM_ERROR = 0x3, - SCSI_SK_HARDWARE_ERROR = 0x4, - SCSI_SK_ILLEGAL_REQUEST = 0x5, - SCSI_SK_UNIT_ATTENTION = 0x6, - SCSI_SK_DATA_PROTECT = 0x7, - SCSI_SK_BLANK_CHECK = 0x8, - SCSI_SK_VENDOR_SPECIFIC = 0x9, - SCSI_SK_COPY_ABORTED = 0xA, - SCSI_SK_ABORTED_COMMAND = 0xB, - SCSI_SK_VOLUME_OVERFLOW = 0xD, - SCSI_SK_MISCOMPARE = 0xE, + SCSI_SK_NO_SENSE = 0x0, + SCSI_SK_RECOVERED_ERROR = 0x1, + SCSI_SK_NOT_READY = 0x2, + SCSI_SK_MEDIUM_ERROR = 0x3, + SCSI_SK_HARDWARE_ERROR = 0x4, + SCSI_SK_ILLEGAL_REQUEST = 0x5, + SCSI_SK_UNIT_ATTENTION = 0x6, + SCSI_SK_DATA_PROTECT = 0x7, + SCSI_SK_BLANK_CHECK = 0x8, + SCSI_SK_VENDOR_SPECIFIC = 0x9, + SCSI_SK_COPY_ABORTED = 0xA, + SCSI_SK_ABORTED_COMMAND = 0xB, + SCSI_SK_VOLUME_OVERFLOW = 0xD, + SCSI_SK_MISCOMPARE = 0xE, }; /* Additional Sense Code / Additional Sense Code Qualifier pairs */ enum scsi_asc_ascq { - SCSI_ASC_NO_ADDITIONAL_SENSE_INFO = 0x0000, - SCSI_ASC_LU_NOT_READY_REBUILD_IN_PROGRESS = 0x0405, - SCSI_ASC_WRITE_ERROR = 0x0C00, - SCSI_ASC_UNRECOVERED_READ_ERROR = 0x1100, - SCSI_ASC_INVALID_COMMAND_OPERATION_CODE = 0x2000, - SCSI_ASC_INVALID_FIELD_IN_CDB = 0x2400, - SCSI_ASC_WRITE_PROTECTED = 0x2700, - SCSI_ASC_NOT_READY_TO_READY_CHANGE = 0x2800, - SCSI_ASC_MEDIUM_NOT_PRESENT = 0x3A00, - SCSI_ASC_INTERNAL_TARGET_FAILURE = 0x4400, + SCSI_ASC_NO_ADDITIONAL_SENSE_INFO = 0x0000, + SCSI_ASC_LU_NOT_READY_REBUILD_IN_PROGRESS = 0x0405, + SCSI_ASC_WRITE_ERROR = 0x0C00, + SCSI_ASC_UNRECOVERED_READ_ERROR = 0x1100, + SCSI_ASC_INVALID_COMMAND_OPERATION_CODE = 0x2000, + SCSI_ASC_INVALID_FIELD_IN_CDB = 0x2400, + SCSI_ASC_WRITE_PROTECTED = 0x2700, + SCSI_ASC_NOT_READY_TO_READY_CHANGE = 0x2800, + SCSI_ASC_MEDIUM_NOT_PRESENT = 0x3A00, + SCSI_ASC_INTERNAL_TARGET_FAILURE = 0x4400, }; /** @@ -240,9 +239,9 @@ enum scsi_asc_ascq { * that are applicable to all SCSI devices. */ enum scsi_spc_mode { - SCSI_MS_MODE_VENDOR_SPEC = 0x00, - SCSI_MS_MODE_INFEXP = 0x1C, // Informational exceptions control page - SCSI_MS_MODE_ALL = 0x3F, + SCSI_MS_MODE_VENDOR_SPEC = 0x00, + SCSI_MS_MODE_INFEXP = 0x1C, // Informational exceptions control page + SCSI_MS_MODE_ALL = 0x3F, }; /** @@ -250,51 +249,45 @@ enum scsi_spc_mode { * See chapter 8.3.8 */ struct spc_control_page_info_execpt { - uint8_t page_code; - uint8_t page_length; -#define SPC_MP_INFEXP_PAGE_LENGTH 0x0A - uint8_t flags1; -#define SPC_MP_INFEXP_PERF (1<<7) //!< Initiator Control -#define SPC_MP_INFEXP_EBF (1<<5) //!< Caching Analysis Permitted -#define SPC_MP_INFEXP_EWASC (1<<4) //!< Discontinuity -#define SPC_MP_INFEXP_DEXCPT (1<<3) //!< Size enable -#define SPC_MP_INFEXP_TEST (1<<2) //!< Writeback Cache Enable -#define SPC_MP_INFEXP_LOGERR (1<<0) //!< Log errors bit - uint8_t mrie; -#define SPC_MP_INFEXP_MRIE_NO_REPORT 0x00 -#define SPC_MP_INFEXP_MRIE_ASYNC_EVENT 0x01 -#define SPC_MP_INFEXP_MRIE_GEN_UNIT 0x02 -#define SPC_MP_INFEXP_MRIE_COND_RECOV_ERROR 0x03 -#define SPC_MP_INFEXP_MRIE_UNCOND_RECOV_ERROR 0x04 -#define SPC_MP_INFEXP_MRIE_NO_SENSE 0x05 -#define SPC_MP_INFEXP_MRIE_ONLY_REPORT 0x06 - be32_t interval_timer; - be32_t report_count; + uint8_t page_code; + uint8_t page_length; + #define SPC_MP_INFEXP_PAGE_LENGTH 0x0A + uint8_t flags1; + #define SPC_MP_INFEXP_PERF (1<<7) //!< Initiator Control + #define SPC_MP_INFEXP_EBF (1<<5) //!< Caching Analysis Permitted + #define SPC_MP_INFEXP_EWASC (1<<4) //!< Discontinuity + #define SPC_MP_INFEXP_DEXCPT (1<<3) //!< Size enable + #define SPC_MP_INFEXP_TEST (1<<2) //!< Writeback Cache Enable + #define SPC_MP_INFEXP_LOGERR (1<<0) //!< Log errors bit + uint8_t mrie; + #define SPC_MP_INFEXP_MRIE_NO_REPORT 0x00 + #define SPC_MP_INFEXP_MRIE_ASYNC_EVENT 0x01 + #define SPC_MP_INFEXP_MRIE_GEN_UNIT 0x02 + #define SPC_MP_INFEXP_MRIE_COND_RECOV_ERROR 0x03 + #define SPC_MP_INFEXP_MRIE_UNCOND_RECOV_ERROR 0x04 + #define SPC_MP_INFEXP_MRIE_NO_SENSE 0x05 + #define SPC_MP_INFEXP_MRIE_ONLY_REPORT 0x06 + be32_t interval_timer; + be32_t report_count; }; - enum scsi_spc_mode_sense_pc { - SCSI_MS_SENSE_PC_CURRENT = 0, - SCSI_MS_SENSE_PC_CHANGEABLE = 1, - SCSI_MS_SENSE_PC_DEFAULT = 2, - SCSI_MS_SENSE_PC_SAVED = 3, + SCSI_MS_SENSE_PC_CURRENT = 0, + SCSI_MS_SENSE_PC_CHANGEABLE = 1, + SCSI_MS_SENSE_PC_DEFAULT = 2, + SCSI_MS_SENSE_PC_SAVED = 3, }; - - -static inline bool scsi_mode_sense_dbd_is_set(const uint8_t * cdb) -{ - return (cdb[1] >> 3) & 1; +static inline bool scsi_mode_sense_dbd_is_set(const uint8_t * cdb) { + return (cdb[1] >> 3) & 1; } -static inline uint8_t scsi_mode_sense_get_page_code(const uint8_t * cdb) -{ - return cdb[2] & 0x3F; +static inline uint8_t scsi_mode_sense_get_page_code(const uint8_t * cdb) { + return cdb[2] & 0x3F; } -static inline uint8_t scsi_mode_sense_get_pc(const uint8_t * cdb) -{ - return cdb[2] >> 6; +static inline uint8_t scsi_mode_sense_get_pc(const uint8_t * cdb) { + return cdb[2] >> 6; } /** @@ -302,10 +295,10 @@ static inline uint8_t scsi_mode_sense_get_pc(const uint8_t * cdb) * SENSE(6) */ struct scsi_mode_param_header6 { - uint8_t mode_data_length; //!< Number of bytes after this - uint8_t medium_type; //!< Medium Type - uint8_t device_specific_parameter; //!< Defined by command set - uint8_t block_descriptor_length; //!< Length of block descriptors + uint8_t mode_data_length; //!< Number of bytes after this + uint8_t medium_type; //!< Medium Type + uint8_t device_specific_parameter; //!< Defined by command set + uint8_t block_descriptor_length; //!< Length of block descriptors }; /** @@ -313,23 +306,23 @@ struct scsi_mode_param_header6 { * SENSE(10) */ struct scsi_mode_param_header10 { - be16_t mode_data_length; //!< Number of bytes after this - uint8_t medium_type; //!< Medium Type - uint8_t device_specific_parameter; //!< Defined by command set - uint8_t flags4; //!< LONGLBA in bit 0 - uint8_t reserved; - be16_t block_descriptor_length; //!< Length of block descriptors + be16_t mode_data_length; //!< Number of bytes after this + uint8_t medium_type; //!< Medium Type + uint8_t device_specific_parameter; //!< Defined by command set + uint8_t flags4; //!< LONGLBA in bit 0 + uint8_t reserved; + be16_t block_descriptor_length; //!< Length of block descriptors }; /** * \brief SCSI Page_0 Mode Page header (SPF not set) */ struct scsi_mode_page_0_header { - uint8_t page_code; -#define SCSI_PAGE_CODE_PS (1 << 7) //!< Parameters Saveable -#define SCSI_PAGE_CODE_SPF (1 << 6) //!< SubPage Format - uint8_t page_length; //!< Number of bytes after this -#define SCSI_MS_PAGE_LEN(total) ((total) - 2) + uint8_t page_code; +#define SCSI_PAGE_CODE_PS (1 << 7) //!< Parameters Saveable +#define SCSI_PAGE_CODE_SPF (1 << 6) //!< SubPage Format + uint8_t page_length; //!< Number of bytes after this +#define SCSI_MS_PAGE_LEN(total) ((total) - 2) }; //@} diff --git a/Marlin/src/HAL/DUE/usb/sysclk.h b/Marlin/src/HAL/DUE/usb/sysclk.h index 16db8c86d3..0623378615 100644 --- a/Marlin/src/HAL/DUE/usb/sysclk.h +++ b/Marlin/src/HAL/DUE/usb/sysclk.h @@ -71,7 +71,7 @@ * \subsection sysclk_quickstart_use_case_1_setup_steps Initialization code * Add to the application initialization code: * \code - sysclk_init(); + sysclk_init(); \endcode * * \subsection sysclk_quickstart_use_case_1_setup_steps_workflow Workflow @@ -82,15 +82,15 @@ * Add or uncomment the following in your conf_clock.h header file, commenting out all other * definitions of the same symbol(s): * \code - #define CONFIG_SYSCLK_SOURCE SYSCLK_SRC_PLLACK + #define CONFIG_SYSCLK_SOURCE SYSCLK_SRC_PLLACK - // Fpll0 = (Fclk * PLL_mul) / PLL_div - #define CONFIG_PLL0_SOURCE PLL_SRC_MAINCK_XTAL - #define CONFIG_PLL0_MUL (84000000UL / BOARD_FREQ_MAINCK_XTAL) - #define CONFIG_PLL0_DIV 1 + // Fpll0 = (Fclk * PLL_mul) / PLL_div + #define CONFIG_PLL0_SOURCE PLL_SRC_MAINCK_XTAL + #define CONFIG_PLL0_MUL (84000000UL / BOARD_FREQ_MAINCK_XTAL) + #define CONFIG_PLL0_DIV 1 - // Fbus = Fsys / BUS_div - #define CONFIG_SYSCLK_PRES SYSCLK_PRES_1 + // Fbus = Fsys / BUS_div + #define CONFIG_SYSCLK_PRES SYSCLK_PRES_1 \endcode * * \subsection sysclk_quickstart_use_case_1_example_workflow Workflow @@ -100,14 +100,14 @@ * \code #define CONFIG_PLL0_SOURCE PLL_SRC_MAINCK_XTAL \endcode * -# Configure the PLL module to multiply the external fast crystal oscillator frequency up to 84MHz: * \code - #define CONFIG_PLL0_MUL (84000000UL / BOARD_FREQ_MAINCK_XTAL) - #define CONFIG_PLL0_DIV 1 + #define CONFIG_PLL0_MUL (84000000UL / BOARD_FREQ_MAINCK_XTAL) + #define CONFIG_PLL0_DIV 1 \endcode * \note For user boards, \c BOARD_FREQ_MAINCK_XTAL should be defined in the board \c conf_board.h configuration * file as the frequency of the fast crystal attached to the microcontroller. * -# Configure the main clock to run at the full 84MHz, disable scaling of the main system clock speed: * \code - #define CONFIG_SYSCLK_PRES SYSCLK_PRES_1 + #define CONFIG_SYSCLK_PRES SYSCLK_PRES_1 \endcode * \note Some dividers are powers of two, while others are integer division factors. Refer to the * formulas in the conf_clock.h template commented above each division define. @@ -136,7 +136,7 @@ extern "C" { * initialization. */ #ifndef CONFIG_SYSCLK_SOURCE -# define CONFIG_SYSCLK_SOURCE SYSCLK_SRC_MAINCK_4M_RC + #define CONFIG_SYSCLK_SOURCE SYSCLK_SRC_MAINCK_4M_RC #endif /** * \def CONFIG_SYSCLK_PRES @@ -149,7 +149,7 @@ extern "C" { * after initialization. */ #ifndef CONFIG_SYSCLK_PRES -# define CONFIG_SYSCLK_PRES 0 + #define CONFIG_SYSCLK_PRES 0 #endif //@} @@ -197,7 +197,7 @@ extern "C" { * USB is not required. */ #ifdef __DOXYGEN__ -# define CONFIG_USBCLK_SOURCE + #define CONFIG_USBCLK_SOURCE #endif /** @@ -209,7 +209,7 @@ extern "C" { * defined. */ #ifdef __DOXYGEN__ -# define CONFIG_USBCLK_DIV + #define CONFIG_USBCLK_DIV #endif diff --git a/Marlin/src/HAL/DUE/usb/udc.h b/Marlin/src/HAL/DUE/usb/udc.h index 8d92eb5c03..6230a81b35 100644 --- a/Marlin/src/HAL/DUE/usb/udc.h +++ b/Marlin/src/HAL/DUE/usb/udc.h @@ -144,15 +144,15 @@ extern "C" { * \code #define USB_DEVICE_ATTACH_AUTO_DISABLE \endcode * User C file contains: * \code - // Authorize VBUS monitoring - if (!udc_include_vbus_monitoring()) { - // Implement custom VBUS monitoring via GPIO or other - } - Event_VBUS_present() // VBUS interrupt or GPIO interrupt or other - { - // Attach USB Device - udc_attach(); - } + // Authorize VBUS monitoring + if (!udc_include_vbus_monitoring()) { + // Implement custom VBUS monitoring via GPIO or other + } + Event_VBUS_present() // VBUS interrupt or GPIO interrupt or other + { + // Attach USB Device + udc_attach(); + } \endcode * * - Case of battery charging. conf_usb.h file contains define @@ -160,21 +160,20 @@ extern "C" { * \code #define USB_DEVICE_ATTACH_AUTO_DISABLE \endcode * User C file contains: * \code - Event VBUS present() // VBUS interrupt or GPIO interrupt or .. - { - // Authorize battery charging, but wait key press to start USB. - } - Event Key press() - { - // Stop batteries charging - // Start USB - udc_attach(); - } + Event VBUS present() // VBUS interrupt or GPIO interrupt or .. + { + // Authorize battery charging, but wait key press to start USB. + } + Event Key press() + { + // Stop batteries charging + // Start USB + udc_attach(); + } \endcode */ -static inline bool udc_include_vbus_monitoring(void) -{ - return udd_include_vbus_monitoring(); +static inline bool udc_include_vbus_monitoring(void) { + return udd_include_vbus_monitoring(); } /*! \brief Start the USB Device stack @@ -192,32 +191,26 @@ void udc_stop(void); * then it will attach device when an acceptable Vbus * level from the host is detected. */ -static inline void udc_attach(void) -{ - udd_attach(); +static inline void udc_attach(void) { + udd_attach(); } - /** * \brief Detaches the device from the bus * * The driver must remove pull-up on USB line D- or D+. */ -static inline void udc_detach(void) -{ - udd_detach(); +static inline void udc_detach(void) { + udd_detach(); } - /*! \brief The USB driver sends a resume signal called \e "Upstream Resume" * This is authorized only when the remote wakeup feature is enabled by host. */ -static inline void udc_remotewakeup(void) -{ - udd_send_remotewakeup(); +static inline void udc_remotewakeup(void) { + udd_send_remotewakeup(); } - /** * \brief Returns a pointer on the current interface descriptor * @@ -296,23 +289,23 @@ usb_iface_desc_t UDC_DESC_STORAGE *udc_get_interface_desc(void); * * for AVR and SAM3/4 devices, add to the initialization code: * \code - sysclk_init(); - irq_initialize_vectors(); - cpu_irq_enable(); - board_init(); - sleepmgr_init(); // Optional + sysclk_init(); + irq_initialize_vectors(); + cpu_irq_enable(); + board_init(); + sleepmgr_init(); // Optional \endcode * * For SAMD devices, add to the initialization code: * \code - system_init(); - irq_initialize_vectors(); - cpu_irq_enable(); - sleepmgr_init(); // Optional + system_init(); + irq_initialize_vectors(); + cpu_irq_enable(); + sleepmgr_init(); // Optional \endcode * Add to the main IDLE loop: * \code - sleepmgr_enter_sleep(); // Optional + sleepmgr_enter_sleep(); // Optional \endcode * */ @@ -324,20 +317,20 @@ usb_iface_desc_t UDC_DESC_STORAGE *udc_get_interface_desc(void); * * Content of conf_usb.h: * \code - #define USB_DEVICE_VENDOR_ID 0x03EB - #define USB_DEVICE_PRODUCT_ID 0xXXXX - #define USB_DEVICE_MAJOR_VERSION 1 - #define USB_DEVICE_MINOR_VERSION 0 - #define USB_DEVICE_POWER 100 - #define USB_DEVICE_ATTR USB_CONFIG_ATTR_BUS_POWERED + #define USB_DEVICE_VENDOR_ID 0x03EB + #define USB_DEVICE_PRODUCT_ID 0xXXXX + #define USB_DEVICE_MAJOR_VERSION 1 + #define USB_DEVICE_MINOR_VERSION 0 + #define USB_DEVICE_POWER 100 + #define USB_DEVICE_ATTR USB_CONFIG_ATTR_BUS_POWERED \endcode * * Add to application C-file: * \code - void usb_init(void) - { - udc_start(); - } + void usb_init(void) + { + udc_start(); + } \endcode */ @@ -349,17 +342,17 @@ usb_iface_desc_t UDC_DESC_STORAGE *udc_get_interface_desc(void); * -# Ensure that conf_usb.h is available and contains the following configuration * which is the main USB device configuration: * - \code // Vendor ID provided by USB org (ATMEL 0x03EB) - #define USB_DEVICE_VENDOR_ID 0x03EB // Type Word - // Product ID (Atmel PID referenced in usb_atmel.h) - #define USB_DEVICE_PRODUCT_ID 0xXXXX // Type Word - // Major version of the device - #define USB_DEVICE_MAJOR_VERSION 1 // Type Byte - // Minor version of the device - #define USB_DEVICE_MINOR_VERSION 0 // Type Byte - // Maximum device power (mA) - #define USB_DEVICE_POWER 100 // Type 9-bits - // USB attributes to enable features - #define USB_DEVICE_ATTR USB_CONFIG_ATTR_BUS_POWERED // Flags \endcode + #define USB_DEVICE_VENDOR_ID 0x03EB // Type Word + // Product ID (Atmel PID referenced in usb_atmel.h) + #define USB_DEVICE_PRODUCT_ID 0xXXXX // Type Word + // Major version of the device + #define USB_DEVICE_MAJOR_VERSION 1 // Type Byte + // Minor version of the device + #define USB_DEVICE_MINOR_VERSION 0 // Type Byte + // Maximum device power (mA) + #define USB_DEVICE_POWER 100 // Type 9-bits + // USB attributes to enable features + #define USB_DEVICE_ATTR USB_CONFIG_ATTR_BUS_POWERED // Flags \endcode * -# Call the USB device stack start function to enable stack and start USB: * - \code udc_start(); \endcode * \note In case of USB dual roles (Device and Host) managed through USB OTG connector @@ -372,90 +365,90 @@ usb_iface_desc_t UDC_DESC_STORAGE *udc_get_interface_desc(void); * * Content of XMEGA conf_clock.h: * \code - // Configuration based on internal RC: - // USB clock need of 48Mhz - #define CONFIG_USBCLK_SOURCE USBCLK_SRC_RCOSC - #define CONFIG_OSC_RC32_CAL 48000000UL - #define CONFIG_OSC_AUTOCAL_RC32MHZ_REF_OSC OSC_ID_USBSOF - // CPU clock need of clock > 12MHz to run with USB (Here 24MHz) - #define CONFIG_SYSCLK_SOURCE SYSCLK_SRC_RC32MHZ - #define CONFIG_SYSCLK_PSADIV SYSCLK_PSADIV_2 - #define CONFIG_SYSCLK_PSBCDIV SYSCLK_PSBCDIV_1_1 + // Configuration based on internal RC: + // USB clock need of 48Mhz + #define CONFIG_USBCLK_SOURCE USBCLK_SRC_RCOSC + #define CONFIG_OSC_RC32_CAL 48000000UL + #define CONFIG_OSC_AUTOCAL_RC32MHZ_REF_OSC OSC_ID_USBSOF + // CPU clock need of clock > 12MHz to run with USB (Here 24MHz) + #define CONFIG_SYSCLK_SOURCE SYSCLK_SRC_RC32MHZ + #define CONFIG_SYSCLK_PSADIV SYSCLK_PSADIV_2 + #define CONFIG_SYSCLK_PSBCDIV SYSCLK_PSBCDIV_1_1 \endcode * * Content of conf_clock.h for AT32UC3A0, AT32UC3A1, AT32UC3B devices (USBB): * \code - // Configuration based on 12MHz external OSC: - #define CONFIG_PLL1_SOURCE PLL_SRC_OSC0 - #define CONFIG_PLL1_MUL 8 - #define CONFIG_PLL1_DIV 2 - #define CONFIG_USBCLK_SOURCE USBCLK_SRC_PLL1 - #define CONFIG_USBCLK_DIV 1 // Fusb = Fsys/(2 ^ USB_div) + // Configuration based on 12MHz external OSC: + #define CONFIG_PLL1_SOURCE PLL_SRC_OSC0 + #define CONFIG_PLL1_MUL 8 + #define CONFIG_PLL1_DIV 2 + #define CONFIG_USBCLK_SOURCE USBCLK_SRC_PLL1 + #define CONFIG_USBCLK_DIV 1 // Fusb = Fsys/(2 ^ USB_div) \endcode * * Content of conf_clock.h for AT32UC3A3, AT32UC3A4 devices (USBB with high speed support): * \code - // Configuration based on 12MHz external OSC: - #define CONFIG_USBCLK_SOURCE USBCLK_SRC_OSC0 - #define CONFIG_USBCLK_DIV 1 // Fusb = Fsys/(2 ^ USB_div) + // Configuration based on 12MHz external OSC: + #define CONFIG_USBCLK_SOURCE USBCLK_SRC_OSC0 + #define CONFIG_USBCLK_DIV 1 // Fusb = Fsys/(2 ^ USB_div) \endcode * * Content of conf_clock.h for AT32UC3C, ATUCXXD, ATUCXXL3U, ATUCXXL4U devices (USBC): * \code - // Configuration based on 12MHz external OSC: - #define CONFIG_PLL1_SOURCE PLL_SRC_OSC0 - #define CONFIG_PLL1_MUL 8 - #define CONFIG_PLL1_DIV 2 - #define CONFIG_USBCLK_SOURCE USBCLK_SRC_PLL1 - #define CONFIG_USBCLK_DIV 1 // Fusb = Fsys/(2 ^ USB_div) - // CPU clock need of clock > 25MHz to run with USBC - #define CONFIG_SYSCLK_SOURCE SYSCLK_SRC_PLL1 + // Configuration based on 12MHz external OSC: + #define CONFIG_PLL1_SOURCE PLL_SRC_OSC0 + #define CONFIG_PLL1_MUL 8 + #define CONFIG_PLL1_DIV 2 + #define CONFIG_USBCLK_SOURCE USBCLK_SRC_PLL1 + #define CONFIG_USBCLK_DIV 1 // Fusb = Fsys/(2 ^ USB_div) + // CPU clock need of clock > 25MHz to run with USBC + #define CONFIG_SYSCLK_SOURCE SYSCLK_SRC_PLL1 \endcode * * Content of conf_clock.h for SAM3S, SAM3SD, SAM4S devices (UPD: USB Peripheral Device): * \code - // PLL1 (B) Options (Fpll = (Fclk * PLL_mul) / PLL_div) - #define CONFIG_PLL1_SOURCE PLL_SRC_MAINCK_XTAL - #define CONFIG_PLL1_MUL 16 - #define CONFIG_PLL1_DIV 2 - // USB Clock Source Options (Fusb = FpllX / USB_div) - #define CONFIG_USBCLK_SOURCE USBCLK_SRC_PLL1 - #define CONFIG_USBCLK_DIV 2 + // PLL1 (B) Options (Fpll = (Fclk * PLL_mul) / PLL_div) + #define CONFIG_PLL1_SOURCE PLL_SRC_MAINCK_XTAL + #define CONFIG_PLL1_MUL 16 + #define CONFIG_PLL1_DIV 2 + // USB Clock Source Options (Fusb = FpllX / USB_div) + #define CONFIG_USBCLK_SOURCE USBCLK_SRC_PLL1 + #define CONFIG_USBCLK_DIV 2 \endcode * * Content of conf_clock.h for SAM3U device (UPDHS: USB Peripheral Device High Speed): * \code - // USB Clock Source fixed at UPLL. + // USB Clock Source fixed at UPLL. \endcode * * Content of conf_clock.h for SAM3X, SAM3A devices (UOTGHS: USB OTG High Speed): * \code - // USB Clock Source fixed at UPLL. - #define CONFIG_USBCLK_SOURCE USBCLK_SRC_UPLL - #define CONFIG_USBCLK_DIV 1 + // USB Clock Source fixed at UPLL. + #define CONFIG_USBCLK_SOURCE USBCLK_SRC_UPLL + #define CONFIG_USBCLK_DIV 1 \endcode * * Content of conf_clocks.h for SAMD devices (USB): * \code - // System clock bus configuration - # define CONF_CLOCK_FLASH_WAIT_STATES 2 + // System clock bus configuration + # define CONF_CLOCK_FLASH_WAIT_STATES 2 - // USB Clock Source fixed at DFLL. - // SYSTEM_CLOCK_SOURCE_DFLL configuration - Digital Frequency Locked Loop - # define CONF_CLOCK_DFLL_ENABLE true - # define CONF_CLOCK_DFLL_LOOP_MODE SYSTEM_CLOCK_DFLL_LOOP_MODE_USB_RECOVERY - # define CONF_CLOCK_DFLL_ON_DEMAND true + // USB Clock Source fixed at DFLL. + // SYSTEM_CLOCK_SOURCE_DFLL configuration - Digital Frequency Locked Loop + # define CONF_CLOCK_DFLL_ENABLE true + # define CONF_CLOCK_DFLL_LOOP_MODE SYSTEM_CLOCK_DFLL_LOOP_MODE_USB_RECOVERY + # define CONF_CLOCK_DFLL_ON_DEMAND true - // Set this to true to configure the GCLK when running clocks_init. - // If set to false, none of the GCLK generators will be configured in clocks_init(). - # define CONF_CLOCK_CONFIGURE_GCLK true + // Set this to true to configure the GCLK when running clocks_init. + // If set to false, none of the GCLK generators will be configured in clocks_init(). + # define CONF_CLOCK_CONFIGURE_GCLK true - // Configure GCLK generator 0 (Main Clock) - # define CONF_CLOCK_GCLK_0_ENABLE true - # define CONF_CLOCK_GCLK_0_RUN_IN_STANDBY true - # define CONF_CLOCK_GCLK_0_CLOCK_SOURCE SYSTEM_CLOCK_SOURCE_DFLL - # define CONF_CLOCK_GCLK_0_PRESCALER 1 - # define CONF_CLOCK_GCLK_0_OUTPUT_ENABLE false + // Configure GCLK generator 0 (Main Clock) + # define CONF_CLOCK_GCLK_0_ENABLE true + # define CONF_CLOCK_GCLK_0_RUN_IN_STANDBY true + # define CONF_CLOCK_GCLK_0_CLOCK_SOURCE SYSTEM_CLOCK_SOURCE_DFLL + # define CONF_CLOCK_GCLK_0_PRESCALER 1 + # define CONF_CLOCK_GCLK_0_OUTPUT_ENABLE false \endcode */ @@ -474,34 +467,34 @@ usb_iface_desc_t UDC_DESC_STORAGE *udc_get_interface_desc(void); * \subsection udc_use_case_1_usage_code Example code * Content of conf_usb.h: * \code - #if // Low speed - #define USB_DEVICE_LOW_SPEED - // #define USB_DEVICE_HS_SUPPORT + #if // Low speed + #define USB_DEVICE_LOW_SPEED + // #define USB_DEVICE_HS_SUPPORT - #elif // Full speed - // #define USB_DEVICE_LOW_SPEED - // #define USB_DEVICE_HS_SUPPORT + #elif // Full speed + // #define USB_DEVICE_LOW_SPEED + // #define USB_DEVICE_HS_SUPPORT - #elif // High speed - // #define USB_DEVICE_LOW_SPEED - #define USB_DEVICE_HS_SUPPORT + #elif // High speed + // #define USB_DEVICE_LOW_SPEED + #define USB_DEVICE_HS_SUPPORT - #endif + #endif \endcode * * \subsection udc_use_case_1_usage_flow Workflow * -# Ensure that conf_usb.h is available and contains the following parameters * required for a USB device low speed (1.5Mbit/s): * - \code #define USB_DEVICE_LOW_SPEED - //#define USB_DEVICE_HS_SUPPORT \endcode + //#define USB_DEVICE_HS_SUPPORT \endcode * -# Ensure that conf_usb.h contains the following parameters * required for a USB device full speed (12Mbit/s): * - \code //#define USB_DEVICE_LOW_SPEED - //#define USB_DEVICE_HS_SUPPORT \endcode + //#define USB_DEVICE_HS_SUPPORT \endcode * -# Ensure that conf_usb.h contains the following parameters * required for a USB device high speed (480Mbit/s): * - \code //#define USB_DEVICE_LOW_SPEED - #define USB_DEVICE_HS_SUPPORT \endcode + #define USB_DEVICE_HS_SUPPORT \endcode */ /** @@ -518,20 +511,20 @@ usb_iface_desc_t UDC_DESC_STORAGE *udc_get_interface_desc(void); * \subsection udc_use_case_2_usage_code Example code * Content of conf_usb.h: * \code - #define USB_DEVICE_MANUFACTURE_NAME "Manufacture name" - #define USB_DEVICE_PRODUCT_NAME "Product name" - #define USB_DEVICE_SERIAL_NAME "12...EF" + #define USB_DEVICE_MANUFACTURE_NAME "Manufacture name" + #define USB_DEVICE_PRODUCT_NAME "Product name" + #define USB_DEVICE_SERIAL_NAME "12...EF" \endcode * * \subsection udc_use_case_2_usage_flow Workflow * -# Ensure that conf_usb.h is available and contains the following parameters * required to enable different USB strings: * - \code // Static ASCII name for the manufacture - #define USB_DEVICE_MANUFACTURE_NAME "Manufacture name" \endcode + #define USB_DEVICE_MANUFACTURE_NAME "Manufacture name" \endcode * - \code // Static ASCII name for the product - #define USB_DEVICE_PRODUCT_NAME "Product name" \endcode + #define USB_DEVICE_PRODUCT_NAME "Product name" \endcode * - \code // Static ASCII name to enable and set a serial number - #define USB_DEVICE_SERIAL_NAME "12...EF" \endcode + #define USB_DEVICE_SERIAL_NAME "12...EF" \endcode */ /** @@ -548,42 +541,42 @@ usb_iface_desc_t UDC_DESC_STORAGE *udc_get_interface_desc(void); * \subsection udc_use_case_3_usage_code Example code * Content of conf_usb.h: * \code - #define USB_DEVICE_ATTR \ - (USB_CONFIG_ATTR_REMOTE_WAKEUP | USB_CONFIG_ATTR_..._POWERED) - #define UDC_REMOTEWAKEUP_ENABLE() my_callback_remotewakeup_enable() - extern void my_callback_remotewakeup_enable(void); - #define UDC_REMOTEWAKEUP_DISABLE() my_callback_remotewakeup_disable() - extern void my_callback_remotewakeup_disable(void); + #define USB_DEVICE_ATTR \ + (USB_CONFIG_ATTR_REMOTE_WAKEUP | USB_CONFIG_ATTR_..._POWERED) + #define UDC_REMOTEWAKEUP_ENABLE() my_callback_remotewakeup_enable() + extern void my_callback_remotewakeup_enable(void); + #define UDC_REMOTEWAKEUP_DISABLE() my_callback_remotewakeup_disable() + extern void my_callback_remotewakeup_disable(void); \endcode * * Add to application C-file: * \code - void my_callback_remotewakeup_enable(void) - { - // Enable application wakeup events (e.g. enable GPIO interrupt) - } - void my_callback_remotewakeup_disable(void) - { - // Disable application wakeup events (e.g. disable GPIO interrupt) - } + void my_callback_remotewakeup_enable(void) + { + // Enable application wakeup events (e.g. enable GPIO interrupt) + } + void my_callback_remotewakeup_disable(void) + { + // Disable application wakeup events (e.g. disable GPIO interrupt) + } - void my_interrupt_event(void) - { - udc_remotewakeup(); - } + void my_interrupt_event(void) + { + udc_remotewakeup(); + } \endcode * * \subsection udc_use_case_3_usage_flow Workflow * -# Ensure that conf_usb.h is available and contains the following parameters * required to enable remote wakeup feature: * - \code // Authorizes the remote wakeup feature - #define USB_DEVICE_ATTR (USB_CONFIG_ATTR_REMOTE_WAKEUP | USB_CONFIG_ATTR_..._POWERED) \endcode + #define USB_DEVICE_ATTR (USB_CONFIG_ATTR_REMOTE_WAKEUP | USB_CONFIG_ATTR_..._POWERED) \endcode * - \code // Define callback called when the host enables the remotewakeup feature - #define UDC_REMOTEWAKEUP_ENABLE() my_callback_remotewakeup_enable() - extern void my_callback_remotewakeup_enable(void); \endcode + #define UDC_REMOTEWAKEUP_ENABLE() my_callback_remotewakeup_enable() + extern void my_callback_remotewakeup_enable(void); \endcode * - \code // Define callback called when the host disables the remotewakeup feature - #define UDC_REMOTEWAKEUP_DISABLE() my_callback_remotewakeup_disable() - extern void my_callback_remotewakeup_disable(void); \endcode + #define UDC_REMOTEWAKEUP_DISABLE() my_callback_remotewakeup_disable() + extern void my_callback_remotewakeup_disable(void); \endcode * -# Send a remote wakeup (USB upstream): * - \code udc_remotewakeup(); \endcode */ @@ -603,40 +596,40 @@ usb_iface_desc_t UDC_DESC_STORAGE *udc_get_interface_desc(void); * \subsection udc_use_case_5_usage_code Example code * Content of conf_usb.h: * \code - #define USB_DEVICE_ATTR (USB_CONFIG_ATTR_BUS_POWERED) - #define UDC_SUSPEND_EVENT() user_callback_suspend_action() - extern void user_callback_suspend_action(void) - #define UDC_RESUME_EVENT() user_callback_resume_action() - extern void user_callback_resume_action(void) + #define USB_DEVICE_ATTR (USB_CONFIG_ATTR_BUS_POWERED) + #define UDC_SUSPEND_EVENT() user_callback_suspend_action() + extern void user_callback_suspend_action(void) + #define UDC_RESUME_EVENT() user_callback_resume_action() + extern void user_callback_resume_action(void) \endcode * * Add to application C-file: * \code - void user_callback_suspend_action(void) - { - // Disable hardware component to reduce power consumption - } - void user_callback_resume_action(void) - { - // Re-enable hardware component - } + void user_callback_suspend_action(void) + { + // Disable hardware component to reduce power consumption + } + void user_callback_resume_action(void) + { + // Re-enable hardware component + } \endcode * * \subsection udc_use_case_5_usage_flow Workflow * -# Ensure that conf_usb.h is available and contains the following parameters: * - \code // Authorizes the BUS power feature - #define USB_DEVICE_ATTR (USB_CONFIG_ATTR_BUS_POWERED) \endcode + #define USB_DEVICE_ATTR (USB_CONFIG_ATTR_BUS_POWERED) \endcode * - \code // Define callback called when the host suspend the USB line - #define UDC_SUSPEND_EVENT() user_callback_suspend_action() - extern void user_callback_suspend_action(void); \endcode + #define UDC_SUSPEND_EVENT() user_callback_suspend_action() + extern void user_callback_suspend_action(void); \endcode * - \code // Define callback called when the host or device resume the USB line - #define UDC_RESUME_EVENT() user_callback_resume_action() - extern void user_callback_resume_action(void); \endcode + #define UDC_RESUME_EVENT() user_callback_resume_action() + extern void user_callback_resume_action(void); \endcode * -# Reduce power consumption in suspend mode (max. 2.5mA on Vbus): * - \code void user_callback_suspend_action(void) - { - turn_off_components(); - } \endcode + { + turn_off_components(); + } \endcode */ /** @@ -654,42 +647,42 @@ usb_iface_desc_t UDC_DESC_STORAGE *udc_get_interface_desc(void); * \subsection udc_use_case_6_usage_code Example code * Content of conf_usb.h: * \code - #define USB_DEVICE_SERIAL_NAME - #define USB_DEVICE_GET_SERIAL_NAME_POINTER serial_number - #define USB_DEVICE_GET_SERIAL_NAME_LENGTH 12 - extern uint8_t serial_number[]; + #define USB_DEVICE_SERIAL_NAME + #define USB_DEVICE_GET_SERIAL_NAME_POINTER serial_number + #define USB_DEVICE_GET_SERIAL_NAME_LENGTH 12 + extern uint8_t serial_number[]; \endcode * * Add to application C-file: * \code - uint8_t serial_number[USB_DEVICE_GET_SERIAL_NAME_LENGTH]; + uint8_t serial_number[USB_DEVICE_GET_SERIAL_NAME_LENGTH]; - void init_build_usb_serial_number(void) - { - serial_number[0] = 'A'; - serial_number[1] = 'B'; - ... - serial_number[USB_DEVICE_GET_SERIAL_NAME_LENGTH-1] = 'C'; - } \endcode + void init_build_usb_serial_number(void) + { + serial_number[0] = 'A'; + serial_number[1] = 'B'; + ... + serial_number[USB_DEVICE_GET_SERIAL_NAME_LENGTH-1] = 'C'; + } \endcode * * \subsection udc_use_case_6_usage_flow Workflow * -# Ensure that conf_usb.h is available and contains the following parameters * required to enable a USB serial number strings dynamically: * - \code #define USB_DEVICE_SERIAL_NAME // Define this empty - #define USB_DEVICE_GET_SERIAL_NAME_POINTER serial_number // Give serial array pointer - #define USB_DEVICE_GET_SERIAL_NAME_LENGTH 12 // Give size of serial array - extern uint8_t serial_number[]; // Declare external serial array \endcode + #define USB_DEVICE_GET_SERIAL_NAME_POINTER serial_number // Give serial array pointer + #define USB_DEVICE_GET_SERIAL_NAME_LENGTH 12 // Give size of serial array + extern uint8_t serial_number[]; // Declare external serial array \endcode * -# Before start USB stack, initialize the serial array * - \code - uint8_t serial_number[USB_DEVICE_GET_SERIAL_NAME_LENGTH]; + uint8_t serial_number[USB_DEVICE_GET_SERIAL_NAME_LENGTH]; - void init_build_usb_serial_number(void) - { - serial_number[0] = 'A'; - serial_number[1] = 'B'; - ... - serial_number[USB_DEVICE_GET_SERIAL_NAME_LENGTH-1] = 'C'; - } \endcode + void init_build_usb_serial_number(void) + { + serial_number[0] = 'A'; + serial_number[1] = 'B'; + ... + serial_number[USB_DEVICE_GET_SERIAL_NAME_LENGTH-1] = 'C'; + } \endcode */ diff --git a/Marlin/src/HAL/DUE/usb/udc_desc.h b/Marlin/src/HAL/DUE/usb/udc_desc.h index 052ca08eca..f1f328d035 100644 --- a/Marlin/src/HAL/DUE/usb/udc_desc.h +++ b/Marlin/src/HAL/DUE/usb/udc_desc.h @@ -78,50 +78,47 @@ extern "C" { * For Mega application used "code". */ #define UDC_DESC_STORAGE - // Descriptor storage in internal RAM + // Descriptor storage in internal RAM #if (defined UDC_DATA_USE_HRAM_SUPPORT) -# if defined(__GNUC__) -# define UDC_DATA(x) COMPILER_WORD_ALIGNED __attribute__((__section__(".data_hram0"))) -# define UDC_BSS(x) COMPILER_ALIGNED(x) __attribute__((__section__(".bss_hram0"))) -# elif defined(__ICCAVR32__) -# define UDC_DATA(x) COMPILER_ALIGNED(x) __data32 -# define UDC_BSS(x) COMPILER_ALIGNED(x) __data32 -# endif -#else -# define UDC_DATA(x) COMPILER_ALIGNED(x) -# define UDC_BSS(x) COMPILER_ALIGNED(x) + #if defined(__GNUC__) + #define UDC_DATA(x) COMPILER_WORD_ALIGNED __attribute__((__section__(".data_hram0"))) + #define UDC_BSS(x) COMPILER_ALIGNED(x) __attribute__((__section__(".bss_hram0"))) +#elif defined(__ICCAVR32__) + #define UDC_DATA(x) COMPILER_ALIGNED(x) __data32 + #define UDC_BSS(x) COMPILER_ALIGNED(x) __data32 +#endif +#else + #define UDC_DATA(x) COMPILER_ALIGNED(x) + #define UDC_BSS(x) COMPILER_ALIGNED(x) #endif - - /** * \brief Configuration descriptor and UDI link for one USB speed */ typedef struct { - //! USB configuration descriptor - usb_conf_desc_t UDC_DESC_STORAGE *desc; - //! Array of UDI API pointer - udi_api_t UDC_DESC_STORAGE *UDC_DESC_STORAGE * udi_apis; + //! USB configuration descriptor + usb_conf_desc_t UDC_DESC_STORAGE *desc; + //! Array of UDI API pointer + udi_api_t UDC_DESC_STORAGE *UDC_DESC_STORAGE * udi_apis; } udc_config_speed_t; - /** * \brief All information about the USB Device */ typedef struct { - //! USB device descriptor for low or full speed - usb_dev_desc_t UDC_DESC_STORAGE *confdev_lsfs; - //! USB configuration descriptor and UDI API pointers for low or full speed - udc_config_speed_t UDC_DESC_STORAGE *conf_lsfs; -#ifdef USB_DEVICE_HS_SUPPORT - //! USB device descriptor for high speed - usb_dev_desc_t UDC_DESC_STORAGE *confdev_hs; - //! USB device qualifier, only use in high speed mode - usb_dev_qual_desc_t UDC_DESC_STORAGE *qualifier; - //! USB configuration descriptor and UDI API pointers for high speed - udc_config_speed_t UDC_DESC_STORAGE *conf_hs; -#endif - usb_dev_bos_desc_t UDC_DESC_STORAGE *conf_bos; + //! USB device descriptor for low or full speed + usb_dev_desc_t UDC_DESC_STORAGE *confdev_lsfs; + //! USB configuration descriptor and UDI API pointers for low or full speed + udc_config_speed_t UDC_DESC_STORAGE *conf_lsfs; + #ifdef USB_DEVICE_HS_SUPPORT + //! USB device descriptor for high speed + usb_dev_desc_t UDC_DESC_STORAGE *confdev_hs; + //! USB device qualifier, only use in high speed mode + usb_dev_qual_desc_t UDC_DESC_STORAGE *qualifier; + //! USB configuration descriptor and UDI API pointers for high speed + udc_config_speed_t UDC_DESC_STORAGE *conf_hs; + #endif + usb_dev_bos_desc_t UDC_DESC_STORAGE *conf_bos; } udc_config_t; //! Global variables of USB Device Descriptor and UDI links diff --git a/Marlin/src/HAL/DUE/usb/udd.h b/Marlin/src/HAL/DUE/usb/udd.h index 319d8842f7..6eda465e54 100644 --- a/Marlin/src/HAL/DUE/usb/udd.h +++ b/Marlin/src/HAL/DUE/usb/udd.h @@ -71,8 +71,8 @@ typedef uint8_t udd_ep_id_t; //! \brief Endpoint transfer status //! Returned in parameters of callback register via udd_ep_run routine. typedef enum { - UDD_EP_TRANSFER_OK = 0, - UDD_EP_TRANSFER_ABORT = 1, + UDD_EP_TRANSFER_OK = 0, + UDD_EP_TRANSFER_ABORT = 1, } udd_ep_status_t; /** @@ -82,41 +82,37 @@ typedef enum { * It can be updated by udc_process_setup() from UDC or *setup() from UDIs. */ typedef struct { - //! Data received in USB SETUP packet - //! Note: The swap of "req.wValues" from uin16_t to le16_t is done by UDD. - usb_setup_req_t req; + //! Data received in USB SETUP packet + //! Note: The swap of "req.wValues" from uin16_t to le16_t is done by UDD. + usb_setup_req_t req; - //! Point to buffer to send or fill with data following SETUP packet - //! This buffer must be word align for DATA IN phase (use prefix COMPILER_WORD_ALIGNED for buffer) - uint8_t *payload; + //! Point to buffer to send or fill with data following SETUP packet + //! This buffer must be word align for DATA IN phase (use prefix COMPILER_WORD_ALIGNED for buffer) + uint8_t *payload; - //! Size of buffer to send or fill, and content the number of byte transferred - uint16_t payload_size; + //! Size of buffer to send or fill, and content the number of byte transferred + uint16_t payload_size; - //! Callback called after reception of ZLP from setup request - void (*callback)(void); + //! Callback called after reception of ZLP from setup request + void (*callback)(void); - //! Callback called when the buffer given (.payload) is full or empty. - //! This one return false to abort data transfer, or true with a new buffer in .payload. - bool (*over_under_run)(void); + //! Callback called when the buffer given (.payload) is full or empty. + //! This one return false to abort data transfer, or true with a new buffer in .payload. + bool (*over_under_run)(void); } udd_ctrl_request_t; extern udd_ctrl_request_t udd_g_ctrlreq; //! Return true if the setup request \a udd_g_ctrlreq indicates IN data transfer -#define Udd_setup_is_in() \ - (USB_REQ_DIR_IN == (udd_g_ctrlreq.req.bmRequestType & USB_REQ_DIR_MASK)) +#define Udd_setup_is_in() (USB_REQ_DIR_IN == (udd_g_ctrlreq.req.bmRequestType & USB_REQ_DIR_MASK)) //! Return true if the setup request \a udd_g_ctrlreq indicates OUT data transfer -#define Udd_setup_is_out() \ - (USB_REQ_DIR_OUT == (udd_g_ctrlreq.req.bmRequestType & USB_REQ_DIR_MASK)) +#define Udd_setup_is_out() (USB_REQ_DIR_OUT == (udd_g_ctrlreq.req.bmRequestType & USB_REQ_DIR_MASK)) //! Return the type of the SETUP request \a udd_g_ctrlreq. \see usb_reqtype. -#define Udd_setup_type() \ - (udd_g_ctrlreq.req.bmRequestType & USB_REQ_TYPE_MASK) +#define Udd_setup_type() (udd_g_ctrlreq.req.bmRequestType & USB_REQ_TYPE_MASK) //! Return the recipient of the SETUP request \a udd_g_ctrlreq. \see usb_recipient -#define Udd_setup_recipient() \ - (udd_g_ctrlreq.req.bmRequestType & USB_REQ_RECIP_MASK) +#define Udd_setup_recipient() (udd_g_ctrlreq.req.bmRequestType & USB_REQ_RECIP_MASK) /** * \brief End of halt callback function type. @@ -134,8 +130,7 @@ typedef void (*udd_callback_halt_cleared_t)(void); * \param status UDD_EP_TRANSFER_ABORT, if transfer is aborted * \param n number of data transferred */ -typedef void (*udd_callback_trans_t) (udd_ep_status_t status, - iram_size_t nb_transferred, udd_ep_id_t ep); +typedef void (*udd_callback_trans_t) (udd_ep_status_t status, iram_size_t nb_transferred, udd_ep_id_t ep); /** * \brief Authorizes the VBUS event @@ -239,8 +234,7 @@ void udd_set_setup_payload( uint8_t *payload, uint16_t payload_size ); * * \return \c 1 if the endpoint is enabled, otherwise \c 0. */ -bool udd_ep_alloc(udd_ep_id_t ep, uint8_t bmAttributes, - uint16_t MaxEndpointSize); +bool udd_ep_alloc(udd_ep_id_t ep, uint8_t bmAttributes, uint16_t MaxEndpointSize); /** * \brief Disables an endpoint @@ -294,8 +288,7 @@ bool udd_ep_clear_halt(udd_ep_id_t ep); * * \return \c 1 if the register is accepted, otherwise \c 0. */ -bool udd_ep_wait_stall_clear(udd_ep_id_t ep, - udd_callback_halt_cleared_t callback); +bool udd_ep_wait_stall_clear(udd_ep_id_t ep, udd_callback_halt_cleared_t callback); /** * \brief Allows to receive or send data on an endpoint @@ -321,9 +314,8 @@ bool udd_ep_wait_stall_clear(udd_ep_id_t ep, * * \return \c 1 if function was successfully done, otherwise \c 0. */ -bool udd_ep_run(udd_ep_id_t ep, bool b_shortpacket, - uint8_t * buf, iram_size_t buf_size, - udd_callback_trans_t callback); +bool udd_ep_run(udd_ep_id_t ep, bool b_shortpacket, uint8_t * buf, iram_size_t buf_size, udd_callback_trans_t callback); + /** * \brief Aborts transfer on going on endpoint * @@ -339,7 +331,6 @@ void udd_ep_abort(udd_ep_id_t ep); //@} - /** * \name High speed test mode management * @@ -352,7 +343,6 @@ void udd_test_mode_se0_nak(void); void udd_test_mode_packet(void); //@} - /** * \name UDC callbacks to provide for UDD * diff --git a/Marlin/src/HAL/DUE/usb/udi.h b/Marlin/src/HAL/DUE/usb/udi.h index febf03b718..bc5de086f3 100644 --- a/Marlin/src/HAL/DUE/usb/udi.h +++ b/Marlin/src/HAL/DUE/usb/udi.h @@ -72,57 +72,57 @@ extern "C" { * selected by UDC. */ typedef struct { - /** - * \brief Enable the interface. - * - * This function is called when the host selects a configuration - * to which this interface belongs through a Set Configuration - * request, and when the host selects an alternate setting of - * this interface through a Set Interface request. - * - * \return \c 1 if function was successfully done, otherwise \c 0. - */ - bool (*enable)(void); + /** + * \brief Enable the interface. + * + * This function is called when the host selects a configuration + * to which this interface belongs through a Set Configuration + * request, and when the host selects an alternate setting of + * this interface through a Set Interface request. + * + * \return \c 1 if function was successfully done, otherwise \c 0. + */ + bool (*enable)(void); - /** - * \brief Disable the interface. - * - * This function is called when this interface is currently - * active, and - * - the host selects any configuration through a Set - * Configuration request, or - * - the host issues a USB reset, or - * - the device is detached from the host (i.e. Vbus is no - * longer present) - */ - void (*disable)(void); + /** + * \brief Disable the interface. + * + * This function is called when this interface is currently + * active, and + * - the host selects any configuration through a Set + * Configuration request, or + * - the host issues a USB reset, or + * - the device is detached from the host (i.e. Vbus is no + * longer present) + */ + void (*disable)(void); - /** - * \brief Handle a control request directed at an interface. - * - * This function is called when this interface is currently - * active and the host sends a SETUP request - * with this interface as the recipient. - * - * Use udd_g_ctrlreq to decode and response to SETUP request. - * - * \return \c 1 if this interface supports the SETUP request, otherwise \c 0. - */ - bool (*setup)(void); + /** + * \brief Handle a control request directed at an interface. + * + * This function is called when this interface is currently + * active and the host sends a SETUP request + * with this interface as the recipient. + * + * Use udd_g_ctrlreq to decode and response to SETUP request. + * + * \return \c 1 if this interface supports the SETUP request, otherwise \c 0. + */ + bool (*setup)(void); - /** - * \brief Returns the current setting of the selected interface. - * - * This function is called when UDC when know alternate setting of selected interface. - * - * \return alternate setting of selected interface - */ - uint8_t (*getsetting)(void); + /** + * \brief Returns the current setting of the selected interface. + * + * This function is called when UDC when know alternate setting of selected interface. + * + * \return alternate setting of selected interface + */ + uint8_t (*getsetting)(void); - /** - * \brief To signal that a SOF is occurred - */ - void (*sof_notify)(void); + /** + * \brief To signal that a SOF is occurred + */ + void (*sof_notify)(void); } udi_api_t; //@} diff --git a/Marlin/src/HAL/DUE/usb/udi_cdc.h b/Marlin/src/HAL/DUE/usb/udi_cdc.h index b61845011a..2bc5fff187 100644 --- a/Marlin/src/HAL/DUE/usb/udi_cdc.h +++ b/Marlin/src/HAL/DUE/usb/udi_cdc.h @@ -92,18 +92,18 @@ extern UDC_DESC_STORAGE udi_api_t udi_api_cdc_data; * descriptors for the CDC Communication Class interface. */ typedef struct { - //! Standard interface descriptor - usb_iface_desc_t iface; - //! CDC Header functional descriptor - usb_cdc_hdr_desc_t header; - //! CDC Abstract Control Model functional descriptor - usb_cdc_acm_desc_t acm; - //! CDC Union functional descriptor - usb_cdc_union_desc_t union_desc; - //! CDC Call Management functional descriptor - usb_cdc_call_mgmt_desc_t call_mgmt; - //! Notification endpoint descriptor - usb_ep_desc_t ep_notify; + //! Standard interface descriptor + usb_iface_desc_t iface; + //! CDC Header functional descriptor + usb_cdc_hdr_desc_t header; + //! CDC Abstract Control Model functional descriptor + usb_cdc_acm_desc_t acm; + //! CDC Union functional descriptor + usb_cdc_union_desc_t union_desc; + //! CDC Call Management functional descriptor + usb_cdc_call_mgmt_desc_t call_mgmt; + //! Notification endpoint descriptor + usb_ep_desc_t ep_notify; } udi_cdc_comm_desc_t; @@ -114,11 +114,11 @@ typedef struct { * CDC Data Class interface. */ typedef struct { - //! Standard interface descriptor - usb_iface_desc_t iface; - //! Data IN/OUT endpoint descriptors - usb_ep_desc_t ep_in; - usb_ep_desc_t ep_out; + //! Standard interface descriptor + usb_iface_desc_t iface; + //! Data IN/OUT endpoint descriptors + usb_ep_desc_t ep_in; + usb_ep_desc_t ep_out; } udi_cdc_data_desc_t; @@ -136,13 +136,13 @@ typedef struct { //@{ //! By default no string associated to these interfaces #ifndef UDI_CDC_IAD_STRING_ID_0 -#define UDI_CDC_IAD_STRING_ID_0 0 + #define UDI_CDC_IAD_STRING_ID_0 0 #endif #ifndef UDI_CDC_COMM_STRING_ID_0 -#define UDI_CDC_COMM_STRING_ID_0 0 + #define UDI_CDC_COMM_STRING_ID_0 0 #endif #ifndef UDI_CDC_DATA_STRING_ID_0 -#define UDI_CDC_DATA_STRING_ID_0 0 + #define UDI_CDC_DATA_STRING_ID_0 0 #endif #define UDI_CDC_IAD_DESC_0 UDI_CDC_IAD_DESC(0) #define UDI_CDC_COMM_DESC_0 UDI_CDC_COMM_DESC(0) @@ -151,13 +151,13 @@ typedef struct { //! By default no string associated to these interfaces #ifndef UDI_CDC_IAD_STRING_ID_1 -#define UDI_CDC_IAD_STRING_ID_1 0 + #define UDI_CDC_IAD_STRING_ID_1 0 #endif #ifndef UDI_CDC_COMM_STRING_ID_1 -#define UDI_CDC_COMM_STRING_ID_1 0 + #define UDI_CDC_COMM_STRING_ID_1 0 #endif #ifndef UDI_CDC_DATA_STRING_ID_1 -#define UDI_CDC_DATA_STRING_ID_1 0 + #define UDI_CDC_DATA_STRING_ID_1 0 #endif #define UDI_CDC_IAD_DESC_1 UDI_CDC_IAD_DESC(1) #define UDI_CDC_COMM_DESC_1 UDI_CDC_COMM_DESC(1) @@ -166,13 +166,13 @@ typedef struct { //! By default no string associated to these interfaces #ifndef UDI_CDC_IAD_STRING_ID_2 -#define UDI_CDC_IAD_STRING_ID_2 0 + #define UDI_CDC_IAD_STRING_ID_2 0 #endif #ifndef UDI_CDC_COMM_STRING_ID_2 -#define UDI_CDC_COMM_STRING_ID_2 0 + #define UDI_CDC_COMM_STRING_ID_2 0 #endif #ifndef UDI_CDC_DATA_STRING_ID_2 -#define UDI_CDC_DATA_STRING_ID_2 0 + #define UDI_CDC_DATA_STRING_ID_2 0 #endif #define UDI_CDC_IAD_DESC_2 UDI_CDC_IAD_DESC(2) #define UDI_CDC_COMM_DESC_2 UDI_CDC_COMM_DESC(2) @@ -181,13 +181,13 @@ typedef struct { //! By default no string associated to these interfaces #ifndef UDI_CDC_IAD_STRING_ID_3 -#define UDI_CDC_IAD_STRING_ID_3 0 + #define UDI_CDC_IAD_STRING_ID_3 0 #endif #ifndef UDI_CDC_COMM_STRING_ID_3 -#define UDI_CDC_COMM_STRING_ID_3 0 + #define UDI_CDC_COMM_STRING_ID_3 0 #endif #ifndef UDI_CDC_DATA_STRING_ID_3 -#define UDI_CDC_DATA_STRING_ID_3 0 + #define UDI_CDC_DATA_STRING_ID_3 0 #endif #define UDI_CDC_IAD_DESC_3 UDI_CDC_IAD_DESC(3) #define UDI_CDC_COMM_DESC_3 UDI_CDC_COMM_DESC(3) @@ -196,13 +196,13 @@ typedef struct { //! By default no string associated to these interfaces #ifndef UDI_CDC_IAD_STRING_ID_4 -#define UDI_CDC_IAD_STRING_ID_4 0 + #define UDI_CDC_IAD_STRING_ID_4 0 #endif #ifndef UDI_CDC_COMM_STRING_ID_4 -#define UDI_CDC_COMM_STRING_ID_4 0 + #define UDI_CDC_COMM_STRING_ID_4 0 #endif #ifndef UDI_CDC_DATA_STRING_ID_4 -#define UDI_CDC_DATA_STRING_ID_4 0 + #define UDI_CDC_DATA_STRING_ID_4 0 #endif #define UDI_CDC_IAD_DESC_4 UDI_CDC_IAD_DESC(4) #define UDI_CDC_COMM_DESC_4 UDI_CDC_COMM_DESC(4) @@ -211,13 +211,13 @@ typedef struct { //! By default no string associated to these interfaces #ifndef UDI_CDC_IAD_STRING_ID_5 -#define UDI_CDC_IAD_STRING_ID_5 0 + #define UDI_CDC_IAD_STRING_ID_5 0 #endif #ifndef UDI_CDC_COMM_STRING_ID_5 -#define UDI_CDC_COMM_STRING_ID_5 0 + #define UDI_CDC_COMM_STRING_ID_5 0 #endif #ifndef UDI_CDC_DATA_STRING_ID_5 -#define UDI_CDC_DATA_STRING_ID_5 0 + #define UDI_CDC_DATA_STRING_ID_5 0 #endif #define UDI_CDC_IAD_DESC_5 UDI_CDC_IAD_DESC(5) #define UDI_CDC_COMM_DESC_5 UDI_CDC_COMM_DESC(5) @@ -226,13 +226,13 @@ typedef struct { //! By default no string associated to these interfaces #ifndef UDI_CDC_IAD_STRING_ID_6 -#define UDI_CDC_IAD_STRING_ID_6 0 + #define UDI_CDC_IAD_STRING_ID_6 0 #endif #ifndef UDI_CDC_COMM_STRING_ID_6 -#define UDI_CDC_COMM_STRING_ID_6 0 + #define UDI_CDC_COMM_STRING_ID_6 0 #endif #ifndef UDI_CDC_DATA_STRING_ID_6 -#define UDI_CDC_DATA_STRING_ID_6 0 + #define UDI_CDC_DATA_STRING_ID_6 0 #endif #define UDI_CDC_IAD_DESC_6 UDI_CDC_IAD_DESC(6) #define UDI_CDC_COMM_DESC_6 UDI_CDC_COMM_DESC(6) @@ -240,7 +240,6 @@ typedef struct { #define UDI_CDC_DATA_DESC_6_HS UDI_CDC_DATA_DESC_HS(6) //@} - //! Content of CDC IAD interface descriptor for all speeds #define UDI_CDC_IAD_DESC(port) { \ .bLength = sizeof(usb_iad_desc_t),\ @@ -270,7 +269,7 @@ typedef struct { .call_mgmt.bDescriptorType = CDC_CS_INTERFACE,\ .call_mgmt.bDescriptorSubtype = CDC_SCS_CALL_MGMT,\ .call_mgmt.bmCapabilities = \ - CDC_CALL_MGMT_SUPPORTED | CDC_CALL_MGMT_OVER_DCI,\ + CDC_CALL_MGMT_SUPPORTED | CDC_CALL_MGMT_OVER_DCI,\ .acm.bFunctionLength = sizeof(usb_cdc_acm_desc_t),\ .acm.bDescriptorType = CDC_CS_INTERFACE,\ .acm.bDescriptorSubtype = CDC_SCS_ACM,\ @@ -610,40 +609,37 @@ iram_size_t udi_cdc_multi_write_buf(uint8_t port, const void* buf, iram_size_t s * \subsection udi_cdc_basic_use_case_usage_code Example code * Content of conf_usb.h: * \code - #define UDI_CDC_ENABLE_EXT(port) my_callback_cdc_enable() - extern bool my_callback_cdc_enable(void); - #define UDI_CDC_DISABLE_EXT(port) my_callback_cdc_disable() - extern void my_callback_cdc_disable(void); - #define UDI_CDC_LOW_RATE + #define UDI_CDC_ENABLE_EXT(port) my_callback_cdc_enable() + extern bool my_callback_cdc_enable(void); + #define UDI_CDC_DISABLE_EXT(port) my_callback_cdc_disable() + extern void my_callback_cdc_disable(void); + #define UDI_CDC_LOW_RATE - #define UDI_CDC_DEFAULT_RATE 115200 - #define UDI_CDC_DEFAULT_STOPBITS CDC_STOP_BITS_1 - #define UDI_CDC_DEFAULT_PARITY CDC_PAR_NONE - #define UDI_CDC_DEFAULT_DATABITS 8 + #define UDI_CDC_DEFAULT_RATE 115200 + #define UDI_CDC_DEFAULT_STOPBITS CDC_STOP_BITS_1 + #define UDI_CDC_DEFAULT_PARITY CDC_PAR_NONE + #define UDI_CDC_DEFAULT_DATABITS 8 - #include "udi_cdc_conf.h" // At the end of conf_usb.h file + #include "udi_cdc_conf.h" // At the end of conf_usb.h file \endcode * * Add to application C-file: * \code - static bool my_flag_autorize_cdc_transfert = false; - bool my_callback_cdc_enable(void) - { - my_flag_autorize_cdc_transfert = true; - return true; - } - void my_callback_cdc_disable(void) - { - my_flag_autorize_cdc_transfert = false; - } + static bool my_flag_autorize_cdc_transfert = false; + bool my_callback_cdc_enable(void) { + my_flag_autorize_cdc_transfert = true; + return true; + } + void my_callback_cdc_disable(void) { + my_flag_autorize_cdc_transfert = false; + } - void task(void) - { - if (my_flag_autorize_cdc_transfert) { - udi_cdc_putc('A'); - udi_cdc_getc(); - } - } + void task(void) { + if (my_flag_autorize_cdc_transfert) { + udi_cdc_putc('A'); + udi_cdc_getc(); + } + } \endcode * * \subsection udi_cdc_basic_use_case_setup_flow Workflow @@ -652,14 +648,14 @@ iram_size_t udi_cdc_multi_write_buf(uint8_t port, const void* buf, iram_size_t s * - \code #define USB_DEVICE_SERIAL_NAME "12...EF" // Disk SN for CDC \endcode * \note The USB serial number is mandatory when a CDC interface is used. * - \code #define UDI_CDC_ENABLE_EXT(port) my_callback_cdc_enable() - extern bool my_callback_cdc_enable(void); \endcode + extern bool my_callback_cdc_enable(void); \endcode * \note After the device enumeration (detecting and identifying USB devices), * the USB host starts the device configuration. When the USB CDC interface * from the device is accepted by the host, the USB host enables this interface and the * UDI_CDC_ENABLE_EXT() callback function is called and return true. * Thus, when this event is received, the data transfer on CDC interface are authorized. * - \code #define UDI_CDC_DISABLE_EXT(port) my_callback_cdc_disable() - extern void my_callback_cdc_disable(void); \endcode + extern void my_callback_cdc_disable(void); \endcode * \note When the USB device is unplugged or is reset by the USB host, the USB * interface is disabled and the UDI_CDC_DISABLE_EXT() callback function * is called. Thus, the data transfer must be stopped on CDC interface. @@ -667,19 +663,19 @@ iram_size_t udi_cdc_multi_write_buf(uint8_t port, const void* buf, iram_size_t s * \note Define it when the transfer CDC Device to Host is a low rate * (<512000 bauds) to reduce CDC buffers size. * - \code #define UDI_CDC_DEFAULT_RATE 115200 - #define UDI_CDC_DEFAULT_STOPBITS CDC_STOP_BITS_1 - #define UDI_CDC_DEFAULT_PARITY CDC_PAR_NONE - #define UDI_CDC_DEFAULT_DATABITS 8 \endcode + #define UDI_CDC_DEFAULT_STOPBITS CDC_STOP_BITS_1 + #define UDI_CDC_DEFAULT_PARITY CDC_PAR_NONE + #define UDI_CDC_DEFAULT_DATABITS 8 \endcode * \note Default configuration of communication port at startup. * -# Send or wait data on CDC line: * - \code // Waits and gets a value on CDC line - int udi_cdc_getc(void); - // Reads a RAM buffer on CDC line - iram_size_t udi_cdc_read_buf(int *buf, iram_size_t size); - // Puts a byte on CDC line - int udi_cdc_putc(int value); - // Writes a RAM buffer on CDC line - iram_size_t udi_cdc_write_buf(const int *buf, iram_size_t size); \endcode + int udi_cdc_getc(void); + // Reads a RAM buffer on CDC line + iram_size_t udi_cdc_read_buf(int *buf, iram_size_t size); + // Puts a byte on CDC line + int udi_cdc_putc(int value); + // Writes a RAM buffer on CDC line + iram_size_t udi_cdc_write_buf(const int *buf, iram_size_t size); \endcode * * \section udi_cdc_use_cases Advanced use cases * For more advanced use of the UDI CDC module, see the following use cases: @@ -713,90 +709,90 @@ iram_size_t udi_cdc_multi_write_buf(uint8_t port, const void* buf, iram_size_t s * \subsection udi_cdc_use_case_composite_usage_code Example code * Content of conf_usb.h: * \code - #define USB_DEVICE_EP_CTRL_SIZE 64 - #define USB_DEVICE_NB_INTERFACE (X+2) - #define USB_DEVICE_MAX_EP (X+3) + #define USB_DEVICE_EP_CTRL_SIZE 64 + #define USB_DEVICE_NB_INTERFACE (X+2) + #define USB_DEVICE_MAX_EP (X+3) - #define UDI_CDC_DATA_EP_IN_0 (1 | USB_EP_DIR_IN) // TX - #define UDI_CDC_DATA_EP_OUT_0 (2 | USB_EP_DIR_OUT) // RX - #define UDI_CDC_COMM_EP_0 (3 | USB_EP_DIR_IN) // Notify endpoint - #define UDI_CDC_COMM_IFACE_NUMBER_0 X+0 - #define UDI_CDC_DATA_IFACE_NUMBER_0 X+1 + #define UDI_CDC_DATA_EP_IN_0 (1 | USB_EP_DIR_IN) // TX + #define UDI_CDC_DATA_EP_OUT_0 (2 | USB_EP_DIR_OUT) // RX + #define UDI_CDC_COMM_EP_0 (3 | USB_EP_DIR_IN) // Notify endpoint + #define UDI_CDC_COMM_IFACE_NUMBER_0 X+0 + #define UDI_CDC_DATA_IFACE_NUMBER_0 X+1 - #define UDI_COMPOSITE_DESC_T \ - usb_iad_desc_t udi_cdc_iad; \ - udi_cdc_comm_desc_t udi_cdc_comm; \ - udi_cdc_data_desc_t udi_cdc_data; \ - ... - #define UDI_COMPOSITE_DESC_FS \ - .udi_cdc_iad = UDI_CDC_IAD_DESC_0, \ - .udi_cdc_comm = UDI_CDC_COMM_DESC_0, \ - .udi_cdc_data = UDI_CDC_DATA_DESC_0_FS, \ - ... - #define UDI_COMPOSITE_DESC_HS \ - .udi_cdc_iad = UDI_CDC_IAD_DESC_0, \ - .udi_cdc_comm = UDI_CDC_COMM_DESC_0, \ - .udi_cdc_data = UDI_CDC_DATA_DESC_0_HS, \ - ... - #define UDI_COMPOSITE_API \ - &udi_api_cdc_comm, \ - &udi_api_cdc_data, \ - ... + #define UDI_COMPOSITE_DESC_T \ + usb_iad_desc_t udi_cdc_iad; \ + udi_cdc_comm_desc_t udi_cdc_comm; \ + udi_cdc_data_desc_t udi_cdc_data; \ + ... + #define UDI_COMPOSITE_DESC_FS \ + .udi_cdc_iad = UDI_CDC_IAD_DESC_0, \ + .udi_cdc_comm = UDI_CDC_COMM_DESC_0, \ + .udi_cdc_data = UDI_CDC_DATA_DESC_0_FS, \ + ... + #define UDI_COMPOSITE_DESC_HS \ + .udi_cdc_iad = UDI_CDC_IAD_DESC_0, \ + .udi_cdc_comm = UDI_CDC_COMM_DESC_0, \ + .udi_cdc_data = UDI_CDC_DATA_DESC_0_HS, \ + ... + #define UDI_COMPOSITE_API \ + &udi_api_cdc_comm, \ + &udi_api_cdc_data, \ + ... \endcode * * \subsection udi_cdc_use_case_composite_usage_flow Workflow * -# Ensure that conf_usb.h is available and contains the following parameters * required for a USB composite device configuration: * - \code // Endpoint control size, This must be: - // - 8, 16, 32 or 64 for full speed device (8 is recommended to save RAM) - // - 64 for a high speed device - #define USB_DEVICE_EP_CTRL_SIZE 64 - // Total Number of interfaces on this USB device. - // Add 2 for CDC. - #define USB_DEVICE_NB_INTERFACE (X+2) - // Total number of endpoints on this USB device. - // This must include each endpoint for each interface. - // Add 3 for CDC. - #define USB_DEVICE_MAX_EP (X+3) \endcode + // - 8, 16, 32 or 64 for full speed device (8 is recommended to save RAM) + // - 64 for a high speed device + #define USB_DEVICE_EP_CTRL_SIZE 64 + // Total Number of interfaces on this USB device. + // Add 2 for CDC. + #define USB_DEVICE_NB_INTERFACE (X+2) + // Total number of endpoints on this USB device. + // This must include each endpoint for each interface. + // Add 3 for CDC. + #define USB_DEVICE_MAX_EP (X+3) \endcode * -# Ensure that conf_usb.h contains the description of * composite device: * - \code // The endpoint numbers chosen by you for the CDC. - // The endpoint numbers starting from 1. - #define UDI_CDC_DATA_EP_IN_0 (1 | USB_EP_DIR_IN) // TX - #define UDI_CDC_DATA_EP_OUT_0 (2 | USB_EP_DIR_OUT) // RX - #define UDI_CDC_COMM_EP_0 (3 | USB_EP_DIR_IN) // Notify endpoint - // The interface index of an interface starting from 0 - #define UDI_CDC_COMM_IFACE_NUMBER_0 X+0 - #define UDI_CDC_DATA_IFACE_NUMBER_0 X+1 \endcode + // The endpoint numbers starting from 1. + #define UDI_CDC_DATA_EP_IN_0 (1 | USB_EP_DIR_IN) // TX + #define UDI_CDC_DATA_EP_OUT_0 (2 | USB_EP_DIR_OUT) // RX + #define UDI_CDC_COMM_EP_0 (3 | USB_EP_DIR_IN) // Notify endpoint + // The interface index of an interface starting from 0 + #define UDI_CDC_COMM_IFACE_NUMBER_0 X+0 + #define UDI_CDC_DATA_IFACE_NUMBER_0 X+1 \endcode * -# Ensure that conf_usb.h contains the following parameters * required for a USB composite device configuration: * - \code // USB Interfaces descriptor structure - #define UDI_COMPOSITE_DESC_T \ - ... - usb_iad_desc_t udi_cdc_iad; \ - udi_cdc_comm_desc_t udi_cdc_comm; \ - udi_cdc_data_desc_t udi_cdc_data; \ - ... - // USB Interfaces descriptor value for Full Speed - #define UDI_COMPOSITE_DESC_FS \ - ... - .udi_cdc_iad = UDI_CDC_IAD_DESC_0, \ - .udi_cdc_comm = UDI_CDC_COMM_DESC_0, \ - .udi_cdc_data = UDI_CDC_DATA_DESC_0_FS, \ - ... - // USB Interfaces descriptor value for High Speed - #define UDI_COMPOSITE_DESC_HS \ - ... - .udi_cdc_iad = UDI_CDC_IAD_DESC_0, \ - .udi_cdc_comm = UDI_CDC_COMM_DESC_0, \ - .udi_cdc_data = UDI_CDC_DATA_DESC_0_HS, \ - ... - // USB Interface APIs - #define UDI_COMPOSITE_API \ - ... - &udi_api_cdc_comm, \ - &udi_api_cdc_data, \ - ... \endcode + #define UDI_COMPOSITE_DESC_T \ + ... + usb_iad_desc_t udi_cdc_iad; \ + udi_cdc_comm_desc_t udi_cdc_comm; \ + udi_cdc_data_desc_t udi_cdc_data; \ + ... + // USB Interfaces descriptor value for Full Speed + #define UDI_COMPOSITE_DESC_FS \ + ... + .udi_cdc_iad = UDI_CDC_IAD_DESC_0, \ + .udi_cdc_comm = UDI_CDC_COMM_DESC_0, \ + .udi_cdc_data = UDI_CDC_DATA_DESC_0_FS, \ + ... + // USB Interfaces descriptor value for High Speed + #define UDI_COMPOSITE_DESC_HS \ + ... + .udi_cdc_iad = UDI_CDC_IAD_DESC_0, \ + .udi_cdc_comm = UDI_CDC_COMM_DESC_0, \ + .udi_cdc_data = UDI_CDC_DATA_DESC_0_HS, \ + ... + // USB Interface APIs + #define UDI_COMPOSITE_API \ + ... + &udi_api_cdc_comm, \ + &udi_api_cdc_data, \ + ... \endcode * - \note The descriptors order given in the four lists above must be the * same as the order defined by all interface indexes. The interface index * orders are defined through UDI_X_IFACE_NUMBER defines.\n diff --git a/Marlin/src/HAL/DUE/usb/udi_cdc_desc.c b/Marlin/src/HAL/DUE/usb/udi_cdc_desc.c index 97c334e2a8..4c79e8df13 100644 --- a/Marlin/src/HAL/DUE/usb/udi_cdc_desc.c +++ b/Marlin/src/HAL/DUE/usb/udi_cdc_desc.c @@ -51,7 +51,7 @@ #include "udc_desc.h" #include "udi_cdc.h" -#if DISABLED(SDSUPPORT) +#if !HAS_MEDIA /** * \defgroup udi_cdc_group_single_desc USB device descriptors for a single interface @@ -256,6 +256,6 @@ UDC_DESC_STORAGE udc_config_t udc_config = { //@} //@} -#endif // SDSUPPORT +#endif // HAS_MEDIA #endif // ARDUINO_ARCH_SAM diff --git a/Marlin/src/HAL/DUE/usb/udi_composite_desc.c b/Marlin/src/HAL/DUE/usb/udi_composite_desc.c index da74fbe60d..b10d043b9f 100644 --- a/Marlin/src/HAL/DUE/usb/udi_composite_desc.c +++ b/Marlin/src/HAL/DUE/usb/udi_composite_desc.c @@ -50,7 +50,7 @@ #include "udd.h" #include "udc_desc.h" -#if ENABLED(SDSUPPORT) +#if HAS_MEDIA /** * \defgroup udi_group_desc Descriptors for a USB Device @@ -189,4 +189,4 @@ UDC_DESC_STORAGE udc_config_t udc_config = { #endif // ARDUINO_ARCH_SAM -#endif // SDSUPPORT +#endif // HAS_MEDIA diff --git a/Marlin/src/HAL/DUE/usb/udi_msc.c b/Marlin/src/HAL/DUE/usb/udi_msc.c index dd34048772..3f70a8fb18 100644 --- a/Marlin/src/HAL/DUE/usb/udi_msc.c +++ b/Marlin/src/HAL/DUE/usb/udi_msc.c @@ -57,7 +57,7 @@ #include "ctrl_access.h" #include -#if ENABLED(SDSUPPORT) +#if HAS_MEDIA #ifndef UDI_MSC_NOTIFY_TRANS_EXT # define UDI_MSC_NOTIFY_TRANS_EXT() @@ -372,9 +372,7 @@ static void udi_msc_sbc_trans(bool b_read); //@} - -bool udi_msc_enable(void) -{ +bool udi_msc_enable(void) { uint8_t lun; udi_msc_b_trans_req = false; udi_msc_b_cbw_invalid = false; @@ -397,18 +395,14 @@ bool udi_msc_enable(void) return true; } - -void udi_msc_disable(void) -{ +void udi_msc_disable(void) { udi_msc_b_trans_req = false; udi_msc_b_ack_trans = true; udi_msc_b_reset_trans = true; UDI_MSC_DISABLE_EXT(); } - -bool udi_msc_setup(void) -{ +bool udi_msc_setup(void) { if (Udd_setup_is_in()) { // Requests Interface GET if (Udd_setup_type() == USB_REQ_TYPE_CLASS) { @@ -451,17 +445,14 @@ bool udi_msc_setup(void) return false; // Not supported request } -uint8_t udi_msc_getsetting(void) -{ +uint8_t udi_msc_getsetting(void) { return 0; // MSC don't have multiple alternate setting } - // ------------------------ //------- Routines to process CBW packet -static void udi_msc_cbw_invalid(void) -{ +static void udi_msc_cbw_invalid(void) { if (!udi_msc_b_cbw_invalid) return; // Don't re-stall endpoint if error reset by setup udd_ep_set_halt(UDI_MSC_EP_OUT); @@ -469,8 +460,7 @@ static void udi_msc_cbw_invalid(void) udd_ep_wait_stall_clear(UDI_MSC_EP_OUT, udi_msc_cbw_invalid); } -static void udi_msc_csw_invalid(void) -{ +static void udi_msc_csw_invalid(void) { if (!udi_msc_b_cbw_invalid) return; // Don't re-stall endpoint if error reset by setup udd_ep_set_halt(UDI_MSC_EP_IN); @@ -478,8 +468,7 @@ static void udi_msc_csw_invalid(void) udd_ep_wait_stall_clear(UDI_MSC_EP_IN, udi_msc_csw_invalid); } -static void udi_msc_cbw_wait(void) -{ +static void udi_msc_cbw_wait(void) { // Register buffer and callback on OUT endpoint if (!udd_ep_run(UDI_MSC_EP_OUT, true, (uint8_t *) & udi_msc_cbw, @@ -490,10 +479,8 @@ static void udi_msc_cbw_wait(void) } } - static void udi_msc_cbw_received(udd_ep_status_t status, - iram_size_t nb_received, udd_ep_id_t ep) -{ + iram_size_t nb_received, udd_ep_id_t ep) { UNUSED(ep); // Check status of transfer if (UDD_EP_TRANSFER_OK != status) { @@ -582,9 +569,7 @@ static void udi_msc_cbw_received(udd_ep_status_t status, } } - -static bool udi_msc_cbw_validate(uint32_t alloc_len, uint8_t dir_flag) -{ +static bool udi_msc_cbw_validate(uint32_t alloc_len, uint8_t dir_flag) { /* * The following cases should result in a phase error: * - Case 2: Hn < Di @@ -612,12 +597,10 @@ static bool udi_msc_cbw_validate(uint32_t alloc_len, uint8_t dir_flag) return true; } - // ------------------------ //------- Routines to process small data packet -static void udi_msc_data_send(uint8_t * buffer, uint8_t buf_size) -{ +static void udi_msc_data_send(uint8_t * buffer, uint8_t buf_size) { // Sends data on IN endpoint if (!udd_ep_run(UDI_MSC_EP_IN, true, buffer, buf_size, udi_msc_data_sent)) { @@ -627,10 +610,8 @@ static void udi_msc_data_send(uint8_t * buffer, uint8_t buf_size) } } - static void udi_msc_data_sent(udd_ep_status_t status, iram_size_t nb_sent, - udd_ep_id_t ep) -{ + udd_ep_id_t ep) { UNUSED(ep); if (UDD_EP_TRANSFER_OK != status) { // Error protocol @@ -644,12 +625,10 @@ static void udi_msc_data_sent(udd_ep_status_t status, iram_size_t nb_sent, udi_msc_csw_process(); } - // ------------------------ //------- Routines to process CSW packet -static void udi_msc_csw_process(void) -{ +static void udi_msc_csw_process(void) { if (0 != udi_msc_csw.dCSWDataResidue) { // Residue not NULL // then STALL next request from USB host on corresponding endpoint @@ -664,9 +643,7 @@ static void udi_msc_csw_process(void) udi_msc_csw_send(); } - -void udi_msc_csw_send(void) -{ +void udi_msc_csw_send(void) { // Sends CSW on IN endpoint if (!udd_ep_run(UDI_MSC_EP_IN, false, (uint8_t *) & udi_msc_csw, @@ -678,10 +655,8 @@ void udi_msc_csw_send(void) } } - static void udi_msc_csw_sent(udd_ep_status_t status, iram_size_t nb_sent, - udd_ep_id_t ep) -{ + udd_ep_id_t ep) { UNUSED(ep); UNUSED(status); UNUSED(nb_sent); @@ -690,20 +665,17 @@ static void udi_msc_csw_sent(udd_ep_status_t status, iram_size_t nb_sent, udi_msc_cbw_wait(); } - // ------------------------ //------- Routines manage sense data -static void udi_msc_clear_sense(void) -{ +static void udi_msc_clear_sense(void) { memset((uint8_t*)&udi_msc_sense, 0, sizeof(struct scsi_request_sense_data)); udi_msc_sense.valid_reponse_code = SCSI_SENSE_VALID | SCSI_SENSE_CURRENT; udi_msc_sense.AddSenseLen = SCSI_SENSE_ADDL_LEN(sizeof(udi_msc_sense)); } static void udi_msc_sense_fail(uint8_t sense_key, uint16_t add_sense, - uint32_t lba) -{ + uint32_t lba) { udi_msc_clear_sense(); udi_msc_csw.bCSWStatus = USB_CSW_STATUS_FAIL; udi_msc_sense.sense_flag_key = sense_key; @@ -715,53 +687,39 @@ static void udi_msc_sense_fail(uint8_t sense_key, uint16_t add_sense, udi_msc_sense.AddSnsCodeQlfr = add_sense; } -static void udi_msc_sense_pass(void) -{ +static void udi_msc_sense_pass(void) { udi_msc_clear_sense(); udi_msc_csw.bCSWStatus = USB_CSW_STATUS_PASS; } - -static void udi_msc_sense_fail_not_present(void) -{ +static void udi_msc_sense_fail_not_present(void) { udi_msc_sense_fail(SCSI_SK_NOT_READY, SCSI_ASC_MEDIUM_NOT_PRESENT, 0); } -static void udi_msc_sense_fail_busy_or_change(void) -{ - udi_msc_sense_fail(SCSI_SK_UNIT_ATTENTION, - SCSI_ASC_NOT_READY_TO_READY_CHANGE, 0); +static void udi_msc_sense_fail_busy_or_change(void) { + udi_msc_sense_fail(SCSI_SK_UNIT_ATTENTION, SCSI_ASC_NOT_READY_TO_READY_CHANGE, 0); } -static void udi_msc_sense_fail_hardware(void) -{ - udi_msc_sense_fail(SCSI_SK_HARDWARE_ERROR, - SCSI_ASC_NO_ADDITIONAL_SENSE_INFO, 0); +static void udi_msc_sense_fail_hardware(void) { + udi_msc_sense_fail(SCSI_SK_HARDWARE_ERROR, SCSI_ASC_NO_ADDITIONAL_SENSE_INFO, 0); } -static void udi_msc_sense_fail_protected(void) -{ +static void udi_msc_sense_fail_protected(void) { udi_msc_sense_fail(SCSI_SK_DATA_PROTECT, SCSI_ASC_WRITE_PROTECTED, 0); } -static void udi_msc_sense_fail_cdb_invalid(void) -{ - udi_msc_sense_fail(SCSI_SK_ILLEGAL_REQUEST, - SCSI_ASC_INVALID_FIELD_IN_CDB, 0); +static void udi_msc_sense_fail_cdb_invalid(void) { + udi_msc_sense_fail(SCSI_SK_ILLEGAL_REQUEST, SCSI_ASC_INVALID_FIELD_IN_CDB, 0); } -static void udi_msc_sense_command_invalid(void) -{ - udi_msc_sense_fail(SCSI_SK_ILLEGAL_REQUEST, - SCSI_ASC_INVALID_COMMAND_OPERATION_CODE, 0); +static void udi_msc_sense_command_invalid(void) { + udi_msc_sense_fail(SCSI_SK_ILLEGAL_REQUEST, SCSI_ASC_INVALID_COMMAND_OPERATION_CODE, 0); } - // ------------------------ //------- Routines manage SCSI Commands -static void udi_msc_spc_requestsense(void) -{ +static void udi_msc_spc_requestsense(void) { uint8_t length = udi_msc_cbw.CDB[4]; // Can't send more than sense data length @@ -774,9 +732,7 @@ static void udi_msc_spc_requestsense(void) udi_msc_data_send((uint8_t*)&udi_msc_sense, length); } - -static void udi_msc_spc_inquiry(void) -{ +static void udi_msc_spc_inquiry(void) { uint8_t length, i; UDC_DATA(4) // Constant inquiry data for all LUNs @@ -835,9 +791,7 @@ static void udi_msc_spc_inquiry(void) udi_msc_data_send((uint8_t *) & udi_msc_inquiry_data, length); } - -static bool udi_msc_spc_testunitready_global(void) -{ +static bool udi_msc_spc_testunitready_global(void) { switch (mem_test_unit_ready(udi_msc_cbw.bCBWLUN)) { case CTRL_GOOD: return true; // Don't change sense data @@ -855,9 +809,7 @@ static bool udi_msc_spc_testunitready_global(void) return false; } - -static void udi_msc_spc_testunitready(void) -{ +static void udi_msc_spc_testunitready(void) { if (udi_msc_spc_testunitready_global()) { // LUN ready, then update sense data with status pass udi_msc_sense_pass(); @@ -866,9 +818,7 @@ static void udi_msc_spc_testunitready(void) udi_msc_csw_process(); } - -static void udi_msc_spc_mode_sense(bool b_sense10) -{ +static void udi_msc_spc_mode_sense(bool b_sense10) { // Union of all mode sense structures union sense_6_10 { struct { @@ -943,9 +893,7 @@ static void udi_msc_spc_mode_sense(bool b_sense10) udi_msc_data_send((uint8_t *) & sense, request_lgt); } - -static void udi_msc_spc_prevent_allow_medium_removal(void) -{ +static void udi_msc_spc_prevent_allow_medium_removal(void) { uint8_t prevent = udi_msc_cbw.CDB[4]; if (0 == prevent) { udi_msc_sense_pass(); @@ -955,9 +903,7 @@ static void udi_msc_spc_prevent_allow_medium_removal(void) udi_msc_csw_process(); } - -static void udi_msc_sbc_start_stop(void) -{ +static void udi_msc_sbc_start_stop(void) { bool start = 0x1 & udi_msc_cbw.CDB[4]; bool loej = 0x2 & udi_msc_cbw.CDB[4]; if (loej) { @@ -967,9 +913,7 @@ static void udi_msc_sbc_start_stop(void) udi_msc_csw_process(); } - -static void udi_msc_sbc_read_capacity(void) -{ +static void udi_msc_sbc_read_capacity(void) { UDC_BSS(4) static struct sbc_read_capacity10_data udi_msc_capacity; if (!udi_msc_cbw_validate(sizeof(udi_msc_capacity), @@ -1003,9 +947,7 @@ static void udi_msc_sbc_read_capacity(void) sizeof(udi_msc_capacity)); } - -static void udi_msc_sbc_trans(bool b_read) -{ +static void udi_msc_sbc_trans(bool b_read) { uint32_t trans_size; if (!b_read) { @@ -1038,9 +980,7 @@ static void udi_msc_sbc_trans(bool b_read) UDI_MSC_NOTIFY_TRANS_EXT(); } - -bool udi_msc_process_trans(void) -{ +bool udi_msc_process_trans(void) { Ctrl_status status; if (!udi_msc_b_trans_req) @@ -1084,10 +1024,8 @@ bool udi_msc_process_trans(void) return true; } - static void udi_msc_trans_ack(udd_ep_status_t status, iram_size_t n, - udd_ep_id_t ep) -{ + udd_ep_id_t ep) { UNUSED(ep); UNUSED(n); // Update variable to signal the end of transfer @@ -1095,10 +1033,8 @@ static void udi_msc_trans_ack(udd_ep_status_t status, iram_size_t n, udi_msc_b_ack_trans = true; } - bool udi_msc_trans_block(bool b_read, uint8_t * block, iram_size_t block_size, - void (*callback) (udd_ep_status_t status, iram_size_t n, udd_ep_id_t ep)) -{ + void (*callback) (udd_ep_status_t status, iram_size_t n, udd_ep_id_t ep)) { if (!udi_msc_b_ack_trans) return false; // No possible, transfer on going @@ -1127,6 +1063,6 @@ bool udi_msc_trans_block(bool b_read, uint8_t * block, iram_size_t block_size, //@} -#endif // SDSUPPORT +#endif // HAS_MEDIA #endif // ARDUINO_ARCH_SAM diff --git a/Marlin/src/HAL/DUE/usb/udi_msc.h b/Marlin/src/HAL/DUE/usb/udi_msc.h index 730dbc8eec..0ede4d6a83 100644 --- a/Marlin/src/HAL/DUE/usb/udi_msc.h +++ b/Marlin/src/HAL/DUE/usb/udi_msc.h @@ -77,9 +77,9 @@ extern UDC_DESC_STORAGE udi_api_t udi_api_msc; //! Interface descriptor structure for MSC typedef struct { - usb_iface_desc_t iface; - usb_ep_desc_t ep_in; - usb_ep_desc_t ep_out; + usb_iface_desc_t iface; + usb_ep_desc_t ep_in; + usb_ep_desc_t ep_out; } udi_msc_desc_t; //! By default no string associated to this interface @@ -94,32 +94,32 @@ typedef struct { //! Content of MSC interface descriptor for all speeds #define UDI_MSC_DESC \ - .iface.bLength = sizeof(usb_iface_desc_t),\ - .iface.bDescriptorType = USB_DT_INTERFACE,\ - .iface.bInterfaceNumber = UDI_MSC_IFACE_NUMBER,\ - .iface.bAlternateSetting = 0,\ - .iface.bNumEndpoints = 2,\ - .iface.bInterfaceClass = MSC_CLASS,\ - .iface.bInterfaceSubClass = MSC_SUBCLASS_TRANSPARENT,\ - .iface.bInterfaceProtocol = MSC_PROTOCOL_BULK,\ - .iface.iInterface = UDI_MSC_STRING_ID,\ - .ep_in.bLength = sizeof(usb_ep_desc_t),\ - .ep_in.bDescriptorType = USB_DT_ENDPOINT,\ - .ep_in.bEndpointAddress = UDI_MSC_EP_IN,\ - .ep_in.bmAttributes = USB_EP_TYPE_BULK,\ - .ep_in.bInterval = 0,\ - .ep_out.bLength = sizeof(usb_ep_desc_t),\ - .ep_out.bDescriptorType = USB_DT_ENDPOINT,\ - .ep_out.bEndpointAddress = UDI_MSC_EP_OUT,\ - .ep_out.bmAttributes = USB_EP_TYPE_BULK,\ - .ep_out.bInterval = 0, + .iface.bLength = sizeof(usb_iface_desc_t),\ + .iface.bDescriptorType = USB_DT_INTERFACE,\ + .iface.bInterfaceNumber = UDI_MSC_IFACE_NUMBER,\ + .iface.bAlternateSetting = 0,\ + .iface.bNumEndpoints = 2,\ + .iface.bInterfaceClass = MSC_CLASS,\ + .iface.bInterfaceSubClass = MSC_SUBCLASS_TRANSPARENT,\ + .iface.bInterfaceProtocol = MSC_PROTOCOL_BULK,\ + .iface.iInterface = UDI_MSC_STRING_ID,\ + .ep_in.bLength = sizeof(usb_ep_desc_t),\ + .ep_in.bDescriptorType = USB_DT_ENDPOINT,\ + .ep_in.bEndpointAddress = UDI_MSC_EP_IN,\ + .ep_in.bmAttributes = USB_EP_TYPE_BULK,\ + .ep_in.bInterval = 0,\ + .ep_out.bLength = sizeof(usb_ep_desc_t),\ + .ep_out.bDescriptorType = USB_DT_ENDPOINT,\ + .ep_out.bEndpointAddress = UDI_MSC_EP_OUT,\ + .ep_out.bmAttributes = USB_EP_TYPE_BULK,\ + .ep_out.bInterval = 0, //! Content of MSC interface descriptor for full speed only #define UDI_MSC_DESC_FS {\ - UDI_MSC_DESC \ - .ep_in.wMaxPacketSize = LE16(UDI_MSC_EPS_SIZE_FS),\ - .ep_out.wMaxPacketSize = LE16(UDI_MSC_EPS_SIZE_FS),\ - } + UDI_MSC_DESC \ + .ep_in.wMaxPacketSize = LE16(UDI_MSC_EPS_SIZE_FS),\ + .ep_out.wMaxPacketSize = LE16(UDI_MSC_EPS_SIZE_FS),\ + } //! Content of MSC interface descriptor for high speed only #define UDI_MSC_DESC_HS {\ @@ -129,7 +129,6 @@ typedef struct { } //@} - /** * \ingroup udi_group * \defgroup udi_msc_group USB Device Interface (UDI) for Mass Storage Class (MSC) @@ -163,14 +162,13 @@ bool udi_msc_process_trans(void); * \return \c 1 if function was successfully done, otherwise \c 0. */ bool udi_msc_trans_block(bool b_read, uint8_t * block, iram_size_t block_size, - void (*callback) (udd_ep_status_t status, iram_size_t n, udd_ep_id_t ep)); + void (*callback) (udd_ep_status_t status, iram_size_t n, udd_ep_id_t ep)); //@} #ifdef __cplusplus } #endif - /** * \page udi_msc_quickstart Quick start guide for USB device Mass Storage module (UDI MSC) * @@ -200,35 +198,32 @@ bool udi_msc_trans_block(bool b_read, uint8_t * block, iram_size_t block_size, * \subsection udi_msc_basic_use_case_usage_code Example code * Content of conf_usb.h: * \code - #define USB_DEVICE_SERIAL_NAME "12...EF" // Disk SN for MSC - #define UDI_MSC_GLOBAL_VENDOR_ID \ - 'A', 'T', 'M', 'E', 'L', ' ', ' ', ' ' - #define UDI_MSC_GLOBAL_PRODUCT_VERSION \ - '1', '.', '0', '0' - #define UDI_MSC_ENABLE_EXT() my_callback_msc_enable() - extern bool my_callback_msc_enable(void); - #define UDI_MSC_DISABLE_EXT() my_callback_msc_disable() - extern void my_callback_msc_disable(void); - #include "udi_msc_conf.h" // At the end of conf_usb.h file + #define USB_DEVICE_SERIAL_NAME "12...EF" // Disk SN for MSC + #define UDI_MSC_GLOBAL_VENDOR_ID \ + 'A', 'T', 'M', 'E', 'L', ' ', ' ', ' ' + #define UDI_MSC_GLOBAL_PRODUCT_VERSION \ + '1', '.', '0', '0' + #define UDI_MSC_ENABLE_EXT() my_callback_msc_enable() + extern bool my_callback_msc_enable(void); + #define UDI_MSC_DISABLE_EXT() my_callback_msc_disable() + extern void my_callback_msc_disable(void); + #include "udi_msc_conf.h" // At the end of conf_usb.h file \endcode * * Add to application C-file: * \code - static bool my_flag_autorize_msc_transfert = false; - bool my_callback_msc_enable(void) - { - my_flag_autorize_msc_transfert = true; - return true; - } - void my_callback_msc_disable(void) - { - my_flag_autorize_msc_transfert = false; - } + static bool my_flag_autorize_msc_transfert = false; + bool my_callback_msc_enable(void) { + my_flag_autorize_msc_transfert = true; + return true; + } + void my_callback_msc_disable(void) { + my_flag_autorize_msc_transfert = false; + } - void task(void) - { - udi_msc_process_trans(); - } + void task(void) { + udi_msc_process_trans(); + } \endcode * * \subsection udi_msc_basic_use_case_setup_flow Workflow @@ -237,14 +232,14 @@ bool udi_msc_trans_block(bool b_read, uint8_t * block, iram_size_t block_size, * - \code #define USB_DEVICE_SERIAL_NAME "12...EF" // Disk SN for MSC \endcode * \note The USB serial number is mandatory when a MSC interface is used. * - \code //! Vendor name and Product version of MSC interface - #define UDI_MSC_GLOBAL_VENDOR_ID \ - 'A', 'T', 'M', 'E', 'L', ' ', ' ', ' ' - #define UDI_MSC_GLOBAL_PRODUCT_VERSION \ - '1', '.', '0', '0' \endcode + #define UDI_MSC_GLOBAL_VENDOR_ID \ + 'A', 'T', 'M', 'E', 'L', ' ', ' ', ' ' + #define UDI_MSC_GLOBAL_PRODUCT_VERSION \ + '1', '.', '0', '0' \endcode * \note The USB MSC interface requires a vendor ID (8 ASCII characters) * and a product version (4 ASCII characters). * - \code #define UDI_MSC_ENABLE_EXT() my_callback_msc_enable() - extern bool my_callback_msc_enable(void); \endcode + extern bool my_callback_msc_enable(void); \endcode * \note After the device enumeration (detecting and identifying USB devices), * the USB host starts the device configuration. When the USB MSC interface * from the device is accepted by the host, the USB host enables this interface and the @@ -252,7 +247,7 @@ bool udi_msc_trans_block(bool b_read, uint8_t * block, iram_size_t block_size, * Thus, when this event is received, the tasks which call * udi_msc_process_trans() must be enabled. * - \code #define UDI_MSC_DISABLE_EXT() my_callback_msc_disable() - extern void my_callback_msc_disable(void); \endcode + extern void my_callback_msc_disable(void); \endcode * \note When the USB device is unplugged or is reset by the USB host, the USB * interface is disabled and the UDI_MSC_DISABLE_EXT() callback function * is called. Thus, it is recommended to disable the task which is called udi_msc_process_trans(). @@ -261,15 +256,15 @@ bool udi_msc_trans_block(bool b_read, uint8_t * block, iram_size_t block_size, * must be done outside USB interrupt routine. This is done in the MSC process * ("udi_msc_process_trans()") called by main loop: * - \code * void task(void) { - udi_msc_process_trans(); - } \endcode + udi_msc_process_trans(); + } \endcode * -# The MSC speed depends on task periodicity. To get the best speed * the notification callback "UDI_MSC_NOTIFY_TRANS_EXT" can be used to wakeup * this task (Example, through a mutex): * - \code #define UDI_MSC_NOTIFY_TRANS_EXT() msc_notify_trans() - void msc_notify_trans(void) { - wakeup_my_task(); - } \endcode + void msc_notify_trans(void) { + wakeup_my_task(); + } \endcode * * \section udi_msc_use_cases Advanced use cases * For more advanced use of the UDI MSC module, see the following use cases: @@ -302,72 +297,72 @@ bool udi_msc_trans_block(bool b_read, uint8_t * block, iram_size_t block_size, * \subsection udi_msc_use_case_composite_usage_code Example code * Content of conf_usb.h: * \code - #define USB_DEVICE_EP_CTRL_SIZE 64 - #define USB_DEVICE_NB_INTERFACE (X+1) - #define USB_DEVICE_MAX_EP (X+2) + #define USB_DEVICE_EP_CTRL_SIZE 64 + #define USB_DEVICE_NB_INTERFACE (X+1) + #define USB_DEVICE_MAX_EP (X+2) - #define UDI_MSC_EP_IN (X | USB_EP_DIR_IN) - #define UDI_MSC_EP_OUT (Y | USB_EP_DIR_OUT) - #define UDI_MSC_IFACE_NUMBER X + #define UDI_MSC_EP_IN (X | USB_EP_DIR_IN) + #define UDI_MSC_EP_OUT (Y | USB_EP_DIR_OUT) + #define UDI_MSC_IFACE_NUMBER X - #define UDI_COMPOSITE_DESC_T \ - udi_msc_desc_t udi_msc; \ - ... - #define UDI_COMPOSITE_DESC_FS \ - .udi_msc = UDI_MSC_DESC, \ - ... - #define UDI_COMPOSITE_DESC_HS \ - .udi_msc = UDI_MSC_DESC, \ - ... - #define UDI_COMPOSITE_API \ - &udi_api_msc, \ - ... + #define UDI_COMPOSITE_DESC_T \ + udi_msc_desc_t udi_msc; \ + ... + #define UDI_COMPOSITE_DESC_FS \ + .udi_msc = UDI_MSC_DESC, \ + ... + #define UDI_COMPOSITE_DESC_HS \ + .udi_msc = UDI_MSC_DESC, \ + ... + #define UDI_COMPOSITE_API \ + &udi_api_msc, \ + ... \endcode * * \subsection udi_msc_use_case_composite_usage_flow Workflow * -# Ensure that conf_usb.h is available and contains the following parameters * required for a USB composite device configuration: * - \code // Endpoint control size, This must be: - // - 8, 16, 32 or 64 for full speed device (8 is recommended to save RAM) - // - 64 for a high speed device - #define USB_DEVICE_EP_CTRL_SIZE 64 - // Total Number of interfaces on this USB device. - // Add 1 for MSC. - #define USB_DEVICE_NB_INTERFACE (X+1) - // Total number of endpoints on this USB device. - // This must include each endpoint for each interface. - // Add 2 for MSC. - #define USB_DEVICE_MAX_EP (X+2) \endcode + // - 8, 16, 32 or 64 for full speed device (8 is recommended to save RAM) + // - 64 for a high speed device + #define USB_DEVICE_EP_CTRL_SIZE 64 + // Total Number of interfaces on this USB device. + // Add 1 for MSC. + #define USB_DEVICE_NB_INTERFACE (X+1) + // Total number of endpoints on this USB device. + // This must include each endpoint for each interface. + // Add 2 for MSC. + #define USB_DEVICE_MAX_EP (X+2) \endcode * -# Ensure that conf_usb.h contains the description of * composite device: * - \code // The endpoint numbers chosen by you for the MSC. - // The endpoint numbers starting from 1. - #define UDI_MSC_EP_IN (X | USB_EP_DIR_IN) - #define UDI_MSC_EP_OUT (Y | USB_EP_DIR_OUT) - // The interface index of an interface starting from 0 - #define UDI_MSC_IFACE_NUMBER X \endcode + // The endpoint numbers starting from 1. + #define UDI_MSC_EP_IN (X | USB_EP_DIR_IN) + #define UDI_MSC_EP_OUT (Y | USB_EP_DIR_OUT) + // The interface index of an interface starting from 0 + #define UDI_MSC_IFACE_NUMBER X \endcode * -# Ensure that conf_usb.h contains the following parameters * required for a USB composite device configuration: * - \code // USB Interfaces descriptor structure - #define UDI_COMPOSITE_DESC_T \ - ... - udi_msc_desc_t udi_msc; \ - ... - // USB Interfaces descriptor value for Full Speed - #define UDI_COMPOSITE_DESC_FS \ - ... - .udi_msc = UDI_MSC_DESC_FS, \ - ... - // USB Interfaces descriptor value for High Speed - #define UDI_COMPOSITE_DESC_HS \ - ... - .udi_msc = UDI_MSC_DESC_HS, \ - ... - // USB Interface APIs - #define UDI_COMPOSITE_API \ - ... - &udi_api_msc, \ - ... \endcode + #define UDI_COMPOSITE_DESC_T \ + ... + udi_msc_desc_t udi_msc; \ + ... + // USB Interfaces descriptor value for Full Speed + #define UDI_COMPOSITE_DESC_FS \ + ... + .udi_msc = UDI_MSC_DESC_FS, \ + ... + // USB Interfaces descriptor value for High Speed + #define UDI_COMPOSITE_DESC_HS \ + ... + .udi_msc = UDI_MSC_DESC_HS, \ + ... + // USB Interface APIs + #define UDI_COMPOSITE_API \ + ... + &udi_api_msc, \ + ... \endcode * - \note The descriptors order given in the four lists above must be the * same as the order defined by all interface indexes. The interface index * orders are defined through UDI_X_IFACE_NUMBER defines. diff --git a/Marlin/src/HAL/DUE/usb/uotghs_otg.h b/Marlin/src/HAL/DUE/usb/uotghs_otg.h index eca5e938bb..f0e55c896f 100644 --- a/Marlin/src/HAL/DUE/usb/uotghs_otg.h +++ b/Marlin/src/HAL/DUE/usb/uotghs_otg.h @@ -127,13 +127,13 @@ void otg_dual_disable(void); //! These macros allows to enable/disable pad and UOTGHS hardware //! @{ //! Reset USB macro -#define otg_reset() \ - do { \ - UOTGHS->UOTGHS_CTRL = 0; \ - while( UOTGHS->UOTGHS_SR & 0x3FFF) {\ - UOTGHS->UOTGHS_SCR = 0xFFFFFFFF;\ - } \ - } while (0) +#define otg_reset() \ + do { \ + UOTGHS->UOTGHS_CTRL = 0; \ + while( UOTGHS->UOTGHS_SR & 0x3FFF) { \ + UOTGHS->UOTGHS_SCR = 0xFFFFFFFF; \ + } \ + } while (0) //! Enable USB macro #define otg_enable() (Set_bits(UOTGHS->UOTGHS_CTRL, UOTGHS_CTRL_USBE)) //! Disable USB macro @@ -157,15 +157,14 @@ void otg_dual_disable(void); //! Configure time-out of specified OTG timer #define otg_configure_timeout(timer, timeout) (Set_bits(UOTGHS->UOTGHS_CTRL, UOTGHS_CTRL_UNLOCK),\ - Wr_bitfield(UOTGHS->UOTGHS_CTRL, UOTGHS_CTRL_TIMPAGE_Msk, timer),\ - Wr_bitfield(UOTGHS->UOTGHS_CTRL, UOTGHS_CTRL_TIMVALUE_Msk, timeout),\ - Clr_bits(UOTGHS->UOTGHS_CTRL, UOTGHS_CTRL_UNLOCK)) + Wr_bitfield(UOTGHS->UOTGHS_CTRL, UOTGHS_CTRL_TIMPAGE_Msk, timer),\ + Wr_bitfield(UOTGHS->UOTGHS_CTRL, UOTGHS_CTRL_TIMVALUE_Msk, timeout),\ + Clr_bits(UOTGHS->UOTGHS_CTRL, UOTGHS_CTRL_UNLOCK)) //! Get configured time-out of specified OTG timer #define otg_get_timeout(timer) (Set_bits(UOTGHS->UOTGHS_CTRL, UOTGHS_CTRL_UNLOCK),\ - Wr_bitfield(UOTGHS->UOTGHS_CTRL, UOTGHS_CTRL_TIMPAGE_Msk, timer),\ - Clr_bits(UOTGHS->UOTGHS_CTRL, UOTGHS_CTRL_UNLOCK),\ - Rd_bitfield(UOTGHS->UOTGHS_CTRL, UOTGHS_CTRL_TIMVALUE_Msk)) - + Wr_bitfield(UOTGHS->UOTGHS_CTRL, UOTGHS_CTRL_TIMPAGE_Msk, timer),\ + Clr_bits(UOTGHS->UOTGHS_CTRL, UOTGHS_CTRL_UNLOCK),\ + Rd_bitfield(UOTGHS->UOTGHS_CTRL, UOTGHS_CTRL_TIMVALUE_Msk)) //! Get the dual-role device state of the internal USB finite state machine of the UOTGHS controller #define otg_get_fsm_drd_state() (Rd_bitfield(UOTGHS->UOTGHS_FSM, UOTGHS_FSM_DRDSTATE_Msk)) diff --git a/Marlin/src/HAL/DUE/usb/usb_protocol.h b/Marlin/src/HAL/DUE/usb/usb_protocol.h index ea51a86896..4540247df8 100644 --- a/Marlin/src/HAL/DUE/usb/usb_protocol.h +++ b/Marlin/src/HAL/DUE/usb/usb_protocol.h @@ -108,17 +108,17 @@ * \brief Standard USB requests (bRequest) */ enum usb_reqid { - USB_REQ_GET_STATUS = 0, - USB_REQ_CLEAR_FEATURE = 1, - USB_REQ_SET_FEATURE = 3, - USB_REQ_SET_ADDRESS = 5, - USB_REQ_GET_DESCRIPTOR = 6, - USB_REQ_SET_DESCRIPTOR = 7, - USB_REQ_GET_CONFIGURATION = 8, - USB_REQ_SET_CONFIGURATION = 9, - USB_REQ_GET_INTERFACE = 10, - USB_REQ_SET_INTERFACE = 11, - USB_REQ_SYNCH_FRAME = 12, + USB_REQ_GET_STATUS = 0, + USB_REQ_CLEAR_FEATURE = 1, + USB_REQ_SET_FEATURE = 3, + USB_REQ_SET_ADDRESS = 5, + USB_REQ_GET_DESCRIPTOR = 6, + USB_REQ_SET_DESCRIPTOR = 7, + USB_REQ_GET_CONFIGURATION = 8, + USB_REQ_SET_CONFIGURATION = 9, + USB_REQ_GET_INTERFACE = 10, + USB_REQ_SET_INTERFACE = 11, + USB_REQ_SYNCH_FRAME = 12, }; /** @@ -126,9 +126,9 @@ enum usb_reqid { * */ enum usb_device_status { - USB_DEV_STATUS_BUS_POWERED = 0, - USB_DEV_STATUS_SELF_POWERED = 1, - USB_DEV_STATUS_REMOTEWAKEUP = 2 + USB_DEV_STATUS_BUS_POWERED = 0, + USB_DEV_STATUS_SELF_POWERED = 1, + USB_DEV_STATUS_REMOTEWAKEUP = 2 }; /** @@ -136,7 +136,7 @@ enum usb_device_status { * */ enum usb_interface_status { - USB_IFACE_STATUS_RESERVED = 0 + USB_IFACE_STATUS_RESERVED = 0 }; /** @@ -144,7 +144,7 @@ enum usb_interface_status { * */ enum usb_endpoint_status { - USB_EP_STATUS_HALTED = 1, + USB_EP_STATUS_HALTED = 1, }; /** @@ -153,11 +153,11 @@ enum usb_endpoint_status { * \note valid for SetFeature request. */ enum usb_device_feature { - USB_DEV_FEATURE_REMOTE_WAKEUP = 1, //!< Remote wakeup enabled - USB_DEV_FEATURE_TEST_MODE = 2, //!< USB test mode - USB_DEV_FEATURE_OTG_B_HNP_ENABLE = 3, - USB_DEV_FEATURE_OTG_A_HNP_SUPPORT = 4, - USB_DEV_FEATURE_OTG_A_ALT_HNP_SUPPORT = 5 + USB_DEV_FEATURE_REMOTE_WAKEUP = 1, //!< Remote wakeup enabled + USB_DEV_FEATURE_TEST_MODE = 2, //!< USB test mode + USB_DEV_FEATURE_OTG_B_HNP_ENABLE = 3, + USB_DEV_FEATURE_OTG_A_HNP_SUPPORT = 4, + USB_DEV_FEATURE_OTG_A_ALT_HNP_SUPPORT = 5 }; /** @@ -166,54 +166,54 @@ enum usb_device_feature { * \note valid for USB_DEV_FEATURE_TEST_MODE request. */ enum usb_device_hs_test_mode { - USB_DEV_TEST_MODE_J = 1, - USB_DEV_TEST_MODE_K = 2, - USB_DEV_TEST_MODE_SE0_NAK = 3, - USB_DEV_TEST_MODE_PACKET = 4, - USB_DEV_TEST_MODE_FORCE_ENABLE = 5, + USB_DEV_TEST_MODE_J = 1, + USB_DEV_TEST_MODE_K = 2, + USB_DEV_TEST_MODE_SE0_NAK = 3, + USB_DEV_TEST_MODE_PACKET = 4, + USB_DEV_TEST_MODE_FORCE_ENABLE = 5, }; /** * \brief Standard USB endpoint feature/status flags */ enum usb_endpoint_feature { - USB_EP_FEATURE_HALT = 0, + USB_EP_FEATURE_HALT = 0, }; /** * \brief Standard USB Test Mode Selectors */ enum usb_test_mode_selector { - USB_TEST_J = 0x01, - USB_TEST_K = 0x02, - USB_TEST_SE0_NAK = 0x03, - USB_TEST_PACKET = 0x04, - USB_TEST_FORCE_ENABLE = 0x05, + USB_TEST_J = 0x01, + USB_TEST_K = 0x02, + USB_TEST_SE0_NAK = 0x03, + USB_TEST_PACKET = 0x04, + USB_TEST_FORCE_ENABLE = 0x05, }; /** * \brief Standard USB descriptor types */ enum usb_descriptor_type { - USB_DT_DEVICE = 1, - USB_DT_CONFIGURATION = 2, - USB_DT_STRING = 3, - USB_DT_INTERFACE = 4, - USB_DT_ENDPOINT = 5, - USB_DT_DEVICE_QUALIFIER = 6, - USB_DT_OTHER_SPEED_CONFIGURATION = 7, - USB_DT_INTERFACE_POWER = 8, - USB_DT_OTG = 9, - USB_DT_IAD = 0x0B, - USB_DT_BOS = 0x0F, - USB_DT_DEVICE_CAPABILITY = 0x10, + USB_DT_DEVICE = 1, + USB_DT_CONFIGURATION = 2, + USB_DT_STRING = 3, + USB_DT_INTERFACE = 4, + USB_DT_ENDPOINT = 5, + USB_DT_DEVICE_QUALIFIER = 6, + USB_DT_OTHER_SPEED_CONFIGURATION = 7, + USB_DT_INTERFACE_POWER = 8, + USB_DT_OTG = 9, + USB_DT_IAD = 0x0B, + USB_DT_BOS = 0x0F, + USB_DT_DEVICE_CAPABILITY = 0x10, }; /** * \brief USB Device Capability types */ enum usb_capability_type { - USB_DC_USB20_EXTENSION = 0x02, + USB_DC_USB20_EXTENSION = 0x02, }; /** @@ -221,7 +221,7 @@ enum usb_capability_type { * To fill bmAttributes field of usb_capa_ext_desc_t structure. */ enum usb_capability_extension_attr { - USB_DC_EXT_LPM = 0x00000002, + USB_DC_EXT_LPM = 0x00000002, }; #define HIRD_50_US 0 @@ -254,18 +254,18 @@ enum usb_capability_extension_attr { * \brief Standard USB endpoint transfer types */ enum usb_ep_type { - USB_EP_TYPE_CONTROL = 0x00, - USB_EP_TYPE_ISOCHRONOUS = 0x01, - USB_EP_TYPE_BULK = 0x02, - USB_EP_TYPE_INTERRUPT = 0x03, - USB_EP_TYPE_MASK = 0x03, + USB_EP_TYPE_CONTROL = 0x00, + USB_EP_TYPE_ISOCHRONOUS = 0x01, + USB_EP_TYPE_BULK = 0x02, + USB_EP_TYPE_INTERRUPT = 0x03, + USB_EP_TYPE_MASK = 0x03, }; /** * \brief Standard USB language IDs for string descriptors */ enum usb_langid { - USB_LANGID_EN_US = 0x0409, //!< English (United States) + USB_LANGID_EN_US = 0x0409, //!< English (United States) }; /** @@ -308,31 +308,31 @@ COMPILER_PACK_SET(1) * The data payload of SETUP packets always follows this structure. */ typedef struct { - uint8_t bmRequestType; - uint8_t bRequest; - le16_t wValue; - le16_t wIndex; - le16_t wLength; + uint8_t bmRequestType; + uint8_t bRequest; + le16_t wValue; + le16_t wIndex; + le16_t wLength; } usb_setup_req_t; /** * \brief Standard USB device descriptor structure */ typedef struct { - uint8_t bLength; - uint8_t bDescriptorType; - le16_t bcdUSB; - uint8_t bDeviceClass; - uint8_t bDeviceSubClass; - uint8_t bDeviceProtocol; - uint8_t bMaxPacketSize0; - le16_t idVendor; - le16_t idProduct; - le16_t bcdDevice; - uint8_t iManufacturer; - uint8_t iProduct; - uint8_t iSerialNumber; - uint8_t bNumConfigurations; + uint8_t bLength; + uint8_t bDescriptorType; + le16_t bcdUSB; + uint8_t bDeviceClass; + uint8_t bDeviceSubClass; + uint8_t bDeviceProtocol; + uint8_t bMaxPacketSize0; + le16_t idVendor; + le16_t idProduct; + le16_t bcdDevice; + uint8_t iManufacturer; + uint8_t iProduct; + uint8_t iSerialNumber; + uint8_t bNumConfigurations; } usb_dev_desc_t; /** @@ -344,15 +344,15 @@ typedef struct { * the device was operating at full speed.) */ typedef struct { - uint8_t bLength; - uint8_t bDescriptorType; - le16_t bcdUSB; - uint8_t bDeviceClass; - uint8_t bDeviceSubClass; - uint8_t bDeviceProtocol; - uint8_t bMaxPacketSize0; - uint8_t bNumConfigurations; - uint8_t bReserved; + uint8_t bLength; + uint8_t bDescriptorType; + le16_t bcdUSB; + uint8_t bDeviceClass; + uint8_t bDeviceSubClass; + uint8_t bDeviceProtocol; + uint8_t bMaxPacketSize0; + uint8_t bNumConfigurations; + uint8_t bReserved; } usb_dev_qual_desc_t; /** @@ -368,10 +368,10 @@ typedef struct { * The descriptor type in the GetDescriptor() request is set to BOS. */ typedef struct { - uint8_t bLength; - uint8_t bDescriptorType; - le16_t wTotalLength; - uint8_t bNumDeviceCaps; + uint8_t bLength; + uint8_t bDescriptorType; + le16_t wTotalLength; + uint8_t bNumDeviceCaps; } usb_dev_bos_desc_t; @@ -381,10 +381,10 @@ typedef struct { * Defines the set of USB 1.1-specific device level capabilities. */ typedef struct { - uint8_t bLength; - uint8_t bDescriptorType; - uint8_t bDevCapabilityType; - le32_t bmAttributes; + uint8_t bLength; + uint8_t bDescriptorType; + uint8_t bDevCapabilityType; + le32_t bmAttributes; } usb_dev_capa_ext_desc_t; /** @@ -393,22 +393,22 @@ typedef struct { * The BOS descriptor and capabilities descriptors for LPM. */ typedef struct { - usb_dev_bos_desc_t bos; - usb_dev_capa_ext_desc_t capa_ext; + usb_dev_bos_desc_t bos; + usb_dev_capa_ext_desc_t capa_ext; } usb_dev_lpm_desc_t; /** * \brief Standard USB Interface Association Descriptor structure */ typedef struct { - uint8_t bLength; //!< size of this descriptor in bytes - uint8_t bDescriptorType; //!< INTERFACE descriptor type - uint8_t bFirstInterface; //!< Number of interface - uint8_t bInterfaceCount; //!< value to select alternate setting - uint8_t bFunctionClass; //!< Class code assigned by the USB - uint8_t bFunctionSubClass;//!< Sub-class code assigned by the USB - uint8_t bFunctionProtocol;//!< Protocol code assigned by the USB - uint8_t iFunction; //!< Index of string descriptor + uint8_t bLength; //!< size of this descriptor in bytes + uint8_t bDescriptorType; //!< INTERFACE descriptor type + uint8_t bFirstInterface; //!< Number of interface + uint8_t bInterfaceCount; //!< value to select alternate setting + uint8_t bFunctionClass; //!< Class code assigned by the USB + uint8_t bFunctionSubClass;//!< Sub-class code assigned by the USB + uint8_t bFunctionProtocol;//!< Protocol code assigned by the USB + uint8_t iFunction; //!< Index of string descriptor } usb_association_desc_t; @@ -416,14 +416,14 @@ typedef struct { * \brief Standard USB configuration descriptor structure */ typedef struct { - uint8_t bLength; - uint8_t bDescriptorType; - le16_t wTotalLength; - uint8_t bNumInterfaces; - uint8_t bConfigurationValue; - uint8_t iConfiguration; - uint8_t bmAttributes; - uint8_t bMaxPower; + uint8_t bLength; + uint8_t bDescriptorType; + le16_t wTotalLength; + uint8_t bNumInterfaces; + uint8_t bConfigurationValue; + uint8_t iConfiguration; + uint8_t bmAttributes; + uint8_t bMaxPower; } usb_conf_desc_t; @@ -438,41 +438,41 @@ typedef struct { * \brief Standard USB association descriptor structure */ typedef struct { - uint8_t bLength; //!< Size of this descriptor in bytes - uint8_t bDescriptorType; //!< Interface descriptor type - uint8_t bFirstInterface; //!< Number of interface - uint8_t bInterfaceCount; //!< value to select alternate setting - uint8_t bFunctionClass; //!< Class code assigned by the USB - uint8_t bFunctionSubClass; //!< Sub-class code assigned by the USB - uint8_t bFunctionProtocol; //!< Protocol code assigned by the USB - uint8_t iFunction; //!< Index of string descriptor + uint8_t bLength; //!< Size of this descriptor in bytes + uint8_t bDescriptorType; //!< Interface descriptor type + uint8_t bFirstInterface; //!< Number of interface + uint8_t bInterfaceCount; //!< value to select alternate setting + uint8_t bFunctionClass; //!< Class code assigned by the USB + uint8_t bFunctionSubClass; //!< Sub-class code assigned by the USB + uint8_t bFunctionProtocol; //!< Protocol code assigned by the USB + uint8_t iFunction; //!< Index of string descriptor } usb_iad_desc_t; /** * \brief Standard USB interface descriptor structure */ typedef struct { - uint8_t bLength; - uint8_t bDescriptorType; - uint8_t bInterfaceNumber; - uint8_t bAlternateSetting; - uint8_t bNumEndpoints; - uint8_t bInterfaceClass; - uint8_t bInterfaceSubClass; - uint8_t bInterfaceProtocol; - uint8_t iInterface; + uint8_t bLength; + uint8_t bDescriptorType; + uint8_t bInterfaceNumber; + uint8_t bAlternateSetting; + uint8_t bNumEndpoints; + uint8_t bInterfaceClass; + uint8_t bInterfaceSubClass; + uint8_t bInterfaceProtocol; + uint8_t iInterface; } usb_iface_desc_t; /** * \brief Standard USB endpoint descriptor structure */ typedef struct { - uint8_t bLength; - uint8_t bDescriptorType; - uint8_t bEndpointAddress; - uint8_t bmAttributes; - le16_t wMaxPacketSize; - uint8_t bInterval; + uint8_t bLength; + uint8_t bDescriptorType; + uint8_t bEndpointAddress; + uint8_t bmAttributes; + le16_t wMaxPacketSize; + uint8_t bInterval; } usb_ep_desc_t; @@ -480,13 +480,13 @@ typedef struct { * \brief A standard USB string descriptor structure */ typedef struct { - uint8_t bLength; - uint8_t bDescriptorType; + uint8_t bLength; + uint8_t bDescriptorType; } usb_str_desc_t; typedef struct { - usb_str_desc_t desc; - le16_t string[1]; + usb_str_desc_t desc; + le16_t string[1]; } usb_str_lgid_desc_t; COMPILER_PACK_RESET() diff --git a/Marlin/src/HAL/DUE/usb/usb_protocol_cdc.h b/Marlin/src/HAL/DUE/usb/usb_protocol_cdc.h index d594db52e3..9b82afc624 100644 --- a/Marlin/src/HAL/DUE/usb/usb_protocol_cdc.h +++ b/Marlin/src/HAL/DUE/usb/usb_protocol_cdc.h @@ -58,42 +58,42 @@ * \name Possible values of class */ //@{ -#define CDC_CLASS_DEVICE 0x02 //!< USB Communication Device Class -#define CDC_CLASS_COMM 0x02 //!< CDC Communication Class Interface -#define CDC_CLASS_DATA 0x0A //!< CDC Data Class Interface +#define CDC_CLASS_DEVICE 0x02 //!< USB Communication Device Class +#define CDC_CLASS_COMM 0x02 //!< CDC Communication Class Interface +#define CDC_CLASS_DATA 0x0A //!< CDC Data Class Interface #define CDC_CLASS_MULTI 0xEF //!< CDC Multi-interface Function //@} //! \name USB CDC Subclass IDs //@{ -#define CDC_SUBCLASS_DLCM 0x01 //!< Direct Line Control Model -#define CDC_SUBCLASS_ACM 0x02 //!< Abstract Control Model -#define CDC_SUBCLASS_TCM 0x03 //!< Telephone Control Model -#define CDC_SUBCLASS_MCCM 0x04 //!< Multi-Channel Control Model -#define CDC_SUBCLASS_CCM 0x05 //!< CAPI Control Model -#define CDC_SUBCLASS_ETH 0x06 //!< Ethernet Networking Control Model -#define CDC_SUBCLASS_ATM 0x07 //!< ATM Networking Control Model +#define CDC_SUBCLASS_DLCM 0x01 //!< Direct Line Control Model +#define CDC_SUBCLASS_ACM 0x02 //!< Abstract Control Model +#define CDC_SUBCLASS_TCM 0x03 //!< Telephone Control Model +#define CDC_SUBCLASS_MCCM 0x04 //!< Multi-Channel Control Model +#define CDC_SUBCLASS_CCM 0x05 //!< CAPI Control Model +#define CDC_SUBCLASS_ETH 0x06 //!< Ethernet Networking Control Model +#define CDC_SUBCLASS_ATM 0x07 //!< ATM Networking Control Model //@} //! \name USB CDC Communication Interface Protocol IDs //@{ -#define CDC_PROTOCOL_V25TER 0x01 //!< Common AT commands +#define CDC_PROTOCOL_V25TER 0x01 //!< Common AT commands //@} //! \name USB CDC Data Interface Protocol IDs //@{ -#define CDC_PROTOCOL_I430 0x30 //!< ISDN BRI -#define CDC_PROTOCOL_HDLC 0x31 //!< HDLC -#define CDC_PROTOCOL_TRANS 0x32 //!< Transparent -#define CDC_PROTOCOL_Q921M 0x50 //!< Q.921 management protocol -#define CDC_PROTOCOL_Q921 0x51 //!< Q.931 [sic] Data link protocol -#define CDC_PROTOCOL_Q921TM 0x52 //!< Q.921 TEI-multiplexor -#define CDC_PROTOCOL_V42BIS 0x90 //!< Data compression procedures -#define CDC_PROTOCOL_Q931 0x91 //!< Euro-ISDN protocol control -#define CDC_PROTOCOL_V120 0x92 //!< V.24 rate adaption to ISDN -#define CDC_PROTOCOL_CAPI20 0x93 //!< CAPI Commands -#define CDC_PROTOCOL_HOST 0xFD //!< Host based driver +#define CDC_PROTOCOL_I430 0x30 //!< ISDN BRI +#define CDC_PROTOCOL_HDLC 0x31 //!< HDLC +#define CDC_PROTOCOL_TRANS 0x32 //!< Transparent +#define CDC_PROTOCOL_Q921M 0x50 //!< Q.921 management protocol +#define CDC_PROTOCOL_Q921 0x51 //!< Q.931 [sic] Data link protocol +#define CDC_PROTOCOL_Q921TM 0x52 //!< Q.921 TEI-multiplexor +#define CDC_PROTOCOL_V42BIS 0x90 //!< Data compression procedures +#define CDC_PROTOCOL_Q931 0x91 //!< Euro-ISDN protocol control +#define CDC_PROTOCOL_V120 0x92 //!< V.24 rate adaption to ISDN +#define CDC_PROTOCOL_CAPI20 0x93 //!< CAPI Commands +#define CDC_PROTOCOL_HOST 0xFD //!< Host based driver /** * \brief Describes the Protocol Unit Functional Descriptors [sic] * on Communication Class Interface @@ -103,16 +103,16 @@ //! \name USB CDC Functional Descriptor Types //@{ -#define CDC_CS_INTERFACE 0x24 //!< Interface Functional Descriptor -#define CDC_CS_ENDPOINT 0x25 //!< Endpoint Functional Descriptor +#define CDC_CS_INTERFACE 0x24 //!< Interface Functional Descriptor +#define CDC_CS_ENDPOINT 0x25 //!< Endpoint Functional Descriptor //@} //! \name USB CDC Functional Descriptor Subtypes //@{ -#define CDC_SCS_HEADER 0x00 //!< Header Functional Descriptor -#define CDC_SCS_CALL_MGMT 0x01 //!< Call Management -#define CDC_SCS_ACM 0x02 //!< Abstract Control Management -#define CDC_SCS_UNION 0x06 //!< Union Functional Descriptor +#define CDC_SCS_HEADER 0x00 //!< Header Functional Descriptor +#define CDC_SCS_CALL_MGMT 0x01 //!< Call Management +#define CDC_SCS_ACM 0x02 //!< Abstract Control Management +#define CDC_SCS_UNION 0x06 //!< Union Functional Descriptor //@} //! \name USB CDC Request IDs @@ -171,36 +171,36 @@ COMPILER_PACK_SET(1) //! CDC Header Functional Descriptor typedef struct { - uint8_t bFunctionLength; - uint8_t bDescriptorType; - uint8_t bDescriptorSubtype; - le16_t bcdCDC; + uint8_t bFunctionLength; + uint8_t bDescriptorType; + uint8_t bDescriptorSubtype; + le16_t bcdCDC; } usb_cdc_hdr_desc_t; //! CDC Call Management Functional Descriptor typedef struct { - uint8_t bFunctionLength; - uint8_t bDescriptorType; - uint8_t bDescriptorSubtype; - uint8_t bmCapabilities; - uint8_t bDataInterface; + uint8_t bFunctionLength; + uint8_t bDescriptorType; + uint8_t bDescriptorSubtype; + uint8_t bmCapabilities; + uint8_t bDataInterface; } usb_cdc_call_mgmt_desc_t; //! CDC ACM Functional Descriptor typedef struct { - uint8_t bFunctionLength; - uint8_t bDescriptorType; - uint8_t bDescriptorSubtype; - uint8_t bmCapabilities; + uint8_t bFunctionLength; + uint8_t bDescriptorType; + uint8_t bDescriptorSubtype; + uint8_t bmCapabilities; } usb_cdc_acm_desc_t; //! CDC Union Functional Descriptor typedef struct { - uint8_t bFunctionLength; - uint8_t bDescriptorType; - uint8_t bDescriptorSubtype; - uint8_t bMasterInterface; - uint8_t bSlaveInterface0; + uint8_t bFunctionLength; + uint8_t bDescriptorType; + uint8_t bDescriptorSubtype; + uint8_t bMasterInterface; + uint8_t bSlaveInterface0; } usb_cdc_union_desc_t; @@ -235,24 +235,24 @@ typedef struct { //@{ //! Line Coding structure typedef struct { - le32_t dwDTERate; - uint8_t bCharFormat; - uint8_t bParityType; - uint8_t bDataBits; + le32_t dwDTERate; + uint8_t bCharFormat; + uint8_t bParityType; + uint8_t bDataBits; } usb_cdc_line_coding_t; //! Possible values of bCharFormat enum cdc_char_format { - CDC_STOP_BITS_1 = 0, //!< 1 stop bit - CDC_STOP_BITS_1_5 = 1, //!< 1.5 stop bits - CDC_STOP_BITS_2 = 2, //!< 2 stop bits + CDC_STOP_BITS_1 = 0, //!< 1 stop bit + CDC_STOP_BITS_1_5 = 1, //!< 1.5 stop bits + CDC_STOP_BITS_2 = 2, //!< 2 stop bits }; //! Possible values of bParityType enum cdc_parity { - CDC_PAR_NONE = 0, //!< No parity - CDC_PAR_ODD = 1, //!< Odd parity - CDC_PAR_EVEN = 2, //!< Even parity - CDC_PAR_MARK = 3, //!< Parity forced to 0 (space) - CDC_PAR_SPACE = 4, //!< Parity forced to 1 (mark) + CDC_PAR_NONE = 0, //!< No parity + CDC_PAR_ODD = 1, //!< Odd parity + CDC_PAR_EVEN = 2, //!< Even parity + CDC_PAR_MARK = 3, //!< Parity forced to 0 (space) + CDC_PAR_SPACE = 4, //!< Parity forced to 1 (mark) }; //@} @@ -262,7 +262,7 @@ enum cdc_parity { //! Control signal structure typedef struct { - uint16_t value; + uint16_t value; } usb_cdc_control_signal_t; //! \name Possible values in usb_cdc_control_signal_t @@ -283,11 +283,11 @@ typedef struct { //@{ typedef struct { - uint8_t bmRequestType; - uint8_t bNotification; - le16_t wValue; - le16_t wIndex; - le16_t wLength; + uint8_t bmRequestType; + uint8_t bNotification; + le16_t wValue; + le16_t wIndex; + le16_t wLength; } usb_cdc_notify_msg_t; //! \name USB CDC serial state @@ -295,8 +295,8 @@ typedef struct { //! Hardware handshake support (cdc spec 1.1 chapter 6.3.5) typedef struct { - usb_cdc_notify_msg_t header; - le16_t value; + usb_cdc_notify_msg_t header; + le16_t value; } usb_cdc_notify_serial_state_t; //! \name Possible values in usb_cdc_notify_serial_state_t diff --git a/Marlin/src/HAL/DUE/usb/usb_protocol_msc.h b/Marlin/src/HAL/DUE/usb/usb_protocol_msc.h index e1e59237d8..cc30a94e4f 100644 --- a/Marlin/src/HAL/DUE/usb/usb_protocol_msc.h +++ b/Marlin/src/HAL/DUE/usb/usb_protocol_msc.h @@ -59,7 +59,7 @@ * \name Possible Class value */ //@{ -#define MSC_CLASS 0x08 +#define MSC_CLASS 0x08 //@} /** @@ -71,12 +71,12 @@ * operating systems like Windows XP. */ //@{ -#define MSC_SUBCLASS_RBC 0x01 //!< Reduced Block Commands -#define MSC_SUBCLASS_ATAPI 0x02 //!< CD/DVD devices -#define MSC_SUBCLASS_QIC_157 0x03 //!< Tape devices -#define MSC_SUBCLASS_UFI 0x04 //!< Floppy disk drives -#define MSC_SUBCLASS_SFF_8070I 0x05 //!< Floppy disk drives -#define MSC_SUBCLASS_TRANSPARENT 0x06 //!< Determined by INQUIRY +#define MSC_SUBCLASS_RBC 0x01 //!< Reduced Block Commands +#define MSC_SUBCLASS_ATAPI 0x02 //!< CD/DVD devices +#define MSC_SUBCLASS_QIC_157 0x03 //!< Tape devices +#define MSC_SUBCLASS_UFI 0x04 //!< Floppy disk drives +#define MSC_SUBCLASS_SFF_8070I 0x05 //!< Floppy disk drives +#define MSC_SUBCLASS_TRANSPARENT 0x06 //!< Determined by INQUIRY //@} /** @@ -84,9 +84,9 @@ * \note Only the BULK protocol should be used in new designs. */ //@{ -#define MSC_PROTOCOL_CBI 0x00 //!< Command/Bulk/Interrupt -#define MSC_PROTOCOL_CBI_ALT 0x01 //!< W/o command completion -#define MSC_PROTOCOL_BULK 0x50 //!< Bulk-only +#define MSC_PROTOCOL_CBI 0x00 //!< Command/Bulk/Interrupt +#define MSC_PROTOCOL_CBI_ALT 0x01 //!< W/o command completion +#define MSC_PROTOCOL_BULK 0x50 //!< Bulk-only //@} @@ -94,8 +94,8 @@ * \brief MSC USB requests (bRequest) */ enum usb_reqid_msc { - USB_REQ_MSC_BULK_RESET = 0xFF, //!< Mass Storage Reset - USB_REQ_MSC_GET_MAX_LUN = 0xFE //!< Get Max LUN + USB_REQ_MSC_BULK_RESET = 0xFF, //!< Mass Storage Reset + USB_REQ_MSC_GET_MAX_LUN = 0xFE //!< Get Max LUN }; @@ -106,20 +106,20 @@ COMPILER_PACK_SET(1) */ //@{ struct usb_msc_cbw { - le32_t dCBWSignature; //!< Must contain 'USBC' - le32_t dCBWTag; //!< Unique command ID - le32_t dCBWDataTransferLength; //!< Number of bytes to transfer - uint8_t bmCBWFlags; //!< Direction in bit 7 - uint8_t bCBWLUN; //!< Logical Unit Number - uint8_t bCBWCBLength; //!< Number of valid CDB bytes - uint8_t CDB[16]; //!< SCSI Command Descriptor Block + le32_t dCBWSignature; //!< Must contain 'USBC' + le32_t dCBWTag; //!< Unique command ID + le32_t dCBWDataTransferLength; //!< Number of bytes to transfer + uint8_t bmCBWFlags; //!< Direction in bit 7 + uint8_t bCBWLUN; //!< Logical Unit Number + uint8_t bCBWCBLength; //!< Number of valid CDB bytes + uint8_t CDB[16]; //!< SCSI Command Descriptor Block }; -#define USB_CBW_SIGNATURE 0x55534243 //!< dCBWSignature value -#define USB_CBW_DIRECTION_IN (1<<7) //!< Data from device to host -#define USB_CBW_DIRECTION_OUT (0<<7) //!< Data from host to device -#define USB_CBW_LUN_MASK 0x0F //!< Valid bits in bCBWLUN -#define USB_CBW_LEN_MASK 0x1F //!< Valid bits in bCBWCBLength +#define USB_CBW_SIGNATURE 0x55534243 //!< dCBWSignature value +#define USB_CBW_DIRECTION_IN (1<<7) //!< Data from device to host +#define USB_CBW_DIRECTION_OUT (0<<7) //!< Data from host to device +#define USB_CBW_LUN_MASK 0x0F //!< Valid bits in bCBWLUN +#define USB_CBW_LEN_MASK 0x1F //!< Valid bits in bCBWCBLength //@} @@ -128,16 +128,16 @@ struct usb_msc_cbw { */ //@{ struct usb_msc_csw { - le32_t dCSWSignature; //!< Must contain 'USBS' - le32_t dCSWTag; //!< Same as dCBWTag - le32_t dCSWDataResidue; //!< Number of bytes not transferred - uint8_t bCSWStatus; //!< Status code + le32_t dCSWSignature; //!< Must contain 'USBS' + le32_t dCSWTag; //!< Same as dCBWTag + le32_t dCSWDataResidue; //!< Number of bytes not transferred + uint8_t bCSWStatus; //!< Status code }; -#define USB_CSW_SIGNATURE 0x55534253 //!< dCSWSignature value -#define USB_CSW_STATUS_PASS 0x00 //!< Command Passed -#define USB_CSW_STATUS_FAIL 0x01 //!< Command Failed -#define USB_CSW_STATUS_PE 0x02 //!< Phase Error +#define USB_CSW_SIGNATURE 0x55534253 //!< dCSWSignature value +#define USB_CSW_STATUS_PASS 0x00 //!< Command Passed +#define USB_CSW_STATUS_FAIL 0x01 //!< Command Failed +#define USB_CSW_STATUS_PE 0x02 //!< Phase Error //@} COMPILER_PACK_RESET() diff --git a/Marlin/src/HAL/DUE/usb/usb_task.c b/Marlin/src/HAL/DUE/usb/usb_task.c index 54a808d7f4..6f027f83a1 100644 --- a/Marlin/src/HAL/DUE/usb/usb_task.c +++ b/Marlin/src/HAL/DUE/usb/usb_task.c @@ -51,18 +51,18 @@ #include "conf_usb.h" #include "udc.h" -#if ENABLED(SDSUPPORT) +#if HAS_MEDIA static volatile bool main_b_msc_enable = false; #endif static volatile bool main_b_cdc_enable = false; static volatile bool main_b_dtr_active = false; void usb_task_idle(void) { - #if ENABLED(SDSUPPORT) + #if HAS_MEDIA // Attend SD card access from the USB MSD -- Prioritize access to improve speed int delay = 2; while (main_b_msc_enable && --delay > 0) { - if (udi_msc_process_trans()) delay = 10000; + if (udi_msc_process_trans()) delay = 20; // Reset the watchdog, just to be sure REG_WDT_CR = WDT_CR_WDRSTT | WDT_CR_KEY(0xA5); @@ -70,7 +70,7 @@ void usb_task_idle(void) { #endif } -#if ENABLED(SDSUPPORT) +#if HAS_MEDIA bool usb_task_msc_enable(void) { return ((main_b_msc_enable = true)); } void usb_task_msc_disable(void) { main_b_msc_enable = false; } bool usb_task_msc_isenabled(void) { return main_b_msc_enable; } @@ -206,13 +206,13 @@ static USB_MicrosoftExtendedPropertiesDescriptor microsoft_extended_properties_d bool usb_task_extra_string(void) { static uint8_t udi_msft_magic[] = "MSFT100\xEE"; static uint8_t udi_cdc_name[] = "CDC interface"; - #if ENABLED(SDSUPPORT) + #if HAS_MEDIA static uint8_t udi_msc_name[] = "MSC interface"; #endif struct extra_strings_desc_t { usb_str_desc_t header; - #if ENABLED(SDSUPPORT) + #if HAS_MEDIA le16_t string[Max(Max(sizeof(udi_cdc_name) - 1, sizeof(udi_msc_name) - 1), sizeof(udi_msft_magic) - 1)]; #else le16_t string[Max(sizeof(udi_cdc_name) - 1, sizeof(udi_msft_magic) - 1)]; @@ -231,7 +231,7 @@ bool usb_task_extra_string(void) { str_lgt = sizeof(udi_cdc_name) - 1; str = udi_cdc_name; break; - #if ENABLED(SDSUPPORT) + #if HAS_MEDIA case UDI_MSC_STRING_ID: str_lgt = sizeof(udi_msc_name) - 1; str = udi_msc_name; diff --git a/Marlin/src/HAL/DUE/watchdog.cpp b/Marlin/src/HAL/DUE/watchdog.cpp deleted file mode 100644 index e144db8291..0000000000 --- a/Marlin/src/HAL/DUE/watchdog.cpp +++ /dev/null @@ -1,114 +0,0 @@ -/** - * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * - * Based on Sprinter and grbl. - * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program. If not, see . - * - */ -#ifdef ARDUINO_ARCH_SAM - -#include "../../inc/MarlinConfig.h" -#include "../../MarlinCore.h" -#include "watchdog.h" - -// Override Arduino runtime to either config or disable the watchdog -// -// We need to configure the watchdog as soon as possible in the boot -// process, because watchdog initialization at hardware reset on SAM3X8E -// is unreliable, and there is risk of unintended resets if we delay -// that initialization to a later time. -void watchdogSetup() { - - #if ENABLED(USE_WATCHDOG) - - // 4 seconds timeout - uint32_t timeout = TERN(WATCHDOG_DURATION_8S, 8000, 4000); - - // Calculate timeout value in WDT counter ticks: This assumes - // the slow clock is running at 32.768 kHz watchdog - // frequency is therefore 32768 / 128 = 256 Hz - timeout = (timeout << 8) / 1000; - if (timeout == 0) - timeout = 1; - else if (timeout > 0xFFF) - timeout = 0xFFF; - - // We want to enable the watchdog with the specified timeout - uint32_t value = - WDT_MR_WDV(timeout) | // With the specified timeout - WDT_MR_WDD(timeout) | // and no invalid write window - #if !(SAMV70 || SAMV71 || SAME70 || SAMS70) - WDT_MR_WDRPROC | // WDT fault resets processor only - We want - // to keep PIO controller state - #endif - WDT_MR_WDDBGHLT | // WDT stops in debug state. - WDT_MR_WDIDLEHLT; // WDT stops in idle state. - - #if ENABLED(WATCHDOG_RESET_MANUAL) - // We enable the watchdog timer, but only for the interrupt. - - // Configure WDT to only trigger an interrupt - value |= WDT_MR_WDFIEN; // Enable WDT fault interrupt. - - // Disable WDT interrupt (just in case, to avoid triggering it!) - NVIC_DisableIRQ(WDT_IRQn); - - // We NEED memory barriers to ensure Interrupts are actually disabled! - // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the ) - __DSB(); - __ISB(); - - // Initialize WDT with the given parameters - WDT_Enable(WDT, value); - - // Configure and enable WDT interrupt. - NVIC_ClearPendingIRQ(WDT_IRQn); - NVIC_SetPriority(WDT_IRQn, 0); // Use highest priority, so we detect all kinds of lockups - NVIC_EnableIRQ(WDT_IRQn); - - #else - - // a WDT fault triggers a reset - value |= WDT_MR_WDRSTEN; - - // Initialize WDT with the given parameters - WDT_Enable(WDT, value); - - #endif - - // Reset the watchdog - WDT_Restart(WDT); - - #else - - // Make sure to completely disable the Watchdog - WDT_Disable(WDT); - - #endif -} - -#if ENABLED(USE_WATCHDOG) - // Initialize watchdog - On SAM3X, Watchdog was already configured - // and enabled or disabled at startup, so no need to reconfigure it - // here. - void watchdog_init() { - // Reset watchdog to start clean - WDT_Restart(WDT); - } -#endif // USE_WATCHDOG - -#endif diff --git a/Marlin/src/HAL/ESP32/HAL.cpp b/Marlin/src/HAL/ESP32/HAL.cpp index e204e0b6fe..27f6516f9a 100644 --- a/Marlin/src/HAL/ESP32/HAL.cpp +++ b/Marlin/src/HAL/ESP32/HAL.cpp @@ -65,6 +65,7 @@ portMUX_TYPE MarlinHAL::spinlock = portMUX_INITIALIZER_UNLOCKED; // ------------------------ uint16_t MarlinHAL::adc_result; +pwm_pin_t MarlinHAL::pwm_pin_data[MAX_EXPANDER_BITS]; // ------------------------ // Private Variables @@ -164,7 +165,7 @@ void MarlinHAL::init_board() { } void MarlinHAL::idletask() { - #if BOTH(WIFISUPPORT, OTASUPPORT) + #if ALL(WIFISUPPORT, OTASUPPORT) OTA_handle(); #endif TERN_(ESP3D_WIFISUPPORT, esp3dlib.idletask()); @@ -179,6 +180,31 @@ void _delay_ms(int delay_ms) { delay(delay_ms); } // return free memory between end of heap (or end bss) and whatever is current int MarlinHAL::freeMemory() { return ESP.getFreeHeap(); } +// ------------------------ +// Watchdog Timer +// ------------------------ + +#if ENABLED(USE_WATCHDOG) + + #define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout + + extern "C" { + esp_err_t esp_task_wdt_reset(); + } + + void watchdogSetup() { + // do whatever. don't remove this function. + } + + void MarlinHAL::watchdog_init() { + // TODO + } + + // Reset watchdog. + void MarlinHAL::watchdog_refresh() { esp_task_wdt_reset(); } + +#endif + // ------------------------ // ADC // ------------------------ @@ -244,7 +270,8 @@ void MarlinHAL::adc_start(const pin_t pin) { const adc1_channel_t chan = get_channel(pin); uint32_t mv; esp_adc_cal_get_voltage((adc_channel_t)chan, &characteristics[attenuations[chan]], &mv); - adc_result = mv * 1023.0f / float(ADC_REFERENCE_VOLTAGE) / 1000.0f; + + adc_result = mv * isr_float_t(1023) / isr_float_t(ADC_REFERENCE_VOLTAGE) / isr_float_t(1000); // Change the attenuation level based on the new reading adc_atten_t atten; @@ -304,14 +331,37 @@ int8_t get_pwm_channel(const pin_t pin, const uint32_t freq, const uint16_t res) } void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=_BV(PWM_RESOLUTION)-1*/, const bool invert/*=false*/) { + #if ENABLED(I2S_STEPPER_STREAM) + if (pin > 127) { + const uint8_t pinlo = pin & 0x7F; + pwm_pin_t &pindata = pwm_pin_data[pinlo]; + const uint32_t duty = map(invert ? v_size - v : v, 0, v_size, 0, pindata.pwm_cycle_ticks); + if (duty == 0 || duty == pindata.pwm_cycle_ticks) { // max or min (i.e., on/off) + pindata.pwm_duty_ticks = 0; // turn off PWM for this pin + duty ? SBI32(i2s_port_data, pinlo) : CBI32(i2s_port_data, pinlo); // set pin level + } + else + pindata.pwm_duty_ticks = duty; // PWM duty count = # of 4µs ticks per full PWM cycle + + return; + } + #endif + const int8_t cid = get_pwm_channel(pin, PWM_FREQUENCY, PWM_RESOLUTION); if (cid >= 0) { - uint32_t duty = map(invert ? v_size - v : v, 0, v_size, 0, _BV(PWM_RESOLUTION)-1); + const uint32_t duty = map(invert ? v_size - v : v, 0, v_size, 0, _BV(PWM_RESOLUTION)-1); ledcWrite(cid, duty); } } int8_t MarlinHAL::set_pwm_frequency(const pin_t pin, const uint32_t f_desired) { + #if ENABLED(I2S_STEPPER_STREAM) + if (pin > 127) { + pwm_pin_data[pin & 0x7F].pwm_cycle_ticks = 1000000UL / f_desired / 4; // # of 4µs ticks per full PWM cycle + return 0; + } + #endif + const int8_t cid = channel_for_pin(pin); if (cid >= 0) { if (f_desired == ledcReadFreq(cid)) return cid; // no freq change diff --git a/Marlin/src/HAL/ESP32/HAL.h b/Marlin/src/HAL/ESP32/HAL.h index 8b26c3471d..97ed4d1e4f 100644 --- a/Marlin/src/HAL/ESP32/HAL.h +++ b/Marlin/src/HAL/ESP32/HAL.h @@ -32,7 +32,6 @@ #include "../shared/HAL_SPI.h" #include "fastio.h" -#include "watchdog.h" #include "i2s.h" #if ENABLED(WIFISUPPORT) @@ -51,31 +50,39 @@ #define MYSERIAL1 flushableSerial -#if EITHER(WIFISUPPORT, ESP3D_WIFISUPPORT) - #if ENABLED(ESP3D_WIFISUPPORT) - typedef ForwardSerial1Class< decltype(Serial2Socket) > DefaultSerial1; - extern DefaultSerial1 MSerial0; - #define MYSERIAL2 MSerial0 - #else - #define MYSERIAL2 webSocketSerial - #endif +#if ENABLED(ESP3D_WIFISUPPORT) + typedef ForwardSerial1Class< decltype(Serial2Socket) > DefaultSerial1; + extern DefaultSerial1 MSerial0; + #define MYSERIAL2 MSerial0 +#elif ENABLED(WIFISUPPORT) + #define MYSERIAL2 webSocketSerial #endif -#define CRITICAL_SECTION_START() portENTER_CRITICAL(&spinlock) -#define CRITICAL_SECTION_END() portEXIT_CRITICAL(&spinlock) +#define CRITICAL_SECTION_START() portENTER_CRITICAL(&hal.spinlock) +#define CRITICAL_SECTION_END() portEXIT_CRITICAL(&hal.spinlock) #define HAL_CAN_SET_PWM_FREQ // This HAL supports PWM Frequency adjustment #define PWM_FREQUENCY 1000u // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency() #define PWM_RESOLUTION 10u // Default PWM bit resolution #define CHANNEL_MAX_NUM 15u // max PWM channel # to allocate (7 to only use low speed, 15 to use low & high) #define MAX_PWM_IOPIN 33u // hardware pwm pins < 34 +#ifndef MAX_EXPANDER_BITS + #define MAX_EXPANDER_BITS 32 // I2S expander bit width (max 32) +#endif // ------------------------ // Types // ------------------------ +typedef double isr_float_t; // FPU ops are used for single-precision, so use double for ISRs. typedef int16_t pin_t; +typedef struct pwm_pin { + uint32_t pwm_cycle_ticks = 1000000UL / (PWM_FREQUENCY) / 4; // # ticks per pwm cycle + uint32_t pwm_tick_count = 0; // current tick count + uint32_t pwm_duty_ticks = 0; // # of ticks for current duty cycle +} pwm_pin_t; + class Servo; typedef Servo hal_servo_t; @@ -88,7 +95,7 @@ typedef Servo hal_servo_t; // void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration=0); void noTone(const pin_t _pin); - +int8_t get_pwm_channel(const pin_t pin, const uint32_t freq, const uint16_t res); void analogWrite(const pin_t pin, const uint16_t value, const uint32_t freq=PWM_FREQUENCY, const uint16_t res=8); // @@ -162,7 +169,7 @@ void _delay_ms(const int ms); // MarlinHAL Class // ------------------------ -#define HAL_ADC_VREF 3.3 +#define HAL_ADC_VREF_MV 3300 #define HAL_ADC_RESOLUTION 10 class MarlinHAL { @@ -171,9 +178,13 @@ public: // Earliest possible init, before setup() MarlinHAL() {} - static void init() {} // Called early in setup() - static void init_board(); // Called less early in setup() - static void reboot(); // Restart the firmware + // Watchdog + static void watchdog_init() IF_DISABLED(USE_WATCHDOG, {}); + static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {}); + + static void init() {} // Called early in setup() + static void init_board(); // Called less early in setup() + static void reboot(); // Restart the firmware // Interrupts static portMUX_TYPE spinlock; @@ -193,6 +204,8 @@ public: // Free SRAM static int freeMemory(); + static pwm_pin_t pwm_pin_data[MAX_EXPANDER_BITS]; + // // ADC Methods // @@ -205,7 +218,7 @@ public: // Called by Temperature::init for each sensor at startup static void adc_enable(const pin_t pin) {} - // Begin ADC sampling on the given channel + // Begin ADC sampling on the given pin. Called from Temperature::isr! static void adc_start(const pin_t pin); // Is the ADC ready for reading? diff --git a/Marlin/src/HAL/ESP32/HAL_SPI.cpp b/Marlin/src/HAL/ESP32/HAL_SPI.cpp index 868ab1b671..6dc540864e 100644 --- a/Marlin/src/HAL/ESP32/HAL_SPI.cpp +++ b/Marlin/src/HAL/ESP32/HAL_SPI.cpp @@ -53,7 +53,7 @@ static SPISettings spiConfig; // ------------------------ void spiBegin() { - #if ENABLED(SDSUPPORT) && PIN_EXISTS(SD_SS) + #if HAS_MEDIA && PIN_EXISTS(SD_SS) OUT_WRITE(SD_SS_PIN, HIGH); #endif } diff --git a/Marlin/src/HAL/ESP32/endstop_interrupts.h b/Marlin/src/HAL/ESP32/endstop_interrupts.h index 0536864610..1377345992 100644 --- a/Marlin/src/HAL/ESP32/endstop_interrupts.h +++ b/Marlin/src/HAL/ESP32/endstop_interrupts.h @@ -42,33 +42,33 @@ void ICACHE_RAM_ATTR endstop_ISR() { endstops.update(); } void setup_endstop_interrupts() { #define _ATTACH(P) attachInterrupt(digitalPinToInterrupt(P), endstop_ISR, CHANGE) - TERN_(HAS_X_MAX, _ATTACH(X_MAX_PIN)); - TERN_(HAS_X_MIN, _ATTACH(X_MIN_PIN)); - TERN_(HAS_Y_MAX, _ATTACH(Y_MAX_PIN)); - TERN_(HAS_Y_MIN, _ATTACH(Y_MIN_PIN)); - TERN_(HAS_Z_MAX, _ATTACH(Z_MAX_PIN)); - TERN_(HAS_Z_MIN, _ATTACH(Z_MIN_PIN)); - TERN_(HAS_X2_MAX, _ATTACH(X2_MAX_PIN)); - TERN_(HAS_X2_MIN, _ATTACH(X2_MIN_PIN)); - TERN_(HAS_Y2_MAX, _ATTACH(Y2_MAX_PIN)); - TERN_(HAS_Y2_MIN, _ATTACH(Y2_MIN_PIN)); - TERN_(HAS_Z2_MAX, _ATTACH(Z2_MAX_PIN)); - TERN_(HAS_Z2_MIN, _ATTACH(Z2_MIN_PIN)); - TERN_(HAS_Z3_MAX, _ATTACH(Z3_MAX_PIN)); - TERN_(HAS_Z3_MIN, _ATTACH(Z3_MIN_PIN)); - TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN)); - TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN)); - TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN)); - TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN)); - TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN)); - TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN)); - TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN)); - TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN)); - TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN)); - TERN_(HAS_U_MAX, _ATTACH(U_MAX_PIN)); - TERN_(HAS_U_MIN, _ATTACH(U_MIN_PIN)); - TERN_(HAS_V_MAX, _ATTACH(V_MAX_PIN)); - TERN_(HAS_V_MIN, _ATTACH(V_MIN_PIN)); - TERN_(HAS_W_MAX, _ATTACH(W_MAX_PIN)); - TERN_(HAS_W_MIN, _ATTACH(W_MIN_PIN)); + TERN_(USE_X_MAX, _ATTACH(X_MAX_PIN)); + TERN_(USE_X_MIN, _ATTACH(X_MIN_PIN)); + TERN_(USE_Y_MAX, _ATTACH(Y_MAX_PIN)); + TERN_(USE_Y_MIN, _ATTACH(Y_MIN_PIN)); + TERN_(USE_Z_MAX, _ATTACH(Z_MAX_PIN)); + TERN_(USE_Z_MIN, _ATTACH(Z_MIN_PIN)); + TERN_(USE_X2_MAX, _ATTACH(X2_MAX_PIN)); + TERN_(USE_X2_MIN, _ATTACH(X2_MIN_PIN)); + TERN_(USE_Y2_MAX, _ATTACH(Y2_MAX_PIN)); + TERN_(USE_Y2_MIN, _ATTACH(Y2_MIN_PIN)); + TERN_(USE_Z2_MAX, _ATTACH(Z2_MAX_PIN)); + TERN_(USE_Z2_MIN, _ATTACH(Z2_MIN_PIN)); + TERN_(USE_Z3_MAX, _ATTACH(Z3_MAX_PIN)); + TERN_(USE_Z3_MIN, _ATTACH(Z3_MIN_PIN)); + TERN_(USE_Z4_MAX, _ATTACH(Z4_MAX_PIN)); + TERN_(USE_Z4_MIN, _ATTACH(Z4_MIN_PIN)); + TERN_(USE_Z_MIN_PROBE, _ATTACH(Z_MIN_PROBE_PIN)); + TERN_(USE_I_MAX, _ATTACH(I_MAX_PIN)); + TERN_(USE_I_MIN, _ATTACH(I_MIN_PIN)); + TERN_(USE_J_MAX, _ATTACH(J_MAX_PIN)); + TERN_(USE_J_MIN, _ATTACH(J_MIN_PIN)); + TERN_(USE_K_MAX, _ATTACH(K_MAX_PIN)); + TERN_(USE_K_MIN, _ATTACH(K_MIN_PIN)); + TERN_(USE_U_MAX, _ATTACH(U_MAX_PIN)); + TERN_(USE_U_MIN, _ATTACH(U_MIN_PIN)); + TERN_(USE_V_MAX, _ATTACH(V_MAX_PIN)); + TERN_(USE_V_MIN, _ATTACH(V_MIN_PIN)); + TERN_(USE_W_MAX, _ATTACH(W_MAX_PIN)); + TERN_(USE_W_MIN, _ATTACH(W_MIN_PIN)); } diff --git a/Marlin/src/HAL/ESP32/i2s.cpp b/Marlin/src/HAL/ESP32/i2s.cpp index 3e77b65836..69f8ca9845 100644 --- a/Marlin/src/HAL/ESP32/i2s.cpp +++ b/Marlin/src/HAL/ESP32/i2s.cpp @@ -139,22 +139,38 @@ static void IRAM_ATTR i2s_intr_handler_default(void *arg) { } void stepperTask(void *parameter) { - uint32_t remaining = 0; + uint32_t nextMainISR = 0; + #if ENABLED(LIN_ADVANCE) + uint32_t nextAdvanceISR = Stepper::LA_ADV_NEVER; + #endif - while (1) { + for (;;) { xQueueReceive(dma.queue, &dma.current, portMAX_DELAY); dma.rw_pos = 0; while (dma.rw_pos < DMA_SAMPLE_COUNT) { - // Fill with the port data post pulse_phase until the next step - if (remaining) { - i2s_push_sample(); - remaining--; - } - else { + if (!nextMainISR) { Stepper::pulse_phase_isr(); - remaining = Stepper::block_phase_isr(); + nextMainISR = Stepper::block_phase_isr(); } + #if ENABLED(LIN_ADVANCE) + else if (!nextAdvanceISR) { + Stepper::advance_isr(); + nextAdvanceISR = Stepper::la_interval; + } + #endif + else + i2s_push_sample(); + + nextMainISR--; + + #if ENABLED(LIN_ADVANCE) + if (nextAdvanceISR == Stepper::LA_ADV_NEVER) + nextAdvanceISR = Stepper::la_interval; + + if (nextAdvanceISR && nextAdvanceISR != Stepper::LA_ADV_NEVER) + nextAdvanceISR--; + #endif } } } @@ -337,6 +353,26 @@ uint8_t i2s_state(uint8_t pin) { } void i2s_push_sample() { + // Every 4µs (when space in DMA buffer) toggle each expander PWM output using + // the current duty cycle/frequency so they sync with any steps (once + // through the DMA/FIFO buffers). PWM signal inversion handled by other functions + for (uint8_t p = 0; p < MAX_EXPANDER_BITS; ++p) { + if (hal.pwm_pin_data[p].pwm_duty_ticks > 0) { // pin has active pwm? + if (hal.pwm_pin_data[p].pwm_tick_count == 0) { + if (TEST32(i2s_port_data, p)) { // hi->lo + CBI32(i2s_port_data, p); + hal.pwm_pin_data[p].pwm_tick_count = hal.pwm_pin_data[p].pwm_cycle_ticks - hal.pwm_pin_data[p].pwm_duty_ticks; + } + else { // lo->hi + SBI32(i2s_port_data, p); + hal.pwm_pin_data[p].pwm_tick_count = hal.pwm_pin_data[p].pwm_duty_ticks; + } + } + else + hal.pwm_pin_data[p].pwm_tick_count--; + } + } + dma.current[dma.rw_pos++] = i2s_port_data; } diff --git a/Marlin/src/HAL/ESP32/inc/Conditionals_LCD.h b/Marlin/src/HAL/ESP32/inc/Conditionals_LCD.h index 4da600179d..5f1c4b1601 100644 --- a/Marlin/src/HAL/ESP32/inc/Conditionals_LCD.h +++ b/Marlin/src/HAL/ESP32/inc/Conditionals_LCD.h @@ -20,7 +20,3 @@ * */ #pragma once - -#if HAS_SPI_TFT || HAS_FSMC_TFT - #error "Sorry! TFT displays are not available for HAL/ESP32." -#endif diff --git a/Marlin/src/HAL/ESP32/inc/Conditionals_adv.h b/Marlin/src/HAL/ESP32/inc/Conditionals_adv.h index 5f1c4b1601..3ca806897a 100644 --- a/Marlin/src/HAL/ESP32/inc/Conditionals_adv.h +++ b/Marlin/src/HAL/ESP32/inc/Conditionals_adv.h @@ -20,3 +20,10 @@ * */ #pragma once + +// +// Board-specific options need to be defined before HAL.h +// +#if MB(MKS_TINYBEE) + #define MAX_EXPANDER_BITS 24 // TinyBee has 3 x HC595 +#endif diff --git a/Marlin/src/HAL/ESP32/inc/SanityCheck.h b/Marlin/src/HAL/ESP32/inc/SanityCheck.h index 04d70ec14f..dd199c390d 100644 --- a/Marlin/src/HAL/ESP32/inc/SanityCheck.h +++ b/Marlin/src/HAL/ESP32/inc/SanityCheck.h @@ -21,19 +21,26 @@ */ #pragma once +#if HAS_SPI_TFT || HAS_FSMC_TFT + #error "Sorry! TFT displays are not available for HAL/ESP32." +#endif + #if ENABLED(EMERGENCY_PARSER) #error "EMERGENCY_PARSER is not yet implemented for ESP32. Disable EMERGENCY_PARSER to continue." #endif -#if (ENABLED(SPINDLE_LASER_USE_PWM) && SPINDLE_LASER_FREQUENCY > 78125) || (ENABLED(FAST_PWM_FAN_FREQUENCY) && FAST_PWM_FAN_FREQUENCY > 78125) - #error "SPINDLE_LASER_FREQUENCY and FAST_PWM_FREQUENCY maximum value is 78125Hz for ESP32." +#if ENABLED(SPINDLE_LASER_USE_PWM) && SPINDLE_LASER_FREQUENCY > 78125 + #error "SPINDLE_LASER_FREQUENCY maximum value is 78125Hz for ESP32." +#endif +#if ENABLED(FAST_PWM_FAN) && FAST_PWM_FAN_FREQUENCY > 78125 + #error "FAST_PWM_FREQUENCY maximum value is 78125Hz for ESP32." #endif #if HAS_TMC_SW_SERIAL #error "TMC220x Software Serial is not supported on ESP32." #endif -#if BOTH(WIFISUPPORT, ESP3D_WIFISUPPORT) +#if ALL(WIFISUPPORT, ESP3D_WIFISUPPORT) #error "Only enable one WiFi option, either WIFISUPPORT or ESP3D_WIFISUPPORT." #endif @@ -48,3 +55,11 @@ #if USING_PULLDOWNS #error "PULLDOWN pin mode is not available on ESP32 boards." #endif + +#if ALL(I2S_STEPPER_STREAM, LIN_ADVANCE) && DISABLED(EXPERIMENTAL_I2S_LA) + #error "I2S stream is currently incompatible with LIN_ADVANCE." +#endif + +#if ALL(I2S_STEPPER_STREAM, PRINTCOUNTER) && PRINTCOUNTER_SAVE_INTERVAL > 0 && DISABLED(PRINTCOUNTER_SYNC) + #error "PRINTCOUNTER_SAVE_INTERVAL may cause issues on ESP32 with an I2S expander. Define PRINTCOUNTER_SYNC in Configuration.h for an imperfect solution." +#endif diff --git a/Marlin/src/HAL/ESP32/ota.cpp b/Marlin/src/HAL/ESP32/ota.cpp index 69a3e25e56..c5c3082c30 100644 --- a/Marlin/src/HAL/ESP32/ota.cpp +++ b/Marlin/src/HAL/ESP32/ota.cpp @@ -22,7 +22,7 @@ #include "../../inc/MarlinConfigPre.h" -#if BOTH(WIFISUPPORT, OTASUPPORT) +#if ALL(WIFISUPPORT, OTASUPPORT) #include #include @@ -50,7 +50,7 @@ void OTA_init() { }) .onError([](ota_error_t error) { Serial.printf("Error[%u]: ", error); - char *str; + const char *str = "unknown"; switch (error) { case OTA_AUTH_ERROR: str = "Auth Failed"; break; case OTA_BEGIN_ERROR: str = "Begin Failed"; break; diff --git a/Marlin/src/HAL/ESP32/spiffs.cpp b/Marlin/src/HAL/ESP32/spiffs.cpp index a0e713bff0..043ad7849a 100644 --- a/Marlin/src/HAL/ESP32/spiffs.cpp +++ b/Marlin/src/HAL/ESP32/spiffs.cpp @@ -23,7 +23,7 @@ #include "../../inc/MarlinConfigPre.h" -#if BOTH(WIFISUPPORT, WEBSUPPORT) +#if ALL(WIFISUPPORT, WEBSUPPORT) #include "../../core/serial.h" diff --git a/Marlin/src/HAL/ESP32/timers.cpp b/Marlin/src/HAL/ESP32/timers.cpp index c37ad2430c..a6893150b6 100644 --- a/Marlin/src/HAL/ESP32/timers.cpp +++ b/Marlin/src/HAL/ESP32/timers.cpp @@ -111,12 +111,12 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { /** * Set the upper value of the timer, when the timer reaches this upper value the * interrupt should be triggered and the counter reset - * @param timer_num timer number to set the count to - * @param count threshold at which the interrupt is triggered + * @param timer_num timer number to set the compare value to + * @param compare threshold at which the interrupt is triggered */ -void HAL_timer_set_compare(const uint8_t timer_num, hal_timer_t count) { +void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) { const tTimerConfig timer = timer_config[timer_num]; - timer_set_alarm_value(timer.group, timer.idx, count); + timer_set_alarm_value(timer.group, timer.idx, compare); } /** diff --git a/Marlin/src/HAL/ESP32/u8g_esp32_spi.cpp b/Marlin/src/HAL/ESP32/u8g_esp32_spi.cpp index 0aa66ed2cf..012604dbfb 100644 --- a/Marlin/src/HAL/ESP32/u8g_esp32_spi.cpp +++ b/Marlin/src/HAL/ESP32/u8g_esp32_spi.cpp @@ -23,24 +23,24 @@ */ #ifdef ARDUINO_ARCH_ESP32 -#include "../../inc/MarlinConfigPre.h" +#include "../../inc/MarlinConfig.h" -#if ENABLED(FYSETC_MINI_12864_2_1) +#if ANY(MKS_MINI_12864, FYSETC_MINI_12864_2_1) #include -#include "Arduino.h" #include "../shared/HAL_SPI.h" #include "HAL.h" #include "SPI.h" +#if HAS_MEDIA + #include "../../sd/cardreader.h" + #if ENABLED(ESP3D_WIFISUPPORT) + #include "sd_ESP32.h" + #endif +#endif + static SPISettings spiConfig; -#define MDOGLCD_MOSI 23 -#define MDOGLCD_SCK 18 -#define MLCD_RESET_PIN 0 -#define MLCD_PINS_DC 4 -#define MDOGLCD_CS 21 -#define MDOGLCD_A0 4 #ifndef LCD_SPI_SPEED #ifdef SD_SPI_SPEED @@ -52,6 +52,11 @@ static SPISettings spiConfig; uint8_t u8g_eps_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr) { static uint8_t msgInitCount = 2; // Ignore all messages until 2nd U8G_COM_MSG_INIT + + #if ENABLED(PAUSE_LCD_FOR_BUSY_SD) + if (card.flag.saving || card.flag.logging || TERN0(ESP3D_WIFISUPPORT, sd_busy_lock == true)) return 0; + #endif + if (msgInitCount) { if (msg == U8G_COM_MSG_INIT) msgInitCount--; if (msgInitCount) return -1; @@ -61,24 +66,24 @@ uint8_t u8g_eps_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_pt case U8G_COM_MSG_STOP: break; case U8G_COM_MSG_INIT: - OUT_WRITE(MDOGLCD_CS, HIGH); - OUT_WRITE(MDOGLCD_A0, HIGH); - OUT_WRITE(MLCD_RESET_PIN, HIGH); + OUT_WRITE(DOGLCD_CS, HIGH); + OUT_WRITE(DOGLCD_A0, HIGH); + OUT_WRITE(LCD_RESET_PIN, HIGH); u8g_Delay(5); spiBegin(); spiInit(LCD_SPI_SPEED); break; case U8G_COM_MSG_ADDRESS: /* define cmd (arg_val = 0) or data mode (arg_val = 1) */ - WRITE(MDOGLCD_A0, arg_val ? HIGH : LOW); + WRITE(DOGLCD_A0, arg_val ? HIGH : LOW); break; case U8G_COM_MSG_CHIP_SELECT: /* arg_val == 0 means HIGH level of U8G_PI_CS */ - WRITE(MDOGLCD_CS, arg_val ? LOW : HIGH); + WRITE(DOGLCD_CS, arg_val ? LOW : HIGH); break; case U8G_COM_MSG_RESET: - WRITE(MLCD_RESET_PIN, arg_val); + WRITE(LCD_RESET_PIN, arg_val); break; case U8G_COM_MSG_WRITE_BYTE: @@ -96,5 +101,6 @@ uint8_t u8g_eps_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_pt return 1; } -#endif // FYSETC_MINI_12864_2_1 +#endif // MKS_MINI_12864 || FYSETC_MINI_12864_2_1 + #endif // ARDUINO_ARCH_ESP32 diff --git a/Marlin/src/HAL/ESP32/web.cpp b/Marlin/src/HAL/ESP32/web.cpp index 7a27707a3e..63a101595f 100644 --- a/Marlin/src/HAL/ESP32/web.cpp +++ b/Marlin/src/HAL/ESP32/web.cpp @@ -23,7 +23,7 @@ #include "../../inc/MarlinConfigPre.h" -#if BOTH(WIFISUPPORT, WEBSUPPORT) +#if ALL(WIFISUPPORT, WEBSUPPORT) #include "../../inc/MarlinConfig.h" diff --git a/Marlin/src/HAL/HAL.h b/Marlin/src/HAL/HAL.h index 0cd836af2b..f3e16cfdf1 100644 --- a/Marlin/src/HAL/HAL.h +++ b/Marlin/src/HAL/HAL.h @@ -27,7 +27,8 @@ #define GCC_VERSION (__GNUC__ * 10000 + __GNUC_MINOR__ * 100 + __GNUC_PATCHLEVEL__) #endif -#include HAL_PATH(.,HAL.h) +#include HAL_PATH(..,HAL.h) +extern MarlinHAL hal; #define HAL_ADC_RANGE _BV(HAL_ADC_RESOLUTION) @@ -44,7 +45,3 @@ #ifndef PGMSTR #define PGMSTR(NAM,STR) const char NAM[] = STR #endif - -inline void watchdog_refresh() { - TERN_(USE_WATCHDOG, HAL_watchdog_refresh()); -} diff --git a/Marlin/src/HAL/LINUX/HAL.cpp b/Marlin/src/HAL/LINUX/HAL.cpp index db43f42eaa..6a767c76e7 100644 --- a/Marlin/src/HAL/LINUX/HAL.cpp +++ b/Marlin/src/HAL/LINUX/HAL.cpp @@ -52,8 +52,7 @@ uint8_t MarlinHAL::active_ch = 0; uint16_t MarlinHAL::adc_value() { const pin_t pin = analogInputToDigitalPin(active_ch); if (!VALID_PIN(pin)) return 0; - const uint16_t data = ((Gpio::get(pin) >> 2) & 0x3FF); - return data; // return 10bit value as Marlin expects + return uint16_t((Gpio::get(pin) >> 2) & 0x3FF); // return 10bit value as Marlin expects } void MarlinHAL::reboot() { /* Reset the application state and GPIO */ } diff --git a/Marlin/src/HAL/LINUX/HAL.h b/Marlin/src/HAL/LINUX/HAL.h index 43899c632d..d1c0cbe7ae 100644 --- a/Marlin/src/HAL/LINUX/HAL.h +++ b/Marlin/src/HAL/LINUX/HAL.h @@ -21,6 +21,8 @@ */ #pragma once +#include "../../inc/MarlinConfigPre.h" + #include #include #include @@ -29,12 +31,10 @@ #include #include "hardware/Clock.h" - #include "../shared/Marduino.h" #include "../shared/math_32bit.h" #include "../shared/HAL_SPI.h" #include "fastio.h" -#include "watchdog.h" #include "serial.h" // ------------------------ @@ -80,8 +80,8 @@ extern MSerialT usb_serial; #define CRITICAL_SECTION_END() // ADC -#define HAL_ADC_VREF 5.0 -#define HAL_ADC_RESOLUTION 10 +#define HAL_ADC_VREF_MV 5000 +#define HAL_ADC_RESOLUTION 10 // ------------------------ // Class Utilities @@ -106,9 +106,13 @@ public: // Earliest possible init, before setup() MarlinHAL() {} + // Watchdog + static void watchdog_init() {} + static void watchdog_refresh() {} + static void init() {} // Called early in setup() static void init_board() {} // Called less early in setup() - static void reboot(); // Reset the application state and GPIO + static void reboot(); // Reset the application state and GPIO // Interrupts static bool isr_state() { return true; } diff --git a/Marlin/src/HAL/LINUX/eeprom.cpp b/Marlin/src/HAL/LINUX/eeprom.cpp index 532f323c6e..f878bba6a5 100644 --- a/Marlin/src/HAL/LINUX/eeprom.cpp +++ b/Marlin/src/HAL/LINUX/eeprom.cpp @@ -69,12 +69,12 @@ bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, ui std::size_t bytes_written = 0; for (std::size_t i = 0; i < size; i++) { - buffer[pos+i] = value[i]; - bytes_written ++; + buffer[pos + i] = value[i]; + bytes_written++; } crc16(crc, value, size); - pos = pos + size; + pos += size; return (bytes_written != size); // return true for any error } @@ -82,21 +82,21 @@ bool PersistentStore::read_data(int &pos, uint8_t *value, const size_t size, uin std::size_t bytes_read = 0; if (writing) { for (std::size_t i = 0; i < size; i++) { - value[i] = buffer[pos+i]; - bytes_read ++; + value[i] = buffer[pos + i]; + bytes_read++; } crc16(crc, value, size); } else { uint8_t temp[size]; for (std::size_t i = 0; i < size; i++) { - temp[i] = buffer[pos+i]; - bytes_read ++; + temp[i] = buffer[pos + i]; + bytes_read++; } crc16(crc, temp, size); } - pos = pos + size; + pos += size; return bytes_read != size; // return true for any error } diff --git a/Marlin/src/HAL/LINUX/hardware/Heater.h b/Marlin/src/HAL/LINUX/hardware/Heater.h index b17078d0b7..6d590ce6c5 100644 --- a/Marlin/src/HAL/LINUX/hardware/Heater.h +++ b/Marlin/src/HAL/LINUX/hardware/Heater.h @@ -26,8 +26,8 @@ struct LowpassFilter { uint64_t data_delay = 0; uint16_t update(uint16_t value) { - data_delay = data_delay - (data_delay >> 6) + value; - return (uint16_t)(data_delay >> 6); + data_delay += value - (data_delay >> 6); + return uint16_t(data_delay >> 6); } }; diff --git a/Marlin/src/HAL/LINUX/inc/Conditionals_LCD.h b/Marlin/src/HAL/LINUX/inc/Conditionals_LCD.h index 99a6fc2753..5f1c4b1601 100644 --- a/Marlin/src/HAL/LINUX/inc/Conditionals_LCD.h +++ b/Marlin/src/HAL/LINUX/inc/Conditionals_LCD.h @@ -20,7 +20,3 @@ * */ #pragma once - -#if HAS_SPI_TFT || HAS_FSMC_TFT - #error "Sorry! TFT displays are not available for HAL/LINUX." -#endif diff --git a/Marlin/src/HAL/LINUX/inc/SanityCheck.h b/Marlin/src/HAL/LINUX/inc/SanityCheck.h index 36d3190a3e..861bade10f 100644 --- a/Marlin/src/HAL/LINUX/inc/SanityCheck.h +++ b/Marlin/src/HAL/LINUX/inc/SanityCheck.h @@ -31,13 +31,17 @@ #endif #if ENABLED(FAST_PWM_FAN) || SPINDLE_LASER_FREQUENCY - #error "Features requiring Hardware PWM (FAST_PWM_FAN, SPINDLE_LASER_FREQUENCY) are not yet supported on LINUX." + #error "Features requiring Hardware PWM (FAST_PWM_FAN, SPINDLE_LASER_FREQUENCY) are not yet supported for HAL/LINUX." +#endif + +#if HAS_SPI_TFT || HAS_FSMC_TFT + #error "Sorry! TFT displays are not available for HAL/LINUX." #endif #if HAS_TMC_SW_SERIAL - #error "TMC220x Software Serial is not supported on LINUX." + #error "TMC220x Software Serial is not supported for HAL/LINUX." #endif #if ENABLED(POSTMORTEM_DEBUGGING) - #error "POSTMORTEM_DEBUGGING is not yet supported on LINUX." + #error "POSTMORTEM_DEBUGGING is not yet supported for HAL/LINUX." #endif diff --git a/Marlin/src/HAL/LINUX/pinsDebug.h b/Marlin/src/HAL/LINUX/pinsDebug.h index 7bfd97d024..e4ee27e8dd 100644 --- a/Marlin/src/HAL/LINUX/pinsDebug.h +++ b/Marlin/src/HAL/LINUX/pinsDebug.h @@ -28,36 +28,33 @@ * Translation of routines & variables used by pinsDebug.h */ -#define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS -#define pwm_details(pin) NOOP // (do nothing) -#define pwm_status(pin) false // Print a pin's PWM status. Return true if it's currently a PWM pin. +#define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS #define IS_ANALOG(P) (DIGITAL_PIN_TO_ANALOG_PIN(P) >= 0 ? 1 : 0) #define digitalRead_mod(p) digitalRead(p) -#define PRINT_PORT(p) #define GET_ARRAY_PIN(p) pin_array[p].pin #define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0) #define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%3d "), p); SERIAL_ECHO(buffer); }while(0) #define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d) "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0) -#define MULTI_NAME_PAD 16 // space needed to be pretty if not first name assigned to a pin +#define MULTI_NAME_PAD 16 // space needed to be pretty if not first name assigned to a pin // active ADC function/mode/code values for PINSEL registers -constexpr int8_t ADC_pin_mode(pin_t pin) { - return (-1); -} +constexpr int8_t ADC_pin_mode(pin_t pin) { return -1; } -int8_t get_pin_mode(pin_t pin) { - if (!VALID_PIN(pin)) return -1; - return 0; -} +int8_t get_pin_mode(const pin_t pin) { return VALID_PIN(pin) ? 0 : -1; } -bool GET_PINMODE(pin_t pin) { - int8_t pin_mode = get_pin_mode(pin); - if (pin_mode == -1 || pin_mode == ADC_pin_mode(pin)) // found an invalid pin or active analog pin +bool GET_PINMODE(const pin_t pin) { + const int8_t pin_mode = get_pin_mode(pin); + if (pin_mode == -1 || pin_mode == ADC_pin_mode(pin)) // Invalid pin or active analog pin return false; - return (Gpio::getMode(pin) != 0); //input/output state + return (Gpio::getMode(pin) != 0); // Input/output state } -bool GET_ARRAY_IS_DIGITAL(pin_t pin) { +bool GET_ARRAY_IS_DIGITAL(const pin_t pin) { return (!IS_ANALOG(pin) || get_pin_mode(pin) != ADC_pin_mode(pin)); } + +void pwm_details(const pin_t pin) {} +bool pwm_status(const pin_t) { return false; } + +void print_port(const pin_t) {} diff --git a/Marlin/src/HAL/LINUX/spi_pins.h b/Marlin/src/HAL/LINUX/spi_pins.h index 33136ac9dd..7bd2498be7 100644 --- a/Marlin/src/HAL/LINUX/spi_pins.h +++ b/Marlin/src/HAL/LINUX/spi_pins.h @@ -24,11 +24,11 @@ #include "../../core/macros.h" #include "../../inc/MarlinConfigPre.h" -#if BOTH(HAS_MARLINUI_U8GLIB, SDSUPPORT) && (LCD_PINS_D4 == SD_SCK_PIN || LCD_PINS_ENABLE == SD_MOSI_PIN || DOGLCD_SCK == SD_SCK_PIN || DOGLCD_MOSI == SD_MOSI_PIN) - #define LPC_SOFTWARE_SPI // If the SD card and LCD adapter share the same SPI pins, then software SPI is currently - // needed due to the speed and mode required for communicating with each device being different. - // This requirement can be removed if the SPI access to these devices is updated to use - // spiBeginTransaction. +#if ALL(HAS_MARLINUI_U8GLIB, HAS_MEDIA) && (LCD_PINS_D4 == SD_SCK_PIN || LCD_PINS_EN == SD_MOSI_PIN || DOGLCD_SCK == SD_SCK_PIN || DOGLCD_MOSI == SD_MOSI_PIN) + #define SOFTWARE_SPI // If the SD card and LCD adapter share the same SPI pins, then software SPI is currently + // needed due to the speed and mode required for communicating with each device being different. + // This requirement can be removed if the SPI access to these devices is updated to use + // spiBeginTransaction. #endif // Onboard SD diff --git a/Marlin/src/HAL/LPC1768/HAL.cpp b/Marlin/src/HAL/LPC1768/HAL.cpp index 541848b08a..6fada12486 100644 --- a/Marlin/src/HAL/LPC1768/HAL.cpp +++ b/Marlin/src/HAL/LPC1768/HAL.cpp @@ -23,15 +23,22 @@ #include "../../inc/MarlinConfig.h" #include "../shared/Delay.h" -#include "../../../gcode/parser.h" +#include "../../core/millis_t.h" -#if ENABLED(USE_WATCHDOG) - #include "watchdog.h" -#endif +#include +#include +#include +#include +#include +#include +#include +#include +#include DefaultSerial1 USBSerial(false, UsbSerial); uint32_t MarlinHAL::adc_result = 0; +pin_t MarlinHAL::adc_pin = 0; // U8glib required functions extern "C" { @@ -52,6 +59,132 @@ int freeMemory() { return result; } +extern "C" { + #include + int isLPC1769(); + void disk_timerproc(); +} + +extern uint32_t MSC_SD_Init(uint8_t pdrv); + +void SysTick_Callback() { disk_timerproc(); } + +TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial()); + +void MarlinHAL::init() { + + // Init LEDs + #if PIN_EXISTS(LED) + SET_DIR_OUTPUT(LED_PIN); + WRITE_PIN_CLR(LED_PIN); + #if PIN_EXISTS(LED2) + SET_DIR_OUTPUT(LED2_PIN); + WRITE_PIN_CLR(LED2_PIN); + #if PIN_EXISTS(LED3) + SET_DIR_OUTPUT(LED3_PIN); + WRITE_PIN_CLR(LED3_PIN); + #if PIN_EXISTS(LED4) + SET_DIR_OUTPUT(LED4_PIN); + WRITE_PIN_CLR(LED4_PIN); + #endif + #endif + #endif + + // Flash status LED 3 times to indicate Marlin has started booting + for (uint8_t i = 0; i < 6; ++i) { + TOGGLE(LED_PIN); + delay(100); + } + #endif + + // Init Servo Pins + #define INIT_SERVO(N) OUT_WRITE(SERVO##N##_PIN, LOW) + #if HAS_SERVO_0 + INIT_SERVO(0); + #endif + #if HAS_SERVO_1 + INIT_SERVO(1); + #endif + #if HAS_SERVO_2 + INIT_SERVO(2); + #endif + #if HAS_SERVO_3 + INIT_SERVO(3); + #endif + + //debug_frmwrk_init(); + //_DBG("\n\nDebug running\n"); + // Initialize the SD card chip select pins as soon as possible + #if PIN_EXISTS(SD_SS) + OUT_WRITE(SD_SS_PIN, HIGH); + #endif + + #if PIN_EXISTS(ONBOARD_SD_CS) && ONBOARD_SD_CS_PIN != SD_SS_PIN + OUT_WRITE(ONBOARD_SD_CS_PIN, HIGH); + #endif + + #ifdef LPC1768_ENABLE_CLKOUT_12M + /** + * CLKOUTCFG register + * bit 8 (CLKOUT_EN) = enables CLKOUT signal. Disabled for now to prevent glitch when enabling GPIO. + * bits 7:4 (CLKOUTDIV) = set to 0 for divider setting of /1 + * bits 3:0 (CLKOUTSEL) = set to 1 to select main crystal oscillator as CLKOUT source + */ + LPC_SC->CLKOUTCFG = (0<<8)|(0<<4)|(1<<0); + // set P1.27 pin to function 01 (CLKOUT) + PINSEL_CFG_Type PinCfg; + PinCfg.Portnum = 1; + PinCfg.Pinnum = 27; + PinCfg.Funcnum = 1; // function 01 (CLKOUT) + PinCfg.OpenDrain = 0; // not open drain + PinCfg.Pinmode = 2; // no pull-up/pull-down + PINSEL_ConfigPin(&PinCfg); + // now set CLKOUT_EN bit + SBI(LPC_SC->CLKOUTCFG, 8); + #endif + + USB_Init(); // USB Initialization + USB_Connect(false); // USB clear connection + delay(1000); // Give OS time to notice + USB_Connect(true); + + TERN_(HAS_SD_HOST_DRIVE, MSC_SD_Init(0)); // Enable USB SD card access + + const millis_t usb_timeout = millis() + 2000; + while (!USB_Configuration && PENDING(millis(), usb_timeout)) { + delay(50); + idletask(); + #if PIN_EXISTS(LED) + TOGGLE(LED_PIN); // Flash quickly during USB initialization + #endif + } + + HAL_timer_init(); + + TERN_(POSTMORTEM_DEBUGGING, install_min_serial()); // Install the min serial handler +} + +#include "../../sd/cardreader.h" + +// HAL idle task +void MarlinHAL::idletask() { + #if HAS_SHARED_MEDIA + // If Marlin is using the SD card we need to lock it to prevent access from + // a PC via USB. + // Other HALs use IS_SD_PRINTING() and IS_SD_FILE_OPEN() to check for access but + // this will not reliably detect delete operations. To be safe we will lock + // the disk if Marlin has it mounted. Unfortunately there is currently no way + // to unmount the disk from the LCD menu. + // if (IS_SD_PRINTING() || IS_SD_FILE_OPEN()) + if (card.isMounted()) + MSC_Aquire_Lock(); + else + MSC_Release_Lock(); + #endif + // Perform USB stack housekeeping + MSC_RunDeferredCommands(); +} + void MarlinHAL::reboot() { NVIC_SystemReset(); } uint8_t MarlinHAL::get_reset_source() { @@ -61,9 +194,7 @@ uint8_t MarlinHAL::get_reset_source() { return RST_POWER_ON; } -void MarlinHAL::clear_reset_source() { - TERN_(USE_WATCHDOG, watchdog_clear_timeout_flag()); -} +void MarlinHAL::clear_reset_source() { watchdog_clear_timeout_flag(); } void flashFirmware(const int16_t) { delay(500); // Give OS time to disconnect @@ -72,6 +203,54 @@ void flashFirmware(const int16_t) { hal.reboot(); } +#if ENABLED(USE_WATCHDOG) + + #include + + #define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout + + void MarlinHAL::watchdog_init() { + #if ENABLED(WATCHDOG_RESET_MANUAL) + // We enable the watchdog timer, but only for the interrupt. + + // Configure WDT to only trigger an interrupt + // Disable WDT interrupt (just in case, to avoid triggering it!) + NVIC_DisableIRQ(WDT_IRQn); + + // We NEED memory barriers to ensure Interrupts are actually disabled! + // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the ) + __DSB(); + __ISB(); + + // Configure WDT to only trigger an interrupt + // Initialize WDT with the given parameters + WDT_Init(WDT_CLKSRC_IRC, WDT_MODE_INT_ONLY); + + // Configure and enable WDT interrupt. + NVIC_ClearPendingIRQ(WDT_IRQn); + NVIC_SetPriority(WDT_IRQn, 0); // Use highest priority, so we detect all kinds of lockups + NVIC_EnableIRQ(WDT_IRQn); + #else + WDT_Init(WDT_CLKSRC_IRC, WDT_MODE_RESET); + #endif + WDT_Start(WDT_TIMEOUT_US); + } + + void MarlinHAL::watchdog_refresh() { + WDT_Feed(); + #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED) + TOGGLE(LED_PIN); // heartbeat indicator + #endif + } + + // Timeout state + bool MarlinHAL::watchdog_timed_out() { return TEST(WDT_ReadTimeOutFlag(), 0); } + void MarlinHAL::watchdog_clear_timeout_flag() { WDT_ClrTimeOutFlag(); } + +#endif // USE_WATCHDOG + +#include "../../../gcode/parser.h" + // For M42/M43, scan command line for pin code // return index into pin map array if found and the pin is valid. // return dval if not found or not a valid pin. diff --git a/Marlin/src/HAL/LPC1768/HAL.h b/Marlin/src/HAL/LPC1768/HAL.h index eefacae995..3986a399e6 100644 --- a/Marlin/src/HAL/LPC1768/HAL.h +++ b/Marlin/src/HAL/LPC1768/HAL.h @@ -38,7 +38,6 @@ extern "C" volatile uint32_t _millis; #include "../shared/math_32bit.h" #include "../shared/HAL_SPI.h" #include "fastio.h" -#include "watchdog.h" #include "MarlinSerial.h" #include @@ -101,8 +100,8 @@ extern DefaultSerial1 USBSerial; #else #error "LCD_SERIAL_PORT must be from 0 to 3. You can also use -1 if the board supports Native USB." #endif - #if HAS_DGUS_LCD - #define SERIAL_GET_TX_BUFFER_FREE() LCD_SERIAL.available() + #if HAS_DGUS_LCD || ENABLED(DWINOS_4) + #define LCD_SERIAL_TX_BUFFER_FREE() LCD_SERIAL.available() #endif #endif @@ -128,7 +127,7 @@ extern DefaultSerial1 USBSerial; // K = 6, 565 samples, 500Hz sample rate, 1.13s convergence on full range step // Memory usage per ADC channel (bytes): 4 (32 Bytes for 8 channels) -#define HAL_ADC_VREF 3.3 // ADC voltage reference +#define HAL_ADC_VREF_MV 3300 // ADC voltage reference #define HAL_ADC_RESOLUTION 12 // 15 bit maximum, raw temperature is stored as int16_t #define HAL_ADC_FILTERED // Disable oversampling done in Marlin as ADC values already filtered in HAL @@ -166,7 +165,9 @@ int16_t PARSED_PIN_INDEX(const char code, const int16_t dval); // Defines // ------------------------ -#define PLATFORM_M997_SUPPORT +#ifndef PLATFORM_M997_SUPPORT + #define PLATFORM_M997_SUPPORT +#endif void flashFirmware(const int16_t); #define HAL_CAN_SET_PWM_FREQ // This HAL supports PWM Frequency adjustment @@ -177,7 +178,7 @@ void flashFirmware(const int16_t); #define CPU_ST7920_DELAY_3 750 // ------------------------ -// Class Utilities +// Free Memory Accessor // ------------------------ #pragma GCC diagnostic push @@ -199,9 +200,9 @@ public: // Earliest possible init, before setup() MarlinHAL() {} - static void init(); // Called early in setup() + static void init(); // Called early in setup() static void init_board() {} // Called less early in setup() - static void reboot(); // Restart the firmware from 0x0 + static void reboot(); // Restart the firmware from 0x0 // Interrupts static bool isr_state() { return !__get_PRIMASK(); } @@ -210,6 +211,12 @@ public: static void delay_ms(const int ms) { _delay_ms(ms); } + // Watchdog + static void watchdog_init() IF_DISABLED(USE_WATCHDOG, {}); + static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {}); + static bool watchdog_timed_out() IF_DISABLED(USE_WATCHDOG, { return false; }); + static void watchdog_clear_timeout_flag() IF_DISABLED(USE_WATCHDOG, {}); + // Tasks, called from idle() static void idletask(); @@ -234,17 +241,20 @@ public: FilteredADC::enable_channel(pin); } - // Begin ADC sampling on the given pin + // Begin ADC sampling on the given pin. Called from Temperature::isr! static uint32_t adc_result; - static void adc_start(const pin_t pin) { - adc_result = FilteredADC::read(pin) >> (16 - HAL_ADC_RESOLUTION); // returns 16bit value, reduce to required bits - } + static pin_t adc_pin; + + static void adc_start(const pin_t pin) { adc_pin = pin; } // Is the ADC ready for reading? - static bool adc_ready() { return true; } + static bool adc_ready() { return LPC176x::adc_hardware.done(LPC176x::pin_get_adc_channel(adc_pin)); } // The current value of the ADC register - static uint16_t adc_value() { return uint16_t(adc_result); } + static uint16_t adc_value() { + adc_result = FilteredADC::read(adc_pin) >> (16 - HAL_ADC_RESOLUTION); // returns 16bit value, reduce to required bits + return uint16_t(adc_result); + } /** * Set the PWM duty cycle for the pin to the given value. diff --git a/Marlin/src/HAL/LPC1768/HAL_SPI.cpp b/Marlin/src/HAL/LPC1768/HAL_SPI.cpp index 29f9b43afe..6ce7f75552 100644 --- a/Marlin/src/HAL/LPC1768/HAL_SPI.cpp +++ b/Marlin/src/HAL/LPC1768/HAL_SPI.cpp @@ -60,7 +60,7 @@ // ------------------------ // Public functions // ------------------------ -#if ENABLED(LPC_SOFTWARE_SPI) +#if ENABLED(SOFTWARE_SPI) // Software SPI @@ -161,7 +161,7 @@ // TODO: Implement this method } -#endif // LPC_SOFTWARE_SPI +#endif // SOFTWARE_SPI /** * @brief Wait until TXE (tx empty) flag is set and BSY (busy) flag unset. @@ -318,8 +318,16 @@ void SPIClass::dmaSend(void *buf, uint16_t length, bool minc) { // Enable DMA GPDMA_ChannelCmd(0, ENABLE); + /** + * Observed behaviour on normal data transfer completion (SKR 1.3 board / LPC1768 MCU) + * GPDMA_STAT_INTTC flag is SET + * GPDMA_STAT_INTERR flag is NOT SET + * GPDMA_STAT_RAWINTTC flag is NOT SET + * GPDMA_STAT_RAWINTERR flag is SET + */ + // Wait for data transfer - while (!GPDMA_IntGetStatus(GPDMA_STAT_RAWINTTC, 0) && !GPDMA_IntGetStatus(GPDMA_STAT_RAWINTERR, 0)) { } + while (!GPDMA_IntGetStatus(GPDMA_STAT_INTTC, 0) && !GPDMA_IntGetStatus(GPDMA_STAT_INTERR, 0)) {} // Clear err and int GPDMA_ClearIntPending (GPDMA_STATCLR_INTTC, 0); @@ -333,6 +341,43 @@ void SPIClass::dmaSend(void *buf, uint16_t length, bool minc) { SSP_DMACmd(_currentSetting->spi_d, SSP_DMA_TX, DISABLE); } +void SPIClass::dmaSendAsync(void *buf, uint16_t length, bool minc) { + //TODO: LPC dma can only write 0xFFF bytes at once. + GPDMA_Channel_CFG_Type GPDMACfg; + + /* Configure GPDMA channel 0 -------------------------------------------------------------*/ + /* DMA Channel 0 */ + GPDMACfg.ChannelNum = 0; + // Source memory + GPDMACfg.SrcMemAddr = (uint32_t)buf; + // Destination memory - Not used + GPDMACfg.DstMemAddr = 0; + // Transfer size + GPDMACfg.TransferSize = length; + // Transfer width + GPDMACfg.TransferWidth = (_currentSetting->dataSize == DATA_SIZE_16BIT) ? GPDMA_WIDTH_HALFWORD : GPDMA_WIDTH_BYTE; + // Transfer type + GPDMACfg.TransferType = GPDMA_TRANSFERTYPE_M2P; + // Source connection - unused + GPDMACfg.SrcConn = 0; + // Destination connection + GPDMACfg.DstConn = (_currentSetting->spi_d == LPC_SSP0) ? GPDMA_CONN_SSP0_Tx : GPDMA_CONN_SSP1_Tx; + + GPDMACfg.DMALLI = 0; + + // Enable dma on SPI + SSP_DMACmd(_currentSetting->spi_d, SSP_DMA_TX, ENABLE); + + // Only increase memory if minc is true + GPDMACfg.MemoryIncrease = (minc ? GPDMA_DMACCxControl_SI : 0); + + // Setup channel with given parameter + GPDMA_Setup(&GPDMACfg); + + // Enable DMA + GPDMA_ChannelCmd(0, ENABLE); +} + uint16_t SPIClass::read() { return SSP_ReceiveData(_currentSetting->spi_d); } diff --git a/Marlin/src/HAL/LPC1768/HAL_MinSerial.cpp b/Marlin/src/HAL/LPC1768/MinSerial.cpp similarity index 68% rename from Marlin/src/HAL/LPC1768/HAL_MinSerial.cpp rename to Marlin/src/HAL/LPC1768/MinSerial.cpp index 57065c49ac..368bcb5259 100644 --- a/Marlin/src/HAL/LPC1768/HAL_MinSerial.cpp +++ b/Marlin/src/HAL/LPC1768/MinSerial.cpp @@ -26,25 +26,25 @@ #if ENABLED(POSTMORTEM_DEBUGGING) -#include "../shared/HAL_MinSerial.h" +#include "../shared/MinSerial.h" #include static void TX(char c) { _DBC(c); } void install_min_serial() { HAL_min_serial_out = &TX; } #if DISABLED(DYNAMIC_VECTORTABLE) -extern "C" { - __attribute__((naked)) void JumpHandler_ASM() { - __asm__ __volatile__ ( - "b CommonHandler_ASM\n" - ); + extern "C" { + __attribute__((naked)) void JumpHandler_ASM() { + __asm__ __volatile__ ( + "b CommonHandler_ASM\n" + ); + } + void __attribute__((naked, alias("JumpHandler_ASM"))) HardFault_Handler(); + void __attribute__((naked, alias("JumpHandler_ASM"))) BusFault_Handler(); + void __attribute__((naked, alias("JumpHandler_ASM"))) UsageFault_Handler(); + void __attribute__((naked, alias("JumpHandler_ASM"))) MemManage_Handler(); + void __attribute__((naked, alias("JumpHandler_ASM"))) NMI_Handler(); } - void __attribute__((naked, alias("JumpHandler_ASM"))) HardFault_Handler(); - void __attribute__((naked, alias("JumpHandler_ASM"))) BusFault_Handler(); - void __attribute__((naked, alias("JumpHandler_ASM"))) UsageFault_Handler(); - void __attribute__((naked, alias("JumpHandler_ASM"))) MemManage_Handler(); - void __attribute__((naked, alias("JumpHandler_ASM"))) NMI_Handler(); -} #endif #endif // POSTMORTEM_DEBUGGING diff --git a/Marlin/src/HAL/LPC1768/eeprom_sdcard.cpp b/Marlin/src/HAL/LPC1768/eeprom_sdcard.cpp index 1991d79719..5ebd437c1e 100644 --- a/Marlin/src/HAL/LPC1768/eeprom_sdcard.cpp +++ b/Marlin/src/HAL/LPC1768/eeprom_sdcard.cpp @@ -91,15 +91,9 @@ bool PersistentStore::access_finish() { static void debug_rw(const bool write, int &pos, const uint8_t *value, const size_t size, const FRESULT s, const size_t total=0) { #if ENABLED(DEBUG_SD_EEPROM_EMULATION) FSTR_P const rw_str = write ? F("write") : F("read"); - SERIAL_CHAR(' '); - SERIAL_ECHOF(rw_str); - SERIAL_ECHOLNPGM("_data(", pos, ",", *value, ",", size, ", ...)"); - if (total) { - SERIAL_ECHOPGM(" f_"); - SERIAL_ECHOF(rw_str); - SERIAL_ECHOPGM("()=", s, "\n size=", size, "\n bytes_"); - SERIAL_ECHOLNF(write ? F("written=") : F("read="), total); - } + SERIAL_ECHOLN(AS_CHAR(' '), rw_str, F("_data("), pos, AS_CHAR(','), *value, AS_CHAR(','), size, F(", ...)")); + if (total) + SERIAL_ECHOLN(F(" f_"), rw_str, F("()="), s, F("\n size="), size, F("\n bytes_"), write ? F("written=") : F("read="), total); else SERIAL_ECHOLNPGM(" f_lseek()=", s); #endif diff --git a/Marlin/src/HAL/LPC1768/eeprom_wired.cpp b/Marlin/src/HAL/LPC1768/eeprom_wired.cpp index f9286a74ac..1bbc39d4a2 100644 --- a/Marlin/src/HAL/LPC1768/eeprom_wired.cpp +++ b/Marlin/src/HAL/LPC1768/eeprom_wired.cpp @@ -34,7 +34,7 @@ #include "../shared/eeprom_api.h" #ifndef MARLIN_EEPROM_SIZE - #define MARLIN_EEPROM_SIZE 0x8000 // 32KB‬ + #define MARLIN_EEPROM_SIZE 0x8000 // 32K #endif size_t PersistentStore::capacity() { return MARLIN_EEPROM_SIZE; } diff --git a/Marlin/src/HAL/LPC1768/endstop_interrupts.h b/Marlin/src/HAL/LPC1768/endstop_interrupts.h index e4ac17f608..7a67b958b4 100644 --- a/Marlin/src/HAL/LPC1768/endstop_interrupts.h +++ b/Marlin/src/HAL/LPC1768/endstop_interrupts.h @@ -44,147 +44,171 @@ void setup_endstop_interrupts() { #define _ATTACH(P) attachInterrupt(digitalPinToInterrupt(P), endstop_ISR, CHANGE) #define LPC1768_PIN_INTERRUPT_M(pin) ((pin >> 0x5 & 0x7) == 0 || (pin >> 0x5 & 0x7) == 2) - #if HAS_X_MAX + #if USE_X_MAX #if !LPC1768_PIN_INTERRUPT_M(X_MAX_PIN) #error "X_MAX_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(X_MAX_PIN); #endif - #if HAS_X_MIN + #if USE_X_MIN #if !LPC1768_PIN_INTERRUPT_M(X_MIN_PIN) #error "X_MIN_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(X_MIN_PIN); #endif - #if HAS_Y_MAX + #if USE_Y_MAX #if !LPC1768_PIN_INTERRUPT_M(Y_MAX_PIN) #error "Y_MAX_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(Y_MAX_PIN); #endif - #if HAS_Y_MIN + #if USE_Y_MIN #if !LPC1768_PIN_INTERRUPT_M(Y_MIN_PIN) #error "Y_MIN_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(Y_MIN_PIN); #endif - #if HAS_Z_MAX + #if USE_Z_MAX #if !LPC1768_PIN_INTERRUPT_M(Z_MAX_PIN) #error "Z_MAX_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(Z_MAX_PIN); #endif - #if HAS_Z_MIN + #if USE_Z_MIN #if !LPC1768_PIN_INTERRUPT_M(Z_MIN_PIN) #error "Z_MIN_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(Z_MIN_PIN); #endif - #if HAS_Z2_MAX + #if USE_X2_MAX + #if !LPC1768_PIN_INTERRUPT_M(X2_MAX_PIN) + #error "X2_MAX_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + _ATTACH(X2_MAX_PIN); + #endif + #if USE_X2_MIN + #if !LPC1768_PIN_INTERRUPT_M(X2_MIN_PIN) + #error "X2_MIN_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + _ATTACH(X2_MIN_PIN); + #endif + #if USE_Y2_MAX + #if !LPC1768_PIN_INTERRUPT_M(Y2_MAX_PIN) + #error "Y2_MAX_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + _ATTACH(Y2_MAX_PIN); + #endif + #if USE_Y2_MIN + #if !LPC1768_PIN_INTERRUPT_M(Y2_MIN_PIN) + #error "Y2_MIN_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + _ATTACH(Y2_MIN_PIN); + #endif + #if USE_Z2_MAX #if !LPC1768_PIN_INTERRUPT_M(Z2_MAX_PIN) #error "Z2_MAX_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(Z2_MAX_PIN); #endif - #if HAS_Z2_MIN + #if USE_Z2_MIN #if !LPC1768_PIN_INTERRUPT_M(Z2_MIN_PIN) #error "Z2_MIN_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(Z2_MIN_PIN); #endif - #if HAS_Z3_MAX + #if USE_Z3_MAX #if !LPC1768_PIN_INTERRUPT_M(Z3_MAX_PIN) #error "Z3_MIN_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(Z3_MAX_PIN); #endif - #if HAS_Z3_MIN + #if USE_Z3_MIN #if !LPC1768_PIN_INTERRUPT_M(Z3_MIN_PIN) #error "Z3_MIN_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(Z3_MIN_PIN); #endif - #if HAS_Z4_MAX + #if USE_Z4_MAX #if !LPC1768_PIN_INTERRUPT_M(Z4_MAX_PIN) #error "Z4_MIN_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(Z4_MAX_PIN); #endif - #if HAS_Z4_MIN + #if USE_Z4_MIN #if !LPC1768_PIN_INTERRUPT_M(Z4_MIN_PIN) #error "Z4_MIN_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(Z4_MIN_PIN); #endif - #if HAS_Z_MIN_PROBE_PIN + #if USE_Z_MIN_PROBE #if !LPC1768_PIN_INTERRUPT_M(Z_MIN_PROBE_PIN) #error "Z_MIN_PROBE_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(Z_MIN_PROBE_PIN); #endif - #if HAS_I_MAX + #if USE_I_MAX #if !LPC1768_PIN_INTERRUPT_M(I_MAX_PIN) - #error "I_MAX_PIN is not INTERRUPT-capable." + #error "I_MAX_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(I_MAX_PIN); - #elif HAS_I_MIN + #elif USE_I_MIN #if !LPC1768_PIN_INTERRUPT_M(I_MIN_PIN) - #error "I_MIN_PIN is not INTERRUPT-capable." + #error "I_MIN_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(I_MIN_PIN); #endif - #if HAS_J_MAX + #if USE_J_MAX #if !LPC1768_PIN_INTERRUPT_M(J_MAX_PIN) - #error "J_MAX_PIN is not INTERRUPT-capable." + #error "J_MAX_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(J_MAX_PIN); - #elif HAS_J_MIN + #elif USE_J_MIN #if !LPC1768_PIN_INTERRUPT_M(J_MIN_PIN) - #error "J_MIN_PIN is not INTERRUPT-capable." + #error "J_MIN_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(J_MIN_PIN); #endif - #if HAS_K_MAX + #if USE_K_MAX #if !LPC1768_PIN_INTERRUPT_M(K_MAX_PIN) - #error "K_MAX_PIN is not INTERRUPT-capable." + #error "K_MAX_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(K_MAX_PIN); - #elif HAS_K_MIN + #elif USE_K_MIN #if !LPC1768_PIN_INTERRUPT_M(K_MIN_PIN) - #error "K_MIN_PIN is not INTERRUPT-capable." + #error "K_MIN_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(K_MIN_PIN); #endif - #if HAS_U_MAX + #if USE_U_MAX #if !LPC1768_PIN_INTERRUPT_M(U_MAX_PIN) - #error "U_MAX_PIN is not INTERRUPT-capable." + #error "U_MAX_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(U_MAX_PIN); - #elif HAS_U_MIN + #elif USE_U_MIN #if !LPC1768_PIN_INTERRUPT_M(U_MIN_PIN) - #error "U_MIN_PIN is not INTERRUPT-capable." + #error "U_MIN_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(U_MIN_PIN); #endif - #if HAS_V_MAX + #if USE_V_MAX #if !LPC1768_PIN_INTERRUPT_M(V_MAX_PIN) - #error "V_MAX_PIN is not INTERRUPT-capable." + #error "V_MAX_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(V_MAX_PIN); - #elif HAS_V_MIN + #elif USE_V_MIN #if !LPC1768_PIN_INTERRUPT_M(V_MIN_PIN) - #error "V_MIN_PIN is not INTERRUPT-capable." + #error "V_MIN_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(V_MIN_PIN); #endif - #if HAS_W_MAX + #if USE_W_MAX #if !LPC1768_PIN_INTERRUPT_M(W_MAX_PIN) - #error "W_MAX_PIN is not INTERRUPT-capable." + #error "W_MAX_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(W_MAX_PIN); - #elif HAS_W_MIN + #elif USE_W_MIN #if !LPC1768_PIN_INTERRUPT_M(W_MIN_PIN) - #error "W_MIN_PIN is not INTERRUPT-capable." + #error "W_MIN_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(W_MIN_PIN); #endif diff --git a/Marlin/src/HAL/LPC1768/inc/Conditionals_LCD.h b/Marlin/src/HAL/LPC1768/inc/Conditionals_LCD.h index 32ef908d63..5f1c4b1601 100644 --- a/Marlin/src/HAL/LPC1768/inc/Conditionals_LCD.h +++ b/Marlin/src/HAL/LPC1768/inc/Conditionals_LCD.h @@ -20,7 +20,3 @@ * */ #pragma once - -#if HAS_FSMC_TFT - #error "Sorry! FSMC TFT displays are not current available for HAL/LPC1768." -#endif diff --git a/Marlin/src/HAL/LPC1768/inc/Conditionals_post.h b/Marlin/src/HAL/LPC1768/inc/Conditionals_post.h index be574a96e4..0b03cb2aea 100644 --- a/Marlin/src/HAL/LPC1768/inc/Conditionals_post.h +++ b/Marlin/src/HAL/LPC1768/inc/Conditionals_post.h @@ -23,12 +23,12 @@ #if USE_FALLBACK_EEPROM #define FLASH_EEPROM_EMULATION -#elif EITHER(I2C_EEPROM, SPI_EEPROM) +#elif ANY(I2C_EEPROM, SPI_EEPROM) #define USE_SHARED_EEPROM 1 #endif // LPC1768 boards seem to lose steps when saving to EEPROM during print (issue #20785) // TODO: Which other boards are incompatible? -#if defined(MCU_LPC1768) && PRINTCOUNTER_SAVE_INTERVAL > 0 - #define PRINTCOUNTER_SYNC 1 +#if defined(MCU_LPC1768) && ENABLED(FLASH_EEPROM_EMULATION) && PRINTCOUNTER_SAVE_INTERVAL > 0 + #define PRINTCOUNTER_SYNC #endif diff --git a/Marlin/src/HAL/LPC1768/inc/SanityCheck.h b/Marlin/src/HAL/LPC1768/inc/SanityCheck.h index 8265d58a6e..2782f225b0 100644 --- a/Marlin/src/HAL/LPC1768/inc/SanityCheck.h +++ b/Marlin/src/HAL/LPC1768/inc/SanityCheck.h @@ -77,6 +77,10 @@ static_assert(!(NUM_SERVOS && ENABLED(FAST_PWM_FAN)), "BLTOUCH and Servos are in #endif #endif +#if HAS_FSMC_TFT + #error "Sorry! FSMC TFT displays are not current available for HAL/LPC1768." +#endif + static_assert(DISABLED(BAUD_RATE_GCODE), "BAUD_RATE_GCODE is not yet supported on LPC176x."); /** @@ -95,7 +99,7 @@ static_assert(DISABLED(BAUD_RATE_GCODE), "BAUD_RATE_GCODE is not yet supported o #if USING_HW_SERIAL0 #define IS_TX0(P) (P == P0_02) #define IS_RX0(P) (P == P0_03) - #if IS_TX0(TMC_SW_MISO) || IS_RX0(TMC_SW_MOSI) + #if IS_TX0(TMC_SPI_MISO) || IS_RX0(TMC_SPI_MOSI) #error "Serial port pins (0) conflict with Trinamic SPI pins!" #elif HAS_PRUSA_MMU1 && (IS_TX0(E_MUX1_PIN) || IS_RX0(E_MUX0_PIN)) #error "Serial port pins (0) conflict with Multi-Material-Unit multiplexer pins!" @@ -111,7 +115,7 @@ static_assert(DISABLED(BAUD_RATE_GCODE), "BAUD_RATE_GCODE is not yet supported o #define IS_RX1(P) (P == P0_16) #define _IS_TX1_1 IS_TX1 #define _IS_RX1_1 IS_RX1 - #if IS_TX1(TMC_SW_SCK) + #if IS_TX1(TMC_SPI_SCK) #error "Serial port pins (1) conflict with other pins!" #elif HAS_ROTARY_ENCODER #if IS_TX1(BTN_EN2) || IS_RX1(BTN_EN1) @@ -146,7 +150,7 @@ static_assert(DISABLED(BAUD_RATE_GCODE), "BAUD_RATE_GCODE is not yet supported o #error "Serial port pins (2) conflict with other pins!" #elif Y_HOME_TO_MIN && IS_TX2(Y_STOP_PIN) #error "Serial port pins (2) conflict with Y endstop pin!" - #elif USES_Z_MIN_PROBE_PIN && IS_TX2(Z_MIN_PROBE_PIN) + #elif USE_Z_MIN_PROBE && IS_TX2(Z_MIN_PROBE_PIN) #error "Serial port pins (2) conflict with probe pin!" #elif ANY_TX(2, X_ENABLE_PIN, Y_ENABLE_PIN) || ANY_RX(2, X_DIR_PIN, Y_DIR_PIN) #error "Serial port pins (2) conflict with X/Y stepper pins!" @@ -197,7 +201,7 @@ static_assert(DISABLED(BAUD_RATE_GCODE), "BAUD_RATE_GCODE is not yet supported o #if USEDI2CDEV_M == 0 // P0_27 [D57] (AUX-1) .......... P0_28 [D58] (AUX-1) #define PIN_IS_SDA0(P) (P##_PIN == P0_27) #define IS_SCL0(P) (P == P0_28) - #if ENABLED(SDSUPPORT) && PIN_IS_SDA0(SD_DETECT) + #if HAS_MEDIA && PIN_IS_SDA0(SD_DETECT) #error "SDA0 overlaps with SD_DETECT_PIN!" #elif PIN_IS_SDA0(E0_AUTO_FAN) #error "SDA0 overlaps with E0_AUTO_FAN_PIN!" @@ -237,7 +241,7 @@ static_assert(DISABLED(BAUD_RATE_GCODE), "BAUD_RATE_GCODE is not yet supported o #define PIN_IS_SCL2(P) (P##_PIN == P0_11) #if PIN_IS_SDA2(Y_STOP) #error "i2c SDA2 overlaps with Y endstop pin!" - #elif USES_Z_MIN_PROBE_PIN && PIN_IS_SDA2(Z_MIN_PROBE) + #elif USE_Z_MIN_PROBE && PIN_IS_SDA2(Z_MIN_PROBE) #error "i2c SDA2 overlaps with Z probe pin!" #elif PIN_IS_SDA2(X_ENABLE) || PIN_IS_SDA2(Y_ENABLE) #error "i2c SDA2 overlaps with X/Y ENABLE pin!" diff --git a/Marlin/src/HAL/LPC1768/include/SPI.h b/Marlin/src/HAL/LPC1768/include/SPI.h index 24f4759315..03d34becd8 100644 --- a/Marlin/src/HAL/LPC1768/include/SPI.h +++ b/Marlin/src/HAL/LPC1768/include/SPI.h @@ -155,6 +155,7 @@ public: void read(uint8_t *buf, uint32_t len); void dmaSend(void *buf, uint16_t length, bool minc); + void dmaSendAsync(void *buf, uint16_t length, bool minc); /** * @brief Sets the number of the SPI peripheral to be used by diff --git a/Marlin/src/HAL/LPC1768/main.cpp b/Marlin/src/HAL/LPC1768/main.cpp deleted file mode 100644 index 419c99793f..0000000000 --- a/Marlin/src/HAL/LPC1768/main.cpp +++ /dev/null @@ -1,163 +0,0 @@ -/** - * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * - * Based on Sprinter and grbl. - * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program. If not, see . - * - */ -#ifdef TARGET_LPC1768 - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "../../inc/MarlinConfig.h" -#include "../../core/millis_t.h" - -#include "../../sd/cardreader.h" - -extern uint32_t MSC_SD_Init(uint8_t pdrv); - -extern "C" { - #include - extern "C" int isLPC1769(); - extern "C" void disk_timerproc(); -} - -void SysTick_Callback() { disk_timerproc(); } - -TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial()); - -void MarlinHAL::init() { - - // Init LEDs - #if PIN_EXISTS(LED) - SET_DIR_OUTPUT(LED_PIN); - WRITE_PIN_CLR(LED_PIN); - #if PIN_EXISTS(LED2) - SET_DIR_OUTPUT(LED2_PIN); - WRITE_PIN_CLR(LED2_PIN); - #if PIN_EXISTS(LED3) - SET_DIR_OUTPUT(LED3_PIN); - WRITE_PIN_CLR(LED3_PIN); - #if PIN_EXISTS(LED4) - SET_DIR_OUTPUT(LED4_PIN); - WRITE_PIN_CLR(LED4_PIN); - #endif - #endif - #endif - - // Flash status LED 3 times to indicate Marlin has started booting - LOOP_L_N(i, 6) { - TOGGLE(LED_PIN); - delay(100); - } - #endif - - // Init Servo Pins - #define INIT_SERVO(N) OUT_WRITE(SERVO##N##_PIN, LOW) - #if HAS_SERVO_0 - INIT_SERVO(0); - #endif - #if HAS_SERVO_1 - INIT_SERVO(1); - #endif - #if HAS_SERVO_2 - INIT_SERVO(2); - #endif - #if HAS_SERVO_3 - INIT_SERVO(3); - #endif - - //debug_frmwrk_init(); - //_DBG("\n\nDebug running\n"); - // Initialize the SD card chip select pins as soon as possible - #if PIN_EXISTS(SD_SS) - OUT_WRITE(SD_SS_PIN, HIGH); - #endif - - #if PIN_EXISTS(ONBOARD_SD_CS) && ONBOARD_SD_CS_PIN != SD_SS_PIN - OUT_WRITE(ONBOARD_SD_CS_PIN, HIGH); - #endif - - #ifdef LPC1768_ENABLE_CLKOUT_12M - /** - * CLKOUTCFG register - * bit 8 (CLKOUT_EN) = enables CLKOUT signal. Disabled for now to prevent glitch when enabling GPIO. - * bits 7:4 (CLKOUTDIV) = set to 0 for divider setting of /1 - * bits 3:0 (CLKOUTSEL) = set to 1 to select main crystal oscillator as CLKOUT source - */ - LPC_SC->CLKOUTCFG = (0<<8)|(0<<4)|(1<<0); - // set P1.27 pin to function 01 (CLKOUT) - PINSEL_CFG_Type PinCfg; - PinCfg.Portnum = 1; - PinCfg.Pinnum = 27; - PinCfg.Funcnum = 1; // function 01 (CLKOUT) - PinCfg.OpenDrain = 0; // not open drain - PinCfg.Pinmode = 2; // no pull-up/pull-down - PINSEL_ConfigPin(&PinCfg); - // now set CLKOUT_EN bit - SBI(LPC_SC->CLKOUTCFG, 8); - #endif - - USB_Init(); // USB Initialization - USB_Connect(false); // USB clear connection - delay(1000); // Give OS time to notice - USB_Connect(true); - - TERN_(HAS_SD_HOST_DRIVE, MSC_SD_Init(0)); // Enable USB SD card access - - const millis_t usb_timeout = millis() + 2000; - while (!USB_Configuration && PENDING(millis(), usb_timeout)) { - delay(50); - idletask(); - #if PIN_EXISTS(LED) - TOGGLE(LED_PIN); // Flash quickly during USB initialization - #endif - } - - HAL_timer_init(); - - TERN_(POSTMORTEM_DEBUGGING, install_min_serial()); // Install the min serial handler -} - -// HAL idle task -void MarlinHAL::idletask() { - #if HAS_SHARED_MEDIA - // If Marlin is using the SD card we need to lock it to prevent access from - // a PC via USB. - // Other HALs use IS_SD_PRINTING() and IS_SD_FILE_OPEN() to check for access but - // this will not reliably detect delete operations. To be safe we will lock - // the disk if Marlin has it mounted. Unfortunately there is currently no way - // to unmount the disk from the LCD menu. - // if (IS_SD_PRINTING() || IS_SD_FILE_OPEN()) - if (card.isMounted()) - MSC_Aquire_Lock(); - else - MSC_Release_Lock(); - #endif - // Perform USB stack housekeeping - MSC_RunDeferredCommands(); -} - -#endif // TARGET_LPC1768 diff --git a/Marlin/src/HAL/LPC1768/pinsDebug.h b/Marlin/src/HAL/LPC1768/pinsDebug.h index a2f5c123a2..975511be9a 100644 --- a/Marlin/src/HAL/LPC1768/pinsDebug.h +++ b/Marlin/src/HAL/LPC1768/pinsDebug.h @@ -29,11 +29,8 @@ */ #define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS -#define pwm_details(pin) pin = pin // do nothing // print PWM details -#define pwm_status(pin) false //Print a pin's PWM status. Return true if it's currently a PWM pin. #define IS_ANALOG(P) (DIGITAL_PIN_TO_ANALOG_PIN(P) >= 0 ? 1 : 0) #define digitalRead_mod(p) extDigitalRead(p) -#define PRINT_PORT(p) #define GET_ARRAY_PIN(p) pin_array[p].pin #define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0) #define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("P%d_%02d"), LPC176x::pin_port(p), LPC176x::pin_bit(p)); SERIAL_ECHO(buffer); }while(0) @@ -46,10 +43,14 @@ #endif bool GET_PINMODE(const pin_t pin) { - if (!LPC176x::pin_is_valid(pin) || LPC176x::pin_adc_enabled(pin)) // found an invalid pin or active analog pin + if (!LPC176x::pin_is_valid(pin) || LPC176x::pin_adc_enabled(pin)) // Invalid pin or active analog pin return false; return LPC176x::gpio_direction(pin); } #define GET_ARRAY_IS_DIGITAL(x) ((bool) pin_array[x].is_digital) + +void print_port(const pin_t) {} +void pwm_details(const pin_t) {} +bool pwm_status(const pin_t) { return false; } diff --git a/Marlin/src/HAL/LPC1768/spi_pins.h b/Marlin/src/HAL/LPC1768/spi_pins.h index e7d774742f..babe8a11d7 100644 --- a/Marlin/src/HAL/LPC1768/spi_pins.h +++ b/Marlin/src/HAL/LPC1768/spi_pins.h @@ -23,11 +23,11 @@ #include "../../core/macros.h" -#if BOTH(SDSUPPORT, HAS_MARLINUI_U8GLIB) && (LCD_PINS_D4 == SD_SCK_PIN || LCD_PINS_ENABLE == SD_MOSI_PIN || DOGLCD_SCK == SD_SCK_PIN || DOGLCD_MOSI == SD_MOSI_PIN) - #define LPC_SOFTWARE_SPI // If the SD card and LCD adapter share the same SPI pins, then software SPI is currently - // needed due to the speed and mode required for communicating with each device being different. - // This requirement can be removed if the SPI access to these devices is updated to use - // spiBeginTransaction. +#if ALL(HAS_MEDIA, HAS_MARLINUI_U8GLIB) && (LCD_PINS_D4 == SD_SCK_PIN || LCD_PINS_EN == SD_MOSI_PIN || DOGLCD_SCK == SD_SCK_PIN || DOGLCD_MOSI == SD_MOSI_PIN) + #define SOFTWARE_SPI // If the SD card and LCD adapter share the same SPI pins, then software SPI is currently + // needed due to the speed and mode required for communicating with each device being different. + // This requirement can be removed if the SPI access to these devices is updated to use + // spiBeginTransaction. #endif /** onboard SD card */ diff --git a/Marlin/src/HAL/LPC1768/tft/tft_spi.cpp b/Marlin/src/HAL/LPC1768/tft/tft_spi.cpp index a9847b2d2f..2342de002d 100644 --- a/Marlin/src/HAL/LPC1768/tft/tft_spi.cpp +++ b/Marlin/src/HAL/LPC1768/tft/tft_spi.cpp @@ -20,15 +20,17 @@ * */ +#ifdef TARGET_LPC1768 + #include "../../../inc/MarlinConfig.h" #if HAS_SPI_TFT #include "tft_spi.h" -SPIClass TFT_SPI::SPIx(1); +SPIClass TFT_SPI::SPIx(TFT_SPI_DEVICE); -void TFT_SPI::Init() { +void TFT_SPI::init() { #if PIN_EXISTS(TFT_RESET) OUT_WRITE(TFT_RESET_PIN, HIGH); delay(100); @@ -38,60 +40,30 @@ void TFT_SPI::Init() { OUT_WRITE(TFT_BACKLIGHT_PIN, HIGH); #endif - SET_OUTPUT(TFT_DC_PIN); - SET_OUTPUT(TFT_CS_PIN); - WRITE(TFT_DC_PIN, HIGH); - WRITE(TFT_CS_PIN, HIGH); + OUT_WRITE(TFT_DC_PIN, HIGH); + OUT_WRITE(TFT_CS_PIN, HIGH); - /** - * STM32F1 APB2 = 72MHz, APB1 = 36MHz, max SPI speed of this MCU if 18Mhz - * STM32F1 has 3 SPI ports, SPI1 in APB2, SPI2/SPI3 in APB1 - * so the minimum prescale of SPI1 is DIV4, SPI2/SPI3 is DIV2 - */ - #if 0 - #if SPI_DEVICE == 1 - #define SPI_CLOCK_MAX SPI_CLOCK_DIV4 - #else - #define SPI_CLOCK_MAX SPI_CLOCK_DIV2 - #endif - uint8_t clock; - uint8_t spiRate = SPI_FULL_SPEED; - switch (spiRate) { - case SPI_FULL_SPEED: clock = SPI_CLOCK_MAX ; break; - case SPI_HALF_SPEED: clock = SPI_CLOCK_DIV4 ; break; - case SPI_QUARTER_SPEED: clock = SPI_CLOCK_DIV8 ; break; - case SPI_EIGHTH_SPEED: clock = SPI_CLOCK_DIV16; break; - case SPI_SPEED_5: clock = SPI_CLOCK_DIV32; break; - case SPI_SPEED_6: clock = SPI_CLOCK_DIV64; break; - default: clock = SPI_CLOCK_DIV2; // Default from the SPI library - } - #endif - - #if TFT_MISO_PIN == BOARD_SPI1_MISO_PIN - SPIx.setModule(1); - #elif TFT_MISO_PIN == BOARD_SPI2_MISO_PIN - SPIx.setModule(2); - #endif + SPIx.setModule(TFT_SPI_DEVICE); SPIx.setClock(SPI_CLOCK_MAX_TFT); SPIx.setBitOrder(MSBFIRST); SPIx.setDataMode(SPI_MODE0); } -void TFT_SPI::DataTransferBegin(uint16_t DataSize) { - SPIx.setDataSize(DataSize); +void TFT_SPI::dataTransferBegin(uint16_t dataSize) { + SPIx.setDataSize(dataSize); SPIx.begin(); WRITE(TFT_CS_PIN, LOW); } -uint32_t TFT_SPI::GetID() { +uint32_t TFT_SPI::getID() { uint32_t id; - id = ReadID(LCD_READ_ID); + id = readID(LCD_READ_ID); if ((id & 0xFFFF) == 0 || (id & 0xFFFF) == 0xFFFF) - id = ReadID(LCD_READ_ID4); + id = readID(LCD_READ_ID4); return id; } -uint32_t TFT_SPI::ReadID(uint16_t Reg) { +uint32_t TFT_SPI::readID(const uint16_t inReg) { uint32_t data = 0; #if PIN_EXISTS(TFT_MISO) @@ -100,31 +72,77 @@ uint32_t TFT_SPI::ReadID(uint16_t Reg) { SPIx.setClock(SPI_CLOCK_DIV64); SPIx.begin(); WRITE(TFT_CS_PIN, LOW); - WriteReg(Reg); + writeReg(inReg); - LOOP_L_N(i, 4) { + for (uint8_t i = 0; i < 4; ++i) { SPIx.read((uint8_t*)&d, 1); data = (data << 8) | d; } - DataTransferEnd(); + dataTransferEnd(); SPIx.setClock(SPI_CLOCK_MAX_TFT); #endif return data >> 7; } -bool TFT_SPI::isBusy() { return false; } +bool TFT_SPI::isBusy() { + #define __IS_DMA_CONFIGURED(__HANDLE__) ((__HANDLE__)->DMACCSrcAddr != 0) -void TFT_SPI::Abort() { DataTransferEnd(); } + // DMA Channel 0 is hardcoded in dmaSendAsync() and dmaSend() + if (!__IS_DMA_CONFIGURED(LPC_GPDMACH0)) return false; -void TFT_SPI::Transmit(uint16_t Data) { SPIx.transfer(Data); } + if (GPDMA_IntGetStatus(GPDMA_STAT_INTERR, 0)) { + // You should not be here - DMA transfer error flag is set + // Abort DMA transfer and release SPI + } + else { + // Check if DMA transfer completed flag is set + if (!GPDMA_IntGetStatus(GPDMA_STAT_INTTC, 0)) return true; + // Check if SPI TX butter is empty and SPI is idle + if ((SSP_GetStatus(LPC_SSPx, SSP_STAT_TXFIFO_EMPTY) == RESET) || (SSP_GetStatus(LPC_SSPx, SSP_STAT_BUSY) == SET)) return true; + } -void TFT_SPI::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) { - DataTransferBegin(DATASIZE_16BIT); - WRITE(TFT_DC_PIN, HIGH); - SPIx.dmaSend(Data, Count, MemoryIncrease); - DataTransferEnd(); + abort(); + return false; +} + +void TFT_SPI::abort() { + // DMA Channel 0 is hardcoded in dmaSendAsync() and dmaSend() + + // Disable DMA + GPDMA_ChannelCmd(0, DISABLE); + + // Clear ERR and TC + GPDMA_ClearIntPending(GPDMA_STATCLR_INTTC, 0); + GPDMA_ClearIntPending(GPDMA_STATCLR_INTERR, 0); + + // Disable DMA on SPI + SSP_DMACmd(LPC_SSPx, SSP_DMA_TX, DISABLE); + + // Deconfigure DMA Channel 0 + LPC_GPDMACH0->DMACCControl = 0U; + LPC_GPDMACH0->DMACCConfig = 0U; + LPC_GPDMACH0->DMACCSrcAddr = 0U; + LPC_GPDMACH0->DMACCDestAddr = 0U; + + dataTransferEnd(); +} + +void TFT_SPI::transmit(uint16_t data) { SPIx.transfer(data); } + +void TFT_SPI::transmit(uint32_t memoryIncrease, uint16_t *data, uint16_t count) { + dataTransferBegin(DATASIZE_16BIT); + SPIx.dmaSend(data, count, memoryIncrease); + abort(); +} + +void TFT_SPI::transmitDMA(uint32_t memoryIncrease, uint16_t *data, uint16_t count) { + dataTransferBegin(DATASIZE_16BIT); + SPIx.dmaSendAsync(data, count, memoryIncrease); + + TERN_(TFT_SHARED_IO, while (isBusy())); } #endif // HAS_SPI_TFT +#endif // TARGET_LPC1768 diff --git a/Marlin/src/HAL/LPC1768/tft/tft_spi.h b/Marlin/src/HAL/LPC1768/tft/tft_spi.h index 4753fdbae9..6d5829fc73 100644 --- a/Marlin/src/HAL/LPC1768/tft/tft_spi.h +++ b/Marlin/src/HAL/LPC1768/tft/tft_spi.h @@ -27,6 +27,18 @@ #include // #include +#define IS_SPI(N) (BOARD_NR_SPI >= N && (TFT_SCK_PIN == BOARD_SPI##N##_SCK_PIN) && (TFT_MOSI_PIN == BOARD_SPI##N##_MOSI_PIN) && (TFT_MISO_PIN == BOARD_SPI##N##_MISO_PIN)) +#if IS_SPI(1) + #define TFT_SPI_DEVICE 1 + #define LPC_SSPx LPC_SSP0 +#elif IS_SPI(2) + #define TFT_SPI_DEVICE 2 + #define LPC_SSPx LPC_SSP1 +#else + #error "Invalid TFT SPI configuration." +#endif +#undef IS_SPI + #ifndef LCD_READ_ID #define LCD_READ_ID 0x04 // Read display identification information (0xD3 on ILI9341) #endif @@ -34,44 +46,44 @@ #define LCD_READ_ID4 0xD3 // Read display identification information (0xD3 on ILI9341) #endif -#define DATASIZE_8BIT SSP_DATABIT_8 -#define DATASIZE_16BIT SSP_DATABIT_16 -#define TFT_IO_DRIVER TFT_SPI +#define DATASIZE_8BIT SSP_DATABIT_8 +#define DATASIZE_16BIT SSP_DATABIT_16 +#define TFT_IO_DRIVER TFT_SPI +#define DMA_MAX_WORDS 0xFFF -#define DMA_MINC_ENABLE 1 -#define DMA_MINC_DISABLE 0 +#define DMA_MINC_ENABLE 1 +#define DMA_MINC_DISABLE 0 class TFT_SPI { private: - static uint32_t ReadID(uint16_t Reg); - static void Transmit(uint16_t Data); - static void TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count); + static uint32_t readID(const uint16_t inReg); + static void transmit(uint16_t data); + static void transmit(uint32_t memoryIncrease, uint16_t *data, uint16_t count); + static void transmitDMA(uint32_t memoryIncrease, uint16_t *data, uint16_t count); public: static SPIClass SPIx; - static void Init(); - static uint32_t GetID(); + static void init(); + static uint32_t getID(); static bool isBusy(); - static void Abort(); + static void abort(); - static void DataTransferBegin(uint16_t DataWidth = DATASIZE_16BIT); - static void DataTransferEnd() { OUT_WRITE(TFT_CS_PIN, HIGH); SPIx.end(); }; - static void DataTransferAbort(); + static void dataTransferBegin(uint16_t dataWidth=DATASIZE_16BIT); + static void dataTransferEnd() { WRITE(TFT_CS_PIN, HIGH); SSP_Cmd(LPC_SSPx, DISABLE); }; + static void dataTransferAbort(); - static void WriteData(uint16_t Data) { Transmit(Data); } - static void WriteReg(uint16_t Reg) { OUT_WRITE(TFT_A0_PIN, LOW); Transmit(Reg); OUT_WRITE(TFT_A0_PIN, HIGH); } + static void writeData(uint16_t data) { transmit(data); } + static void writeReg(const uint16_t inReg) { WRITE(TFT_DC_PIN, LOW); transmit(inReg); WRITE(TFT_DC_PIN, HIGH); } - static void WriteSequence(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_MINC_ENABLE, Data, Count); } - // static void WriteMultiple(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_MINC_DISABLE, &Data, Count); } - static void WriteMultiple(uint16_t Color, uint32_t Count) { - static uint16_t Data; Data = Color; - //LPC dma can only write 0xFFF bytes at once. - #define MAX_DMA_SIZE (0xFFF - 1) - while (Count > 0) { - TransmitDMA(DMA_MINC_DISABLE, &Data, Count > MAX_DMA_SIZE ? MAX_DMA_SIZE : Count); - Count = Count > MAX_DMA_SIZE ? Count - MAX_DMA_SIZE : 0; + static void writeSequence_DMA(uint16_t *data, uint16_t count) { transmitDMA(DMA_MINC_ENABLE, data, count); } + static void writeMultiple_DMA(uint16_t color, uint16_t count) { static uint16_t data; data = color; transmitDMA(DMA_MINC_DISABLE, &data, count); } + + static void writeSequence(uint16_t *data, uint16_t count) { transmit(DMA_MINC_ENABLE, data, count); } + static void writeMultiple(uint16_t color, uint32_t count) { + while (count > 0) { + transmit(DMA_MINC_DISABLE, &color, count > DMA_MAX_WORDS ? DMA_MAX_WORDS : count); + count = count > DMA_MAX_WORDS ? count - DMA_MAX_WORDS : 0; } - #undef MAX_DMA_SIZE } }; diff --git a/Marlin/src/HAL/LPC1768/tft/xpt2046.cpp b/Marlin/src/HAL/LPC1768/tft/xpt2046.cpp index 9c1e158981..74596935e9 100644 --- a/Marlin/src/HAL/LPC1768/tft/xpt2046.cpp +++ b/Marlin/src/HAL/LPC1768/tft/xpt2046.cpp @@ -20,6 +20,8 @@ * */ +#ifdef TARGET_LPC1768 + #include "../../../inc/MarlinConfig.h" #if HAS_TFT_XPT2046 || HAS_RES_TOUCH_BUTTONS @@ -43,10 +45,12 @@ uint16_t delta(uint16_t a, uint16_t b) { return a > b ? a - b : b - a; } } #endif -void XPT2046::Init() { - SET_INPUT(TOUCH_MISO_PIN); - SET_OUTPUT(TOUCH_MOSI_PIN); - SET_OUTPUT(TOUCH_SCK_PIN); +void XPT2046::init() { + #if DISABLED(TOUCH_BUTTONS_HW_SPI) + SET_INPUT(TOUCH_MISO_PIN); + SET_OUTPUT(TOUCH_MOSI_PIN); + SET_OUTPUT(TOUCH_SCK_PIN); + #endif OUT_WRITE(TOUCH_CS_PIN, HIGH); #if PIN_EXISTS(TOUCH_INT) @@ -81,7 +85,7 @@ bool XPT2046::getRawPoint(int16_t *x, int16_t *y) { uint16_t XPT2046::getRawData(const XPTCoordinate coordinate) { uint16_t data[3]; - DataTransferBegin(); + dataTransferBegin(); TERN_(TOUCH_BUTTONS_HW_SPI, SPIx.begin()); for (uint16_t i = 0; i < 3 ; i++) { @@ -90,7 +94,7 @@ uint16_t XPT2046::getRawData(const XPTCoordinate coordinate) { } TERN_(TOUCH_BUTTONS_HW_SPI, SPIx.end()); - DataTransferEnd(); + dataTransferEnd(); uint16_t delta01 = delta(data[0], data[1]), delta02 = delta(data[0], data[2]), @@ -103,18 +107,18 @@ uint16_t XPT2046::getRawData(const XPTCoordinate coordinate) { } uint16_t XPT2046::IO(uint16_t data) { - return TERN(TOUCH_BUTTONS_HW_SPI, HardwareIO, SoftwareIO)(data); + return TERN(TOUCH_BUTTONS_HW_SPI, hardwareIO, softwareIO)(data); } extern uint8_t spiTransfer(uint8_t b); #if ENABLED(TOUCH_BUTTONS_HW_SPI) - uint16_t XPT2046::HardwareIO(uint16_t data) { + uint16_t XPT2046::hardwareIO(uint16_t data) { return SPIx.transfer(data & 0xFF); } #endif -uint16_t XPT2046::SoftwareIO(uint16_t data) { +uint16_t XPT2046::softwareIO(uint16_t data) { uint16_t result = 0; for (uint8_t j = 0x80; j; j >>= 1) { @@ -128,4 +132,5 @@ uint16_t XPT2046::SoftwareIO(uint16_t data) { return result; } -#endif // HAS_TFT_XPT2046 +#endif // HAS_TFT_XPT2046 || HAS_RES_TOUCH_BUTTONS +#endif // TARGET_LPC1768 diff --git a/Marlin/src/HAL/LPC1768/tft/xpt2046.h b/Marlin/src/HAL/LPC1768/tft/xpt2046.h index 7c456cf00e..8fdcacf926 100644 --- a/Marlin/src/HAL/LPC1768/tft/xpt2046.h +++ b/Marlin/src/HAL/LPC1768/tft/xpt2046.h @@ -65,12 +65,12 @@ private: static uint16_t getRawData(const XPTCoordinate coordinate); static bool isTouched(); - static void DataTransferBegin() { WRITE(TOUCH_CS_PIN, LOW); }; - static void DataTransferEnd() { WRITE(TOUCH_CS_PIN, HIGH); }; + static void dataTransferBegin() { WRITE(TOUCH_CS_PIN, LOW); }; + static void dataTransferEnd() { WRITE(TOUCH_CS_PIN, HIGH); }; #if ENABLED(TOUCH_BUTTONS_HW_SPI) - static uint16_t HardwareIO(uint16_t data); + static uint16_t hardwareIO(uint16_t data); #endif - static uint16_t SoftwareIO(uint16_t data); + static uint16_t softwareIO(uint16_t data); static uint16_t IO(uint16_t data = 0); public: @@ -78,6 +78,6 @@ public: static SPIClass SPIx; #endif - static void Init(); + static void init(); static bool getRawPoint(int16_t *x, int16_t *y); }; diff --git a/Marlin/src/HAL/LPC1768/u8g/u8g_com_HAL_LPC1768_sw_spi.cpp b/Marlin/src/HAL/LPC1768/u8g/u8g_com_HAL_LPC1768_sw_spi.cpp index f116a9b80a..f6ed7b0e7e 100644 --- a/Marlin/src/HAL/LPC1768/u8g/u8g_com_HAL_LPC1768_sw_spi.cpp +++ b/Marlin/src/HAL/LPC1768/u8g/u8g_com_HAL_LPC1768_sw_spi.cpp @@ -75,7 +75,7 @@ uint8_t swSpiTransfer_mode_0(uint8_t b, const uint8_t spi_speed, const pin_t sck_pin, const pin_t miso_pin, const pin_t mosi_pin ) { - LOOP_L_N(i, 8) { + for (uint8_t i = 0; i < 8; ++i) { if (spi_speed == 0) { LPC176x::gpio_set(mosi_pin, !!(b & 0x80)); LPC176x::gpio_set(sck_pin, HIGH); @@ -85,16 +85,16 @@ uint8_t swSpiTransfer_mode_0(uint8_t b, const uint8_t spi_speed, const pin_t sck } else { const uint8_t state = (b & 0x80) ? HIGH : LOW; - LOOP_L_N(j, spi_speed) + for (uint8_t j = 0; j < spi_speed; ++j) LPC176x::gpio_set(mosi_pin, state); - LOOP_L_N(j, spi_speed + (miso_pin >= 0 ? 0 : 1)) + for (uint8_t j = 0; j < spi_speed + (miso_pin >= 0 ? 0 : 1); ++j) LPC176x::gpio_set(sck_pin, HIGH); b <<= 1; if (miso_pin >= 0 && LPC176x::gpio_get(miso_pin)) b |= 1; - LOOP_L_N(j, spi_speed) + for (uint8_t j = 0; j < spi_speed; ++j) LPC176x::gpio_set(sck_pin, LOW); } } @@ -104,7 +104,7 @@ uint8_t swSpiTransfer_mode_0(uint8_t b, const uint8_t spi_speed, const pin_t sck uint8_t swSpiTransfer_mode_3(uint8_t b, const uint8_t spi_speed, const pin_t sck_pin, const pin_t miso_pin, const pin_t mosi_pin ) { - LOOP_L_N(i, 8) { + for (uint8_t i = 0; i < 8; ++i) { const uint8_t state = (b & 0x80) ? HIGH : LOW; if (spi_speed == 0) { LPC176x::gpio_set(sck_pin, LOW); @@ -113,13 +113,13 @@ uint8_t swSpiTransfer_mode_3(uint8_t b, const uint8_t spi_speed, const pin_t sck LPC176x::gpio_set(sck_pin, HIGH); } else { - LOOP_L_N(j, spi_speed + (miso_pin >= 0 ? 0 : 1)) + for (uint8_t j = 0; j < spi_speed + (miso_pin >= 0 ? 0 : 1); ++j) LPC176x::gpio_set(sck_pin, LOW); - LOOP_L_N(j, spi_speed) + for (uint8_t j = 0; j < spi_speed; ++j) LPC176x::gpio_set(mosi_pin, state); - LOOP_L_N(j, spi_speed) + for (uint8_t j = 0; j < spi_speed; ++j) LPC176x::gpio_set(sck_pin, HIGH); } b <<= 1; @@ -132,7 +132,7 @@ uint8_t swSpiTransfer_mode_3(uint8_t b, const uint8_t spi_speed, const pin_t sck static uint8_t SPI_speed = 0; static void u8g_sw_spi_HAL_LPC1768_shift_out(uint8_t dataPin, uint8_t clockPin, uint8_t val) { - #if EITHER(FYSETC_MINI_12864, MKS_MINI_12864) + #if ANY(FYSETC_MINI_12864, MKS_MINI_12864) swSpiTransfer_mode_3(val, SPI_speed, clockPin, -1, dataPin); #else swSpiTransfer_mode_0(val, SPI_speed, clockPin, -1, dataPin); @@ -160,10 +160,10 @@ uint8_t u8g_com_HAL_LPC1768_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, break; case U8G_COM_MSG_CHIP_SELECT: - #if EITHER(FYSETC_MINI_12864, MKS_MINI_12864) // LCD SPI is running mode 3 while SD card is running mode 0 - if (arg_val) { // SCK idle state needs to be set to the proper idle state before - // the next chip select goes active - u8g_SetPILevel(u8g, U8G_PI_SCK, 1); // Set SCK to mode 3 idle state before CS goes active + #if ANY(FYSETC_MINI_12864, MKS_MINI_12864) // LCD SPI is running mode 3 while SD card is running mode 0 + if (arg_val) { // SCK idle state needs to be set to the proper idle state before + // the next chip select goes active + u8g_SetPILevel(u8g, U8G_PI_SCK, 1); // Set SCK to mode 3 idle state before CS goes active u8g_SetPILevel(u8g, U8G_PI_CS, LOW); } else { diff --git a/Marlin/src/HAL/LPC1768/upload_extra_script.py b/Marlin/src/HAL/LPC1768/upload_extra_script.py index 7975f151f7..efd46fdd63 100755 --- a/Marlin/src/HAL/LPC1768/upload_extra_script.py +++ b/Marlin/src/HAL/LPC1768/upload_extra_script.py @@ -9,119 +9,127 @@ from __future__ import print_function import pioutil if pioutil.is_pio_build(): - target_filename = "FIRMWARE.CUR" - target_drive = "REARM" + target_filename = "FIRMWARE.CUR" + target_drive = "REARM" - import os,getpass,platform + import platform - current_OS = platform.system() - Import("env") + current_OS = platform.system() + Import("env") - def print_error(e): - print('\nUnable to find destination disk (%s)\n' \ - 'Please select it in platformio.ini using the upload_port keyword ' \ - '(https://docs.platformio.org/en/latest/projectconf/section_env_upload.html) ' \ - 'or copy the firmware (.pio/build/%s/firmware.bin) manually to the appropriate disk\n' \ - %(e, env.get('PIOENV'))) + def print_error(e): + print('\nUnable to find destination disk (%s)\n' \ + 'Please select it in platformio.ini using the upload_port keyword ' \ + '(https://docs.platformio.org/en/latest/projectconf/section_env_upload.html) ' \ + 'or copy the firmware (.pio/build/%s/firmware.bin) manually to the appropriate disk\n' \ + %(e, env.get('PIOENV'))) - def before_upload(source, target, env): - try: - # - # Find a disk for upload - # - upload_disk = 'Disk not found' - target_file_found = False - target_drive_found = False - if current_OS == 'Windows': - # - # platformio.ini will accept this for a Windows upload port designation: 'upload_port = L:' - # Windows - doesn't care about the disk's name, only cares about the drive letter - import subprocess,string - from ctypes import windll + def before_upload(source, target, env): + try: + from pathlib import Path + # + # Find a disk for upload + # + upload_disk = 'Disk not found' + target_file_found = False + target_drive_found = False + if current_OS == 'Windows': + # + # platformio.ini will accept this for a Windows upload port designation: 'upload_port = L:' + # Windows - doesn't care about the disk's name, only cares about the drive letter + import subprocess,string + from ctypes import windll + from pathlib import PureWindowsPath - # getting list of drives - # https://stackoverflow.com/questions/827371/is-there-a-way-to-list-all-the-available-drive-letters-in-python - drives = [] - bitmask = windll.kernel32.GetLogicalDrives() - for letter in string.ascii_uppercase: - if bitmask & 1: - drives.append(letter) - bitmask >>= 1 + # getting list of drives + # https://stackoverflow.com/questions/827371/is-there-a-way-to-list-all-the-available-drive-letters-in-python + drives = [] + bitmask = windll.kernel32.GetLogicalDrives() + for letter in string.ascii_uppercase: + if bitmask & 1: + drives.append(letter) + bitmask >>= 1 - for drive in drives: - final_drive_name = drive + ':\\' - # print ('disc check: {}'.format(final_drive_name)) - try: - volume_info = str(subprocess.check_output('cmd /C dir ' + final_drive_name, stderr=subprocess.STDOUT)) - except Exception as e: - print ('error:{}'.format(e)) - continue - else: - if target_drive in volume_info and not target_file_found: # set upload if not found target file yet - target_drive_found = True - upload_disk = final_drive_name - if target_filename in volume_info: - if not target_file_found: - upload_disk = final_drive_name - target_file_found = True + for drive in drives: + final_drive_name = drive + ':' + # print ('disc check: {}'.format(final_drive_name)) + try: + volume_info = str(subprocess.check_output('cmd /C dir ' + final_drive_name, stderr=subprocess.STDOUT)) + except Exception as e: + print ('error:{}'.format(e)) + continue + else: + if target_drive in volume_info and not target_file_found: # set upload if not found target file yet + target_drive_found = True + upload_disk = PureWindowsPath(final_drive_name) + if target_filename in volume_info: + if not target_file_found: + upload_disk = PureWindowsPath(final_drive_name) + target_file_found = True - elif current_OS == 'Linux': - # - # platformio.ini will accept this for a Linux upload port designation: 'upload_port = /media/media_name/drive' - # - drives = os.listdir(os.path.join(os.sep, 'media', getpass.getuser())) - if target_drive in drives: # If target drive is found, use it. - target_drive_found = True - upload_disk = os.path.join(os.sep, 'media', getpass.getuser(), target_drive) + os.sep - else: - for drive in drives: - try: - files = os.listdir(os.path.join(os.sep, 'media', getpass.getuser(), drive)) - except: - continue - else: - if target_filename in files: - upload_disk = os.path.join(os.sep, 'media', getpass.getuser(), drive) + os.sep - target_file_found = True - break - # - # set upload_port to drive if found - # + elif current_OS == 'Linux': + # + # platformio.ini will accept this for a Linux upload port designation: 'upload_port = /media/media_name/drive' + # + import getpass + user = getpass.getuser() + mpath = Path('/media', user) + drives = [ x for x in mpath.iterdir() if x.is_dir() ] + if target_drive in drives: # If target drive is found, use it. + target_drive_found = True + upload_disk = mpath / target_drive + else: + for drive in drives: + try: + fpath = mpath / drive + filenames = [ x.name for x in fpath.iterdir() if x.is_file() ] + except: + continue + else: + if target_filename in filenames: + upload_disk = mpath / drive + target_file_found = True + break + # + # set upload_port to drive if found + # - if target_file_found or target_drive_found: - env.Replace( - UPLOAD_FLAGS="-P$UPLOAD_PORT" - ) + if target_file_found or target_drive_found: + env.Replace( + UPLOAD_FLAGS="-P$UPLOAD_PORT" + ) - elif current_OS == 'Darwin': # MAC - # - # platformio.ini will accept this for a OSX upload port designation: 'upload_port = /media/media_name/drive' - # - drives = os.listdir('/Volumes') # human readable names - if target_drive in drives and not target_file_found: # set upload if not found target file yet - target_drive_found = True - upload_disk = '/Volumes/' + target_drive + '/' - for drive in drives: - try: - filenames = os.listdir('/Volumes/' + drive + '/') # will get an error if the drive is protected - except: - continue - else: - if target_filename in filenames: - if not target_file_found: - upload_disk = '/Volumes/' + drive + '/' - target_file_found = True + elif current_OS == 'Darwin': # MAC + # + # platformio.ini will accept this for a OSX upload port designation: 'upload_port = /media/media_name/drive' + # + dpath = Path('/Volumes') # human readable names + drives = [ x for x in dpath.iterdir() if x.is_dir() ] + if target_drive in drives and not target_file_found: # set upload if not found target file yet + target_drive_found = True + upload_disk = dpath / target_drive + for drive in drives: + try: + fpath = dpath / drive # will get an error if the drive is protected + filenames = [ x.name for x in fpath.iterdir() if x.is_file() ] + except: + continue + else: + if target_filename in filenames: + upload_disk = dpath / drive + target_file_found = True + break - # - # Set upload_port to drive if found - # - if target_file_found or target_drive_found: - env.Replace(UPLOAD_PORT=upload_disk) - print('\nUpload disk: ', upload_disk, '\n') - else: - print_error('Autodetect Error') + # + # Set upload_port to drive if found + # + if target_file_found or target_drive_found: + env.Replace(UPLOAD_PORT=str(upload_disk)) + print('\nUpload disk: ', upload_disk, '\n') + else: + print_error('Autodetect Error') - except Exception as e: - print_error(str(e)) + except Exception as e: + print_error(str(e)) - env.AddPreAction("upload", before_upload) + env.AddPreAction("upload", before_upload) diff --git a/Marlin/src/HAL/LPC1768/watchdog.cpp b/Marlin/src/HAL/LPC1768/watchdog.cpp deleted file mode 100644 index f23ccf5b51..0000000000 --- a/Marlin/src/HAL/LPC1768/watchdog.cpp +++ /dev/null @@ -1,72 +0,0 @@ -/** - * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * - * Based on Sprinter and grbl. - * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program. If not, see . - * - */ -#ifdef TARGET_LPC1768 - -#include "../../inc/MarlinConfig.h" - -#if ENABLED(USE_WATCHDOG) - -#include -#include "watchdog.h" - -#define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout - -void watchdog_init() { - #if ENABLED(WATCHDOG_RESET_MANUAL) - // We enable the watchdog timer, but only for the interrupt. - - // Configure WDT to only trigger an interrupt - // Disable WDT interrupt (just in case, to avoid triggering it!) - NVIC_DisableIRQ(WDT_IRQn); - - // We NEED memory barriers to ensure Interrupts are actually disabled! - // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the ) - __DSB(); - __ISB(); - - // Configure WDT to only trigger an interrupt - // Initialize WDT with the given parameters - WDT_Init(WDT_CLKSRC_IRC, WDT_MODE_INT_ONLY); - - // Configure and enable WDT interrupt. - NVIC_ClearPendingIRQ(WDT_IRQn); - NVIC_SetPriority(WDT_IRQn, 0); // Use highest priority, so we detect all kinds of lockups - NVIC_EnableIRQ(WDT_IRQn); - #else - WDT_Init(WDT_CLKSRC_IRC, WDT_MODE_RESET); - #endif - WDT_Start(WDT_TIMEOUT_US); -} - -void HAL_watchdog_refresh() { - WDT_Feed(); - #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED) - TOGGLE(LED_PIN); // heartbeat indicator - #endif -} - -// Timeout state -bool watchdog_timed_out() { return TEST(WDT_ReadTimeOutFlag(), 0); } -void watchdog_clear_timeout_flag() { WDT_ClrTimeOutFlag(); } - -#endif // USE_WATCHDOG -#endif // TARGET_LPC1768 diff --git a/Marlin/src/HAL/NATIVE_SIM/HAL.h b/Marlin/src/HAL/NATIVE_SIM/HAL.h index ee2e31fc7f..58f084af85 100644 --- a/Marlin/src/HAL/NATIVE_SIM/HAL.h +++ b/Marlin/src/HAL/NATIVE_SIM/HAL.h @@ -45,7 +45,6 @@ uint8_t _getc(); #include "../shared/math_32bit.h" #include "../shared/HAL_SPI.h" #include "fastio.h" -#include "watchdog.h" #include "serial.h" // ------------------------ @@ -115,8 +114,8 @@ extern MSerialT serial_stream_3; // ADC // ------------------------ -#define HAL_ADC_VREF 5.0 -#define HAL_ADC_RESOLUTION 10 +#define HAL_ADC_VREF_MV 5000 +#define HAL_ADC_RESOLUTION 10 /* ---------------- Delay in cycles */ @@ -186,7 +185,7 @@ constexpr inline char* strstr_constexpr(char* str, const char* target) { } // ------------------------ -// Class Utilities +// Free Memory Accessor // ------------------------ #pragma GCC diagnostic push @@ -208,6 +207,10 @@ public: // Earliest possible init, before setup() MarlinHAL() {} + // Watchdog + static void watchdog_init(); + static void watchdog_refresh(); + static void init() {} // Called early in setup() static void init_board() {} // Called less early in setup() static void reboot(); // Restart the firmware from 0x0 @@ -242,7 +245,7 @@ public: // Called by Temperature::init for each sensor at startup static void adc_enable(const uint8_t ch); - // Begin ADC sampling on the given channel + // Begin ADC sampling on the given channel. Called from Temperature::isr! static void adc_start(const uint8_t ch); // Is the ADC ready for reading? diff --git a/Marlin/src/HAL/NATIVE_SIM/fastio.h b/Marlin/src/HAL/NATIVE_SIM/fastio.h index de8013b1e5..f501afdbaa 100644 --- a/Marlin/src/HAL/NATIVE_SIM/fastio.h +++ b/Marlin/src/HAL/NATIVE_SIM/fastio.h @@ -44,7 +44,7 @@ * * Now you can simply SET_OUTPUT(STEP); WRITE(STEP, HIGH); WRITE(STEP, LOW); * - * Why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html + * Why double up on these macros? see https://gcc.gnu.org/onlinedocs/cpp/Stringification.html */ /// Read a pin diff --git a/Marlin/src/HAL/NATIVE_SIM/inc/SanityCheck.h b/Marlin/src/HAL/NATIVE_SIM/inc/SanityCheck.h index 2d7bef23a3..615e5254c9 100644 --- a/Marlin/src/HAL/NATIVE_SIM/inc/SanityCheck.h +++ b/Marlin/src/HAL/NATIVE_SIM/inc/SanityCheck.h @@ -31,7 +31,7 @@ #endif #if ENABLED(FAST_PWM_FAN) || SPINDLE_LASER_FREQUENCY - #error "Features requiring Hardware PWM (FAST_PWM_FAN, SPINDLE_LASER_FREQUENCY) are not yet supported on LINUX." + #error "Features requiring Hardware PWM (FAST_PWM_FAN, SPINDLE_LASER_FREQUENCY) are not yet supported for HAL/LINUX." #endif #if HAS_TMC_SW_SERIAL diff --git a/Marlin/src/HAL/NATIVE_SIM/pinsDebug.cpp b/Marlin/src/HAL/NATIVE_SIM/pinsDebug.cpp new file mode 100644 index 0000000000..e75826c58a --- /dev/null +++ b/Marlin/src/HAL/NATIVE_SIM/pinsDebug.cpp @@ -0,0 +1,45 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#ifdef __PLAT_NATIVE_SIM__ + +#include "../../inc/MarlinConfig.h" +#include "pinsDebug.h" + +int8_t ADC_pin_mode(pin_t pin) { return -1; } + +int8_t get_pin_mode(const pin_t pin) { return VALID_PIN(pin) ? 0 : -1; } + +bool GET_PINMODE(const pin_t pin) { + const int8_t pin_mode = get_pin_mode(pin); + if (pin_mode == -1 || pin_mode == ADC_pin_mode(pin)) // Invalid pin or active analog pin + return false; + + return (Gpio::getMode(pin) != 0); // Input/output state +} + +bool GET_ARRAY_IS_DIGITAL(const pin_t pin) { + return !IS_ANALOG(pin) || get_pin_mode(pin) != ADC_pin_mode(pin); +} + +void print_port(const pin_t) {} +void pwm_details(const pin_t) {} +bool pwm_status(const pin_t) { return false; } + +#endif diff --git a/Marlin/src/HAL/NATIVE_SIM/pinsDebug.h b/Marlin/src/HAL/NATIVE_SIM/pinsDebug.h index aa90eb39a3..28821acbd0 100644 --- a/Marlin/src/HAL/NATIVE_SIM/pinsDebug.h +++ b/Marlin/src/HAL/NATIVE_SIM/pinsDebug.h @@ -27,35 +27,19 @@ */ #define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS -#define pwm_details(pin) pin = pin // do nothing // print PWM details -#define pwm_status(pin) false //Print a pin's PWM status. Return true if it's currently a PWM pin. #define IS_ANALOG(P) (DIGITAL_PIN_TO_ANALOG_PIN(P) >= 0 ? 1 : 0) #define digitalRead_mod(p) digitalRead(p) -#define PRINT_PORT(p) #define GET_ARRAY_PIN(p) pin_array[p].pin #define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0) #define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%3d "), p); SERIAL_ECHO(buffer); }while(0) #define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d) "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0) #define MULTI_NAME_PAD 16 // space needed to be pretty if not first name assigned to a pin -// active ADC function/mode/code values for PINSEL registers -inline constexpr int8_t ADC_pin_mode(pin_t pin) { - return (-1); -} - -inline int8_t get_pin_mode(pin_t pin) { - if (!VALID_PIN(pin)) return -1; - return 0; -} - -inline bool GET_PINMODE(pin_t pin) { - int8_t pin_mode = get_pin_mode(pin); - if (pin_mode == -1 || pin_mode == ADC_pin_mode(pin)) // found an invalid pin or active analog pin - return false; - - return (Gpio::getMode(pin) != 0); //input/output state -} - -inline bool GET_ARRAY_IS_DIGITAL(pin_t pin) { - return (!IS_ANALOG(pin) || get_pin_mode(pin) != ADC_pin_mode(pin)); -} +// Active ADC function/mode/code values for PINSEL registers +int8_t ADC_pin_mode(pin_t pin); +int8_t get_pin_mode(const pin_t pin); +bool GET_PINMODE(const pin_t pin); +bool GET_ARRAY_IS_DIGITAL(const pin_t pin); +void print_port(const pin_t); +void pwm_details(const pin_t); +bool pwm_status(const pin_t); diff --git a/Marlin/src/HAL/NATIVE_SIM/spi_pins.h b/Marlin/src/HAL/NATIVE_SIM/spi_pins.h index a5138e0ccb..9b1bae9a58 100644 --- a/Marlin/src/HAL/NATIVE_SIM/spi_pins.h +++ b/Marlin/src/HAL/NATIVE_SIM/spi_pins.h @@ -24,8 +24,8 @@ #include "../../core/macros.h" #include "../../inc/MarlinConfigPre.h" -#if BOTH(HAS_MARLINUI_U8GLIB, SDSUPPORT) && (LCD_PINS_D4 == SD_SCK_PIN || LCD_PINS_ENABLE == SD_MOSI_PIN || DOGLCD_SCK == SD_SCK_PIN || DOGLCD_MOSI == SD_MOSI_PIN) - #define LPC_SOFTWARE_SPI // If the SD card and LCD adapter share the same SPI pins, then software SPI is currently +#if ALL(HAS_MARLINUI_U8GLIB, HAS_MEDIA) && (LCD_PINS_D4 == SD_SCK_PIN || LCD_PINS_EN == SD_MOSI_PIN || DOGLCD_SCK == SD_SCK_PIN || DOGLCD_MOSI == SD_MOSI_PIN) + #define SOFTWARE_SPI // If the SD card and LCD adapter share the same SPI pins, then software SPI is currently // needed due to the speed and mode required for communicating with each device being different. // This requirement can be removed if the SPI access to these devices is updated to use // spiBeginTransaction. diff --git a/Marlin/src/HAL/NATIVE_SIM/tft/tft_spi.h b/Marlin/src/HAL/NATIVE_SIM/tft/tft_spi.h index b3e622f19a..944b8267f6 100644 --- a/Marlin/src/HAL/NATIVE_SIM/tft/tft_spi.h +++ b/Marlin/src/HAL/NATIVE_SIM/tft/tft_spi.h @@ -31,34 +31,37 @@ #endif #define DATASIZE_8BIT 8 -#define DATASIZE_16BIT 16 -#define TFT_IO_DRIVER TFT_SPI +#define DATASIZE_16BIT 16 +#define TFT_IO_DRIVER TFT_SPI +#define DMA_MAX_WORDS 0xFFFF -#define DMA_MINC_ENABLE 1 +#define DMA_MINC_ENABLE 1 #define DMA_MINC_DISABLE 0 class TFT_SPI { private: - static uint32_t ReadID(uint16_t Reg); - static void Transmit(uint16_t Data); - static void TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count); + static uint32_t readID(const uint16_t inReg); + static void transmit(uint16_t data); + static void transmitDMA(uint32_t memoryIncrease, uint16_t *data, uint16_t count); public: // static SPIClass SPIx; - static void Init(); - static uint32_t GetID(); + static void init(); + static uint32_t getID(); static bool isBusy(); - static void Abort(); + static void abort(); - static void DataTransferBegin(uint16_t DataWidth = DATASIZE_16BIT); - static void DataTransferEnd(); - static void DataTransferAbort(); + static void dataTransferBegin(uint16_t dataWidth=DATASIZE_16BIT); + static void dataTransferEnd(); + static void dataTransferAbort(); - static void WriteData(uint16_t Data); - static void WriteReg(uint16_t Reg); + static void writeData(uint16_t data); + static void writeReg(const uint16_t inReg); - static void WriteSequence(uint16_t *Data, uint16_t Count); - // static void WriteMultiple(uint16_t Color, uint16_t Count); - static void WriteMultiple(uint16_t Color, uint32_t Count); + static void writeSequence_DMA(uint16_t *data, uint16_t count) { writeSequence(data, count); } + static void writeMultiple_DMA(uint16_t color, uint16_t count) { writeMultiple(color, count); } + + static void writeSequence(uint16_t *data, uint16_t count); + static void writeMultiple(uint16_t color, uint32_t count); }; diff --git a/Marlin/src/HAL/NATIVE_SIM/tft/xpt2046.h b/Marlin/src/HAL/NATIVE_SIM/tft/xpt2046.h index b131853643..c546646d16 100644 --- a/Marlin/src/HAL/NATIVE_SIM/tft/xpt2046.h +++ b/Marlin/src/HAL/NATIVE_SIM/tft/xpt2046.h @@ -51,7 +51,7 @@ enum XPTCoordinate : uint8_t { XPT2046_Z2 = 0x40 | XPT2046_CONTROL | XPT2046_DFR_MODE, }; -#if !defined(XPT2046_Z1_THRESHOLD) +#ifndef XPT2046_Z1_THRESHOLD #define XPT2046_Z1_THRESHOLD 10 #endif @@ -62,12 +62,12 @@ private: static uint16_t getRawData(const XPTCoordinate coordinate); static bool isTouched(); - static void DataTransferBegin(); - static void DataTransferEnd(); + static void dataTransferBegin(); + static void dataTransferEnd(); #if ENABLED(TOUCH_BUTTONS_HW_SPI) - static uint16_t HardwareIO(uint16_t data); + static uint16_t hardwareIO(uint16_t data); #endif - static uint16_t SoftwareIO(uint16_t data); + static uint16_t softwareIO(uint16_t data); static uint16_t IO(uint16_t data = 0); public: @@ -75,6 +75,6 @@ public: static SPIClass SPIx; #endif - static void Init(); + static void init(); static bool getRawPoint(int16_t *x, int16_t *y); }; diff --git a/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_I2C_routines.h b/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_I2C_routines.h index 6d5f91d3ba..ec263b6dd3 100644 --- a/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_I2C_routines.h +++ b/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_I2C_routines.h @@ -34,4 +34,3 @@ void u8g_i2c_stop(); #ifdef __cplusplus } #endif - diff --git a/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_defines.h b/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_defines.h index 44ffbfeb90..2a50eddcd4 100644 --- a/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_defines.h +++ b/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_defines.h @@ -40,5 +40,3 @@ uint8_t u8g_com_ST7920_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void #define U8G_COM_T6963 u8g_com_null_fn #define U8G_COM_FAST_PARALLEL u8g_com_null_fn #define U8G_COM_UC_I2C u8g_com_null_fn - - diff --git a/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_pin_routines.cpp b/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_pin_routines.cpp index 3b5acc1656..91b7e0f67f 100644 --- a/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_pin_routines.cpp +++ b/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_pin_routines.cpp @@ -38,13 +38,13 @@ #ifdef __cplusplus extern "C" { #endif -void u8g_SetPinOutput(uint8_t internal_pin_number){SET_DIR_OUTPUT(internal_pin_number);} -void u8g_SetPinInput(uint8_t internal_pin_number){SET_DIR_INPUT(internal_pin_number);} -void u8g_SetPinLevel(uint8_t pin, uint8_t pin_status){WRITE_PIN(pin, pin_status);} -uint8_t u8g_GetPinLevel(uint8_t pin){return READ_PIN(pin);} -void usleep(uint64_t microsec){ -assert(false); // why we here? -} + +void u8g_SetPinOutput(uint8_t internal_pin_number) { SET_DIR_OUTPUT(internal_pin_number); } +void u8g_SetPinInput(uint8_t internal_pin_number) { SET_DIR_INPUT(internal_pin_number); } +void u8g_SetPinLevel(uint8_t pin, uint8_t pin_status) { WRITE_PIN(pin, pin_status); } +uint8_t u8g_GetPinLevel(uint8_t pin) { return READ_PIN(pin); } +void usleep(uint64_t microsec) { assert(false); /* why we here? */ } + #ifdef __cplusplus } #endif diff --git a/Marlin/src/HAL/NATIVE_SIM/u8g/u8g_com_st7920_sw_spi.cpp b/Marlin/src/HAL/NATIVE_SIM/u8g/u8g_com_st7920_sw_spi.cpp index c384cdd751..a3254774bf 100644 --- a/Marlin/src/HAL/NATIVE_SIM/u8g/u8g_com_st7920_sw_spi.cpp +++ b/Marlin/src/HAL/NATIVE_SIM/u8g/u8g_com_st7920_sw_spi.cpp @@ -168,4 +168,4 @@ uint8_t u8g_com_ST7920_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void #endif #endif // IS_U8GLIB_ST7920 -#endif // TARGET_LPC1768 +#endif // __PLAT_NATIVE_SIM__ diff --git a/Marlin/src/HAL/NATIVE_SIM/u8g/u8g_com_sw_spi.cpp b/Marlin/src/HAL/NATIVE_SIM/u8g/u8g_com_sw_spi.cpp index 7be84580b1..9184e2f618 100644 --- a/Marlin/src/HAL/NATIVE_SIM/u8g/u8g_com_sw_spi.cpp +++ b/Marlin/src/HAL/NATIVE_SIM/u8g/u8g_com_sw_spi.cpp @@ -70,7 +70,7 @@ #endif uint8_t swSpiTransfer_mode_0(uint8_t b, const uint8_t spi_speed, const pin_t sck_pin, const pin_t miso_pin, const pin_t mosi_pin ) { - LOOP_L_N(i, 8) { + for (uint8_t i = 0; i < 8; ++i) { if (spi_speed == 0) { WRITE_PIN(mosi_pin, !!(b & 0x80)); WRITE_PIN(sck_pin, HIGH); @@ -80,16 +80,16 @@ uint8_t swSpiTransfer_mode_0(uint8_t b, const uint8_t spi_speed, const pin_t sck } else { const uint8_t state = (b & 0x80) ? HIGH : LOW; - LOOP_L_N(j, spi_speed) + for (uint8_t j = 0; j < spi_speed; ++j) WRITE_PIN(mosi_pin, state); - LOOP_L_N(j, spi_speed + (miso_pin >= 0 ? 0 : 1)) + for (uint8_t j = 0; j < spi_speed + (miso_pin >= 0 ? 0 : 1); ++j) WRITE_PIN(sck_pin, HIGH); b <<= 1; if (miso_pin >= 0 && READ_PIN(miso_pin)) b |= 1; - LOOP_L_N(j, spi_speed) + for (uint8_t j = 0; j < spi_speed; ++j) WRITE_PIN(sck_pin, LOW); } } @@ -99,7 +99,7 @@ uint8_t swSpiTransfer_mode_0(uint8_t b, const uint8_t spi_speed, const pin_t sck uint8_t swSpiTransfer_mode_3(uint8_t b, const uint8_t spi_speed, const pin_t sck_pin, const pin_t miso_pin, const pin_t mosi_pin ) { - LOOP_L_N(i, 8) { + for (uint8_t i = 0; i < 8; ++i) { const uint8_t state = (b & 0x80) ? HIGH : LOW; if (spi_speed == 0) { WRITE_PIN(sck_pin, LOW); @@ -108,13 +108,13 @@ uint8_t swSpiTransfer_mode_3(uint8_t b, const uint8_t spi_speed, const pin_t sck WRITE_PIN(sck_pin, HIGH); } else { - LOOP_L_N(j, spi_speed + (miso_pin >= 0 ? 0 : 1)) + for (uint8_t j = 0; j < spi_speed + (miso_pin >= 0 ? 0 : 1); ++j) WRITE_PIN(sck_pin, LOW); - LOOP_L_N(j, spi_speed) + for (uint8_t j = 0; j < spi_speed; ++j) WRITE_PIN(mosi_pin, state); - LOOP_L_N(j, spi_speed) + for (uint8_t j = 0; j < spi_speed; ++j) WRITE_PIN(sck_pin, HIGH); } b <<= 1; @@ -131,7 +131,7 @@ static uint8_t swSpiInit(const uint8_t spi_speed, const uint8_t clk_pin, const u } static void u8g_sw_spi_shift_out(uint8_t dataPin, uint8_t clockPin, uint8_t val) { - #if EITHER(FYSETC_MINI_12864, MKS_MINI_12864) + #if ANY(FYSETC_MINI_12864, MKS_MINI_12864) swSpiTransfer_mode_3(val, SPI_speed, clockPin, -1, dataPin); #else swSpiTransfer_mode_0(val, SPI_speed, clockPin, -1, dataPin); @@ -159,10 +159,10 @@ uint8_t u8g_com_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_pt break; case U8G_COM_MSG_CHIP_SELECT: - #if EITHER(FYSETC_MINI_12864, MKS_MINI_12864) // LCD SPI is running mode 3 while SD card is running mode 0 - if (arg_val) { // SCK idle state needs to be set to the proper idle state before - // the next chip select goes active - u8g_SetPILevel(u8g, U8G_PI_SCK, 1); // Set SCK to mode 3 idle state before CS goes active + #if ANY(FYSETC_MINI_12864, MKS_MINI_12864) // LCD SPI is running mode 3 while SD card is running mode 0 + if (arg_val) { // SCK idle state needs to be set to the proper idle state before + // the next chip select goes active + u8g_SetPILevel(u8g, U8G_PI_SCK, 1); // Set SCK to mode 3 idle state before CS goes active u8g_SetPILevel(u8g, U8G_PI_CS, LOW); } else { diff --git a/Marlin/src/HAL/SAMD21/HAL.cpp b/Marlin/src/HAL/SAMD21/HAL.cpp new file mode 100644 index 0000000000..1bc0406ab3 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/HAL.cpp @@ -0,0 +1,212 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ +#ifdef __SAMD21__ + +#include "../../inc/MarlinConfig.h" + +#include + +#if USING_HW_SERIALUSB + DefaultSerial1 MSerialUSB(false, SerialUSB); +#endif +#if USING_HW_SERIAL0 + DefaultSerial2 MSerial1(false, Serial1); +#endif +#if USING_HW_SERIAL1 + DefaultSerial3 MSerial2(false, Serial2); +#endif + + + +#define WDT_CONFIG_PER_7_Val 0x9u +#define WDT_CONFIG_PER_Pos 0 +#define WDT_CONFIG_PER_7 (WDT_CONFIG_PER_7_Val << WDT_CONFIG_PER_Pos) + +#if ENABLED(USE_WATCHDOG) + + #define WDT_TIMEOUT_REG TERN(WATCHDOG_DURATION_8S, WDT_CONFIG_PER_CYC8192, WDT_CONFIG_PER_CYC4096) // 4 or 8 second timeout + + void MarlinHAL::watchdog_init() { + // Set up the generic clock (GCLK2) used to clock the watchdog timer at 1.024kHz + GCLK->GENDIV.reg = GCLK_GENDIV_DIV(4) | // Divide the 32.768kHz clock source by divisor 32, where 2^(4 + 1): 32.768kHz/32=1.024kHz + GCLK_GENDIV_ID(2); // Select Generic Clock (GCLK) 2 + while (GCLK->STATUS.bit.SYNCBUSY); // Wait for synchronization + + REG_GCLK_GENCTRL = GCLK_GENCTRL_DIVSEL | // Set to divide by 2^(GCLK_GENDIV_DIV(4) + 1) + GCLK_GENCTRL_IDC | // Set the duty cycle to 50/50 HIGH/LOW + GCLK_GENCTRL_GENEN | // Enable GCLK2 + GCLK_GENCTRL_SRC_OSCULP32K | // Set the clock source to the ultra low power oscillator (OSCULP32K) + GCLK_GENCTRL_ID(2); // Select GCLK2 + while (GCLK->STATUS.bit.SYNCBUSY); // Wait for synchronization + + // Feed GCLK2 to WDT (Watchdog Timer) + REG_GCLK_CLKCTRL = GCLK_CLKCTRL_CLKEN | // Enable GCLK2 to the WDT + GCLK_CLKCTRL_GEN_GCLK2 | // Select GCLK2 + GCLK_CLKCTRL_ID_WDT; // Feed the GCLK2 to the WDT + while (GCLK->STATUS.bit.SYNCBUSY); // Wait for synchronization + + WDT->CONFIG.bit.PER = WDT_CONFIG_PER_7; // Set the WDT reset timeout to 4 seconds + while (WDT->STATUS.bit.SYNCBUSY); // Wait for synchronization + REG_WDT_CTRL = WDT_CTRL_ENABLE; // Enable the WDT in normal mode + while (WDT->STATUS.bit.SYNCBUSY); // Wait for synchronization + } + + // Reset watchdog. MUST be called at least every 4 seconds after the + // first watchdog_init or SAMD will go into emergency procedures. + void MarlinHAL::watchdog_refresh() { + WDT->CLEAR.reg = WDT_CLEAR_CLEAR_KEY; + while (WDT->STATUS.bit.SYNCBUSY); + } + +#endif + +// ------------------------ +// Types +// ------------------------ + +// ------------------------ +// Private Variables +// ------------------------ + +// ------------------------ +// Private functions +// ------------------------ + +void MarlinHAL::dma_init() {} + +// ------------------------ +// Public functions +// ------------------------ + +// HAL initialization task +void MarlinHAL::init() { + TERN_(DMA_IS_REQUIRED, dma_init()); + #if HAS_MEDIA + #if HAS_SD_DETECT && SD_CONNECTION_IS(ONBOARD) + SET_INPUT_PULLUP(SD_DETECT_PIN); + #endif + OUT_WRITE(SDSS, HIGH); // Try to set SDSS inactive before any other SPI users start up + #endif +} + +#pragma push_macro("WDT") +#undef WDT // Required to be able to use '.bit.WDT'. Compiler wrongly replace struct field with WDT define +uint8_t MarlinHAL::get_reset_source() { + + return 0; +} +#pragma pop_macro("WDT") + +void MarlinHAL::reboot() { NVIC_SystemReset(); } + +extern "C" { + void * _sbrk(int incr); + extern unsigned int __bss_end__; // end of bss section +} + +// Return free memory between end of heap (or end bss) and whatever is current +int freeMemory() { + int free_memory, heap_end = (int)_sbrk(0); + return (int)&free_memory - (heap_end ?: (int)&__bss_end__); +} + +// ------------------------ +// ADC +// ------------------------ + +uint16_t MarlinHAL::adc_result; + +void MarlinHAL::adc_init() { + /* thanks to https://www.eevblog.com/forum/microcontrollers/samd21g18-adc-with-resrdy-interrupts-only-reads-once-or-twice/ */ + + ADC->CTRLA.bit.ENABLE = false; + while(ADC->STATUS.bit.SYNCBUSY); + + // load chip corrections + uint32_t bias = (*((uint32_t *) ADC_FUSES_BIASCAL_ADDR) & ADC_FUSES_BIASCAL_Msk) >> ADC_FUSES_BIASCAL_Pos; + uint32_t linearity = (*((uint32_t *) ADC_FUSES_LINEARITY_0_ADDR) & ADC_FUSES_LINEARITY_0_Msk) >> ADC_FUSES_LINEARITY_0_Pos; + linearity |= ((*((uint32_t *) ADC_FUSES_LINEARITY_1_ADDR) & ADC_FUSES_LINEARITY_1_Msk) >> ADC_FUSES_LINEARITY_1_Pos) << 5; + + /* Wait for bus synchronization. */ + while (ADC->STATUS.bit.SYNCBUSY) {}; + + ADC->CALIB.reg = ADC_CALIB_BIAS_CAL(bias) | ADC_CALIB_LINEARITY_CAL(linearity); + + /* Wait for bus synchronization. */ + while (ADC->STATUS.bit.SYNCBUSY) {}; + + ADC->CTRLA.bit.SWRST = true; + while(ADC->STATUS.bit.SYNCBUSY); + + ADC->REFCTRL.reg = ADC_REFCTRL_REFSEL_INTVCC1; + ADC->AVGCTRL.reg = ADC_AVGCTRL_SAMPLENUM_32| ADC_AVGCTRL_ADJRES(4);; + + + ADC->CTRLB.reg = ADC_CTRLB_PRESCALER_DIV128 | + ADC_CTRLB_RESSEL_16BIT | + ADC_CTRLB_FREERUN; + while(ADC->STATUS.bit.SYNCBUSY); + + ADC->SAMPCTRL.bit.SAMPLEN = 0x00; + while(ADC->STATUS.bit.SYNCBUSY); + + ADC->INPUTCTRL.reg = ADC_INPUTCTRL_INPUTSCAN(HAL_ADC_AIN_LEN) // scan (INPUTSCAN + NUM_EXTUDERS - 1) pins + | ADC_INPUTCTRL_GAIN_DIV2 |ADC_INPUTCTRL_MUXNEG_GND| HAL_ADC_AIN_START ; /* set to first AIN */ + + while(ADC->STATUS.bit.SYNCBUSY); + + ADC->INTENSET.reg |= ADC_INTENSET_RESRDY; // enable Result Ready ADC interrupts + while (ADC->STATUS.bit.SYNCBUSY); + + NVIC_EnableIRQ(ADC_IRQn); // enable ADC interrupts + + NVIC_SetPriority(ADC_IRQn, 3); + + ADC->CTRLA.bit.ENABLE = true; +} + +volatile uint32_t adc_results[HAL_ADC_AIN_NUM_SENSORS]; + +void ADC_Handler() { + while(ADC->STATUS.bit.SYNCBUSY == 1); + int pos = ADC->INPUTCTRL.bit.INPUTOFFSET; + + adc_results[pos] = ADC->RESULT.reg; /* Read the value. */ + ADC->INTFLAG.reg = ADC_INTENSET_RESRDY; /* Clear the data ready flag. */ +} + +void MarlinHAL::adc_start(const pin_t pin) { + /* due to the way INPUTOFFSET works, the last sensor is the first position in the array + and we want the ADC_handler interrupt to be as simple possible, so we do the calculation here. + */ + unsigned int pos = PIN_TO_INPUTCTRL(pin) - HAL_ADC_AIN_START + 1; + if (pos == HAL_ADC_AIN_NUM_SENSORS) pos = 0; + adc_result = adc_results[pos]; // 16-bit resolution + //adc_result = 0xFFFF; +} + +#endif // __SAMD21__ diff --git a/Marlin/src/HAL/SAMD21/HAL.h b/Marlin/src/HAL/SAMD21/HAL.h new file mode 100644 index 0000000000..fe72859549 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/HAL.h @@ -0,0 +1,223 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ + +#define CPU_32_BIT + +#include "../shared/Marduino.h" +#include "../shared/math_32bit.h" +#include "../shared/HAL_SPI.h" +#include "fastio.h" + +// ------------------------ +// Serial ports +// ------------------------ +#include "../../core/serial_hook.h" +typedef ForwardSerial1Class< decltype(SerialUSB) > DefaultSerial1; +extern DefaultSerial1 MSerialUSB; + +// Serial ports +typedef ForwardSerial1Class< decltype(Serial1) > DefaultSerial2; +typedef ForwardSerial1Class< decltype(Serial2) > DefaultSerial3; + +extern DefaultSerial2 MSerial0; +extern DefaultSerial3 MSerial1; + + +#define __MSERIAL(X) MSerial##X +#define _MSERIAL(X) __MSERIAL(X) +#define MSERIAL(X) _MSERIAL(INCREMENT(X)) + +#if WITHIN(SERIAL_PORT, 0, 1) + #define MYSERIAL1 MSERIAL(SERIAL_PORT) +#elif SERIAL_PORT == -1 + #define MYSERIAL1 MSerialUSB +#else + #error "SERIAL_PORT must be -1 (Native USB only)." +#endif + +#ifdef SERIAL_PORT_2 + #if WITHIN(SERIAL_PORT_2, 0, 1) + #define MYSERIAL2 MSERIAL(SERIAL_PORT) + #elif SERIAL_PORT_2 == -1 + #define MYSERIAL2 MSerialUSB + #else + #error "SERIAL_PORT_2 must be -1 (Native USB only)." + #endif +#endif + +#ifdef MMU2_SERIAL_PORT + #if WITHIN(MMU2_SERIAL_PORT, 0, 1) + #define MMU2_SERIAL MSERIAL(SERIAL_PORT) + #elif MMU2_SERIAL_PORT == -1 + #define MMU2_SERIAL MSerialUSB + #else + #error "MMU2_SERIAL_PORT must be -1 (Native USB only)." + #endif +#endif + +#ifdef LCD_SERIAL_PORT + #if WITHIN(LCD_SERIAL_PORT, 0, 1) + #define LCD_SERIAL MSERIAL(SERIAL_PORT) + #elif LCD_SERIAL_PORT == -1 + #define LCD_SERIAL MSerialUSB + #else + #error "LCD_SERIAL_PORT must be -1 (Native USB only)." + #endif +#endif + +typedef int8_t pin_t; + +#define SHARED_SERVOS HAS_SERVOS // Use shared/servos.cpp + +class Servo; +typedef Servo hal_servo_t; + +// +// Interrupts +// +#define CRITICAL_SECTION_START() const bool irqon = !__get_PRIMASK(); __disable_irq() +#define CRITICAL_SECTION_END() if (irqon) __enable_irq() + +#define cli() __disable_irq() // Disable interrupts +#define sei() __enable_irq() // Enable interrupts + +// +// ADC +// + +#define HAL_ADC_FILTERED 1 // Disable Marlin's oversampling. The HAL filters ADC values. +#define HAL_ADC_VREF_MV 3300 +#define HAL_ADC_RESOLUTION 12 +#define HAL_ADC_AIN_START ADC_INPUTCTRL_MUXPOS_PIN3 +#define HAL_ADC_AIN_NUM_SENSORS 3 +#define HAL_ADC_AIN_LEN HAL_ADC_AIN_NUM_SENSORS-1 + +// +// Pin Mapping for M42, M43, M226 +// +#define GET_PIN_MAP_PIN(index) index +#define GET_PIN_MAP_INDEX(pin) pin +#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval) + +// +// Tone +// +void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration=0); +void noTone(const pin_t _pin); + +// ------------------------ +// Class Utilities +// ------------------------ + +#pragma GCC diagnostic push +#if GCC_VERSION <= 50000 + #pragma GCC diagnostic ignored "-Wunused-function" +#endif + +#ifdef __cplusplus + extern "C" { +#endif + +char *dtostrf(double __val, signed char __width, unsigned char __prec, char *__s); + +extern "C" int freeMemory(); + +#ifdef __cplusplus + } +#endif + +#pragma GCC diagnostic pop + +// ------------------------ +// MarlinHAL Class +// ------------------------ + +class MarlinHAL { +public: + + // Earliest possible init, before setup() + MarlinHAL() {} + + // Watchdog + static void watchdog_init() IF_DISABLED(USE_WATCHDOG, {}); + static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {}); + + static void init(); // Called early in setup() + static void init_board() {} // Called less early in setup() + static void reboot(); // Restart the firmware from 0x0 + + // Interrupts + static bool isr_state() { return !__get_PRIMASK(); } + static void isr_on() { sei(); } + static void isr_off() { cli(); } + + static void delay_ms(const int ms) { delay(ms); } + + // Tasks, called from idle() + static void idletask() {} + + // Reset + static uint8_t get_reset_source(); + static void clear_reset_source() {} + + // Free SRAM + static int freeMemory() { return ::freeMemory(); } + + // + // ADC Methods + // + + static uint16_t adc_result; + + // Called by Temperature::init once at startup + static void adc_init(); + + // Called by Temperature::init for each sensor at startup + static void adc_enable(const uint8_t ch) {} + + // Begin ADC sampling on the given pin. Called from Temperature::isr! + static void adc_start(const pin_t pin); + + // Is the ADC ready for reading? + static bool adc_ready() { return true; } + + // The current value of the ADC register + static uint16_t adc_value() { return adc_result; } + + /** + * Set the PWM duty cycle for the pin to the given value. + * No option to invert the duty cycle [default = false] + * No option to change the scale of the provided value to enable finer PWM duty control [default = 255] + */ + static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { + analogWrite(pin, v); + } + +private: + static void dma_init(); +}; diff --git a/Marlin/src/HAL/SAMD21/HAL_SPI.cpp b/Marlin/src/HAL/SAMD21/HAL_SPI.cpp new file mode 100644 index 0000000000..e01f540cf8 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/HAL_SPI.cpp @@ -0,0 +1,148 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ + +/** + * Hardware and software SPI implementations are included in this file. + * + * Control of the slave select pin(s) is handled by the calling routines and + * SAMD21 let hardware SPI handling to remove SS from its logic. + */ + +#ifdef __SAMD21__ + +// -------------------------------------------------------------------------- +// Includes +// -------------------------------------------------------------------------- + +#include "../../inc/MarlinConfig.h" +#include + +// -------------------------------------------------------------------------- +// Public functions +// -------------------------------------------------------------------------- + +#if ANY(SOFTWARE_SPI, FORCE_SOFT_SPI) + + // ------------------------ + // Software SPI + // ------------------------ + #error "Software SPI not supported for SAMD21. Use Hardware SPI." + +#else // !SOFTWARE_SPI + + static SPISettings spiConfig; + + // ------------------------ + // Hardware SPI + // ------------------------ + void spiBegin() { + spiInit(SPI_HALF_SPEED); + } + + void spiInit(uint8_t spiRate) { + // Use Marlin datarates + uint32_t clock; + switch (spiRate) { + case SPI_FULL_SPEED: clock = 8000000; break; + case SPI_HALF_SPEED: clock = 4000000; break; + case SPI_QUARTER_SPEED: clock = 2000000; break; + case SPI_EIGHTH_SPEED: clock = 1000000; break; + case SPI_SIXTEENTH_SPEED: clock = 500000; break; + case SPI_SPEED_5: clock = 250000; break; + case SPI_SPEED_6: clock = 125000; break; + default: clock = 4000000; break; // Default from the SPI library + } + spiConfig = SPISettings(clock, MSBFIRST, SPI_MODE0); + SPI.begin(); + } + + /** + * @brief Receives a single byte from the SPI port. + * + * @return Byte received + * + * @details + */ + uint8_t spiRec() { + SPI.beginTransaction(spiConfig); + uint8_t returnByte = SPI.transfer(0xFF); + SPI.endTransaction(); + return returnByte; + } + + /** + * @brief Receives a number of bytes from the SPI port to a buffer + * + * @param buf Pointer to starting address of buffer to write to. + * @param nbyte Number of bytes to receive. + * @return Nothing + */ + void spiRead(uint8_t *buf, uint16_t nbyte) { + if (nbyte == 0) return; + memset(buf, 0xFF, nbyte); + + SPI.beginTransaction(spiConfig); + SPI.transfer(buf, nbyte); + SPI.endTransaction(); + + } + + /** + * @brief Sends a single byte on SPI port + * + * @param b Byte to send + * + * @details + */ + void spiSend(uint8_t b) { + SPI.beginTransaction(spiConfig); + SPI.transfer(b); + SPI.endTransaction(); + } + + /** + * @brief Write token and then write from 512 byte buffer to SPI (for SD card) + * + * @param buf Pointer with buffer start address + * @return Nothing + * + * @details Uses DMA + */ + void spiSendBlock(uint8_t token, const uint8_t *buf) { + SPI.beginTransaction(spiConfig); + SPI.transfer(token); + SPI.transfer((uint8_t*)buf, 512); + SPI.endTransaction(); + } + + void spiBeginTransaction(uint32_t spiClock, uint8_t bitOrder, uint8_t dataMode) { + spiConfig = SPISettings(spiClock, (BitOrder)bitOrder, dataMode); + SPI.beginTransaction(spiConfig); + } +#endif // !SOFTWARE_SPI + +#endif // __SAMD21__ diff --git a/Marlin/src/HAL/TEENSY35_36/watchdog.h b/Marlin/src/HAL/SAMD21/MarlinSPI.h similarity index 78% rename from Marlin/src/HAL/TEENSY35_36/watchdog.h rename to Marlin/src/HAL/SAMD21/MarlinSPI.h index 981b1f0bd2..7b5392793e 100644 --- a/Marlin/src/HAL/TEENSY35_36/watchdog.h +++ b/Marlin/src/HAL/SAMD21/MarlinSPI.h @@ -1,6 +1,6 @@ /** * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * * Based on Sprinter and grbl. * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm @@ -19,12 +19,13 @@ * along with this program. If not, see . * */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ #pragma once -void watchdog_init(); +#include -inline void HAL_watchdog_refresh() { - // Watchdog refresh sequence - WDOG_REFRESH = 0xA602; - WDOG_REFRESH = 0xB480; -} +using MarlinSPI = SPIClass; diff --git a/Marlin/src/HAL/SAMD21/QSPIFlash.cpp b/Marlin/src/HAL/SAMD21/QSPIFlash.cpp new file mode 100644 index 0000000000..fa54c62071 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/QSPIFlash.cpp @@ -0,0 +1,82 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ +#include "../../inc/MarlinConfig.h" + +#if ENABLED(QSPI_EEPROM) + +#include "QSPIFlash.h" + +#define INVALID_ADDR 0xFFFFFFFF +#define SECTOR_OF(a) (a & ~(SFLASH_SECTOR_SIZE - 1)) +#define OFFSET_OF(a) (a & (SFLASH_SECTOR_SIZE - 1)) + +Adafruit_SPIFlashBase * QSPIFlash::_flashBase = nullptr; +uint8_t QSPIFlash::_buf[SFLASH_SECTOR_SIZE]; +uint32_t QSPIFlash::_addr = INVALID_ADDR; + +void QSPIFlash::begin() { + if (_flashBase) return; + + _flashBase = new Adafruit_SPIFlashBase(new Adafruit_FlashTransport_QSPI()); + _flashBase->begin(nullptr); +} + +size_t QSPIFlash::size() { + return _flashBase->size(); +} + +uint8_t QSPIFlash::readByte(const uint32_t address) { + if (SECTOR_OF(address) == _addr) return _buf[OFFSET_OF(address)]; + + return _flashBase->read8(address); +} + +void QSPIFlash::writeByte(const uint32_t address, const uint8_t value) { + uint32_t const sector_addr = SECTOR_OF(address); + + // Page changes, flush old and update new cache + if (sector_addr != _addr) { + flush(); + _addr = sector_addr; + + // read a whole page from flash + _flashBase->readBuffer(sector_addr, _buf, SFLASH_SECTOR_SIZE); + } + + _buf[OFFSET_OF(address)] = value; +} + +void QSPIFlash::flush() { + if (_addr == INVALID_ADDR) return; + + _flashBase->eraseSector(_addr / SFLASH_SECTOR_SIZE); + _flashBase->writeBuffer(_addr, _buf, SFLASH_SECTOR_SIZE); + + _addr = INVALID_ADDR; +} + +#endif // QSPI_EEPROM diff --git a/Marlin/src/HAL/SAMD21/QSPIFlash.h b/Marlin/src/HAL/SAMD21/QSPIFlash.h new file mode 100644 index 0000000000..58822fe05f --- /dev/null +++ b/Marlin/src/HAL/SAMD21/QSPIFlash.h @@ -0,0 +1,49 @@ +/** + * @file QSPIFlash.h + * + * The MIT License (MIT) + * + * Copyright (c) 2019 Ha Thach and Dean Miller for Adafruit Industries LLC + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + * + * Derived from Adafruit_SPIFlash class with no SdFat references + */ +#pragma once + +#include + +// This class extends Adafruit_SPIFlashBase by adding caching support. +// +// This class will use 4096 Bytes of RAM as a block cache. +class QSPIFlash { + public: + static void begin(); + static size_t size(); + static uint8_t readByte(const uint32_t address); + static void writeByte(const uint32_t address, const uint8_t v); + static void flush(); + + private: + static Adafruit_SPIFlashBase * _flashBase; + static uint8_t _buf[SFLASH_SECTOR_SIZE]; + static uint32_t _addr; +}; + +extern QSPIFlash qspi; diff --git a/Marlin/src/HAL/SAMD21/SAMD21.h b/Marlin/src/HAL/SAMD21/SAMD21.h new file mode 100644 index 0000000000..8e9d17fc50 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/SAMD21.h @@ -0,0 +1,66 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ + +#define SYNC(sc) while (sc) { \ + asm(""); \ + } + +// Get SAMD port/pin from specified arduino pin +#define GET_SAMD_PORT(P) _GET_SAMD_PORT(PIN_TO_SAMD_PIN(P)) +#define GET_SAMD_PIN(P) _GET_SAMD_PIN(PIN_TO_SAMD_PIN(P)) + +// Get external interrupt line associated to specified arduino pin +#define PIN_TO_EILINE(P) _SAMDPORTPIN_TO_EILINE(GET_SAMD_PORT(P), GET_SAMD_PIN(P)) + +// Get adc/ain associated to specified arduino pin +#define PIN_TO_ADC(P) (ANAPIN_TO_ADCAIN(P) >> 8) + +// Private defines +#define PIN_TO_SAMD_PIN(P) DIO##P##_PIN + +#define _GET_SAMD_PORT(P) ((P) >> 5) +#define _GET_SAMD_PIN(P) ((P) & 0x1F) + +// Get external interrupt line +#define _SAMDPORTPIN_TO_EILINE(P,B) ((P == 0 && WITHIN(B, 0, 31) && B != 26 && B != 28 && B != 29) ? (B) & 0xF \ + : (P == 1 && (WITHIN(B, 0, 25) || WITHIN(B, 30, 31))) ? (B) & 0xF \ + : (P == 1 && WITHIN(B, 26, 29)) ? 12 + (B) - 26 \ + : (P == 2 && (WITHIN(B, 0, 6) || WITHIN(B, 10, 31)) && B != 29) ? (B) & 0xF \ + : (P == 2 && B == 7) ? 9 \ + : (P == 3 && WITHIN(B, 0, 1)) ? (B) \ + : (P == 3 && WITHIN(B, 8, 12)) ? 3 + (B) - 8 \ + : (P == 3 && WITHIN(B, 20, 21)) ? 10 + (B) - 20 \ + : -1) + + + +#define A2_AIN 3 +#define A3_AIN 4 +#define A4_AIN 5 +#define PIN_TO_AIN(P) A##P##_AIN +#define AIN_TO_RESULT(P) ( (P - HAL_ADC_AIN_START == HAL_ADC_AIN_NUM_SENSORS-1) ? 0 : (P - HAL_ADC_AIN_START + 1) ) diff --git a/Marlin/src/HAL/SAMD21/Servo.cpp b/Marlin/src/HAL/SAMD21/Servo.cpp new file mode 100644 index 0000000000..38b995fc9a --- /dev/null +++ b/Marlin/src/HAL/SAMD21/Servo.cpp @@ -0,0 +1,220 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ + +/** + * This comes from Arduino library which at the moment is buggy and uncompilable + */ + +#ifdef __SAMD21__ + +#include "../../inc/MarlinConfig.h" + +#if HAS_SERVOS + +#include "../shared/servo.h" +#include "../shared/servo_private.h" +#include "SAMD21.h" + +#define __TC_GCLK_ID(t) TC##t##_GCLK_ID +#define _TC_GCLK_ID(t) __TC_GCLK_ID(t) +#define TC_GCLK_ID _TC_GCLK_ID(SERVO_TC) + +#define _TC_PRESCALER(d) TC_CTRLA_PRESCALER_DIV##d##_Val +#define TC_PRESCALER(d) _TC_PRESCALER(d) + +#define __SERVO_IRQn(t) TC##t##_IRQn +#define _SERVO_IRQn(t) __SERVO_IRQn(t) +#define SERVO_IRQn _SERVO_IRQn(SERVO_TC) + +#define HAL_SERVO_TIMER_ISR() TC_HANDLER(SERVO_TC) + +#define TIMER_TCCHANNEL(t) ((t) & 1) +#define TC_COUNTER_START_VAL 0xFFFF + + +static volatile int8_t currentServoIndex[_Nbr_16timers]; // index for the servo being pulsed for each timer (or -1 if refresh interval) + +FORCE_INLINE static uint16_t getTimerCount() { + Tcc * const tc = timer_config[SERVO_TC].pTcc; + + tc->CTRLBSET.reg = TCC_CTRLBCLR_CMD_READSYNC; + SYNC(tc->STATUS.reg & TC_STATUS_SYNCBUSY); + + return tc->COUNT.bit.COUNT; +} + +// ---------------------------- +// Interrupt handler for the TC +// ---------------------------- +HAL_SERVO_TIMER_ISR() { + Tcc * const tc = timer_config[SERVO_TC].pTcc; + const timer16_Sequence_t timer = + #ifndef _useTimer1 + _timer2 + #elif !defined(_useTimer2) + _timer1 + #else + (tc->INTFLAG.reg & tc->INTENSET.reg & TC_INTFLAG_MC0) ? _timer1 : _timer2 + #endif + ; + const uint8_t tcChannel = TIMER_TCCHANNEL(timer); + + int8_t cho = currentServoIndex[timer]; // Handle the prior servo first + if (cho < 0) { // Servo -1 indicates the refresh interval completed... + #if defined(_useTimer1) && defined(_useTimer2) + if (currentServoIndex[timer ^ 1] >= 0) { + // Wait for both channels + // Clear the interrupt + tc->INTFLAG.reg = (tcChannel == 0) ? TC_INTFLAG_MC0 : TC_INTFLAG_MC1; + return; + } + #endif + tc->COUNT.reg = TC_COUNTER_START_VAL; // ...so reset the timer + SYNC(tc->STATUS.reg & TC_STATUS_SYNCBUSY); + } + else if (SERVO_INDEX(timer, cho) < ServoCount) // prior channel handled? + digitalWrite(SERVO(timer, cho).Pin.nbr, LOW); // pulse the prior channel LOW + + currentServoIndex[timer] = ++cho; // go to the next channel (or 0) + if (cho < SERVOS_PER_TIMER && SERVO_INDEX(timer, cho) < ServoCount) { + if (SERVO(timer, cho).Pin.isActive) // activated? + digitalWrite(SERVO(timer, cho).Pin.nbr, HIGH); // yes: pulse HIGH + + tc->CC[tcChannel].reg = getTimerCount() - (uint16_t)SERVO(timer, cho).ticks; + } + else { + // finished all channels so wait for the refresh period to expire before starting over + currentServoIndex[timer] = -1; // reset the timer COUNT.reg on the next call + const uint16_t cval = getTimerCount() - 256 / (SERVO_TIMER_PRESCALER), // allow 256 cycles to ensure the next CV not missed + ival = (TC_COUNTER_START_VAL) - (uint16_t)usToTicks(REFRESH_INTERVAL); // at least REFRESH_INTERVAL has elapsed + tc->CC[tcChannel].reg = min(cval, ival); + } + if (tcChannel == 0) { + SYNC(tc->SYNCBUSY.bit.CC0); + tc->INTFLAG.reg = TC_INTFLAG_MC0; // Clear the interrupt + } + else { + SYNC(tc->SYNCBUSY.bit.CC1); + tc->INTFLAG.reg = TC_INTFLAG_MC1; // Clear the interrupt + } +} + +void initISR(const timer16_Sequence_t timer) { + Tcc * const tc = timer_config[SERVO_TC].pTcc; + const uint8_t tcChannel = TIMER_TCCHANNEL(timer); + + static bool initialized = false; // Servo TC has been initialized + if (!initialized) { + NVIC_DisableIRQ(SERVO_IRQn); + + // Disable the timer + tc->CTRLA.bit.ENABLE = false; + SYNC(tc->STATUS.reg & TC_STATUS_SYNCBUSY); + + // Select GCLK0 as timer/counter input clock source + GCLK->CLKCTRL.reg =(GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID(TCC0_GCLK_ID)); + SYNC (GCLK->STATUS.bit.SYNCBUSY); + + // Reset the timer + tc->CTRLA.bit.SWRST = true; + SYNC(tc->CTRLA.bit.SWRST); + + // Set timer counter mode to 16 bits + tc->CTRLA.reg = TC_CTRLA_MODE_COUNT16; + + // Set timer counter mode as normal PWM + tc->WAVE.bit.WAVEGEN = TCC_WAVE_WAVEGEN_NPWM_Val; + + // Set the prescaler factor + tc->CTRLA.bit.PRESCALER = TC_PRESCALER(SERVO_TIMER_PRESCALER); + + // Count down + tc->CTRLBSET.reg = TCC_CTRLBCLR_DIR; + SYNC(tc->SYNCBUSY.bit.CTRLB); + + // Reset all servo indexes + memset((void *)currentServoIndex, 0xFF, sizeof(currentServoIndex)); + + // Configure interrupt request + NVIC_ClearPendingIRQ(SERVO_IRQn); + NVIC_SetPriority(SERVO_IRQn, 5); + NVIC_EnableIRQ(SERVO_IRQn); + + initialized = true; + } + + if (!tc->CTRLA.bit.ENABLE) { + // Reset the timer counter + tc->COUNT.reg = TC_COUNTER_START_VAL; + SYNC(tc->STATUS.reg & TC_STATUS_SYNCBUSY); + + // Enable the timer and start it + tc->CTRLA.bit.ENABLE = true; + SYNC(tc->STATUS.reg & TC_STATUS_SYNCBUSY); + } + // First interrupt request after 1 ms + tc->CC[tcChannel].reg = getTimerCount() - (uint16_t)usToTicks(1000UL); + + if (tcChannel == 0 ) { + SYNC(tc->SYNCBUSY.bit.CC0); + + // Clear pending match interrupt + tc->INTFLAG.reg = TC_INTENSET_MC0; + // Enable the match channel interrupt request + tc->INTENSET.reg = TC_INTENSET_MC0; + } + else { + SYNC(tc->SYNCBUSY.bit.CC1); + + // Clear pending match interrupt + tc->INTFLAG.reg = TC_INTENSET_MC1; + // Enable the match channel interrupt request + tc->INTENSET.reg = TC_INTENSET_MC1; + } +} + +void finISR(const timer16_Sequence_t timer_index) { + Tcc * const tc = timer_config[SERVO_TC].pTcc; + const uint8_t tcChannel = TIMER_TCCHANNEL(timer_index); + + // Disable the match channel interrupt request + tc->INTENCLR.reg = (tcChannel == 0) ? TC_INTENCLR_MC0 : TC_INTENCLR_MC1; + + if (true + #if defined(_useTimer1) && defined(_useTimer2) + && (tc->INTENCLR.reg & (TC_INTENCLR_MC0|TC_INTENCLR_MC1)) == 0 + #endif + ) { + // Disable the timer if not used + tc->CTRLA.bit.ENABLE = false; + SYNC(tc->STATUS.reg & TC_STATUS_SYNCBUSY); + } +} + +#endif // HAS_SERVOS + +#endif // __SAMD21__ diff --git a/Marlin/src/HAL/SAMD21/ServoTimers.h b/Marlin/src/HAL/SAMD21/ServoTimers.h new file mode 100644 index 0000000000..8980547683 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/ServoTimers.h @@ -0,0 +1,45 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ + +#define _useTimer1 +#define _useTimer2 + +#define TRIM_DURATION 5 // compensation ticks to trim adjust for digitalWrite delays +#define SERVO_TIMER_PRESCALER 64 // timer prescaler factor to 64 (avoid overflowing 16-bit clock counter, at 120MHz this is 1831 ticks per millisecond + +#define SERVO_TC 3 + +typedef enum { + #ifdef _useTimer1 + _timer1, + #endif + #ifdef _useTimer2 + _timer2, + #endif + _Nbr_16timers +} timer16_Sequence_t; diff --git a/Marlin/src/HAL/SAMD21/eeprom_flash.cpp b/Marlin/src/HAL/SAMD21/eeprom_flash.cpp new file mode 100644 index 0000000000..4a4e328d1a --- /dev/null +++ b/Marlin/src/HAL/SAMD21/eeprom_flash.cpp @@ -0,0 +1,141 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ +#ifdef __SAMD21__ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(FLASH_EEPROM_EMULATION) + +#define TOTAL_FLASH_SIZE (MARLIN_EEPROM_SIZE+255)/256*256 + +/* reserve flash memory */ +static const uint8_t flashdata[TOTAL_FLASH_SIZE] __attribute__((__aligned__(256))) { }; \ + +#include "../shared/eeprom_api.h" + +size_t PersistentStore::capacity() { + return MARLIN_EEPROM_SIZE; + /* const uint8_t psz = NVMCTRL->SEESTAT.bit.PSZ, + sblk = NVMCTRL->SEESTAT.bit.SBLK; + + return (!psz && !sblk) ? 0 + : (psz <= 2) ? (0x200 << psz) + : (sblk == 1 || psz == 3) ? 4096 + : (sblk == 2 || psz == 4) ? 8192 + : (sblk <= 4 || psz == 5) ? 16384 + : (sblk >= 9 && psz == 7) ? 65536 + : 32768;*/ +} + +uint32_t PAGE_SIZE; +uint32_t ROW_SIZE; +bool hasWritten = false; +uint8_t * buffer; + +void _erase(const volatile void *flash_ptr) { + NVMCTRL->ADDR.reg = ((uint32_t)flash_ptr) / 2; + NVMCTRL->CTRLA.reg = NVMCTRL_CTRLA_CMDEX_KEY | NVMCTRL_CTRLA_CMD_ER; + while (!NVMCTRL->INTFLAG.bit.READY) { } + +} + +void erase(const volatile void *flash_ptr, uint32_t size) { + const uint8_t *ptr = (const uint8_t *)flash_ptr; + while (size > ROW_SIZE) { + _erase(ptr); + ptr += ROW_SIZE; + size -= ROW_SIZE; + } + _erase(ptr); +} + +bool PersistentStore::access_start() { + /* clear page buffer*/ + NVMCTRL->CTRLA.reg = NVMCTRL_CTRLA_CMDEX_KEY | NVMCTRL_CTRLA_CMD_PBC; + while (NVMCTRL->INTFLAG.bit.READY == 0) { } + + PAGE_SIZE = pow(2,3 + NVMCTRL->PARAM.bit.PSZ); + ROW_SIZE= PAGE_SIZE * 4; + /*NVMCTRL->SEECFG.reg = NVMCTRL_SEECFG_WMODE_BUFFERED; // Buffered mode and segment reallocation active + if (NVMCTRL->SEESTAT.bit.RLOCK) + NVMCTRL_CMD(NVMCTRL_CTRLB_CMD_USEE); */ // Unlock E2P data write access + // erase(&flashdata[0], TOTAL_FLASH_SIZE); + return true; +} + +bool PersistentStore::access_finish() { + if (hasWritten) { + erase(&flashdata[0], TOTAL_FLASH_SIZE); + + NVMCTRL->CTRLA.reg = NVMCTRL_CTRLA_CMDEX_KEY | NVMCTRL_CTRLA_CMD_PBC; + while (NVMCTRL->INTFLAG.bit.READY == 0) { } + + NVMCTRL->CTRLB.bit.MANW = 0; + + volatile uint32_t *dst_addr = (volatile uint32_t *) &flashdata; + + uint32_t *pointer = (uint32_t *) buffer; + for (uint32_t i = 0; i < TOTAL_FLASH_SIZE; i+=4) { + + *dst_addr = (uint32_t) *pointer; + pointer++; + dst_addr ++; + } + + // Execute "WP" Write Page + NVMCTRL->CTRLA.reg = NVMCTRL_CTRLA_CMDEX_KEY | NVMCTRL_CTRLA_CMD_WP; + while (NVMCTRL->INTFLAG.bit.READY == 0) { } + + free(buffer); + hasWritten = false; + } + return true; +} + +bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) { + if (!hasWritten) { + // init temp buffer + buffer = (uint8_t *) malloc(MARLIN_EEPROM_SIZE); + hasWritten=true; + } + + memcpy(buffer+pos,value,size); + pos += size; + return false; +} + +bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) { + volatile uint8_t *dst_addr = (volatile uint8_t *) &flashdata; + dst_addr += pos; + + memcpy(value,(const void *) dst_addr,size); + pos += size; + return false; +} + +#endif // FLASH_EEPROM_EMULATION +#endif // __SAMD21__ diff --git a/Marlin/src/HAL/SAMD21/eeprom_qspi.cpp b/Marlin/src/HAL/SAMD21/eeprom_qspi.cpp new file mode 100644 index 0000000000..587dcb0b14 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/eeprom_qspi.cpp @@ -0,0 +1,79 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ +#ifdef __SAMD21__ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(QSPI_EEPROM) + +#error "QSPI_EEPROM emulation Not implemented on SAMD21" + +#include "../shared/eeprom_api.h" + +#include "QSPIFlash.h" + +static bool initialized; + +size_t PersistentStore::capacity() { return qspi.size(); } + +bool PersistentStore::access_start() { + if (!initialized) { + qspi.begin(); + initialized = true; + } + return true; +} + +bool PersistentStore::access_finish() { + qspi.flush(); + return true; +} + +bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) { + while (size--) { + const uint8_t v = *value; + qspi.writeByte(pos, v); + crc16(crc, &v, 1); + pos++; + value++; + } + return false; +} + +bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) { + while (size--) { + uint8_t c = qspi.readByte(pos); + if (writing) *value = c; + crc16(crc, &c, 1); + pos++; + value++; + } + return false; +} + +#endif // QSPI_EEPROM +#endif // __SAMD21__ diff --git a/Marlin/src/HAL/SAMD21/eeprom_wired.cpp b/Marlin/src/HAL/SAMD21/eeprom_wired.cpp new file mode 100644 index 0000000000..ab71e616fc --- /dev/null +++ b/Marlin/src/HAL/SAMD21/eeprom_wired.cpp @@ -0,0 +1,82 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ +#ifdef __SAMD21__ + +#include "../../inc/MarlinConfig.h" + +#if USE_WIRED_EEPROM + +#error "USE_WIRED_EEPROM emulation Not implemented on SAMD21" +/** + * PersistentStore for Arduino-style EEPROM interface + * with simple implementations supplied by Marlin. + */ + +#include "../shared/eeprom_if.h" +#include "../shared/eeprom_api.h" + +#ifndef MARLIN_EEPROM_SIZE + #error "MARLIN_EEPROM_SIZE is required for I2C / SPI EEPROM." +#endif +size_t PersistentStore::capacity() { return MARLIN_EEPROM_SIZE; } + +bool PersistentStore::access_start() { eeprom_init(); return true; } +bool PersistentStore::access_finish() { return true; } + +bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) { + uint16_t written = 0; + while (size--) { + const uint8_t v = *value; + uint8_t * const p = (uint8_t * const)pos; + if (v != eeprom_read_byte(p)) { // EEPROM has only ~100,000 write cycles, so only write bytes that have changed! + eeprom_write_byte(p, v); + if (++written & 0x7F) delay(2); else safe_delay(2); // Avoid triggering watchdog during long EEPROM writes + if (eeprom_read_byte(p) != v) { + SERIAL_ECHO_MSG(STR_ERR_EEPROM_WRITE); + return true; + } + } + crc16(crc, &v, 1); + pos++; + value++; + } + return false; +} + +bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) { + while (size--) { + uint8_t c = eeprom_read_byte((uint8_t*)pos); + if (writing) *value = c; + crc16(crc, &c, 1); + pos++; + value++; + } + return false; +} + +#endif // USE_WIRED_EEPROM +#endif // __SAMD21__ diff --git a/Marlin/src/HAL/SAMD21/endstop_interrupts.h b/Marlin/src/HAL/SAMD21/endstop_interrupts.h new file mode 100644 index 0000000000..37fdb7504b --- /dev/null +++ b/Marlin/src/HAL/SAMD21/endstop_interrupts.h @@ -0,0 +1,283 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ + +/** + * Endstop interrupts for ATMEL SAMD21 based targets. + * + * On SAMD21, all pins support external interrupt capability. + * Any pin can be used for external interrupts, but there are some restrictions. + * At most 16 different external interrupts can be used at one time. + * Further, you can’t just pick any 16 pins to use. This is because every pin on the SAMD21 + * connects to what is called an EXTINT line, and only one pin per EXTINT line can be used for external + * interrupts at a time + */ + +/** + * Endstop Interrupts + * + * Without endstop interrupts the endstop pins must be polled continually in + * the temperature-ISR via endstops.update(), most of the time finding no change. + * With this feature endstops.update() is called only when we know that at + * least one endstop has changed state, saving valuable CPU cycles. + * + * This feature only works when all used endstop pins can generate an 'external interrupt'. + * + * Test whether pins issue interrupts on your board by flashing 'pin_interrupt_test.ino'. + * (Located in Marlin/buildroot/share/pin_interrupt_test/pin_interrupt_test.ino) + */ + +#include "../../module/endstops.h" + +#define MATCH_EILINE(P1,P2) (P1 != P2 && PIN_TO_EILINE(P1) == PIN_TO_EILINE(P2)) +#define MATCH_X_MAX_EILINE(P) TERN0(USE_X_MAX, DEFER4(MATCH_EILINE)(P, X_MAX_PIN)) +#define MATCH_X_MIN_EILINE(P) TERN0(USE_X_MIN, DEFER4(MATCH_EILINE)(P, X_MIN_PIN)) +#define MATCH_Y_MAX_EILINE(P) TERN0(USE_Y_MAX, DEFER4(MATCH_EILINE)(P, Y_MAX_PIN)) +#define MATCH_Y_MIN_EILINE(P) TERN0(USE_Y_MIN, DEFER4(MATCH_EILINE)(P, Y_MIN_PIN)) +#define MATCH_Z_MAX_EILINE(P) TERN0(USE_Z_MAX, DEFER4(MATCH_EILINE)(P, Z_MAX_PIN)) +#define MATCH_Z_MIN_EILINE(P) TERN0(USE_Z_MIN, DEFER4(MATCH_EILINE)(P, Z_MIN_PIN)) +#define MATCH_I_MAX_EILINE(P) TERN0(USE_I_MAX, DEFER4(MATCH_EILINE)(P, I_MAX_PIN)) +#define MATCH_I_MIN_EILINE(P) TERN0(USE_I_MIN, DEFER4(MATCH_EILINE)(P, I_MIN_PIN)) +#define MATCH_J_MAX_EILINE(P) TERN0(USE_J_MAX, DEFER4(MATCH_EILINE)(P, J_MAX_PIN)) +#define MATCH_J_MIN_EILINE(P) TERN0(USE_J_MIN, DEFER4(MATCH_EILINE)(P, J_MIN_PIN)) +#define MATCH_K_MAX_EILINE(P) TERN0(USE_K_MAX, DEFER4(MATCH_EILINE)(P, K_MAX_PIN)) +#define MATCH_K_MIN_EILINE(P) TERN0(USE_K_MIN, DEFER4(MATCH_EILINE)(P, K_MIN_PIN)) +#define MATCH_U_MAX_EILINE(P) TERN0(USE_U_MAX, DEFER4(MATCH_EILINE)(P, U_MAX_PIN)) +#define MATCH_U_MIN_EILINE(P) TERN0(USE_U_MIN, DEFER4(MATCH_EILINE)(P, U_MIN_PIN)) +#define MATCH_V_MAX_EILINE(P) TERN0(USE_V_MAX, DEFER4(MATCH_EILINE)(P, V_MAX_PIN)) +#define MATCH_V_MIN_EILINE(P) TERN0(USE_V_MIN, DEFER4(MATCH_EILINE)(P, V_MIN_PIN)) +#define MATCH_W_MAX_EILINE(P) TERN0(USE_W_MAX, DEFER4(MATCH_EILINE)(P, W_MAX_PIN)) +#define MATCH_W_MIN_EILINE(P) TERN0(USE_W_MIN, DEFER4(MATCH_EILINE)(P, W_MIN_PIN)) +#define MATCH_X2_MAX_EILINE(P) TERN0(USE_X2_MAX, DEFER4(MATCH_EILINE)(P, X2_MAX_PIN)) +#define MATCH_X2_MIN_EILINE(P) TERN0(USE_X2_MIN, DEFER4(MATCH_EILINE)(P, X2_MIN_PIN)) +#define MATCH_Y2_MAX_EILINE(P) TERN0(USE_Y2_MAX, DEFER4(MATCH_EILINE)(P, Y2_MAX_PIN)) +#define MATCH_Y2_MIN_EILINE(P) TERN0(USE_Y2_MIN, DEFER4(MATCH_EILINE)(P, Y2_MIN_PIN)) +#define MATCH_Z2_MAX_EILINE(P) TERN0(USE_Z2_MAX, DEFER4(MATCH_EILINE)(P, Z2_MAX_PIN)) +#define MATCH_Z2_MIN_EILINE(P) TERN0(USE_Z2_MIN, DEFER4(MATCH_EILINE)(P, Z2_MIN_PIN)) +#define MATCH_Z3_MAX_EILINE(P) TERN0(USE_Z3_MAX, DEFER4(MATCH_EILINE)(P, Z3_MAX_PIN)) +#define MATCH_Z3_MIN_EILINE(P) TERN0(USE_Z3_MIN, DEFER4(MATCH_EILINE)(P, Z3_MIN_PIN)) +#define MATCH_Z4_MAX_EILINE(P) TERN0(USE_Z4_MAX, DEFER4(MATCH_EILINE)(P, Z4_MAX_PIN)) +#define MATCH_Z4_MIN_EILINE(P) TERN0(USE_Z4_MIN, DEFER4(MATCH_EILINE)(P, Z4_MIN_PIN)) +#define MATCH_Z_MIN_PROBE_EILINE(P) TERN0(USE_Z_MIN_PROBE, DEFER4(MATCH_EILINE)(P, Z_MIN_PROBE_PIN)) + +#define AVAILABLE_EILINE(P) ( PIN_TO_EILINE(P) != -1 \ + && !MATCH_X_MAX_EILINE(P) && !MATCH_X_MIN_EILINE(P) \ + && !MATCH_Y_MAX_EILINE(P) && !MATCH_Y_MIN_EILINE(P) \ + && !MATCH_Z_MAX_EILINE(P) && !MATCH_Z_MIN_EILINE(P) \ + && !MATCH_I_MAX_EILINE(P) && !MATCH_I_MIN_EILINE(P) \ + && !MATCH_J_MAX_EILINE(P) && !MATCH_J_MIN_EILINE(P) \ + && !MATCH_K_MAX_EILINE(P) && !MATCH_K_MIN_EILINE(P) \ + && !MATCH_U_MAX_EILINE(P) && !MATCH_U_MIN_EILINE(P) \ + && !MATCH_V_MAX_EILINE(P) && !MATCH_V_MIN_EILINE(P) \ + && !MATCH_W_MAX_EILINE(P) && !MATCH_W_MIN_EILINE(P) \ + && !MATCH_X2_MAX_EILINE(P) && !MATCH_X2_MIN_EILINE(P) \ + && !MATCH_Y2_MAX_EILINE(P) && !MATCH_Y2_MIN_EILINE(P) \ + && !MATCH_Z2_MAX_EILINE(P) && !MATCH_Z2_MIN_EILINE(P) \ + && !MATCH_Z3_MAX_EILINE(P) && !MATCH_Z3_MIN_EILINE(P) \ + && !MATCH_Z4_MAX_EILINE(P) && !MATCH_Z4_MIN_EILINE(P) \ + && !MATCH_Z_MIN_PROBE_EILINE(P) ) + +// One ISR for all EXT-Interrupts +void endstop_ISR() { endstops.update(); } + +void setup_endstop_interrupts() { + #define _ATTACH(P) attachInterrupt(P, endstop_ISR, CHANGE) + #if USE_X_MAX + #if !AVAILABLE_EILINE(X_MAX_PIN) + #error "X_MAX_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + _ATTACH(X_MAX_PIN); + #endif + #if USE_X_MIN + #if !AVAILABLE_EILINE(X_MIN_PIN) + #error "X_MIN_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + _ATTACH(X_MIN_PIN); + #endif + #if USE_Y_MAX + #if !AVAILABLE_EILINE(Y_MAX_PIN) + #error "Y_MAX_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + _ATTACH(Y_MAX_PIN); + #endif + #if USE_Y_MIN + #if !AVAILABLE_EILINE(Y_MIN_PIN) + #error "Y_MIN_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + _ATTACH(Y_MIN_PIN); + #endif + #if USE_Z_MAX + #if !AVAILABLE_EILINE(Z_MAX_PIN) + #error "Z_MAX_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + _ATTACH(Z_MAX_PIN); + #endif + #if USE_Z_MIN + #if !AVAILABLE_EILINE(Z_MIN_PIN) + #error "Z_MIN_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + _ATTACH(Z_MIN_PIN); + #endif + #if USE_X2_MAX + #if !AVAILABLE_EILINE(X2_MAX_PIN) + #error "X2_MAX_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + _ATTACH(X2_MAX_PIN); + #endif + #if USE_X2_MIN + #if !AVAILABLE_EILINE(X2_MIN_PIN) + #error "X2_MIN_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + _ATTACH(X2_MIN_PIN); + #endif + #if USE_Y2_MAX + #if !AVAILABLE_EILINE(Y2_MAX_PIN) + #error "Y2_MAX_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + _ATTACH(Y2_MAX_PIN); + #endif + #if USE_Y2_MIN + #if !AVAILABLE_EILINE(Y2_MIN_PIN) + #error "Y2_MIN_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + _ATTACH(Y2_MIN_PIN); + #endif + #if USE_Z2_MAX + #if !AVAILABLE_EILINE(Z2_MAX_PIN) + #error "Z2_MAX_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + _ATTACH(Z2_MAX_PIN); + #endif + #if USE_Z2_MIN + #if !AVAILABLE_EILINE(Z2_MIN_PIN) + #error "Z2_MIN_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + _ATTACH(Z2_MIN_PIN); + #endif + #if USE_Z3_MAX + #if !AVAILABLE_EILINE(Z3_MAX_PIN) + #error "Z3_MAX_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + _ATTACH(Z3_MAX_PIN); + #endif + #if USE_Z3_MIN + #if !AVAILABLE_EILINE(Z3_MIN_PIN) + #error "Z3_MIN_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + _ATTACH(Z3_MIN_PIN); + #endif + #if USE_Z4_MAX + #if !AVAILABLE_EILINE(Z4_MAX_PIN) + #error "Z4_MAX_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + _ATTACH(Z4_MAX_PIN); + #endif + #if USE_Z4_MIN + #if !AVAILABLE_EILINE(Z4_MIN_PIN) + #error "Z4_MIN_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + _ATTACH(Z4_MIN_PIN); + #endif + #if USE_Z_MIN_PROBE + #if !AVAILABLE_EILINE(Z_MIN_PROBE_PIN) + #error "Z_MIN_PROBE_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + _ATTACH(Z_MIN_PROBE_PIN); + #endif + #if USE_I_MAX + #if !AVAILABLE_EILINE(I_MAX_PIN) + #error "I_MAX_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + attachInterrupt(I_MAX_PIN, endstop_ISR, CHANGE); + #endif + #if USE_I_MIN + #if !AVAILABLE_EILINE(I_MIN_PIN) + #error "I_MIN_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + attachInterrupt(I_MIN_PIN, endstop_ISR, CHANGE); + #endif + #if USE_J_MAX + #if !AVAILABLE_EILINE(J_MAX_PIN) + #error "J_MAX_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + attachInterrupt(J_MAX_PIN, endstop_ISR, CHANGE); + #endif + #if USE_J_MIN + #if !AVAILABLE_EILINE(J_MIN_PIN) + #error "J_MIN_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + attachInterrupt(J_MIN_PIN, endstop_ISR, CHANGE); + #endif + #if USE_K_MAX + #if !AVAILABLE_EILINE(K_MAX_PIN) + #error "K_MAX_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + attachInterrupt(K_MAX_PIN, endstop_ISR, CHANGE); + #endif + #if USE_K_MIN + #if !AVAILABLE_EILINE(K_MIN_PIN) + #error "K_MIN_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + attachInterrupt(K_MIN_PIN, endstop_ISR, CHANGE); + #endif + #if USE_U_MAX + #if !AVAILABLE_EILINE(U_MAX_PIN) + #error "U_MAX_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + attachInterrupt(U_MAX_PIN, endstop_ISR, CHANGE); + #endif + #if USE_U_MIN + #if !AVAILABLE_EILINE(U_MIN_PIN) + #error "U_MIN_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + attachInterrupt(U_MIN_PIN, endstop_ISR, CHANGE); + #endif + #if USE_V_MAX + #if !AVAILABLE_EILINE(V_MAX_PIN) + #error "V_MAX_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + attachInterrupt(V_MAX_PIN, endstop_ISR, CHANGE); + #endif + #if USE_V_MIN + #if !AVAILABLE_EILINE(V_MIN_PIN) + #error "V_MIN_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + attachInterrupt(V_MIN_PIN, endstop_ISR, CHANGE); + #endif + #if USE_W_MAX + #if !AVAILABLE_EILINE(W_MAX_PIN) + #error "W_MAX_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + attachInterrupt(W_MAX_PIN, endstop_ISR, CHANGE); + #endif + #if USE_W_MIN + #if !AVAILABLE_EILINE(W_MIN_PIN) + #error "W_MIN_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." + #endif + attachInterrupt(W_MIN_PIN, endstop_ISR, CHANGE); + #endif +} diff --git a/Marlin/src/HAL/SAMD21/fastio.h b/Marlin/src/HAL/SAMD21/fastio.h new file mode 100644 index 0000000000..471e8b62ab --- /dev/null +++ b/Marlin/src/HAL/SAMD21/fastio.h @@ -0,0 +1,215 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ + +/** + * Fast IO functions for SAMD21 + */ + +#include "SAMD21.h" + +/** + * Utility functions + */ + +#ifndef MASK + #define MASK(PIN) _BV(PIN) +#endif + +/** + * Magic I/O routines + * + * Now you can simply SET_OUTPUT(IO); WRITE(IO, HIGH); WRITE(IO, LOW); + */ + +// Read a pin +#define READ(IO) ((PORT->Group[(EPortType)GET_SAMD_PORT(IO)].IN.reg & MASK(GET_SAMD_PIN(IO))) != 0) + +// Write to a pin +#define WRITE(IO,V) do{ \ + const EPortType port = (EPortType)GET_SAMD_PORT(IO); \ + const uint32_t mask = MASK(GET_SAMD_PIN(IO)); \ + \ + if (V) PORT->Group[port].OUTSET.reg = mask; \ + else PORT->Group[port].OUTCLR.reg = mask; \ + }while(0) + +// Toggle a pin +#define TOGGLE(IO) PORT->Group[(EPortType)GET_SAMD_PORT(IO)].OUTTGL.reg = MASK(GET_SAMD_PIN(IO)); + +// Set pin as input +#define SET_INPUT(IO) do{ \ + const EPortType port = (EPortType)GET_SAMD_PORT(IO); \ + const uint32_t pin = GET_SAMD_PIN(IO); \ + \ + PORT->Group[port].PINCFG[pin].reg = (uint8_t)(PORT_PINCFG_INEN); \ + PORT->Group[port].DIRCLR.reg = MASK(pin); \ + }while(0) +// Set pin as input with pullup +#define SET_INPUT_PULLUP(IO) do{ \ + const EPortType port = (EPortType)GET_SAMD_PORT(IO); \ + const uint32_t pin = GET_SAMD_PIN(IO); \ + const uint32_t mask = MASK(pin); \ + \ + PORT->Group[port].PINCFG[pin].reg = (uint8_t)(PORT_PINCFG_INEN | PORT_PINCFG_PULLEN); \ + PORT->Group[port].DIRCLR.reg = mask; \ + PORT->Group[port].OUTSET.reg = mask; \ + }while(0) +// Set pin as input with pulldown +#define SET_INPUT_PULLDOWN(IO) do{ \ + const EPortType port = (EPortType)GET_SAMD_PORT(IO); \ + const uint32_t pin = GET_SAMD_PIN(IO); \ + const uint32_t mask = MASK(pin); \ + \ + PORT->Group[port].PINCFG[pin].reg = (uint8_t)(PORT_PINCFG_INEN | PORT_PINCFG_PULLEN); \ + PORT->Group[port].DIRCLR.reg = mask; \ + PORT->Group[port].OUTCLR.reg = mask; \ + }while(0) +// Set pin as output (push pull) +#define SET_OUTPUT(IO) do{ \ + const EPortType port = (EPortType)GET_SAMD_PORT(IO); \ + const uint32_t pin = GET_SAMD_PIN(IO); \ + \ + PORT->Group[port].DIRSET.reg = MASK(pin); \ + PORT->Group[port].PINCFG[pin].reg = 0; \ + }while(0) +// Set pin as output (open drain) +#define SET_OUTPUT_OD(IO) do{ \ + const EPortType port = (EPortType)GET_SAMD_PORT(IO); \ + const uint32_t pin = GET_SAMD_PIN(IO); \ + \ + PORT->Group[port].PINCFG[pin].reg = (uint8_t)(PORT_PINCFG_PULLEN); \ + PORT->Group[port].DIRCLR.reg = MASK(pin); \ + }while(0) +// Set pin as PWM (push pull) +#define SET_PWM SET_OUTPUT +// Set pin as PWM (open drain) +#define SET_PWM_OD SET_OUTPUT_OD + +// check if pin is an output +#define IS_OUTPUT(IO) ((PORT->Group[(EPortType)GET_SAMD_PORT(IO)].DIR.reg & MASK(GET_SAMD_PIN(IO))) \ + || (PORT->Group[(EPortType)GET_SAMD_PORT(IO)].PINCFG[GET_SAMD_PIN(IO)].reg & (PORT_PINCFG_INEN | PORT_PINCFG_PULLEN)) == PORT_PINCFG_PULLEN) +// check if pin is an input +#define IS_INPUT(IO) !IS_OUTPUT(IO) + +// Shorthand +#define OUT_WRITE(IO,V) do{ SET_OUTPUT(IO); WRITE(IO,V); }while(0) +#define OUT_WRITE_OD(IO,V) do{ SET_OUTPUT_OD(IO); WRITE(IO,V); }while(0) + +// digitalRead/Write wrappers +#define extDigitalRead(IO) digitalRead(IO) +#define extDigitalWrite(IO,V) digitalWrite(IO,V) + +/** + * Ports and functions + * Added as necessary or if I feel like it- not a comprehensive list! + */ + +/** + * Some of these share the same source and so can't be used in the same time + */ +#define PWM_PIN(P) (WITHIN(P, 2, 13) || WITHIN(P, 22, 23) || WITHIN(P, 44, 45) || P == 48) + +// Return fulfilled ADCx->INPUTCTRL.reg +#define PIN_TO_INPUTCTRL(P) ( (P == 0) ? ADC_INPUTCTRL_MUXPOS_PIN0 \ + : ((P) == 1) ? ADC_INPUTCTRL_MUXPOS_PIN1 \ + : ((P) == 2) ? ADC_INPUTCTRL_MUXPOS_PIN3 \ + : ((P) == 3) ? ADC_INPUTCTRL_MUXPOS_PIN4 \ + : ((P) == 4) ? ADC_INPUTCTRL_MUXPOS_PIN5 \ + : ((P) == 5) ? ADC_INPUTCTRL_MUXPOS_PIN5 \ + : ((P) == 6) ? ADC_INPUTCTRL_MUXPOS_PIN6 \ + : ((P) == 7) ? ADC_INPUTCTRL_MUXPOS_PIN7 \ + : ((P) == 8) ? ADC_INPUTCTRL_MUXPOS_PIN8 \ + : ((P) == 9) ? ADC_INPUTCTRL_MUXPOS_PIN9 \ + : ((P) == 10) ? ADC_INPUTCTRL_MUXPOS_PIN10 \ + : ((P) == 11) ? ADC_INPUTCTRL_MUXPOS_PIN11 \ + : ((P) == 12) ? ADC_INPUTCTRL_MUXPOS_PIN12 \ + : ((P) == 13) ? ADC_INPUTCTRL_MUXPOS_PIN13 \ + : ((P) == 14) ? ADC_INPUTCTRL_MUXPOS_PIN14 \ + : ADC_INPUTCTRL_MUXPOS_PIN15) + +#define digitalPinToAnalogInput(P) (WITHIN(P, 67, 74) ? (P) - 67 : WITHIN(P, 54, 61) ? 8 + (P) - 54 : WITHIN(P, 12, 13) ? 16 + (P) - 12 : P == 9 ? 18 : -1) + +/** + * pins + */ + +// PORTA +#define DIO28_PIN PIN_PA02 // A0 +#define DIO56_PIN PIN_PA03 // A13 +#define DIO31_PIN PIN_PA04 // A13 +#define DIO32_PIN PIN_PA05 // A1 +#define DIO8_PIN PIN_PA06 // A14 +#define DIO9_PIN PIN_PA07 // A15 +#define DIO4_PIN PIN_PA08 // A15 +#define DIO3_PIN PIN_PA09 // A15 +#define DIO1_PIN PIN_PA10 +#define DIO0_PIN PIN_PA11 +#define DIO18_PIN PIN_PA12 +#define DIO52_PIN PIN_PA13 +#define DIO2_PIN PIN_PA14 +#define DIO5_PIN PIN_PA15 +#define DIO11_PIN PIN_PA16 +#define DIO13_PIN PIN_PA17 +#define DIO10_PIN PIN_PA18 +#define DIO12_PIN PIN_PA19 +#define DIO6_PIN PIN_PA20 +#define DIO07_PIN PIN_PA21 +#define DIO34_PIN PIN_PA22 +#define DIO35_PIN PIN_PA23 +#define DIO42_PIN PIN_PA24 +#define DIO43_PIN PIN_PA25 + +#define DIO40_PIN PIN_PA27 + +#define DIO26_PIN PIN_PB00 +#define DIO27_PIN PIN_PB01 // A0 +#define DIO33_PIN PIN_PB02 +#define DIO39_PIN PIN_PB03 +#define DIO14_PIN PIN_PB04 +#define DIO15_PIN PIN_PB05 +#define DIO16_PIN PIN_PB06 +#define DIO17_PIN PIN_PB07 +#define DIO29_PIN PIN_PB08 +#define DIO30_PIN PIN_PB09 +#define DIO37_PIN PIN_PB10 +#define DIO38_PIN PIN_PB11 +#define DIO36_PIN PIN_PB12 +#define DIO19_PIN PIN_PB13 +#define DIO20_PIN PIN_PB14 +#define DIO21_PIN PIN_PB15 +#define DIO22_PIN PIN_PB16 +#define DIO23_PIN PIN_PB17 + +#define DIO44_PIN PIN_PB22 +#define DIO45_PIN PIN_PB23 +#define DIO24_PIN PIN_PB30 +#define DIO25_PIN PIN_PB31 + +#define DIO53_PIN PIN_PA21 +#define DIO54_PIN PIN_PA06 +#define DIO55_PIN PIN_PA07 diff --git a/Marlin/src/HAL/STM32/watchdog.h b/Marlin/src/HAL/SAMD21/inc/Conditionals_LCD.h similarity index 87% rename from Marlin/src/HAL/STM32/watchdog.h rename to Marlin/src/HAL/SAMD21/inc/Conditionals_LCD.h index 49a0d9c631..9d58e45432 100644 --- a/Marlin/src/HAL/STM32/watchdog.h +++ b/Marlin/src/HAL/SAMD21/inc/Conditionals_LCD.h @@ -1,6 +1,6 @@ /** * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * * Based on Sprinter and grbl. * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm @@ -19,7 +19,5 @@ * along with this program. If not, see . * */ -#pragma once -void watchdog_init(); -void HAL_watchdog_refresh(); +#pragma once diff --git a/Marlin/src/HAL/SAMD21/inc/Conditionals_adv.h b/Marlin/src/HAL/SAMD21/inc/Conditionals_adv.h new file mode 100644 index 0000000000..d6a3c4fe0b --- /dev/null +++ b/Marlin/src/HAL/SAMD21/inc/Conditionals_adv.h @@ -0,0 +1,27 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ +#pragma once diff --git a/Marlin/src/HAL/SAMD21/inc/Conditionals_post.h b/Marlin/src/HAL/SAMD21/inc/Conditionals_post.h new file mode 100644 index 0000000000..87d3350c94 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/inc/Conditionals_post.h @@ -0,0 +1,33 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ +#pragma once + +#if USE_FALLBACK_EEPROM + #define FLASH_EEPROM_EMULATION +#elif ANY(I2C_EEPROM, SPI_EEPROM) + #define USE_SHARED_EEPROM 1 +#endif diff --git a/Marlin/src/HAL/SAMD21/inc/SanityCheck.h b/Marlin/src/HAL/SAMD21/inc/SanityCheck.h new file mode 100644 index 0000000000..83fafc9689 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/inc/SanityCheck.h @@ -0,0 +1,54 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ + +/** + * Test SAMD21 specific configuration values for errors at compile-time. + */ + +#if HAS_SPI_TFT || HAS_FSMC_TFT + #error "Sorry! TFT displays are not available for HAL/SAMD21." +#endif + +#if SERVO_TC == MF_TIMER_RTC + #error "Servos can't use RTC timer" +#endif + +#if ENABLED(EMERGENCY_PARSER) + #error "EMERGENCY_PARSER is not yet implemented for SAMD21. Disable EMERGENCY_PARSER to continue." +#endif + +#if ENABLED(ONBOARD_SDIO) + #error "ONBOARD_SDIO is not supported on SAMD21." +#endif + +#if ENABLED(FAST_PWM_FAN) + #error "Features requiring Hardware PWM (FAST_PWM_FAN) are not yet supported for HAL/SAMD21." +#endif + +#if ENABLED(POSTMORTEM_DEBUGGING) + #error "POSTMORTEM_DEBUGGING is not yet supported on SAMD21." +#endif diff --git a/Marlin/src/HAL/SAMD21/pinsDebug.h b/Marlin/src/HAL/SAMD21/pinsDebug.h new file mode 100644 index 0000000000..f94315cdf5 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/pinsDebug.h @@ -0,0 +1,160 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ + +#define NUMBER_PINS_TOTAL PINS_COUNT + +#define digitalRead_mod(p) extDigitalRead(p) +#define PRINT_PORT(p) do{ SERIAL_ECHOPGM(" Port: "); sprintf_P(buffer, PSTR("%c%02ld"), 'A' + g_APinDescription[p].ulPort, g_APinDescription[p].ulPin); SERIAL_ECHO(buffer); }while (0) +#define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0) +#define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%3d "), p); SERIAL_ECHO(buffer); }while(0) +#define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d) "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0) +#define GET_ARRAY_PIN(p) pin_array[p].pin +#define GET_ARRAY_IS_DIGITAL(p) pin_array[p].is_digital +#define VALID_PIN(pin) (pin >= 0 && pin < (int8_t)NUMBER_PINS_TOTAL) +#define DIGITAL_PIN_TO_ANALOG_PIN(p) digitalPinToAnalogInput(p) +#define IS_ANALOG(P) (DIGITAL_PIN_TO_ANALOG_PIN(P)!=-1) +#define pwm_status(pin) digitalPinHasPWM(pin) +#define MULTI_NAME_PAD 27 // space needed to be pretty if not first name assigned to a pin + +// pins that will cause hang/reset/disconnect in M43 Toggle and Watch utilities +// uses pin index +#define M43_NEVER_TOUCH(Q) ((Q) >= 75) + +bool GET_PINMODE(int8_t pin) { // 1: output, 0: input + const EPortType samdport = g_APinDescription[pin].ulPort; + const uint32_t samdpin = g_APinDescription[pin].ulPin; + return PORT->Group[samdport].DIR.reg & MASK(samdpin) || (PORT->Group[samdport].PINCFG[samdpin].reg & (PORT_PINCFG_INEN | PORT_PINCFG_PULLEN)) == PORT_PINCFG_PULLEN; +} + +void pwm_details(int32_t pin) { + if (pwm_status(pin)) { + //uint32_t chan = g_APinDescription[pin].ulPWMChannel TODO when fast pwm is operative; + //SERIAL_ECHOPGM("PWM = ", duty); + } +} + +/** + * SAMD21 Board pin| PORT | Label + * ----------------+--------+------- + * 0 | PB25 | "RX0" + * 1 | PB24 | "TX0" + * 2 | PC18 | + * 3 | PC19 | + * 4 | PC20 | + * 5 | PC21 | + * 6 | PD20 | + * 7 | PD21 | + * 8 | PB18 | + * 9 | PB2 | + * 10 | PB22 | + * 11 | PB23 | + * 12 | PB0 | "A16" + * 13 | PB1 | LED AMBER "L" / "A17" + * 14 | PB16 | "TX3" + * 15 | PB17 | "RX3" + * 16 | PC22 | "TX2" + * 17 | PC23 | "RX2" + * 18 | PB12 | "TX1" / "A18" + * 19 | PB13 | "RX1" + * 20 | PB20 | "SDA" + * 21 | PB21 | "SCL" + * 22 | PD12 | + * 23 | PA15 | + * 24 | PC17 | + * 25 | PC16 | + * 26 | PA12 | + * 27 | PA13 | + * 28 | PA14 | + * 29 | PB19 | + * 30 | PA23 | + * 31 | PA22 | + * 32 | PA21 | + * 33 | PA20 | + * 34 | PA19 | + * 35 | PA18 | + * 36 | PA17 | + * 37 | PA16 | + * 38 | PB15 | + * 39 | PB14 | + * 40 | PC13 | + * 41 | PC12 | + * 42 | PC15 | + * 43 | PC14 | + * 44 | PC11 | + * 45 | PC10 | + * 46 | PC6 | + * 47 | PC7 | + * 48 | PC4 | + * 49 | PC5 | + * 50 | PD11 | + * 51 | PD8 | + * 52 | PD9 | + * 53 | PD10 | + * 54 | PB5 | "A8" + * 55 | PB6 | "A9" + * 56 | PB7 | "A10" + * 57 | PB8 | "A11" + * 58 | PB9 | "A12" + * 69 | PA4 | "A13" + * 60 | PA6 | "A14" + * 61 | PA7 | "A15" + * 62 | PB17 | + * 63 | PB20 | + * 64 | PD11 | + * 65 | PD8 | + * 66 | PD9 | + * 67 | PA2 | "A0" / "DAC0" + * 68 | PA5 | "A1" / "DAC1" + * 69 | PB3 | "A2" + * 70 | PC0 | "A3" + * 71 | PC1 | "A4" + * 72 | PC2 | "A5" + * 73 | PC3 | "A6" + * 74 | PB4 | "A7" + * 75 | PC31 | LED GREEN "RX" + * 76 | PC30 | LED GREEN "TX" + * 77 | PA27 | USB: Host enable + * 78 | PA24 | USB: D- + * 79 | PA25 | USB: D+ + * 80 | PB29 | SD: MISO + * 81 | PB27 | SD: SCK + * 82 | PB26 | SD: MOSI + * 83 | PB28 | SD: CS + * 84 | PA3 | AREF + * 85 | PA2 | DAC0 (Duplicate) + * 86 | PA5 | DAC1 (Duplicate) + * 87 | PB1 | LED AMBER "L" (Duplicate) + * 88 | PC24 | NeoPixel + * 89 | PB10 | QSPI: SCK + * 90 | PB11 | QSPI: CS + * 91 | PA8 | QSPI: IO0 + * 92 | PA9 | QSPI: IO1 + * 93 | PA10 | QSPI: IO2 + * 94 | PA11 | QSPI: IO3 + * 95 | PB31 | SD: DETECT + */ diff --git a/Marlin/src/HAL/SAMD21/spi_pins.h b/Marlin/src/HAL/SAMD21/spi_pins.h new file mode 100644 index 0000000000..8c25b84dc1 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/spi_pins.h @@ -0,0 +1,54 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ + +/** + * SAMD21 Default SPI Pins + * + * SS SCK MISO MOSI + * +-------------------------+ + * SPI | 53 52 50 51 | + * SPI1 | 83 81 80 82 | + * +-------------------------+ + * Any pin can be used for Chip Select (SD_SS_PIN) + */ +#ifndef SD_SCK_PIN + #define SD_SCK_PIN 38 +#endif +#ifndef SD_MISO_PIN + #define SD_MISO_PIN 36 +#endif +#ifndef SD_MOSI_PIN + #define SD_MOSI_PIN 37 +#endif +#ifndef SDSS + #define SDSS 18 +#endif + +#ifndef SD_SS_PIN + #define SD_SS_PIN SDSS +#endif diff --git a/Marlin/src/HAL/SAMD21/timers.cpp b/Marlin/src/HAL/SAMD21/timers.cpp new file mode 100644 index 0000000000..b5f1d4f7bd --- /dev/null +++ b/Marlin/src/HAL/SAMD21/timers.cpp @@ -0,0 +1,217 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ +#ifdef __SAMD21__ + +// -------------------------------------------------------------------------- +// Includes +// -------------------------------------------------------------------------- + +#include "../../inc/MarlinConfig.h" +#include "ServoTimers.h" // for SERVO_TC + +// -------------------------------------------------------------------------- +// Local defines +// -------------------------------------------------------------------------- + +#define NUM_HARDWARE_TIMERS 9 + +// -------------------------------------------------------------------------- +// Private Variables +// -------------------------------------------------------------------------- + +const tTimerConfig timer_config[NUM_HARDWARE_TIMERS] = { + { {.pTcc=TCC0}, TimerType::tcc, TCC0_IRQn, TC_PRIORITY(0) }, // 0 - stepper (assigned priority 2) + { {.pTcc=TCC1}, TimerType::tcc, TCC1_IRQn, TC_PRIORITY(1) }, // 1 - stepper (needed by 32 bit timers) + { {.pTcc=TCC2}, TimerType::tcc, TCC2_IRQn, 5 }, // 2 - tone (reserved by framework and fixed assigned priority 5) + { {.pTc=TC3}, TimerType::tc, TC3_IRQn, TC_PRIORITY(3) }, // 3 - servo (assigned priority 1) + { {.pTc=TC4}, TimerType::tc, TC4_IRQn, TC_PRIORITY(4) }, // 4 - software serial (no interrupts used) + { {.pTc=TC5}, TimerType::tc, TC5_IRQn, TC_PRIORITY(5) }, + { {.pTc=TC6}, TimerType::tc, TC6_IRQn, TC_PRIORITY(6) }, + { {.pTc=TC7}, TimerType::tc, TC7_IRQn, TC_PRIORITY(7) }, + { {.pRtc=RTC}, TimerType::rtc, RTC_IRQn, TC_PRIORITY(8) } // 8 - temperature (assigned priority 6) +}; + +// -------------------------------------------------------------------------- +// Private functions +// -------------------------------------------------------------------------- + +FORCE_INLINE void Disable_Irq(IRQn_Type irq) { + NVIC_DisableIRQ(irq); + + // We NEED memory barriers to ensure Interrupts are actually disabled! + // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the ) + __DSB(); + __ISB(); +} + +static bool tcIsSyncing(Tc * tc) { + return tc->COUNT32.STATUS.reg & TC_STATUS_SYNCBUSY; +} + +static void tcReset( Tc * tc) { + tc->COUNT32.CTRLA.reg = TC_CTRLA_SWRST; + while (tcIsSyncing(tc)) {} + while (tc->COUNT32.CTRLA.bit.SWRST) {} +} + +// -------------------------------------------------------------------------- +// Public functions +// -------------------------------------------------------------------------- + +void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { + IRQn_Type irq = timer_config[timer_num].IRQ_Id; + + // Disable interrupt, just in case it was already enabled + NVIC_DisableIRQ(irq); + NVIC_ClearPendingIRQ(irq); + + if (timer_num == MF_TIMER_RTC) { + + // https://github.com/arduino-libraries/RTCZero + Rtc * const rtc = timer_config[timer_num].pRtc; + PM->APBAMASK.reg |= PM_APBAMASK_RTC; + + GCLK->CLKCTRL.reg = (uint32_t)((GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK4 | (RTC_GCLK_ID << GCLK_CLKCTRL_ID_Pos))); + while (GCLK->STATUS.bit.SYNCBUSY) {} + + GCLK->GENCTRL.reg = (GCLK_GENCTRL_GENEN | GCLK_GENCTRL_SRC_OSCULP32K | GCLK_GENCTRL_ID(4) | GCLK_GENCTRL_DIVSEL ); + while (GCLK->STATUS.reg & GCLK_STATUS_SYNCBUSY) {} + + GCLK->GENDIV.reg = GCLK_GENDIV_ID(4); + GCLK->GENDIV.bit.DIV=4; + while (GCLK->STATUS.reg & GCLK_STATUS_SYNCBUSY) {} + + // Disable timer interrupt + rtc->MODE0.INTENCLR.reg = RTC_MODE0_INTENCLR_CMP0; + SYNC(rtc->MODE0.STATUS.bit.SYNCBUSY); + + while(rtc->MODE0.STATUS.bit.SYNCBUSY) {} + + // Stop timer, just in case, to be able to reconfigure it + rtc->MODE0.CTRL.reg = + RTC_MODE0_CTRL_MODE_COUNT32 | // Mode 0 = 32-bits counter + RTC_MODE0_CTRL_PRESCALER_DIV1024; // Divisor = 1024 + + while(rtc->MODE0.STATUS.bit.SYNCBUSY) {} + + // Mode, reset counter on match + rtc->MODE0.CTRL.reg = RTC_MODE0_CTRL_MODE_COUNT32 | RTC_MODE0_CTRL_MATCHCLR; + + // Set compare value + rtc->MODE0.COMP[0].reg = (32768 + frequency / 2) / frequency; + SYNC(rtc->MODE0.STATUS.bit.SYNCBUSY); + + // Enable interrupt on compare + rtc->MODE0.INTFLAG.reg = RTC_MODE0_INTFLAG_CMP0; // reset pending interrupt + rtc->MODE0.INTENSET.reg = RTC_MODE0_INTENSET_CMP0; // enable compare 0 interrupt + + // And start timer + rtc->MODE0.CTRL.bit.ENABLE = true; + SYNC(rtc->MODE0.STATUS.bit.SYNCBUSY); + + } + else if (timer_config[timer_num].type==TimerType::tcc) { + + Tcc * const tc = timer_config[timer_num].pTcc; + + PM->APBCMASK.reg |= PM_APBCMASK_TCC0; + GCLK->CLKCTRL.reg =(GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID(TCC0_GCLK_ID)); + SYNC (GCLK->STATUS.bit.SYNCBUSY); + + tc->CTRLA.reg = TCC_CTRLA_SWRST; + SYNC (tc->SYNCBUSY.reg & TCC_SYNCBUSY_SWRST) {} + + SYNC (tc->CTRLA.bit.SWRST); + + tc->CTRLA.reg &= ~(TCC_CTRLA_ENABLE); // disable TC module + + tc->CTRLA.reg |= TCC_WAVE_WAVEGEN_MFRQ; + tc->CTRLA.reg |= TCC_CTRLA_PRESCALER_DIV2; + tc->CC[0].reg = (HAL_TIMER_RATE) / frequency; + tc->INTENSET.reg = TCC_INTFLAG_MC0; + tc->CTRLA.reg |= TCC_CTRLA_ENABLE; + tc->INTFLAG.reg = 0xFF; + SYNC ( tc->STATUS.reg & TC_STATUS_SYNCBUSY); + + } + else { + Tc * const tc = timer_config[timer_num].pTc; + + // Disable timer interrupt + tc->COUNT32.INTENCLR.reg = TC_INTENCLR_OVF; // disable overflow interrupt + + // TCn clock setup + GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID(GCM_TC4_TC5)) ; + SYNC (GCLK->STATUS.bit.SYNCBUSY); + + tcReset(tc); // reset TC + + // Set Timer counter 5 Mode to 16 bits, it will become a 16bit counter ('mode1' in the datasheet) + tc->COUNT32.CTRLA.reg |= TC_CTRLA_MODE_COUNT32; + // Set TC waveform generation mode to 'match frequency' + tc->COUNT32.CTRLA.reg |= TC_CTRLA_WAVEGEN_MFRQ; + //set prescaler + //the clock normally counts at the GCLK_TC frequency, but we can set it to divide that frequency to slow it down + //you can use different prescaler divisons here like TC_CTRLA_PRESCALER_DIV1 to get a different range + tc->COUNT32.CTRLA.reg |= TC_CTRLA_PRESCALER_DIV1 | TC_CTRLA_ENABLE; //it will divide GCLK_TC frequency by 1024 + //set the compare-capture register. + //The counter will count up to this value (it's a 16bit counter so we use uint16_t) + //this is how we fine-tune the frequency, make it count to a lower or higher value + //system clock should be 1MHz (8MHz/8) at Reset by default + tc->COUNT32.CC[0].reg = (uint16_t) (HAL_TIMER_RATE / frequency); + while (tcIsSyncing(tc)) {} + + // Enable the TC interrupt request + tc->COUNT32.INTENSET.bit.MC0 = 1; + while (tcIsSyncing(tc)) {} + } + + NVIC_SetPriority(irq, timer_config[timer_num].priority); + NVIC_EnableIRQ(irq); +} + +void HAL_timer_enable_interrupt(const uint8_t timer_num) { + const IRQn_Type irq = timer_config[timer_num].IRQ_Id; + NVIC_EnableIRQ(irq); +} + +void HAL_timer_disable_interrupt(const uint8_t timer_num) { + const IRQn_Type irq = timer_config[timer_num].IRQ_Id; + Disable_Irq(irq); +} + +// missing from CMSIS: Check if interrupt is enabled or not +static bool NVIC_GetEnabledIRQ(IRQn_Type IRQn) { + return TEST(NVIC->ISER[uint32_t(IRQn) >> 5], uint32_t(IRQn) & 0x1F); +} + +bool HAL_timer_interrupt_enabled(const uint8_t timer_num) { + const IRQn_Type irq = timer_config[timer_num].IRQ_Id; + return NVIC_GetEnabledIRQ(irq); +} + +#endif // __SAMD21__ diff --git a/Marlin/src/HAL/SAMD21/timers.h b/Marlin/src/HAL/SAMD21/timers.h new file mode 100644 index 0000000000..303ccbdc50 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/timers.h @@ -0,0 +1,160 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ + +#include + +// -------------------------------------------------------------------------- +// Defines +// -------------------------------------------------------------------------- + +typedef uint32_t hal_timer_t; +#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF + +#define HAL_TIMER_RATE F_CPU // frequency of timers peripherals + +#define MF_TIMER_RTC 8 // This is not a TC but a RTC + +#ifndef MF_TIMER_STEP + #define MF_TIMER_STEP 4 // Timer Index for Stepper +#endif +#ifndef MF_TIMER_PULSE + #define MF_TIMER_PULSE MF_TIMER_STEP +#endif +#ifndef MF_TIMER_TEMP + #define MF_TIMER_TEMP MF_TIMER_RTC // Timer Index for Temperature +#endif + +#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency + +#define STEPPER_TIMER_RATE HAL_TIMER_RATE // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) +#define STEPPER_TIMER_TICKS_PER_US (STEPPER_TIMER_RATE / 1000000) // stepper timer ticks per µs +#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US) + +#define PULSE_TIMER_RATE STEPPER_TIMER_RATE +#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE +#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US + +#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP) +#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_STEP) +#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP) + +#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP) +#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP) + +#define TC_PRIORITY(t) ( t == SERVO_TC ? 1 \ + : (t == MF_TIMER_STEP || t == MF_TIMER_PULSE) ? 2 \ + : (t == MF_TIMER_TEMP) ? 6 : 7 ) + +#define _TC_HANDLER(t) void TC##t##_Handler() +#define TC_HANDLER(t) _TC_HANDLER(t) +#ifndef HAL_STEP_TIMER_ISR + #define HAL_STEP_TIMER_ISR() TC_HANDLER(MF_TIMER_STEP) +#endif +#if MF_TIMER_STEP != MF_TIMER_PULSE + #define HAL_PULSE_TIMER_ISR() TC_HANDLER(MF_TIMER_PULSE) +#endif +#if MF_TIMER_TEMP == MF_TIMER_RTC + #define HAL_TEMP_TIMER_ISR() void RTC_Handler() +#else + #define HAL_TEMP_TIMER_ISR() TC_HANDLER(MF_TIMER_TEMP) +#endif + +// -------------------------------------------------------------------------- +// Types +// -------------------------------------------------------------------------- +typedef enum { tcc, tc, rtc } TimerType; + +typedef struct { + union { + Tc *pTc; + Tcc *pTcc; + Rtc *pRtc; + }; + TimerType type; + IRQn_Type IRQ_Id; + uint8_t priority; +} tTimerConfig; + +// -------------------------------------------------------------------------- +// Public Variables +// -------------------------------------------------------------------------- + +extern const tTimerConfig timer_config[]; + +// -------------------------------------------------------------------------- +// Public functions +// -------------------------------------------------------------------------- + +void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency); + +FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) { + // Should never be called with timer MF_TIMER_RTC + Tc * const tc = timer_config[timer_num].pTc; + tc->COUNT32.CC[0].reg = compare; +} + +FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) { + // Should never be called with timer MF_TIMER_RTC + Tc * const tc = timer_config[timer_num].pTc; + return (hal_timer_t)tc->COUNT32.CC[0].reg; +} + +FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) { + // Should never be called with timer MF_TIMER_RTC + Tc * const tc = timer_config[timer_num].pTc; + tc->COUNT32.READREQ.reg = TC_READREQ_RREQ; + // Request a read synchronization + SYNC (tc->COUNT32.STATUS.bit.SYNCBUSY); + //SYNC(tc->COUNT32.STATUS.bit.SYNCBUSY ); + return tc->COUNT32.COUNT.reg; +} + +void HAL_timer_enable_interrupt(const uint8_t timer_num); +void HAL_timer_disable_interrupt(const uint8_t timer_num); +bool HAL_timer_interrupt_enabled(const uint8_t timer_num); + +FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) { + if (timer_num == MF_TIMER_RTC) { + Rtc * const rtc = timer_config[timer_num].pRtc; + // Clear interrupt flag + rtc->MODE0.INTFLAG.reg = RTC_MODE0_INTFLAG_CMP0| RTC_MODE0_INTFLAG_OVF; + + } + else if (timer_config[timer_num].type == TimerType::tcc){ + Tcc * const tc = timer_config[timer_num].pTcc; + // Clear interrupt flag + tc->INTFLAG.reg = TCC_INTFLAG_OVF; + } + else { + Tc * const tc = timer_config[timer_num].pTc; + // Clear interrupt flag + tc->COUNT32.INTFLAG.bit.MC0 = 1; + } +} + +#define HAL_timer_isr_epilogue(timer_num) diff --git a/Marlin/src/HAL/LINUX/watchdog.cpp b/Marlin/src/HAL/SAMD21/u8g/LCD_I2C_routines.cpp similarity index 68% rename from Marlin/src/HAL/LINUX/watchdog.cpp rename to Marlin/src/HAL/SAMD21/u8g/LCD_I2C_routines.cpp index 84202e48b6..41da7c10fc 100644 --- a/Marlin/src/HAL/LINUX/watchdog.cpp +++ b/Marlin/src/HAL/SAMD21/u8g/LCD_I2C_routines.cpp @@ -1,6 +1,6 @@ /** * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * * Based on Sprinter and grbl. * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm @@ -19,19 +19,14 @@ * along with this program. If not, see . * */ -#ifdef __PLAT_LINUX__ -#include "../../inc/MarlinConfig.h" +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ +// adapted from I2C/master/master.c example +// https://www-users.cs.york.ac.uk/~pcc/MCP/HAPR-Course-web/CMSIS/examples/html/master_8c_source.html -#if ENABLED(USE_WATCHDOG) +#ifdef __SAMD21__ -#include "watchdog.h" - -#define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout - -void watchdog_init() {} -void HAL_watchdog_refresh() {} - -#endif - -#endif // __PLAT_LINUX__ +#endif // __SAMD21__ diff --git a/Marlin/src/HAL/SAMD21/u8g/LCD_I2C_routines.h b/Marlin/src/HAL/SAMD21/u8g/LCD_I2C_routines.h new file mode 100644 index 0000000000..d6a3c4fe0b --- /dev/null +++ b/Marlin/src/HAL/SAMD21/u8g/LCD_I2C_routines.h @@ -0,0 +1,27 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ +#pragma once diff --git a/Marlin/src/HAL/SAMD21/u8g/LCD_defines.h b/Marlin/src/HAL/SAMD21/u8g/LCD_defines.h new file mode 100644 index 0000000000..fa98725d22 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/u8g/LCD_defines.h @@ -0,0 +1,41 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ +#pragma once + +/** + * SAMD21 LCD-specific defines + */ + +// The following are optional depending on the platform. + +// definitions of HAL specific com and device drivers. +uint8_t u8g_com_samd21_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr); +uint8_t u8g_com_samd21_st7920_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr); + +// connect U8g com generic com names to the desired driver +#define U8G_COM_HW_SPI u8g_com_samd21_st7920_hw_spi_fn // use SAMD21 specific hardware SPI routine +#define U8G_COM_ST7920_HW_SPI u8g_com_samd21_st7920_hw_spi_fn diff --git a/Marlin/src/HAL/STM32F1/watchdog.h b/Marlin/src/HAL/SAMD21/u8g/LCD_pin_routines.c similarity index 57% rename from Marlin/src/HAL/STM32F1/watchdog.h rename to Marlin/src/HAL/SAMD21/u8g/LCD_pin_routines.c index 68920f8cb6..f9f77825f6 100644 --- a/Marlin/src/HAL/STM32F1/watchdog.h +++ b/Marlin/src/HAL/SAMD21/u8g/LCD_pin_routines.c @@ -1,6 +1,6 @@ /** * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * * Based on Sprinter and grbl. * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm @@ -19,17 +19,24 @@ * along with this program. If not, see . * */ -#pragma once /** - * HAL for stm32duino.com based on Libmaple and compatible (STM32F1) + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) */ -#include +/** + * Low level pin manipulation routines - used by all the drivers. + * + * These are based on the SAMD51 pinMode, digitalRead & digitalWrite routines. + * + * Couldn't just call exact copies because the overhead killed the LCD update speed + * With an intermediate level the softspi was running in the 10-20kHz range which + * resulted in using about about 25% of the CPU's time. + */ -// Initialize watchdog with a 4 or 8 second countdown time -void watchdog_init(); +#ifdef __SAMD21__ -// Reset watchdog. MUST be called every 4 or 8 seconds after the -// first watchdog_init or the STM32F1 will reset. -void HAL_watchdog_refresh(); +#include + +#endif // __SAMD21__ diff --git a/Marlin/src/HAL/SAMD21/u8g/LCD_pin_routines.h b/Marlin/src/HAL/SAMD21/u8g/LCD_pin_routines.h new file mode 100644 index 0000000000..92626552b0 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/u8g/LCD_pin_routines.h @@ -0,0 +1,42 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ +#pragma once + +/** + * Low level pin manipulation routines - used by all the drivers. + * + * These are based on the SAMD51 pinMode, digitalRead & digitalWrite routines. + * + * Couldn't just call exact copies because the overhead killed the LCD update speed + * With an intermediate level the softspi was running in the 10-20kHz range which + * resulted in using about about 25% of the CPU's time. + */ + +void u8g_SetPinOutput(uint8_t internal_pin_number); +void u8g_SetPinInput(uint8_t internal_pin_number); +void u8g_SetPinLevel(uint8_t pin, uint8_t pin_status); +uint8_t u8g_GetPinLevel(uint8_t pin); diff --git a/Marlin/src/HAL/SAMD21/u8g/u8g_com_HAL_samd21_shared_hw_spi.cpp b/Marlin/src/HAL/SAMD21/u8g/u8g_com_HAL_samd21_shared_hw_spi.cpp new file mode 100644 index 0000000000..025e5a3bb6 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/u8g/u8g_com_HAL_samd21_shared_hw_spi.cpp @@ -0,0 +1,160 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ + +/** + * Based on u8g_com_msp430_hw_spi.c + * + * Universal 8bit Graphics Library + * + * Copyright (c) 2012, olikraus@gmail.com + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or other + * materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT + * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, + * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifdef __SAMD21__ + +#include "../../../inc/MarlinConfigPre.h" + +#if HAS_MARLINUI_U8GLIB + +#include +#include "SPI.h" + +#include "../../shared/HAL_SPI.h" + +#ifndef LCD_SPI_SPEED + #define LCD_SPI_SPEED SPI_QUARTER_SPEED +#endif + +void u8g_SetPIOutput(u8g_t *u8g, uint8_t pin_index) { + if (u8g->pin_list[pin_index]!= U8G_PIN_NONE) + pinMode(u8g->pin_list[pin_index],OUTPUT); +} + +void u8g_SetPILevel(u8g_t *u8g, uint8_t pin_index, uint8_t level) { + if (u8g->pin_list[pin_index]!= U8G_PIN_NONE) + digitalWrite(u8g->pin_list[pin_index],level); +} + +uint8_t u8g_com_samd21_st7920_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr) { + + static SPISettings lcdSPIConfig; + + switch (msg) { + case U8G_COM_MSG_STOP: + break; + + case U8G_COM_MSG_INIT: + u8g_SetPIOutput(u8g, U8G_PI_CS); + u8g_SetPIOutput(u8g, U8G_PI_A0); + u8g_SetPIOutput(u8g, U8G_PI_RESET); + + u8g_SetPILevel(u8g, U8G_PI_CS, LOW); + + spiBegin(); + lcdSPIConfig = SPISettings(900000, MSBFIRST, SPI_MODE0); + u8g->pin_list[U8G_PI_A0_STATE] = 0; + break; + + case U8G_COM_MSG_ADDRESS: // define cmd (arg_val = 0) or data mode (arg_val = 1) + u8g_SetPILevel(u8g, U8G_PI_A0, arg_val); + u8g->pin_list[U8G_PI_A0_STATE] = arg_val; + break; + + case U8G_COM_MSG_CHIP_SELECT: // arg_val == 1 means chip selected, but ST7920 is active high, so needs inverting + u8g_SetPILevel(u8g, U8G_PI_CS, arg_val ? HIGH : LOW); + break; + + case U8G_COM_MSG_RESET: + u8g_SetPILevel(u8g, U8G_PI_RESET, arg_val); + break; + + case U8G_COM_MSG_WRITE_BYTE: + SPI.beginTransaction(lcdSPIConfig); + + if (u8g->pin_list[U8G_PI_A0_STATE] == 0) { // command + SPI.transfer(0x0f8); u8g->pin_list[U8G_PI_A0_STATE] = 2; + } + else if (u8g->pin_list[U8G_PI_A0_STATE] == 1) { // data + SPI.transfer(0x0fa); u8g->pin_list[U8G_PI_A0_STATE] = 2; + } + + SPI.transfer(arg_val & 0x0f0); + SPI.transfer(arg_val << 4); + SPI.endTransaction(); + break; + + case U8G_COM_MSG_WRITE_SEQ: + SPI.beginTransaction(lcdSPIConfig); + + if (u8g->pin_list[U8G_PI_A0_STATE] == 0 ) { // command + SPI.transfer(0x0f8); u8g->pin_list[U8G_PI_A0_STATE] = 2; + } + else if (u8g->pin_list[U8G_PI_A0_STATE] == 1) { // data + SPI.transfer(0x0fa); u8g->pin_list[U8G_PI_A0_STATE] = 2; + } + + uint8_t *ptr = (uint8_t*)arg_ptr; + while (arg_val > 0) { + SPI.transfer((*ptr) & 0x0f0); + SPI.transfer((*ptr) << 4); + ptr++; + arg_val--; + } + + SPI.endTransaction(); + break; + } + return 1; +} + +#endif // HAS_MARLINUI_U8GLIB + +#endif // __SAMD21__ diff --git a/Marlin/src/HAL/SAMD51/HAL.cpp b/Marlin/src/HAL/SAMD51/HAL.cpp index 14b6a437dc..8ec5d5a86c 100644 --- a/Marlin/src/HAL/SAMD51/HAL.cpp +++ b/Marlin/src/HAL/SAMD51/HAL.cpp @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -18,6 +19,10 @@ * along with this program. If not, see . * */ + +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ #ifdef __SAMD51__ #include "../../inc/MarlinConfig.h" @@ -203,6 +208,40 @@ enum ADCIndex { ADC_COUNT }; +#if ENABLED(USE_WATCHDOG) + + #define WDT_TIMEOUT_REG TERN(WATCHDOG_DURATION_8S, WDT_CONFIG_PER_CYC8192, WDT_CONFIG_PER_CYC4096) // 4 or 8 second timeout + + void MarlinHAL::watchdog_init() { + // The low-power oscillator used by the WDT runs at 32,768 Hz with + // a 1:32 prescale, thus 1024 Hz, though probably not super precise. + + // Setup WDT clocks + MCLK->APBAMASK.bit.OSC32KCTRL_ = true; + MCLK->APBAMASK.bit.WDT_ = true; + OSC32KCTRL->OSCULP32K.bit.EN1K = true; // Enable out 1K (this is what WDT uses) + + WDT->CTRLA.bit.ENABLE = false; // Disable watchdog for config + SYNC(WDT->SYNCBUSY.bit.ENABLE); + + WDT->INTENCLR.reg = WDT_INTENCLR_EW; // Disable early warning interrupt + WDT->CONFIG.reg = WDT_TIMEOUT_REG; // Set a 4s or 8s period for chip reset + + hal.watchdog_refresh(); + + WDT->CTRLA.reg = WDT_CTRLA_ENABLE; // Start watchdog now in normal mode + SYNC(WDT->SYNCBUSY.bit.ENABLE); + } + + // Reset watchdog. MUST be called at least every 4 seconds after the + // first watchdog_init or SAMD will go into emergency procedures. + void MarlinHAL::watchdog_refresh() { + SYNC(WDT->SYNCBUSY.bit.CLEAR); // Test first if previous is 'ongoing' to save time waiting for command execution + WDT->CLEAR.reg = WDT_CLEAR_CLEAR_KEY; + } + +#endif + // ------------------------ // Types // ------------------------ @@ -563,8 +602,8 @@ void MarlinHAL::dma_init() { // HAL initialization task void MarlinHAL::init() { TERN_(DMA_IS_REQUIRED, dma_init()); - #if ENABLED(SDSUPPORT) - #if SD_CONNECTION_IS(ONBOARD) && PIN_EXISTS(SD_DETECT) + #if HAS_MEDIA + #if HAS_SD_DETECT && SD_CONNECTION_IS(ONBOARD) SET_INPUT_PULLUP(SD_DETECT_PIN); #endif OUT_WRITE(SDSS, HIGH); // Try to set SDSS inactive before any other SPI users start up @@ -611,10 +650,10 @@ void MarlinHAL::adc_init() { #if ADC_IS_REQUIRED memset(adc_results, 0xFF, sizeof(adc_results)); // Fill result with invalid values - LOOP_L_N(pi, COUNT(adc_pins)) + for (uint8_t pi = 0; pi < COUNT(adc_pins); ++pi) pinPeripheral(adc_pins[pi], PIO_ANALOG); - LOOP_S_LE_N(ai, FIRST_ADC, LAST_ADC) { + for (uint8_t ai = FIRST_ADC; ai <= LAST_ADC; ++ai) { Adc* adc = ((Adc*[])ADC_INSTS)[ai]; // ADC clock setup @@ -646,7 +685,7 @@ void MarlinHAL::adc_init() { void MarlinHAL::adc_start(const pin_t pin) { #if ADC_IS_REQUIRED - LOOP_L_N(pi, COUNT(adc_pins)) + for (uint8_t pi = 0; pi < COUNT(adc_pins); ++pi) if (pin == adc_pins[pi]) { adc_result = adc_results[pi]; return; } #endif diff --git a/Marlin/src/HAL/SAMD51/HAL.h b/Marlin/src/HAL/SAMD51/HAL.h index 3b09a885a5..c96401fd97 100644 --- a/Marlin/src/HAL/SAMD51/HAL.h +++ b/Marlin/src/HAL/SAMD51/HAL.h @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -20,13 +21,16 @@ */ #pragma once +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ + #define CPU_32_BIT #include "../shared/Marduino.h" #include "../shared/math_32bit.h" #include "../shared/HAL_SPI.h" #include "fastio.h" -#include "watchdog.h" #ifdef ADAFRUIT_GRAND_CENTRAL_M4 #include "MarlinSerial_AGCM4.h" @@ -108,7 +112,7 @@ typedef Servo hal_servo_t; // //#define HAL_ADC_FILTERED // Disable Marlin's oversampling. The HAL filters ADC values. -#define HAL_ADC_VREF 3.3 +#define HAL_ADC_VREF_MV 3300 #define HAL_ADC_RESOLUTION 10 // ... 12 // @@ -157,6 +161,10 @@ public: // Earliest possible init, before setup() MarlinHAL() {} + // Watchdog + static void watchdog_init() IF_DISABLED(USE_WATCHDOG, {}); + static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {}); + static void init(); // Called early in setup() static void init_board() {} // Called less early in setup() static void reboot(); // Restart the firmware from 0x0 @@ -190,7 +198,7 @@ public: // Called by Temperature::init for each sensor at startup static void adc_enable(const uint8_t ch) {} - // Begin ADC sampling on the given channel + // Begin ADC sampling on the given pin. Called from Temperature::isr! static void adc_start(const pin_t pin); // Is the ADC ready for reading? diff --git a/Marlin/src/HAL/SAMD51/HAL_SPI.cpp b/Marlin/src/HAL/SAMD51/HAL_SPI.cpp index 77f4d5ecd5..63d3971965 100644 --- a/Marlin/src/HAL/SAMD51/HAL_SPI.cpp +++ b/Marlin/src/HAL/SAMD51/HAL_SPI.cpp @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -19,6 +20,10 @@ * */ +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ + /** * Hardware and software SPI implementations are included in this file. * @@ -39,7 +44,7 @@ // Public functions // -------------------------------------------------------------------------- -#if EITHER(SOFTWARE_SPI, FORCE_SOFT_SPI) +#if ANY(SOFTWARE_SPI, FORCE_SOFT_SPI) // ------------------------ // Software SPI diff --git a/Marlin/src/HAL/SAMD51/MarlinSerial_AGCM4.cpp b/Marlin/src/HAL/SAMD51/MarlinSerial_AGCM4.cpp index a16ea2f758..baa7a38503 100644 --- a/Marlin/src/HAL/SAMD51/MarlinSerial_AGCM4.cpp +++ b/Marlin/src/HAL/SAMD51/MarlinSerial_AGCM4.cpp @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -18,6 +19,10 @@ * along with this program. If not, see . * */ + +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ #ifdef ADAFRUIT_GRAND_CENTRAL_M4 /** diff --git a/Marlin/src/HAL/SAMD51/MarlinSerial_AGCM4.h b/Marlin/src/HAL/SAMD51/MarlinSerial_AGCM4.h index ac5a379398..1044d9fcd0 100644 --- a/Marlin/src/HAL/SAMD51/MarlinSerial_AGCM4.h +++ b/Marlin/src/HAL/SAMD51/MarlinSerial_AGCM4.h @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -20,6 +21,10 @@ */ #pragma once +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ + #include "../../core/serial_hook.h" typedef Serial1Class UartT; diff --git a/Marlin/src/HAL/SAMD51/SAMD51.h b/Marlin/src/HAL/SAMD51/SAMD51.h index 783956140d..8cc19d7155 100644 --- a/Marlin/src/HAL/SAMD51/SAMD51.h +++ b/Marlin/src/HAL/SAMD51/SAMD51.h @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -20,6 +21,10 @@ */ #pragma once +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ + #define SYNC(sc) while (sc) { \ asm(""); \ } diff --git a/Marlin/src/HAL/SAMD51/Servo.cpp b/Marlin/src/HAL/SAMD51/Servo.cpp index 23ab21c615..e533eee301 100644 --- a/Marlin/src/HAL/SAMD51/Servo.cpp +++ b/Marlin/src/HAL/SAMD51/Servo.cpp @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -19,6 +20,10 @@ * */ +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ + /** * This comes from Arduino library which at the moment is buggy and uncompilable */ @@ -77,7 +82,8 @@ HAL_SERVO_TIMER_ISR() { ; const uint8_t tcChannel = TIMER_TCCHANNEL(timer); - if (currentServoIndex[timer] < 0) { + int8_t cho = currentServoIndex[timer]; // Handle the prior servo first + if (cho < 0) { // Servo -1 indicates the refresh interval completed... #if defined(_useTimer1) && defined(_useTimer2) if (currentServoIndex[timer ^ 1] >= 0) { // Wait for both channels @@ -86,45 +92,37 @@ HAL_SERVO_TIMER_ISR() { return; } #endif - tc->COUNT16.COUNT.reg = TC_COUNTER_START_VAL; + tc->COUNT16.COUNT.reg = TC_COUNTER_START_VAL; // ...so reset the timer SYNC(tc->COUNT16.SYNCBUSY.bit.COUNT); } - else if (SERVO_INDEX(timer, currentServoIndex[timer]) < ServoCount && SERVO(timer, currentServoIndex[timer]).Pin.isActive) - digitalWrite(SERVO(timer, currentServoIndex[timer]).Pin.nbr, LOW); // pulse this channel low if activated + else if (SERVO_INDEX(timer, cho) < ServoCount) // prior channel handled? + digitalWrite(SERVO(timer, cho).Pin.nbr, LOW); // pulse the prior channel LOW - // Select the next servo controlled by this timer - currentServoIndex[timer]++; + currentServoIndex[timer] = ++cho; // go to the next channel (or 0) + if (cho < SERVOS_PER_TIMER && SERVO_INDEX(timer, cho) < ServoCount) { + if (SERVO(timer, cho).Pin.isActive) // activated? + digitalWrite(SERVO(timer, cho).Pin.nbr, HIGH); // yes: pulse HIGH - if (SERVO_INDEX(timer, currentServoIndex[timer]) < ServoCount && currentServoIndex[timer] < SERVOS_PER_TIMER) { - if (SERVO(timer, currentServoIndex[timer]).Pin.isActive) // check if activated - digitalWrite(SERVO(timer, currentServoIndex[timer]).Pin.nbr, HIGH); // it's an active channel so pulse it high - - tc->COUNT16.CC[tcChannel].reg = getTimerCount() - (uint16_t)SERVO(timer, currentServoIndex[timer]).ticks; + tc->COUNT16.CC[tcChannel].reg = getTimerCount() - (uint16_t)SERVO(timer, cho).ticks; } else { // finished all channels so wait for the refresh period to expire before starting over - currentServoIndex[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel - - const uint16_t tcCounterValue = getTimerCount(); - - if ((TC_COUNTER_START_VAL - tcCounterValue) + 4UL < usToTicks(REFRESH_INTERVAL)) // allow a few ticks to ensure the next OCR1A not missed - tc->COUNT16.CC[tcChannel].reg = TC_COUNTER_START_VAL - (uint16_t)usToTicks(REFRESH_INTERVAL); - else - tc->COUNT16.CC[tcChannel].reg = (uint16_t)(tcCounterValue - 4UL); // at least REFRESH_INTERVAL has elapsed + currentServoIndex[timer] = -1; // reset the timer COUNT.reg on the next call + const uint16_t cval = getTimerCount() - 256 / (SERVO_TIMER_PRESCALER), // allow 256 cycles to ensure the next CV not missed + ival = (TC_COUNTER_START_VAL) - (uint16_t)usToTicks(REFRESH_INTERVAL); // at least REFRESH_INTERVAL has elapsed + tc->COUNT16.CC[tcChannel].reg = min(cval, ival); } if (tcChannel == 0) { SYNC(tc->COUNT16.SYNCBUSY.bit.CC0); - // Clear the interrupt - tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC0; + tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC0; // Clear the interrupt } else { SYNC(tc->COUNT16.SYNCBUSY.bit.CC1); - // Clear the interrupt - tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC1; + tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC1; // Clear the interrupt } } -void initISR(timer16_Sequence_t timer) { +void initISR(const timer16_Sequence_t timer) { Tc * const tc = timer_config[SERVO_TC].pTc; const uint8_t tcChannel = TIMER_TCCHANNEL(timer); @@ -201,9 +199,9 @@ void initISR(timer16_Sequence_t timer) { } } -void finISR(timer16_Sequence_t timer) { +void finISR(const timer16_Sequence_t timer_index) { Tc * const tc = timer_config[SERVO_TC].pTc; - const uint8_t tcChannel = TIMER_TCCHANNEL(timer); + const uint8_t tcChannel = TIMER_TCCHANNEL(timer_index); // Disable the match channel interrupt request tc->COUNT16.INTENCLR.reg = (tcChannel == 0) ? TC_INTENCLR_MC0 : TC_INTENCLR_MC1; diff --git a/Marlin/src/HAL/SAMD51/ServoTimers.h b/Marlin/src/HAL/SAMD51/ServoTimers.h index 948d515356..47e0a190aa 100644 --- a/Marlin/src/HAL/SAMD51/ServoTimers.h +++ b/Marlin/src/HAL/SAMD51/ServoTimers.h @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -20,6 +21,10 @@ */ #pragma once +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ + #define _useTimer1 #define _useTimer2 diff --git a/Marlin/src/HAL/SAMD51/eeprom_flash.cpp b/Marlin/src/HAL/SAMD51/eeprom_flash.cpp index 871bf22b7f..7d5518956c 100644 --- a/Marlin/src/HAL/SAMD51/eeprom_flash.cpp +++ b/Marlin/src/HAL/SAMD51/eeprom_flash.cpp @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -18,6 +19,10 @@ * along with this program. If not, see . * */ + +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ #ifdef __SAMD51__ #include "../../inc/MarlinConfig.h" diff --git a/Marlin/src/HAL/SAMD51/eeprom_qspi.cpp b/Marlin/src/HAL/SAMD51/eeprom_qspi.cpp index faa7637197..1c82ede040 100644 --- a/Marlin/src/HAL/SAMD51/eeprom_qspi.cpp +++ b/Marlin/src/HAL/SAMD51/eeprom_qspi.cpp @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -18,6 +19,10 @@ * along with this program. If not, see . * */ + +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ #ifdef __SAMD51__ #include "../../inc/MarlinConfig.h" diff --git a/Marlin/src/HAL/SAMD51/eeprom_wired.cpp b/Marlin/src/HAL/SAMD51/eeprom_wired.cpp index 3481fe539c..7a03d4eaa3 100644 --- a/Marlin/src/HAL/SAMD51/eeprom_wired.cpp +++ b/Marlin/src/HAL/SAMD51/eeprom_wired.cpp @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -18,6 +19,10 @@ * along with this program. If not, see . * */ + +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ #ifdef __SAMD51__ #include "../../inc/MarlinConfig.h" diff --git a/Marlin/src/HAL/SAMD51/endstop_interrupts.h b/Marlin/src/HAL/SAMD51/endstop_interrupts.h index 2f02f404f5..84b6c46da9 100644 --- a/Marlin/src/HAL/SAMD51/endstop_interrupts.h +++ b/Marlin/src/HAL/SAMD51/endstop_interrupts.h @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -20,6 +21,10 @@ */ #pragma once +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ + /** * Endstop interrupts for ATMEL SAMD51 based targets. * @@ -48,31 +53,35 @@ #include "../../module/endstops.h" #define MATCH_EILINE(P1,P2) (P1 != P2 && PIN_TO_EILINE(P1) == PIN_TO_EILINE(P2)) -#define MATCH_X_MAX_EILINE(P) TERN0(HAS_X_MAX, DEFER4(MATCH_EILINE)(P, X_MAX_PIN)) -#define MATCH_X_MIN_EILINE(P) TERN0(HAS_X_MIN, DEFER4(MATCH_EILINE)(P, X_MIN_PIN)) -#define MATCH_Y_MAX_EILINE(P) TERN0(HAS_Y_MAX, DEFER4(MATCH_EILINE)(P, Y_MAX_PIN)) -#define MATCH_Y_MIN_EILINE(P) TERN0(HAS_Y_MIN, DEFER4(MATCH_EILINE)(P, Y_MIN_PIN)) -#define MATCH_Z_MAX_EILINE(P) TERN0(HAS_Z_MAX, DEFER4(MATCH_EILINE)(P, Z_MAX_PIN)) -#define MATCH_Z_MIN_EILINE(P) TERN0(HAS_Z_MIN, DEFER4(MATCH_EILINE)(P, Z_MIN_PIN)) -#define MATCH_I_MAX_EILINE(P) TERN0(HAS_I_MAX, DEFER4(MATCH_EILINE)(P, I_MAX_PIN)) -#define MATCH_I_MIN_EILINE(P) TERN0(HAS_I_MIN, DEFER4(MATCH_EILINE)(P, I_MIN_PIN)) -#define MATCH_J_MAX_EILINE(P) TERN0(HAS_J_MAX, DEFER4(MATCH_EILINE)(P, J_MAX_PIN)) -#define MATCH_J_MIN_EILINE(P) TERN0(HAS_J_MIN, DEFER4(MATCH_EILINE)(P, J_MIN_PIN)) -#define MATCH_K_MAX_EILINE(P) TERN0(HAS_K_MAX, DEFER4(MATCH_EILINE)(P, K_MAX_PIN)) -#define MATCH_K_MIN_EILINE(P) TERN0(HAS_K_MIN, DEFER4(MATCH_EILINE)(P, K_MIN_PIN)) -#define MATCH_U_MAX_EILINE(P) TERN0(HAS_U_MAX, DEFER4(MATCH_EILINE)(P, U_MAX_PIN)) -#define MATCH_U_MIN_EILINE(P) TERN0(HAS_U_MIN, DEFER4(MATCH_EILINE)(P, U_MIN_PIN)) -#define MATCH_V_MAX_EILINE(P) TERN0(HAS_V_MAX, DEFER4(MATCH_EILINE)(P, V_MAX_PIN)) -#define MATCH_V_MIN_EILINE(P) TERN0(HAS_V_MIN, DEFER4(MATCH_EILINE)(P, V_MIN_PIN)) -#define MATCH_W_MAX_EILINE(P) TERN0(HAS_W_MAX, DEFER4(MATCH_EILINE)(P, W_MAX_PIN)) -#define MATCH_W_MIN_EILINE(P) TERN0(HAS_W_MIN, DEFER4(MATCH_EILINE)(P, W_MIN_PIN)) -#define MATCH_Z2_MAX_EILINE(P) TERN0(HAS_Z2_MAX, DEFER4(MATCH_EILINE)(P, Z2_MAX_PIN)) -#define MATCH_Z2_MIN_EILINE(P) TERN0(HAS_Z2_MIN, DEFER4(MATCH_EILINE)(P, Z2_MIN_PIN)) -#define MATCH_Z3_MAX_EILINE(P) TERN0(HAS_Z3_MAX, DEFER4(MATCH_EILINE)(P, Z3_MAX_PIN)) -#define MATCH_Z3_MIN_EILINE(P) TERN0(HAS_Z3_MIN, DEFER4(MATCH_EILINE)(P, Z3_MIN_PIN)) -#define MATCH_Z4_MAX_EILINE(P) TERN0(HAS_Z4_MAX, DEFER4(MATCH_EILINE)(P, Z4_MAX_PIN)) -#define MATCH_Z4_MIN_EILINE(P) TERN0(HAS_Z4_MIN, DEFER4(MATCH_EILINE)(P, Z4_MIN_PIN)) -#define MATCH_Z_MIN_PROBE_EILINE(P) TERN0(HAS_Z_MIN_PROBE_PIN, DEFER4(MATCH_EILINE)(P, Z_MIN_PROBE_PIN)) +#define MATCH_X_MAX_EILINE(P) TERN0(USE_X_MAX, DEFER4(MATCH_EILINE)(P, X_MAX_PIN)) +#define MATCH_X_MIN_EILINE(P) TERN0(USE_X_MIN, DEFER4(MATCH_EILINE)(P, X_MIN_PIN)) +#define MATCH_Y_MAX_EILINE(P) TERN0(USE_Y_MAX, DEFER4(MATCH_EILINE)(P, Y_MAX_PIN)) +#define MATCH_Y_MIN_EILINE(P) TERN0(USE_Y_MIN, DEFER4(MATCH_EILINE)(P, Y_MIN_PIN)) +#define MATCH_Z_MAX_EILINE(P) TERN0(USE_Z_MAX, DEFER4(MATCH_EILINE)(P, Z_MAX_PIN)) +#define MATCH_Z_MIN_EILINE(P) TERN0(USE_Z_MIN, DEFER4(MATCH_EILINE)(P, Z_MIN_PIN)) +#define MATCH_I_MAX_EILINE(P) TERN0(USE_I_MAX, DEFER4(MATCH_EILINE)(P, I_MAX_PIN)) +#define MATCH_I_MIN_EILINE(P) TERN0(USE_I_MIN, DEFER4(MATCH_EILINE)(P, I_MIN_PIN)) +#define MATCH_J_MAX_EILINE(P) TERN0(USE_J_MAX, DEFER4(MATCH_EILINE)(P, J_MAX_PIN)) +#define MATCH_J_MIN_EILINE(P) TERN0(USE_J_MIN, DEFER4(MATCH_EILINE)(P, J_MIN_PIN)) +#define MATCH_K_MAX_EILINE(P) TERN0(USE_K_MAX, DEFER4(MATCH_EILINE)(P, K_MAX_PIN)) +#define MATCH_K_MIN_EILINE(P) TERN0(USE_K_MIN, DEFER4(MATCH_EILINE)(P, K_MIN_PIN)) +#define MATCH_U_MAX_EILINE(P) TERN0(USE_U_MAX, DEFER4(MATCH_EILINE)(P, U_MAX_PIN)) +#define MATCH_U_MIN_EILINE(P) TERN0(USE_U_MIN, DEFER4(MATCH_EILINE)(P, U_MIN_PIN)) +#define MATCH_V_MAX_EILINE(P) TERN0(USE_V_MAX, DEFER4(MATCH_EILINE)(P, V_MAX_PIN)) +#define MATCH_V_MIN_EILINE(P) TERN0(USE_V_MIN, DEFER4(MATCH_EILINE)(P, V_MIN_PIN)) +#define MATCH_W_MAX_EILINE(P) TERN0(USE_W_MAX, DEFER4(MATCH_EILINE)(P, W_MAX_PIN)) +#define MATCH_W_MIN_EILINE(P) TERN0(USE_W_MIN, DEFER4(MATCH_EILINE)(P, W_MIN_PIN)) +#define MATCH_X2_MAX_EILINE(P) TERN0(USE_X2_MAX, DEFER4(MATCH_EILINE)(P, X2_MAX_PIN)) +#define MATCH_X2_MIN_EILINE(P) TERN0(USE_X2_MIN, DEFER4(MATCH_EILINE)(P, X2_MIN_PIN)) +#define MATCH_Y2_MAX_EILINE(P) TERN0(USE_Y2_MAX, DEFER4(MATCH_EILINE)(P, Y2_MAX_PIN)) +#define MATCH_Y2_MIN_EILINE(P) TERN0(USE_Y2_MIN, DEFER4(MATCH_EILINE)(P, Y2_MIN_PIN)) +#define MATCH_Z2_MAX_EILINE(P) TERN0(USE_Z2_MAX, DEFER4(MATCH_EILINE)(P, Z2_MAX_PIN)) +#define MATCH_Z2_MIN_EILINE(P) TERN0(USE_Z2_MIN, DEFER4(MATCH_EILINE)(P, Z2_MIN_PIN)) +#define MATCH_Z3_MAX_EILINE(P) TERN0(USE_Z3_MAX, DEFER4(MATCH_EILINE)(P, Z3_MAX_PIN)) +#define MATCH_Z3_MIN_EILINE(P) TERN0(USE_Z3_MIN, DEFER4(MATCH_EILINE)(P, Z3_MIN_PIN)) +#define MATCH_Z4_MAX_EILINE(P) TERN0(USE_Z4_MAX, DEFER4(MATCH_EILINE)(P, Z4_MAX_PIN)) +#define MATCH_Z4_MIN_EILINE(P) TERN0(USE_Z4_MIN, DEFER4(MATCH_EILINE)(P, Z4_MIN_PIN)) +#define MATCH_Z_MIN_PROBE_EILINE(P) TERN0(USE_Z_MIN_PROBE, DEFER4(MATCH_EILINE)(P, Z_MIN_PROBE_PIN)) #define AVAILABLE_EILINE(P) ( PIN_TO_EILINE(P) != -1 \ && !MATCH_X_MAX_EILINE(P) && !MATCH_X_MIN_EILINE(P) \ @@ -84,6 +93,8 @@ && !MATCH_U_MAX_EILINE(P) && !MATCH_U_MIN_EILINE(P) \ && !MATCH_V_MAX_EILINE(P) && !MATCH_V_MIN_EILINE(P) \ && !MATCH_W_MAX_EILINE(P) && !MATCH_W_MIN_EILINE(P) \ + && !MATCH_X2_MAX_EILINE(P) && !MATCH_X2_MIN_EILINE(P) \ + && !MATCH_Y2_MAX_EILINE(P) && !MATCH_Y2_MIN_EILINE(P) \ && !MATCH_Z2_MAX_EILINE(P) && !MATCH_Z2_MIN_EILINE(P) \ && !MATCH_Z3_MAX_EILINE(P) && !MATCH_Z3_MIN_EILINE(P) \ && !MATCH_Z4_MAX_EILINE(P) && !MATCH_Z4_MIN_EILINE(P) \ @@ -94,153 +105,153 @@ void endstop_ISR() { endstops.update(); } void setup_endstop_interrupts() { #define _ATTACH(P) attachInterrupt(P, endstop_ISR, CHANGE) - #if HAS_X_MAX + #if USE_X_MAX #if !AVAILABLE_EILINE(X_MAX_PIN) - #error "X_MAX_PIN has no EXTINT line available." + #error "X_MAX_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(X_MAX_PIN); #endif - #if HAS_X_MIN + #if USE_X_MIN #if !AVAILABLE_EILINE(X_MIN_PIN) - #error "X_MIN_PIN has no EXTINT line available." + #error "X_MIN_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(X_MIN_PIN); #endif - #if HAS_Y_MAX + #if USE_Y_MAX #if !AVAILABLE_EILINE(Y_MAX_PIN) - #error "Y_MAX_PIN has no EXTINT line available." + #error "Y_MAX_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(Y_MAX_PIN); #endif - #if HAS_Y_MIN + #if USE_Y_MIN #if !AVAILABLE_EILINE(Y_MIN_PIN) - #error "Y_MIN_PIN has no EXTINT line available." + #error "Y_MIN_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(Y_MIN_PIN); #endif - #if HAS_Z_MAX + #if USE_Z_MAX #if !AVAILABLE_EILINE(Z_MAX_PIN) - #error "Z_MAX_PIN has no EXTINT line available." + #error "Z_MAX_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(Z_MAX_PIN); #endif - #if HAS_Z_MIN + #if USE_Z_MIN #if !AVAILABLE_EILINE(Z_MIN_PIN) - #error "Z_MIN_PIN has no EXTINT line available." + #error "Z_MIN_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(Z_MIN_PIN); #endif - #if HAS_Z2_MAX + #if USE_Z2_MAX #if !AVAILABLE_EILINE(Z2_MAX_PIN) - #error "Z2_MAX_PIN has no EXTINT line available." + #error "Z2_MAX_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(Z2_MAX_PIN); #endif - #if HAS_Z2_MIN + #if USE_Z2_MIN #if !AVAILABLE_EILINE(Z2_MIN_PIN) - #error "Z2_MIN_PIN has no EXTINT line available." + #error "Z2_MIN_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(Z2_MIN_PIN); #endif - #if HAS_Z3_MAX + #if USE_Z3_MAX #if !AVAILABLE_EILINE(Z3_MAX_PIN) - #error "Z3_MAX_PIN has no EXTINT line available." + #error "Z3_MAX_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(Z3_MAX_PIN); #endif - #if HAS_Z3_MIN + #if USE_Z3_MIN #if !AVAILABLE_EILINE(Z3_MIN_PIN) - #error "Z3_MIN_PIN has no EXTINT line available." + #error "Z3_MIN_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(Z3_MIN_PIN); #endif - #if HAS_Z4_MAX + #if USE_Z4_MAX #if !AVAILABLE_EILINE(Z4_MAX_PIN) - #error "Z4_MAX_PIN has no EXTINT line available." + #error "Z4_MAX_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(Z4_MAX_PIN); #endif - #if HAS_Z4_MIN + #if USE_Z4_MIN #if !AVAILABLE_EILINE(Z4_MIN_PIN) - #error "Z4_MIN_PIN has no EXTINT line available." + #error "Z4_MIN_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(Z4_MIN_PIN); #endif - #if HAS_Z_MIN_PROBE_PIN + #if USE_Z_MIN_PROBE #if !AVAILABLE_EILINE(Z_MIN_PROBE_PIN) - #error "Z_MIN_PROBE_PIN has no EXTINT line available." + #error "Z_MIN_PROBE_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif _ATTACH(Z_MIN_PROBE_PIN); #endif - #if HAS_I_MAX + #if USE_I_MAX #if !AVAILABLE_EILINE(I_MAX_PIN) - #error "I_MAX_PIN has no EXTINT line available." + #error "I_MAX_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif attachInterrupt(I_MAX_PIN, endstop_ISR, CHANGE); #endif - #if HAS_I_MIN + #if USE_I_MIN #if !AVAILABLE_EILINE(I_MIN_PIN) - #error "I_MIN_PIN has no EXTINT line available." + #error "I_MIN_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif attachInterrupt(I_MIN_PIN, endstop_ISR, CHANGE); #endif - #if HAS_J_MAX + #if USE_J_MAX #if !AVAILABLE_EILINE(J_MAX_PIN) - #error "J_MAX_PIN has no EXTINT line available." + #error "J_MAX_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif attachInterrupt(J_MAX_PIN, endstop_ISR, CHANGE); #endif - #if HAS_J_MIN + #if USE_J_MIN #if !AVAILABLE_EILINE(J_MIN_PIN) - #error "J_MIN_PIN has no EXTINT line available." + #error "J_MIN_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif attachInterrupt(J_MIN_PIN, endstop_ISR, CHANGE); #endif - #if HAS_K_MAX + #if USE_K_MAX #if !AVAILABLE_EILINE(K_MAX_PIN) - #error "K_MAX_PIN has no EXTINT line available." + #error "K_MAX_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif attachInterrupt(K_MAX_PIN, endstop_ISR, CHANGE); #endif - #if HAS_K_MIN + #if USE_K_MIN #if !AVAILABLE_EILINE(K_MIN_PIN) - #error "K_MIN_PIN has no EXTINT line available." + #error "K_MIN_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif attachInterrupt(K_MIN_PIN, endstop_ISR, CHANGE); #endif - #if HAS_U_MAX + #if USE_U_MAX #if !AVAILABLE_EILINE(U_MAX_PIN) - #error "U_MAX_PIN has no EXTINT line available." + #error "U_MAX_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif attachInterrupt(U_MAX_PIN, endstop_ISR, CHANGE); #endif - #if HAS_U_MIN + #if USE_U_MIN #if !AVAILABLE_EILINE(U_MIN_PIN) - #error "U_MIN_PIN has no EXTINT line available." + #error "U_MIN_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif attachInterrupt(U_MIN_PIN, endstop_ISR, CHANGE); #endif - #if HAS_V_MAX + #if USE_V_MAX #if !AVAILABLE_EILINE(V_MAX_PIN) - #error "V_MAX_PIN has no EXTINT line available." + #error "V_MAX_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif attachInterrupt(V_MAX_PIN, endstop_ISR, CHANGE); #endif - #if HAS_V_MIN + #if USE_V_MIN #if !AVAILABLE_EILINE(V_MIN_PIN) - #error "V_MIN_PIN has no EXTINT line available." + #error "V_MIN_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif attachInterrupt(V_MIN_PIN, endstop_ISR, CHANGE); #endif - #if HAS_W_MAX + #if USE_W_MAX #if !AVAILABLE_EILINE(W_MAX_PIN) - #error "W_MAX_PIN has no EXTINT line available." + #error "W_MAX_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif attachInterrupt(W_MAX_PIN, endstop_ISR, CHANGE); #endif - #if HAS_W_MIN + #if USE_W_MIN #if !AVAILABLE_EILINE(W_MIN_PIN) - #error "W_MIN_PIN has no EXTINT line available." + #error "W_MIN_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue." #endif attachInterrupt(W_MIN_PIN, endstop_ISR, CHANGE); #endif diff --git a/Marlin/src/HAL/SAMD51/fastio.h b/Marlin/src/HAL/SAMD51/fastio.h index 79aede5790..3d43bdb24d 100644 --- a/Marlin/src/HAL/SAMD51/fastio.h +++ b/Marlin/src/HAL/SAMD51/fastio.h @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -20,6 +21,10 @@ */ #pragma once +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ + /** * Fast IO functions for SAMD51 */ @@ -125,7 +130,7 @@ #ifdef ADAFRUIT_GRAND_CENTRAL_M4 - /* + /** * Adafruit Grand Central M4 has a lot of PWMs the availables are listed here. * Some of these share the same source and so can't be used in the same time */ @@ -171,7 +176,7 @@ #define digitalPinToAnalogInput(P) (WITHIN(P, 67, 74) ? (P) - 67 : WITHIN(P, 54, 61) ? 8 + (P) - 54 : WITHIN(P, 12, 13) ? 16 + (P) - 12 : P == 9 ? 18 : -1) - /* + /** * pins */ diff --git a/Marlin/src/HAL/SAMD51/inc/Conditionals_LCD.h b/Marlin/src/HAL/SAMD51/inc/Conditionals_LCD.h index 932348c52f..5f1c4b1601 100644 --- a/Marlin/src/HAL/SAMD51/inc/Conditionals_LCD.h +++ b/Marlin/src/HAL/SAMD51/inc/Conditionals_LCD.h @@ -20,7 +20,3 @@ * */ #pragma once - -#if HAS_SPI_TFT || HAS_FSMC_TFT - #error "Sorry! TFT displays are not available for HAL/SAMD51." -#endif diff --git a/Marlin/src/HAL/SAMD51/inc/Conditionals_post.h b/Marlin/src/HAL/SAMD51/inc/Conditionals_post.h index ce6d3fdde2..295596b78b 100644 --- a/Marlin/src/HAL/SAMD51/inc/Conditionals_post.h +++ b/Marlin/src/HAL/SAMD51/inc/Conditionals_post.h @@ -23,6 +23,6 @@ #if USE_FALLBACK_EEPROM #define FLASH_EEPROM_EMULATION -#elif EITHER(I2C_EEPROM, SPI_EEPROM) +#elif ANY(I2C_EEPROM, SPI_EEPROM) #define USE_SHARED_EEPROM 1 #endif diff --git a/Marlin/src/HAL/SAMD51/inc/SanityCheck.h b/Marlin/src/HAL/SAMD51/inc/SanityCheck.h index 1b876c947d..4719ac6eb8 100644 --- a/Marlin/src/HAL/SAMD51/inc/SanityCheck.h +++ b/Marlin/src/HAL/SAMD51/inc/SanityCheck.h @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -18,11 +19,20 @@ * along with this program. If not, see . * */ +#pragma once + +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ /** * Test SAMD51 specific configuration values for errors at compile-time. */ +#if HAS_SPI_TFT || HAS_FSMC_TFT + #error "Sorry! TFT displays are not available for HAL/SAMD51." +#endif + #if ENABLED(FLASH_EEPROM_EMULATION) #warning "Did you activate the SmartEEPROM? See https://github.com/GMagician/SAMD51-SmartEEprom-Manager/releases" #endif @@ -44,12 +54,12 @@ #error "EMERGENCY_PARSER is not yet implemented for SAMD51. Disable EMERGENCY_PARSER to continue." #endif -#if ENABLED(SDIO_SUPPORT) - #error "SDIO_SUPPORT is not supported on SAMD51." +#if ENABLED(ONBOARD_SDIO) + #error "ONBOARD_SDIO is not supported on SAMD51." #endif #if ENABLED(FAST_PWM_FAN) || SPINDLE_LASER_FREQUENCY - #error "Features requiring Hardware PWM (FAST_PWM_FAN, SPINDLE_LASER_FREQUENCY) are not yet supported on SAMD51." + #error "Features requiring Hardware PWM (FAST_PWM_FAN, SPINDLE_LASER_FREQUENCY) are not yet supported for HAL/SAMD51." #endif #if ENABLED(POSTMORTEM_DEBUGGING) diff --git a/Marlin/src/HAL/SAMD51/pinsDebug.h b/Marlin/src/HAL/SAMD51/pinsDebug.h index f0a46fd7c5..94f91c77bc 100644 --- a/Marlin/src/HAL/SAMD51/pinsDebug.h +++ b/Marlin/src/HAL/SAMD51/pinsDebug.h @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -20,6 +21,10 @@ */ #pragma once +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ + #define NUMBER_PINS_TOTAL PINS_COUNT #define digitalRead_mod(p) extDigitalRead(p) @@ -29,7 +34,7 @@ #define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d) "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0) #define GET_ARRAY_PIN(p) pin_array[p].pin #define GET_ARRAY_IS_DIGITAL(p) pin_array[p].is_digital -#define VALID_PIN(pin) (pin >= 0 && pin < (int8_t)NUMBER_PINS_TOTAL) +#define VALID_PIN(pin) (pin >= 0 && pin < int8_t(NUMBER_PINS_TOTAL)) #define DIGITAL_PIN_TO_ANALOG_PIN(p) digitalPinToAnalogInput(p) #define IS_ANALOG(P) (DIGITAL_PIN_TO_ANALOG_PIN(P)!=-1) #define pwm_status(pin) digitalPinHasPWM(pin) diff --git a/Marlin/src/HAL/SAMD51/spi_pins.h b/Marlin/src/HAL/SAMD51/spi_pins.h index 2a667bcaa1..2c7cbeb994 100644 --- a/Marlin/src/HAL/SAMD51/spi_pins.h +++ b/Marlin/src/HAL/SAMD51/spi_pins.h @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -20,9 +21,13 @@ */ #pragma once +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ + #ifdef ADAFRUIT_GRAND_CENTRAL_M4 - /* + /** * AGCM4 Default SPI Pins * * SS SCK MISO MOSI diff --git a/Marlin/src/HAL/SAMD51/timers.cpp b/Marlin/src/HAL/SAMD51/timers.cpp index 1ad0e36073..7a211eb36a 100644 --- a/Marlin/src/HAL/SAMD51/timers.cpp +++ b/Marlin/src/HAL/SAMD51/timers.cpp @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -18,6 +19,10 @@ * along with this program. If not, see . * */ + +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ #ifdef __SAMD51__ // -------------------------------------------------------------------------- diff --git a/Marlin/src/HAL/SAMD51/timers.h b/Marlin/src/HAL/SAMD51/timers.h index 86e980c566..86c3241892 100644 --- a/Marlin/src/HAL/SAMD51/timers.h +++ b/Marlin/src/HAL/SAMD51/timers.h @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -20,6 +21,10 @@ */ #pragma once +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ + #include // -------------------------------------------------------------------------- diff --git a/Marlin/src/HAL/SAMD51/watchdog.cpp b/Marlin/src/HAL/SAMD51/watchdog.cpp deleted file mode 100644 index 9de451836a..0000000000 --- a/Marlin/src/HAL/SAMD51/watchdog.cpp +++ /dev/null @@ -1,54 +0,0 @@ -/** - * Marlin 3D Printer Firmware - * - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program. If not, see . - * - */ -#ifdef __SAMD51__ - -#include "../../inc/MarlinConfig.h" - -#if ENABLED(USE_WATCHDOG) - -#include "watchdog.h" - -#define WDT_TIMEOUT_REG TERN(WATCHDOG_DURATION_8S, WDT_CONFIG_PER_CYC8192, WDT_CONFIG_PER_CYC4096) // 4 or 8 second timeout - -void watchdog_init() { - // The low-power oscillator used by the WDT runs at 32,768 Hz with - // a 1:32 prescale, thus 1024 Hz, though probably not super precise. - - // Setup WDT clocks - MCLK->APBAMASK.bit.OSC32KCTRL_ = true; - MCLK->APBAMASK.bit.WDT_ = true; - OSC32KCTRL->OSCULP32K.bit.EN1K = true; // Enable out 1K (this is what WDT uses) - - WDT->CTRLA.bit.ENABLE = false; // Disable watchdog for config - SYNC(WDT->SYNCBUSY.bit.ENABLE); - - WDT->INTENCLR.reg = WDT_INTENCLR_EW; // Disable early warning interrupt - WDT->CONFIG.reg = WDT_TIMEOUT_REG; // Set a 4s or 8s period for chip reset - - HAL_watchdog_refresh(); - - WDT->CTRLA.reg = WDT_CTRLA_ENABLE; // Start watchdog now in normal mode - SYNC(WDT->SYNCBUSY.bit.ENABLE); -} - -#endif // USE_WATCHDOG - -#endif // __SAMD51__ diff --git a/Marlin/src/HAL/SAMD51/watchdog.h b/Marlin/src/HAL/SAMD51/watchdog.h deleted file mode 100644 index 2cd4788229..0000000000 --- a/Marlin/src/HAL/SAMD51/watchdog.h +++ /dev/null @@ -1,31 +0,0 @@ -/** - * Marlin 3D Printer Firmware - * - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program. If not, see . - * - */ -#pragma once - -// Initialize watchdog with a 4 second interrupt time -void watchdog_init(); - -// Reset watchdog. MUST be called at least every 4 seconds after the -// first watchdog_init or SAMD will go into emergency procedures. -inline void HAL_watchdog_refresh() { - SYNC(WDT->SYNCBUSY.bit.CLEAR); // Test first if previous is 'ongoing' to save time waiting for command execution - WDT->CLEAR.reg = WDT_CLEAR_CLEAR_KEY; -} diff --git a/Marlin/src/HAL/STM32/HAL.cpp b/Marlin/src/HAL/STM32/HAL.cpp index d28f506db9..ce49f27a8e 100644 --- a/Marlin/src/HAL/STM32/HAL.cpp +++ b/Marlin/src/HAL/STM32/HAL.cpp @@ -24,14 +24,13 @@ #ifdef HAL_STM32 -#include "HAL.h" -#include "usb_serial.h" - #include "../../inc/MarlinConfig.h" #include "../shared/Delay.h" +#include "usb_serial.h" + #ifdef USBCON - DefaultSerial1 MSerial0(false, SerialUSB); + DefaultSerial1 MSerialUSB(false, SerialUSB); #endif #if ENABLED(SRAM_EEPROM_EMULATION) @@ -71,7 +70,7 @@ void MarlinHAL::init() { constexpr int cpuFreq = F_CPU; UNUSED(cpuFreq); - #if ENABLED(SDSUPPORT) && DISABLED(SDIO_SUPPORT) && (defined(SDSS) && SDSS != -1) + #if HAS_MEDIA && DISABLED(ONBOARD_SDIO) && (defined(SDSS) && SDSS != -1) OUT_WRITE(SDSS, HIGH); // Try to set SDSS inactive before any other SPI users start up #endif @@ -141,6 +140,29 @@ uint8_t MarlinHAL::get_reset_source() { void MarlinHAL::clear_reset_source() { __HAL_RCC_CLEAR_RESET_FLAGS(); } +// ------------------------ +// Watchdog Timer +// ------------------------ + +#if ENABLED(USE_WATCHDOG) + + #define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout + + #include + + void MarlinHAL::watchdog_init() { + IF_DISABLED(DISABLE_WATCHDOG_INIT, IWatchdog.begin(WDT_TIMEOUT_US)); + } + + void MarlinHAL::watchdog_refresh() { + IWatchdog.reload(); + #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED) + TOGGLE(LED_PIN); // heartbeat indicator + #endif + } + +#endif + extern "C" { extern unsigned int _ebss; // end of bss section } diff --git a/Marlin/src/HAL/STM32/HAL.h b/Marlin/src/HAL/STM32/HAL.h index 08af395382..81ac331ebc 100644 --- a/Marlin/src/HAL/STM32/HAL.h +++ b/Marlin/src/HAL/STM32/HAL.h @@ -28,9 +28,9 @@ #include "../shared/Marduino.h" #include "../shared/math_32bit.h" #include "../shared/HAL_SPI.h" +#include "temp_soc.h" #include "fastio.h" #include "Servo.h" -#include "watchdog.h" #include "MarlinSerial.h" #include "../../inc/MarlinConfigPre.h" @@ -51,60 +51,70 @@ #include #include "../../core/serial_hook.h" typedef ForwardSerial1Class< decltype(SerialUSB) > DefaultSerial1; - extern DefaultSerial1 MSerial0; + extern DefaultSerial1 MSerialUSB; #endif #define _MSERIAL(X) MSerial##X #define MSERIAL(X) _MSERIAL(X) -#if SERIAL_PORT == -1 - #define MYSERIAL1 MSerial0 -#elif WITHIN(SERIAL_PORT, 1, 6) +#if WITHIN(SERIAL_PORT, 1, 9) #define MYSERIAL1 MSERIAL(SERIAL_PORT) +#elif !defined(USBCON) + #error "SERIAL_PORT must be from 1 to 9." +#elif SERIAL_PORT == -1 + #define MYSERIAL1 MSerialUSB #else - #error "SERIAL_PORT must be from 1 to 6. You can also use -1 if the board supports Native USB." + #error "SERIAL_PORT must be from 1 to 9, or -1 for Native USB." #endif #ifdef SERIAL_PORT_2 - #if SERIAL_PORT_2 == -1 - #define MYSERIAL2 MSerial0 - #elif WITHIN(SERIAL_PORT_2, 1, 6) + #if WITHIN(SERIAL_PORT_2, 1, 9) #define MYSERIAL2 MSERIAL(SERIAL_PORT_2) + #elif !defined(USBCON) + #error "SERIAL_PORT_2 must be from 1 to 9." + #elif SERIAL_PORT_2 == -1 + #define MYSERIAL2 MSerialUSB #else - #error "SERIAL_PORT_2 must be from 1 to 6. You can also use -1 if the board supports Native USB." + #error "SERIAL_PORT_2 must be from 1 to 9, or -1 for Native USB." #endif #endif #ifdef SERIAL_PORT_3 - #if SERIAL_PORT_3 == -1 - #define MYSERIAL3 MSerial0 - #elif WITHIN(SERIAL_PORT_3, 1, 6) + #if WITHIN(SERIAL_PORT_3, 1, 9) #define MYSERIAL3 MSERIAL(SERIAL_PORT_3) + #elif !defined(USBCON) + #error "SERIAL_PORT_3 must be from 1 to 9." + #elif SERIAL_PORT_3 == -1 + #define MYSERIAL3 MSerialUSB #else - #error "SERIAL_PORT_3 must be from 1 to 6. You can also use -1 if the board supports Native USB." + #error "SERIAL_PORT_3 must be from 1 to 9, or -1 for Native USB." #endif #endif #ifdef MMU2_SERIAL_PORT - #if MMU2_SERIAL_PORT == -1 - #define MMU2_SERIAL MSerial0 - #elif WITHIN(MMU2_SERIAL_PORT, 1, 6) + #if WITHIN(MMU2_SERIAL_PORT, 1, 9) #define MMU2_SERIAL MSERIAL(MMU2_SERIAL_PORT) + #elif !defined(USBCON) + #error "MMU2_SERIAL_PORT must be from 1 to 9." + #elif MMU2_SERIAL_PORT == -1 + #define MMU2_SERIAL MSerialUSB #else - #error "MMU2_SERIAL_PORT must be from 1 to 6. You can also use -1 if the board supports Native USB." + #error "MMU2_SERIAL_PORT must be from 1 to 9, or -1 for Native USB." #endif #endif #ifdef LCD_SERIAL_PORT - #if LCD_SERIAL_PORT == -1 - #define LCD_SERIAL MSerial0 - #elif WITHIN(LCD_SERIAL_PORT, 1, 6) + #if WITHIN(LCD_SERIAL_PORT, 1, 9) #define LCD_SERIAL MSERIAL(LCD_SERIAL_PORT) + #elif !defined(USBCON) + #error "LCD_SERIAL_PORT must be from 1 to 9." + #elif LCD_SERIAL_PORT == -1 + #define LCD_SERIAL MSerialUSB #else - #error "LCD_SERIAL_PORT must be from 1 to 6. You can also use -1 if the board supports Native USB." + #error "LCD_SERIAL_PORT must be from 1 to 9, or -1 for Native USB." #endif - #if HAS_DGUS_LCD || ENABLED(DGUS_LCD_UI_CREALITY_TOUCH) - #define SERIAL_GET_TX_BUFFER_FREE() LCD_SERIAL.availableForWrite() + #if HAS_DGUS_LCD || ENABLED(DGUS_LCD_UI_CREALITY_TOUCH) || ENABLED(DWINOS_4) + #define LCD_SERIAL_TX_BUFFER_FREE() LCD_SERIAL.availableForWrite() #endif #endif @@ -127,7 +137,9 @@ // Types // ------------------------ -#ifdef STM32G0B1xx +typedef double isr_float_t; // FPU ops are used for single-precision, so use double for ISRs. + +#if defined(STM32G0B1xx) || defined(STM32H7xx) typedef int32_t pin_t; #else typedef int16_t pin_t; @@ -148,7 +160,7 @@ typedef libServo hal_servo_t; #define HAL_ADC_RESOLUTION 12 #endif -#define HAL_ADC_VREF 3.3 +#define HAL_ADC_VREF_MV 3300 // // Pin Mapping for M42, M43, M226 @@ -163,7 +175,9 @@ typedef libServo hal_servo_t; #define JTAGSWD_RESET() AFIO_DBGAFR_CONFIG(AFIO_MAPR_SWJ_CFG_RESET); // Reset: FULL SWD+JTAG #endif -#define PLATFORM_M997_SUPPORT +#ifndef PLATFORM_M997_SUPPORT + #define PLATFORM_M997_SUPPORT +#endif void flashFirmware(const int16_t); // Maple Compatibility @@ -206,9 +220,13 @@ public: // Earliest possible init, before setup() MarlinHAL() {} - static void init(); // Called early in setup() + // Watchdog + static void watchdog_init() IF_DISABLED(USE_WATCHDOG, {}); + static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {}); + + static void init(); // Called early in setup() static void init_board() {} // Called less early in setup() - static void reboot(); // Restart the firmware from 0x0 + static void reboot(); // Restart the firmware from 0x0 // Interrupts static bool isr_state() { return !__get_PRIMASK(); } @@ -241,7 +259,7 @@ public: // Called by Temperature::init for each sensor at startup static void adc_enable(const pin_t pin) { pinMode(pin, INPUT); } - // Begin ADC sampling on the given channel + // Begin ADC sampling on the given pin. Called from Temperature::isr! static void adc_start(const pin_t pin) { adc_result = analogRead(pin); } // Is the ADC ready for reading? diff --git a/Marlin/src/HAL/STM32/HAL_SPI.cpp b/Marlin/src/HAL/STM32/HAL_SPI.cpp index 40d320d5e8..278d209c47 100644 --- a/Marlin/src/HAL/STM32/HAL_SPI.cpp +++ b/Marlin/src/HAL/STM32/HAL_SPI.cpp @@ -78,7 +78,6 @@ static SPISettings spiConfig; case SPI_SPEED_6: delaySPIFunc = &delaySPI_2000; break; // desired: 250,000 actual: ~210K default: delaySPIFunc = &delaySPI_4000; break; // desired: 125,000 actual: ~123K } - SPI.begin(); } // Begin SPI transaction, set clock, bit order, data mode diff --git a/Marlin/src/HAL/STM32/MarlinSerial.cpp b/Marlin/src/HAL/STM32/MarlinSerial.cpp index 37a8f40fd0..9f0b003a31 100644 --- a/Marlin/src/HAL/STM32/MarlinSerial.cpp +++ b/Marlin/src/HAL/STM32/MarlinSerial.cpp @@ -37,6 +37,15 @@ #ifndef USART5 #define USART5 UART5 #endif +#ifndef USART7 + #define USART7 UART7 +#endif +#ifndef USART8 + #define USART8 UART8 +#endif +#ifndef USART9 + #define USART9 UART9 +#endif #define DECLARE_SERIAL_PORT(ser_num) \ void _rx_complete_irq_ ## ser_num (serial_t * obj); \ diff --git a/Marlin/src/HAL/STM32/MarlinSerial.h b/Marlin/src/HAL/STM32/MarlinSerial.h index bf861fb8a7..3df0b1d15c 100644 --- a/Marlin/src/HAL/STM32/MarlinSerial.h +++ b/Marlin/src/HAL/STM32/MarlinSerial.h @@ -40,6 +40,7 @@ struct MarlinSerial : public HardwareSerial { inline void begin(unsigned long baud) { begin(baud, SERIAL_8N1); } void _rx_complete_irq(serial_t *obj); + FORCE_INLINE static uint8_t buffer_overruns() { return 0; } protected: usart_rx_callback_t _rx_callback; diff --git a/Marlin/src/HAL/STM32/HAL_MinSerial.cpp b/Marlin/src/HAL/STM32/MinSerial.cpp similarity index 85% rename from Marlin/src/HAL/STM32/HAL_MinSerial.cpp rename to Marlin/src/HAL/STM32/MinSerial.cpp index b6e86b72da..f1fc806acb 100644 --- a/Marlin/src/HAL/STM32/HAL_MinSerial.cpp +++ b/Marlin/src/HAL/STM32/MinSerial.cpp @@ -28,8 +28,7 @@ #if ENABLED(POSTMORTEM_DEBUGGING) -#include "../shared/HAL_MinSerial.h" -#include "watchdog.h" +#include "../shared/MinSerial.h" /* Instruction Synchronization Barrier */ #define isb() __asm__ __volatile__ ("isb" : : : "memory") @@ -46,7 +45,7 @@ struct USARTMin { volatile uint32_t CR2; }; -#if WITHIN(SERIAL_PORT, 1, 6) +#if WITHIN(SERIAL_PORT, 1, 9) // Depending on the CPU, the serial port is different for USART1 static const uintptr_t regsAddr[] = { TERN(STM32F1xx, 0x40013800, 0x40011000), // USART1 @@ -55,6 +54,9 @@ struct USARTMin { 0x40004C00, // UART4_BASE 0x40005000, // UART5_BASE 0x40011400 // USART6 + 0x40007800 // UART7_BASE + 0x40007C00 // UART8_BASE + 0x40011800 // UART9_BASE }; static USARTMin * regs = (USARTMin*)regsAddr[SERIAL_PORT - 1]; #endif @@ -117,10 +119,10 @@ static void TXBegin() { // A SW memory barrier, to ensure GCC does not overoptimize loops #define sw_barrier() __asm__ volatile("": : :"memory"); static void TX(char c) { - #if WITHIN(SERIAL_PORT, 1, 6) + #if WITHIN(SERIAL_PORT, 1, 9) constexpr uint32_t usart_sr_txe = _BV(7); while (!(regs->SR & usart_sr_txe)) { - TERN_(USE_WATCHDOG, HAL_watchdog_refresh()); + hal.watchdog_refresh(); sw_barrier(); } regs->DR = c; @@ -136,18 +138,18 @@ void install_min_serial() { } #if NONE(DYNAMIC_VECTORTABLE, STM32F0xx, STM32G0xx) // Cortex M0 can't jump to a symbol that's too far from the current function, so we work around this in exception_arm.cpp -extern "C" { - __attribute__((naked)) void JumpHandler_ASM() { - __asm__ __volatile__ ( - "b CommonHandler_ASM\n" - ); + extern "C" { + __attribute__((naked)) void JumpHandler_ASM() { + __asm__ __volatile__ ( + "b CommonHandler_ASM\n" + ); + } + void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) HardFault_Handler(); + void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) BusFault_Handler(); + void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) UsageFault_Handler(); + void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) MemManage_Handler(); + void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) NMI_Handler(); } - void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) HardFault_Handler(); - void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) BusFault_Handler(); - void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) UsageFault_Handler(); - void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) MemManage_Handler(); - void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) NMI_Handler(); -} #endif #endif // POSTMORTEM_DEBUGGING diff --git a/Marlin/src/HAL/STM32/eeprom_flash.cpp b/Marlin/src/HAL/STM32/eeprom_flash.cpp index 7c8cc8dd21..6bd519877d 100644 --- a/Marlin/src/HAL/STM32/eeprom_flash.cpp +++ b/Marlin/src/HAL/STM32/eeprom_flash.cpp @@ -95,7 +95,7 @@ static_assert(IS_FLASH_SECTOR(FLASH_SECTOR), "FLASH_SECTOR is invalid"); static_assert(IS_POWER_OF_2(FLASH_UNIT_SIZE), "FLASH_UNIT_SIZE should be a power of 2, please check your chip's spec sheet"); -#endif +#endif // FLASH_EEPROM_LEVELING static bool eeprom_data_written = false; @@ -189,15 +189,15 @@ bool PersistentStore::access_finish() { UNLOCK_FLASH(); - uint32_t offset = 0; - uint32_t address = SLOT_ADDRESS(current_slot); - uint32_t address_end = address + MARLIN_EEPROM_SIZE; - uint32_t data = 0; + uint32_t offset = 0, + address = SLOT_ADDRESS(current_slot), + address_end = address + MARLIN_EEPROM_SIZE, + data = 0; bool success = true; while (address < address_end) { - memcpy(&data, ram_eeprom + offset, sizeof(uint32_t)); + memcpy(&data, ram_eeprom + offset, sizeof(data)); status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_WORD, address, data); if (status == HAL_OK) { address += sizeof(uint32_t); @@ -221,7 +221,8 @@ bool PersistentStore::access_finish() { return success; - #else + #else // !FLASH_EEPROM_LEVELING + // The following was written for the STM32F4 but may work with other MCUs as well. // Most STM32F4 flash does not allow reading from flash during erase operations. // This takes about a second on a STM32F407 with a 128kB sector used as EEPROM. @@ -235,7 +236,8 @@ bool PersistentStore::access_finish() { TERN_(HAS_PAUSE_SERVO_OUTPUT, RESUME_SERVO_OUTPUT()); eeprom_data_written = false; - #endif + + #endif // !FLASH_EEPROM_LEVELING } return true; diff --git a/Marlin/src/HAL/STM32/eeprom_sdcard.cpp b/Marlin/src/HAL/STM32/eeprom_sdcard.cpp index 473b656f9a..1b5c0ae5b2 100644 --- a/Marlin/src/HAL/STM32/eeprom_sdcard.cpp +++ b/Marlin/src/HAL/STM32/eeprom_sdcard.cpp @@ -48,7 +48,7 @@ static char _ALIGN(4) HAL_eeprom_data[MARLIN_EEPROM_SIZE]; bool PersistentStore::access_start() { if (!card.isMounted()) return false; - SdFile file, root = card.getroot(); + MediaFile file, root = card.getroot(); if (!file.open(&root, EEPROM_FILENAME, O_RDONLY)) return true; @@ -63,7 +63,7 @@ bool PersistentStore::access_start() { bool PersistentStore::access_finish() { if (!card.isMounted()) return false; - SdFile file, root = card.getroot(); + MediaFile file, root = card.getroot(); int bytes_written = 0; if (file.open(&root, EEPROM_FILENAME, O_CREAT | O_WRITE | O_TRUNC)) { bytes_written = file.write(HAL_eeprom_data, MARLIN_EEPROM_SIZE); diff --git a/Marlin/src/HAL/STM32/endstop_interrupts.h b/Marlin/src/HAL/STM32/endstop_interrupts.h index d2f20ba1c7..0c92053d42 100644 --- a/Marlin/src/HAL/STM32/endstop_interrupts.h +++ b/Marlin/src/HAL/STM32/endstop_interrupts.h @@ -29,33 +29,33 @@ void endstop_ISR() { endstops.update(); } void setup_endstop_interrupts() { #define _ATTACH(P) attachInterrupt(P, endstop_ISR, CHANGE) - TERN_(HAS_X_MAX, _ATTACH(X_MAX_PIN)); - TERN_(HAS_X_MIN, _ATTACH(X_MIN_PIN)); - TERN_(HAS_Y_MAX, _ATTACH(Y_MAX_PIN)); - TERN_(HAS_Y_MIN, _ATTACH(Y_MIN_PIN)); - TERN_(HAS_Z_MAX, _ATTACH(Z_MAX_PIN)); - TERN_(HAS_Z_MIN, _ATTACH(Z_MIN_PIN)); - TERN_(HAS_X2_MAX, _ATTACH(X2_MAX_PIN)); - TERN_(HAS_X2_MIN, _ATTACH(X2_MIN_PIN)); - TERN_(HAS_Y2_MAX, _ATTACH(Y2_MAX_PIN)); - TERN_(HAS_Y2_MIN, _ATTACH(Y2_MIN_PIN)); - TERN_(HAS_Z2_MAX, _ATTACH(Z2_MAX_PIN)); - TERN_(HAS_Z2_MIN, _ATTACH(Z2_MIN_PIN)); - TERN_(HAS_Z3_MAX, _ATTACH(Z3_MAX_PIN)); - TERN_(HAS_Z3_MIN, _ATTACH(Z3_MIN_PIN)); - TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN)); - TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN)); - TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN)); - TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN)); - TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN)); - TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN)); - TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN)); - TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN)); - TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN)); - TERN_(HAS_U_MAX, _ATTACH(U_MAX_PIN)); - TERN_(HAS_U_MIN, _ATTACH(U_MIN_PIN)); - TERN_(HAS_V_MAX, _ATTACH(V_MAX_PIN)); - TERN_(HAS_V_MIN, _ATTACH(V_MIN_PIN)); - TERN_(HAS_W_MAX, _ATTACH(W_MAX_PIN)); - TERN_(HAS_W_MIN, _ATTACH(W_MIN_PIN)); + TERN_(USE_X_MAX, _ATTACH(X_MAX_PIN)); + TERN_(USE_X_MIN, _ATTACH(X_MIN_PIN)); + TERN_(USE_Y_MAX, _ATTACH(Y_MAX_PIN)); + TERN_(USE_Y_MIN, _ATTACH(Y_MIN_PIN)); + TERN_(USE_Z_MAX, _ATTACH(Z_MAX_PIN)); + TERN_(USE_Z_MIN, _ATTACH(Z_MIN_PIN)); + TERN_(USE_X2_MAX, _ATTACH(X2_MAX_PIN)); + TERN_(USE_X2_MIN, _ATTACH(X2_MIN_PIN)); + TERN_(USE_Y2_MAX, _ATTACH(Y2_MAX_PIN)); + TERN_(USE_Y2_MIN, _ATTACH(Y2_MIN_PIN)); + TERN_(USE_Z2_MAX, _ATTACH(Z2_MAX_PIN)); + TERN_(USE_Z2_MIN, _ATTACH(Z2_MIN_PIN)); + TERN_(USE_Z3_MAX, _ATTACH(Z3_MAX_PIN)); + TERN_(USE_Z3_MIN, _ATTACH(Z3_MIN_PIN)); + TERN_(USE_Z4_MAX, _ATTACH(Z4_MAX_PIN)); + TERN_(USE_Z4_MIN, _ATTACH(Z4_MIN_PIN)); + TERN_(USE_Z_MIN_PROBE, _ATTACH(Z_MIN_PROBE_PIN)); + TERN_(USE_I_MAX, _ATTACH(I_MAX_PIN)); + TERN_(USE_I_MIN, _ATTACH(I_MIN_PIN)); + TERN_(USE_J_MAX, _ATTACH(J_MAX_PIN)); + TERN_(USE_J_MIN, _ATTACH(J_MIN_PIN)); + TERN_(USE_K_MAX, _ATTACH(K_MAX_PIN)); + TERN_(USE_K_MIN, _ATTACH(K_MIN_PIN)); + TERN_(USE_U_MAX, _ATTACH(U_MAX_PIN)); + TERN_(USE_U_MIN, _ATTACH(U_MIN_PIN)); + TERN_(USE_V_MAX, _ATTACH(V_MAX_PIN)); + TERN_(USE_V_MIN, _ATTACH(V_MIN_PIN)); + TERN_(USE_W_MAX, _ATTACH(W_MAX_PIN)); + TERN_(USE_W_MIN, _ATTACH(W_MIN_PIN)); } diff --git a/Marlin/src/HAL/STM32/fastio.cpp b/Marlin/src/HAL/STM32/fastio.cpp index b34555b8c8..a4b3ba70c9 100644 --- a/Marlin/src/HAL/STM32/fastio.cpp +++ b/Marlin/src/HAL/STM32/fastio.cpp @@ -29,7 +29,7 @@ GPIO_TypeDef* FastIOPortMap[LastPort + 1] = { 0 }; void FastIO_init() { - LOOP_L_N(i, NUM_DIGITAL_PINS) + for (uint8_t i = 0; i < NUM_DIGITAL_PINS; ++i) FastIOPortMap[STM_PORT(digitalPin[i])] = get_GPIO_Port(STM_PORT(digitalPin[i])); } diff --git a/Marlin/src/HAL/STM32/inc/Conditionals_adv.h b/Marlin/src/HAL/STM32/inc/Conditionals_adv.h index 451c94f25d..032716a294 100644 --- a/Marlin/src/HAL/STM32/inc/Conditionals_adv.h +++ b/Marlin/src/HAL/STM32/inc/Conditionals_adv.h @@ -21,7 +21,7 @@ */ #pragma once -#if BOTH(SDSUPPORT, USBD_USE_CDC_MSC) && DISABLED(NO_SD_HOST_DRIVE) +#if ALL(HAS_MEDIA, USBD_USE_CDC_MSC) && DISABLED(NO_SD_HOST_DRIVE) #define HAS_SD_HOST_DRIVE 1 #endif diff --git a/Marlin/src/HAL/STM32/inc/Conditionals_post.h b/Marlin/src/HAL/STM32/inc/Conditionals_post.h index 18826e11d2..6c97a635b3 100644 --- a/Marlin/src/HAL/STM32/inc/Conditionals_post.h +++ b/Marlin/src/HAL/STM32/inc/Conditionals_post.h @@ -24,6 +24,11 @@ // If no real or emulated EEPROM selected, fall back to SD emulation #if USE_FALLBACK_EEPROM #define SDCARD_EEPROM_EMULATION -#elif EITHER(I2C_EEPROM, SPI_EEPROM) +#elif ANY(I2C_EEPROM, SPI_EEPROM) #define USE_SHARED_EEPROM 1 #endif + +// Some STM32F4 boards may lose steps when saving to EEPROM during print (PR #17946) +#if defined(STM32F4xx) && ENABLED(FLASH_EEPROM_EMULATION) && PRINTCOUNTER_SAVE_INTERVAL > 0 + #define PRINTCOUNTER_SYNC +#endif diff --git a/Marlin/src/HAL/STM32/inc/SanityCheck.h b/Marlin/src/HAL/STM32/inc/SanityCheck.h index 0f1a2acaa4..80d0314dbb 100644 --- a/Marlin/src/HAL/STM32/inc/SanityCheck.h +++ b/Marlin/src/HAL/STM32/inc/SanityCheck.h @@ -29,7 +29,7 @@ //#endif -#if ENABLED(SDCARD_EEPROM_EMULATION) && DISABLED(SDSUPPORT) +#if ENABLED(SDCARD_EEPROM_EMULATION) && !HAS_MEDIA #undef SDCARD_EEPROM_EMULATION // Avoid additional error noise #if USE_FALLBACK_EEPROM #warning "EEPROM type not specified. Fallback is SDCARD_EEPROM_EMULATION." @@ -37,11 +37,6 @@ #error "SDCARD_EEPROM_EMULATION requires SDSUPPORT. Enable SDSUPPORT or choose another EEPROM emulation." #endif -#if defined(STM32F4xx) && BOTH(PRINTCOUNTER, FLASH_EEPROM_EMULATION) - #warning "FLASH_EEPROM_EMULATION may cause long delays when writing and should not be used while printing." - #error "Disable PRINTCOUNTER or choose another EEPROM emulation." -#endif - #if !defined(STM32F4xx) && ENABLED(FLASH_EEPROM_LEVELING) #error "FLASH_EEPROM_LEVELING is currently only supported on STM32F4 hardware." #endif @@ -55,3 +50,66 @@ #if ANY(TFT_COLOR_UI, TFT_LVGL_UI, TFT_CLASSIC_UI) && NOT_TARGET(STM32H7xx, STM32F4xx, STM32F1xx) #error "TFT_COLOR_UI, TFT_LVGL_UI and TFT_CLASSIC_UI are currently only supported on STM32H7, STM32F4 and STM32F1 hardware." #endif + +#if TEMP_SENSOR_SOC && defined(ATEMP) && TEMP_SOC_PIN != ATEMP + #error "TEMP_SENSOR_SOC requires 'TEMP_SOC_PIN ATEMP' on STM32." +#endif + +/** + * Check for common serial pin conflicts + */ +#define _CHECK_SERIAL_PIN(N) (( \ + BTN_EN1 == N || DOGLCD_CS == N || HEATER_BED_PIN == N || FAN0_PIN == N || \ + SDIO_D2_PIN == N || SDIO_D3_PIN == N || SDIO_CK_PIN == N || SDIO_CMD_PIN == N \ + )) +#define CHECK_SERIAL_PIN(T,N) defined(UART##N##_##T##_PIN) && _CHECK_SERIAL_PIN(UART##N##_##T##_PIN) +#if SERIAL_IN_USE(1) + #if CHECK_SERIAL_PIN(TX,1) + #error "Serial Port 1 TX IO pins conflict with another pin on the board." + #endif + #if CHECK_SERIAL_PIN(RX,1) + #error "Serial Port 1 RX IO pins conflict with another pin on the board." + #endif +#endif +#if SERIAL_IN_USE(2) + #if CHECK_SERIAL_PIN(TX,2) + #error "Serial Port 2 TX IO pins conflict with another pin on the board." + #endif + #if CHECK_SERIAL_PIN(RX,2) + #error "Serial Port 2 RX IO pins conflict with another pin on the board." + #endif +#endif +#if SERIAL_IN_USE(3) + #if CHECK_SERIAL_PIN(TX,3) + #error "Serial Port 3 TX IO pins conflict with another pin on the board." + #endif + #if CHECK_SERIAL_PIN(RX,3) + #error "Serial Port 3 RX IO pins conflict with another pin on the board." + #endif +#endif +#if SERIAL_IN_USE(4) + #if CHECK_SERIAL_PIN(TX,4) + #error "Serial Port 4 TX IO pins conflict with another pin on the board." + #endif + #if CHECK_SERIAL_PIN(RX,4) + #error "Serial Port 4 RX IO pins conflict with another pin on the board." + #endif +#endif +#if SERIAL_IN_USE(5) + #if CHECK_SERIAL_PIN(TX,5) + #error "Serial Port 5 TX IO pins conflict with another pin on the board." + #endif + #if CHECK_SERIAL_PIN(RX,5) + #error "Serial Port 5 RX IO pins conflict with another pin on the board." + #endif +#endif +#if SERIAL_IN_USE(6) + #if CHECK_SERIAL_PIN(TX,6) + #error "Serial Port 6 TX IO pins conflict with another pin on the board." + #endif + #if CHECK_SERIAL_PIN(RX,6) + #error "Serial Port 6 RX IO pins conflict with another pin on the board." + #endif +#endif +#undef CHECK_SERIAL_PIN +#undef _CHECK_SERIAL_PIN diff --git a/Marlin/src/HAL/STM32/msc_sd.cpp b/Marlin/src/HAL/STM32/msc_sd.cpp index 4f85af0d44..a40bec9d64 100644 --- a/Marlin/src/HAL/STM32/msc_sd.cpp +++ b/Marlin/src/HAL/STM32/msc_sd.cpp @@ -57,7 +57,7 @@ public: auto sd2card = diskIODriver(); // single block if (blkLen == 1) { - watchdog_refresh(); + hal.watchdog_refresh(); sd2card->writeBlock(blkAddr, pBuf); return true; } @@ -65,7 +65,7 @@ public: // multi block optimization sd2card->writeStart(blkAddr, blkLen); while (blkLen--) { - watchdog_refresh(); + hal.watchdog_refresh(); sd2card->writeData(pBuf); pBuf += BLOCK_SIZE; } @@ -77,7 +77,7 @@ public: auto sd2card = diskIODriver(); // single block if (blkLen == 1) { - watchdog_refresh(); + hal.watchdog_refresh(); sd2card->readBlock(blkAddr, pBuf); return true; } @@ -85,7 +85,7 @@ public: // multi block optimization sd2card->readStart(blkAddr); while (blkLen--) { - watchdog_refresh(); + hal.watchdog_refresh(); sd2card->readData(pBuf); pBuf += BLOCK_SIZE; } diff --git a/Marlin/src/HAL/STM32/pinsDebug.h b/Marlin/src/HAL/STM32/pinsDebug.h index a7f022a0b6..13990a69f5 100644 --- a/Marlin/src/HAL/STM32/pinsDebug.h +++ b/Marlin/src/HAL/STM32/pinsDebug.h @@ -79,7 +79,6 @@ // make a list of the Arduino pin numbers in the Port/Pin order // -#define _PIN_ADD_2(NAME_ALPHA, ARDUINO_NUM) { {NAME_ALPHA}, ARDUINO_NUM }, #define _PIN_ADD(NAME_ALPHA, ARDUINO_NUM) { NAME_ALPHA, ARDUINO_NUM }, #define PIN_ADD(NAME) _PIN_ADD(#NAME, NAME) @@ -103,17 +102,23 @@ const XrefInfo pin_xref[] PROGMEM = { #define PIN_NUM_ALPHA_LEFT(P) (((P & 0x000F) < 10) ? ('0' + (P & 0x000F)) : '1') #define PIN_NUM_ALPHA_RIGHT(P) (((P & 0x000F) > 9) ? ('0' + (P & 0x000F) - 10) : 0 ) #define PORT_NUM(P) ((P >> 4) & 0x0007) -#define PORT_ALPHA(P) ('A' + (P >> 4)) +#define PORT_ALPHA(P) ('A' + (P >> 4)) /** * Translation of routines & variables used by pinsDebug.h */ -#define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS -#define VALID_PIN(ANUM) ((ANUM) >= 0 && (ANUM) < NUMBER_PINS_TOTAL) + +#if NUM_ANALOG_FIRST >= NUM_DIGITAL_PINS + #define HAS_HIGH_ANALOG_PINS 1 +#endif +#ifndef NUM_ANALOG_LAST + #define NUM_ANALOG_LAST ((NUM_ANALOG_FIRST) + (NUM_ANALOG_INPUTS) - 1) +#endif +#define NUMBER_PINS_TOTAL ((NUM_DIGITAL_PINS) + TERN0(HAS_HIGH_ANALOG_PINS, NUM_ANALOG_INPUTS)) +#define VALID_PIN(P) (WITHIN(P, 0, (NUM_DIGITAL_PINS) - 1) || TERN0(HAS_HIGH_ANALOG_PINS, WITHIN(P, NUM_ANALOG_FIRST, NUM_ANALOG_LAST))) #define digitalRead_mod(Ard_num) extDigitalRead(Ard_num) // must use Arduino pin numbers when doing reads #define PRINT_PIN(Q) #define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d) "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0) -#define PRINT_PORT(ANUM) port_print(ANUM) #define DIGITAL_PIN_TO_ANALOG_PIN(ANUM) -1 // will report analog pin number in the print port routine // x is a variable used to search pin_array @@ -164,21 +169,24 @@ bool GET_PINMODE(const pin_t Ard_num) { return pin_mode == MODE_PIN_OUTPUT || pin_mode == MODE_PIN_ALT; // assume all alt definitions are PWM } -int8_t digital_pin_to_analog_pin(pin_t Ard_num) { - Ard_num -= NUM_ANALOG_FIRST; - return (Ard_num >= 0 && Ard_num < NUM_ANALOG_INPUTS) ? Ard_num : -1; +int8_t digital_pin_to_analog_pin(const pin_t Ard_num) { + if (WITHIN(Ard_num, NUM_ANALOG_FIRST, NUM_ANALOG_LAST)) + return Ard_num - NUM_ANALOG_FIRST; + + const uint32_t ind = digitalPinToAnalogInput(Ard_num); + return (ind < NUM_ANALOG_INPUTS) ? ind : -1; } bool IS_ANALOG(const pin_t Ard_num) { return get_pin_mode(Ard_num) == MODE_PIN_ANALOG; } -bool is_digital(const pin_t x) { - const uint8_t pin_mode = get_pin_mode(pin_array[x].pin); +bool is_digital(const pin_t Ard_num) { + const uint8_t pin_mode = get_pin_mode(pin_array[Ard_num].pin); return pin_mode == MODE_PIN_INPUT || pin_mode == MODE_PIN_OUTPUT; } -void port_print(const pin_t Ard_num) { +void print_port(const pin_t Ard_num) { char buffer[16]; pin_t Index; for (Index = 0; Index < NUMBER_PINS_TOTAL; Index++) @@ -200,10 +208,18 @@ void port_print(const pin_t Ard_num) { SERIAL_ECHO_SP(7); // Print number to be used with M42 - sprintf_P(buffer, PSTR(" M42 P%d "), Ard_num); - SERIAL_ECHO(buffer); - if (Ard_num < 10) SERIAL_CHAR(' '); - if (Ard_num < 100) SERIAL_CHAR(' '); + int calc_p = Ard_num; + if (Ard_num > NUM_DIGITAL_PINS) { + calc_p -= NUM_ANALOG_FIRST; + if (calc_p > 7) calc_p += 8; + } + SERIAL_ECHOPGM(" M42 P", calc_p); + SERIAL_CHAR(' '); + if (calc_p < 100) { + SERIAL_CHAR(' '); + if (calc_p < 10) + SERIAL_CHAR(' '); + } } bool pwm_status(const pin_t Ard_num) { @@ -225,19 +241,19 @@ void pwm_details(const pin_t Ard_num) { case 'D' : alt_all = GPIOD->AFR[ind]; break; #ifdef PE_0 case 'E' : alt_all = GPIOE->AFR[ind]; break; - #elif defined (PF_0) + #elif defined(PF_0) case 'F' : alt_all = GPIOF->AFR[ind]; break; - #elif defined (PG_0) + #elif defined(PG_0) case 'G' : alt_all = GPIOG->AFR[ind]; break; - #elif defined (PH_0) + #elif defined(PH_0) case 'H' : alt_all = GPIOH->AFR[ind]; break; - #elif defined (PI_0) + #elif defined(PI_0) case 'I' : alt_all = GPIOI->AFR[ind]; break; - #elif defined (PJ_0) + #elif defined(PJ_0) case 'J' : alt_all = GPIOJ->AFR[ind]; break; - #elif defined (PK_0) + #elif defined(PK_0) case 'K' : alt_all = GPIOK->AFR[ind]; break; - #elif defined (PL_0) + #elif defined(PL_0) case 'L' : alt_all = GPIOL->AFR[ind]; break; #endif } diff --git a/Marlin/src/HAL/STM32/sdio.cpp b/Marlin/src/HAL/STM32/sdio.cpp index 0af5f9040e..de388b8e14 100644 --- a/Marlin/src/HAL/STM32/sdio.cpp +++ b/Marlin/src/HAL/STM32/sdio.cpp @@ -26,14 +26,13 @@ #include "../../inc/MarlinConfig.h" -#if ENABLED(SDIO_SUPPORT) +#if ENABLED(ONBOARD_SDIO) #include "sdio.h" #include #include -// use local drivers #if defined(STM32F103xE) || defined(STM32F103xG) #include #include @@ -47,254 +46,403 @@ #include #include #include +#elif defined(STM32H7xx) + #define SDIO_FOR_STM32H7 + #include + #include + #include + #include #else - #error "SDIO only supported with STM32F103xE, STM32F103xG, STM32F4xx, or STM32F7xx." + #error "SDIO is only supported with STM32F103xE, STM32F103xG, STM32F4xx, STM32F7xx, and STM32H7xx." #endif -SD_HandleTypeDef hsd; // create SDIO structure -// F4 supports one DMA for RX and another for TX, but Marlin will never -// do read and write at same time, so we use the same DMA for both. -DMA_HandleTypeDef hdma_sdio; - -/* - SDIO_INIT_CLK_DIV is 118 - SDIO clock frequency is 48MHz / (TRANSFER_CLOCK_DIV + 2) - SDIO init clock frequency should not exceed 400kHz = 48MHz / (118 + 2) - - Default TRANSFER_CLOCK_DIV is 2 (118 / 40) - Default SDIO clock frequency is 48MHz / (2 + 2) = 12 MHz - This might be too fast for stable SDIO operations - - MKS Robin board seems to have stable SDIO with BusWide 1bit and ClockDiv 8 i.e. 4.8MHz SDIO clock frequency - Additional testing is required as there are clearly some 4bit initialization problems -*/ - -#ifndef USBD_OK - #define USBD_OK 0 -#endif +// SDIO Max Clock (naming from STM Manual, don't change) +#define SDIOCLK 48000000 // Target Clock, configurable. Default is 18MHz, from STM32F1 #ifndef SDIO_CLOCK #define SDIO_CLOCK 18000000 // 18 MHz #endif -// SDIO retries, configurable. Default is 3, from STM32F1 -#ifndef SDIO_READ_RETRIES - #define SDIO_READ_RETRIES 3 -#endif - -// SDIO Max Clock (naming from STM Manual, don't change) -#define SDIOCLK 48000000 +SD_HandleTypeDef hsd; // SDIO structure static uint32_t clock_to_divider(uint32_t clk) { - // limit the SDIO master clock to 8/3 of PCLK2. See STM32 Manuals - // Also limited to no more than 48Mhz (SDIOCLK). - const uint32_t pclk2 = HAL_RCC_GetPCLK2Freq(); - clk = min(clk, (uint32_t)(pclk2 * 8 / 3)); - clk = min(clk, (uint32_t)SDIOCLK); - // Round up divider, so we don't run the card over the speed supported, - // and subtract by 2, because STM32 will add 2, as written in the manual: - // SDIO_CK frequency = SDIOCLK / [CLKDIV + 2] - return pclk2 / clk + (pclk2 % clk != 0) - 2; -} - -void go_to_transfer_speed() { - /* Default SDIO peripheral configuration for SD card initialization */ - hsd.Init.ClockEdge = hsd.Init.ClockEdge; - hsd.Init.ClockBypass = hsd.Init.ClockBypass; - hsd.Init.ClockPowerSave = hsd.Init.ClockPowerSave; - hsd.Init.BusWide = hsd.Init.BusWide; - hsd.Init.HardwareFlowControl = hsd.Init.HardwareFlowControl; - hsd.Init.ClockDiv = clock_to_divider(SDIO_CLOCK); - - /* Initialize SDIO peripheral interface with default configuration */ - SDIO_Init(hsd.Instance, hsd.Init); -} - -void SD_LowLevel_Init(void) { - uint32_t tempreg; - - __HAL_RCC_GPIOC_CLK_ENABLE(); //enable GPIO clocks - __HAL_RCC_GPIOD_CLK_ENABLE(); //enable GPIO clocks - - GPIO_InitTypeDef GPIO_InitStruct; - - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = 1; //GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - - #if DISABLED(STM32F1xx) - GPIO_InitStruct.Alternate = GPIO_AF12_SDIO; - #endif - - GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_12; // D0 & SCK - HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); - - #if PINS_EXIST(SDIO_D1, SDIO_D2, SDIO_D3) // define D1-D3 only if have a four bit wide SDIO bus - GPIO_InitStruct.Pin = GPIO_PIN_9 | GPIO_PIN_10 | GPIO_PIN_11; // D1-D3 - HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); - #endif - - // Configure PD.02 CMD line - GPIO_InitStruct.Pin = GPIO_PIN_2; - HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); - - // Setup DMA - #if defined(STM32F1xx) - hdma_sdio.Init.Mode = DMA_NORMAL; - hdma_sdio.Instance = DMA2_Channel4; - HAL_NVIC_EnableIRQ(DMA2_Channel4_5_IRQn); - #elif defined(STM32F4xx) - hdma_sdio.Init.Mode = DMA_PFCTRL; - hdma_sdio.Instance = DMA2_Stream3; - hdma_sdio.Init.Channel = DMA_CHANNEL_4; - hdma_sdio.Init.FIFOMode = DMA_FIFOMODE_ENABLE; - hdma_sdio.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL; - hdma_sdio.Init.MemBurst = DMA_MBURST_INC4; - hdma_sdio.Init.PeriphBurst = DMA_PBURST_INC4; - HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn); - #endif - HAL_NVIC_EnableIRQ(SDIO_IRQn); - hdma_sdio.Init.PeriphInc = DMA_PINC_DISABLE; - hdma_sdio.Init.MemInc = DMA_MINC_ENABLE; - hdma_sdio.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD; - hdma_sdio.Init.MemDataAlignment = DMA_MDATAALIGN_WORD; - hdma_sdio.Init.Priority = DMA_PRIORITY_LOW; - __HAL_LINKDMA(&hsd, hdmarx, hdma_sdio); - __HAL_LINKDMA(&hsd, hdmatx, hdma_sdio); - - #if defined(STM32F1xx) - __HAL_RCC_SDIO_CLK_ENABLE(); - __HAL_RCC_DMA2_CLK_ENABLE(); + #ifdef SDIO_FOR_STM32H7 + // SDMMC_CK frequency = sdmmc_ker_ck / [2 * CLKDIV]. + uint32_t sdmmc_clk = HAL_RCCEx_GetPeriphCLKFreq(RCC_PERIPHCLK_SDMMC); + return sdmmc_clk / (2U * SDIO_CLOCK) + (sdmmc_clk % (2U * SDIO_CLOCK) != 0); #else - __HAL_RCC_SDIO_FORCE_RESET(); - delay(2); - __HAL_RCC_SDIO_RELEASE_RESET(); - delay(2); - __HAL_RCC_SDIO_CLK_ENABLE(); - - __HAL_RCC_DMA2_FORCE_RESET(); - delay(2); - __HAL_RCC_DMA2_RELEASE_RESET(); - delay(2); - __HAL_RCC_DMA2_CLK_ENABLE(); + // limit the SDIO master clock to 8/3 of PCLK2. See STM32 Manuals + // Also limited to no more than 48Mhz (SDIOCLK). + const uint32_t pclk2 = HAL_RCC_GetPCLK2Freq(); + clk = min(clk, (uint32_t)(pclk2 * 8 / 3)); + clk = min(clk, (uint32_t)SDIOCLK); + // Round up divider, so we don't run the card over the speed supported, + // and subtract by 2, because STM32 will add 2, as written in the manual: + // SDIO_CK frequency = SDIOCLK / [CLKDIV + 2] + return pclk2 / clk + (pclk2 % clk != 0) - 2; #endif - - //Initialize the SDIO (with initial <400Khz Clock) - tempreg = 0; //Reset value - tempreg |= SDIO_CLKCR_CLKEN; // Clock enabled - tempreg |= SDIO_INIT_CLK_DIV; // Clock Divider. Clock = 48000 / (118 + 2) = 400Khz - // Keep the rest at 0 => HW_Flow Disabled, Rising Clock Edge, Disable CLK ByPass, Bus Width = 0, Power save Disable - SDIO->CLKCR = tempreg; - - // Power up the SDIO - SDIO_PowerState_ON(SDIO); - hsd.Instance = SDIO; } -void HAL_SD_MspInit(SD_HandleTypeDef *hsd) { // application specific init - UNUSED(hsd); // Prevent unused argument(s) compilation warning - __HAL_RCC_SDIO_CLK_ENABLE(); // turn on SDIO clock +// Start the SDIO clock +void HAL_SD_MspInit(SD_HandleTypeDef *hsd) { + UNUSED(hsd); + #ifdef SDIO_FOR_STM32H7 + pinmap_pinout(PC_12, PinMap_SD); + pinmap_pinout(PD_2, PinMap_SD); + pinmap_pinout(PC_8, PinMap_SD); + #if PINS_EXIST(SDIO_D1, SDIO_D2, SDIO_D3) // Define D1-D3 only for 4-bit wide SDIO bus + pinmap_pinout(PC_9, PinMap_SD); + pinmap_pinout(PC_10, PinMap_SD); + pinmap_pinout(PC_11, PinMap_SD); + #endif + __HAL_RCC_SDMMC1_CLK_ENABLE(); + HAL_NVIC_EnableIRQ(SDMMC1_IRQn); + #else + __HAL_RCC_SDIO_CLK_ENABLE(); + #endif } -bool SDIO_Init() { - uint8_t retryCnt = SDIO_READ_RETRIES; +#ifdef SDIO_FOR_STM32H7 - bool status; - hsd.Instance = SDIO; - hsd.State = HAL_SD_STATE_RESET; + #define SD_TIMEOUT 1000 // ms - SD_LowLevel_Init(); + extern "C" void SDMMC1_IRQHandler(void) { HAL_SD_IRQHandler(&hsd); } - uint8_t retry_Cnt = retryCnt; - for (;;) { - TERN_(USE_WATCHDOG, HAL_watchdog_refresh()); - status = (bool) HAL_SD_Init(&hsd); - if (!status) break; - if (!--retry_Cnt) return false; // return failing status if retries are exhausted + uint8_t waitingRxCplt = 0, waitingTxCplt = 0; + void HAL_SD_TxCpltCallback(SD_HandleTypeDef *hsdio) { waitingTxCplt = 0; } + void HAL_SD_RxCpltCallback(SD_HandleTypeDef *hsdio) { waitingRxCplt = 0; } + + void HAL_SD_MspDeInit(SD_HandleTypeDef *hsd) { + __HAL_RCC_SDMMC1_FORCE_RESET(); delay(10); + __HAL_RCC_SDMMC1_RELEASE_RESET(); delay(10); } - go_to_transfer_speed(); + bool SDIO_Init() { + HAL_StatusTypeDef sd_state = HAL_OK; + if (hsd.Instance == SDMMC1) HAL_SD_DeInit(&hsd); - #if PINS_EXIST(SDIO_D1, SDIO_D2, SDIO_D3) // go to 4 bit wide mode if pins are defined - retry_Cnt = retryCnt; + // HAL SD initialization + hsd.Instance = SDMMC1; + hsd.Init.ClockEdge = SDMMC_CLOCK_EDGE_RISING; + hsd.Init.ClockPowerSave = SDMMC_CLOCK_POWER_SAVE_DISABLE; + hsd.Init.BusWide = SDMMC_BUS_WIDE_1B; + hsd.Init.HardwareFlowControl = SDMMC_HARDWARE_FLOW_CONTROL_DISABLE; + hsd.Init.ClockDiv = clock_to_divider(SDIO_CLOCK); + sd_state = HAL_SD_Init(&hsd); + + #if PINS_EXIST(SDIO_D1, SDIO_D2, SDIO_D3) + if (sd_state == HAL_OK) + sd_state = HAL_SD_ConfigWideBusOperation(&hsd, SDMMC_BUS_WIDE_4B); + #endif + + return (sd_state == HAL_OK); + } + +#else // !SDIO_FOR_STM32H7 + + #define SD_TIMEOUT 500 // ms + + // SDIO retries, configurable. Default is 3, from STM32F1 + #ifndef SDIO_READ_RETRIES + #define SDIO_READ_RETRIES 3 + #endif + + // F4 supports one DMA for RX and another for TX, but Marlin will never + // do read and write at same time, so we use the same DMA for both. + DMA_HandleTypeDef hdma_sdio; + + #ifdef STM32F1xx + #define DMA_IRQ_HANDLER DMA2_Channel4_5_IRQHandler + #elif defined(STM32F4xx) + #define DMA_IRQ_HANDLER DMA2_Stream3_IRQHandler + #else + #error "Unknown STM32 architecture." + #endif + + extern "C" void SDIO_IRQHandler(void) { HAL_SD_IRQHandler(&hsd); } + extern "C" void DMA_IRQ_HANDLER(void) { HAL_DMA_IRQHandler(&hdma_sdio); } + + /* + SDIO_INIT_CLK_DIV is 118 + SDIO clock frequency is 48MHz / (TRANSFER_CLOCK_DIV + 2) + SDIO init clock frequency should not exceed 400kHz = 48MHz / (118 + 2) + + Default TRANSFER_CLOCK_DIV is 2 (118 / 40) + Default SDIO clock frequency is 48MHz / (2 + 2) = 12 MHz + This might be too fast for stable SDIO operations + + MKS Robin SDIO seems stable with BusWide 1bit and ClockDiv 8 (i.e., 4.8MHz SDIO clock frequency) + More testing is required as there are clearly some 4bit init problems. + */ + + void go_to_transfer_speed() { + /* Default SDIO peripheral configuration for SD card initialization */ + hsd.Init.ClockEdge = hsd.Init.ClockEdge; + hsd.Init.ClockBypass = hsd.Init.ClockBypass; + hsd.Init.ClockPowerSave = hsd.Init.ClockPowerSave; + hsd.Init.BusWide = hsd.Init.BusWide; + hsd.Init.HardwareFlowControl = hsd.Init.HardwareFlowControl; + hsd.Init.ClockDiv = clock_to_divider(SDIO_CLOCK); + + /* Initialize SDIO peripheral interface with default configuration */ + SDIO_Init(hsd.Instance, hsd.Init); + } + + void SD_LowLevel_Init() { + uint32_t tempreg; + + // Enable GPIO clocks + __HAL_RCC_GPIOC_CLK_ENABLE(); + __HAL_RCC_GPIOD_CLK_ENABLE(); + + GPIO_InitTypeDef GPIO_InitStruct; + + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = 1; // GPIO_NOPULL + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; + + #if DISABLED(STM32F1xx) + GPIO_InitStruct.Alternate = GPIO_AF12_SDIO; + #endif + + GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_12; // D0 & SCK + HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); + + #if PINS_EXIST(SDIO_D1, SDIO_D2, SDIO_D3) // define D1-D3 only if have a four bit wide SDIO bus + GPIO_InitStruct.Pin = GPIO_PIN_9 | GPIO_PIN_10 | GPIO_PIN_11; // D1-D3 + HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); + #endif + + // Configure PD.02 CMD line + GPIO_InitStruct.Pin = GPIO_PIN_2; + HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); + + // Setup DMA + #ifdef STM32F1xx + hdma_sdio.Init.Mode = DMA_NORMAL; + hdma_sdio.Instance = DMA2_Channel4; + HAL_NVIC_EnableIRQ(DMA2_Channel4_5_IRQn); + #elif defined(STM32F4xx) + hdma_sdio.Init.Mode = DMA_PFCTRL; + hdma_sdio.Instance = DMA2_Stream3; + hdma_sdio.Init.Channel = DMA_CHANNEL_4; + hdma_sdio.Init.FIFOMode = DMA_FIFOMODE_ENABLE; + hdma_sdio.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL; + hdma_sdio.Init.MemBurst = DMA_MBURST_INC4; + hdma_sdio.Init.PeriphBurst = DMA_PBURST_INC4; + HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn); + #endif + HAL_NVIC_EnableIRQ(SDIO_IRQn); + hdma_sdio.Init.PeriphInc = DMA_PINC_DISABLE; + hdma_sdio.Init.MemInc = DMA_MINC_ENABLE; + hdma_sdio.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD; + hdma_sdio.Init.MemDataAlignment = DMA_MDATAALIGN_WORD; + hdma_sdio.Init.Priority = DMA_PRIORITY_LOW; + __HAL_LINKDMA(&hsd, hdmarx, hdma_sdio); + __HAL_LINKDMA(&hsd, hdmatx, hdma_sdio); + + #ifdef STM32F1xx + __HAL_RCC_SDIO_CLK_ENABLE(); + __HAL_RCC_DMA2_CLK_ENABLE(); + #else + __HAL_RCC_SDIO_FORCE_RESET(); delay(2); + __HAL_RCC_SDIO_RELEASE_RESET(); delay(2); + __HAL_RCC_SDIO_CLK_ENABLE(); + + __HAL_RCC_DMA2_FORCE_RESET(); delay(2); + __HAL_RCC_DMA2_RELEASE_RESET(); delay(2); + __HAL_RCC_DMA2_CLK_ENABLE(); + #endif + + // Initialize the SDIO (with initial <400Khz Clock) + tempreg = 0 // Reset value + | SDIO_CLKCR_CLKEN // Clock enabled + | SDIO_INIT_CLK_DIV; // Clock Divider. Clock = 48000 / (118 + 2) = 400Khz + // Keep the rest at 0 => HW_Flow Disabled, Rising Clock Edge, Disable CLK ByPass, Bus Width = 0, Power save Disable + SDIO->CLKCR = tempreg; + + // Power up the SDIO + SDIO_PowerState_ON(SDIO); + hsd.Instance = SDIO; + } + + bool SDIO_Init() { + uint8_t retryCnt = SDIO_READ_RETRIES; + + bool status; + hsd.Instance = SDIO; + hsd.State = HAL_SD_STATE_RESET; + + SD_LowLevel_Init(); + + uint8_t retry_Cnt = retryCnt; for (;;) { - TERN_(USE_WATCHDOG, HAL_watchdog_refresh()); - if (!HAL_SD_ConfigWideBusOperation(&hsd, SDIO_BUS_WIDE_4B)) break; // some cards are only 1 bit wide so a pass here is not required - if (!--retry_Cnt) break; + hal.watchdog_refresh(); + status = (bool) HAL_SD_Init(&hsd); + if (!status) break; + if (!--retry_Cnt) return false; // return failing status if retries are exhausted } - if (!retry_Cnt) { // wide bus failed, go back to one bit wide mode - hsd.State = (HAL_SD_StateTypeDef) 0; // HAL_SD_STATE_RESET - SD_LowLevel_Init(); + + go_to_transfer_speed(); + + hsd.Init.ClockPowerSave = SDIO_CLOCK_POWER_SAVE_ENABLE; + hsd.Init.ClockDiv = 8; + + #if PINS_EXIST(SDIO_D1, SDIO_D2, SDIO_D3) // go to 4 bit wide mode if pins are defined retry_Cnt = retryCnt; for (;;) { - TERN_(USE_WATCHDOG, HAL_watchdog_refresh()); - status = (bool) HAL_SD_Init(&hsd); - if (!status) break; - if (!--retry_Cnt) return false; // return failing status if retries are exhausted + hal.watchdog_refresh(); + if (!HAL_SD_ConfigWideBusOperation(&hsd, SDIO_BUS_WIDE_4B)) break; // some cards are only 1 bit wide so a pass here is not required + if (!--retry_Cnt) break; } - go_to_transfer_speed(); + if (!retry_Cnt) { // wide bus failed, go back to one bit wide mode + hsd.State = (HAL_SD_StateTypeDef) 0; // HAL_SD_STATE_RESET + SD_LowLevel_Init(); + retry_Cnt = retryCnt; + for (;;) { + hal.watchdog_refresh(); + status = (bool) HAL_SD_Init(&hsd); + if (!status) break; + if (!--retry_Cnt) return false; // return failing status if retries are exhausted + } + go_to_transfer_speed(); + } + #endif + + return true; + } + + /** + * @brief Read or Write a block + * @details Read or Write a block with SDIO + * + * @param block The block index + * @param src The data buffer source for a write + * @param dst The data buffer destination for a read + * + * @return true on success + */ + static bool SDIO_ReadWriteBlock_DMA(uint32_t block, const uint8_t *src, uint8_t *dst) { + if (HAL_SD_GetCardState(&hsd) != HAL_SD_CARD_TRANSFER) return false; + + hal.watchdog_refresh(); + + HAL_StatusTypeDef ret; + if (src) { + hdma_sdio.Init.Direction = DMA_MEMORY_TO_PERIPH; + HAL_DMA_Init(&hdma_sdio); + ret = HAL_SD_WriteBlocks_DMA(&hsd, (uint8_t*)src, block, 1); + } + else { + hdma_sdio.Init.Direction = DMA_PERIPH_TO_MEMORY; + HAL_DMA_Init(&hdma_sdio); + ret = HAL_SD_ReadBlocks_DMA(&hsd, (uint8_t*)dst, block, 1); } - #endif - return true; -} - -static bool SDIO_ReadWriteBlock_DMA(uint32_t block, const uint8_t *src, uint8_t *dst) { - if (HAL_SD_GetCardState(&hsd) != HAL_SD_CARD_TRANSFER) return false; - - TERN_(USE_WATCHDOG, HAL_watchdog_refresh()); - - HAL_StatusTypeDef ret; - if (src) { - hdma_sdio.Init.Direction = DMA_MEMORY_TO_PERIPH; - HAL_DMA_Init(&hdma_sdio); - ret = HAL_SD_WriteBlocks_DMA(&hsd, (uint8_t *)src, block, 1); - } - else { - hdma_sdio.Init.Direction = DMA_PERIPH_TO_MEMORY; - HAL_DMA_Init(&hdma_sdio); - ret = HAL_SD_ReadBlocks_DMA(&hsd, (uint8_t *)dst, block, 1); - } - - if (ret != HAL_OK) { - HAL_DMA_Abort_IT(&hdma_sdio); - HAL_DMA_DeInit(&hdma_sdio); - return false; - } - - millis_t timeout = millis() + 500; - // Wait the transfer - while (hsd.State != HAL_SD_STATE_READY) { - if (ELAPSED(millis(), timeout)) { + if (ret != HAL_OK) { HAL_DMA_Abort_IT(&hdma_sdio); HAL_DMA_DeInit(&hdma_sdio); return false; } + + millis_t timeout = millis() + SD_TIMEOUT; + // Wait the transfer + while (hsd.State != HAL_SD_STATE_READY) { + if (ELAPSED(millis(), timeout)) { + HAL_DMA_Abort_IT(&hdma_sdio); + HAL_DMA_DeInit(&hdma_sdio); + return false; + } + } + + while (__HAL_DMA_GET_FLAG(&hdma_sdio, __HAL_DMA_GET_TC_FLAG_INDEX(&hdma_sdio)) != 0 + || __HAL_DMA_GET_FLAG(&hdma_sdio, __HAL_DMA_GET_TE_FLAG_INDEX(&hdma_sdio)) != 0) { /* nada */ } + + HAL_DMA_Abort_IT(&hdma_sdio); + HAL_DMA_DeInit(&hdma_sdio); + + timeout = millis() + SD_TIMEOUT; + while (HAL_SD_GetCardState(&hsd) != HAL_SD_CARD_TRANSFER) if (ELAPSED(millis(), timeout)) return false; + + return true; } - while (__HAL_DMA_GET_FLAG(&hdma_sdio, __HAL_DMA_GET_TC_FLAG_INDEX(&hdma_sdio)) != 0 - || __HAL_DMA_GET_FLAG(&hdma_sdio, __HAL_DMA_GET_TE_FLAG_INDEX(&hdma_sdio)) != 0) { /* nada */ } - - HAL_DMA_Abort_IT(&hdma_sdio); - HAL_DMA_DeInit(&hdma_sdio); - - timeout = millis() + 500; - while (HAL_SD_GetCardState(&hsd) != HAL_SD_CARD_TRANSFER) if (ELAPSED(millis(), timeout)) return false; - - return true; -} +#endif // !SDIO_FOR_STM32H7 +/** + * @brief Read a block + * @details Read a block from media with SDIO + * + * @param block The block index + * @param src The block buffer + * + * @return true on success + */ bool SDIO_ReadBlock(uint32_t block, uint8_t *dst) { - uint8_t retries = SDIO_READ_RETRIES; - while (retries--) if (SDIO_ReadWriteBlock_DMA(block, nullptr, dst)) return true; - return false; + #ifdef SDIO_FOR_STM32H7 + + uint32_t timeout = HAL_GetTick() + SD_TIMEOUT; + + while (HAL_SD_GetCardState(&hsd) != HAL_SD_CARD_TRANSFER) + if (HAL_GetTick() >= timeout) return false; + + waitingRxCplt = 1; + if (HAL_SD_ReadBlocks_DMA(&hsd, (uint8_t*)dst, block, 1) != HAL_OK) + return false; + + timeout = HAL_GetTick() + SD_TIMEOUT; + while (waitingRxCplt) + if (HAL_GetTick() >= timeout) return false; + + return true; + + #else + + uint8_t retries = SDIO_READ_RETRIES; + while (retries--) if (SDIO_ReadWriteBlock_DMA(block, nullptr, dst)) return true; + return false; + + #endif } +/** + * @brief Write a block + * @details Write a block to media with SDIO + * + * @param block The block index + * @param src The block data + * + * @return true on success + */ bool SDIO_WriteBlock(uint32_t block, const uint8_t *src) { - uint8_t retries = SDIO_READ_RETRIES; - while (retries--) if (SDIO_ReadWriteBlock_DMA(block, src, nullptr)) return true; - return false; + #ifdef SDIO_FOR_STM32H7 + + uint32_t timeout = HAL_GetTick() + SD_TIMEOUT; + + while (HAL_SD_GetCardState(&hsd) != HAL_SD_CARD_TRANSFER) + if (HAL_GetTick() >= timeout) return false; + + waitingTxCplt = 1; + if (HAL_SD_WriteBlocks_DMA(&hsd, (uint8_t*)src, block, 1) != HAL_OK) + return false; + + timeout = HAL_GetTick() + SD_TIMEOUT; + while (waitingTxCplt) + if (HAL_GetTick() >= timeout) return false; + + return true; + + #else + + uint8_t retries = SDIO_READ_RETRIES; + while (retries--) { + if (SDIO_ReadWriteBlock_DMA(block, src, nullptr)) return true; + delay(10); + } + return false; + + #endif } bool SDIO_IsReady() { @@ -305,16 +453,5 @@ uint32_t SDIO_GetCardSize() { return (uint32_t)(hsd.SdCard.BlockNbr) * (hsd.SdCard.BlockSize); } -#if defined(STM32F1xx) - #define DMA_IRQ_HANDLER DMA2_Channel4_5_IRQHandler -#elif defined(STM32F4xx) - #define DMA_IRQ_HANDLER DMA2_Stream3_IRQHandler -#else - #error "Unknown STM32 architecture." -#endif - -extern "C" void SDIO_IRQHandler(void) { HAL_SD_IRQHandler(&hsd); } -extern "C" void DMA_IRQ_HANDLER(void) { HAL_DMA_IRQHandler(&hdma_sdio); } - -#endif // SDIO_SUPPORT +#endif // ONBOARD_SDIO #endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/temp_soc.h b/Marlin/src/HAL/STM32/temp_soc.h new file mode 100644 index 0000000000..05fad695c3 --- /dev/null +++ b/Marlin/src/HAL/STM32/temp_soc.h @@ -0,0 +1,346 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2023 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#ifdef STM32F0xx + /* + STM32F030x4 STM32F030x6 STM32F030x8 STM32F030xC https://www.st.com/resource/en/datasheet/stm32f030f4.pdf + --> TS_CAL2 not defined in datasheet + STM32F031x4 STM32F031x6 https://www.st.com/resource/en/datasheet/stm32f031c4.pdf + STM32F038x6 https://www.st.com/resource/en/datasheet/stm32f038c6.pdf + STM32F042x4 STM32F042x6 https://www.st.com/resource/en/datasheet/stm32f042c4.pdf + STM32F048C6 STM32F048G6 STM32F048T6 https://www.st.com/resource/en/datasheet/stm32f048c6.pdf + STM32F051x4 STM32F051x6 STM32F051x8 https://www.st.com/resource/en/datasheet/dm00039193.pdf + STM32F058C8 STM32F058R8 STM32F058T8 https://www.st.com/resource/en/datasheet/stm32f058c8.pdf + STM32F070CB STM32F070RB STM32F070C6 STM32F070F6 https://www.st.com/resource/en/datasheet/stm32f070c6.pdf + --> TS_CAL2 not defined in datasheet + STM32F071x8 STM32F071xB https://www.st.com/resource/en/datasheet/stm32f071cb.pdf + STM32F072x8 STM32F072xB https://www.st.com/resource/en/datasheet/stm32f072c8.pdf + STM32F078CB STM32F078RB STM32F078VB https://www.st.com/resource/en/datasheet/stm32f078cb.pdf + STM32F091xB STM32F091xC https://www.st.com/resource/en/datasheet/stm32f091cc.pdf + STM32F098CC STM32F098RC STM32F098VC https://www.st.com/resource/en/datasheet/stm32f098cc.pdf + */ + #define TS_CAL1_TEMP 30 // Calibration temperature of TS_CAL1 (see specific SoC datasheet) + #define TS_CAL1_REGOFFSET 0x1FFFF7B8 // Memory address of TS_CAL1 for STM32F030x4/x6/x8/xC (see specific SoC datasheet) + #define TS_CAL2_TEMP 110 // Calibration temperature of TS_CAL2 (see specific SoC datasheet) + #define TS_CAL2_REGOFFSET 0x1FFFF7C2 // Memory address of TS_CAL2 for STM32F030x4/x6/x8/xC (see specific SoC datasheet) + +#elif defined(STM32F1xx) + /* + STM32F100xC STM32F100xD STM32F100xE https://www.st.com/resource/en/datasheet/stm32f100rc.pdf + --> V=1.41 + STM32F100x4 STM32F100x6 STM32F100x8 STM32F100xB https://www.st.com/resource/en/datasheet/stm32f100cb.pdf + --> V=1.41 + STM32F101x8 STM32F101xB https://www.st.com/resource/en/datasheet/stm32f101r8.pdf + STM32F101xC STM32F101xD STM32F101xE https://www.st.com/resource/en/datasheet/stm32f101rc.pdf + STM32F101x4 STM32F101x6 https://www.st.com/resource/en/datasheet/stm32f101c4.pdf + STM32F101xF STM32F101xG https://www.st.com/resource/en/datasheet/stm32f101vf.pdf + STM32F102x8 STM32F102xB https://www.st.com/resource/en/datasheet/stm32f102c8.pdf + --> V=1.42 / Slope=4.35 + STM32F102x4 STM32F102x6 https://www.st.com/resource/en/datasheet/stm32f102c4.pdf + --> V=1.42 / Slope=4.35 + STM32F103x8 STM32F103xB https://www.st.com/resource/en/datasheet/stm32f103c8.pdf + STM32F103xC STM32F103xD STM32F103xE https://www.st.com/resource/en/datasheet/stm32f103rc.pdf + STM32F103x4 STM32F103x6 https://www.st.com/resource/en/datasheet/stm32f103c4.pdf + STM32F103xF STM32F103xG https://www.st.com/resource/en/datasheet/stm32f103rg.pdf + STM32F105xx STM32F107xx https://www.st.com/resource/en/datasheet/stm32f105r8.pdf + */ + #define TS_TYPICAL_V 1.43 + #define TS_TYPICAL_TEMP 25 + #define TS_TYPICAL_SLOPE 4.3 + +#elif defined(STM32F2xx) + /* + STM32F205xx STM32F207xx https://www.st.com/resource/en/datasheet/stm32f205rb.pdf + STM32F215xx STM32F217xx https://www.st.com/resource/en/datasheet/stm32f215re.pdf + */ + #define TS_TYPICAL_V 0.76 + #define TS_TYPICAL_TEMP 25 + #define TS_TYPICAL_SLOPE 2.5 + +#elif defined(STM32F3xx) + /* + STM32F301x6 STM32F301x8 https://www.st.com/resource/en/datasheet/stm32f301c6.pdf + STM32F302xD STM32F302xE https://www.st.com/resource/en/datasheet/stm32f302re.pdf + STM32F302x6 STM32F302x8 https://www.st.com/resource/en/datasheet/stm32f302r6.pdf + STM32F302xB STM32F302xC https://www.st.com/resource/en/datasheet/stm32f302cb.pdf + STM32F303xD STM32F303xE https://www.st.com/resource/en/datasheet/stm32f303re.pdf + STM32F303xB STM32F303xC https://www.st.com/resource/en/datasheet/stm32f303cb.pdf + STM32F303x6/x8 https://www.st.com/resource/en/datasheet/stm32f303c6.pdf + STM32F334x4 STM32F334x6 STM32F334x8 https://www.st.com/resource/en/datasheet/stm32f334k4.pdf + STM32F373xx https://www.st.com/resource/en/datasheet/stm32f373cc.pdf + STM32F358xC https://www.st.com/resource/en/datasheet/stm32f358cc.pdf + STM32F378xx https://www.st.com/resource/en/datasheet/stm32f378cc.pdf + STM32F318C8 STM32F318K8 https://www.st.com/resource/en/datasheet/stm32f318c8.pdf + STM32F328C8 https://www.st.com/resource/en/datasheet/stm32f328c8.pdf + STM32F398VE https://www.st.com/resource/en/datasheet/stm32f398ve.pdf + */ + #define TS_CAL1_TEMP 30 + #define TS_CAL1_REGOFFSET 0x1FFFF7B8 + #define TS_CAL2_TEMP 110 + #define TS_CAL2_REGOFFSET 0x1FFFF7C2 + +#elif defined(STM32F4xx) + /* + STM32F401xD STM32F401xE https://www.st.com/resource/en/datasheet/stm32f401re.pdf + STM32F411xC STM32F411xE https://www.st.com/resource/en/datasheet/stm32f411ce.pdf + STM32F446xC/E https://www.st.com/resource/en/datasheet/stm32f446mc.pdf + STM32F479xx https://www.st.com/resource/en/datasheet/stm32f479ai.pdf + STM32F412xE STM32F412xG https://www.st.com/resource/en/datasheet/stm32f412ce.pdf + STM32F410x8 STM32F410xB https://www.st.com/resource/en/datasheet/stm32f410cb.pdf + STM32F469xx https://www.st.com/resource/en/datasheet/stm32f469ae.pdf + STM32F423xH https://www.st.com/resource/en/datasheet/stm32f423ch.pdf + STM32F413xG STM32F413xH https://www.st.com/resource/en/datasheet/stm32f413cg.pdf + STM32F415xx STM32F417xx https://www.st.com/resource/en/datasheet/stm32f415rg.pdf + STM32F405xx STM32F407xx https://www.st.com/resource/en/datasheet/stm32f405rg.pdf + STM32F427xx STM32F429xx https://www.st.com/resource/en/datasheet/stm32f427vg.pdf + STM32F437xx STM32F439xx https://www.st.com/resource/en/datasheet/stm32f437vg.pdf + STM32F401xB STM32F401xC https://www.st.com/resource/en/datasheet/stm32f401cb.pdf + */ + #define TS_CAL1_TEMP 30 + #define TS_CAL1_REGOFFSET 0x1FFF7A2C + #define TS_CAL2_TEMP 110 + #define TS_CAL2_REGOFFSET 0x1FFF7A2E + +#elif defined(STM32F7xx) + /* + STM32F756xx https://www.st.com/resource/en/datasheet/stm32f756bg.pdf + STM32F745xx STM32F746xx https://www.st.com/resource/en/datasheet/stm32f745ie.pdf + STM32F777xx STM32F778Ax STM32F779xx https://www.st.com/resource/en/datasheet/stm32f777bi.pdf + STM32F765xx STM32F767xx STM32F768Ax STM32F769xx https://www.st.com/resource/en/datasheet/stm32f765bi.pdf + STM32F722xx STM32F723xx https://www.st.com/resource/en/datasheet/stm32f722ic.pdf + --> TS_CAL1/2 = 0x1FF07A2C / 0x1FF07A2E + STM32F732xx STM32F733xx https://www.st.com/resource/en/datasheet/stm32f732ie.pdf + --> TS_CAL1/2 = 0x1FF07A2C / 0x1FF07A2E + STM32F750x8 https://www.st.com/resource/en/datasheet/stm32f750n8.pdf + STM32F730x8 https://www.st.com/resource/en/datasheet/stm32f730i8.pdf + --> TS_CAL1/2 = 0x1FF07A2C / 0x1FF07A2E + */ + #define TS_CAL1_TEMP 30 + #define TS_CAL1_REGOFFSET 0x1FF0F44C + #define TS_CAL2_TEMP 110 + #define TS_CAL2_REGOFFSET 0x1FF0F44E + +#elif defined(STM32G0xx) + /* + STM32G030x6/x8 https://www.st.com/resource/en/datasheet/stm32g030c6.pdf + --> TS_CAL2 not defined in datasheet + STM32G050x6/x8 https://www.st.com/resource/en/datasheet/stm32g050c6.pdf + STM32G0B0KE/CE/RE/VE https://www.st.com/resource/en/datasheet/stm32g0b0ce.pdf + --> TS_CAL2 not defined in datasheet + STM32G081xB https://www.st.com/resource/en/datasheet/stm32g081cb.pdf + STM32G071x8/xB https://www.st.com/resource/en/datasheet/stm32g071c8.pdf + STM32G031x4/x6/x8 https://www.st.com/resource/en/datasheet/stm32g031c6.pdf + STM32G041x6/x8 https://www.st.com/resource/en/datasheet/stm32g041c8.pdf + STM32G051x6/x8 https://www.st.com/resource/en/datasheet/stm32g051c6.pdf + STM32G061x6/x8 https://www.st.com/resource/en/datasheet/stm32g061c6.pdf + STM32G0B1xB/xC/xE https://www.st.com/resource/en/datasheet/stm32g0b1cc.pdf + STM32G0C1xC/xE https://www.st.com/resource/en/datasheet/stm32g0c1cc.pdf + */ + #define TS_CAL1_TEMP 30 + #define TS_CAL1_REGOFFSET 0x1FFF75A8 + #define TS_CAL2_TEMP 130 + #define TS_CAL2_REGOFFSET 0x1FFF75CA + +#elif defined(STM32G4xx) + /* + STM32G431x6 STM32G431x8 STM32G431xB https://www.st.com/resource/en/datasheet/stm32g431c6.pdf + STM32G441xB https://www.st.com/resource/en/datasheet/stm32g441cb.pdf + STM32G491xC STM32G491xE https://www.st.com/resource/en/datasheet/stm32g491cc.pdf + STM32G4A1xE https://www.st.com/resource/en/datasheet/stm32g4a1ce.pdf + STM32G473xB STM32G473xC STM32G473xE https://www.st.com/resource/en/datasheet/stm32g473cb.pdf + STM32G483xE https://www.st.com/resource/en/datasheet/stm32g483ce.pdf + --> TS_CAL1/TS_CAL2 not defined in datasheet + STM32G474xB STM32G474xC STM32G474xE https://www.st.com/resource/en/datasheet/stm32g474cb.pdf + STM32G484xE https://www.st.com/resource/en/datasheet/stm32g484ce.pdf + */ + #define TS_CAL1_TEMP 30 + #define TS_CAL1_REGOFFSET 0x1FFF75A8 + #define TS_CAL2_TEMP 130 + #define TS_CAL2_REGOFFSET 0x1FFF75CA + +#elif defined(STM32H7xx) + /* + STM32H7A3xI/G + --> TS_CAL1/2 = 0x08FFF814 / 0x08FFF818 + STM32H7B0xB + --> TS_CAL1/2 = 0x08FFF814 / 0x08FFF818 + STM32H7B3xI + --> TS_CAL1/2 = 0x08FFF814 / 0x08FFF818 + STM32H725xE/G + STM32H735xG + STM32H723VE STM32H723VG STM32H723ZE STM32H723ZG + STM32H730AB STM32H730IB STM32H730VB STM32H730ZB + STM32H733VG STM32H733ZG + STM32H742xI/G STM32H743xI/G + --> CAL2_TEMP = 110 + STM32H745xI/G + STM32H747xI/G + STM32H753xI + STM32H755xI + STM32H757xI + STM32H750VB STM32H750ZB STM32H750IB STM32H750XB + --> CAL2_TEMP = 110 + */ + #define TS_CAL1_TEMP 30 + #define TS_CAL1_REGOFFSET 0x1FF1E820 + #define TS_CAL2_TEMP 130 + #define TS_CAL2_REGOFFSET 0x1FF1E840 + +#elif defined(STM32L0xx) + /* + STM32L010RB + --> TS_CAL1/TS_CAL2 not defined in datasheet + STM32L010F4 STM32L010K4 + --> TS_CAL1/TS_CAL2 not defined in datasheet + STM32L010C6 + --> TS_CAL1/TS_CAL2 not defined in datasheet + STM32L010K8 STM32L010R8 + --> TS_CAL1/TS_CAL2 not defined in datasheet + STM32L011x3 STM32L011x4 + --> TS_CAL1 not defined in datasheet + STM32L021D4 STM32L021F4 STM32L021G4 STM32L021K4 + --> TS_CAL1 not defined in datasheet + STM32L031x4 STM32L031x6 + STM32L041x6 + STM32L051x6 STM32L051x8 + STM32L071x8 STM32L071xB STM32L071xZ + STM32L081CB STM32L081CZ STM32L081KZ + STM32L052x6 STM32L052x8 + STM32L062K8 STM32L062T8 STM32L062C8 + STM32L072x8 STM32L072xB STM32L072xZ + STM32L082KB STM32L082KZ STM32L082CZ + STM32L053C6 STM32L053C8 STM32L053R6 STM32L053R8 + STM32L063C8 STM32L063R8 + STM32L073x8 STM32L073xB STM32L073xZ + STM32L083x8 STM32L083xB STM32L083xZ + */ + #define TS_CAL1_TEMP 30 + #define TS_CAL1_REGOFFSET 0x1FF8007A + #define TS_CAL2_TEMP 130 + #define TS_CAL2_REGOFFSET 0x1FF8007E + +#elif defined(STM32L1xx) + /* + STM32L100x6/8/B-A + --> TS_CAL1/TS_CAL2 not defined in datasheet + STM32L100RC + --> TS_CAL1/TS_CAL2 not defined in datasheet + STM32L100C6 STM32L100R8/RB + --> TS_CAL1/TS_CAL2 not defined in datasheet + STM32L151x6/8/B-A STM32L152x6/8/B-A + --> TS_CAL1/2 = 0x08FFF814 / 0x08FFF818 + STM32L151xD STM32L152xD + STM32L151VD-X STM32L152VD-X + STM32L15xCC STM32L15xRC STM32L15xUC STM32L15xVC + STM32L15xQC STM32L15xRC-A STM32L15xVC-A STM32L15xZC + STM32L162xE + STM32L162VD STM32L162ZD STM32L162QD STM32L162RD + STM32L162VC STM32L162RC + STM32L162VD-X + STM32L162QC STM32L162VC-A STM32L162ZC STM32L162RC-A + */ + #define TS_CAL1_TEMP 30 + #define TS_CAL1_REGOFFSET 0x1FF800FA + #define TS_CAL2_TEMP 110 + #define TS_CAL2_REGOFFSET 0x1FF800FE + +#elif defined(STM32L4xx) + /* + STM32L431xx + STM32L451xx + STM32L471xx + --> CAL2_TEMP = 110 + STM32L412xx + STM32L422xx + STM32L432KB STM32L432KC + STM32L442KC + STM32L452xx + STM32L462CE STM32L462RE STM32L462VE + STM32L433xx + STM32L443CC STM32L443RC STM32L443VC + STM32L475xx + --> CAL2_TEMP = 110 + STM32L476xx + --> CAL2_TEMP = 110 + STM32L486xx : + --> CAL2_TEMP = 110 + STM32L496xx + STM32L4A6xG + */ + #define TS_CAL1_TEMP 30 + #define TS_CAL1_REGOFFSET 0x1FFF75A8 + #define TS_CAL2_TEMP 130 + #define TS_CAL2_REGOFFSET 0x1FFF75CA + +#elif defined(STM32MP1xx) + /* + STM32MP131A STM32MP131D + STM32MP131C STM32MP131F + STM32MP133A STM32MP133D + STM32MP133C STM32MP133F + STM32MP135A STM32MP135D + STM32MP135C STM32MP135F + STM32MP151A/D + STM32MP151C/F + STM32MP153A/D + STM32MP153C/F + STM32MP157A/D + STM32MP157C/F + */ + // BSEC -> RCC + //#define TS_CAL1_TEMP 30 + //#define TS_CAL1_REGOFFSET 0x5C00 525C[15:0] + //#define TS_CAL2_TEMP 130 + //#define TS_CAL2_REGOFFSET 0x5C00 525C[31:16] + +#elif defined(STM32WBxx) + /* + STM32WB10CC + STM32WB50CG STM32WB30CE + STM32WB15CC + STM32WB55xx STM32WB35xx + */ + #define TS_CAL1_TEMP 30 + #define TS_CAL1_REGOFFSET 0x1FFF75A8 + #define TS_CAL2_TEMP 130 + #define TS_CAL2_REGOFFSET 0x1FFF75CA +#endif + +// TODO implement voltage scaling (calibrated Vrefint) and ADC resolution scaling (when applicable) + +/** + * When provided in datasheet, the use of calibrated values (TS_CAL1, TS_CAL2) should always be preferred over typical values. + * Typical values may result in important variation from the actual temperature. + * + * If calibrated values are not provided in datasheet, it is encouraged to calibrate your specific chip yourself. + */ +#if defined(TS_CAL1_TEMP) && defined(TS_CAL1_REGOFFSET) && defined(TS_CAL2_TEMP) && defined(TS_CAL2_REGOFFSET) + + #define READMEMORY(ADDR) (*((uint16_t const *)(ADDR))) + #define TEMP_SOC_SENSOR(RAW) (float((TS_CAL2_TEMP) - (TS_CAL1_TEMP)) / (READMEMORY(TS_CAL2_REGOFFSET) - READMEMORY(TS_CAL1_REGOFFSET)) * ((RAW) / float(OVERSAMPLENR) - READMEMORY(TS_CAL1_REGOFFSET)) + (TS_CAL1_TEMP)) + +#elif defined(TS_TYPICAL_V) && defined(TS_TYPICAL_SLOPE) && defined(TS_TYPICAL_TEMP) + + #define TEMP_SOC_SENSOR(RAW) ((TS_TYPICAL_V - (RAW) / float(OVERSAMPLENR) / float(HAL_ADC_RANGE) * (float(ADC_VREF_MV) / 1000.0f)) / ((TS_TYPICAL_SLOPE) / 1000) + TS_TYPICAL_TEMP) + +#endif diff --git a/Marlin/src/HAL/STM32/tft/gt911.cpp b/Marlin/src/HAL/STM32/tft/gt911.cpp index 92e14edb20..52119c19b7 100644 --- a/Marlin/src/HAL/STM32/tft/gt911.cpp +++ b/Marlin/src/HAL/STM32/tft/gt911.cpp @@ -90,7 +90,7 @@ bool SW_IIC::read_ack() { } void SW_IIC::send_byte(uint8_t txd) { - LOOP_L_N(i, 8) { + for (uint8_t i = 0; i < 8; ++i) { write_sda(txd & 0x80); // write data bit txd <<= 1; iic_delay(1); @@ -107,7 +107,7 @@ uint8_t SW_IIC::read_byte(bool ack) { uint8_t data = 0; set_sda_in(); - LOOP_L_N(i, 8) { + for (uint8_t i = 0; i < 8; ++i) { write_scl(HIGH); // SCL = 1 iic_delay(1); data <<= 1; @@ -128,12 +128,12 @@ SW_IIC GT911::sw_iic = SW_IIC(GT911_SW_I2C_SDA_PIN, GT911_SW_I2C_SCL_PIN); void GT911::write_reg(uint16_t reg, uint8_t reg_len, uint8_t* w_data, uint8_t w_len) { sw_iic.start(); sw_iic.send_byte(gt911_slave_address); // Set IIC Slave address - LOOP_L_N(i, reg_len) { // Set reg address + for (uint8_t i = 0; i < reg_len; ++i) { // Set reg address uint8_t r = (reg >> (8 * (reg_len - 1 - i))) & 0xFF; sw_iic.send_byte(r); } - LOOP_L_N(i, w_len) { // Write data to reg + for (uint8_t i = 0; i < w_len; ++i) { // Write data to reg sw_iic.send_byte(w_data[i]); } sw_iic.stop(); @@ -142,7 +142,7 @@ void GT911::write_reg(uint16_t reg, uint8_t reg_len, uint8_t* w_data, uint8_t w_ void GT911::read_reg(uint16_t reg, uint8_t reg_len, uint8_t* r_data, uint8_t r_len) { sw_iic.start(); sw_iic.send_byte(gt911_slave_address); // Set IIC Slave address - LOOP_L_N(i, reg_len) { // Set reg address + for (uint8_t i = 0; i < reg_len; ++i) { // Set reg address uint8_t r = (reg >> (8 * (reg_len - 1 - i))) & 0xFF; sw_iic.send_byte(r); } @@ -150,33 +150,37 @@ void GT911::read_reg(uint16_t reg, uint8_t reg_len, uint8_t* r_data, uint8_t r_l sw_iic.start(); sw_iic.send_byte(gt911_slave_address + 1); // Set read mode - LOOP_L_N(i, r_len) { + for (uint8_t i = 0; i < r_len; ++i) r_data[i] = sw_iic.read_byte(1); // Read data from reg - } + sw_iic.stop(); } -void GT911::Init() { +void GT911::init() { OUT_WRITE(GT911_RST_PIN, LOW); OUT_WRITE(GT911_INT_PIN, LOW); - delay(20); + delay(11); + WRITE(GT911_INT_PIN, HIGH); + delayMicroseconds(110); WRITE(GT911_RST_PIN, HIGH); + delay(6); + WRITE(GT911_INT_PIN, LOW); + delay(55); SET_INPUT(GT911_INT_PIN); sw_iic.init(); - uint8_t clear_reg = 0x0000; - write_reg(0x814E, 2, &clear_reg, 2); // Reset to 0 for start + uint8_t clear_reg = 0x00; + write_reg(0x814E, 2, &clear_reg, 1); // Reset to 0 for start } bool GT911::getFirstTouchPoint(int16_t *x, int16_t *y) { read_reg(0x814E, 2, ®.REG.status, 1); - if (reg.REG.status & 0x80) { + if (reg.REG.status >= 0x80 && reg.REG.status <= 0x85) { + read_reg(0x8150, 2, reg.map + 2, 38); uint8_t clear_reg = 0x00; write_reg(0x814E, 2, &clear_reg, 1); // Reset to 0 for start - read_reg(0x8150, 2, reg.map + 2, 8 * (reg.REG.status & 0x0F)); - // First touch point *x = ((reg.REG.point[0].xh & 0x0F) << 8) | reg.REG.point[0].xl; *y = ((reg.REG.point[0].yh & 0x0F) << 8) | reg.REG.point[0].yl; diff --git a/Marlin/src/HAL/STM32/tft/gt911.h b/Marlin/src/HAL/STM32/tft/gt911.h index 752a554d98..75e025245d 100644 --- a/Marlin/src/HAL/STM32/tft/gt911.h +++ b/Marlin/src/HAL/STM32/tft/gt911.h @@ -23,7 +23,7 @@ #include "../../../inc/MarlinConfig.h" -#define GT911_SLAVE_ADDRESS 0xBA +#define GT911_SLAVE_ADDRESS 0x28 #if !PIN_EXISTS(GT911_RST) #error "GT911_RST_PIN is not defined." @@ -39,42 +39,18 @@ class SW_IIC { private: uint16_t scl_pin; uint16_t sda_pin; - void write_scl(bool level) - { - WRITE(scl_pin, level); - } - void write_sda(bool level) - { - WRITE(sda_pin, level); - } - bool read_sda() - { - return READ(sda_pin); - } - void set_sda_out() - { - SET_OUTPUT(sda_pin); - } - void set_sda_in() - { - SET_INPUT_PULLUP(sda_pin); - } - static void iic_delay(uint8_t t) - { - delayMicroseconds(t); - } + void write_scl(bool level) { WRITE(scl_pin, level); } + void write_sda(bool level) { WRITE(sda_pin, level); } + bool read_sda() { return READ(sda_pin); } + void set_sda_out() { SET_OUTPUT(sda_pin); } + void set_sda_in() { SET_INPUT_PULLUP(sda_pin); } + static void iic_delay(uint8_t t) { delayMicroseconds(t); } public: SW_IIC(uint16_t sda, uint16_t scl); // setSCL/SDA have to be called before begin() - void setSCL(uint16_t scl) - { - scl_pin = scl; - }; - void setSDA(uint16_t sda) - { - sda_pin = sda; - }; + void setSCL(uint16_t scl) { scl_pin = scl; } + void setSDA(uint16_t sda) { sda_pin = sda; } void init(); // Initialize the IO port of IIC void start(); // Send IIC start signal void stop(); // Send IIC stop signal @@ -114,7 +90,7 @@ class GT911 { static void read_reg(uint16_t reg, uint8_t reg_len, uint8_t* r_data, uint8_t r_len); public: - static void Init(); + static void init(); static bool getFirstTouchPoint(int16_t *x, int16_t *y); static bool getPoint(int16_t *x, int16_t *y); }; diff --git a/Marlin/src/HAL/STM32/tft/tft_fsmc.cpp b/Marlin/src/HAL/STM32/tft/tft_fsmc.cpp index e68b3c1269..8e4f97d0a3 100644 --- a/Marlin/src/HAL/STM32/tft/tft_fsmc.cpp +++ b/Marlin/src/HAL/STM32/tft/tft_fsmc.cpp @@ -35,17 +35,17 @@ SRAM_HandleTypeDef TFT_FSMC::SRAMx; DMA_HandleTypeDef TFT_FSMC::DMAtx; LCD_CONTROLLER_TypeDef *TFT_FSMC::LCD; -void TFT_FSMC::Init() { +void TFT_FSMC::init() { uint32_t controllerAddress; - FSMC_NORSRAM_TimingTypeDef Timing, ExtTiming; + FSMC_NORSRAM_TimingTypeDef timing, extTiming; - uint32_t NSBank = (uint32_t)pinmap_peripheral(digitalPinToPinName(TFT_CS_PIN), PinMap_FSMC_CS); + uint32_t nsBank = (uint32_t)pinmap_peripheral(digitalPinToPinName(TFT_CS_PIN), pinMap_FSMC_CS); // Perform the SRAM1 memory initialization sequence SRAMx.Instance = FSMC_NORSRAM_DEVICE; SRAMx.Extended = FSMC_NORSRAM_EXTENDED_DEVICE; // SRAMx.Init - SRAMx.Init.NSBank = NSBank; + SRAMx.Init.NSBank = nsBank; SRAMx.Init.DataAddressMux = FSMC_DATA_ADDRESS_MUX_DISABLE; SRAMx.Init.MemoryType = FSMC_MEMORY_TYPE_SRAM; SRAMx.Init.MemoryDataWidth = TERN(TFT_INTERFACE_FSMC_8BIT, FSMC_NORSRAM_MEM_BUS_WIDTH_8, FSMC_NORSRAM_MEM_BUS_WIDTH_16); @@ -63,48 +63,48 @@ void TFT_FSMC::Init() { #endif // Read Timing - relatively slow to ensure ID information is correctly read from TFT controller // Can be decreases from 15-15-24 to 4-4-8 with risk of stability loss - Timing.AddressSetupTime = 15; - Timing.AddressHoldTime = 15; - Timing.DataSetupTime = 24; - Timing.BusTurnAroundDuration = 0; - Timing.CLKDivision = 16; - Timing.DataLatency = 17; - Timing.AccessMode = FSMC_ACCESS_MODE_A; + timing.AddressSetupTime = 15; + timing.AddressHoldTime = 15; + timing.DataSetupTime = 24; + timing.BusTurnAroundDuration = 0; + timing.CLKDivision = 16; + timing.DataLatency = 17; + timing.AccessMode = FSMC_ACCESS_MODE_A; // Write Timing - // Can be decreases from 8-15-8 to 0-0-1 with risk of stability loss - ExtTiming.AddressSetupTime = 8; - ExtTiming.AddressHoldTime = 15; - ExtTiming.DataSetupTime = 8; - ExtTiming.BusTurnAroundDuration = 0; - ExtTiming.CLKDivision = 16; - ExtTiming.DataLatency = 17; - ExtTiming.AccessMode = FSMC_ACCESS_MODE_A; + // Can be decreased from 8-15-8 to 0-0-1 with risk of stability loss + extTiming.AddressSetupTime = 8; + extTiming.AddressHoldTime = 15; + extTiming.DataSetupTime = 8; + extTiming.BusTurnAroundDuration = 0; + extTiming.CLKDivision = 16; + extTiming.DataLatency = 17; + extTiming.AccessMode = FSMC_ACCESS_MODE_A; __HAL_RCC_FSMC_CLK_ENABLE(); - for (uint16_t i = 0; PinMap_FSMC[i].pin != NC; i++) - pinmap_pinout(PinMap_FSMC[i].pin, PinMap_FSMC); - pinmap_pinout(digitalPinToPinName(TFT_CS_PIN), PinMap_FSMC_CS); - pinmap_pinout(digitalPinToPinName(TFT_RS_PIN), PinMap_FSMC_RS); + for (uint16_t i = 0; pinMap_FSMC[i].pin != NC; i++) + pinmap_pinout(pinMap_FSMC[i].pin, pinMap_FSMC); + pinmap_pinout(digitalPinToPinName(TFT_CS_PIN), pinMap_FSMC_CS); + pinmap_pinout(digitalPinToPinName(TFT_RS_PIN), pinMap_FSMC_RS); controllerAddress = FSMC_BANK1_1; #ifdef PF0 - switch (NSBank) { + switch (nsBank) { case FSMC_NORSRAM_BANK2: controllerAddress = FSMC_BANK1_2 ; break; case FSMC_NORSRAM_BANK3: controllerAddress = FSMC_BANK1_3 ; break; case FSMC_NORSRAM_BANK4: controllerAddress = FSMC_BANK1_4 ; break; } #endif - controllerAddress |= (uint32_t)pinmap_peripheral(digitalPinToPinName(TFT_RS_PIN), PinMap_FSMC_RS); + controllerAddress |= (uint32_t)pinmap_peripheral(digitalPinToPinName(TFT_RS_PIN), pinMap_FSMC_RS); - HAL_SRAM_Init(&SRAMx, &Timing, &ExtTiming); - - __HAL_RCC_DMA2_CLK_ENABLE(); + HAL_SRAM_Init(&SRAMx, &timing, &extTiming); #ifdef STM32F1xx - DMAtx.Instance = DMA2_Channel1; + __HAL_RCC_DMA1_CLK_ENABLE(); + DMAtx.Instance = DMA1_Channel1; #elif defined(STM32F4xx) + __HAL_RCC_DMA2_CLK_ENABLE(); DMAtx.Instance = DMA2_Stream0; DMAtx.Init.Channel = DMA_CHANNEL_0; DMAtx.Init.FIFOMode = DMA_FIFOMODE_ENABLE; @@ -123,23 +123,23 @@ void TFT_FSMC::Init() { LCD = (LCD_CONTROLLER_TypeDef *)controllerAddress; } -uint32_t TFT_FSMC::GetID() { +uint32_t TFT_FSMC::getID() { uint32_t id; - WriteReg(0); + writeReg(0); id = LCD->RAM; if (id == 0) - id = ReadID(LCD_READ_ID); + id = readID(LCD_READ_ID); if ((id & 0xFFFF) == 0 || (id & 0xFFFF) == 0xFFFF) - id = ReadID(LCD_READ_ID4); + id = readID(LCD_READ_ID4); return id; } -uint32_t TFT_FSMC::ReadID(tft_data_t Reg) { +uint32_t TFT_FSMC::readID(const tft_data_t inReg) { uint32_t id; - WriteReg(Reg); + writeReg(inReg); id = LCD->RAM; // dummy read - id = Reg << 24; + id = inReg << 24; id |= (LCD->RAM & 0x00FF) << 16; id |= (LCD->RAM & 0x00FF) << 8; id |= LCD->RAM & 0x00FF; @@ -147,27 +147,44 @@ uint32_t TFT_FSMC::ReadID(tft_data_t Reg) { } bool TFT_FSMC::isBusy() { - #if defined(STM32F1xx) - volatile bool dmaEnabled = (DMAtx.Instance->CCR & DMA_CCR_EN) != RESET; + #ifdef STM32F1xx + #define __IS_DMA_ENABLED(__HANDLE__) ((__HANDLE__)->Instance->CCR & DMA_CCR_EN) + #define __IS_DMA_CONFIGURED(__HANDLE__) ((__HANDLE__)->Instance->CPAR != 0) #elif defined(STM32F4xx) - volatile bool dmaEnabled = DMAtx.Instance->CR & DMA_SxCR_EN; + #define __IS_DMA_ENABLED(__HANDLE__) ((__HANDLE__)->Instance->CR & DMA_SxCR_EN) + #define __IS_DMA_CONFIGURED(__HANDLE__) ((__HANDLE__)->Instance->PAR != 0) #endif - if (dmaEnabled) { - if (__HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TC_FLAG_INDEX(&DMAtx)) != 0 || __HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TE_FLAG_INDEX(&DMAtx)) != 0) - Abort(); - } - else - Abort(); - return dmaEnabled; + + if (!__IS_DMA_CONFIGURED(&DMAtx)) return false; + + // Check if DMA transfer error or transfer complete flags are set + if ((__HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TE_FLAG_INDEX(&DMAtx)) == 0) && (__HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TC_FLAG_INDEX(&DMAtx)) == 0)) return true; + + __DSB(); + abort(); + return false; } -void TFT_FSMC::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) { - DMAtx.Init.PeriphInc = MemoryIncrease; +void TFT_FSMC::abort() { + HAL_DMA_Abort(&DMAtx); // Abort DMA transfer if any + HAL_DMA_DeInit(&DMAtx); // Deconfigure DMA +} + +void TFT_FSMC::transmitDMA(uint32_t memoryIncrease, uint16_t *data, uint16_t count) { + DMAtx.Init.PeriphInc = memoryIncrease; HAL_DMA_Init(&DMAtx); - DataTransferBegin(); - HAL_DMA_Start(&DMAtx, (uint32_t)Data, (uint32_t)&(LCD->RAM), Count); + HAL_DMA_Start(&DMAtx, (uint32_t)data, (uint32_t)&(LCD->RAM), count); + + TERN_(TFT_SHARED_IO, while (isBusy())); +} + +void TFT_FSMC::transmit(uint32_t memoryIncrease, uint16_t *data, uint16_t count) { + DMAtx.Init.PeriphInc = memoryIncrease; + HAL_DMA_Init(&DMAtx); + dataTransferBegin(); + HAL_DMA_Start(&DMAtx, (uint32_t)data, (uint32_t)&(LCD->RAM), count); HAL_DMA_PollForTransfer(&DMAtx, HAL_DMA_FULL_TRANSFER, HAL_MAX_DELAY); - Abort(); + abort(); } #endif // HAS_FSMC_TFT diff --git a/Marlin/src/HAL/STM32/tft/tft_fsmc.h b/Marlin/src/HAL/STM32/tft/tft_fsmc.h index 2200abaa10..1776cbdb0f 100644 --- a/Marlin/src/HAL/STM32/tft/tft_fsmc.h +++ b/Marlin/src/HAL/STM32/tft/tft_fsmc.h @@ -31,6 +31,10 @@ #error "FSMC TFT is currently only supported on STM32F1 and STM32F4 hardware." #endif +#ifndef HAL_SRAM_MODULE_ENABLED + #error "SRAM module disabled for the STM32 framework (HAL_SRAM_MODULE_ENABLED)! Please consult the development team." +#endif + #ifndef LCD_READ_ID #define LCD_READ_ID 0x04 // Read display identification information (0xD3 on ILI9341) #endif @@ -41,6 +45,7 @@ #define DATASIZE_8BIT SPI_DATASIZE_8BIT #define DATASIZE_16BIT SPI_DATASIZE_16BIT #define TFT_IO_DRIVER TFT_FSMC +#define DMA_MAX_WORDS 0xFFFF #define TFT_DATASIZE TERN(TFT_INTERFACE_FSMC_8BIT, DATASIZE_8BIT, DATASIZE_16BIT) typedef TERN(TFT_INTERFACE_FSMC_8BIT, uint8_t, uint16_t) tft_data_t; @@ -57,29 +62,31 @@ class TFT_FSMC { static LCD_CONTROLLER_TypeDef *LCD; - static uint32_t ReadID(tft_data_t Reg); - static void Transmit(tft_data_t Data) { LCD->RAM = Data; __DSB(); } - static void TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count); + static uint32_t readID(const tft_data_t reg); + static void transmit(tft_data_t data) { LCD->RAM = data; __DSB(); } + static void transmit(uint32_t memoryIncrease, uint16_t *data, uint16_t count); + static void transmitDMA(uint32_t memoryIncrease, uint16_t *data, uint16_t count); public: - static void Init(); - static uint32_t GetID(); + static void init(); + static uint32_t getID(); static bool isBusy(); - static void Abort() { __HAL_DMA_DISABLE(&DMAtx); } + static void abort(); - static void DataTransferBegin(uint16_t DataWidth = TFT_DATASIZE) {} - static void DataTransferEnd() {}; + static void dataTransferBegin(uint16_t dataWidth=TFT_DATASIZE) {} + static void dataTransferEnd() {} - static void WriteData(uint16_t Data) { Transmit(tft_data_t(Data)); } - static void WriteReg(uint16_t Reg) { LCD->REG = tft_data_t(Reg); __DSB(); } + static void writeData(uint16_t data) { transmit(tft_data_t(data)); } + static void writeReg(const uint16_t inReg) { LCD->REG = tft_data_t(inReg); __DSB(); } - static void WriteSequence(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_PINC_ENABLE, Data, Count); } - static void WriteMultiple(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_PINC_DISABLE, &Data, Count); } - static void WriteMultiple(uint16_t Color, uint32_t Count) { - static uint16_t Data; Data = Color; - while (Count > 0) { - TransmitDMA(DMA_MINC_DISABLE, &Data, Count > 0xFFFF ? 0xFFFF : Count); - Count = Count > 0xFFFF ? Count - 0xFFFF : 0; + static void writeSequence_DMA(uint16_t *data, uint16_t count) { transmitDMA(DMA_PINC_ENABLE, data, count); } + static void writeMultiple_DMA(uint16_t color, uint16_t count) { static uint16_t data; data = color; transmitDMA(DMA_PINC_DISABLE, &data, count); } + + static void writeSequence(uint16_t *data, uint16_t count) { transmit(DMA_PINC_ENABLE, data, count); } + static void writeMultiple(uint16_t color, uint32_t count) { + while (count > 0) { + transmit(DMA_MINC_DISABLE, &color, count > DMA_MAX_WORDS ? DMA_MAX_WORDS : count); + count = count > DMA_MAX_WORDS ? count - DMA_MAX_WORDS : 0; } } }; @@ -96,7 +103,7 @@ class TFT_FSMC { #error No configuration for this MCU #endif -const PinMap PinMap_FSMC[] = { +const PinMap pinMap_FSMC[] = { {PD_14, FSMC_NORSRAM_DEVICE, FSMC_PIN_DATA}, // FSMC_D00 {PD_15, FSMC_NORSRAM_DEVICE, FSMC_PIN_DATA}, // FSMC_D01 {PD_0, FSMC_NORSRAM_DEVICE, FSMC_PIN_DATA}, // FSMC_D02 @@ -120,7 +127,7 @@ const PinMap PinMap_FSMC[] = { {NC, NP, 0} }; -const PinMap PinMap_FSMC_CS[] = { +const PinMap pinMap_FSMC_CS[] = { {PD_7, (void *)FSMC_NORSRAM_BANK1, FSMC_PIN_DATA}, // FSMC_NE1 #ifdef PF0 {PG_9, (void *)FSMC_NORSRAM_BANK2, FSMC_PIN_DATA}, // FSMC_NE2 @@ -136,7 +143,7 @@ const PinMap PinMap_FSMC_CS[] = { #define FSMC_RS(A) (void *)((2 << A) - 2) #endif -const PinMap PinMap_FSMC_RS[] = { +const PinMap pinMap_FSMC_RS[] = { #ifdef PF0 {PF_0, FSMC_RS( 0), FSMC_PIN_DATA}, // FSMC_A0 {PF_1, FSMC_RS( 1), FSMC_PIN_DATA}, // FSMC_A1 diff --git a/Marlin/src/HAL/STM32/tft/tft_ltdc.cpp b/Marlin/src/HAL/STM32/tft/tft_ltdc.cpp index 66cfd65995..3bbc39f20a 100644 --- a/Marlin/src/HAL/STM32/tft/tft_ltdc.cpp +++ b/Marlin/src/HAL/STM32/tft/tft_ltdc.cpp @@ -246,28 +246,28 @@ uint16_t TFT_LTDC::y_cur = 0; uint8_t TFT_LTDC::reg = 0; volatile uint16_t* TFT_LTDC::framebuffer = (volatile uint16_t* )FRAME_BUFFER_ADDRESS; -void TFT_LTDC::Init() { +void TFT_LTDC::init() { // SDRAM pins init - for (uint16_t i = 0; PinMap_SDRAM[i].pin != NC; i++) - pinmap_pinout(PinMap_SDRAM[i].pin, PinMap_SDRAM); + for (uint16_t i = 0; pinMap_SDRAM[i].pin != NC; i++) + pinmap_pinout(pinMap_SDRAM[i].pin, pinMap_SDRAM); // SDRAM peripheral config SDRAM_Config(); // LTDC pins init - for (uint16_t i = 0; PinMap_LTDC[i].pin != NC; i++) - pinmap_pinout(PinMap_LTDC[i].pin, PinMap_LTDC); + for (uint16_t i = 0; pinMap_LTDC[i].pin != NC; i++) + pinmap_pinout(pinMap_LTDC[i].pin, pinMap_LTDC); // LTDC peripheral config LTDC_Config(); } -uint32_t TFT_LTDC::GetID() { +uint32_t TFT_LTDC::getID() { return 0xABAB; } -uint32_t TFT_LTDC::ReadID(tft_data_t Reg) { +uint32_t TFT_LTDC::readID(const tft_data_t inReg) { return 0xABAB; } @@ -275,15 +275,15 @@ bool TFT_LTDC::isBusy() { return false; } -uint16_t TFT_LTDC::ReadPoint(uint16_t x, uint16_t y) { +uint16_t TFT_LTDC::readPoint(uint16_t x, uint16_t y) { return framebuffer[(TFT_WIDTH * y) + x]; } -void TFT_LTDC::DrawPoint(uint16_t x, uint16_t y, uint16_t color) { +void TFT_LTDC::drawPoint(uint16_t x, uint16_t y, uint16_t color) { framebuffer[(TFT_WIDTH * y) + x] = color; } -void TFT_LTDC::DrawRect(uint16_t sx, uint16_t sy, uint16_t ex, uint16_t ey, uint16_t color) { +void TFT_LTDC::drawRect(uint16_t sx, uint16_t sy, uint16_t ex, uint16_t ey, uint16_t color) { if (sx == ex || sy == ey) return; @@ -307,7 +307,7 @@ void TFT_LTDC::DrawRect(uint16_t sx, uint16_t sy, uint16_t ex, uint16_t ey, uint SBI(DMA2D->IFCR, 1); } -void TFT_LTDC::DrawImage(uint16_t sx, uint16_t sy, uint16_t ex, uint16_t ey, uint16_t *colors) { +void TFT_LTDC::drawImage(uint16_t sx, uint16_t sy, uint16_t ex, uint16_t ey, uint16_t *colors) { if (sx == ex || sy == ey) return; @@ -332,18 +332,18 @@ void TFT_LTDC::DrawImage(uint16_t sx, uint16_t sy, uint16_t ex, uint16_t ey, uin SBI(DMA2D->IFCR, 1); } -void TFT_LTDC::WriteData(uint16_t data) { +void TFT_LTDC::writeData(uint16_t data) { switch (reg) { case 0x01: x_cur = x_min = data; return; case 0x02: x_max = data; return; case 0x03: y_cur = y_min = data; return; case 0x04: y_max = data; return; } - Transmit(data); + transmit(data); } -void TFT_LTDC::Transmit(tft_data_t Data) { - DrawPoint(x_cur, y_cur, Data); +void TFT_LTDC::transmit(tft_data_t data) { + drawPoint(x_cur, y_cur, data); x_cur++; if (x_cur > x_max) { x_cur = x_min; @@ -352,35 +352,31 @@ void TFT_LTDC::Transmit(tft_data_t Data) { } } -void TFT_LTDC::WriteReg(uint16_t Reg) { - reg = Reg; -} +void TFT_LTDC::transmit(uint32_t memoryIncrease, uint16_t *data, uint16_t count) { -void TFT_LTDC::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) { - - while (x_cur != x_min && Count) { - Transmit(*Data); - if (MemoryIncrease == DMA_PINC_ENABLE) Data++; - Count--; + while (x_cur != x_min && count) { + transmit(*data); + if (memoryIncrease == DMA_PINC_ENABLE) data++; + count--; } uint16_t width = x_max - x_min + 1; - uint16_t height = Count / width; - uint16_t x_end_cnt = Count - (width * height); + uint16_t height = count / width; + uint16_t x_end_cnt = count - (width * height); if (height) { - if (MemoryIncrease == DMA_PINC_ENABLE) { - DrawImage(x_min, y_cur, x_min + width, y_cur + height, Data); - Data += width * height; - } else { - DrawRect(x_min, y_cur, x_min + width, y_cur + height, *Data); + if (memoryIncrease == DMA_PINC_ENABLE) { + drawImage(x_min, y_cur, x_min + width, y_cur + height, data); + data += width * height; } + else + drawRect(x_min, y_cur, x_min + width, y_cur + height, *data); y_cur += height; } while (x_end_cnt) { - Transmit(*Data); - if (MemoryIncrease == DMA_PINC_ENABLE) Data++; + transmit(*data); + if (memoryIncrease == DMA_PINC_ENABLE) data++; x_end_cnt--; } } diff --git a/Marlin/src/HAL/STM32/tft/tft_ltdc.h b/Marlin/src/HAL/STM32/tft/tft_ltdc.h index 7b63d6929b..90cc58d8a5 100644 --- a/Marlin/src/HAL/STM32/tft/tft_ltdc.h +++ b/Marlin/src/HAL/STM32/tft/tft_ltdc.h @@ -32,6 +32,7 @@ #define DATASIZE_8BIT SPI_DATASIZE_8BIT #define DATASIZE_16BIT SPI_DATASIZE_16BIT #define TFT_IO_DRIVER TFT_LTDC +#define DMA_MAX_WORDS 0xFFFF #define TFT_DATASIZE DATASIZE_16BIT typedef uint16_t tft_data_t; @@ -42,39 +43,41 @@ class TFT_LTDC { static uint16_t x_min, x_max, y_min, y_max, x_cur, y_cur; static uint8_t reg; - static uint32_t ReadID(tft_data_t Reg); + static uint32_t readID(const tft_data_t inReg); - static uint16_t ReadPoint(uint16_t x, uint16_t y); - static void DrawPoint(uint16_t x, uint16_t y, uint16_t color); - static void DrawRect(uint16_t sx, uint16_t sy, uint16_t ex, uint16_t ey, uint16_t color); - static void DrawImage(uint16_t sx, uint16_t sy, uint16_t ex, uint16_t ey, uint16_t *colors); - static void Transmit(tft_data_t Data); - static void TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count); + static uint16_t readPoint(uint16_t x, uint16_t y); + static void drawPoint(uint16_t x, uint16_t y, uint16_t color); + static void drawRect(uint16_t sx, uint16_t sy, uint16_t ex, uint16_t ey, uint16_t color); + static void drawImage(uint16_t sx, uint16_t sy, uint16_t ex, uint16_t ey, uint16_t *colors); + static void transmit(tft_data_t data); + static void transmit(uint32_t memoryIncrease, uint16_t *data, uint16_t count); public: - static void Init(); - static uint32_t GetID(); + static void init(); + static uint32_t getID(); static bool isBusy(); - static void Abort() { /*__HAL_DMA_DISABLE(&DMAtx);*/ } + static void abort() { /*__HAL_DMA_DISABLE(&DMAtx);*/ } - static void DataTransferBegin(uint16_t DataWidth = TFT_DATASIZE) {} - static void DataTransferEnd() {}; + static void dataTransferBegin(uint16_t dataWidth=TFT_DATASIZE) {} + static void dataTransferEnd() {}; - static void WriteData(uint16_t Data); - static void WriteReg(uint16_t Reg); + static void writeData(uint16_t data); + static void writeReg(const uint16_t inReg) { reg = inReg; } - static void WriteSequence(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_PINC_ENABLE, Data, Count); } - static void WriteMultiple(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_PINC_DISABLE, &Data, Count); } - static void WriteMultiple(uint16_t Color, uint32_t Count) { - static uint16_t Data; Data = Color; - while (Count > 0) { - TransmitDMA(DMA_MINC_DISABLE, &Data, Count > 0xFFFF ? 0xFFFF : Count); - Count = Count > 0xFFFF ? Count - 0xFFFF : 0; + // Non-blocking DMA data transfer is not implemented for LTDC interface + inline static void writeSequence_DMA(uint16_t *data, uint16_t count) { writeSequence(data, count); } + inline static void writeMultiple_DMA(uint16_t color, uint16_t count) { writeMultiple(color, count); } + + static void writeSequence(uint16_t *data, uint16_t count) { transmit(DMA_PINC_ENABLE, data, count); } + static void writeMultiple(uint16_t color, uint32_t count) { + while (count > 0) { + transmit(DMA_PINC_DISABLE, &color, count > DMA_MAX_WORDS ? DMA_MAX_WORDS : count); + count = count > DMA_MAX_WORDS ? count - DMA_MAX_WORDS : 0; } } }; -const PinMap PinMap_LTDC[] = { +const PinMap pinMap_LTDC[] = { {PF_10, LTDC, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF14_LTDC)}, // LCD_DE {PG_7, LTDC, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF14_LTDC)}, // LCD_CLK {PI_9, LTDC, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF14_LTDC)}, // LCD_VSYNC @@ -101,7 +104,7 @@ const PinMap PinMap_LTDC[] = { {NC, NP, 0} }; -const PinMap PinMap_SDRAM[] = { +const PinMap pinMap_SDRAM[] = { {PC_0, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_SDNWE {PC_2, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_SDNE0 {PC_3, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_SDCKE0 diff --git a/Marlin/src/HAL/STM32/tft/tft_spi.cpp b/Marlin/src/HAL/STM32/tft/tft_spi.cpp index 2e18c8a64c..cca247e20d 100644 --- a/Marlin/src/HAL/STM32/tft/tft_spi.cpp +++ b/Marlin/src/HAL/STM32/tft/tft_spi.cpp @@ -34,7 +34,7 @@ SPI_HandleTypeDef TFT_SPI::SPIx; DMA_HandleTypeDef TFT_SPI::DMAtx; -void TFT_SPI::Init() { +void TFT_SPI::init() { SPI_TypeDef *spiInstance; OUT_WRITE(TFT_A0_PIN, HIGH); @@ -52,7 +52,6 @@ void TFT_SPI::Init() { SPIx.Init.NSS = SPI_NSS_SOFT; SPIx.Init.Mode = SPI_MODE_MASTER; SPIx.Init.Direction = (TFT_MISO_PIN == TFT_MOSI_PIN) ? SPI_DIRECTION_1LINE : SPI_DIRECTION_2LINES; - SPIx.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2; SPIx.Init.CLKPhase = SPI_PHASE_1EDGE; SPIx.Init.CLKPolarity = SPI_POLARITY_LOW; SPIx.Init.DataSize = SPI_DATASIZE_8BIT; @@ -61,12 +60,25 @@ void TFT_SPI::Init() { SPIx.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; SPIx.Init.CRCPolynomial = 10; + #ifndef STM32H7xx + SPIx.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2; // 18 MBit/s for F103, 21 MBit/s for F407, 25 MBit/s for F411 + #else + SPIx.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4; // 20 MBit/s for H743 + SPIx.Init.NSSPMode = SPI_NSS_PULSE_ENABLE; + SPIx.Init.NSSPolarity = SPI_NSS_POLARITY_LOW; + SPIx.Init.FifoThreshold = SPI_FIFO_THRESHOLD_01DATA; + SPIx.Init.MasterSSIdleness = SPI_MASTER_SS_IDLENESS_00CYCLE; + SPIx.Init.MasterInterDataIdleness = SPI_MASTER_INTERDATA_IDLENESS_00CYCLE; + SPIx.Init.MasterReceiverAutoSusp = SPI_MASTER_RX_AUTOSUSP_DISABLE; + SPIx.Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_ENABLE; + SPIx.Init.IOSwap = SPI_IO_SWAP_DISABLE; + #endif + pinmap_pinout(digitalPinToPinName(TFT_SCK_PIN), PinMap_SPI_SCLK); pinmap_pinout(digitalPinToPinName(TFT_MOSI_PIN), PinMap_SPI_MOSI); #if PIN_EXISTS(TFT_MISO) && TFT_MISO_PIN != TFT_MOSI_PIN pinmap_pinout(digitalPinToPinName(TFT_MISO_PIN), PinMap_SPI_MISO); #endif - pin_PullConfig(get_GPIO_Port(STM_PORT(digitalPinToPinName(TFT_SCK_PIN))), STM_LL_GPIO_PIN(digitalPinToPinName(TFT_SCK_PIN)), GPIO_PULLDOWN); #ifdef SPI1_BASE if (SPIx.Instance == SPI1) { @@ -74,12 +86,17 @@ void TFT_SPI::Init() { #ifdef STM32F1xx __HAL_RCC_DMA1_CLK_ENABLE(); DMAtx.Instance = DMA1_Channel3; + SPIx.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4; // SPI1 clock on F1 and F4 is two times faster than SPI2 and SPI3 clock #elif defined(STM32F4xx) __HAL_RCC_DMA2_CLK_ENABLE(); DMAtx.Instance = DMA2_Stream3; DMAtx.Init.Channel = DMA_CHANNEL_3; + SPIx.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4; // SPI1 clock on F1 and F4 is two times faster than SPI2 and SPI3 clock + #elif defined(STM32H7xx) + __HAL_RCC_DMA1_CLK_ENABLE(); + DMAtx.Instance = DMA1_Stream4; + DMAtx.Init.Request = DMA_REQUEST_SPI1_TX; #endif - SPIx.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4; } #endif #ifdef SPI2_BASE @@ -92,6 +109,10 @@ void TFT_SPI::Init() { __HAL_RCC_DMA1_CLK_ENABLE(); DMAtx.Instance = DMA1_Stream4; DMAtx.Init.Channel = DMA_CHANNEL_0; + #elif defined(STM32H7xx) + __HAL_RCC_DMA1_CLK_ENABLE(); + DMAtx.Instance = DMA1_Stream4; + DMAtx.Init.Request = DMA_REQUEST_SPI2_TX; #endif } #endif @@ -105,25 +126,27 @@ void TFT_SPI::Init() { __HAL_RCC_DMA1_CLK_ENABLE(); DMAtx.Instance = DMA1_Stream5; DMAtx.Init.Channel = DMA_CHANNEL_0; + #elif defined(STM32H7xx) + __HAL_RCC_DMA1_CLK_ENABLE(); + DMAtx.Instance = DMA1_Stream4; + DMAtx.Init.Request = DMA_REQUEST_SPI3_TX; #endif } #endif - HAL_SPI_Init(&SPIx); - DMAtx.Init.Direction = DMA_MEMORY_TO_PERIPH; DMAtx.Init.PeriphInc = DMA_PINC_DISABLE; DMAtx.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD; DMAtx.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD; DMAtx.Init.Mode = DMA_NORMAL; DMAtx.Init.Priority = DMA_PRIORITY_LOW; - #ifdef STM32F4xx + #if ANY(STM32F4xx, STM32H7xx) DMAtx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; #endif } -void TFT_SPI::DataTransferBegin(uint16_t DataSize) { - SPIx.Init.DataSize = DataSize == DATASIZE_8BIT ? SPI_DATASIZE_8BIT : SPI_DATASIZE_16BIT; +void TFT_SPI::dataTransferBegin(uint16_t dataSize) { + SPIx.Init.DataSize = dataSize; HAL_SPI_Init(&SPIx); WRITE(TFT_CS_PIN, LOW); } @@ -132,11 +155,11 @@ void TFT_SPI::DataTransferBegin(uint16_t DataSize) { #include "../../../lcd/tft_io/tft_ids.h" #endif -uint32_t TFT_SPI::GetID() { +uint32_t TFT_SPI::getID() { uint32_t id; - id = ReadID(LCD_READ_ID); + id = readID(LCD_READ_ID); if ((id & 0xFFFF) == 0 || (id & 0xFFFF) == 0xFFFF) { - id = ReadID(LCD_READ_ID4); + id = readID(LCD_READ_ID4); #ifdef TFT_DEFAULT_DRIVER if ((id & 0xFFFF) == 0 || (id & 0xFFFF) == 0xFFFF) id = TFT_DEFAULT_DRIVER; @@ -145,125 +168,189 @@ uint32_t TFT_SPI::GetID() { return id; } -uint32_t TFT_SPI::ReadID(uint16_t Reg) { - uint32_t Data = 0; +uint32_t TFT_SPI::readID(const uint16_t inReg) { + uint32_t data = 0; #if PIN_EXISTS(TFT_MISO) - uint32_t BaudRatePrescaler = SPIx.Init.BaudRatePrescaler; - uint32_t i; + const uint32_t oldPrescaler = SPIx.Init.BaudRatePrescaler; - SPIx.Init.BaudRatePrescaler = SPIx.Instance == SPI1 ? SPI_BAUDRATEPRESCALER_8 : SPI_BAUDRATEPRESCALER_4; - DataTransferBegin(DATASIZE_8BIT); - WriteReg(Reg); + SPIx.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_64; + dataTransferBegin(DATASIZE_8BIT); + writeReg(inReg); if (SPIx.Init.Direction == SPI_DIRECTION_1LINE) SPI_1LINE_RX(&SPIx); - __HAL_SPI_ENABLE(&SPIx); - for (i = 0; i < 4; i++) { - #if TFT_MISO_PIN != TFT_MOSI_PIN - //if (hspi->Init.Direction == SPI_DIRECTION_2LINES) { + #ifdef STM32H7xx + for (uint32_t i = 0; i < 4; i++) { + MODIFY_REG(SPIx.Instance->CR2, SPI_CR2_TSIZE, 1); + __HAL_SPI_ENABLE(&SPIx); + SET_BIT(SPIx.Instance->CR1, SPI_CR1_CSTART); + + #if TFT_MISO_PIN != TFT_MOSI_PIN + SPIx.Instance->TXDR = 0; + #endif + while (!__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_EOT)) {} + data = (data << 8) | SPIx.Instance->RXDR; + __HAL_SPI_DISABLE(&SPIx); + __HAL_SPI_CLEAR_EOTFLAG(&SPIx); + __HAL_SPI_CLEAR_TXTFFLAG(&SPIx); + } + #else + __HAL_SPI_ENABLE(&SPIx); + for (uint32_t i = 0; i < 4; i++) { + #if TFT_MISO_PIN != TFT_MOSI_PIN while (!__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_TXE)) {} SPIx.Instance->DR = 0; - //} - #endif - while (!__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_RXNE)) {} - Data = (Data << 8) | SPIx.Instance->DR; - } + #endif + while (!__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_RXNE)) {} + data = (data << 8) | SPIx.Instance->DR; + } + #endif - __HAL_SPI_DISABLE(&SPIx); - DataTransferEnd(); - - SPIx.Init.BaudRatePrescaler = BaudRatePrescaler; + dataTransferEnd(); + SPIx.Init.BaudRatePrescaler = oldPrescaler; #endif - return Data >> 7; + return data >> 7; } bool TFT_SPI::isBusy() { - #if defined(STM32F1xx) - volatile bool dmaEnabled = (DMAtx.Instance->CCR & DMA_CCR_EN) != RESET; + #ifdef STM32F1xx + #define __IS_DMA_ENABLED(__HANDLE__) ((__HANDLE__)->Instance->CCR & DMA_CCR_EN) + #define __IS_DMA_CONFIGURED(__HANDLE__) ((__HANDLE__)->Instance->CPAR != 0) #elif defined(STM32F4xx) - volatile bool dmaEnabled = DMAtx.Instance->CR & DMA_SxCR_EN; + #define __IS_DMA_ENABLED(__HANDLE__) ((__HANDLE__)->Instance->CR & DMA_SxCR_EN) + #define __IS_DMA_CONFIGURED(__HANDLE__) ((__HANDLE__)->Instance->PAR != 0) + #elif defined(STM32H7xx) + #define __IS_DMA_ENABLED(__HANDLE__) (((DMA_Stream_TypeDef *)((__HANDLE__)->Instance))->CR & DMA_SxCR_EN) + #define __IS_DMA_CONFIGURED(__HANDLE__) (((DMA_Stream_TypeDef *)((__HANDLE__)->Instance))->PAR != 0) #endif - if (dmaEnabled) { - if (__HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TC_FLAG_INDEX(&DMAtx)) != 0 || __HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TE_FLAG_INDEX(&DMAtx)) != 0) - Abort(); + + if (!__IS_DMA_CONFIGURED(&DMAtx)) return false; + + if (__HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TE_FLAG_INDEX(&DMAtx))) { + // You should not be here - DMA transfer error flag is set + // Abort DMA transfer and release SPI } - else - Abort(); - return dmaEnabled; + else { + // Check if DMA transfer completed flag is set + if (__HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TC_FLAG_INDEX(&DMAtx)) == 0) return true; + #ifdef STM32H7xx + // Check if SPI data transfer is completed + if (!__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_EOT)) return true; + #else + // Check if SPI is idle + if (__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_BSY)) return true; + #endif + } + + abort(); + return false; } -void TFT_SPI::Abort() { - // Wait for any running spi - while (!__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_TXE)) {} - while ( __HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_BSY)) {} - // First, abort any running dma - HAL_DMA_Abort(&DMAtx); - // DeInit objects +void TFT_SPI::abort() { + HAL_DMA_Abort(&DMAtx); // Abort DMA transfer if any HAL_DMA_DeInit(&DMAtx); - HAL_SPI_DeInit(&SPIx); - // Deselect CS - DataTransferEnd(); + + #ifdef STM32H7xx + CLEAR_BIT(SPIx.Instance->CFG1, SPI_CFG1_TXDMAEN); + __HAL_SPI_CLEAR_EOTFLAG(&SPIx); + __HAL_SPI_CLEAR_TXTFFLAG(&SPIx); + #else + CLEAR_BIT(SPIx.Instance->CR2, SPI_CR2_TXDMAEN); + #endif + + dataTransferEnd(); // Stop SPI and deselect CS } -void TFT_SPI::Transmit(uint16_t Data) { - if (TFT_MISO_PIN == TFT_MOSI_PIN) +void TFT_SPI::transmit(uint16_t data) { + #if TFT_MISO_PIN == TFT_MOSI_PIN SPI_1LINE_TX(&SPIx); + #endif - __HAL_SPI_ENABLE(&SPIx); + #ifdef STM32H7xx + MODIFY_REG(SPIx.Instance->CR2, SPI_CR2_TSIZE, 1); + __HAL_SPI_ENABLE(&SPIx); + SET_BIT(SPIx.Instance->CR1, SPI_CR1_CSTART); - SPIx.Instance->DR = Data; + SPIx.Instance->TXDR = data; - while (!__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_TXE)) {} - while ( __HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_BSY)) {} + while (!__HAL_SPI_GET_FLAG(&SPIx, SPI_SR_EOT)) {} - if (TFT_MISO_PIN != TFT_MOSI_PIN) - __HAL_SPI_CLEAR_OVRFLAG(&SPIx); // Clear overrun flag in 2 Lines communication mode because received is not read + __HAL_SPI_CLEAR_EOTFLAG(&SPIx); + __HAL_SPI_CLEAR_TXTFFLAG(&SPIx); + #else + __HAL_SPI_ENABLE(&SPIx); + SPIx.Instance->DR = data; + while (__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_BSY)) {} + #endif + + __HAL_SPI_DISABLE(&SPIx); + + #if TFT_MISO_PIN != TFT_MOSI_PIN + __HAL_SPI_CLEAR_OVRFLAG(&SPIx); // Clear overrun flag in 2 Lines communication mode because received data is not read + #endif } -void TFT_SPI::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) { - // Wait last dma finish, to start another - while (isBusy()) { /* nada */ } - - DMAtx.Init.MemInc = MemoryIncrease; +void TFT_SPI::transmitDMA(uint32_t memoryIncrease, uint16_t *data, uint16_t count) { + DMAtx.Init.MemInc = memoryIncrease; HAL_DMA_Init(&DMAtx); - if (TFT_MISO_PIN == TFT_MOSI_PIN) + #if TFT_MISO_PIN == TFT_MOSI_PIN SPI_1LINE_TX(&SPIx); + #endif - DataTransferBegin(); + dataTransferBegin(); - HAL_DMA_Start(&DMAtx, (uint32_t)Data, (uint32_t)&(SPIx.Instance->DR), Count); - __HAL_SPI_ENABLE(&SPIx); + #ifdef STM32H7xx + HAL_DMA_Start(&DMAtx, (uint32_t)data, (uint32_t)&(SPIx.Instance->TXDR), count); - SET_BIT(SPIx.Instance->CR2, SPI_CR2_TXDMAEN); // Enable Tx DMA Request + CLEAR_BIT(SPIx.Instance->CFG1, SPI_CFG1_TXDMAEN); + MODIFY_REG(SPIx.Instance->CR2, SPI_CR2_TSIZE, count); + SET_BIT(SPIx.Instance->CFG1, SPI_CFG1_TXDMAEN); // Enable Tx DMA Request + __HAL_SPI_ENABLE(&SPIx); + SET_BIT(SPIx.Instance->CR1, SPI_CR1_CSTART); + #else + HAL_DMA_Start(&DMAtx, (uint32_t)data, (uint32_t)&(SPIx.Instance->DR), count); + + __HAL_SPI_ENABLE(&SPIx); + SET_BIT(SPIx.Instance->CR2, SPI_CR2_TXDMAEN); // Enable Tx DMA Request + #endif + + TERN_(TFT_SHARED_IO, while (isBusy())); +} + +void TFT_SPI::transmit(uint32_t memoryIncrease, uint16_t *data, uint16_t count) { + transmitDMA(memoryIncrease, data, count); HAL_DMA_PollForTransfer(&DMAtx, HAL_DMA_FULL_TRANSFER, HAL_MAX_DELAY); - Abort(); + #ifdef STM32H7xx + while (!__HAL_SPI_GET_FLAG(&SPIx, SPI_SR_EOT)) {} + #else + while (__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_BSY)) {} + #endif + abort(); } #if ENABLED(USE_SPI_DMA_TC) + void TFT_SPI::transmitDMA_IT(uint32_t memoryIncrease, uint16_t *data, uint16_t count) { - void TFT_SPI::TransmitDMA_IT(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) { - - DMAtx.Init.MemInc = MemoryIncrease; + DMAtx.Init.MemInc = memoryIncrease; HAL_DMA_Init(&DMAtx); if (TFT_MISO_PIN == TFT_MOSI_PIN) SPI_1LINE_TX(&SPIx); - DataTransferBegin(); + dataTransferBegin(); HAL_NVIC_SetPriority(DMA2_Stream3_IRQn, 5, 0); HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn); - HAL_DMA_Start_IT(&DMAtx, (uint32_t)Data, (uint32_t)&(SPIx.Instance->DR), Count); + HAL_DMA_Start_IT(&DMAtx, (uint32_t)data, (uint32_t)&(SPIx.Instance->DR), count); __HAL_SPI_ENABLE(&SPIx); SET_BIT(SPIx.Instance->CR2, SPI_CR2_TXDMAEN); // Enable Tx DMA Request } - extern "C" void DMA2_Stream3_IRQHandler(void) { HAL_DMA_IRQHandler(&TFT_SPI::DMAtx); } - + extern "C" void DMA2_Stream3_IRQHandler(void) { TFT_SPI::DMA_IRQHandler(); } #endif #endif // HAS_SPI_TFT diff --git a/Marlin/src/HAL/STM32/tft/tft_spi.h b/Marlin/src/HAL/STM32/tft/tft_spi.h index de051e2294..6345c91f6c 100644 --- a/Marlin/src/HAL/STM32/tft/tft_spi.h +++ b/Marlin/src/HAL/STM32/tft/tft_spi.h @@ -25,8 +25,10 @@ #include "stm32f1xx_hal.h" #elif defined(STM32F4xx) #include "stm32f4xx_hal.h" +#elif defined(STM32H7xx) + #include "stm32h7xx_hal.h" #else - #error SPI TFT is currently only supported on STM32F1 and STM32F4 hardware. + #error SPI TFT is currently only supported on STM32F1, STM32F4 and STM32H7 hardware. #endif #ifndef LCD_READ_ID @@ -38,47 +40,49 @@ #define DATASIZE_8BIT SPI_DATASIZE_8BIT #define DATASIZE_16BIT SPI_DATASIZE_16BIT +#define DATASIZE_32BIT SPI_DATASIZE_32BIT #define TFT_IO_DRIVER TFT_SPI +#define DMA_MAX_WORDS 0xFFFF class TFT_SPI { private: static SPI_HandleTypeDef SPIx; + static DMA_HandleTypeDef DMAtx; - - static uint32_t ReadID(uint16_t Reg); - static void Transmit(uint16_t Data); - static void TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count); + static uint32_t readID(const uint16_t inReg); + static void transmit(uint16_t data); + static void transmit(uint32_t memoryIncrease, uint16_t *data, uint16_t count); + static void transmitDMA(uint32_t memoryIncrease, uint16_t *data, uint16_t count); #if ENABLED(USE_SPI_DMA_TC) - static void TransmitDMA_IT(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count); + static void transmitDMA_IT(uint32_t memoryIncrease, uint16_t *data, uint16_t count); #endif public: - static DMA_HandleTypeDef DMAtx; - - static void Init(); - static uint32_t GetID(); + static void init(); + static uint32_t getID(); static bool isBusy(); - static void Abort(); + static void abort(); - static void DataTransferBegin(uint16_t DataWidth = DATASIZE_16BIT); - static void DataTransferEnd() { WRITE(TFT_CS_PIN, HIGH); }; - static void DataTransferAbort(); + static void dataTransferBegin(uint16_t dataWidth=DATASIZE_16BIT); + static void dataTransferEnd() { WRITE(TFT_CS_PIN, HIGH); __HAL_SPI_DISABLE(&SPIx); }; + static void dataTransferAbort(); - static void WriteData(uint16_t Data) { Transmit(Data); } - static void WriteReg(uint16_t Reg) { WRITE(TFT_A0_PIN, LOW); Transmit(Reg); WRITE(TFT_A0_PIN, HIGH); } + static void writeData(uint16_t data) { transmit(data); } + static void writeReg(const uint16_t inReg) { WRITE(TFT_A0_PIN, LOW); transmit(inReg); WRITE(TFT_A0_PIN, HIGH); } - static void WriteSequence(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_MINC_ENABLE, Data, Count); } + static void writeSequence_DMA(uint16_t *data, uint16_t count) { transmitDMA(DMA_MINC_ENABLE, data, count); } + static void writeMultiple_DMA(uint16_t color, uint16_t count) { static uint16_t data; data = color; transmitDMA(DMA_MINC_DISABLE, &data, count); } #if ENABLED(USE_SPI_DMA_TC) - static void WriteSequenceIT(uint16_t *Data, uint16_t Count) { TransmitDMA_IT(DMA_MINC_ENABLE, Data, Count); } + static void writeSequenceIT(uint16_t *data, uint16_t count) { transmitDMA_IT(DMA_MINC_ENABLE, data, count); } + inline static void DMA_IRQHandler() { HAL_DMA_IRQHandler(&TFT_SPI::DMAtx); } #endif - static void WriteMultiple(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_MINC_DISABLE, &Data, Count); } - static void WriteMultiple(uint16_t Color, uint32_t Count) { - static uint16_t Data; Data = Color; - while (Count > 0) { - TransmitDMA(DMA_MINC_DISABLE, &Data, Count > 0xFFFF ? 0xFFFF : Count); - Count = Count > 0xFFFF ? Count - 0xFFFF : 0; + static void writeSequence(uint16_t *data, uint16_t count) { transmit(DMA_MINC_ENABLE, data, count); } + static void writeMultiple(uint16_t color, uint32_t count) { + while (count > 0) { + transmit(DMA_MINC_DISABLE, &color, count > DMA_MAX_WORDS ? DMA_MAX_WORDS : count); + count = count > DMA_MAX_WORDS ? count - DMA_MAX_WORDS : 0; } } }; diff --git a/Marlin/src/HAL/STM32/tft/xpt2046.cpp b/Marlin/src/HAL/STM32/tft/xpt2046.cpp index cf4a8f18e9..f0c54f3690 100644 --- a/Marlin/src/HAL/STM32/tft/xpt2046.cpp +++ b/Marlin/src/HAL/STM32/tft/xpt2046.cpp @@ -35,7 +35,7 @@ uint16_t delta(uint16_t a, uint16_t b) { return a > b ? a - b : b - a; } SPI_HandleTypeDef XPT2046::SPIx; -void XPT2046::Init() { +void XPT2046::init() { SPI_TypeDef *spiInstance; OUT_WRITE(TOUCH_CS_PIN, HIGH); @@ -56,7 +56,6 @@ void XPT2046::Init() { SPIx.Init.NSS = SPI_NSS_SOFT; SPIx.Init.Mode = SPI_MODE_MASTER; SPIx.Init.Direction = SPI_DIRECTION_2LINES; - SPIx.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8; SPIx.Init.CLKPhase = SPI_PHASE_2EDGE; SPIx.Init.CLKPolarity = SPI_POLARITY_HIGH; SPIx.Init.DataSize = SPI_DATASIZE_8BIT; @@ -65,6 +64,20 @@ void XPT2046::Init() { SPIx.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; SPIx.Init.CRCPolynomial = 10; + #ifndef STM32H7xx + SPIx.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8; // 4.5 MBit/s for F103 and 5.25 MBit/s for F407 + #else + SPIx.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16; // 5 MBit/s for H743 + SPIx.Init.NSSPMode = SPI_NSS_PULSE_ENABLE; + SPIx.Init.NSSPolarity = SPI_NSS_POLARITY_LOW; + SPIx.Init.FifoThreshold = SPI_FIFO_THRESHOLD_01DATA; + SPIx.Init.MasterSSIdleness = SPI_MASTER_SS_IDLENESS_00CYCLE; + SPIx.Init.MasterInterDataIdleness = SPI_MASTER_INTERDATA_IDLENESS_00CYCLE; + SPIx.Init.MasterReceiverAutoSusp = SPI_MASTER_RX_AUTOSUSP_DISABLE; + SPIx.Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_ENABLE; + SPIx.Init.IOSwap = SPI_IO_SWAP_DISABLE; + #endif + pinmap_pinout(digitalPinToPinName(TOUCH_SCK_PIN), PinMap_SPI_SCLK); pinmap_pinout(digitalPinToPinName(TOUCH_MOSI_PIN), PinMap_SPI_MOSI); pinmap_pinout(digitalPinToPinName(TOUCH_MISO_PIN), PinMap_SPI_MISO); @@ -117,14 +130,14 @@ bool XPT2046::getRawPoint(int16_t *x, int16_t *y) { uint16_t XPT2046::getRawData(const XPTCoordinate coordinate) { uint16_t data[3]; - DataTransferBegin(); + dataTransferBegin(); for (uint16_t i = 0; i < 3 ; i++) { IO(coordinate); data[i] = (IO() << 4) | (IO() >> 4); } - DataTransferEnd(); + dataTransferEnd(); uint16_t delta01 = delta(data[0], data[1]); uint16_t delta02 = delta(data[0], data[2]); @@ -140,17 +153,34 @@ uint16_t XPT2046::getRawData(const XPTCoordinate coordinate) { return (data[0] + data[1]) >> 1; } -uint16_t XPT2046::HardwareIO(uint16_t data) { - __HAL_SPI_ENABLE(&SPIx); - while ((SPIx.Instance->SR & SPI_FLAG_TXE) != SPI_FLAG_TXE) {} - SPIx.Instance->DR = data; - while ((SPIx.Instance->SR & SPI_FLAG_RXNE) != SPI_FLAG_RXNE) {} - __HAL_SPI_DISABLE(&SPIx); +uint16_t XPT2046::hardwareIO(uint16_t data) { + #ifdef STM32H7xx + MODIFY_REG(SPIx.Instance->CR2, SPI_CR2_TSIZE, 1); + __HAL_SPI_ENABLE(&SPIx); + SET_BIT(SPIx.Instance->CR1, SPI_CR1_CSTART); - return SPIx.Instance->DR; + SPIx.Instance->TXDR = data; + + while (!__HAL_SPI_GET_FLAG(&SPIx, SPI_SR_EOT)) {} + data = SPIx.Instance->RXDR; + + __HAL_SPI_DISABLE(&SPIx); + __HAL_SPI_CLEAR_EOTFLAG(&SPIx); + __HAL_SPI_CLEAR_TXTFFLAG(&SPIx); + + return data; + #else + __HAL_SPI_ENABLE(&SPIx); + while ((SPIx.Instance->SR & SPI_FLAG_TXE) != SPI_FLAG_TXE) {} + SPIx.Instance->DR = data; + while ((SPIx.Instance->SR & SPI_FLAG_RXNE) != SPI_FLAG_RXNE) {} + __HAL_SPI_DISABLE(&SPIx); + + return SPIx.Instance->DR; + #endif } -uint16_t XPT2046::SoftwareIO(uint16_t data) { +uint16_t XPT2046::softwareIO(uint16_t data) { uint16_t result = 0; for (uint8_t j = 0x80; j > 0; j >>= 1) { diff --git a/Marlin/src/HAL/STM32/tft/xpt2046.h b/Marlin/src/HAL/STM32/tft/xpt2046.h index 71de6b0025..5ed0881ec6 100644 --- a/Marlin/src/HAL/STM32/tft/xpt2046.h +++ b/Marlin/src/HAL/STM32/tft/xpt2046.h @@ -22,9 +22,13 @@ #pragma once #ifdef STM32F1xx - #include + #include "stm32f1xx_hal.h" #elif defined(STM32F4xx) - #include + #include "stm32f4xx_hal.h" +#elif defined(STM32H7xx) + #include "stm32h7xx_hal.h" +#else + #error SPI Touch Screen is currently only supported on STM32F1, STM32F4 and STM32H7 hardware. #endif #include "../../../inc/MarlinConfig.h" @@ -69,13 +73,13 @@ private: static uint16_t getRawData(const XPTCoordinate coordinate); static bool isTouched(); - static void DataTransferBegin() { if (SPIx.Instance) { HAL_SPI_Init(&SPIx); } WRITE(TOUCH_CS_PIN, LOW); }; - static void DataTransferEnd() { WRITE(TOUCH_CS_PIN, HIGH); }; - static uint16_t HardwareIO(uint16_t data); - static uint16_t SoftwareIO(uint16_t data); - static uint16_t IO(uint16_t data = 0) { return SPIx.Instance ? HardwareIO(data) : SoftwareIO(data); } + static void dataTransferBegin() { if (SPIx.Instance) { HAL_SPI_Init(&SPIx); } WRITE(TOUCH_CS_PIN, LOW); }; + static void dataTransferEnd() { WRITE(TOUCH_CS_PIN, HIGH); }; + static uint16_t hardwareIO(uint16_t data); + static uint16_t softwareIO(uint16_t data); + static uint16_t IO(uint16_t data = 0) { return SPIx.Instance ? hardwareIO(data) : softwareIO(data); } public: - static void Init(); + static void init(); static bool getRawPoint(int16_t *x, int16_t *y); }; diff --git a/Marlin/src/HAL/STM32/timers.cpp b/Marlin/src/HAL/STM32/timers.cpp index a1e3372bbb..54506cb451 100644 --- a/Marlin/src/HAL/STM32/timers.cpp +++ b/Marlin/src/HAL/STM32/timers.cpp @@ -292,9 +292,9 @@ static constexpr int get_timer_num_from_base_address(uintptr_t base_address) { // constexpr doesn't like using the base address pointers that timers evaluate to. // We can get away with casting them to uintptr_t, if we do so inside an array. // GCC will not currently do it directly to a uintptr_t. -IF_ENABLED(HAS_TMC_SW_SERIAL, static constexpr uintptr_t timer_serial[] = {uintptr_t(TIMER_SERIAL)}); -IF_ENABLED(SPEAKER, static constexpr uintptr_t timer_tone[] = {uintptr_t(TIMER_TONE)}); -IF_ENABLED(HAS_SERVOS, static constexpr uintptr_t timer_servo[] = {uintptr_t(TIMER_SERVO)}); +TERN_(HAS_TMC_SW_SERIAL, static constexpr uintptr_t timer_serial[] = {uintptr_t(TIMER_SERIAL)}); +TERN_(SPEAKER, static constexpr uintptr_t timer_tone[] = {uintptr_t(TIMER_TONE)}); +TERN_(HAS_SERVOS, static constexpr uintptr_t timer_servo[] = {uintptr_t(TIMER_SERVO)}); enum TimerPurpose { TP_SERIAL, TP_TONE, TP_SERVO, TP_STEP, TP_TEMP }; @@ -303,21 +303,21 @@ enum TimerPurpose { TP_SERIAL, TP_TONE, TP_SERVO, TP_STEP, TP_TEMP }; // This cannot yet account for timers used for PWM output, such as for fans. static constexpr struct { TimerPurpose p; int t; } timers_in_use[] = { #if HAS_TMC_SW_SERIAL - {TP_SERIAL, get_timer_num_from_base_address(timer_serial[0])}, // Set in variant.h, or as a define in platformio.h if not present in variant.h + { TP_SERIAL, get_timer_num_from_base_address(timer_serial[0]) }, // Set in variant.h, or as a define in platformio.h if not present in variant.h #endif #if ENABLED(SPEAKER) - {TP_TONE, get_timer_num_from_base_address(timer_tone[0])}, // Set in variant.h, or as a define in platformio.h if not present in variant.h + { TP_TONE, get_timer_num_from_base_address(timer_tone[0]) }, // Set in variant.h, or as a define in platformio.h if not present in variant.h #endif #if HAS_SERVOS - {TP_SERVO, get_timer_num_from_base_address(timer_servo[0])}, // Set in variant.h, or as a define in platformio.h if not present in variant.h + { TP_SERVO, get_timer_num_from_base_address(timer_servo[0]) }, // Set in variant.h, or as a define in platformio.h if not present in variant.h #endif - {TP_STEP, STEP_TIMER}, - {TP_TEMP, TEMP_TIMER}, + { TP_STEP, STEP_TIMER }, + { TP_TEMP, TEMP_TIMER }, }; static constexpr bool verify_no_timer_conflicts() { - LOOP_L_N(i, COUNT(timers_in_use)) - LOOP_S_L_N(j, i + 1, COUNT(timers_in_use)) + for (uint8_t i = 0; i < COUNT(timers_in_use); ++i) + for (uint8_t j = i + 1; j < COUNT(timers_in_use); ++j) if (timers_in_use[i].t == timers_in_use[j].t) return false; return true; } diff --git a/Marlin/src/HAL/STM32/usb_host.cpp b/Marlin/src/HAL/STM32/usb_host.cpp index d77f0b28e9..afafe1d4f3 100644 --- a/Marlin/src/HAL/STM32/usb_host.cpp +++ b/Marlin/src/HAL/STM32/usb_host.cpp @@ -26,7 +26,7 @@ #include "../../inc/MarlinConfig.h" -#if BOTH(USE_OTG_USB_HOST, USBHOST) +#if ALL(USE_OTG_USB_HOST, USBHOST) #include "usb_host.h" #include "../shared/Marduino.h" @@ -44,7 +44,7 @@ static void USBH_UserProcess(USBH_HandleTypeDef *phost, uint8_t id) { break; case HOST_USER_DISCONNECTION: //SERIAL_ECHOLNPGM("APPLICATION_DISCONNECT"); - //usb.setUsbTaskState(USB_STATE_RUNNING); + usb.setUsbTaskState(USB_STATE_INIT); break; case HOST_USER_CLASS_ACTIVE: //SERIAL_ECHOLNPGM("APPLICATION_READY"); diff --git a/Marlin/src/HAL/STM32F1/HAL.cpp b/Marlin/src/HAL/STM32F1/HAL.cpp index 636dc742fc..373116ba39 100644 --- a/Marlin/src/HAL/STM32F1/HAL.cpp +++ b/Marlin/src/HAL/STM32F1/HAL.cpp @@ -83,6 +83,7 @@ // ------------------------ #if defined(SERIAL_USB) && !HAS_SD_HOST_DRIVE + USBSerial SerialUSB; DefaultSerial1 MSerial0(true, SerialUSB); @@ -112,6 +113,47 @@ #endif #endif +// ------------------------ +// Watchdog Timer +// ------------------------ + +#if ENABLED(USE_WATCHDOG) + + #include + + void watchdogSetup() { + // do whatever. don't remove this function. + } + + /** + * The watchdog clock is 40Khz. So for a 4s or 8s interval use a /256 preescaler and 625 or 1250 reload value (counts down to 0). + */ + #define STM32F1_WD_RELOAD TERN(WATCHDOG_DURATION_8S, 1250, 625) // 4 or 8 second timeout + + /** + * @brief Initialize the independent hardware watchdog. + * + * @return No return + * + * @details The watchdog clock is 40Khz. So for a 4s or 8s interval use a /256 preescaler and 625 or 1250 reload value (counts down to 0). + */ + void MarlinHAL::watchdog_init() { + #if DISABLED(DISABLE_WATCHDOG_INIT) + iwdg_init(IWDG_PRE_256, STM32F1_WD_RELOAD); + #endif + } + + // Reset watchdog. MUST be called every 4 or 8 seconds after the + // first watchdog_init or the STM32F1 will reset. + void MarlinHAL::watchdog_refresh() { + #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED) + TOGGLE(LED_PIN); // heartbeat indicator + #endif + iwdg_feed(); + } + +#endif // USE_WATCHDOG + // ------------------------ // ADC // ------------------------ @@ -182,7 +224,7 @@ void MarlinHAL::init() { #endif #if HAS_SD_HOST_DRIVE MSC_SD_init(); - #elif BOTH(SERIAL_USB, EMERGENCY_PARSER) + #elif ALL(SERIAL_USB, EMERGENCY_PARSER) usb_cdcacm_set_hooks(USB_CDCACM_HOOK_RX, my_rx_callback); #endif #if PIN_EXISTS(USB_CONNECT) @@ -211,6 +253,10 @@ void MarlinHAL::idletask() { void MarlinHAL::reboot() { nvic_sys_reset(); } +// ------------------------ +// Free Memory Accessor +// ------------------------ + extern "C" { extern unsigned int _ebss; // end of bss section } @@ -243,9 +289,9 @@ extern "C" { } */ -// +// ------------------------ // ADC -// +// ------------------------ enum ADCIndex : uint8_t { OPTITEM(HAS_TEMP_ADC_0, TEMP_0) @@ -261,6 +307,7 @@ enum ADCIndex : uint8_t { OPTITEM(HAS_TEMP_ADC_PROBE, TEMP_PROBE) OPTITEM(HAS_TEMP_COOLER, TEMP_COOLER) OPTITEM(HAS_TEMP_BOARD, TEMP_BOARD) + OPTITEM(HAS_TEMP_SOC, TEMP_SOC) OPTITEM(FILAMENT_WIDTH_SENSOR, FILWIDTH) OPTITEM(HAS_ADC_BUTTONS, ADC_KEY) OPTITEM(HAS_JOY_ADC_X, JOY_X) @@ -289,6 +336,7 @@ void MarlinHAL::adc_init() { OPTITEM(HAS_TEMP_ADC_PROBE, TEMP_PROBE_PIN) OPTITEM(HAS_TEMP_COOLER, TEMP_COOLER_PIN) OPTITEM(HAS_TEMP_BOARD, TEMP_BOARD_PIN) + OPTITEM(HAS_TEMP_SOC, TEMP_SOC_PIN) OPTITEM(FILAMENT_WIDTH_SENSOR, FILWIDTH_PIN) OPTITEM(HAS_ADC_BUTTONS, ADC_KEYPAD_PIN) OPTITEM(HAS_JOY_ADC_X, JOY_X_PIN) @@ -327,6 +375,7 @@ void MarlinHAL::adc_start(const pin_t pin) { _TCASE(HAS_TEMP_ADC_PROBE, TEMP_PROBE_PIN, TEMP_PROBE) _TCASE(HAS_TEMP_COOLER, TEMP_COOLER_PIN, TEMP_COOLER) _TCASE(HAS_TEMP_BOARD, TEMP_BOARD_PIN, TEMP_BOARD) + _TCASE(HAS_TEMP_SOC, TEMP_SOC_PIN, TEMP_SOC) _TCASE(HAS_JOY_ADC_X, JOY_X_PIN, JOY_X) _TCASE(HAS_JOY_ADC_Y, JOY_Y_PIN, JOY_Y) _TCASE(HAS_JOY_ADC_Z, JOY_Z_PIN, JOY_Z) diff --git a/Marlin/src/HAL/STM32F1/HAL.h b/Marlin/src/HAL/STM32F1/HAL.h index f532c8378a..ca7361f88a 100644 --- a/Marlin/src/HAL/STM32F1/HAL.h +++ b/Marlin/src/HAL/STM32F1/HAL.h @@ -34,7 +34,6 @@ #include "../shared/HAL_SPI.h" #include "fastio.h" -#include "watchdog.h" #include #include @@ -83,7 +82,7 @@ #define _MSERIAL(X) MSerial##X #define MSERIAL(X) _MSERIAL(X) -#if EITHER(STM32_HIGH_DENSITY, STM32_XL_DENSITY) +#if ANY(STM32_HIGH_DENSITY, STM32_XL_DENSITY) #define NUM_UARTS 5 #else #define NUM_UARTS 3 @@ -140,8 +139,8 @@ #define LCD_SERIAL MSERIAL(1) // dummy port static_assert(false, "LCD_SERIAL_PORT must be from 1 to " STRINGIFY(NUM_UARTS) ". You can also use -1 if the board supports Native USB.") #endif - #if HAS_DGUS_LCD || ENABLED(DGUS_LCD_UI_CREALITY_TOUCH) - #define SERIAL_GET_TX_BUFFER_FREE() LCD_SERIAL.availableForWrite() + #if HAS_DGUS_LCD || ENABLED(DGUS_LCD_UI_CREALITY_TOUCH) || ENABLED(DWINOS_4) + #define LCD_SERIAL_TX_BUFFER_FREE() LCD_SERIAL.availableForWrite() #endif #endif @@ -191,7 +190,7 @@ typedef int8_t pin_t; #define HAL_ADC_RESOLUTION 12 #endif -#define HAL_ADC_VREF 3.3 +#define HAL_ADC_VREF_MV 3300 uint16_t analogRead(const pin_t pin); // need hal.adc_enable() first void analogWrite(const pin_t pin, int pwm_val8); // PWM only! mul by 257 in maple!? @@ -206,7 +205,9 @@ void analogWrite(const pin_t pin, int pwm_val8); // PWM only! mul by 257 in mapl #define JTAG_DISABLE() afio_cfg_debug_ports(AFIO_DEBUG_SW_ONLY) #define JTAGSWD_DISABLE() afio_cfg_debug_ports(AFIO_DEBUG_NONE) -#define PLATFORM_M997_SUPPORT +#ifndef PLATFORM_M997_SUPPORT + #define PLATFORM_M997_SUPPORT +#endif void flashFirmware(const int16_t); #define HAL_CAN_SET_PWM_FREQ // This HAL supports PWM Frequency adjustment @@ -247,6 +248,10 @@ public: // Earliest possible init, before setup() MarlinHAL() {} + // Watchdog + static void watchdog_init() IF_DISABLED(USE_WATCHDOG, {}); + static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {}); + static void init(); // Called early in setup() static void init_board() {} // Called less early in setup() static void reboot(); // Restart the firmware from 0x0 @@ -280,7 +285,7 @@ public: // Called by Temperature::init for each sensor at startup static void adc_enable(const pin_t pin) { pinMode(pin, INPUT_ANALOG); } - // Begin ADC sampling on the given channel + // Begin ADC sampling on the given pin. Called from Temperature::isr! static void adc_start(const pin_t pin); // Is the ADC ready for reading? diff --git a/Marlin/src/HAL/STM32F1/MarlinSerial.cpp b/Marlin/src/HAL/STM32F1/MarlinSerial.cpp index 6dabcde51e..568fc05d41 100644 --- a/Marlin/src/HAL/STM32F1/MarlinSerial.cpp +++ b/Marlin/src/HAL/STM32F1/MarlinSerial.cpp @@ -77,7 +77,7 @@ static inline __always_inline void my_usart_irq(ring_buffer *rb, ring_buffer *wb // Not every MarlinSerial port should handle emergency parsing. // It would not make sense to parse GCode from TMC responses, for example. constexpr bool serial_handles_emergency(int port) { - return false + return (false #ifdef SERIAL_PORT || (SERIAL_PORT) == port #endif @@ -87,7 +87,7 @@ constexpr bool serial_handles_emergency(int port) { #ifdef LCD_SERIAL_PORT || (LCD_SERIAL_PORT) == port #endif - ; + ); } #define DEFINE_HWSERIAL_MARLIN(name, n) \ @@ -116,7 +116,7 @@ constexpr bool serial_handles_emergency(int port) { #endif DEFINE_HWSERIAL_MARLIN(MSerial2, 2); DEFINE_HWSERIAL_MARLIN(MSerial3, 3); -#if EITHER(STM32_HIGH_DENSITY, STM32_XL_DENSITY) +#if ANY(STM32_HIGH_DENSITY, STM32_XL_DENSITY) DEFINE_HWSERIAL_UART_MARLIN(MSerial4, 4); DEFINE_HWSERIAL_UART_MARLIN(MSerial5, 5); #endif diff --git a/Marlin/src/HAL/STM32F1/MarlinSerial.h b/Marlin/src/HAL/STM32F1/MarlinSerial.h index dda32fe7a2..53bcd48476 100644 --- a/Marlin/src/HAL/STM32F1/MarlinSerial.h +++ b/Marlin/src/HAL/STM32F1/MarlinSerial.h @@ -52,7 +52,7 @@ typedef Serial1Class MSerialT; extern MSerialT MSerial1; extern MSerialT MSerial2; extern MSerialT MSerial3; -#if EITHER(STM32_HIGH_DENSITY, STM32_XL_DENSITY) +#if ANY(STM32_HIGH_DENSITY, STM32_XL_DENSITY) extern MSerialT MSerial4; extern MSerialT MSerial5; #endif diff --git a/Marlin/src/HAL/STM32F1/HAL_MinSerial.cpp b/Marlin/src/HAL/STM32F1/MinSerial.cpp similarity index 97% rename from Marlin/src/HAL/STM32F1/HAL_MinSerial.cpp rename to Marlin/src/HAL/STM32F1/MinSerial.cpp index 0fc3d014d4..6cf68d8d8f 100644 --- a/Marlin/src/HAL/STM32F1/HAL_MinSerial.cpp +++ b/Marlin/src/HAL/STM32F1/MinSerial.cpp @@ -26,8 +26,7 @@ #if ENABLED(POSTMORTEM_DEBUGGING) -#include "../shared/HAL_MinSerial.h" -#include "watchdog.h" +#include "../shared/MinSerial.h" #include #include @@ -82,7 +81,7 @@ static void TX(char c) { #if WITHIN(SERIAL_PORT, 1, 6) struct usart_dev* dev = MYSERIAL1.c_dev(); while (!(dev->regs->SR & USART_SR_TXE)) { - TERN_(USE_WATCHDOG, HAL_watchdog_refresh()); + hal.watchdog_refresh(); sw_barrier(); } dev->regs->DR = c; diff --git a/Marlin/src/HAL/STM32F1/SPI.cpp b/Marlin/src/HAL/STM32F1/SPI.cpp index 1ce2c7d3fd..a180684757 100644 --- a/Marlin/src/HAL/STM32F1/SPI.cpp +++ b/Marlin/src/HAL/STM32F1/SPI.cpp @@ -526,23 +526,22 @@ void SPIClass::onReceive(void(*callback)()) { _currentSetting->receiveCallback = callback; if (callback) { switch (_currentSetting->spi_d->clk_id) { - #if BOARD_NR_SPI >= 1 - case RCC_SPI1: - dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, &SPIClass::_spi1EventCallback); - break; - #endif - #if BOARD_NR_SPI >= 2 - case RCC_SPI2: - dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, &SPIClass::_spi2EventCallback); - break; - #endif - #if BOARD_NR_SPI >= 3 - case RCC_SPI3: - dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, &SPIClass::_spi3EventCallback); - break; - #endif - default: - ASSERT(0); + #if BOARD_NR_SPI >= 1 + case RCC_SPI1: + dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, &SPIClass::_spi1EventCallback); + break; + #endif + #if BOARD_NR_SPI >= 2 + case RCC_SPI2: + dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, &SPIClass::_spi2EventCallback); + break; + #endif + #if BOARD_NR_SPI >= 3 + case RCC_SPI3: + dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, &SPIClass::_spi3EventCallback); + break; + #endif + default: ASSERT(0); } } else { @@ -554,23 +553,22 @@ void SPIClass::onTransmit(void(*callback)()) { _currentSetting->transmitCallback = callback; if (callback) { switch (_currentSetting->spi_d->clk_id) { - #if BOARD_NR_SPI >= 1 - case RCC_SPI1: - dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &SPIClass::_spi1EventCallback); - break; - #endif - #if BOARD_NR_SPI >= 2 - case RCC_SPI2: - dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &SPIClass::_spi2EventCallback); - break; - #endif - #if BOARD_NR_SPI >= 3 - case RCC_SPI3: - dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &SPIClass::_spi3EventCallback); - break; - #endif - default: - ASSERT(0); + #if BOARD_NR_SPI >= 1 + case RCC_SPI1: + dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &SPIClass::_spi1EventCallback); + break; + #endif + #if BOARD_NR_SPI >= 2 + case RCC_SPI2: + dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &SPIClass::_spi2EventCallback); + break; + #endif + #if BOARD_NR_SPI >= 3 + case RCC_SPI3: + dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &SPIClass::_spi3EventCallback); + break; + #endif + default: ASSERT(0); } } else { diff --git a/Marlin/src/HAL/STM32F1/SPI.h b/Marlin/src/HAL/STM32F1/SPI.h index 13f4d5ed6c..27bf684388 100644 --- a/Marlin/src/HAL/STM32F1/SPI.h +++ b/Marlin/src/HAL/STM32F1/SPI.h @@ -33,6 +33,15 @@ #include #include +// Number of SPI ports +#ifdef BOARD_SPI3_SCK_PIN + #define BOARD_NR_SPI 3 +#elif defined(BOARD_SPI2_SCK_PIN) + #define BOARD_NR_SPI 2 +#elif defined(BOARD_SPI1_SCK_PIN) + #define BOARD_NR_SPI 1 +#endif + // SPI_HAS_TRANSACTION means SPI has // - beginTransaction() // - endTransaction() @@ -49,7 +58,7 @@ #define SPI_CLOCK_DIV128 SPI_BAUD_PCLK_DIV_128 #define SPI_CLOCK_DIV256 SPI_BAUD_PCLK_DIV_256 -/* +/** * Roger Clark. 20150106 * Commented out redundant AVR defined * @@ -144,7 +153,7 @@ private: friend class SPIClass; }; -/* +/** * Kept for compat. */ static const uint8_t ff = 0xFF; @@ -224,7 +233,7 @@ public: void onReceive(void(*)()); void onTransmit(void(*)()); - /* + /** * I/O */ @@ -305,7 +314,7 @@ public: uint8_t dmaSendRepeat(uint16_t length); uint8_t dmaSendAsync(const void * transmitBuf, uint16_t length, bool minc = 1); - /* + /** * Pin accessors */ @@ -389,7 +398,7 @@ private: void updateSettings(); - /* + /** * Functions added for DMA transfers with Callback. * Experimental. */ diff --git a/Marlin/src/HAL/STM32F1/Servo.cpp b/Marlin/src/HAL/STM32F1/Servo.cpp index 8dc1ef7b6a..47ffb631cf 100644 --- a/Marlin/src/HAL/STM32F1/Servo.cpp +++ b/Marlin/src/HAL/STM32F1/Servo.cpp @@ -147,17 +147,17 @@ void libServo::move(const int32_t value) { uint16_t SR = timer_get_status(tdev); if (SR & TIMER_SR_CC1IF) { // channel 1 off #ifdef SERVO0_PWM_OD - OUT_WRITE_OD(SERVO0_PIN, 1); // off + OUT_WRITE_OD(SERVO0_PIN, HIGH); // off #else - OUT_WRITE(SERVO0_PIN, 0); + OUT_WRITE(SERVO0_PIN, LOW); #endif timer_reset_status_bit(tdev, TIMER_SR_CC1IF_BIT); } if (SR & TIMER_SR_CC2IF) { // channel 2 resume #ifdef SERVO0_PWM_OD - OUT_WRITE_OD(SERVO0_PIN, 0); // on + OUT_WRITE_OD(SERVO0_PIN, LOW); // on #else - OUT_WRITE(SERVO0_PIN, 1); + OUT_WRITE(SERVO0_PIN, HIGH); #endif timer_reset_status_bit(tdev, TIMER_SR_CC2IF_BIT); } @@ -167,9 +167,9 @@ void libServo::move(const int32_t value) { timer_dev *tdev = HAL_get_timer_dev(MF_TIMER_SERVO0); if (!tdev) return false; #ifdef SERVO0_PWM_OD - OUT_WRITE_OD(inPin, 1); + OUT_WRITE_OD(inPin, HIGH); #else - OUT_WRITE(inPin, 0); + OUT_WRITE(inPin, LOW); #endif timer_pause(tdev); @@ -200,9 +200,9 @@ void libServo::move(const int32_t value) { timer_disable_irq(tdev, 1); timer_disable_irq(tdev, 2); #ifdef SERVO0_PWM_OD - OUT_WRITE_OD(pin, 1); // off + OUT_WRITE_OD(pin, HIGH); // off #else - OUT_WRITE(pin, 0); + OUT_WRITE(pin, LOW); #endif } } diff --git a/Marlin/src/HAL/STM32F1/dogm/u8g_com_stm32duino_swspi.cpp b/Marlin/src/HAL/STM32F1/dogm/u8g_com_stm32duino_swspi.cpp index 26ea1ea19a..c57350aa2e 100644 --- a/Marlin/src/HAL/STM32F1/dogm/u8g_com_stm32duino_swspi.cpp +++ b/Marlin/src/HAL/STM32F1/dogm/u8g_com_stm32duino_swspi.cpp @@ -24,7 +24,7 @@ #include "../../../inc/MarlinConfig.h" -#if BOTH(HAS_MARLINUI_U8GLIB, FORCE_SOFT_SPI) +#if ALL(HAS_MARLINUI_U8GLIB, FORCE_SOFT_SPI) #include #include "../../shared/HAL_SPI.h" @@ -37,7 +37,7 @@ static uint8_t SPI_speed = LCD_SPI_SPEED; static inline uint8_t swSpiTransfer_mode_0(uint8_t b, const uint8_t spi_speed, const pin_t miso_pin=-1) { - LOOP_L_N(i, 8) { + for (uint8_t i = 0; i < 8; ++i) { if (spi_speed == 0) { WRITE(DOGLCD_MOSI, !!(b & 0x80)); WRITE(DOGLCD_SCK, HIGH); @@ -47,16 +47,16 @@ static inline uint8_t swSpiTransfer_mode_0(uint8_t b, const uint8_t spi_speed, c } else { const uint8_t state = (b & 0x80) ? HIGH : LOW; - LOOP_L_N(j, spi_speed) + for (uint8_t j = 0; j < spi_speed; ++j) WRITE(DOGLCD_MOSI, state); - LOOP_L_N(j, spi_speed + (miso_pin >= 0 ? 0 : 1)) + for (uint8_t j = 0; j < spi_speed + (miso_pin >= 0 ? 0 : 1); ++j) WRITE(DOGLCD_SCK, HIGH); b <<= 1; if (miso_pin >= 0 && READ(miso_pin)) b |= 1; - LOOP_L_N(j, spi_speed) + for (uint8_t j = 0; j < spi_speed; ++j) WRITE(DOGLCD_SCK, LOW); } } @@ -64,7 +64,7 @@ static inline uint8_t swSpiTransfer_mode_0(uint8_t b, const uint8_t spi_speed, c } static inline uint8_t swSpiTransfer_mode_3(uint8_t b, const uint8_t spi_speed, const pin_t miso_pin=-1) { - LOOP_L_N(i, 8) { + for (uint8_t i = 0; i < 8; ++i) { const uint8_t state = (b & 0x80) ? HIGH : LOW; if (spi_speed == 0) { WRITE(DOGLCD_SCK, LOW); @@ -73,13 +73,13 @@ static inline uint8_t swSpiTransfer_mode_3(uint8_t b, const uint8_t spi_speed, c WRITE(DOGLCD_SCK, HIGH); } else { - LOOP_L_N(j, spi_speed + (miso_pin >= 0 ? 0 : 1)) + for (uint8_t j = 0; j < spi_speed + (miso_pin >= 0 ? 0 : 1); ++j) WRITE(DOGLCD_SCK, LOW); - LOOP_L_N(j, spi_speed) + for (uint8_t j = 0; j < spi_speed; ++j) WRITE(DOGLCD_MOSI, state); - LOOP_L_N(j, spi_speed) + for (uint8_t j = 0; j < spi_speed; ++j) WRITE(DOGLCD_SCK, HIGH); } b <<= 1; diff --git a/Marlin/src/HAL/STM32F1/eeprom_sdcard.cpp b/Marlin/src/HAL/STM32F1/eeprom_sdcard.cpp index d608ccee14..9cfa97c1ab 100644 --- a/Marlin/src/HAL/STM32F1/eeprom_sdcard.cpp +++ b/Marlin/src/HAL/STM32F1/eeprom_sdcard.cpp @@ -47,7 +47,7 @@ static char _ALIGN(4) HAL_eeprom_data[MARLIN_EEPROM_SIZE]; bool PersistentStore::access_start() { if (!card.isMounted()) return false; - SdFile file, root = card.getroot(); + MediaFile file, root = card.getroot(); if (!file.open(&root, EEPROM_FILENAME, O_RDONLY)) return true; // false aborts the save @@ -62,7 +62,7 @@ bool PersistentStore::access_start() { bool PersistentStore::access_finish() { if (!card.isMounted()) return false; - SdFile file, root = card.getroot(); + MediaFile file, root = card.getroot(); int bytes_written = 0; if (file.open(&root, EEPROM_FILENAME, O_CREAT | O_WRITE | O_TRUNC)) { bytes_written = file.write(HAL_eeprom_data, MARLIN_EEPROM_SIZE); diff --git a/Marlin/src/HAL/STM32F1/endstop_interrupts.h b/Marlin/src/HAL/STM32F1/endstop_interrupts.h index a1ef8a8c3a..6ed920183b 100644 --- a/Marlin/src/HAL/STM32F1/endstop_interrupts.h +++ b/Marlin/src/HAL/STM32F1/endstop_interrupts.h @@ -54,33 +54,33 @@ void endstop_ISR() { endstops.update(); } void setup_endstop_interrupts() { #define _ATTACH(P) attachInterrupt(P, endstop_ISR, CHANGE) - TERN_(HAS_X_MAX, _ATTACH(X_MAX_PIN)); - TERN_(HAS_X_MIN, _ATTACH(X_MIN_PIN)); - TERN_(HAS_Y_MAX, _ATTACH(Y_MAX_PIN)); - TERN_(HAS_Y_MIN, _ATTACH(Y_MIN_PIN)); - TERN_(HAS_Z_MAX, _ATTACH(Z_MAX_PIN)); - TERN_(HAS_Z_MIN, _ATTACH(Z_MIN_PIN)); - TERN_(HAS_X2_MAX, _ATTACH(X2_MAX_PIN)); - TERN_(HAS_X2_MIN, _ATTACH(X2_MIN_PIN)); - TERN_(HAS_Y2_MAX, _ATTACH(Y2_MAX_PIN)); - TERN_(HAS_Y2_MIN, _ATTACH(Y2_MIN_PIN)); - TERN_(HAS_Z2_MAX, _ATTACH(Z2_MAX_PIN)); - TERN_(HAS_Z2_MIN, _ATTACH(Z2_MIN_PIN)); - TERN_(HAS_Z3_MAX, _ATTACH(Z3_MAX_PIN)); - TERN_(HAS_Z3_MIN, _ATTACH(Z3_MIN_PIN)); - TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN)); - TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN)); - TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN)); - TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN)); - TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN)); - TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN)); - TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN)); - TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN)); - TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN)); - TERN_(HAS_U_MAX, _ATTACH(U_MAX_PIN)); - TERN_(HAS_U_MIN, _ATTACH(U_MIN_PIN)); - TERN_(HAS_V_MAX, _ATTACH(V_MAX_PIN)); - TERN_(HAS_V_MIN, _ATTACH(V_MIN_PIN)); - TERN_(HAS_W_MAX, _ATTACH(W_MAX_PIN)); - TERN_(HAS_W_MIN, _ATTACH(W_MIN_PIN)); + TERN_(USE_X_MAX, _ATTACH(X_MAX_PIN)); + TERN_(USE_X_MIN, _ATTACH(X_MIN_PIN)); + TERN_(USE_Y_MAX, _ATTACH(Y_MAX_PIN)); + TERN_(USE_Y_MIN, _ATTACH(Y_MIN_PIN)); + TERN_(USE_Z_MAX, _ATTACH(Z_MAX_PIN)); + TERN_(USE_Z_MIN, _ATTACH(Z_MIN_PIN)); + TERN_(USE_X2_MAX, _ATTACH(X2_MAX_PIN)); + TERN_(USE_X2_MIN, _ATTACH(X2_MIN_PIN)); + TERN_(USE_Y2_MAX, _ATTACH(Y2_MAX_PIN)); + TERN_(USE_Y2_MIN, _ATTACH(Y2_MIN_PIN)); + TERN_(USE_Z2_MAX, _ATTACH(Z2_MAX_PIN)); + TERN_(USE_Z2_MIN, _ATTACH(Z2_MIN_PIN)); + TERN_(USE_Z3_MAX, _ATTACH(Z3_MAX_PIN)); + TERN_(USE_Z3_MIN, _ATTACH(Z3_MIN_PIN)); + TERN_(USE_Z4_MAX, _ATTACH(Z4_MAX_PIN)); + TERN_(USE_Z4_MIN, _ATTACH(Z4_MIN_PIN)); + TERN_(USE_Z_MIN_PROBE, _ATTACH(Z_MIN_PROBE_PIN)); + TERN_(USE_I_MAX, _ATTACH(I_MAX_PIN)); + TERN_(USE_I_MIN, _ATTACH(I_MIN_PIN)); + TERN_(USE_J_MAX, _ATTACH(J_MAX_PIN)); + TERN_(USE_J_MIN, _ATTACH(J_MIN_PIN)); + TERN_(USE_K_MAX, _ATTACH(K_MAX_PIN)); + TERN_(USE_K_MIN, _ATTACH(K_MIN_PIN)); + TERN_(USE_U_MAX, _ATTACH(U_MAX_PIN)); + TERN_(USE_U_MIN, _ATTACH(U_MIN_PIN)); + TERN_(USE_V_MAX, _ATTACH(V_MAX_PIN)); + TERN_(USE_V_MIN, _ATTACH(V_MIN_PIN)); + TERN_(USE_W_MAX, _ATTACH(W_MAX_PIN)); + TERN_(USE_W_MIN, _ATTACH(W_MIN_PIN)); } diff --git a/Marlin/src/HAL/STM32F1/fast_pwm.cpp b/Marlin/src/HAL/STM32F1/fast_pwm.cpp index 297804a3ac..c3f96f0f92 100644 --- a/Marlin/src/HAL/STM32F1/fast_pwm.cpp +++ b/Marlin/src/HAL/STM32F1/fast_pwm.cpp @@ -39,7 +39,7 @@ inline uint8_t timer_and_index_for_pin(const pin_t pin, timer_dev **timer_ptr) { void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) { const uint16_t duty = invert ? v_size - v : v; if (PWM_PIN(pin)) { - timer_dev *timer; UNUSED(timer); + timer_dev *timer; if (timer_freq[timer_and_index_for_pin(pin, &timer)] == 0) set_pwm_frequency(pin, PWM_FREQUENCY); const uint8_t channel = PIN_MAP[pin].timer_channel; @@ -55,7 +55,7 @@ void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) { if (!PWM_PIN(pin)) return; // Don't proceed if no hardware timer - timer_dev *timer; UNUSED(timer); + timer_dev *timer; timer_freq[timer_and_index_for_pin(pin, &timer)] = f_desired; // Protect used timers diff --git a/Marlin/src/HAL/STM32F1/inc/Conditionals_post.h b/Marlin/src/HAL/STM32F1/inc/Conditionals_post.h index 656fbe1ce2..f130f5cad8 100644 --- a/Marlin/src/HAL/STM32F1/inc/Conditionals_post.h +++ b/Marlin/src/HAL/STM32F1/inc/Conditionals_post.h @@ -24,11 +24,11 @@ // If no real EEPROM, Flash emulation, or SRAM emulation is available fall back to SD emulation #if USE_FALLBACK_EEPROM #define SDCARD_EEPROM_EMULATION -#elif EITHER(I2C_EEPROM, SPI_EEPROM) +#elif ANY(I2C_EEPROM, SPI_EEPROM) #define USE_SHARED_EEPROM 1 #endif -// Allow SDSUPPORT to be disabled -#if DISABLED(SDSUPPORT) - #undef SDIO_SUPPORT +// Allow for no media drives +#if !HAS_MEDIA + #undef ONBOARD_SDIO #endif diff --git a/Marlin/src/HAL/STM32F1/inc/SanityCheck.h b/Marlin/src/HAL/STM32F1/inc/SanityCheck.h index fe8f6e0ec2..1da42dcc8f 100644 --- a/Marlin/src/HAL/STM32F1/inc/SanityCheck.h +++ b/Marlin/src/HAL/STM32F1/inc/SanityCheck.h @@ -25,7 +25,7 @@ * Test STM32F1-specific configuration values for errors at compile-time. */ -#if ENABLED(SDCARD_EEPROM_EMULATION) && DISABLED(SDSUPPORT) +#if ENABLED(SDCARD_EEPROM_EMULATION) && !HAS_MEDIA #undef SDCARD_EEPROM_EMULATION // Avoid additional error noise #if USE_FALLBACK_EEPROM #warning "EEPROM type not specified. Fallback is SDCARD_EEPROM_EMULATION." diff --git a/Marlin/src/HAL/STM32F1/onboard_sd.h b/Marlin/src/HAL/STM32F1/onboard_sd.h index f228d068c9..f8846e95bc 100644 --- a/Marlin/src/HAL/STM32F1/onboard_sd.h +++ b/Marlin/src/HAL/STM32F1/onboard_sd.h @@ -1,11 +1,31 @@ -/*----------------------------------------------------------------------- -/ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] -/ * Copyright (c) 2019 BigTreeTech [https://github.com/bigtreetech] -/ * Low level disk interface module include file (C)ChaN, 2015 -/-----------------------------------------------------------------------*/ - +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ #pragma once +/*----------------------------------------------------------------------- +/ * Copyright (c) 2019 BigTreeTech [https://github.com/bigtreetech] +/ * Low level disk interface module include file (c) ChaN, 2015 +/-----------------------------------------------------------------------*/ + #define _DISKIO_WRITE 1 /* 1: Enable disk_write function */ #define _DISKIO_IOCTL 1 /* 1: Enable disk_ioctl function */ #define _DISKIO_ISDIO 0 /* 1: Enable iSDIO control function */ diff --git a/Marlin/src/HAL/STM32F1/pinsDebug.h b/Marlin/src/HAL/STM32F1/pinsDebug.h index 7828479658..6f8e48f455 100644 --- a/Marlin/src/HAL/STM32F1/pinsDebug.h +++ b/Marlin/src/HAL/STM32F1/pinsDebug.h @@ -41,11 +41,9 @@ extern const stm32_pin_info PIN_MAP[BOARD_NR_GPIO_PINS]; #define NUMBER_PINS_TOTAL BOARD_NR_GPIO_PINS #define VALID_PIN(pin) (pin >= 0 && pin < BOARD_NR_GPIO_PINS) #define GET_ARRAY_PIN(p) pin_t(pin_array[p].pin) -#define pwm_status(pin) PWM_PIN(pin) #define digitalRead_mod(p) extDigitalRead(p) #define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%3hd "), int16_t(p)); SERIAL_ECHO(buffer); }while(0) #define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d) "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0) -#define PRINT_PORT(p) print_port(p) #define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0) #define MULTI_NAME_PAD 21 // space needed to be pretty if not first name assigned to a pin @@ -54,20 +52,18 @@ extern const stm32_pin_info PIN_MAP[BOARD_NR_GPIO_PINS]; #define M43_NEVER_TOUCH(Q) (Q >= 9 && Q <= 12) // SERIAL/USB pins PA9(TX) PA10(RX) #endif -static int8_t get_pin_mode(pin_t pin) { - return VALID_PIN(pin) ? _GET_MODE(pin) : -1; -} +int8_t get_pin_mode(const pin_t pin) { return VALID_PIN(pin) ? _GET_MODE(pin) : -1; } -static pin_t DIGITAL_PIN_TO_ANALOG_PIN(pin_t pin) { +pin_t DIGITAL_PIN_TO_ANALOG_PIN(const pin_t pin) { if (!VALID_PIN(pin)) return -1; - int8_t adc_channel = int8_t(PIN_MAP[pin].adc_channel); + pin_t adc_channel = pin_t(PIN_MAP[pin].adc_channel); #ifdef NUM_ANALOG_INPUTS - if (adc_channel >= NUM_ANALOG_INPUTS) adc_channel = ADCx; + if (adc_channel >= NUM_ANALOG_INPUTS) adc_channel = (pin_t)ADCx; #endif - return pin_t(adc_channel); + return adc_channel; } -static bool IS_ANALOG(pin_t pin) { +bool IS_ANALOG(const pin_t pin) { if (!VALID_PIN(pin)) return false; if (PIN_MAP[pin].adc_channel != ADCx) { #ifdef NUM_ANALOG_INPUTS @@ -78,11 +74,11 @@ static bool IS_ANALOG(pin_t pin) { return false; } -static bool GET_PINMODE(const pin_t pin) { +bool GET_PINMODE(const pin_t pin) { return VALID_PIN(pin) && !IS_INPUT(pin); } -static bool GET_ARRAY_IS_DIGITAL(const int16_t array_pin) { +bool GET_ARRAY_IS_DIGITAL(const int16_t array_pin) { const pin_t pin = GET_ARRAY_PIN(array_pin); return (!IS_ANALOG(pin) #ifdef NUM_ANALOG_INPUTS @@ -93,12 +89,12 @@ static bool GET_ARRAY_IS_DIGITAL(const int16_t array_pin) { #include "../../inc/MarlinConfig.h" // Allow pins/pins.h to set density -static void pwm_details(const pin_t pin) { +void pwm_details(const pin_t pin) { if (PWM_PIN(pin)) { timer_dev * const tdev = PIN_MAP[pin].timer_device; const uint8_t channel = PIN_MAP[pin].timer_channel; const char num = ( - #if EITHER(STM32_HIGH_DENSITY, STM32_XL_DENSITY) + #if ANY(STM32_HIGH_DENSITY, STM32_XL_DENSITY) tdev == &timer8 ? '8' : tdev == &timer5 ? '5' : #endif @@ -113,7 +109,9 @@ static void pwm_details(const pin_t pin) { } } -static void print_port(pin_t pin) { +bool pwm_status(const pin_t pin) { return PWM_PIN(pin); } + +void print_port(const pin_t pin) { const char port = 'A' + char(pin >> 4); // pin div 16 const int16_t gbit = PIN_MAP[pin].gpio_bit; char buffer[8]; diff --git a/Marlin/src/HAL/STM32F1/sdio.cpp b/Marlin/src/HAL/STM32F1/sdio.cpp index 6e41d2cbf1..1ab76440b7 100644 --- a/Marlin/src/HAL/STM32F1/sdio.cpp +++ b/Marlin/src/HAL/STM32F1/sdio.cpp @@ -26,7 +26,7 @@ #include "../../inc/MarlinConfig.h" // Allow pins/pins.h to set density -#if EITHER(STM32_HIGH_DENSITY, STM32_XL_DENSITY) +#if ANY(STM32_HIGH_DENSITY, STM32_XL_DENSITY) #include "sdio.h" @@ -136,8 +136,13 @@ bool SDIO_ReadBlock_DMA(uint32_t blockAddress, uint8_t *data) { } bool SDIO_ReadBlock(uint32_t blockAddress, uint8_t *data) { - uint32_t retries = SDIO_READ_RETRIES; - while (retries--) if (SDIO_ReadBlock_DMA(blockAddress, data)) return true; + uint8_t retries = SDIO_READ_RETRIES; + while (retries--) { + if (SDIO_ReadBlock_DMA(blockAddress, data)) return true; + #if SD_RETRY_DELAY_MS + delay(SD_RETRY_DELAY_MS); + #endif + } return false; } diff --git a/Marlin/src/HAL/STM32F1/tft/tft_fsmc.cpp b/Marlin/src/HAL/STM32F1/tft/tft_fsmc.cpp index 5b52fb416f..51f70b9365 100644 --- a/Marlin/src/HAL/STM32F1/tft/tft_fsmc.cpp +++ b/Marlin/src/HAL/STM32F1/tft/tft_fsmc.cpp @@ -20,6 +20,8 @@ * */ +#ifdef __STM32F1__ + #include "../../../inc/MarlinConfig.h" #if HAS_FSMC_TFT @@ -85,7 +87,7 @@ __attribute__((always_inline)) __STATIC_INLINE void __DSB() { #define FSMC_DATA_SETUP_TIME 15 // DataSetupTime static uint8_t fsmcInit = 0; -void TFT_FSMC::Init() { +void TFT_FSMC::init() { uint8_t cs = FSMC_CS_PIN, rs = FSMC_RS_PIN; uint32_t controllerAddress; @@ -179,35 +181,35 @@ void TFT_FSMC::Init() { LCD = (LCD_CONTROLLER_TypeDef*)controllerAddress; } -void TFT_FSMC::Transmit(uint16_t Data) { - LCD->RAM = Data; +void TFT_FSMC::transmit(uint16_t data) { + LCD->RAM = data; __DSB(); } -void TFT_FSMC::WriteReg(uint16_t Reg) { - LCD->REG = Reg; +void TFT_FSMC::writeReg(const uint16_t inReg) { + LCD->REG = inReg; __DSB(); } -uint32_t TFT_FSMC::GetID() { +uint32_t TFT_FSMC::getID() { uint32_t id; - WriteReg(0x0000); + writeReg(0x0000); id = LCD->RAM; if (id == 0) - id = ReadID(LCD_READ_ID); + id = readID(LCD_READ_ID); if ((id & 0xFFFF) == 0 || (id & 0xFFFF) == 0xFFFF) - id = ReadID(LCD_READ_ID4); + id = readID(LCD_READ_ID4); if ((id & 0xFF00) == 0 && (id & 0xFF) != 0) - id = ReadID(LCD_READ_ID4); + id = readID(LCD_READ_ID4); return id; } - uint32_t TFT_FSMC::ReadID(uint16_t Reg) { + uint32_t TFT_FSMC::readID(const uint16_t inReg) { uint32_t id; - WriteReg(Reg); + writeReg(inReg); id = LCD->RAM; // dummy read - id = Reg << 24; + id = inReg << 24; id |= (LCD->RAM & 0x00FF) << 16; id |= (LCD->RAM & 0x00FF) << 8; id |= LCD->RAM & 0x00FF; @@ -215,23 +217,52 @@ uint32_t TFT_FSMC::GetID() { } bool TFT_FSMC::isBusy() { + #define __IS_DMA_CONFIGURED(__DMAx__, __CHx__) (dma_channel_regs(__DMAx__, __CHx__)->CPAR != 0) + + if (!__IS_DMA_CONFIGURED(FSMC_DMA_DEV, FSMC_DMA_CHANNEL)) return false; + + // Check if DMA transfer error or transfer complete flags are set + if ((dma_get_isr_bits(FSMC_DMA_DEV, FSMC_DMA_CHANNEL) & (DMA_ISR_TCIF | DMA_ISR_TEIF)) == 0) return true; + + __DSB(); + abort(); return false; } -void TFT_FSMC::Abort() { +void TFT_FSMC::abort() { + dma_channel_reg_map *channel_regs = dma_channel_regs(FSMC_DMA_DEV, FSMC_DMA_CHANNEL); + dma_disable(FSMC_DMA_DEV, FSMC_DMA_CHANNEL); // Abort DMA transfer if any + + // Deconfigure DMA + channel_regs->CCR = 0U; + channel_regs->CNDTR = 0U; + channel_regs->CMAR = 0U; + channel_regs->CPAR = 0U; } -void TFT_FSMC::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) { +void TFT_FSMC::transmitDMA(uint32_t memoryIncrease, uint16_t *data, uint16_t count) { + // TODO: HAL STM32 uses DMA2_Channel1 for FSMC on STM32F1 + dma_setup_transfer(FSMC_DMA_DEV, FSMC_DMA_CHANNEL, data, DMA_SIZE_16BITS, &LCD->RAM, DMA_SIZE_16BITS, DMA_MEM_2_MEM | memoryIncrease); + dma_set_num_transfers(FSMC_DMA_DEV, FSMC_DMA_CHANNEL, count); + dma_clear_isr_bits(FSMC_DMA_DEV, FSMC_DMA_CHANNEL); + dma_enable(FSMC_DMA_DEV, FSMC_DMA_CHANNEL); + + TERN_(TFT_SHARED_IO, while (isBusy())); +} + +void TFT_FSMC::transmit(uint32_t memoryIncrease, uint16_t *data, uint16_t count) { #if defined(FSMC_DMA_DEV) && defined(FSMC_DMA_CHANNEL) - dma_setup_transfer(FSMC_DMA_DEV, FSMC_DMA_CHANNEL, Data, DMA_SIZE_16BITS, &LCD->RAM, DMA_SIZE_16BITS, DMA_MEM_2_MEM | MemoryIncrease); - dma_set_num_transfers(FSMC_DMA_DEV, FSMC_DMA_CHANNEL, Count); + dma_setup_transfer(FSMC_DMA_DEV, FSMC_DMA_CHANNEL, data, DMA_SIZE_16BITS, &LCD->RAM, DMA_SIZE_16BITS, DMA_MEM_2_MEM | memoryIncrease); + dma_set_num_transfers(FSMC_DMA_DEV, FSMC_DMA_CHANNEL, count); dma_clear_isr_bits(FSMC_DMA_DEV, FSMC_DMA_CHANNEL); dma_enable(FSMC_DMA_DEV, FSMC_DMA_CHANNEL); - while ((dma_get_isr_bits(FSMC_DMA_DEV, FSMC_DMA_CHANNEL) & 0x0A) == 0) {}; - dma_disable(FSMC_DMA_DEV, FSMC_DMA_CHANNEL); + while ((dma_get_isr_bits(FSMC_DMA_DEV, FSMC_DMA_CHANNEL) & (DMA_CCR_TEIE | DMA_CCR_TCIE)) == 0) {} + abort(); #endif } #endif // HAS_FSMC_TFT + +#endif // __STM32F1__ diff --git a/Marlin/src/HAL/STM32F1/tft/tft_fsmc.h b/Marlin/src/HAL/STM32F1/tft/tft_fsmc.h index d9ee1f4c77..214acf127e 100644 --- a/Marlin/src/HAL/STM32F1/tft/tft_fsmc.h +++ b/Marlin/src/HAL/STM32F1/tft/tft_fsmc.h @@ -30,9 +30,20 @@ #include +#ifndef FSMC_DMA_DEV + #define FSMC_DMA_DEV DMA2 +#endif +#ifndef FSMC_DMA_CHANNEL + #define FSMC_DMA_CHANNEL DMA_CH5 +#endif + #define DATASIZE_8BIT DMA_SIZE_8BITS #define DATASIZE_16BIT DMA_SIZE_16BITS #define TFT_IO_DRIVER TFT_FSMC +#define DMA_MAX_WORDS 0xFFFF + +#define DMA_PINC_ENABLE DMA_PINC_MODE +#define DMA_PINC_DISABLE 0 typedef struct { __IO uint16_t REG; @@ -43,29 +54,31 @@ class TFT_FSMC { private: static LCD_CONTROLLER_TypeDef *LCD; - static uint32_t ReadID(uint16_t Reg); - static void Transmit(uint16_t Data); - static void TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count); + static uint32_t readID(const uint16_t inReg); + static void transmit(uint16_t data); + static void transmit(uint32_t memoryIncrease, uint16_t *data, uint16_t count); + static void transmitDMA(uint32_t memoryIncrease, uint16_t *data, uint16_t count); public: - static void Init(); - static uint32_t GetID(); + static void init(); + static uint32_t getID(); static bool isBusy(); - static void Abort(); + static void abort(); - static void DataTransferBegin(uint16_t DataWidth = DATASIZE_16BIT) {}; - static void DataTransferEnd() {}; + static void dataTransferBegin(uint16_t dataWidth=DATASIZE_16BIT) {}; + static void dataTransferEnd() {}; - static void WriteData(uint16_t Data) { Transmit(Data); } - static void WriteReg(uint16_t Reg); + static void writeData(uint16_t data) { transmit(data); } + static void writeReg(const uint16_t inReg); - static void WriteSequence(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_PINC_MODE, Data, Count); } - static void WriteMultiple(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_CIRC_MODE, &Data, Count); } - static void WriteMultiple(uint16_t Color, uint32_t Count) { - static uint16_t Data; Data = Color; - while (Count > 0) { - TransmitDMA(DMA_CIRC_MODE, &Data, Count > 0xFFFF ? 0xFFFF : Count); - Count = Count > 0xFFFF ? Count - 0xFFFF : 0; + static void writeSequence_DMA(uint16_t *data, uint16_t count) { transmitDMA(DMA_PINC_ENABLE, data, count); } + static void writeMultiple_DMA(uint16_t color, uint16_t count) { static uint16_t data; data = color; transmitDMA(DMA_PINC_DISABLE, &data, count); } + + static void writeSequence(uint16_t *data, uint16_t count) { transmit(DMA_PINC_ENABLE, data, count); } + static void writeMultiple(uint16_t color, uint32_t count) { + while (count > 0) { + transmit(DMA_PINC_DISABLE, &color, count > DMA_MAX_WORDS ? DMA_MAX_WORDS : count); + count = count > DMA_MAX_WORDS ? count - DMA_MAX_WORDS : 0; } } }; diff --git a/Marlin/src/HAL/STM32F1/tft/tft_spi.cpp b/Marlin/src/HAL/STM32F1/tft/tft_spi.cpp index 9bf6bbb32b..f26103b25d 100644 --- a/Marlin/src/HAL/STM32F1/tft/tft_spi.cpp +++ b/Marlin/src/HAL/STM32F1/tft/tft_spi.cpp @@ -20,17 +20,19 @@ * */ +#ifdef __STM32F1__ + #include "../../../inc/MarlinConfig.h" #if HAS_SPI_TFT #include "tft_spi.h" -SPIClass TFT_SPI::SPIx(1); +SPIClass TFT_SPI::SPIx(TFT_SPI_DEVICE); -void TFT_SPI::Init() { +void TFT_SPI::init() { #if PIN_EXISTS(TFT_RESET) - OUT_WRITE(TFT_RST_PIN, HIGH); + OUT_WRITE(TFT_RESET_PIN, HIGH); delay(100); #endif @@ -46,7 +48,7 @@ void TFT_SPI::Init() { * STM32F1 has 3 SPI ports, SPI1 in APB2, SPI2/SPI3 in APB1 * so the minimum prescale of SPI1 is DIV4, SPI2/SPI3 is DIV2 */ - #if SPI_DEVICE == 1 + #if TFT_SPI_DEVICE == 1 #define SPI_CLOCK_MAX SPI_CLOCK_DIV4 #else #define SPI_CLOCK_MAX SPI_CLOCK_DIV2 @@ -62,27 +64,27 @@ void TFT_SPI::Init() { case SPI_SPEED_6: clock = SPI_CLOCK_DIV64; break; default: clock = SPI_CLOCK_DIV2; // Default from the SPI library } - SPIx.setModule(1); + SPIx.setModule(TFT_SPI_DEVICE); SPIx.setClockDivider(clock); SPIx.setBitOrder(MSBFIRST); SPIx.setDataMode(SPI_MODE0); } -void TFT_SPI::DataTransferBegin(uint16_t DataSize) { - SPIx.setDataSize(DataSize); +void TFT_SPI::dataTransferBegin(uint16_t dataSize) { + SPIx.setDataSize(dataSize); SPIx.begin(); - OUT_WRITE(TFT_CS_PIN, LOW); + WRITE(TFT_CS_PIN, LOW); } #ifdef TFT_DEFAULT_DRIVER #include "../../../lcd/tft_io/tft_ids.h" #endif -uint32_t TFT_SPI::GetID() { +uint32_t TFT_SPI::getID() { uint32_t id; - id = ReadID(LCD_READ_ID); + id = readID(LCD_READ_ID); if ((id & 0xFFFF) == 0 || (id & 0xFFFF) == 0xFFFF) { - id = ReadID(LCD_READ_ID4); + id = readID(LCD_READ_ID4); #ifdef TFT_DEFAULT_DRIVER if ((id & 0xFFFF) == 0 || (id & 0xFFFF) == 0xFFFF) id = TFT_DEFAULT_DRIVER; @@ -91,39 +93,78 @@ uint32_t TFT_SPI::GetID() { return id; } -uint32_t TFT_SPI::ReadID(uint16_t Reg) { - #if !PIN_EXISTS(TFT_MISO) - return 0; - #else - uint8_t d = 0; - uint32_t data = 0; - SPIx.setClockDivider(SPI_CLOCK_DIV16); - DataTransferBegin(DATASIZE_8BIT); - WriteReg(Reg); +uint32_t TFT_SPI::readID(const uint16_t inReg) { + uint32_t data = 0; - LOOP_L_N(i, 4) { - SPIx.read((uint8_t*)&d, 1); + #if PIN_EXISTS(TFT_MISO) + SPIx.setClockDivider(SPI_CLOCK_DIV16); + dataTransferBegin(DATASIZE_8BIT); + writeReg(inReg); + + for (uint8_t i = 0; i < 4; ++i) { + uint8_t d; + SPIx.read(&d, 1); data = (data << 8) | d; } - DataTransferEnd(); + dataTransferEnd(); SPIx.setClockDivider(SPI_CLOCK_MAX); - - return data >> 7; #endif + + return data >> 7; } -bool TFT_SPI::isBusy() { return false; } +bool TFT_SPI::isBusy() { + #define __IS_DMA_CONFIGURED(__DMAx__, __CHx__) (dma_channel_regs(__DMAx__, __CHx__)->CPAR != 0) -void TFT_SPI::Abort() { DataTransferEnd(); } + if (!__IS_DMA_CONFIGURED(DMAx, DMA_CHx)) return false; -void TFT_SPI::Transmit(uint16_t Data) { SPIx.send(Data); } + if (dma_get_isr_bits(DMAx, DMA_CHx) & DMA_ISR_TEIF) { + // You should not be here - DMA transfer error flag is set + // Abort DMA transfer and release SPI + } + else { + // Check if DMA transfer completed flag is set + if (!(dma_get_isr_bits(DMAx, DMA_CHx) & DMA_ISR_TCIF)) return true; + // Check if SPI TX butter is empty and SPI is idle + if (!(SPIdev->regs->SR & SPI_SR_TXE) || (SPIdev->regs->SR & SPI_SR_BSY)) return true; + } -void TFT_SPI::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) { - DataTransferBegin(); - OUT_WRITE(TFT_DC_PIN, HIGH); - SPIx.dmaSend(Data, Count, MemoryIncrease == DMA_MINC_ENABLE); - DataTransferEnd(); + abort(); + return false; +} + +void TFT_SPI::abort() { + dma_channel_reg_map *channel_regs = dma_channel_regs(DMAx, DMA_CHx); + + dma_disable(DMAx, DMA_CHx); // Abort DMA transfer if any + spi_tx_dma_disable(SPIdev); + + // Deconfigure DMA + channel_regs->CCR = 0U; + channel_regs->CNDTR = 0U; + channel_regs->CMAR = 0U; + channel_regs->CPAR = 0U; + + dataTransferEnd(); +} + +void TFT_SPI::transmit(uint16_t data) { SPIx.send(data); } + +void TFT_SPI::transmitDMA(uint32_t memoryIncrease, uint16_t *data, uint16_t count) { + dataTransferBegin(); + SPIx.dmaSendAsync(data, count, memoryIncrease == DMA_MINC_ENABLE); + + TERN_(TFT_SHARED_IO, while (isBusy())); +} + +void TFT_SPI::transmit(uint32_t memoryIncrease, uint16_t *data, uint16_t count) { + WRITE(TFT_DC_PIN, HIGH); + dataTransferBegin(); + SPIx.dmaSend(data, count, memoryIncrease == DMA_MINC_ENABLE); + dataTransferEnd(); } #endif // HAS_SPI_TFT + +#endif // __STM32F1__ diff --git a/Marlin/src/HAL/STM32F1/tft/tft_spi.h b/Marlin/src/HAL/STM32F1/tft/tft_spi.h index da9a8e0c22..af53f352be 100644 --- a/Marlin/src/HAL/STM32F1/tft/tft_spi.h +++ b/Marlin/src/HAL/STM32F1/tft/tft_spi.h @@ -25,6 +25,27 @@ #include +#define IS_SPI(N) (BOARD_NR_SPI >= N && (TFT_SCK_PIN == BOARD_SPI##N##_SCK_PIN) && (TFT_MOSI_PIN == BOARD_SPI##N##_MOSI_PIN) && (TFT_MISO_PIN == BOARD_SPI##N##_MISO_PIN)) +#if IS_SPI(1) + #define TFT_SPI_DEVICE 1 + #define SPIdev SPI1 + #define DMAx DMA1 + #define DMA_CHx DMA_CH3 +#elif IS_SPI(2) + #define TFT_SPI_DEVICE 2 + #define SPIdev SPI2 + #define DMAx DMA1 + #define DMA_CHx DMA_CH5 +#elif IS_SPI(3) + #define TFT_SPI_DEVICE 3 + #define SPIdev SPI3 + #define DMAx DMA2 + #define DMA_CHx DMA_CH2 +#else + #error "Invalid TFT SPI configuration." +#endif +#undef IS_SPI + #ifndef LCD_READ_ID #define LCD_READ_ID 0x04 // Read display identification information (0xD3 on ILI9341) #endif @@ -32,41 +53,44 @@ #define LCD_READ_ID4 0xD3 // Read display identification information (0xD3 on ILI9341) #endif -#define DATASIZE_8BIT DATA_SIZE_8BIT -#define DATASIZE_16BIT DATA_SIZE_16BIT -#define TFT_IO_DRIVER TFT_SPI +#define DATASIZE_8BIT DATA_SIZE_8BIT +#define DATASIZE_16BIT DATA_SIZE_16BIT +#define TFT_IO_DRIVER TFT_SPI +#define DMA_MAX_WORDS 0xFFFF -#define DMA_MINC_ENABLE 1 -#define DMA_MINC_DISABLE 0 +#define DMA_MINC_ENABLE DMA_MINC_MODE +#define DMA_MINC_DISABLE 0 class TFT_SPI { private: - static uint32_t ReadID(uint16_t Reg); - static void Transmit(uint16_t Data); - static void TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count); + static uint32_t readID(const uint16_t inReg); + static void transmit(uint16_t data); + static void transmit(uint32_t memoryIncrease, uint16_t *data, uint16_t count); + static void transmitDMA(uint32_t memoryIncrease, uint16_t *data, uint16_t count); public: static SPIClass SPIx; - static void Init(); - static uint32_t GetID(); + static void init(); + static uint32_t getID(); static bool isBusy(); - static void Abort(); + static void abort(); - static void DataTransferBegin(uint16_t DataWidth = DATA_SIZE_16BIT); - static void DataTransferEnd() { WRITE(TFT_CS_PIN, HIGH); SPIx.end(); }; - static void DataTransferAbort(); + static void dataTransferBegin(uint16_t dataWidth=DATA_SIZE_16BIT); + static void dataTransferEnd() { WRITE(TFT_CS_PIN, HIGH); SPIx.end(); }; + static void dataTransferAbort(); - static void WriteData(uint16_t Data) { Transmit(Data); } - static void WriteReg(uint16_t Reg) { WRITE(TFT_A0_PIN, LOW); Transmit(Reg); WRITE(TFT_A0_PIN, HIGH); } + static void writeData(uint16_t data) { transmit(data); } + static void writeReg(const uint16_t inReg) { WRITE(TFT_DC_PIN, LOW); transmit(inReg); WRITE(TFT_DC_PIN, HIGH); } - static void WriteSequence(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_MINC_ENABLE, Data, Count); } - static void WriteMultiple(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_MINC_DISABLE, &Data, Count); } - static void WriteMultiple(uint16_t Color, uint32_t Count) { - static uint16_t Data; Data = Color; - while (Count > 0) { - TransmitDMA(DMA_MINC_DISABLE, &Data, Count > 0xFFFF ? 0xFFFF : Count); - Count = Count > 0xFFFF ? Count - 0xFFFF : 0; + static void writeSequence_DMA(uint16_t *data, uint16_t count) { transmitDMA(DMA_MINC_ENABLE, data, count); } + static void writeMultiple_DMA(uint16_t color, uint16_t count) { static uint16_t data; data = color; transmitDMA(DMA_MINC_DISABLE, &data, count); } + + static void writeSequence(uint16_t *data, uint16_t count) { transmit(DMA_MINC_ENABLE, data, count); } + static void writeMultiple(uint16_t color, uint32_t count) { + while (count > 0) { + transmit(DMA_MINC_DISABLE, &color, count > DMA_MAX_WORDS ? DMA_MAX_WORDS : count); + count = count > DMA_MAX_WORDS ? count - DMA_MAX_WORDS : 0; } } }; diff --git a/Marlin/src/HAL/STM32F1/tft/xpt2046.cpp b/Marlin/src/HAL/STM32F1/tft/xpt2046.cpp index ac9ad072aa..845a57a814 100644 --- a/Marlin/src/HAL/STM32F1/tft/xpt2046.cpp +++ b/Marlin/src/HAL/STM32F1/tft/xpt2046.cpp @@ -20,6 +20,8 @@ * */ +#ifdef __STM32F1__ + #include "../../../inc/MarlinConfig.h" #if HAS_TFT_XPT2046 || HAS_RES_TOUCH_BUTTONS @@ -57,7 +59,7 @@ uint16_t delta(uint16_t a, uint16_t b) { return a > b ? a - b : b - a; } } #endif // TOUCH_BUTTONS_HW_SPI -void XPT2046::Init() { +void XPT2046::init() { SET_INPUT(TOUCH_MISO_PIN); SET_OUTPUT(TOUCH_MOSI_PIN); SET_OUTPUT(TOUCH_SCK_PIN); @@ -95,7 +97,7 @@ bool XPT2046::getRawPoint(int16_t *x, int16_t *y) { uint16_t XPT2046::getRawData(const XPTCoordinate coordinate) { uint16_t data[3]; - DataTransferBegin(); + dataTransferBegin(); TERN_(TOUCH_BUTTONS_HW_SPI, SPIx.begin()); for (uint16_t i = 0; i < 3 ; i++) { @@ -104,7 +106,7 @@ uint16_t XPT2046::getRawData(const XPTCoordinate coordinate) { } TERN_(TOUCH_BUTTONS_HW_SPI, SPIx.end()); - DataTransferEnd(); + dataTransferEnd(); uint16_t delta01 = delta(data[0], data[1]), delta02 = delta(data[0], data[2]), @@ -117,17 +119,17 @@ uint16_t XPT2046::getRawData(const XPTCoordinate coordinate) { } uint16_t XPT2046::IO(uint16_t data) { - return TERN(TOUCH_BUTTONS_HW_SPI, HardwareIO, SoftwareIO)(data); + return TERN(TOUCH_BUTTONS_HW_SPI, hardwareIO, softwareIO)(data); } #if ENABLED(TOUCH_BUTTONS_HW_SPI) - uint16_t XPT2046::HardwareIO(uint16_t data) { + uint16_t XPT2046::hardwareIO(uint16_t data) { uint16_t result = SPIx.transfer(data); return result; } #endif -uint16_t XPT2046::SoftwareIO(uint16_t data) { +uint16_t XPT2046::softwareIO(uint16_t data) { uint16_t result = 0; for (uint8_t j = 0x80; j; j >>= 1) { @@ -141,4 +143,6 @@ uint16_t XPT2046::SoftwareIO(uint16_t data) { return result; } -#endif // HAS_TFT_XPT2046 +#endif // HAS_TFT_XPT2046 || HAS_RES_TOUCH_BUTTONS + +#endif // __STM32F1__ diff --git a/Marlin/src/HAL/STM32F1/tft/xpt2046.h b/Marlin/src/HAL/STM32F1/tft/xpt2046.h index 7c456cf00e..8fdcacf926 100644 --- a/Marlin/src/HAL/STM32F1/tft/xpt2046.h +++ b/Marlin/src/HAL/STM32F1/tft/xpt2046.h @@ -65,12 +65,12 @@ private: static uint16_t getRawData(const XPTCoordinate coordinate); static bool isTouched(); - static void DataTransferBegin() { WRITE(TOUCH_CS_PIN, LOW); }; - static void DataTransferEnd() { WRITE(TOUCH_CS_PIN, HIGH); }; + static void dataTransferBegin() { WRITE(TOUCH_CS_PIN, LOW); }; + static void dataTransferEnd() { WRITE(TOUCH_CS_PIN, HIGH); }; #if ENABLED(TOUCH_BUTTONS_HW_SPI) - static uint16_t HardwareIO(uint16_t data); + static uint16_t hardwareIO(uint16_t data); #endif - static uint16_t SoftwareIO(uint16_t data); + static uint16_t softwareIO(uint16_t data); static uint16_t IO(uint16_t data = 0); public: @@ -78,6 +78,6 @@ public: static SPIClass SPIx; #endif - static void Init(); + static void init(); static bool getRawPoint(int16_t *x, int16_t *y); }; diff --git a/Marlin/src/HAL/STM32F1/timers.h b/Marlin/src/HAL/STM32F1/timers.h index 0cd807fc84..557522f336 100644 --- a/Marlin/src/HAL/STM32F1/timers.h +++ b/Marlin/src/HAL/STM32F1/timers.h @@ -81,7 +81,7 @@ typedef uint16_t hal_timer_t; #endif #if MB(BTT_SKR_MINI_E3_V1_0, BTT_SKR_E3_DIP, BTT_SKR_MINI_E3_V1_2, MKS_ROBIN_LITE, MKS_ROBIN_E3D, MKS_ROBIN_E3) - // SKR Mini E3 boards use PA8 as FAN_PIN, so TIMER 1 is used for Fan PWM. + // SKR Mini E3 boards use PA8 as FAN0_PIN, so TIMER 1 is used for Fan PWM. #ifdef STM32_HIGH_DENSITY #define MF_TIMER_SERVO0 8 // tone.cpp uses Timer 4 #else diff --git a/Marlin/src/HAL/STM32F1/watchdog.cpp b/Marlin/src/HAL/STM32F1/watchdog.cpp deleted file mode 100644 index b812a4fa64..0000000000 --- a/Marlin/src/HAL/STM32F1/watchdog.cpp +++ /dev/null @@ -1,66 +0,0 @@ -/** - * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * - * Based on Sprinter and grbl. - * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program. If not, see . - * - */ - -/** - * HAL for stm32duino.com based on Libmaple and compatible (STM32F1) - */ - -#ifdef __STM32F1__ - -#include "../../inc/MarlinConfig.h" - -#if ENABLED(USE_WATCHDOG) - -#include -#include "watchdog.h" - -/** - * The watchdog clock is 40Khz. So for a 4s or 8s interval use a /256 preescaler and 625 or 1250 reload value (counts down to 0). - */ -#define STM32F1_WD_RELOAD TERN(WATCHDOG_DURATION_8S, 1250, 625) // 4 or 8 second timeout - -void HAL_watchdog_refresh() { - #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED) - TOGGLE(LED_PIN); // heartbeat indicator - #endif - iwdg_feed(); -} - -void watchdogSetup() { - // do whatever. don't remove this function. -} - -/** - * @brief Initialized the independent hardware watchdog. - * - * @return No return - * - * @details The watchdog clock is 40Khz. So for a 4s or 8s interval use a /256 preescaler and 625 or 1250 reload value (counts down to 0). - */ -void watchdog_init() { - #if DISABLED(DISABLE_WATCHDOG_INIT) - iwdg_init(IWDG_PRE_256, STM32F1_WD_RELOAD); - #endif -} - -#endif // USE_WATCHDOG -#endif // __STM32F1__ diff --git a/Marlin/src/HAL/TEENSY31_32/HAL.cpp b/Marlin/src/HAL/TEENSY31_32/HAL.cpp index b923ab77b1..2892368967 100644 --- a/Marlin/src/HAL/TEENSY31_32/HAL.cpp +++ b/Marlin/src/HAL/TEENSY31_32/HAL.cpp @@ -44,25 +44,6 @@ #endif USBSerialType USBSerial(false, SerialUSB); -// ------------------------ -// Class Utilities -// ------------------------ - -extern "C" { - extern char __bss_end; - extern char __heap_start; - extern void* __brkval; - - int freeMemory() { - int free_memory; - if ((int)__brkval == 0) - free_memory = ((int)&free_memory) - ((int)&__bss_end); - else - free_memory = ((int)&free_memory) - ((int)__brkval); - return free_memory; - } -} - // ------------------------ // MarlinHAL Class // ------------------------ @@ -81,7 +62,31 @@ uint8_t MarlinHAL::get_reset_source() { return 0; } +// ------------------------ +// Watchdog Timer +// ------------------------ + +#if ENABLED(USE_WATCHDOG) + + #define WDT_TIMEOUT_MS TERN(WATCHDOG_DURATION_8S, 8000, 4000) // 4 or 8 second timeout + + void MarlinHAL::watchdog_init() { + WDOG_TOVALH = 0; + WDOG_TOVALL = WDT_TIMEOUT_MS; + WDOG_STCTRLH = WDOG_STCTRLH_WDOGEN; + } + + void MarlinHAL::watchdog_refresh() { + // Watchdog refresh sequence + WDOG_REFRESH = 0xA602; + WDOG_REFRESH = 0xB480; + } + +#endif + +// ------------------------ // ADC +// ------------------------ void MarlinHAL::adc_init() { analog_init(); @@ -102,4 +107,23 @@ void MarlinHAL::adc_start(const pin_t pin) { uint16_t MarlinHAL::adc_value() { return ADC0_RA; } +// ------------------------ +// Free Memory Accessor +// ------------------------ + +extern "C" { + extern char __bss_end; + extern char __heap_start; + extern void* __brkval; + + int freeMemory() { + int free_memory; + if ((int)__brkval == 0) + free_memory = ((int)&free_memory) - ((int)&__bss_end); + else + free_memory = ((int)&free_memory) - ((int)__brkval); + return free_memory; + } +} + #endif // __MK20DX256__ diff --git a/Marlin/src/HAL/TEENSY31_32/HAL.h b/Marlin/src/HAL/TEENSY31_32/HAL.h index 50c0f411cf..fe913ed583 100644 --- a/Marlin/src/HAL/TEENSY31_32/HAL.h +++ b/Marlin/src/HAL/TEENSY31_32/HAL.h @@ -32,7 +32,6 @@ #include "../shared/HAL_SPI.h" #include "fastio.h" -#include "watchdog.h" #include @@ -102,7 +101,7 @@ uint32_t __get_PRIMASK(void); // CMSIS #define analogInputToDigitalPin(p) ((p < 12U) ? (p) + 54U : -1) #endif -#define HAL_ADC_VREF 3.3 +#define HAL_ADC_VREF_MV 3300 #define HAL_ADC_RESOLUTION 10 // @@ -135,6 +134,10 @@ public: // Earliest possible init, before setup() MarlinHAL() {} + // Watchdog + static void watchdog_init() IF_DISABLED(USE_WATCHDOG, {}); + static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {}); + static void init() {} // Called early in setup() static void init_board() {} // Called less early in setup() static void reboot(); // Restart the firmware from 0x0 @@ -166,7 +169,7 @@ public: // Called by Temperature::init for each sensor at startup static void adc_enable(const pin_t ch) {} - // Begin ADC sampling on the given channel + // Begin ADC sampling on the given channel. Called from Temperature::isr! static void adc_start(const pin_t ch); // Is the ADC ready for reading? diff --git a/Marlin/src/HAL/TEENSY31_32/endstop_interrupts.h b/Marlin/src/HAL/TEENSY31_32/endstop_interrupts.h index c1bbcb121b..954eb625a5 100644 --- a/Marlin/src/HAL/TEENSY31_32/endstop_interrupts.h +++ b/Marlin/src/HAL/TEENSY31_32/endstop_interrupts.h @@ -47,33 +47,33 @@ void endstop_ISR() { endstops.update(); } void setup_endstop_interrupts() { #define _ATTACH(P) attachInterrupt(digitalPinToInterrupt(P), endstop_ISR, CHANGE) - TERN_(HAS_X_MAX, _ATTACH(X_MAX_PIN)); - TERN_(HAS_X_MIN, _ATTACH(X_MIN_PIN)); - TERN_(HAS_Y_MAX, _ATTACH(Y_MAX_PIN)); - TERN_(HAS_Y_MIN, _ATTACH(Y_MIN_PIN)); - TERN_(HAS_Z_MAX, _ATTACH(Z_MAX_PIN)); - TERN_(HAS_Z_MIN, _ATTACH(Z_MIN_PIN)); - TERN_(HAS_X2_MAX, _ATTACH(X2_MAX_PIN)); - TERN_(HAS_X2_MIN, _ATTACH(X2_MIN_PIN)); - TERN_(HAS_Y2_MAX, _ATTACH(Y2_MAX_PIN)); - TERN_(HAS_Y2_MIN, _ATTACH(Y2_MIN_PIN)); - TERN_(HAS_Z2_MAX, _ATTACH(Z2_MAX_PIN)); - TERN_(HAS_Z2_MIN, _ATTACH(Z2_MIN_PIN)); - TERN_(HAS_Z3_MAX, _ATTACH(Z3_MAX_PIN)); - TERN_(HAS_Z3_MIN, _ATTACH(Z3_MIN_PIN)); - TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN)); - TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN)); - TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN)); - TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN)); - TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN)); - TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN)); - TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN)); - TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN)); - TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN)); - TERN_(HAS_U_MAX, _ATTACH(U_MAX_PIN)); - TERN_(HAS_U_MIN, _ATTACH(U_MIN_PIN)); - TERN_(HAS_V_MAX, _ATTACH(V_MAX_PIN)); - TERN_(HAS_V_MIN, _ATTACH(V_MIN_PIN)); - TERN_(HAS_W_MAX, _ATTACH(W_MAX_PIN)); - TERN_(HAS_W_MIN, _ATTACH(W_MIN_PIN)); + TERN_(USE_X_MAX, _ATTACH(X_MAX_PIN)); + TERN_(USE_X_MIN, _ATTACH(X_MIN_PIN)); + TERN_(USE_Y_MAX, _ATTACH(Y_MAX_PIN)); + TERN_(USE_Y_MIN, _ATTACH(Y_MIN_PIN)); + TERN_(USE_Z_MAX, _ATTACH(Z_MAX_PIN)); + TERN_(USE_Z_MIN, _ATTACH(Z_MIN_PIN)); + TERN_(USE_X2_MAX, _ATTACH(X2_MAX_PIN)); + TERN_(USE_X2_MIN, _ATTACH(X2_MIN_PIN)); + TERN_(USE_Y2_MAX, _ATTACH(Y2_MAX_PIN)); + TERN_(USE_Y2_MIN, _ATTACH(Y2_MIN_PIN)); + TERN_(USE_Z2_MAX, _ATTACH(Z2_MAX_PIN)); + TERN_(USE_Z2_MIN, _ATTACH(Z2_MIN_PIN)); + TERN_(USE_Z3_MAX, _ATTACH(Z3_MAX_PIN)); + TERN_(USE_Z3_MIN, _ATTACH(Z3_MIN_PIN)); + TERN_(USE_Z4_MAX, _ATTACH(Z4_MAX_PIN)); + TERN_(USE_Z4_MIN, _ATTACH(Z4_MIN_PIN)); + TERN_(USE_Z_MIN_PROBE, _ATTACH(Z_MIN_PROBE_PIN)); + TERN_(USE_I_MAX, _ATTACH(I_MAX_PIN)); + TERN_(USE_I_MIN, _ATTACH(I_MIN_PIN)); + TERN_(USE_J_MAX, _ATTACH(J_MAX_PIN)); + TERN_(USE_J_MIN, _ATTACH(J_MIN_PIN)); + TERN_(USE_K_MAX, _ATTACH(K_MAX_PIN)); + TERN_(USE_K_MIN, _ATTACH(K_MIN_PIN)); + TERN_(USE_U_MAX, _ATTACH(U_MAX_PIN)); + TERN_(USE_U_MIN, _ATTACH(U_MIN_PIN)); + TERN_(USE_V_MAX, _ATTACH(V_MAX_PIN)); + TERN_(USE_V_MIN, _ATTACH(V_MIN_PIN)); + TERN_(USE_W_MAX, _ATTACH(W_MAX_PIN)); + TERN_(USE_W_MIN, _ATTACH(W_MIN_PIN)); } diff --git a/Marlin/src/HAL/TEENSY31_32/inc/Conditionals_LCD.h b/Marlin/src/HAL/TEENSY31_32/inc/Conditionals_LCD.h index 54ec166643..5f1c4b1601 100644 --- a/Marlin/src/HAL/TEENSY31_32/inc/Conditionals_LCD.h +++ b/Marlin/src/HAL/TEENSY31_32/inc/Conditionals_LCD.h @@ -20,7 +20,3 @@ * */ #pragma once - -#if HAS_SPI_TFT || HAS_FSMC_TFT - #error "Sorry! TFT displays are not available for HAL/TEENSY31_32." -#endif diff --git a/Marlin/src/HAL/TEENSY31_32/inc/SanityCheck.h b/Marlin/src/HAL/TEENSY31_32/inc/SanityCheck.h index dbce187673..c5b25f2cb5 100644 --- a/Marlin/src/HAL/TEENSY31_32/inc/SanityCheck.h +++ b/Marlin/src/HAL/TEENSY31_32/inc/SanityCheck.h @@ -25,22 +25,26 @@ * Test TEENSY35_36 specific configuration values for errors at compile-time. */ +#if HAS_SPI_TFT || HAS_FSMC_TFT + #error "Sorry! TFT displays are not available for Teensy 3.1/3.2." +#endif + #if ENABLED(EMERGENCY_PARSER) #error "EMERGENCY_PARSER is not yet implemented for Teensy 3.1/3.2. Disable EMERGENCY_PARSER to continue." #endif #if ENABLED(FAST_PWM_FAN) || SPINDLE_LASER_FREQUENCY - #error "Features requiring Hardware PWM (FAST_PWM_FAN, SPINDLE_LASER_FREQUENCY) are not yet supported on Teensy 3.1/3.2." + #error "Features requiring Hardware PWM (FAST_PWM_FAN, SPINDLE_LASER_FREQUENCY) are not yet supported for Teensy 3.1/3.2." #endif #if HAS_TMC_SW_SERIAL - #error "TMC220x Software Serial is not supported on Teensy 3.1/3.2." + #error "TMC220x Software Serial is not supported for Teensy 3.1/3.2." #endif #if ENABLED(POSTMORTEM_DEBUGGING) - #error "POSTMORTEM_DEBUGGING is not yet supported on Teensy 3.1/3.2." + #error "POSTMORTEM_DEBUGGING is not yet supported for Teensy 3.1/3.2." #endif #if USING_PULLDOWNS - #error "PULLDOWN pin mode is not available on Teensy 3.1/3.2 boards." + #error "PULLDOWN pin mode is not available for Teensy 3.1/3.2." #endif diff --git a/Marlin/src/HAL/TEENSY35_36/HAL.cpp b/Marlin/src/HAL/TEENSY35_36/HAL.cpp index 54a5ad3855..bc02ac1c45 100644 --- a/Marlin/src/HAL/TEENSY35_36/HAL.cpp +++ b/Marlin/src/HAL/TEENSY35_36/HAL.cpp @@ -43,33 +43,12 @@ USBSerialType USBSerial(false, SerialUSB); -// ------------------------ -// Class Utilities -// ------------------------ - -extern "C" { - extern char __bss_end; - extern char __heap_start; - extern void* __brkval; - - int freeMemory() { - int free_memory; - if ((int)__brkval == 0) - free_memory = ((int)&free_memory) - ((int)&__bss_end); - else - free_memory = ((int)&free_memory) - ((int)__brkval); - return free_memory; - } -} - // ------------------------ // MarlinHAL Class // ------------------------ void MarlinHAL::reboot() { _reboot_Teensyduino_(); } -// Reset - uint8_t MarlinHAL::get_reset_source() { switch (RCM_SRS0) { case 128: return RST_POWER_ON; break; @@ -82,7 +61,31 @@ uint8_t MarlinHAL::get_reset_source() { return 0; } +// ------------------------ +// Watchdog Timer +// ------------------------ + +#if ENABLED(USE_WATCHDOG) + + #define WDT_TIMEOUT_MS TERN(WATCHDOG_DURATION_8S, 8000, 4000) // 4 or 8 second timeout + + void MarlinHAL::watchdog_init() { + WDOG_TOVALH = 0; + WDOG_TOVALL = WDT_TIMEOUT_MS; + WDOG_STCTRLH = WDOG_STCTRLH_WDOGEN; + } + + void MarlinHAL::watchdog_refresh() { + // Watchdog refresh sequence + WDOG_REFRESH = 0xA602; + WDOG_REFRESH = 0xB480; + } + +#endif + +// ------------------------ // ADC +// ------------------------ int8_t MarlinHAL::adc_select; @@ -131,4 +134,23 @@ uint16_t MarlinHAL::adc_value() { return 0; } +// ------------------------ +// Free Memory Accessor +// ------------------------ + +extern "C" { + extern char __bss_end; + extern char __heap_start; + extern void* __brkval; + + int freeMemory() { + int free_memory; + if ((int)__brkval == 0) + free_memory = ((int)&free_memory) - ((int)&__bss_end); + else + free_memory = ((int)&free_memory) - ((int)__brkval); + return free_memory; + } +} + #endif // __MK64FX512__ || __MK66FX1M0__ diff --git a/Marlin/src/HAL/TEENSY35_36/HAL.h b/Marlin/src/HAL/TEENSY35_36/HAL.h index e4c57f8d1e..24dcf2ebab 100644 --- a/Marlin/src/HAL/TEENSY35_36/HAL.h +++ b/Marlin/src/HAL/TEENSY35_36/HAL.h @@ -32,7 +32,6 @@ #include "../shared/HAL_SPI.h" #include "fastio.h" -#include "watchdog.h" #include #include @@ -107,7 +106,7 @@ typedef int8_t pin_t; #define analogInputToDigitalPin(p) ((p < 12U) ? (p) + 54U : -1) #endif -#define HAL_ADC_VREF 3.3 +#define HAL_ADC_VREF_MV 3300 #define HAL_ADC_RESOLUTION 10 // @@ -118,7 +117,7 @@ typedef int8_t pin_t; #define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval) // ------------------------ -// Class Utilities +// Free Memory Accessor // ------------------------ #pragma GCC diagnostic push @@ -140,6 +139,10 @@ public: // Earliest possible init, before setup() MarlinHAL() {} + // Watchdog + static void watchdog_init() IF_DISABLED(USE_WATCHDOG, {}); + static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {}); + static void init() {} // Called early in setup() static void init_board() {} // Called less early in setup() static void reboot(); // Restart the firmware from 0x0 @@ -173,7 +176,7 @@ public: // Called by Temperature::init for each sensor at startup static void adc_enable(const pin_t) {} - // Begin ADC sampling on the given channel + // Begin ADC sampling on the given pin. Called from Temperature::isr! static void adc_start(const pin_t pin); // Is the ADC ready for reading? diff --git a/Marlin/src/HAL/TEENSY35_36/endstop_interrupts.h b/Marlin/src/HAL/TEENSY35_36/endstop_interrupts.h index 48d3bbbfa1..bc8e177fb7 100644 --- a/Marlin/src/HAL/TEENSY35_36/endstop_interrupts.h +++ b/Marlin/src/HAL/TEENSY35_36/endstop_interrupts.h @@ -46,33 +46,33 @@ void endstop_ISR() { endstops.update(); } */ void setup_endstop_interrupts() { #define _ATTACH(P) attachInterrupt(digitalPinToInterrupt(P), endstop_ISR, CHANGE) - TERN_(HAS_X_MAX, _ATTACH(X_MAX_PIN)); - TERN_(HAS_X_MIN, _ATTACH(X_MIN_PIN)); - TERN_(HAS_Y_MAX, _ATTACH(Y_MAX_PIN)); - TERN_(HAS_Y_MIN, _ATTACH(Y_MIN_PIN)); - TERN_(HAS_Z_MAX, _ATTACH(Z_MAX_PIN)); - TERN_(HAS_Z_MIN, _ATTACH(Z_MIN_PIN)); - TERN_(HAS_X2_MAX, _ATTACH(X2_MAX_PIN)); - TERN_(HAS_X2_MIN, _ATTACH(X2_MIN_PIN)); - TERN_(HAS_Y2_MAX, _ATTACH(Y2_MAX_PIN)); - TERN_(HAS_Y2_MIN, _ATTACH(Y2_MIN_PIN)); - TERN_(HAS_Z2_MAX, _ATTACH(Z2_MAX_PIN)); - TERN_(HAS_Z2_MIN, _ATTACH(Z2_MIN_PIN)); - TERN_(HAS_Z3_MAX, _ATTACH(Z3_MAX_PIN)); - TERN_(HAS_Z3_MIN, _ATTACH(Z3_MIN_PIN)); - TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN)); - TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN)); - TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN)); - TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN)); - TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN)); - TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN)); - TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN)); - TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN)); - TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN)); - TERN_(HAS_U_MAX, _ATTACH(U_MAX_PIN)); - TERN_(HAS_U_MIN, _ATTACH(U_MIN_PIN)); - TERN_(HAS_V_MAX, _ATTACH(V_MAX_PIN)); - TERN_(HAS_V_MIN, _ATTACH(V_MIN_PIN)); - TERN_(HAS_W_MAX, _ATTACH(W_MAX_PIN)); - TERN_(HAS_W_MIN, _ATTACH(W_MIN_PIN)); + TERN_(USE_X_MAX, _ATTACH(X_MAX_PIN)); + TERN_(USE_X_MIN, _ATTACH(X_MIN_PIN)); + TERN_(USE_Y_MAX, _ATTACH(Y_MAX_PIN)); + TERN_(USE_Y_MIN, _ATTACH(Y_MIN_PIN)); + TERN_(USE_Z_MAX, _ATTACH(Z_MAX_PIN)); + TERN_(USE_Z_MIN, _ATTACH(Z_MIN_PIN)); + TERN_(USE_X2_MAX, _ATTACH(X2_MAX_PIN)); + TERN_(USE_X2_MIN, _ATTACH(X2_MIN_PIN)); + TERN_(USE_Y2_MAX, _ATTACH(Y2_MAX_PIN)); + TERN_(USE_Y2_MIN, _ATTACH(Y2_MIN_PIN)); + TERN_(USE_Z2_MAX, _ATTACH(Z2_MAX_PIN)); + TERN_(USE_Z2_MIN, _ATTACH(Z2_MIN_PIN)); + TERN_(USE_Z3_MAX, _ATTACH(Z3_MAX_PIN)); + TERN_(USE_Z3_MIN, _ATTACH(Z3_MIN_PIN)); + TERN_(USE_Z4_MAX, _ATTACH(Z4_MAX_PIN)); + TERN_(USE_Z4_MIN, _ATTACH(Z4_MIN_PIN)); + TERN_(USE_Z_MIN_PROBE, _ATTACH(Z_MIN_PROBE_PIN)); + TERN_(USE_I_MAX, _ATTACH(I_MAX_PIN)); + TERN_(USE_I_MIN, _ATTACH(I_MIN_PIN)); + TERN_(USE_J_MAX, _ATTACH(J_MAX_PIN)); + TERN_(USE_J_MIN, _ATTACH(J_MIN_PIN)); + TERN_(USE_K_MAX, _ATTACH(K_MAX_PIN)); + TERN_(USE_K_MIN, _ATTACH(K_MIN_PIN)); + TERN_(USE_U_MAX, _ATTACH(U_MAX_PIN)); + TERN_(USE_U_MIN, _ATTACH(U_MIN_PIN)); + TERN_(USE_V_MAX, _ATTACH(V_MAX_PIN)); + TERN_(USE_V_MIN, _ATTACH(V_MIN_PIN)); + TERN_(USE_W_MAX, _ATTACH(W_MAX_PIN)); + TERN_(USE_W_MIN, _ATTACH(W_MIN_PIN)); } diff --git a/Marlin/src/HAL/TEENSY35_36/inc/Conditionals_LCD.h b/Marlin/src/HAL/TEENSY35_36/inc/Conditionals_LCD.h index 632ee533ac..5f1c4b1601 100644 --- a/Marlin/src/HAL/TEENSY35_36/inc/Conditionals_LCD.h +++ b/Marlin/src/HAL/TEENSY35_36/inc/Conditionals_LCD.h @@ -20,7 +20,3 @@ * */ #pragma once - -#if HAS_SPI_TFT || HAS_FSMC_TFT - #error "Sorry! TFT displays are not available for HAL/TEENSY35_36." -#endif diff --git a/Marlin/src/HAL/TEENSY35_36/inc/SanityCheck.h b/Marlin/src/HAL/TEENSY35_36/inc/SanityCheck.h index 3308707371..843905a851 100644 --- a/Marlin/src/HAL/TEENSY35_36/inc/SanityCheck.h +++ b/Marlin/src/HAL/TEENSY35_36/inc/SanityCheck.h @@ -25,22 +25,26 @@ * Test TEENSY35_36 specific configuration values for errors at compile-time. */ +#if HAS_SPI_TFT || HAS_FSMC_TFT + #error "Sorry! TFT displays are not available for Teensy 3.5/3.6." +#endif + #if ENABLED(EMERGENCY_PARSER) #error "EMERGENCY_PARSER is not yet implemented for Teensy 3.5/3.6. Disable EMERGENCY_PARSER to continue." #endif #if ENABLED(FAST_PWM_FAN) || SPINDLE_LASER_FREQUENCY - #error "Features requiring Hardware PWM (FAST_PWM_FAN, SPINDLE_LASER_FREQUENCY) are not yet supported on Teensy 3.5/3.6." + #error "Features requiring Hardware PWM (FAST_PWM_FAN, SPINDLE_LASER_FREQUENCY) are not yet supported for Teensy 3.5/3.6." #endif #if HAS_TMC_SW_SERIAL - #error "TMC220x Software Serial is not supported on Teensy 3.5/3.6." + #error "TMC220x Software Serial is not supported for Teensy 3.5/3.6." #endif #if ENABLED(POSTMORTEM_DEBUGGING) - #error "POSTMORTEM_DEBUGGING is not yet supported on Teensy 3.5/3.6." + #error "POSTMORTEM_DEBUGGING is not yet supported for Teensy 3.5/3.6." #endif #if USING_PULLDOWNS - #error "PULLDOWN pin mode is not available on Teensy 3.5/3.6 boards." + #error "PULLDOWN pin mode is not available for Teensy 3.5/3.6." #endif diff --git a/Marlin/src/HAL/TEENSY35_36/pinsDebug.h b/Marlin/src/HAL/TEENSY35_36/pinsDebug.h index 7a2e1d6e59..8526febf10 100644 --- a/Marlin/src/HAL/TEENSY35_36/pinsDebug.h +++ b/Marlin/src/HAL/TEENSY35_36/pinsDebug.h @@ -55,12 +55,12 @@ #define IS_ANALOG(P) ((P) >= analogInputToDigitalPin(0) && (P) <= analogInputToDigitalPin(9)) || ((P) >= analogInputToDigitalPin(12) && (P) <= analogInputToDigitalPin(20)) -void HAL_print_analog_pin(char buffer[], int8_t pin) { +void print_analog_pin(char buffer[], int8_t pin) { if (pin <= 23) sprintf_P(buffer, PSTR("(A%2d) "), int(pin - 14)); else if (pin <= 39) sprintf_P(buffer, PSTR("(A%2d) "), int(pin - 19)); } -void HAL_analog_pin_state(char buffer[], int8_t pin) { +void analog_pin_state(char buffer[], int8_t pin) { if (pin <= 23) sprintf_P(buffer, PSTR("Analog in =% 5d"), analogRead(pin - 14)); else if (pin <= 39) sprintf_P(buffer, PSTR("Analog in =% 5d"), analogRead(pin - 19)); } @@ -77,7 +77,7 @@ void HAL_analog_pin_state(char buffer[], int8_t pin) { * Print a pin's PWM status. * Return true if it's currently a PWM pin. */ -bool HAL_pwm_status(int8_t pin) { +bool pwm_status(int8_t pin) { char buffer[20]; // for the sprintf statements switch (pin) { FTM_CASE(0,0); @@ -108,4 +108,4 @@ bool HAL_pwm_status(int8_t pin) { SERIAL_ECHOPGM(" "); } -static void HAL_pwm_details(uint8_t pin) { /* TODO */ } +void pwm_details(uint8_t pin) { /* TODO */ } diff --git a/Marlin/src/HAL/TEENSY35_36/watchdog.cpp b/Marlin/src/HAL/TEENSY35_36/watchdog.cpp deleted file mode 100644 index 3825e27928..0000000000 --- a/Marlin/src/HAL/TEENSY35_36/watchdog.cpp +++ /dev/null @@ -1,40 +0,0 @@ -/** - * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * - * Based on Sprinter and grbl. - * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program. If not, see . - * - */ -#if defined(__MK64FX512__) || defined(__MK66FX1M0__) - -#include "../../inc/MarlinConfig.h" - -#if ENABLED(USE_WATCHDOG) - -#include "watchdog.h" - -#define WDT_TIMEOUT_MS TERN(WATCHDOG_DURATION_8S, 8000, 4000) // 4 or 8 second timeout - -void watchdog_init() { - WDOG_TOVALH = 0; - WDOG_TOVALL = WDT_TIMEOUT_MS; - WDOG_STCTRLH = WDOG_STCTRLH_WDOGEN; -} - -#endif // USE_WATCHDOG - -#endif // __MK64FX512__ || __MK66FX1M0__ diff --git a/Marlin/src/HAL/TEENSY40_41/HAL.cpp b/Marlin/src/HAL/TEENSY40_41/HAL.cpp index 68bd38f72f..1d02ab8575 100644 --- a/Marlin/src/HAL/TEENSY40_41/HAL.cpp +++ b/Marlin/src/HAL/TEENSY40_41/HAL.cpp @@ -44,25 +44,6 @@ #endif USBSerialType USBSerial(false, SerialUSB); -// ------------------------ -// Class Utilities -// ------------------------ - -#define __bss_end _ebss - -extern "C" { - extern char __bss_end; - extern char __heap_start; - extern void* __brkval; - - // Doesn't work on Teensy 4.x - uint32_t freeMemory() { - uint32_t free_memory; - free_memory = ((uint32_t)&free_memory) - (((uint32_t)__brkval) ?: ((uint32_t)&__bss_end)); - return free_memory; - } -} - // ------------------------ // FastIO // ------------------------ @@ -97,7 +78,34 @@ void MarlinHAL::clear_reset_source() { SRC_SRSR = reset_source; } +// ------------------------ +// Watchdog Timer +// ------------------------ + +#if ENABLED(USE_WATCHDOG) + + #define WDT_TIMEOUT TERN(WATCHDOG_DURATION_8S, 8, 4) // 4 or 8 second timeout + + constexpr uint8_t timeoutval = (WDT_TIMEOUT - 0.5f) / 0.5f; + + void MarlinHAL::watchdog_init() { + CCM_CCGR3 |= CCM_CCGR3_WDOG1(3); // enable WDOG1 clocks + WDOG1_WMCR = 0; // disable power down PDE + WDOG1_WCR |= WDOG_WCR_SRS | WDOG_WCR_WT(timeoutval); + WDOG1_WCR |= WDOG_WCR_WDE | WDOG_WCR_WDT | WDOG_WCR_SRE; + } + + void MarlinHAL::watchdog_refresh() { + // Watchdog refresh sequence + WDOG1_WSR = 0x5555; + WDOG1_WSR = 0xAAAA; + } + +#endif + +// ------------------------ // ADC +// ------------------------ int8_t MarlinHAL::adc_select; @@ -180,4 +188,23 @@ uint16_t MarlinHAL::adc_value() { return 0; } +// ------------------------ +// Free Memory Accessor +// ------------------------ + +#define __bss_end _ebss + +extern "C" { + extern char __bss_end; + extern char __heap_start; + extern void* __brkval; + + // Doesn't work on Teensy 4.x + uint32_t freeMemory() { + uint32_t free_memory; + free_memory = ((uint32_t)&free_memory) - (((uint32_t)__brkval) ?: ((uint32_t)&__bss_end)); + return free_memory; + } +} + #endif // __IMXRT1062__ diff --git a/Marlin/src/HAL/TEENSY40_41/HAL.h b/Marlin/src/HAL/TEENSY40_41/HAL.h index a21e652854..84c5847677 100644 --- a/Marlin/src/HAL/TEENSY40_41/HAL.h +++ b/Marlin/src/HAL/TEENSY40_41/HAL.h @@ -32,7 +32,6 @@ #include "../shared/HAL_SPI.h" #include "fastio.h" -#include "watchdog.h" #include #include @@ -125,7 +124,7 @@ typedef int8_t pin_t; #define analogInputToDigitalPin(p) ((p < 12U) ? (p) + 54U : -1) #endif -#define HAL_ADC_VREF 3.3 +#define HAL_ADC_VREF_MV 3300 #define HAL_ADC_RESOLUTION 10 #define HAL_ADC_FILTERED // turn off ADC oversampling @@ -140,7 +139,7 @@ typedef int8_t pin_t; bool is_output(pin_t pin); // ------------------------ -// Class Utilities +// Free Memory Accessor // ------------------------ #pragma GCC diagnostic push @@ -162,6 +161,10 @@ public: // Earliest possible init, before setup() MarlinHAL() {} + // Watchdog + static void watchdog_init() IF_DISABLED(USE_WATCHDOG, {}); + static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {}); + static void init() {} // Called early in setup() static void init_board() {} // Called less early in setup() static void reboot(); // Restart the firmware from 0x0 @@ -195,7 +198,7 @@ public: // Called by Temperature::init for each sensor at startup static void adc_enable(const pin_t pin) {} - // Begin ADC sampling on the given channel + // Begin ADC sampling on the given pin. Called from Temperature::isr! static void adc_start(const pin_t pin); // Is the ADC ready for reading? diff --git a/Marlin/src/HAL/TEENSY40_41/endstop_interrupts.h b/Marlin/src/HAL/TEENSY40_41/endstop_interrupts.h index 4c3ddec9f1..722912c890 100644 --- a/Marlin/src/HAL/TEENSY40_41/endstop_interrupts.h +++ b/Marlin/src/HAL/TEENSY40_41/endstop_interrupts.h @@ -46,27 +46,33 @@ void endstop_ISR() { endstops.update(); } */ void setup_endstop_interrupts() { #define _ATTACH(P) attachInterrupt(digitalPinToInterrupt(P), endstop_ISR, CHANGE) - TERN_(HAS_X_MAX, _ATTACH(X_MAX_PIN)); - TERN_(HAS_X_MIN, _ATTACH(X_MIN_PIN)); - TERN_(HAS_Y_MAX, _ATTACH(Y_MAX_PIN)); - TERN_(HAS_Y_MIN, _ATTACH(Y_MIN_PIN)); - TERN_(HAS_Z_MAX, _ATTACH(Z_MAX_PIN)); - TERN_(HAS_Z_MIN, _ATTACH(Z_MIN_PIN)); - TERN_(HAS_X2_MAX, _ATTACH(X2_MAX_PIN)); - TERN_(HAS_X2_MIN, _ATTACH(X2_MIN_PIN)); - TERN_(HAS_Y2_MAX, _ATTACH(Y2_MAX_PIN)); - TERN_(HAS_Y2_MIN, _ATTACH(Y2_MIN_PIN)); - TERN_(HAS_Z2_MAX, _ATTACH(Z2_MAX_PIN)); - TERN_(HAS_Z2_MIN, _ATTACH(Z2_MIN_PIN)); - TERN_(HAS_Z3_MAX, _ATTACH(Z3_MAX_PIN)); - TERN_(HAS_Z3_MIN, _ATTACH(Z3_MIN_PIN)); - TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN)); - TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN)); - TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN)); - TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN)); - TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN)); - TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN)); - TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN)); - TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN)); - TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN)); + TERN_(USE_X_MAX, _ATTACH(X_MAX_PIN)); + TERN_(USE_X_MIN, _ATTACH(X_MIN_PIN)); + TERN_(USE_Y_MAX, _ATTACH(Y_MAX_PIN)); + TERN_(USE_Y_MIN, _ATTACH(Y_MIN_PIN)); + TERN_(USE_Z_MAX, _ATTACH(Z_MAX_PIN)); + TERN_(USE_Z_MIN, _ATTACH(Z_MIN_PIN)); + TERN_(USE_X2_MAX, _ATTACH(X2_MAX_PIN)); + TERN_(USE_X2_MIN, _ATTACH(X2_MIN_PIN)); + TERN_(USE_Y2_MAX, _ATTACH(Y2_MAX_PIN)); + TERN_(USE_Y2_MIN, _ATTACH(Y2_MIN_PIN)); + TERN_(USE_Z2_MAX, _ATTACH(Z2_MAX_PIN)); + TERN_(USE_Z2_MIN, _ATTACH(Z2_MIN_PIN)); + TERN_(USE_Z3_MAX, _ATTACH(Z3_MAX_PIN)); + TERN_(USE_Z3_MIN, _ATTACH(Z3_MIN_PIN)); + TERN_(USE_Z4_MAX, _ATTACH(Z4_MAX_PIN)); + TERN_(USE_Z4_MIN, _ATTACH(Z4_MIN_PIN)); + TERN_(USE_Z_MIN_PROBE, _ATTACH(Z_MIN_PROBE_PIN)); + TERN_(USE_I_MAX, _ATTACH(I_MAX_PIN)); + TERN_(USE_I_MIN, _ATTACH(I_MIN_PIN)); + TERN_(USE_J_MAX, _ATTACH(J_MAX_PIN)); + TERN_(USE_J_MIN, _ATTACH(J_MIN_PIN)); + TERN_(USE_K_MAX, _ATTACH(K_MAX_PIN)); + TERN_(USE_K_MIN, _ATTACH(K_MIN_PIN)); + TERN_(USE_U_MAX, _ATTACH(U_MAX_PIN)); + TERN_(USE_U_MIN, _ATTACH(U_MIN_PIN)); + TERN_(USE_V_MAX, _ATTACH(V_MAX_PIN)); + TERN_(USE_V_MIN, _ATTACH(V_MIN_PIN)); + TERN_(USE_W_MAX, _ATTACH(W_MAX_PIN)); + TERN_(USE_W_MIN, _ATTACH(W_MIN_PIN)); } diff --git a/Marlin/src/HAL/TEENSY40_41/inc/Conditionals_LCD.h b/Marlin/src/HAL/TEENSY40_41/inc/Conditionals_LCD.h index 6a8540927b..5f1c4b1601 100644 --- a/Marlin/src/HAL/TEENSY40_41/inc/Conditionals_LCD.h +++ b/Marlin/src/HAL/TEENSY40_41/inc/Conditionals_LCD.h @@ -20,7 +20,3 @@ * */ #pragma once - -#if HAS_SPI_TFT || HAS_FSMC_TFT - #error "Sorry! TFT displays are not available for HAL/TEENSY40_41." -#endif diff --git a/Marlin/src/HAL/TEENSY40_41/inc/SanityCheck.h b/Marlin/src/HAL/TEENSY40_41/inc/SanityCheck.h index 3d2668d749..731658b4a3 100644 --- a/Marlin/src/HAL/TEENSY40_41/inc/SanityCheck.h +++ b/Marlin/src/HAL/TEENSY40_41/inc/SanityCheck.h @@ -25,18 +25,22 @@ * Test TEENSY41 specific configuration values for errors at compile-time. */ +#if HAS_SPI_TFT || HAS_FSMC_TFT + #error "Sorry! TFT displays are not available for Teensy 4.0/4.1." +#endif + #if ENABLED(EMERGENCY_PARSER) #error "EMERGENCY_PARSER is not yet implemented for Teensy 4.0/4.1. Disable EMERGENCY_PARSER to continue." #endif #if ENABLED(FAST_PWM_FAN) || SPINDLE_LASER_FREQUENCY - #error "Features requiring Hardware PWM (FAST_PWM_FAN, SPINDLE_LASER_FREQUENCY) are not yet supported on Teensy 4.0/4.1." + #error "Features requiring Hardware PWM (FAST_PWM_FAN, SPINDLE_LASER_FREQUENCY) are not yet supported for Teensy 4.0/4.1." #endif #if HAS_TMC_SW_SERIAL - #error "TMC220x Software Serial is not supported on Teensy 4.0/4.1." + #error "TMC220x Software Serial is not supported for Teensy 4.0/4.1." #endif #if ENABLED(POSTMORTEM_DEBUGGING) - #error "POSTMORTEM_DEBUGGING is not yet supported on Teensy 4.0/4.1." + #error "POSTMORTEM_DEBUGGING is not yet supported for Teensy 4.0/4.1." #endif diff --git a/Marlin/src/HAL/TEENSY40_41/pinsDebug.h b/Marlin/src/HAL/TEENSY40_41/pinsDebug.h index 94b85ea568..54f3cb5885 100644 --- a/Marlin/src/HAL/TEENSY40_41/pinsDebug.h +++ b/Marlin/src/HAL/TEENSY40_41/pinsDebug.h @@ -30,16 +30,14 @@ #define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS #define digitalRead_mod(p) extDigitalRead(p) // AVR digitalRead disabled PWM before it read the pin -#define PRINT_PORT(p) #define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0) #define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%02d"), p); SERIAL_ECHO(buffer); }while(0) #define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d) "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0) #define GET_ARRAY_PIN(p) pin_array[p].pin #define GET_ARRAY_IS_DIGITAL(p) pin_array[p].is_digital -#define VALID_PIN(pin) (pin >= 0 && pin < (int8_t)NUMBER_PINS_TOTAL ? 1 : 0) +#define VALID_PIN(pin) (pin >= 0 && pin < int8_t(NUMBER_PINS_TOTAL)) #define DIGITAL_PIN_TO_ANALOG_PIN(p) int(p - analogInputToDigitalPin(0)) #define IS_ANALOG(P) ((P) >= analogInputToDigitalPin(0) && (P) <= analogInputToDigitalPin(13)) || ((P) >= analogInputToDigitalPin(14) && (P) <= analogInputToDigitalPin(17)) -#define pwm_status(pin) HAL_pwm_status(pin) #define GET_PINMODE(PIN) (VALID_PIN(pin) && IS_OUTPUT(pin)) #define MULTI_NAME_PAD 16 // space needed to be pretty if not first name assigned to a pin @@ -120,12 +118,12 @@ const struct pwm_pin_info_struct pwm_pin_info[] = { #endif }; -void HAL_print_analog_pin(char buffer[], int8_t pin) { +void print_analog_pin(char buffer[], const pin_t pin) { if (pin <= 23) sprintf_P(buffer, PSTR("(A%2d) "), int(pin - 14)); else if (pin <= 41) sprintf_P(buffer, PSTR("(A%2d) "), int(pin - 24)); } -void HAL_analog_pin_state(char buffer[], int8_t pin) { +void analog_pin_state(char buffer[], const pin_t pin) { if (pin <= 23) sprintf_P(buffer, PSTR("Analog in =% 5d"), analogRead(pin - 14)); else if (pin <= 41) sprintf_P(buffer, PSTR("Analog in =% 5d"), analogRead(pin - 24)); } @@ -136,14 +134,14 @@ void HAL_analog_pin_state(char buffer[], int8_t pin) { * Print a pin's PWM status. * Return true if it's currently a PWM pin. */ -bool HAL_pwm_status(int8_t pin) { +bool pwm_status(const pin_t pin) { char buffer[20]; // for the sprintf statements const struct pwm_pin_info_struct *info; - if (pin >= CORE_NUM_DIGITAL) return 0; - info = pwm_pin_info + pin; + if (pin >= CORE_NUM_DIGITAL) return false; - if (info->type == 0) return 0; + info = pwm_pin_info + pin; + if (info->type == 0) return false; /* TODO decode pwm value from timers */ // for now just indicate if output is set as pwm @@ -151,4 +149,6 @@ bool HAL_pwm_status(int8_t pin) { return (*(portConfigRegister(pin)) == info->muxval); } -static void pwm_details(uint8_t pin) { /* TODO */ } +void pwm_details(const pin_t) { /* TODO */ } + +void print_port(const pin_t) {} diff --git a/Marlin/src/HAL/TEENSY40_41/watchdog.cpp b/Marlin/src/HAL/TEENSY40_41/watchdog.cpp deleted file mode 100644 index dd7c0aa92f..0000000000 --- a/Marlin/src/HAL/TEENSY40_41/watchdog.cpp +++ /dev/null @@ -1,52 +0,0 @@ -/** - * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * - * Based on Sprinter and grbl. - * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program. If not, see . - * - */ -#ifdef __IMXRT1062__ - -/** - * HAL Watchdog for Teensy 4.0 (IMXRT1062DVL6A) / 4.1 (IMXRT1062DVJ6A) - */ - -#include "../../inc/MarlinConfig.h" - -#if ENABLED(USE_WATCHDOG) - -#include "watchdog.h" - -#define WDT_TIMEOUT TERN(WATCHDOG_DURATION_8S, 8, 4) // 4 or 8 second timeout - -constexpr uint8_t timeoutval = (WDT_TIMEOUT - 0.5f) / 0.5f; - -void watchdog_init() { - CCM_CCGR3 |= CCM_CCGR3_WDOG1(3); // enable WDOG1 clocks - WDOG1_WMCR = 0; // disable power down PDE - WDOG1_WCR |= WDOG_WCR_SRS | WDOG_WCR_WT(timeoutval); - WDOG1_WCR |= WDOG_WCR_WDE | WDOG_WCR_WDT | WDOG_WCR_SRE; -} - -void HAL_watchdog_refresh() { - // Watchdog refresh sequence - WDOG1_WSR = 0x5555; - WDOG1_WSR = 0xAAAA; -} - -#endif // USE_WATCHDOG -#endif // __IMXRT1062__ diff --git a/Marlin/src/HAL/platforms.h b/Marlin/src/HAL/platforms.h index 28fe28e109..84ba7087b0 100644 --- a/Marlin/src/HAL/platforms.h +++ b/Marlin/src/HAL/platforms.h @@ -24,32 +24,34 @@ #define XSTR(V...) #V #ifdef __AVR__ - #define HAL_PATH(PATH, NAME) XSTR(PATH/AVR/NAME) + #define HAL_PATH(PATH, NAME) XSTR(PATH/HAL/AVR/NAME) #elif defined(ARDUINO_ARCH_SAM) - #define HAL_PATH(PATH, NAME) XSTR(PATH/DUE/NAME) + #define HAL_PATH(PATH, NAME) XSTR(PATH/HAL/DUE/NAME) #elif defined(__MK20DX256__) - #define HAL_PATH(PATH, NAME) XSTR(PATH/TEENSY31_32/NAME) + #define HAL_PATH(PATH, NAME) XSTR(PATH/HAL/TEENSY31_32/NAME) #elif defined(__MK64FX512__) || defined(__MK66FX1M0__) - #define HAL_PATH(PATH, NAME) XSTR(PATH/TEENSY35_36/NAME) + #define HAL_PATH(PATH, NAME) XSTR(PATH/HAL/TEENSY35_36/NAME) #elif defined(__IMXRT1062__) - #define HAL_PATH(PATH, NAME) XSTR(PATH/TEENSY40_41/NAME) + #define HAL_PATH(PATH, NAME) XSTR(PATH/HAL/TEENSY40_41/NAME) #elif defined(TARGET_LPC1768) - #define HAL_PATH(PATH, NAME) XSTR(PATH/LPC1768/NAME) + #define HAL_PATH(PATH, NAME) XSTR(PATH/HAL/LPC1768/NAME) #elif defined(__STM32F1__) || defined(TARGET_STM32F1) - #define HAL_PATH(PATH, NAME) XSTR(PATH/STM32F1/NAME) + #define HAL_PATH(PATH, NAME) XSTR(PATH/HAL/STM32F1/NAME) #elif defined(ARDUINO_ARCH_STM32) #ifndef HAL_STM32 #define HAL_STM32 #endif - #define HAL_PATH(PATH, NAME) XSTR(PATH/STM32/NAME) + #define HAL_PATH(PATH, NAME) XSTR(PATH/HAL/STM32/NAME) #elif defined(ARDUINO_ARCH_ESP32) - #define HAL_PATH(PATH, NAME) XSTR(PATH/ESP32/NAME) + #define HAL_PATH(PATH, NAME) XSTR(PATH/HAL/ESP32/NAME) #elif defined(__PLAT_LINUX__) - #define HAL_PATH(PATH, NAME) XSTR(PATH/LINUX/NAME) + #define HAL_PATH(PATH, NAME) XSTR(PATH/HAL/LINUX/NAME) #elif defined(__PLAT_NATIVE_SIM__) - #define HAL_PATH(PATH, NAME) XSTR(PATH/NATIVE_SIM/NAME) + #define HAL_PATH(PATH, NAME) XSTR(PATH/HAL/NATIVE_SIM/NAME) #elif defined(__SAMD51__) - #define HAL_PATH(PATH, NAME) XSTR(PATH/SAMD51/NAME) + #define HAL_PATH(PATH, NAME) XSTR(PATH/HAL/SAMD51/NAME) +#elif defined(__SAMD21__) + #define HAL_PATH(PATH, NAME) XSTR(PATH/HAL/SAMD21/NAME) #else #error "Unsupported Platform!" #endif diff --git a/Marlin/src/HAL/shared/Delay.cpp b/Marlin/src/HAL/shared/Delay.cpp index c64376d25d..31c3f45765 100644 --- a/Marlin/src/HAL/shared/Delay.cpp +++ b/Marlin/src/HAL/shared/Delay.cpp @@ -109,13 +109,7 @@ #if ENABLED(MARLIN_DEV_MODE) void dump_delay_accuracy_check() { auto report_call_time = [](FSTR_P const name, FSTR_P const unit, const uint32_t cycles, const uint32_t total, const bool do_flush=true) { - SERIAL_ECHOPGM("Calling "); - SERIAL_ECHOF(name); - SERIAL_ECHOLNPGM(" for ", cycles); - SERIAL_ECHOF(unit); - SERIAL_ECHOLNPGM(" took: ", total); - SERIAL_CHAR(' '); - SERIAL_ECHOF(unit); + SERIAL_ECHOLN(F("Calling "), name, F(" for "), cycles, AS_CHAR(' '), unit, F(" took: "), total, AS_CHAR(' '), unit); if (do_flush) SERIAL_FLUSHTX(); }; diff --git a/Marlin/src/HAL/shared/HAL_ST7920.h b/Marlin/src/HAL/shared/HAL_ST7920.h index 4e362f96ba..305736c3a5 100644 --- a/Marlin/src/HAL/shared/HAL_ST7920.h +++ b/Marlin/src/HAL/shared/HAL_ST7920.h @@ -27,7 +27,7 @@ * (bypassing U8G), it will allow the LIGHTWEIGHT_UI to operate. */ -#if BOTH(HAS_MARLINUI_U8GLIB, LIGHTWEIGHT_UI) +#if ALL(HAS_MARLINUI_U8GLIB, LIGHTWEIGHT_UI) void ST7920_cs(); void ST7920_ncs(); void ST7920_set_cmd(); diff --git a/Marlin/src/HAL/shared/HAL_spi_L6470.cpp b/Marlin/src/HAL/shared/HAL_spi_L6470.cpp deleted file mode 100644 index 5d4ce89b27..0000000000 --- a/Marlin/src/HAL/shared/HAL_spi_L6470.cpp +++ /dev/null @@ -1,139 +0,0 @@ -/** - * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * - * Based on Sprinter and grbl. - * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program. If not, see . - * - */ - -/** - * Software L6470 SPI functions originally from Arduino Sd2Card Library - * Copyright (c) 2009 by William Greiman - */ - -#include "../../inc/MarlinConfig.h" - -#if HAS_L64XX - -#include "Delay.h" - -#include "../../core/serial.h" -#include "../../libs/L64XX/L64XX_Marlin.h" - -// Make sure GCC optimizes this file. -// Note that this line triggers a bug in GCC which is fixed by casting. -// See the note below. -#pragma GCC optimize (3) - -// run at ~4Mhz -inline uint8_t L6470_SpiTransfer_Mode_0(uint8_t b) { // using Mode 0 - for (uint8_t bits = 8; bits--;) { - WRITE(L6470_CHAIN_MOSI_PIN, b & 0x80); - b <<= 1; // little setup time - - WRITE(L6470_CHAIN_SCK_PIN, HIGH); - DELAY_NS(125); // 10 cycles @ 84mhz - - b |= (READ(L6470_CHAIN_MISO_PIN) != 0); - - WRITE(L6470_CHAIN_SCK_PIN, LOW); - DELAY_NS(125); // 10 cycles @ 84mhz - } - return b; -} - -inline uint8_t L6470_SpiTransfer_Mode_3(uint8_t b) { // using Mode 3 - for (uint8_t bits = 8; bits--;) { - WRITE(L6470_CHAIN_SCK_PIN, LOW); - WRITE(L6470_CHAIN_MOSI_PIN, b & 0x80); - - DELAY_NS(125); // 10 cycles @ 84mhz - WRITE(L6470_CHAIN_SCK_PIN, HIGH); - DELAY_NS(125); // Need more delay for fast CPUs - - b <<= 1; // little setup time - b |= (READ(L6470_CHAIN_MISO_PIN) != 0); - } - DELAY_NS(125); // 10 cycles @ 84mhz - return b; -} - -/** - * L64XX methods for SPI init and transfer - */ -void L64XX_Marlin::spi_init() { - OUT_WRITE(L6470_CHAIN_SS_PIN, HIGH); - OUT_WRITE(L6470_CHAIN_SCK_PIN, HIGH); - OUT_WRITE(L6470_CHAIN_MOSI_PIN, HIGH); - SET_INPUT(L6470_CHAIN_MISO_PIN); - - #if PIN_EXISTS(L6470_BUSY) - SET_INPUT(L6470_BUSY_PIN); - #endif - - OUT_WRITE(L6470_CHAIN_MOSI_PIN, HIGH); -} - -uint8_t L64XX_Marlin::transfer_single(uint8_t data, int16_t ss_pin) { - // First device in chain has data sent last - extDigitalWrite(ss_pin, LOW); - - hal.isr_off(); // Disable interrupts during SPI transfer (can't allow partial command to chips) - const uint8_t data_out = L6470_SpiTransfer_Mode_3(data); - hal.isr_on(); // Enable interrupts - - extDigitalWrite(ss_pin, HIGH); - return data_out; -} - -uint8_t L64XX_Marlin::transfer_chain(uint8_t data, int16_t ss_pin, uint8_t chain_position) { - uint8_t data_out = 0; - - // first device in chain has data sent last - extDigitalWrite(ss_pin, LOW); - - for (uint8_t i = L64XX::chain[0]; !L64xxManager.spi_abort && i >= 1; i--) { // Send data unless aborted - hal.isr_off(); // Disable interrupts during SPI transfer (can't allow partial command to chips) - const uint8_t temp = L6470_SpiTransfer_Mode_3(uint8_t(i == chain_position ? data : dSPIN_NOP)); - hal.isr_on(); // Enable interrupts - if (i == chain_position) data_out = temp; - } - - extDigitalWrite(ss_pin, HIGH); - return data_out; -} - -/** - * Platform-supplied L6470 buffer transfer method - */ -void L64XX_Marlin::transfer(uint8_t L6470_buf[], const uint8_t length) { - // First device in chain has its data sent last - - if (spi_active) { // Interrupted SPI transfer so need to - WRITE(L6470_CHAIN_SS_PIN, HIGH); // guarantee min high of 650ns - DELAY_US(1); - } - - WRITE(L6470_CHAIN_SS_PIN, LOW); - for (uint8_t i = length; i >= 1; i--) - L6470_SpiTransfer_Mode_3(uint8_t(L6470_buf[i])); - WRITE(L6470_CHAIN_SS_PIN, HIGH); -} - -#pragma GCC reset_options - -#endif // HAS_L64XX diff --git a/Marlin/src/HAL/shared/HAL_MinSerial.cpp b/Marlin/src/HAL/shared/MinSerial.cpp similarity index 97% rename from Marlin/src/HAL/shared/HAL_MinSerial.cpp rename to Marlin/src/HAL/shared/MinSerial.cpp index 9dda5fdf8c..2e718d83dc 100644 --- a/Marlin/src/HAL/shared/HAL_MinSerial.cpp +++ b/Marlin/src/HAL/shared/MinSerial.cpp @@ -19,7 +19,7 @@ * along with this program. If not, see . * */ -#include "HAL_MinSerial.h" +#include "MinSerial.h" #if ENABLED(POSTMORTEM_DEBUGGING) diff --git a/Marlin/src/HAL/shared/HAL_MinSerial.h b/Marlin/src/HAL/shared/MinSerial.h similarity index 100% rename from Marlin/src/HAL/shared/HAL_MinSerial.h rename to Marlin/src/HAL/shared/MinSerial.h diff --git a/Marlin/src/HAL/shared/backtrace/backtrace.cpp b/Marlin/src/HAL/shared/backtrace/backtrace.cpp index ad88de8385..33e8e65154 100644 --- a/Marlin/src/HAL/shared/backtrace/backtrace.cpp +++ b/Marlin/src/HAL/shared/backtrace/backtrace.cpp @@ -25,7 +25,7 @@ #include "unwinder.h" #include "unwmemaccess.h" -#include "../HAL_MinSerial.h" +#include "../MinSerial.h" #include // Dump a backtrace entry diff --git a/Marlin/src/HAL/shared/backtrace/unwarm.cpp b/Marlin/src/HAL/shared/backtrace/unwarm.cpp index adbcca69cc..e72a02e487 100644 --- a/Marlin/src/HAL/shared/backtrace/unwarm.cpp +++ b/Marlin/src/HAL/shared/backtrace/unwarm.cpp @@ -33,8 +33,9 @@ void UnwPrintf(const char *format, ...) { va_list args; - va_start( args, format ); - vprintf(format, args ); + va_start(args, format); + vprintf(format, args); + va_end(args); } #endif diff --git a/Marlin/src/HAL/shared/backtrace/unwarmbytab.cpp b/Marlin/src/HAL/shared/backtrace/unwarmbytab.cpp index f1ee81ed4a..148927a19f 100644 --- a/Marlin/src/HAL/shared/backtrace/unwarmbytab.cpp +++ b/Marlin/src/HAL/shared/backtrace/unwarmbytab.cpp @@ -135,11 +135,11 @@ static UnwResult UnwTabExecuteInstructions(const UnwindCallbacks *cb, UnwTabStat while ((instruction = UnwTabGetNextInstruction(cb, ucb)) != -1) { if ((instruction & 0xC0) == 0x00) { // ARM_EXIDX_CMD_DATA_POP - /* vsp = vsp + (xxxxxx << 2) + 4 */ + /* vsp += (xxxxxx << 2) + 4 */ ucb->vrs[13] += ((instruction & 0x3F) << 2) + 4; } else if ((instruction & 0xC0) == 0x40) { // ARM_EXIDX_CMD_DATA_PUSH - /* vsp = vsp - (xxxxxx << 2) - 4 */ + /* vsp -= (xxxxxx << 2) - 4 */ ucb->vrs[13] -= ((instruction & 0x3F) << 2) - 4; } else if ((instruction & 0xF0) == 0x80) { diff --git a/Marlin/src/HAL/shared/backtrace/unwmemaccess.cpp b/Marlin/src/HAL/shared/backtrace/unwmemaccess.cpp index a4151b38c2..da1cff4fcc 100644 --- a/Marlin/src/HAL/shared/backtrace/unwmemaccess.cpp +++ b/Marlin/src/HAL/shared/backtrace/unwmemaccess.cpp @@ -135,7 +135,7 @@ // Generic ARM code, that's testing if an access to the given address would cause a fault or not // It can't guarantee an address is in RAM or Flash only, but we usually don't care - #define NVIC_FAULT_STAT 0xE000ED28 // Configurable Fault Status Reg. + #define NVIC_FAULT_STAT 0xE000ED28 // Configurable Fault Status reg. #define NVIC_CFG_CTRL 0xE000ED14 // Configuration Control Register #define NVIC_FAULT_STAT_BFARV 0x00008000 // BFAR is valid #define NVIC_CFG_CTRL_BFHFNMIGN 0x00000100 // Ignore bus fault in NMI/fault diff --git a/Marlin/src/HAL/shared/cpu_exception/exception_arm.cpp b/Marlin/src/HAL/shared/cpu_exception/exception_arm.cpp index a106ed2b05..e54661c770 100644 --- a/Marlin/src/HAL/shared/cpu_exception/exception_arm.cpp +++ b/Marlin/src/HAL/shared/cpu_exception/exception_arm.cpp @@ -54,7 +54,7 @@ #include "exception_hook.h" #include "../backtrace/backtrace.h" -#include "../HAL_MinSerial.h" +#include "../MinSerial.h" #define HW_REG(X) (*((volatile unsigned long *)(X))) @@ -221,7 +221,7 @@ bool resume_from_fault() { // So we'll just need to refresh the watchdog for a while and then stop for the system to reboot uint32_t last = start; while (PENDING(last, end)) { - watchdog_refresh(); + hal.watchdog_refresh(); while (millis() == last) { /* nada */ } last = millis(); MinSerial::TX('.'); diff --git a/Marlin/src/HAL/shared/eeprom_api.cpp b/Marlin/src/HAL/shared/eeprom_api.cpp index 47cfa5a2db..083ccc70d7 100644 --- a/Marlin/src/HAL/shared/eeprom_api.cpp +++ b/Marlin/src/HAL/shared/eeprom_api.cpp @@ -22,7 +22,7 @@ */ #include "../../inc/MarlinConfigPre.h" -#if EITHER(EEPROM_SETTINGS, SD_FIRMWARE_UPDATE) +#if ANY(EEPROM_SETTINGS, SD_FIRMWARE_UPDATE) #include "eeprom_api.h" PersistentStore persistentStore; diff --git a/Marlin/src/HAL/shared/eeprom_if_i2c.cpp b/Marlin/src/HAL/shared/eeprom_if_i2c.cpp index 6b559e234b..bba9c626a4 100644 --- a/Marlin/src/HAL/shared/eeprom_if_i2c.cpp +++ b/Marlin/src/HAL/shared/eeprom_if_i2c.cpp @@ -33,13 +33,14 @@ #if ENABLED(SOFT_I2C_EEPROM) #include - SlowSoftWire Wire = SlowSoftWire(I2C_SDA_PIN, I2C_SCL_PIN, true); + SlowSoftWire eWire = SlowSoftWire(I2C_SDA_PIN, I2C_SCL_PIN, true); #else #include + #define eWire Wire #endif void eeprom_init() { - Wire.begin( + eWire.begin( #if PINS_EXIST(I2C_SCL, I2C_SDA) && DISABLED(SOFT_I2C_EEPROM) uint8_t(I2C_SDA_PIN), uint8_t(I2C_SCL_PIN) #endif @@ -75,16 +76,16 @@ static uint8_t _eeprom_calc_device_address(uint8_t * const pos) { static void _eeprom_begin(uint8_t * const pos) { const unsigned eeprom_address = (unsigned)pos; - Wire.beginTransmission(_eeprom_calc_device_address(pos)); + eWire.beginTransmission(_eeprom_calc_device_address(pos)); if (!SMALL_EEPROM) - Wire.write(uint8_t((eeprom_address >> 8) & 0xFF)); // Address High, if needed - Wire.write(uint8_t(eeprom_address & 0xFF)); // Address Low + eWire.write(uint8_t((eeprom_address >> 8) & 0xFF)); // Address High, if needed + eWire.write(uint8_t(eeprom_address & 0xFF)); // Address Low } void eeprom_write_byte(uint8_t *pos, uint8_t value) { _eeprom_begin(pos); - Wire.write(value); - Wire.endTransmission(); + eWire.write(value); + eWire.endTransmission(); // wait for write cycle to complete // this could be done more efficiently with "acknowledge polling" @@ -93,9 +94,9 @@ void eeprom_write_byte(uint8_t *pos, uint8_t value) { uint8_t eeprom_read_byte(uint8_t *pos) { _eeprom_begin(pos); - Wire.endTransmission(); - Wire.requestFrom(_eeprom_calc_device_address(pos), (byte)1); - return Wire.available() ? Wire.read() : 0xFF; + eWire.endTransmission(); + eWire.requestFrom(_eeprom_calc_device_address(pos), (byte)1); + return eWire.available() ? eWire.read() : 0xFF; } #endif // USE_SHARED_EEPROM diff --git a/Marlin/src/HAL/shared/esp_wifi.cpp b/Marlin/src/HAL/shared/esp_wifi.cpp index a55f5ca39f..8a6ac2dfa9 100644 --- a/Marlin/src/HAL/shared/esp_wifi.cpp +++ b/Marlin/src/HAL/shared/esp_wifi.cpp @@ -21,6 +21,9 @@ */ #include "../../inc/MarlinConfig.h" + +#if ENABLED(WIFISUPPORT) + #include "Delay.h" void esp_wifi_init(void) { // init ESP01 WIFI module pins @@ -41,3 +44,5 @@ void esp_wifi_init(void) { // init ESP01 WIFI module pi OUT_WRITE(ESP_WIFI_MODULE_ENABLE_PIN, HIGH); #endif } + +#endif // WIFISUPPORT diff --git a/Marlin/src/HAL/shared/fauxpins.h b/Marlin/src/HAL/shared/fauxpins.h new file mode 100644 index 0000000000..924bfba02a --- /dev/null +++ b/Marlin/src/HAL/shared/fauxpins.h @@ -0,0 +1,367 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2023 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// +// Faux pins for Dependency Check +// + +// +// STM32 Pin Names +// +#define PA0 0x10 +#define PA1 0x11 +#define PA2 0x12 +#define PA3 0x13 +#define PA4 0x14 +#define PA5 0x15 +#define PA6 0x16 +#define PA7 0x17 +#define PA8 0x18 +#define PA9 0x19 +#define PA10 0x1A +#define PA11 0x1B +#define PA12 0x1C +#define PA13 0x1D +#define PA14 0x1E +#define PA15 0x1F + +#define PB0 0x20 +#define PB1 0x21 +#define PB2 0x22 +#define PB3 0x23 +#define PB4 0x24 +#define PB5 0x25 +#define PB6 0x26 +#define PB7 0x27 +#define PB8 0x28 +#define PB9 0x29 +#define PB10 0x2A +#define PB11 0x2B +#define PB12 0x2C +#define PB13 0x2D +#define PB14 0x2E +#define PB15 0x2F + +#define PC0 0x30 +#define PC1 0x31 +#define PC2 0x32 +#define PC3 0x33 +#define PC4 0x34 +#define PC5 0x35 +#define PC6 0x36 +#define PC7 0x37 +#define PC8 0x38 +#define PC9 0x39 +#define PC10 0x3A +#define PC11 0x3B +#define PC12 0x3C +#define PC13 0x3D +#define PC14 0x3E +#define PC15 0x3F + +#define PD0 0x40 +#define PD1 0x41 +#define PD2 0x42 +#define PD3 0x43 +#define PD4 0x44 +#define PD5 0x45 +#define PD6 0x46 +#define PD7 0x47 +#define PD8 0x48 +#define PD9 0x49 +#define PD10 0x4A +#define PD11 0x4B +#define PD12 0x4C +#define PD13 0x4D +#define PD14 0x4E +#define PD15 0x4F + +#define PE0 0x50 +#define PE1 0x51 +#define PE2 0x52 +#define PE3 0x53 +#define PE4 0x54 +#define PE5 0x55 +#define PE6 0x56 +#define PE7 0x57 +#define PE8 0x58 +#define PE9 0x59 +#define PE10 0x5A +#define PE11 0x5B +#define PE12 0x5C +#define PE13 0x5D +#define PE14 0x5E +#define PE15 0x5F + +#define PF0 0x60 +#define PF1 0x61 +#define PF2 0x62 +#define PF3 0x63 +#define PF4 0x64 +#define PF5 0x65 +#define PF6 0x66 +#define PF7 0x67 +#define PF8 0x68 +#define PF9 0x69 +#define PF10 0x6A +#define PF11 0x6B +#define PF12 0x6C +#define PF13 0x6D +#define PF14 0x6E +#define PF15 0x6F + +#define PG0 0x70 +#define PG1 0x71 +#define PG2 0x72 +#define PG3 0x73 +#define PG4 0x74 +#define PG5 0x75 +#define PG6 0x76 +#define PG7 0x77 +#define PG8 0x78 +#define PG9 0x79 +#define PG10 0x7A +#define PG11 0x7B +#define PG12 0x7C +#define PG13 0x7D +#define PG14 0x7E +#define PG15 0x7F + +#define PH0 0x80 +#define PH1 0x81 +#define PH2 0x82 +#define PH3 0x83 +#define PH4 0x84 +#define PH5 0x85 +#define PH6 0x86 +#define PH7 0x87 +#define PH8 0x88 +#define PH9 0x89 +#define PH10 0x8A +#define PH11 0x8B +#define PH12 0x8C +#define PH13 0x8D +#define PH14 0x8E +#define PH15 0x8F + +#define PI0 0x90 +#define PI1 0x91 +#define PI2 0x92 +#define PI3 0x93 +#define PI4 0x94 +#define PI5 0x95 +#define PI6 0x96 +#define PI7 0x97 +#define PI8 0x98 +#define PI9 0x99 +#define PI10 0x9A +#define PI11 0x9B +#define PI12 0x9C +#define PI13 0x9D +#define PI14 0x9E +#define PI15 0x9F + +#define PJ0 0xA0 +#define PJ1 0xA1 +#define PJ2 0xA2 +#define PJ3 0xA3 +#define PJ4 0xA4 +#define PJ5 0xA5 +#define PJ6 0xA6 +#define PJ7 0xA7 +#define PJ8 0xA8 +#define PJ9 0xA9 +#define PJ10 0xAA +#define PJ11 0xAB +#define PJ12 0xAC +#define PJ13 0xAD +#define PJ14 0xAE +#define PJ15 0xAF + +// +// LPC Pin Names +// +#define P0_00 100 +#define P0_01 101 +#define P0_02 102 +#define P0_03 103 +#define P0_04 104 +#define P0_05 105 +#define P0_06 106 +#define P0_07 107 +#define P0_08 108 +#define P0_09 109 +#define P0_10 110 +#define P0_11 111 +#define P0_12 112 +#define P0_13 113 +#define P0_14 114 +#define P0_15 115 +#define P0_16 116 +#define P0_17 117 +#define P0_18 118 +#define P0_19 119 +#define P0_20 120 +#define P0_21 121 +#define P0_22 122 +#define P0_23 123 +#define P0_24 124 +#define P0_25 125 +#define P0_26 126 +#define P0_27 127 +#define P0_28 128 +#define P0_29 129 +#define P0_30 130 +#define P0_31 131 + +#define P1_00 200 +#define P1_01 201 +#define P1_02 202 +#define P1_03 203 +#define P1_04 204 +#define P1_05 205 +#define P1_06 206 +#define P1_07 207 +#define P1_08 208 +#define P1_09 209 +#define P1_10 210 +#define P1_11 211 +#define P1_12 212 +#define P1_13 213 +#define P1_14 214 +#define P1_15 215 +#define P1_16 216 +#define P1_17 217 +#define P1_18 218 +#define P1_19 219 +#define P1_20 220 +#define P1_21 221 +#define P1_22 222 +#define P1_23 223 +#define P1_24 224 +#define P1_25 225 +#define P1_26 226 +#define P1_27 227 +#define P1_28 228 +#define P1_29 229 +#define P1_30 230 +#define P1_31 231 + +#define P2_00 300 +#define P2_01 301 +#define P2_02 302 +#define P2_03 303 +#define P2_04 304 +#define P2_05 305 +#define P2_06 306 +#define P2_07 307 +#define P2_08 308 +#define P2_09 309 +#define P2_10 310 +#define P2_11 311 +#define P2_12 312 +#define P2_13 313 +#define P2_14 314 +#define P2_15 315 +#define P2_16 316 +#define P2_17 317 +#define P2_18 318 +#define P2_19 319 +#define P2_20 320 +#define P2_21 321 +#define P2_22 322 +#define P2_23 323 +#define P2_24 324 +#define P2_25 325 +#define P2_26 326 +#define P2_27 327 +#define P2_28 328 +#define P2_29 329 +#define P2_30 330 +#define P2_31 331 + +#define P3_00 400 +#define P3_01 401 +#define P3_02 402 +#define P3_03 403 +#define P3_04 404 +#define P3_05 405 +#define P3_06 406 +#define P3_07 407 +#define P3_08 408 +#define P3_09 409 +#define P3_10 410 +#define P3_11 411 +#define P3_12 412 +#define P3_13 413 +#define P3_14 414 +#define P3_15 415 +#define P3_16 416 +#define P3_17 417 +#define P3_18 418 +#define P3_19 419 +#define P3_20 420 +#define P3_21 421 +#define P3_22 422 +#define P3_23 423 +#define P3_24 424 +#define P3_25 425 +#define P3_26 426 +#define P3_27 427 +#define P3_28 428 +#define P3_29 429 +#define P3_30 430 +#define P3_31 431 + +#define P4_00 500 +#define P4_01 501 +#define P4_02 502 +#define P4_03 503 +#define P4_04 504 +#define P4_05 505 +#define P4_06 506 +#define P4_07 507 +#define P4_08 508 +#define P4_09 509 +#define P4_10 510 +#define P4_11 511 +#define P4_12 512 +#define P4_13 513 +#define P4_14 514 +#define P4_15 515 +#define P4_16 516 +#define P4_17 517 +#define P4_18 518 +#define P4_19 519 +#define P4_20 520 +#define P4_21 521 +#define P4_22 522 +#define P4_23 523 +#define P4_24 524 +#define P4_25 525 +#define P4_26 526 +#define P4_27 527 +#define P4_28 528 +#define P4_29 529 +#define P4_30 530 +#define P4_31 531 diff --git a/Marlin/src/HAL/shared/servo.cpp b/Marlin/src/HAL/shared/servo.cpp index cfec6f3017..bb9d618018 100644 --- a/Marlin/src/HAL/shared/servo.cpp +++ b/Marlin/src/HAL/shared/servo.cpp @@ -65,9 +65,9 @@ uint8_t ServoCount = 0; // the total number of attached /************ static functions common to all instances ***********************/ -static boolean isTimerActive(timer16_Sequence_t timer) { +static bool anyTimerChannelActive(const timer16_Sequence_t timer) { // returns true if any servo is active on this timer - LOOP_L_N(channel, SERVOS_PER_TIMER) { + for (uint8_t channel = 0; channel < SERVOS_PER_TIMER; ++channel) { if (SERVO(timer, channel).Pin.isActive) return true; } @@ -101,17 +101,18 @@ int8_t Servo::attach(const int inPin, const int inMin, const int inMax) { max = (MAX_PULSE_WIDTH - inMax) / 4; // initialize the timer if it has not already been initialized - timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex); - if (!isTimerActive(timer)) initISR(timer); - servo_info[servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive + const timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex); + if (!anyTimerChannelActive(timer)) initISR(timer); + servo_info[servoIndex].Pin.isActive = true; // this must be set after the check for anyTimerChannelActive return servoIndex; } void Servo::detach() { servo_info[servoIndex].Pin.isActive = false; - timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex); - if (!isTimerActive(timer)) finISR(timer); + const timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex); + if (!anyTimerChannelActive(timer)) finISR(timer); + //pinMode(servo_info[servoIndex].Pin.nbr, INPUT); // set servo pin to input } void Servo::write(int value) { diff --git a/Marlin/src/HAL/shared/servo.h b/Marlin/src/HAL/shared/servo.h index c2560a8538..15153ca53f 100644 --- a/Marlin/src/HAL/shared/servo.h +++ b/Marlin/src/HAL/shared/servo.h @@ -83,10 +83,10 @@ #else #include - #if defined(__AVR__) || defined(ARDUINO_ARCH_SAM) || defined(__SAMD51__) + #if defined(__AVR__) || defined(ARDUINO_ARCH_SAM) || defined(__SAMD51__) || defined(__SAMD21__) // we're good to go #else - #error "This library only supports boards with an AVR, SAM3X or SAMD51 processor." + #error "This library only supports boards with an AVR, SAM3X, SAMD21 or SAMD51 processor." #endif #define Servo_VERSION 2 // software version of this library diff --git a/Marlin/src/HAL/shared/servo_private.h b/Marlin/src/HAL/shared/servo_private.h index d85d8da8ba..8fd5ab2d88 100644 --- a/Marlin/src/HAL/shared/servo_private.h +++ b/Marlin/src/HAL/shared/servo_private.h @@ -49,8 +49,10 @@ #include "../DUE/ServoTimers.h" #elif defined(__SAMD51__) #include "../SAMD51/ServoTimers.h" +#elif defined(__SAMD21__) + #include "../SAMD21/ServoTimers.h" #else - #error "This library only supports boards with an AVR, SAM3X or SAMD51 processor." + #error "This library only supports boards with an AVR, SAM3X, SAMD21 or SAMD51 processor." #endif // Macros @@ -70,10 +72,10 @@ #define ticksToUs(_ticks) (unsigned(_ticks) * (SERVO_TIMER_PRESCALER) / clockCyclesPerMicrosecond()) // convenience macros -#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / (SERVOS_PER_TIMER))) // returns the timer controlling this servo -#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % (SERVOS_PER_TIMER)) // returns the index of the servo on this timer -#define SERVO_INDEX(_timer,_channel) ((_timer*(SERVOS_PER_TIMER)) + _channel) // macro to access servo index by timer and channel -#define SERVO(_timer,_channel) (servo_info[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel +#define SERVO_INDEX_TO_TIMER(_servo_nbr) timer16_Sequence_t(_servo_nbr / (SERVOS_PER_TIMER)) // the timer controlling this servo +#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % (SERVOS_PER_TIMER)) // the index of the servo on this timer +#define SERVO_INDEX(_timer,_channel) ((_timer*(SERVOS_PER_TIMER)) + _channel) // servo index by timer and channel +#define SERVO(_timer,_channel) servo_info[SERVO_INDEX(_timer,_channel)] // servo class by timer and channel // Types @@ -94,5 +96,5 @@ extern ServoInfo_t servo_info[MAX_SERVOS]; // Public functions -extern void initISR(timer16_Sequence_t timer); -extern void finISR(timer16_Sequence_t timer); +void initISR(const timer16_Sequence_t timer_index); +void finISR(const timer16_Sequence_t timer_index); diff --git a/Marlin/src/MarlinCore.cpp b/Marlin/src/MarlinCore.cpp index 2570e6ebde..43a3cf04a8 100644 --- a/Marlin/src/MarlinCore.cpp +++ b/Marlin/src/MarlinCore.cpp @@ -34,22 +34,25 @@ #include "HAL/shared/esp_wifi.h" #include "HAL/shared/cpu_exception/exception_hook.h" +#if ENABLED(WIFISUPPORT) + #include "HAL/shared/esp_wifi.h" +#endif + #ifdef ARDUINO #include #endif #include -#include "core/utility.h" - +#include "module/endstops.h" #include "module/motion.h" #include "module/planner.h" -#include "module/endstops.h" -#include "module/temperature.h" -#include "module/settings.h" #include "module/printcounter.h" // PrintCounter or Stopwatch - +#include "module/settings.h" #include "module/stepper.h" -#include "module/stepper/indirection.h" +#include "module/temperature.h" +#if ENABLED(FT_MOTION) + #include "module/ft_motion.h" +#endif #include "gcode/gcode.h" #include "gcode/parser.h" @@ -97,7 +100,7 @@ #include "feature/host_actions.h" #endif -#if USE_BEEPER +#if HAS_BEEPER #include "libs/buzzer.h" #endif @@ -125,6 +128,10 @@ #include "feature/bltouch.h" #endif +#if ENABLED(BD_SENSOR) + #include "feature/bedlevel/bdl/bdl.h" +#endif + #if ENABLED(POLL_JOG) #include "feature/joystick.h" #endif @@ -153,7 +160,7 @@ #include "feature/spindle_laser.h" #endif -#if ENABLED(SDSUPPORT) +#if HAS_MEDIA CardReader card; #endif @@ -168,6 +175,8 @@ #include "module/polargraph.h" #elif IS_SCARA #include "module/scara.h" +#elif ENABLED(POLAR) + #include "module/polar.h" #endif #if HAS_LEVELING @@ -190,7 +199,7 @@ #include "feature/runout.h" #endif -#if EITHER(PROBE_TARE, HAS_Z_SERVO_PROBE) +#if ANY(PROBE_TARE, HAS_Z_SERVO_PROBE) #include "module/probe.h" #endif @@ -228,15 +237,11 @@ #include "feature/mmu/mmu2.h" #endif -#if HAS_L64XX - #include "libs/L64XX/L64XX_Marlin.h" -#endif - #if ENABLED(PASSWORD_FEATURE) #include "feature/password/password.h" #endif -#if ENABLED(DGUS_LCD_UI_MKS) +#if DGUS_LCD_UI_MKS #include "lcd/extui/dgus/DGUSScreenHandler.h" #endif @@ -252,6 +257,10 @@ #include "feature/easythreed_ui.h" #endif +#if ENABLED(MARLIN_TEST_BUILD) + #include "tests/marlin_tests.h" +#endif + PGMSTR(M112_KILL_STR, "M112 Shutdown"); MarlinState marlin_state = MF_INITIALIZING; @@ -271,6 +280,7 @@ bool wait_for_heatup = true; while (wait_for_user && !(ms && ELAPSED(millis(), ms))) idle(TERN_(ADVANCED_PAUSE_FEATURE, no_sleep)); wait_for_user = false; + while (ui.button_pressed()) safe_delay(50); } #endif @@ -311,7 +321,7 @@ bool pin_is_protected(const pin_t pin) { static constexpr size_t pincount = OnlyPins::size; static const pin_t (&sensitive_pins)[pincount] PROGMEM = OnlyPins::table; #endif - LOOP_L_N(i, pincount) { + for (uint8_t i = 0; i < pincount; ++i) { const pin_t * const pptr = &sensitive_pins[i]; if (pin == (sizeof(pin_t) == 2 ? (pin_t)pgm_read_word(pptr) : (pin_t)pgm_read_byte(pptr))) return true; } @@ -320,6 +330,10 @@ bool pin_is_protected(const pin_t pin) { #pragma GCC diagnostic pop +bool printer_busy() { + return planner.movesplanned() || printingIsActive(); +} + /** * A Print Job exists when the timer is running or SD is printing */ @@ -342,14 +356,12 @@ void startOrResumeJob() { TERN_(GCODE_REPEAT_MARKERS, repeat.reset()); TERN_(CANCEL_OBJECTS, cancelable.reset()); TERN_(LCD_SHOW_E_TOTAL, e_move_accumulator = 0); - #if BOTH(LCD_SET_PROGRESS_MANUALLY, USE_M73_REMAINING_TIME) - ui.reset_remaining_time(); - #endif + TERN_(SET_REMAINING_TIME, ui.reset_remaining_time()); } print_job_timer.start(); } -#if ENABLED(SDSUPPORT) +#if HAS_MEDIA inline void abortSDPrinting() { IF_DISABLED(NO_SD_AUTOSTART, card.autofile_cancel()); @@ -379,11 +391,11 @@ void startOrResumeJob() { if (queue.enqueue_one(F("M1001"))) { // Keep trying until it gets queued marlin_state = MF_RUNNING; // Signal to stop trying TERN_(PASSWORD_AFTER_SD_PRINT_END, password.lock_machine()); - TERN_(DGUS_LCD_UI_MKS, ScreenHandler.SDPrintingFinished()); + TERN_(DGUS_LCD_UI_MKS, screen.sdPrintingFinished()); } } -#endif // SDSUPPORT +#endif // HAS_MEDIA /** * Minimal management of Marlin's core activities: @@ -412,41 +424,44 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) { if (do_reset_timeout) gcode.reset_stepper_timeout(ms); if (gcode.stepper_max_timed_out(ms)) { - SERIAL_ERROR_MSG(STR_KILL_INACTIVE_TIME, parser.command_ptr); + SERIAL_ERROR_START(); + SERIAL_ECHOPGM(STR_KILL_PRE); + SERIAL_ECHOLNPGM(STR_KILL_INACTIVE_TIME, parser.command_ptr); kill(); } + const bool has_blocks = planner.has_blocks_queued(); // Any moves in the planner? + if (has_blocks) gcode.reset_stepper_timeout(ms); // Reset timeout for M18/M84, M85 max 'kill', and laser. + // M18 / M84 : Handle steppers inactive time timeout - if (gcode.stepper_inactive_time) { + #if HAS_DISABLE_IDLE_AXES + if (gcode.stepper_inactive_time) { - static bool already_shutdown_steppers; // = false + static bool already_shutdown_steppers; // = false - // Any moves in the planner? Resets both the M18/M84 - // activity timeout and the M85 max 'kill' timeout - if (planner.has_blocks_queued()) - gcode.reset_stepper_timeout(ms); - else if (!do_reset_timeout && gcode.stepper_inactive_timeout()) { - if (!already_shutdown_steppers) { - already_shutdown_steppers = true; // L6470 SPI will consume 99% of free time without this + if (!has_blocks && !do_reset_timeout && gcode.stepper_inactive_timeout()) { + if (!already_shutdown_steppers) { + already_shutdown_steppers = true; - // Individual axes will be disabled if configured - TERN_(DISABLE_INACTIVE_X, stepper.disable_axis(X_AXIS)); - TERN_(DISABLE_INACTIVE_Y, stepper.disable_axis(Y_AXIS)); - TERN_(DISABLE_INACTIVE_Z, stepper.disable_axis(Z_AXIS)); - TERN_(DISABLE_INACTIVE_I, stepper.disable_axis(I_AXIS)); - TERN_(DISABLE_INACTIVE_J, stepper.disable_axis(J_AXIS)); - TERN_(DISABLE_INACTIVE_K, stepper.disable_axis(K_AXIS)); - TERN_(DISABLE_INACTIVE_U, stepper.disable_axis(U_AXIS)); - TERN_(DISABLE_INACTIVE_V, stepper.disable_axis(V_AXIS)); - TERN_(DISABLE_INACTIVE_W, stepper.disable_axis(W_AXIS)); - TERN_(DISABLE_INACTIVE_E, stepper.disable_e_steppers()); + // Individual axes will be disabled if configured + TERN_(DISABLE_IDLE_X, stepper.disable_axis(X_AXIS)); + TERN_(DISABLE_IDLE_Y, stepper.disable_axis(Y_AXIS)); + TERN_(DISABLE_IDLE_Z, stepper.disable_axis(Z_AXIS)); + TERN_(DISABLE_IDLE_I, stepper.disable_axis(I_AXIS)); + TERN_(DISABLE_IDLE_J, stepper.disable_axis(J_AXIS)); + TERN_(DISABLE_IDLE_K, stepper.disable_axis(K_AXIS)); + TERN_(DISABLE_IDLE_U, stepper.disable_axis(U_AXIS)); + TERN_(DISABLE_IDLE_V, stepper.disable_axis(V_AXIS)); + TERN_(DISABLE_IDLE_W, stepper.disable_axis(W_AXIS)); + TERN_(DISABLE_IDLE_E, stepper.disable_e_steppers()); - TERN_(AUTO_BED_LEVELING_UBL, ubl.steppers_were_disabled()); + TERN_(AUTO_BED_LEVELING_UBL, bedlevel.steppers_were_disabled()); + } } + else + already_shutdown_steppers = false; } - else - already_shutdown_steppers = false; - } + #endif #if ENABLED(PHOTO_GCODE) && PIN_EXISTS(CHDK) // Check if CHDK should be set to LOW (after M240 set it HIGH) @@ -473,12 +488,14 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) { // KILL the machine // ---------------------------------------------------------------- if (killCount >= KILL_DELAY) { - SERIAL_ERROR_MSG(STR_KILL_BUTTON); + SERIAL_ERROR_START(); + SERIAL_ECHOPGM(STR_KILL_PRE); + SERIAL_ECHOLNPGM(STR_KILL_BUTTON); kill(); } #endif - #if HAS_FREEZE_PIN + #if ENABLED(FREEZE_FEATURE) stepper.frozen = READ(FREEZE_PIN) == FREEZE_STATE; #endif @@ -508,8 +525,8 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) { if (ELAPSED(ms, next_cub_ms_##N)) { \ next_cub_ms_##N = ms + CUB_DEBOUNCE_DELAY_##N; \ CODE; \ - queue.inject(F(BUTTON##N##_GCODE)); \ - TERN_(HAS_MARLINUI_MENU, ui.quick_feedback()); \ + queue.inject(F(BUTTON##N##_GCODE)); \ + TERN_(HAS_MARLINUI_MENU, ui.quick_feedback()); \ } \ } \ }while(0) @@ -657,28 +674,9 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) { && ELAPSED(ms, gcode.previous_move_ms + SEC_TO_MS(EXTRUDER_RUNOUT_SECONDS)) && !planner.has_blocks_queued() ) { - #if ENABLED(SWITCHING_EXTRUDER) - bool oldstatus; - switch (active_extruder) { - default: oldstatus = stepper.AXIS_IS_ENABLED(E_AXIS, 0); stepper.ENABLE_EXTRUDER(0); break; - #if E_STEPPERS > 1 - case 2: case 3: oldstatus = stepper.AXIS_IS_ENABLED(E_AXIS, 1); stepper.ENABLE_EXTRUDER(1); break; - #if E_STEPPERS > 2 - case 4: case 5: oldstatus = stepper.AXIS_IS_ENABLED(E_AXIS, 2); stepper.ENABLE_EXTRUDER(2); break; - #if E_STEPPERS > 3 - case 6: case 7: oldstatus = stepper.AXIS_IS_ENABLED(E_AXIS, 3); stepper.ENABLE_EXTRUDER(3); break; - #endif // E_STEPPERS > 3 - #endif // E_STEPPERS > 2 - #endif // E_STEPPERS > 1 - } - #else // !SWITCHING_EXTRUDER - bool oldstatus; - switch (active_extruder) { - default: - #define _CASE_EN(N) case N: oldstatus = stepper.AXIS_IS_ENABLED(E_AXIS, N); stepper.ENABLE_EXTRUDER(N); break; - REPEAT(E_STEPPERS, _CASE_EN); - } - #endif + const int8_t e_stepper = TERN(HAS_SWITCHING_EXTRUDER, active_extruder >> 1, active_extruder); + const bool e_off = !stepper.AXIS_IS_ENABLED(E_AXIS, e_stepper); + if (e_off) stepper.ENABLE_EXTRUDER(e_stepper); const float olde = current_position.e; current_position.e += EXTRUDER_RUNOUT_EXTRUDE; @@ -687,22 +685,7 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) { planner.set_e_position_mm(olde); planner.synchronize(); - #if ENABLED(SWITCHING_EXTRUDER) - switch (active_extruder) { - default: if (oldstatus) stepper.ENABLE_EXTRUDER(0); else stepper.DISABLE_EXTRUDER(0); break; - #if E_STEPPERS > 1 - case 2: case 3: if (oldstatus) stepper.ENABLE_EXTRUDER(1); else stepper.DISABLE_EXTRUDER(1); break; - #if E_STEPPERS > 2 - case 4: case 5: if (oldstatus) stepper.ENABLE_EXTRUDER(2); else stepper.DISABLE_EXTRUDER(2); break; - #endif // E_STEPPERS > 2 - #endif // E_STEPPERS > 1 - } - #else // !SWITCHING_EXTRUDER - switch (active_extruder) { - #define _CASE_RESTORE(N) case N: if (oldstatus) stepper.ENABLE_EXTRUDER(N); else stepper.DISABLE_EXTRUDER(N); break; - REPEAT(E_STEPPERS, _CASE_RESTORE); - } - #endif // !SWITCHING_EXTRUDER + if (e_off) stepper.DISABLE_EXTRUDER(e_stepper); gcode.reset_stepper_timeout(ms); } @@ -723,8 +706,6 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) { TERN_(MONITOR_DRIVER_STATUS, monitor_tmc_drivers()); - TERN_(MONITOR_L6470_DRIVER_STATUS, L64xxManager.monitor_driver()); - // Limit check_axes_activity frequency to 10Hz static millis_t next_check_axes_ms = 0; if (ELAPSED(ms, next_check_axes_ms)) { @@ -743,6 +724,10 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) { #endif } +#if ALL(EP_BABYSTEPPING, EMERGENCY_PARSER) + #include "feature/babystep.h" +#endif + /** * Standard idle routine keeps the machine alive: * - Core Marlin activities @@ -765,17 +750,24 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) { * - Update the Průša MMU2 * - Handle Joystick jogging */ -void idle(bool no_stepper_sleep/*=false*/) { +void idle(const bool no_stepper_sleep/*=false*/) { + #ifdef MAX7219_DEBUG_PROFILE + CodeProfiler idle_profiler; + #endif + #if ENABLED(MARLIN_DEV_MODE) static uint16_t idle_depth = 0; if (++idle_depth > 5) SERIAL_ECHOLNPGM("idle() call depth: ", idle_depth); #endif + // Bed Distance Sensor task + TERN_(BD_SENSOR, bdl.process()); + // Core Marlin activities manage_inactivity(no_stepper_sleep); // Manage Heaters (and Watchdog) - thermalManager.manage_heater(); + thermalManager.task(); // Max7219 heartbeat, animation, etc TERN_(MAX7219_DEBUG, max7219.idle_tasks()); @@ -806,11 +798,11 @@ void idle(bool no_stepper_sleep/*=false*/) { // Run StallGuard endstop checks #if ENABLED(SPI_ENDSTOPS) if (endstops.tmc_spi_homing.any && TERN1(IMPROVE_HOMING_RELIABILITY, ELAPSED(millis(), sg_guard_period))) - LOOP_L_N(i, 4) if (endstops.tmc_spi_homing_check()) break; // Read SGT 4 times per idle loop + for (uint8_t i = 0; i < 4; ++i) if (endstops.tmc_spi_homing_check()) break; // Read SGT 4 times per idle loop #endif // Handle SD Card insert / remove - TERN_(SDSUPPORT, card.manage_media()); + TERN_(HAS_MEDIA, card.manage_media()); // Handle USB Flash Drive insert / remove TERN_(USB_FLASH_DRIVE_SUPPORT, card.diskIODriver()->idle()); @@ -822,10 +814,10 @@ void idle(bool no_stepper_sleep/*=false*/) { TERN_(PRINTCOUNTER, print_job_timer.tick()); // Update the Beeper queue - TERN_(USE_BEEPER, buzzer.tick()); + TERN_(HAS_BEEPER, buzzer.tick()); // Handle UI input / draw events - TERN(DWIN_CREALITY_LCD, DWIN_Update(), ui.update()); + TERN(DWIN_CREALITY_LCD, dwinUpdate(), ui.update()); // Run i2c Position Encoders #if ENABLED(I2C_POSITION_ENCODERS) @@ -858,14 +850,23 @@ void idle(bool no_stepper_sleep/*=false*/) { // Handle Joystick jogging TERN_(POLL_JOG, joystick.inject_jog_moves()); + // Async Babystepping via the Emergency Parser + #if ALL(EP_BABYSTEPPING, EMERGENCY_PARSER) + babystep.do_ep_steps(); + #endif + // Direct Stepping TERN_(DIRECT_STEPPING, page_manager.write_responses()); // Update the LVGL interface TERN_(HAS_TFT_LVGL_UI, LV_TASK_HANDLER()); + // Manage Fixed-time Motion Control + TERN_(FT_MOTION, fxdTiCtrl.loop()); + IDLE_DONE: TERN_(MARLIN_DEV_MODE, idle_depth--); + return; } @@ -879,9 +880,9 @@ void kill(FSTR_P const lcd_error/*=nullptr*/, FSTR_P const lcd_component/*=nullp TERN_(HAS_CUTTER, cutter.kill()); // Full cutter shutdown including ISR control // Echo the LCD message to serial for extra context - if (lcd_error) { SERIAL_ECHO_START(); SERIAL_ECHOLNF(lcd_error); } + if (lcd_error) { SERIAL_ECHO_START(); SERIAL_ECHOLN(lcd_error); } - #if EITHER(HAS_DISPLAY, DWIN_LCD_PROUI) + #if HAS_DISPLAY ui.kill_screen(lcd_error ?: GET_TEXT_F(MSG_KILLED), lcd_component ?: FPSTR(NUL_STR)); #else UNUSED(lcd_error); UNUSED(lcd_component); @@ -921,22 +922,22 @@ void minkill(const bool steppers_off/*=false*/) { TERN_(HAS_SUICIDE, suicide()); - #if EITHER(HAS_KILL, SOFT_RESET_ON_KILL) + #if ANY(HAS_KILL, SOFT_RESET_ON_KILL) // Wait for both KILL and ENC to be released while (TERN0(HAS_KILL, kill_state()) || TERN0(SOFT_RESET_ON_KILL, ui.button_pressed())) - watchdog_refresh(); + hal.watchdog_refresh(); // Wait for either KILL or ENC to be pressed again while (TERN1(HAS_KILL, !kill_state()) && TERN1(SOFT_RESET_ON_KILL, !ui.button_pressed())) - watchdog_refresh(); + hal.watchdog_refresh(); // Reboot the board hal.reboot(); #else - for (;;) watchdog_refresh(); // Wait for RESET button or power-cycle + for (;;) hal.watchdog_refresh(); // Wait for RESET button or power-cycle #endif } @@ -950,7 +951,7 @@ void stop() { print_job_timer.stop(); - #if EITHER(PROBING_FANS_OFF, ADVANCED_PAUSE_FANS_PAUSE) + #if ANY(PROBING_FANS_OFF, ADVANCED_PAUSE_FANS_PAUSE) thermalManager.set_fans_paused(false); // Un-pause fans for safety #endif @@ -1050,7 +1051,6 @@ inline void tmc_standby_setup() { * • TMC220x Stepper Drivers (Serial) * • PSU control * • Power-loss Recovery - * • L64XX Stepper Drivers (SPI) * • Stepper Driver Reset: DISABLE * • TMC Stepper Drivers (SPI) * • Run hal.init_board() for additional pins setup @@ -1137,7 +1137,7 @@ void setup() { #if ENABLED(MARLIN_DEV_MODE) auto log_current_ms = [&](PGM_P const msg) { SERIAL_ECHO_START(); - SERIAL_CHAR('['); SERIAL_ECHO(millis()); SERIAL_ECHOPGM("] "); + TSS('[', millis(), F("] ")).echo(); SERIAL_ECHOLNPGM_P(msg); }; #define SETUP_LOG(M) log_current_ms(PSTR(M)) @@ -1213,10 +1213,10 @@ void setup() { SETUP_RUN(hal.init()); // Init and disable SPI thermocouples; this is still needed - #if TEMP_SENSOR_0_IS_MAX_TC || (TEMP_SENSOR_REDUNDANT_IS_MAX_TC && REDUNDANT_TEMP_MATCH(SOURCE, E0)) + #if TEMP_SENSOR_IS_MAX_TC(0) || (TEMP_SENSOR_IS_MAX_TC(REDUNDANT) && REDUNDANT_TEMP_MATCH(SOURCE, E0)) OUT_WRITE(TEMP_0_CS_PIN, HIGH); // Disable #endif - #if TEMP_SENSOR_1_IS_MAX_TC || (TEMP_SENSOR_REDUNDANT_IS_MAX_TC && REDUNDANT_TEMP_MATCH(SOURCE, E1)) + #if TEMP_SENSOR_IS_MAX_TC(1) || (TEMP_SENSOR_IS_MAX_TC(REDUNDANT) && REDUNDANT_TEMP_MATCH(SOURCE, E1)) OUT_WRITE(TEMP_1_CS_PIN, HIGH); #endif @@ -1232,6 +1232,13 @@ void setup() { SETUP_RUN(tmc_serial_begin()); #endif + #if HAS_TMC_SPI + #if DISABLED(TMC_USE_SW_SPI) + SETUP_RUN(SPI.begin()); + #endif + SETUP_RUN(tmc_init_cs_pins()); + #endif + #if ENABLED(PSU_CONTROL) SETUP_LOG("PSU_CONTROL"); powerManager.init(); @@ -1241,24 +1248,15 @@ void setup() { SETUP_RUN(recovery.setup()); #endif - #if HAS_L64XX - SETUP_RUN(L64xxManager.init()); // Set up SPI, init drivers - #endif - #if HAS_STEPPER_RESET SETUP_RUN(disableStepperDrivers()); #endif - #if HAS_TMC_SPI - #if DISABLED(TMC_USE_SW_SPI) - SETUP_RUN(SPI.begin()); - #endif - SETUP_RUN(tmc_init_cs_pins()); - #endif - SETUP_RUN(hal.init_board()); - SETUP_RUN(esp_wifi_init()); + #if ENABLED(WIFISUPPORT) + SETUP_RUN(esp_wifi_init()); + #endif // Report Reset Reason if (mcu & RST_POWER_ON) SERIAL_ECHOLNPGM(STR_POWERUP); @@ -1282,7 +1280,7 @@ void setup() { calibrate_delay_loop(); // Init buzzer pin(s) - #if USE_BEEPER + #if HAS_BEEPER SETUP_RUN(buzzer.init()); #endif @@ -1315,14 +1313,14 @@ void setup() { #endif #endif - #if BOTH(SDSUPPORT, SDCARD_EEPROM_EMULATION) + #if ALL(HAS_MEDIA, SDCARD_EEPROM_EMULATION) SETUP_RUN(card.mount()); // Mount media with settings before first_load #endif SETUP_RUN(settings.first_load()); // Load data from EEPROM if available (or use defaults) // This also updates variables in the planner, elsewhere - #if BOTH(HAS_WIRED_LCD, SHOW_BOOTSCREEN) + #if ALL(HAS_WIRED_LCD, SHOW_BOOTSCREEN) SETUP_RUN(ui.show_bootscreen()); const millis_t bootscreen_ms = millis(); #endif @@ -1339,7 +1337,7 @@ void setup() { SETUP_RUN(touchBt.init()); #endif - TERN_(HAS_M206_COMMAND, current_position += home_offset); // Init current position based on home_offset + TERN_(HAS_HOME_OFFSET, current_position += home_offset); // Init current position based on home_offset sync_plan_position(); // Vital to init stepper/planner equivalent for current_position @@ -1397,7 +1395,7 @@ void setup() { SETUP_RUN(stepper_dac.init()); #endif - #if EITHER(Z_PROBE_SLED, SOLENOID_PROBE) && HAS_SOLENOID_1 + #if ANY(Z_PROBE_SLED, SOLENOID_PROBE) && HAS_SOLENOID_1 OUT_WRITE(SOL1_PIN, LOW); // OFF #endif @@ -1552,7 +1550,7 @@ void setup() { #endif #if ENABLED(USE_WATCHDOG) - SETUP_RUN(watchdog_init()); // Reinit watchdog after hal.get_reset_source call + SETUP_RUN(hal.watchdog_init()); // Reinit watchdog after hal.get_reset_source call #endif #if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER) @@ -1568,10 +1566,6 @@ void setup() { SETUP_RUN(hostui.prompt_end()); #endif - #if HAS_TRINAMIC_CONFIG && DISABLED(PSU_DEFAULT_OFF) - SETUP_RUN(test_tmc_connection()); - #endif - #if HAS_DRIVER_SAFE_POWER_PROTECT SETUP_RUN(stepper_driver_backward_report()); #endif @@ -1587,7 +1581,7 @@ void setup() { #endif #if HAS_DWIN_E3V2_BASIC - SETUP_RUN(DWIN_InitScreen()); + SETUP_RUN(dwinInitScreen()); #endif #if HAS_SERVICE_INTERVALS && !HAS_DWIN_E3V2_BASIC @@ -1603,13 +1597,13 @@ void setup() { #endif #if HAS_TFT_LVGL_UI - #if ENABLED(SDSUPPORT) + #if HAS_MEDIA if (!card.isMounted()) SETUP_RUN(card.mount()); // Mount SD to load graphics and fonts #endif SETUP_RUN(tft_lvgl_init()); #endif - #if BOTH(HAS_WIRED_LCD, SHOW_BOOTSCREEN) + #if ALL(HAS_WIRED_LCD, SHOW_BOOTSCREEN) const millis_t elapsed = millis() - bootscreen_ms; #if ENABLED(MARLIN_DEV_MODE) SERIAL_ECHOLNPGM("elapsed=", elapsed); @@ -1621,7 +1615,7 @@ void setup() { SETUP_RUN(password.lock_machine()); // Will not proceed until correct password provided #endif - #if BOTH(HAS_MARLINUI_MENU, TOUCH_SCREEN_CALIBRATION) && EITHER(TFT_CLASSIC_UI, TFT_COLOR_UI) + #if ALL(HAS_MARLINUI_MENU, TOUCH_SCREEN_CALIBRATION) && ANY(TFT_CLASSIC_UI, TFT_COLOR_UI) SETUP_RUN(ui.check_touch_calibration()); #endif @@ -1629,9 +1623,29 @@ void setup() { SETUP_RUN(easythreed_ui.init()); #endif + #if HAS_TRINAMIC_CONFIG && DISABLED(PSU_DEFAULT_OFF) + SETUP_RUN(test_tmc_connection()); + #endif + + #if ENABLED(BD_SENSOR) + SETUP_RUN(bdl.init(I2C_BD_SDA_PIN, I2C_BD_SCL_PIN, I2C_BD_DELAY)); + #endif + + #if ENABLED(FT_MOTION) + SETUP_RUN(fxdTiCtrl.init()); + #endif + marlin_state = MF_RUNNING; + #ifdef STARTUP_TUNE + // Play a short startup tune before continuing. + constexpr uint16_t tune[] = STARTUP_TUNE; + for (uint8_t i = 0; i < COUNT(tune) - 1; i += 2) BUZZ(tune[i + 1], tune[i]); + #endif + SETUP_LOG("setup() completed."); + + TERN_(MARLIN_TEST_BUILD, runStartupTests()); } /** @@ -1651,14 +1665,14 @@ void loop() { do { idle(); - #if ENABLED(SDSUPPORT) + #if HAS_MEDIA if (card.flag.abort_sd_printing) abortSDPrinting(); if (marlin_state == MF_SD_COMPLETE) finishSDPrinting(); #endif queue.advance(); - #if EITHER(POWER_OFF_TIMER, POWER_OFF_WAIT_FOR_COOLDOWN) + #if ANY(POWER_OFF_TIMER, POWER_OFF_WAIT_FOR_COOLDOWN) powerManager.checkAutoPowerOff(); #endif @@ -1666,5 +1680,7 @@ void loop() { TERN_(HAS_TFT_LVGL_UI, printer_state_polling()); + TERN_(MARLIN_TEST_BUILD, runPeriodicTests()); + } while (ENABLED(__AVR__)); // Loop forever on slower (AVR) boards } diff --git a/Marlin/src/MarlinCore.h b/Marlin/src/MarlinCore.h index 7063c7e2de..e9c63bb31f 100644 --- a/Marlin/src/MarlinCore.h +++ b/Marlin/src/MarlinCore.h @@ -30,7 +30,7 @@ void stop(); // Pass true to keep steppers from timing out -void idle(bool no_stepper_sleep=false); +void idle(const bool no_stepper_sleep=false); inline void idle_no_sleep() { idle(true); } #if ENABLED(G38_PROBE_TARGET) @@ -61,6 +61,8 @@ bool printJobOngoing(); bool printingIsPaused(); void startOrResumeJob(); +bool printer_busy(); + extern bool wait_for_heatup; #if HAS_RESUME_CONTINUE diff --git a/Marlin/src/core/boards.h b/Marlin/src/core/boards.h index d3f17a1673..50a4ebc194 100644 --- a/Marlin/src/core/boards.h +++ b/Marlin/src/core/boards.h @@ -21,6 +21,11 @@ */ #pragma once +/** + * Whenever changes are made to this file, please update Marlin/Makefile + * and _data/boards.yml in the MarlinDocumentation repo. + */ + #include "macros.h" #define BOARD_UNKNOWN -1 @@ -49,6 +54,12 @@ #define BOARD_RAMPS_PLUS_EEF 1033 // RAMPS Plus 3DYMY (Power outputs: Hotend0, Hotend1, Fan) #define BOARD_RAMPS_PLUS_SF 1034 // RAMPS Plus 3DYMY (Power outputs: Spindle, Controller Fan) +#define BOARD_RAMPS_BTT_16_PLUS_EFB 1035 // RAMPS 1.6+ (Power outputs: Hotend, Fan, Bed) +#define BOARD_RAMPS_BTT_16_PLUS_EEB 1036 // RAMPS 1.6+ (Power outputs: Hotend0, Hotend1, Bed) +#define BOARD_RAMPS_BTT_16_PLUS_EFF 1037 // RAMPS 1.6+ (Power outputs: Hotend, Fan0, Fan1) +#define BOARD_RAMPS_BTT_16_PLUS_EEF 1038 // RAMPS 1.6+ (Power outputs: Hotend0, Hotend1, Fan) +#define BOARD_RAMPS_BTT_16_PLUS_SF 1039 // RAMPS 1.6+ (Power outputs: Spindle, Controller Fan) + // // RAMPS Derivatives - ATmega1280, ATmega2560 // @@ -110,13 +121,16 @@ #define BOARD_COPYMASTER_3D 1154 // Copymaster 3D #define BOARD_ORTUR_4 1155 // Ortur 4 #define BOARD_TENLOG_D3_HERO 1156 // Tenlog D3 Hero IDEX printer -#define BOARD_RAMPS_S_12_EEFB 1157 // Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Fan, Bed) -#define BOARD_RAMPS_S_12_EEEB 1158 // Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Hotend2, Bed) -#define BOARD_RAMPS_S_12_EFFB 1159 // Ramps S 1.2 by Sakul.cz (Power outputs: Hotend, Fan0, Fan1, Bed) -#define BOARD_LONGER3D_LK1_PRO 1160 // Longer LK1 PRO / Alfawise U20 Pro (PRO version) -#define BOARD_LONGER3D_LKx_PRO 1161 // Longer LKx PRO / Alfawise Uxx Pro (PRO version) -#define BOARD_ZRIB_V53 1162 // Zonestar zrib V5.3 (Chinese RAMPS replica) -#define BOARD_PXMALION_CORE_I3 1163 // Pxmalion Core I3 +#define BOARD_TENLOG_MB1_V23 1157 // Tenlog D3, D5, D6 IDEX Printer +#define BOARD_RAMPS_S_12_EEFB 1158 // Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Fan, Bed) +#define BOARD_RAMPS_S_12_EEEB 1159 // Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Hotend2, Bed) +#define BOARD_RAMPS_S_12_EFFB 1160 // Ramps S 1.2 by Sakul.cz (Power outputs: Hotend, Fan0, Fan1, Bed) +#define BOARD_LONGER3D_LK1_PRO 1161 // Longer LK1 PRO / Alfawise U20 Pro (PRO version) +#define BOARD_LONGER3D_LKx_PRO 1162 // Longer LKx PRO / Alfawise Uxx Pro (PRO version) +#define BOARD_ZRIB_V53 1163 // Zonestar zrib V5.3 (Chinese RAMPS replica) +#define BOARD_PXMALION_CORE_I3 1164 // Pxmalion Core I3 +#define BOARD_PANOWIN_CUTLASS 1165 // Panowin Cutlass (as found in the Panowin F1) +#define BOARD_KODAMA_BARDO 1166 // Kodama Bardo V1.x (as found in the Kodama Trinus) // // RAMBo and derivatives @@ -161,7 +175,7 @@ #define BOARD_PICA_REVB 1324 // PICA Shield (original version) #define BOARD_PICA 1325 // PICA Shield (rev C or later) #define BOARD_INTAMSYS40 1326 // Intamsys 4.0 (Funmat HT) -#define BOARD_MALYAN_M180 1327 // Malyan M180 Mainboard Version 2 (no display function, direct gcode only) +#define BOARD_MALYAN_M180 1327 // Malyan M180 Mainboard Version 2 (no display function, direct G-code only) #define BOARD_GT2560_V4_A20 1328 // Geeetech GT2560 Rev B for A20(M/T/D) #define BOARD_PROTONEER_CNC_SHIELD_V3 1329 // Mega controller & Protoneer CNC Shield V3.00 #define BOARD_WEEDO_62A 1330 // WEEDO 62A board (TINA2, Monoprice Cadet, etc.) @@ -183,12 +197,13 @@ #define BOARD_MELZI_V2 1503 // Melzi V2 #define BOARD_MELZI_MAKR3D 1504 // Melzi with ATmega1284 (MaKr3d version) #define BOARD_MELZI_CREALITY 1505 // Melzi Creality3D (for CR-10 etc) -#define BOARD_MELZI_MALYAN 1506 // Melzi Malyan M150 -#define BOARD_MELZI_TRONXY 1507 // Tronxy X5S -#define BOARD_STB_11 1508 // STB V1.1 -#define BOARD_AZTEEG_X1 1509 // Azteeg X1 -#define BOARD_ANET_10 1510 // Anet 1.0 (Melzi clone) -#define BOARD_ZMIB_V2 1511 // ZoneStar ZMIB V2 +#define BOARD_MELZI_CREALITY_ENDER2 1506 // Melzi Creality3D (for Ender-2) +#define BOARD_MELZI_MALYAN 1507 // Melzi Malyan M150 +#define BOARD_MELZI_TRONXY 1508 // Tronxy X5S +#define BOARD_STB_11 1509 // STB V1.1 +#define BOARD_AZTEEG_X1 1510 // Azteeg X1 +#define BOARD_ANET_10 1511 // Anet 1.0 (Melzi clone) +#define BOARD_ZMIB_V2 1512 // ZoneStar ZMIB V2 // // Other ATmega644P, ATmega644, ATmega1284P @@ -220,7 +235,7 @@ #define BOARD_5DPRINT 1707 // 5DPrint D8 Driver Board // -// LPC1768 ARM Cortex M3 +// LPC1768 ARM Cortex-M3 // #define BOARD_RAMPS_14_RE_ARM_EFB 2000 // Re-ARM with RAMPS 1.4 (Power outputs: Hotend, Fan, Bed) @@ -228,36 +243,37 @@ #define BOARD_RAMPS_14_RE_ARM_EFF 2002 // Re-ARM with RAMPS 1.4 (Power outputs: Hotend, Fan0, Fan1) #define BOARD_RAMPS_14_RE_ARM_EEF 2003 // Re-ARM with RAMPS 1.4 (Power outputs: Hotend0, Hotend1, Fan) #define BOARD_RAMPS_14_RE_ARM_SF 2004 // Re-ARM with RAMPS 1.4 (Power outputs: Spindle, Controller Fan) -#define BOARD_MKS_SBASE 2005 // MKS-Sbase (Power outputs: Hotend0, Hotend1, Bed, Fan) +#define BOARD_MKS_SBASE 2005 // MKS-Sbase #define BOARD_AZSMZ_MINI 2006 // AZSMZ Mini -#define BOARD_BIQU_BQ111_A4 2007 // BIQU BQ111-A4 (Power outputs: Hotend, Fan, Bed) -#define BOARD_SELENA_COMPACT 2008 // Selena Compact (Power outputs: Hotend0, Hotend1, Bed0, Bed1, Fan0, Fan1) -#define BOARD_BIQU_B300_V1_0 2009 // BIQU B300_V1.0 (Power outputs: Hotend0, Fan, Bed, SPI Driver) -#define BOARD_MKS_SGEN_L 2010 // MKS-SGen-L (Power outputs: Hotend0, Hotend1, Bed, Fan) +#define BOARD_BIQU_BQ111_A4 2007 // BIQU BQ111-A4 +#define BOARD_SELENA_COMPACT 2008 // Selena Compact +#define BOARD_BIQU_B300_V1_0 2009 // BIQU B300_V1.0 +#define BOARD_MKS_SGEN_L 2010 // MKS-SGen-L #define BOARD_GMARSH_X6_REV1 2011 // GMARSH X6, revision 1 prototype -#define BOARD_BTT_SKR_V1_1 2012 // BigTreeTech SKR v1.1 (Power outputs: Hotend0, Hotend1, Fan, Bed) -#define BOARD_BTT_SKR_V1_3 2013 // BigTreeTech SKR v1.3 (Power outputs: Hotend0, Hotend1, Fan, Bed) -#define BOARD_BTT_SKR_V1_4 2014 // BigTreeTech SKR v1.4 (Power outputs: Hotend0, Hotend1, Fan, Bed) +#define BOARD_BTT_SKR_V1_1 2012 // BigTreeTech SKR v1.1 +#define BOARD_BTT_SKR_V1_3 2013 // BigTreeTech SKR v1.3 +#define BOARD_BTT_SKR_V1_4 2014 // BigTreeTech SKR v1.4 +#define BOARD_EMOTRONIC 2015 // eMotion-Tech eMotronic // -// LPC1769 ARM Cortex M3 +// LPC1769 ARM Cortex-M3 // -#define BOARD_MKS_SGEN 2500 // MKS-SGen (Power outputs: Hotend0, Hotend1, Bed, Fan) -#define BOARD_AZTEEG_X5_GT 2501 // Azteeg X5 GT (Power outputs: Hotend0, Hotend1, Bed, Fan) -#define BOARD_AZTEEG_X5_MINI 2502 // Azteeg X5 Mini (Power outputs: Hotend0, Bed, Fan) -#define BOARD_AZTEEG_X5_MINI_WIFI 2503 // Azteeg X5 Mini Wifi (Power outputs: Hotend0, Bed, Fan) +#define BOARD_MKS_SGEN 2500 // MKS-SGen +#define BOARD_AZTEEG_X5_GT 2501 // Azteeg X5 GT +#define BOARD_AZTEEG_X5_MINI 2502 // Azteeg X5 Mini +#define BOARD_AZTEEG_X5_MINI_WIFI 2503 // Azteeg X5 Mini Wifi #define BOARD_COHESION3D_REMIX 2504 // Cohesion3D ReMix #define BOARD_COHESION3D_MINI 2505 // Cohesion3D Mini #define BOARD_SMOOTHIEBOARD 2506 // Smoothieboard #define BOARD_TH3D_EZBOARD 2507 // TH3D EZBoard v1.0 -#define BOARD_BTT_SKR_V1_4_TURBO 2508 // BigTreeTech SKR v1.4 TURBO (Power outputs: Hotend0, Hotend1, Fan, Bed) -#define BOARD_MKS_SGEN_L_V2 2509 // MKS SGEN_L V2 (Power outputs: Hotend0, Hotend1, Bed, Fan) -#define BOARD_BTT_SKR_E3_TURBO 2510 // BigTreeTech SKR E3 Turbo (Power outputs: Hotend0, Hotend1, Bed, Fan0, Fan1) -#define BOARD_FLY_CDY 2511 // FLYmaker FLY CDY (Power outputs: Hotend0, Hotend1, Hotend2, Bed, Fan0, Fan1, Fan2) +#define BOARD_BTT_SKR_V1_4_TURBO 2508 // BigTreeTech SKR v1.4 TURBO +#define BOARD_MKS_SGEN_L_V2 2509 // MKS SGEN_L V2 +#define BOARD_BTT_SKR_E3_TURBO 2510 // BigTreeTech SKR E3 Turbo +#define BOARD_FLY_CDY 2511 // FLYmaker FLY CDY // -// SAM3X8E ARM Cortex M3 +// SAM3X8E ARM Cortex-M3 // #define BOARD_DUE3DOM 3000 // DUE3DOM for Arduino DUE @@ -280,8 +296,8 @@ #define BOARD_RAMPS4DUE_EFF 3017 // RAMPS4DUE (Power outputs: Hotend, Fan0, Fan1) #define BOARD_RAMPS4DUE_EEF 3018 // RAMPS4DUE (Power outputs: Hotend0, Hotend1, Fan) #define BOARD_RAMPS4DUE_SF 3019 // RAMPS4DUE (Power outputs: Spindle, Controller Fan) -#define BOARD_RURAMPS4D_11 3020 // RuRAMPS4Duo v1.1 (Power outputs: Hotend0, Hotend1, Hotend2, Fan0, Fan1, Bed) -#define BOARD_RURAMPS4D_13 3021 // RuRAMPS4Duo v1.3 (Power outputs: Hotend0, Hotend1, Hotend2, Fan0, Fan1, Bed) +#define BOARD_RURAMPS4D_11 3020 // RuRAMPS4Duo v1.1 +#define BOARD_RURAMPS4D_13 3021 // RuRAMPS4Duo v1.3 #define BOARD_ULTRATRONICS_PRO 3022 // ReprapWorld Ultratronics Pro V1.0 #define BOARD_ARCHIM1 3023 // UltiMachine Archim1 (with DRV8825 drivers) #define BOARD_ARCHIM2 3024 // UltiMachine Archim2 (with TMC2130 drivers) @@ -290,167 +306,203 @@ #define BOARD_KRATOS32 3027 // K.3D Kratos32 (Arduino Due Shield) // -// SAM3X8C ARM Cortex M3 +// SAM3X8C ARM Cortex-M3 // -#define BOARD_PRINTRBOARD_G2 3100 // PRINTRBOARD G2 +#define BOARD_PRINTRBOARD_G2 3100 // Printrboard G2 #define BOARD_ADSK 3101 // Arduino DUE Shield Kit (ADSK) +// +// STM32 ARM Cortex-M0+ +// + +#define BOARD_BTT_EBB42_V1_1 4000 // BigTreeTech EBB42 V1.1 (STM32G0B1CB) +#define BOARD_BTT_SKR_MINI_E3_V3_0 4001 // BigTreeTech SKR Mini E3 V3.0 (STM32G0B1RE) +#define BOARD_BTT_MANTA_E3_EZ_V1_0 4002 // BigTreeTech Manta E3 EZ V1.0 (STM32G0B1RE) +#define BOARD_BTT_MANTA_M4P_V1_0 4003 // BigTreeTech Manta M4P V1.0 (STM32G0B1RE) +#define BOARD_BTT_MANTA_M5P_V1_0 4004 // BigTreeTech Manta M5P V1.0 (STM32G0B1RE) +#define BOARD_BTT_MANTA_M8P_V1_0 4005 // BigTreeTech Manta M8P V1.0 (STM32G0B1VE) +#define BOARD_BTT_MANTA_M8P_V1_1 4006 // BigTreeTech Manta M8P V1.1 (STM32G0B1VE) + // // STM32 ARM Cortex-M3 // -#define BOARD_MALYAN_M200_V2 4000 // STM32F070CB controller -#define BOARD_MALYAN_M300 4001 // STM32F070-based delta -#define BOARD_STM32F103RE 4002 // STM32F103RE Libmaple-based STM32F1 controller -#define BOARD_MALYAN_M200 4003 // STM32C8 Libmaple-based STM32F1 controller -#define BOARD_STM3R_MINI 4004 // STM32F103RE Libmaple-based STM32F1 controller -#define BOARD_GTM32_PRO_VB 4005 // STM32F103VE controller -#define BOARD_GTM32_MINI 4006 // STM32F103VE controller -#define BOARD_GTM32_MINI_A30 4007 // STM32F103VE controller -#define BOARD_GTM32_REV_B 4008 // STM32F103VE controller -#define BOARD_MORPHEUS 4009 // STM32F103C8 / STM32F103CB Libmaple-based STM32F1 controller -#define BOARD_CHITU3D 4010 // Chitu3D (STM32F103RE) -#define BOARD_MKS_ROBIN 4011 // MKS Robin (STM32F103ZE) -#define BOARD_MKS_ROBIN_MINI 4012 // MKS Robin Mini (STM32F103VE) -#define BOARD_MKS_ROBIN_NANO 4013 // MKS Robin Nano (STM32F103VE) -#define BOARD_MKS_ROBIN_NANO_V2 4014 // MKS Robin Nano V2 (STM32F103VE) -#define BOARD_MKS_ROBIN_LITE 4015 // MKS Robin Lite/Lite2 (STM32F103RC) -#define BOARD_MKS_ROBIN_LITE3 4016 // MKS Robin Lite3 (STM32F103RC) -#define BOARD_MKS_ROBIN_PRO 4017 // MKS Robin Pro (STM32F103ZE) -#define BOARD_MKS_ROBIN_E3 4018 // MKS Robin E3 (STM32F103RC) -#define BOARD_MKS_ROBIN_E3_V1_1 4019 // MKS Robin E3 V1.1 (STM32F103RC) -#define BOARD_MKS_ROBIN_E3D 4020 // MKS Robin E3D (STM32F103RC) -#define BOARD_MKS_ROBIN_E3D_V1_1 4021 // MKS Robin E3D V1.1 (STM32F103RC) -#define BOARD_MKS_ROBIN_E3P 4022 // MKS Robin E3p (STM32F103VE) -#define BOARD_BTT_SKR_MINI_V1_1 4023 // BigTreeTech SKR Mini v1.1 (STM32F103RC) -#define BOARD_BTT_SKR_MINI_E3_V1_0 4024 // BigTreeTech SKR Mini E3 (STM32F103RC) -#define BOARD_BTT_SKR_MINI_E3_V1_2 4025 // BigTreeTech SKR Mini E3 V1.2 (STM32F103RC) -#define BOARD_BTT_SKR_MINI_E3_V2_0 4026 // BigTreeTech SKR Mini E3 V2.0 (STM32F103RC / STM32F103RE) -#define BOARD_BTT_SKR_MINI_E3_V3_0 4027 // BigTreeTech SKR Mini E3 V3.0 (STM32G0B1RE) -#define BOARD_BTT_SKR_MINI_MZ_V1_0 4028 // BigTreeTech SKR Mini MZ V1.0 (STM32F103RC) -#define BOARD_BTT_SKR_E3_DIP 4029 // BigTreeTech SKR E3 DIP V1.0 (STM32F103RC / STM32F103RE) -#define BOARD_BTT_SKR_CR6 4030 // BigTreeTech SKR CR6 v1.0 (STM32F103RE) -#define BOARD_JGAURORA_A5S_A1 4031 // JGAurora A5S A1 (STM32F103ZE) -#define BOARD_FYSETC_AIO_II 4032 // FYSETC AIO_II -#define BOARD_FYSETC_CHEETAH 4033 // FYSETC Cheetah -#define BOARD_FYSETC_CHEETAH_V12 4034 // FYSETC Cheetah V1.2 -#define BOARD_LONGER3D_LK 4035 // Alfawise U20/U20+/U30 (Longer3D LK1/2) / STM32F103VE -#define BOARD_CCROBOT_MEEB_3DP 4036 // ccrobot-online.com MEEB_3DP (STM32F103RC) -#define BOARD_CHITU3D_V5 4037 // Chitu3D TronXY X5SA V5 Board -#define BOARD_CHITU3D_V6 4038 // Chitu3D TronXY X5SA V6 Board -#define BOARD_CHITU3D_V9 4039 // Chitu3D TronXY X5SA V9 Board -#define BOARD_CREALITY_V4 4040 // Creality v4.x (STM32F103RC / STM32F103RE) -#define BOARD_CREALITY_V422 4041 // Creality v4.2.2 (STM32F103RC / STM32F103RE) -#define BOARD_CREALITY_V423 4042 // Creality v4.2.3 (STM32F103RC / STM32F103RE) -#define BOARD_CREALITY_V427 4043 // Creality v4.2.7 (STM32F103RC / STM32F103RE) -#define BOARD_CREALITY_V4210 4044 // Creality v4.2.10 (STM32F103RC / STM32F103RE) as found in the CR-30 -#define BOARD_CREALITY_V431 4045 // Creality v4.3.1 (STM32F103RC / STM32F103RE) -#define BOARD_CREALITY_V431_A 4046 // Creality v4.3.1a (STM32F103RC / STM32F103RE) -#define BOARD_CREALITY_V431_B 4047 // Creality v4.3.1b (STM32F103RC / STM32F103RE) -#define BOARD_CREALITY_V431_C 4048 // Creality v4.3.1c (STM32F103RC / STM32F103RE) -#define BOARD_CREALITY_V431_D 4049 // Creality v4.3.1d (STM32F103RC / STM32F103RE) -#define BOARD_CREALITY_V452 4050 // Creality v4.5.2 (STM32F103RC / STM32F103RE) -#define BOARD_CREALITY_V453 4051 // Creality v4.5.3 (STM32F103RC / STM32F103RE) -#define BOARD_CREALITY_V24S1 4052 // Creality v2.4.S1 (STM32F103RC / STM32F103RE) v101 as found in the Ender 7 -#define BOARD_CREALITY_V24S1_301 4053 // Creality v2.4.S1_301 (STM32F103RC / STM32F103RE) as found in the Ender 3 S1 -#define BOARD_CREALITY_V25S1 4054 // Creality v4.5.1 (STM32F103RE) as found in the CR10 Smart Pro -#define BOARD_TRIGORILLA_PRO 4055 // Trigorilla Pro (STM32F103ZE) -#define BOARD_FLY_MINI 4056 // FLYmaker FLY MINI (STM32F103RC) -#define BOARD_FLSUN_HISPEED 4057 // FLSUN HiSpeedV1 (STM32F103VE) -#define BOARD_BEAST 4058 // STM32F103RE Libmaple-based controller -#define BOARD_MINGDA_MPX_ARM_MINI 4059 // STM32F103ZE Mingda MD-16 -#define BOARD_GTM32_PRO_VD 4060 // STM32F103VE controller -#define BOARD_ZONESTAR_ZM3E2 4061 // Zonestar ZM3E2 (STM32F103RC) -#define BOARD_ZONESTAR_ZM3E4 4062 // Zonestar ZM3E4 V1 (STM32F103VC) -#define BOARD_ZONESTAR_ZM3E4V2 4063 // Zonestar ZM3E4 V2 (STM32F103VC) -#define BOARD_ERYONE_ERY32_MINI 4064 // Eryone Ery32 mini (STM32F103VE) -#define BOARD_PANDA_PI_V29 4065 // Panda Pi V2.9 - Standalone (STM32F103RC) +#define BOARD_MALYAN_M200_V2 5000 // STM32F070CB controller +#define BOARD_MALYAN_M300 5001 // STM32F070-based delta +#define BOARD_STM32F103RE 5002 // STM32F103RE Libmaple-based STM32F1 controller +#define BOARD_MALYAN_M200 5003 // STM32C8 Libmaple-based STM32F1 controller +#define BOARD_STM3R_MINI 5004 // STM32F103RE Libmaple-based STM32F1 controller +#define BOARD_GTM32_PRO_VB 5005 // STM32F103VE controller +#define BOARD_GTM32_MINI 5006 // STM32F103VE controller +#define BOARD_GTM32_MINI_A30 5007 // STM32F103VE controller +#define BOARD_GTM32_REV_B 5008 // STM32F103VE controller +#define BOARD_MORPHEUS 5009 // STM32F103C8 / STM32F103CB Libmaple-based STM32F1 controller +#define BOARD_CHITU3D 5010 // Chitu3D (STM32F103RE) +#define BOARD_MKS_ROBIN 5011 // MKS Robin (STM32F103ZE) +#define BOARD_MKS_ROBIN_MINI 5012 // MKS Robin Mini (STM32F103VE) +#define BOARD_MKS_ROBIN_NANO 5013 // MKS Robin Nano (STM32F103VE) +#define BOARD_MKS_ROBIN_NANO_V2 5014 // MKS Robin Nano V2 (STM32F103VE) +#define BOARD_MKS_ROBIN_LITE 5015 // MKS Robin Lite/Lite2 (STM32F103RC) +#define BOARD_MKS_ROBIN_LITE3 5016 // MKS Robin Lite3 (STM32F103RC) +#define BOARD_MKS_ROBIN_PRO 5017 // MKS Robin Pro (STM32F103ZE) +#define BOARD_MKS_ROBIN_E3 5018 // MKS Robin E3 (STM32F103RC) +#define BOARD_MKS_ROBIN_E3_V1_1 5019 // MKS Robin E3 V1.1 (STM32F103RC) +#define BOARD_MKS_ROBIN_E3D 5020 // MKS Robin E3D (STM32F103RC) +#define BOARD_MKS_ROBIN_E3D_V1_1 5021 // MKS Robin E3D V1.1 (STM32F103RC) +#define BOARD_MKS_ROBIN_E3P 5022 // MKS Robin E3P (STM32F103VE) +#define BOARD_BTT_SKR_MINI_V1_1 5023 // BigTreeTech SKR Mini v1.1 (STM32F103RC) +#define BOARD_BTT_SKR_MINI_E3_V1_0 5024 // BigTreeTech SKR Mini E3 (STM32F103RC) +#define BOARD_BTT_SKR_MINI_E3_V1_2 5025 // BigTreeTech SKR Mini E3 V1.2 (STM32F103RC) +#define BOARD_BTT_SKR_MINI_E3_V2_0 5026 // BigTreeTech SKR Mini E3 V2.0 (STM32F103RC / STM32F103RE) +#define BOARD_BTT_SKR_MINI_MZ_V1_0 5027 // BigTreeTech SKR Mini MZ V1.0 (STM32F103RC) +#define BOARD_BTT_SKR_E3_DIP 5028 // BigTreeTech SKR E3 DIP V1.0 (STM32F103RC / STM32F103RE) +#define BOARD_BTT_SKR_CR6 5029 // BigTreeTech SKR CR6 v1.0 (STM32F103RE) +#define BOARD_JGAURORA_A5S_A1 5030 // JGAurora A5S A1 (STM32F103ZE) +#define BOARD_FYSETC_AIO_II 5031 // FYSETC AIO_II (STM32F103RC) +#define BOARD_FYSETC_CHEETAH 5032 // FYSETC Cheetah (STM32F103RC) +#define BOARD_FYSETC_CHEETAH_V12 5033 // FYSETC Cheetah V1.2 (STM32F103RC) +#define BOARD_LONGER3D_LK 5034 // Longer3D LK1/2 - Alfawise U20/U20+/U30 (STM32F103VE) +#define BOARD_CCROBOT_MEEB_3DP 5035 // ccrobot-online.com MEEB_3DP (STM32F103RC) +#define BOARD_CHITU3D_V5 5036 // Chitu3D TronXY X5SA V5 Board (STM32F103ZE) +#define BOARD_CHITU3D_V6 5037 // Chitu3D TronXY X5SA V6 Board (STM32F103ZE) +#define BOARD_CHITU3D_V9 5038 // Chitu3D TronXY X5SA V9 Board (STM32F103ZE) +#define BOARD_CREALITY_V4 5039 // Creality v4.x (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V422 5040 // Creality v4.2.2 (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V423 5041 // Creality v4.2.3 (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V425 5042 // Creality v4.2.5 (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V427 5043 // Creality v4.2.7 (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V4210 5044 // Creality v4.2.10 (STM32F103RC / STM32F103RE) as found in the CR-30 +#define BOARD_CREALITY_V431 5045 // Creality v4.3.1 (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V431_A 5046 // Creality v4.3.1a (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V431_B 5047 // Creality v4.3.1b (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V431_C 5048 // Creality v4.3.1c (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V431_D 5049 // Creality v4.3.1d (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V452 5050 // Creality v4.5.2 (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V453 5051 // Creality v4.5.3 (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V521 5052 // Creality v5.2.1 (STM32F103VE) as found in the SV04 +#define BOARD_CREALITY_V24S1 5053 // Creality v2.4.S1 (STM32F103RC / STM32F103RE) v101 as found in the Ender-7 +#define BOARD_CREALITY_V24S1_301 5054 // Creality v2.4.S1_301 (STM32F103RC / STM32F103RE) v301 as found in the Ender-3 S1 +#define BOARD_CREALITY_V25S1 5055 // Creality v2.5.S1 (STM32F103RE) as found in the CR-10 Smart Pro +#define BOARD_TRIGORILLA_PRO 5056 // Trigorilla Pro (STM32F103ZE) +#define BOARD_FLY_MINI 5057 // FLYmaker FLY MINI (STM32F103RC) +#define BOARD_FLSUN_HISPEED 5058 // FLSUN HiSpeedV1 (STM32F103VE) +#define BOARD_BEAST 5059 // STM32F103RE Libmaple-based controller +#define BOARD_MINGDA_MPX_ARM_MINI 5060 // STM32F103ZE Mingda MD-16 +#define BOARD_GTM32_PRO_VD 5061 // STM32F103VE controller +#define BOARD_ZONESTAR_ZM3E2 5062 // Zonestar ZM3E2 (STM32F103RC) +#define BOARD_ZONESTAR_ZM3E4 5063 // Zonestar ZM3E4 V1 (STM32F103VC) +#define BOARD_ZONESTAR_ZM3E4V2 5064 // Zonestar ZM3E4 V2 (STM32F103VC) +#define BOARD_ERYONE_ERY32_MINI 5065 // Eryone Ery32 mini (STM32F103VE) +#define BOARD_PANDA_PI_V29 5066 // Panda Pi V2.9 - Standalone (STM32F103RC) +#define BOARD_SOVOL_V131 5067 // Sovol V1.3.1 (GD32F103RET6) +#define BOARD_TRIGORILLA_V006 5068 // Trigorilla V0.0.6 (GD32F103RE) +#define BOARD_KEDI_CONTROLLER_V1_2 5069 // EDUTRONICS Kedi Controller V1.2 (STM32F103RC) // // ARM Cortex-M4F // -#define BOARD_TEENSY31_32 4100 // Teensy3.1 and Teensy3.2 -#define BOARD_TEENSY35_36 4101 // Teensy3.5 and Teensy3.6 +#define BOARD_TEENSY31_32 5100 // Teensy3.1 and Teensy3.2 +#define BOARD_TEENSY35_36 5101 // Teensy3.5 and Teensy3.6 // // STM32 ARM Cortex-M4F // -#define BOARD_ARMED 4200 // Arm'ed STM32F4-based controller -#define BOARD_RUMBA32_V1_0 4201 // RUMBA32 STM32F446VE based controller from Aus3D -#define BOARD_RUMBA32_V1_1 4202 // RUMBA32 STM32F446VE based controller from Aus3D -#define BOARD_RUMBA32_MKS 4203 // RUMBA32 STM32F446VE based controller from Makerbase -#define BOARD_RUMBA32_BTT 4204 // RUMBA32 STM32F446VE based controller from BIGTREETECH -#define BOARD_BLACK_STM32F407VE 4205 // BLACK_STM32F407VE -#define BOARD_BLACK_STM32F407ZE 4206 // BLACK_STM32F407ZE -#define BOARD_STEVAL_3DP001V1 4207 // STEVAL-3DP001V1 3D PRINTER BOARD -#define BOARD_BTT_SKR_PRO_V1_1 4208 // BigTreeTech SKR Pro v1.1 (STM32F407ZG) -#define BOARD_BTT_SKR_PRO_V1_2 4209 // BigTreeTech SKR Pro v1.2 (STM32F407ZG) -#define BOARD_BTT_BTT002_V1_0 4210 // BigTreeTech BTT002 v1.0 (STM32F407VG) -#define BOARD_BTT_E3_RRF 4211 // BigTreeTech E3 RRF (STM32F407VG) -#define BOARD_BTT_SKR_V2_0_REV_A 4212 // BigTreeTech SKR v2.0 Rev A (STM32F407VG) -#define BOARD_BTT_SKR_V2_0_REV_B 4213 // BigTreeTech SKR v2.0 Rev B (STM32F407VG/STM32F429VG) -#define BOARD_BTT_GTR_V1_0 4214 // BigTreeTech GTR v1.0 (STM32F407IGT) -#define BOARD_BTT_OCTOPUS_V1_0 4215 // BigTreeTech Octopus v1.0 (STM32F446ZE) -#define BOARD_BTT_OCTOPUS_V1_1 4216 // BigTreeTech Octopus v1.1 (STM32F446ZE) -#define BOARD_BTT_OCTOPUS_PRO_V1_0 4217 // BigTreeTech Octopus Pro v1.0 (STM32F446ZE/STM32F429ZG) -#define BOARD_LERDGE_K 4218 // Lerdge K (STM32F407ZG) -#define BOARD_LERDGE_S 4219 // Lerdge S (STM32F407VE) -#define BOARD_LERDGE_X 4220 // Lerdge X (STM32F407VE) -#define BOARD_VAKE403D 4221 // VAkE 403D (STM32F446VE) -#define BOARD_FYSETC_S6 4222 // FYSETC S6 (STM32F446VE) -#define BOARD_FYSETC_S6_V2_0 4223 // FYSETC S6 v2.0 (STM32F446VE) -#define BOARD_FYSETC_SPIDER 4224 // FYSETC Spider (STM32F446VE) -#define BOARD_FLYF407ZG 4225 // FLYmaker FLYF407ZG (STM32F407ZG) -#define BOARD_MKS_ROBIN2 4226 // MKS_ROBIN2 (STM32F407ZE) -#define BOARD_MKS_ROBIN_PRO_V2 4227 // MKS Robin Pro V2 (STM32F407VE) -#define BOARD_MKS_ROBIN_NANO_V3 4228 // MKS Robin Nano V3 (STM32F407VG) -#define BOARD_MKS_ROBIN_NANO_V3_1 4229 // MKS Robin Nano V3.1 (STM32F407VE) -#define BOARD_MKS_MONSTER8 4230 // MKS Monster8 (STM32F407VG) -#define BOARD_ANET_ET4 4231 // ANET ET4 V1.x (STM32F407VG) -#define BOARD_ANET_ET4P 4232 // ANET ET4P V1.x (STM32F407VG) -#define BOARD_FYSETC_CHEETAH_V20 4233 // FYSETC Cheetah V2.0 -#define BOARD_TH3D_EZBOARD_V2 4234 // TH3D EZBoard v2.0 -#define BOARD_INDEX_REV03 4235 // Index PnP Controller REV03 (STM32F407VE/VG) -#define BOARD_MKS_ROBIN_NANO_V1_3_F4 4236 // MKS Robin Nano V1.3 and MKS Robin Nano-S V1.3 (STM32F407VE) -#define BOARD_MKS_EAGLE 4237 // MKS Eagle (STM32F407VE) -#define BOARD_ARTILLERY_RUBY 4238 // Artillery Ruby (STM32F401RC) -#define BOARD_FYSETC_SPIDER_V2_2 4239 // FYSETC Spider V2.2 (STM32F446VE) -#define BOARD_CREALITY_V24S1_301F4 4240 // Creality v2.4.S1_301F4 (STM32F401RC) as found in the Ender-3 S1 F4 +#define BOARD_ARMED 5200 // Arm'ed STM32F4-based controller +#define BOARD_RUMBA32_V1_0 5201 // RUMBA32 STM32F446VE based controller from Aus3D +#define BOARD_RUMBA32_V1_1 5202 // RUMBA32 STM32F446VE based controller from Aus3D +#define BOARD_RUMBA32_MKS 5203 // RUMBA32 STM32F446VE based controller from Makerbase +#define BOARD_RUMBA32_BTT 5204 // RUMBA32 STM32F446VE based controller from BIGTREETECH +#define BOARD_BLACK_STM32F407VE 5205 // BLACK_STM32F407VE +#define BOARD_BLACK_STM32F407ZE 5206 // BLACK_STM32F407ZE +#define BOARD_BTT_SKR_MINI_E3_V3_0_1 5207 // BigTreeTech SKR Mini E3 V3.0.1 (STM32F401RC) +#define BOARD_BTT_SKR_PRO_V1_1 5208 // BigTreeTech SKR Pro v1.1 (STM32F407ZG) +#define BOARD_BTT_SKR_PRO_V1_2 5209 // BigTreeTech SKR Pro v1.2 (STM32F407ZG) +#define BOARD_BTT_BTT002_V1_0 5210 // BigTreeTech BTT002 v1.0 (STM32F407VG) +#define BOARD_BTT_E3_RRF 5211 // BigTreeTech E3 RRF (STM32F407VG) +#define BOARD_BTT_SKR_V2_0_REV_A 5212 // BigTreeTech SKR v2.0 Rev A (STM32F407VG) +#define BOARD_BTT_SKR_V2_0_REV_B 5213 // BigTreeTech SKR v2.0 Rev B (STM32F407VG/STM32F429VG) +#define BOARD_BTT_GTR_V1_0 5214 // BigTreeTech GTR v1.0 (STM32F407IGT) +#define BOARD_BTT_OCTOPUS_V1_0 5215 // BigTreeTech Octopus v1.0 (STM32F446ZE) +#define BOARD_BTT_OCTOPUS_V1_1 5216 // BigTreeTech Octopus v1.1 (STM32F446ZE) +#define BOARD_BTT_OCTOPUS_PRO_V1_0 5217 // BigTreeTech Octopus Pro v1.0 (STM32F446ZE / STM32F429ZG) +#define BOARD_LERDGE_K 5218 // Lerdge K (STM32F407ZG) +#define BOARD_LERDGE_S 5219 // Lerdge S (STM32F407VE) +#define BOARD_LERDGE_X 5220 // Lerdge X (STM32F407VE) +#define BOARD_FYSETC_S6 5221 // FYSETC S6 (STM32F446VE) +#define BOARD_FYSETC_S6_V2_0 5222 // FYSETC S6 v2.0 (STM32F446VE) +#define BOARD_FYSETC_SPIDER 5223 // FYSETC Spider (STM32F446VE) +#define BOARD_FLYF407ZG 5224 // FLYmaker FLYF407ZG (STM32F407ZG) +#define BOARD_MKS_ROBIN2 5225 // MKS Robin2 V1.0 (STM32F407ZE) +#define BOARD_MKS_ROBIN_PRO_V2 5226 // MKS Robin Pro V2 (STM32F407VE) +#define BOARD_MKS_ROBIN_NANO_V3 5227 // MKS Robin Nano V3 (STM32F407VG) +#define BOARD_MKS_ROBIN_NANO_V3_1 5228 // MKS Robin Nano V3.1 (STM32F407VE) +#define BOARD_MKS_MONSTER8_V1 5229 // MKS Monster8 V1 (STM32F407VE) +#define BOARD_MKS_MONSTER8_V2 5230 // MKS Monster8 V2 (STM32F407VE) +#define BOARD_ANET_ET4 5231 // ANET ET4 V1.x (STM32F407VG) +#define BOARD_ANET_ET4P 5232 // ANET ET4P V1.x (STM32F407VG) +#define BOARD_FYSETC_CHEETAH_V20 5233 // FYSETC Cheetah V2.0 (STM32F401RC) +#define BOARD_TH3D_EZBOARD_V2 5234 // TH3D EZBoard v2.0 (STM32F405RG) +#define BOARD_OPULO_LUMEN_REV3 5235 // Opulo Lumen PnP Controller REV3 (STM32F407VE / STM32F407VG) +#define BOARD_MKS_ROBIN_NANO_V1_3_F4 5236 // MKS Robin Nano V1.3 and MKS Robin Nano-S V1.3 (STM32F407VE) +#define BOARD_MKS_EAGLE 5237 // MKS Eagle (STM32F407VE) +#define BOARD_ARTILLERY_RUBY 5238 // Artillery Ruby (STM32F401RC) +#define BOARD_FYSETC_SPIDER_V2_2 5239 // FYSETC Spider V2.2 (STM32F446VE) +#define BOARD_CREALITY_V24S1_301F4 5240 // Creality v2.4.S1_301F4 (STM32F401RC) as found in the Ender-3 S1 F4 +#define BOARD_OPULO_LUMEN_REV4 5241 // Opulo Lumen PnP Controller REV4 (STM32F407VE / STM32F407VG) +#define BOARD_FYSETC_SPIDER_KING407 5242 // FYSETC Spider King407 (STM32F407ZG) +#define BOARD_MKS_SKIPR_V1 5243 // MKS SKIPR v1.0 all-in-one board (STM32F407VE) +#define BOARD_TRONXY_V10 5244 // TRONXY V10 (STM32F446ZE) +#define BOARD_CREALITY_F401RE 5245 // Creality CR4NS200141C13 (STM32F401RE) as found in the Ender-5 S1 +#define BOARD_BLACKPILL_CUSTOM 5246 // Custom board based on STM32F401CDU6. +#define BOARD_I3DBEEZ9_V1 5247 // I3DBEEZ9 V1 (STM32F407ZG) // -// ARM Cortex M7 +// ARM Cortex-M7 // -#define BOARD_REMRAM_V1 5000 // RemRam v1 -#define BOARD_TEENSY41 5001 // Teensy 4.1 -#define BOARD_T41U5XBB 5002 // T41U5XBB Teensy 4.1 breakout board -#define BOARD_NUCLEO_F767ZI 5003 // ST NUCLEO-F767ZI Dev Board -#define BOARD_BTT_SKR_SE_BX 5004 // BigTreeTech SKR SE BX (STM32H743II) +#define BOARD_REMRAM_V1 6000 // RemRam v1 +#define BOARD_TEENSY41 6001 // Teensy 4.1 +#define BOARD_T41U5XBB 6002 // T41U5XBB Teensy 4.1 breakout board +#define BOARD_NUCLEO_F767ZI 6003 // ST NUCLEO-F767ZI Dev Board +#define BOARD_BTT_SKR_SE_BX_V2 6004 // BigTreeTech SKR SE BX V2.0 (STM32H743II) +#define BOARD_BTT_SKR_SE_BX_V3 6005 // BigTreeTech SKR SE BX V3.0 (STM32H743II) +#define BOARD_BTT_SKR_V3_0 6006 // BigTreeTech SKR V3.0 (STM32H743VI / STM32H723VG) +#define BOARD_BTT_SKR_V3_0_EZ 6007 // BigTreeTech SKR V3.0 EZ (STM32H743VI / STM32H723VG) +#define BOARD_BTT_OCTOPUS_MAX_EZ_V1_0 6008 // BigTreeTech Octopus Max EZ V1.0 (STM32H723ZE) +#define BOARD_BTT_OCTOPUS_PRO_V1_1 6009 // BigTreeTech Octopus Pro v1.1 (STM32H723ZE) // // Espressif ESP32 WiFi // -#define BOARD_ESPRESSIF_ESP32 6000 // Generic ESP32 -#define BOARD_MRR_ESPA 6001 // MRR ESPA based on ESP32 (native pins only) -#define BOARD_MRR_ESPE 6002 // MRR ESPE based on ESP32 (with I2S stepper stream) -#define BOARD_E4D_BOX 6003 // E4d@BOX -#define BOARD_RESP32_CUSTOM 6004 // Rutilea ESP32 custom board -#define BOARD_FYSETC_E4 6005 // FYSETC E4 -#define BOARD_PANDA_ZHU 6006 // Panda_ZHU -#define BOARD_PANDA_M4 6007 // Panda_M4 -#define BOARD_MKS_TINYBEE 6008 // MKS TinyBee based on ESP32 (with I2S stepper stream) +#define BOARD_ESPRESSIF_ESP32 7000 // Generic ESP32 +#define BOARD_MRR_ESPA 7001 // MRR ESPA based on ESP32 (native pins only) +#define BOARD_MRR_ESPE 7002 // MRR ESPE based on ESP32 (with I2S stepper stream) +#define BOARD_E4D_BOX 7003 // E4d@BOX +#define BOARD_RESP32_CUSTOM 7004 // Rutilea ESP32 custom board +#define BOARD_FYSETC_E4 7005 // FYSETC E4 +#define BOARD_PANDA_ZHU 7006 // Panda_ZHU +#define BOARD_PANDA_M4 7007 // Panda_M4 +#define BOARD_MKS_TINYBEE 7008 // MKS TinyBee based on ESP32 (with I2S stepper stream) +#define BOARD_ENWI_ESPNP 7009 // enwi ESPNP based on ESP32 (with I2S stepper stream) +#define BOARD_GODI_CONTROLLER_V1_0 7010 // Godi Controller based on ESP32 32-Bit V1.0 // -// SAMD51 ARM Cortex M4 +// SAMD51 ARM Cortex-M4 // -#define BOARD_AGCM4_RAMPS_144 6100 // RAMPS 1.4.4 -#define BOARD_BRICOLEMON_V1_0 6101 // Bricolemon -#define BOARD_BRICOLEMON_LITE_V1_0 6102 // Bricolemon Lite +#define BOARD_AGCM4_RAMPS_144 7100 // RAMPS 1.4.4 +#define BOARD_BRICOLEMON_V1_0 7101 // Bricolemon +#define BOARD_BRICOLEMON_LITE_V1_0 7102 // Bricolemon Lite + +// +// SAMD21 ARM Cortex-M4 +// + +#define BOARD_MINITRONICS20 7103 // Minitronics v2.0 // // Custom board @@ -462,7 +514,7 @@ // Simulations // -#define BOARD_LINUX_RAMPS 9999 +#define BOARD_SIMULATED 9999 #define _MB_1(B) (defined(BOARD_##B) && MOTHERBOARD==BOARD_##B) #define MB(V...) DO(MB,||,V) diff --git a/Marlin/src/core/debug_out.h b/Marlin/src/core/debug_out.h index eb1c91e507..92ee233e03 100644 --- a/Marlin/src/core/debug_out.h +++ b/Marlin/src/core/debug_out.h @@ -31,19 +31,11 @@ #undef DEBUG_ERROR_START #undef DEBUG_CHAR #undef DEBUG_ECHO -#undef DEBUG_DECIMAL -#undef DEBUG_ECHO_F #undef DEBUG_ECHOLN #undef DEBUG_ECHOPGM #undef DEBUG_ECHOLNPGM -#undef DEBUG_ECHOF -#undef DEBUG_ECHOLNF #undef DEBUG_ECHOPGM_P #undef DEBUG_ECHOLNPGM_P -#undef DEBUG_ECHOPAIR_F -#undef DEBUG_ECHOPAIR_F_P -#undef DEBUG_ECHOLNPAIR_F -#undef DEBUG_ECHOLNPAIR_F_P #undef DEBUG_ECHO_MSG #undef DEBUG_ERROR_MSG #undef DEBUG_EOL @@ -62,21 +54,13 @@ #define DEBUG_ERROR_START SERIAL_ERROR_START #define DEBUG_CHAR SERIAL_CHAR #define DEBUG_ECHO SERIAL_ECHO - #define DEBUG_DECIMAL SERIAL_DECIMAL - #define DEBUG_ECHO_F SERIAL_ECHO_F #define DEBUG_ECHOLN SERIAL_ECHOLN #define DEBUG_ECHOPGM SERIAL_ECHOPGM #define DEBUG_ECHOLNPGM SERIAL_ECHOLNPGM - #define DEBUG_ECHOF SERIAL_ECHOF - #define DEBUG_ECHOLNF SERIAL_ECHOLNF #define DEBUG_ECHOPGM SERIAL_ECHOPGM #define DEBUG_ECHOPGM_P SERIAL_ECHOPGM_P - #define DEBUG_ECHOPAIR_F SERIAL_ECHOPAIR_F - #define DEBUG_ECHOPAIR_F_P SERIAL_ECHOPAIR_F_P #define DEBUG_ECHOLNPGM SERIAL_ECHOLNPGM #define DEBUG_ECHOLNPGM_P SERIAL_ECHOLNPGM_P - #define DEBUG_ECHOLNPAIR_F SERIAL_ECHOLNPAIR_F - #define DEBUG_ECHOLNPAIR_F_P SERIAL_ECHOLNPAIR_F_P #define DEBUG_ECHO_MSG SERIAL_ECHO_MSG #define DEBUG_ERROR_MSG SERIAL_ERROR_MSG #define DEBUG_EOL SERIAL_EOL @@ -93,19 +77,11 @@ #define DEBUG_ERROR_START() NOOP #define DEBUG_CHAR(...) NOOP #define DEBUG_ECHO(...) NOOP - #define DEBUG_DECIMAL(...) NOOP - #define DEBUG_ECHO_F(...) NOOP #define DEBUG_ECHOLN(...) NOOP #define DEBUG_ECHOPGM(...) NOOP #define DEBUG_ECHOLNPGM(...) NOOP - #define DEBUG_ECHOF(...) NOOP - #define DEBUG_ECHOLNF(...) NOOP #define DEBUG_ECHOPGM_P(...) NOOP #define DEBUG_ECHOLNPGM_P(...) NOOP - #define DEBUG_ECHOPAIR_F(...) NOOP - #define DEBUG_ECHOPAIR_F_P(...) NOOP - #define DEBUG_ECHOLNPAIR_F(...) NOOP - #define DEBUG_ECHOLNPAIR_F_P(...) NOOP #define DEBUG_ECHO_MSG(...) NOOP #define DEBUG_ERROR_MSG(...) NOOP #define DEBUG_EOL() NOOP diff --git a/Marlin/src/core/debug_section.h b/Marlin/src/core/debug_section.h index 6e23d9e4ed..eb3d12fdf5 100644 --- a/Marlin/src/core/debug_section.h +++ b/Marlin/src/core/debug_section.h @@ -38,12 +38,9 @@ private: bool debug; void echo_msg(FSTR_P const fpre) { - SERIAL_ECHOF(fpre); - if (the_msg) { - SERIAL_CHAR(' '); - SERIAL_ECHOF(the_msg); - } + SERIAL_ECHO(fpre); + if (the_msg) SERIAL_ECHO(AS_CHAR(' '), the_msg); SERIAL_CHAR(' '); - print_pos(current_position); + print_xyz(xyz_pos_t(current_position)); } }; diff --git a/Marlin/src/core/drivers.h b/Marlin/src/core/drivers.h index 80262d513f..fce8a5a9b2 100644 --- a/Marlin/src/core/drivers.h +++ b/Marlin/src/core/drivers.h @@ -30,10 +30,6 @@ #define _A5984 0x5984 #define _DRV8825 0x8825 #define _LV8729 0x8729 -#define _L6470 0x6470 -#define _L6474 0x6474 -#define _L6480 0x6480 -#define _POWERSTEP01 0xF00D #define _TB6560 0x6560 #define _TB6600 0x6600 #define _TMC2100 0x2100 @@ -67,11 +63,11 @@ #define AXIS_DRIVER_TYPE_V(T) _AXIS_DRIVER_TYPE(V,T) #define AXIS_DRIVER_TYPE_W(T) _AXIS_DRIVER_TYPE(W,T) -#define AXIS_DRIVER_TYPE_X2(T) (EITHER(X_DUAL_STEPPER_DRIVERS, DUAL_X_CARRIAGE) && _AXIS_DRIVER_TYPE(X2,T)) -#define AXIS_DRIVER_TYPE_Y2(T) (ENABLED(Y_DUAL_STEPPER_DRIVERS) && _AXIS_DRIVER_TYPE(Y2,T)) -#define AXIS_DRIVER_TYPE_Z2(T) (NUM_Z_STEPPER_DRIVERS >= 2 && _AXIS_DRIVER_TYPE(Z2,T)) -#define AXIS_DRIVER_TYPE_Z3(T) (NUM_Z_STEPPER_DRIVERS >= 3 && _AXIS_DRIVER_TYPE(Z3,T)) -#define AXIS_DRIVER_TYPE_Z4(T) (NUM_Z_STEPPER_DRIVERS >= 4 && _AXIS_DRIVER_TYPE(Z4,T)) +#define AXIS_DRIVER_TYPE_X2(T) (HAS_X2_STEPPER && _AXIS_DRIVER_TYPE(X2,T)) +#define AXIS_DRIVER_TYPE_Y2(T) (HAS_Y2_STEPPER && _AXIS_DRIVER_TYPE(Y2,T)) +#define AXIS_DRIVER_TYPE_Z2(T) (NUM_Z_STEPPERS >= 2 && _AXIS_DRIVER_TYPE(Z2,T)) +#define AXIS_DRIVER_TYPE_Z3(T) (NUM_Z_STEPPERS >= 3 && _AXIS_DRIVER_TYPE(Z3,T)) +#define AXIS_DRIVER_TYPE_Z4(T) (NUM_Z_STEPPERS >= 4 && _AXIS_DRIVER_TYPE(Z4,T)) #define AXIS_DRIVER_TYPE_E(N,T) (E_STEPPERS > N && _AXIS_DRIVER_TYPE(E##N,T)) #define AXIS_DRIVER_TYPE_E0(T) AXIS_DRIVER_TYPE_E(0,T) @@ -129,6 +125,8 @@ || AXIS_DRIVER_TYPE(A,TMC2660) \ || AXIS_DRIVER_TYPE(A,TMC5130) || AXIS_DRIVER_TYPE(A,TMC5160) ) +#define AXIS_IS_TMC_CONFIG(A) ( AXIS_IS_TMC(A) || AXIS_DRIVER_TYPE(A,TMC26X) ) + // Test for a driver that uses SPI - this allows checking whether a _CS_ pin // is considered sensitive #define AXIS_HAS_SPI(A) ( AXIS_DRIVER_TYPE(A,TMC2130) || AXIS_DRIVER_TYPE(A,TMC2160) \ @@ -193,16 +191,3 @@ #if HAS_DRIVER(TMC26X) #define HAS_TMC26X 1 #endif - -// -// L64XX Stepper Drivers -// - -#if HAS_DRIVER(L6470) || HAS_DRIVER(L6474) || HAS_DRIVER(L6480) || HAS_DRIVER(POWERSTEP01) - #define HAS_L64XX 1 -#endif -#if HAS_L64XX && !HAS_DRIVER(L6474) - #define HAS_L64XX_NOT_L6474 1 -#endif - -#define AXIS_IS_L64XX(A) (AXIS_DRIVER_TYPE_##A(L6470) || AXIS_DRIVER_TYPE_##A(L6474) || AXIS_DRIVER_TYPE_##A(L6480) || AXIS_DRIVER_TYPE_##A(POWERSTEP01)) diff --git a/Marlin/src/core/endianness.h b/Marlin/src/core/endianness.h new file mode 100644 index 0000000000..8fa8e40078 --- /dev/null +++ b/Marlin/src/core/endianness.h @@ -0,0 +1,76 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2023 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../core/types.h" +#include "../core/macros.h" + +#ifdef __cplusplus + +namespace Endianness { + static constexpr uint32_t _dword = 0x01020304; + static constexpr uint8_t _lsb = (const uint8_t&)_dword; + + static constexpr bool cpuIsLittleEndian = _lsb == 0x04; + static constexpr bool cpuIsBigEndian = _lsb == 0x01; + static_assert(cpuIsLittleEndian ^ cpuIsBigEndian, "Unknown CPU endianness"); + + // constexpr byte swapping for integral types + template static constexpr typename Private::enable_if::value, T>::type swap(T V, T swappedV=(T)0, size_t byteIndex=0) { + return byteIndex == sizeof(T) + ? swappedV + : swap((T)(V >> 8), (swappedV << 8) | (V & (T)0xFF), byteIndex + 1); + } + + // constexpr byte swapping for types derived from integral types (e.g. enums) + template static constexpr typename Private::enable_if< + Private::is_same::type>::value, T>::type swap(T V) { return (T)swap((uint16_t)V); } + template static constexpr typename Private::enable_if< + Private::is_same::type>::value, T>::type swap(T V) { return (T)swap((uint32_t)V); } + template static constexpr typename Private::enable_if< + Private::is_same::type>::value, T>::type swap(T V) { return (T)swap((uint64_t)V); } + + // Generic byte swapping + // CANNOT be used to initialize constexpr declarations + template static constexpr typename Private::enable_if::value && !Private::is_enum::value, T>::type swap(T V) { + union { + T val; + char byte[sizeof(T)]; + } src{}, dst{}; + + src.val = V; + for (uint8_t i = 0; i < sizeof(T); ++i) dst.byte[i] = src.byte[sizeof(T) - i - 1]; + return dst.val; + } + + // Convert to / from known endianness, depending on the host endianness + template static constexpr T toBE(T V) { return cpuIsLittleEndian ? swap(V) : V; } + template static constexpr T toLE(T V) { return cpuIsLittleEndian ? V : swap(V); } + template static constexpr T fromBE(T V) { return cpuIsLittleEndian ? swap(V) : V; } + template static constexpr T fromLE(T V) { return cpuIsLittleEndian ? V : swap(V); } + + // Reads a big/little endian from a pointer and converts it to the host endianness + template static constexpr T fromBE_P(void* V) { return fromBE(*(T*)V); } + template static constexpr T fromLE_P(void* V) { return fromLE(*(T*)V); } +}; + +#endif // __cplusplus diff --git a/Marlin/src/core/language.h b/Marlin/src/core/language.h index 89c0babc25..649f05cf69 100644 --- a/Marlin/src/core/language.h +++ b/Marlin/src/core/language.h @@ -55,6 +55,7 @@ // eu Basque-Euskera // fi Finnish // fr French +// fr_na French without accents (DWIN T5UID1 touchscreen) // gl Galician // hr Croatian // hu Hungarian @@ -174,6 +175,7 @@ #define STR_SD_VOL_INIT_FAIL "volume.init failed" #define STR_SD_OPENROOT_FAIL "openRoot failed" #define STR_SD_CARD_OK "SD card ok" +#define STR_SD_CARD_RELEASED "SD card released" #define STR_SD_WORKDIR_FAIL "workDir open failed" #define STR_SD_OPEN_FILE_FAIL "open failed, File: " #define STR_SD_FILE_OPENED "File opened: " @@ -191,6 +193,7 @@ #define STR_ERR_LONG_EXTRUDE_STOP " too long extrusion prevented" #define STR_ERR_HOTEND_TOO_COLD "Hotend too cold" #define STR_ERR_EEPROM_WRITE "Error writing to EEPROM!" +#define STR_ERR_EEPROM_CORRUPT "EEPROM Corrupt" #define STR_FILAMENT_CHANGE_HEAT_LCD "Press button to heat nozzle" #define STR_FILAMENT_CHANGE_INSERT_LCD "Insert filament and press button" @@ -199,16 +202,20 @@ #define STR_FILAMENT_CHANGE_INSERT_M108 "Insert filament and send M108" #define STR_FILAMENT_CHANGE_WAIT_M108 "Send M108 to resume" -#define STR_STOP_BLTOUCH "!! STOP called because of BLTouch error - restart with M999" -#define STR_STOP_UNHOMED "!! STOP called because of unhomed error - restart with M999" -#define STR_KILL_INACTIVE_TIME "!! KILL caused by too much inactive time - current command: " -#define STR_KILL_BUTTON "!! KILL caused by KILL button/pin" +#define STR_STOP_PRE "!! STOP called because of " +#define STR_STOP_POST " error - restart with M999" +#define STR_STOP_BLTOUCH "BLTouch" +#define STR_STOP_UNHOMED "unhomed" +#define STR_KILL_PRE "!! KILL caused by " +#define STR_KILL_INACTIVE_TIME "too much inactive time - current command: " +#define STR_KILL_BUTTON "KILL button/pin" // temperature.cpp strings -#define STR_PID_AUTOTUNE_START "PID Autotune start" -#define STR_PID_BAD_HEATER_ID "PID Autotune failed! Bad heater id" -#define STR_PID_TEMP_TOO_HIGH "PID Autotune failed! Temperature too high" -#define STR_PID_TIMEOUT "PID Autotune failed! timeout" +#define STR_PID_AUTOTUNE "PID Autotune" +#define STR_PID_AUTOTUNE_START " start" +#define STR_PID_BAD_HEATER_ID " failed! Bad heater id" +#define STR_PID_TEMP_TOO_HIGH " failed! Temperature too high" +#define STR_PID_TIMEOUT " failed! timeout" #define STR_BIAS " bias: " #define STR_D_COLON " d: " #define STR_T_MIN " min: " @@ -219,25 +226,31 @@ #define STR_KP " Kp: " #define STR_KI " Ki: " #define STR_KD " Kd: " -#define STR_PID_AUTOTUNE_FINISHED "PID Autotune finished! Put the last Kp, Ki and Kd constants from below into Configuration.h" +#define STR_PID_AUTOTUNE_FINISHED " finished! Put the last Kp, Ki and Kd constants from below into Configuration.h" #define STR_PID_DEBUG " PID_DEBUG " #define STR_PID_DEBUG_INPUT ": Input " #define STR_PID_DEBUG_OUTPUT " Output " -#define STR_PID_DEBUG_PTERM " pTerm " -#define STR_PID_DEBUG_ITERM " iTerm " -#define STR_PID_DEBUG_DTERM " dTerm " -#define STR_PID_DEBUG_CTERM " cTerm " #define STR_INVALID_EXTRUDER_NUM " - Invalid extruder number !" +#define STR_MPC_AUTOTUNE_START "MPC Autotune start for " STR_E +#define STR_MPC_AUTOTUNE_INTERRUPTED "MPC Autotune interrupted!" +#define STR_MPC_AUTOTUNE_FINISHED "MPC Autotune finished! Put the constants below into Configuration.h" +#define STR_MPC_COOLING_TO_AMBIENT "Cooling to ambient" +#define STR_MPC_HEATING_PAST_200 "Heating to over 200C" +#define STR_MPC_MEASURING_AMBIENT "Measuring ambient heatloss at " +#define STR_MPC_TEMPERATURE_ERROR "Temperature error" #define STR_HEATER_BED "bed" #define STR_HEATER_CHAMBER "chamber" #define STR_COOLER "cooler" #define STR_MOTHERBOARD "motherboard" +#define STR_SOC "soc" #define STR_PROBE "probe" #define STR_REDUNDANT "redundant " #define STR_LASER_TEMP "laser temperature" #define STR_STOPPED_HEATER ", system stopped! Heater_ID: " +#define STR_DETECTED_TEMP_B " (temp: " +#define STR_DETECTED_TEMP_E ")" #define STR_REDUNDANCY "Heater switched off. Temperature difference between temp sensors is too high !" #define STR_T_HEATING_FAILED "Heating failed" #define STR_T_THERMAL_RUNAWAY "Thermal Runaway" @@ -267,9 +280,11 @@ // Settings Report Strings #define STR_Z_AUTO_ALIGN "Z Auto-Align" #define STR_BACKLASH_COMPENSATION "Backlash compensation" +#define STR_FT_MOTION "Fixed-Time Motion" #define STR_S_SEG_PER_SEC "S" #define STR_DELTA_SETTINGS "Delta (L R H S XYZ ABC)" #define STR_SCARA_SETTINGS "SCARA" +#define STR_POLAR_SETTINGS "Polar" #define STR_POLARGRAPH_SETTINGS "Polargraph" #define STR_SCARA_P_T_Z "P T Z" #define STR_ENDSTOP_ADJUSTMENT "Endstop adjustment" @@ -303,6 +318,7 @@ #define STR_MATERIAL_HEATUP "Material heatup parameters" #define STR_LCD_CONTRAST "LCD Contrast" #define STR_LCD_BRIGHTNESS "LCD Brightness" +#define STR_DISPLAY_SLEEP "Display Sleep" #define STR_UI_LANGUAGE "UI Language" #define STR_Z_PROBE_OFFSET "Z-Probe Offset" #define STR_TEMPERATURE_UNITS "Temperature Units" @@ -312,10 +328,12 @@ // // Endstop Names used by Endstops::report_states // -#define STR_X_MIN "x_min" -#define STR_X_MAX "x_max" -#define STR_X2_MIN "x2_min" -#define STR_X2_MAX "x2_max" +#if HAS_X_AXIS + #define STR_X_MIN "x_min" + #define STR_X_MAX "x_max" + #define STR_X2_MIN "x2_min" + #define STR_X2_MAX "x2_max" +#endif #if HAS_Y_AXIS #define STR_Y_MIN "y_min" @@ -492,7 +510,7 @@ #define STR_W "" #endif -#if EITHER(HAS_MARLINUI_HD44780, IS_TFTGLCD_PANEL) +#if ANY(HAS_MARLINUI_HD44780, IS_TFTGLCD_PANEL) // Custom characters defined in the first 8 characters of the LCD #define LCD_STR_BEDTEMP "\x00" // Print only as a char. This will have 'unexpected' results when used in a string! diff --git a/Marlin/src/core/macros.h b/Marlin/src/core/macros.h index 629486d85f..bb2bea2e30 100644 --- a/Marlin/src/core/macros.h +++ b/Marlin/src/core/macros.h @@ -21,7 +21,7 @@ */ #pragma once -#if !defined(__has_include) +#ifndef __has_include #define __has_include(...) 1 #endif @@ -33,60 +33,15 @@ #define _AXIS(A) (A##_AXIS) -#define _XSTOP_ 0x01 -#define _YSTOP_ 0x02 -#define _ZSTOP_ 0x03 -#define _ISTOP_ 0x04 -#define _JSTOP_ 0x05 -#define _KSTOP_ 0x06 -#define _USTOP_ 0x07 -#define _VSTOP_ 0x08 -#define _WSTOP_ 0x09 -#define _XMIN_ 0x11 -#define _YMIN_ 0x12 -#define _ZMIN_ 0x13 -#define _IMIN_ 0x14 -#define _JMIN_ 0x15 -#define _KMIN_ 0x16 -#define _UMIN_ 0x17 -#define _VMIN_ 0x18 -#define _WMIN_ 0x19 -#define _XMAX_ 0x21 -#define _YMAX_ 0x22 -#define _ZMAX_ 0x23 -#define _IMAX_ 0x24 -#define _JMAX_ 0x25 -#define _KMAX_ 0x26 -#define _UMAX_ 0x27 -#define _VMAX_ 0x28 -#define _WMAX_ 0x29 -#define _XDIAG_ 0x31 -#define _YDIAG_ 0x32 -#define _ZDIAG_ 0x33 -#define _IDIAG_ 0x34 -#define _JDIAG_ 0x35 -#define _KDIAG_ 0x36 -#define _UDIAG_ 0x37 -#define _VDIAG_ 0x38 -#define _WDIAG_ 0x39 -#define _E0DIAG_ 0xE0 -#define _E1DIAG_ 0xE1 -#define _E2DIAG_ 0xE2 -#define _E3DIAG_ 0xE3 -#define _E4DIAG_ 0xE4 -#define _E5DIAG_ 0xE5 -#define _E6DIAG_ 0xE6 -#define _E7DIAG_ 0xE7 - #define _FORCE_INLINE_ __attribute__((__always_inline__)) __inline__ #define FORCE_INLINE __attribute__((always_inline)) inline #define NO_INLINE __attribute__((noinline)) #define _UNUSED __attribute__((unused)) -#define _O0 __attribute__((optimize("O0"))) -#define _Os __attribute__((optimize("Os"))) -#define _O1 __attribute__((optimize("O1"))) -#define _O2 __attribute__((optimize("O2"))) -#define _O3 __attribute__((optimize("O3"))) +#define __O0 __attribute__((optimize("O0"))) +#define __Os __attribute__((optimize("Os"))) +#define __O1 __attribute__((optimize("O1"))) +#define __O2 __attribute__((optimize("O2"))) +#define __O3 __attribute__((optimize("O3"))) #define IS_CONSTEXPR(...) __builtin_constant_p(__VA_ARGS__) // Only valid solution with C++14. Should use std::is_constant_evaluated() in C++20 instead @@ -237,7 +192,11 @@ #define _DIS_1(O) NOT(_ENA_1(O)) #define ENABLED(V...) DO(ENA,&&,V) #define DISABLED(V...) DO(DIS,&&,V) +#define ANY(V...) !DISABLED(V) +#define ALL ENABLED +#define NONE DISABLED #define COUNT_ENABLED(V...) DO(ENA,+,V) +#define MANY(V...) (COUNT_ENABLED(V) > 1) #define TERN(O,A,B) _TERN(_ENA_1(O),B,A) // OPTION ? 'A' : 'B' #define TERN0(O,A) _TERN(_ENA_1(O),0,A) // OPTION ? 'A' : '0' @@ -261,16 +220,8 @@ #define SUM_TERN(O,B,A) ((B) PLUS_TERN0(O,A)) // ((B) (OPTION ? '+ (A)' : '')) #define DIFF_TERN(O,B,A) ((B) MINUS_TERN0(O,A)) // ((B) (OPTION ? '- (A)' : '')) -#define IF_ENABLED TERN_ #define IF_DISABLED(O,A) TERN(O,,A) -#define ANY(V...) !DISABLED(V) -#define NONE(V...) DISABLED(V) -#define ALL(V...) ENABLED(V) -#define BOTH(V1,V2) ALL(V1,V2) -#define EITHER(V1,V2) ANY(V1,V2) -#define MANY(V...) (COUNT_ENABLED(V) > 1) - // Macros to support pins/buttons exist testing #define PIN_EXISTS(PN) (defined(PN##_PIN) && PN##_PIN >= 0) #define _PINEX_1 PIN_EXISTS @@ -290,7 +241,7 @@ #define NUMERIC_SIGNED(a) (NUMERIC(a) || (a) == '-' || (a) == '+') #define DECIMAL_SIGNED(a) (DECIMAL(a) || (a) == '-' || (a) == '+') #define COUNT(a) (sizeof(a)/sizeof(*a)) -#define ZERO(a) memset(a,0,sizeof(a)) +#define ZERO(a) memset((void*)a,0,sizeof(a)) #define COPY(a,b) do{ \ static_assert(sizeof(a[0]) == sizeof(b[0]), "COPY: '" STRINGIFY(a) "' and '" STRINGIFY(b) "' types (sizes) don't match!"); \ memcpy(&a[0],&b[0],_MIN(sizeof(a),sizeof(b))); \ @@ -338,6 +289,12 @@ #define GANG_N_1(N,K) _GANG_N(N,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K) // Macros for initializing arrays +#define LIST_26(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z +#define LIST_25(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y +#define LIST_24(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X +#define LIST_23(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W +#define LIST_22(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V +#define LIST_21(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U #define LIST_20(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T #define LIST_19(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S #define LIST_18(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R @@ -369,11 +326,6 @@ #define _JOIN_1(O) (O) #define JOIN_N(N,C,V...) (DO(JOIN,C,LIST_N(N,V))) -#define LOOP_S_LE_N(VAR, S, N) for (uint8_t VAR=(S); VAR<=(N); VAR++) -#define LOOP_S_L_N(VAR, S, N) for (uint8_t VAR=(S); VAR<(N); VAR++) -#define LOOP_LE_N(VAR, N) LOOP_S_LE_N(VAR, 0, N) -#define LOOP_L_N(VAR, N) LOOP_S_L_N(VAR, 0, N) - #define NOOP (void(0)) #define CEILING(x,y) (((x) + (y) - 1) / (y)) @@ -423,6 +375,8 @@ extern "C++" { // C++11 solution that is standards compliant. Return type is deduced automatically + template static constexpr N _MIN(const N val) { return val; } + template static constexpr N _MAX(const N val) { return val; } template static constexpr auto _MIN(const L lhs, const R rhs) -> decltype(lhs + rhs) { return lhs < rhs ? lhs : rhs; } @@ -442,9 +396,9 @@ FORCE_INLINE constexpr T operator|(T x, T y) { return static_cast(static_cast(x) | static_cast(y)); } \ FORCE_INLINE constexpr T operator^(T x, T y) { return static_cast(static_cast(x) ^ static_cast(y)); } \ FORCE_INLINE constexpr T operator~(T x) { return static_cast(~static_cast(x)); } \ - FORCE_INLINE T & operator&=(T &x, T y) { return x &= y; } \ - FORCE_INLINE T & operator|=(T &x, T y) { return x |= y; } \ - FORCE_INLINE T & operator^=(T &x, T y) { return x ^= y; } + FORCE_INLINE T & operator&=(T &x, T y) { x = x & y; return x; } \ + FORCE_INLINE T & operator|=(T &x, T y) { x = x | y; return x; } \ + FORCE_INLINE T & operator^=(T &x, T y) { x = x ^ y; return x; } // C++11 solution that is standard compliant. is not available on all platform namespace Private { @@ -456,7 +410,41 @@ template struct first_type_of { typedef T type; }; template struct first_type_of { typedef T type; }; + + // remove const/volatile type qualifiers + template struct remove_const { typedef T type; }; + template struct remove_const { typedef T type; }; + + template struct remove_volatile { typedef T type; }; + template struct remove_volatile { typedef T type; }; + + template struct remove_cv { typedef typename remove_const::type>::type type; }; + + // test if type is integral + template struct _is_integral { enum { value = false }; }; + template<> struct _is_integral { enum { value = true }; }; + template<> struct _is_integral { enum { value = true }; }; + template<> struct _is_integral { enum { value = true }; }; + template<> struct _is_integral { enum { value = true }; }; + template<> struct _is_integral { enum { value = true }; }; + template<> struct _is_integral { enum { value = true }; }; + template<> struct _is_integral { enum { value = true }; }; + template<> struct _is_integral { enum { value = true }; }; + template<> struct _is_integral { enum { value = true }; }; + template<> struct _is_integral { enum { value = true }; }; + template struct is_integral : public _is_integral::type> {}; } + + // enum type check and regression to its underlying integral. + namespace Private { + template struct is_enum { enum { value = __is_enum(T) }; }; + + template::value> struct _underlying_type { using type = __underlying_type(T); }; + template struct _underlying_type { }; + + template struct underlying_type : public _underlying_type { }; + } + // C++11 solution using SFINAE to detect the existence of a member in a class at compile time. // It creates a HasMember structure containing 'value' set to true if the member exists #define HAS_MEMBER_IMPL(Member) \ @@ -628,7 +616,9 @@ #define DEFER4(M) M EMPTY EMPTY EMPTY EMPTY()()()() // Force define expansion -#define EVAL(V...) EVAL16(V) +#define EVAL EVAL16 +#define EVAL4096(V...) EVAL2048(EVAL2048(V)) +#define EVAL2048(V...) EVAL1024(EVAL1024(V)) #define EVAL1024(V...) EVAL512(EVAL512(V)) #define EVAL512(V...) EVAL256(EVAL256(V)) #define EVAL256(V...) EVAL128(EVAL128(V)) @@ -644,8 +634,8 @@ #define IS_PROBE(V...) SECOND(V, 0) // Get the second item passed, or 0 #define PROBE() ~, 1 // Second item will be 1 if this is passed #define _NOT_0 PROBE() -#define NOT(x) IS_PROBE(_CAT(_NOT_, x)) // NOT('0') gets '1'. Anything else gets '0'. -#define _BOOL(x) NOT(NOT(x)) // NOT('0') gets '0'. Anything else gets '1'. +#define NOT(x) IS_PROBE(_CAT(_NOT_, x)) // NOT('0') gets '1'. Anything else gets '0'. +#define _BOOL(x) NOT(NOT(x)) // _BOOL('0') gets '0'. Anything else gets '1'. #define IF_ELSE(TF) _IF_ELSE(_BOOL(TF)) #define _IF_ELSE(TF) _CAT(_IF_, TF) @@ -659,7 +649,6 @@ #define HAS_ARGS(V...) _BOOL(FIRST(_END_OF_ARGUMENTS_ V)()) #define _END_OF_ARGUMENTS_() 0 - // Simple Inline IF Macros, friendly to use in other macro definitions #define IF(O, A, B) ((O) ? (A) : (B)) #define IF_0(O, A) IF(O, A, 0) @@ -707,18 +696,58 @@ ( DEFER2(__RREPEAT2)()(ADD1(_RPT_I),SUB1(_RPT_N),_RPT_OP,V) ) \ ( /* Do nothing */ ) #define __RREPEAT2() _RREPEAT2 -#define RREPEAT_S(S,N,OP) EVAL1024(_RREPEAT(S,SUB##S(N),OP)) -#define RREPEAT(N,OP) RREPEAT_S(0,N,OP) -#define RREPEAT2_S(S,N,OP,V...) EVAL1024(_RREPEAT2(S,SUB##S(N),OP,V)) -#define RREPEAT2(N,OP,V...) RREPEAT2_S(0,N,OP,V) +#define RREPEAT_S(S,N,OP) EVAL1024(_RREPEAT(S,SUB##S(N),OP)) +#define RREPEAT(N,OP) RREPEAT_S(0,N,OP) +#define RREPEAT_1(N,OP) RREPEAT_S(1,INCREMENT(N),OP) +#define RREPEAT2_S(S,N,OP,V...) EVAL1024(_RREPEAT2(S,SUB##S(N),OP,V)) +#define RREPEAT2(N,OP,V...) RREPEAT2_S(0,N,OP,V) -// See https://github.com/swansontec/map-macro -#define MAP_OUT -#define MAP_END(...) -#define MAP_GET_END() 0, MAP_END -#define MAP_NEXT0(test, next, ...) next MAP_OUT -#define MAP_NEXT1(test, next) MAP_NEXT0 (test, next, 0) -#define MAP_NEXT(test, next) MAP_NEXT1 (MAP_GET_END test, next) -#define MAP0(f, x, peek, ...) f(x) MAP_NEXT (peek, MAP1) (f, peek, __VA_ARGS__) -#define MAP1(f, x, peek, ...) f(x) MAP_NEXT (peek, MAP0) (f, peek, __VA_ARGS__) -#define MAP(f, ...) EVAL512 (MAP1 (f, __VA_ARGS__, (), 0)) +// Emit a list of N OP(I) items with ascending counter. +#define _REPLIST(_RPT_I,_RPT_N,_RPT_OP) \ + _RPT_OP(_RPT_I) \ + IF_ELSE(SUB1(_RPT_N)) \ + ( , DEFER2(__REPLIST)()(ADD1(_RPT_I),SUB1(_RPT_N),_RPT_OP) ) \ + ( /* Do nothing */ ) +#define __REPLIST() _REPLIST + +// Repeat a macro, comma-separated, passing S...N-1. +#define REPLIST_S(S,N,OP) EVAL(_REPLIST(S,SUB##S(N),OP)) +#define REPLIST(N,OP) REPLIST_S(0,N,OP) +#define REPLIST_1(N,OP) REPLIST_S(1,INCREMENT(N),OP) + +// Call OP(A) with each item as an argument +#define _MAP(_MAP_OP,A,V...) \ + _MAP_OP(A) \ + IF_ELSE(HAS_ARGS(V)) \ + ( DEFER2(__MAP)()(_MAP_OP,V) ) \ + ( /* Do nothing */ ) +#define __MAP() _MAP + +#define MAP(OP,V...) EVAL(_MAP(OP,V)) + +// Emit a list of OP(A) with the given items +#define _MAPLIST(_MAP_OP,A,V...) \ + _MAP_OP(A) \ + IF_ELSE(HAS_ARGS(V)) \ + ( , DEFER2(__MAPLIST)()(_MAP_OP,V) ) \ + ( /* Do nothing */ ) +#define __MAPLIST() _MAPLIST + +#define MAPLIST(OP,V...) EVAL(_MAPLIST(OP,V)) + +// Temperature Sensor Config +#define TEMP_SENSOR(N) TEMP_SENSOR_##N +#define _HAS_E_TEMP(N) || TEMP_SENSOR(N) +#define HAS_E_TEMP_SENSOR (0 REPEAT(EXTRUDERS, _HAS_E_TEMP)) +#define TEMP_SENSOR_IS_MAX_TC(T) (TEMP_SENSOR(T) == -5 || TEMP_SENSOR(T) == -3 || TEMP_SENSOR(T) == -2) + +#define _UI_NONE 0 +#define _UI_ORIGIN 101 +#define _UI_FYSETC 102 +#define _UI_HIPRECY 103 +#define _UI_MKS 104 +#define _UI_RELOADED 105 +#define _UI_IA_CREALITY 106 +#define _UI_E3S1PRO 107 +#define _DGUS_UI_IS(N) || (CAT(_UI_, DGUS_LCD_UI) == CAT(_UI_, N)) +#define DGUS_UI_IS(V...) (0 MAP(_DGUS_UI_IS, V)) diff --git a/Marlin/src/core/millis_t.h b/Marlin/src/core/millis_t.h index 95bc40e1ec..e7032a2e55 100644 --- a/Marlin/src/core/millis_t.h +++ b/Marlin/src/core/millis_t.h @@ -28,6 +28,7 @@ typedef uint32_t millis_t; #define SEC_TO_MS(N) millis_t((N)*1000UL) #define MIN_TO_MS(N) SEC_TO_MS((N)*60UL) #define MS_TO_SEC(N) millis_t((N)/1000UL) +#define MS_TO_SEC_PRECISE(N) (float(N)/1000.0f) #define PENDING(NOW,SOON) ((int32_t)(NOW-(SOON))<0) #define ELAPSED(NOW,SOON) (!PENDING(NOW,SOON)) diff --git a/Marlin/src/core/mstring.h b/Marlin/src/core/mstring.h new file mode 100644 index 0000000000..9606fa22af --- /dev/null +++ b/Marlin/src/core/mstring.h @@ -0,0 +1,325 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * Lightweight string class template providing operators for all common tasks + * and conversion from F() and PSTR() strings into SRAM strings that reside + * on the stack or persistently, with overflow prevention. + * + * Examples: + * + * MString<50> mystr(F("Hello "), intvar, " World"); // "Hello 3 World" + * + * mystr.append(" (", p_float_t(123.4, 2), ')'); // "Hello 3 World (123.40)" + * + * mystr.clear(); + * + * mystr.append(spaces_t(10), repchr_t('-', 5)); // Repeats are sometimes cheaper than strings + * + * mystr.appendf(F(" ... %i/%i"), count, total); // Works like printf, requires F string + * + */ + +#include "types.h" +#include "utility.h" // AXIS_CHAR +#include "../lcd/utf8.h" + +#ifndef DEFAULT_MSTRING_SIZE + #define DEFAULT_MSTRING_SIZE 20 +#endif + +//#define UNSAFE_MSTRING // Don't initialize the string and don't terminate strncpy +//#define USE_SPRINTF // Use sprintf instead of snprintf +//#define DJB2_HASH // 32-bit hash with Djb2 algorithm +//#define MSTRING_DEBUG // Debug string operations to diagnose memory leaks +//#define FASTER_APPEND // Append without using an intermediate buffer + +// Declare externs for serial debug output +template extern void SERIAL_ECHO(T x); +template extern void SERIAL_ECHOLN(T x); +extern void SERIAL_ECHO(serial_char_t x); +extern void SERIAL_CHAR(char c); + +#define START_OF_UTF8_CHAR(C) (((C) & 0xC0u) != 0x80U) + +#if ENABLED(USE_SPRINTF) + #define SNPRINTF(A, S, V...) sprintf(A, V) + #define SNPRINTF_P(A, S, V...) sprintf_P(A, V) +#else + #define SNPRINTF(V...) snprintf(V) + #define SNPRINTF_P(V...) snprintf_P(V) +#endif + +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wdeprecated-declarations" + +#if DISABLED(UNSAFE_MSTRING) && GCC_VERSION >= 80000 + #pragma GCC diagnostic ignored "-Wstringop-truncation" +#endif + +/** + * @brief MString class template + * @details A class template providing convenient string operators, + * very similar to the Arduino String class, as it turns out. + * + * @tparam SIZE The pre-allocated storage for the string buffer + */ +template +class MString { +protected: + char str[SIZE+1]; +public: + MString() { safety(0); safety(SIZE); } + + template + MString(const T v) { set(v); safety(SIZE); } + + static_assert(SIZE > 0, "Bad SIZE for MString!"); + + void debug(FSTR_P const f) { + #if ENABLED(MSTRING_DEBUG) + SERIAL_ECHO(FTOP(f)); + SERIAL_CHAR(':'); + SERIAL_ECHO(uintptr_t(str)); + SERIAL_CHAR(' '); + SERIAL_ECHO(length()); + SERIAL_CHAR(' '); + SERIAL_ECHOLN(str); + #endif + } + + void safety(const int n) { if (SAFE && n <= SIZE) str[n] = '\0'; } + + // Chainable String Setters + MString& set() { str[0] = '\0'; debug(F("clear")); return *this; } + MString& set(char *s) { strncpy(str, s, SIZE); debug(F("string")); return *this; } + MString& set(const char *s) { return set(const_cast(s)); } + MString& set_P(PGM_P const s) { strncpy_P(str, s, SIZE); debug(F("pstring")); return *this; } + MString& set(FSTR_P const f) { return set_P(FTOP(f)); } + MString& set(const bool &b) { return set(b ? F("true") : F("false")); } + MString& set(const char c) { str[0] = c; if (1 < SIZE) str[1] = '\0'; debug(F("char")); return *this; } + MString& set(const int8_t &i) { SNPRINTF_P(str, SIZE, PSTR("%d"), i); debug(F("int8_t")); return *this; } + MString& set(const short &i) { SNPRINTF_P(str, SIZE, PSTR("%d"), i); debug(F("short")); return *this; } + MString& set(const int &i) { SNPRINTF_P(str, SIZE, PSTR("%d"), i); debug(F("int")); return *this; } + MString& set(const long &l) { SNPRINTF_P(str, SIZE, PSTR("%ld"), l); debug(F("long")); return *this; } + MString& set(const unsigned char &i) { SNPRINTF_P(str, SIZE, PSTR("%u"), i); debug(F("uchar")); return *this; } + MString& set(const unsigned short &i) { SNPRINTF_P(str, SIZE, PSTR("%u"), i); debug(F("ushort")); return *this; } + MString& set(const unsigned int &i) { SNPRINTF_P(str, SIZE, PSTR("%u"), i); debug(F("uint")); return *this; } + MString& set(const unsigned long &l) { SNPRINTF_P(str, SIZE, PSTR("%lu"), l); debug(F("ulong")); return *this; } + MString& set(const float &f) { return set(p_float_t(f, SERIAL_FLOAT_PRECISION)); } + MString& set(const p_float_t &pf) { return set(w_float_t(pf.value, 1, pf.prec)); } + MString& set(const w_float_t &wf) { char f1[20]; return set(dtostrf(wf.value, wf.width, wf.prec, f1)); } + MString& set(const serial_char_t &v) { return set(char(v.c)); } + MString& set(const xyz_pos_t &v) { set(); return append(v); } + MString& set(const xyze_pos_t &v) { set(); return append(v); } + + template + MString& set(const MString &m) { strncpy(str, &m, SIZE); debug(F("MString")); return *this; } + + MString& setn(char *s, int len) { int c = _MIN(len, SIZE); strncpy(str, s, c); str[c] = '\0'; debug(F("string")); return *this; } + MString& setn(const char *s, int len) { return setn(const_cast(s), len); } + MString& setn_P(PGM_P const s, int len) { int c = _MIN(len, SIZE); strncpy_P(str, s, c); str[c] = '\0'; debug(F("pstring")); return *this; } + MString& setn(FSTR_P const f, int len) { return setn_P(FTOP(f), len); } + + // set(repchr_t('-', 10)) + MString& set(const repchr_t &s) { int c = _MIN(s.count, SIZE); memset(str, s.asc, c); str[c] = '\0'; debug(F("")); return *this; } + + // set(spaces_t(10)) + MString& set(const spaces_t &s) { repchr_t r(' ', s.count); return set(r); } + + // Set with format string and arguments, like printf + template + MString& setf_P(PGM_P const fmt, Args... more) { SNPRINTF_P(str, SIZE, fmt, more...); debug(F("setf_P")); return *this; } + + template + MString& setf(const char *fmt, Args... more) { SNPRINTF(str, SIZE, fmt, more...); debug(F("setf")); return *this; } + + template + MString& setf(FSTR_P const fmt, Args... more) { return setf_P(FTOP(fmt), more...); } + + // Chainable String appenders + MString& append() { debug(F("nil")); return *this; } // for macros that might emit no output + MString& append(char *s) { int sz = length(); if (sz < SIZE) strncpy(str + sz, s, SIZE - sz); debug(F("string")); return *this; } + MString& append(const char *s) { return append(const_cast(s)); } + MString& append_P(PGM_P const s) { int sz = length(); if (sz < SIZE) strncpy_P(str + sz, s, SIZE - sz); debug(F("pstring")); return *this; } + MString& append(FSTR_P const f) { return append_P(FTOP(f)); } + MString& append(const bool &b) { return append(b ? F("true") : F("false")); } + MString& append(const char c) { int sz = length(); if (sz < SIZE) { str[sz] = c; if (sz < SIZE - 1) str[sz + 1] = '\0'; } return *this; } + #if ENABLED(FASTER_APPEND) + MString& append(const int8_t &i) { int sz = length(); SNPRINTF(&str[sz], SIZE - sz, "%d", i); return *this; } + MString& append(const short &i) { int sz = length(); SNPRINTF(&str[sz], SIZE - sz, "%d", i); return *this; } + MString& append(const int &i) { int sz = length(); SNPRINTF(&str[sz], SIZE - sz, "%d", i); return *this; } + MString& append(const long &l) { int sz = length(); SNPRINTF(&str[sz], SIZE - sz, "%ld", l); return *this; } + MString& append(const unsigned char &i) { int sz = length(); SNPRINTF(&str[sz], SIZE - sz, "%u", i); return *this; } + MString& append(const unsigned short &i) { int sz = length(); SNPRINTF(&str[sz], SIZE - sz, "%u", i); return *this; } + MString& append(const unsigned int &i) { int sz = length(); SNPRINTF(&str[sz], SIZE - sz, "%u", i); return *this; } + MString& append(const unsigned long &l) { int sz = length(); SNPRINTF(&str[sz], SIZE - sz, "%lu", l); return *this; } + #else + MString& append(const int8_t &i) { char buf[ 5]; sprintf(buf, "%d", i); return append(buf); } + MString& append(const short &i) { char buf[12]; sprintf(buf, "%d", i); return append(buf); } + MString& append(const int &i) { char buf[12]; sprintf(buf, "%d", i); return append(buf); } + MString& append(const long &l) { char buf[12]; sprintf(buf, "%ld", l); return append(buf); } + MString& append(const unsigned char &i) { char buf[ 5]; sprintf(buf, "%u", i); return append(buf); } + MString& append(const unsigned short &i) { char buf[11]; sprintf(buf, "%u", i); return append(buf); } + MString& append(const unsigned int &i) { char buf[11]; sprintf(buf, "%u", i); return append(buf); } + MString& append(const unsigned long &l) { char buf[11]; sprintf(buf, "%lu", l); return append(buf); } + #endif + MString& append(const float &f) { return append(p_float_t(f, SERIAL_FLOAT_PRECISION)); } + MString& append(const p_float_t &pf) { return append(w_float_t(pf.value, 1, pf.prec)); } + MString& append(const w_float_t &wf) { char f1[20]; return append(dtostrf(wf.value, wf.width, wf.prec, f1)); } + MString& append(const serial_char_t &v) { return append(char(v.c)); } + MString& append(const xyz_pos_t &v) { LOOP_NUM_AXES(i) { if (i) append(' '); append(AXIS_CHAR(i), v[i]); } debug(F("xyz")); return *this; } + MString& append(const xyze_pos_t &v) { LOOP_LOGICAL_AXES(i) { if (i) append(' '); append(AXIS_CHAR(i), v[i]); } debug(F("xyze")); return *this; } + + template + MString& append(const MString &m) { return append(&m); } + + // Append only if the given space is available + MString& appendn(char *s, int len) { int sz = length(), c = _MIN(len, SIZE - sz); if (c > 0) { strncpy(str + sz, s, c); str[sz + c] = '\0'; } debug(F("string")); return *this; } + MString& appendn(const char *s, int len) { return appendn(const_cast(s), len); } + MString& appendn_P(PGM_P const s, int len) { int sz = length(), c = _MIN(len, SIZE - sz); if (c > 0) { strncpy_P(str + sz, s, c); str[sz + c] = '\0'; } debug(F("pstring")); return *this; } + MString& appendn(FSTR_P const f, int len) { return appendn_P(FTOP(f), len); } + + // append(repchr_t('-', 10)) + MString& append(const repchr_t &s) { + const int sz = length(), c = _MIN(s.count, SIZE - sz); + if (c > 0) { memset(str + sz, s.asc, c); safety(sz + c); } + debug(F("repchr")); + return *this; + } + + // append(spaces_t(10)) + MString& append(const spaces_t &s) { return append(repchr_t(' ', s.count)); } + + template + MString& appendf_P(PGM_P const fmt, Args... more) { + int sz = length(); + if (sz < SIZE) SNPRINTF_P(str + sz, SIZE - sz, fmt, more...); + debug(F("appendf_P")); + return *this; + } + + template + MString& appendf(const char *fmt, Args... more) { + const int sz = length(); + if (sz < SIZE) SNPRINTF(str + sz, SIZE - sz, fmt, more...); + debug(F("appendf")); + return *this; + } + + template + MString& appendf(FSTR_P const fmt, Args... more) { return appendf_P(FTOP(fmt), more...); } + + // Instantiate with a list of things + template + MString(T arg1, Args... more) { set(arg1); append(more...); } + + // Catch unhandled types to prevent infinite recursion + template MString& append(T) { return append(TERN(MSTRING_DEBUG, typeid(T).name(), '?')); } + + // Take a list of any number of arguments and append them to the string + template + MString& append(T arg1, Args... more) { return append(arg1).append(more...); } + + // Take a list of any number of arguments and set them in the string + template + MString& set(T arg1, Args... more) { return set(arg1).append(more...); } + + // Operator = as shorthand for set() + template + MString& operator=(const T &v) { return set(v); } + + // Operator += as shorthand for append() + template + MString& operator+=(const T &v) { return append(v); } + + // Operator + as shorthand for append-to-copy + template + MString operator+(const T &v) { return MString(str, v); } + + #ifndef __AVR__ + MString(const double d) { set(d); } + MString& set(const double &f) { return set(p_double_t(f, SERIAL_FLOAT_PRECISION)); } + MString& set(const p_double_t &pf) { return set(w_double_t(pf.value, 1, pf.prec)); } + MString& set(const w_double_t &wf) { char d1[20]; return set(dtostrf(wf.value, wf.width, wf.prec, d1)); } + MString& append(const double &f) { return append(p_double_t(f, SERIAL_FLOAT_PRECISION)); } + MString& append(const p_double_t &pf) { return append(w_double_t(pf.value, 1, pf.prec)); } + MString& append(const w_double_t &wf) { char d1[20]; return append(dtostrf(wf.value, wf.width, wf.prec, d1)); } + #endif + + // Get the character at a given index + char operator[](const int i) const { return str[i]; } + + // Cast to char* (explicit?) + operator char* () { return str; } + + // Use &mystring as shorthand for mystring.str + char* operator&() { return str; } + + // Return the buffer address (same as &) + char* buffer() { return str; } + + int length() const { return strlen(str); } + int glyphs() { return utf8_strlen(str); } + bool empty() { return !str[0]; } + + // Quick hash to detect change (e.g., to avoid expensive drawing) + typedef IF::type hash_t; + hash_t hash() const { + #if ENABLED(DJB2_HASH) + hash_t hval = 5381; + char c; + while ((c = *str++)) hval += (hval << 5) + c; // = hval * 33 + c + #else + const int sz = length(); + hash_t hval = hash_t(sz); + for (int i = 0; i < sz; i++) hval = ((hval << 1) | (hval >> 15)) ^ str[i]; // ROL, XOR + #endif + return hval; + } + + void copyto(char * const dst) const { strcpy(dst, str); } + void copyto(char * const dst, int len) const { strncpy(dst, str, len); } + + MString& clear() { return set(); } + MString& eol() { return append('\n'); } + MString& trunc(const int &i) { if (i <= SIZE) str[i] = '\0'; debug(F("trunc")); return *this; } + + // Truncate on a Unicode boundary + MString& utrunc(const int &n=SIZE) { + const int sz = length(); + if (sz && n <= sz) + for (int i = n; i >= 0; i--) if (START_OF_UTF8_CHAR(str[i])) { str[i] = '\0'; break; } + debug(F("utrunc")); + return *this; + } + +}; + +#pragma GCC diagnostic pop + +#ifndef TS_SIZE + #define TS_SIZE 63 +#endif +typedef MString TString; +#define TS(V...) TString(V) diff --git a/Marlin/src/core/multi_language.h b/Marlin/src/core/multi_language.h index a605a6f024..2c0eb7aa72 100644 --- a/Marlin/src/core/multi_language.h +++ b/Marlin/src/core/multi_language.h @@ -45,6 +45,7 @@ typedef const char Language_Str[]; // Set unused languages equal to each other so the // compiler can optimize away the conditionals. +#define LCD_LANGUAGE_1 LCD_LANGUAGE #ifndef LCD_LANGUAGE_2 #define LCD_LANGUAGE_2 LCD_LANGUAGE #endif @@ -63,6 +64,9 @@ typedef const char Language_Str[]; #if NUM_LANGUAGES > 1 #define HAS_MULTI_LANGUAGE 1 + #if HAS_MARLINUI_MENU + #define HAS_MENU_MULTI_LANGUAGE 1 + #endif #define GET_TEXT(MSG) ( \ ui.language == 4 ? GET_LANG(LCD_LANGUAGE_5)::MSG : \ ui.language == 3 ? GET_LANG(LCD_LANGUAGE_4)::MSG : \ diff --git a/Marlin/src/core/serial.cpp b/Marlin/src/core/serial.cpp index 819b06968c..2e07f3335a 100644 --- a/Marlin/src/core/serial.cpp +++ b/Marlin/src/core/serial.cpp @@ -30,20 +30,15 @@ uint8_t marlin_debug_flags = MARLIN_DEBUG_NONE; // Commonly-used strings in serial output -PGMSTR(NUL_STR, ""); PGMSTR(SP_P_STR, " P"); PGMSTR(SP_T_STR, " T"); -PGMSTR(X_STR, "X"); PGMSTR(Y_STR, "Y"); PGMSTR(Z_STR, "Z"); PGMSTR(E_STR, "E"); -PGMSTR(U_STR, STR_U); PGMSTR(V_STR, STR_V); PGMSTR(W_STR, STR_W); -PGMSTR(X_LBL, "X:"); PGMSTR(Y_LBL, "Y:"); PGMSTR(Z_LBL, "Z:"); PGMSTR(E_LBL, "E:"); -PGMSTR(U_LBL, STR_U ":"); PGMSTR(V_LBL, STR_V ":"); PGMSTR(W_LBL, STR_W ":"); -PGMSTR(SP_A_STR, " A"); PGMSTR(SP_B_STR, " B"); PGMSTR(SP_C_STR, " C"); -PGMSTR(SP_X_STR, " X"); PGMSTR(SP_Y_STR, " Y"); PGMSTR(SP_Z_STR, " Z"); PGMSTR(SP_E_STR, " E"); -PGMSTR(SP_X_LBL, " X:"); PGMSTR(SP_Y_LBL, " Y:"); PGMSTR(SP_Z_LBL, " Z:"); PGMSTR(SP_E_LBL, " E:"); -PGMSTR(I_STR, STR_I); PGMSTR(J_STR, STR_J); PGMSTR(K_STR, STR_K); -PGMSTR(I_LBL, STR_I ":"); PGMSTR(J_LBL, STR_J ":"); PGMSTR(K_LBL, STR_K ":"); -PGMSTR(SP_I_STR, " " STR_I); PGMSTR(SP_J_STR, " " STR_J); PGMSTR(SP_K_STR, " " STR_K); -PGMSTR(SP_U_STR, " " STR_U); PGMSTR(SP_V_STR, " " STR_V); PGMSTR(SP_W_STR, " " STR_W); -PGMSTR(SP_I_LBL, " " STR_I ":"); PGMSTR(SP_J_LBL, " " STR_J ":"); PGMSTR(SP_K_LBL, " " STR_K ":"); -PGMSTR(SP_U_LBL, " " STR_U ":"); PGMSTR(SP_V_LBL, " " STR_V ":"); PGMSTR(SP_W_LBL, " " STR_W ":"); +PGMSTR(SP_A_STR, " A"); PGMSTR(SP_B_STR, " B"); PGMSTR(SP_C_STR, " C"); +PGMSTR(SP_P_STR, " P"); PGMSTR(SP_T_STR, " T"); PGMSTR(NUL_STR, ""); + +#define _N_STR(N) PGMSTR(N##_STR, STR_##N); +#define _N_LBL(N) PGMSTR(N##_LBL, STR_##N ":"); +#define _SP_N_STR(N) PGMSTR(SP_##N##_STR, " " STR_##N); +#define _SP_N_LBL(N) PGMSTR(SP_##N##_LBL, " " STR_##N ":"); +MAP(_N_STR, LOGICAL_AXIS_NAMES); MAP(_SP_N_STR, LOGICAL_AXIS_NAMES); +MAP(_N_LBL, LOGICAL_AXIS_NAMES); MAP(_SP_N_LBL, LOGICAL_AXIS_NAMES); // Hook Meatpack if it's enabled on the first leaf #if ENABLED(MEATPACK_ON_SERIAL_PORT_1) @@ -73,31 +68,51 @@ PGMSTR(SP_U_LBL, " " STR_U ":"); PGMSTR(SP_V_LBL, " " STR_V ":"); PGMSTR(SP_W_LB #endif -void serial_print_P(PGM_P str) { - while (const char c = pgm_read_byte(str++)) SERIAL_CHAR(c); +// Specializations for float, p_float_t, w_float_t +template <> void SERIAL_ECHO(const float f) { SERIAL_IMPL.print(f); } +template <> void SERIAL_ECHO(const p_float_t pf) { SERIAL_IMPL.print(pf.value, pf.prec); } +template <> void SERIAL_ECHO(const w_float_t wf) { char f1[20]; SERIAL_IMPL.print(dtostrf(wf.value, wf.width, wf.prec, f1)); } + +// Specializations for F-string +template <> void SERIAL_ECHO(const FSTR_P fstr) { SERIAL_ECHO_P(FTOP(fstr)); } +template <> void SERIAL_ECHOLN(const FSTR_P fstr) { SERIAL_ECHOLN_P(FTOP(fstr)); } + +void SERIAL_CHAR(char a) { SERIAL_IMPL.write(a); } +void SERIAL_EOL() { SERIAL_CHAR('\n'); } + +void SERIAL_ECHO(serial_char_t x) { SERIAL_IMPL.write(x.c); } + +void SERIAL_FLUSH() { SERIAL_IMPL.flush(); } +void SERIAL_FLUSHTX() { SERIAL_IMPL.flushTX(); } + +void SERIAL_ECHO_P(PGM_P pstr) { + while (const char c = pgm_read_byte(pstr++)) SERIAL_CHAR(c); } +void SERIAL_ECHOLN_P(PGM_P pstr) { SERIAL_ECHO_P(pstr); SERIAL_EOL(); } -void serial_echo_start() { static PGMSTR(echomagic, "echo:"); serial_print_P(echomagic); } -void serial_error_start() { static PGMSTR(errormagic, "Error:"); serial_print_P(errormagic); } +void SERIAL_ECHO_START() { SERIAL_ECHO(F("echo:")); } +void SERIAL_ERROR_START() { SERIAL_ECHO(F("Error:")); } -void serial_spaces(uint8_t count) { count *= (PROPORTIONAL_FONT_RATIO); while (count--) SERIAL_CHAR(' '); } +void SERIAL_ECHO_SP(uint8_t count) { count *= (PROPORTIONAL_FONT_RATIO); while (count--) SERIAL_CHAR(' '); } void serial_offset(const_float_t v, const uint8_t sp/*=0*/) { if (v == 0 && sp == 1) SERIAL_CHAR(' '); else if (v > 0 || (v == 0 && sp == 2)) SERIAL_CHAR('+'); - SERIAL_DECIMAL(v); + SERIAL_ECHO(v); } -void serial_ternary(const bool onoff, FSTR_P const pre, FSTR_P const on, FSTR_P const off, FSTR_P const post/*=nullptr*/) { - if (pre) serial_print(pre); - serial_print(onoff ? on : off); - if (post) serial_print(post); +void serial_ternary(FSTR_P const pre, const bool onoff, FSTR_P const on, FSTR_P const off, FSTR_P const post/*=nullptr*/) { + if (pre) SERIAL_ECHO(pre); + if (onoff && on) SERIAL_ECHO(on); + if (!onoff && off) SERIAL_ECHO(off); + if (post) SERIAL_ECHO(post); } -void serialprint_onoff(const bool onoff) { serial_print(onoff ? F(STR_ON) : F(STR_OFF)); } + +void serialprint_onoff(const bool onoff) { SERIAL_ECHO(onoff ? F(STR_ON) : F(STR_OFF)); } void serialprintln_onoff(const bool onoff) { serialprint_onoff(onoff); SERIAL_EOL(); } -void serialprint_truefalse(const bool tf) { serial_print(tf ? F("true") : F("false")); } +void serialprint_truefalse(const bool tf) { SERIAL_ECHO(tf ? F("true") : F("false")); } void print_bin(uint16_t val) { for (uint8_t i = 16; i--;) { @@ -106,10 +121,24 @@ void print_bin(uint16_t val) { } } -void print_pos(NUM_AXIS_ARGS(const_float_t), FSTR_P const prefix/*=nullptr*/, FSTR_P const suffix/*=nullptr*/) { - if (prefix) serial_print(prefix); - SERIAL_ECHOPGM_P( - LIST_N(DOUBLE(NUM_AXES), SP_X_STR, x, SP_Y_STR, y, SP_Z_STR, z, SP_I_STR, i, SP_J_STR, j, SP_K_STR, k, SP_U_STR, u, SP_V_STR, v, SP_W_STR, w) - ); - if (suffix) serial_print(suffix); else SERIAL_EOL(); +void _print_xyz(NUM_AXIS_ARGS_(const_float_t) FSTR_P const prefix) { + if (prefix) SERIAL_ECHO(prefix); + #if NUM_AXES + SERIAL_ECHOPGM_P( + LIST_N(DOUBLE(NUM_AXES), SP_X_STR, x, SP_Y_STR, y, SP_Z_STR, z, SP_I_STR, i, SP_J_STR, j, SP_K_STR, k, SP_U_STR, u, SP_V_STR, v, SP_W_STR, w) + ); + #endif +} + +void print_xyz(NUM_AXIS_ARGS_(const_float_t) FSTR_P const prefix/*=nullptr*/, FSTR_P const suffix/*=nullptr*/) { + _print_xyz(NUM_AXIS_LIST_(x, y, z, i, j, k, u, v, w) prefix); + if (suffix) SERIAL_ECHO(suffix); else SERIAL_EOL(); +} + +void print_xyze(LOGICAL_AXIS_ARGS_(const_float_t) FSTR_P const prefix/*=nullptr*/, FSTR_P const suffix/*=nullptr*/) { + _print_xyz(NUM_AXIS_LIST_(x, y, z, i, j, k, u, v, w) prefix); + #if HAS_EXTRUDERS + SERIAL_ECHOPGM_P(SP_E_STR, e); + #endif + if (suffix) SERIAL_ECHO(suffix); else SERIAL_EOL(); } diff --git a/Marlin/src/core/serial.h b/Marlin/src/core/serial.h index 2998fe803f..96cff02508 100644 --- a/Marlin/src/core/serial.h +++ b/Marlin/src/core/serial.h @@ -28,14 +28,6 @@ #include "../feature/meatpack.h" #endif -// Commonly-used strings in serial output -extern const char NUL_STR[], SP_P_STR[], SP_T_STR[], - SP_A_STR[], SP_B_STR[], SP_C_STR[], - SP_X_STR[], SP_Y_STR[], SP_Z_STR[], SP_I_STR[], SP_J_STR[], SP_K_STR[], SP_U_STR[], SP_V_STR[], SP_W_STR[], SP_E_STR[], - SP_X_LBL[], SP_Y_LBL[], SP_Z_LBL[], SP_I_LBL[], SP_J_LBL[], SP_K_LBL[], SP_U_LBL[], SP_V_LBL[], SP_W_LBL[], SP_E_LBL[], - X_STR[], Y_STR[], Z_STR[], I_STR[], J_STR[], K_STR[], U_STR[], V_STR[], W_STR[], E_STR[], - X_LBL[], Y_LBL[], Z_LBL[], I_LBL[], J_LBL[], K_LBL[], U_LBL[], V_LBL[], W_LBL[], E_LBL[]; - // // Debugging flags for use by M111 // @@ -133,8 +125,6 @@ extern uint8_t marlin_debug_flags; #define SERIAL_IMPL SERIAL_LEAF_1 #endif -#define SERIAL_OUT(WHAT, V...) (void)SERIAL_IMPL.WHAT(V) - #define PORT_REDIRECT(p) _PORT_REDIRECT(1,p) #define PORT_RESTORE() _PORT_RESTORE(1) #define SERIAL_PORTMASK(P) SerialMask::from(P) @@ -142,65 +132,69 @@ extern uint8_t marlin_debug_flags; // // SERIAL_CHAR - Print one or more individual chars // -inline void SERIAL_CHAR(char a) { SERIAL_IMPL.write(a); } +void SERIAL_CHAR(char a); template void SERIAL_CHAR(char a, Args ... args) { SERIAL_IMPL.write(a); SERIAL_CHAR(args ...); } /** - * SERIAL_ECHO - Print a single string or value. + * SERIAL_ECHO / SERIAL_ECHOLN - Print a single string or value. * Any numeric parameter (including char) is printed as a base-10 number. * A string pointer or literal will be output as a string. * * NOTE: Use SERIAL_CHAR to print char as a single character. */ -template -void SERIAL_ECHO(T x) { SERIAL_IMPL.print(x); } +template void SERIAL_ECHO(T x) { SERIAL_IMPL.print(x); } +template void SERIAL_ECHOLN(T x) { SERIAL_IMPL.println(x); } // Wrapper for ECHO commands to interpret a char -typedef struct SerialChar { char c; SerialChar(char n) : c(n) { } } serial_char_t; -inline void SERIAL_ECHO(serial_char_t x) { SERIAL_IMPL.write(x.c); } -#define AS_CHAR(C) serial_char_t(C) +void SERIAL_ECHO(serial_char_t x); #define AS_DIGIT(C) AS_CHAR('0' + (C)) -template -void SERIAL_ECHOLN(T x) { SERIAL_IMPL.println(x); } - -// SERIAL_PRINT works like SERIAL_ECHO but also takes the numeric base -template -void SERIAL_PRINT(T x, U y) { SERIAL_IMPL.print(x, y); } - -template -void SERIAL_PRINTLN(T x, PrintBase y) { SERIAL_IMPL.println(x, y); } +// Print an integer with a numeric base such as PrintBase::Hex +template void SERIAL_PRINT(T x, PrintBase y) { SERIAL_IMPL.print(x, y); } +template void SERIAL_PRINTLN(T x, PrintBase y) { SERIAL_IMPL.println(x, y); } // Flush the serial port -inline void SERIAL_FLUSH() { SERIAL_IMPL.flush(); } -inline void SERIAL_FLUSHTX() { SERIAL_IMPL.flushTX(); } +void SERIAL_FLUSH(); +void SERIAL_FLUSHTX(); -// Serial echo and error prefixes -#define SERIAL_ECHO_START() serial_echo_start() -#define SERIAL_ERROR_START() serial_error_start() +// Start an echo: or error: output +void SERIAL_ECHO_START(); +void SERIAL_ERROR_START(); // Serial end-of-line -#define SERIAL_EOL() SERIAL_CHAR('\n') +void SERIAL_EOL(); // Print a single PROGMEM, PGM_P, or PSTR() string. -void serial_print_P(PGM_P str); -inline void serial_println_P(PGM_P str) { serial_print_P(str); SERIAL_EOL(); } +void SERIAL_ECHO_P(PGM_P pstr); +void SERIAL_ECHOLN_P(PGM_P pstr); -// Print a single FSTR_P, F(), or FPSTR() string. -inline void serial_print(FSTR_P const fstr) { serial_print_P(FTOP(fstr)); } -inline void serial_println(FSTR_P const fstr) { serial_println_P(FTOP(fstr)); } +// Specializations for float, p_float_t, and w_float_t +template<> void SERIAL_ECHO(const float f); +template<> void SERIAL_ECHO(const p_float_t pf); +template<> void SERIAL_ECHO(const w_float_t wf); + +// Specializations for F-string +template<> void SERIAL_ECHO(const FSTR_P fstr); +template<> void SERIAL_ECHOLN(const FSTR_P fstr); + +// Print any number of items with arbitrary types (except loose PROGMEM strings) +template +void SERIAL_ECHO(T arg1, Args ... args) { SERIAL_ECHO(arg1); SERIAL_ECHO(args ...); } +template +void SERIAL_ECHOLN(T arg1, Args ... args) { SERIAL_ECHO(arg1); SERIAL_ECHO(args ...); SERIAL_EOL(); } // -// SERIAL_ECHOPGM... macros are used to output string-value pairs. +// SERIAL_ECHOPGM... macros are used to output string-value pairs, wrapping +// all the odd loose string elements as PROGMEM strings. // // Print up to 20 pairs of values. Odd elements must be literal strings. #define __SEP_N(N,V...) _SEP_##N(V) #define _SEP_N(N,V...) __SEP_N(N,V) #define _SEP_N_REF() _SEP_N -#define _SEP_1(s) serial_print(F(s)); -#define _SEP_2(s,v) serial_echopair(F(s),v); +#define _SEP_1(s) SERIAL_ECHO(F(s)); +#define _SEP_2(s,v) SERIAL_ECHO(F(s),v); #define _SEP_3(s,v,V...) _SEP_2(s,v); DEFER2(_SEP_N_REF)()(TWO_ARGS(V),V); #define SERIAL_ECHOPGM(V...) do{ EVAL(_SEP_N(TWO_ARGS(V),V)); }while(0) @@ -208,8 +202,8 @@ inline void serial_println(FSTR_P const fstr) { serial_println_P(FTOP(fstr)); } #define __SELP_N(N,V...) _SELP_##N(V) #define _SELP_N(N,V...) __SELP_N(N,V) #define _SELP_N_REF() _SELP_N -#define _SELP_1(s) serial_print(F(s "\n")); -#define _SELP_2(s,v) serial_echolnpair(F(s),v); +#define _SELP_1(s) SERIAL_ECHO(F(s "\n")); +#define _SELP_2(s,v) SERIAL_ECHOLN(F(s),v); #define _SELP_3(s,v,V...) _SEP_2(s,v); DEFER2(_SELP_N_REF)()(TWO_ARGS(V),V); #define SERIAL_ECHOLNPGM(V...) do{ EVAL(_SELP_N(TWO_ARGS(V),V)); }while(0) @@ -217,8 +211,8 @@ inline void serial_println(FSTR_P const fstr) { serial_println_P(FTOP(fstr)); } #define __SEP_N_P(N,V...) _SEP_##N##_P(V) #define _SEP_N_P(N,V...) __SEP_N_P(N,V) #define _SEP_N_P_REF() _SEP_N_P -#define _SEP_1_P(p) serial_print_P(p); -#define _SEP_2_P(p,v) serial_echopair_P(p,v); +#define _SEP_1_P(p) SERIAL_ECHO(FPSTR(p)); +#define _SEP_2_P(p,v) SERIAL_ECHO(FPSTR(p),v); #define _SEP_3_P(p,v,V...) _SEP_2_P(p,v); DEFER2(_SEP_N_P_REF)()(TWO_ARGS(V),V); #define SERIAL_ECHOPGM_P(V...) do{ EVAL(_SEP_N_P(TWO_ARGS(V),V)); }while(0) @@ -226,128 +220,116 @@ inline void serial_println(FSTR_P const fstr) { serial_println_P(FTOP(fstr)); } #define __SELP_N_P(N,V...) _SELP_##N##_P(V) #define _SELP_N_P(N,V...) __SELP_N_P(N,V) #define _SELP_N_P_REF() _SELP_N_P -#define _SELP_1_P(p) serial_println_P(p) -#define _SELP_2_P(p,v) serial_echolnpair_P(p,v) +#define _SELP_1_P(p) SERIAL_ECHOLN(FPSTR(p)); +#define _SELP_2_P(p,v) SERIAL_ECHOLN(FPSTR(p),v); #define _SELP_3_P(p,v,V...) { _SEP_2_P(p,v); DEFER2(_SELP_N_P_REF)()(TWO_ARGS(V),V); } #define SERIAL_ECHOLNPGM_P(V...) do{ EVAL(_SELP_N_P(TWO_ARGS(V),V)); }while(0) -// Print up to 20 pairs of values. Odd elements must be FSTR_P, F(), or FPSTR(). -#define __SEP_N_F(N,V...) _SEP_##N##_F(V) -#define _SEP_N_F(N,V...) __SEP_N_F(N,V) -#define _SEP_N_F_REF() _SEP_N_F -#define _SEP_1_F(p) serial_print(p); -#define _SEP_2_F(p,v) serial_echopair(p,v); -#define _SEP_3_F(p,v,V...) _SEP_2_F(p,v); DEFER2(_SEP_N_F_REF)()(TWO_ARGS(V),V); -#define SERIAL_ECHOF(V...) do{ EVAL(_SEP_N_F(TWO_ARGS(V),V)); }while(0) +#define SERIAL_ECHO_MSG(V...) do{ SERIAL_ECHO_START(); SERIAL_ECHOLNPGM(V); }while(0) +#define SERIAL_ERROR_MSG(V...) do{ SERIAL_ERROR_START(); SERIAL_ECHOLNPGM(V); }while(0) -// Print up to 20 pairs of values followed by newline. Odd elements must be FSTR_P, F(), or FPSTR(). -#define __SELP_N_F(N,V...) _SELP_##N##_F(V) -#define _SELP_N_F(N,V...) __SELP_N_F(N,V) -#define _SELP_N_F_REF() _SELP_N_F -#define _SELP_1_F(p) serial_println(p) -#define _SELP_2_F(p,v) serial_echolnpair(p,v) -#define _SELP_3_F(p,v,V...) { _SEP_2_F(p,v); DEFER2(_SELP_N_F_REF)()(TWO_ARGS(V),V); } -#define SERIAL_ECHOLNF(V...) do{ EVAL(_SELP_N_F(TWO_ARGS(V),V)); }while(0) +// Print a prefix, conditional string, and suffix +void serial_ternary(FSTR_P const pre, const bool onoff, FSTR_P const on, FSTR_P const off, FSTR_P const post=nullptr); +// Shorthand to put loose strings in PROGMEM +#define SERIAL_ECHO_TERNARY(TF, PRE, ON, OFF, POST) serial_ternary(F(PRE), TF, F(ON), F(OFF), F(POST)) -#ifdef AllowDifferentTypeInList +// Print up to 255 spaces +void SERIAL_ECHO_SP(uint8_t count); - inline void SERIAL_ECHOLIST_IMPL() {} - template - void SERIAL_ECHOLIST_IMPL(T && t) { SERIAL_IMPL.print(t); } - - template - void SERIAL_ECHOLIST_IMPL(T && t, Args && ... args) { - SERIAL_IMPL.print(t); - serial_print(F(", ")); - SERIAL_ECHOLIST_IMPL(args...); - } - - template - void SERIAL_ECHOLIST(FSTR_P const str, Args && ... args) { - SERIAL_IMPL.print(FTOP(str)); - SERIAL_ECHOLIST_IMPL(args...); - } - -#else // Optimization if the listed type are all the same (seems to be the case in the codebase so use that instead) - - template - void SERIAL_ECHOLIST(FSTR_P const fstr, Args && ... args) { - serial_print(fstr); - typename Private::first_type_of::type values[] = { args... }; - constexpr size_t argsSize = sizeof...(args); - for (size_t i = 0; i < argsSize; i++) { - if (i) serial_print(F(", ")); - SERIAL_IMPL.print(values[i]); - } - } - -#endif - -// SERIAL_ECHO_F prints a floating point value with optional precision -inline void SERIAL_ECHO_F(EnsureDouble x, int digit=2) { SERIAL_IMPL.print(x, digit); } - -#define SERIAL_ECHOPAIR_F_P(P,V...) do{ serial_print_P(P); SERIAL_ECHO_F(V); }while(0) -#define SERIAL_ECHOLNPAIR_F_P(P,V...) do{ SERIAL_ECHOPAIR_F_P(P,V); SERIAL_EOL(); }while(0) - -#define SERIAL_ECHOPAIR_F_F(S,V...) do{ serial_print(S); SERIAL_ECHO_F(V); }while(0) -#define SERIAL_ECHOLNPAIR_F_F(S,V...) do{ SERIAL_ECHOPAIR_F_F(S,V); SERIAL_EOL(); }while(0) - -#define SERIAL_ECHOPAIR_F(S,V...) SERIAL_ECHOPAIR_F_F(F(S),V) -#define SERIAL_ECHOLNPAIR_F(V...) do{ SERIAL_ECHOPAIR_F(V); SERIAL_EOL(); }while(0) - -#define SERIAL_ECHO_MSG(V...) do{ SERIAL_ECHO_START(); SERIAL_ECHOLNPGM(V); }while(0) -#define SERIAL_ERROR_MSG(V...) do{ SERIAL_ERROR_START(); SERIAL_ECHOLNPGM(V); }while(0) - -#define SERIAL_ECHO_SP(C) serial_spaces(C) - -#define SERIAL_ECHO_TERNARY(TF, PRE, ON, OFF, POST) serial_ternary(TF, F(PRE), F(ON), F(OFF), F(POST)) - -#if SERIAL_FLOAT_PRECISION - #define SERIAL_DECIMAL(V) SERIAL_PRINT(V, SERIAL_FLOAT_PRECISION) -#else - #define SERIAL_DECIMAL(V) SERIAL_ECHO(V) -#endif - -// -// Functions for serial printing from PROGMEM. (Saves loads of SRAM.) -// -inline void serial_echopair_P(PGM_P const pstr, serial_char_t v) { serial_print_P(pstr); SERIAL_CHAR(v.c); } -inline void serial_echopair_P(PGM_P const pstr, float v) { serial_print_P(pstr); SERIAL_DECIMAL(v); } -inline void serial_echopair_P(PGM_P const pstr, double v) { serial_print_P(pstr); SERIAL_DECIMAL(v); } -//inline void serial_echopair_P(PGM_P const pstr, const char *v) { serial_print_P(pstr); SERIAL_ECHO(v); } -inline void serial_echopair_P(PGM_P const pstr, FSTR_P v) { serial_print_P(pstr); SERIAL_ECHOF(v); } - -// Default implementation for types without a specialization. Handles integers. -template -inline void serial_echopair_P(PGM_P const pstr, T v) { serial_print_P(pstr); SERIAL_ECHO(v); } - -// Add a newline. -template -inline void serial_echolnpair_P(PGM_P const pstr, T v) { serial_echopair_P(pstr, v); SERIAL_EOL(); } - -// Catch-all for __FlashStringHelper * -template -inline void serial_echopair(FSTR_P const fstr, T v) { serial_echopair_P(FTOP(fstr), v); } - -// Add a newline to the serial output -template -inline void serial_echolnpair(FSTR_P const fstr, T v) { serial_echolnpair_P(FTOP(fstr), v); } - -void serial_echo_start(); -void serial_error_start(); -void serial_ternary(const bool onoff, FSTR_P const pre, FSTR_P const on, FSTR_P const off, FSTR_P const post=nullptr); void serialprint_onoff(const bool onoff); void serialprintln_onoff(const bool onoff); void serialprint_truefalse(const bool tf); -void serial_spaces(uint8_t count); void serial_offset(const_float_t v, const uint8_t sp=0); // For v==0 draw space (sp==1) or plus (sp==2) void print_bin(const uint16_t val); -void print_pos(NUM_AXIS_ARGS(const_float_t), FSTR_P const prefix=nullptr, FSTR_P const suffix=nullptr); -inline void print_pos(const xyz_pos_t &xyz, FSTR_P const prefix=nullptr, FSTR_P const suffix=nullptr) { - print_pos(NUM_AXIS_ELEM(xyz), prefix, suffix); +void print_xyz(NUM_AXIS_ARGS_(const_float_t) FSTR_P const prefix=nullptr, FSTR_P const suffix=nullptr); +inline void print_xyz(const xyz_pos_t &xyz, FSTR_P const prefix=nullptr, FSTR_P const suffix=nullptr) { + print_xyz(NUM_AXIS_ELEM_(xyz) prefix, suffix); } -#define SERIAL_POS(SUFFIX,VAR) do { print_pos(VAR, F(" " STRINGIFY(VAR) "="), F(" : " SUFFIX "\n")); }while(0) -#define SERIAL_XYZ(PREFIX,V...) do { print_pos(V, F(PREFIX)); }while(0) +void print_xyze(LOGICAL_AXIS_ARGS_(const_float_t) FSTR_P const prefix=nullptr, FSTR_P const suffix=nullptr); +inline void print_xyze(const xyze_pos_t &xyze, FSTR_P const prefix=nullptr, FSTR_P const suffix=nullptr) { + print_xyze(LOGICAL_AXIS_ELEM_(xyze) prefix, suffix); +} + +#define SERIAL_POS(SUFFIX,VAR) do { print_xyz(VAR, F(" " STRINGIFY(VAR) "="), F(" : " SUFFIX "\n")); }while(0) +#define SERIAL_XYZ(PREFIX,V...) do { print_xyz(V, F(PREFIX)); }while(0) + +/** + * Extended string that can echo itself to serial + */ +template +class SString : public MString { +public: + typedef MString super; + using super::str; + using super::debug; + + SString() : super() {} + + template + SString(T arg1, Args... more) : super(arg1, more...) {} + + SString& set() { super::set(); return *this; } + + template + SString& setf_P(PGM_P const fmt, Args... more) { snprintf_P(str, SIZE, fmt, more...); debug(F("setf_P")); return *this; } + + template + SString& setf(const char *fmt, Args... more) { snprintf(str, SIZE, fmt, more...); debug(F("setf")); return *this; } + + template + SString& setf(FSTR_P const fmt, Args... more) { return setf_P(FTOP(fmt), more...); } + + template + SString& set(const T &v) { super::set(v); return *this; } + + template + SString& append(const T &v) { super::append(v); return *this; } + + template + SString& set(T arg1, Args... more) { set(arg1).append(more...); return *this; } + + template + SString& append(T arg1, Args... more) { append(arg1).append(more...); return *this; } + + SString& clear() { set(); return *this; } + SString& eol() { append('\n'); return *this; } + SString& trunc(const int &i) { super::trunc(i); return *this; } + + // Extended with methods to print to serial + SString& echo() { SERIAL_ECHO(str); return *this; } + SString& echoln() { SERIAL_ECHOLN(str); return *this; } +}; + +#define TSS(V...) SString<>(V) + +// +// Commonly-used strings in serial output +// + +#define _N_STR(N) N##_STR +#define _N_LBL(N) N##_LBL +#define _N_STR_A(N) _N_STR(N)[] +#define _N_LBL_A(N) _N_LBL(N)[] +#define _SP_N_STR(N) SP_##N##_STR +#define _SP_N_LBL(N) SP_##N##_LBL +#define _SP_N_STR_A(N) _SP_N_STR(N)[] +#define _SP_N_LBL_A(N) _SP_N_LBL(N)[] + +extern const char SP_A_STR[], SP_B_STR[], SP_C_STR[], SP_P_STR[], SP_T_STR[], NUL_STR[], + MAPLIST(_N_STR_A, LOGICAL_AXIS_NAMES), MAPLIST(_SP_N_STR_A, LOGICAL_AXIS_NAMES), + MAPLIST(_N_LBL_A, LOGICAL_AXIS_NAMES), MAPLIST(_SP_N_LBL_A, LOGICAL_AXIS_NAMES); + +PGM_P const SP_AXIS_LBL[] PROGMEM = { MAPLIST(_SP_N_LBL, LOGICAL_AXIS_NAMES) }; +PGM_P const SP_AXIS_STR[] PROGMEM = { MAPLIST(_SP_N_STR, LOGICAL_AXIS_NAMES) }; + +#undef _N_STR +#undef _N_LBL +#undef _N_STR_A +#undef _N_LBL_A +#undef _SP_N_STR +#undef _SP_N_LBL +#undef _SP_N_STR_A +#undef _SP_N_LBL_A diff --git a/Marlin/src/core/serial_base.h b/Marlin/src/core/serial_base.h index a5abd67d87..a2f49417b7 100644 --- a/Marlin/src/core/serial_base.h +++ b/Marlin/src/core/serial_base.h @@ -23,6 +23,8 @@ #include "../inc/MarlinConfigPre.h" +#include // for size_t + #if ENABLED(EMERGENCY_PARSER) #include "../feature/e_parser.h" #endif @@ -77,7 +79,7 @@ struct EnsureDouble { operator double() { return a; } // If the compiler breaks on ambiguity here, it's likely because print(X, base) is called with X not a double/float, and // a base that's not a PrintBase value. This code is made to detect the error. You MUST set a base explicitly like this: - // SERIAL_PRINT(v, PrintBase::Hex) + //SERIAL_PRINT(v, PrintBase::Hex) EnsureDouble(double a) : a(a) {} EnsureDouble(float a) : a(a) {} }; @@ -167,7 +169,6 @@ struct SerialBase { FORCE_INLINE void print(unsigned int c, PrintBase base) { printNumber_unsigned(c, base); } FORCE_INLINE void print(unsigned long c, PrintBase base) { printNumber_unsigned(c, base); } - void print(EnsureDouble c, int digits) { printFloat(c, digits); } // Forward the call to the former's method @@ -178,7 +179,7 @@ struct SerialBase { void print(T c) { print(c, PrintBase::Dec); } void print(float c) { print(c, 2); } - void print(double c) { print(c, 2); } + void print(double c) { print(c, 2); } void println(char *s) { print(s); println(); } void println(const char *s) { print(s); println(); } @@ -232,7 +233,7 @@ struct SerialBase { // Round correctly so that print(1.999, 2) prints as "2.00" double rounding = 0.5; - LOOP_L_N(i, digits) rounding *= 0.1; + for (uint8_t i = 0; i < digits; ++i) rounding *= 0.1; number += rounding; // Extract the integer part of the number and print it diff --git a/Marlin/src/core/serial_hook.h b/Marlin/src/core/serial_hook.h index 9b9fa8fa38..65c553c702 100644 --- a/Marlin/src/core/serial_hook.h +++ b/Marlin/src/core/serial_hook.h @@ -43,7 +43,9 @@ public: } constexpr SerialMask(const uint8_t mask) : mask(mask) {} - constexpr SerialMask(const SerialMask & other) : mask(other.mask) {} // Can't use = default here since not all framework support this + constexpr SerialMask(const SerialMask &rs) : mask(rs.mask) {} // Can't use = default here since not all frameworks support this + + SerialMask& operator=(const SerialMask &rs) { mask = rs.mask; return *this; } static constexpr uint8_t All = 0xFF; }; @@ -298,7 +300,7 @@ struct MultiSerial : public SerialBase< MultiSerial< REPEAT(NUM_SERIAL, _S_NAME) // Build the actual serial object depending on current configuration #define Serial1Class TERN(SERIAL_RUNTIME_HOOK, RuntimeSerial, BaseSerial) #define ForwardSerial1Class TERN(SERIAL_RUNTIME_HOOK, RuntimeSerial, ForwardSerial) -#ifdef HAS_MULTI_SERIAL +#if HAS_MULTI_SERIAL #define Serial2Class ConditionalSerial #if NUM_SERIAL >= 3 #define Serial3Class ConditionalSerial diff --git a/Marlin/src/core/types.h b/Marlin/src/core/types.h index 47a126f165..679cb2ce13 100644 --- a/Marlin/src/core/types.h +++ b/Marlin/src/core/types.h @@ -31,42 +31,108 @@ // // typename IF<(MYOPT==12), int, float>::type myvar; // -template -struct IF { typedef R type; }; -template -struct IF { typedef L type; }; +template struct IF { typedef R type; }; +template struct IF { typedef L type; }; -#define NUM_AXIS_GANG(V...) GANG_N(NUM_AXES, V) -#define NUM_AXIS_CODE(V...) CODE_N(NUM_AXES, V) -#define NUM_AXIS_LIST(V...) LIST_N(NUM_AXES, V) -#define NUM_AXIS_ARRAY(V...) { NUM_AXIS_LIST(V) } -#define NUM_AXIS_ARGS(T...) NUM_AXIS_LIST(T x, T y, T z, T i, T j, T k, T u, T v, T w) -#define NUM_AXIS_ELEM(O) NUM_AXIS_LIST(O.x, O.y, O.z, O.i, O.j, O.k, O.u, O.v, O.w) -#define NUM_AXIS_DEFS(T,V) NUM_AXIS_LIST(T x=V, T y=V, T z=V, T i=V, T j=V, T k=V, T u=V, T v=V, T w=V) +#define ALL_AXIS_NAMES X, X2, Y, Y2, Z, Z2, Z3, Z4, I, J, K, U, V, W, E0, E1, E2, E3, E4, E5, E6, E7 -#define LOGICAL_AXIS_GANG(E,V...) NUM_AXIS_GANG(V) GANG_ITEM_E(E) -#define LOGICAL_AXIS_CODE(E,V...) NUM_AXIS_CODE(V) CODE_ITEM_E(E) -#define LOGICAL_AXIS_LIST(E,V...) NUM_AXIS_LIST(V) LIST_ITEM_E(E) +#define NUM_AXIS_GANG(V...) GANG_N(NUM_AXES, V) +#define NUM_AXIS_CODE(V...) CODE_N(NUM_AXES, V) +#define NUM_AXIS_LIST(V...) LIST_N(NUM_AXES, V) +#define NUM_AXIS_LIST_1(V) LIST_N_1(NUM_AXES, V) +#define NUM_AXIS_ARRAY(V...) { NUM_AXIS_LIST(V) } +#define NUM_AXIS_ARRAY_1(V) { NUM_AXIS_LIST_1(V) } +#define NUM_AXIS_ARGS(T) NUM_AXIS_LIST(T x, T y, T z, T i, T j, T k, T u, T v, T w) +#define NUM_AXIS_ELEM(O) NUM_AXIS_LIST(O.x, O.y, O.z, O.i, O.j, O.k, O.u, O.v, O.w) +#define NUM_AXIS_DECL(T,V) NUM_AXIS_LIST(T x=V, T y=V, T z=V, T i=V, T j=V, T k=V, T u=V, T v=V, T w=V) +#define MAIN_AXIS_NAMES NUM_AXIS_LIST(X, Y, Z, I, J, K, U, V, W) +#define STR_AXES_MAIN NUM_AXIS_GANG("X", "Y", "Z", STR_I, STR_J, STR_K, STR_U, STR_V, STR_W) + +#define LOGICAL_AXIS_GANG(E,V...) NUM_AXIS_GANG(V) GANG_ITEM_E(E) +#define LOGICAL_AXIS_CODE(E,V...) NUM_AXIS_CODE(V) CODE_ITEM_E(E) +#define LOGICAL_AXIS_LIST(E,V...) NUM_AXIS_LIST(V) LIST_ITEM_E(E) +#define LOGICAL_AXIS_LIST_1(V) NUM_AXIS_LIST_1(V) LIST_ITEM_E(V) #define LOGICAL_AXIS_ARRAY(E,V...) { LOGICAL_AXIS_LIST(E,V) } -#define LOGICAL_AXIS_ARGS(T...) LOGICAL_AXIS_LIST(T e, T x, T y, T z, T i, T j, T k, T u, T v, T w) -#define LOGICAL_AXIS_ELEM(O) LOGICAL_AXIS_LIST(O.e, O.x, O.y, O.z, O.i, O.j, O.k, O.u, O.v, O.w) -#define LOGICAL_AXIS_DECL(T,V) LOGICAL_AXIS_LIST(T e=V, T x=V, T y=V, T z=V, T i=V, T j=V, T k=V, T u=V, T v=V, T w=V) +#define LOGICAL_AXIS_ARRAY_1(V) { LOGICAL_AXIS_LIST_1(V) } +#define LOGICAL_AXIS_ARGS(T) LOGICAL_AXIS_LIST(T e, T x, T y, T z, T i, T j, T k, T u, T v, T w) +#define LOGICAL_AXIS_ELEM(O) LOGICAL_AXIS_LIST(O.e, O.x, O.y, O.z, O.i, O.j, O.k, O.u, O.v, O.w) +#define LOGICAL_AXIS_DECL(T,V) LOGICAL_AXIS_LIST(T e=V, T x=V, T y=V, T z=V, T i=V, T j=V, T k=V, T u=V, T v=V, T w=V) +#define LOGICAL_AXIS_NAMES LOGICAL_AXIS_LIST(E, X, Y, Z, I, J, K, U, V, W) +#define LOGICAL_AXIS_MAP(F) MAP(F, LOGICAL_AXIS_NAMES) +#define STR_AXES_LOGICAL LOGICAL_AXIS_GANG("E", "X", "Y", "Z", STR_I, STR_J, STR_K, STR_U, STR_V, STR_W) -#define LOGICAL_AXES_STRING LOGICAL_AXIS_GANG("E", "X", "Y", "Z", STR_I, STR_J, STR_K, STR_U, STR_V, STR_W) +#if NUM_AXES + #define NUM_AXES_SEP , + #define MAIN_AXIS_MAP(F) MAP(F, MAIN_AXIS_NAMES) + #define OPTARGS_NUM(T) , NUM_AXIS_ARGS(T) + #define OPTARGS_LOGICAL(T) , LOGICAL_AXIS_ARGS(T) +#else + #define NUM_AXES_SEP + #define MAIN_AXIS_MAP(F) + #define OPTARGS_NUM(T) + #define OPTARGS_LOGICAL(T) +#endif -#define XYZ_GANG(V...) GANG_N(PRIMARY_LINEAR_AXES, V) -#define XYZ_CODE(V...) CODE_N(PRIMARY_LINEAR_AXES, V) +#define NUM_AXIS_GANG_(V...) NUM_AXIS_GANG(V) NUM_AXES_SEP +#define NUM_AXIS_LIST_(V...) NUM_AXIS_LIST(V) NUM_AXES_SEP +#define NUM_AXIS_LIST_1_(V...) NUM_AXIS_LIST_1(V) NUM_AXES_SEP +#define NUM_AXIS_ARGS_(T) NUM_AXIS_ARGS(T) NUM_AXES_SEP +#define NUM_AXIS_ELEM_(T) NUM_AXIS_ELEM(T) NUM_AXES_SEP +#define MAIN_AXIS_NAMES_ MAIN_AXIS_NAMES NUM_AXES_SEP + +#if LOGICAL_AXES + #define LOGICAL_AXES_SEP , +#else + #define LOGICAL_AXES_SEP +#endif + +#define LOGICAL_AXIS_GANG_(V...) LOGICAL_AXIS_GANG(V) LOGICAL_AXES_SEP +#define LOGICAL_AXIS_LIST_(V...) LOGICAL_AXIS_LIST(V) LOGICAL_AXES_SEP +#define LOGICAL_AXIS_LIST_1_(V...) LOGICAL_AXIS_LIST_1(V) LOGICAL_AXES_SEP +#define LOGICAL_AXIS_ARGS_(T) LOGICAL_AXIS_ARGS(T) LOGICAL_AXES_SEP +#define LOGICAL_AXIS_ELEM_(T) LOGICAL_AXIS_ELEM(T) LOGICAL_AXES_SEP +#define LOGICAL_AXIS_NAMES_ LOGICAL_AXIS_NAMES LOGICAL_AXES_SEP #define SECONDARY_AXIS_GANG(V...) GANG_N(SECONDARY_AXES, V) #define SECONDARY_AXIS_CODE(V...) CODE_N(SECONDARY_AXES, V) +#define SECONDARY_AXIS_LIST(V...) LIST_N(SECONDARY_AXES, V) +#define SECONDARY_AXIS_ARGS(T) SECONDARY_AXIS_LIST(T i, T j, T k, T u, T v, T w) + +// Just the XY or XYZ elements +#if HAS_Z_AXIS + #define XYZ_COUNT 3 + #define XY_COUNT 2 +#elif HAS_Y_AXIS + #define XY_COUNT 2 +#elif HAS_X_AXIS + #define XY_COUNT 1 +#else + #define XY_COUNT 0 +#endif +#ifndef XYZ_COUNT + #define XYZ_COUNT XY_COUNT +#endif +#define XY_LIST(V...) LIST_N(XY_COUNT, V) +#define XY_ARRAY(V...) ARRAY_N(XY_COUNT, V) +#define XY_CODE(V...) CODE_N(XY_COUNT, V) +#define XY_GANG(V...) GANG_N(XY_COUNT, V) +#define XYZ_LIST(V...) LIST_N(XYZ_COUNT, V) +#define XYZ_ARRAY(V...) ARRAY_N(XYZ_COUNT, V) +#define XYZ_CODE(V...) CODE_N(XYZ_COUNT, V) +#define XYZ_GANG(V...) GANG_N(XYZ_COUNT, V) #if HAS_ROTATIONAL_AXES #define ROTATIONAL_AXIS_GANG(V...) GANG_N(ROTATIONAL_AXES, V) #endif #if HAS_EXTRUDERS - #define LIST_ITEM_E(N) , N - #define CODE_ITEM_E(N) ; N + #if NUM_AXES + #define LIST_ITEM_E(N) , N + #define CODE_ITEM_E(N) ; N + #else + #define LIST_ITEM_E(N) N + #define CODE_ITEM_E(N) N + #endif #define GANG_ITEM_E(N) N #else #define LIST_ITEM_E(N) @@ -76,6 +142,78 @@ struct IF { typedef L type; }; #define AXIS_COLLISION(L) (AXIS4_NAME == L || AXIS5_NAME == L || AXIS6_NAME == L || AXIS7_NAME == L || AXIS8_NAME == L || AXIS9_NAME == L) +// Helpers +#define _RECIP(N) ((N) ? 1.0f / static_cast(N) : 0.0f) +#define _ABS(N) ((N) < 0 ? -(N) : (N)) +#define _LS(N) T(uint32_t(N) << p) +#define _RS(N) T(uint32_t(N) >> p) +#define _LSE(N) N = T(uint32_t(N) << p) +#define _RSE(N) N = T(uint32_t(N) >> p) +#define FI FORCE_INLINE + +// Define types based on largest bit width stored value required +#define bits_t(W) typename IF<((W)> 16), uint32_t, typename IF<((W)> 8), uint16_t, uint8_t>::type>::type +#define uvalue_t(V) typename IF<((V)>65535), uint32_t, typename IF<((V)>255), uint16_t, uint8_t>::type>::type +#define value_t(V) typename IF<((V)>32767), int32_t, typename IF<((V)>127), int16_t, int8_t>::type>::type + +// General Flags for some number of states +template +struct Flags { + typedef value_t(N) flagbits_t; + typedef struct { bool b0:1, b1:1, b2:1, b3:1, b4:1, b5:1, b6:1, b7:1; } N8; + typedef struct { bool b0:1, b1:1, b2:1, b3:1, b4:1, b5:1, b6:1, b7:1, b8:1, b9:1, b10:1, b11:1, b12:1, b13:1, b14:1, b15:1; } N16; + typedef struct { bool b0:1, b1:1, b2:1, b3:1, b4:1, b5:1, b6:1, b7:1, b8:1, b9:1, b10:1, b11:1, b12:1, b13:1, b14:1, b15:1, + b16:1, b17:1, b18:1, b19:1, b20:1, b21:1, b22:1, b23:1, b24:1, b25:1, b26:1, b27:1, b28:1, b29:1, b30:1, b31:1; } N32; + union { + flagbits_t b; + typename IF<(N>16), N32, typename IF<(N>8), N16, N8>::type>::type flag; + }; + FI void reset() { b = 0; } + FI void set(const int n, const bool onoff) { onoff ? set(n) : clear(n); } + FI void set(const int n) { b |= (flagbits_t)_BV(n); } + FI void clear(const int n) { b &= ~(flagbits_t)_BV(n); } + FI bool test(const int n) const { return TEST(b, n); } + FI bool operator[](const int n) { return test(n); } + FI bool operator[](const int n) const { return test(n); } + FI int size() const { return sizeof(b); } + FI operator bool() const { return b; } +}; + +// Specialization for a single bool flag +template<> +struct Flags<1> { + bool b; + FI void reset() { b = false; } + FI void set(const int n, const bool onoff) { onoff ? set(n) : clear(n); } + FI void set(const int) { b = true; } + FI void clear(const int) { b = false; } + FI bool test(const int) const { return b; } + FI bool& operator[](const int) { return b; } + FI bool operator[](const int) const { return b; } + FI int size() const { return sizeof(b); } + FI operator bool() const { return b; } +}; + +typedef Flags<8> flags_8_t; +typedef Flags<16> flags_16_t; + +// Flags for some axis states, with per-axis aliases xyzijkuvwe +typedef struct AxisFlags { + union { + struct Flags flags; + struct { bool LOGICAL_AXIS_LIST(e:1, x:1, y:1, z:1, i:1, j:1, k:1, u:1, v:1, w:1); }; + }; + FI void reset() { flags.reset(); } + FI void set(const int n) { flags.set(n); } + FI void set(const int n, const bool onoff) { flags.set(n, onoff); } + FI void clear(const int n) { flags.clear(n); } + FI bool test(const int n) const { return flags.test(n); } + FI bool operator[](const int n) { return flags[n]; } + FI bool operator[](const int n) const { return flags[n]; } + FI int size() const { return sizeof(flags); } + FI operator bool() const { return flags; } +} axis_flags_t; + // // Enumerated axis indices // @@ -86,50 +224,48 @@ struct IF { typedef L type; }; enum AxisEnum : uint8_t { // Linear axes may be controlled directly or indirectly - NUM_AXIS_LIST(X_AXIS, Y_AXIS, Z_AXIS, I_AXIS, J_AXIS, K_AXIS, U_AXIS, V_AXIS, W_AXIS) + NUM_AXIS_LIST_(X_AXIS, Y_AXIS, Z_AXIS, I_AXIS, J_AXIS, K_AXIS, U_AXIS, V_AXIS, W_AXIS) - // Extruder axes may be considered distinctly - #define _EN_ITEM(N) , E##N##_AXIS + #define _EN_ITEM(N) E##N##_AXIS, REPEAT(EXTRUDERS, _EN_ITEM) #undef _EN_ITEM // Core also keeps toolhead directions #if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX) - , X_HEAD, Y_HEAD, Z_HEAD + X_HEAD, Y_HEAD, Z_HEAD, #endif // Distinct axes, including all E and Core - , NUM_AXIS_ENUMS + NUM_AXIS_ENUMS, // Most of the time we refer only to the single E_AXIS #if HAS_EXTRUDERS - , E_AXIS = E0_AXIS + E_AXIS = E0_AXIS, #endif // A, B, and C are for DELTA, SCARA, etc. - , A_AXIS = X_AXIS + #if HAS_X_AXIS + A_AXIS = X_AXIS, + #endif #if HAS_Y_AXIS - , B_AXIS = Y_AXIS + B_AXIS = Y_AXIS, #endif #if HAS_Z_AXIS - , C_AXIS = Z_AXIS + C_AXIS = Z_AXIS, #endif // To refer to all or none - , ALL_AXES_ENUM = 0xFE, NO_AXIS_ENUM = 0xFF + ALL_AXES_ENUM = 0xFE, NO_AXIS_ENUM = 0xFF }; -typedef IF<(NUM_AXIS_ENUMS > 8), uint16_t, uint8_t>::type axis_bits_t; -typedef IF<(NUM_AXES > 8), uint16_t, uint8_t>::type linear_axis_bits_t; - // // Loop over axes // -#define LOOP_ABC(VAR) LOOP_S_LE_N(VAR, A_AXIS, C_AXIS) -#define LOOP_NUM_AXES(VAR) LOOP_S_L_N(VAR, X_AXIS, NUM_AXES) -#define LOOP_LOGICAL_AXES(VAR) LOOP_S_L_N(VAR, X_AXIS, LOGICAL_AXES) -#define LOOP_DISTINCT_AXES(VAR) LOOP_S_L_N(VAR, X_AXIS, DISTINCT_AXES) -#define LOOP_DISTINCT_E(VAR) LOOP_L_N(VAR, DISTINCT_E) +#define LOOP_ABC(VAR) for (uint8_t VAR = A_AXIS; VAR <= C_AXIS; ++VAR) +#define LOOP_NUM_AXES(VAR) for (uint8_t VAR = 0; VAR < NUM_AXES; ++VAR) +#define LOOP_LOGICAL_AXES(VAR) for (uint8_t VAR = 0; VAR < LOGICAL_AXES; ++VAR) +#define LOOP_DISTINCT_AXES(VAR) for (uint8_t VAR = 0; VAR < DISTINCT_AXES; ++VAR) +#define LOOP_DISTINCT_E(VAR) for (uint8_t VAR = 0; VAR < DISTINCT_E; ++VAR) // // feedRate_t is just a humble float @@ -155,21 +291,47 @@ typedef float celsius_float_t; typedef const_float_t const_feedRate_t; typedef const_float_t const_celsius_float_t; +// Type large enough to count leveling grid points +typedef IF 255)), uint16_t, uint8_t>::type grid_count_t; + // Conversion macros #define MMM_TO_MMS(MM_M) feedRate_t(static_cast(MM_M) / 60.0f) #define MMS_TO_MMM(MM_S) (static_cast(MM_S) * 60.0f) +// Packaged character for AS_CHAR macro and other usage +typedef struct SerialChar { char c; SerialChar(char n) : c(n) { } } serial_char_t; +#define AS_CHAR(C) serial_char_t(C) + +// Packaged types: float with precision and/or width; a repeated space/character +typedef struct WFloat { float value; char width; char prec; + WFloat(float v, char w, char p) : value(v), width(w), prec(p) {} + } w_float_t; +typedef struct PFloat { float value; char prec; + PFloat(float v, char p) : value(v), prec(p) {} + } p_float_t; +typedef struct RepChr { char asc; uint8_t count; + RepChr(char a, uint8_t c) : asc(a), count(c) {} + } repchr_t; +typedef struct Spaces { uint8_t count; + Spaces(uint8_t c) : count(c) {} + } spaces_t; + +#ifdef __AVR__ + typedef w_float_t w_double_t; + typedef p_float_t p_double_t; +#else + typedef struct WDouble { double value; char width; char prec; + WDouble(double v, char w, char p) : value(v), width(w), prec(p) {} + } w_double_t; + typedef struct PDouble { double value; char prec; + PDouble(double v, char p) : value(v), prec(p) {} + } p_double_t; +#endif + // // Coordinates structures for XY, XYZ, XYZE... // -// Helpers -#define _RECIP(N) ((N) ? 1.0f / static_cast(N) : 0.0f) -#define _ABS(N) ((N) < 0 ? -(N) : (N)) -#define _LS(N) (N = (T)(uint32_t(N) << v)) -#define _RS(N) (N = (T)(uint32_t(N) >> v)) -#define FI FORCE_INLINE - // Forward declarations template struct XYval; template struct XYZval; @@ -247,12 +409,13 @@ typedef abce_float_t abce_pos_t; void toLogical(xy_pos_t &raw); void toLogical(xyz_pos_t &raw); void toLogical(xyze_pos_t &raw); -void toNative(xy_pos_t &raw); -void toNative(xyz_pos_t &raw); -void toNative(xyze_pos_t &raw); +void toNative(xy_pos_t &lpos); +void toNative(xyz_pos_t &lpos); +void toNative(xyze_pos_t &lpos); // // Paired XY coordinates, counters, flags, etc. +// Always has XY elements regardless of the number of configured axes. // template struct XYval { @@ -263,164 +426,157 @@ struct XYval { }; // Set all to 0 - FI void reset() { x = y = 0; } + FI void reset() { x = y = 0; } // Setters taking struct types and arrays - FI void set(const T px) { x = px; } + #if HAS_X_AXIS + FI void set(const T px) { x = px; } + #endif #if HAS_Y_AXIS - FI void set(const T px, const T py) { x = px; y = py; } - FI void set(const T (&arr)[XY]) { x = arr[0]; y = arr[1]; } + FI void set(const T px, const T py) { x = px; y = py; } + FI void set(const T (&arr)[XY]) { x = arr[0]; y = arr[1]; } #endif #if NUM_AXES > XY - FI void set(const T (&arr)[NUM_AXES]) { x = arr[0]; y = arr[1]; } + FI void set(const T (&arr)[NUM_AXES]) { x = arr[0]; y = arr[1]; } #endif #if LOGICAL_AXES > NUM_AXES - FI void set(const T (&arr)[LOGICAL_AXES]) { x = arr[0]; y = arr[1]; } + FI void set(const T (&arr)[LOGICAL_AXES]) { x = arr[0]; y = arr[1]; } #if DISTINCT_AXES > LOGICAL_AXES - FI void set(const T (&arr)[DISTINCT_AXES]) { x = arr[0]; y = arr[1]; } + FI void set(const T (&arr)[DISTINCT_AXES]) { x = arr[0]; y = arr[1]; } #endif #endif // Length reduced to one dimension - FI T magnitude() const { return (T)sqrtf(x*x + y*y); } + FI constexpr T magnitude() const { return (T)sqrtf(x*x + y*y); } // Pointer to the data as a simple array - FI operator T* () { return pos; } + FI operator T* () { return pos; } // If any element is true then it's true - FI operator bool() { return x || y; } + FI constexpr operator bool() const { return x || y; } + // Smallest element + FI constexpr T small() const { return _MIN(x, y); } + // Largest element + FI constexpr T large() const { return _MAX(x, y); } // Explicit copy and copies with conversion - FI XYval copy() const { return *this; } - FI XYval ABS() const { return { T(_ABS(x)), T(_ABS(y)) }; } - FI XYval asInt() { return { int16_t(x), int16_t(y) }; } - FI XYval asInt() const { return { int16_t(x), int16_t(y) }; } - FI XYval asLong() { return { int32_t(x), int32_t(y) }; } - FI XYval asLong() const { return { int32_t(x), int32_t(y) }; } - FI XYval ROUNDL() { return { int32_t(LROUND(x)), int32_t(LROUND(y)) }; } - FI XYval ROUNDL() const { return { int32_t(LROUND(x)), int32_t(LROUND(y)) }; } - FI XYval asFloat() { return { static_cast(x), static_cast(y) }; } - FI XYval asFloat() const { return { static_cast(x), static_cast(y) }; } - FI XYval reciprocal() const { return { _RECIP(x), _RECIP(y) }; } + FI constexpr XYval copy() const { return *this; } + FI constexpr XYval ABS() const { return { T(_ABS(x)), T(_ABS(y)) }; } + FI constexpr XYval asInt() const { return { int16_t(x), int16_t(y) }; } + FI constexpr XYval asLong() const { return { int32_t(x), int32_t(y) }; } + FI constexpr XYval ROUNDL() const { return { int32_t(LROUND(x)), int32_t(LROUND(y)) }; } + FI constexpr XYval asFloat() const { return { static_cast(x), static_cast(y) }; } + FI constexpr XYval reciprocal() const { return { _RECIP(x), _RECIP(y) }; } // Marlin workspace shifting is done with G92 and M206 - FI XYval asLogical() const { XYval o = asFloat(); toLogical(o); return o; } - FI XYval asNative() const { XYval o = asFloat(); toNative(o); return o; } + FI XYval asLogical() const { XYval o = asFloat(); toLogical(o); return o; } + FI XYval asNative() const { XYval o = asFloat(); toNative(o); return o; } // Cast to a type with more fields by making a new object - FI operator XYZval() { return { x, y }; } - FI operator XYZval() const { return { x, y }; } - FI operator XYZEval() { return { x, y }; } - FI operator XYZEval() const { return { x, y }; } + FI constexpr operator XYZval() const { return { x, y }; } + FI constexpr operator XYZEval() const { return { x, y }; } // Accessor via an AxisEnum (or any integer) [index] - FI T& operator[](const int n) { return pos[n]; } - FI const T& operator[](const int n) const { return pos[n]; } + FI T& operator[](const int n) { return pos[n]; } + FI const T& operator[](const int n) const { return pos[n]; } // Assignment operator overrides do the expected thing - FI XYval& operator= (const T v) { set(v, v ); return *this; } - FI XYval& operator= (const XYZval &rs) { set(rs.x, rs.y); return *this; } - FI XYval& operator= (const XYZEval &rs) { set(rs.x, rs.y); return *this; } + FI XYval& operator= (const T v) { set(v, v); return *this; } + FI XYval& operator= (const XYZval &rs) { set(XY_LIST(rs.x, rs.y)); return *this; } + FI XYval& operator= (const XYZEval &rs) { set(XY_LIST(rs.x, rs.y)); return *this; } // Override other operators to get intuitive behaviors - FI XYval operator+ (const XYval &rs) const { XYval ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; } - FI XYval operator+ (const XYval &rs) { XYval ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; } - FI XYval operator- (const XYval &rs) const { XYval ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; } - FI XYval operator- (const XYval &rs) { XYval ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; } - FI XYval operator* (const XYval &rs) const { XYval ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; } - FI XYval operator* (const XYval &rs) { XYval ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; } - FI XYval operator/ (const XYval &rs) const { XYval ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; } - FI XYval operator/ (const XYval &rs) { XYval ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; } - FI XYval operator+ (const XYZval &rs) const { XYval ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; } - FI XYval operator+ (const XYZval &rs) { XYval ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; } - FI XYval operator- (const XYZval &rs) const { XYval ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; } - FI XYval operator- (const XYZval &rs) { XYval ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; } - FI XYval operator* (const XYZval &rs) const { XYval ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; } - FI XYval operator* (const XYZval &rs) { XYval ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; } - FI XYval operator/ (const XYZval &rs) const { XYval ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; } - FI XYval operator/ (const XYZval &rs) { XYval ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; } - FI XYval operator+ (const XYZEval &rs) const { XYval ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; } - FI XYval operator+ (const XYZEval &rs) { XYval ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; } - FI XYval operator- (const XYZEval &rs) const { XYval ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; } - FI XYval operator- (const XYZEval &rs) { XYval ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; } - FI XYval operator* (const XYZEval &rs) const { XYval ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; } - FI XYval operator* (const XYZEval &rs) { XYval ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; } - FI XYval operator/ (const XYZEval &rs) const { XYval ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; } - FI XYval operator/ (const XYZEval &rs) { XYval ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; } - FI XYval operator* (const float &v) const { XYval ls = *this; ls.x *= v; ls.y *= v; return ls; } - FI XYval operator* (const float &v) { XYval ls = *this; ls.x *= v; ls.y *= v; return ls; } - FI XYval operator* (const int &v) const { XYval ls = *this; ls.x *= v; ls.y *= v; return ls; } - FI XYval operator* (const int &v) { XYval ls = *this; ls.x *= v; ls.y *= v; return ls; } - FI XYval operator/ (const float &v) const { XYval ls = *this; ls.x /= v; ls.y /= v; return ls; } - FI XYval operator/ (const float &v) { XYval ls = *this; ls.x /= v; ls.y /= v; return ls; } - FI XYval operator/ (const int &v) const { XYval ls = *this; ls.x /= v; ls.y /= v; return ls; } - FI XYval operator/ (const int &v) { XYval ls = *this; ls.x /= v; ls.y /= v; return ls; } - FI XYval operator>>(const int &v) const { XYval ls = *this; _RS(ls.x); _RS(ls.y); return ls; } - FI XYval operator>>(const int &v) { XYval ls = *this; _RS(ls.x); _RS(ls.y); return ls; } - FI XYval operator<<(const int &v) const { XYval ls = *this; _LS(ls.x); _LS(ls.y); return ls; } - FI XYval operator<<(const int &v) { XYval ls = *this; _LS(ls.x); _LS(ls.y); return ls; } - FI const XYval operator-() const { XYval o = *this; o.x = -x; o.y = -y; return o; } - FI XYval operator-() { XYval o = *this; o.x = -x; o.y = -y; return o; } + #define XY_OP(OP) { x TERN_(HAS_X_AXIS, OP rs.x), y TERN_(HAS_Y_AXIS, OP rs.y) } + FI constexpr XYval operator+ (const XYval &rs) const { return { x + rs.x, y + rs.y }; } + FI constexpr XYval operator- (const XYval &rs) const { return { x - rs.x, y - rs.y }; } + FI constexpr XYval operator* (const XYval &rs) const { return { x * rs.x, y * rs.y }; } + FI constexpr XYval operator/ (const XYval &rs) const { return { x / rs.x, y / rs.y }; } + FI constexpr XYval operator+ (const XYZval &rs) const { return { XY_OP(+) }; } + FI constexpr XYval operator- (const XYZval &rs) const { return { XY_OP(-) }; } + FI constexpr XYval operator* (const XYZval &rs) const { return { XY_OP(*) }; } + FI constexpr XYval operator/ (const XYZval &rs) const { return { XY_OP(/) }; } + FI constexpr XYval operator+ (const XYZEval &rs) const { return { XY_OP(+) }; } + FI constexpr XYval operator- (const XYZEval &rs) const { return { XY_OP(-) }; } + FI constexpr XYval operator* (const XYZEval &rs) const { return { XY_OP(*) }; } + FI constexpr XYval operator/ (const XYZEval &rs) const { return { XY_OP(/) }; } + FI constexpr XYval operator* (const float &p) const { return { (T)(x * p), (T)(y * p) }; } + FI constexpr XYval operator* (const int &p) const { return { x * p, y * p }; } + FI constexpr XYval operator/ (const float &p) const { return { (T)(x / p), (T)(y / p) }; } + FI constexpr XYval operator/ (const int &p) const { return { x / p, y / p }; } + FI constexpr XYval operator>>(const int &p) const { return { _RS(x), _RS(y) }; } + FI constexpr XYval operator<<(const int &p) const { return { _LS(x), _LS(y) }; } + FI constexpr XYval operator-() const { return { -x, -y }; } + #undef XY_OP // Modifier operators - FI XYval& operator+=(const XYval &rs) { x += rs.x; y += rs.y; return *this; } - FI XYval& operator-=(const XYval &rs) { x -= rs.x; y -= rs.y; return *this; } - FI XYval& operator*=(const XYval &rs) { x *= rs.x; y *= rs.y; return *this; } - FI XYval& operator+=(const XYZval &rs) { x += rs.x; y += rs.y; return *this; } - FI XYval& operator-=(const XYZval &rs) { x -= rs.x; y -= rs.y; return *this; } - FI XYval& operator*=(const XYZval &rs) { x *= rs.x; y *= rs.y; return *this; } - FI XYval& operator+=(const XYZEval &rs) { x += rs.x; y += rs.y; return *this; } - FI XYval& operator-=(const XYZEval &rs) { x -= rs.x; y -= rs.y; return *this; } - FI XYval& operator*=(const XYZEval &rs) { x *= rs.x; y *= rs.y; return *this; } - FI XYval& operator*=(const float &v) { x *= v; y *= v; return *this; } - FI XYval& operator*=(const int &v) { x *= v; y *= v; return *this; } - FI XYval& operator>>=(const int &v) { _RS(x); _RS(y); return *this; } - FI XYval& operator<<=(const int &v) { _LS(x); _LS(y); return *this; } + FI XYval& operator+=(const XYval &rs) { x += rs.x; y += rs.y; return *this; } + FI XYval& operator-=(const XYval &rs) { x -= rs.x; y -= rs.y; return *this; } + FI XYval& operator*=(const XYval &rs) { x *= rs.x; y *= rs.y; return *this; } + FI XYval& operator/=(const XYval &rs) { x /= rs.x; y /= rs.y; return *this; } + FI XYval& operator+=(const XYZval &rs) { XY_CODE(x += rs.x, y += rs.y); return *this; } + FI XYval& operator-=(const XYZval &rs) { XY_CODE(x -= rs.x, y -= rs.y); return *this; } + FI XYval& operator*=(const XYZval &rs) { XY_CODE(x *= rs.x, y *= rs.y); return *this; } + FI XYval& operator/=(const XYZval &rs) { XY_CODE(x /= rs.x, y /= rs.y); return *this; } + FI XYval& operator+=(const XYZEval &rs) { XY_CODE(x += rs.x, y += rs.y); return *this; } + FI XYval& operator-=(const XYZEval &rs) { XY_CODE(x -= rs.x, y -= rs.y); return *this; } + FI XYval& operator*=(const XYZEval &rs) { XY_CODE(x *= rs.x, y *= rs.y); return *this; } + FI XYval& operator/=(const XYZEval &rs) { XY_CODE(x /= rs.x, y /= rs.y); return *this; } + FI XYval& operator*=(const float &p) { x *= p; y *= p; return *this; } + FI XYval& operator*=(const int &p) { x *= p; y *= p; return *this; } + FI XYval& operator>>=(const int &p) { _RSE(x); _RSE(y); return *this; } + FI XYval& operator<<=(const int &p) { _LSE(x); _LSE(y); return *this; } + + // Absolute difference between two objects + FI constexpr XYval diff(const XYZEval &rs) const { return { TERN(HAS_X_AXIS, T(_ABS(x - rs.x)), x), TERN(HAS_Y_AXIS, T(_ABS(y - rs.y)), y) }; } + FI constexpr XYval diff(const XYZval &rs) const { return { TERN(HAS_X_AXIS, T(_ABS(x - rs.x)), x), TERN(HAS_Y_AXIS, T(_ABS(y - rs.y)), y) }; } + FI constexpr XYval diff(const XYval &rs) const { return { T(_ABS(x - rs.x)), T(_ABS(y - rs.y)) }; } // Exact comparisons. For floats a "NEAR" operation may be better. - FI bool operator==(const XYval &rs) { return x == rs.x && y == rs.y; } - FI bool operator==(const XYZval &rs) { return x == rs.x && y == rs.y; } - FI bool operator==(const XYZEval &rs) { return x == rs.x && y == rs.y; } - FI bool operator==(const XYval &rs) const { return x == rs.x && y == rs.y; } - FI bool operator==(const XYZval &rs) const { return x == rs.x && y == rs.y; } - FI bool operator==(const XYZEval &rs) const { return x == rs.x && y == rs.y; } - FI bool operator!=(const XYval &rs) { return !operator==(rs); } - FI bool operator!=(const XYZval &rs) { return !operator==(rs); } - FI bool operator!=(const XYZEval &rs) { return !operator==(rs); } - FI bool operator!=(const XYval &rs) const { return !operator==(rs); } - FI bool operator!=(const XYZval &rs) const { return !operator==(rs); } - FI bool operator!=(const XYZEval &rs) const { return !operator==(rs); } + FI bool operator==(const XYval &rs) const { return x == rs.x && y == rs.y; } + FI bool operator==(const XYZval &rs) const { return ENABLED(HAS_X_AXIS) XY_GANG(&& x == rs.x, && y == rs.y); } + FI bool operator==(const XYZEval &rs) const { return ENABLED(HAS_X_AXIS) XY_GANG(&& x == rs.x, && y == rs.y); } + FI bool operator!=(const XYval &rs) const { return !operator==(rs); } + FI bool operator!=(const XYZval &rs) const { return !operator==(rs); } + FI bool operator!=(const XYZEval &rs) const { return !operator==(rs); } }; // // Linear Axes coordinates, counters, flags, etc. +// May have any number of axes according to configuration, including zero axes. // template struct XYZval { union { - struct { T NUM_AXIS_ARGS(); }; - struct { T NUM_AXIS_LIST(a, b, c, _i, _j, _k, _u, _v, _w); }; + #if NUM_AXES + struct { NUM_AXIS_CODE(T x, T y, T z, T i, T j, T k, T u, T v, T w); }; + struct { NUM_AXIS_CODE(T a, T b, T c, T _i, T _j, T _k, T _u, T _v, T _w); }; + #endif T pos[NUM_AXES]; }; // Set all to 0 - FI void reset() { NUM_AXIS_GANG(x =, y =, z =, i =, j =, k =, u =, v =, w =) 0; } + FI void reset() { NUM_AXIS_CODE(x = 0, y = 0, z = 0, i = 0, j = 0, k = 0, u = 0, v = 0, w = 0); } // Setters taking struct types and arrays - FI void set(const T px) { x = px; } - FI void set(const T px, const T py) { x = px; y = py; } - FI void set(const XYval pxy) { x = pxy.x; y = pxy.y; } - FI void set(const XYval pxy, const T pz) { NUM_AXIS_CODE(x = pxy.x, y = pxy.y, z = pz, NOOP, NOOP, NOOP, NOOP, NOOP, NOOP); } - FI void set(const T (&arr)[XY]) { x = arr[0]; y = arr[1]; } - #if HAS_Z_AXIS - FI void set(const T (&arr)[NUM_AXES]) { NUM_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); } - FI void set(NUM_AXIS_ARGS(const T)) { NUM_AXIS_CODE(a = x, b = y, c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w ); } - #endif + FI void set(const XYval pxy) { XY_CODE(x = pxy.x, y = pxy.y); } + FI void set(const XYval pxy, const T pz) { XYZ_CODE(x = pxy.x, y = pxy.y, z = pz); } + FI void set(const T (&arr)[NUM_AXES]) { NUM_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); } #if LOGICAL_AXES > NUM_AXES - FI void set(const T (&arr)[LOGICAL_AXES]) { NUM_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); } - FI void set(LOGICAL_AXIS_ARGS(const T)) { NUM_AXIS_CODE(a = x, b = y, c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w ); } + FI void set(const T (&arr)[LOGICAL_AXES]) { NUM_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); } + FI void set(LOGICAL_AXIS_ARGS(const T)) { NUM_AXIS_CODE(a = x, b = y, c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w); } #if DISTINCT_AXES > LOGICAL_AXES - FI void set(const T (&arr)[DISTINCT_AXES]) { NUM_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); } + FI void set(const T (&arr)[DISTINCT_AXES]) { NUM_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); } #endif #endif + + // Setter for all individual args + FI void set(NUM_AXIS_ARGS(const T)) { NUM_AXIS_CODE(a = x, b = y, c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w); } + + // Setters with fewer elements leave the rest untouched + #if HAS_Y_AXIS + FI void set(const T px) { x = px; } + #endif + #if HAS_Z_AXIS + FI void set(const T px, const T py) { x = px; y = py; } + #endif #if HAS_I_AXIS FI void set(const T px, const T py, const T pz) { x = px; y = py; z = pz; } #endif @@ -434,119 +590,105 @@ struct XYZval { FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; } #endif #if HAS_V_AXIS - FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pm) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; u = pu; } + FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pu) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; u = pu; } #endif #if HAS_W_AXIS - FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pm, const T po) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; u = pu; v = pv; } + FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pu, const T pv) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; u = pu; v = pv; } #endif // Length reduced to one dimension - FI T magnitude() const { return (T)sqrtf(NUM_AXIS_GANG(x*x, + y*y, + z*z, + i*i, + j*j, + k*k, + u*u, + v*v, + w*w)); } + FI constexpr T magnitude() const { return (T)TERN(HAS_X_AXIS, sqrtf(NUM_AXIS_GANG(x*x, + y*y, + z*z, + i*i, + j*j, + k*k, + u*u, + v*v, + w*w)), 0); } // Pointer to the data as a simple array - FI operator T* () { return pos; } + FI operator T* () { return pos; } // If any element is true then it's true - FI operator bool() { return NUM_AXIS_GANG(x, || y, || z, || i, || j, || k, || u, || v, || w); } + FI constexpr operator bool() const { return 0 NUM_AXIS_GANG(|| x, || y, || z, || i, || j, || k, || u, || v, || w); } + // Smallest element + FI constexpr T small() const { return TERN(HAS_X_AXIS, _MIN(NUM_AXIS_LIST(x, y, z, i, j, k, u, v, w)), 0); } + // Largest element + FI constexpr T large() const { return TERN(HAS_X_AXIS, _MAX(NUM_AXIS_LIST(x, y, z, i, j, k, u, v, w)), 0); } // Explicit copy and copies with conversion - FI XYZval copy() const { XYZval o = *this; return o; } - FI XYZval ABS() const { return NUM_AXIS_ARRAY(T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(i)), T(_ABS(j)), T(_ABS(k)), T(_ABS(u)), T(_ABS(v)), T(_ABS(w))); } - FI XYZval asInt() { return NUM_AXIS_ARRAY(int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k), int16_t(u), int16_t(v), int16_t(w)); } - FI XYZval asInt() const { return NUM_AXIS_ARRAY(int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k), int16_t(u), int16_t(v), int16_t(w)); } - FI XYZval asLong() { return NUM_AXIS_ARRAY(int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k), int32_t(u), int32_t(v), int32_t(w)); } - FI XYZval asLong() const { return NUM_AXIS_ARRAY(int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k), int32_t(u), int32_t(v), int32_t(w)); } - FI XYZval ROUNDL() { return NUM_AXIS_ARRAY(int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k)), int32_t(LROUND(u)), int32_t(LROUND(v)), int32_t(LROUND(w))); } - FI XYZval ROUNDL() const { return NUM_AXIS_ARRAY(int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k)), int32_t(LROUND(u)), int32_t(LROUND(v)), int32_t(LROUND(w))); } - FI XYZval asFloat() { return NUM_AXIS_ARRAY(static_cast(x), static_cast(y), static_cast(z), static_cast(i), static_cast(j), static_cast(k), static_cast(u), static_cast(v), static_cast(w)); } - FI XYZval asFloat() const { return NUM_AXIS_ARRAY(static_cast(x), static_cast(y), static_cast(z), static_cast(i), static_cast(j), static_cast(k), static_cast(u), static_cast(v), static_cast(w)); } - FI XYZval reciprocal() const { return NUM_AXIS_ARRAY(_RECIP(x), _RECIP(y), _RECIP(z), _RECIP(i), _RECIP(j), _RECIP(k), _RECIP(u), _RECIP(v), _RECIP(w)); } + FI constexpr XYZval copy() const { XYZval o = *this; return o; } + FI constexpr XYZval ABS() const { return NUM_AXIS_ARRAY(T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(i)), T(_ABS(j)), T(_ABS(k)), T(_ABS(u)), T(_ABS(v)), T(_ABS(w))); } + FI constexpr XYZval asInt() const { return NUM_AXIS_ARRAY(int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k), int16_t(u), int16_t(v), int16_t(w)); } + FI constexpr XYZval asLong() const { return NUM_AXIS_ARRAY(int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k), int32_t(u), int32_t(v), int32_t(w)); } + FI constexpr XYZval ROUNDL() const { return NUM_AXIS_ARRAY(int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k)), int32_t(LROUND(u)), int32_t(LROUND(v)), int32_t(LROUND(w))); } + FI constexpr XYZval asFloat() const { return NUM_AXIS_ARRAY(static_cast(x), static_cast(y), static_cast(z), static_cast(i), static_cast(j), static_cast(k), static_cast(u), static_cast(v), static_cast(w)); } + FI constexpr XYZval reciprocal() const { return NUM_AXIS_ARRAY(_RECIP(x), _RECIP(y), _RECIP(z), _RECIP(i), _RECIP(j), _RECIP(k), _RECIP(u), _RECIP(v), _RECIP(w)); } // Marlin workspace shifting is done with G92 and M206 - FI XYZval asLogical() const { XYZval o = asFloat(); toLogical(o); return o; } - FI XYZval asNative() const { XYZval o = asFloat(); toNative(o); return o; } + FI XYZval asLogical() const { XYZval o = asFloat(); toLogical(o); return o; } + FI XYZval asNative() const { XYZval o = asFloat(); toNative(o); return o; } // In-place cast to types having fewer fields - FI operator XYval&() { return *(XYval*)this; } - FI operator const XYval&() const { return *(const XYval*)this; } + FI operator XYval&() { return *(XYval*)this; } + FI operator const XYval&() const { return *(const XYval*)this; } // Cast to a type with more fields by making a new object - FI operator XYZEval() const { return NUM_AXIS_ARRAY(x, y, z, i, j, k, u, v, w); } + FI constexpr operator XYZEval() const { return NUM_AXIS_ARRAY(x, y, z, i, j, k, u, v, w); } // Accessor via an AxisEnum (or any integer) [index] - FI T& operator[](const int n) { return pos[n]; } - FI const T& operator[](const int n) const { return pos[n]; } + FI T& operator[](const int n) { return pos[n]; } + FI const T& operator[](const int n) const { return pos[n]; } // Assignment operator overrides do the expected thing - FI XYZval& operator= (const T v) { set(ARRAY_N_1(NUM_AXES, v)); return *this; } - FI XYZval& operator= (const XYval &rs) { set(rs.x, rs.y ); return *this; } - FI XYZval& operator= (const XYZEval &rs) { set(NUM_AXIS_ELEM(rs)); return *this; } + FI XYZval& operator= (const T v) { set(ARRAY_N_1(NUM_AXES, v)); return *this; } + FI XYZval& operator= (const XYval &rs) { set(rs.x, rs.y); return *this; } + FI XYZval& operator= (const XYZEval &rs) { set(NUM_AXIS_ELEM(rs)); return *this; } // Override other operators to get intuitive behaviors - FI XYZval operator+ (const XYval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, NOOP , NOOP , NOOP , NOOP , NOOP , NOOP , NOOP ); return ls; } - FI XYZval operator+ (const XYval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, NOOP , NOOP , NOOP , NOOP , NOOP , NOOP , NOOP ); return ls; } - FI XYZval operator- (const XYval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, NOOP , NOOP , NOOP , NOOP , NOOP , NOOP , NOOP ); return ls; } - FI XYZval operator- (const XYval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, NOOP , NOOP , NOOP , NOOP , NOOP , NOOP , NOOP ); return ls; } - FI XYZval operator* (const XYval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, NOOP , NOOP , NOOP , NOOP , NOOP , NOOP , NOOP ); return ls; } - FI XYZval operator* (const XYval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, NOOP , NOOP , NOOP , NOOP , NOOP , NOOP , NOOP ); return ls; } - FI XYZval operator/ (const XYval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, NOOP , NOOP , NOOP , NOOP , NOOP , NOOP , NOOP ); return ls; } - FI XYZval operator/ (const XYval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, NOOP , NOOP , NOOP , NOOP , NOOP , NOOP , NOOP ); return ls; } - FI XYZval operator+ (const XYZval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; } - FI XYZval operator+ (const XYZval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; } - FI XYZval operator- (const XYZval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; } - FI XYZval operator- (const XYZval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; } - FI XYZval operator* (const XYZval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; } - FI XYZval operator* (const XYZval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; } - FI XYZval operator/ (const XYZval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; } - FI XYZval operator/ (const XYZval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; } - FI XYZval operator+ (const XYZEval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; } - FI XYZval operator+ (const XYZEval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; } - FI XYZval operator- (const XYZEval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; } - FI XYZval operator- (const XYZEval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; } - FI XYZval operator* (const XYZEval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; } - FI XYZval operator* (const XYZEval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; } - FI XYZval operator/ (const XYZEval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; } - FI XYZval operator/ (const XYZEval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; } - FI XYZval operator* (const float &v) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x *= v, ls.y *= v, ls.z *= v, ls.i *= v, ls.j *= v, ls.k *= v, ls.u *= v, ls.v *= v, ls.w *= v ); return ls; } - FI XYZval operator* (const float &v) { XYZval ls = *this; NUM_AXIS_CODE(ls.x *= v, ls.y *= v, ls.z *= v, ls.i *= v, ls.j *= v, ls.k *= v, ls.u *= v, ls.v *= v, ls.w *= v ); return ls; } - FI XYZval operator* (const int &v) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x *= v, ls.y *= v, ls.z *= v, ls.i *= v, ls.j *= v, ls.k *= v, ls.u *= v, ls.v *= v, ls.w *= v ); return ls; } - FI XYZval operator* (const int &v) { XYZval ls = *this; NUM_AXIS_CODE(ls.x *= v, ls.y *= v, ls.z *= v, ls.i *= v, ls.j *= v, ls.k *= v, ls.u *= v, ls.v *= v, ls.w *= v ); return ls; } - FI XYZval operator/ (const float &v) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x /= v, ls.y /= v, ls.z /= v, ls.i /= v, ls.j /= v, ls.k /= v, ls.u /= v, ls.v /= v, ls.w /= v ); return ls; } - FI XYZval operator/ (const float &v) { XYZval ls = *this; NUM_AXIS_CODE(ls.x /= v, ls.y /= v, ls.z /= v, ls.i /= v, ls.j /= v, ls.k /= v, ls.u /= v, ls.v /= v, ls.w /= v ); return ls; } - FI XYZval operator/ (const int &v) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x /= v, ls.y /= v, ls.z /= v, ls.i /= v, ls.j /= v, ls.k /= v, ls.u /= v, ls.v /= v, ls.w /= v ); return ls; } - FI XYZval operator/ (const int &v) { XYZval ls = *this; NUM_AXIS_CODE(ls.x /= v, ls.y /= v, ls.z /= v, ls.i /= v, ls.j /= v, ls.k /= v, ls.u /= v, ls.v /= v, ls.w /= v ); return ls; } - FI XYZval operator>>(const int &v) const { XYZval ls = *this; NUM_AXIS_CODE(_RS(ls.x), _RS(ls.y), _RS(ls.z), _RS(ls.i), _RS(ls.j), _RS(ls.k), _RS(ls.u), _RS(ls.v), _RS(ls.w) ); return ls; } - FI XYZval operator>>(const int &v) { XYZval ls = *this; NUM_AXIS_CODE(_RS(ls.x), _RS(ls.y), _RS(ls.z), _RS(ls.i), _RS(ls.j), _RS(ls.k), _RS(ls.u), _RS(ls.v), _RS(ls.w) ); return ls; } - FI XYZval operator<<(const int &v) const { XYZval ls = *this; NUM_AXIS_CODE(_LS(ls.x), _LS(ls.y), _LS(ls.z), _LS(ls.i), _LS(ls.j), _LS(ls.k), _LS(ls.u), _LS(ls.v), _LS(ls.w) ); return ls; } - FI XYZval operator<<(const int &v) { XYZval ls = *this; NUM_AXIS_CODE(_LS(ls.x), _LS(ls.y), _LS(ls.z), _LS(ls.i), _LS(ls.j), _LS(ls.k), _LS(ls.u), _LS(ls.v), _LS(ls.w) ); return ls; } - FI const XYZval operator-() const { XYZval o = *this; NUM_AXIS_CODE(o.x = -x, o.y = -y, o.z = -z, o.i = -i, o.j = -j, o.k = -k, o.u = -u, o.v = -v, o.w = -w); return o; } - FI XYZval operator-() { XYZval o = *this; NUM_AXIS_CODE(o.x = -x, o.y = -y, o.z = -z, o.i = -i, o.j = -j, o.k = -k, o.u = -u, o.v = -v, o.w = -w); return o; } + FI constexpr XYZval operator+ (const XYval &rs) const { return NUM_AXIS_ARRAY(x + rs.x, y + rs.y, z, i, j, k, u, v, w ); } + FI constexpr XYZval operator- (const XYval &rs) const { return NUM_AXIS_ARRAY(x - rs.x, y - rs.y, z, i, j, k, u, v, w ); } + FI constexpr XYZval operator* (const XYval &rs) const { return NUM_AXIS_ARRAY(x * rs.x, y * rs.y, z, i, j, k, u, v, w ); } + FI constexpr XYZval operator/ (const XYval &rs) const { return NUM_AXIS_ARRAY(x / rs.x, y / rs.y, z, i, j, k, u, v, w ); } + FI constexpr XYZval operator+ (const XYZval &rs) const { return NUM_AXIS_ARRAY(x + rs.x, y + rs.y, z + rs.z, i + rs.i, j + rs.j, k + rs.k, u + rs.u, v + rs.v, w + rs.w ); } + FI constexpr XYZval operator- (const XYZval &rs) const { return NUM_AXIS_ARRAY(x - rs.x, y - rs.y, z - rs.z, i - rs.i, j - rs.j, k - rs.k, u - rs.u, v - rs.v, w - rs.w ); } + FI constexpr XYZval operator* (const XYZval &rs) const { return NUM_AXIS_ARRAY(x * rs.x, y * rs.y, z * rs.z, i * rs.i, j * rs.j, k * rs.k, u * rs.u, v * rs.v, w * rs.w ); } + FI constexpr XYZval operator/ (const XYZval &rs) const { return NUM_AXIS_ARRAY(x / rs.x, y / rs.y, z / rs.z, i / rs.i, j / rs.j, k / rs.k, u / rs.u, v / rs.v, w / rs.w ); } + FI constexpr XYZval operator+ (const XYZEval &rs) const { return NUM_AXIS_ARRAY(x + rs.x, y + rs.y, z + rs.z, i + rs.i, j + rs.j, k + rs.k, u + rs.u, v + rs.v, w + rs.w ); } + FI constexpr XYZval operator- (const XYZEval &rs) const { return NUM_AXIS_ARRAY(x - rs.x, y - rs.y, z - rs.z, i - rs.i, j - rs.j, k - rs.k, u - rs.u, v - rs.v, w - rs.w ); } + FI constexpr XYZval operator* (const XYZEval &rs) const { return NUM_AXIS_ARRAY(x * rs.x, y * rs.y, z * rs.z, i * rs.i, j * rs.j, k * rs.k, u * rs.u, v * rs.v, w * rs.w ); } + FI constexpr XYZval operator/ (const XYZEval &rs) const { return NUM_AXIS_ARRAY(x / rs.x, y / rs.y, z / rs.z, i / rs.i, j / rs.j, k / rs.k, u / rs.u, v / rs.v, w / rs.w ); } + FI constexpr XYZval operator* (const float &p) const { return NUM_AXIS_ARRAY((T)(x * p), (T)(y * p), (T)(z * p), (T)(i * p), (T)(j * p), (T)(k * p), (T)(u * p), (T)(v * p), (T)(w * p)); } + FI constexpr XYZval operator* (const int &p) const { return NUM_AXIS_ARRAY(x * p, y * p, z * p, i * p, j * p, k * p, u * p, v * p, w * p); } + FI constexpr XYZval operator/ (const float &p) const { return NUM_AXIS_ARRAY((T)(x / p), (T)(y / p), (T)(z / p), (T)(i / p), (T)(j / p), (T)(k / p), (T)(u / p), (T)(v / p), (T)(w / p)); } + FI constexpr XYZval operator/ (const int &p) const { return NUM_AXIS_ARRAY(x / p, y / p, z / p, i / p, j / p, k / p, u / p, v / p, w / p); } + FI constexpr XYZval operator>>(const int &p) const { return NUM_AXIS_ARRAY(_RS(x), _RS(y), _RS(z), _RS(i), _RS(j), _RS(k), _RS(u), _RS(v), _RS(w)); } + FI constexpr XYZval operator<<(const int &p) const { return NUM_AXIS_ARRAY(_LS(x), _LS(y), _LS(z), _LS(i), _LS(j), _LS(k), _LS(u), _LS(v), _LS(w)); } + FI constexpr XYZval operator-() const { return NUM_AXIS_ARRAY(-x, -y, -z, -i, -j, -k, -u, -v, -w); } + + // Absolute difference between two objects + FI constexpr XYZval diff(const XYZEval &rs) const { return NUM_AXIS_ARRAY(T(_ABS(x - rs.x)), T(_ABS(y - rs.y)), T(_ABS(z - rs.z)), T(_ABS(i - rs.i)), T(_ABS(j - rs.j)), T(_ABS(k - rs.k)), T(_ABS(u - rs.u)), T(_ABS(v - rs.v)), T(_ABS(w - rs.w)) ); } + FI constexpr XYZval diff(const XYZval &rs) const { return NUM_AXIS_ARRAY(T(_ABS(x - rs.x)), T(_ABS(y - rs.y)), T(_ABS(z - rs.z)), T(_ABS(i - rs.i)), T(_ABS(j - rs.j)), T(_ABS(k - rs.k)), T(_ABS(u - rs.u)), T(_ABS(v - rs.v)), T(_ABS(w - rs.w)) ); } + FI constexpr XYZval diff(const XYval &rs) const { return NUM_AXIS_ARRAY(T(_ABS(x - rs.x)), T(_ABS(y - rs.y)), z, i, j, k, u, v, w ); } // Modifier operators - FI XYZval& operator+=(const XYval &rs) { NUM_AXIS_CODE(x += rs.x, y += rs.y, NOOP, NOOP, NOOP, NOOP, NOOP, NOOP, NOOP ); return *this; } - FI XYZval& operator-=(const XYval &rs) { NUM_AXIS_CODE(x -= rs.x, y -= rs.y, NOOP, NOOP, NOOP, NOOP, NOOP, NOOP, NOOP ); return *this; } - FI XYZval& operator*=(const XYval &rs) { NUM_AXIS_CODE(x *= rs.x, y *= rs.y, NOOP, NOOP, NOOP, NOOP, NOOP, NOOP, NOOP ); return *this; } - FI XYZval& operator/=(const XYval &rs) { NUM_AXIS_CODE(x /= rs.x, y /= rs.y, NOOP, NOOP, NOOP, NOOP, NOOP, NOOP, NOOP ); return *this; } - FI XYZval& operator+=(const XYZval &rs) { NUM_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k, u += rs.u, v += rs.v, w += rs.w); return *this; } - FI XYZval& operator-=(const XYZval &rs) { NUM_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k, u -= rs.u, v -= rs.v, w -= rs.w); return *this; } - FI XYZval& operator*=(const XYZval &rs) { NUM_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k, u *= rs.u, v *= rs.v, w *= rs.w); return *this; } - FI XYZval& operator/=(const XYZval &rs) { NUM_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k, u /= rs.u, v /= rs.v, w /= rs.w); return *this; } - FI XYZval& operator+=(const XYZEval &rs) { NUM_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k, u += rs.u, v += rs.v, w += rs.w); return *this; } - FI XYZval& operator-=(const XYZEval &rs) { NUM_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k, u -= rs.u, v -= rs.v, w -= rs.w); return *this; } - FI XYZval& operator*=(const XYZEval &rs) { NUM_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k, u *= rs.u, v *= rs.v, w *= rs.w); return *this; } - FI XYZval& operator/=(const XYZEval &rs) { NUM_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k, u /= rs.u, v /= rs.v, w /= rs.w); return *this; } - FI XYZval& operator*=(const float &v) { NUM_AXIS_CODE(x *= v, y *= v, z *= v, i *= v, j *= v, k *= v, u *= v, v *= v, w *= v); return *this; } - FI XYZval& operator*=(const int &v) { NUM_AXIS_CODE(x *= v, y *= v, z *= v, i *= v, j *= v, k *= v, u *= v, v *= v, w *= v); return *this; } - FI XYZval& operator>>=(const int &v) { NUM_AXIS_CODE(_RS(x), _RS(y), _RS(z), _RS(i), _RS(j), _RS(k), _RS(u), _RS(v), _RS(w)); return *this; } - FI XYZval& operator<<=(const int &v) { NUM_AXIS_CODE(_LS(x), _LS(y), _LS(z), _LS(i), _LS(j), _LS(k), _LS(u), _LS(v), _LS(w)); return *this; } + FI XYZval& operator+=(const XYval &rs) { XY_CODE(x += rs.x, y += rs.y); return *this; } + FI XYZval& operator-=(const XYval &rs) { XY_CODE(x -= rs.x, y -= rs.y); return *this; } + FI XYZval& operator*=(const XYval &rs) { XY_CODE(x *= rs.x, y *= rs.y); return *this; } + FI XYZval& operator/=(const XYval &rs) { XY_CODE(x /= rs.x, y /= rs.y); return *this; } + FI XYZval& operator+=(const XYZval &rs) { NUM_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k, u += rs.u, v += rs.v, w += rs.w); return *this; } + FI XYZval& operator-=(const XYZval &rs) { NUM_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k, u -= rs.u, v -= rs.v, w -= rs.w); return *this; } + FI XYZval& operator*=(const XYZval &rs) { NUM_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k, u *= rs.u, v *= rs.v, w *= rs.w); return *this; } + FI XYZval& operator/=(const XYZval &rs) { NUM_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k, u /= rs.u, v /= rs.v, w /= rs.w); return *this; } + FI XYZval& operator+=(const XYZEval &rs) { NUM_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k, u += rs.u, v += rs.v, w += rs.w); return *this; } + FI XYZval& operator-=(const XYZEval &rs) { NUM_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k, u -= rs.u, v -= rs.v, w -= rs.w); return *this; } + FI XYZval& operator*=(const XYZEval &rs) { NUM_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k, u *= rs.u, v *= rs.v, w *= rs.w); return *this; } + FI XYZval& operator/=(const XYZEval &rs) { NUM_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k, u /= rs.u, v /= rs.v, w /= rs.w); return *this; } + FI XYZval& operator*=(const float &p) { NUM_AXIS_CODE(x *= p, y *= p, z *= p, i *= p, j *= p, k *= p, u *= p, v *= p, w *= p); return *this; } + FI XYZval& operator*=(const int &p) { NUM_AXIS_CODE(x *= p, y *= p, z *= p, i *= p, j *= p, k *= p, u *= p, v *= p, w *= p); return *this; } + FI XYZval& operator>>=(const int &p) { NUM_AXIS_CODE(_RSE(x), _RSE(y), _RSE(z), _RSE(i), _RSE(j), _RSE(k), _RSE(u), _RSE(v), _RSE(w)); return *this; } + FI XYZval& operator<<=(const int &p) { NUM_AXIS_CODE(_LSE(x), _LSE(y), _LSE(z), _LSE(i), _LSE(j), _LSE(k), _LSE(u), _LSE(v), _LSE(w)); return *this; } // Exact comparisons. For floats a "NEAR" operation may be better. - FI bool operator==(const XYZEval &rs) { return true NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); } - FI bool operator==(const XYZEval &rs) const { return true NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); } - FI bool operator!=(const XYZEval &rs) { return !operator==(rs); } - FI bool operator!=(const XYZEval &rs) const { return !operator==(rs); } + FI bool operator==(const XYZEval &rs) const { return true NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); } + FI bool operator!=(const XYZEval &rs) const { return !operator==(rs); } }; // // Logical Axes coordinates, counters, etc. +// May have any number of axes according to configuration, including zero axes. +// When there is no extruder, essentially identical to XYZval. // template struct XYZEval { @@ -556,11 +698,33 @@ struct XYZEval { T pos[LOGICAL_AXES]; }; // Reset all to 0 - FI void reset() { LOGICAL_AXIS_GANG(e =, x =, y =, z =, i =, j =, k =, u =, v =, w =) 0; } + FI void reset() { LOGICAL_AXIS_GANG(e =, x =, y =, z =, i =, j =, k =, u =, v =, w =) 0; } - // Setters for some number of linear axes, not all - FI void set(const T px) { x = px; } - FI void set(const T px, const T py) { x = px; y = py; } + // Setters taking struct types and arrays + FI void set(const XYval pxy) { XY_CODE(x = pxy.x, y = pxy.y); } + FI void set(const XYval pxy, const T pz) { XYZ_CODE(x = pxy.x, y = pxy.y, z = pz); } + FI void set(const XYZval pxyz) { set(NUM_AXIS_ELEM(pxyz)); } + FI void set(const T (&arr)[NUM_AXES]) { NUM_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); } + #if LOGICAL_AXES > NUM_AXES + FI void set(const T (&arr)[LOGICAL_AXES]) { LOGICAL_AXIS_CODE(e = arr[LOGICAL_AXES-1], x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); } + FI void set(const XYval pxy, const T pz, const T pe) { set(pxy, pz); e = pe; } + FI void set(const XYZval pxyz, const T pe) { set(pxyz); e = pe; } + FI void set(LOGICAL_AXIS_ARGS(const T)) { LOGICAL_AXIS_CODE(_e = e, a = x, b = y, c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w); } + #if DISTINCT_AXES > LOGICAL_AXES + FI void set(const T (&arr)[DISTINCT_AXES]) { LOGICAL_AXIS_CODE(e = arr[LOGICAL_AXES-1], x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); } + #endif + #endif + + // Setter for all individual args + FI void set(NUM_AXIS_ARGS(const T)) { NUM_AXIS_CODE(a = x, b = y, c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w); } + + // Setters with fewer elements leave the rest untouched + #if HAS_Y_AXIS + FI void set(const T px) { x = px; } + #endif + #if HAS_Z_AXIS + FI void set(const T px, const T py) { x = px; y = py; } + #endif #if HAS_I_AXIS FI void set(const T px, const T py, const T pz) { x = px; y = py; z = pz; } #endif @@ -574,48 +738,35 @@ struct XYZEval { FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; } #endif #if HAS_V_AXIS - FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pm) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; u = pu; } + FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pu) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; u = pu; } #endif #if HAS_W_AXIS - FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pm, const T po) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; u = pm; v = pv; } - #endif - - // Setters taking struct types and arrays - FI void set(const XYval pxy) { x = pxy.x; y = pxy.y; } - FI void set(const XYZval pxyz) { set(NUM_AXIS_ELEM(pxyz)); } - #if HAS_Z_AXIS - FI void set(NUM_AXIS_ARGS(const T)) { NUM_AXIS_CODE(a = x, b = y, c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w); } - #endif - FI void set(const XYval pxy, const T pz) { set(pxy); TERN_(HAS_Z_AXIS, z = pz); } - #if LOGICAL_AXES > NUM_AXES - FI void set(const XYval pxy, const T pz, const T pe) { set(pxy, pz); e = pe; } - FI void set(const XYZval pxyz, const T pe) { set(pxyz); e = pe; } - FI void set(LOGICAL_AXIS_ARGS(const T)) { LOGICAL_AXIS_CODE(_e = e, a = x, b = y, c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w); } + FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pu, const T pv) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; u = pu; v = pv; } #endif // Length reduced to one dimension - FI T magnitude() const { return (T)sqrtf(LOGICAL_AXIS_GANG(+ e*e, + x*x, + y*y, + z*z, + i*i, + j*j, + k*k, + u*u, + v*v, + w*w)); } + FI constexpr T magnitude() const { return (T)sqrtf(LOGICAL_AXIS_GANG(+ e*e, + x*x, + y*y, + z*z, + i*i, + j*j, + k*k, + u*u, + v*v, + w*w)); } // Pointer to the data as a simple array - FI operator T* () { return pos; } + FI operator T* () { return pos; } // If any element is true then it's true - FI operator bool() { return 0 LOGICAL_AXIS_GANG(|| e, || x, || y, || z, || i, || j, || k, || u, || v, || w); } + FI constexpr operator bool() const { return 0 LOGICAL_AXIS_GANG(|| e, || x, || y, || z, || i, || j, || k, || u, || v, || w); } + // Smallest element + FI constexpr T small() const { return _MIN(LOGICAL_AXIS_LIST(e, x, y, z, i, j, k, u, v, w)); } + // Largest element + FI constexpr T large() const { return _MAX(LOGICAL_AXIS_LIST(e, x, y, z, i, j, k, u, v, w)); } // Explicit copy and copies with conversion - FI XYZEval copy() const { XYZEval v = *this; return v; } - FI XYZEval ABS() const { return LOGICAL_AXIS_ARRAY(T(_ABS(e)), T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(i)), T(_ABS(j)), T(_ABS(k)), T(_ABS(u)), T(_ABS(v)), T(_ABS(w))); } - FI XYZEval asInt() { return LOGICAL_AXIS_ARRAY(int16_t(e), int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k), int16_t(u), int16_t(v), int16_t(w)); } - FI XYZEval asInt() const { return LOGICAL_AXIS_ARRAY(int16_t(e), int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k), int16_t(u), int16_t(v), int16_t(w)); } - FI XYZEval asLong() { return LOGICAL_AXIS_ARRAY(int32_t(e), int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k), int32_t(u), int32_t(v), int32_t(w)); } - FI XYZEval asLong() const { return LOGICAL_AXIS_ARRAY(int32_t(e), int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k), int32_t(u), int32_t(v), int32_t(w)); } - FI XYZEval ROUNDL() { return LOGICAL_AXIS_ARRAY(int32_t(LROUND(e)), int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k)), int32_t(LROUND(u)), int32_t(LROUND(v)), int32_t(LROUND(w))); } - FI XYZEval ROUNDL() const { return LOGICAL_AXIS_ARRAY(int32_t(LROUND(e)), int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k)), int32_t(LROUND(u)), int32_t(LROUND(v)), int32_t(LROUND(w))); } - FI XYZEval asFloat() { return LOGICAL_AXIS_ARRAY(static_cast(e), static_cast(x), static_cast(y), static_cast(z), static_cast(i), static_cast(j), static_cast(k), static_cast(u), static_cast(v), static_cast(w)); } - FI XYZEval asFloat() const { return LOGICAL_AXIS_ARRAY(static_cast(e), static_cast(x), static_cast(y), static_cast(z), static_cast(i), static_cast(j), static_cast(k), static_cast(u), static_cast(v), static_cast(w)); } - FI XYZEval reciprocal() const { return LOGICAL_AXIS_ARRAY(_RECIP(e), _RECIP(x), _RECIP(y), _RECIP(z), _RECIP(i), _RECIP(j), _RECIP(k), _RECIP(u), _RECIP(v), _RECIP(w)); } + FI constexpr XYZEval copy() const { XYZEval v = *this; return v; } + FI constexpr XYZEval ABS() const { return LOGICAL_AXIS_ARRAY(T(_ABS(e)), T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(i)), T(_ABS(j)), T(_ABS(k)), T(_ABS(u)), T(_ABS(v)), T(_ABS(w))); } + FI constexpr XYZEval asInt() const { return LOGICAL_AXIS_ARRAY(int16_t(e), int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k), int16_t(u), int16_t(v), int16_t(w)); } + FI constexpr XYZEval asLong() const { return LOGICAL_AXIS_ARRAY(int32_t(e), int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k), int32_t(u), int32_t(v), int32_t(w)); } + FI constexpr XYZEval ROUNDL() const { return LOGICAL_AXIS_ARRAY(int32_t(LROUND(e)), int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k)), int32_t(LROUND(u)), int32_t(LROUND(v)), int32_t(LROUND(w))); } + FI constexpr XYZEval asFloat() const { return LOGICAL_AXIS_ARRAY(static_cast(e), static_cast(x), static_cast(y), static_cast(z), static_cast(i), static_cast(j), static_cast(k), static_cast(u), static_cast(v), static_cast(w)); } + FI constexpr XYZEval reciprocal() const { return LOGICAL_AXIS_ARRAY(_RECIP(e), _RECIP(x), _RECIP(y), _RECIP(z), _RECIP(i), _RECIP(j), _RECIP(k), _RECIP(u), _RECIP(v), _RECIP(w)); } // Marlin workspace shifting is done with G92 and M206 - FI XYZEval asLogical() const { XYZEval o = asFloat(); toLogical(o); return o; } - FI XYZEval asNative() const { XYZEval o = asFloat(); toNative(o); return o; } + FI XYZEval asLogical() const { XYZEval o = asFloat(); toLogical(o); return o; } + FI XYZEval asNative() const { XYZEval o = asFloat(); toNative(o); return o; } // In-place cast to types having fewer fields FI operator XYval&() { return *(XYval*)this; } @@ -624,80 +775,349 @@ struct XYZEval { FI operator const XYZval&() const { return *(const XYZval*)this; } // Accessor via an AxisEnum (or any integer) [index] - FI T& operator[](const int n) { return pos[n]; } - FI const T& operator[](const int n) const { return pos[n]; } + FI T& operator[](const int n) { return pos[n]; } + FI const T& operator[](const int n) const { return pos[n]; } // Assignment operator overrides do the expected thing - FI XYZEval& operator= (const T v) { set(LIST_N_1(NUM_AXES, v)); return *this; } - FI XYZEval& operator= (const XYval &rs) { set(rs.x, rs.y); return *this; } - FI XYZEval& operator= (const XYZval &rs) { set(NUM_AXIS_ELEM(rs)); return *this; } + FI XYZEval& operator= (const T v) { set(LOGICAL_AXIS_LIST_1(v)); return *this; } + FI XYZEval& operator= (const XYval &rs) { set(rs.x, rs.y); return *this; } + FI XYZEval& operator= (const XYZval &rs) { set(NUM_AXIS_ELEM(rs)); return *this; } // Override other operators to get intuitive behaviors - FI XYZEval operator+ (const XYval &rs) const { XYZEval ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; } - FI XYZEval operator+ (const XYval &rs) { XYZEval ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; } - FI XYZEval operator- (const XYval &rs) const { XYZEval ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; } - FI XYZEval operator- (const XYval &rs) { XYZEval ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; } - FI XYZEval operator* (const XYval &rs) const { XYZEval ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; } - FI XYZEval operator* (const XYval &rs) { XYZEval ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; } - FI XYZEval operator/ (const XYval &rs) const { XYZEval ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; } - FI XYZEval operator/ (const XYval &rs) { XYZEval ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; } - FI XYZEval operator+ (const XYZval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; } - FI XYZEval operator+ (const XYZval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; } - FI XYZEval operator- (const XYZval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; } - FI XYZEval operator- (const XYZval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; } - FI XYZEval operator* (const XYZval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; } - FI XYZEval operator* (const XYZval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; } - FI XYZEval operator/ (const XYZval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; } - FI XYZEval operator/ (const XYZval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; } - FI XYZEval operator+ (const XYZEval &rs) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e += rs.e, ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; } - FI XYZEval operator+ (const XYZEval &rs) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e += rs.e, ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; } - FI XYZEval operator- (const XYZEval &rs) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e -= rs.e, ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; } - FI XYZEval operator- (const XYZEval &rs) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e -= rs.e, ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; } - FI XYZEval operator* (const XYZEval &rs) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e *= rs.e, ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; } - FI XYZEval operator* (const XYZEval &rs) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e *= rs.e, ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; } - FI XYZEval operator/ (const XYZEval &rs) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e /= rs.e, ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; } - FI XYZEval operator/ (const XYZEval &rs) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e /= rs.e, ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; } - FI XYZEval operator* (const float &v) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e *= v, ls.x *= v, ls.y *= v, ls.z *= v, ls.i *= v, ls.j *= v, ls.k *= v, ls.u *= v, ls.v *= v, ls.w *= v ); return ls; } - FI XYZEval operator* (const float &v) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e *= v, ls.x *= v, ls.y *= v, ls.z *= v, ls.i *= v, ls.j *= v, ls.k *= v, ls.u *= v, ls.v *= v, ls.w *= v ); return ls; } - FI XYZEval operator* (const int &v) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e *= v, ls.x *= v, ls.y *= v, ls.z *= v, ls.i *= v, ls.j *= v, ls.k *= v, ls.u *= v, ls.v *= v, ls.w *= v ); return ls; } - FI XYZEval operator* (const int &v) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e *= v, ls.x *= v, ls.y *= v, ls.z *= v, ls.i *= v, ls.j *= v, ls.k *= v, ls.u *= v, ls.v *= v, ls.w *= v ); return ls; } - FI XYZEval operator/ (const float &v) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e /= v, ls.x /= v, ls.y /= v, ls.z /= v, ls.i /= v, ls.j /= v, ls.k /= v, ls.u /= v, ls.v /= v, ls.w /= v ); return ls; } - FI XYZEval operator/ (const float &v) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e /= v, ls.x /= v, ls.y /= v, ls.z /= v, ls.i /= v, ls.j /= v, ls.k /= v, ls.u /= v, ls.v /= v, ls.w /= v ); return ls; } - FI XYZEval operator/ (const int &v) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e /= v, ls.x /= v, ls.y /= v, ls.z /= v, ls.i /= v, ls.j /= v, ls.k /= v, ls.u /= v, ls.v /= v, ls.w /= v ); return ls; } - FI XYZEval operator/ (const int &v) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e /= v, ls.x /= v, ls.y /= v, ls.z /= v, ls.i /= v, ls.j /= v, ls.k /= v, ls.u /= v, ls.v /= v, ls.w /= v ); return ls; } - FI XYZEval operator>>(const int &v) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(_RS(ls.e), _RS(ls.x), _RS(ls.y), _RS(ls.z), _RS(ls.i), _RS(ls.j), _RS(ls.k), _RS(ls.u), _RS(ls.v), _RS(ls.w) ); return ls; } - FI XYZEval operator>>(const int &v) { XYZEval ls = *this; LOGICAL_AXIS_CODE(_RS(ls.e), _RS(ls.x), _RS(ls.y), _RS(ls.z), _RS(ls.i), _RS(ls.j), _RS(ls.k), _RS(ls.u), _RS(ls.v), _RS(ls.w) ); return ls; } - FI XYZEval operator<<(const int &v) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(_LS(ls.e), _LS(ls.x), _LS(ls.y), _LS(ls.z), _LS(ls.i), _LS(ls.j), _LS(ls.k), _LS(ls.u), _LS(ls.v), _LS(ls.w) ); return ls; } - FI XYZEval operator<<(const int &v) { XYZEval ls = *this; LOGICAL_AXIS_CODE(_LS(ls.e), _LS(ls.x), _LS(ls.y), _LS(ls.z), _LS(ls.i), _LS(ls.j), _LS(ls.k), _LS(ls.u), _LS(ls.v), _LS(ls.w) ); return ls; } - FI const XYZEval operator-() const { return LOGICAL_AXIS_ARRAY(-e, -x, -y, -z, -i, -j, -k, -u, -v, -w); } - FI XYZEval operator-() { return LOGICAL_AXIS_ARRAY(-e, -x, -y, -z, -i, -j, -k, -u, -v, -w); } + FI constexpr XYZEval operator+ (const XYval &rs) const { return LOGICAL_AXIS_ARRAY(e, x + rs.x, y + rs.y, z, i, j, k, u, v, w); } + FI constexpr XYZEval operator- (const XYval &rs) const { return LOGICAL_AXIS_ARRAY(e, x - rs.x, y - rs.y, z, i, j, k, u, v, w); } + FI constexpr XYZEval operator* (const XYval &rs) const { return LOGICAL_AXIS_ARRAY(e, x * rs.x, y * rs.y, z, i, j, k, u, v, w); } + FI constexpr XYZEval operator/ (const XYval &rs) const { return LOGICAL_AXIS_ARRAY(e, x / rs.x, y / rs.y, z, i, j, k, u, v, w); } + FI constexpr XYZEval operator+ (const XYZval &rs) const { return LOGICAL_AXIS_ARRAY(e, x + rs.x, y + rs.y, z + rs.z, i + rs.i, j + rs.j, k + rs.k, u + rs.u, v + rs.v, w + rs.w); } + FI constexpr XYZEval operator- (const XYZval &rs) const { return LOGICAL_AXIS_ARRAY(e, x - rs.x, y - rs.y, z - rs.z, i - rs.i, j - rs.j, k - rs.k, u - rs.u, v - rs.v, w - rs.w); } + FI constexpr XYZEval operator* (const XYZval &rs) const { return LOGICAL_AXIS_ARRAY(e, x * rs.x, y * rs.y, z * rs.z, i * rs.i, j * rs.j, k * rs.k, u * rs.u, v * rs.v, w * rs.w); } + FI constexpr XYZEval operator/ (const XYZval &rs) const { return LOGICAL_AXIS_ARRAY(e, x / rs.x, y / rs.y, z / rs.z, i / rs.i, j / rs.j, k / rs.k, u / rs.u, v / rs.v, w / rs.w); } + FI constexpr XYZEval operator+ (const XYZEval &rs) const { return LOGICAL_AXIS_ARRAY(e + rs.e, x + rs.x, y + rs.y, z + rs.z, i + rs.i, j + rs.j, k + rs.k, u + rs.u, v + rs.v, w + rs.w); } + FI constexpr XYZEval operator- (const XYZEval &rs) const { return LOGICAL_AXIS_ARRAY(e - rs.e, x - rs.x, y - rs.y, z - rs.z, i - rs.i, j - rs.j, k - rs.k, u - rs.u, v - rs.v, w - rs.w); } + FI constexpr XYZEval operator* (const XYZEval &rs) const { return LOGICAL_AXIS_ARRAY(e * rs.e, x * rs.x, y * rs.y, z * rs.z, i * rs.i, j * rs.j, k * rs.k, u * rs.u, v * rs.v, w * rs.w); } + FI constexpr XYZEval operator/ (const XYZEval &rs) const { return LOGICAL_AXIS_ARRAY(e / rs.e, x / rs.x, y / rs.y, z / rs.z, i / rs.i, j / rs.j, k / rs.k, u / rs.u, v / rs.v, w / rs.w); } + FI constexpr XYZEval operator* (const float &p) const { return LOGICAL_AXIS_ARRAY((T)(e * p), (T)(x * p), (T)(y * p), (T)(z * p), (T)(i * p), (T)(j * p), (T)(k * p), (T)(u * p), (T)(v * p), (T)(w * p)); } + FI constexpr XYZEval operator* (const int &p) const { return LOGICAL_AXIS_ARRAY(e * p, x * p, y * p, z * p, i * p, j * p, k * p, u * p, v * p, w * p); } + FI constexpr XYZEval operator/ (const float &p) const { return LOGICAL_AXIS_ARRAY((T)(e / p), (T)(x / p), (T)(y / p), (T)(z / p), (T)(i / p), (T)(j / p), (T)(k / p), (T)(u / p), (T)(v / p), (T)(w / p)); } + FI constexpr XYZEval operator/ (const int &p) const { return LOGICAL_AXIS_ARRAY(e / p, x / p, y / p, z / p, i / p, j / p, k / p, u / p, v / p, w / p); } + FI constexpr XYZEval operator>>(const int &p) const { return LOGICAL_AXIS_ARRAY(_RS(e), _RS(x), _RS(y), _RS(z), _RS(i), _RS(j), _RS(k), _RS(u), _RS(v), _RS(w)); } + FI constexpr XYZEval operator<<(const int &p) const { return LOGICAL_AXIS_ARRAY(_LS(e), _LS(x), _LS(y), _LS(z), _LS(i), _LS(j), _LS(k), _LS(u), _LS(v), _LS(w)); } + FI constexpr XYZEval operator-() const { return LOGICAL_AXIS_ARRAY(-e, -x, -y, -z, -i, -j, -k, -u, -v, -w); } + + // Absolute difference between two objects + FI constexpr XYZEval diff(const XYZEval &rs) const { return LOGICAL_AXIS_ARRAY(T(_ABS(e - rs.e)), T(_ABS(x - rs.x)), T(_ABS(y - rs.y)), T(_ABS(z - rs.z)), T(_ABS(i - rs.i)), T(_ABS(j - rs.j)), T(_ABS(k - rs.k)), T(_ABS(u - rs.u)), T(_ABS(v - rs.v)), T(_ABS(w - rs.w)) ); } + FI constexpr XYZEval diff(const XYZval &rs) const { return LOGICAL_AXIS_ARRAY(0 , T(_ABS(x - rs.x)), T(_ABS(y - rs.y)), T(_ABS(z - rs.z)), T(_ABS(i - rs.i)), T(_ABS(j - rs.j)), T(_ABS(k - rs.k)), T(_ABS(u - rs.u)), T(_ABS(v - rs.v)), T(_ABS(w - rs.w)) ); } + FI constexpr XYZEval diff(const XYval &rs) const { return LOGICAL_AXIS_ARRAY(0 , T(_ABS(x - rs.x)), T(_ABS(y - rs.y)), z, i, j, k, u, v, w ); } // Modifier operators - FI XYZEval& operator+=(const XYval &rs) { x += rs.x; y += rs.y; return *this; } - FI XYZEval& operator-=(const XYval &rs) { x -= rs.x; y -= rs.y; return *this; } - FI XYZEval& operator*=(const XYval &rs) { x *= rs.x; y *= rs.y; return *this; } - FI XYZEval& operator/=(const XYval &rs) { x /= rs.x; y /= rs.y; return *this; } - FI XYZEval& operator+=(const XYZval &rs) { NUM_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k, u += rs.u, v += rs.v, w += rs.w); return *this; } - FI XYZEval& operator-=(const XYZval &rs) { NUM_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k, u -= rs.u, v -= rs.v, w -= rs.w); return *this; } - FI XYZEval& operator*=(const XYZval &rs) { NUM_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k, u *= rs.u, v *= rs.v, w *= rs.w); return *this; } - FI XYZEval& operator/=(const XYZval &rs) { NUM_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k, u /= rs.u, v /= rs.v, w /= rs.w); return *this; } - FI XYZEval& operator+=(const XYZEval &rs) { LOGICAL_AXIS_CODE(e += rs.e, x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k, u += rs.u, v += rs.v, w += rs.w); return *this; } - FI XYZEval& operator-=(const XYZEval &rs) { LOGICAL_AXIS_CODE(e -= rs.e, x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k, u -= rs.u, v -= rs.v, w -= rs.w); return *this; } - FI XYZEval& operator*=(const XYZEval &rs) { LOGICAL_AXIS_CODE(e *= rs.e, x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k, u *= rs.u, v *= rs.v, w *= rs.w); return *this; } - FI XYZEval& operator/=(const XYZEval &rs) { LOGICAL_AXIS_CODE(e /= rs.e, x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k, u /= rs.u, v /= rs.v, w /= rs.w); return *this; } - FI XYZEval& operator*=(const T &v) { LOGICAL_AXIS_CODE(e *= v, x *= v, y *= v, z *= v, i *= v, j *= v, k *= v, u *= v, v *= v, w *= v); return *this; } - FI XYZEval& operator>>=(const int &v) { LOGICAL_AXIS_CODE(_RS(e), _RS(x), _RS(y), _RS(z), _RS(i), _RS(j), _RS(k), _RS(u), _RS(v), _RS(w)); return *this; } - FI XYZEval& operator<<=(const int &v) { LOGICAL_AXIS_CODE(_LS(e), _LS(x), _LS(y), _LS(z), _LS(i), _LS(j), _LS(k), _LS(u), _LS(v), _LS(w)); return *this; } + FI XYZEval& operator+=(const XYval &rs) { XY_CODE(x += rs.x, y += rs.y); return *this; } + FI XYZEval& operator-=(const XYval &rs) { XY_CODE(x -= rs.x, y -= rs.y); return *this; } + FI XYZEval& operator*=(const XYval &rs) { XY_CODE(x *= rs.x, y *= rs.y); return *this; } + FI XYZEval& operator/=(const XYval &rs) { XY_CODE(x /= rs.x, y /= rs.y); return *this; } + FI XYZEval& operator+=(const XYZval &rs) { NUM_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k, u += rs.u, v += rs.v, w += rs.w); return *this; } + FI XYZEval& operator-=(const XYZval &rs) { NUM_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k, u -= rs.u, v -= rs.v, w -= rs.w); return *this; } + FI XYZEval& operator*=(const XYZval &rs) { NUM_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k, u *= rs.u, v *= rs.v, w *= rs.w); return *this; } + FI XYZEval& operator/=(const XYZval &rs) { NUM_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k, u /= rs.u, v /= rs.v, w /= rs.w); return *this; } + FI XYZEval& operator+=(const XYZEval &rs) { LOGICAL_AXIS_CODE(e += rs.e, x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k, u += rs.u, v += rs.v, w += rs.w); return *this; } + FI XYZEval& operator-=(const XYZEval &rs) { LOGICAL_AXIS_CODE(e -= rs.e, x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k, u -= rs.u, v -= rs.v, w -= rs.w); return *this; } + FI XYZEval& operator*=(const XYZEval &rs) { LOGICAL_AXIS_CODE(e *= rs.e, x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k, u *= rs.u, v *= rs.v, w *= rs.w); return *this; } + FI XYZEval& operator/=(const XYZEval &rs) { LOGICAL_AXIS_CODE(e /= rs.e, x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k, u /= rs.u, v /= rs.v, w /= rs.w); return *this; } + FI XYZEval& operator*=(const T &p) { LOGICAL_AXIS_CODE(e *= p, x *= p, y *= p, z *= p, i *= p, j *= p, k *= p, u *= p, v *= p, w *= p); return *this; } + FI XYZEval& operator>>=(const int &p) { LOGICAL_AXIS_CODE(_RSE(e), _RSE(x), _RSE(y), _RSE(z), _RSE(i), _RSE(j), _RSE(k), _RSE(u), _RSE(v), _RSE(w)); return *this; } + FI XYZEval& operator<<=(const int &p) { LOGICAL_AXIS_CODE(_LSE(e), _LSE(x), _LSE(y), _LSE(z), _LSE(i), _LSE(j), _LSE(k), _LSE(u), _LSE(v), _LSE(w)); return *this; } // Exact comparisons. For floats a "NEAR" operation may be better. - FI bool operator==(const XYZval &rs) { return true NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); } - FI bool operator==(const XYZval &rs) const { return true NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); } - FI bool operator!=(const XYZval &rs) { return !operator==(rs); } - FI bool operator!=(const XYZval &rs) const { return !operator==(rs); } + FI bool operator==(const XYZval &rs) const { return true NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); } + FI bool operator==(const XYZEval &rs) const { return true LOGICAL_AXIS_GANG(&& e == rs.e, && x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); } + FI bool operator!=(const XYZval &rs) const { return !operator==(rs); } + FI bool operator!=(const XYZEval &rs) const { return !operator==(rs); } +}; + +#include // for memset + +template +struct XYZarray { + typedef T el[SIZE]; + union { + el data[LOGICAL_AXES]; + struct { NUM_AXIS_CODE(T x, T y, T z, T i, T j, T k, T u, T v, T w); }; + struct { NUM_AXIS_CODE(T a, T b, T c, T _i, T _j, T _k, T _u, T _v, T _w); }; + }; + FI void reset() { ZERO(data); } + + FI void set(const int n, const XYval p) { NUM_AXIS_CODE(x[n]=p.x, y[n]=p.y,,,,,,,); } + FI void set(const int n, const XYZval p) { NUM_AXIS_CODE(x[n]=p.x, y[n]=p.y, z[n]=p.z, i[n]=p.i, j[n]=p.j, k[n]=p.k, u[n]=p.u, v[n]=p.v, w[n]=p.w ); } + FI void set(const int n, const XYZEval p) { NUM_AXIS_CODE(x[n]=p.x, y[n]=p.y, z[n]=p.z, i[n]=p.i, j[n]=p.j, k[n]=p.k, u[n]=p.u, v[n]=p.v, w[n]=p.w ); } + + // Setter for all individual args + FI void set(const int n OPTARGS_NUM(const T)) { NUM_AXIS_CODE(a[n] = x, b[n] = y, c[n] = z, _i[n] = i, _j[n] = j, _k[n] = k, _u[n] = u, _v[n] = v, _w[n] = w); } + + // Setters with fewer elements leave the rest untouched + #if HAS_Y_AXIS + FI void set(const int n, const T px) { x[n] = px; } + #endif + #if HAS_Z_AXIS + FI void set(const int n, const T px, const T py) { x[n] = px; y[n] = py; } + #endif + #if HAS_I_AXIS + FI void set(const int n, const T px, const T py, const T pz) { x[n] = px; y[n] = py; z[n] = pz; } + #endif + #if HAS_J_AXIS + FI void set(const int n, const T px, const T py, const T pz, const T pi) { x[n] = px; y[n] = py; z[n] = pz; i[n] = pi; } + #endif + #if HAS_K_AXIS + FI void set(const int n, const T px, const T py, const T pz, const T pi, const T pj) { x[n] = px; y[n] = py; z[n] = pz; i[n] = pi; j[n] = pj; } + #endif + #if HAS_U_AXIS + FI void set(const int n, const T px, const T py, const T pz, const T pi, const T pj, const T pk) { x[n] = px; y[n] = py; z[n] = pz; i[n] = pi; j[n] = pj; k[n] = pk; } + #endif + #if HAS_V_AXIS + FI void set(const int n, const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pu) { x[n] = px; y[n] = py; z[n] = pz; i[n] = pi; j[n] = pj; k[n] = pk; u[n] = pu; } + #endif + #if HAS_W_AXIS + FI void set(const int n, const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pu, const T pv) { x[n] = px; y[n] = py; z[n] = pz; i[n] = pi; j[n] = pj; k[n] = pk; u[n] = pu; v[n] = pv; } + #endif + + FI XYZval operator[](const int n) const { return XYZval(NUM_AXIS_ARRAY(x[n], y[n], z[n], i[n], j[n], k[n], u[n], v[n], w[n])); } +}; + +template +struct XYZEarray { + typedef T el[SIZE]; + union { + el data[LOGICAL_AXES]; + struct { el LOGICAL_AXIS_ARGS(); }; + struct { el LOGICAL_AXIS_LIST(_e, a, b, c, _i, _j, _k, _u, _v, _w); }; + }; + FI void reset() { ZERO(data); } + + FI void set(const int n, const XYval p) { NUM_AXIS_CODE(x[n]=p.x, y[n]=p.y,,,,,,,); } + FI void set(const int n, const XYZval p) { NUM_AXIS_CODE(x[n]=p.x, y[n]=p.y, z[n]=p.z, i[n]=p.i, j[n]=p.j, k[n]=p.k, u[n]=p.u, v[n]=p.v, w[n]=p.w ); } + FI void set(const int n, const XYZEval p) { LOGICAL_AXIS_CODE(e[n]=p.e, x[n]=p.x, y[n]=p.y, z[n]=p.z, i[n]=p.i, j[n]=p.j, k[n]=p.k, u[n]=p.u, v[n]=p.v, w[n]=p.w ); } + + // Setter for all individual args + FI void set(const int n OPTARGS_NUM(const T)) { NUM_AXIS_CODE(a[n] = x, b[n] = y, c[n] = z, _i[n] = i, _j[n] = j, _k[n] = k, _u[n] = u, _v[n] = v, _w[n] = w); } + #if LOGICAL_AXES > NUM_AXES + FI void set(const int n, LOGICAL_AXIS_ARGS(const T)) { LOGICAL_AXIS_CODE(_e[n] = e, a[n] = x, b[n] = y, c[n] = z, _i[n] = i, _j[n] = j, _k[n] = k, _u[n] = u, _v[n] = v, _w[n] = w); } + #endif + + // Setters with fewer elements leave the rest untouched + #if HAS_Y_AXIS + FI void set(const int n, const T px) { x[n] = px; } + #endif + #if HAS_Z_AXIS + FI void set(const int n, const T px, const T py) { x[n] = px; y[n] = py; } + #endif + #if HAS_I_AXIS + FI void set(const int n, const T px, const T py, const T pz) { x[n] = px; y[n] = py; z[n] = pz; } + #endif + #if HAS_J_AXIS + FI void set(const int n, const T px, const T py, const T pz, const T pi) { x[n] = px; y[n] = py; z[n] = pz; i[n] = pi; } + #endif + #if HAS_K_AXIS + FI void set(const int n, const T px, const T py, const T pz, const T pi, const T pj) { x[n] = px; y[n] = py; z[n] = pz; i[n] = pi; j[n] = pj; } + #endif + #if HAS_U_AXIS + FI void set(const int n, const T px, const T py, const T pz, const T pi, const T pj, const T pk) { x[n] = px; y[n] = py; z[n] = pz; i[n] = pi; j[n] = pj; k[n] = pk; } + #endif + #if HAS_V_AXIS + FI void set(const int n, const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pu) { x[n] = px; y[n] = py; z[n] = pz; i[n] = pi; j[n] = pj; k[n] = pk; u[n] = pu; } + #endif + #if HAS_W_AXIS + FI void set(const int n, const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pu, const T pv) { x[n] = px; y[n] = py; z[n] = pz; i[n] = pi; j[n] = pj; k[n] = pk; u[n] = pu; v[n] = pv; } + #endif + + FI XYZEval operator[](const int n) const { return XYZval(LOGICAL_AXIS_ARRAY(e[n], x[n], y[n], z[n], i[n], j[n], k[n], u[n], v[n], w[n])); } +}; + +class AxisBits; + +class AxisBits { +public: + typedef bits_t(NUM_AXIS_ENUMS) el; + union { + el bits; + // x, y, z ... e0, e1, e2 ... hx, hy, hz + struct { + #if NUM_AXES + bool NUM_AXIS_LIST(x:1, y:1, z:1, i:1, j:1, k:1, u:1, v:1, w:1); + #endif + #define _EN_ITEM(N) bool e##N:1; + REPEAT(EXTRUDERS,_EN_ITEM) + #undef _EN_ITEM + #if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX) + bool hx:1, hy:1, hz:1; + #endif + }; + // X, Y, Z ... E0, E1, E2 ... HX, HY, HZ + struct { + #if NUM_AXES + bool NUM_AXIS_LIST(X:1, Y:1, Z:1, I:1, J:1, K:1, U:1, V:1, W:1); + #endif + #define _EN_ITEM(N) bool E##N:1; + REPEAT(EXTRUDERS,_EN_ITEM) + #undef _EN_ITEM + #if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX) + bool HX:1, HY:1, HZ:1; + #endif + }; + // a, b, c, e ... ha, hb, hc + struct { + bool LOGICAL_AXIS_LIST(e:1, a:1, b:1, c:1, _i:1, _j:1, _k:1, _u:1, _v:1, _w:1); + #if EXTRUDERS > 1 + #define _EN_ITEM(N) bool _e##N:1; + REPEAT_S(1,EXTRUDERS,_EN_ITEM) + #undef _EN_ITEM + #endif + #if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX) + bool ha:1, hb:1, hc:1; + #endif + }; + // A, B, C, E ... HA, HB, HC + struct { + bool LOGICAL_AXIS_LIST(E:1, A:1, B:1, C:1, _I:1, _J:1, _K:1, _U:1, _V:1, _W:1); + #if EXTRUDERS > 1 + #define _EN_ITEM(N) bool _E##N:1; + REPEAT_S(1,EXTRUDERS,_EN_ITEM) + #undef _EN_ITEM + #endif + #if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX) + bool HA:1, HB:1, HC:1; + #endif + }; + }; + + AxisBits() { reset(); } + + // Constructor, setter, and operator= for bit mask + AxisBits(const el p) { set(p); } + FI void set(const el p) { bits = el(p); } + FI AxisBits& operator=(const el p) { set(p); return *this; } + + FI void reset() { set(0); } + FI void fill() { set(_BV(NUM_AXIS_ENUMS) - 1); } + + #define MSET(pE,pX,pY,pZ,pI,pJ,pK,pU,pV,pW) LOGICAL_AXIS_CODE(e=pE, x=pX, y=pY, z=pZ, i=pI, j=pJ, k=pK, u=pU, v=pV, w=pW) + + // Constructor, setter, and operator= for XYZE type + AxisBits(const xyze_bool_t &p) { set(p); } + FI void set(const xyze_bool_t &p) { + MSET(p.e, p.x, p.y, p.z, p.i, p.j, p.k, p.u, p.v, p.w); + } + FI AxisBits& operator=(const xyze_bool_t &p) { set(p); return *this; } + + // Constructor, setter, and operator= for bool array + AxisBits(const bool (&p)[LOGICAL_AXES]) { set(p); } + FI void set(const bool (&p)[LOGICAL_AXES]) { + MSET(p[E_AXIS], p[X_AXIS], p[Y_AXIS], p[Z_AXIS], + p[I_AXIS], p[J_AXIS], p[K_AXIS], + p[U_AXIS], p[V_AXIS], p[W_AXIS]); + } + FI AxisBits& operator=(const bool (&p)[LOGICAL_AXES]) { set(p); return *this; } + + // Constructor, setter, and operator= for undersized bool arrays + #if LOGICAL_AXES > 1 + AxisBits(const bool (&p)[1]) { set(p); } + FI void set(const bool (&p)[1]) { + MSET(0, p[X_AXIS], 0, 0, 0, 0, 0, 0, 0, 0); + } + FI AxisBits& operator=(const bool (&p)[1]) { set(p); return *this; } + #endif + #if LOGICAL_AXES > 2 + AxisBits(const bool (&p)[2]) { set(p); } + FI void set(const bool (&p)[2]) { + MSET(0, p[X_AXIS], p[Y_AXIS], 0, 0, 0, 0, 0, 0, 0); + } + FI AxisBits& operator=(const bool (&p)[2]) { set(p); return *this; } + #endif + #if LOGICAL_AXES > 3 + AxisBits(const bool (&p)[3]) { set(p); } + FI void set(const bool (&p)[3]) { + MSET(0, p[X_AXIS], p[Y_AXIS], p[Z_AXIS], 0, 0, 0, 0, 0, 0); + } + FI AxisBits& operator=(const bool (&p)[3]) { set(p); return *this; } + #endif + #if LOGICAL_AXES > 4 + AxisBits(const bool (&p)[4]) { set(p); } + FI void set(const bool (&p)[4]) { + MSET(0, p[X_AXIS], p[Y_AXIS], p[Z_AXIS], p[I_AXIS], 0, 0, 0, 0, 0); + } + FI AxisBits& operator=(const bool (&p)[4]) { set(p); return *this; } + #endif + #if LOGICAL_AXES > 5 + AxisBits(const bool (&p)[5]) { set(p); } + FI void set(const bool (&p)[5]) { + MSET(0, p[X_AXIS], p[Y_AXIS], p[Z_AXIS], p[I_AXIS], p[J_AXIS], 0, 0, 0, 0); + } + FI AxisBits& operator=(const bool (&p)[5]) { set(p); return *this; } + #endif + #if LOGICAL_AXES > 6 + AxisBits(const bool (&p)[6]) { set(p); } + FI void set(const bool (&p)[6]) { + MSET(0, p[X_AXIS], p[Y_AXIS], p[Z_AXIS], p[I_AXIS], p[J_AXIS], p[K_AXIS], 0, 0, 0); + } + FI AxisBits& operator=(const bool (&p)[6]) { set(p); return *this; } + #endif + #if LOGICAL_AXES > 7 + AxisBits(const bool (&p)[7]) { set(p); } + FI void set(const bool (&p)[7]) { + MSET(0, p[X_AXIS], p[Y_AXIS], p[Z_AXIS], p[I_AXIS], p[J_AXIS], p[K_AXIS], p[U_AXIS], 0, 0); + } + FI AxisBits& operator=(const bool (&p)[7]) { set(p); return *this; } + #endif + #if LOGICAL_AXES > 8 + AxisBits(const bool (&p)[8]) { set(p); } + FI void set(const bool (&p)[8]) { + MSET(0, p[X_AXIS], p[Y_AXIS], p[Z_AXIS], p[I_AXIS], p[J_AXIS], p[K_AXIS], p[U_AXIS], p[V_AXIS], 0); + } + FI AxisBits& operator=(const bool (&p)[8]) { set(p); return *this; } + #endif + #if LOGICAL_AXES > 9 + AxisBits(const bool (&p)[9]) { set(p); } + FI void set(const bool (&p)[9]) { + MSET(0, p[X_AXIS], p[Y_AXIS], p[Z_AXIS], p[I_AXIS], p[J_AXIS], p[K_AXIS], p[U_AXIS], p[V_AXIS], p[W_AXIS]); + } + FI AxisBits& operator=(const bool (&p)[9]) { set(p); return *this; } + #endif + #undef MSET + + FI bool toggle(const AxisEnum n) { TBI(bits, n); return TEST(bits, n); } + FI void bset(const AxisEnum n) { SBI(bits, n); } + FI void bclr(const AxisEnum n) { CBI(bits, n); } + + // Accessor via an AxisEnum (or any integer) [index] + FI bool operator[](const int n) const { return TEST(bits, n); } + FI bool operator[](const AxisEnum n) const { return TEST(bits, n); } + + FI AxisBits& operator|=(const el &p) { bits |= el(p); return *this; } + FI AxisBits& operator&=(const el &p) { bits &= el(p); return *this; } + FI AxisBits& operator^=(const el &p) { bits ^= el(p); return *this; } + + FI AxisBits& operator|=(const AxisBits &p) { bits |= p.bits; return *this; } + FI AxisBits& operator&=(const AxisBits &p) { bits &= p.bits; return *this; } + FI AxisBits& operator^=(const AxisBits &p) { bits ^= p.bits; return *this; } + + FI bool operator==(const AxisBits &p) const { return p.bits == bits; } + FI bool operator!=(const AxisBits &p) const { return p.bits != bits; } + + FI el operator|(const el &p) const { return bits | el(p); } + FI el operator&(const el &p) const { return bits & el(p); } + FI el operator^(const el &p) const { return bits ^ el(p); } + + FI AxisBits operator|(const AxisBits &p) const { return AxisBits(bits | p.bits); } + FI AxisBits operator&(const AxisBits &p) const { return AxisBits(bits & p.bits); } + FI AxisBits operator^(const AxisBits &p) const { return AxisBits(bits ^ p.bits); } + + FI operator bool() const { return !!bits; } + FI operator uint16_t() const { return uint16_t(bits & 0xFFFF); } + FI operator uint32_t() const { return uint32_t(bits); } + }; #undef _RECIP #undef _ABS #undef _LS #undef _RS +#undef _LSE +#undef _RSE #undef FI diff --git a/Marlin/src/core/utility.cpp b/Marlin/src/core/utility.cpp index 986869aa07..8476591d4b 100644 --- a/Marlin/src/core/utility.cpp +++ b/Marlin/src/core/utility.cpp @@ -25,14 +25,18 @@ #include "../MarlinCore.h" #include "../module/temperature.h" +#if ENABLED(MARLIN_DEV_MODE) + MarlinError marlin_error_number; // Error Number - Marlin can beep X times periodically, display, and emit... +#endif + void safe_delay(millis_t ms) { while (ms > 50) { ms -= 50; delay(50); - thermalManager.manage_heater(); + thermalManager.task(); } delay(ms); - thermalManager.manage_heater(); // This keeps us safe if too many small safe_delay() calls are made + thermalManager.task(); // This keeps us safe if too many small safe_delay() calls are made } // A delay to provide brittle hosts time to receive bytes @@ -51,7 +55,7 @@ void safe_delay(millis_t ms) { #include "../module/probe.h" #include "../module/motion.h" - #include "../module/stepper.h" + #include "../module/planner.h" #include "../libs/numtostr.h" #include "../feature/bedlevel/bedlevel.h" @@ -70,6 +74,7 @@ void safe_delay(millis_t ms) { TERN_(NOZZLE_AS_PROBE, "NOZZLE_AS_PROBE") TERN_(FIX_MOUNTED_PROBE, "FIX_MOUNTED_PROBE") TERN_(HAS_Z_SERVO_PROBE, TERN(BLTOUCH, "BLTOUCH", "SERVO PROBE")) + TERN_(BD_SENSOR, "BD_SENSOR") TERN_(TOUCH_MI_PROBE, "TOUCH_MI_PROBE") TERN_(Z_PROBE_SLED, "Z_PROBE_SLED") TERN_(Z_PROBE_ALLEN_KEY, "Z_PROBE_ALLEN_KEY") @@ -94,9 +99,9 @@ void safe_delay(millis_t ms) { SERIAL_ECHOPGM(" (Aligned With"); if (probe.offset_xy.y > 0) - SERIAL_ECHOPGM(TERN(IS_SCARA, "-Distal", "-Back")); + SERIAL_ECHO(F(TERN(IS_SCARA, "-Distal", "-Back"))); else if (probe.offset_xy.y < 0) - SERIAL_ECHOPGM(TERN(IS_SCARA, "-Proximal", "-Front")); + SERIAL_ECHO(F(TERN(IS_SCARA, "-Proximal", "-Front"))); else if (probe.offset_xy.x != 0) SERIAL_ECHOPGM("-Center"); @@ -104,7 +109,7 @@ void safe_delay(millis_t ms) { #endif - SERIAL_ECHOF(probe.offset.z < 0 ? F("Below") : probe.offset.z > 0 ? F("Above") : F("Same Z as")); + SERIAL_ECHO(probe.offset.z < 0 ? F("Below") : probe.offset.z > 0 ? F("Above") : F("Same Z as")); SERIAL_ECHOLNPGM(" Nozzle)"); #endif @@ -126,17 +131,16 @@ void safe_delay(millis_t ms) { #if ABL_PLANAR SERIAL_ECHOPGM("ABL Adjustment"); LOOP_NUM_AXES(a) { - SERIAL_CHAR(' ', AXIS_CHAR(a)); + SERIAL_ECHOPGM_P((PGM_P)pgm_read_ptr(&SP_AXIS_STR[a])); serial_offset(planner.get_axis_position_mm(AxisEnum(a)) - current_position[a]); } #else #if ENABLED(AUTO_BED_LEVELING_UBL) SERIAL_ECHOPGM("UBL Adjustment Z"); - const float rz = ubl.get_z_correction(current_position); #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) SERIAL_ECHOPGM("ABL Adjustment Z"); - const float rz = bbl.get_z_correction(current_position); #endif + const float rz = bedlevel.get_z_correction(current_position); SERIAL_ECHO(ftostr43sign(rz, '+')); #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) if (planner.z_fade_height) { @@ -156,11 +160,13 @@ void safe_delay(millis_t ms) { SERIAL_ECHOPGM("Mesh Bed Leveling"); if (planner.leveling_active) { SERIAL_ECHOLNPGM(" (enabled)"); - SERIAL_ECHOPGM("MBL Adjustment Z", ftostr43sign(mbl.get_z(current_position), '+')); + const float z_offset = bedlevel.get_z_offset(), + z_correction = bedlevel.get_z_correction(current_position); + SERIAL_ECHOPGM("MBL Adjustment Z", ftostr43sign(z_offset + z_correction, '+')); #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) if (planner.z_fade_height) { SERIAL_ECHOPGM(" (", ftostr43sign( - mbl.get_z(current_position, planner.fade_scaling_factor_for_z(current_position.z)), '+' + z_offset + z_correction * planner.fade_scaling_factor_for_z(current_position.z), '+' )); SERIAL_CHAR(')'); } diff --git a/Marlin/src/core/utility.h b/Marlin/src/core/utility.h index b845cd0412..891a4e4383 100644 --- a/Marlin/src/core/utility.h +++ b/Marlin/src/core/utility.h @@ -38,12 +38,12 @@ void safe_delay(millis_t ms); // Delay ensuring that temperatures are // 16x16 bit arrays template struct FlagBits { - typename IF<(W>8), uint16_t, uint8_t>::type bits[H]; - void fill() { memset(bits, 0xFF, sizeof(bits)); } - void reset() { memset(bits, 0x00, sizeof(bits)); } - void unmark(const uint8_t x, const uint8_t y) { CBI(bits[y], x); } - void mark(const uint8_t x, const uint8_t y) { SBI(bits[y], x); } - bool marked(const uint8_t x, const uint8_t y) { return TEST(bits[y], x); } + bits_t(W) flags[H]; + void fill() { memset(flags, 0xFF, sizeof(flags)); } + void reset() { memset(flags, 0x00, sizeof(flags)); } + void unmark(const uint8_t x, const uint8_t y) { CBI(flags[y], x); } + void mark(const uint8_t x, const uint8_t y) { SBI(flags[y], x); } + bool marked(const uint8_t x, const uint8_t y) { return TEST(flags[y], x); } inline void unmark(const xy_int8_t &xy) { unmark(xy.x, xy.y); } inline void mark(const xy_int8_t &xy) { mark(xy.x, xy.y); } inline bool marked(const xy_int8_t &xy) { return marked(xy.x, xy.y); } @@ -59,6 +59,11 @@ void safe_delay(millis_t ms); // Delay ensuring that temperatures are #define log_machine_info() NOOP #endif +/** + * A restorer instance remembers a variable's value before setting a + * new value, then restores the old value when it goes out of scope. + * Put operator= on your type to get extended behavior on value change. + */ template class restorer { T& ref_; @@ -79,7 +84,7 @@ constexpr uint8_t ui8_to_percent(const uint8_t i) { return (int(i) * 100 + 127) // Axis names for G-code parsing, reports, etc. const xyze_char_t axis_codes LOGICAL_AXIS_ARRAY('E', 'X', 'Y', 'Z', AXIS4_NAME, AXIS5_NAME, AXIS6_NAME, AXIS7_NAME, AXIS8_NAME, AXIS9_NAME); -#if NUM_AXES <= XYZ +#if NUM_AXES <= XYZ && !HAS_EXTRUDERS #define AXIS_CHAR(A) ((char)('X' + A)) #define IAXIS_CHAR AXIS_CHAR #else @@ -87,3 +92,22 @@ const xyze_char_t axis_codes LOGICAL_AXIS_ARRAY('E', 'X', 'Y', 'Z', AXIS4_NAME, #define AXIS_CHAR(A) axis_codes[A] #define IAXIS_CHAR(A) iaxis_codes[A] #endif + +#if ENABLED(MARLIN_DEV_MODE) + enum MarlinError : uint8_t { + ERR_NONE, + ERR_STRING_RANGE, // A string buffer was too small to set the whole blob + ERR_ASSERTION, // An assertion was triggered + ERR_MALFUNCTION, + ERR_MEMORY_LEAK, + ERR_COMMS_SERIAL, + ERR_COMMS_SPI, + ERR_PLANNER_STARVED, + ERR_TMC_SHUTDOWN, + ERR_PROCEDURE_FAILED, + ERR_TOO_WACK, + ERR_PLAID_IN_SUMMER + }; + extern MarlinError marlin_error_number; // Error Number - Marlin can beep, display, and emit... + inline void error(const MarlinError err) { marlin_error_number = err; } +#endif diff --git a/Marlin/src/feature/adc/adc_mcp3426.cpp b/Marlin/src/feature/adc/adc_mcp3426.cpp index aaddf46821..49bb67ef6d 100644 --- a/Marlin/src/feature/adc/adc_mcp3426.cpp +++ b/Marlin/src/feature/adc/adc_mcp3426.cpp @@ -34,7 +34,7 @@ #include "adc_mcp3426.h" // Read the ADC value from MCP342X on a specific channel -int16_t MCP3426::ReadValue(uint8_t channel, uint8_t gain) { +int16_t MCP3426::ReadValue(uint8_t channel, uint8_t gain, uint8_t address) { Error = false; #if PINS_EXIST(I2C_SCL, I2C_SDA) && DISABLED(SOFT_I2C_EEPROM) @@ -44,7 +44,7 @@ int16_t MCP3426::ReadValue(uint8_t channel, uint8_t gain) { Wire.begin(); // No address joins the BUS as the master - Wire.beginTransmission(I2C_ADDRESS(MCP342X_ADC_I2C_ADDRESS)); + Wire.beginTransmission(I2C_ADDRESS(address)); // Continuous Conversion Mode, 16 bit, Channel 1, Gain x4 // 26 = 0b00011000 @@ -75,7 +75,7 @@ int16_t MCP3426::ReadValue(uint8_t channel, uint8_t gain) { uint8_t buffer[len] = {}; do { - Wire.requestFrom(I2C_ADDRESS(MCP342X_ADC_I2C_ADDRESS), len); + Wire.requestFrom(I2C_ADDRESS(address), len); if (Wire.available() != len) { Error = true; return 0; diff --git a/Marlin/src/feature/adc/adc_mcp3426.h b/Marlin/src/feature/adc/adc_mcp3426.h index 35458716b9..af48593369 100644 --- a/Marlin/src/feature/adc/adc_mcp3426.h +++ b/Marlin/src/feature/adc/adc_mcp3426.h @@ -29,12 +29,9 @@ #include #include -// Address of MCP342X chip -#define MCP342X_ADC_I2C_ADDRESS 104 - class MCP3426 { public: - int16_t ReadValue(uint8_t channel, uint8_t gain); + int16_t ReadValue(uint8_t channel, uint8_t gain, uint8_t address); bool Error; }; diff --git a/Marlin/src/feature/babystep.cpp b/Marlin/src/feature/babystep.cpp index 54ad9588f4..c6717268a6 100644 --- a/Marlin/src/feature/babystep.cpp +++ b/Marlin/src/feature/babystep.cpp @@ -26,7 +26,7 @@ #include "babystep.h" #include "../MarlinCore.h" -#include "../module/motion.h" // for axes_should_home() +#include "../module/motion.h" // for axes_should_home(), BABYSTEP_ALLOWED #include "../module/planner.h" // for axis_steps_per_mm[] #include "../module/stepper.h" @@ -42,6 +42,10 @@ volatile int16_t Babystep::steps[BS_AXIS_IND(Z_AXIS) + 1]; #endif int16_t Babystep::accum; +#if ALL(EP_BABYSTEPPING, EMERGENCY_PARSER) + int16_t Babystep::ep_babysteps; +#endif + void Babystep::step_axis(const AxisEnum axis) { const int16_t curTodo = steps[BS_AXIS_IND(axis)]; // get rid of volatile for performance if (curTodo) { @@ -54,6 +58,18 @@ void Babystep::add_mm(const AxisEnum axis, const_float_t mm) { add_steps(axis, mm * planner.settings.axis_steps_per_mm[axis]); } +#if ENABLED(BD_SENSOR) + void Babystep::set_mm(const AxisEnum axis, const_float_t mm) { + //if (DISABLED(BABYSTEP_WITHOUT_HOMING) && axes_should_home(_BV(axis))) return; + const int16_t distance = mm * planner.settings.axis_steps_per_mm[axis]; + accum = distance; // Count up babysteps for the UI + steps[BS_AXIS_IND(axis)] = distance; + TERN_(BABYSTEP_DISPLAY_TOTAL, axis_total[BS_TOTAL_IND(axis)] = distance); + TERN_(BABYSTEP_ALWAYS_AVAILABLE, gcode.reset_stepper_timeout()); + TERN_(BABYSTEPPING, if (has_steps()) stepper.initiateBabystepping()); + } +#endif + void Babystep::add_steps(const AxisEnum axis, const int16_t distance) { if (DISABLED(BABYSTEP_WITHOUT_HOMING) && axes_should_home(_BV(axis))) return; @@ -61,7 +77,13 @@ void Babystep::add_steps(const AxisEnum axis, const int16_t distance) { steps[BS_AXIS_IND(axis)] += distance; TERN_(BABYSTEP_DISPLAY_TOTAL, axis_total[BS_TOTAL_IND(axis)] += distance); TERN_(BABYSTEP_ALWAYS_AVAILABLE, gcode.reset_stepper_timeout()); - TERN_(INTEGRATED_BABYSTEPPING, if (has_steps()) stepper.initiateBabystepping()); + TERN_(BABYSTEPPING, if (has_steps()) stepper.initiateBabystepping()); } +#if ENABLED(EP_BABYSTEPPING) + // Step Z for M293 / M294 + void Babystep::z_up() { if (BABYSTEP_ALLOWED()) add_steps(Z_AXIS, +BABYSTEP_SIZE_Z); } + void Babystep::z_down() { if (BABYSTEP_ALLOWED()) add_steps(Z_AXIS, -BABYSTEP_SIZE_Z); } +#endif + #endif // BABYSTEPPING diff --git a/Marlin/src/feature/babystep.h b/Marlin/src/feature/babystep.h index 5693afb4fc..38a19a3b14 100644 --- a/Marlin/src/feature/babystep.h +++ b/Marlin/src/feature/babystep.h @@ -23,15 +23,10 @@ #include "../inc/MarlinConfigPre.h" -#if ENABLED(INTEGRATED_BABYSTEPPING) - #define BABYSTEPS_PER_SEC 1000UL - #define BABYSTEP_TICKS ((STEPPER_TIMER_RATE) / (BABYSTEPS_PER_SEC)) -#else - #define BABYSTEPS_PER_SEC 976UL - #define BABYSTEP_TICKS ((TEMP_TIMER_RATE) / (BABYSTEPS_PER_SEC)) -#endif +#define BABYSTEPS_PER_SEC 1000UL +#define BABYSTEP_TICKS ((STEPPER_TIMER_RATE) / (BABYSTEPS_PER_SEC)) -#if IS_CORE || EITHER(BABYSTEP_XY, I2C_POSITION_ENCODERS) +#if ANY(IS_CORE, BABYSTEP_XY, I2C_POSITION_ENCODERS) #define BS_AXIS_IND(A) A #define BS_AXIS(I) AxisEnum(I) #else @@ -52,6 +47,10 @@ public: static volatile int16_t steps[BS_AXIS_IND(Z_AXIS) + 1]; static int16_t accum; // Total babysteps in current edit + #if ALL(EP_BABYSTEPPING, EMERGENCY_PARSER) + static int16_t ep_babysteps; + #endif + #if ENABLED(BABYSTEP_DISPLAY_TOTAL) static int16_t axis_total[BS_TOTAL_IND(Z_AXIS) + 1]; // Total babysteps since G28 static void reset_total(const AxisEnum axis) { @@ -63,6 +62,25 @@ public: static void add_steps(const AxisEnum axis, const int16_t distance); static void add_mm(const AxisEnum axis, const_float_t mm); + #if ENABLED(EP_BABYSTEPPING) + // Step Z for M293 / M294 + static void z_up(); + static void z_down(); + #if ENABLED(EMERGENCY_PARSER) + // Step Z according to steps accumulated by the EP + FORCE_INLINE static void do_ep_steps() { + if (ep_babysteps) { + if (ep_babysteps > 0) { z_up(); ep_babysteps--; } + else { z_down(); ep_babysteps++; } + } + } + #endif + #endif // EP_BABYSTEPPING + + #if ENABLED(BD_SENSOR) + static void set_mm(const AxisEnum axis, const_float_t mm); + #endif + static bool has_steps() { return steps[BS_AXIS_IND(X_AXIS)] || steps[BS_AXIS_IND(Y_AXIS)] || steps[BS_AXIS_IND(Z_AXIS)]; } @@ -72,7 +90,7 @@ public: // apply accumulated babysteps to the axes. // static void task() { - LOOP_LE_N(i, BS_AXIS_IND(Z_AXIS)) step_axis(BS_AXIS(i)); + for (uint8_t i = 0; i <= BS_AXIS_IND(Z_AXIS); ++i) step_axis(BS_AXIS(i)); } private: diff --git a/Marlin/src/feature/backlash.cpp b/Marlin/src/feature/backlash.cpp index 876d28a8fe..c6eb0d33f3 100644 --- a/Marlin/src/feature/backlash.cpp +++ b/Marlin/src/feature/backlash.cpp @@ -29,7 +29,7 @@ #include "../module/motion.h" #include "../module/planner.h" -axis_bits_t Backlash::last_direction_bits; +AxisBits Backlash::last_direction_bits; xyz_long_t Backlash::residual_error{0}; #ifdef BACKLASH_DISTANCE_MM @@ -63,25 +63,25 @@ Backlash backlash; * spread over multiple segments, smoothing out artifacts even more. */ -void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const axis_bits_t dm, block_t * const block) { - axis_bits_t changed_dir = last_direction_bits ^ dm; +void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const AxisBits dm, block_t * const block) { + AxisBits changed_dir = last_direction_bits ^ dm; // Ignore direction change unless steps are taken in that direction - #if DISABLED(CORE_BACKLASH) || EITHER(MARKFORGED_XY, MARKFORGED_YX) - if (!da) CBI(changed_dir, X_AXIS); - if (!db) CBI(changed_dir, Y_AXIS); - if (!dc) CBI(changed_dir, Z_AXIS); + #if DISABLED(CORE_BACKLASH) || ANY(MARKFORGED_XY, MARKFORGED_YX) + if (!da) changed_dir.x = false; + if (!db) changed_dir.y = false; + if (!dc) changed_dir.z = false; #elif CORE_IS_XY - if (!(da + db)) CBI(changed_dir, X_AXIS); - if (!(da - db)) CBI(changed_dir, Y_AXIS); - if (!dc) CBI(changed_dir, Z_AXIS); + if (!(da + db)) changed_dir.x = false; + if (!(da - db)) changed_dir.y = false; + if (!dc) changed_dir.z = false; #elif CORE_IS_XZ - if (!(da + dc)) CBI(changed_dir, X_AXIS); - if (!(da - dc)) CBI(changed_dir, Z_AXIS); - if (!db) CBI(changed_dir, Y_AXIS); + if (!(da + dc)) changed_dir.x = false; + if (!(da - dc)) changed_dir.z = false; + if (!db) changed_dir.y = false; #elif CORE_IS_YZ - if (!(db + dc)) CBI(changed_dir, Y_AXIS); - if (!(db - dc)) CBI(changed_dir, Z_AXIS); - if (!da) CBI(changed_dir, X_AXIS); + if (!(db + dc)) changed_dir.y = false; + if (!(db - dc)) changed_dir.z = false; + if (!da) changed_dir.x = false; #endif last_direction_bits ^= changed_dir; @@ -99,15 +99,15 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const LOOP_NUM_AXES(axis) { if (distance_mm[axis]) { - const bool reverse = TEST(dm, axis); + const bool forward = dm[axis]; // When an axis changes direction, add axis backlash to the residual error - if (TEST(changed_dir, axis)) - residual_error[axis] += (reverse ? -f_corr : f_corr) * distance_mm[axis] * planner.settings.axis_steps_per_mm[axis]; + if (changed_dir[axis]) + residual_error[axis] += (forward ? f_corr : -f_corr) * distance_mm[axis] * planner.settings.axis_steps_per_mm[axis]; // Decide how much of the residual error to correct in this segment int32_t error_correction = residual_error[axis]; - if (reverse != (error_correction < 0)) + if (forward == (error_correction < 0)) error_correction = 0; // Don't take up any backlash in this segment, as it would subtract steps #ifdef BACKLASH_SMOOTHING_MM @@ -147,14 +147,14 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const int32_t Backlash::get_applied_steps(const AxisEnum axis) { if (axis >= NUM_AXES) return 0; - const bool reverse = TEST(last_direction_bits, axis); + const bool forward = last_direction_bits[axis]; const int32_t residual_error_axis = residual_error[axis]; // At startup it is assumed the last move was forwards. So the applied // steps will always be a non-positive number. - if (!reverse) return -residual_error_axis; + if (forward) return -residual_error_axis; const float f_corr = float(correction) / all_on; const int32_t full_error_axis = -f_corr * distance_mm[axis] * planner.settings.axis_steps_per_mm[axis]; @@ -162,32 +162,37 @@ int32_t Backlash::get_applied_steps(const AxisEnum axis) { } class Backlash::StepAdjuster { - xyz_long_t applied_steps; -public: - StepAdjuster() { - LOOP_NUM_AXES(axis) applied_steps[axis] = backlash.get_applied_steps((AxisEnum)axis); - } - ~StepAdjuster() { - // after backlash compensation parameter changes, ensure applied step count does not change - LOOP_NUM_AXES(axis) residual_error[axis] += backlash.get_applied_steps((AxisEnum)axis) - applied_steps[axis]; - } + private: + xyz_long_t applied_steps; + public: + StepAdjuster() { + LOOP_NUM_AXES(axis) applied_steps[axis] = backlash.get_applied_steps((AxisEnum)axis); + } + ~StepAdjuster() { + // after backlash compensation parameter changes, ensure applied step count does not change + LOOP_NUM_AXES(axis) residual_error[axis] += backlash.get_applied_steps((AxisEnum)axis) - applied_steps[axis]; + } }; -void Backlash::set_correction_uint8(const uint8_t v) { - StepAdjuster adjuster; - correction = v; -} +#if ENABLED(BACKLASH_GCODE) -void Backlash::set_distance_mm(const AxisEnum axis, const float v) { - StepAdjuster adjuster; - distance_mm[axis] = v; -} - -#ifdef BACKLASH_SMOOTHING_MM - void Backlash::set_smoothing_mm(const float v) { + void Backlash::set_correction_uint8(const uint8_t v) { StepAdjuster adjuster; - smoothing_mm = v; + correction = v; } + + void Backlash::set_distance_mm(const AxisEnum axis, const float v) { + StepAdjuster adjuster; + distance_mm[axis] = v; + } + + #ifdef BACKLASH_SMOOTHING_MM + void Backlash::set_smoothing_mm(const float v) { + StepAdjuster adjuster; + smoothing_mm = v; + } + #endif + #endif #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING) diff --git a/Marlin/src/feature/backlash.h b/Marlin/src/feature/backlash.h index 0bace526e5..14c0fe20e3 100644 --- a/Marlin/src/feature/backlash.h +++ b/Marlin/src/feature/backlash.h @@ -29,7 +29,7 @@ public: static constexpr uint8_t all_on = 0xFF, all_off = 0x00; private: - static axis_bits_t last_direction_bits; + static AxisBits last_direction_bits; static xyz_long_t residual_error; #if ENABLED(BACKLASH_GCODE) @@ -72,7 +72,7 @@ public: return has_measurement(X_AXIS) || has_measurement(Y_AXIS) || has_measurement(Z_AXIS); } - static void add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const axis_bits_t dm, block_t * const block); + static void add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const AxisBits dm, block_t * const block); static int32_t get_applied_steps(const AxisEnum axis); #if ENABLED(BACKLASH_GCODE) diff --git a/Marlin/src/feature/bedlevel/abl/bbl.cpp b/Marlin/src/feature/bedlevel/abl/bbl.cpp index 9dcd669128..14c4bd24bc 100644 --- a/Marlin/src/feature/bedlevel/abl/bbl.cpp +++ b/Marlin/src/feature/bedlevel/abl/bbl.cpp @@ -35,7 +35,7 @@ #include "../../../lcd/extui/ui_api.h" #endif -LevelingBilinear bbl; +LevelingBilinear bedlevel; xy_pos_t LevelingBilinear::grid_spacing, LevelingBilinear::grid_start; @@ -133,8 +133,8 @@ void LevelingBilinear::extrapolate_unprobed_bed_level() { yend = ctry1; #endif - LOOP_LE_N(xo, xend) - LOOP_LE_N(yo, yend) { + for (uint8_t xo = 0; xo <= xend; ++xo) + for (uint8_t yo = 0; yo <= yend; ++yo) { uint8_t x2 = ctrx2 + xo, y2 = ctry2 + yo; #ifndef HALF_IN_X const uint8_t x1 = ctrx1 - xo; @@ -153,7 +153,7 @@ void LevelingBilinear::extrapolate_unprobed_bed_level() { } } -void LevelingBilinear::print_leveling_grid(const bed_mesh_t* _z_values /*= NULL*/) { +void LevelingBilinear::print_leveling_grid(const bed_mesh_t* _z_values/*=nullptr*/) { // print internal grid(s) or just the one passed as a parameter SERIAL_ECHOLNPGM("Bilinear Leveling Grid:"); print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 3, _z_values ? *_z_values[0] : z_values[0]); @@ -175,13 +175,13 @@ void LevelingBilinear::print_leveling_grid(const bed_mesh_t* _z_values /*= NULL* xy_float_t LevelingBilinear::grid_factor_virt; #define LINEAR_EXTRAPOLATION(E, I) ((E) * 2 - (I)) - float LevelingBilinear::bed_level_virt_coord(const uint8_t x, const uint8_t y) { + float LevelingBilinear::virt_coord(const uint8_t x, const uint8_t y) { uint8_t ep = 0, ip = 1; if (x > (GRID_MAX_POINTS_X) + 1 || y > (GRID_MAX_POINTS_Y) + 1) { // The requested point requires extrapolating two points beyond the mesh. // These values are only requested for the edges of the mesh, which are always an actual mesh point, // and do not require interpolation. When interpolation is not needed, this "Mesh + 2" point is - // cancelled out in bed_level_virt_cmr and does not impact the result. Return 0.0 rather than + // cancelled out in virt_cmr and does not impact the result. Return 0.0 rather than // making this function more complex by extrapolating two points. return 0.0; } @@ -197,8 +197,8 @@ void LevelingBilinear::print_leveling_grid(const bed_mesh_t* _z_values /*= NULL* ); else return LINEAR_EXTRAPOLATION( - bed_level_virt_coord(ep + 1, y), - bed_level_virt_coord(ip + 1, y) + virt_coord(ep + 1, y), + virt_coord(ip + 1, y) ); } if (!y || y == ABL_TEMP_POINTS_Y - 1) { @@ -213,14 +213,14 @@ void LevelingBilinear::print_leveling_grid(const bed_mesh_t* _z_values /*= NULL* ); else return LINEAR_EXTRAPOLATION( - bed_level_virt_coord(x, ep + 1), - bed_level_virt_coord(x, ip + 1) + virt_coord(x, ep + 1), + virt_coord(x, ip + 1) ); } return z_values[x - 1][y - 1]; } - float LevelingBilinear::bed_level_virt_cmr(const float p[4], const uint8_t i, const float t) { + float LevelingBilinear::virt_cmr(const float p[4], const uint8_t i, const float t) { return ( p[i-1] * -t * sq(1 - t) + p[i] * (2 - 5 * sq(t) + 3 * t * sq(t)) @@ -229,41 +229,36 @@ void LevelingBilinear::print_leveling_grid(const bed_mesh_t* _z_values /*= NULL* ) * 0.5f; } - float LevelingBilinear::bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const_float_t tx, const_float_t ty) { + float LevelingBilinear::virt_2cmr(const uint8_t x, const uint8_t y, const_float_t tx, const_float_t ty) { float row[4], column[4]; - LOOP_L_N(i, 4) { - LOOP_L_N(j, 4) { - column[j] = bed_level_virt_coord(i + x - 1, j + y - 1); + for (uint8_t i = 0; i < 4; ++i) { + for (uint8_t j = 0; j < 4; ++j) { + column[j] = virt_coord(i + x - 1, j + y - 1); } - row[i] = bed_level_virt_cmr(column, 1, ty); + row[i] = virt_cmr(column, 1, ty); } - return bed_level_virt_cmr(row, 1, tx); + return virt_cmr(row, 1, tx); } - void LevelingBilinear::bed_level_virt_interpolate() { + void LevelingBilinear::subdivide_mesh() { grid_spacing_virt = grid_spacing / (BILINEAR_SUBDIVISIONS); grid_factor_virt = grid_spacing_virt.reciprocal(); - LOOP_L_N(y, GRID_MAX_POINTS_Y) - LOOP_L_N(x, GRID_MAX_POINTS_X) - LOOP_L_N(ty, BILINEAR_SUBDIVISIONS) - LOOP_L_N(tx, BILINEAR_SUBDIVISIONS) { + for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; ++y) + for (uint8_t x = 0; x < GRID_MAX_POINTS_X; ++x) + for (uint8_t ty = 0; ty < BILINEAR_SUBDIVISIONS; ++ty) + for (uint8_t tx = 0; tx < BILINEAR_SUBDIVISIONS; ++tx) { if ((ty && y == (GRID_MAX_POINTS_Y) - 1) || (tx && x == (GRID_MAX_POINTS_X) - 1)) continue; z_values_virt[x * (BILINEAR_SUBDIVISIONS) + tx][y * (BILINEAR_SUBDIVISIONS) + ty] = - bed_level_virt_2cmr( - x + 1, - y + 1, - (float)tx / (BILINEAR_SUBDIVISIONS), - (float)ty / (BILINEAR_SUBDIVISIONS) - ); + virt_2cmr(x + 1, y + 1, (float)tx / (BILINEAR_SUBDIVISIONS), (float)ty / (BILINEAR_SUBDIVISIONS)); } } -#endif // ABL_BILINEAR_SUBDIVISION +#endif // ABL_BILINEAR_SUBDIVISION // Refresh after other values have been updated void LevelingBilinear::refresh_bed_level() { - TERN_(ABL_BILINEAR_SUBDIVISION, bed_level_virt_interpolate()); + TERN_(ABL_BILINEAR_SUBDIVISION, subdivide_mesh()); cached_rel.x = cached_rel.y = -999.999; cached_g.x = cached_g.y = -99; } diff --git a/Marlin/src/feature/bedlevel/abl/bbl.h b/Marlin/src/feature/bedlevel/abl/bbl.h index 86da5aea10..ca2e96593f 100644 --- a/Marlin/src/feature/bedlevel/abl/bbl.h +++ b/Marlin/src/feature/bedlevel/abl/bbl.h @@ -24,9 +24,12 @@ #include "../../../inc/MarlinConfigPre.h" class LevelingBilinear { - static xy_pos_t grid_spacing, grid_start; - static xy_float_t grid_factor; +public: static bed_mesh_t z_values; + static xy_pos_t grid_spacing, grid_start; + +private: + static xy_float_t grid_factor; static xy_pos_t cached_rel; static xy_int8_t cached_g; @@ -40,33 +43,28 @@ class LevelingBilinear { static xy_pos_t grid_spacing_virt; static xy_float_t grid_factor_virt; - static float bed_level_virt_coord(const uint8_t x, const uint8_t y); - static float bed_level_virt_cmr(const float p[4], const uint8_t i, const float t); - static float bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const_float_t tx, const_float_t ty); - static void bed_level_virt_interpolate(); + static float virt_coord(const uint8_t x, const uint8_t y); + static float virt_cmr(const float p[4], const uint8_t i, const float t); + static float virt_2cmr(const uint8_t x, const uint8_t y, const_float_t tx, const_float_t ty); + static void subdivide_mesh(); #endif public: static void reset(); static void set_grid(const xy_pos_t& _grid_spacing, const xy_pos_t& _grid_start); static void extrapolate_unprobed_bed_level(); - static void print_leveling_grid(const bed_mesh_t* _z_values = NULL); + static void print_leveling_grid(const bed_mesh_t *_z_values=nullptr); static void refresh_bed_level(); static bool has_mesh() { return !!grid_spacing.x; } - static bed_mesh_t& get_z_values() { return z_values; } - static const xy_pos_t& get_grid_spacing() { return grid_spacing; } - static const xy_pos_t& get_grid_start() { return grid_start; } - static float get_mesh_x(int16_t i) { return grid_start.x + i * grid_spacing.x; } - static float get_mesh_y(int16_t j) { return grid_start.y + j * grid_spacing.y; } + static bool mesh_is_valid() { return has_mesh(); } + static float get_mesh_x(const uint8_t i) { return grid_start.x + i * grid_spacing.x; } + static float get_mesh_y(const uint8_t j) { return grid_start.y + j * grid_spacing.y; } static float get_z_correction(const xy_pos_t &raw); + static constexpr float get_z_offset() { return 0.0f; } #if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES) static void line_to_destination(const_feedRate_t scaled_fr_mm_s, uint16_t x_splits=0xFFFF, uint16_t y_splits=0xFFFF); #endif }; -extern LevelingBilinear bbl; - -#define _GET_MESH_X(I) bbl.get_mesh_x(I) -#define _GET_MESH_Y(J) bbl.get_mesh_y(J) -#define Z_VALUES_ARR bbl.get_z_values() +extern LevelingBilinear bedlevel; diff --git a/Marlin/src/feature/bedlevel/bdl/bdl.cpp b/Marlin/src/feature/bedlevel/bdl/bdl.cpp new file mode 100644 index 0000000000..14989a07d3 --- /dev/null +++ b/Marlin/src/feature/bedlevel/bdl/bdl.cpp @@ -0,0 +1,251 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../../inc/MarlinConfig.h" + +#if ENABLED(BD_SENSOR) + +#include "../../../MarlinCore.h" +#include "../../../gcode/gcode.h" +#include "../../../module/settings.h" +#include "../../../module/motion.h" +#include "../../../module/planner.h" +#include "../../../module/stepper.h" +#include "../../../module/probe.h" +#include "../../../module/temperature.h" +#include "../../../module/endstops.h" +#include "../../babystep.h" +#include "../../../lcd/marlinui.h" + +// I2C software Master library for segment bed heating and bed distance sensor +#include + +#include "bdl.h" +BDS_Leveling bdl; + +//#define DEBUG_OUT_BD +#define DEBUG_OUT ENABLED(DEBUG_OUT_BD) +#include "../../../core/debug_out.h" + +// M102 S-5 Read raw Calibrate data +// M102 S-6 Start Calibrate +// M102 S4 Set the adjustable Z height value (e.g., 'M102 S4' means it will do adjusting while the Z height <= 0.4mm , disable with 'M102 S0'.) +// M102 S-1 Read sensor information + +#define MAX_BD_HEIGHT 4.0f +#define CMD_READ_VERSION 1016 +#define CMD_START_READ_CALIBRATE_DATA 1017 +#define CMD_END_READ_CALIBRATE_DATA 1018 +#define CMD_START_CALIBRATE 1019 +#define CMD_END_CALIBRATE 1021 +#define BD_SENSOR_I2C_ADDR 0x3C + +I2C_SegmentBED BD_I2C_SENSOR; +float BDS_Leveling::pos_zero_offset; +int8_t BDS_Leveling::config_state; + +void BDS_Leveling::init(uint8_t _sda, uint8_t _scl, uint16_t delay_s) { + config_state = BDS_IDLE; + const int ret = BD_I2C_SENSOR.i2c_init(_sda, _scl, BD_SENSOR_I2C_ADDR, delay_s); + if (ret != 1) SERIAL_ECHOLNPGM("BD Sensor Init Fail (", ret, ")"); + sync_plan_position(); + pos_zero_offset = planner.get_axis_position_mm(Z_AXIS) - current_position.z; + SERIAL_ECHOLNPGM("BD Sensor Zero Offset:", pos_zero_offset); +} + +bool BDS_Leveling::check(const uint16_t data, const bool raw_data/*=false*/, const bool hicheck/*=false*/) { + if (BD_I2C_SENSOR.BD_Check_OddEven(data) == 0) { + SERIAL_ECHOLNPGM("Read Error."); + return true; // error + } + if (raw_data == true) { + if (hicheck && (data & 0x3FF) > 550) + SERIAL_ECHOLNPGM("BD Sensor mounted too high!"); + else if (!good_data(data)) + SERIAL_ECHOLNPGM("Invalid data, please calibrate."); + else + return false; + } + else { + if ((data & 0x3FF) >= (MAX_BD_HEIGHT) * 100 - 10) + SERIAL_ECHOLNPGM("Out of Range."); + else + return false; + } + return true; // error +} + +float BDS_Leveling::interpret(const uint16_t data) { + return (data & 0x3FF) / 100.0f; +} + +float BDS_Leveling::read() { + const uint16_t data = BD_I2C_SENSOR.BD_i2c_read(); + return check(data) ? NAN : interpret(data); +} + +void BDS_Leveling::process() { + if (config_state == BDS_IDLE && printingIsActive()) return; + static millis_t next_check_ms = 0; // starting at T=0 + static float zpos = 0.0f; + const millis_t ms = millis(); + if (ELAPSED(ms, next_check_ms)) { // timed out (or first run) + next_check_ms = ms + (config_state < BDS_IDLE ? 200 : 50); // check at 5Hz or 20Hz + + uint16_t tmp = 0; + const float cur_z = planner.get_axis_position_mm(Z_AXIS) - pos_zero_offset; + static float old_cur_z = cur_z, old_buf_z = current_position.z; + tmp = BD_I2C_SENSOR.BD_i2c_read(); + if (BD_I2C_SENSOR.BD_Check_OddEven(tmp) && good_data(tmp)) { + const float z_sensor = interpret(tmp); + #if ENABLED(BABYSTEPPING) + if (config_state > 0) { + if (cur_z < config_state * 0.1f + && old_cur_z == cur_z + && old_buf_z == current_position.z + && z_sensor < (MAX_BD_HEIGHT) - 0.1f + ) { + babystep.set_mm(Z_AXIS, cur_z - z_sensor); + DEBUG_ECHOLNPGM("BD:", z_sensor, ", Z:", cur_z, "|", current_position.z); + } + else { + babystep.set_mm(Z_AXIS, 0); //if (old_cur_z <= cur_z) Z_DIR_WRITE(HIGH); + //stepper.apply_directions(); // TODO: Remove this line as probably not needed + } + } + #endif + + old_cur_z = cur_z; + old_buf_z = current_position.z; + endstops.bdp_state_update(z_sensor <= 0.01f); + + #if HAS_STATUS_MESSAGE + static float old_z_sensor = 0; + if (old_z_sensor != z_sensor) { + old_z_sensor = z_sensor; + char tmp_1[32]; + sprintf_P(tmp_1, PSTR("BD:%d.%02dmm"), int(z_sensor), int(z_sensor * 100) % 100); + //SERIAL_ECHOLNPGM("Bed Dis:", z_sensor, "mm"); + ui.set_status(tmp_1, true); + } + #endif + } + else + stepper.apply_directions(); + + DEBUG_ECHOLNPGM("BD:", tmp & 0x3FF, " Z:", cur_z, "|", current_position.z); + if (TERN0(DEBUG_OUT_BD, BD_I2C_SENSOR.BD_Check_OddEven(tmp) == 0)) DEBUG_ECHOLNPGM("CRC error"); + + if (!good_data(tmp)) { + BD_I2C_SENSOR.BD_i2c_stop(); + safe_delay(10); + } + + // Read version. Usually used as a connection check + if (config_state == BDS_VERSION) { + config_state = BDS_IDLE; + BD_I2C_SENSOR.BD_i2c_write(CMD_READ_VERSION); + safe_delay(100); + char tmp_1[21]; + for (int i = 0; i < 19; i++) { + tmp_1[i] = BD_I2C_SENSOR.BD_i2c_read() & 0xFF; + safe_delay(50); + } + BD_I2C_SENSOR.BD_i2c_write(CMD_END_READ_CALIBRATE_DATA); + SERIAL_ECHOLNPGM("BD Sensor version:", tmp_1); + if (tmp_1[0] != 'V') SERIAL_ECHOLNPGM("Read Error. Check connection and delay."); + safe_delay(50); + } + // read raw calibrate data + else if (config_state == BDS_READ_RAW) { + BD_I2C_SENSOR.BD_i2c_write(CMD_START_READ_CALIBRATE_DATA); + safe_delay(100); + + for (int i = 0; i < MAX_BD_HEIGHT * 10; i++) { + tmp = BD_I2C_SENSOR.BD_i2c_read(); + SERIAL_ECHOLNPGM("Calibrate data:", i, ",", tmp & 0x3FF); + (void)check(tmp, true, i == 0); + safe_delay(50); + } + BD_I2C_SENSOR.BD_i2c_write(CMD_END_READ_CALIBRATE_DATA); + safe_delay(50); + config_state = BDS_IDLE; + } + else if (config_state <= BDS_CALIBRATE_START) { // Start Calibrate + safe_delay(10); + if (config_state == BDS_CALIBRATE_START) { + config_state = BDS_CALIBRATING; + REMEMBER(gsit, gcode.stepper_inactive_time, SEC_TO_MS(60 * 5)); + SERIAL_ECHOLNPGM("c_z0:", planner.get_axis_position_mm(Z_AXIS), "-", pos_zero_offset); + + // Move the z axis instead of enabling the Z axis with M17 + // TODO: Use do_blocking_move_to_z for synchronized move. + current_position.z = 0; + sync_plan_position(); + gcode.process_subcommands_now(F("G1Z0.05")); + safe_delay(300); + gcode.process_subcommands_now(F("G1Z0.00")); + safe_delay(300); + current_position.z = 0; + sync_plan_position(); + //safe_delay(1000); + + while ((planner.get_axis_position_mm(Z_AXIS) - pos_zero_offset) > 0.00001f) { + safe_delay(200); + SERIAL_ECHOLNPGM("waiting cur_z:", planner.get_axis_position_mm(Z_AXIS)); + } + zpos = 0.00001f; + safe_delay(100); + BD_I2C_SENSOR.BD_i2c_write(CMD_START_CALIBRATE); // Begin calibrate + SERIAL_ECHOLNPGM("BD Sensor Calibrating..."); + safe_delay(200); + } + else if ((planner.get_axis_position_mm(Z_AXIS) - pos_zero_offset) < 10.0f) { + if (zpos >= MAX_BD_HEIGHT) { + config_state = BDS_IDLE; + BD_I2C_SENSOR.BD_i2c_write(CMD_END_CALIBRATE); // End calibrate + SERIAL_ECHOLNPGM("BD Sensor calibrated."); + zpos = 7.0f; + safe_delay(500); + } + else { + char tmp_1[32]; + // TODO: Use prepare_internal_move_to_destination to guarantee machine space + sprintf_P(tmp_1, PSTR("G1Z%d.%d"), int(zpos), int(zpos * 10) % 10); + gcode.process_subcommands_now(tmp_1); + SERIAL_ECHO(tmp_1); SERIAL_ECHOLNPGM(", Z:", current_position.z); + for (float tmp_k = 0; abs(zpos - tmp_k) > 0.004f;) { + tmp_k = planner.get_axis_position_mm(Z_AXIS) - pos_zero_offset; + safe_delay(10); + } + safe_delay(zpos <= 0.4f ? 600 : 100); + tmp = uint16_t((zpos + 0.00001f) * 10); + BD_I2C_SENSOR.BD_i2c_write(tmp); + SERIAL_ECHOLNPGM("w:", tmp, ", Z:", zpos); + zpos += 0.1001f; + } + } + } + } +} + +#endif // BD_SENSOR diff --git a/Marlin/src/feature/bedlevel/bdl/bdl.h b/Marlin/src/feature/bedlevel/bdl/bdl.h new file mode 100644 index 0000000000..b3037bc1c2 --- /dev/null +++ b/Marlin/src/feature/bedlevel/bdl/bdl.h @@ -0,0 +1,48 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include + +enum BDS_State : int8_t { + BDS_IDLE, + BDS_VERSION = -1, + BDS_READ_MM = -2, + BDS_HOMING_Z = -3, + BDS_READ_RAW = -5, + BDS_CALIBRATE_START = -6, + BDS_CALIBRATING = -7 +}; + +class BDS_Leveling { +public: + static int8_t config_state; + static float pos_zero_offset; + static void init(uint8_t _sda, uint8_t _scl, uint16_t delay_s); + static void process(); + static float read(); + static float interpret(const uint16_t data); + static float good_data(const uint16_t data) { return (data & 0x3FF) < 1016; } + static bool check(const uint16_t data, const bool raw_data=false, const bool hicheck=false); +}; + +extern BDS_Leveling bdl; diff --git a/Marlin/src/feature/bedlevel/bedlevel.cpp b/Marlin/src/feature/bedlevel/bedlevel.cpp index 2405905d4e..a76c6cdd26 100644 --- a/Marlin/src/feature/bedlevel/bedlevel.cpp +++ b/Marlin/src/feature/bedlevel/bedlevel.cpp @@ -27,7 +27,7 @@ #include "bedlevel.h" #include "../../module/planner.h" -#if EITHER(MESH_BED_LEVELING, PROBE_MANUALLY) +#if ANY(MESH_BED_LEVELING, PROBE_MANUALLY) #include "../../module/motion.h" #endif @@ -47,42 +47,41 @@ #endif bool leveling_is_valid() { - return TERN1(MESH_BED_LEVELING, mbl.has_mesh()) - && TERN1(AUTO_BED_LEVELING_BILINEAR, bbl.has_mesh()) - && TERN1(AUTO_BED_LEVELING_UBL, ubl.mesh_is_valid()); + return TERN1(HAS_MESH, bedlevel.mesh_is_valid()); } /** - * Turn bed leveling on or off, fixing the current - * position as-needed. + * Turn bed leveling on or off, correcting the current position. * * Disable: Current position = physical position * Enable: Current position = "unleveled" physical position */ void set_bed_leveling_enabled(const bool enable/*=true*/) { + DEBUG_SECTION(log_sble, "set_bed_leveling_enabled", DEBUGGING(LEVELING)); const bool can_change = TERN1(AUTO_BED_LEVELING_BILINEAR, !enable || leveling_is_valid()); if (can_change && enable != planner.leveling_active) { + auto _report_leveling = []{ + if (DEBUGGING(LEVELING)) { + if (planner.leveling_active) + DEBUG_POS("Leveling ON", current_position); + else + DEBUG_POS("Leveling OFF", current_position); + } + }; + + _report_leveling(); planner.synchronize(); - if (planner.leveling_active) { // leveling from on to off - if (DEBUGGING(LEVELING)) DEBUG_POS("Leveling ON", current_position); - // change unleveled current_position to physical current_position without moving steppers. - planner.apply_leveling(current_position); - planner.leveling_active = false; // disable only AFTER calling apply_leveling - if (DEBUGGING(LEVELING)) DEBUG_POS("...Now OFF", current_position); - } - else { // leveling from off to on - if (DEBUGGING(LEVELING)) DEBUG_POS("Leveling OFF", current_position); - planner.leveling_active = true; // enable BEFORE calling unapply_leveling, otherwise ignored - // change physical current_position to unleveled current_position without moving steppers. - planner.unapply_leveling(current_position); - if (DEBUGGING(LEVELING)) DEBUG_POS("...Now ON", current_position); - } + // Get the corrected leveled / unleveled position + planner.apply_modifiers(current_position, true); // Physical position with all modifiers + planner.leveling_active ^= true; // Toggle leveling between apply and unapply + planner.unapply_modifiers(current_position, true); // Logical position with modifiers removed sync_plan_position(); + _report_leveling(); } } @@ -116,21 +115,12 @@ TemporaryBedLevelingState::TemporaryBedLevelingState(const bool enable) : saved( */ void reset_bed_level() { if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("reset_bed_level"); - #if ENABLED(AUTO_BED_LEVELING_UBL) - ubl.reset(); - #else - set_bed_leveling_enabled(false); - #if ENABLED(MESH_BED_LEVELING) - mbl.reset(); - #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) - bbl.reset(); - #elif ABL_PLANAR - planner.bed_level_matrix.set_to_identity(); - #endif - #endif + IF_DISABLED(AUTO_BED_LEVELING_UBL, set_bed_leveling_enabled(false)); + TERN_(HAS_MESH, bedlevel.reset()); + TERN_(ABL_PLANAR, planner.bed_level_matrix.set_to_identity()); } -#if EITHER(AUTO_BED_LEVELING_BILINEAR, MESH_BED_LEVELING) +#if ANY(AUTO_BED_LEVELING_BILINEAR, MESH_BED_LEVELING) /** * Enable to produce output in JSON format suitable @@ -147,8 +137,8 @@ void reset_bed_level() { */ void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, const float *values) { #ifndef SCAD_MESH_OUTPUT - LOOP_L_N(x, sx) { - serial_spaces(precision + (x < 10 ? 3 : 2)); + for (uint8_t x = 0; x < sx; ++x) { + SERIAL_ECHO_SP(precision + (x < 10 ? 3 : 2)); SERIAL_ECHO(x); } SERIAL_EOL(); @@ -156,19 +146,19 @@ void reset_bed_level() { #ifdef SCAD_MESH_OUTPUT SERIAL_ECHOLNPGM("measured_z = ["); // open 2D array #endif - LOOP_L_N(y, sy) { + for (uint8_t y = 0; y < sy; ++y) { #ifdef SCAD_MESH_OUTPUT SERIAL_ECHOPGM(" ["); // open sub-array #else if (y < 10) SERIAL_CHAR(' '); SERIAL_ECHO(y); #endif - LOOP_L_N(x, sx) { + for (uint8_t x = 0; x < sx; ++x) { SERIAL_CHAR(' '); - const float offset = values[x * sx + y]; + const float offset = values[x * sy + y]; if (!isnan(offset)) { if (offset >= 0) SERIAL_CHAR('+'); - SERIAL_ECHO_F(offset, int(precision)); + SERIAL_ECHO(p_float_t(offset, precision)); } else { #ifdef SCAD_MESH_OUTPUT @@ -176,7 +166,7 @@ void reset_bed_level() { SERIAL_CHAR(' '); SERIAL_ECHOPGM("NAN"); #else - LOOP_L_N(i, precision + 3) + for (uint8_t i = 0; i < precision + 3; ++i) SERIAL_CHAR(i ? '=' : ' '); #endif } @@ -198,7 +188,7 @@ void reset_bed_level() { #endif // AUTO_BED_LEVELING_BILINEAR || MESH_BED_LEVELING -#if EITHER(MESH_BED_LEVELING, PROBE_MANUALLY) +#if ANY(MESH_BED_LEVELING, PROBE_MANUALLY) void _manual_goto_xy(const xy_pos_t &pos) { diff --git a/Marlin/src/feature/bedlevel/bedlevel.h b/Marlin/src/feature/bedlevel/bedlevel.h index f295da1d03..ccb9543e72 100644 --- a/Marlin/src/feature/bedlevel/bedlevel.h +++ b/Marlin/src/feature/bedlevel/bedlevel.h @@ -23,7 +23,7 @@ #include "../../inc/MarlinConfigPre.h" -#if EITHER(RESTORE_LEVELING_AFTER_G28, ENABLE_LEVELING_AFTER_G28) +#if ANY(RESTORE_LEVELING_AFTER_G28, ENABLE_LEVELING_AFTER_G28) #define CAN_SET_LEVELING_AFTER_G28 1 #endif @@ -41,7 +41,7 @@ void reset_bed_level(); void set_z_fade_height(const_float_t zfh, const bool do_report=true); #endif -#if EITHER(MESH_BED_LEVELING, PROBE_MANUALLY) +#if ANY(MESH_BED_LEVELING, PROBE_MANUALLY) void _manual_goto_xy(const xy_pos_t &pos); #endif @@ -69,10 +69,7 @@ class TemporaryBedLevelingState { #include "mbl/mesh_bed_leveling.h" #endif - #define Z_VALUES(X,Y) Z_VALUES_ARR[X][Y] - #define _GET_MESH_POS(M) { _GET_MESH_X(M.a), _GET_MESH_Y(M.b) } - - #if EITHER(AUTO_BED_LEVELING_BILINEAR, MESH_BED_LEVELING) + #if ANY(AUTO_BED_LEVELING_BILINEAR, MESH_BED_LEVELING) #include @@ -92,7 +89,7 @@ class TemporaryBedLevelingState { bool valid() const { return pos.x >= 0 && pos.y >= 0; } #if ENABLED(AUTO_BED_LEVELING_UBL) xy_pos_t meshpos() { - return { ubl.mesh_index_to_xpos(pos.x), ubl.mesh_index_to_ypos(pos.y) }; + return { bedlevel.get_mesh_x(pos.x), bedlevel.get_mesh_y(pos.y) }; } #endif operator xy_int8_t&() { return pos; } diff --git a/Marlin/src/feature/bedlevel/hilbert_curve.cpp b/Marlin/src/feature/bedlevel/hilbert_curve.cpp index 7474123e3f..57cbdfb34d 100644 --- a/Marlin/src/feature/bedlevel/hilbert_curve.cpp +++ b/Marlin/src/feature/bedlevel/hilbert_curve.cpp @@ -28,8 +28,8 @@ constexpr int8_t to_fix(int8_t v) { return v * 2; } constexpr int8_t to_int(int8_t v) { return v / 2; } -constexpr uint8_t log2(uint8_t n) { return (n > 1) ? 1 + log2(n >> 1) : 0; } -constexpr uint8_t order(uint8_t n) { return uint8_t(log2(n - 1)) + 1; } +constexpr uint8_t log2(uint8_t n) { return (n > 1) ? 1 + log2(uint8_t(n >> 1)) : 0; } +constexpr uint8_t order(uint8_t n) { return uint8_t(log2(uint8_t(n - 1))) + 1; } constexpr uint8_t ord = order(_MAX(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y)); constexpr uint8_t dim = _BV(ord); diff --git a/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp b/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp index fbc3f2785e..f40cbccadd 100644 --- a/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp +++ b/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp @@ -32,7 +32,7 @@ #include "../../../lcd/extui/ui_api.h" #endif - mesh_bed_leveling mbl; + mesh_bed_leveling bedlevel; float mesh_bed_leveling::z_offset, mesh_bed_leveling::z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y], @@ -40,9 +40,9 @@ mesh_bed_leveling::index_to_ypos[GRID_MAX_POINTS_Y]; mesh_bed_leveling::mesh_bed_leveling() { - LOOP_L_N(i, GRID_MAX_POINTS_X) + for (uint8_t i = 0; i < GRID_MAX_POINTS_X; ++i) index_to_xpos[i] = MESH_MIN_X + i * (MESH_X_DIST); - LOOP_L_N(i, GRID_MAX_POINTS_Y) + for (uint8_t i = 0; i < GRID_MAX_POINTS_Y; ++i) index_to_ypos[i] = MESH_MIN_Y + i * (MESH_Y_DIST); reset(); } @@ -123,8 +123,7 @@ #endif // IS_CARTESIAN && !SEGMENT_LEVELED_MOVES void mesh_bed_leveling::report_mesh() { - SERIAL_ECHOPAIR_F(STRINGIFY(GRID_MAX_POINTS_X) "x" STRINGIFY(GRID_MAX_POINTS_Y) " mesh. Z offset: ", z_offset, 5); - SERIAL_ECHOLNPGM("\nMeasured points:"); + SERIAL_ECHOLN(F(STRINGIFY(GRID_MAX_POINTS_X) "x" STRINGIFY(GRID_MAX_POINTS_Y) " mesh. Z offset: "), p_float_t(z_offset, 5), F("\nMeasured points:")); print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 5, z_values[0]); } diff --git a/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h b/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h index 06fae16c21..cb4f36cd59 100644 --- a/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h +++ b/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h @@ -32,11 +32,8 @@ enum MeshLevelingState : char { MeshReset // G29 S5 }; -#define MESH_X_DIST (float(MESH_MAX_X - (MESH_MIN_X)) / (GRID_MAX_CELLS_X)) -#define MESH_Y_DIST (float(MESH_MAX_Y - (MESH_MIN_Y)) / (GRID_MAX_CELLS_Y)) -#define _GET_MESH_X(I) mbl.index_to_xpos[I] -#define _GET_MESH_Y(J) mbl.index_to_ypos[J] -#define Z_VALUES_ARR mbl.z_values +#define MESH_X_DIST (float((MESH_MAX_X) - (MESH_MIN_X)) / (GRID_MAX_CELLS_X)) +#define MESH_Y_DIST (float((MESH_MAX_Y) - (MESH_MIN_Y)) / (GRID_MAX_CELLS_Y)) class mesh_bed_leveling { public: @@ -56,6 +53,8 @@ public: return false; } + static bool mesh_is_valid() { return has_mesh(); } + static void set_z(const int8_t px, const int8_t py, const_float_t z) { z_values[px][py] = z; } static void zigzag(const int8_t index, int8_t &px, int8_t &py) { @@ -70,18 +69,21 @@ public: set_z(px, py, z); } - static int8_t cell_index_x(const_float_t x) { + static float get_mesh_x(const uint8_t i) { return index_to_xpos[i]; } + static float get_mesh_y(const uint8_t i) { return index_to_ypos[i]; } + + static uint8_t cell_index_x(const_float_t x) { int8_t cx = (x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST); return constrain(cx, 0, GRID_MAX_CELLS_X - 1); } - static int8_t cell_index_y(const_float_t y) { + static uint8_t cell_index_y(const_float_t y) { int8_t cy = (y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST); return constrain(cy, 0, GRID_MAX_CELLS_Y - 1); } - static xy_int8_t cell_indexes(const_float_t x, const_float_t y) { + static xy_uint8_t cell_indexes(const_float_t x, const_float_t y) { return { cell_index_x(x), cell_index_y(y) }; } - static xy_int8_t cell_indexes(const xy_pos_t &xy) { return cell_indexes(xy.x, xy.y); } + static xy_uint8_t cell_indexes(const xy_pos_t &xy) { return cell_indexes(xy.x, xy.y); } static int8_t probe_index_x(const_float_t x) { int8_t px = (x - (MESH_MIN_X) + 0.5f * (MESH_X_DIST)) * RECIPROCAL(MESH_X_DIST); @@ -102,20 +104,17 @@ public: return z1 + delta_a * delta_z; } - static float get_z(const xy_pos_t &pos - OPTARG(ENABLE_LEVELING_FADE_HEIGHT, const_float_t factor=1.0f) - ) { - #if DISABLED(ENABLE_LEVELING_FADE_HEIGHT) - constexpr float factor = 1.0f; - #endif - const xy_int8_t ind = cell_indexes(pos); + static float get_z_offset() { return z_offset; } + + static float get_z_correction(const xy_pos_t &pos) { + const xy_uint8_t ind = cell_indexes(pos); const float x1 = index_to_xpos[ind.x], x2 = index_to_xpos[ind.x+1], - y1 = index_to_xpos[ind.y], y2 = index_to_xpos[ind.y+1], + y1 = index_to_ypos[ind.y], y2 = index_to_ypos[ind.y+1], z1 = calc_z0(pos.x, x1, z_values[ind.x][ind.y ], x2, z_values[ind.x+1][ind.y ]), z2 = calc_z0(pos.x, x1, z_values[ind.x][ind.y+1], x2, z_values[ind.x+1][ind.y+1]), zf = calc_z0(pos.y, y1, z1, y2, z2); - return z_offset + zf * factor; + return zf; } #if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES) @@ -123,4 +122,4 @@ public: #endif }; -extern mesh_bed_leveling mbl; +extern mesh_bed_leveling bedlevel; diff --git a/Marlin/src/feature/bedlevel/ubl/ubl.cpp b/Marlin/src/feature/bedlevel/ubl/ubl.cpp index c162062f86..0228bd247e 100644 --- a/Marlin/src/feature/bedlevel/ubl/ubl.cpp +++ b/Marlin/src/feature/bedlevel/ubl/ubl.cpp @@ -26,7 +26,7 @@ #include "../bedlevel.h" -unified_bed_leveling ubl; +unified_bed_leveling bedlevel; #include "../../../MarlinCore.h" #include "../../../gcode/gcode.h" @@ -51,15 +51,14 @@ void unified_bed_leveling::report_current_mesh() { GRID_LOOP(x, y) if (!isnan(z_values[x][y])) { SERIAL_ECHO_START(); - SERIAL_ECHOPGM(" M421 I", x, " J", y); - SERIAL_ECHOLNPAIR_F_P(SP_Z_STR, z_values[x][y], 4); + SERIAL_ECHOLN(F(" M421 I"), x, F(" J"), y, FPSTR(SP_Z_STR), p_float_t(z_values[x][y], 4)); serial_delay(75); // Prevent Printrun from exploding } } void unified_bed_leveling::report_state() { echo_name(); - SERIAL_ECHO_TERNARY(planner.leveling_active, " System v" UBL_VERSION " ", "", "in", "active\n"); + serial_ternary(F(" System v" UBL_VERSION " "), planner.leveling_active, nullptr, F("in"), F("active\n")); serial_delay(50); } @@ -149,7 +148,7 @@ static void serial_echo_xy(const uint8_t sp, const int16_t x, const int16_t y) { static void serial_echo_column_labels(const uint8_t sp) { SERIAL_ECHO_SP(7); - LOOP_L_N(i, GRID_MAX_POINTS_X) { + for (uint8_t i = 0; i < GRID_MAX_POINTS_X; ++i) { if (i < 10) SERIAL_CHAR(' '); SERIAL_ECHO(i); SERIAL_ECHO_SP(sp); @@ -199,7 +198,7 @@ void unified_bed_leveling::display_map(const uint8_t map_type) { } // Row Values (I indexes) - LOOP_L_N(i, GRID_MAX_POINTS_X) { + for (uint8_t i = 0; i < GRID_MAX_POINTS_X; ++i) { // Opening Brace or Space const bool is_current = i == curr.x && j == curr.y; @@ -211,10 +210,10 @@ void unified_bed_leveling::display_map(const uint8_t map_type) { // TODO: Display on Graphical LCD } else if (isnan(f)) - SERIAL_ECHOF(human ? F(" . ") : F("NAN")); + SERIAL_ECHO(human ? F(" . ") : F("NAN")); else if (human || csv) { if (human && f >= 0) SERIAL_CHAR(f > 0 ? '+' : ' '); // Display sign also for positive numbers (' ' for 0) - SERIAL_DECIMAL(f); // Positive: 5 digits, Negative: 6 digits + SERIAL_ECHO(p_float_t(f, 3)); // Positive: 5 digits, Negative: 6 digits } if (csv && i < (GRID_MAX_POINTS_X) - 1) SERIAL_CHAR('\t'); @@ -260,7 +259,7 @@ bool unified_bed_leveling::sanity_check() { */ void GcodeSuite::M1004() { - #define ALIGN_GCODE TERN(Z_STEPPER_AUTO_ALIGN, "G34", "") + #define ALIGN_GCODE TERN(Z_STEPPER_AUTO_ALIGN, "G34\n", "") #define PROBE_GCODE TERN(HAS_BED_PROBE, "G29P1\nG29P3", "G29P4R") #if HAS_HOTEND @@ -280,7 +279,7 @@ bool unified_bed_leveling::sanity_check() { #endif process_subcommands_now(FPSTR(G28_STR)); // Home - process_subcommands_now(F(ALIGN_GCODE "\n" // Align multi z axis if available + process_subcommands_now(F(ALIGN_GCODE // Align multi z axis if available PROBE_GCODE "\n" // Build mesh with available hardware "G29P3\nG29P3")); // Ensure mesh is complete by running smart fill twice diff --git a/Marlin/src/feature/bedlevel/ubl/ubl.h b/Marlin/src/feature/bedlevel/ubl/ubl.h index f117c1af65..7377f7dfc0 100644 --- a/Marlin/src/feature/bedlevel/ubl/ubl.h +++ b/Marlin/src/feature/bedlevel/ubl/ubl.h @@ -38,8 +38,8 @@ enum MeshPointType : char { INVALID, REAL, SET_IN_BITMAP, CLOSEST }; struct mesh_index_pair; -#define MESH_X_DIST (float(MESH_MAX_X - (MESH_MIN_X)) / (GRID_MAX_CELLS_X)) -#define MESH_Y_DIST (float(MESH_MAX_Y - (MESH_MIN_Y)) / (GRID_MAX_CELLS_Y)) +#define MESH_X_DIST (float((MESH_MAX_X) - (MESH_MIN_X)) / (GRID_MAX_CELLS_X)) +#define MESH_Y_DIST (float((MESH_MAX_Y) - (MESH_MIN_Y)) / (GRID_MAX_CELLS_Y)) #if ENABLED(OPTIMIZED_MESH_STORAGE) typedef int16_t mesh_store_t[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; @@ -48,8 +48,8 @@ struct mesh_index_pair; typedef struct { bool C_seen; int8_t KLS_storage_slot; - uint8_t R_repetition, - V_verbosity, + grid_count_t R_repetition; + uint8_t V_verbosity, P_phase, T_map_type; float B_shim_thickness, @@ -70,20 +70,18 @@ private: static void move_z_with_encoder(const_float_t multiplier); static float measure_point_with_encoder(); static float measure_business_card_thickness(); - static void manually_probe_remaining_mesh(const xy_pos_t&, const_float_t , const_float_t , const bool) _O0; - static void fine_tune_mesh(const xy_pos_t &pos, const bool do_ubl_mesh_map) _O0; + static void manually_probe_remaining_mesh(const xy_pos_t&, const_float_t , const_float_t , const bool) __O0; + static void fine_tune_mesh(const xy_pos_t &pos, const bool do_ubl_mesh_map) __O0; #endif - static bool G29_parse_parameters() _O0; + static bool G29_parse_parameters() __O0; static void shift_mesh_height(); - static void probe_entire_mesh(const xy_pos_t &near, const bool do_ubl_mesh_map, const bool stow_probe, const bool do_furthest) _O0; - static void tilt_mesh_based_on_3pts(const_float_t z1, const_float_t z2, const_float_t z3); + static void probe_entire_mesh(const xy_pos_t &near, const bool do_ubl_mesh_map, const bool stow_probe, const bool do_furthest) __O0; static void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map); static bool smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir); static bool smart_fill_one(const xy_uint8_t &pos, const xy_uint8_t &dir) { return smart_fill_one(pos.x, pos.y, dir.x, dir.y); } - static void smart_fill_mesh(); #if ENABLED(UBL_DEVEL_DEBUGGING) static void g29_what_command(); @@ -98,17 +96,18 @@ public: static void report_state(); static void save_ubl_active_state_and_disable(); static void restore_ubl_active_state_and_leave(); - static void display_map(const uint8_t) _O0; - static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const xy_pos_t&, const bool=false, MeshFlags *done_flags=nullptr) _O0; - static mesh_index_pair find_furthest_invalid_mesh_point() _O0; + static void display_map(const uint8_t) __O0; + static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const xy_pos_t&, const bool=false, MeshFlags *done_flags=nullptr) __O0; + static mesh_index_pair find_furthest_invalid_mesh_point() __O0; static void reset(); static void invalidate(); static void set_all_mesh_points_to_value(const_float_t value); static void adjust_mesh_to_mean(const bool cflag, const_float_t value); static bool sanity_check(); + static void smart_fill_mesh(); - static void G29() _O0; // O0 for no optimization - static void smart_fill_wlsf(const_float_t ) _O2; // O2 gives smaller code than Os on A2560 + static void G29() __O0; // O0 for no optimization + static void smart_fill_wlsf(const_float_t ) __O2; // O2 gives smaller code than Os on A2560 static int8_t storage_slot; @@ -141,26 +140,26 @@ public: return FLOOR((y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST)); } - static int8_t cell_index_x_valid(const_float_t x) { + static bool cell_index_x_valid(const_float_t x) { return WITHIN(cell_index_x_raw(x), 0, GRID_MAX_CELLS_X - 1); } - static int8_t cell_index_y_valid(const_float_t y) { + static bool cell_index_y_valid(const_float_t y) { return WITHIN(cell_index_y_raw(y), 0, GRID_MAX_CELLS_Y - 1); } - static int8_t cell_index_x(const_float_t x) { + static uint8_t cell_index_x(const_float_t x) { return constrain(cell_index_x_raw(x), 0, GRID_MAX_CELLS_X - 1); } - static int8_t cell_index_y(const_float_t y) { + static uint8_t cell_index_y(const_float_t y) { return constrain(cell_index_y_raw(y), 0, GRID_MAX_CELLS_Y - 1); } - static xy_int8_t cell_indexes(const_float_t x, const_float_t y) { + static xy_uint8_t cell_indexes(const_float_t x, const_float_t y) { return { cell_index_x(x), cell_index_y(y) }; } - static xy_int8_t cell_indexes(const xy_pos_t &xy) { return cell_indexes(xy.x, xy.y); } + static xy_uint8_t cell_indexes(const xy_pos_t &xy) { return cell_indexes(xy.x, xy.y); } static int8_t closest_x_index(const_float_t x) { const int8_t px = (x - (MESH_MIN_X) + (MESH_X_DIST) * 0.5) * RECIPROCAL(MESH_X_DIST); @@ -215,7 +214,7 @@ public: return _UBL_OUTER_Z_RAISE; } - const float xratio = (rx0 - mesh_index_to_xpos(x1_i)) * RECIPROCAL(MESH_X_DIST), + const float xratio = (rx0 - get_mesh_x(x1_i)) * RECIPROCAL(MESH_X_DIST), z1 = z_values[x1_i][yi]; return z1 + xratio * (z_values[_MIN(x1_i, (GRID_MAX_POINTS_X) - 2) + 1][yi] - z1); // Don't allow x1_i+1 to be past the end of the array @@ -238,7 +237,7 @@ public: return _UBL_OUTER_Z_RAISE; } - const float yratio = (ry0 - mesh_index_to_ypos(y1_i)) * RECIPROCAL(MESH_Y_DIST), + const float yratio = (ry0 - get_mesh_y(y1_i)) * RECIPROCAL(MESH_Y_DIST), z1 = z_values[xi][y1_i]; return z1 + yratio * (z_values[xi][_MIN(y1_i, (GRID_MAX_POINTS_Y) - 2) + 1] - z1); // Don't allow y1_i+1 to be past the end of the array @@ -265,32 +264,33 @@ public: #endif const uint8_t mx = _MIN(cx, (GRID_MAX_POINTS_X) - 2) + 1, my = _MIN(cy, (GRID_MAX_POINTS_Y) - 2) + 1; - const float z1 = calc_z0(rx0, mesh_index_to_xpos(cx), z_values[cx][cy], mesh_index_to_xpos(cx + 1), z_values[mx][cy]); - const float z2 = calc_z0(rx0, mesh_index_to_xpos(cx), z_values[cx][my], mesh_index_to_xpos(cx + 1), z_values[mx][my]); - float z0 = calc_z0(ry0, mesh_index_to_ypos(cy), z1, mesh_index_to_ypos(cy + 1), z2); + const float x0 = get_mesh_x(cx), x1 = get_mesh_x(cx + 1), + z1 = calc_z0(rx0, x0, z_values[cx][cy], x1, z_values[mx][cy]), + z2 = calc_z0(rx0, x0, z_values[cx][my], x1, z_values[mx][my]); + float z0 = calc_z0(ry0, get_mesh_y(cy), z1, get_mesh_y(cy + 1), z2); - if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN - z0 = 0.0; // in ubl.z_values[][] and propagate through the - // calculations. If our correction is NAN, we throw it out - // because part of the Mesh is undefined and we don't have the - // information we need to complete the height correction. + if (isnan(z0)) { // If part of the Mesh is undefined, it will show up as NAN + z0 = 0.0; // in z_values[][] and propagate through the calculations. + // If our correction is NAN, we throw it out because part of + // the Mesh is undefined and we don't have the information + // needed to complete the height correction. if (DEBUGGING(MESH_ADJUST)) DEBUG_ECHOLNPGM("??? Yikes! NAN in "); } - if (DEBUGGING(MESH_ADJUST)) { - DEBUG_ECHOPGM("get_z_correction(", rx0, ", ", ry0); - DEBUG_ECHOLNPAIR_F(") => ", z0, 6); - } + if (DEBUGGING(MESH_ADJUST)) + DEBUG_ECHOLN(F("get_z_correction("), rx0, F(", "), ry0, F(") => "), p_float_t(z0, 6)); return z0; } static float get_z_correction(const xy_pos_t &pos) { return get_z_correction(pos.x, pos.y); } - static float mesh_index_to_xpos(const uint8_t i) { + static constexpr float get_z_offset() { return 0.0f; } + + static float get_mesh_x(const uint8_t i) { return i < (GRID_MAX_POINTS_X) ? pgm_read_float(&_mesh_index_to_xpos[i]) : MESH_MIN_X + i * (MESH_X_DIST); } - static float mesh_index_to_ypos(const uint8_t i) { + static float get_mesh_y(const uint8_t i) { return i < (GRID_MAX_POINTS_Y) ? pgm_read_float(&_mesh_index_to_ypos[i]) : MESH_MIN_Y + i * (MESH_Y_DIST); } @@ -307,11 +307,7 @@ public: }; // class unified_bed_leveling -extern unified_bed_leveling ubl; - -#define _GET_MESH_X(I) ubl.mesh_index_to_xpos(I) -#define _GET_MESH_Y(J) ubl.mesh_index_to_ypos(J) -#define Z_VALUES_ARR ubl.z_values +extern unified_bed_leveling bedlevel; // Prevent debugging propagating to other files #include "../../../core/debug_out.h" diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp index 9d2aaf8247..6f5187cc9f 100644 --- a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp +++ b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp @@ -31,7 +31,6 @@ #include "../../../libs/hex_print.h" #include "../../../module/settings.h" #include "../../../lcd/marlinui.h" -#include "../../../module/stepper.h" #include "../../../module/planner.h" #include "../../../module/motion.h" #include "../../../module/probe.h" @@ -113,7 +112,7 @@ * If omitted, the nozzle will raise by Z_CLEARANCE_BETWEEN_PROBES. * * H # Offset With P4, 'H' specifies the Offset above the mesh height to place the nozzle. - * If omitted, Z_CLEARANCE_BETWEEN_PROBES will be used. + * If omitted, Z_TWEEN_SAFE_CLEARANCE will be used. * * I # Invalidate Invalidate the specified number of Mesh Points near the given 'X' 'Y'. If X or Y are omitted, * the nozzle location is used. If no 'I' value is given, only the point nearest to the location @@ -307,21 +306,22 @@ void unified_bed_leveling::G29() { const uint8_t p_val = parser.byteval('P'); const bool may_move = p_val == 1 || p_val == 2 || p_val == 4 || parser.seen_test('J'); - #if HAS_MULTI_HOTEND - const uint8_t old_tool_index = active_extruder; - #endif // Check for commands that require the printer to be homed if (may_move) { planner.synchronize(); - // Send 'N' to force homing before G29 (internal only) - if (axes_should_home() || parser.seen_test('N')) gcode.home_all_axes(); - TERN_(HAS_MULTI_HOTEND, if (active_extruder != 0) tool_change(0, true)); + #if ALL(DWIN_LCD_PROUI, ZHOME_BEFORE_LEVELING) + save_ubl_active_state_and_disable(); + gcode.process_subcommands_now(F("G28Z")); + restore_ubl_active_state_and_leave(); + #else + // Send 'N' to force homing before G29 (internal only) + if (axes_should_home() || parser.seen_test('N')) gcode.home_all_axes(); + #endif + probe.use_probing_tool(); // Position bed horizontally and Z probe vertically. - #if defined(SAFE_BED_LEVELING_START_X) || defined(SAFE_BED_LEVELING_START_Y) || defined(SAFE_BED_LEVELING_START_Z) \ - || defined(SAFE_BED_LEVELING_START_I) || defined(SAFE_BED_LEVELING_START_J) || defined(SAFE_BED_LEVELING_START_K) \ - || defined(SAFE_BED_LEVELING_START_U) || defined(SAFE_BED_LEVELING_START_V) || defined(SAFE_BED_LEVELING_START_W) + #if HAS_SAFE_BED_LEVELING xyze_pos_t safe_position = current_position; #ifdef SAFE_BED_LEVELING_START_X safe_position.x = SAFE_BED_LEVELING_START_X; @@ -352,12 +352,12 @@ void unified_bed_leveling::G29() { #endif do_blocking_move_to(safe_position); - #endif + #endif // HAS_SAFE_BED_LEVELING } // Invalidate one or more nearby mesh points, possibly all. if (parser.seen('I')) { - uint8_t count = parser.has_value() ? parser.value_byte() : 1; + grid_count_t count = parser.has_value() ? parser.value_ushort() : 1; bool invalidate_all = count >= GRID_MAX_POINTS; if (!invalidate_all) { while (count--) { @@ -402,13 +402,13 @@ void unified_bed_leveling::G29() { break; case 1: - LOOP_L_N(x, GRID_MAX_POINTS_X) { // Create a diagonal line several Mesh cells thick that is raised + for (uint8_t x = 0; x < GRID_MAX_POINTS_X; ++x) { // Create a diagonal line several Mesh cells thick that is raised const uint8_t x2 = x + (x < (GRID_MAX_POINTS_Y) - 1 ? 1 : -1); z_values[x][x] += 9.999f; z_values[x][x2] += 9.999f; // We want the altered line several mesh points thick #if ENABLED(EXTENSIBLE_UI) ExtUI::onMeshUpdate(x, x, z_values[x][x]); - ExtUI::onMeshUpdate(x, (x2), z_values[x][x2]); + ExtUI::onMeshUpdate(x, x2, z_values[x][x2]); #endif } break; @@ -464,12 +464,8 @@ void unified_bed_leveling::G29() { invalidate(); SERIAL_ECHOLNPGM("Mesh invalidated. Probing mesh."); } - if (param.V_verbosity > 1) { - SERIAL_ECHOPGM("Probing around (", param.XY_pos.x); - SERIAL_CHAR(','); - SERIAL_DECIMAL(param.XY_pos.y); - SERIAL_ECHOLNPGM(").\n"); - } + if (param.V_verbosity > 1) + SERIAL_ECHOLN(F("Probing around ("), param.XY_pos.x, AS_CHAR(','), param.XY_pos.y, F(").\n")); probe_entire_mesh(param.XY_pos, parser.seen_test('T'), parser.seen_test('E'), parser.seen_test('U')); report_current_position(); @@ -699,7 +695,7 @@ void unified_bed_leveling::G29() { UNUSED(probe_deployed); #endif - TERN_(HAS_MULTI_HOTEND, if (old_tool_index != 0) tool_change(old_tool_index)); + probe.use_probing_tool(false); return; } @@ -728,10 +724,10 @@ void unified_bed_leveling::adjust_mesh_to_mean(const bool cflag, const_float_t o sum_of_diff_squared += sq(z_values[x][y] - mean); SERIAL_ECHOLNPGM("# of samples: ", n); - SERIAL_ECHOLNPAIR_F("Mean Mesh Height: ", mean, 6); + SERIAL_ECHOLNPGM("Mean Mesh Height: ", p_float_t(mean, 6)); const float sigma = SQRT(sum_of_diff_squared / (n + 1)); - SERIAL_ECHOLNPAIR_F("Standard Deviation: ", sigma, 6); + SERIAL_ECHOLNPGM("Standard Deviation: ", p_float_t(sigma, 6)); if (cflag) GRID_LOOP(x, y) @@ -762,16 +758,18 @@ void unified_bed_leveling::shift_mesh_height() { probe.deploy(); // Deploy before ui.capture() to allow for PAUSE_BEFORE_DEPLOY_STOW TERN_(HAS_MARLINUI_MENU, ui.capture()); + TERN_(EXTENSIBLE_UI, ExtUI::onLevelingStart()); + TERN_(DWIN_LCD_PROUI, dwinLevelingStart()); save_ubl_active_state_and_disable(); // No bed level correction so only raw data is obtained - uint8_t count = GRID_MAX_POINTS; + grid_count_t count = GRID_MAX_POINTS; mesh_index_pair best; TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(best.pos, ExtUI::G29_START)); do { if (do_ubl_mesh_map) display_map(param.T_map_type); - const uint8_t point_num = (GRID_MAX_POINTS - count) + 1; + const grid_count_t point_num = (GRID_MAX_POINTS - count) + 1; SERIAL_ECHOLNPGM("Probing mesh point ", point_num, "/", GRID_MAX_POINTS, "."); TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/%i"), GET_TEXT(MSG_PROBING_POINT), point_num, int(GRID_MAX_POINTS))); @@ -783,6 +781,7 @@ void unified_bed_leveling::shift_mesh_height() { ui.quick_feedback(); ui.release(); probe.stow(); // Release UI before stow to allow for PAUSE_BEFORE_DEPLOY_STOW + TERN_(EXTENSIBLE_UI, ExtUI::onLevelingDone()); return restore_ubl_active_state_and_leave(); } #endif @@ -793,10 +792,7 @@ void unified_bed_leveling::shift_mesh_height() { if (best.pos.x >= 0) { // mesh point found and is reachable by probe TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(best.pos, ExtUI::G29_POINT_START)); - const float measured_z = probe.probe_at_point( - best.meshpos(), - stow_probe ? PROBE_PT_STOW : PROBE_PT_RAISE, param.V_verbosity - ); + const float measured_z = probe.probe_at_point(best.meshpos(), stow_probe ? PROBE_PT_STOW : PROBE_PT_RAISE, param.V_verbosity); z_values[best.pos.x][best.pos.y] = measured_z; #if ENABLED(EXTENSIBLE_UI) ExtUI::onMeshUpdate(best.pos, ExtUI::G29_POINT_FINISH); @@ -822,6 +818,9 @@ void unified_bed_leveling::shift_mesh_height() { constrain(nearby.x - probe.offset_xy.x, MESH_MIN_X, MESH_MAX_X), constrain(nearby.y - probe.offset_xy.y, MESH_MIN_Y, MESH_MAX_Y) ); + + TERN_(EXTENSIBLE_UI, ExtUI::onLevelingDone()); + TERN_(DWIN_LCD_PROUI, dwinLevelingDone()); } #endif // HAS_BED_PROBE @@ -882,8 +881,32 @@ void set_message_with_feedback(FSTR_P const fstr) { ui.capture(); save_ubl_active_state_and_disable(); // Disable bed level correction for probing - do_blocking_move_to(0.5f * (MESH_MAX_X - (MESH_MIN_X)), 0.5f * (MESH_MAX_Y - (MESH_MIN_Y)), MANUAL_PROBE_START_Z); - //, _MIN(planner.settings.max_feedrate_mm_s[X_AXIS], planner.settings.max_feedrate_mm_s[Y_AXIS]) * 0.5f); + do_blocking_move_to( + xyz_pos_t({ + 0.5f * ((MESH_MAX_X) - (MESH_MIN_X)), + 0.5f * ((MESH_MAX_Y) - (MESH_MIN_Y)), + MANUAL_PROBE_START_Z + #ifdef SAFE_BED_LEVELING_START_I + , SAFE_BED_LEVELING_START_I + #endif + #ifdef SAFE_BED_LEVELING_START_J + , SAFE_BED_LEVELING_START_J + #endif + #ifdef SAFE_BED_LEVELING_START_K + , SAFE_BED_LEVELING_START_K + #endif + #ifdef SAFE_BED_LEVELING_START_U + , SAFE_BED_LEVELING_START_U + #endif + #ifdef SAFE_BED_LEVELING_START_V + , SAFE_BED_LEVELING_START_V + #endif + #ifdef SAFE_BED_LEVELING_START_W + , SAFE_BED_LEVELING_START_W + #endif + }) + //, _MIN(planner.settings.max_feedrate_mm_s[X_AXIS], planner.settings.max_feedrate_mm_s[Y_AXIS]) * 0.5f + ); planner.synchronize(); SERIAL_ECHOPGM("Place shim under nozzle"); @@ -892,22 +915,19 @@ void set_message_with_feedback(FSTR_P const fstr) { echo_and_take_a_measurement(); const float z1 = measure_point_with_encoder(); - do_blocking_move_to_z(current_position.z + SIZE_OF_LITTLE_RAISE); - planner.synchronize(); + do_z_clearance_by(SIZE_OF_LITTLE_RAISE); SERIAL_ECHOPGM("Remove shim"); LCD_MESSAGE(MSG_UBL_BC_REMOVE); echo_and_take_a_measurement(); const float z2 = measure_point_with_encoder(); - do_blocking_move_to_z(current_position.z + Z_CLEARANCE_BETWEEN_PROBES); + do_z_clearance_by(Z_CLEARANCE_BETWEEN_PROBES); const float thickness = ABS(z1 - z2); - if (param.V_verbosity > 1) { - SERIAL_ECHOPAIR_F("Business Card is ", thickness, 4); - SERIAL_ECHOLNPGM("mm thick."); - } + if (param.V_verbosity > 1) + SERIAL_ECHOLNPGM("Business Card is ", p_float_t(thickness, 4), "mm thick."); restore_ubl_active_state_and_leave(); @@ -921,6 +941,7 @@ void set_message_with_feedback(FSTR_P const fstr) { */ void unified_bed_leveling::manually_probe_remaining_mesh(const xy_pos_t &pos, const_float_t z_clearance, const_float_t thick, const bool do_ubl_mesh_map) { ui.capture(); + TERN_(EXTENSIBLE_UI, ExtUI::onLevelingStart()); save_ubl_active_state_and_disable(); // No bed level correction so only raw data is obtained do_blocking_move_to_xy_z(current_position, z_clearance); @@ -934,11 +955,7 @@ void set_message_with_feedback(FSTR_P const fstr) { // It doesn't matter if the probe can't reach the NAN location. This is a manual probe. if (!location.valid()) continue; - const xyz_pos_t ppos = { - mesh_index_to_xpos(lpos.x), - mesh_index_to_ypos(lpos.y), - z_clearance - }; + const xyz_pos_t ppos = { get_mesh_x(lpos.x), get_mesh_y(lpos.y), z_clearance }; if (!position_is_reachable(ppos)) break; // SHOULD NOT OCCUR (find_closest_mesh_point only returns reachable points) @@ -976,7 +993,7 @@ void set_message_with_feedback(FSTR_P const fstr) { TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(location, z_values[lpos.x][lpos.y])); if (param.V_verbosity > 2) - SERIAL_ECHOLNPAIR_F("Mesh Point Measured at: ", z_values[lpos.x][lpos.y], 6); + SERIAL_ECHOLNPGM("Mesh Point Measured at: ", p_float_t(z_values[lpos.x][lpos.y], 6)); SERIAL_FLUSH(); // Prevent host M105 buffer overrun. } while (location.valid()); @@ -984,6 +1001,8 @@ void set_message_with_feedback(FSTR_P const fstr) { restore_ubl_active_state_and_leave(); do_blocking_move_to_xy_z(pos, Z_CLEARANCE_DEPLOY_PROBE); + + TERN_(EXTENSIBLE_UI, ExtUI::onLevelingDone()); } /** @@ -1012,9 +1031,9 @@ void set_message_with_feedback(FSTR_P const fstr) { save_ubl_active_state_and_disable(); LCD_MESSAGE(MSG_UBL_FINE_TUNE_MESH); - ui.capture(); // Take over control of the LCD encoder + ui.capture(); // Take over control of the LCD encoder - do_blocking_move_to_xy_z(pos, Z_CLEARANCE_BETWEEN_PROBES); // Move to the given XY with probe clearance + do_blocking_move_to_xy_z(pos, Z_TWEEN_SAFE_CLEARANCE); // Move to the given XY with probe clearance MeshFlags done_flags{0}; const xy_int8_t &lpos = location.pos; @@ -1031,11 +1050,7 @@ void set_message_with_feedback(FSTR_P const fstr) { done_flags.mark(lpos); // Mark this location as 'adjusted' so a new // location is used on the next loop - const xyz_pos_t raw = { - mesh_index_to_xpos(lpos.x), - mesh_index_to_ypos(lpos.y), - Z_CLEARANCE_BETWEEN_PROBES - }; + const xyz_pos_t raw = { get_mesh_x(lpos.x), get_mesh_y(lpos.y), Z_TWEEN_SAFE_CLEARANCE }; if (!position_is_reachable(raw)) break; // SHOULD NOT OCCUR (find_closest_mesh_point_of_type only returns reachable) @@ -1045,7 +1060,7 @@ void set_message_with_feedback(FSTR_P const fstr) { KEEPALIVE_STATE(PAUSED_FOR_USER); - if (do_ubl_mesh_map) display_map(param.T_map_type); // Display the current point + if (do_ubl_mesh_map) display_map(param.T_map_type); // Display the current point #if IS_TFTGLCD_PANEL ui.ubl_plot(lpos.x, lpos.y); // update plot screen @@ -1075,7 +1090,7 @@ void set_message_with_feedback(FSTR_P const fstr) { // Button held down? Abort editing if (_click_and_hold([]{ ui.return_to_status(); - do_z_clearance(Z_CLEARANCE_BETWEEN_PROBES); + do_z_clearance(Z_TWEEN_SAFE_CLEARANCE); set_message_with_feedback(GET_TEXT_F(MSG_EDITING_STOPPED)); })) break; @@ -1095,7 +1110,7 @@ void set_message_with_feedback(FSTR_P const fstr) { if (do_ubl_mesh_map) display_map(param.T_map_type); restore_ubl_active_state_and_leave(); - do_blocking_move_to_xy_z(pos, Z_CLEARANCE_BETWEEN_PROBES); + do_blocking_move_to_xy_z(pos, Z_TWEEN_SAFE_CLEARANCE); LCD_MESSAGE(MSG_UBL_DONE_EDITING_MESH); SERIAL_ECHOLNPGM("Done Editing Mesh"); @@ -1120,7 +1135,7 @@ bool unified_bed_leveling::G29_parse_parameters() { param.R_repetition = 0; if (parser.seen('R')) { - param.R_repetition = parser.has_value() ? parser.value_byte() : GRID_MAX_POINTS; + param.R_repetition = parser.has_value() ? parser.value_ushort() : GRID_MAX_POINTS; NOMORE(param.R_repetition, GRID_MAX_POINTS); if (param.R_repetition < 1) { SERIAL_ECHOLNPGM("?(R)epetition count invalid (1+).\n"); @@ -1268,7 +1283,7 @@ mesh_index_pair unified_bed_leveling::find_furthest_invalid_mesh_point() { if (!isnan(z_values[i][j])) continue; // Skip valid mesh points // Skip unreachable points - if (!probe.can_reach(mesh_index_to_xpos(i), mesh_index_to_ypos(j))) + if (!probe.can_reach(get_mesh_x(i), get_mesh_y(j))) continue; found_a_NAN = true; @@ -1320,11 +1335,11 @@ mesh_index_pair unified_bed_leveling::find_furthest_invalid_mesh_point() { static bool test_func(uint8_t i, uint8_t j, void *data) { find_closest_t *d = (find_closest_t*)data; - if ( d->type == CLOSEST || d->type == (isnan(ubl.z_values[i][j]) ? INVALID : REAL) + if ( d->type == CLOSEST || d->type == (isnan(bedlevel.z_values[i][j]) ? INVALID : REAL) || (d->type == SET_IN_BITMAP && !d->done_flags->marked(i, j)) ) { // Found a Mesh Point of the specified type! - const xy_pos_t mpos = { ubl.mesh_index_to_xpos(i), ubl.mesh_index_to_ypos(j) }; + const xy_pos_t mpos = { bedlevel.get_mesh_x(i), bedlevel.get_mesh_y(j) }; // If using the probe as the reference there are some unreachable locations. // Also for round beds, there are grid points outside the bed the nozzle can't reach. @@ -1368,7 +1383,7 @@ mesh_index_pair unified_bed_leveling::find_closest_mesh_point_of_type(const Mesh || (type == SET_IN_BITMAP && !done_flags->marked(i, j)) ) { // Found a Mesh Point of the specified type! - const xy_pos_t mpos = { mesh_index_to_xpos(i), mesh_index_to_ypos(j) }; + const xy_pos_t mpos = { get_mesh_x(i), get_mesh_y(j) }; // If using the probe as the reference there are some unreachable locations. // Also for round beds, there are grid points outside the bed the nozzle can't reach. @@ -1424,13 +1439,13 @@ typedef struct { uint8_t sx, ex, sy, ey; bool yfirst; } smart_fill_info; void unified_bed_leveling::smart_fill_mesh() { static const smart_fill_info - info0 PROGMEM = { 0, GRID_MAX_POINTS_X, 0, GRID_MAX_POINTS_Y - 2, false }, // Bottom of the mesh looking up - info1 PROGMEM = { 0, GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y - 1, 0, false }, // Top of the mesh looking down - info2 PROGMEM = { 0, GRID_MAX_POINTS_X - 2, 0, GRID_MAX_POINTS_Y, true }, // Left side of the mesh looking right - info3 PROGMEM = { GRID_MAX_POINTS_X - 1, 0, 0, GRID_MAX_POINTS_Y, true }; // Right side of the mesh looking left + info0 PROGMEM = { 0, GRID_MAX_POINTS_X, 0, (GRID_MAX_POINTS_Y) - 2, false }, // Bottom of the mesh looking up + info1 PROGMEM = { 0, GRID_MAX_POINTS_X, (GRID_MAX_POINTS_Y) - 1, 0, false }, // Top of the mesh looking down + info2 PROGMEM = { 0, (GRID_MAX_POINTS_X) - 2, 0, GRID_MAX_POINTS_Y, true }, // Left side of the mesh looking right + info3 PROGMEM = { (GRID_MAX_POINTS_X) - 1, 0, 0, GRID_MAX_POINTS_Y, true }; // Right side of the mesh looking left static const smart_fill_info * const info[] PROGMEM = { &info0, &info1, &info2, &info3 }; - LOOP_L_N(i, COUNT(info)) { + for (uint8_t i = 0; i < COUNT(info); ++i) { const smart_fill_info *f = (smart_fill_info*)pgm_read_ptr(&info[i]); const int8_t sx = pgm_read_byte(&f->sx), sy = pgm_read_byte(&f->sy), ex = pgm_read_byte(&f->ex), ey = pgm_read_byte(&f->ey); @@ -1456,81 +1471,42 @@ void unified_bed_leveling::smart_fill_mesh() { #include "../../../libs/vector_3.h" void unified_bed_leveling::tilt_mesh_based_on_probed_grid(const bool do_3_pt_leveling) { - const float x_min = probe.min_x(), x_max = probe.max_x(), - y_min = probe.min_y(), y_max = probe.max_y(), - dx = (x_max - x_min) / (param.J_grid_size - 1), - dy = (y_max - y_min) / (param.J_grid_size - 1); - - xy_float_t points[3]; - probe.get_three_points(points); float measured_z; bool abort_flag = false; - #ifdef VALIDATE_MESH_TILT - float z1, z2, z3; // Needed for algorithm validation below - #endif - struct linear_fit_data lsf_results; incremental_LSF_reset(&lsf_results); if (do_3_pt_leveling) { - SERIAL_ECHOLNPGM("Tilting mesh (1/3)"); - TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " 1/3"), GET_TEXT(MSG_LCD_TILTING_MESH))); + xy_float_t points[3]; + probe.get_three_points(points); - measured_z = probe.probe_at_point(points[0], PROBE_PT_RAISE, param.V_verbosity); - if (isnan(measured_z)) - abort_flag = true; - else { - measured_z -= get_z_correction(points[0]); - #ifdef VALIDATE_MESH_TILT - z1 = measured_z; - #endif - if (param.V_verbosity > 3) { - serial_spaces(16); - SERIAL_ECHOLNPGM("Corrected_Z=", measured_z); + #if ENABLED(UBL_TILT_ON_MESH_POINTS_3POINT) + mesh_index_pair cpos[3]; + for (uint8_t ix = 0; ix < 3; ++ix) { // Convert points to coordinates of mesh points + cpos[ix] = find_closest_mesh_point_of_type(REAL, points[ix], true); + points[ix] = cpos[ix].meshpos(); } - incremental_LSF(&lsf_results, points[0], measured_z); - } + #endif - if (!abort_flag) { - SERIAL_ECHOLNPGM("Tilting mesh (2/3)"); - TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " 2/3"), GET_TEXT(MSG_LCD_TILTING_MESH))); + #if ENABLED(VALIDATE_MESH_TILT) + float gotz[3]; // Used for algorithm validation below + #endif - measured_z = probe.probe_at_point(points[1], PROBE_PT_RAISE, param.V_verbosity); - #ifdef VALIDATE_MESH_TILT - z2 = measured_z; - #endif - if (isnan(measured_z)) - abort_flag = true; - else { - measured_z -= get_z_correction(points[1]); - if (param.V_verbosity > 3) { - serial_spaces(16); - SERIAL_ECHOLNPGM("Corrected_Z=", measured_z); - } - incremental_LSF(&lsf_results, points[1], measured_z); - } - } + for (uint8_t i = 0; i < 3; ++i) { + SERIAL_ECHOLNPGM("Tilting mesh (", i + 1, "/3)"); + TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/3"), GET_TEXT(MSG_LCD_TILTING_MESH), i + 1)); - if (!abort_flag) { - SERIAL_ECHOLNPGM("Tilting mesh (3/3)"); - TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " 3/3"), GET_TEXT(MSG_LCD_TILTING_MESH))); + measured_z = probe.probe_at_point(points[i], i < 2 ? PROBE_PT_RAISE : PROBE_PT_LAST_STOW, param.V_verbosity); + if ((abort_flag = isnan(measured_z))) break; - measured_z = probe.probe_at_point(points[2], PROBE_PT_LAST_STOW, param.V_verbosity); - #ifdef VALIDATE_MESH_TILT - z3 = measured_z; - #endif - if (isnan(measured_z)) - abort_flag = true; - else { - measured_z -= get_z_correction(points[2]); - if (param.V_verbosity > 3) { - serial_spaces(16); - SERIAL_ECHOLNPGM("Corrected_Z=", measured_z); - } - incremental_LSF(&lsf_results, points[2], measured_z); - } + measured_z -= TERN(UBL_TILT_ON_MESH_POINTS_3POINT, z_values[cpos[i].pos.x][cpos[i].pos.y], get_z_correction(points[i])); + TERN_(VALIDATE_MESH_TILT, gotz[i] = measured_z); + + if (param.V_verbosity > 3) { SERIAL_ECHO_SP(16); SERIAL_ECHOLNPGM("Corrected_Z=", measured_z); } + + incremental_LSF(&lsf_results, points[i], measured_z); } probe.stow(); @@ -1543,54 +1519,79 @@ void unified_bed_leveling::smart_fill_mesh() { } else { // !do_3_pt_leveling + #ifndef G29J_MESH_TILT_MARGIN + #define G29J_MESH_TILT_MARGIN 0 + #endif + const float x_min = _MAX((X_MIN_POS) + (G29J_MESH_TILT_MARGIN), MESH_MIN_X, probe.min_x()), + x_max = _MIN((X_MAX_POS) - (G29J_MESH_TILT_MARGIN), MESH_MAX_X, probe.max_x()), + y_min = _MAX((Y_MIN_POS) + (G29J_MESH_TILT_MARGIN), MESH_MIN_Y, probe.min_y()), + y_max = _MIN((Y_MAX_POS) - (G29J_MESH_TILT_MARGIN), MESH_MAX_Y, probe.max_y()), + dx = (x_max - x_min) / (param.J_grid_size - 1), + dy = (y_max - y_min) / (param.J_grid_size - 1); + bool zig_zag = false; const uint16_t total_points = sq(param.J_grid_size); uint16_t point_num = 1; - xy_pos_t rpos; - LOOP_L_N(ix, param.J_grid_size) { + for (uint8_t ix = 0; ix < param.J_grid_size; ++ix) { + xy_pos_t rpos; rpos.x = x_min + ix * dx; - LOOP_L_N(iy, param.J_grid_size) { + for (uint8_t iy = 0; iy < param.J_grid_size; ++iy) { rpos.y = y_min + dy * (zig_zag ? param.J_grid_size - 1 - iy : iy); - if (!abort_flag) { - SERIAL_ECHOLNPGM("Tilting mesh point ", point_num, "/", total_points, "\n"); - TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/%i"), GET_TEXT(MSG_LCD_TILTING_MESH), point_num, total_points)); - - measured_z = probe.probe_at_point(rpos, parser.seen_test('E') ? PROBE_PT_STOW : PROBE_PT_RAISE, param.V_verbosity); // TODO: Needs error handling - - abort_flag = isnan(measured_z); - + #if ENABLED(UBL_TILT_ON_MESH_POINTS) #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) { - const xy_pos_t lpos = rpos.asLogical(); - DEBUG_CHAR('('); - DEBUG_ECHO_F(rpos.x, 7); - DEBUG_CHAR(','); - DEBUG_ECHO_F(rpos.y, 7); - DEBUG_ECHOPAIR_F(") logical: (", lpos.x, 7); - DEBUG_CHAR(','); - DEBUG_ECHO_F(lpos.y, 7); - DEBUG_ECHOPAIR_F(") measured: ", measured_z, 7); - DEBUG_ECHOPAIR_F(" correction: ", get_z_correction(rpos), 7); - } + xy_pos_t oldRpos; + if (DEBUGGING(LEVELING)) oldRpos = rpos; #endif + mesh_index_pair cpos; + rpos -= probe.offset; + cpos = find_closest_mesh_point_of_type(REAL, rpos, true); + rpos = cpos.meshpos(); + #endif - measured_z -= get_z_correction(rpos) /* + probe.offset.z */ ; + SERIAL_ECHOLNPGM("Tilting mesh point ", point_num, "/", total_points, "\n"); + TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/%i"), GET_TEXT(MSG_LCD_TILTING_MESH), point_num, total_points)); - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR_F(" final >>>---> ", measured_z, 7); + measured_z = probe.probe_at_point(rpos, parser.seen_test('E') ? PROBE_PT_STOW : PROBE_PT_RAISE, param.V_verbosity); // TODO: Needs error handling - if (param.V_verbosity > 3) { - serial_spaces(16); - SERIAL_ECHOLNPGM("Corrected_Z=", measured_z); + if ((abort_flag = isnan(measured_z))) break; + + const float zcorr = TERN(UBL_TILT_ON_MESH_POINTS, z_values[cpos.pos.x][cpos.pos.y], get_z_correction(rpos)); + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + #if ENABLED(UBL_TILT_ON_MESH_POINTS) + const xy_pos_t oldLpos = oldRpos.asLogical(); + DEBUG_ECHO(F("Calculated point: ("), p_float_t(oldRpos.x, 7), AS_CHAR(','), p_float_t(oldRpos.y, 7), + F(") logical: ("), p_float_t(oldLpos.x, 7), AS_CHAR(','), p_float_t(oldLpos.y, 7), + F(")\nSelected mesh point: ") + ); + #endif + const xy_pos_t lpos = rpos.asLogical(); + DEBUG_ECHO( AS_CHAR('('), p_float_t(rpos.x, 7), AS_CHAR(','), p_float_t(rpos.y, 7), + F(") logical: ("), p_float_t(lpos.x, 7), AS_CHAR(','), p_float_t(lpos.y, 7), + F(") measured: "), p_float_t(measured_z, 7), + F(" correction: "), p_float_t(zcorr, 7) + ); } - incremental_LSF(&lsf_results, rpos, measured_z); + #endif + + measured_z -= zcorr; + + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM(" final >>>---> ", p_float_t(measured_z, 7)); + + if (param.V_verbosity > 3) { + SERIAL_ECHO_SP(16); + SERIAL_ECHOLNPGM("Corrected_Z=", measured_z); } + incremental_LSF(&lsf_results, rpos, measured_z); point_num++; } + if (abort_flag) break; zig_zag ^= true; } } @@ -1598,47 +1599,29 @@ void unified_bed_leveling::smart_fill_mesh() { probe.move_z_after_probing(); if (abort_flag || finish_incremental_LSF(&lsf_results)) { - SERIAL_ECHOPGM("Could not complete LSF!"); + SERIAL_ECHOLNPGM("Could not complete LSF!"); return; } vector_3 normal = vector_3(lsf_results.A, lsf_results.B, 1).get_normal(); - if (param.V_verbosity > 2) { - SERIAL_ECHOPAIR_F("bed plane normal = [", normal.x, 7); - SERIAL_CHAR(','); - SERIAL_ECHO_F(normal.y, 7); - SERIAL_CHAR(','); - SERIAL_ECHO_F(normal.z, 7); - SERIAL_ECHOLNPGM("]"); - } + if (param.V_verbosity > 2) + SERIAL_ECHOLN(F("bed plane normal = ["), p_float_t(normal.x, 7), AS_CHAR(','), p_float_t(normal.y, 7), AS_CHAR(','), p_float_t(normal.z, 7), AS_CHAR(']')); matrix_3x3 rotation = matrix_3x3::create_look_at(vector_3(lsf_results.A, lsf_results.B, 1)); GRID_LOOP(i, j) { - float mx = mesh_index_to_xpos(i), - my = mesh_index_to_ypos(j), - mz = z_values[i][j]; + float mx = get_mesh_x(i), my = get_mesh_y(j), mz = z_values[i][j]; if (DEBUGGING(LEVELING)) { - DEBUG_ECHOPAIR_F("before rotation = [", mx, 7); - DEBUG_CHAR(','); - DEBUG_ECHO_F(my, 7); - DEBUG_CHAR(','); - DEBUG_ECHO_F(mz, 7); - DEBUG_ECHOPGM("] ---> "); + DEBUG_ECHOLN(F("before rotation = ["), p_float_t(mx, 7), AS_CHAR(','), p_float_t(my, 7), AS_CHAR(','), p_float_t(mz, 7), F("] ---> ")); DEBUG_DELAY(20); } rotation.apply_rotation_xyz(mx, my, mz); if (DEBUGGING(LEVELING)) { - DEBUG_ECHOPAIR_F("after rotation = [", mx, 7); - DEBUG_CHAR(','); - DEBUG_ECHO_F(my, 7); - DEBUG_CHAR(','); - DEBUG_ECHO_F(mz, 7); - DEBUG_ECHOLNPGM("]"); + DEBUG_ECHOLN(F("after rotation = ["), p_float_t(mx, 7), AS_CHAR(','), p_float_t(my, 7), AS_CHAR(','), p_float_t(mz, 7), F("] ---> ")); DEBUG_DELAY(20); } @@ -1648,17 +1631,9 @@ void unified_bed_leveling::smart_fill_mesh() { if (DEBUGGING(LEVELING)) { rotation.debug(F("rotation matrix:\n")); - DEBUG_ECHOPAIR_F("LSF Results A=", lsf_results.A, 7); - DEBUG_ECHOPAIR_F(" B=", lsf_results.B, 7); - DEBUG_ECHOLNPAIR_F(" D=", lsf_results.D, 7); + DEBUG_ECHOLN(F("LSF Results A="), p_float_t(lsf_results.A, 7), F(" B="), p_float_t(lsf_results.B, 7), F(" D="), p_float_t(lsf_results.D, 7)); DEBUG_DELAY(55); - - DEBUG_ECHOPAIR_F("bed plane normal = [", normal.x, 7); - DEBUG_CHAR(','); - DEBUG_ECHO_F(normal.y, 7); - DEBUG_CHAR(','); - DEBUG_ECHO_F(normal.z, 7); - DEBUG_ECHOLNPGM("]"); + DEBUG_ECHOLN(F("bed plane normal = ["), p_float_t(normal.x, 7), AS_CHAR(','), p_float_t(normal.y, 7), AS_CHAR(','), p_float_t(normal.z, 7), AS_CHAR(']')); DEBUG_EOL(); /** @@ -1669,25 +1644,24 @@ void unified_bed_leveling::smart_fill_mesh() { * The Z error between the probed point locations and the get_z_correction() * numbers for those locations should be 0. */ - #ifdef VALIDATE_MESH_TILT + #if ENABLED(VALIDATE_MESH_TILT) auto d_from = []{ DEBUG_ECHOPGM("D from "); }; auto normed = [&](const xy_pos_t &pos, const_float_t zadd) { return normal.x * pos.x + normal.y * pos.y + zadd; }; - auto debug_pt = [](FSTR_P const pre, const xy_pos_t &pos, const_float_t zadd) { - d_from(); SERIAL_ECHOF(pre); - DEBUG_ECHO_F(normed(pos, zadd), 6); - DEBUG_ECHOLNPAIR_F(" Z error = ", zadd - get_z_correction(pos), 6); + auto debug_pt = [](const int num, const xy_pos_t &pos, const_float_t zadd) { + d_from(); + DEBUG_ECHOLN(F("Point "), num, AS_CHAR(':'), p_float_t(normed(pos, zadd), 6), F(" Z error = "), p_float_t(zadd - get_z_correction(pos), 6)); }; - debug_pt(F("1st point: "), probe_pt[0], normal.z * z1); - debug_pt(F("2nd point: "), probe_pt[1], normal.z * z2); - debug_pt(F("3rd point: "), probe_pt[2], normal.z * z3); - d_from(); DEBUG_ECHOPGM("safe home with Z="); - DEBUG_ECHOLNPAIR_F("0 : ", normed(safe_homing_xy, 0), 6); - d_from(); DEBUG_ECHOPGM("safe home with Z="); - DEBUG_ECHOLNPAIR_F("mesh value ", normed(safe_homing_xy, get_z_correction(safe_homing_xy)), 6); - DEBUG_ECHOPGM(" Z error = (", Z_SAFE_HOMING_X_POINT, ",", Z_SAFE_HOMING_Y_POINT); - DEBUG_ECHOLNPAIR_F(") = ", get_z_correction(safe_homing_xy), 6); + debug_pt(1, probe_pt[0], normal.z * gotz[0]); + debug_pt(2, probe_pt[1], normal.z * gotz[1]); + debug_pt(3, probe_pt[2], normal.z * gotz[2]); + #if ENABLED(Z_SAFE_HOMING) + constexpr xy_float_t safe_xy = { Z_SAFE_HOMING_X_POINT, Z_SAFE_HOMING_Y_POINT }; + d_from(); DEBUG_ECHOLN(F("safe home with Z="), F("0 : "), p_float_t(normed(safe_xy, 0), 6)); + d_from(); DEBUG_ECHOLN(F("safe home with Z="), F("mesh value "), p_float_t(normed(safe_xy, get_z_correction(safe_xy)), 6)); + DEBUG_ECHO(F(" Z error = ("), Z_SAFE_HOMING_X_POINT, AS_CHAR(','), Z_SAFE_HOMING_Y_POINT, F(") = "), p_float_t(get_z_correction(safe_xy), 6)); + #endif #endif } // DEBUGGING(LEVELING) @@ -1714,19 +1688,19 @@ void unified_bed_leveling::smart_fill_mesh() { GRID_LOOP(jx, jy) if (!isnan(z_values[jx][jy])) SBI(bitmap[jx], jy); xy_pos_t ppos; - LOOP_L_N(ix, GRID_MAX_POINTS_X) { - ppos.x = mesh_index_to_xpos(ix); - LOOP_L_N(iy, GRID_MAX_POINTS_Y) { - ppos.y = mesh_index_to_ypos(iy); + for (uint8_t ix = 0; ix < GRID_MAX_POINTS_X; ++ix) { + ppos.x = get_mesh_x(ix); + for (uint8_t iy = 0; iy < GRID_MAX_POINTS_Y; ++iy) { + ppos.y = get_mesh_y(iy); if (isnan(z_values[ix][iy])) { // undefined mesh point at (ppos.x,ppos.y), compute weighted LSF from original valid mesh points. incremental_LSF_reset(&lsf_results); xy_pos_t rpos; - LOOP_L_N(jx, GRID_MAX_POINTS_X) { - rpos.x = mesh_index_to_xpos(jx); - LOOP_L_N(jy, GRID_MAX_POINTS_Y) { + for (uint8_t jx = 0; jx < GRID_MAX_POINTS_X; ++jx) { + rpos.x = get_mesh_x(jx); + for (uint8_t jy = 0; jy < GRID_MAX_POINTS_Y; ++jy) { if (TEST(bitmap[jx], jy)) { - rpos.y = mesh_index_to_ypos(jy); + rpos.y = get_mesh_y(jy); const float rz = z_values[jx][jy], w = 1.0f + weight_scaled / (rpos - ppos).magnitude(); incremental_WLSF(&lsf_results, rpos, rz, w); @@ -1734,7 +1708,7 @@ void unified_bed_leveling::smart_fill_mesh() { } } if (finish_incremental_LSF(&lsf_results)) { - SERIAL_ECHOLNPGM("Insufficient data"); + SERIAL_ECHOLNPGM(" Insufficient data"); return; } const float ez = -lsf_results.D - lsf_results.A * ppos.x - lsf_results.B * ppos.y; @@ -1745,7 +1719,7 @@ void unified_bed_leveling::smart_fill_mesh() { } } - SERIAL_ECHOLNPGM("done"); + SERIAL_ECHOLNPGM(" done."); } #endif // UBL_G29_P31 @@ -1758,20 +1732,19 @@ void unified_bed_leveling::smart_fill_mesh() { report_state(); if (storage_slot == -1) - SERIAL_ECHOPGM("No Mesh Loaded."); + SERIAL_ECHOLNPGM("No Mesh Loaded."); else - SERIAL_ECHOPGM("Mesh ", storage_slot, " Loaded."); - SERIAL_EOL(); + SERIAL_ECHOLNPGM("Mesh ", storage_slot, " Loaded."); serial_delay(50); #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) - SERIAL_ECHOLNPAIR_F("Fade Height M420 Z", planner.z_fade_height, 4); + SERIAL_ECHOLN(F("Fade Height M420 Z"), p_float_t(planner.z_fade_height, 4)); #endif adjust_mesh_to_mean(param.C_seen, param.C_constant); #if HAS_BED_PROBE - SERIAL_ECHOLNPAIR_F("Probe Offset M851 Z", probe.offset.z, 7); + SERIAL_ECHOLNPGM("Probe Offset M851 Z", p_float_t(probe.offset.z, 7)); #endif SERIAL_ECHOLNPGM("MESH_MIN_X " STRINGIFY(MESH_MIN_X) "=", MESH_MIN_X); serial_delay(50); @@ -1784,17 +1757,15 @@ void unified_bed_leveling::smart_fill_mesh() { SERIAL_ECHOLNPGM("MESH_Y_DIST ", MESH_Y_DIST); serial_delay(50); SERIAL_ECHOPGM("X-Axis Mesh Points at: "); - LOOP_L_N(i, GRID_MAX_POINTS_X) { - SERIAL_ECHO_F(LOGICAL_X_POSITION(mesh_index_to_xpos(i)), 3); - SERIAL_ECHOPGM(" "); + for (uint8_t i = 0; i < GRID_MAX_POINTS_X; ++i) { + SERIAL_ECHO(p_float_t(LOGICAL_X_POSITION(get_mesh_x(i)), 3), F(" ")); serial_delay(25); } SERIAL_EOL(); SERIAL_ECHOPGM("Y-Axis Mesh Points at: "); - LOOP_L_N(i, GRID_MAX_POINTS_Y) { - SERIAL_ECHO_F(LOGICAL_Y_POSITION(mesh_index_to_ypos(i)), 3); - SERIAL_ECHOPGM(" "); + for (uint8_t i = 0; i < GRID_MAX_POINTS_Y; ++i) { + SERIAL_ECHO(p_float_t(LOGICAL_Y_POSITION(get_mesh_y(i)), 3), F(" ")); serial_delay(25); } SERIAL_EOL(); @@ -1806,23 +1777,21 @@ void unified_bed_leveling::smart_fill_mesh() { SERIAL_EOL(); serial_delay(50); - #if ENABLED(UBL_DEVEL_DEBUGGING) - SERIAL_ECHOLNPGM("ubl_state_at_invocation :", ubl_state_at_invocation, "\nubl_state_recursion_chk :", ubl_state_recursion_chk); - serial_delay(50); + SERIAL_ECHOLNPGM("ubl_state_at_invocation :", ubl_state_at_invocation, "\nubl_state_recursion_chk :", ubl_state_recursion_chk); + serial_delay(50); - SERIAL_ECHOLNPGM("Meshes go from ", hex_address((void*)settings.meshes_start_index()), " to ", hex_address((void*)settings.meshes_end_index())); - serial_delay(50); + SERIAL_ECHOLNPGM("Meshes go from ", hex_address((void*)settings.meshes_start_index()), " to ", hex_address((void*)settings.meshes_end_index())); + serial_delay(50); - SERIAL_ECHOLNPGM("sizeof(ubl) : ", sizeof(ubl)); SERIAL_EOL(); - SERIAL_ECHOLNPGM("z_value[][] size: ", sizeof(z_values)); SERIAL_EOL(); - serial_delay(25); + SERIAL_ECHOLNPGM("sizeof(ubl) : ", sizeof(ubl)); SERIAL_EOL(); + SERIAL_ECHOLNPGM("z_value[][] size: ", sizeof(z_values)); SERIAL_EOL(); + serial_delay(25); - SERIAL_ECHOLNPGM("EEPROM free for UBL: ", hex_address((void*)(settings.meshes_end_index() - settings.meshes_start_index()))); - serial_delay(50); + SERIAL_ECHOLNPGM("EEPROM free for UBL: ", hex_address((void*)(settings.meshes_end_index() - settings.meshes_start_index()))); + serial_delay(50); - SERIAL_ECHOLNPGM("EEPROM can hold ", settings.calc_num_meshes(), " meshes.\n"); - serial_delay(25); - #endif // UBL_DEVEL_DEBUGGING + SERIAL_ECHOLNPGM("EEPROM can hold ", settings.calc_num_meshes(), " meshes.\n"); + serial_delay(25); if (!sanity_check()) { echo_name(); diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp index f7e98c9fa7..053a68b77d 100644 --- a/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp +++ b/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp @@ -26,7 +26,6 @@ #include "../bedlevel.h" #include "../../../module/planner.h" -#include "../../../module/stepper.h" #include "../../../module/motion.h" #if ENABLED(DELTA) @@ -36,8 +35,18 @@ #include "../../../MarlinCore.h" #include +//#define DEBUG_UBL_MOTION +#define DEBUG_OUT ENABLED(DEBUG_UBL_MOTION) +#include "../../../core/debug_out.h" + #if !UBL_SEGMENTED + // TODO: The first and last parts of a move might result in very short segment(s) + // after getting split on the cell boundary, so moves like that should not + // get split. This will be most common for moves that start/end near the + // corners of cells. To fix the issue, simply check if the start/end of the line + // is very close to a cell boundary in advance and don't split the line there. + void unified_bed_leveling::line_to_destination_cartesian(const_feedRate_t scaled_fr_mm_s, const uint8_t extruder) { /** * Much of the nozzle movement will be within the same cell. So we will do as little computation @@ -52,7 +61,7 @@ const xyze_pos_t &start = current_position, &end = destination; #endif - const xy_int8_t istart = cell_indexes(start), iend = cell_indexes(end); + const xy_uint8_t istart = cell_indexes(start), iend = cell_indexes(end); // A move within the same cell needs no splitting if (istart == iend) { @@ -76,8 +85,8 @@ #endif // The distance is always MESH_X_DIST so multiply by the constant reciprocal. - const float xratio = (end.x - mesh_index_to_xpos(iend.x)) * RECIPROCAL(MESH_X_DIST), - yratio = (end.y - mesh_index_to_ypos(iend.y)) * RECIPROCAL(MESH_Y_DIST), + const float xratio = (end.x - get_mesh_x(iend.x)) * RECIPROCAL(MESH_X_DIST), + yratio = (end.y - get_mesh_y(iend.y)) * RECIPROCAL(MESH_Y_DIST), z1 = z_values[iend.x][iend.y ] + xratio * (z_values[iend.x + 1][iend.y ] - z_values[iend.x][iend.y ]), z2 = z_values[iend.x][iend.y + 1] + xratio * (z_values[iend.x + 1][iend.y + 1] - z_values[iend.x][iend.y + 1]); @@ -99,7 +108,7 @@ const xy_float_t dist = end - start; const xy_bool_t neg { dist.x < 0, dist.y < 0 }; - const xy_int8_t ineg { int8_t(neg.x), int8_t(neg.y) }; + const xy_uint8_t ineg { uint8_t(neg.x), uint8_t(neg.y) }; const xy_float_t sign { neg.x ? -1.0f : 1.0f, neg.y ? -1.0f : 1.0f }; const xy_int8_t iadd { int8_t(iend.x == istart.x ? 0 : sign.x), int8_t(iend.y == istart.y ? 0 : sign.y) }; @@ -122,7 +131,7 @@ const bool inf_normalized_flag = isinf(e_normalized_dist); #endif - xy_int8_t icell = istart; + xy_uint8_t icell = istart; const float ratio = dist.y / dist.x, // Allow divide by zero c = start.y - ratio * start.x; @@ -139,7 +148,7 @@ icell.y += ineg.y; // Line going down? Just go to the bottom. while (icell.y != iend.y + ineg.y) { icell.y += iadd.y; - const float next_mesh_line_y = mesh_index_to_ypos(icell.y); + const float next_mesh_line_y = get_mesh_y(icell.y); /** * Skip the calculations for an infinite slope. @@ -155,7 +164,7 @@ // Replace NAN corrections with 0.0 to prevent NAN propagation. if (isnan(z0)) z0 = 0.0; - dest.y = mesh_index_to_ypos(icell.y); + dest.y = get_mesh_y(icell.y); /** * Without this check, it's possible to generate a zero length move, as in the case where @@ -176,7 +185,9 @@ dest.z += z0; planner.buffer_segment(dest, scaled_fr_mm_s, extruder); - } //else printf("FIRST MOVE PRUNED "); + } + else + DEBUG_ECHOLNPGM("[ubl] skip Y segment"); } // At the final destination? Usually not, but when on a Y Mesh Line it's completed. @@ -196,7 +207,7 @@ while (icell.x != iend.x + ineg.x) { icell.x += iadd.x; - dest.x = mesh_index_to_xpos(icell.x); + dest.x = get_mesh_x(icell.x); dest.y = ratio * dest.x + c; // Calculate Y at the next X mesh line float z0 = z_correction_for_y_on_vertical_mesh_line(dest.y, icell.x, icell.y) @@ -225,7 +236,9 @@ dest.z += z0; if (!planner.buffer_segment(dest, scaled_fr_mm_s, extruder)) break; - } //else printf("FIRST MOVE PRUNED "); + } + else + DEBUG_ECHOLNPGM("[ubl] skip Y segment"); } if (xy_pos_t(current_position) != xy_pos_t(end)) @@ -239,14 +252,14 @@ * Generic case of a line crossing both X and Y Mesh lines. */ - xy_int8_t cnt = (istart - iend).ABS(); + xy_uint8_t cnt = istart.diff(iend); icell += ineg; while (cnt) { - const float next_mesh_line_x = mesh_index_to_xpos(icell.x + iadd.x), - next_mesh_line_y = mesh_index_to_ypos(icell.y + iadd.y); + const float next_mesh_line_x = get_mesh_x(icell.x + iadd.x), + next_mesh_line_y = get_mesh_y(icell.y + iadd.y); dest.y = ratio * next_mesh_line_x + c; // Calculate Y at the next X mesh line dest.x = (next_mesh_line_y - c) / ratio; // Calculate X at the next Y mesh line @@ -321,16 +334,14 @@ #else // UBL_SEGMENTED #if IS_SCARA - #define DELTA_SEGMENT_MIN_LENGTH 0.25 // SCARA minimum segment size is 0.25mm - #elif ENABLED(DELTA) - #define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DELTA_SEGMENTS_PER_SECOND) - #elif ENABLED(POLARGRAPH) - #define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DELTA_SEGMENTS_PER_SECOND) + #define SEGMENT_MIN_LENGTH 0.25 // SCARA minimum segment size is 0.25mm + #elif IS_KINEMATIC + #define SEGMENT_MIN_LENGTH 0.10 // (mm) Still subject to DEFAULT_SEGMENTS_PER_SECOND #else // CARTESIAN #ifdef LEVELED_SEGMENT_LENGTH - #define DELTA_SEGMENT_MIN_LENGTH LEVELED_SEGMENT_LENGTH + #define SEGMENT_MIN_LENGTH LEVELED_SEGMENT_LENGTH #else - #define DELTA_SEGMENT_MIN_LENGTH 1.00 // mm (similar to G2/G3 arc segmentation) + #define SEGMENT_MIN_LENGTH 1.00 // (mm) Similar to G2/G3 arc segmentation #endif #endif @@ -340,7 +351,7 @@ * Returns true if did NOT move, false if moved (requires current_position update). */ - bool _O2 unified_bed_leveling::line_to_destination_segmented(const_feedRate_t scaled_fr_mm_s) { + bool __O2 unified_bed_leveling::line_to_destination_segmented(const_feedRate_t scaled_fr_mm_s) { if (!position_is_reachable(destination)) // fail if moving outside reachable boundary return true; // did not move, so current_position still accurate @@ -348,23 +359,24 @@ const xyze_pos_t total = destination - current_position; const float cart_xy_mm_2 = HYPOT2(total.x, total.y), - cart_xy_mm = SQRT(cart_xy_mm_2); // Total XY distance + cart_xy_mm = SQRT(cart_xy_mm_2); // Total XY distance #if IS_KINEMATIC - const float seconds = cart_xy_mm / scaled_fr_mm_s; // Duration of XY move at requested rate - uint16_t segments = LROUND(segments_per_second * seconds), // Preferred number of segments for distance @ feedrate - seglimit = LROUND(cart_xy_mm * RECIPROCAL(DELTA_SEGMENT_MIN_LENGTH)); // Number of segments at minimum segment length - NOMORE(segments, seglimit); // Limit to minimum segment length (fewer segments) + const float seconds = cart_xy_mm / scaled_fr_mm_s; // Duration of XY move at requested rate + uint16_t segments = LROUND(segments_per_second * seconds), // Preferred number of segments for distance @ feedrate + seglimit = LROUND(cart_xy_mm * RECIPROCAL(SEGMENT_MIN_LENGTH)); // Number of segments at minimum segment length + NOMORE(segments, seglimit); // Limit to minimum segment length (fewer segments) #else - uint16_t segments = LROUND(cart_xy_mm * RECIPROCAL(DELTA_SEGMENT_MIN_LENGTH)); // Cartesian fixed segment length + uint16_t segments = LROUND(cart_xy_mm * RECIPROCAL(SEGMENT_MIN_LENGTH)); // Cartesian fixed segment length #endif - NOLESS(segments, 1U); // Must have at least one segment - const float inv_segments = 1.0f / segments, // Reciprocal to save calculation - segment_xyz_mm = SQRT(cart_xy_mm_2 + sq(total.z)) * inv_segments; // Length of each segment + NOLESS(segments, 1U); // Must have at least one segment + const float inv_segments = 1.0f / segments; // Reciprocal to save calculation - #if ENABLED(SCARA_FEEDRATE_SCALING) - const float inv_duration = scaled_fr_mm_s / segment_xyz_mm; + // Add hints to help optimize the move + PlannerHints hints(SQRT(cart_xy_mm_2 + sq(total.z)) * inv_segments); // Length of each segment + #if ENABLED(FEEDRATE_SCALING) + hints.inv_duration = scaled_fr_mm_s / hints.millimeters; #endif xyze_float_t diff = total * inv_segments; @@ -378,13 +390,9 @@ if (!planner.leveling_active || !planner.leveling_active_at_z(destination.z)) { while (--segments) { raw += diff; - planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, segment_xyz_mm - OPTARG(SCARA_FEEDRATE_SCALING, inv_duration) - ); + planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, hints); } - planner.buffer_line(destination, scaled_fr_mm_s, active_extruder, segment_xyz_mm - OPTARG(SCARA_FEEDRATE_SCALING, inv_duration) - ); + planner.buffer_line(destination, scaled_fr_mm_s, active_extruder, hints); return false; // Did not set current from destination } @@ -413,17 +421,19 @@ LIMIT(icell.x, 0, GRID_MAX_CELLS_X); LIMIT(icell.y, 0, GRID_MAX_CELLS_Y); - float z_x0y0 = z_values[icell.x ][icell.y ], // z at lower left corner - z_x1y0 = z_values[icell.x+1][icell.y ], // z at upper left corner - z_x0y1 = z_values[icell.x ][icell.y+1], // z at lower right corner - z_x1y1 = z_values[icell.x+1][icell.y+1]; // z at upper right corner + const int8_t ncellx = _MIN(icell.x+1, GRID_MAX_CELLS_X), + ncelly = _MIN(icell.y+1, GRID_MAX_CELLS_Y); + float z_x0y0 = z_values[icell.x][icell.y], // z at lower left corner + z_x1y0 = z_values[ncellx ][icell.y], // z at upper left corner + z_x0y1 = z_values[icell.x][ncelly ], // z at lower right corner + z_x1y1 = z_values[ncellx ][ncelly ]; // z at upper right corner if (isnan(z_x0y0)) z_x0y0 = 0; // ideally activating planner.leveling_active (G29 A) if (isnan(z_x1y0)) z_x1y0 = 0; // should refuse if any invalid mesh points if (isnan(z_x0y1)) z_x0y1 = 0; // in order to avoid isnan tests per cell, if (isnan(z_x1y1)) z_x1y1 = 0; // thus guessing zero for undefined points - const xy_pos_t pos = { mesh_index_to_xpos(icell.x), mesh_index_to_ypos(icell.y) }; + const xy_pos_t pos = { get_mesh_x(icell.x), get_mesh_y(icell.y) }; xy_pos_t cell = raw - pos; const float z_xmy0 = (z_x1y0 - z_x0y0) * RECIPROCAL(MESH_X_DIST), // z slope per x along y0 (lower left to lower right) @@ -450,13 +460,10 @@ if (--segments == 0) raw = destination; // if this is last segment, use destination for exact const float z_cxcy = (z_cxy0 + z_cxym * cell.y) // interpolated mesh z height along cell.x at cell.y - #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) - * fade_scaling_factor // apply fade factor to interpolated mesh height - #endif - ; + TERN_(ENABLE_LEVELING_FADE_HEIGHT, * fade_scaling_factor); // apply fade factor to interpolated height const float oldz = raw.z; raw.z += z_cxcy; - planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, segment_xyz_mm OPTARG(SCARA_FEEDRATE_SCALING, inv_duration) ); + planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, hints); raw.z = oldz; if (segments == 0) // done with last segment diff --git a/Marlin/src/feature/binary_stream.h b/Marlin/src/feature/binary_stream.h index 417e39c745..a9cd12b85e 100644 --- a/Marlin/src/feature/binary_stream.h +++ b/Marlin/src/feature/binary_stream.h @@ -281,7 +281,7 @@ public: uint8_t data = 0; millis_t transfer_window = millis() + RX_TIMESLICE; - #if ENABLED(SDSUPPORT) + #if HAS_MEDIA PORT_REDIRECT(SERIAL_PORTMASK(card.transfer_port_index)); #endif diff --git a/Marlin/src/feature/bltouch.cpp b/Marlin/src/feature/bltouch.cpp index b1cc30bee0..02f76c1392 100644 --- a/Marlin/src/feature/bltouch.cpp +++ b/Marlin/src/feature/bltouch.cpp @@ -29,7 +29,7 @@ BLTouch bltouch; bool BLTouch::od_5v_mode; // Initialized by settings.load, 0 = Open Drain; 1 = 5V Drain -#ifdef BLTOUCH_HS_MODE +#if HAS_BLTOUCH_HS_MODE bool BLTouch::high_speed_mode; // Initialized by settings.load, 0 = Low Speed; 1 = High Speed #else constexpr bool BLTouch::high_speed_mode; @@ -38,15 +38,18 @@ bool BLTouch::od_5v_mode; // Initialized by settings.load, 0 = Open Drai #include "../module/servo.h" #include "../module/probe.h" -void stop(); - #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) #include "../core/debug_out.h" bool BLTouch::command(const BLTCommand cmd, const millis_t &ms) { - if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("BLTouch Command :", cmd); - MOVE_SERVO(Z_PROBE_SERVO_NR, cmd); - safe_delay(_MAX(ms, (uint32_t)BLTOUCH_DELAY)); // BLTOUCH_DELAY is also the *minimum* delay + const BLTCommand current = servo[Z_PROBE_SERVO_NR].read(); + if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("BLTouch from ", current, " to ", cmd); + // If the new command is the same, skip it (and the delay). + // The previous write should've already delayed to detect the alarm. + if (cmd != current) { + servo[Z_PROBE_SERVO_NR].move(cmd); + safe_delay(_MAX(ms, (uint32_t)BLTOUCH_DELAY)); // BLTOUCH_DELAY is also the *minimum* delay + } return triggered(); } @@ -111,11 +114,8 @@ bool BLTouch::deploy_proc() { // Last attempt to DEPLOY if (_deploy_query_alarm()) { // The deploy might have failed or the probe is actually triggered (nozzle too low?) again - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("BLTouch Recovery Failed"); - - SERIAL_ERROR_MSG(STR_STOP_BLTOUCH); // Tell the user something is wrong, needs action - stop(); // but it's not too bad, no need to kill, allow restart - + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("BLTouch Deploy Failed"); + probe.probe_error_stop(); // Something is wrong, needs action, but not too bad, allow restart return true; // Tell our caller we goofed in case he cares to know } } @@ -153,12 +153,8 @@ bool BLTouch::stow_proc() { // But one more STOW will catch that // Last attempt to STOW if (_stow_query_alarm()) { // so if there is now STILL an ALARM condition: - - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("BLTouch Recovery Failed"); - - SERIAL_ERROR_MSG(STR_STOP_BLTOUCH); // Tell the user something is wrong, needs action - stop(); // but it's not too bad, no need to kill, allow restart - + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("BLTouch Stow Failed"); + probe.probe_error_stop(); // Something is wrong, needs action, but not too bad, allow restart return true; // Tell our caller we goofed in case he cares to know } } diff --git a/Marlin/src/feature/bltouch.h b/Marlin/src/feature/bltouch.h index fa857bb96a..0f9f2e68ba 100644 --- a/Marlin/src/feature/bltouch.h +++ b/Marlin/src/feature/bltouch.h @@ -70,13 +70,13 @@ public: static void init(const bool set_voltage=false); static bool od_5v_mode; // Initialized by settings.load, 0 = Open Drain; 1 = 5V Drain - #ifdef BLTOUCH_HS_MODE + #if HAS_BLTOUCH_HS_MODE static bool high_speed_mode; // Initialized by settings.load, 0 = Low Speed; 1 = High Speed #else static constexpr bool high_speed_mode = false; #endif - static float z_extra_clearance() { return high_speed_mode ? 7 : 0; } + static float z_extra_clearance() { return TERN0(HAS_BLTOUCH_HS_MODE, high_speed_mode ? BLTOUCH_HS_EXTRA_CLEARANCE : 0); } // DEPLOY and STOW are wrapped for error handling - these are used by homing and by probing static bool deploy() { return deploy_proc(); } diff --git a/Marlin/src/feature/cancel_object.cpp b/Marlin/src/feature/cancel_object.cpp index bffd2bb720..0040f6ed9d 100644 --- a/Marlin/src/feature/cancel_object.cpp +++ b/Marlin/src/feature/cancel_object.cpp @@ -44,9 +44,9 @@ void CancelObject::set_active_object(const int8_t obj) { else skipping = false; - #if BOTH(HAS_STATUS_MESSAGE, CANCEL_OBJECTS_REPORTING) + #if ALL(HAS_STATUS_MESSAGE, CANCEL_OBJECTS_REPORTING) if (active_object >= 0) - ui.status_printf(0, F(S_FMT " %i"), GET_TEXT(MSG_PRINTING_OBJECT), int(active_object)); + ui.set_status(MString<30>(GET_TEXT_F(MSG_PRINTING_OBJECT), ' ', active_object)); else ui.reset_status(); #endif diff --git a/Marlin/src/feature/controllerfan.cpp b/Marlin/src/feature/controllerfan.cpp index f42bf52ae4..816ffb23b7 100644 --- a/Marlin/src/feature/controllerfan.cpp +++ b/Marlin/src/feature/controllerfan.cpp @@ -38,8 +38,15 @@ uint8_t ControllerFan::speed; const controllerFan_settings_t &ControllerFan::settings = controllerFan_defaults; #endif +#if ENABLED(FAN_SOFT_PWM) + uint8_t ControllerFan::soft_pwm_speed; +#endif + void ControllerFan::setup() { SET_OUTPUT(CONTROLLER_FAN_PIN); + #ifdef CONTROLLER_FAN2_PIN + SET_OUTPUT(CONTROLLER_FAN2_PIN); + #endif init(); } @@ -58,10 +65,16 @@ void ControllerFan::update() { // - At least one stepper driver is enabled // - The heated bed is enabled // - TEMP_SENSOR_BOARD is reporting >= CONTROLLER_FAN_MIN_BOARD_TEMP + // - TEMP_SENSOR_SOC is reporting >= CONTROLLER_FAN_MIN_SOC_TEMP const ena_mask_t axis_mask = TERN(CONTROLLER_FAN_USE_Z_ONLY, _BV(Z_AXIS), (ena_mask_t)~TERN0(CONTROLLER_FAN_IGNORE_Z, _BV(Z_AXIS))); if ( (stepper.axis_enabled.bits & axis_mask) || TERN0(HAS_HEATED_BED, thermalManager.temp_bed.soft_pwm_amount > 0) - || TERN0(HAS_CONTROLLER_FAN_MIN_BOARD_TEMP, thermalManager.wholeDegBoard() >= CONTROLLER_FAN_MIN_BOARD_TEMP) + #ifdef CONTROLLER_FAN_MIN_BOARD_TEMP + || thermalManager.wholeDegBoard() >= CONTROLLER_FAN_MIN_BOARD_TEMP + #endif + #ifdef CONTROLLER_FAN_MIN_SOC_TEMP + || thermalManager.wholeDegSoc() >= CONTROLLER_FAN_MIN_SOC_TEMP + #endif ) lastMotorOn = ms; //... set time to NOW so the fan will turn on // Fan Settings. Set fan > 0: @@ -72,13 +85,36 @@ void ControllerFan::update() { ? settings.active_speed : settings.idle_speed ); + speed = CALC_FAN_SPEED(speed); + + #if FAN_KICKSTART_TIME + static millis_t fan_kick_end = 0; + if (speed > FAN_OFF_PWM) { + if (!fan_kick_end) { + fan_kick_end = ms + FAN_KICKSTART_TIME; // May be longer based on slow update interval for controller fn check. Sets minimum + speed = FAN_KICKSTART_POWER; + } + else if (PENDING(ms, fan_kick_end)) + speed = FAN_KICKSTART_POWER; + } + else + fan_kick_end = 0; + #endif + #if ENABLED(FAN_SOFT_PWM) - thermalManager.soft_pwm_controller_speed = speed; + soft_pwm_speed = speed; #else if (PWM_PIN(CONTROLLER_FAN_PIN)) hal.set_pwm_duty(pin_t(CONTROLLER_FAN_PIN), speed); else WRITE(CONTROLLER_FAN_PIN, speed > 0); + + #ifdef CONTROLLER_FAN2_PIN + if (PWM_PIN(CONTROLLER_FAN2_PIN)) + hal.set_pwm_duty(pin_t(CONTROLLER_FAN2_PIN), speed); + else + WRITE(CONTROLLER_FAN2_PIN, speed > 0); + #endif #endif } } diff --git a/Marlin/src/feature/controllerfan.h b/Marlin/src/feature/controllerfan.h index 55eb2359b0..68502afa66 100644 --- a/Marlin/src/feature/controllerfan.h +++ b/Marlin/src/feature/controllerfan.h @@ -60,6 +60,9 @@ class ControllerFan { #else static const controllerFan_settings_t &settings; #endif + #if ENABLED(FAN_SOFT_PWM) + static uint8_t soft_pwm_speed; + #endif static bool state() { return speed > 0; } static void init() { reset(); } static void reset() { TERN_(CONTROLLER_FAN_EDITABLE, settings = controllerFan_defaults); } diff --git a/Marlin/src/feature/cooler.cpp b/Marlin/src/feature/cooler.cpp index e0f99777d1..6c45e99226 100644 --- a/Marlin/src/feature/cooler.cpp +++ b/Marlin/src/feature/cooler.cpp @@ -22,7 +22,7 @@ #include "../inc/MarlinConfig.h" -#if EITHER(HAS_COOLER, LASER_COOLANT_FLOW_METER) +#if ANY(HAS_COOLER, LASER_COOLANT_FLOW_METER) #include "cooler.h" Cooler cooler; diff --git a/Marlin/src/feature/dac/dac_dac084s085.cpp b/Marlin/src/feature/dac/dac_dac084s085.cpp index b88aaf802b..772bb68de4 100644 --- a/Marlin/src/feature/dac/dac_dac084s085.cpp +++ b/Marlin/src/feature/dac/dac_dac084s085.cpp @@ -11,7 +11,6 @@ #include "dac_dac084s085.h" #include "../../MarlinCore.h" -#include "../../module/stepper.h" #include "../../HAL/shared/Delay.h" dac084s085::dac084s085() { } diff --git a/Marlin/src/feature/dac/stepper_dac.cpp b/Marlin/src/feature/dac/stepper_dac.cpp index ff730e93c6..f5664bc598 100644 --- a/Marlin/src/feature/dac/stepper_dac.cpp +++ b/Marlin/src/feature/dac/stepper_dac.cpp @@ -29,7 +29,6 @@ #if HAS_MOTOR_CURRENT_DAC #include "stepper_dac.h" -#include "../../MarlinCore.h" // for SP_X_LBL... bool dac_present = false; constexpr xyze_uint8_t dac_order = DAC_STEPPER_ORDER; @@ -60,7 +59,7 @@ int StepperDAC::init() { } void StepperDAC::set_current_value(const uint8_t channel, uint16_t val) { - if (!dac_present) return; + if (!(dac_present && channel < LOGICAL_AXES)) return; NOMORE(val, uint16_t(DAC_STEPPER_MAX)); @@ -85,13 +84,11 @@ void StepperDAC::print_values() { if (!dac_present) return; SERIAL_ECHO_MSG("Stepper current values in % (Amps):"); SERIAL_ECHO_START(); - SERIAL_ECHOPGM_P(SP_X_LBL, dac_perc(X_AXIS), PSTR(" ("), dac_amps(X_AXIS), PSTR(")")); - #if HAS_Y_AXIS - SERIAL_ECHOPGM_P(SP_Y_LBL, dac_perc(Y_AXIS), PSTR(" ("), dac_amps(Y_AXIS), PSTR(")")); - #endif - #if HAS_Z_AXIS - SERIAL_ECHOPGM_P(SP_Z_LBL, dac_perc(Z_AXIS), PSTR(" ("), dac_amps(Z_AXIS), PSTR(")")); - #endif + LOOP_LOGICAL_AXES(a) { + SERIAL_CHAR(' ', IAXIS_CHAR(a), ':'); + SERIAL_ECHO(dac_perc(a)); + SERIAL_ECHOPGM_P(PSTR(" ("), dac_amps(AxisEnum(a)), PSTR(")")); + } #if HAS_EXTRUDERS SERIAL_ECHOLNPGM_P(SP_E_LBL, dac_perc(E_AXIS), PSTR(" ("), dac_amps(E_AXIS), PSTR(")")); #endif diff --git a/Marlin/src/feature/digipot/digipot_mcp4018.cpp b/Marlin/src/feature/digipot/digipot_mcp4018.cpp index 3f2ecbfcdc..f776c5a339 100644 --- a/Marlin/src/feature/digipot/digipot_mcp4018.cpp +++ b/Marlin/src/feature/digipot/digipot_mcp4018.cpp @@ -89,7 +89,7 @@ void DigipotI2C::set_current(const uint8_t channel, const float current) { } void DigipotI2C::init() { - LOOP_L_N(i, DIGIPOT_I2C_NUM_CHANNELS) pots[i].i2c_init(); + for (uint8_t i = 0; i < DIGIPOT_I2C_NUM_CHANNELS; ++i) pots[i].i2c_init(); // Init currents according to Configuration_adv.h static const float digipot_motor_current[] PROGMEM = @@ -99,7 +99,7 @@ void DigipotI2C::init() { DIGIPOT_I2C_MOTOR_CURRENTS #endif ; - LOOP_L_N(i, COUNT(digipot_motor_current)) + for (uint8_t i = 0; i < COUNT(digipot_motor_current); ++i) set_current(i, pgm_read_float(&digipot_motor_current[i])); } diff --git a/Marlin/src/feature/digipot/digipot_mcp4451.cpp b/Marlin/src/feature/digipot/digipot_mcp4451.cpp index ba5ecdad05..7416fe9f8d 100644 --- a/Marlin/src/feature/digipot/digipot_mcp4451.cpp +++ b/Marlin/src/feature/digipot/digipot_mcp4451.cpp @@ -94,7 +94,7 @@ void DigipotI2C::init() { DIGIPOT_I2C_MOTOR_CURRENTS #endif ; - LOOP_L_N(i, COUNT(digipot_motor_current)) + for (uint8_t i = 0; i < COUNT(digipot_motor_current); ++i) set_current(i, pgm_read_float(&digipot_motor_current[i])); } diff --git a/Marlin/src/feature/direct_stepping.cpp b/Marlin/src/feature/direct_stepping.cpp index 052e79de41..13cf71e076 100644 --- a/Marlin/src/feature/direct_stepping.cpp +++ b/Marlin/src/feature/direct_stepping.cpp @@ -143,14 +143,16 @@ namespace DirectStepping { // special case for 8-bit, check if rolled back to 0 if (Cfg::DIRECTIONAL || !write_page_size) { // full 256 bytes if (write_byte_idx) return true; - } else { - if (write_byte_idx < write_page_size) return true; } - } else if (Cfg::DIRECTIONAL) { - if (write_byte_idx != Cfg::PAGE_SIZE) return true; - } else { - if (write_byte_idx < write_page_size) return true; + else if (write_byte_idx < write_page_size) + return true; } + else if (Cfg::DIRECTIONAL) { + if (write_byte_idx != Cfg::PAGE_SIZE) + return true; + } + else if (write_byte_idx < write_page_size) + return true; state = State::CHECKSUM; return true; @@ -161,11 +163,10 @@ namespace DirectStepping { return true; } case State::UNFAIL: - if (c == 0) { + if (c == 0) set_page_state(write_page_idx, PageState::FREE); - } else { + else fatal_error = true; - } state = State::MONITOR; return true; } diff --git a/Marlin/src/feature/direct_stepping.h b/Marlin/src/feature/direct_stepping.h index 962310281e..b8a803f811 100644 --- a/Marlin/src/feature/direct_stepping.h +++ b/Marlin/src/feature/direct_stepping.h @@ -80,9 +80,6 @@ namespace DirectStepping { static void set_page_state(const page_idx_t page_idx, const PageState page_state); }; - template struct TypeSelector { typedef T type;} ; - template struct TypeSelector { typedef F type; }; - template struct config_t { static constexpr char CONTROL_CHAR = '!'; @@ -98,8 +95,8 @@ namespace DirectStepping { static constexpr int TOTAL_STEPS = SEGMENT_STEPS * SEGMENTS; static constexpr int PAGE_SIZE = (AXIS_COUNT * BITS_SEGMENT * SEGMENTS) / 8; - typedef typename TypeSelector<(PAGE_SIZE>256), uint16_t, uint8_t>::type write_byte_idx_t; - typedef typename TypeSelector<(PAGE_COUNT>256), uint16_t, uint8_t>::type page_idx_t; + typedef uvalue_t(PAGE_SIZE - 1) write_byte_idx_t; + typedef uvalue_t(PAGE_COUNT - 1) page_idx_t; }; template diff --git a/Marlin/src/feature/e_parser.cpp b/Marlin/src/feature/e_parser.cpp index d98afcfee7..da193ed30a 100644 --- a/Marlin/src/feature/e_parser.cpp +++ b/Marlin/src/feature/e_parser.cpp @@ -24,7 +24,7 @@ * e_parser.cpp - Intercept special commands directly in the serial stream */ -#include "../inc/MarlinConfigPre.h" +#include "../inc/MarlinConfig.h" #if ENABLED(EMERGENCY_PARSER) @@ -33,13 +33,199 @@ // Static data members bool EmergencyParser::killed_by_M112, // = false EmergencyParser::quickstop_by_M410, + #if HAS_MEDIA + EmergencyParser::sd_abort_by_M524, + #endif EmergencyParser::enabled; #if ENABLED(HOST_PROMPT_SUPPORT) + #include "host_actions.h" uint8_t EmergencyParser::M876_reason; // = 0 #endif // Global instance EmergencyParser emergency_parser; +// External references +extern bool wait_for_user, wait_for_heatup; + +#if ENABLED(EP_BABYSTEPPING) + #include "babystep.h" +#endif + +#if ENABLED(REALTIME_REPORTING_COMMANDS) + // From motion.h, which cannot be included here + void report_current_position_moving(); + void quickpause_stepper(); + void quickresume_stepper(); +#endif + +void EmergencyParser::update(EmergencyParser::State &state, const uint8_t c) { + switch (state) { + case EP_RESET: + switch (c) { + case ' ': case '\n': case '\r': break; + case 'N': state = EP_N; break; + case 'M': state = EP_M; break; + #if ENABLED(REALTIME_REPORTING_COMMANDS) + case 'S': state = EP_S; break; + case 'P': state = EP_P; break; + case 'R': state = EP_R; break; + #endif + #if ENABLED(SOFT_RESET_VIA_SERIAL) + case '^': state = EP_ctrl; break; + case 'K': state = EP_K; break; + #endif + default: state = EP_IGNORE; + } + break; + + case EP_N: + switch (c) { + case '0' ... '9': + case '-': case ' ': break; + case 'M': state = EP_M; break; + #if ENABLED(REALTIME_REPORTING_COMMANDS) + case 'S': state = EP_S; break; + case 'P': state = EP_P; break; + case 'R': state = EP_R; break; + #endif + default: state = EP_IGNORE; + } + break; + + #if ENABLED(REALTIME_REPORTING_COMMANDS) + case EP_S: state = (c == '0') ? EP_S0 : EP_IGNORE; break; + case EP_S0: state = (c == '0') ? EP_S00 : EP_IGNORE; break; + case EP_S00: state = (c == '0') ? EP_GRBL_STATUS : EP_IGNORE; break; + + case EP_R: state = (c == '0') ? EP_R0 : EP_IGNORE; break; + case EP_R0: state = (c == '0') ? EP_R00 : EP_IGNORE; break; + case EP_R00: state = (c == '0') ? EP_GRBL_RESUME : EP_IGNORE; break; + + case EP_P: state = (c == '0') ? EP_P0 : EP_IGNORE; break; + case EP_P0: state = (c == '0') ? EP_P00 : EP_IGNORE; break; + case EP_P00: state = (c == '0') ? EP_GRBL_PAUSE : EP_IGNORE; break; + #endif + + #if ENABLED(SOFT_RESET_VIA_SERIAL) + case EP_ctrl: state = (c == 'X') ? EP_KILL : EP_IGNORE; break; + case EP_K: state = (c == 'I') ? EP_KI : EP_IGNORE; break; + case EP_KI: state = (c == 'L') ? EP_KIL : EP_IGNORE; break; + case EP_KIL: state = (c == 'L') ? EP_KILL : EP_IGNORE; break; + #endif + + case EP_M: + switch (c) { + case ' ': break; + case '1': state = EP_M1; break; + #if ENABLED(EP_BABYSTEPPING) + case '2': state = EP_M2; break; + #endif + case '4': state = EP_M4; break; + #if HAS_MEDIA + case '5': state = EP_M5; break; + #endif + #if ENABLED(HOST_PROMPT_SUPPORT) + case '8': state = EP_M8; break; + #endif + default: state = EP_IGNORE; + } + break; + + case EP_M1: + switch (c) { + case '0': state = EP_M10; break; + case '1': state = EP_M11; break; + default: state = EP_IGNORE; + } + break; + + case EP_M10: state = (c == '8') ? EP_M108 : EP_IGNORE; break; + case EP_M11: state = (c == '2') ? EP_M112 : EP_IGNORE; break; + case EP_M4: state = (c == '1') ? EP_M41 : EP_IGNORE; break; + case EP_M41: state = (c == '0') ? EP_M410 : EP_IGNORE; break; + + #if HAS_MEDIA + case EP_M5: state = (c == '2') ? EP_M52 : EP_IGNORE; break; + case EP_M52: state = (c == '4') ? EP_M524 : EP_IGNORE; break; + #endif + + #if ENABLED(EP_BABYSTEPPING) + case EP_M2: + switch (c) { + case '9': state = EP_M29; break; + default: state = EP_IGNORE; + } + break; + + case EP_M29: + switch (c) { + case '3': state = EP_M293; break; + case '4': state = EP_M294; break; + default: state = EP_IGNORE; + } + break; + #endif + + #if ENABLED(HOST_PROMPT_SUPPORT) + + case EP_M8: state = (c == '7') ? EP_M87 : EP_IGNORE; break; + case EP_M87: state = (c == '6') ? EP_M876 : EP_IGNORE; break; + + case EP_M876: + switch (c) { + case ' ': break; + case 'S': state = EP_M876S; break; + default: state = EP_IGNORE; break; + } + break; + + case EP_M876S: + switch (c) { + case ' ': break; + case '0' ... '9': + state = EP_M876SN; + M876_reason = uint8_t(c - '0'); + break; + } + break; + + #endif + + case EP_IGNORE: + if (ISEOL(c)) state = EP_RESET; + break; + + default: + if (ISEOL(c)) { + if (enabled) switch (state) { + case EP_M108: wait_for_user = wait_for_heatup = false; break; + case EP_M112: killed_by_M112 = true; break; + case EP_M410: quickstop_by_M410 = true; break; + #if ENABLED(EP_BABYSTEPPING) + case EP_M293: babystep.ep_babysteps++; break; + case EP_M294: babystep.ep_babysteps--; break; + #endif + #if HAS_MEDIA + case EP_M524: sd_abort_by_M524 = true; break; + #endif + #if ENABLED(HOST_PROMPT_SUPPORT) + case EP_M876SN: hostui.handle_response(M876_reason); break; + #endif + #if ENABLED(REALTIME_REPORTING_COMMANDS) + case EP_GRBL_STATUS: report_current_position_moving(); break; + case EP_GRBL_PAUSE: quickpause_stepper(); break; + case EP_GRBL_RESUME: quickresume_stepper(); break; + #endif + #if ENABLED(SOFT_RESET_VIA_SERIAL) + case EP_KILL: hal.reboot(); break; + #endif + default: break; + } + state = EP_RESET; + } + } +} + #endif // EMERGENCY_PARSER diff --git a/Marlin/src/feature/e_parser.h b/Marlin/src/feature/e_parser.h index fda1ba144b..8dacb0581c 100644 --- a/Marlin/src/feature/e_parser.h +++ b/Marlin/src/feature/e_parser.h @@ -27,29 +27,11 @@ #include "../inc/MarlinConfigPre.h" -#if ENABLED(HOST_PROMPT_SUPPORT) - #include "host_actions.h" -#endif - -// External references -extern bool wait_for_user, wait_for_heatup; - -#if ENABLED(REALTIME_REPORTING_COMMANDS) - // From motion.h, which cannot be included here - void report_current_position_moving(); - void quickpause_stepper(); - void quickresume_stepper(); -#endif - -#if ENABLED(SOFT_RESET_VIA_SERIAL) - void HAL_reboot(); -#endif - class EmergencyParser { public: - // Currently looking for: M108, M112, M410, M876 S[0-9], S000, P000, R000 + // Currently looking for: M108, M112, M410, M524, M876 S[0-9], S000, P000, R000 enum State : uint8_t { EP_RESET, EP_N, @@ -58,6 +40,12 @@ public: EP_M10, EP_M108, EP_M11, EP_M112, EP_M4, EP_M41, EP_M410, + #if HAS_MEDIA + EP_M5, EP_M52, EP_M524, + #endif + #if ENABLED(EP_BABYSTEPPING) + EP_M2, EP_M29, EP_M293, EP_M294, + #endif #if ENABLED(HOST_PROMPT_SUPPORT) EP_M8, EP_M87, EP_M876, EP_M876S, EP_M876SN, #endif @@ -76,6 +64,10 @@ public: static bool killed_by_M112; static bool quickstop_by_M410; + #if HAS_MEDIA + static bool sd_abort_by_M524; + #endif + #if ENABLED(HOST_PROMPT_SUPPORT) static uint8_t M876_reason; #endif @@ -85,138 +77,7 @@ public: FORCE_INLINE static void enable() { enabled = true; } FORCE_INLINE static void disable() { enabled = false; } - FORCE_INLINE static void update(State &state, const uint8_t c) { - switch (state) { - case EP_RESET: - switch (c) { - case ' ': case '\n': case '\r': break; - case 'N': state = EP_N; break; - case 'M': state = EP_M; break; - #if ENABLED(REALTIME_REPORTING_COMMANDS) - case 'S': state = EP_S; break; - case 'P': state = EP_P; break; - case 'R': state = EP_R; break; - #endif - #if ENABLED(SOFT_RESET_VIA_SERIAL) - case '^': state = EP_ctrl; break; - case 'K': state = EP_K; break; - #endif - default: state = EP_IGNORE; - } - break; - - case EP_N: - switch (c) { - case '0' ... '9': - case '-': case ' ': break; - case 'M': state = EP_M; break; - #if ENABLED(REALTIME_REPORTING_COMMANDS) - case 'S': state = EP_S; break; - case 'P': state = EP_P; break; - case 'R': state = EP_R; break; - #endif - default: state = EP_IGNORE; - } - break; - - #if ENABLED(REALTIME_REPORTING_COMMANDS) - case EP_S: state = (c == '0') ? EP_S0 : EP_IGNORE; break; - case EP_S0: state = (c == '0') ? EP_S00 : EP_IGNORE; break; - case EP_S00: state = (c == '0') ? EP_GRBL_STATUS : EP_IGNORE; break; - - case EP_R: state = (c == '0') ? EP_R0 : EP_IGNORE; break; - case EP_R0: state = (c == '0') ? EP_R00 : EP_IGNORE; break; - case EP_R00: state = (c == '0') ? EP_GRBL_RESUME : EP_IGNORE; break; - - case EP_P: state = (c == '0') ? EP_P0 : EP_IGNORE; break; - case EP_P0: state = (c == '0') ? EP_P00 : EP_IGNORE; break; - case EP_P00: state = (c == '0') ? EP_GRBL_PAUSE : EP_IGNORE; break; - #endif - - #if ENABLED(SOFT_RESET_VIA_SERIAL) - case EP_ctrl: state = (c == 'X') ? EP_KILL : EP_IGNORE; break; - case EP_K: state = (c == 'I') ? EP_KI : EP_IGNORE; break; - case EP_KI: state = (c == 'L') ? EP_KIL : EP_IGNORE; break; - case EP_KIL: state = (c == 'L') ? EP_KILL : EP_IGNORE; break; - #endif - - case EP_M: - switch (c) { - case ' ': break; - case '1': state = EP_M1; break; - case '4': state = EP_M4; break; - #if ENABLED(HOST_PROMPT_SUPPORT) - case '8': state = EP_M8; break; - #endif - default: state = EP_IGNORE; - } - break; - - case EP_M1: - switch (c) { - case '0': state = EP_M10; break; - case '1': state = EP_M11; break; - default: state = EP_IGNORE; - } - break; - - case EP_M10: state = (c == '8') ? EP_M108 : EP_IGNORE; break; - case EP_M11: state = (c == '2') ? EP_M112 : EP_IGNORE; break; - case EP_M4: state = (c == '1') ? EP_M41 : EP_IGNORE; break; - case EP_M41: state = (c == '0') ? EP_M410 : EP_IGNORE; break; - - #if ENABLED(HOST_PROMPT_SUPPORT) - - case EP_M8: state = (c == '7') ? EP_M87 : EP_IGNORE; break; - case EP_M87: state = (c == '6') ? EP_M876 : EP_IGNORE; break; - - case EP_M876: - switch (c) { - case ' ': break; - case 'S': state = EP_M876S; break; - default: state = EP_IGNORE; break; - } - break; - - case EP_M876S: - switch (c) { - case ' ': break; - case '0' ... '9': - state = EP_M876SN; - M876_reason = uint8_t(c - '0'); - break; - } - break; - - #endif - - case EP_IGNORE: - if (ISEOL(c)) state = EP_RESET; - break; - - default: - if (ISEOL(c)) { - if (enabled) switch (state) { - case EP_M108: wait_for_user = wait_for_heatup = false; break; - case EP_M112: killed_by_M112 = true; break; - case EP_M410: quickstop_by_M410 = true; break; - #if ENABLED(HOST_PROMPT_SUPPORT) - case EP_M876SN: hostui.handle_response(M876_reason); break; - #endif - #if ENABLED(REALTIME_REPORTING_COMMANDS) - case EP_GRBL_STATUS: report_current_position_moving(); break; - case EP_GRBL_PAUSE: quickpause_stepper(); break; - case EP_GRBL_RESUME: quickresume_stepper(); break; - #endif - #if ENABLED(SOFT_RESET_VIA_SERIAL) - case EP_KILL: HAL_reboot(); break; - #endif - default: break; - } - state = EP_RESET; - } - } - } + static void update(State &state, const uint8_t c); private: static bool enabled; diff --git a/Marlin/src/feature/easythreed_ui.cpp b/Marlin/src/feature/easythreed_ui.cpp index b15daffc09..39248bfc7d 100644 --- a/Marlin/src/feature/easythreed_ui.cpp +++ b/Marlin/src/feature/easythreed_ui.cpp @@ -190,31 +190,28 @@ void EasythreedUI::printButton() { print_key_flag = PF_PAUSE; // The "Print" button now pauses the print card.mount(); // Force SD card to mount - now! if (!card.isMounted) { // Failed to mount? - blink_interval_ms = LED_OFF; // Turn off LED - print_key_flag = PF_START; - return; // Bail out + blink_interval_ms = LED_OFF; // Turn off LED + print_key_flag = PF_START; + return; // Bail out } card.ls(); // List all files to serial output - const uint16_t filecnt = card.countFilesInWorkDir(); // Count printable files in cwd + const int16_t filecnt = card.get_num_items(); // Count printable files in cwd if (filecnt == 0) return; // None are printable? card.selectFileByIndex(filecnt); // Select the last file according to current sort options card.openAndPrintFile(card.filename); // Start printing it - break; - } + } break; case PF_PAUSE: { // Pause printing (not currently firing) if (!printingIsActive()) break; blink_interval_ms = LED_ON; // Set indicator to steady ON queue.inject(F("M25")); // Queue Pause print_key_flag = PF_RESUME; // The "Print" button now resumes the print - break; - } + } break; case PF_RESUME: { // Resume printing if (printingIsActive()) break; blink_interval_ms = LED_BLINK_2; // Blink the indicator LED at 1 second intervals queue.inject(F("M24")); // Queue resume print_key_flag = PF_PAUSE; // The "Print" button now pauses the print - break; - } + } break; } } else { // Register a longer press diff --git a/Marlin/src/feature/encoder_i2c.cpp b/Marlin/src/feature/encoder_i2c.cpp index c1dbb906fd..a367cea48d 100644 --- a/Marlin/src/feature/encoder_i2c.cpp +++ b/Marlin/src/feature/encoder_i2c.cpp @@ -49,7 +49,7 @@ void I2CPositionEncoder::init(const uint8_t address, const AxisEnum axis) { initialized = true; - SERIAL_ECHOLNPGM("Setting up encoder on ", AS_CHAR(axis_codes[encoderAxis]), " axis, addr = ", address); + SERIAL_ECHOLNPGM("Setting up encoder on ", AS_CHAR(AXIS_CHAR(encoderAxis)), " axis, addr = ", address); position = get_position(); } @@ -67,7 +67,7 @@ void I2CPositionEncoder::update() { /* if (trusted) { //commented out as part of the note below trusted = false; - SERIAL_ECHOLNPGM("Fault detected on ", AS_CHAR(axis_codes[encoderAxis]), " axis encoder. Disengaging error correction until module is trusted again."); + SERIAL_ECHOLNPGM("Fault detected on ", AS_CHAR(AXIS_CHAR(encoderAxis)), " axis encoder. Disengaging error correction until module is trusted again."); } */ return; @@ -92,7 +92,7 @@ void I2CPositionEncoder::update() { if (millis() - lastErrorTime > I2CPE_TIME_TRUSTED) { trusted = true; - SERIAL_ECHOLNPGM("Untrusted encoder module on ", AS_CHAR(axis_codes[encoderAxis]), " axis has been fault-free for set duration, reinstating error correction."); + SERIAL_ECHOLNPGM("Untrusted encoder module on ", AS_CHAR(AXIS_CHAR(encoderAxis)), " axis has been fault-free for set duration, reinstating error correction."); //the encoder likely lost its place when the error occurred, so we'll reset and use the printer's //idea of where it the axis is to re-initialize @@ -106,10 +106,7 @@ void I2CPositionEncoder::update() { SERIAL_ECHOLNPGM("Current position is ", pos); SERIAL_ECHOLNPGM("Position in encoder ticks is ", positionInTicks); SERIAL_ECHOLNPGM("New zero-offset of ", zeroOffset); - SERIAL_ECHOPGM("New position reads as ", get_position()); - SERIAL_CHAR('('); - SERIAL_DECIMAL(mm_from_count(get_position())); - SERIAL_ECHOLNPGM(")"); + SERIAL_ECHOLN(F("New position reads as "), get_position(), AS_CHAR('('), mm_from_count(get_position()), AS_CHAR(')')); #endif } #endif @@ -138,7 +135,7 @@ void I2CPositionEncoder::update() { errIdx = (errIdx >= I2CPE_ERR_ARRAY_SIZE - 1) ? 0 : errIdx + 1; err[errIdx] = get_axis_error_steps(false); - LOOP_L_N(i, I2CPE_ERR_ARRAY_SIZE) { + for (uint8_t i = 0; i < I2CPE_ERR_ARRAY_SIZE; ++i) { sum += err[i]; if (i) diffSum += ABS(err[i-1] - err[i]); } @@ -170,9 +167,9 @@ void I2CPositionEncoder::update() { errPrst[errPrstIdx++] = error; // Error must persist for I2CPE_ERR_PRST_ARRAY_SIZE error cycles. This also serves to improve the average accuracy if (errPrstIdx >= I2CPE_ERR_PRST_ARRAY_SIZE) { float sumP = 0; - LOOP_L_N(i, I2CPE_ERR_PRST_ARRAY_SIZE) sumP += errPrst[i]; + for (uint8_t i = 0; i < I2CPE_ERR_PRST_ARRAY_SIZE; ++i) sumP += errPrst[i]; const int32_t errorP = int32_t(sumP * RECIPROCAL(I2CPE_ERR_PRST_ARRAY_SIZE)); - SERIAL_CHAR(axis_codes[encoderAxis]); + SERIAL_CHAR(AXIS_CHAR(encoderAxis)); SERIAL_ECHOLNPGM(" : CORRECT ERR ", errorP * planner.mm_per_step[encoderAxis], "mm"); babystep.add_steps(encoderAxis, -LROUND(errorP)); errPrstIdx = 0; @@ -192,7 +189,7 @@ void I2CPositionEncoder::update() { if (ABS(error) > I2CPE_ERR_CNT_THRESH * planner.settings.axis_steps_per_mm[encoderAxis]) { const millis_t ms = millis(); if (ELAPSED(ms, nextErrorCountTime)) { - SERIAL_CHAR(axis_codes[encoderAxis]); + SERIAL_CHAR(AXIS_CHAR(encoderAxis)); SERIAL_ECHOLNPGM(" : LARGE ERR ", error, "; diffSum=", diffSum); errorCount++; nextErrorCountTime = ms + I2CPE_ERR_CNT_DEBOUNCE_MS; @@ -212,7 +209,7 @@ void I2CPositionEncoder::set_homed() { homed = trusted = true; #ifdef I2CPE_DEBUG - SERIAL_CHAR(axis_codes[encoderAxis]); + SERIAL_CHAR(AXIS_CHAR(encoderAxis)); SERIAL_ECHOLNPGM(" axis encoder homed, offset of ", zeroOffset, " ticks."); #endif } @@ -223,7 +220,7 @@ void I2CPositionEncoder::set_unhomed() { homed = trusted = false; #ifdef I2CPE_DEBUG - SERIAL_CHAR(axis_codes[encoderAxis]); + SERIAL_CHAR(AXIS_CHAR(encoderAxis)); SERIAL_ECHOLNPGM(" axis encoder unhomed."); #endif } @@ -231,8 +228,8 @@ void I2CPositionEncoder::set_unhomed() { bool I2CPositionEncoder::passes_test(const bool report) { if (report) { if (H != I2CPE_MAG_SIG_GOOD) SERIAL_ECHOPGM("Warning. "); - SERIAL_CHAR(axis_codes[encoderAxis]); - serial_ternary(H == I2CPE_MAG_SIG_BAD, F(" axis "), F("magnetic strip "), F("encoder ")); + SERIAL_CHAR(AXIS_CHAR(encoderAxis)); + serial_ternary(F(" axis "), H == I2CPE_MAG_SIG_BAD, F("magnetic strip "), F("encoder ")); switch (H) { case I2CPE_MAG_SIG_GOOD: case I2CPE_MAG_SIG_MID: @@ -252,7 +249,7 @@ float I2CPositionEncoder::get_axis_error_mm(const bool report) { error = ABS(diff) > 10000 ? 0 : diff; // Huge error is a bad reading if (report) { - SERIAL_CHAR(axis_codes[encoderAxis]); + SERIAL_CHAR(AXIS_CHAR(encoderAxis)); SERIAL_ECHOLNPGM(" axis target=", target, "mm; actual=", actual, "mm; err=", error, "mm"); } @@ -262,7 +259,7 @@ float I2CPositionEncoder::get_axis_error_mm(const bool report) { int32_t I2CPositionEncoder::get_axis_error_steps(const bool report) { if (!active) { if (report) { - SERIAL_CHAR(axis_codes[encoderAxis]); + SERIAL_CHAR(AXIS_CHAR(encoderAxis)); SERIAL_ECHOLNPGM(" axis encoder not active!"); } return 0; @@ -287,7 +284,7 @@ int32_t I2CPositionEncoder::get_axis_error_steps(const bool report) { errorPrev = error; if (report) { - SERIAL_CHAR(axis_codes[encoderAxis]); + SERIAL_CHAR(AXIS_CHAR(encoderAxis)); SERIAL_ECHOLNPGM(" axis target=", target, "; actual=", encoderCountInStepperTicksScaled, "; err=", error); } @@ -404,7 +401,7 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) { planner.synchronize(); - LOOP_L_N(i, iter) { + for (uint8_t i = 0; i < iter; ++i) { TERN_(HAS_EXTRUDERS, startCoord.e = planner.get_axis_position_mm(E_AXIS)); planner.buffer_line(startCoord, fr_mm_s, 0); planner.synchronize(); @@ -657,7 +654,7 @@ void I2CPositionEncodersMgr::report_position(const int8_t idx, const bool units, else { if (noOffset) { const int32_t raw_count = encoders[idx].get_raw_count(); - SERIAL_CHAR(axis_codes[encoders[idx].get_axis()], ' '); + SERIAL_CHAR(AXIS_CHAR(encoders[idx).get_axis()], ' '); for (uint8_t j = 31; j > 0; j--) SERIAL_ECHO((bool)(0x00000001 & (raw_count >> j))); @@ -712,7 +709,7 @@ void I2CPositionEncodersMgr::change_module_address(const uint8_t oldaddr, const // and enable it (it will likely have failed initialization on power-up, before the address change). const int8_t idx = idx_from_addr(newaddr); if (idx >= 0 && !encoders[idx].get_active()) { - SERIAL_CHAR(axis_codes[encoders[idx].get_axis()]); + SERIAL_CHAR(AXIS_CHAR(encoders[idx).get_axis()]); SERIAL_ECHOLNPGM(" axis encoder was not detected on printer startup. Trying again."); encoders[idx].set_active(encoders[idx].passes_test(true)); } @@ -814,7 +811,7 @@ void I2CPositionEncodersMgr::M860() { if (I2CPE_idx == 0xFF) { LOOP_LOGICAL_AXES(i) { - if (!I2CPE_anyaxis || parser.seen_test(axis_codes[i])) { + if (!I2CPE_anyaxis || parser.seen_test(AXIS_CHAR(i))) { const uint8_t idx = idx_from_axis(AxisEnum(i)); if ((int8_t)idx >= 0) report_position(idx, hasU, hasO); } @@ -841,7 +838,7 @@ void I2CPositionEncodersMgr::M861() { if (I2CPE_idx == 0xFF) { LOOP_LOGICAL_AXES(i) { - if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) { + if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) { const uint8_t idx = idx_from_axis(AxisEnum(i)); if ((int8_t)idx >= 0) report_status(idx); } @@ -869,7 +866,7 @@ void I2CPositionEncodersMgr::M862() { if (I2CPE_idx == 0xFF) { LOOP_LOGICAL_AXES(i) { - if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) { + if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) { const uint8_t idx = idx_from_axis(AxisEnum(i)); if ((int8_t)idx >= 0) test_axis(idx); } @@ -900,7 +897,7 @@ void I2CPositionEncodersMgr::M863() { if (I2CPE_idx == 0xFF) { LOOP_LOGICAL_AXES(i) { - if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) { + if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) { const uint8_t idx = idx_from_axis(AxisEnum(i)); if ((int8_t)idx >= 0) calibrate_steps_mm(idx, iterations); } @@ -976,7 +973,7 @@ void I2CPositionEncodersMgr::M865() { if (!I2CPE_addr) { LOOP_LOGICAL_AXES(i) { - if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) { + if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) { const uint8_t idx = idx_from_axis(AxisEnum(i)); if ((int8_t)idx >= 0) report_module_firmware(encoders[idx].get_address()); } @@ -1007,7 +1004,7 @@ void I2CPositionEncodersMgr::M866() { if (I2CPE_idx == 0xFF) { LOOP_LOGICAL_AXES(i) { - if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) { + if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) { const uint8_t idx = idx_from_axis(AxisEnum(i)); if ((int8_t)idx >= 0) { if (hasR) @@ -1045,7 +1042,7 @@ void I2CPositionEncodersMgr::M867() { if (I2CPE_idx == 0xFF) { LOOP_LOGICAL_AXES(i) { - if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) { + if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) { const uint8_t idx = idx_from_axis(AxisEnum(i)); if ((int8_t)idx >= 0) { const bool ena = onoff == -1 ? !encoders[I2CPE_idx].get_ec_enabled() : !!onoff; @@ -1081,7 +1078,7 @@ void I2CPositionEncodersMgr::M868() { if (I2CPE_idx == 0xFF) { LOOP_LOGICAL_AXES(i) { - if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) { + if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) { const uint8_t idx = idx_from_axis(AxisEnum(i)); if ((int8_t)idx >= 0) { if (newThreshold != -9999) @@ -1115,7 +1112,7 @@ void I2CPositionEncodersMgr::M869() { if (I2CPE_idx == 0xFF) { LOOP_LOGICAL_AXES(i) { - if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) { + if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) { const uint8_t idx = idx_from_axis(AxisEnum(i)); if ((int8_t)idx >= 0) report_error(idx); } diff --git a/Marlin/src/feature/encoder_i2c.h b/Marlin/src/feature/encoder_i2c.h index 50fb27a135..1ae05d1433 100644 --- a/Marlin/src/feature/encoder_i2c.h +++ b/Marlin/src/feature/encoder_i2c.h @@ -90,7 +90,7 @@ #define I2CPE_PARSE_ERR 1 #define I2CPE_PARSE_OK 0 -#define LOOP_PE(VAR) LOOP_L_N(VAR, I2CPE_ENCODER_CNT) +#define LOOP_PE(VAR) for (uint8_t VAR = 0; VAR < I2CPE_ENCODER_CNT; ++VAR) #define CHECK_IDX() do{ if (!WITHIN(idx, 0, I2CPE_ENCODER_CNT - 1)) return; }while(0) typedef union { @@ -261,32 +261,32 @@ class I2CPositionEncodersMgr { static void report_error_count(const int8_t idx, const AxisEnum axis) { CHECK_IDX(); - SERIAL_ECHOLNPGM("Error count on ", AS_CHAR(axis_codes[axis]), " axis is ", encoders[idx].get_error_count()); + SERIAL_ECHOLNPGM("Error count on ", AS_CHAR(AXIS_CHAR(axis)), " axis is ", encoders[idx].get_error_count()); } static void reset_error_count(const int8_t idx, const AxisEnum axis) { CHECK_IDX(); encoders[idx].set_error_count(0); - SERIAL_ECHOLNPGM("Error count on ", AS_CHAR(axis_codes[axis]), " axis has been reset."); + SERIAL_ECHOLNPGM("Error count on ", AS_CHAR(AXIS_CHAR(axis)), " axis has been reset."); } static void enable_ec(const int8_t idx, const bool enabled, const AxisEnum axis) { CHECK_IDX(); encoders[idx].set_ec_enabled(enabled); - SERIAL_ECHOPGM("Error correction on ", AS_CHAR(axis_codes[axis])); + SERIAL_ECHOPGM("Error correction on ", AS_CHAR(AXIS_CHAR(axis))); SERIAL_ECHO_TERNARY(encoders[idx].get_ec_enabled(), " axis is ", "en", "dis", "abled.\n"); } static void set_ec_threshold(const int8_t idx, const float newThreshold, const AxisEnum axis) { CHECK_IDX(); encoders[idx].set_ec_threshold(newThreshold); - SERIAL_ECHOLNPGM("Error correct threshold for ", AS_CHAR(axis_codes[axis]), " axis set to ", newThreshold, "mm."); + SERIAL_ECHOLNPGM("Error correct threshold for ", AS_CHAR(AXIS_CHAR(axis)), " axis set to ", newThreshold, "mm."); } static void get_ec_threshold(const int8_t idx, const AxisEnum axis) { CHECK_IDX(); const float threshold = encoders[idx].get_ec_threshold(); - SERIAL_ECHOLNPGM("Error correct threshold for ", AS_CHAR(axis_codes[axis]), " axis is ", threshold, "mm."); + SERIAL_ECHOLNPGM("Error correct threshold for ", AS_CHAR(AXIS_CHAR(axis)), " axis is ", threshold, "mm."); } static int8_t idx_from_axis(const AxisEnum axis) { diff --git a/Marlin/src/feature/fancheck.cpp b/Marlin/src/feature/fancheck.cpp index 1b47fadecc..844191e7e4 100644 --- a/Marlin/src/feature/fancheck.cpp +++ b/Marlin/src/feature/fancheck.cpp @@ -34,7 +34,7 @@ #if HAS_AUTO_FAN && EXTRUDER_AUTO_FAN_SPEED != 255 && DISABLED(FOURWIRES_FANS) bool FanCheck::measuring = false; #endif -bool FanCheck::tacho_state[TACHO_COUNT]; +Flags FanCheck::tacho_state; uint16_t FanCheck::edge_counter[TACHO_COUNT]; uint8_t FanCheck::rps[TACHO_COUNT]; FanCheck::TachoError FanCheck::error = FanCheck::TachoError::NONE; @@ -72,7 +72,7 @@ void FanCheck::update_tachometers() { bool status; #define _TACHO_CASE(N) case N: status = READ(E##N##_FAN_TACHO_PIN); break; - LOOP_L_N(f, TACHO_COUNT) { + for (uint8_t f = 0; f < TACHO_COUNT; ++f) { switch (f) { #if HAS_E0_FAN_TACHO _TACHO_CASE(0) @@ -103,7 +103,7 @@ void FanCheck::update_tachometers() { if (status != tacho_state[f]) { if (measuring) ++edge_counter[f]; - tacho_state[f] = status; + tacho_state.set(f, status); } } } @@ -113,7 +113,7 @@ void FanCheck::compute_speed(uint16_t elapsedTime) { static uint8_t fan_reported_errors_msk = 0; uint8_t fan_error_msk = 0; - LOOP_L_N(f, TACHO_COUNT) { + for (uint8_t f = 0; f < TACHO_COUNT; ++f) { switch (f) { TERN_(HAS_E0_FAN_TACHO, case 0:) TERN_(HAS_E1_FAN_TACHO, case 1:) @@ -150,7 +150,7 @@ void FanCheck::compute_speed(uint16_t elapsedTime) { if (fan_error_msk & ~fan_reported_errors_msk) { // Handle new faults only - LOOP_L_N(f, TACHO_COUNT) if (TEST(fan_error_msk, f)) report_speed_error(f); + for (uint8_t f = 0; f < TACHO_COUNT; ++f) if (TEST(fan_error_msk, f)) report_speed_error(f); } fan_reported_errors_msk = fan_error_msk; } @@ -176,8 +176,8 @@ void FanCheck::report_speed_error(uint8_t fan) { } void FanCheck::print_fan_states() { - LOOP_L_N(s, 2) { - LOOP_L_N(f, TACHO_COUNT) { + for (uint8_t s = 0; s < 2; ++s) { + for (uint8_t f = 0; f < TACHO_COUNT; ++f) { switch (f) { TERN_(HAS_E0_FAN_TACHO, case 0:) TERN_(HAS_E1_FAN_TACHO, case 1:) diff --git a/Marlin/src/feature/fancheck.h b/Marlin/src/feature/fancheck.h index c8665a0e96..b13a34fb19 100644 --- a/Marlin/src/feature/fancheck.h +++ b/Marlin/src/feature/fancheck.h @@ -51,7 +51,7 @@ class FanCheck { #else static constexpr bool measuring = true; #endif - static bool tacho_state[TACHO_COUNT]; + static Flags tacho_state; static uint16_t edge_counter[TACHO_COUNT]; static uint8_t rps[TACHO_COUNT]; static TachoError error; diff --git a/Marlin/src/feature/filwidth.cpp b/Marlin/src/feature/filwidth.cpp index 2bd9c78980..3befd7752a 100644 --- a/Marlin/src/feature/filwidth.cpp +++ b/Marlin/src/feature/filwidth.cpp @@ -42,7 +42,7 @@ int8_t FilamentWidthSensor::ratios[MAX_MEASUREMENT_DELAY + 1], // Ring void FilamentWidthSensor::init() { const int8_t ratio = sample_to_size_ratio(); - LOOP_L_N(i, COUNT(ratios)) ratios[i] = ratio; + for (uint8_t i = 0; i < COUNT(ratios); ++i) ratios[i] = ratio; index_r = index_w = 0; } diff --git a/Marlin/src/feature/filwidth.h b/Marlin/src/feature/filwidth.h index 9eb1e77762..ab50fe0af3 100644 --- a/Marlin/src/feature/filwidth.h +++ b/Marlin/src/feature/filwidth.h @@ -67,7 +67,7 @@ public: } // Convert raw measurement to mm - static float raw_to_mm(const uint16_t v) { return v * float(ADC_VREF) * RECIPROCAL(float(MAX_RAW_THERMISTOR_VALUE)); } + static float raw_to_mm(const uint16_t v) { return v * (float(ADC_VREF_MV) / 1000.0f) * RECIPROCAL(float(MAX_RAW_THERMISTOR_VALUE)); } static float raw_to_mm() { return raw_to_mm(raw); } // A scaled reading is ready diff --git a/Marlin/src/feature/fwretract.cpp b/Marlin/src/feature/fwretract.cpp index bf47a6b2d5..b4ef18a9b9 100644 --- a/Marlin/src/feature/fwretract.cpp +++ b/Marlin/src/feature/fwretract.cpp @@ -34,7 +34,6 @@ FWRetract fwretract; // Single instance - this calls the constructor #include "../module/motion.h" #include "../module/planner.h" -#include "../module/stepper.h" #include "../gcode/gcode.h" @@ -45,7 +44,7 @@ FWRetract fwretract; // Single instance - this calls the constructor // private: #if HAS_MULTI_EXTRUDER - bool FWRetract::retracted_swap[EXTRUDERS]; // Which extruders are swap-retracted + Flags FWRetract::retracted_swap; // Which extruders are swap-retracted #endif // public: @@ -56,7 +55,7 @@ fwretract_settings_t FWRetract::settings; // M207 S F Z W, M208 S F bool FWRetract::autoretract_enabled; // M209 S - Autoretract switch #endif -bool FWRetract::retracted[EXTRUDERS]; // Which extruders are currently retracted +Flags FWRetract::retracted; // Which extruders are currently retracted float FWRetract::current_retract[EXTRUDERS], // Retract value used by planner FWRetract::current_hop; @@ -73,9 +72,9 @@ void FWRetract::reset() { settings.swap_retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE_SWAP; current_hop = 0.0; + retracted.reset(); EXTRUDER_LOOP() { - retracted[e] = false; - E_TERN_(retracted_swap[e] = false); + E_TERN_(retracted_swap.clear(e)); current_retract[e] = 0.0; } } @@ -173,11 +172,11 @@ void FWRetract::retract(const bool retracting E_OPTARG(bool swapping/*=false*/)) TERN_(RETRACT_SYNC_MIXING, mixer.T(old_mixing_tool)); // Restore original mixing tool - retracted[active_extruder] = retracting; // Active extruder now retracted / recovered + retracted.set(active_extruder, retracting); // Active extruder now retracted / recovered // If swap retract/recover update the retracted_swap flag too #if HAS_MULTI_EXTRUDER - if (swapping) retracted_swap[active_extruder] = retracting; + if (swapping) retracted_swap.set(active_extruder, retracting); #endif /* // debugging @@ -196,8 +195,6 @@ void FWRetract::retract(const bool retracting E_OPTARG(bool swapping/*=false*/)) //*/ } -//extern const char SP_Z_STR[]; - /** * M207: Set firmware retraction values * diff --git a/Marlin/src/feature/fwretract.h b/Marlin/src/feature/fwretract.h index 081ec44c05..db2a62c8d4 100644 --- a/Marlin/src/feature/fwretract.h +++ b/Marlin/src/feature/fwretract.h @@ -43,7 +43,7 @@ typedef struct { class FWRetract { private: #if HAS_MULTI_EXTRUDER - static bool retracted_swap[EXTRUDERS]; // Which extruders are swap-retracted + static Flags retracted_swap; // Which extruders are swap-retracted #endif public: @@ -55,7 +55,7 @@ public: static constexpr bool autoretract_enabled = false; #endif - static bool retracted[EXTRUDERS]; // Which extruders are currently retracted + static Flags retracted; // Which extruders are currently retracted static float current_retract[EXTRUDERS], // Retract value used by planner current_hop; // Hop value used by planner @@ -63,9 +63,7 @@ public: static void reset(); - static void refresh_autoretract() { - EXTRUDER_LOOP() retracted[e] = false; - } + static void refresh_autoretract() { retracted.reset(); } static void enable_autoretract(const bool enable) { #if ENABLED(FWRETRACT_AUTORETRACT) diff --git a/Marlin/src/feature/host_actions.cpp b/Marlin/src/feature/host_actions.cpp index 3385076701..c3b9aba90a 100644 --- a/Marlin/src/feature/host_actions.cpp +++ b/Marlin/src/feature/host_actions.cpp @@ -41,8 +41,7 @@ HostUI hostui; void HostUI::action(FSTR_P const fstr, const bool eol) { PORT_REDIRECT(SerialMask::All); - SERIAL_ECHOPGM("//action:"); - SERIAL_ECHOF(fstr); + SERIAL_ECHOPGM("//action:", fstr); if (eol) SERIAL_EOL(); } @@ -107,24 +106,33 @@ void HostUI::action(FSTR_P const fstr, const bool eol) { void HostUI::prompt(FSTR_P const ptype, const bool eol/*=true*/) { PORT_REDIRECT(SerialMask::All); action(F("prompt_"), false); - SERIAL_ECHOF(ptype); + SERIAL_ECHO(ptype); if (eol) SERIAL_EOL(); } - void HostUI::prompt_plus(FSTR_P const ptype, FSTR_P const fstr, const char extra_char/*='\0'*/) { + void HostUI::prompt_plus(const bool pgm, FSTR_P const ptype, const char * const str, const char extra_char/*='\0'*/) { prompt(ptype, false); PORT_REDIRECT(SerialMask::All); SERIAL_CHAR(' '); - SERIAL_ECHOF(fstr); + if (pgm) + SERIAL_ECHOPGM_P(str); + else + SERIAL_ECHO(str); if (extra_char != '\0') SERIAL_CHAR(extra_char); SERIAL_EOL(); } + void HostUI::prompt_begin(const PromptReason reason, FSTR_P const fstr, const char extra_char/*='\0'*/) { prompt_end(); host_prompt_reason = reason; prompt_plus(F("begin"), fstr, extra_char); } - void HostUI::prompt_button(FSTR_P const fstr) { prompt_plus(F("button"), fstr); } + void HostUI::prompt_begin(const PromptReason reason, const char * const cstr, const char extra_char/*='\0'*/) { + prompt_end(); + host_prompt_reason = reason; + prompt_plus(F("begin"), cstr, extra_char); + } + void HostUI::prompt_end() { prompt(F("end")); } void HostUI::prompt_show() { prompt(F("show")); } @@ -133,14 +141,26 @@ void HostUI::action(FSTR_P const fstr, const bool eol) { if (btn2) prompt_button(btn2); prompt_show(); } + + void HostUI::prompt_button(FSTR_P const fstr) { prompt_plus(F("button"), fstr); } + void HostUI::prompt_button(const char * const cstr) { prompt_plus(F("button"), cstr); } + void HostUI::prompt_do(const PromptReason reason, FSTR_P const fstr, FSTR_P const btn1/*=nullptr*/, FSTR_P const btn2/*=nullptr*/) { prompt_begin(reason, fstr); _prompt_show(btn1, btn2); } + void HostUI::prompt_do(const PromptReason reason, const char * const cstr, FSTR_P const btn1/*=nullptr*/, FSTR_P const btn2/*=nullptr*/) { + prompt_begin(reason, cstr); + _prompt_show(btn1, btn2); + } void HostUI::prompt_do(const PromptReason reason, FSTR_P const fstr, const char extra_char, FSTR_P const btn1/*=nullptr*/, FSTR_P const btn2/*=nullptr*/) { prompt_begin(reason, fstr, extra_char); _prompt_show(btn1, btn2); } + void HostUI::prompt_do(const PromptReason reason, const char * const cstr, const char extra_char, FSTR_P const btn1/*=nullptr*/, FSTR_P const btn2/*=nullptr*/) { + prompt_begin(reason, cstr, extra_char); + _prompt_show(btn1, btn2); + } #if ENABLED(ADVANCED_PAUSE_FEATURE) void HostUI::filament_load_prompt() { @@ -166,13 +186,13 @@ void HostUI::action(FSTR_P const fstr, const bool eol) { switch (response) { case 0: // "Purge More" button - #if BOTH(M600_PURGE_MORE_RESUMABLE, ADVANCED_PAUSE_FEATURE) + #if ALL(M600_PURGE_MORE_RESUMABLE, ADVANCED_PAUSE_FEATURE) pause_menu_response = PAUSE_RESPONSE_EXTRUDE_MORE; // Simulate menu selection (menu exits, doesn't extrude more) #endif break; case 1: // "Continue" / "Disable Runout" button - #if BOTH(M600_PURGE_MORE_RESUMABLE, ADVANCED_PAUSE_FEATURE) + #if ALL(M600_PURGE_MORE_RESUMABLE, ADVANCED_PAUSE_FEATURE) pause_menu_response = PAUSE_RESPONSE_RESUME_PRINT; // Simulate menu selection #endif #if HAS_FILAMENT_SENSOR @@ -188,7 +208,7 @@ void HostUI::action(FSTR_P const fstr, const bool eol) { TERN_(HAS_RESUME_CONTINUE, wait_for_user = false); break; case PROMPT_PAUSE_RESUME: - #if BOTH(ADVANCED_PAUSE_FEATURE, SDSUPPORT) + #if ALL(ADVANCED_PAUSE_FEATURE, HAS_MEDIA) extern const char M24_STR[]; queue.inject_P(M24_STR); #endif diff --git a/Marlin/src/feature/host_actions.h b/Marlin/src/feature/host_actions.h index 41d66b82ec..c030ebad01 100644 --- a/Marlin/src/feature/host_actions.h +++ b/Marlin/src/feature/host_actions.h @@ -35,6 +35,8 @@ PROMPT_INFO }; + extern const char CONTINUE_STR[], DISMISS_STR[]; + #endif class HostUI { @@ -79,7 +81,14 @@ class HostUI { #if ENABLED(HOST_PROMPT_SUPPORT) private: static void prompt(FSTR_P const ptype, const bool eol=true); - static void prompt_plus(FSTR_P const ptype, FSTR_P const fstr, const char extra_char='\0'); + static void prompt_plus(const bool pgm, FSTR_P const ptype, const char * const str, const char extra_char='\0'); + static void prompt_plus(FSTR_P const ptype, FSTR_P const fstr, const char extra_char='\0') { + prompt_plus(true, ptype, FTOP(fstr), extra_char); + } + static void prompt_plus(FSTR_P const ptype, const char * const cstr, const char extra_char='\0') { + prompt_plus(false, ptype, cstr, extra_char); + } + static void prompt_show(); static void _prompt_show(FSTR_P const btn1, FSTR_P const btn2); @@ -93,10 +102,20 @@ class HostUI { static void notify(const char * const message); static void prompt_begin(const PromptReason reason, FSTR_P const fstr, const char extra_char='\0'); - static void prompt_button(FSTR_P const fstr); + static void prompt_begin(const PromptReason reason, const char * const cstr, const char extra_char='\0'); static void prompt_end(); + + static void prompt_button(FSTR_P const fstr); + static void prompt_button(const char * const cstr); + static void prompt_do(const PromptReason reason, FSTR_P const pstr, FSTR_P const btn1=nullptr, FSTR_P const btn2=nullptr); + static void prompt_do(const PromptReason reason, const char * const cstr, FSTR_P const btn1=nullptr, FSTR_P const btn2=nullptr); static void prompt_do(const PromptReason reason, FSTR_P const pstr, const char extra_char, FSTR_P const btn1=nullptr, FSTR_P const btn2=nullptr); + static void prompt_do(const PromptReason reason, const char * const cstr, const char extra_char, FSTR_P const btn1=nullptr, FSTR_P const btn2=nullptr); + + static void continue_prompt(FSTR_P const fstr) { prompt_do(PROMPT_USER_CONTINUE, fstr, FPSTR(CONTINUE_STR)); } + static void continue_prompt(const char * const cstr) { prompt_do(PROMPT_USER_CONTINUE, cstr, FPSTR(CONTINUE_STR)); } + static void prompt_open(const PromptReason reason, FSTR_P const pstr, FSTR_P const btn1=nullptr, FSTR_P const btn2=nullptr) { if (host_prompt_reason == PROMPT_NOT_DEFINED) prompt_do(reason, pstr, btn1, btn2); } @@ -110,5 +129,3 @@ class HostUI { }; extern HostUI hostui; - -extern const char CONTINUE_STR[], DISMISS_STR[]; diff --git a/Marlin/src/feature/hotend_idle.cpp b/Marlin/src/feature/hotend_idle.cpp index 4b137f42da..050898e3b5 100644 --- a/Marlin/src/feature/hotend_idle.cpp +++ b/Marlin/src/feature/hotend_idle.cpp @@ -37,28 +37,33 @@ #include "../module/planner.h" #include "../lcd/marlinui.h" -extern HotendIdleProtection hotend_idle; +HotendIdleProtection hotend_idle; millis_t HotendIdleProtection::next_protect_ms = 0; +hotend_idle_settings_t HotendIdleProtection::cfg; // Initialized by settings.load() void HotendIdleProtection::check_hotends(const millis_t &ms) { + const bool busy = (TERN0(HAS_RESUME_CONTINUE, wait_for_user) || planner.has_blocks_queued()); bool do_prot = false; - HOTEND_LOOP() { - const bool busy = (TERN0(HAS_RESUME_CONTINUE, wait_for_user) || planner.has_blocks_queued()); - if (thermalManager.degHotend(e) >= (HOTEND_IDLE_MIN_TRIGGER) && !busy) { - do_prot = true; break; + if (!busy && cfg.timeout != 0) { + HOTEND_LOOP() { + if (thermalManager.degHotend(e) >= cfg.trigger) { + do_prot = true; break; + } } } - if (bool(next_protect_ms) != do_prot) - next_protect_ms = do_prot ? ms + hp_interval : 0; + if (!do_prot) + next_protect_ms = 0; // No hotends are hot so cancel timeout + else if (!next_protect_ms) // Timeout is possible? + next_protect_ms = ms + 1000UL * cfg.timeout; // Start timeout if not already set } void HotendIdleProtection::check_e_motion(const millis_t &ms) { static float old_e_position = 0; if (old_e_position != current_position.e) { - old_e_position = current_position.e; // Track filament motion - if (next_protect_ms) // If some heater is on then... - next_protect_ms = ms + hp_interval; // ...delay the timeout till later + old_e_position = current_position.e; // Track filament motion + if (next_protect_ms) // If some heater is on then... + next_protect_ms = ms + 1000UL * cfg.timeout; // ...delay the timeout till later } } @@ -79,12 +84,12 @@ void HotendIdleProtection::timed_out() { SERIAL_ECHOLNPGM("Hotend Idle Timeout"); LCD_MESSAGE(MSG_HOTEND_IDLE_TIMEOUT); HOTEND_LOOP() { - if ((HOTEND_IDLE_NOZZLE_TARGET) < thermalManager.degTargetHotend(e)) - thermalManager.setTargetHotend(HOTEND_IDLE_NOZZLE_TARGET, e); + if (cfg.nozzle_target < thermalManager.degTargetHotend(e)) + thermalManager.setTargetHotend(cfg.nozzle_target, e); } #if HAS_HEATED_BED - if ((HOTEND_IDLE_BED_TARGET) < thermalManager.degTargetBed()) - thermalManager.setTargetBed(HOTEND_IDLE_BED_TARGET); + if (cfg.bed_target < thermalManager.degTargetBed()) + thermalManager.setTargetBed(cfg.bed_target); #endif } diff --git a/Marlin/src/feature/hotend_idle.h b/Marlin/src/feature/hotend_idle.h index 40f557d5ed..a4229153c9 100644 --- a/Marlin/src/feature/hotend_idle.h +++ b/Marlin/src/feature/hotend_idle.h @@ -21,13 +21,26 @@ */ #pragma once -#include "../core/millis_t.h" +#include "../inc/MarlinConfig.h" + +typedef struct { + int16_t timeout, trigger, nozzle_target; + #if HAS_HEATED_BED + int16_t bed_target; + #endif + void set_defaults() { + timeout = HOTEND_IDLE_TIMEOUT_SEC; + trigger = HOTEND_IDLE_MIN_TRIGGER; + nozzle_target = HOTEND_IDLE_NOZZLE_TARGET; + bed_target = HOTEND_IDLE_BED_TARGET; + } +} hotend_idle_settings_t; class HotendIdleProtection { public: static void check(); + static hotend_idle_settings_t cfg; private: - static constexpr millis_t hp_interval = SEC_TO_MS(HOTEND_IDLE_TIMEOUT_SEC); static millis_t next_protect_ms; static void check_hotends(const millis_t &ms); static void check_e_motion(const millis_t &ms); diff --git a/Marlin/src/feature/joystick.cpp b/Marlin/src/feature/joystick.cpp index daa642d32e..acab5d7437 100644 --- a/Marlin/src/feature/joystick.cpp +++ b/Marlin/src/feature/joystick.cpp @@ -172,8 +172,9 @@ Joystick joystick; current_position += move_dist; apply_motion_limits(current_position); const float length = sqrt(hypot2); + PlannerHints hints(length); injecting_now = true; - planner.buffer_line(current_position, length / seg_time, active_extruder, length); + planner.buffer_line(current_position, length / seg_time, active_extruder, hints); injecting_now = false; } } diff --git a/Marlin/src/feature/leds/leds.cpp b/Marlin/src/feature/leds/leds.cpp index 2a53a7c884..ac7f181516 100644 --- a/Marlin/src/feature/leds/leds.cpp +++ b/Marlin/src/feature/leds/leds.cpp @@ -30,19 +30,7 @@ #include "leds.h" -#if ENABLED(BLINKM) - #include "blinkm.h" -#endif - -#if ENABLED(PCA9632) - #include "pca9632.h" -#endif - -#if ENABLED(PCA9533) - #include "pca9533.h" -#endif - -#if EITHER(CASE_LIGHT_USE_RGB_LED, CASE_LIGHT_USE_NEOPIXEL) +#if ANY(CASE_LIGHT_USE_RGB_LED, CASE_LIGHT_USE_NEOPIXEL) #include "../../feature/caselight.h" #endif @@ -62,14 +50,107 @@ LEDLights leds; void LEDLights::setup() { - #if EITHER(RGB_LED, RGBW_LED) + #if ANY(RGB_LED, RGBW_LED) if (PWM_PIN(RGB_LED_R_PIN)) SET_PWM(RGB_LED_R_PIN); else SET_OUTPUT(RGB_LED_R_PIN); if (PWM_PIN(RGB_LED_G_PIN)) SET_PWM(RGB_LED_G_PIN); else SET_OUTPUT(RGB_LED_G_PIN); if (PWM_PIN(RGB_LED_B_PIN)) SET_PWM(RGB_LED_B_PIN); else SET_OUTPUT(RGB_LED_B_PIN); #if ENABLED(RGBW_LED) if (PWM_PIN(RGB_LED_W_PIN)) SET_PWM(RGB_LED_W_PIN); else SET_OUTPUT(RGB_LED_W_PIN); #endif - #endif + + #if ENABLED(RGB_STARTUP_TEST) + int8_t led_pin_count = 0; + if (PWM_PIN(RGB_LED_R_PIN) && PWM_PIN(RGB_LED_G_PIN) && PWM_PIN(RGB_LED_B_PIN)) led_pin_count = 3; + #if ENABLED(RGBW_LED) + if (PWM_PIN(RGB_LED_W_PIN) && led_pin_count) led_pin_count++; + #endif + // Startup animation + if (led_pin_count) { + // blackout + if (PWM_PIN(RGB_LED_R_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_R_PIN), 0); else WRITE(RGB_LED_R_PIN, LOW); + if (PWM_PIN(RGB_LED_G_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_G_PIN), 0); else WRITE(RGB_LED_G_PIN, LOW); + if (PWM_PIN(RGB_LED_B_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_B_PIN), 0); else WRITE(RGB_LED_B_PIN, LOW); + #if ENABLED(RGBW_LED) + if (PWM_PIN(RGB_LED_W_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_W_PIN), 0); + else WRITE(RGB_LED_W_PIN, LOW); + #endif + delay(200); + + for (uint8_t i = 0; i < led_pin_count; ++i) { + for (uint8_t b = 0; b <= 200; ++b) { + const uint16_t led_pwm = b <= 100 ? b : 200 - b; + if (i == 0 && PWM_PIN(RGB_LED_R_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_R_PIN), led_pwm); else WRITE(RGB_LED_R_PIN, b < 100 ? HIGH : LOW); + if (i == 1 && PWM_PIN(RGB_LED_G_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_G_PIN), led_pwm); else WRITE(RGB_LED_G_PIN, b < 100 ? HIGH : LOW); + if (i == 2 && PWM_PIN(RGB_LED_B_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_B_PIN), led_pwm); else WRITE(RGB_LED_B_PIN, b < 100 ? HIGH : LOW); + #if ENABLED(RGBW_LED) + if (i == 3){ + if (PWM_PIN(RGB_LED_W_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_W_PIN), led_pwm); + else WRITE(RGB_LED_W_PIN, b < 100 ? HIGH : LOW); + delay(RGB_STARTUP_TEST_INNER_MS);//More slowing for ending + } + #endif + delay(RGB_STARTUP_TEST_INNER_MS); + } + } + delay(500); + } + #endif // RGB_STARTUP_TEST + + #elif ALL(PCA9632, RGB_STARTUP_TEST) // PCA9632 RGB_STARTUP_TEST + + constexpr int8_t led_pin_count = TERN(HAS_WHITE_LED, 4, 3); + + // Startup animation + LEDColor curColor = LEDColorOff(); + PCA9632_set_led_color(curColor); // blackout + delay(200); + + /** + * LED Pin Counter steps -> events + * | 0-100 | 100-200 | 200-300 | 300-400 | + * fade in steady | fade out + * start next pin fade in + */ + + uint16_t led_pin_counters[led_pin_count] = { 1, 0, 0 }; + + bool canEnd = false; + while (led_pin_counters[0] != 99 || !canEnd) { + if (led_pin_counters[0] == 99) // End loop next time pin0 counter is 99 + canEnd = true; + for (uint8_t i = 0; i < led_pin_count; ++i) { + if (led_pin_counters[i] > 0) { + if (++led_pin_counters[i] == 400) // turn off current pin counter in led_pin_counters + led_pin_counters[i] = 0; + else if (led_pin_counters[i] == 201) { // start next pin pwm + led_pin_counters[i + 1 == led_pin_count ? 0 : i + 1] = 1; + i++; // skip next pin in this loop so it doesn't increment twice + } + } + } + uint16_t r, g, b; + r = led_pin_counters[0]; curColor.r = r <= 100 ? r : r <= 300 ? 100 : 400 - r; + g = led_pin_counters[1]; curColor.g = g <= 100 ? g : g <= 300 ? 100 : 400 - g; + b = led_pin_counters[2]; curColor.b = b <= 100 ? b : b <= 300 ? 100 : 400 - b; + #if HAS_WHITE_LED + const uint16_t w = led_pin_counters[3]; curColor.w = w <= 100 ? w : w <= 300 ? 100 : 400 - w; + #endif + PCA9632_set_led_color(curColor); + delay(RGB_STARTUP_TEST_INNER_MS); + } + + // Fade to white + for (uint8_t led_pwm = 0; led_pwm <= 100; ++led_pwm) { + NOLESS(curColor.r, led_pwm); + NOLESS(curColor.g, led_pwm); + NOLESS(curColor.b, led_pwm); + TERN_(HAS_WHITE_LED, NOLESS(curColor.w, led_pwm)); + PCA9632_set_led_color(curColor); + delay(RGB_STARTUP_TEST_INNER_MS); + } + + #endif // PCA9632 && RGB_STARTUP_TEST + TERN_(NEOPIXEL_LED, neo.init()); TERN_(PCA9533, PCA9533_init()); TERN_(LED_USER_PRESET_STARTUP, set_default()); @@ -95,7 +176,7 @@ void LEDLights::set_color(const LEDColor &incol #endif #endif - #if BOTH(CASE_LIGHT_MENU, CASE_LIGHT_USE_NEOPIXEL) + #if ALL(CASE_LIGHT_MENU, CASE_LIGHT_USE_NEOPIXEL) // Update brightness only if caselight is ON or switching leds off if (caselight.on || incol.is_off()) #endif @@ -110,7 +191,7 @@ void LEDLights::set_color(const LEDColor &incol } #endif - #if BOTH(CASE_LIGHT_MENU, CASE_LIGHT_USE_NEOPIXEL) + #if ALL(CASE_LIGHT_MENU, CASE_LIGHT_USE_NEOPIXEL) // Update color only if caselight is ON or switching leds off if (caselight.on || incol.is_off()) #endif @@ -125,7 +206,7 @@ void LEDLights::set_color(const LEDColor &incol #endif - #if EITHER(RGB_LED, RGBW_LED) + #if ANY(RGB_LED, RGBW_LED) // This variant uses 3-4 separate pins for the RGB(W) components. // If the pins can do PWM then their intensity will be set. @@ -147,7 +228,7 @@ void LEDLights::set_color(const LEDColor &incol TERN_(PCA9632, PCA9632_set_led_color(incol)); TERN_(PCA9533, PCA9533_set_rgb(incol.r, incol.g, incol.b)); - #if EITHER(LED_CONTROL_MENU, PRINTER_EVENT_LEDS) + #if ANY(LED_CONTROL_MENU, PRINTER_EVENT_LEDS) // Don't update the color when OFF lights_on = !incol.is_off(); if (lights_on) color = incol; diff --git a/Marlin/src/feature/leds/leds.h b/Marlin/src/feature/leds/leds.h index bce9052424..7a31ca685d 100644 --- a/Marlin/src/feature/leds/leds.h +++ b/Marlin/src/feature/leds/leds.h @@ -30,7 +30,7 @@ #include // A white component can be passed -#if EITHER(RGBW_LED, PCA9632_RGBW) +#if ANY(RGBW_LED, PCA9632_RGBW) #define HAS_WHITE_LED 1 #endif @@ -40,6 +40,18 @@ #undef _NEOPIXEL_INCLUDE_ #endif +#if ENABLED(BLINKM) + #include "blinkm.h" +#endif + +#if ENABLED(PCA9533) + #include "pca9533.h" +#endif + +#if ENABLED(PCA9632) + #include "pca9632.h" +#endif + /** * LEDcolor type for use with leds.set_color */ @@ -54,6 +66,8 @@ typedef struct LEDColor { OPTARG(NEOPIXEL_LED, i(NEOPIXEL_BRIGHTNESS)) {} + LEDColor(const LEDColor&) = default; + LEDColor(uint8_t r, uint8_t g, uint8_t b OPTARG(HAS_WHITE_LED, uint8_t w=0) OPTARG(NEOPIXEL_LED, uint8_t i=NEOPIXEL_BRIGHTNESS)) : r(r), g(g), b(b) OPTARG(HAS_WHITE_LED, w(w)) OPTARG(NEOPIXEL_LED, i(i)) {} @@ -68,11 +82,6 @@ typedef struct LEDColor { return *this; } - LEDColor& operator=(const LEDColor &right) { - if (this != &right) memcpy(this, &right, sizeof(LEDColor)); - return *this; - } - bool operator==(const LEDColor &right) { if (this == &right) return true; return 0 == memcmp(this, &right, sizeof(LEDColor)); @@ -110,6 +119,13 @@ typedef struct LEDColor { class LEDLights { public: + #if ANY(LED_CONTROL_MENU, PRINTER_EVENT_LEDS, CASE_LIGHT_IS_COLOR_LED) + static LEDColor color; // last non-off color + static bool lights_on; // the last set color was "on" + #else + static constexpr bool lights_on = true; + #endif + LEDLights() {} // ctor static void setup(); // init() @@ -145,15 +161,10 @@ public: static LEDColor get_color() { return lights_on ? color : LEDColorOff(); } #endif - #if ANY(LED_CONTROL_MENU, PRINTER_EVENT_LEDS, CASE_LIGHT_IS_COLOR_LED) - static LEDColor color; // last non-off color - static bool lights_on; // the last set color was "on" - #endif - #if ENABLED(LED_CONTROL_MENU) static void toggle(); // swap "off" with color #endif - #if EITHER(LED_CONTROL_MENU, CASE_LIGHT_USE_RGB_LED) + #if ANY(LED_CONTROL_MENU, CASE_LIGHT_USE_RGB_LED) || LED_POWEROFF_TIMEOUT > 0 static void update() { set_color(color); } #endif diff --git a/Marlin/src/feature/leds/neopixel.cpp b/Marlin/src/feature/leds/neopixel.cpp index 4f104234f1..1b0772c2f9 100644 --- a/Marlin/src/feature/leds/neopixel.cpp +++ b/Marlin/src/feature/leds/neopixel.cpp @@ -30,7 +30,7 @@ #include "leds.h" -#if EITHER(NEOPIXEL_STARTUP_TEST, NEOPIXEL2_STARTUP_TEST) +#if ANY(NEOPIXEL_STARTUP_TEST, NEOPIXEL2_STARTUP_TEST) #include "../../core/utility.h" #endif @@ -54,7 +54,15 @@ Adafruit_NeoPixel Marlin_NeoPixel::adaneo1(NEOPIXEL_PIXELS, NEOPIXEL_PIN, NEOPIX set_background_color(background_color); } -#endif + void Marlin_NeoPixel::set_background_off() { + #ifndef NEOPIXEL_BKGD_TIMEOUT_COLOR + #define NEOPIXEL_BKGD_TIMEOUT_COLOR { 0, 0, 0, 0 } + #endif + constexpr uint8_t background_color_off[4] = NEOPIXEL_BKGD_TIMEOUT_COLOR; + set_background_color(background_color_off); + } + +#endif // NEOPIXEL_BKGD_INDEX_FIRST void Marlin_NeoPixel::set_color(const uint32_t color) { if (neoindex >= 0) { @@ -108,7 +116,7 @@ void Marlin_NeoPixel::init() { set_color(adaneo1.Color TERN(LED_USER_PRESET_STARTUP, (LED_USER_PRESET_RED, LED_USER_PRESET_GREEN, LED_USER_PRESET_BLUE, LED_USER_PRESET_WHITE), - (255, 255, 255, 255)) + (0, 0, 0, 0)) ); } diff --git a/Marlin/src/feature/leds/neopixel.h b/Marlin/src/feature/leds/neopixel.h index d71aa25770..6cc8b6157e 100644 --- a/Marlin/src/feature/leds/neopixel.h +++ b/Marlin/src/feature/leds/neopixel.h @@ -58,7 +58,7 @@ #define MULTIPLE_NEOPIXEL_TYPES 1 #endif -#if EITHER(MULTIPLE_NEOPIXEL_TYPES, NEOPIXEL2_INSERIES) +#if ANY(MULTIPLE_NEOPIXEL_TYPES, NEOPIXEL2_INSERIES) #define CONJOINED_NEOPIXEL 1 #endif @@ -66,7 +66,7 @@ // Types // ------------------------ -typedef IF<(TERN0(NEOPIXEL_LED, NEOPIXEL_PIXELS > 127)), int16_t, int8_t>::type pixel_index_t; +typedef value_t(TERN0(NEOPIXEL_LED, NEOPIXEL_PIXELS)) pixel_index_t; // ------------------------ // Classes @@ -91,6 +91,7 @@ public: static void set_background_color(const uint8_t r, const uint8_t g, const uint8_t b, const uint8_t w); static void set_background_color(const uint8_t (&rgbw)[4]) { set_background_color(rgbw[0], rgbw[1], rgbw[2], rgbw[3]); } static void reset_background_color(); + static void set_background_off(); #endif static void begin() { @@ -131,6 +132,13 @@ public: // Accessors static uint16_t pixels() { return adaneo1.numPixels() * TERN1(NEOPIXEL2_INSERIES, 2); } + static uint32_t pixel_color(const uint16_t n) { + #if ENABLED(NEOPIXEL2_INSERIES) + if (n >= NEOPIXEL_PIXELS) return adaneo2.getPixelColor(n - (NEOPIXEL_PIXELS)); + #endif + return adaneo1.getPixelColor(n); + } + static uint8_t brightness() { return adaneo1.getBrightness(); } static uint32_t Color(uint8_t r, uint8_t g, uint8_t b OPTARG(HAS_WHITE_LED, uint8_t w)) { @@ -174,6 +182,7 @@ extern Marlin_NeoPixel neo; // Accessors static uint16_t pixels() { return adaneo.numPixels();} + static uint32_t pixel_color(const uint16_t n) { return adaneo.getPixelColor(n); } static uint8_t brightness() { return adaneo.getBrightness(); } static uint32_t Color(uint8_t r, uint8_t g, uint8_t b OPTARG(HAS_WHITE_LED2, uint8_t w)) { return adaneo.Color(r, g, b OPTARG(HAS_WHITE_LED2, w)); diff --git a/Marlin/src/feature/leds/pca9533.cpp b/Marlin/src/feature/leds/pca9533.cpp index 914db21ba3..d71760e2cb 100644 --- a/Marlin/src/feature/leds/pca9533.cpp +++ b/Marlin/src/feature/leds/pca9533.cpp @@ -1,4 +1,4 @@ -/* +/** * Marlin 3D Printer Firmware * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * diff --git a/Marlin/src/feature/leds/pca9533.h b/Marlin/src/feature/leds/pca9533.h index 431058c491..3a18e96b24 100644 --- a/Marlin/src/feature/leds/pca9533.h +++ b/Marlin/src/feature/leds/pca9533.h @@ -1,4 +1,4 @@ -/* +/** * Marlin 3D Printer Firmware * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * @@ -21,7 +21,7 @@ */ #pragma once -/* +/** * Driver for the PCA9533 LED controller found on the MightyBoard * used by FlashForge Creator Pro, MakerBot, etc. * Written 2020 APR 01 by grauerfuchs diff --git a/Marlin/src/feature/leds/pca9632.cpp b/Marlin/src/feature/leds/pca9632.cpp index abea988004..07c379a815 100644 --- a/Marlin/src/feature/leds/pca9632.cpp +++ b/Marlin/src/feature/leds/pca9632.cpp @@ -148,7 +148,7 @@ void PCA9632_set_led_color(const LEDColor &color) { #if ENABLED(PCA9632_BUZZER) - void PCA9632_buzz(const long, const uint16_t) { + void PCA9632_buzz(const long, const uint16_t=0) { uint8_t data[] = PCA9632_BUZZER_DATA; Wire.beginTransmission(I2C_ADDRESS(PCA9632_ADDRESS)); Wire.write(data, sizeof(data)); diff --git a/Marlin/src/feature/leds/pca9632.h b/Marlin/src/feature/leds/pca9632.h index fb59a8c184..adef0200af 100644 --- a/Marlin/src/feature/leds/pca9632.h +++ b/Marlin/src/feature/leds/pca9632.h @@ -33,5 +33,5 @@ void PCA9632_set_led_color(const LEDColor &color); #if ENABLED(PCA9632_BUZZER) #include - void PCA9632_buzz(const long, const uint16_t); + void PCA9632_buzz(const long, const uint16_t=0); #endif diff --git a/Marlin/src/feature/leds/printer_event_leds.h b/Marlin/src/feature/leds/printer_event_leds.h index 2a4342e8f5..3a037eba96 100644 --- a/Marlin/src/feature/leds/printer_event_leds.h +++ b/Marlin/src/feature/leds/printer_event_leds.h @@ -59,7 +59,7 @@ public: static void onPidTuningDone(LEDColor c) { leds.set_color(c); } #endif - #if ENABLED(SDSUPPORT) + #if HAS_MEDIA static void onPrintCompleted() { leds.set_green(); @@ -80,7 +80,7 @@ public: #endif } - #endif // SDSUPPORT + #endif // HAS_MEDIA }; extern PrinterEventLEDs printerEventLEDs; diff --git a/Marlin/src/feature/max7219.cpp b/Marlin/src/feature/max7219.cpp index 474933aa19..991f3e79db 100644 --- a/Marlin/src/feature/max7219.cpp +++ b/Marlin/src/feature/max7219.cpp @@ -52,6 +52,7 @@ #define HAS_SIDE_BY_SIDE 1 #endif +#define _ROT ((MAX7219_ROTATE + 360) % 360) #if _ROT == 0 || _ROT == 180 #define MAX7219_X_LEDS TERN(HAS_SIDE_BY_SIDE, 8, MAX7219_LINES) #define MAX7219_Y_LEDS TERN(HAS_SIDE_BY_SIDE, MAX7219_LINES, 8) @@ -62,6 +63,15 @@ #error "MAX7219_ROTATE must be a multiple of +/- 90°." #endif +#ifdef MAX7219_DEBUG_PROFILE + CodeProfiler::Mode CodeProfiler::mode = ACCUMULATE_AVERAGE; + uint8_t CodeProfiler::instance_count = 0; + uint32_t CodeProfiler::last_calc_time = micros(); + uint8_t CodeProfiler::time_fraction = 0; + uint32_t CodeProfiler::total_time = 0; + uint16_t CodeProfiler::call_count = 0; +#endif + Max7219 max7219; uint8_t Max7219::led_line[MAX7219_LINES]; // = { 0 }; @@ -69,7 +79,7 @@ uint8_t Max7219::suspended; // = 0; #define LINE_REG(Q) (max7219_reg_digit0 + ((Q) & 0x7)) -#if _ROT == 0 || _ROT == 270 +#if (_ROT == 0 || _ROT == 270) == DISABLED(MAX7219_REVERSE_EACH) #define _LED_BIT(Q) (7 - ((Q) & 0x7)) #else #define _LED_BIT(Q) ((Q) & 0x7) @@ -126,9 +136,7 @@ uint8_t Max7219::suspended; // = 0; void Max7219::error(FSTR_P const func, const int32_t v1, const int32_t v2/*=-1*/) { #if ENABLED(MAX7219_ERRORS) - SERIAL_ECHOPGM("??? Max7219::"); - SERIAL_ECHOF(func, AS_CHAR('(')); - SERIAL_ECHO(v1); + SERIAL_ECHO(F("??? Max7219::"), func, AS_CHAR('('), v1); if (v2 > 0) SERIAL_ECHOPGM(", ", v2); SERIAL_CHAR(')'); SERIAL_EOL(); @@ -146,7 +154,7 @@ void Max7219::error(FSTR_P const func, const int32_t v1, const int32_t v2/*=-1*/ */ inline uint32_t flipped(const uint32_t bits, const uint8_t n_bytes) { uint32_t mask = 1, outbits = 0; - LOOP_L_N(b, n_bytes * 8) { + for (uint8_t b = 0; b < n_bytes * 8; ++b) { outbits <<= 1; if (bits & mask) outbits |= 1; mask <<= 1; @@ -266,26 +274,27 @@ void Max7219::set(const uint8_t line, const uint8_t bits) { #endif // MAX7219_NUMERIC // Modify a single LED bit and send the changed line -void Max7219::led_set(const uint8_t x, const uint8_t y, const bool on) { +void Max7219::led_set(const uint8_t x, const uint8_t y, const bool on, uint8_t * const rcm/*=nullptr*/) { if (x >= MAX7219_X_LEDS || y >= MAX7219_Y_LEDS) return error(F("led_set"), x, y); if (BIT_7219(x, y) == on) return; XOR_7219(x, y); refresh_unit_line(LED_IND(x, y)); + if (rcm != nullptr) *rcm |= _BV(LED_IND(x, y) & 0x07); } -void Max7219::led_on(const uint8_t x, const uint8_t y) { +void Max7219::led_on(const uint8_t x, const uint8_t y, uint8_t * const rcm/*=nullptr*/) { if (x >= MAX7219_X_LEDS || y >= MAX7219_Y_LEDS) return error(F("led_on"), x, y); - led_set(x, y, true); + led_set(x, y, true, rcm); } -void Max7219::led_off(const uint8_t x, const uint8_t y) { +void Max7219::led_off(const uint8_t x, const uint8_t y, uint8_t * const rcm/*=nullptr*/) { if (x >= MAX7219_X_LEDS || y >= MAX7219_Y_LEDS) return error(F("led_off"), x, y); - led_set(x, y, false); + led_set(x, y, false, rcm); } -void Max7219::led_toggle(const uint8_t x, const uint8_t y) { +void Max7219::led_toggle(const uint8_t x, const uint8_t y, uint8_t * const rcm/*=nullptr*/) { if (x >= MAX7219_X_LEDS || y >= MAX7219_Y_LEDS) return error(F("led_toggle"), x, y); - led_set(x, y, !BIT_7219(x, y)); + led_set(x, y, !BIT_7219(x, y), rcm); } void Max7219::send_row(const uint8_t row) { @@ -328,13 +337,13 @@ void Max7219::fill() { void Max7219::clear_row(const uint8_t row) { if (row >= MAX7219_Y_LEDS) return error(F("clear_row"), row); - LOOP_L_N(x, MAX7219_X_LEDS) CLR_7219(x, row); + for (uint8_t x = 0; x < MAX7219_X_LEDS; ++x) CLR_7219(x, row); send_row(row); } void Max7219::clear_column(const uint8_t col) { if (col >= MAX7219_X_LEDS) return error(F("set_column"), col); - LOOP_L_N(y, MAX7219_Y_LEDS) CLR_7219(col, y); + for (uint8_t y = 0; y < MAX7219_Y_LEDS; ++y) CLR_7219(col, y); send_column(col); } @@ -346,7 +355,7 @@ void Max7219::clear_column(const uint8_t col) { void Max7219::set_row(const uint8_t row, const uint32_t val) { if (row >= MAX7219_Y_LEDS) return error(F("set_row"), row); uint32_t mask = _BV32(MAX7219_X_LEDS - 1); - LOOP_L_N(x, MAX7219_X_LEDS) { + for (uint8_t x = 0; x < MAX7219_X_LEDS; ++x) { if (val & mask) SET_7219(x, row); else CLR_7219(x, row); mask >>= 1; } @@ -361,7 +370,7 @@ void Max7219::set_row(const uint8_t row, const uint32_t val) { void Max7219::set_column(const uint8_t col, const uint32_t val) { if (col >= MAX7219_X_LEDS) return error(F("set_column"), col); uint32_t mask = _BV32(MAX7219_Y_LEDS - 1); - LOOP_L_N(y, MAX7219_Y_LEDS) { + for (uint8_t y = 0; y < MAX7219_Y_LEDS; ++y) { if (val & mask) SET_7219(col, y); else CLR_7219(col, y); mask >>= 1; } @@ -426,29 +435,29 @@ void Max7219::set_columns_32bits(const uint8_t x, uint32_t val) { // Initialize the Max7219 void Max7219::register_setup() { - LOOP_L_N(i, MAX7219_NUMBER_UNITS) + for (uint8_t i = 0; i < MAX7219_NUMBER_UNITS; ++i) send(max7219_reg_scanLimit, 0x07); pulse_load(); // Tell the chips to load the clocked out data - LOOP_L_N(i, MAX7219_NUMBER_UNITS) + for (uint8_t i = 0; i < MAX7219_NUMBER_UNITS; ++i) send(max7219_reg_decodeMode, 0x00); // Using an led matrix (not digits) pulse_load(); // Tell the chips to load the clocked out data - LOOP_L_N(i, MAX7219_NUMBER_UNITS) + for (uint8_t i = 0; i < MAX7219_NUMBER_UNITS; ++i) send(max7219_reg_shutdown, 0x01); // Not in shutdown mode pulse_load(); // Tell the chips to load the clocked out data - LOOP_L_N(i, MAX7219_NUMBER_UNITS) + for (uint8_t i = 0; i < MAX7219_NUMBER_UNITS; ++i) send(max7219_reg_displayTest, 0x00); // No display test pulse_load(); // Tell the chips to load the clocked out data - LOOP_L_N(i, MAX7219_NUMBER_UNITS) + for (uint8_t i = 0; i < MAX7219_NUMBER_UNITS; ++i) send(max7219_reg_intensity, 0x01 & 0x0F); // The first 0x0F is the value you can set // Range: 0x00 to 0x0F pulse_load(); // Tell the chips to load the clocked out data } -#ifdef MAX7219_INIT_TEST +#if MAX7219_INIT_TEST uint8_t test_mode = 0; millis_t next_patt_ms; @@ -461,7 +470,7 @@ void Max7219::register_setup() { constexpr millis_t pattern_delay = 4; int8_t spiralx, spiraly, spiral_dir; - IF<(MAX7219_LEDS > 255), uint16_t, uint8_t>::type spiral_count; + uvalue_t(MAX7219_LEDS) spiral_count; void Max7219::test_pattern() { constexpr int8_t way[][2] = { { 1, 0 }, { 0, 1 }, { -1, 0 }, { 0, -1 } }; @@ -536,13 +545,9 @@ void Max7219::init() { register_setup(); - LOOP_LE_N(i, 7) { // Empty registers to turn all LEDs off - led_line[i] = 0x00; - send(max7219_reg_digit0 + i, 0); - pulse_load(); // Tell the chips to load the clocked out data - } + clear(); - #ifdef MAX7219_INIT_TEST + #if MAX7219_INIT_TEST start_test_pattern(); #endif } @@ -554,41 +559,55 @@ void Max7219::init() { */ // Apply changes to update a marker -void Max7219::mark16(const uint8_t pos, const uint8_t v1, const uint8_t v2) { +void Max7219::mark16(const uint8_t pos, const uint8_t v1, const uint8_t v2, uint8_t * const rcm/*=nullptr*/) { #if MAX7219_X_LEDS > 8 // At least 16 LEDs on the X-Axis. Use single line. - led_off(v1 & 0xF, pos); - led_on(v2 & 0xF, pos); + led_off(v1 & 0xF, pos, rcm); + led_on(v2 & 0xF, pos, rcm); #elif MAX7219_Y_LEDS > 8 // At least 16 LEDs on the Y-Axis. Use a single column. - led_off(pos, v1 & 0xF); - led_on(pos, v2 & 0xF); + led_off(pos, v1 & 0xF, rcm); + led_on(pos, v2 & 0xF, rcm); #else // Single 8x8 LED matrix. Use two lines to get 16 LEDs. - led_off(v1 & 0x7, pos + (v1 >= 8)); - led_on(v2 & 0x7, pos + (v2 >= 8)); + led_off(v1 & 0x7, pos + (v1 >= 8), rcm); + led_on(v2 & 0x7, pos + (v2 >= 8), rcm); #endif } // Apply changes to update a tail-to-head range -void Max7219::range16(const uint8_t y, const uint8_t ot, const uint8_t nt, const uint8_t oh, const uint8_t nh) { +void Max7219::range16(const uint8_t y, const uint8_t ot, const uint8_t nt, const uint8_t oh, + const uint8_t nh, uint8_t * const rcm/*=nullptr*/) { #if MAX7219_X_LEDS > 8 // At least 16 LEDs on the X-Axis. Use single line. if (ot != nt) for (uint8_t n = ot & 0xF; n != (nt & 0xF) && n != (nh & 0xF); n = (n + 1) & 0xF) - led_off(n & 0xF, y); + led_off(n & 0xF, y, rcm); if (oh != nh) for (uint8_t n = (oh + 1) & 0xF; n != ((nh + 1) & 0xF); n = (n + 1) & 0xF) - led_on(n & 0xF, y); + led_on(n & 0xF, y, rcm); #elif MAX7219_Y_LEDS > 8 // At least 16 LEDs on the Y-Axis. Use a single column. if (ot != nt) for (uint8_t n = ot & 0xF; n != (nt & 0xF) && n != (nh & 0xF); n = (n + 1) & 0xF) - led_off(y, n & 0xF); + led_off(y, n & 0xF, rcm); if (oh != nh) for (uint8_t n = (oh + 1) & 0xF; n != ((nh + 1) & 0xF); n = (n + 1) & 0xF) - led_on(y, n & 0xF); + led_on(y, n & 0xF, rcm); #else // Single 8x8 LED matrix. Use two lines to get 16 LEDs. if (ot != nt) for (uint8_t n = ot & 0xF; n != (nt & 0xF) && n != (nh & 0xF); n = (n + 1) & 0xF) - led_off(n & 0x7, y + (n >= 8)); + led_off(n & 0x7, y + (n >= 8), rcm); if (oh != nh) for (uint8_t n = (oh + 1) & 0xF; n != ((nh + 1) & 0xF); n = (n + 1) & 0xF) - led_on(n & 0x7, y + (n >= 8)); + led_on(n & 0x7, y + (n >= 8), rcm); #endif } // Apply changes to update a quantity -void Max7219::quantity16(const uint8_t pos, const uint8_t ov, const uint8_t nv) { +void Max7219::quantity(const uint8_t pos, const uint8_t ov, const uint8_t nv, uint8_t * const rcm/*=nullptr*/) { + for (uint8_t i = _MIN(nv, ov); i < _MAX(nv, ov); i++) + led_set( + #if MAX7219_X_LEDS >= MAX7219_Y_LEDS + i, pos // Single matrix or multiple matrices in Landscape + #else + pos, i // Multiple matrices in Portrait + #endif + , nv >= ov + , rcm + ); +} + +void Max7219::quantity16(const uint8_t pos, const uint8_t ov, const uint8_t nv, uint8_t * const rcm/*=nullptr*/) { for (uint8_t i = _MIN(nv, ov); i < _MAX(nv, ov); i++) led_set( #if MAX7219_X_LEDS > 8 // At least 16 LEDs on the X-Axis. Use single line. @@ -599,6 +618,7 @@ void Max7219::quantity16(const uint8_t pos, const uint8_t ov, const uint8_t nv) i >> 1, pos + (i & 1) #endif , nv >= ov + , rcm ); } @@ -636,16 +656,20 @@ void Max7219::idle_tasks() { register_setup(); } - #ifdef MAX7219_INIT_TEST + #if MAX7219_INIT_TEST if (test_mode) { run_test_pattern(); return; } #endif + // suspend updates and record which lines have changed for batching later + suspended++; + uint8_t row_change_mask = 0x00; + #if ENABLED(MAX7219_DEBUG_PRINTER_ALIVE) if (do_blink) { - led_toggle(MAX7219_X_LEDS - 1, MAX7219_Y_LEDS - 1); + led_toggle(MAX7219_X_LEDS - 1, MAX7219_Y_LEDS - 1, &row_change_mask); next_blink = ms + 1000; } #endif @@ -655,7 +679,7 @@ void Max7219::idle_tasks() { static int16_t last_head_cnt = 0xF, last_tail_cnt = 0xF; if (last_head_cnt != head || last_tail_cnt != tail) { - range16(MAX7219_DEBUG_PLANNER_HEAD, last_tail_cnt, tail, last_head_cnt, head); + range16(MAX7219_DEBUG_PLANNER_HEAD, last_tail_cnt, tail, last_head_cnt, head, &row_change_mask); last_head_cnt = head; last_tail_cnt = tail; } @@ -665,7 +689,7 @@ void Max7219::idle_tasks() { #ifdef MAX7219_DEBUG_PLANNER_HEAD static int16_t last_head_cnt = 0x1; if (last_head_cnt != head) { - mark16(MAX7219_DEBUG_PLANNER_HEAD, last_head_cnt, head); + mark16(MAX7219_DEBUG_PLANNER_HEAD, last_head_cnt, head, &row_change_mask); last_head_cnt = head; } #endif @@ -673,7 +697,7 @@ void Max7219::idle_tasks() { #ifdef MAX7219_DEBUG_PLANNER_TAIL static int16_t last_tail_cnt = 0x1; if (last_tail_cnt != tail) { - mark16(MAX7219_DEBUG_PLANNER_TAIL, last_tail_cnt, tail); + mark16(MAX7219_DEBUG_PLANNER_TAIL, last_tail_cnt, tail, &row_change_mask); last_tail_cnt = tail; } #endif @@ -684,11 +708,39 @@ void Max7219::idle_tasks() { static int16_t last_depth = 0; const int16_t current_depth = (head - tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1) & 0xF; if (current_depth != last_depth) { - quantity16(MAX7219_DEBUG_PLANNER_QUEUE, last_depth, current_depth); + quantity16(MAX7219_DEBUG_PLANNER_QUEUE, last_depth, current_depth, &row_change_mask); last_depth = current_depth; } #endif + #ifdef MAX7219_DEBUG_PROFILE + static uint8_t last_time_fraction = 0; + const uint8_t current_time_fraction = (uint16_t(CodeProfiler::get_time_fraction()) * MAX7219_NUMBER_UNITS + 8) / 16; + if (current_time_fraction != last_time_fraction) { + quantity(MAX7219_DEBUG_PROFILE, last_time_fraction, current_time_fraction, &row_change_mask); + last_time_fraction = current_time_fraction; + } + #endif + + #ifdef MAX7219_DEBUG_MULTISTEPPING + static uint8_t last_multistepping = 0; + const uint8_t multistepping = Stepper::steps_per_isr; + if (multistepping != last_multistepping) { + static uint8_t log2_old = 0; + uint8_t log2_new = 0; + for (uint8_t val = multistepping; val > 1; val >>= 1) log2_new++; + mark16(MAX7219_DEBUG_MULTISTEPPING, log2_old, log2_new, &row_change_mask); + last_multistepping = multistepping; + log2_old = log2_new; + } + #endif + + // batch line updates + suspended--; + if (!suspended) + for (uint8_t i = 0; i < 8; ++i) if (row_change_mask & _BV(i)) + refresh_line(i); + // After resume() automatically do a refresh() if (suspended == 0x80) { suspended = 0; diff --git a/Marlin/src/feature/max7219.h b/Marlin/src/feature/max7219.h index 809bda6d4b..a6b110fdf4 100644 --- a/Marlin/src/feature/max7219.h +++ b/Marlin/src/feature/max7219.h @@ -47,7 +47,6 @@ #ifndef MAX7219_ROTATE #define MAX7219_ROTATE 0 #endif -#define _ROT ((MAX7219_ROTATE + 360) % 360) #ifndef MAX7219_NUMBER_UNITS #define MAX7219_NUMBER_UNITS 1 @@ -73,6 +72,67 @@ #define max7219_reg_shutdown 0x0C #define max7219_reg_displayTest 0x0F +#ifdef MAX7219_DEBUG_PROFILE + // This class sums up the amount of time for which its instances exist. + // By default there is one instantiated for the duration of the idle() + // function. But an instance can be created in any code block to measure + // the time spent from the point of instantiation until the CPU leaves + // block. Be careful about having multiple instances of CodeProfiler as + // it does not guard against double counting. In general mixing ISR and + // non-ISR use will require critical sections but note that mode setting + // is atomic so the total or average times can safely be read if you set + // mode to FREEZE first. + class CodeProfiler { + public: + enum Mode : uint8_t { ACCUMULATE_AVERAGE, ACCUMULATE_TOTAL, FREEZE }; + + private: + static Mode mode; + static uint8_t instance_count; + static uint32_t last_calc_time; + static uint32_t total_time; + static uint8_t time_fraction; + static uint16_t call_count; + + uint32_t start_time; + + public: + CodeProfiler() : start_time(micros()) { instance_count++; } + ~CodeProfiler() { + instance_count--; + if (mode == FREEZE) return; + + call_count++; + + const uint32_t now = micros(); + total_time += now - start_time; + + if (mode == ACCUMULATE_TOTAL) return; + + // update time_fraction every hundred milliseconds + if (instance_count == 0 && ELAPSED(now, last_calc_time + 100000)) { + time_fraction = total_time * 128 / (now - last_calc_time); + last_calc_time = now; + total_time = 0; + } + } + + static void set_mode(Mode _mode) { mode = _mode; } + static void reset() { + time_fraction = 0; + last_calc_time = micros(); + total_time = 0; + call_count = 0; + } + // returns fraction of total time which was measured, scaled from 0 to 128 + static uint8_t get_time_fraction() { return time_fraction; } + // returns total time in microseconds + static uint32_t get_total_time() { return total_time; } + + static uint16_t get_call_count() { return call_count; } + }; +#endif + class Max7219 { public: static uint8_t led_line[MAX7219_LINES]; @@ -110,10 +170,10 @@ public: #endif // Set a single LED by XY coordinate - static void led_set(const uint8_t x, const uint8_t y, const bool on); - static void led_on(const uint8_t x, const uint8_t y); - static void led_off(const uint8_t x, const uint8_t y); - static void led_toggle(const uint8_t x, const uint8_t y); + static void led_set(const uint8_t x, const uint8_t y, const bool on, uint8_t * const rcm=nullptr); + static void led_on(const uint8_t x, const uint8_t y, uint8_t * const rcm=nullptr); + static void led_off(const uint8_t x, const uint8_t y, uint8_t * const rcm=nullptr); + static void led_toggle(const uint8_t x, const uint8_t y, uint8_t * const rcm=nullptr); // Set all LEDs in a single column static void set_column(const uint8_t col, const uint32_t val); @@ -147,11 +207,12 @@ private: static void set(const uint8_t line, const uint8_t bits); static void send_row(const uint8_t row); static void send_column(const uint8_t col); - static void mark16(const uint8_t y, const uint8_t v1, const uint8_t v2); - static void range16(const uint8_t y, const uint8_t ot, const uint8_t nt, const uint8_t oh, const uint8_t nh); - static void quantity16(const uint8_t y, const uint8_t ov, const uint8_t nv); + static void mark16(const uint8_t y, const uint8_t v1, const uint8_t v2, uint8_t * const rcm=nullptr); + static void range16(const uint8_t y, const uint8_t ot, const uint8_t nt, const uint8_t oh, const uint8_t nh, uint8_t * const rcm=nullptr); + static void quantity(const uint8_t y, const uint8_t ov, const uint8_t nv, uint8_t * const rcm=nullptr); + static void quantity16(const uint8_t y, const uint8_t ov, const uint8_t nv, uint8_t * const rcm=nullptr); - #ifdef MAX7219_INIT_TEST + #if MAX7219_INIT_TEST static void test_pattern(); static void run_test_pattern(); static void start_test_pattern(); diff --git a/Marlin/src/feature/meatpack.cpp b/Marlin/src/feature/meatpack.cpp index b2899243b2..5d2d112967 100644 --- a/Marlin/src/feature/meatpack.cpp +++ b/Marlin/src/feature/meatpack.cpp @@ -26,7 +26,7 @@ * Algorithm & Implementation: Scott Mudge - mail@scottmudge.com * Date: Dec. 2020 * - * Character Frequencies from ~30 MB of comment-stripped gcode: + * Character Frequencies from ~30 MB of comment-stripped G-code: * '1' -> 4451136 '4' -> 1353273 '\n' -> 1087683 '-' -> 90242 * '0' -> 4253577 '9' -> 1352147 'G' -> 1075806 'Z' -> 34109 * ' ' -> 3053297 '3' -> 1262929 'X' -> 975742 'M' -> 11879 @@ -171,7 +171,7 @@ void MeatPack::report_state() { // should not contain the "PV' substring, as this is used to indicate protocol version SERIAL_ECHOPGM("[MP] " MeatPack_ProtocolVersion " "); serialprint_onoff(TEST(state, MPConfig_Bit_Active)); - SERIAL_ECHOF(TEST(state, MPConfig_Bit_NoSpaces) ? F(" NSP\n") : F(" ESP\n")); + SERIAL_ECHO(TEST(state, MPConfig_Bit_NoSpaces) ? F(" NSP\n") : F(" ESP\n")); } /** diff --git a/Marlin/src/feature/meatpack.h b/Marlin/src/feature/meatpack.h index a56e65b6cc..37039c3056 100644 --- a/Marlin/src/feature/meatpack.h +++ b/Marlin/src/feature/meatpack.h @@ -20,7 +20,7 @@ * */ -/* +/** * MeatPack G-code Compression * * Algorithm & Implementation: Scott Mudge - mail@scottmudge.com @@ -29,7 +29,7 @@ * Specifically optimized for 3D printing G-Code, this is a zero-cost data compression method * which packs ~180-190% more data into the same amount of bytes going to the CNC controller. * As a majority of G-Code can be represented by a restricted alphabet, I performed histogram - * analysis on a wide variety of 3D printing gcode samples, and found ~93% of all gcode could + * analysis on a wide variety of 3D printing G-code samples, and found ~93% of all G-code could * be represented by the same 15-character alphabet. * * This allowed me to design a system of packing 2 8-bit characters into a single byte, assuming @@ -38,7 +38,7 @@ * * Combined with some logic to allow commingling of full-width characters outside of this 15- * character alphabet (at the cost of an extra 8-bits per full-width character), and by stripping - * out unnecessary comments, the end result is gcode which is roughly half the original size. + * out unnecessary comments, the end result is G-code which is roughly half the original size. * * Why did I do this? I noticed micro-stuttering and other data-bottleneck issues while printing * objects with high curvature, especially at high speeds. There is also the issue of the limited diff --git a/Marlin/src/feature/mixing.cpp b/Marlin/src/feature/mixing.cpp index b1a069e320..6cf59fdb56 100644 --- a/Marlin/src/feature/mixing.cpp +++ b/Marlin/src/feature/mixing.cpp @@ -24,8 +24,6 @@ #if ENABLED(MIXING_EXTRUDER) -//#define MIXER_NORMALIZER_DEBUG - #include "mixing.h" Mixer mixer; @@ -44,7 +42,7 @@ int_fast8_t Mixer::runner = 0; mixer_comp_t Mixer::s_color[MIXING_STEPPERS]; mixer_accu_t Mixer::accu[MIXING_STEPPERS] = { 0 }; -#if EITHER(HAS_DUAL_MIXING, GRADIENT_MIX) +#if ANY(HAS_DUAL_MIXING, GRADIENT_MIX) mixer_perc_t Mixer::mix[MIXING_STEPPERS]; #endif @@ -62,10 +60,7 @@ void Mixer::normalize(const uint8_t tool_index) { } #ifdef MIXER_NORMALIZER_DEBUG SERIAL_ECHOPGM("Mixer: Old relation : [ "); - MIXER_STEPPER_LOOP(i) { - SERIAL_DECIMAL(collector[i] / csum); - SERIAL_CHAR(' '); - } + MIXER_STEPPER_LOOP(i) SERIAL_ECHO(collector[i] / csum, AS_CHAR(' ')); SERIAL_ECHOLNPGM("]"); #endif @@ -77,16 +72,12 @@ void Mixer::normalize(const uint8_t tool_index) { csum = 0; SERIAL_ECHOPGM("Mixer: Normalize to : [ "); MIXER_STEPPER_LOOP(i) { - SERIAL_ECHO(uint16_t(color[tool_index][i])); - SERIAL_CHAR(' '); + SERIAL_ECHO(uint16_t(color[tool_index][i]), AS_CHAR(' ')); csum += color[tool_index][i]; } SERIAL_ECHOLNPGM("]"); SERIAL_ECHOPGM("Mixer: New relation : [ "); - MIXER_STEPPER_LOOP(i) { - SERIAL_ECHO_F(uint16_t(color[tool_index][i]) / csum, 3); - SERIAL_CHAR(' '); - } + MIXER_STEPPER_LOOP(i) SERIAL_ECHO(p_float_t(uint16_t(color[tool_index][i]) / csum, 3), AS_CHAR(' ')); SERIAL_ECHOLNPGM("]"); #endif @@ -96,13 +87,13 @@ void Mixer::normalize(const uint8_t tool_index) { void Mixer::reset_vtools() { // Virtual Tools 0, 1, 2, 3 = Filament 1, 2, 3, 4, etc. // Every virtual tool gets a pure filament - LOOP_L_N(t, _MIN(MIXING_VIRTUAL_TOOLS, MIXING_STEPPERS)) + for (uint8_t t = 0; t < _MIN(MIXING_VIRTUAL_TOOLS, MIXING_STEPPERS); ++t) MIXER_STEPPER_LOOP(i) color[t][i] = (t == i) ? COLOR_A_MASK : 0; // Remaining virtual tools are 100% filament 1 #if MIXING_VIRTUAL_TOOLS > MIXING_STEPPERS - LOOP_S_L_N(t, MIXING_STEPPERS, MIXING_VIRTUAL_TOOLS) + for (uint8_t t = MIXING_STEPPERS; t < MIXING_VIRTUAL_TOOLS; ++t) MIXER_STEPPER_LOOP(i) color[t][i] = (i == 0) ? COLOR_A_MASK : 0; #endif @@ -140,7 +131,7 @@ void Mixer::init() { color[MIXER_AUTORETRACT_TOOL][i] = COLOR_A_MASK; #endif - #if EITHER(HAS_DUAL_MIXING, GRADIENT_MIX) + #if ANY(HAS_DUAL_MIXING, GRADIENT_MIX) update_mix_from_vtool(); #endif diff --git a/Marlin/src/feature/mixing.h b/Marlin/src/feature/mixing.h index 85d52d69c8..4340a510a5 100644 --- a/Marlin/src/feature/mixing.h +++ b/Marlin/src/feature/mixing.h @@ -108,7 +108,7 @@ class Mixer { } // Used when dealing with blocks - FORCE_INLINE static void populate_block(mixer_comp_t b_color[MIXING_STEPPERS]) { + FORCE_INLINE static void populate_block(mixer_comp_t (&b_color)[MIXING_STEPPERS]) { #if ENABLED(GRADIENT_MIX) if (gradient.enabled) { MIXER_STEPPER_LOOP(i) b_color[i] = gradient.color[i]; @@ -118,11 +118,11 @@ class Mixer { MIXER_STEPPER_LOOP(i) b_color[i] = color[selected_vtool][i]; } - FORCE_INLINE static void stepper_setup(mixer_comp_t b_color[MIXING_STEPPERS]) { + FORCE_INLINE static void stepper_setup(mixer_comp_t (&b_color)[MIXING_STEPPERS]) { MIXER_STEPPER_LOOP(i) s_color[i] = b_color[i]; } - #if EITHER(HAS_DUAL_MIXING, GRADIENT_MIX) + #if ANY(HAS_DUAL_MIXING, GRADIENT_MIX) static mixer_perc_t mix[MIXING_STEPPERS]; // Scratch array for the Mix in proportion to 100 @@ -137,26 +137,24 @@ class Mixer { MIXER_STEPPER_LOOP(i) tcolor[i] = mix[i] * scale; #ifdef MIXER_NORMALIZER_DEBUG - SERIAL_ECHOPGM("Mix [ "); - SERIAL_ECHOLIST_N(MIXING_STEPPERS, mix[0], mix[1], mix[2], mix[3], mix[4], mix[5]); - SERIAL_ECHOPGM(" ] to Color [ "); - SERIAL_ECHOLIST_N(MIXING_STEPPERS, tcolor[0], tcolor[1], tcolor[2], tcolor[3], tcolor[4], tcolor[5]); - SERIAL_ECHOLNPGM(" ]"); + SERIAL_ECHOLN( + F("Mix [ "), LIST_N(MIXING_STEPPERS, mix[0], mix[1], mix[2], mix[3], mix[4], mix[5]), + F(" ] to Color [ "), LIST_N(MIXING_STEPPERS, tcolor[0], tcolor[1], tcolor[2], tcolor[3], tcolor[4], tcolor[5]), + F(" ]") + ); #endif } static void update_mix_from_vtool(const uint8_t j=selected_vtool) { float ctot = 0; MIXER_STEPPER_LOOP(i) ctot += color[j][i]; - //MIXER_STEPPER_LOOP(i) mix[i] = 100.0f * color[j][i] / ctot; - MIXER_STEPPER_LOOP(i) mix[i] = mixer_perc_t(100.0f * color[j][i] / ctot); + MIXER_STEPPER_LOOP(i) mix[i] = mixer_perc_t(100.0f * color[j][i] / ctot + 0.5f); #ifdef MIXER_NORMALIZER_DEBUG - SERIAL_ECHOPGM("V-tool ", j, " [ "); - SERIAL_ECHOLIST_N(MIXING_STEPPERS, color[j][0], color[j][1], color[j][2], color[j][3], color[j][4], color[j][5]); - SERIAL_ECHOPGM(" ] to Mix [ "); - SERIAL_ECHOLIST_N(MIXING_STEPPERS, mix[0], mix[1], mix[2], mix[3], mix[4], mix[5]); - SERIAL_ECHOLNPGM(" ]"); + SERIAL_ECHOLN(F("V-tool "), j, + F(" [ "), LIST_N(MIXING_STEPPERS, color[j][0], color[j][1], color[j][2], color[j][3], color[j][4], color[j][5]), + F(" ] to Mix [ "), LIST_N(MIXING_STEPPERS, mix[0], mix[1], mix[2], mix[3], mix[4], mix[5]), F(" ]") + ); #endif } @@ -197,11 +195,10 @@ class Mixer { MIXER_STEPPER_LOOP(i) mix[i] = (mixer_perc_t)CEIL(100.0f * gradient.color[i] / ctot); #ifdef MIXER_NORMALIZER_DEBUG - SERIAL_ECHOPGM("Gradient [ "); - SERIAL_ECHOLIST_N(MIXING_STEPPERS, gradient.color[0], gradient.color[1], gradient.color[2], gradient.color[3], gradient.color[4], gradient.color[5]); - SERIAL_ECHOPGM(" ] to Mix [ "); - SERIAL_ECHOLIST_N(MIXING_STEPPERS, mix[0], mix[1], mix[2], mix[3], mix[4], mix[5]); - SERIAL_ECHOLNPGM(" ]"); + SERIAL_ECHOLN( + F("Gradient [ "), LIST_N(MIXING_STEPPERS, gradient.color[0], gradient.color[1], gradient.color[2], gradient.color[3], gradient.color[4], gradient.color[5]), + F(" ] to Mix [ "), LIST_N(MIXING_STEPPERS, mix[0], mix[1], mix[2], mix[3], mix[4], mix[5]), F(" ]") + ); #endif } @@ -234,13 +231,7 @@ class Mixer { for (;;) { if (--runner < 0) runner = MIXING_STEPPERS - 1; accu[runner] += s_color[runner]; - if ( - #ifdef MIXER_ACCU_SIGNED - accu[runner] < 0 - #else - accu[runner] & COLOR_A_MASK - #endif - ) { + if (TERN(MIXER_ACCU_SIGNED, accu[runner] < 0, accu[runner] & COLOR_A_MASK)) { accu[runner] &= COLOR_MASK; return runner; } diff --git a/Marlin/src/feature/mmu/mmu2-serial-protocol.md b/Marlin/src/feature/mmu/mmu2-serial-protocol.md index 7ff0901742..42f30e418d 100644 --- a/Marlin/src/feature/mmu/mmu2-serial-protocol.md +++ b/Marlin/src/feature/mmu/mmu2-serial-protocol.md @@ -51,7 +51,7 @@ When done, the MMU sends - MMU => 'ok\n' -We don't wait for a response here but immediately continue with the next gcode which should +We don't wait for a response here but immediately continue with the next G-code which should be one or more extruder moves to feed the filament into the hotend. @@ -91,4 +91,3 @@ Eject filament - MMU <= 'E*Filament index*\n' - MMU => 'ok\n' - diff --git a/Marlin/src/feature/mmu/mmu2.cpp b/Marlin/src/feature/mmu/mmu2.cpp index 63fd8ae059..36f4606451 100644 --- a/Marlin/src/feature/mmu/mmu2.cpp +++ b/Marlin/src/feature/mmu/mmu2.cpp @@ -54,7 +54,8 @@ MMU2 mmu2; #define MMU_CMD_TIMEOUT 45000UL // 45s timeout for mmu commands (except P0) #define MMU_P0_TIMEOUT 3000UL // Timeout for P0 command: 3seconds -#define MMU2_COMMAND(S) tx_str(F(S "\n")) +#define MMU2_SEND(S) tx_str(F(S "\n")) +#define MMU2_RECV(S) rx_str(F(S "\n")) #if ENABLED(MMU_EXTRUDER_SENSOR) uint8_t mmu_idl_sens = 0; @@ -83,7 +84,7 @@ uint8_t MMU2::cmd, MMU2::cmd_arg, MMU2::last_cmd, MMU2::extruder; int8_t MMU2::state = 0; volatile int8_t MMU2::finda = 1; volatile bool MMU2::finda_runout_valid; -int16_t MMU2::version = -1, MMU2::buildnr = -1; +uint16_t MMU2::version = 0, MMU2::buildnr = 0; millis_t MMU2::prev_request, MMU2::prev_P0_request; char MMU2::rx_buffer[MMU_RX_SIZE], MMU2::tx_buffer[MMU_TX_SIZE]; @@ -92,14 +93,11 @@ struct E_Step { feedRate_t feedRate; //!< feed rate in mm/s }; -static constexpr E_Step - ramming_sequence[] PROGMEM = { MMU2_RAMMING_SEQUENCE } - , load_to_nozzle_sequence[] PROGMEM = { MMU2_LOAD_TO_NOZZLE_SEQUENCE } - #if HAS_PRUSA_MMU2S - , can_load_sequence[] PROGMEM = { MMU2_CAN_LOAD_SEQUENCE } - , can_load_increment_sequence[] PROGMEM = { MMU2_CAN_LOAD_INCREMENT_SEQUENCE } - #endif -; +inline void unscaled_mmu2_e_move(const float &dist, const feedRate_t fr_mm_s, const bool sync=true) { + current_position.e += dist / planner.e_factor[active_extruder]; + line_to_current_position(fr_mm_s); + if (sync) planner.synchronize(); +} MMU2::MMU2() { rx_buffer[0] = '\0'; @@ -131,16 +129,16 @@ void MMU2::reset() { safe_delay(20); WRITE(MMU2_RST_PIN, HIGH); #else - MMU2_COMMAND("X0"); // Send soft reset + MMU2_SEND("X0"); // Send soft reset #endif } -uint8_t MMU2::get_current_tool() { - return extruder == MMU2_NO_TOOL ? -1 : extruder; -} +int8_t MMU2::get_current_tool() { return extruder == MMU2_NO_TOOL ? -1 : extruder; } -#if EITHER(HAS_PRUSA_MMU2S, MMU_EXTRUDER_SENSOR) +#if ANY(HAS_PRUSA_MMU2S, MMU_EXTRUDER_SENSOR) #define FILAMENT_PRESENT() (READ(FIL_RUNOUT1_PIN) != runout.out_state()) +#else + #define FILAMENT_PRESENT() true #endif void mmu2_attn_buzz(const bool two=false) { @@ -157,11 +155,9 @@ void MMU2::mmu_loop() { case -1: if (rx_start()) { prev_P0_request = millis(); // Initialize finda sensor timeout - DEBUG_ECHOLNPGM("MMU => 'start'"); DEBUG_ECHOLNPGM("MMU <= 'S1'"); - - MMU2_COMMAND("S1"); // Read Version + MMU2_SEND("S1"); // Read Version state = -2; } else if (millis() > 30000) { // 30sec after reset disable MMU @@ -173,10 +169,8 @@ void MMU2::mmu_loop() { case -2: if (rx_ok()) { sscanf(rx_buffer, "%huok\n", &version); - DEBUG_ECHOLNPGM("MMU => ", version, "\nMMU <= 'S2'"); - - MMU2_COMMAND("S2"); // Read Build Number + MMU2_SEND("S2"); // Read Build Number state = -3; } break; @@ -191,31 +185,27 @@ void MMU2::mmu_loop() { #if ENABLED(MMU2_MODE_12V) DEBUG_ECHOLNPGM("MMU <= 'M1'"); - - MMU2_COMMAND("M1"); // Stealth Mode + MMU2_SEND("M1"); // Stealth Mode state = -5; #else DEBUG_ECHOLNPGM("MMU <= 'P0'"); - - MMU2_COMMAND("P0"); // Read FINDA + MMU2_SEND("P0"); // Read FINDA state = -4; #endif } break; #if ENABLED(MMU2_MODE_12V) - case -5: - // response to M1 - if (rx_ok()) { - DEBUG_ECHOLNPGM("MMU => ok"); - - DEBUG_ECHOLNPGM("MMU <= 'P0'"); - - MMU2_COMMAND("P0"); // Read FINDA - state = -4; - } - break; + case -5: + // response to M1 + if (rx_ok()) { + DEBUG_ECHOLNPGM("MMU => ok"); + DEBUG_ECHOLNPGM("MMU <= 'P0'"); + MMU2_SEND("P0"); // Read FINDA + state = -4; + } + break; #endif case -4: @@ -250,14 +240,13 @@ void MMU2::mmu_loop() { else if (cmd == MMU_CMD_C0) { // continue loading DEBUG_ECHOLNPGM("MMU <= 'C0'"); - MMU2_COMMAND("C0"); + MMU2_SEND("C0"); state = 3; // wait for response } else if (cmd == MMU_CMD_U0) { // unload current DEBUG_ECHOLNPGM("MMU <= 'U0'"); - - MMU2_COMMAND("U0"); + MMU2_SEND("U0"); state = 3; // wait for response } else if (WITHIN(cmd, MMU_CMD_E0, MMU_CMD_E0 + EXTRUDERS - 1)) { @@ -270,7 +259,7 @@ void MMU2::mmu_loop() { else if (cmd == MMU_CMD_R0) { // recover after eject DEBUG_ECHOLNPGM("MMU <= 'R0'"); - MMU2_COMMAND("R0"); + MMU2_SEND("R0"); state = 3; // wait for response } else if (WITHIN(cmd, MMU_CMD_F0, MMU_CMD_F0 + EXTRUDERS - 1)) { @@ -285,7 +274,7 @@ void MMU2::mmu_loop() { cmd = MMU_CMD_NONE; } else if (ELAPSED(millis(), prev_P0_request + 300)) { - MMU2_COMMAND("P0"); // Read FINDA + MMU2_SEND("P0"); // Read FINDA state = 2; // wait for response } @@ -297,7 +286,7 @@ void MMU2::mmu_loop() { sscanf(rx_buffer, "%hhuok\n", &finda); // This is super annoying. Only activate if necessary - // if (finda_runout_valid) DEBUG_ECHOLNPAIR_F("MMU <= 'P0'\nMMU => ", finda, 6); + //if (finda_runout_valid) DEBUG_ECHOLNPGM("MMU <= 'P0'\nMMU => ", p_float_t(finda, 6)); if (!finda && finda_runout_valid) filament_runout(); if (cmd == MMU_CMD_NONE) ready = true; @@ -314,7 +303,7 @@ void MMU2::mmu_loop() { if (mmu_idl_sens) { if (FILAMENT_PRESENT() && mmu_loading_flag) { DEBUG_ECHOLNPGM("MMU <= 'A'"); - MMU2_COMMAND("A"); // send 'abort' request + MMU2_SEND("A"); // send 'abort' request mmu_idl_sens = 0; DEBUG_ECHOLNPGM("MMU IDLER_SENSOR = 0 - ABORT"); } @@ -327,9 +316,9 @@ void MMU2::mmu_loop() { const bool keep_trying = !mmu2s_triggered && last_cmd == MMU_CMD_C0; if (keep_trying) { // MMU ok received but filament sensor not triggered, retrying... - DEBUG_ECHOLNPGM("MMU => 'ok' (filament not present in gears)"); + DEBUG_ECHOLNPGM("MMU => 'ok' (no filament in gears)"); DEBUG_ECHOLNPGM("MMU <= 'C0' (keep trying)"); - MMU2_COMMAND("C0"); + MMU2_SEND("C0"); } #else constexpr bool keep_trying = false; @@ -361,7 +350,7 @@ void MMU2::mmu_loop() { */ bool MMU2::rx_start() { // check for start message - return rx_str(F("start\n")); + return MMU2_RECV("start"); } /** @@ -414,7 +403,7 @@ void MMU2::tx_str(FSTR_P fstr) { void MMU2::tx_printf(FSTR_P format, int argument = -1) { clear_rx_buffer(); const uint8_t len = sprintf_P(tx_buffer, FTOP(format), argument); - LOOP_L_N(i, len) MMU2_SERIAL.write(tx_buffer[i]); + for (uint8_t i = 0; i < len; ++i) MMU2_SERIAL.write(tx_buffer[i]); prev_request = millis(); } @@ -424,7 +413,7 @@ void MMU2::tx_printf(FSTR_P format, int argument = -1) { void MMU2::tx_printf(FSTR_P format, int argument1, int argument2) { clear_rx_buffer(); const uint8_t len = sprintf_P(tx_buffer, FTOP(format), argument1, argument2); - LOOP_L_N(i, len) MMU2_SERIAL.write(tx_buffer[i]); + for (uint8_t i = 0; i < len; ++i) MMU2_SERIAL.write(tx_buffer[i]); prev_request = millis(); } @@ -440,7 +429,7 @@ void MMU2::clear_rx_buffer() { * Check if we received 'ok' from MMU */ bool MMU2::rx_ok() { - if (rx_str(F("ok\n"))) { + if (MMU2_RECV("ok")) { prev_P0_request = millis(); return true; } @@ -466,12 +455,19 @@ static void mmu2_not_responding() { BUZZ(100, 659); } +inline void beep_bad_cmd() { BUZZ(400, 40); } + #if HAS_PRUSA_MMU2S + /** + * Load filament until the sensor at the gears is triggered + * and give up after a number of attempts set with MMU2_C0_RETRY. + * Each try has a timeout before returning a fail state. + */ bool MMU2::load_to_gears() { command(MMU_CMD_C0); manage_response(true, true); - LOOP_L_N(i, MMU2_C0_RETRY) { // Keep loading until filament reaches gears + for (uint8_t i = 0; i < MMU2_C0_RETRY; ++i) { // Keep loading until filament reaches gears if (mmu2s_triggered) break; command(MMU_CMD_C0); manage_response(true, true); @@ -492,6 +488,11 @@ static void mmu2_not_responding() { set_runout_valid(false); if (index != extruder) { + if (ENABLED(MMU_IR_UNLOAD_MOVE) && FILAMENT_PRESENT()) { + DEBUG_ECHOLNPGM("Unloading\n"); + while (FILAMENT_PRESENT()) // Filament present? Keep unloading. + unscaled_mmu2_e_move(-0.25, MMM_TO_MMS(120)); // 0.25mm is a guessed value. Adjust to preference. + } stepper.disable_extruder(); ui.status_printf(0, GET_TEXT_F(MSG_MMU2_LOADING_FILAMENT), int(index + 1)); @@ -528,9 +529,9 @@ static void mmu2_not_responding() { #if ENABLED(MMU2_MENUS) const uint8_t index = mmu2_choose_filament(); while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100); - load_filament_to_nozzle(index); + load_to_nozzle(index); #else - ERR_BUZZ(); + beep_bad_cmd(); #endif } break; @@ -549,13 +550,13 @@ static void mmu2_not_responding() { active_extruder = 0; } #else - ERR_BUZZ(); + beep_bad_cmd(); #endif } break; case 'c': { while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100); - load_to_nozzle(); + load_to_nozzle_sequence(); } break; } @@ -585,7 +586,7 @@ static void mmu2_not_responding() { command(MMU_CMD_T0 + index); manage_response(true, true); mmu_continue_loading(); - command(MMU_CMD_C0); + //command(MMU_CMD_C0); extruder = index; active_extruder = 0; @@ -616,9 +617,9 @@ static void mmu2_not_responding() { #if ENABLED(MMU2_MENUS) uint8_t index = mmu2_choose_filament(); while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100); - load_filament_to_nozzle(index); + load_to_nozzle(index); #else - ERR_BUZZ(); + beep_bad_cmd(); #endif } break; @@ -638,14 +639,14 @@ static void mmu2_not_responding() { extruder = index; active_extruder = 0; #else - ERR_BUZZ(); + beep_bad_cmd(); #endif } break; case 'c': { DEBUG_ECHOLNPGM("case c\n"); while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100); - execute_extruder_sequence((const E_Step *)load_to_nozzle_sequence, COUNT(load_to_nozzle_sequence)); + load_to_nozzle_sequence(); } break; } @@ -653,13 +654,34 @@ static void mmu2_not_responding() { } void MMU2::mmu_continue_loading() { + // Try to load the filament a limited number of times + bool fil_present = 0; for (uint8_t i = 0; i < MMU_LOADING_ATTEMPTS_NR; i++) { - DEBUG_ECHOLNPGM("Additional load attempt #", i); - if (FILAMENT_PRESENT()) break; + DEBUG_ECHOLNPGM("Load attempt #", i + 1); + + // Done as soon as filament is present + fil_present = FILAMENT_PRESENT(); + if (fil_present) break; + + // Attempt to load the filament, 1mm at a time, for 3s command(MMU_CMD_C0); + stepper.enable_extruder(); + const millis_t expire_ms = millis() + 3000; + do { + current_position.e += 1; + line_to_current_position(MMU_LOAD_FEEDRATE); + planner.synchronize(); + // When (T0 rx->ok) load is ready, but in fact it did not load + // successfully or an overload created pressure in the extruder. + // Send (C0) to load more and move E_AXIS a little to release pressure. + if ((fil_present = FILAMENT_PRESENT())) MMU2_SEND("A"); + } while (!fil_present && PENDING(millis(), expire_ms)); + stepper.disable_extruder(); manage_response(true, true); } - if (!FILAMENT_PRESENT()) { + + // Was the filament still missing in the last check? + if (!fil_present) { DEBUG_ECHOLNPGM("Filament never reached sensor, runout"); filament_runout(); } @@ -682,7 +704,7 @@ static void mmu2_not_responding() { command(MMU_CMD_T0 + index); manage_response(true, true); command(MMU_CMD_C0); - extruder = index; //filament change is finished + extruder = index; // Filament change is finished active_extruder = 0; stepper.enable_extruder(); SERIAL_ECHO_MSG(STR_ACTIVE_EXTRUDER, extruder); @@ -710,9 +732,9 @@ static void mmu2_not_responding() { #if ENABLED(MMU2_MENUS) uint8_t index = mmu2_choose_filament(); while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100); - load_filament_to_nozzle(index); + load_to_nozzle(index); #else - ERR_BUZZ(); + beep_bad_cmd(); #endif } break; @@ -731,14 +753,14 @@ static void mmu2_not_responding() { extruder = index; active_extruder = 0; #else - ERR_BUZZ(); + beep_bad_cmd(); #endif } break; case 'c': { DEBUG_ECHOLNPGM("case c\n"); while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100); - execute_extruder_sequence((const E_Step *)load_to_nozzle_sequence, COUNT(load_to_nozzle_sequence)); + load_to_nozzle_sequence(); } break; } @@ -802,8 +824,7 @@ void MMU2::manage_response(const bool move_axes, const bool turn_off_nozzle) { resume_hotend_temp = thermalManager.degTargetHotend(active_extruder); resume_position = current_position; - if (move_axes && all_axes_homed()) - nozzle.park(0, park_point /*= NOZZLE_PARK_POINT*/); + if (move_axes && all_axes_homed()) nozzle.park(0, park_point); if (turn_off_nozzle) thermalManager.setTargetHotend(0, active_extruder); @@ -811,13 +832,12 @@ void MMU2::manage_response(const bool move_axes, const bool turn_off_nozzle) { } } else if (mmu_print_saved) { - SERIAL_ECHOLNPGM("MMU starts responding\n"); + SERIAL_ECHOLNPGM("\nMMU starts responding"); if (turn_off_nozzle && resume_hotend_temp) { thermalManager.setTargetHotend(resume_hotend_temp, active_extruder); LCD_MESSAGE(MSG_HEATING); ERR_BUZZ(); - while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(1000); } @@ -830,7 +850,6 @@ void MMU2::manage_response(const bool move_axes, const bool turn_off_nozzle) { if (move_axes && all_axes_homed()) { // Move XY to starting position, then Z do_blocking_move_to_xy(resume_position, feedRate_t(NOZZLE_PARK_XY_FEEDRATE)); - // Move Z_AXIS to saved position do_blocking_move_to_z(resume_position.z, feedRate_t(NOZZLE_PARK_Z_FEEDRATE)); } @@ -861,27 +880,28 @@ void MMU2::filament_runout() { if (cmd == MMU_CMD_NONE && last_cmd == MMU_CMD_C0) { if (present && !mmu2s_triggered) { DEBUG_ECHOLNPGM("MMU <= 'A'"); - tx_str(F("A\n")); + MMU2_SEND("A"); } // Slowly spin the extruder during C0 else { - while (planner.movesplanned() < 3) { - current_position.e += 0.25; - line_to_current_position(MMM_TO_MMS(120)); - } + while (planner.movesplanned() < 3) + unscaled_mmu2_e_move(0.25, MMM_TO_MMS(120), false); } } mmu2s_triggered = present; } bool MMU2::can_load() { - execute_extruder_sequence((const E_Step *)can_load_sequence, COUNT(can_load_sequence)); + static const E_Step can_load_sequence[] PROGMEM = { MMU2_CAN_LOAD_SEQUENCE }, + can_load_increment_sequence[] PROGMEM = { MMU2_CAN_LOAD_INCREMENT_SEQUENCE }; + + execute_extruder_sequence(can_load_sequence, COUNT(can_load_sequence)); int filament_detected_count = 0; const int steps = (MMU2_CAN_LOAD_RETRACT) / (MMU2_CAN_LOAD_INCREMENT); DEBUG_ECHOLNPGM("MMU can_load:"); - LOOP_L_N(i, steps) { - execute_extruder_sequence((const E_Step *)can_load_increment_sequence, COUNT(can_load_increment_sequence)); + for (uint8_t i = 0; i < steps; ++i) { + execute_extruder_sequence(can_load_increment_sequence, COUNT(can_load_increment_sequence)); check_filament(); // Don't trust the idle function DEBUG_CHAR(mmu2s_triggered ? 'O' : 'o'); if (mmu2s_triggered) ++filament_detected_count; @@ -899,7 +919,7 @@ void MMU2::filament_runout() { #endif // Load filament into MMU2 -void MMU2::load_filament(const uint8_t index) { +void MMU2::load_to_feeder(const uint8_t index) { if (!_enabled) return; command(MMU_CMD_L0 + index); @@ -910,8 +930,7 @@ void MMU2::load_filament(const uint8_t index) { /** * Switch material and load to nozzle */ -bool MMU2::load_filament_to_nozzle(const uint8_t index) { - +bool MMU2::load_to_nozzle(const uint8_t index) { if (!_enabled) return false; if (thermalManager.tooColdToExtrude(active_extruder)) { @@ -920,6 +939,13 @@ bool MMU2::load_filament_to_nozzle(const uint8_t index) { return false; } + if (TERN0(MMU_IR_UNLOAD_MOVE, index != extruder) && FILAMENT_PRESENT()) { + DEBUG_ECHOLNPGM("Unloading\n"); + ramming_sequence(); // Unloading instructions from printer side when operating LCD + while (FILAMENT_PRESENT()) // Filament present? Keep unloading. + unscaled_mmu2_e_move(-0.25, MMM_TO_MMS(120)); // 0.25mm is a guessed value. Adjust to preference. + } + stepper.disable_extruder(); command(MMU_CMD_T0 + index); manage_response(true, true); @@ -929,23 +955,12 @@ bool MMU2::load_filament_to_nozzle(const uint8_t index) { mmu_loop(); extruder = index; active_extruder = 0; - load_to_nozzle(); + load_to_nozzle_sequence(); mmu2_attn_buzz(); } return success; } -/** - * Load filament to nozzle of multimaterial printer - * - * This function is used only after T? (user select filament) and M600 (change filament). - * It is not used after T0 .. T4 command (select filament), in such case, gcode is responsible for loading - * filament to nozzle. - */ -void MMU2::load_to_nozzle() { - execute_extruder_sequence((const E_Step *)load_to_nozzle_sequence, COUNT(load_to_nozzle_sequence)); -} - bool MMU2::eject_filament(const uint8_t index, const bool recover) { if (!_enabled) return false; @@ -958,20 +973,17 @@ bool MMU2::eject_filament(const uint8_t index, const bool recover) { LCD_MESSAGE(MSG_MMU2_EJECTING_FILAMENT); - stepper.enable_extruder(); - current_position.e -= MMU2_FILAMENTCHANGE_EJECT_FEED; - line_to_current_position(MMM_TO_MMS(2500)); - planner.synchronize(); + unscaled_mmu2_e_move(-(MMU2_FILAMENTCHANGE_EJECT_FEED), MMM_TO_MMS(2500)); command(MMU_CMD_E0 + index); manage_response(false, false); if (recover) { - LCD_MESSAGE(MSG_MMU2_EJECT_RECOVER); + LCD_MESSAGE(MSG_MMU2_REMOVE_AND_CLICK); mmu2_attn_buzz(); - TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_do(PROMPT_USER_CONTINUE, F("MMU2 Eject Recover"), FPSTR(CONTINUE_STR))); - TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired(F("MMU2 Eject Recover"))); + TERN_(HOST_PROMPT_SUPPORT, hostui.continue_prompt(GET_TEXT_F(MSG_MMU2_EJECT_RECOVER))); + TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired(GET_TEXT_F(MSG_MMU2_EJECT_RECOVER))); TERN_(HAS_RESUME_CONTINUE, wait_for_user_response()); - mmu2_attn_buzz(true); + mmu2_attn_buzz(); command(MMU_CMD_R0); manage_response(false, false); @@ -1005,7 +1017,7 @@ bool MMU2::unload() { } // Unload sequence to optimize shape of the tip of the unloaded filament - execute_extruder_sequence((const E_Step *)ramming_sequence, sizeof(ramming_sequence) / sizeof(E_Step)); + ramming_sequence(); command(MMU_CMD_U0); manage_response(false, true); @@ -1020,24 +1032,26 @@ bool MMU2::unload() { return true; } +void MMU2::ramming_sequence() { + static const E_Step sequence[] PROGMEM = { MMU2_RAMMING_SEQUENCE }; + execute_extruder_sequence(sequence, COUNT(sequence)); +} + +void MMU2::load_to_nozzle_sequence() { + static const E_Step sequence[] PROGMEM = { MMU2_LOAD_TO_NOZZLE_SEQUENCE }; + execute_extruder_sequence(sequence, COUNT(sequence)); +} + void MMU2::execute_extruder_sequence(const E_Step * sequence, int steps) { - planner.synchronize(); - stepper.enable_extruder(); - const E_Step* step = sequence; + const E_Step *step = sequence; - LOOP_L_N(i, steps) { + for (uint8_t i = 0; i < steps; ++i) { const float es = pgm_read_float(&(step->extrude)); const feedRate_t fr_mm_m = pgm_read_float(&(step->feedRate)); - - DEBUG_ECHO_START(); - DEBUG_ECHOLNPGM("E step ", es, "/", fr_mm_m); - - current_position.e += es; - line_to_current_position(MMM_TO_MMS(fr_mm_m)); - planner.synchronize(); - + DEBUG_ECHO_MSG("E step ", es, "/", fr_mm_m); + unscaled_mmu2_e_move(es, MMM_TO_MMS(fr_mm_m)); step++; } diff --git a/Marlin/src/feature/mmu/mmu2.h b/Marlin/src/feature/mmu/mmu2.h index 7d3d9ec4df..bebbae667e 100644 --- a/Marlin/src/feature/mmu/mmu2.h +++ b/Marlin/src/feature/mmu/mmu2.h @@ -47,13 +47,12 @@ public: static void mmu_loop(); static void tool_change(const uint8_t index); static void tool_change(const char *special); - static uint8_t get_current_tool(); + static int8_t get_current_tool(); static void set_filament_type(const uint8_t index, const uint8_t type); static bool unload(); - static void load_filament(uint8_t); - static void load_all(); - static bool load_filament_to_nozzle(const uint8_t index); + static void load_to_feeder(const uint8_t index); + static bool load_to_nozzle(const uint8_t index); static bool eject_filament(const uint8_t index, const bool recover); private: @@ -71,8 +70,9 @@ private: static bool get_response(); static void manage_response(const bool move_axes, const bool turn_off_nozzle); - static void load_to_nozzle(); static void execute_extruder_sequence(const E_Step * sequence, int steps); + static void ramming_sequence(); + static void load_to_nozzle_sequence(); static void filament_runout(); @@ -86,6 +86,7 @@ private: #endif #if ENABLED(MMU_EXTRUDER_SENSOR) + #define MMU_LOAD_FEEDRATE 19.02f // (mm/s) static void mmu_continue_loading(); #endif @@ -95,7 +96,7 @@ private: static int8_t state; static volatile int8_t finda; static volatile bool finda_runout_valid; - static int16_t version, buildnr; + static uint16_t version, buildnr; static millis_t prev_request, prev_P0_request; static char rx_buffer[MMU_RX_SIZE], tx_buffer[MMU_TX_SIZE]; diff --git a/Marlin/src/feature/pause.cpp b/Marlin/src/feature/pause.cpp index 813c2bd0a7..4fc9ff99b7 100644 --- a/Marlin/src/feature/pause.cpp +++ b/Marlin/src/feature/pause.cpp @@ -35,10 +35,13 @@ #include "../gcode/gcode.h" #include "../module/motion.h" #include "../module/planner.h" -#include "../module/stepper.h" #include "../module/printcounter.h" #include "../module/temperature.h" +#if HAS_EXTRUDERS + #include "../module/stepper.h" +#endif + #if ENABLED(AUTO_BED_LEVELING_UBL) #include "bedlevel/bedlevel.h" #endif @@ -63,7 +66,7 @@ #include "../lcd/marlinui.h" -#if HAS_BUZZER +#if HAS_SOUND #include "../libs/buzzer.h" #endif @@ -88,7 +91,7 @@ static xyze_pos_t resume_position; fil_change_settings_t fc_settings[EXTRUDERS]; -#if ENABLED(SDSUPPORT) +#if HAS_MEDIA #include "../sd/cardreader.h" #endif @@ -98,7 +101,7 @@ fil_change_settings_t fc_settings[EXTRUDERS]; #define _PMSG(L) L##_LCD #endif -#if HAS_BUZZER +#if HAS_SOUND static void impatient_beep(const int8_t max_beep_count, const bool restart=false) { if (TERN0(HAS_MARLINUI_MENU, pause_mode == PAUSE_MODE_PAUSE_PRINT)) return; @@ -198,7 +201,7 @@ bool load_filament(const_float_t slow_load_length/*=0*/, const_float_t fast_load KEEPALIVE_STATE(PAUSED_FOR_USER); wait_for_user = true; // LCD click or M108 will clear this - TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired(F("Load Filament"))); + TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired(GET_TEXT_F(MSG_FILAMENTLOAD))); #if ENABLED(HOST_PROMPT_SUPPORT) const char tool = '0' + TERN0(MULTI_FILAMENT_SENSOR, active_extruder); @@ -207,7 +210,7 @@ bool load_filament(const_float_t slow_load_length/*=0*/, const_float_t fast_load while (wait_for_user) { impatient_beep(max_beep_count); - #if BOTH(FILAMENT_CHANGE_RESUME_ON_INSERT, FILAMENT_RUNOUT_SENSOR) + #if ALL(FILAMENT_CHANGE_RESUME_ON_INSERT, FILAMENT_RUNOUT_SENSOR) #if MULTI_FILAMENT_SENSOR LOOP_S_LE_N(i, 1, NUM_RUNOUT_SENSORS) { pin_t pin; @@ -240,6 +243,8 @@ bool load_filament(const_float_t slow_load_length/*=0*/, const_float_t fast_load TERN_(BELTPRINTER, do_blocking_move_to_xy(0.00, 50.00)); + TERN_(MPCTEMP, MPC::e_paused = true); + // Slow Load filament if (slow_load_length) unscaled_e_move(slow_load_length, FILAMENT_CHANGE_SLOW_LOAD_FEEDRATE); @@ -266,7 +271,7 @@ bool load_filament(const_float_t slow_load_length/*=0*/, const_float_t fast_load if (show_lcd) ui.pause_show_message(PAUSE_MESSAGE_PURGE); TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired(GET_TEXT_F(MSG_FILAMENT_CHANGE_PURGE))); - TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_do(PROMPT_USER_CONTINUE, GET_TEXT_F(MSG_FILAMENT_CHANGE_PURGE), FPSTR(CONTINUE_STR))); + TERN_(HOST_PROMPT_SUPPORT, hostui.continue_prompt(GET_TEXT_F(MSG_FILAMENT_CHANGE_PURGE))); wait_for_user = true; // A click or M108 breaks the purge_length loop for (float purge_count = purge_length; purge_count > 0 && wait_for_user; --purge_count) unscaled_e_move(1, ADVANCED_PAUSE_PURGE_FEEDRATE); @@ -303,6 +308,9 @@ bool load_filament(const_float_t slow_load_length/*=0*/, const_float_t fast_load } while (TERN0(M600_PURGE_MORE_RESUMABLE, pause_menu_response == PAUSE_RESPONSE_EXTRUDE_MORE)); #endif + + TERN_(MPCTEMP, MPC::e_paused = false); + TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_end()); return true; @@ -332,18 +340,18 @@ inline void disable_active_extruder() { */ bool unload_filament(const_float_t unload_length, const bool show_lcd/*=false*/, const PauseMode mode/*=PAUSE_MODE_PAUSE_PRINT*/ - #if BOTH(FILAMENT_UNLOAD_ALL_EXTRUDERS, MIXING_EXTRUDER) + #if ALL(FILAMENT_UNLOAD_ALL_EXTRUDERS, MIXING_EXTRUDER) , const_float_t mix_multiplier/*=1.0*/ #endif ) { DEBUG_SECTION(uf, "unload_filament", true); DEBUG_ECHOLNPGM("... unloadlen:", unload_length, " showlcd:", show_lcd, " mode:", mode - #if BOTH(FILAMENT_UNLOAD_ALL_EXTRUDERS, MIXING_EXTRUDER) + #if ALL(FILAMENT_UNLOAD_ALL_EXTRUDERS, MIXING_EXTRUDER) , " mixmult:", mix_multiplier #endif ); - #if !BOTH(FILAMENT_UNLOAD_ALL_EXTRUDERS, MIXING_EXTRUDER) + #if !ALL(FILAMENT_UNLOAD_ALL_EXTRUDERS, MIXING_EXTRUDER) constexpr float mix_multiplier = 1.0f; #endif @@ -403,8 +411,6 @@ bool pause_print(const_float_t retract, const xyz_pos_t &park_point, const bool DEBUG_SECTION(pp, "pause_print", true); DEBUG_ECHOLNPGM("... park.x:", park_point.x, " y:", park_point.y, " z:", park_point.z, " unloadlen:", unload_length, " showlcd:", show_lcd DXC_SAY); - UNUSED(show_lcd); - if (did_pause_print) return false; // already paused #if ENABLED(HOST_ACTION_COMMANDS) @@ -416,13 +422,12 @@ bool pause_print(const_float_t retract, const xyz_pos_t &park_point, const bool #endif TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_open(PROMPT_INFO, F("Pause"), FPSTR(DISMISS_STR))); - TERN_(DWIN_LCD_PROUI, DWIN_Print_Pause()); // Indicate that the printer is paused ++did_pause_print; // Pause the print job and timer - #if ENABLED(SDSUPPORT) + #if HAS_MEDIA const bool was_sd_printing = IS_SD_PRINTING(); if (was_sd_printing) { card.pauseSDPrint(); @@ -447,7 +452,7 @@ bool pause_print(const_float_t retract, const xyz_pos_t &park_point, const bool // Wait for buffered blocks to complete planner.synchronize(); - #if ENABLED(ADVANCED_PAUSE_FANS_PAUSE) && HAS_FAN + #if ALL(ADVANCED_PAUSE_FANS_PAUSE, HAS_FAN) thermalManager.set_fans_paused(true); #endif @@ -467,6 +472,7 @@ bool pause_print(const_float_t retract, const xyz_pos_t &park_point, const bool // If axes don't need to home then the nozzle can park if (do_park) nozzle.park(0, park_point); // Park the nozzle by doing a Minimum Z Raise followed by an XY Move + if (!do_park) LCD_MESSAGE(MSG_PARK_FAILED); #if ENABLED(DUAL_X_CARRIAGE) const int8_t saved_ext = active_extruder; @@ -478,9 +484,7 @@ bool pause_print(const_float_t retract, const xyz_pos_t &park_point, const bool if (unload_length) unload_filament(unload_length, show_lcd, PAUSE_MODE_CHANGE_FILAMENT); - #if ENABLED(DUAL_X_CARRIAGE) - set_duplication_enabled(saved_ext_dup_mode, saved_ext); - #endif + TERN_(DUAL_X_CARRIAGE, set_duplication_enabled(saved_ext_dup_mode, saved_ext)); // Disable the Extruder for manual change disable_active_extruder(); @@ -507,7 +511,7 @@ void show_continue_prompt(const bool is_reload) { ui.pause_show_message(is_reload ? PAUSE_MESSAGE_INSERT : PAUSE_MESSAGE_WAITING); SERIAL_ECHO_START(); - SERIAL_ECHOF(is_reload ? F(_PMSG(STR_FILAMENT_CHANGE_INSERT) "\n") : F(_PMSG(STR_FILAMENT_CHANGE_WAIT) "\n")); + SERIAL_ECHO(is_reload ? F(_PMSG(STR_FILAMENT_CHANGE_INSERT) "\n") : F(_PMSG(STR_FILAMENT_CHANGE_WAIT) "\n")); } void wait_for_confirmation(const bool is_reload/*=false*/, const int8_t max_beep_count/*=0*/ DXC_ARGS) { @@ -533,7 +537,7 @@ void wait_for_confirmation(const bool is_reload/*=false*/, const int8_t max_beep // Wait for filament insert by user and press button KEEPALIVE_STATE(PAUSED_FOR_USER); - TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_do(PROMPT_USER_CONTINUE, GET_TEXT_F(MSG_NOZZLE_PARKED), FPSTR(CONTINUE_STR))); + TERN_(HOST_PROMPT_SUPPORT, hostui.continue_prompt(GET_TEXT_F(MSG_NOZZLE_PARKED))); TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired(GET_TEXT_F(MSG_NOZZLE_PARKED))); wait_for_user = true; // LCD click or M108 will clear this while (wait_for_user) { @@ -551,15 +555,17 @@ void wait_for_confirmation(const bool is_reload/*=false*/, const int8_t max_beep TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_do(PROMPT_USER_CONTINUE, GET_TEXT_F(MSG_HEATER_TIMEOUT), GET_TEXT_F(MSG_REHEAT))); - TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired(GET_TEXT_F(MSG_HEATER_TIMEOUT))); + #if ENABLED(TOUCH_UI_FTDI_EVE) + ExtUI::onUserConfirmRequired(GET_TEXT_F(MSG_FTDI_HEATER_TIMEOUT)); + #elif ENABLED(EXTENSIBLE_UI) + ExtUI::onUserConfirmRequired(GET_TEXT_F(MSG_HEATER_TIMEOUT)); + #endif TERN_(HAS_RESUME_CONTINUE, wait_for_user_response(0, true)); // Wait for LCD click or M108 TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_do(PROMPT_INFO, GET_TEXT_F(MSG_REHEATING))); - TERN_(EXTENSIBLE_UI, ExtUI::onStatusChanged(GET_TEXT_F(MSG_REHEATING))); - - TERN_(DWIN_LCD_PROUI, LCD_MESSAGE(MSG_REHEATING)); + LCD_MESSAGE(MSG_REHEATING); // Re-enable the heaters if they timed out HOTEND_LOOP() thermalManager.reset_hotend_idle_timer(e); @@ -575,9 +581,12 @@ void wait_for_confirmation(const bool is_reload/*=false*/, const int8_t max_beep HOTEND_LOOP() thermalManager.heater_idle[e].start(nozzle_timeout); - TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_do(PROMPT_USER_CONTINUE, GET_TEXT_F(MSG_REHEATDONE), FPSTR(CONTINUE_STR))); - TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired(GET_TEXT_F(MSG_REHEATDONE))); - TERN_(DWIN_LCD_PROUI, LCD_MESSAGE(MSG_REHEATDONE)); + TERN_(HOST_PROMPT_SUPPORT, hostui.continue_prompt(GET_TEXT_F(MSG_REHEATDONE))); + #if ENABLED(EXTENSIBLE_UI) + ExtUI::onUserConfirmRequired(GET_TEXT_F(MSG_REHEATDONE)); + #else + LCD_MESSAGE(MSG_REHEATDONE); + #endif IF_DISABLED(PAUSE_REHEAT_FAST_RESUME, wait_for_user = true); @@ -586,9 +595,7 @@ void wait_for_confirmation(const bool is_reload/*=false*/, const int8_t max_beep } idle_no_sleep(); } - #if ENABLED(DUAL_X_CARRIAGE) - set_duplication_enabled(saved_ext_dup_mode, saved_ext); - #endif + TERN_(DUAL_X_CARRIAGE, set_duplication_enabled(saved_ext_dup_mode, saved_ext)); } /** @@ -681,8 +688,9 @@ void resume_print(const_float_t slow_load_length/*=0*/, const_float_t fast_load_ // If resume_position is negative //if (resume_position.e < 0) unscaled_e_move(resume_position.e, feedRate_t(PAUSE_PARK_RETRACT_FEEDRATE)); - #if ADVANCED_PAUSE_RESUME_PRIME != 0 - unscaled_e_move(ADVANCED_PAUSE_RESUME_PRIME, feedRate_t(ADVANCED_PAUSE_PURGE_FEEDRATE)); + #ifdef ADVANCED_PAUSE_RESUME_PRIME + if (ADVANCED_PAUSE_RESUME_PRIME != 0) + unscaled_e_move(ADVANCED_PAUSE_RESUME_PRIME, feedRate_t(ADVANCED_PAUSE_PURGE_FEEDRATE)); #endif // Now all extrusion positions are resumed and ready to be confirmed @@ -704,7 +712,7 @@ void resume_print(const_float_t slow_load_length/*=0*/, const_float_t fast_load_ // Resume the print job timer if it was running if (print_job_timer.isPaused()) print_job_timer.start(); - #if ENABLED(SDSUPPORT) + #if HAS_MEDIA if (did_pause_print) { --did_pause_print; card.startOrResumeFilePrinting(); @@ -719,9 +727,8 @@ void resume_print(const_float_t slow_load_length/*=0*/, const_float_t fast_load_ TERN_(HAS_FILAMENT_SENSOR, runout.reset()); - TERN(DWIN_LCD_PROUI, DWIN_Print_Resume(), ui.reset_status()); - TERN_(HAS_MARLINUI_MENU, ui.return_to_status()); - TERN_(DWIN_LCD_PROUI, HMI_ReturnScreen()); + ui.reset_status(); + ui.return_to_status(); } #endif // ADVANCED_PAUSE_FEATURE diff --git a/Marlin/src/feature/pause.h b/Marlin/src/feature/pause.h index 134b1d1b32..7ea0c03b6b 100644 --- a/Marlin/src/feature/pause.h +++ b/Marlin/src/feature/pause.h @@ -117,7 +117,7 @@ bool unload_filament( const_float_t unload_length, // (mm) Filament Unload Length - 0 to skip const bool show_lcd=false, // Set LCD status messages? const PauseMode mode=PAUSE_MODE_PAUSE_PRINT // Pause Mode to apply - #if BOTH(FILAMENT_UNLOAD_ALL_EXTRUDERS, MIXING_EXTRUDER) + #if ALL(FILAMENT_UNLOAD_ALL_EXTRUDERS, MIXING_EXTRUDER) , const_float_t mix_multiplier=1.0f // Extrusion multiplier (for a Mixing Extruder) #endif ); diff --git a/Marlin/src/feature/power.cpp b/Marlin/src/feature/power.cpp index c2ed169aa8..3dba3bce4b 100644 --- a/Marlin/src/feature/power.cpp +++ b/Marlin/src/feature/power.cpp @@ -26,11 +26,11 @@ #include "../inc/MarlinConfigPre.h" -#if EITHER(PSU_CONTROL, AUTO_POWER_CONTROL) +#if ANY(PSU_CONTROL, AUTO_POWER_CONTROL) #include "power.h" #include "../module/planner.h" -#include "../module/stepper.h" +#include "../module/stepper/indirection.h" // for restore_stepper_drivers #include "../module/temperature.h" #include "../MarlinCore.h" @@ -46,9 +46,10 @@ Power powerManager; bool Power::psu_on; #if ENABLED(AUTO_POWER_CONTROL) + #include "../module/stepper.h" #include "../module/temperature.h" - #if BOTH(USE_CONTROLLER_FAN, AUTO_POWER_CONTROLLERFAN) + #if ALL(USE_CONTROLLER_FAN, AUTO_POWER_CONTROLLERFAN) #include "controllerfan.h" #endif @@ -77,7 +78,7 @@ void Power::power_on() { if (psu_on) return; - #if EITHER(POWER_OFF_TIMER, POWER_OFF_WAIT_FOR_COOLDOWN) + #if ANY(POWER_OFF_TIMER, POWER_OFF_WAIT_FOR_COOLDOWN) cancelAutoPowerOff(); #endif @@ -97,11 +98,12 @@ void Power::power_on() { * Processes any PSU_POWEROFF_GCODE and makes a PS_OFF_SOUND if enabled. */ void Power::power_off() { - SERIAL_ECHOLNPGM(STR_POWEROFF); + TERN_(HAS_SUICIDE, suicide()); if (!psu_on) return; + SERIAL_ECHOLNPGM(STR_POWEROFF); #ifdef PSU_POWEROFF_GCODE gcode.process_subcommands_now(F(PSU_POWEROFF_GCODE)); @@ -114,12 +116,12 @@ void Power::power_off() { OUT_WRITE(PS_ON_PIN, !PSU_ACTIVE_STATE); psu_on = false; - #if EITHER(POWER_OFF_TIMER, POWER_OFF_WAIT_FOR_COOLDOWN) + #if ANY(POWER_OFF_TIMER, POWER_OFF_WAIT_FOR_COOLDOWN) cancelAutoPowerOff(); #endif } -#if EITHER(AUTO_POWER_CONTROL, POWER_OFF_WAIT_FOR_COOLDOWN) +#if ANY(AUTO_POWER_CONTROL, POWER_OFF_WAIT_FOR_COOLDOWN) bool Power::is_cooling_needed() { #if HAS_HOTEND && AUTO_POWER_E_TEMP @@ -139,7 +141,7 @@ void Power::power_off() { #endif -#if EITHER(POWER_OFF_TIMER, POWER_OFF_WAIT_FOR_COOLDOWN) +#if ANY(POWER_OFF_TIMER, POWER_OFF_WAIT_FOR_COOLDOWN) #if ENABLED(POWER_OFF_TIMER) millis_t Power::power_off_time = 0; @@ -191,7 +193,7 @@ void Power::power_off() { HOTEND_LOOP() if (thermalManager.autofan_speed[e]) return true; #endif - #if BOTH(USE_CONTROLLER_FAN, AUTO_POWER_CONTROLLERFAN) + #if ALL(USE_CONTROLLER_FAN, AUTO_POWER_CONTROLLERFAN) if (controllerFan.state()) return true; #endif diff --git a/Marlin/src/feature/power.h b/Marlin/src/feature/power.h index 839366ca60..fdbb7126ce 100644 --- a/Marlin/src/feature/power.h +++ b/Marlin/src/feature/power.h @@ -25,7 +25,7 @@ * power.h - power control */ -#if EITHER(AUTO_POWER_CONTROL, POWER_OFF_TIMER) +#if ANY(AUTO_POWER_CONTROL, POWER_OFF_TIMER) #include "../core/millis_t.h" #endif @@ -37,7 +37,7 @@ class Power { static void power_on(); static void power_off(); - #if EITHER(POWER_OFF_TIMER, POWER_OFF_WAIT_FOR_COOLDOWN) + #if ANY(POWER_OFF_TIMER, POWER_OFF_WAIT_FOR_COOLDOWN) #if ENABLED(POWER_OFF_TIMER) static millis_t power_off_time; static void setPowerOffTimer(const millis_t delay_ms); diff --git a/Marlin/src/feature/power_monitor.cpp b/Marlin/src/feature/power_monitor.cpp index 504f1ea48e..e3c3e58fc4 100644 --- a/Marlin/src/feature/power_monitor.cpp +++ b/Marlin/src/feature/power_monitor.cpp @@ -53,7 +53,7 @@ PowerMonitor power_monitor; // Single instance - this calls the constructor void PowerMonitor::draw_current() { const float amps = getAmps(); lcd_put_u8str(amps < 100 ? ftostr31ns(amps) : ui16tostr4rj((uint16_t)amps)); - lcd_put_wchar('A'); + lcd_put_u8str(F("A")); } #endif @@ -61,7 +61,7 @@ PowerMonitor power_monitor; // Single instance - this calls the constructor void PowerMonitor::draw_voltage() { const float volts = getVolts(); lcd_put_u8str(volts < 100 ? ftostr31ns(volts) : ui16tostr4rj((uint16_t)volts)); - lcd_put_wchar('V'); + lcd_put_u8str(F("V")); } #endif @@ -69,7 +69,7 @@ PowerMonitor power_monitor; // Single instance - this calls the constructor void PowerMonitor::draw_power() { const float power = getPower(); lcd_put_u8str(power < 100 ? ftostr31ns(power) : ui16tostr4rj((uint16_t)power)); - lcd_put_wchar('W'); + lcd_put_u8str(F("W")); } #endif diff --git a/Marlin/src/feature/power_monitor.h b/Marlin/src/feature/power_monitor.h index f6e0b292e3..d57ef6fa67 100644 --- a/Marlin/src/feature/power_monitor.h +++ b/Marlin/src/feature/power_monitor.h @@ -32,7 +32,7 @@ struct pm_lpf_t { uint32_t filter_buf; float value; void add_sample(const uint16_t sample) { - filter_buf = filter_buf - (filter_buf >> K_VALUE) + (uint32_t(sample) << K_SCALE); + filter_buf += (uint32_t(sample) << K_SCALE) - (filter_buf >> K_VALUE); } void capture() { value = filter_buf * (SCALE * (1.0f / (1UL << (PM_K_VALUE + PM_K_SCALE)))); @@ -46,11 +46,11 @@ struct pm_lpf_t { class PowerMonitor { private: #if ENABLED(POWER_MONITOR_CURRENT) - static constexpr float amps_adc_scale = float(ADC_VREF) / (POWER_MONITOR_VOLTS_PER_AMP * PM_SAMPLE_RANGE); + static constexpr float amps_adc_scale = (float(ADC_VREF_MV) / 1000.0f) / (POWER_MONITOR_VOLTS_PER_AMP * PM_SAMPLE_RANGE); static pm_lpf_t amps; #endif #if ENABLED(POWER_MONITOR_VOLTAGE) - static constexpr float volts_adc_scale = float(ADC_VREF) / (POWER_MONITOR_VOLTS_PER_VOLT * PM_SAMPLE_RANGE); + static constexpr float volts_adc_scale = (float(ADC_VREF_MV) / 1000.0f) / (POWER_MONITOR_VOLTS_PER_VOLT * PM_SAMPLE_RANGE); static pm_lpf_t volts; #endif @@ -119,7 +119,7 @@ public: volts.reset(); #endif - #if ENABLED(SDSUPPORT) + #if HAS_MEDIA display_item_ms = 0; display_item = 0; #endif diff --git a/Marlin/src/feature/powerloss.cpp b/Marlin/src/feature/powerloss.cpp index 0fc195e7dd..7fb60349c6 100644 --- a/Marlin/src/feature/powerloss.cpp +++ b/Marlin/src/feature/powerloss.cpp @@ -31,9 +31,13 @@ #include "powerloss.h" #include "../core/macros.h" +#if ENABLED(EXTENSIBLE_UI) + #include "../lcd/extui/ui_api.h" +#endif + bool PrintJobRecovery::enabled; // Initialized by settings.load() -SdFile PrintJobRecovery::file; +MediaFile PrintJobRecovery::file; job_recovery_info_t PrintJobRecovery::info; const char PrintJobRecovery::filename[5] = "/PLR"; uint8_t PrintJobRecovery::queue_index_r; @@ -78,6 +82,13 @@ PrintJobRecovery recovery; #define POWER_LOSS_RETRACT_LEN 0 #endif +// Allow power-loss recovery to be aborted +#define PLR_CAN_ABORT +#define PROCESS_SUBCOMMANDS_NOW(cmd) do{ \ + if (TERN0(PLR_CAN_ABORT, card.flag.abort_sd_printing)) return; \ + gcode.process_subcommands_now(cmd); \ + }while(0) + /** * Clear the recovery info */ @@ -101,6 +112,7 @@ void PrintJobRecovery::changed() { purge(); else if (IS_SD_PRINTING()) save(true); + TERN_(EXTENSIBLE_UI, ExtUI::onSetPowerLoss(enabled)); } /** @@ -108,13 +120,18 @@ void PrintJobRecovery::changed() { * * If a saved state exists send 'M1000 S' to initiate job recovery. */ -void PrintJobRecovery::check() { +bool PrintJobRecovery::check() { //if (!card.isMounted()) card.mount(); + bool success = false; if (card.isMounted()) { load(); - if (!valid()) return cancel(); - queue.inject(F("M1000S")); + success = valid(); + if (!success) + cancel(); + else + queue.inject(F("M1000S")); } + return success; } /** @@ -190,7 +207,7 @@ void PrintJobRecovery::save(const bool force/*=false*/, const float zraise/*=POW TERN_(GCODE_REPEAT_MARKERS, info.stored_repeat = repeat); TERN_(HAS_HOME_OFFSET, info.home_offset = home_offset); - TERN_(HAS_POSITION_SHIFT, info.position_shift = position_shift); + TERN_(HAS_WORKSPACE_OFFSET, info.workspace_offset = workspace_offset); E_TERN_(info.active_extruder = active_extruder); #if DISABLED(NO_VOLUMETRICS) @@ -254,11 +271,8 @@ void PrintJobRecovery::save(const bool force/*=false*/, const float zraise/*=POW #if POWER_LOSS_ZRAISE // Raise the Z axis now - if (zraise) { - char cmd[20], str_1[16]; - sprintf_P(cmd, PSTR("G0Z%s"), dtostrf(zraise, 1, 3, str_1)); - gcode.process_subcommands_now(cmd); - } + if (zraise) + gcode.process_subcommands_now(TS(F("G0Z"), p_float_t(zraise, 3))); #else UNUSED(zraise); #endif @@ -300,6 +314,9 @@ void PrintJobRecovery::save(const bool force/*=false*/, const float zraise/*=POW // and a flag whether the raise was already done here. if (IS_SD_PRINTING()) save(true, zraise, ENABLED(BACKUP_POWER_SUPPLY)); + // Tell the LCD about the outage, even though it is about to die + TERN_(EXTENSIBLE_UI, ExtUI::onPowerLoss()); + // Disable all heaters to reduce power loss thermalManager.disable_all_heaters(); @@ -339,29 +356,34 @@ void PrintJobRecovery::write() { * Resume the saved print job */ void PrintJobRecovery::resume() { - - char cmd[MAX_CMD_SIZE+16], str_1[16], str_2[16]; - const uint32_t resume_sdpos = info.sdpos; // Get here before the stepper ISR overwrites it // Apply the dry-run flag if enabled if (info.flag.dryrun) marlin_debug_flags |= MARLIN_DEBUG_DRYRUN; + #if ENABLED(DEBUG_POWER_LOSS_RECOVERY) + struct OnExit { + uint8_t old_flags; + OnExit() { + old_flags = marlin_debug_flags; + marlin_debug_flags |= MARLIN_DEBUG_ECHO; + } + ~OnExit() { marlin_debug_flags = old_flags; } + } on_exit; + #endif + // Restore cold extrusion permission TERN_(PREVENT_COLD_EXTRUSION, thermalManager.allow_cold_extrude = info.flag.allow_cold_extrusion); #if HAS_LEVELING // Make sure leveling is off before any G92 and G28 - gcode.process_subcommands_now(F("M420 S0 Z0")); + PROCESS_SUBCOMMANDS_NOW(F("M420S0")); #endif #if HAS_HEATED_BED + // Restore the bed temperature const celsius_t bt = info.target_temperature_bed; - if (bt) { - // Restore the bed temperature - sprintf_P(cmd, PSTR("M190S%i"), bt); - gcode.process_subcommands_now(cmd); - } + if (bt) PROCESS_SUBCOMMANDS_NOW(TS(F("M190S"), bt)); #endif // Heat hotend enough to soften material @@ -369,12 +391,8 @@ void PrintJobRecovery::resume() { HOTEND_LOOP() { const celsius_t et = _MAX(info.target_temperature[e], 180); if (et) { - #if HAS_MULTI_HOTEND - sprintf_P(cmd, PSTR("T%iS"), e); - gcode.process_subcommands_now(cmd); - #endif - sprintf_P(cmd, PSTR("M109S%i"), et); - gcode.process_subcommands_now(cmd); + TERN_(HAS_MULTI_HOTEND, PROCESS_SUBCOMMANDS_NOW(TS('T', e, 'S'))); + PROCESS_SUBCOMMANDS_NOW(TS(F("M109S"), et)); } } #endif @@ -388,18 +406,18 @@ void PrintJobRecovery::resume() { // establish the current position as best we can. // - gcode.process_subcommands_now(F("G92.9E0")); // Reset E to 0 + PROCESS_SUBCOMMANDS_NOW(F("G92.9E0")); // Reset E to 0 #if Z_HOME_TO_MAX float z_now = z_raised; // If Z homing goes to max then just move back to the "raised" position - sprintf_P(cmd, PSTR( - "G28R0\n" // Home all axes (no raise) - "G1Z%sF1200" // Move Z down to (raised) height - ), dtostrf(z_now, 1, 3, str_1)); - gcode.process_subcommands_now(cmd); + PROCESS_SUBCOMMANDS_NOW(TS( + F( "G28R0\n" // Home all axes (no raise) + "G1F1200Z") // Move Z down to (raised) height + , p_float_t(z_now, 3) + )); #elif DISABLED(BELTPRINTER) @@ -411,27 +429,24 @@ void PrintJobRecovery::resume() { #if !HOMING_Z_DOWN // Set Z to the real position - sprintf_P(cmd, PSTR("G92.9Z%s"), dtostrf(z_now, 1, 3, str_1)); - gcode.process_subcommands_now(cmd); + PROCESS_SUBCOMMANDS_NOW(TS(F("G92.9Z"), p_float_t(z_now, 3))); #endif // Does Z need to be raised now? It should be raised before homing XY. if (z_raised > z_now) { z_now = z_raised; - sprintf_P(cmd, PSTR("G1Z%sF600"), dtostrf(z_now, 1, 3, str_1)); - gcode.process_subcommands_now(cmd); + PROCESS_SUBCOMMANDS_NOW(TS(F("G1F600Z"), p_float_t(z_now, 3))); } // Home XY with no Z raise - gcode.process_subcommands_now(F("G28R0XY")); // No raise during G28 + PROCESS_SUBCOMMANDS_NOW(F("G28R0XY")); // No raise during G28 #endif #if HOMING_Z_DOWN // Move to a safe XY position and home Z while avoiding the print. const xy_pos_t p = xy_pos_t(POWER_LOSS_ZHOME_POS) TERN_(HOMING_Z_WITH_PROBE, - probe.offset_xy); - sprintf_P(cmd, PSTR("G1X%sY%sF1000\nG28HZ"), dtostrf(p.x, 1, 3, str_1), dtostrf(p.y, 1, 3, str_2)); - gcode.process_subcommands_now(cmd); + PROCESS_SUBCOMMANDS_NOW(TS(F("G1F1000X"), p_float_t(p.x, 3), 'Y', p_float_t(p.y, 3), F("\nG28HZ"))); #endif // Mark all axes as having been homed (no effect on current_position) @@ -441,39 +456,30 @@ void PrintJobRecovery::resume() { // Restore Z fade and possibly re-enable bed leveling compensation. // Leveling may already be enabled due to the ENABLE_LEVELING_AFTER_G28 option. // TODO: Add a G28 parameter to leave leveling disabled. - sprintf_P(cmd, PSTR("M420S%cZ%s"), '0' + (char)info.flag.leveling, dtostrf(info.fade, 1, 1, str_1)); - gcode.process_subcommands_now(cmd); + PROCESS_SUBCOMMANDS_NOW(TS(F("M420S"), '0' + (char)info.flag.leveling, 'Z', p_float_t(info.fade, 1))); #if !HOMING_Z_DOWN // The physical Z was adjusted at power-off so undo the M420S1 correction to Z with G92.9. - sprintf_P(cmd, PSTR("G92.9Z%s"), dtostrf(z_now, 1, 1, str_1)); - gcode.process_subcommands_now(cmd); + PROCESS_SUBCOMMANDS_NOW(TS(F("G92.9Z"), p_float_t(z_now, 1))); #endif #endif #if ENABLED(POWER_LOSS_RECOVER_ZHOME) // Z was homed down to the bed, so move up to the raised height. z_now = z_raised; - sprintf_P(cmd, PSTR("G1Z%sF600"), dtostrf(z_now, 1, 3, str_1)); - gcode.process_subcommands_now(cmd); + PROCESS_SUBCOMMANDS_NOW(TS(F("G1F600Z"), p_float_t(z_now, 3))); #endif // Recover volumetric extrusion state #if DISABLED(NO_VOLUMETRICS) #if HAS_MULTI_EXTRUDER - EXTRUDER_LOOP() { - sprintf_P(cmd, PSTR("M200T%iD%s"), e, dtostrf(info.filament_size[e], 1, 3, str_1)); - gcode.process_subcommands_now(cmd); - } - if (!info.flag.volumetric_enabled) { - sprintf_P(cmd, PSTR("M200T%iD0"), info.active_extruder); - gcode.process_subcommands_now(cmd); - } + EXTRUDER_LOOP() + PROCESS_SUBCOMMANDS_NOW(TS(F("M200T"), e, F("D"), p_float_t(info.filament_size[e], 3))); + if (!info.flag.volumetric_enabled) + PROCESS_SUBCOMMANDS_NOW(TS(F("M200D0T"), info.active_extruder)); #else - if (info.flag.volumetric_enabled) { - sprintf_P(cmd, PSTR("M200D%s"), dtostrf(info.filament_size[0], 1, 3, str_1)); - gcode.process_subcommands_now(cmd); - } + if (info.flag.volumetric_enabled) + PROCESS_SUBCOMMANDS_NOW(TS(F("M200D"), p_float_t(info.filament_size[0], 3))); #endif #endif @@ -482,30 +488,22 @@ void PrintJobRecovery::resume() { HOTEND_LOOP() { const celsius_t et = info.target_temperature[e]; if (et) { - #if HAS_MULTI_HOTEND - sprintf_P(cmd, PSTR("T%iS"), e); - gcode.process_subcommands_now(cmd); - #endif - sprintf_P(cmd, PSTR("M109S%i"), et); - gcode.process_subcommands_now(cmd); + TERN_(HAS_MULTI_HOTEND, PROCESS_SUBCOMMANDS_NOW(TS('T', e, 'S'))); + PROCESS_SUBCOMMANDS_NOW(TS(F("M109S"), et)); } } #endif // Restore the previously active tool (with no_move) #if HAS_MULTI_EXTRUDER || HAS_MULTI_HOTEND - sprintf_P(cmd, PSTR("T%i S"), info.active_extruder); - gcode.process_subcommands_now(cmd); + PROCESS_SUBCOMMANDS_NOW(TS('T', info.active_extruder, 'S')); #endif // Restore print cooling fan speeds #if HAS_FAN FANS_LOOP(i) { const int f = info.fan_speed[i]; - if (f) { - sprintf_P(cmd, PSTR("M106P%iS%i"), i, f); - gcode.process_subcommands_now(cmd); - } + if (f) PROCESS_SUBCOMMANDS_NOW(TS(F("M106P"), i, 'S', f)); } #endif @@ -514,7 +512,7 @@ void PrintJobRecovery::resume() { EXTRUDER_LOOP() { if (info.retract[e] != 0.0) { fwretract.current_retract[e] = info.retract[e]; - fwretract.retracted[e] = true; + fwretract.retracted.set(e); } } fwretract.current_hop = info.retract_hop; @@ -526,77 +524,57 @@ void PrintJobRecovery::resume() { // Un-retract if there was a retract at outage #if ENABLED(BACKUP_POWER_SUPPLY) && POWER_LOSS_RETRACT_LEN > 0 - gcode.process_subcommands_now(F("G1F3000E" STRINGIFY(POWER_LOSS_RETRACT_LEN))); + PROCESS_SUBCOMMANDS_NOW(F("G1F3000E" STRINGIFY(POWER_LOSS_RETRACT_LEN))); #endif // Additional purge on resume if configured #if POWER_LOSS_PURGE_LEN - sprintf_P(cmd, PSTR("G1F3000E%d"), (POWER_LOSS_PURGE_LEN) + (POWER_LOSS_RETRACT_LEN)); - gcode.process_subcommands_now(cmd); + PROCESS_SUBCOMMANDS_NOW(TS(F("G1F3000E"), (POWER_LOSS_PURGE_LEN) + (POWER_LOSS_RETRACT_LEN))); #endif #if ENABLED(NOZZLE_CLEAN_FEATURE) - gcode.process_subcommands_now(F("G12")); + PROCESS_SUBCOMMANDS_NOW(F("G12")); #endif // Move back over to the saved XY - sprintf_P(cmd, PSTR("G1X%sY%sF3000"), - dtostrf(info.current_position.x, 1, 3, str_1), - dtostrf(info.current_position.y, 1, 3, str_2) - ); - gcode.process_subcommands_now(cmd); + PROCESS_SUBCOMMANDS_NOW(TS( + F("G1F3000X"), p_float_t(info.current_position.x, 3), 'Y', p_float_t(info.current_position.y, 3) + )); // Move back down to the saved Z for printing - sprintf_P(cmd, PSTR("G1Z%sF600"), dtostrf(z_print, 1, 3, str_1)); - gcode.process_subcommands_now(cmd); + PROCESS_SUBCOMMANDS_NOW(TS(F("G1F600Z"), p_float_t(z_print, 3))); // Restore the feedrate - sprintf_P(cmd, PSTR("G1F%d"), info.feedrate); - gcode.process_subcommands_now(cmd); + PROCESS_SUBCOMMANDS_NOW(TS(F("G1F"), info.feedrate)); // Restore E position with G92.9 - sprintf_P(cmd, PSTR("G92.9E%s"), dtostrf(info.current_position.e, 1, 3, str_1)); - gcode.process_subcommands_now(cmd); + PROCESS_SUBCOMMANDS_NOW(TS(F("G92.9E"), p_float_t(info.current_position.e, 3))); TERN_(GCODE_REPEAT_MARKERS, repeat = info.stored_repeat); TERN_(HAS_HOME_OFFSET, home_offset = info.home_offset); - TERN_(HAS_POSITION_SHIFT, position_shift = info.position_shift); - #if HAS_HOME_OFFSET || HAS_POSITION_SHIFT - LOOP_NUM_AXES(i) update_workspace_offset((AxisEnum)i); - #endif + TERN_(HAS_WORKSPACE_OFFSET, workspace_offset = info.workspace_offset); // Relative axis modes gcode.axis_relative = info.axis_relative; - #if ENABLED(DEBUG_POWER_LOSS_RECOVERY) - const uint8_t old_flags = marlin_debug_flags; - marlin_debug_flags |= MARLIN_DEBUG_ECHO; - #endif - // Continue to apply PLR when a file is resumed! enable(true); // Resume the SD file from the last position - char *fn = info.sd_filename; - sprintf_P(cmd, M23_STR, fn); - gcode.process_subcommands_now(cmd); - sprintf_P(cmd, PSTR("M24S%ldT%ld"), resume_sdpos, info.print_job_elapsed); - gcode.process_subcommands_now(cmd); - - TERN_(DEBUG_POWER_LOSS_RECOVERY, marlin_debug_flags = old_flags); + PROCESS_SUBCOMMANDS_NOW(MString(F("M23 "), info.sd_filename)); + PROCESS_SUBCOMMANDS_NOW(TS(F("M24S"), resume_sdpos, 'T', info.print_job_elapsed)); } #if ENABLED(DEBUG_POWER_LOSS_RECOVERY) void PrintJobRecovery::debug(FSTR_P const prefix) { - DEBUG_ECHOF(prefix); - DEBUG_ECHOLNPGM(" Job Recovery Info...\nvalid_head:", info.valid_head, " valid_foot:", info.valid_foot); + DEBUG_ECHOLN(prefix, F(" Job Recovery Info...\nvalid_head:"), info.valid_head, F(" valid_foot:"), info.valid_foot); if (info.valid_head) { if (info.valid_head == info.valid_foot) { DEBUG_ECHOPGM("current_position: "); LOOP_LOGICAL_AXES(i) { if (i) DEBUG_CHAR(','); - DEBUG_DECIMAL(info.current_position[i]); + DEBUG_ECHO(info.current_position[i]); } DEBUG_EOL(); @@ -606,7 +584,7 @@ void PrintJobRecovery::resume() { #if ENABLED(GCODE_REPEAT_MARKERS) DEBUG_ECHOLNPGM("repeat index: ", info.stored_repeat.index); - LOOP_L_N(i, info.stored_repeat.index) + for (uint8_t i = 0; i < info.stored_repeat.index; ++i) DEBUG_ECHOLNPGM("..... sdpos: ", info.stored_repeat.marker.sdpos, " count: ", info.stored_repeat.marker.counter); #endif @@ -614,16 +592,16 @@ void PrintJobRecovery::resume() { DEBUG_ECHOPGM("home_offset: "); LOOP_NUM_AXES(i) { if (i) DEBUG_CHAR(','); - DEBUG_DECIMAL(info.home_offset[i]); + DEBUG_ECHO(info.home_offset[i]); } DEBUG_EOL(); #endif - #if HAS_POSITION_SHIFT - DEBUG_ECHOPGM("position_shift: "); + #if HAS_WORKSPACE_OFFSET + DEBUG_ECHOPGM("workspace_offset: "); LOOP_NUM_AXES(i) { if (i) DEBUG_CHAR(','); - DEBUG_DECIMAL(info.position_shift[i]); + DEBUG_ECHO(info.workspace_offset[i]); } DEBUG_EOL(); #endif @@ -675,7 +653,7 @@ void PrintJobRecovery::resume() { #endif // Mixing extruder and gradient - #if BOTH(MIXING_EXTRUDER, GRADIENT_MIX) + #if ALL(MIXING_EXTRUDER, GRADIENT_MIX) DEBUG_ECHOLNPGM("gradient: ", info.gradient.enabled ? "ON" : "OFF"); #endif diff --git a/Marlin/src/feature/powerloss.h b/Marlin/src/feature/powerloss.h index 4e97109bb7..a69862b259 100644 --- a/Marlin/src/feature/powerloss.h +++ b/Marlin/src/feature/powerloss.h @@ -67,8 +67,8 @@ typedef struct { #if HAS_HOME_OFFSET xyz_pos_t home_offset; #endif - #if HAS_POSITION_SHIFT - xyz_pos_t position_shift; + #if HAS_WORKSPACE_OFFSET + xyz_pos_t workspace_offset; #endif #if HAS_MULTI_EXTRUDER uint8_t active_extruder; @@ -113,7 +113,7 @@ typedef struct { millis_t print_job_elapsed; // Relative axis modes - uint8_t axis_relative; + relative_t axis_relative; // Misc. Marlin flags struct { @@ -138,7 +138,7 @@ class PrintJobRecovery { public: static const char filename[5]; - static SdFile file; + static MediaFile file; static job_recovery_info_t info; static uint8_t queue_index_r; //!< Queue index of the active command @@ -153,6 +153,9 @@ class PrintJobRecovery { static void prepare(); static void setup() { + #if PIN_EXISTS(OUTAGECON) + OUT_WRITE(OUTAGECON_PIN, HIGH); + #endif #if PIN_EXISTS(POWER_LOSS) #if ENABLED(POWER_LOSS_PULLUP) SET_INPUT_PULLUP(POWER_LOSS_PIN); @@ -176,11 +179,11 @@ class PrintJobRecovery { static void open(const bool read) { card.openJobRecoveryFile(read); } static void close() { file.close(); } - static void check(); + static bool check(); static void resume(); static void purge(); - static void cancel() { purge(); IF_DISABLED(NO_SD_AUTOSTART, card.autofile_begin()); } + static void cancel() { purge(); } static void load(); static void save(const bool force=ENABLED(SAVE_EACH_CMD_MODE), const float zraise=POWER_LOSS_ZRAISE, const bool raised=false); diff --git a/Marlin/src/feature/probe_temp_comp.cpp b/Marlin/src/feature/probe_temp_comp.cpp index b5f636e698..f640a9fd2f 100644 --- a/Marlin/src/feature/probe_temp_comp.cpp +++ b/Marlin/src/feature/probe_temp_comp.cpp @@ -66,13 +66,13 @@ float ProbeTempComp::init_measurement; // = 0.0 bool ProbeTempComp::enabled = true; void ProbeTempComp::reset() { - TERN_(PTC_PROBE, LOOP_L_N(i, PTC_PROBE_COUNT) z_offsets_probe[i] = z_offsets_probe_default[i]); - TERN_(PTC_BED, LOOP_L_N(i, PTC_BED_COUNT) z_offsets_bed[i] = z_offsets_bed_default[i]); - TERN_(PTC_HOTEND, LOOP_L_N(i, PTC_HOTEND_COUNT) z_offsets_hotend[i] = z_offsets_hotend_default[i]); + TERN_(PTC_PROBE, for (uint8_t i = 0; i < PTC_PROBE_COUNT; ++i) z_offsets_probe[i] = z_offsets_probe_default[i]); + TERN_(PTC_BED, for (uint8_t i = 0; i < PTC_BED_COUNT; ++i) z_offsets_bed[i] = z_offsets_bed_default[i]); + TERN_(PTC_HOTEND, for (uint8_t i = 0; i < PTC_HOTEND_COUNT; ++i) z_offsets_hotend[i] = z_offsets_hotend_default[i]); } void ProbeTempComp::clear_offsets(const TempSensorID tsi) { - LOOP_L_N(i, cali_info[tsi].measurements) + for (uint8_t i = 0; i < cali_info[tsi].measurements; ++i) sensor_z_offsets[tsi][i] = 0; calib_idx = 0; } @@ -84,17 +84,12 @@ bool ProbeTempComp::set_offset(const TempSensorID tsi, const uint8_t idx, const } void ProbeTempComp::print_offsets() { - LOOP_L_N(s, TSI_COUNT) { + for (uint8_t s = 0; s < TSI_COUNT; ++s) { celsius_t temp = cali_info[s].start_temp; for (int16_t i = -1; i < cali_info[s].measurements; ++i) { - SERIAL_ECHOF( - TERN_(PTC_BED, s == TSI_BED ? F("Bed") :) - TERN_(PTC_HOTEND, s == TSI_EXT ? F("Extruder") :) - F("Probe") - ); - SERIAL_ECHOLNPGM( - " temp: ", temp, - "C; Offset: ", i < 0 ? 0.0f : sensor_z_offsets[s][i], " um" + SERIAL_ECHOLN( + TERN_(PTC_BED, s == TSI_BED ? F("Bed") :) TERN_(PTC_HOTEND, s == TSI_EXT ? F("Extruder") :) F("Probe"), + F(" temp: "), temp, F("C; Offset: "), i < 0 ? 0.0f : sensor_z_offsets[s][i], F(" um") ); temp += cali_info[s].temp_resolution; } @@ -232,7 +227,7 @@ bool ProbeTempComp::linear_regression(const TempSensorID tsi, float &k, float &d sum_xy = 0, sum_y = 0; float xi = static_cast(start_temp); - LOOP_L_N(i, calib_idx) { + for (uint8_t i = 0; i < calib_idx; ++i) { const float yi = static_cast(data[i]); xi += res_temp; sum_x += xi; diff --git a/Marlin/src/feature/repeat.cpp b/Marlin/src/feature/repeat.cpp index 165f71fd0f..4484dab95b 100644 --- a/Marlin/src/feature/repeat.cpp +++ b/Marlin/src/feature/repeat.cpp @@ -42,7 +42,7 @@ void Repeat::add_marker(const uint32_t sdpos, const uint16_t count) { SERIAL_ECHO_MSG("!Too many markers."); else { marker[index].sdpos = sdpos; - marker[index].counter = count ?: -1; + marker[index].counter = count ? count - 1 : -1; index++; DEBUG_ECHOLNPGM("Add Marker ", index, " at ", sdpos, " (", count, ")"); } @@ -66,7 +66,7 @@ void Repeat::loop() { } } -void Repeat::cancel() { LOOP_L_N(i, index) marker[i].counter = 0; } +void Repeat::cancel() { for (uint8_t i = 0; i < index; ++i) marker[i].counter = 0; } void Repeat::early_parse_M808(char * const cmd) { if (is_command_M808(cmd)) { diff --git a/Marlin/src/feature/repeat.h b/Marlin/src/feature/repeat.h index fc11e4a9e2..8a54149b3d 100644 --- a/Marlin/src/feature/repeat.h +++ b/Marlin/src/feature/repeat.h @@ -40,7 +40,7 @@ private: public: static void reset() { index = 0; } static bool is_active() { - LOOP_L_N(i, index) if (marker[i].counter) return true; + for (uint8_t i = 0; i < index; ++i) if (marker[i].counter) return true; return false; } static bool is_command_M808(char * const cmd) { return cmd[0] == 'M' && cmd[1] == '8' && cmd[2] == '0' && cmd[3] == '8' && !NUMERIC(cmd[4]); } diff --git a/Marlin/src/feature/runout.cpp b/Marlin/src/feature/runout.cpp index aae92d423f..b7dcb4688c 100644 --- a/Marlin/src/feature/runout.cpp +++ b/Marlin/src/feature/runout.cpp @@ -46,8 +46,9 @@ RunoutMode FilamentMonitorBase::mode[NUM_RUNOUT_SENSORS]; // Initialized by sett #endif float RunoutResponseDelayed::runout_distance_mm[NUM_RUNOUT_SENSORS]; // Initialized by settings.load -volatile float RunoutResponseDelayed::runout_mm_countdown[NUM_RUNOUT_SENSORS]; +countdown_t RunoutResponseDelayed::mm_countdown; uint8_t FilamentSensorCore::motion_detected; +int8_t RunoutResponseDelayed::runout_count[NUM_RUNOUT_SENSORS]; // = 0 // // Filament Runout event handler @@ -82,7 +83,7 @@ void event_filament_runout(const uint8_t extruder) { #endif TERN_(EXTENSIBLE_UI, ExtUI::onFilamentRunout(ExtUI::getTool(extruder))); - TERN_(DWIN_LCD_PROUI, DWIN_FilamentRunout(extruder)); + TERN_(DWIN_LCD_PROUI, dwinFilamentRunout(extruder)); #if ANY(HOST_PROMPT_SUPPORT, HOST_ACTION_COMMANDS, MULTI_FILAMENT_SENSOR) const char tool = '0' + TERN0(MULTI_FILAMENT_SENSOR, extruder); @@ -96,12 +97,16 @@ void event_filament_runout(const uint8_t extruder) { const bool run_runout_script = !runout.host_handling; #if ENABLED(HOST_ACTION_COMMANDS) - if (run_runout_script - && ( strstr(FILAMENT_RUNOUT_SCRIPT, "M600") + + const bool park_or_pause = (false + #ifdef FILAMENT_RUNOUT_SCRIPT + || strstr(FILAMENT_RUNOUT_SCRIPT, "M600") || strstr(FILAMENT_RUNOUT_SCRIPT, "M125") || TERN0(ADVANCED_PAUSE_FEATURE, strstr(FILAMENT_RUNOUT_SCRIPT, "M25")) - ) - ) { + #endif + ); + + if (run_runout_script && park_or_pause) { hostui.paused(false); } else { @@ -118,24 +123,27 @@ void event_filament_runout(const uint8_t extruder) { SERIAL_ECHOPGM(" " ACTION_REASON_ON_FILAMENT_RUNOUT " "); SERIAL_CHAR(tool); SERIAL_EOL(); + #endif // HOST_ACTION_COMMANDS - if (run_runout_script) { - #if MULTI_FILAMENT_SENSOR - char script[strlen(FILAMENT_RUNOUT_SCRIPT) + 1]; - sprintf_P(script, PSTR(FILAMENT_RUNOUT_SCRIPT), tool); - #if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG) - SERIAL_ECHOLNPGM("Runout Command: ", script); + #ifdef FILAMENT_RUNOUT_SCRIPT + if (run_runout_script) { + #if MULTI_FILAMENT_SENSOR + MString script; + script.setf(F(FILAMENT_RUNOUT_SCRIPT), AS_CHAR(tool)); + #if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG) + SERIAL_ECHOLNPGM("Runout Command: ", &script); + #endif + queue.inject(&script); + #else + #if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG) + SERIAL_ECHOPGM("Runout Command: "); + SERIAL_ECHOLNPGM(FILAMENT_RUNOUT_SCRIPT); + #endif + queue.inject(F(FILAMENT_RUNOUT_SCRIPT)); #endif - queue.inject(script); - #else - #if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG) - SERIAL_ECHOPGM("Runout Command: "); - SERIAL_ECHOLNPGM(FILAMENT_RUNOUT_SCRIPT); - #endif - queue.inject(F(FILAMENT_RUNOUT_SCRIPT)); - #endif - } + } + #endif } #endif // HAS_FILAMENT_SENSOR diff --git a/Marlin/src/feature/runout.h b/Marlin/src/feature/runout.h index 261831403b..f088d125a7 100644 --- a/Marlin/src/feature/runout.h +++ b/Marlin/src/feature/runout.h @@ -30,7 +30,8 @@ #include "../module/planner.h" #include "../module/stepper.h" // for block_t #include "../gcode/queue.h" -#include "../feature/pause.h" +#include "../feature/pause.h" // for did_pause_print +#include "../MarlinCore.h" // for printingIsActive() #include "../inc/MarlinConfig.h" @@ -43,7 +44,17 @@ #define FILAMENT_RUNOUT_THRESHOLD 5 #endif + +typedef Flags< + #if NUM_MOTION_SENSORS > NUM_RUNOUT_SENSORS + NUM_MOTION_SENSORS + #else + NUM_RUNOUT_SENSORS + #endif + > runout_flags_t; + void event_filament_runout(const uint8_t extruder); +inline bool should_monitor_runout() { return did_pause_print || printingIsActive(); } template class TFilamentMonitor; @@ -122,43 +133,33 @@ class TFilamentMonitor : public FilamentMonitorBase { // Give the response a chance to update its counter. static void run() { - if (enabled[active_extruder] && mode[active_extruder] != RM_NONE && !filament_ran_out && (printingIsActive() || did_pause_print)) { + if (enabled && !filament_ran_out && should_monitor_runout()) { cli(); // Prevent RunoutResponseDelayed::block_completed from accumulating here response.run(); sensor.run(); - const uint8_t runout_flags = response.has_run_out(); + const runout_flags_t runout_flags = response.has_run_out(); sei(); #if MULTI_FILAMENT_SENSOR #if ENABLED(WATCH_ALL_RUNOUT_SENSORS) - const bool ran_out = !!runout_flags; // any sensor triggers + const bool ran_out = bool(runout_flags); // any sensor triggers uint8_t extruder = 0; - if (ran_out) { - uint8_t bitmask = runout_flags; - while (!(bitmask & 1)) { - bitmask >>= 1; - extruder++; - } - } + if (ran_out) while (!runout_flags.test(extruder)) extruder++; #else - const bool ran_out = TEST(runout_flags, active_extruder); // suppress non active extruders + const bool ran_out = runout_flags[active_extruder]; // suppress non active extruders uint8_t extruder = active_extruder; #endif #else - const bool ran_out = !!runout_flags; + const bool ran_out = bool(runout_flags); uint8_t extruder = active_extruder; #endif - #if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG) - if (runout_flags) { - SERIAL_ECHOPGM("Runout Sensors: "); - LOOP_L_N(i, 8) SERIAL_ECHO('0' + TEST(runout_flags, i)); - SERIAL_ECHOPGM(" -> ", extruder); - if (ran_out) SERIAL_ECHOPGM(" RUN OUT"); - SERIAL_EOL(); - } - #endif - if (ran_out) { + #if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG) + SERIAL_ECHOPGM("Runout Sensors: "); + for (uint8_t i = 0; i < 8; ++i) SERIAL_ECHO('0' + char(runout_flags[i])); + SERIAL_ECHOLNPGM(" -> ", extruder, " RUN OUT"); + #endif + filament_ran_out = true; event_filament_runout(extruder); planner.synchronize(); @@ -210,7 +211,7 @@ class FilamentSensorBase { #undef _INIT_RUNOUT_PIN #undef INIT_RUNOUT_PIN } - + // Return a bitmask of runout pin states static uint8_t poll_runout_pins() { @@ -221,10 +222,26 @@ class FilamentSensorBase { // Return a bitmask of runout flag states (1 bits always indicates runout) static uint8_t poll_runout_states() { - #define _OR_INVERT(N) | (runout.out_state(N-1) ? 0 : _BV(N-1)) - return poll_runout_pins() ^ uint8_t(0 REPEAT_1(NUM_RUNOUT_SENSORS, _OR_INVERT)); - #undef _OR_INVERT + #define _INVERT_BIT(N) | (runout.out_state(N-1) ? 0 : _BV(N-1)) + return poll_runout_pins() ^ uint8_t(0 REPEAT_1(NUM_RUNOUT_SENSORS, _INVERT_BIT)); + #undef _INVERT_BIT } + + #if ENABLED(FILAMENT_SWITCH_AND_MOTION) + // Return a bitmask of motion pin states + static uint8_t poll_motion_pins() { + #define _OR_MOTION(N) | (READ(FIL_MOTION##N##_PIN) ? _BV((N) - 1) : 0) + return (0 REPEAT_1(NUM_MOTION_SENSORS, _OR_MOTION)); + #undef _OR_MOTION + } + + // Return a bitmask of motion flag states (1 bits always indicates runout) + static uint8_t poll_motion_states() { + #define _OR_MOTION(N) | (FIL_MOTION##N##_STATE ? 0 : _BV(N - 1)) + return poll_motion_pins() ^ uint8_t(0 REPEAT_1(NUM_MOTION_SENSORS, _OR_MOTION)); + #undef _OR_MOTION + } + #endif }; class FilamentSensorCore : public FilamentSensorBase { @@ -232,27 +249,27 @@ class FilamentSensorCore : public FilamentSensorBase { static uint8_t motion_detected; static bool poll_runout_state(const uint8_t extruder) { - const uint8_t runout_states = poll_runout_states(); - #if MULTI_FILAMENT_SENSOR - if ( !TERN0(DUAL_X_CARRIAGE, idex_is_duplicating()) - && !TERN0(MULTI_NOZZLE_DUPLICATION, extruder_duplication_enabled) - ) return TEST(runout_states, extruder); // A specific extruder ran out - #else - UNUSED(extruder); - #endif - return !!runout_states; // Any extruder ran out - } + const uint8_t runout_states = poll_runout_states(); + #if MULTI_FILAMENT_SENSOR + if ( !TERN0(DUAL_X_CARRIAGE, idex_is_duplicating()) + && !TERN0(MULTI_NOZZLE_DUPLICATION, extruder_duplication_enabled) + ) return TEST(runout_states, extruder); // A specific extruder ran out + #else + UNUSED(extruder); + #endif + return !!runout_states; // Any extruder ran out + } - static void poll_motion_sensor() { - static uint8_t old_state; - const uint8_t new_state = poll_runout_pins(), - change = old_state ^ new_state; - old_state = new_state; + static void poll_motion_sensor() { + static uint8_t old_state; + const uint8_t new_state = TERN(FILAMENT_SWITCH_AND_MOTION, poll_motion_pins, poll_runout_pins)(), + change = old_state ^ new_state; + old_state = new_state; #if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG) if (change) { SERIAL_ECHOPGM("Motion detected:"); - LOOP_L_N(e, NUM_RUNOUT_SENSORS) + for(uint8_t e = 0; e < NUM_RUNOUT_SENSORS; ++e) if (TEST(change, e)) SERIAL_CHAR(' ', '0' + e); SERIAL_EOL(); } @@ -261,32 +278,30 @@ class FilamentSensorCore : public FilamentSensorBase { motion_detected |= change; } - public: - static void block_completed(const block_t * const b) { - if (runout.mode[active_extruder] != RM_MOTION_SENSOR) return; + public: + static void block_completed(const block_t * const b) { + // If the sensor wheel has moved since the last call to + // this method reset the runout counter for the extruder. + if (TEST(motion_detected, b->extruder)) + TERN(FILAMENT_SWITCH_AND_MOTION, filament_motion_present, filament_present)(b->extruder); - // If the sensor wheel has moved since the last call to - // this method reset the runout counter for the extruder. - if (TEST(motion_detected, b->extruder)) - filament_present(b->extruder); - - // Clear motion triggers for next block - motion_detected = 0; - } + // Clear motion triggers for next block + motion_detected = 0; + } static void run() { if (runout.mode[active_extruder] == RM_MOTION_SENSOR) { poll_motion_sensor(); } else if (runout.mode[active_extruder] != RM_NONE) { - LOOP_L_N(s, NUM_RUNOUT_SENSORS) { + for(uint8_t s = 0; s < NUM_RUNOUT_SENSORS; ++s) { const bool out = poll_runout_state(s); if (!out) filament_present(s); #if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG) static uint8_t was_out; // = 0 if (out != TEST(was_out, s)) { TBI(was_out, s); - SERIAL_ECHOLNF(F("Filament Sensor "), AS_DIGIT(s), out ? F(" OUT") : F(" IN")); + SERIAL_ECHOLN(F("Filament Sensor "), AS_DIGIT(s), out ? F(" OUT") : F(" IN")); } #endif } @@ -297,19 +312,32 @@ class FilamentSensorCore : public FilamentSensorBase { /********************************* RESPONSE TYPE *********************************/ +typedef struct { + float runout[NUM_RUNOUT_SENSORS]; + Flags runout_reset; // Reset runout later + #if ENABLED(FILAMENT_SWITCH_AND_MOTION) + float motion[NUM_MOTION_SENSORS]; + Flags motion_reset; // Reset motion later + #endif + } countdown_t; + // RunoutResponseDelayed triggers a runout event only if the length // of filament specified by FIL_RUNOUT_DISTANCE_MM has been fed // during a runout condition. class RunoutResponseDelayed { private: - static volatile float runout_mm_countdown[NUM_RUNOUT_SENSORS]; + static countdown_t mm_countdown; public: static float runout_distance_mm[NUM_RUNOUT_SENSORS]; + static int8_t runout_count[NUM_RUNOUT_SENSORS]; - static void reset() { - LOOP_L_N(i, NUM_RUNOUT_SENSORS) filament_present(i); - } + static void reset() { + for (uint8_t i = 0; i < NUM_RUNOUT_SENSORS; ++i) filament_present(i); + #if ENABLED(FILAMENT_SWITCH_AND_MOTION) + for (uint8_t i = 0; i < NUM_MOTION_SENSORS; ++i) filament_motion_present(i); + #endif + } static void run() { #if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG) @@ -317,29 +345,27 @@ class RunoutResponseDelayed { const millis_t ms = millis(); if (ELAPSED(ms, t)) { t = millis() + 1000UL; - LOOP_L_N(i, NUM_RUNOUT_SENSORS) - SERIAL_ECHOF(i ? F(", ") : F("Remaining mm: "), runout_mm_countdown[i]); + for(uint8_t i; i < NUM_RUNOUT_SENSORS; ++i) + SERIAL_ECHO(i ? F(", ") : F("Remaining mm: "), mm_countdown[i]); + #if ENABLED(FILAMENT_SWITCH_AND_MOTION) + for (uint8_t i = 0; i < NUM_MOTION_SENSORS; ++i) + SERIAL_ECHO(i ? F(", ") : F("Motion remaining mm: "), mm_countdown.motion[i]); + #endif SERIAL_EOL(); } #endif } - static uint8_t has_run_out() { - uint8_t runout_flags = 0; - LOOP_L_N(i, NUM_RUNOUT_SENSORS) if (runout_mm_countdown[i] < 0) SBI(runout_flags, i); - return runout_flags; + static runout_flags_t has_run_out() { + runout_flags_t runout_flags{0}; + for (uint8_t i = 0; i < NUM_RUNOUT_SENSORS; ++i) if (runout_count[i] < 0) runout_flags.set(i); + return runout_flags; } - static void filament_present(const uint8_t extruder) { - runout_mm_countdown[extruder] = runout_distance_mm[extruder]; - } + static void block_completed(const block_t * const) { } - static void block_completed(const block_t * const b) { - if (b->steps.x || b->steps.y || b->steps.z || did_pause_print) { // Allow pause purge move to re-trigger runout state - // Only trigger on extrusion with XYZ movement to allow filament change and retract/recover. - const uint8_t e = b->extruder; - const int32_t steps = b->steps.e; - runout_mm_countdown[e] -= (TEST(b->direction_bits, E_AXIS) ? -steps : steps) * planner.mm_per_step[E_AXIS_N(e)]; + static void filament_present(const uint8_t extruder) { + runout_count[extruder] = runout_distance_mm[extruder]; } - } -}; + }; + diff --git a/Marlin/src/feature/solenoid.cpp b/Marlin/src/feature/solenoid.cpp index 861e44ed05..46364eaf8f 100644 --- a/Marlin/src/feature/solenoid.cpp +++ b/Marlin/src/feature/solenoid.cpp @@ -22,7 +22,7 @@ #include "../inc/MarlinConfig.h" -#if EITHER(EXT_SOLENOID, MANUAL_SOLENOID_CONTROL) +#if ANY(EXT_SOLENOID, MANUAL_SOLENOID_CONTROL) #include "solenoid.h" diff --git a/Marlin/src/feature/spindle_laser.cpp b/Marlin/src/feature/spindle_laser.cpp index 52bb471b0f..c0635c7220 100644 --- a/Marlin/src/feature/spindle_laser.cpp +++ b/Marlin/src/feature/spindle_laser.cpp @@ -39,17 +39,26 @@ #endif SpindleLaser cutter; -uint8_t SpindleLaser::power; -#if ENABLED(LASER_FEATURE) - cutter_test_pulse_t SpindleLaser::testPulse = 50; // Test fire Pulse time ms value. -#endif -bool SpindleLaser::isReady; // Ready to apply power setting from the UI to OCR -cutter_power_t SpindleLaser::menuPower, // Power set via LCD menu in PWM, PERCENT, or RPM - SpindleLaser::unitPower; // LCD status power in PWM, PERCENT, or RPM +bool SpindleLaser::enable_state; // Virtual enable state, controls enable pin if present and or apply power if > 0 +uint8_t SpindleLaser::power, // Actual power output 0-255 ocr or "0 = off" > 0 = "on" + SpindleLaser::last_power_applied; // = 0 // Basic power state tracking -#if ENABLED(MARLIN_DEV_MODE) - cutter_frequency_t SpindleLaser::frequency; // PWM frequency setting; range: 2K - 50K +#if ENABLED(LASER_FEATURE) + cutter_test_pulse_t SpindleLaser::testPulse = 50; // (ms) Test fire pulse default duration + uint8_t SpindleLaser::last_block_power; // = 0 // Track power changes for dynamic inline power + feedRate_t SpindleLaser::feedrate_mm_m = 1500, + SpindleLaser::last_feedrate_mm_m; // = 0 // (mm/min) Track feedrate changes for dynamic power #endif + +bool SpindleLaser::isReadyForUI = false; // Ready to apply power setting from the UI to OCR +CutterMode SpindleLaser::cutter_mode = CUTTER_MODE_STANDARD; // Default is standard mode + +constexpr cutter_cpower_t SpindleLaser::power_floor; +cutter_power_t SpindleLaser::menuPower = 0, // Power value via LCD menu in PWM, PERCENT, or RPM based on configured format set by CUTTER_POWER_UNIT. + SpindleLaser::unitPower = 0; // Unit power is in PWM, PERCENT, or RPM based on CUTTER_POWER_UNIT. + +cutter_frequency_t SpindleLaser::frequency; // PWM frequency setting; range: 2K - 50K + #define SPINDLE_LASER_PWM_OFF TERN(SPINDLE_LASER_PWM_INVERT, 255, 0) /** @@ -57,21 +66,21 @@ cutter_power_t SpindleLaser::menuPower, // Power s */ void SpindleLaser::init() { #if ENABLED(SPINDLE_SERVO) - MOVE_SERVO(SPINDLE_SERVO_NR, SPINDLE_SERVO_MIN); - #else + servo[SPINDLE_SERVO_NR].move(SPINDLE_SERVO_MIN); + #elif PIN_EXISTS(SPINDLE_LASER_ENA) OUT_WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE); // Init spindle to off #endif #if ENABLED(SPINDLE_CHANGE_DIR) OUT_WRITE(SPINDLE_DIR_PIN, SPINDLE_INVERT_DIR); // Init rotation to clockwise (M3) #endif + #if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY + frequency = SPINDLE_LASER_FREQUENCY; + hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_FREQUENCY); + #endif #if ENABLED(SPINDLE_LASER_USE_PWM) SET_PWM(SPINDLE_LASER_PWM_PIN); hal.set_pwm_duty(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_PWM_OFF); // Set to lowest speed #endif - #if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY - hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_FREQUENCY); - TERN_(MARLIN_DEV_MODE, frequency = SPINDLE_LASER_FREQUENCY); - #endif #if ENABLED(AIR_EVACUATION) OUT_WRITE(AIR_EVACUATION_PIN, !AIR_EVACUATION_ACTIVE); // Init Vacuum/Blower OFF #endif @@ -89,53 +98,62 @@ void SpindleLaser::init() { */ void SpindleLaser::_set_ocr(const uint8_t ocr) { #if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY - hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), TERN(MARLIN_DEV_MODE, frequency, SPINDLE_LASER_FREQUENCY)); + hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), frequency); #endif hal.set_pwm_duty(pin_t(SPINDLE_LASER_PWM_PIN), ocr ^ SPINDLE_LASER_PWM_OFF); } void SpindleLaser::set_ocr(const uint8_t ocr) { - WRITE(SPINDLE_LASER_ENA_PIN, SPINDLE_LASER_ACTIVE_STATE); // Cutter ON + #if PIN_EXISTS(SPINDLE_LASER_ENA) + WRITE(SPINDLE_LASER_ENA_PIN, SPINDLE_LASER_ACTIVE_STATE); // Cutter ON + #endif _set_ocr(ocr); } void SpindleLaser::ocr_off() { - WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE); // Cutter OFF + #if PIN_EXISTS(SPINDLE_LASER_ENA) + WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE); // Cutter OFF + #endif _set_ocr(0); } #endif // SPINDLE_LASER_USE_PWM /** - * Apply power for laser/spindle + * Apply power for Laser or Spindle * * Apply cutter power value for PWM, Servo, and on/off pin. * - * @param opwr Power value. Range 0 to MAX. When 0 disable spindle/laser. + * @param opwr Power value. Range 0 to MAX. */ void SpindleLaser::apply_power(const uint8_t opwr) { - static uint8_t last_power_applied = 0; - if (opwr == last_power_applied) return; - last_power_applied = opwr; - power = opwr; - #if ENABLED(SPINDLE_LASER_USE_PWM) - if (cutter.unitPower == 0 && CUTTER_UNIT_IS(RPM)) { - ocr_off(); - isReady = false; - } - else if (ENABLED(CUTTER_POWER_RELATIVE) || enabled()) { - set_ocr(power); - isReady = true; - } - else { - ocr_off(); - isReady = false; - } - #elif ENABLED(SPINDLE_SERVO) - MOVE_SERVO(SPINDLE_SERVO_NR, power); - #else - WRITE(SPINDLE_LASER_ENA_PIN, enabled() ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE); - isReady = true; - #endif + if (enabled() || opwr == 0) { // 0 check allows us to disable where no ENA pin exists + // Test and set the last power used to improve performance + if (opwr == last_power_applied) return; + last_power_applied = opwr; + // Handle PWM driven or just simple on/off + #if ENABLED(SPINDLE_LASER_USE_PWM) + if (CUTTER_UNIT_IS(RPM) && unitPower == 0) + ocr_off(); + else if (ENABLED(CUTTER_POWER_RELATIVE) || enabled() || opwr == 0) { + set_ocr(opwr); + isReadyForUI = true; + } + else + ocr_off(); + #elif ENABLED(SPINDLE_SERVO) + servo[SPINDLE_SERVO_NR].move(opwr); + #else + WRITE(SPINDLE_LASER_ENA_PIN, enabled() ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE); + isReadyForUI = true; + #endif + } + else { + #if PIN_EXISTS(SPINDLE_LASER_ENA) + WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE); + #endif + isReadyForUI = false; // Only used for UI display updates. + TERN_(SPINDLE_LASER_USE_PWM, ocr_off()); + } } #if ENABLED(SPINDLE_CHANGE_DIR) @@ -159,8 +177,8 @@ void SpindleLaser::apply_power(const uint8_t opwr) { #if ENABLED(AIR_ASSIST) // Enable / disable air assist - void SpindleLaser::air_assist_enable() { WRITE(AIR_ASSIST_PIN, AIR_ASSIST_PIN); } // Turn ON - void SpindleLaser::air_assist_disable() { WRITE(AIR_ASSIST_PIN, !AIR_ASSIST_PIN); } // Turn OFF + void SpindleLaser::air_assist_enable() { WRITE(AIR_ASSIST_PIN, AIR_ASSIST_ACTIVE); } // Turn ON + void SpindleLaser::air_assist_disable() { WRITE(AIR_ASSIST_PIN, !AIR_ASSIST_ACTIVE); } // Turn OFF void SpindleLaser::air_assist_toggle() { TOGGLE(AIR_ASSIST_PIN); } // Toggle state #endif diff --git a/Marlin/src/feature/spindle_laser.h b/Marlin/src/feature/spindle_laser.h index e948d2d37b..8908ae6df5 100644 --- a/Marlin/src/feature/spindle_laser.h +++ b/Marlin/src/feature/spindle_laser.h @@ -30,90 +30,100 @@ #include "spindle_laser_types.h" -#if USE_BEEPER - #include "../libs/buzzer.h" -#endif +#include "../libs/buzzer.h" -#if ENABLED(LASER_POWER_INLINE) - #include "../module/planner.h" -#endif +// Inline laser power +#include "../module/planner.h" #define PCT_TO_PWM(X) ((X) * 255 / 100) #define PCT_TO_SERVO(X) ((X) * 180 / 100) -// #define _MAP(N,S1,S2,D1,D2) ((N)*_MAX((D2)-(D1),0)/_MAX((S2)-(S1),1)+(D1)) + +// Laser/Cutter operation mode +enum CutterMode : int8_t { + CUTTER_MODE_ERROR = -1, + CUTTER_MODE_STANDARD, // M3 power is applied directly and waits for planner moves to sync. + CUTTER_MODE_CONTINUOUS, // M3 or G1/2/3 move power is controlled within planner blocks, set with 'M3 I', cleared with 'M5 I'. + CUTTER_MODE_DYNAMIC // M4 laser power is proportional to the feed rate, set with 'M4 I', cleared with 'M5 I'. +}; class SpindleLaser { public: - static const inline uint8_t pct_to_ocr(const_float_t pct) { return uint8_t(PCT_TO_PWM(pct)); } + static CutterMode cutter_mode; + + static constexpr uint8_t pct_to_ocr(const_float_t pct) { return uint8_t(PCT_TO_PWM(pct)); } // cpower = configured values (e.g., SPEED_POWER_MAX) - // Convert configured power range to a percentage - static const inline uint8_t cpwr_to_pct(const cutter_cpower_t cpwr) { - constexpr cutter_cpower_t power_floor = TERN(CUTTER_POWER_RELATIVE, SPEED_POWER_MIN, 0), - power_range = SPEED_POWER_MAX - power_floor; - return cpwr ? round(100.0f * (cpwr - power_floor) / power_range) : 0; + static constexpr cutter_cpower_t power_floor = TERN(CUTTER_POWER_RELATIVE, SPEED_POWER_MIN, 0); + static constexpr uint8_t cpwr_to_pct(const cutter_cpower_t cpwr) { + return cpwr ? round(100.0f * (cpwr - power_floor) / (SPEED_POWER_MAX - power_floor)) : 0; } - // Convert a cpower (e.g., SPEED_POWER_STARTUP) to unit power (upwr, upower), - // which can be PWM, Percent, Servo angle, or RPM (rel/abs). - static const inline cutter_power_t cpwr_to_upwr(const cutter_cpower_t cpwr) { // STARTUP power to Unit power - const cutter_power_t upwr = ( + // Convert config defines from RPM to %, angle or PWM when in Spindle mode + // and convert from PERCENT to PWM when in Laser mode + static constexpr cutter_power_t cpwr_to_upwr(const cutter_cpower_t cpwr) { // STARTUP power to Unit power + return ( #if ENABLED(SPINDLE_FEATURE) - // Spindle configured values are in RPM + // Spindle configured define values are in RPM #if CUTTER_UNIT_IS(RPM) - cpwr // to RPM - #elif CUTTER_UNIT_IS(PERCENT) // to PCT - cpwr_to_pct(cpwr) - #elif CUTTER_UNIT_IS(SERVO) // to SERVO angle - PCT_TO_SERVO(cpwr_to_pct(cpwr)) - #else // to PWM - PCT_TO_PWM(cpwr_to_pct(cpwr)) + cpwr // to same + #elif CUTTER_UNIT_IS(PERCENT) + cpwr_to_pct(cpwr) // to Percent + #elif CUTTER_UNIT_IS(SERVO) + PCT_TO_SERVO(cpwr_to_pct(cpwr)) // to SERVO angle + #else + PCT_TO_PWM(cpwr_to_pct(cpwr)) // to PWM #endif #else - // Laser configured values are in PCT + // Laser configured define values are in Percent #if CUTTER_UNIT_IS(PWM255) - PCT_TO_PWM(cpwr) + PCT_TO_PWM(cpwr) // to PWM #else - cpwr // to RPM/PCT + cpwr // to same #endif #endif ); - return upwr; } - static const cutter_power_t mpower_min() { return cpwr_to_upwr(SPEED_POWER_MIN); } - static const cutter_power_t mpower_max() { return cpwr_to_upwr(SPEED_POWER_MAX); } + static constexpr cutter_power_t mpower_min() { return cpwr_to_upwr(SPEED_POWER_MIN); } + static constexpr cutter_power_t mpower_max() { return cpwr_to_upwr(SPEED_POWER_MAX); } #if ENABLED(LASER_FEATURE) - static cutter_test_pulse_t testPulse; // Test fire Pulse ms value + static cutter_test_pulse_t testPulse; // (ms) Test fire pulse duration + static uint8_t last_block_power; // Track power changes for dynamic power + + static feedRate_t feedrate_mm_m, last_feedrate_mm_m; // (mm/min) Track feedrate changes for dynamic power + static bool laser_feedrate_changed() { + const bool changed = last_feedrate_mm_m != feedrate_mm_m; + if (changed) last_feedrate_mm_m = feedrate_mm_m; + return changed; + } #endif - static bool isReady; // Ready to apply power setting from the UI to OCR - static uint8_t power; + static bool isReadyForUI; // Ready to apply power setting from the UI to OCR + static bool enable_state; + static uint8_t power, + last_power_applied; // Basic power state tracking - #if ENABLED(MARLIN_DEV_MODE) - static cutter_frequency_t frequency; // Set PWM frequency; range: 2K-50K - #endif + static cutter_frequency_t frequency; // Set PWM frequency; range: 2K-50K static cutter_power_t menuPower, // Power as set via LCD menu in PWM, Percentage or RPM unitPower; // Power as displayed status in PWM, Percentage or RPM static void init(); - #if ENABLED(MARLIN_DEV_MODE) + #if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY static void refresh_frequency() { hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), frequency); } #endif // Modifying this function should update everywhere static bool enabled(const cutter_power_t opwr) { return opwr > 0; } - static bool enabled() { return enabled(power); } + static bool enabled() { return enable_state; } static void apply_power(const uint8_t inpow); FORCE_INLINE static void refresh() { apply_power(power); } - FORCE_INLINE static void set_power(const uint8_t upwr) { power = upwr; refresh(); } #if ENABLED(SPINDLE_LASER_USE_PWM) @@ -124,7 +134,6 @@ public: public: static void set_ocr(const uint8_t ocr); - static void ocr_set_power(const uint8_t ocr) { power = ocr; set_ocr(ocr); } static void ocr_off(); /** @@ -142,78 +151,74 @@ public: ); } - /** - * Correct power to configured range - */ - static cutter_power_t power_to_range(const cutter_power_t pwr) { - return power_to_range(pwr, _CUTTER_POWER(CUTTER_POWER_UNIT)); - } - - static cutter_power_t power_to_range(const cutter_power_t pwr, const uint8_t pwrUnit) { - static constexpr float - min_pct = TERN(CUTTER_POWER_RELATIVE, 0, TERN(SPINDLE_FEATURE, round(100.0f * (SPEED_POWER_MIN) / (SPEED_POWER_MAX)), SPEED_POWER_MIN)), - max_pct = TERN(SPINDLE_FEATURE, 100, SPEED_POWER_MAX); - if (pwr <= 0) return 0; - cutter_power_t upwr; - switch (pwrUnit) { - case _CUTTER_POWER_PWM255: - upwr = cutter_power_t( - (pwr < pct_to_ocr(min_pct)) ? pct_to_ocr(min_pct) // Use minimum if set below - : (pwr > pct_to_ocr(max_pct)) ? pct_to_ocr(max_pct) // Use maximum if set above - : pwr - ); - break; - case _CUTTER_POWER_PERCENT: - upwr = cutter_power_t( - (pwr < min_pct) ? min_pct // Use minimum if set below - : (pwr > max_pct) ? max_pct // Use maximum if set above - : pwr // PCT - ); - break; - case _CUTTER_POWER_RPM: - upwr = cutter_power_t( - (pwr < SPEED_POWER_MIN) ? SPEED_POWER_MIN // Use minimum if set below - : (pwr > SPEED_POWER_MAX) ? SPEED_POWER_MAX // Use maximum if set above - : pwr // Calculate OCR value - ); - break; - default: break; - } - return upwr; - } - #endif // SPINDLE_LASER_USE_PWM /** - * Enable/Disable spindle/laser - * @param enable true = enable; false = disable + * Correct power to configured range */ - static void set_enabled(const bool enable) { - uint8_t value = 0; - if (enable) { - #if ENABLED(SPINDLE_LASER_USE_PWM) - if (power) - value = power; - else if (unitPower) - value = upower_to_ocr(cpwr_to_upwr(SPEED_POWER_STARTUP)); - #else - value = 255; - #endif + static cutter_power_t power_to_range(const cutter_power_t pwr, const uint8_t pwrUnit=_CUTTER_POWER(CUTTER_POWER_UNIT)) { + static constexpr float + min_pct = TERN(CUTTER_POWER_RELATIVE, 0, TERN(SPINDLE_FEATURE, round(100.0f * (SPEED_POWER_MIN) / (SPEED_POWER_MAX)), SPEED_POWER_MIN)), + max_pct = TERN(SPINDLE_FEATURE, 100, SPEED_POWER_MAX); + if (pwr <= 0) return 0; + cutter_power_t upwr; + switch (pwrUnit) { + case _CUTTER_POWER_PWM255: { // PWM + const uint8_t pmin = pct_to_ocr(min_pct), pmax = pct_to_ocr(max_pct); + upwr = cutter_power_t(constrain(pwr, pmin, pmax)); + } break; + case _CUTTER_POWER_PERCENT: // Percent + upwr = cutter_power_t(constrain(pwr, min_pct, max_pct)); + break; + case _CUTTER_POWER_RPM: // Calculate OCR value + upwr = cutter_power_t(constrain(pwr, SPEED_POWER_MIN, SPEED_POWER_MAX)); + break; + default: break; } - set_power(value); + return upwr; } - static void disable() { isReady = false; set_enabled(false); } - /** - * Wait for spindle to spin up or spin down + * Enable Laser or Spindle output. + * It's important to prevent changing the power output value during inline cutter operation. + * Inline power is adjusted in the planner to support LASER_TRAP_POWER and CUTTER_MODE_DYNAMIC mode. * - * @param on true = state to on; false = state to off. + * This method accepts one of the following control states: + * + * - For CUTTER_MODE_STANDARD the cutter power is either full on/off or ocr-based and it will apply + * SPEED_POWER_STARTUP if no value is assigned. + * + * - For CUTTER_MODE_CONTINUOUS inline and power remains where last set and the cutter output enable flag is set. + * + * - CUTTER_MODE_DYNAMIC is also inline-based and it just sets the enable output flag. + * + * - For CUTTER_MODE_ERROR set the output enable_state flag directly and set power to 0 for any mode. + * This mode allows a global power shutdown action to occur. */ - static void power_delay(const bool on) { - #if DISABLED(LASER_POWER_INLINE) - safe_delay(on ? SPINDLE_LASER_POWERUP_DELAY : SPINDLE_LASER_POWERDOWN_DELAY); + static void set_enabled(bool enable) { + switch (cutter_mode) { + case CUTTER_MODE_STANDARD: + apply_power(enable ? TERN(SPINDLE_LASER_USE_PWM, (power ?: (unitPower ? upower_to_ocr(cpwr_to_upwr(SPEED_POWER_STARTUP)) : 0)), 255) : 0); + break; + case CUTTER_MODE_CONTINUOUS: + case CUTTER_MODE_DYNAMIC: + TERN_(LASER_FEATURE, set_inline_enabled(enable)); + break; + case CUTTER_MODE_ERROR: // Error mode, no enable and kill power. + enable = false; + apply_power(0); + } + #if PIN_EXISTS(SPINDLE_LASER_ENA) + WRITE(SPINDLE_LASER_ENA_PIN, enable ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE); #endif + enable_state = enable; + } + + static void disable() { isReadyForUI = false; set_enabled(false); } + + // Wait for spindle/laser to startup or shutdown + static void power_delay(const bool on) { + safe_delay(on ? SPINDLE_LASER_POWERUP_DELAY : SPINDLE_LASER_POWERDOWN_DELAY); } #if ENABLED(SPINDLE_CHANGE_DIR) @@ -225,122 +230,98 @@ public: #endif #if ENABLED(AIR_EVACUATION) - static void air_evac_enable(); // Turn On Cutter Vacuum or Laser Blower motor - static void air_evac_disable(); // Turn Off Cutter Vacuum or Laser Blower motor - static void air_evac_toggle(); // Toggle Cutter Vacuum or Laser Blower motor - static bool air_evac_state() { // Get current state + static void air_evac_enable(); // Turn On Cutter Vacuum or Laser Blower motor + static void air_evac_disable(); // Turn Off Cutter Vacuum or Laser Blower motor + static void air_evac_toggle(); // Toggle Cutter Vacuum or Laser Blower motor + static bool air_evac_state() { // Get current state return (READ(AIR_EVACUATION_PIN) == AIR_EVACUATION_ACTIVE); } #endif #if ENABLED(AIR_ASSIST) - static void air_assist_enable(); // Turn on air assist - static void air_assist_disable(); // Turn off air assist - static void air_assist_toggle(); // Toggle air assist - static bool air_assist_state() { // Get current state + static void air_assist_enable(); // Turn on air assist + static void air_assist_disable(); // Turn off air assist + static void air_assist_toggle(); // Toggle air assist + static bool air_assist_state() { // Get current state return (READ(AIR_ASSIST_PIN) == AIR_ASSIST_ACTIVE); } #endif #if HAS_MARLINUI_MENU - static void enable_with_dir(const bool reverse) { - isReady = true; - const uint8_t ocr = TERN(SPINDLE_LASER_USE_PWM, upower_to_ocr(menuPower), 255); - if (menuPower) - power = ocr; - else - menuPower = cpwr_to_upwr(SPEED_POWER_STARTUP); - unitPower = menuPower; - set_reverse(reverse); - set_enabled(true); - } - FORCE_INLINE static void enable_forward() { enable_with_dir(false); } - FORCE_INLINE static void enable_reverse() { enable_with_dir(true); } - FORCE_INLINE static void enable_same_dir() { enable_with_dir(is_reverse()); } + + #if ENABLED(SPINDLE_FEATURE) + static void enable_with_dir(const bool reverse) { + isReadyForUI = true; + const uint8_t ocr = TERN(SPINDLE_LASER_USE_PWM, upower_to_ocr(menuPower), 255); + if (menuPower) + power = ocr; + else + menuPower = cpwr_to_upwr(SPEED_POWER_STARTUP); + unitPower = menuPower; + set_reverse(reverse); + set_enabled(true); + } + FORCE_INLINE static void enable_forward() { enable_with_dir(false); } + FORCE_INLINE static void enable_reverse() { enable_with_dir(true); } + FORCE_INLINE static void enable_same_dir() { enable_with_dir(is_reverse()); } + #endif // SPINDLE_FEATURE #if ENABLED(SPINDLE_LASER_USE_PWM) static void update_from_mpower() { - if (isReady) power = upower_to_ocr(menuPower); + if (isReadyForUI) power = upower_to_ocr(menuPower); unitPower = menuPower; } #endif #if ENABLED(LASER_FEATURE) + // Toggle the laser on/off with menuPower. Apply SPEED_POWER_STARTUP if it was 0 on entry. + static void menu_set_enabled(const bool state) { + set_enabled(state); + if (state) { + if (!menuPower) menuPower = cpwr_to_upwr(SPEED_POWER_STARTUP); + power = TERN(SPINDLE_LASER_USE_PWM, upower_to_ocr(menuPower), 255); + apply_power(power); + } else + apply_power(0); + } + /** * Test fire the laser using the testPulse ms duration * Also fires with any PWM power that was previous set * If not set defaults to 80% power */ static void test_fire_pulse() { - TERN_(USE_BEEPER, buzzer.tone(30, 3000)); - enable_forward(); // Turn Laser on (Spindle speak but same funct) - delay(testPulse); // Delay for time set by user in pulse ms menu screen. - disable(); // Turn laser off + BUZZ(30, 3000); + cutter_mode = CUTTER_MODE_STANDARD; // Menu needs standard mode. + menu_set_enabled(true); // Laser On + delay(testPulse); // Delay for time set by user in pulse ms menu screen. + menu_set_enabled(false); // Laser Off } - #endif + #endif // LASER_FEATURE #endif // HAS_MARLINUI_MENU - #if ENABLED(LASER_POWER_INLINE) - /** - * Inline power adds extra fields to the planner block - * to handle laser power and scale to movement speed. - */ + #if ENABLED(LASER_FEATURE) - // Force disengage planner power control - static void inline_disable() { - isReady = false; - unitPower = 0; - planner.laser_inline.status.isPlanned = false; - planner.laser_inline.status.isEnabled = false; - planner.laser_inline.power = 0; + // Dynamic mode rate calculation + static uint8_t calc_dynamic_power() { + if (feedrate_mm_m > 65535) return 255; // Too fast, go always on + uint16_t rate = uint16_t(feedrate_mm_m); // 16 bits from the G-code parser float input + rate >>= 8; // Take the G-code input e.g. F40000 and shift off the lower bits to get an OCR value from 1-255 + return uint8_t(rate); } // Inline modes of all other functions; all enable planner inline power control - static void set_inline_enabled(const bool enable) { - if (enable) - inline_power(255); - else { - isReady = false; - unitPower = menuPower = 0; - planner.laser_inline.status.isPlanned = false; - TERN(SPINDLE_LASER_USE_PWM, inline_ocr_power, inline_power)(0); - } - } + static void set_inline_enabled(const bool enable) { planner.laser_inline.status.isEnabled = enable; } // Set the power for subsequent movement blocks - static void inline_power(const cutter_power_t upwr) { - unitPower = menuPower = upwr; - #if ENABLED(SPINDLE_LASER_USE_PWM) - #if ENABLED(SPEED_POWER_RELATIVE) && !CUTTER_UNIT_IS(RPM) // relative mode does not turn laser off at 0, except for RPM - planner.laser_inline.status.isEnabled = true; - planner.laser_inline.power = upower_to_ocr(upwr); - isReady = true; - #else - inline_ocr_power(upower_to_ocr(upwr)); - #endif - #else - planner.laser_inline.status.isEnabled = enabled(upwr); - planner.laser_inline.power = upwr; - isReady = enabled(upwr); - #endif + static void inline_power(const cutter_power_t cpwr) { + TERN(SPINDLE_LASER_USE_PWM, power = planner.laser_inline.power = cpwr, planner.laser_inline.power = cpwr > 0 ? 255 : 0); } - static void inline_direction(const bool) { /* never */ } + #endif // LASER_FEATURE - #if ENABLED(SPINDLE_LASER_USE_PWM) - static void inline_ocr_power(const uint8_t ocrpwr) { - isReady = ocrpwr > 0; - planner.laser_inline.status.isEnabled = ocrpwr > 0; - planner.laser_inline.power = ocrpwr; - } - #endif - #endif // LASER_POWER_INLINE - - static void kill() { - TERN_(LASER_POWER_INLINE, inline_disable()); - disable(); - } + static void kill() { disable(); } }; extern SpindleLaser cutter; diff --git a/Marlin/src/feature/spindle_laser_types.h b/Marlin/src/feature/spindle_laser_types.h index d249a20e75..4e5e4d06f6 100644 --- a/Marlin/src/feature/spindle_laser_types.h +++ b/Marlin/src/feature/spindle_laser_types.h @@ -57,7 +57,7 @@ #endif #endif -typedef IF<(SPEED_POWER_MAX > 255), uint16_t, uint8_t>::type cutter_cpower_t; +typedef uvalue_t(SPEED_POWER_MAX) cutter_cpower_t; #if CUTTER_UNIT_IS(RPM) && SPEED_POWER_MAX > 255 typedef uint16_t cutter_power_t; @@ -74,12 +74,10 @@ typedef IF<(SPEED_POWER_MAX > 255), uint16_t, uint8_t>::type cutter_cpower_t; #endif #endif +typedef uint16_t cutter_frequency_t; + #if ENABLED(LASER_FEATURE) typedef uint16_t cutter_test_pulse_t; #define CUTTER_MENU_PULSE_TYPE uint16_3 -#endif - -#if ENABLED(MARLIN_DEV_MODE) - typedef uint16_t cutter_frequency_t; #define CUTTER_MENU_FREQUENCY_TYPE uint16_5 #endif diff --git a/Marlin/src/feature/stepper_driver_safety.cpp b/Marlin/src/feature/stepper_driver_safety.cpp index b8762da9b0..acdd695909 100644 --- a/Marlin/src/feature/stepper_driver_safety.cpp +++ b/Marlin/src/feature/stepper_driver_safety.cpp @@ -30,8 +30,7 @@ static uint32_t axis_plug_backward = 0; void stepper_driver_backward_error(FSTR_P const fstr) { SERIAL_ERROR_START(); - SERIAL_ECHOF(fstr); - SERIAL_ECHOLNPGM(" driver is backward!"); + SERIAL_ECHOLN(fstr, F(" driver is backward!")); ui.status_printf(2, F(S_FMT S_FMT), FTOP(fstr), GET_TEXT(MSG_DRIVER_BACKWARD)); } @@ -43,7 +42,7 @@ void stepper_driver_backward_check() { SET_INPUT(AXIS##_ENABLE_PIN); \ OUT_WRITE(AXIS##_STEP_PIN, false); \ delay(20); \ - if (READ(AXIS##_ENABLE_PIN) == false) { \ + if (READ(AXIS##_ENABLE_PIN) == LOW) { \ SBI(axis_plug_backward, BIT); \ stepper_driver_backward_error(F(STRINGIFY(AXIS))); \ } \ diff --git a/Marlin/src/feature/tmc_util.cpp b/Marlin/src/feature/tmc_util.cpp index cb970c7ebc..bff6872e4d 100644 --- a/Marlin/src/feature/tmc_util.cpp +++ b/Marlin/src/feature/tmc_util.cpp @@ -33,17 +33,12 @@ #include "../gcode/gcode.h" #if ENABLED(TMC_DEBUG) - #include "../module/planner.h" #include "../libs/hex_print.h" #if ENABLED(MONITOR_DRIVER_STATUS) static uint16_t report_tmc_status_interval; // = 0 #endif #endif -#if HAS_MARLINUI_MENU - #include "../module/stepper.h" -#endif - /** * Check for over temperature or short to ground error flags. * Report and log warning of overtemperature condition. @@ -218,47 +213,46 @@ template void report_driver_otpw(TMC &st) { - char timestamp[14]; + MString<13> timestamp; duration_t elapsed = print_job_timer.duration(); const bool has_days = (elapsed.value > 60*60*24L); - (void)elapsed.toDigital(timestamp, has_days); - SERIAL_EOL(); - SERIAL_ECHO(timestamp); - SERIAL_ECHOPGM(": "); + (void)elapsed.toDigital(×tamp, has_days); + TSS('\n', timestamp, F(": ")).echo(); st.printLabel(); - SERIAL_ECHOLNPGM(" driver overtemperature warning! (", st.getMilliamps(), "mA)"); + SString<50>(F(" driver overtemperature warning! ("), st.getMilliamps(), F("mA)")).echoln(); } template void report_polled_driver_data(TMC &st, const TMC_driver_data &data) { const uint32_t pwm_scale = get_pwm_scale(st); st.printLabel(); - SERIAL_CHAR(':'); SERIAL_ECHO(pwm_scale); + SString<60> report(':', pwm_scale); #if ENABLED(TMC_DEBUG) #if HAS_TMCX1X0 || HAS_TMC220x - SERIAL_CHAR('/'); SERIAL_ECHO(data.cs_actual); + report.append('/', data.cs_actual); #endif #if HAS_STALLGUARD - SERIAL_CHAR('/'); + report += '/'; if (data.sg_result_reasonable) - SERIAL_ECHO(data.sg_result); + report += data.sg_result; else - SERIAL_CHAR('-'); + report += '-'; #endif #endif - SERIAL_CHAR('|'); - if (st.error_count) SERIAL_CHAR('E'); // Error - if (data.is_ot) SERIAL_CHAR('O'); // Over-temperature - if (data.is_otpw) SERIAL_CHAR('W'); // over-temperature pre-Warning + report += '|'; + if (st.error_count) report += 'E'; // Error + if (data.is_ot) report += 'O'; // Over-temperature + if (data.is_otpw) report += 'W'; // over-temperature pre-Warning #if ENABLED(TMC_DEBUG) - if (data.is_stall) SERIAL_CHAR('G'); // stallGuard - if (data.is_stealth) SERIAL_CHAR('T'); // stealthChop - if (data.is_standstill) SERIAL_CHAR('I'); // standstIll + if (data.is_stall) report += 'G'; // stallGuard + if (data.is_stealth) report += 'T'; // stealthChop + if (data.is_standstill) report += 'I'; // standstIll #endif - if (st.flag_otpw) SERIAL_CHAR('F'); // otpw Flag - SERIAL_CHAR('|'); - if (st.otpw_count > 0) SERIAL_ECHO(st.otpw_count); - SERIAL_CHAR('\t'); + if (st.flag_otpw) report += 'F'; // otpw Flag + report += '|'; + if (st.otpw_count > 0) report += st.otpw_count; + report += '\t'; + report.echo(); } #if CURRENT_STEP_DOWN > 0 @@ -567,7 +561,7 @@ }; template - static void print_vsense(TMC &st) { SERIAL_ECHOF(st.vsense() ? F("1=.18") : F("0=.325")); } + static void print_vsense(TMC &st) { SERIAL_ECHO(st.vsense() ? F("1=.18") : F("0=.325")); } #if HAS_DRIVER(TMC2130) || HAS_DRIVER(TMC5130) static void _tmc_status(TMC2130Stepper &st, const TMC_debug_enum i) { @@ -606,8 +600,8 @@ case TMC_STEALTHCHOP: serialprint_truefalse(st.en_pwm_mode()); break; case TMC_GLOBAL_SCALER: { - uint16_t value = st.GLOBAL_SCALER(); - SERIAL_ECHO(value ? value : 256); + const uint16_t value = st.GLOBAL_SCALER(); + SERIAL_ECHO(value ?: 256); SERIAL_ECHOPGM("/256"); } break; @@ -685,7 +679,7 @@ case TMC_ENABLED: serialprint_truefalse(st.isEnabled()); break; case TMC_CURRENT: SERIAL_ECHO(st.getMilliamps()); break; case TMC_RMS_CURRENT: SERIAL_ECHO(st.rms_current()); break; - case TMC_MAX_CURRENT: SERIAL_PRINT((float)st.rms_current() * 1.41, 0); break; + case TMC_MAX_CURRENT: SERIAL_ECHO(p_float_t(st.rms_current() * 1.41, 0)); break; case TMC_IRUN: SERIAL_ECHO(st.irun()); SERIAL_ECHOPGM("/31"); @@ -733,12 +727,12 @@ case TMC_ENABLED: serialprint_truefalse(st.isEnabled()); break; case TMC_CURRENT: SERIAL_ECHO(st.getMilliamps()); break; case TMC_RMS_CURRENT: SERIAL_ECHO(st.rms_current()); break; - case TMC_MAX_CURRENT: SERIAL_PRINT((float)st.rms_current() * 1.41, 0); break; + case TMC_MAX_CURRENT: SERIAL_ECHO(p_float_t(st.rms_current() * 1.41, 0)); break; case TMC_IRUN: SERIAL_ECHO(st.cs()); SERIAL_ECHOPGM("/31"); break; - case TMC_VSENSE: SERIAL_ECHOF(st.vsense() ? F("1=.165") : F("0=.310")); break; + case TMC_VSENSE: SERIAL_ECHO(st.vsense() ? F("1=.165") : F("0=.310")); break; case TMC_MICROSTEPS: SERIAL_ECHO(st.microsteps()); break; //case TMC_OTPW: serialprint_truefalse(st.otpw()); break; //case TMC_OTPW_TRIGGERED: serialprint_truefalse(st.getOTPW()); break; @@ -778,8 +772,8 @@ } } - static void tmc_debug_loop(const TMC_debug_enum n, LOGICAL_AXIS_ARGS(const bool)) { - if (x) { + static void tmc_debug_loop(const TMC_debug_enum n OPTARGS_LOGICAL(const bool)) { + if (TERN0(HAS_X_AXIS, x)) { #if AXIS_IS_TMC(X) tmc_status(stepperX, n); #endif @@ -861,8 +855,8 @@ SERIAL_EOL(); } - static void drv_status_loop(const TMC_drv_status_enum n, LOGICAL_AXIS_ARGS(const bool)) { - if (x) { + static void drv_status_loop(const TMC_drv_status_enum n OPTARGS_LOGICAL(const bool)) { + if (TERN0(HAS_X_AXIS, x)) { #if AXIS_IS_TMC(X) tmc_parse_drv_status(stepperX, n); #endif @@ -949,8 +943,8 @@ */ void tmc_report_all(LOGICAL_AXIS_ARGS(const bool)) { - #define TMC_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_debug_loop(ITEM, LOGICAL_AXIS_ARGS()); }while(0) - #define DRV_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); drv_status_loop(ITEM, LOGICAL_AXIS_ARGS()); }while(0) + #define TMC_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_debug_loop(ITEM OPTARGS_LOGICAL()); }while(0) + #define DRV_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); drv_status_loop(ITEM OPTARGS_LOGICAL()); }while(0) TMC_REPORT("\t", TMC_CODES); #if HAS_DRIVER(TMC2209) @@ -1075,8 +1069,8 @@ } #endif - static void tmc_get_registers(TMC_get_registers_enum n, LOGICAL_AXIS_ARGS(const bool)) { - if (x) { + static void tmc_get_registers(TMC_get_registers_enum n OPTARGS_LOGICAL(const bool)) { + if (TERN0(HAS_X_AXIS, x)) { #if AXIS_IS_TMC(X) tmc_get_registers(stepperX, n); #endif @@ -1159,7 +1153,7 @@ } void tmc_get_registers(LOGICAL_AXIS_ARGS(bool)) { - #define _TMC_GET_REG(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_get_registers(ITEM, LOGICAL_AXIS_ARGS()); }while(0) + #define _TMC_GET_REG(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_get_registers(ITEM OPTARGS_LOGICAL()); }while(0) #define TMC_GET_REG(NAME, TABS) _TMC_GET_REG(STRINGIFY(NAME) TABS, TMC_GET_##NAME) _TMC_GET_REG("\t", TMC_AXIS_CODES); TMC_GET_REG(GCONF, "\t\t"); @@ -1233,7 +1227,7 @@ static bool test_connection(TMC &st) { case 1: stat = F("HIGH"); break; case 2: stat = F("LOW"); break; } - SERIAL_ECHOLNF(stat); + SERIAL_ECHOLN(stat); return test_result; } @@ -1241,7 +1235,7 @@ static bool test_connection(TMC &st) { void test_tmc_connection(LOGICAL_AXIS_ARGS(const bool)) { uint8_t axis_connection = 0; - if (x) { + if (TERN0(HAS_X_AXIS, x)) { #if AXIS_IS_TMC(X) axis_connection += test_connection(stepperX); #endif diff --git a/Marlin/src/feature/tmc_util.h b/Marlin/src/feature/tmc_util.h index c10bab6274..a0a72058aa 100644 --- a/Marlin/src/feature/tmc_util.h +++ b/Marlin/src/feature/tmc_util.h @@ -144,7 +144,7 @@ class TMCMarlin : public TMC, public TMCStorage { #endif #endif - #if HAS_MARLINUI_MENU + #if ANY(HAS_MARLINUI_MENU, DWIN_LCD_PROUI) void refresh_stepper_current() { rms_current(this->val_mA); } #if ENABLED(HYBRID_THRESHOLD) @@ -207,7 +207,7 @@ class TMCMarlin : public TMC220 } #endif - #if HAS_MARLINUI_MENU + #if ANY(HAS_MARLINUI_MENU, DWIN_LCD_PROUI) void refresh_stepper_current() { rms_current(this->val_mA); } #if ENABLED(HYBRID_THRESHOLD) @@ -269,7 +269,7 @@ class TMCMarlin : public TMC220 } #endif - #if HAS_MARLINUI_MENU + #if ANY(HAS_MARLINUI_MENU, DWIN_LCD_PROUI) void refresh_stepper_current() { rms_current(this->val_mA); } #if ENABLED(HYBRID_THRESHOLD) @@ -315,7 +315,7 @@ class TMCMarlin : public TMC266 } #endif - #if HAS_MARLINUI_MENU + #if ANY(HAS_MARLINUI_MENU, DWIN_LCD_PROUI) void refresh_stepper_current() { rms_current(this->val_mA); } #if USE_SENSORLESS @@ -348,7 +348,7 @@ void test_tmc_connection(LOGICAL_AXIS_DECL(const bool, true)); #if USE_SENSORLESS // Track enabled status of stealthChop and only re-enable where applicable - struct sensorless_t { bool NUM_AXIS_ARGS(), x2, y2, z2, z3, z4; }; + struct sensorless_t { bool NUM_AXIS_ARGS_() x2, y2, z2, z3, z4; }; #if ENABLED(IMPROVE_HOMING_RELIABILITY) extern millis_t sg_guard_period; @@ -378,6 +378,7 @@ void test_tmc_connection(LOGICAL_AXIS_DECL(const bool, true)); return drv_status.stallGuard; } + #endif // SPI_ENDSTOPS #endif // USE_SENSORLESS diff --git a/Marlin/src/feature/tramming.cpp b/Marlin/src/feature/tramming.cpp index d03f0cf53b..3721c5eb81 100644 --- a/Marlin/src/feature/tramming.cpp +++ b/Marlin/src/feature/tramming.cpp @@ -29,31 +29,11 @@ #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) #include "../core/debug_out.h" -PGMSTR(point_name_1, TRAMMING_POINT_NAME_1); -PGMSTR(point_name_2, TRAMMING_POINT_NAME_2); -PGMSTR(point_name_3, TRAMMING_POINT_NAME_3); -#ifdef TRAMMING_POINT_NAME_4 - PGMSTR(point_name_4, TRAMMING_POINT_NAME_4); - #ifdef TRAMMING_POINT_NAME_5 - PGMSTR(point_name_5, TRAMMING_POINT_NAME_5); - #ifdef TRAMMING_POINT_NAME_6 - PGMSTR(point_name_6, TRAMMING_POINT_NAME_6); - #endif - #endif -#endif +#define _TRAM_NAME_DEF(N) PGMSTR(point_name_##N, TRAMMING_POINT_NAME_##N); +#define _TRAM_NAME_ITEM(N) point_name_##N +REPEAT_1(_NR_TRAM_NAMES, _TRAM_NAME_DEF) -PGM_P const tramming_point_name[] PROGMEM = { - point_name_1, point_name_2, point_name_3 - #ifdef TRAMMING_POINT_NAME_4 - , point_name_4 - #ifdef TRAMMING_POINT_NAME_5 - , point_name_5 - #ifdef TRAMMING_POINT_NAME_6 - , point_name_6 - #endif - #endif - #endif -}; +PGM_P const tramming_point_name[] PROGMEM = { REPLIST_1(_NR_TRAM_NAMES, _TRAM_NAME_ITEM) }; #ifdef ASSISTED_TRAMMING_WAIT_POSITION diff --git a/Marlin/src/feature/tramming.h b/Marlin/src/feature/tramming.h index 925659e29d..c8f20f0010 100644 --- a/Marlin/src/feature/tramming.h +++ b/Marlin/src/feature/tramming.h @@ -31,43 +31,34 @@ constexpr xy_pos_t tramming_points[] = TRAMMING_POINT_XY; #define G35_PROBE_COUNT COUNT(tramming_points) -static_assert(WITHIN(G35_PROBE_COUNT, 3, 6), "TRAMMING_POINT_XY requires between 3 and 6 XY positions."); +static_assert(WITHIN(G35_PROBE_COUNT, 3, 9), "TRAMMING_POINT_XY requires between 3 and 9 XY positions."); -#define VALIDATE_TRAMMING_POINT(N) static_assert(N >= G35_PROBE_COUNT || Probe::build_time::can_reach(tramming_points[N]), \ - "TRAMMING_POINT_XY point " STRINGIFY(N) " is not reachable with the default NOZZLE_TO_PROBE offset and PROBING_MARGIN.") -VALIDATE_TRAMMING_POINT(0); VALIDATE_TRAMMING_POINT(1); VALIDATE_TRAMMING_POINT(2); VALIDATE_TRAMMING_POINT(3); VALIDATE_TRAMMING_POINT(4); VALIDATE_TRAMMING_POINT(5); - -extern const char point_name_1[], point_name_2[], point_name_3[] - #ifdef TRAMMING_POINT_NAME_4 - , point_name_4[] - #ifdef TRAMMING_POINT_NAME_5 - , point_name_5[] - #ifdef TRAMMING_POINT_NAME_6 - , point_name_6[] - #endif - #endif - #endif -; - -#define _NR_TRAM_NAMES 2 -#ifdef TRAMMING_POINT_NAME_3 - #undef _NR_TRAM_NAMES +#ifdef TRAMMING_POINT_NAME_9 + #define _NR_TRAM_NAMES 9 +#elif defined(TRAMMING_POINT_NAME_8) + #define _NR_TRAM_NAMES 8 +#elif defined(TRAMMING_POINT_NAME_7) + #define _NR_TRAM_NAMES 7 +#elif defined(TRAMMING_POINT_NAME_6) + #define _NR_TRAM_NAMES 6 +#elif defined(TRAMMING_POINT_NAME_5) + #define _NR_TRAM_NAMES 5 +#elif defined(TRAMMING_POINT_NAME_4) + #define _NR_TRAM_NAMES 4 +#elif defined(TRAMMING_POINT_NAME_3) #define _NR_TRAM_NAMES 3 - #ifdef TRAMMING_POINT_NAME_4 - #undef _NR_TRAM_NAMES - #define _NR_TRAM_NAMES 4 - #ifdef TRAMMING_POINT_NAME_5 - #undef _NR_TRAM_NAMES - #define _NR_TRAM_NAMES 5 - #ifdef TRAMMING_POINT_NAME_6 - #undef _NR_TRAM_NAMES - #define _NR_TRAM_NAMES 6 - #endif - #endif - #endif +#else + #define _NR_TRAM_NAMES 0 #endif + static_assert(_NR_TRAM_NAMES >= G35_PROBE_COUNT, "Define enough TRAMMING_POINT_NAME_s for all TRAMMING_POINT_XY entries."); -#undef _NR_TRAM_NAMES + +#define _TRAM_NAME_PTR(N) point_name_##N[] +extern const char REPLIST_1(_NR_TRAM_NAMES, _TRAM_NAME_PTR); + +#define _CHECK_TRAM_POINT(N) static_assert(Probe::build_time::can_reach(tramming_points[N]), "TRAMMING_POINT_XY point " STRINGIFY(N) " is not reachable with the default NOZZLE_TO_PROBE offset and PROBING_MARGIN."); +REPEAT(_NR_TRAM_NAMES, _CHECK_TRAM_POINT) +#undef _CHECK_TRAM_POINT extern PGM_P const tramming_point_name[]; diff --git a/Marlin/src/feature/twibus.cpp b/Marlin/src/feature/twibus.cpp index 9aec6b0305..5cfe9f9421 100644 --- a/Marlin/src/feature/twibus.cpp +++ b/Marlin/src/feature/twibus.cpp @@ -93,8 +93,7 @@ void TWIBus::send() { // static void TWIBus::echoprefix(uint8_t bytes, FSTR_P const pref, uint8_t adr) { SERIAL_ECHO_START(); - SERIAL_ECHOF(pref); - SERIAL_ECHOPGM(": from:", adr, " bytes:", bytes, " data:"); + SERIAL_ECHO(pref, F(": from:"), adr, F(" bytes:"), bytes, F(" data:")); } // static @@ -145,7 +144,7 @@ void TWIBus::echodata(uint8_t bytes, FSTR_P const pref, uint8_t adr, const uint8 void TWIBus::echobuffer(FSTR_P const prefix, uint8_t adr) { echoprefix(buffer_s, prefix, adr); - LOOP_L_N(i, buffer_s) SERIAL_CHAR(buffer[i]); + for (uint8_t i = 0; i < buffer_s; ++i) SERIAL_CHAR(buffer[i]); SERIAL_EOL(); } diff --git a/Marlin/src/feature/x_twist.cpp b/Marlin/src/feature/x_twist.cpp index b5ad25cba8..b8f7e52ab6 100644 --- a/Marlin/src/feature/x_twist.cpp +++ b/Marlin/src/feature/x_twist.cpp @@ -43,12 +43,12 @@ void XATC::reset() { void XATC::print_points() { SERIAL_ECHOLNPGM(" X-Twist Correction:"); - LOOP_L_N(x, XATC_MAX_POINTS) { + for (uint8_t x = 0; x < XATC_MAX_POINTS; ++x) { SERIAL_CHAR(' '); if (!isnan(z_offset[x])) serial_offset(z_offset[x]); else - LOOP_L_N(i, 6) SERIAL_CHAR(i ? '=' : ' '); + for (uint8_t i = 0; i < 6; ++i) SERIAL_CHAR(i ? '=' : ' '); } SERIAL_EOL(); } diff --git a/Marlin/src/feature/z_stepper_align.cpp b/Marlin/src/feature/z_stepper_align.cpp index fdbd464ea1..9dba21d821 100644 --- a/Marlin/src/feature/z_stepper_align.cpp +++ b/Marlin/src/feature/z_stepper_align.cpp @@ -33,35 +33,35 @@ ZStepperAlign z_stepper_align; -xy_pos_t ZStepperAlign::xy[NUM_Z_STEPPER_DRIVERS]; +xy_pos_t ZStepperAlign::xy[NUM_Z_STEPPERS]; #if HAS_Z_STEPPER_ALIGN_STEPPER_XY - xy_pos_t ZStepperAlign::stepper_xy[NUM_Z_STEPPER_DRIVERS]; + xy_pos_t ZStepperAlign::stepper_xy[NUM_Z_STEPPERS]; #endif void ZStepperAlign::reset_to_default() { #ifdef Z_STEPPER_ALIGN_XY constexpr xy_pos_t xy_init[] = Z_STEPPER_ALIGN_XY; - static_assert(COUNT(xy_init) == NUM_Z_STEPPER_DRIVERS, + static_assert(COUNT(xy_init) == NUM_Z_STEPPERS, "Z_STEPPER_ALIGN_XY requires " - #if NUM_Z_STEPPER_DRIVERS == 4 + #if NUM_Z_STEPPERS == 4 "four {X,Y} entries (Z, Z2, Z3, and Z4)." - #elif NUM_Z_STEPPER_DRIVERS == 3 + #elif NUM_Z_STEPPERS == 3 "three {X,Y} entries (Z, Z2, and Z3)." #else "two {X,Y} entries (Z and Z2)." #endif ); - #define VALIDATE_ALIGN_POINT(N) static_assert(N >= NUM_Z_STEPPER_DRIVERS || Probe::build_time::can_reach(xy_init[N]), \ + #define VALIDATE_ALIGN_POINT(N) static_assert(N >= NUM_Z_STEPPERS || Probe::build_time::can_reach(xy_init[N]), \ "Z_STEPPER_ALIGN_XY point " STRINGIFY(N) " is not reachable with the default NOZZLE_TO_PROBE offset and PROBING_MARGIN.") VALIDATE_ALIGN_POINT(0); VALIDATE_ALIGN_POINT(1); VALIDATE_ALIGN_POINT(2); VALIDATE_ALIGN_POINT(3); #else // !Z_STEPPER_ALIGN_XY const xy_pos_t xy_init[] = { - #if NUM_Z_STEPPER_DRIVERS >= 3 // First probe point... + #if NUM_Z_STEPPERS >= 3 // First probe point... #if !Z_STEPPERS_ORIENTATION { probe.min_x(), probe.min_y() }, // SW #elif Z_STEPPERS_ORIENTATION == 1 @@ -73,7 +73,7 @@ void ZStepperAlign::reset_to_default() { #else #error "Z_STEPPERS_ORIENTATION must be from 0 to 3 (first point SW, NW, NE, SE)." #endif - #if NUM_Z_STEPPER_DRIVERS == 4 // 3 more points... + #if NUM_Z_STEPPERS == 4 // 3 more points... #if !Z_STEPPERS_ORIENTATION { probe.min_x(), probe.max_y() }, { probe.max_x(), probe.max_y() }, { probe.max_x(), probe.min_y() } // SW #elif Z_STEPPERS_ORIENTATION == 1 @@ -106,11 +106,11 @@ void ZStepperAlign::reset_to_default() { #if HAS_Z_STEPPER_ALIGN_STEPPER_XY constexpr xy_pos_t stepper_xy_init[] = Z_STEPPER_ALIGN_STEPPER_XY; static_assert( - COUNT(stepper_xy_init) == NUM_Z_STEPPER_DRIVERS, + COUNT(stepper_xy_init) == NUM_Z_STEPPERS, "Z_STEPPER_ALIGN_STEPPER_XY requires " - #if NUM_Z_STEPPER_DRIVERS == 4 + #if NUM_Z_STEPPERS == 4 "four {X,Y} entries (Z, Z2, Z3, and Z4)." - #elif NUM_Z_STEPPER_DRIVERS == 3 + #elif NUM_Z_STEPPERS == 3 "three {X,Y} entries (Z, Z2, and Z3)." #endif ); diff --git a/Marlin/src/feature/z_stepper_align.h b/Marlin/src/feature/z_stepper_align.h index 8a12cd18b0..f3f9abb845 100644 --- a/Marlin/src/feature/z_stepper_align.h +++ b/Marlin/src/feature/z_stepper_align.h @@ -29,10 +29,10 @@ class ZStepperAlign { public: - static xy_pos_t xy[NUM_Z_STEPPER_DRIVERS]; + static xy_pos_t xy[NUM_Z_STEPPERS]; #if HAS_Z_STEPPER_ALIGN_STEPPER_XY - static xy_pos_t stepper_xy[NUM_Z_STEPPER_DRIVERS]; + static xy_pos_t stepper_xy[NUM_Z_STEPPERS]; #endif static void reset_to_default(); diff --git a/Marlin/src/gcode/bedlevel/G26.cpp b/Marlin/src/gcode/bedlevel/G26.cpp index 6691d6c9ab..30643cb84e 100644 --- a/Marlin/src/gcode/bedlevel/G26.cpp +++ b/Marlin/src/gcode/bedlevel/G26.cpp @@ -107,7 +107,6 @@ #include "../../MarlinCore.h" #include "../../module/planner.h" -#include "../../module/stepper.h" #include "../../module/motion.h" #include "../../module/tool_change.h" #include "../../module/temperature.h" @@ -163,8 +162,8 @@ float g26_random_deviation = 0.0; */ bool user_canceled() { if (!ui.button_pressed()) return false; // Return if the button isn't pressed - ui.set_status(GET_TEXT_F(MSG_G26_CANCELED), 99); - TERN_(HAS_MARLINUI_MENU, ui.quick_feedback()); + LCD_MESSAGE_MAX(MSG_G26_CANCELED); + ui.quick_feedback(); ui.wait_for_release(); return true; } @@ -293,10 +292,10 @@ typedef struct { if (circle_flags.marked(p1.x, p1.y) && circle_flags.marked(p2.x, p2.y)) { xyz_pos_t s, e; - s.x = _GET_MESH_X(p1.x) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)) * dx; - e.x = _GET_MESH_X(p2.x) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)) * dx; - s.y = _GET_MESH_Y(p1.y) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)) * dy; - e.y = _GET_MESH_Y(p2.y) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)) * dy; + s.x = bedlevel.get_mesh_x(p1.x) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)) * dx; + e.x = bedlevel.get_mesh_x(p2.x) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)) * dx; + s.y = bedlevel.get_mesh_y(p1.y) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)) * dy; + e.y = bedlevel.get_mesh_y(p2.y) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)) * dy; s.z = e.z = layer_height; #if HAS_ENDSTOPS @@ -306,7 +305,7 @@ typedef struct { LIMIT(e.x, X_MIN_POS + 1, X_MAX_POS - 1); #endif - if (position_is_reachable(s.x, s.y) && position_is_reachable(e.x, e.y)) + if (position_is_reachable(s) && position_is_reachable(e)) print_line_from_here_to_there(s, e); } } @@ -322,11 +321,9 @@ typedef struct { #if HAS_HEATED_BED if (bed_temp > 25) { - #if HAS_WIRED_LCD - ui.set_status(GET_TEXT_F(MSG_G26_HEATING_BED), 99); - ui.quick_feedback(); - TERN_(HAS_MARLINUI_MENU, ui.capture()); - #endif + LCD_MESSAGE_MAX(MSG_G26_HEATING_BED); + ui.quick_feedback(); + TERN_(HAS_MARLINUI_MENU, ui.capture()); thermalManager.setTargetBed(bed_temp); // Wait for the temperature to stabilize @@ -341,20 +338,16 @@ typedef struct { #endif // HAS_HEATED_BED // Start heating the active nozzle - #if HAS_WIRED_LCD - ui.set_status(GET_TEXT_F(MSG_G26_HEATING_NOZZLE), 99); - ui.quick_feedback(); - #endif + LCD_MESSAGE_MAX(MSG_G26_HEATING_NOZZLE); + ui.quick_feedback(); thermalManager.setTargetHotend(hotend_temp, active_extruder); // Wait for the temperature to stabilize if (!thermalManager.wait_for_hotend(active_extruder, true OPTARG(G26_CLICK_CAN_CANCEL, true))) return G26_ERR; - #if HAS_WIRED_LCD - ui.reset_status(); - ui.quick_feedback(); - #endif + ui.reset_status(); + ui.completion_feedback(); return G26_OK; } @@ -372,7 +365,7 @@ typedef struct { if (prime_flag == -1) { // The user wants to control how much filament gets purged ui.capture(); - ui.set_status(GET_TEXT_F(MSG_G26_MANUAL_PRIME), 99); + LCD_MESSAGE_MAX(MSG_G26_MANUAL_PRIME); ui.chirp(); destination = current_position; @@ -399,17 +392,15 @@ typedef struct { ui.wait_for_release(); - ui.set_status(GET_TEXT_F(MSG_G26_PRIME_DONE), 99); + LCD_MESSAGE_MAX(MSG_G26_PRIME_DONE); ui.quick_feedback(); ui.release(); } else #endif { - #if HAS_WIRED_LCD - ui.set_status(GET_TEXT_F(MSG_G26_FIXED_LENGTH), 99); - ui.quick_feedback(); - #endif + LCD_MESSAGE_MAX(MSG_G26_FIXED_LENGTH); + ui.quick_feedback(); destination = current_position; destination.e += prime_length; prepare_internal_move_to_destination(fr_slow_e); @@ -448,7 +439,7 @@ typedef struct { GRID_LOOP(i, j) { if (!circle_flags.marked(i, j)) { // We found a circle that needs to be printed - const xy_pos_t m = { _GET_MESH_X(i), _GET_MESH_Y(j) }; + const xy_pos_t m = { bedlevel.get_mesh_x(i), bedlevel.get_mesh_y(j) }; // Get the distance to this intersection float f = (pos - m).magnitude(); @@ -637,7 +628,7 @@ void GcodeSuite::G26() { } // Get repeat from 'R', otherwise do one full circuit - int16_t g26_repeats; + grid_count_t g26_repeats; #if HAS_MARLINUI_MENU g26_repeats = parser.intval('R', GRID_MAX_POINTS + 1); #else @@ -716,7 +707,7 @@ void GcodeSuite::G26() { #error "A_CNT must be a positive value. Please change A_INT." #endif float trig_table[A_CNT]; - LOOP_L_N(i, A_CNT) + for (uint8_t i = 0; i < A_CNT; ++i) trig_table[i] = INTERSECTION_CIRCLE_RADIUS * cos(RADIANS(i * A_INT)); #endif // !ARC_SUPPORT @@ -729,7 +720,7 @@ void GcodeSuite::G26() { if (location.valid()) { TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(location.pos, ExtUI::G26_POINT_START)); - const xy_pos_t circle = _GET_MESH_POS(location.pos); + const xy_pos_t circle = { bedlevel.get_mesh_x(location.pos.a), bedlevel.get_mesh_y(location.pos.b) }; // If this mesh location is outside the printable radius, skip it. if (!position_is_reachable(circle)) continue; @@ -738,8 +729,8 @@ void GcodeSuite::G26() { // which is always drawn counter-clockwise. const xy_int8_t st = location; const bool f = st.y == 0, - r = st.x >= GRID_MAX_POINTS_X - 1, - b = st.y >= GRID_MAX_POINTS_Y - 1; + r = st.x >= (GRID_MAX_POINTS_X) - 1, + b = st.y >= (GRID_MAX_POINTS_Y) - 1; #if ENABLED(ARC_SUPPORT) @@ -854,7 +845,7 @@ void GcodeSuite::G26() { } while (--g26_repeats && location.valid()); LEAVE: - ui.set_status(GET_TEXT_F(MSG_G26_LEAVING), -1); + LCD_MESSAGE_MIN(MSG_G26_LEAVING); TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(location, ExtUI::G26_FINISH)); g26.retract_filament(destination); diff --git a/Marlin/src/gcode/bedlevel/G35.cpp b/Marlin/src/gcode/bedlevel/G35.cpp index dd828bf0c8..a37e5623e7 100644 --- a/Marlin/src/gcode/bedlevel/G35.cpp +++ b/Marlin/src/gcode/bedlevel/G35.cpp @@ -86,11 +86,7 @@ void GcodeSuite::G35() { workspace_plane = PLANE_XY; #endif - // Always home with tool 0 active - #if HAS_MULTI_HOTEND - const uint8_t old_tool_index = active_extruder; - tool_change(0, true); - #endif + probe.use_probing_tool(); // Disable duplication mode on homing TERN_(HAS_DUPLICATION_MODE, set_duplication_enabled(false)); @@ -101,30 +97,23 @@ void GcodeSuite::G35() { bool err_break = false; // Probe all positions - LOOP_L_N(i, G35_PROBE_COUNT) { - - // In BLTOUCH HS mode, the probe travels in a deployed state. - // Users of G35 might have a badly misaligned bed, so raise Z by the - // length of the deployed pin (BLTOUCH stroke < 7mm) - - // Unsure if this is even required. The probe seems to lift correctly after probe done. - do_blocking_move_to_z(SUM_TERN(BLTOUCH, Z_CLEARANCE_BETWEEN_PROBES, bltouch.z_extra_clearance())); - const float z_probed_height = probe.probe_at_point(tramming_points[i], PROBE_PT_RAISE, 0, true); - + for (uint8_t i = 0; i < G35_PROBE_COUNT; ++i) { + const float z_probed_height = probe.probe_at_point(tramming_points[i], PROBE_PT_RAISE); if (isnan(z_probed_height)) { - SERIAL_ECHOPGM("G35 failed at point ", i + 1, " ("); - SERIAL_ECHOPGM_P((char *)pgm_read_ptr(&tramming_point_name[i])); - SERIAL_CHAR(')'); - SERIAL_ECHOLNPGM_P(SP_X_STR, tramming_points[i].x, SP_Y_STR, tramming_points[i].y); + SERIAL_ECHO( + F("G35 failed at point "), i + 1, F(" ("), FPSTR(pgm_read_ptr(&tramming_point_name[i])), AS_CHAR(')'), + FPSTR(SP_X_STR), tramming_points[i].x, FPSTR(SP_Y_STR), tramming_points[i].y + ); err_break = true; break; } if (DEBUGGING(LEVELING)) { - DEBUG_ECHOPGM("Probing point ", i + 1, " ("); - DEBUG_ECHOF(FPSTR(pgm_read_ptr(&tramming_point_name[i]))); - DEBUG_CHAR(')'); - DEBUG_ECHOLNPGM_P(SP_X_STR, tramming_points[i].x, SP_Y_STR, tramming_points[i].y, SP_Z_STR, z_probed_height); + DEBUG_ECHOLN( + F("Probing point "), i + 1, F(" ("), FPSTR(pgm_read_ptr(&tramming_point_name[i])), AS_CHAR(')'), + FPSTR(SP_X_STR), tramming_points[i].x, FPSTR(SP_Y_STR), tramming_points[i].y, + FPSTR(SP_Z_STR), z_probed_height + ); } z_measured[i] = z_probed_height; @@ -134,7 +123,7 @@ void GcodeSuite::G35() { const float threads_factor[] = { 0.5, 0.7, 0.8 }; // Calculate adjusts - LOOP_S_L_N(i, 1, G35_PROBE_COUNT) { + for (uint8_t i = 1; i < G35_PROBE_COUNT; ++i) { const float diff = z_measured[0] - z_measured[i], adjust = ABS(diff) < 0.001f ? 0 : diff / threads_factor[(screw_thread - 30) / 10]; @@ -154,11 +143,9 @@ void GcodeSuite::G35() { SERIAL_ECHOLNPGM("G35 aborted."); // Restore the active tool after homing - #if HAS_MULTI_HOTEND - if (old_tool_index != 0) tool_change(old_tool_index, DISABLED(PARKING_EXTRUDER)); // Fetch previous toolhead if not PARKING_EXTRUDER - #endif + probe.use_probing_tool(false); - #if BOTH(HAS_LEVELING, RESTORE_LEVELING_AFTER_G35) + #if ALL(HAS_LEVELING, RESTORE_LEVELING_AFTER_G35) set_bed_leveling_enabled(leveling_was_active); #endif diff --git a/Marlin/src/gcode/bedlevel/G42.cpp b/Marlin/src/gcode/bedlevel/G42.cpp index a2896ed6c7..cb5ed97406 100644 --- a/Marlin/src/gcode/bedlevel/G42.cpp +++ b/Marlin/src/gcode/bedlevel/G42.cpp @@ -48,8 +48,8 @@ void GcodeSuite::G42() { // Move to current_position, as modified by I, J, P parameters destination = current_position; - if (hasI) destination.x = _GET_MESH_X(ix); - if (hasJ) destination.y = _GET_MESH_Y(iy); + if (hasI) destination.x = bedlevel.get_mesh_x(ix); + if (hasJ) destination.y = bedlevel.get_mesh_y(iy); #if HAS_PROBE_XY_OFFSET if (parser.boolval('P')) { diff --git a/Marlin/src/gcode/bedlevel/M420.cpp b/Marlin/src/gcode/bedlevel/M420.cpp index c8325b1fc5..d870a4f430 100644 --- a/Marlin/src/gcode/bedlevel/M420.cpp +++ b/Marlin/src/gcode/bedlevel/M420.cpp @@ -71,13 +71,13 @@ void GcodeSuite::M420() { start.set(x_min, y_min); spacing.set((x_max - x_min) / (GRID_MAX_CELLS_X), (y_max - y_min) / (GRID_MAX_CELLS_Y)); - bbl.set_grid(spacing, start); + bedlevel.set_grid(spacing, start); #endif GRID_LOOP(x, y) { - Z_VALUES(x, y) = 0.001 * random(-200, 200); - TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, Z_VALUES(x, y))); + bedlevel.z_values[x][y] = 0.001 * random(-200, 200); + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, bedlevel.z_values[x][y])); } - TERN_(AUTO_BED_LEVELING_BILINEAR, bbl.refresh_bed_level()); + TERN_(AUTO_BED_LEVELING_BILINEAR, bedlevel.refresh_bed_level()); SERIAL_ECHOPGM("Simulated " STRINGIFY(GRID_MAX_POINTS_X) "x" STRINGIFY(GRID_MAX_POINTS_Y) " mesh "); SERIAL_ECHOPGM(" (", x_min); SERIAL_CHAR(','); SERIAL_ECHO(y_min); @@ -101,7 +101,7 @@ void GcodeSuite::M420() { set_bed_leveling_enabled(false); #if ENABLED(EEPROM_SETTINGS) - const int8_t storage_slot = parser.has_value() ? parser.value_int() : ubl.storage_slot; + const int8_t storage_slot = parser.has_value() ? parser.value_int() : bedlevel.storage_slot; const int16_t a = settings.calc_num_meshes(); if (!a) { @@ -116,7 +116,7 @@ void GcodeSuite::M420() { } settings.load_mesh(storage_slot); - ubl.storage_slot = storage_slot; + bedlevel.storage_slot = storage_slot; #else @@ -128,10 +128,10 @@ void GcodeSuite::M420() { // L or V display the map info if (parser.seen("LV")) { - ubl.display_map(parser.byteval('T')); + bedlevel.display_map(parser.byteval('T')); SERIAL_ECHOPGM("Mesh is "); - if (!ubl.mesh_is_valid()) SERIAL_ECHOPGM("in"); - SERIAL_ECHOLNPGM("valid\nStorage slot: ", ubl.storage_slot); + if (!bedlevel.mesh_is_valid()) SERIAL_ECHOPGM("in"); + SERIAL_ECHOLNPGM("valid\nStorage slot: ", bedlevel.storage_slot); } #endif // AUTO_BED_LEVELING_UBL @@ -148,7 +148,7 @@ void GcodeSuite::M420() { #if ENABLED(AUTO_BED_LEVELING_UBL) set_bed_leveling_enabled(false); - ubl.adjust_mesh_to_mean(true, cval); + bedlevel.adjust_mesh_to_mean(true, cval); #else @@ -156,7 +156,7 @@ void GcodeSuite::M420() { // Get the sum and average of all mesh values float mesh_sum = 0; - GRID_LOOP(x, y) mesh_sum += Z_VALUES(x, y); + GRID_LOOP(x, y) mesh_sum += bedlevel.z_values[x][y]; const float zmean = mesh_sum / float(GRID_MAX_POINTS); #else // midrange @@ -164,7 +164,7 @@ void GcodeSuite::M420() { // Find the low and high mesh values. float lo_val = 100, hi_val = -100; GRID_LOOP(x, y) { - const float z = Z_VALUES(x, y); + const float z = bedlevel.z_values[x][y]; NOMORE(lo_val, z); NOLESS(hi_val, z); } @@ -178,10 +178,10 @@ void GcodeSuite::M420() { set_bed_leveling_enabled(false); // Subtract the mean from all values GRID_LOOP(x, y) { - Z_VALUES(x, y) -= zmean; - TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, Z_VALUES(x, y))); + bedlevel.z_values[x][y] -= zmean; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, bedlevel.z_values[x][y])); } - TERN_(AUTO_BED_LEVELING_BILINEAR, bbl.refresh_bed_level()); + TERN_(AUTO_BED_LEVELING_BILINEAR, bedlevel.refresh_bed_level()); } #endif @@ -202,10 +202,10 @@ void GcodeSuite::M420() { #else if (leveling_is_valid()) { #if ENABLED(AUTO_BED_LEVELING_BILINEAR) - bbl.print_leveling_grid(); + bedlevel.print_leveling_grid(); #elif ENABLED(MESH_BED_LEVELING) SERIAL_ECHOLNPGM("Mesh Bed Level data:"); - mbl.report_mesh(); + bedlevel.report_mesh(); #endif } #endif @@ -248,7 +248,7 @@ void GcodeSuite::M420_report(const bool forReplay/*=true*/) { report_heading_etc(forReplay, F( TERN(MESH_BED_LEVELING, "Mesh Bed Leveling", TERN(AUTO_BED_LEVELING_UBL, "Unified Bed Leveling", "Auto Bed Leveling")) )); - SERIAL_ECHOF( + SERIAL_ECHO( F(" M420 S"), planner.leveling_active #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) , FPSTR(SP_Z_STR), LINEAR_UNIT(planner.z_fade_height) diff --git a/Marlin/src/gcode/bedlevel/abl/G29.cpp b/Marlin/src/gcode/bedlevel/abl/G29.cpp index af3daf2b96..4ec87adaa2 100644 --- a/Marlin/src/gcode/bedlevel/abl/G29.cpp +++ b/Marlin/src/gcode/bedlevel/abl/G29.cpp @@ -32,7 +32,6 @@ #include "../../../feature/bedlevel/bedlevel.h" #include "../../../module/motion.h" #include "../../../module/planner.h" -#include "../../../module/stepper.h" #include "../../../module/probe.h" #include "../../queue.h" @@ -43,6 +42,9 @@ #if ABL_PLANAR #include "../../../libs/vector_3.h" #endif +#if ENABLED(BD_SENSOR_PROBE_NO_STOP) + #include "../../../feature/bedlevel/bdl/bdl.h" +#endif #include "../../../lcd/marlinui.h" #if ENABLED(EXTENSIBLE_UI) @@ -74,10 +76,18 @@ #endif #endif -#define G29_RETURN(retry) do{ \ - if (TERN(G29_RETRY_AND_RECOVER, !retry, true)) { \ - TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE, false)); \ - } \ +static void pre_g29_return(const bool retry, const bool did) { + if (!retry) { + TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE, false)); + } + if (did) { + TERN_(HAS_DWIN_E3V2_BASIC, dwinLevelingDone()); + TERN_(EXTENSIBLE_UI, ExtUI::onLevelingDone()); + } +} + +#define G29_RETURN(retry, did) do{ \ + pre_g29_return(TERN0(G29_RETRY_AND_RECOVER, retry), did); \ return TERN_(G29_RETRY_AND_RECOVER, retry); \ }while(0) @@ -90,20 +100,16 @@ public: bool dryrun, reenable; - #if HAS_MULTI_HOTEND - uint8_t tool_index; - #endif - - #if EITHER(PROBE_MANUALLY, AUTO_BED_LEVELING_LINEAR) + #if ANY(PROBE_MANUALLY, AUTO_BED_LEVELING_LINEAR) int abl_probe_index; #endif #if ENABLED(AUTO_BED_LEVELING_LINEAR) - int abl_points; + grid_count_t abl_points; #elif ENABLED(AUTO_BED_LEVELING_3POINT) - static constexpr int abl_points = 3; + static constexpr grid_count_t abl_points = 3; #elif ABL_USES_GRID - static constexpr int abl_points = GRID_MAX_POINTS; + static constexpr grid_count_t abl_points = GRID_MAX_POINTS; #endif #if ABL_USES_GRID @@ -129,16 +135,16 @@ public: #if ENABLED(AUTO_BED_LEVELING_LINEAR) int indexIntoAB[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; - float eqnAMatrix[(GRID_MAX_POINTS) * 3], // "A" matrix of the linear system of equations - eqnBVector[GRID_MAX_POINTS], // "B" vector of Z points + float eqnAMatrix[GRID_MAX_POINTS * 3], // "A" matrix of the linear system of equations + eqnBVector[GRID_MAX_POINTS], // "B" vector of Z points mean; #endif #endif }; -#if ABL_USES_GRID && EITHER(AUTO_BED_LEVELING_3POINT, AUTO_BED_LEVELING_BILINEAR) +#if ABL_USES_GRID && ANY(AUTO_BED_LEVELING_3POINT, AUTO_BED_LEVELING_BILINEAR) constexpr xy_uint8_t G29_State::grid_points; - constexpr int G29_State::abl_points; + constexpr grid_count_t G29_State::abl_points; #endif /** @@ -228,12 +234,12 @@ G29_TYPE GcodeSuite::G29() { reset_stepper_timeout(); // Q = Query leveling and G29 state - const bool seenQ = EITHER(DEBUG_LEVELING_FEATURE, PROBE_MANUALLY) && parser.seen_test('Q'); + const bool seenQ = ANY(DEBUG_LEVELING_FEATURE, PROBE_MANUALLY) && parser.seen_test('Q'); // G29 Q is also available if debugging #if ENABLED(DEBUG_LEVELING_FEATURE) if (seenQ || DEBUGGING(LEVELING)) log_machine_info(); - if (DISABLED(PROBE_MANUALLY) && seenQ) G29_RETURN(false); + if (DISABLED(PROBE_MANUALLY) && seenQ) G29_RETURN(false, false); #endif // A = Abort manual probing @@ -245,7 +251,7 @@ G29_TYPE GcodeSuite::G29() { // O = Don't level if leveling is already active if (!no_action && planner.leveling_active && parser.boolval('O')) { if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> Auto-level not needed, skip"); - G29_RETURN(false); + G29_RETURN(false, false); } // Send 'N' to force homing before G29 (internal only) @@ -253,7 +259,7 @@ G29_TYPE GcodeSuite::G29() { process_subcommands_now(TERN(CAN_SET_LEVELING_AFTER_G28, F("G28L0"), FPSTR(G28_STR))); // Don't allow auto-leveling without homing first - if (homing_needed_error()) G29_RETURN(false); + if (homing_needed_error()) G29_RETURN(false, false); // 3-point leveling gets points from the probe class #if ENABLED(AUTO_BED_LEVELING_3POINT) @@ -274,12 +280,9 @@ G29_TYPE GcodeSuite::G29() { */ if (!g29_in_progress) { - #if HAS_MULTI_HOTEND - abl.tool_index = active_extruder; - if (active_extruder != 0) tool_change(0, true); - #endif + probe.use_probing_tool(); - #if EITHER(PROBE_MANUALLY, AUTO_BED_LEVELING_LINEAR) + #if ANY(PROBE_MANUALLY, AUTO_BED_LEVELING_LINEAR) abl.abl_probe_index = -1; #endif @@ -291,13 +294,13 @@ G29_TYPE GcodeSuite::G29() { if (seen_w) { if (!leveling_is_valid()) { SERIAL_ERROR_MSG("No bilinear grid"); - G29_RETURN(false); + G29_RETURN(false, false); } const float rz = parser.seenval('Z') ? RAW_Z_POSITION(parser.value_linear_units()) : current_position.z; if (!WITHIN(rz, -10, 10)) { SERIAL_ERROR_MSG("Bad Z value"); - G29_RETURN(false); + G29_RETURN(false, false); } const float rx = RAW_X_POSITION(parser.linearval('X', NAN)), @@ -309,8 +312,8 @@ G29_TYPE GcodeSuite::G29() { if (!isnan(rx) && !isnan(ry)) { // Get nearest i / j from rx / ry - i = (rx - bbl.get_grid_start().x) / bbl.get_grid_spacing().x + 0.5f; - j = (ry - bbl.get_grid_start().y) / bbl.get_grid_spacing().y + 0.5f; + i = (rx - bedlevel.grid_start.x) / bedlevel.grid_spacing.x + 0.5f; + j = (ry - bedlevel.grid_start.y) / bedlevel.grid_spacing.y + 0.5f; LIMIT(i, 0, (GRID_MAX_POINTS_X) - 1); LIMIT(j, 0, (GRID_MAX_POINTS_Y) - 1); } @@ -319,13 +322,15 @@ G29_TYPE GcodeSuite::G29() { if (WITHIN(i, 0, (GRID_MAX_POINTS_X) - 1) && WITHIN(j, 0, (GRID_MAX_POINTS_Y) - 1)) { set_bed_leveling_enabled(false); - Z_VALUES_ARR[i][j] = rz; - bbl.refresh_bed_level(); + bedlevel.z_values[i][j] = rz; + bedlevel.refresh_bed_level(); TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(i, j, rz)); - set_bed_leveling_enabled(abl.reenable); - if (abl.reenable) report_current_position(); + if (abl.reenable) { + set_bed_leveling_enabled(true); + report_current_position(); + } } - G29_RETURN(false); + G29_RETURN(false, false); } // parser.seen_test('W') #else @@ -337,13 +342,13 @@ G29_TYPE GcodeSuite::G29() { // Jettison bed leveling data if (!seen_w && parser.seen_test('J')) { reset_bed_level(); - G29_RETURN(false); + G29_RETURN(false, false); } abl.verbose_level = parser.intval('V'); if (!WITHIN(abl.verbose_level, 0, 4)) { SERIAL_ECHOLNPGM("?(V)erbose level implausible (0-4)."); - G29_RETURN(false); + G29_RETURN(false, false); } abl.dryrun = parser.boolval('D') || TERN0(PROBE_MANUALLY, no_action); @@ -364,11 +369,11 @@ G29_TYPE GcodeSuite::G29() { if (!WITHIN(abl.grid_points.x, 2, GRID_MAX_POINTS_X)) { SERIAL_ECHOLNPGM("?Probe points (X) implausible (2-" STRINGIFY(GRID_MAX_POINTS_X) ")."); - G29_RETURN(false); + G29_RETURN(false, false); } if (!WITHIN(abl.grid_points.y, 2, GRID_MAX_POINTS_Y)) { SERIAL_ECHOLNPGM("?Probe points (Y) implausible (2-" STRINGIFY(GRID_MAX_POINTS_Y) ")."); - G29_RETURN(false); + G29_RETURN(false, false); } abl.abl_points = abl.grid_points.x * abl.grid_points.y; @@ -400,15 +405,15 @@ G29_TYPE GcodeSuite::G29() { if (!probe.good_bounds(abl.probe_position_lf, abl.probe_position_rb)) { if (DEBUGGING(LEVELING)) { DEBUG_ECHOLNPGM("G29 L", abl.probe_position_lf.x, " R", abl.probe_position_rb.x, - " F", abl.probe_position_lf.y, " B", abl.probe_position_rb.y); + " F", abl.probe_position_lf.y, " B", abl.probe_position_rb.y); } SERIAL_ECHOLNPGM("? (L,R,F,B) out of bounds."); - G29_RETURN(false); + G29_RETURN(false, false); } // Probe at the points of a lattice grid abl.gridSpacing.set((abl.probe_position_rb.x - abl.probe_position_lf.x) / (abl.grid_points.x - 1), - (abl.probe_position_rb.y - abl.probe_position_lf.y) / (abl.grid_points.y - 1)); + (abl.probe_position_rb.y - abl.probe_position_lf.y) / (abl.grid_points.y - 1)); #endif // ABL_USES_GRID @@ -420,27 +425,31 @@ G29_TYPE GcodeSuite::G29() { planner.synchronize(); - TERN_(EXTENSIBLE_UI, ExtUI::onLevelingStart()); - #if ENABLED(AUTO_BED_LEVELING_3POINT) if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> 3-point Leveling"); points[0].z = points[1].z = points[2].z = 0; // Probe at 3 arbitrary points #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) - TERN_(DWIN_CREALITY_LCD_ENHANCED, DWIN_LevelingStart()); + TERN_(DWIN_LCD_PROUI, dwinLevelingStart()); #endif + TERN_(EXTENSIBLE_UI, ExtUI::onLevelingStart()); + if (!faux) { remember_feedrate_scaling_off(); #if ENABLED(PREHEAT_BEFORE_LEVELING) - if (!abl.dryrun) probe.preheat_for_probing(LEVELING_NOZZLE_TEMP, LEVELING_BED_TEMP); + if (!abl.dryrun) probe.preheat_for_probing(LEVELING_NOZZLE_TEMP, + #if ALL(DWIN_LCD_PROUI, HAS_HEATED_BED) + hmiData.bedLevT + #else + LEVELING_BED_TEMP + #endif + ); #endif } // Position bed horizontally and Z probe vertically. - #if defined(SAFE_BED_LEVELING_START_X) || defined(SAFE_BED_LEVELING_START_Y) || defined(SAFE_BED_LEVELING_START_Z) \ - || defined(SAFE_BED_LEVELING_START_I) || defined(SAFE_BED_LEVELING_START_J) || defined(SAFE_BED_LEVELING_START_K) \ - || defined(SAFE_BED_LEVELING_START_U) || defined(SAFE_BED_LEVELING_START_V) || defined(SAFE_BED_LEVELING_START_W) + #if HAS_SAFE_BED_LEVELING xyze_pos_t safe_position = current_position; #ifdef SAFE_BED_LEVELING_START_X safe_position.x = SAFE_BED_LEVELING_START_X; @@ -471,33 +480,30 @@ G29_TYPE GcodeSuite::G29() { #endif do_blocking_move_to(safe_position); - #endif + #endif // HAS_SAFE_BED_LEVELING // Disable auto bed leveling during G29. // Be formal so G29 can be done successively without G28. if (!no_action) set_bed_leveling_enabled(false); // Deploy certain probes before starting probing - #if ENABLED(BLTOUCH) + #if ENABLED(BLTOUCH) || ALL(HAS_Z_SERVO_PROBE, Z_SERVO_INTERMEDIATE_STOW) do_z_clearance(Z_CLEARANCE_DEPLOY_PROBE); #elif HAS_BED_PROBE if (probe.deploy()) { // (returns true on deploy failure) set_bed_leveling_enabled(abl.reenable); - G29_RETURN(false); + G29_RETURN(false, true); } #endif #if ENABLED(AUTO_BED_LEVELING_BILINEAR) - if (!abl.dryrun - && (abl.gridSpacing != bbl.get_grid_spacing() || abl.probe_position_lf != bbl.get_grid_start()) - ) { - // Reset grid to 0.0 or "not probed". (Also disables ABL) - reset_bed_level(); - - // Can't re-enable (on error) until the new grid is written - abl.reenable = false; + if (!abl.dryrun && (abl.gridSpacing != bedlevel.grid_spacing || abl.probe_position_lf != bedlevel.grid_start)) { + reset_bed_level(); // Reset grid to 0.0 or "not probed". (Also disables ABL) + abl.reenable = false; // Can't re-enable (on error) until the new grid is written } - #endif // AUTO_BED_LEVELING_BILINEAR + // Pre-populate local Z values from the stored mesh + TERN_(IS_KINEMATIC, COPY(abl.z_values, bedlevel.z_values)); + #endif } // !g29_in_progress @@ -529,7 +535,7 @@ G29_TYPE GcodeSuite::G29() { } // For 'A' or 'Q' exit with success state - if (no_action) G29_RETURN(false); + if (no_action) G29_RETURN(false, true); if (abl.abl_probe_index == 0) { // For the initial G29 S2 save software endstop state @@ -539,7 +545,7 @@ G29_TYPE GcodeSuite::G29() { } else { - #if EITHER(AUTO_BED_LEVELING_LINEAR, AUTO_BED_LEVELING_3POINT) + #if ANY(AUTO_BED_LEVELING_LINEAR, AUTO_BED_LEVELING_3POINT) const uint16_t index = abl.abl_probe_index - 1; #endif @@ -604,14 +610,13 @@ G29_TYPE GcodeSuite::G29() { // Disable software endstops to allow manual adjustment // If G29 is not completed, they will not be re-enabled SET_SOFT_ENDSTOP_LOOSE(true); - G29_RETURN(false); + G29_RETURN(false, true); } else { // Leveling done! Fall through to G29 finishing code below SERIAL_ECHOLNPGM("Grid probing done."); // Re-enable software endstops, if needed SET_SOFT_ENDSTOP_LOOSE(false); - TERN_(EXTENSIBLE_UI, ExtUI::onLevelingDone()); } #elif ENABLED(AUTO_BED_LEVELING_3POINT) @@ -623,7 +628,7 @@ G29_TYPE GcodeSuite::G29() { // Disable software endstops to allow manual adjustment // If G29 is not completed, they will not be re-enabled SET_SOFT_ENDSTOP_LOOSE(true); - G29_RETURN(false); + G29_RETURN(false, true); } else { @@ -641,8 +646,6 @@ G29_TYPE GcodeSuite::G29() { abl.reenable = false; } - TERN_(EXTENSIBLE_UI, ExtUI::onLevelingDone()); - } #endif // AUTO_BED_LEVELING_3POINT @@ -657,8 +660,6 @@ G29_TYPE GcodeSuite::G29() { bool zig = PR_OUTER_SIZE & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION - abl.measured_z = 0; - // Outer loop is X with PROBE_Y_FIRST enabled // Outer loop is Y with PROBE_Y_FIRST disabled for (PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_SIZE && !isnan(abl.measured_z); PR_OUTER_VAR++) { @@ -679,7 +680,7 @@ G29_TYPE GcodeSuite::G29() { zig ^= true; // zag // An index to print current state - uint8_t pt_index = (PR_OUTER_VAR) * (PR_INNER_SIZE) + 1; + grid_count_t pt_index = (PR_OUTER_VAR) * (PR_INNER_SIZE) + 1; // Inner loop is Y with PROBE_Y_FIRST enabled // Inner loop is X with PROBE_Y_FIRST disabled @@ -695,7 +696,66 @@ G29_TYPE GcodeSuite::G29() { if (abl.verbose_level) SERIAL_ECHOLNPGM("Probing mesh point ", pt_index, "/", abl.abl_points, "."); TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/%i"), GET_TEXT(MSG_PROBING_POINT), int(pt_index), int(abl.abl_points))); - abl.measured_z = faux ? 0.001f * random(-100, 101) : probe.probe_at_point(abl.probePos, raise_after, abl.verbose_level); + #if ENABLED(BD_SENSOR_PROBE_NO_STOP) + if (PR_INNER_VAR == inStart) { + char tmp_1[32]; + + // move to the start point of new line + abl.measured_z = faux ? 0.001f * random(-100, 101) : probe.probe_at_point(abl.probePos, raise_after, abl.verbose_level); + // Go to the end of the row/column ... and back up by one + // TODO: Why not just use... PR_INNER_VAR = inStop - inInc + for (PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; PR_INNER_VAR += inInc); + PR_INNER_VAR -= inInc; + + // Get the coordinate of the resulting grid point + abl.probePos = abl.probe_position_lf + abl.gridSpacing * abl.meshCount.asFloat(); + + // Coordinate that puts the probe at the grid point + abl.probePos -= probe.offset_xy; + + // Put a G1 move into the buffer + // TODO: Instead of G1, we can just add the move directly to the planner... + // { + // destination = current_position; destination = abl.probePos; + // REMEMBER(fr, feedrate_mm_s, XY_PROBE_FEEDRATE_MM_S); + // prepare_line_to_destination(); + // } + sprintf_P(tmp_1, PSTR("G1X%d.%d Y%d.%d F%d"), + int(abl.probePos.x), int(abl.probePos.x * 10) % 10, + int(abl.probePos.y), int(abl.probePos.y * 10) % 10, + XY_PROBE_FEEDRATE + ); + gcode.process_subcommands_now(tmp_1); + + if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("destX: ", abl.probePos.x, " Y:", abl.probePos.y); + + // Reset the inner counter back to the start + PR_INNER_VAR = inStart; + + // Get the coordinate of the start of the row/column + abl.probePos = abl.probe_position_lf + abl.gridSpacing * abl.meshCount.asFloat(); + } + + // Wait around until the real axis position reaches the comparison point + // TODO: Use NEAR() because float is imprecise + constexpr AxisEnum axis = TERN(PROBE_Y_FIRST, Y_AXIS, X_AXIS); + const float cmp = abl.probePos[axis] - probe.offset_xy[axis]; + float pos; + for (;;) { + pos = planner.get_axis_position_mm(axis); + if (inInc > 0 ? (pos >= cmp) : (pos <= cmp)) break; + idle_no_sleep(); + } + //if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM_P(axis == Y_AXIS ? PSTR("Y=") : PSTR("X=", pos); + + abl.measured_z = current_position.z - bdl.read(); + if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("x_cur ", planner.get_axis_position_mm(X_AXIS), " z ", abl.measured_z); + + #else // !BD_SENSOR_PROBE_NO_STOP + + abl.measured_z = faux ? 0.001f * random(-100, 101) : probe.probe_at_point(abl.probePos, raise_after, abl.verbose_level); + + #endif if (isnan(abl.measured_z)) { set_bed_leveling_enabled(abl.reenable); @@ -720,7 +780,7 @@ G29_TYPE GcodeSuite::G29() { #endif - abl.reenable = false; + abl.reenable = false; // Don't re-enable after modifying the mesh idle_no_sleep(); } // inner @@ -730,7 +790,7 @@ G29_TYPE GcodeSuite::G29() { // Probe at 3 arbitrary points - LOOP_L_N(i, 3) { + for (uint8_t i = 0; i < 3; ++i) { if (abl.verbose_level) SERIAL_ECHOLNPGM("Probing point ", i + 1, "/3."); TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/3"), GET_TEXT(MSG_PROBING_POINT), int(i + 1))); @@ -787,14 +847,14 @@ G29_TYPE GcodeSuite::G29() { #if ENABLED(AUTO_BED_LEVELING_BILINEAR) if (abl.dryrun) - bbl.print_leveling_grid(&abl.z_values); + bedlevel.print_leveling_grid(&abl.z_values); else { - bbl.set_grid(abl.gridSpacing, abl.probe_position_lf); - COPY(Z_VALUES_ARR, abl.z_values); - TERN_(IS_KINEMATIC, bbl.extrapolate_unprobed_bed_level()); - bbl.refresh_bed_level(); + bedlevel.set_grid(abl.gridSpacing, abl.probe_position_lf); + COPY(bedlevel.z_values, abl.z_values); + TERN_(IS_KINEMATIC, bedlevel.extrapolate_unprobed_bed_level()); + bedlevel.refresh_bed_level(); - bbl.print_leveling_grid(); + bedlevel.print_leveling_grid(); } #elif ENABLED(AUTO_BED_LEVELING_LINEAR) @@ -819,11 +879,11 @@ G29_TYPE GcodeSuite::G29() { abl.mean /= abl.abl_points; if (abl.verbose_level) { - SERIAL_ECHOPAIR_F("Eqn coefficients: a: ", plane_equation_coefficients.a, 8); - SERIAL_ECHOPAIR_F(" b: ", plane_equation_coefficients.b, 8); - SERIAL_ECHOPAIR_F(" d: ", plane_equation_coefficients.d, 8); + SERIAL_ECHOPGM("Eqn coefficients: a: ", p_float_t(plane_equation_coefficients.a, 8), + " b: ", p_float_t(plane_equation_coefficients.b, 8), + " d: ", p_float_t(plane_equation_coefficients.d, 8)); if (abl.verbose_level > 2) - SERIAL_ECHOPAIR_F("\nMean of sampled points: ", abl.mean, 8); + SERIAL_ECHOPGM("\nMean of sampled points: ", p_float_t(abl.mean, 8)); SERIAL_EOL(); } @@ -839,9 +899,9 @@ G29_TYPE GcodeSuite::G29() { float min_diff = 999; auto print_topo_map = [&](FSTR_P const title, const bool get_min) { - SERIAL_ECHOF(title); + SERIAL_ECHO(title); for (int8_t yy = abl.grid_points.y - 1; yy >= 0; yy--) { - LOOP_L_N(xx, abl.grid_points.x) { + for (uint8_t xx = 0; xx < abl.grid_points.x; ++xx) { const int ind = abl.indexIntoAB[xx][yy]; xyz_float_t tmp = { abl.eqnAMatrix[ind + 0 * abl.abl_points], abl.eqnAMatrix[ind + 1 * abl.abl_points], 0 }; @@ -850,7 +910,7 @@ G29_TYPE GcodeSuite::G29() { const float subval = get_min ? abl.mean : tmp.z + min_diff, diff = abl.eqnBVector[ind] - subval; SERIAL_CHAR(' '); if (diff >= 0.0) SERIAL_CHAR('+'); // Include + for column alignment - SERIAL_ECHO_F(diff, 5); + SERIAL_ECHO(p_float_t(diff, 5)); } // xx SERIAL_EOL(); } // yy @@ -905,33 +965,28 @@ G29_TYPE GcodeSuite::G29() { current_position = converted; if (DEBUGGING(LEVELING)) DEBUG_POS("G29 corrected XYZ", current_position); + + abl.reenable = true; + } + + // Auto Bed Leveling is complete! Enable if possible. + if (abl.reenable) { + planner.leveling_active = true; + sync_plan_position(); } #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) - if (!abl.dryrun) { - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("G29 uncorrected Z:", current_position.z); + // Auto Bed Leveling is complete! Enable if possible. + if (!abl.dryrun || abl.reenable) set_bed_leveling_enabled(true); - // Unapply the offset because it is going to be immediately applied - // and cause compensation movement in Z - const float fade_scaling_factor = TERN(ENABLE_LEVELING_FADE_HEIGHT, planner.fade_scaling_factor_for_z(current_position.z), 1); - current_position.z -= fade_scaling_factor * bbl.get_z_correction(current_position); + #endif - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM(" corrected Z:", current_position.z); - } - - #endif // ABL_PLANAR - - // Auto Bed Leveling is complete! Enable if possible. - planner.leveling_active = !abl.dryrun || abl.reenable; } // !isnan(abl.measured_z) // Restore state after probing if (!faux) restore_feedrate_and_scaling(); - // Sync the planner from the current_position - if (planner.leveling_active) sync_plan_position(); - TERN_(HAS_BED_PROBE, probe.move_z_after_probing()); #ifdef Z_PROBE_END_SCRIPT @@ -942,12 +997,12 @@ G29_TYPE GcodeSuite::G29() { TERN_(HAS_DWIN_E3V2_BASIC, DWIN_LevelingDone()); TERN_(EXTENSIBLE_UI, ExtUI::onLevelingDone()); - TERN_(HAS_MULTI_HOTEND, if (abl.tool_index != 0) tool_change(abl.tool_index)); + TERN_(HAS_MULTI_HOTEND, if (active_extruder != 0) tool_change(0)); + probe.use_probing_tool(false); report_current_position(); - G29_RETURN(isnan(abl.measured_z)); - + G29_RETURN(isnan(abl.measured_z), true); } #endif // HAS_ABL_NOT_UBL diff --git a/Marlin/src/gcode/bedlevel/abl/M421.cpp b/Marlin/src/gcode/bedlevel/abl/M421.cpp index 0c12268cb1..f66d023190 100644 --- a/Marlin/src/gcode/bedlevel/abl/M421.cpp +++ b/Marlin/src/gcode/bedlevel/abl/M421.cpp @@ -56,13 +56,13 @@ void GcodeSuite::M421() { const float zval = parser.value_linear_units(); uint8_t sx = ix >= 0 ? ix : 0, ex = ix >= 0 ? ix : GRID_MAX_POINTS_X - 1, sy = iy >= 0 ? iy : 0, ey = iy >= 0 ? iy : GRID_MAX_POINTS_Y - 1; - LOOP_S_LE_N(x, sx, ex) { - LOOP_S_LE_N(y, sy, ey) { - Z_VALUES_ARR[x][y] = zval + (hasQ ? Z_VALUES_ARR[x][y] : 0); - TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, Z_VALUES_ARR[x][y])); + for (uint8_t x = sx; x <= ex; ++x) { + for (uint8_t y = sy; y <= ey; ++y) { + bedlevel.z_values[x][y] = zval + (hasQ ? bedlevel.z_values[x][y] : 0); + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, bedlevel.z_values[x][y])); } } - bbl.refresh_bed_level(); + bedlevel.refresh_bed_level(); } else SERIAL_ERROR_MSG(STR_ERR_MESH_XY); diff --git a/Marlin/src/gcode/bedlevel/mbl/G29.cpp b/Marlin/src/gcode/bedlevel/mbl/G29.cpp index e04073b122..c5e02b91f9 100644 --- a/Marlin/src/gcode/bedlevel/mbl/G29.cpp +++ b/Marlin/src/gcode/bedlevel/mbl/G29.cpp @@ -36,7 +36,7 @@ #include "../../../libs/buzzer.h" #include "../../../lcd/marlinui.h" #include "../../../module/motion.h" -#include "../../../module/stepper.h" +#include "../../../module/planner.h" #if ENABLED(EXTENSIBLE_UI) #include "../../../lcd/extui/ui_api.h" @@ -93,24 +93,21 @@ void GcodeSuite::G29() { SERIAL_ECHOPGM("Mesh Bed Leveling "); if (leveling_is_valid()) { serialprintln_onoff(planner.leveling_active); - mbl.report_mesh(); + bedlevel.report_mesh(); } else SERIAL_ECHOLNPGM("has no data."); break; case MeshStart: - mbl.reset(); + bedlevel.reset(); mbl_probe_index = 0; if (!ui.wait_for_move) { - queue.inject(parser.seen_test('N') ? F("G28" TERN(CAN_SET_LEVELING_AFTER_G28, "L0", "") "\nG29S2") : F("G29S2")); - TERN_(EXTENSIBLE_UI, ExtUI::onLevelingStart()); - TERN_(DWIN_LCD_PROUI, DWIN_LevelingStart()); + if (parser.seen_test('N')) + queue.inject(F("G28" TERN_(CAN_SET_LEVELING_AFTER_G28, "L0"))); // Position bed horizontally and Z probe vertically. - #if defined(SAFE_BED_LEVELING_START_X) || defined(SAFE_BED_LEVELING_START_Y) || defined(SAFE_BED_LEVELING_START_Z) \ - || defined(SAFE_BED_LEVELING_START_I) || defined(SAFE_BED_LEVELING_START_J) || defined(SAFE_BED_LEVELING_START_K) \ - || defined(SAFE_BED_LEVELING_START_U) || defined(SAFE_BED_LEVELING_START_V) || defined(SAFE_BED_LEVELING_START_W) + #if HAS_SAFE_BED_LEVELING xyze_pos_t safe_position = current_position; #ifdef SAFE_BED_LEVELING_START_X safe_position.x = SAFE_BED_LEVELING_START_X; @@ -141,7 +138,12 @@ void GcodeSuite::G29() { #endif do_blocking_move_to(safe_position); - #endif + #endif // HAS_SAFE_BED_LEVELING + + queue.inject(F("G29S2")); + + TERN_(EXTENSIBLE_UI, ExtUI::onLevelingStart()); + TERN_(DWIN_LCD_PROUI, dwinLevelingStart()); return; } @@ -165,18 +167,18 @@ void GcodeSuite::G29() { } else { // Save Z for the previous mesh position - mbl.set_zigzag_z(mbl_probe_index - 1, current_position.z); + bedlevel.set_zigzag_z(mbl_probe_index - 1, current_position.z); TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(ix, iy, current_position.z)); - TERN_(DWIN_LCD_PROUI, DWIN_MeshUpdate(_MIN(mbl_probe_index, GRID_MAX_POINTS), int(GRID_MAX_POINTS), current_position.z)); + TERN_(DWIN_LCD_PROUI, dwinMeshUpdate(_MIN(mbl_probe_index, GRID_MAX_POINTS), int(GRID_MAX_POINTS), current_position.z)); SET_SOFT_ENDSTOP_LOOSE(false); } // If there's another point to sample, move there with optional lift. - if (mbl_probe_index < (GRID_MAX_POINTS)) { + if (mbl_probe_index < GRID_MAX_POINTS) { // Disable software endstops to allow manual adjustment // If G29 is left hanging without completion they won't be re-enabled! SET_SOFT_ENDSTOP_LOOSE(true); - mbl.zigzag(mbl_probe_index++, ix, iy); - _manual_goto_xy({ mbl.index_to_xpos[ix], mbl.index_to_ypos[iy] }); + bedlevel.zigzag(mbl_probe_index++, ix, iy); + _manual_goto_xy({ bedlevel.index_to_xpos[ix], bedlevel.index_to_ypos[iy] }); } else { // Move to the after probing position @@ -232,9 +234,9 @@ void GcodeSuite::G29() { return echo_not_entered('J'); if (parser.seenval('Z')) { - mbl.z_values[ix][iy] = parser.value_linear_units(); - TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(ix, iy, mbl.z_values[ix][iy])); - TERN_(DWIN_LCD_PROUI, DWIN_MeshUpdate(ix, iy, mbl.z_values[ix][iy])); + bedlevel.z_values[ix][iy] = parser.value_linear_units(); + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(ix, iy, bedlevel.z_values[ix][iy])); + TERN_(DWIN_LCD_PROUI, dwinMeshUpdate(ix, iy, bedlevel.z_values[ix][iy])); } else return echo_not_entered('Z'); @@ -242,7 +244,7 @@ void GcodeSuite::G29() { case MeshSetZOffset: if (parser.seenval('Z')) - mbl.z_offset = parser.value_linear_units(); + bedlevel.z_offset = parser.value_linear_units(); else return echo_not_entered('Z'); break; diff --git a/Marlin/src/gcode/bedlevel/mbl/M421.cpp b/Marlin/src/gcode/bedlevel/mbl/M421.cpp index 1368ab0bef..e23683d55f 100644 --- a/Marlin/src/gcode/bedlevel/mbl/M421.cpp +++ b/Marlin/src/gcode/bedlevel/mbl/M421.cpp @@ -43,9 +43,9 @@ */ void GcodeSuite::M421() { const bool hasX = parser.seen('X'), hasI = parser.seen('I'); - const int8_t ix = hasI ? parser.value_int() : hasX ? mbl.probe_index_x(RAW_X_POSITION(parser.value_linear_units())) : -1; + const int8_t ix = hasI ? parser.value_int() : hasX ? bedlevel.probe_index_x(RAW_X_POSITION(parser.value_linear_units())) : -1; const bool hasY = parser.seen('Y'), hasJ = parser.seen('J'); - const int8_t iy = hasJ ? parser.value_int() : hasY ? mbl.probe_index_y(RAW_Y_POSITION(parser.value_linear_units())) : -1; + const int8_t iy = hasJ ? parser.value_int() : hasY ? bedlevel.probe_index_y(RAW_Y_POSITION(parser.value_linear_units())) : -1; const bool hasZ = parser.seen('Z'), hasQ = !hasZ && parser.seen('Q'); if (int(hasI && hasJ) + int(hasX && hasY) != 1 || !(hasZ || hasQ)) @@ -53,7 +53,7 @@ void GcodeSuite::M421() { else if (ix < 0 || iy < 0) SERIAL_ERROR_MSG(STR_ERR_MESH_XY); else - mbl.set_z(ix, iy, parser.value_linear_units() + (hasQ ? mbl.z_values[ix][iy] : 0)); + bedlevel.set_z(ix, iy, parser.value_linear_units() + (hasQ ? bedlevel.z_values[ix][iy] : 0)); } #endif // MESH_BED_LEVELING diff --git a/Marlin/src/gcode/bedlevel/ubl/G29.cpp b/Marlin/src/gcode/bedlevel/ubl/G29.cpp index 932503d72b..90deab3d2e 100644 --- a/Marlin/src/gcode/bedlevel/ubl/G29.cpp +++ b/Marlin/src/gcode/bedlevel/ubl/G29.cpp @@ -39,7 +39,7 @@ void GcodeSuite::G29() { TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_PROBE)); - ubl.G29(); + bedlevel.G29(); TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE)); } diff --git a/Marlin/src/gcode/bedlevel/ubl/M421.cpp b/Marlin/src/gcode/bedlevel/ubl/M421.cpp index c11a20ebf3..3a5aa8cb03 100644 --- a/Marlin/src/gcode/bedlevel/ubl/M421.cpp +++ b/Marlin/src/gcode/bedlevel/ubl/M421.cpp @@ -56,7 +56,7 @@ void GcodeSuite::M421() { hasZ = parser.seen('Z'), hasQ = !hasZ && parser.seen('Q'); - if (hasC) ij = ubl.find_closest_mesh_point_of_type(CLOSEST, current_position); + if (hasC) ij = bedlevel.find_closest_mesh_point_of_type(CLOSEST, current_position); // Test for bad parameter combinations if (int(hasC) + int(hasI && hasJ) != 1 || !(hasZ || hasQ || hasN)) @@ -66,10 +66,10 @@ void GcodeSuite::M421() { else if (!WITHIN(ij.x, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(ij.y, 0, GRID_MAX_POINTS_Y - 1)) SERIAL_ERROR_MSG(STR_ERR_MESH_XY); else { - float &zval = ubl.z_values[ij.x][ij.y]; // Altering this Mesh Point + float &zval = bedlevel.z_values[ij.x][ij.y]; // Altering this Mesh Point zval = hasN ? NAN : parser.value_linear_units() + (hasQ ? zval : 0); // N=NAN, Z=NEWVAL, or Q=ADDVAL TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(ij.x, ij.y, zval)); // Ping ExtUI in case it's showing the mesh - TERN_(DWIN_LCD_PROUI, DWIN_MeshUpdate(ij.x, ij.y, zval)); + TERN_(DWIN_LCD_PROUI, dwinMeshUpdate(ij.x, ij.y, zval)); } } diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp index 07896856a1..fd034f0ba6 100644 --- a/Marlin/src/gcode/calibrate/G28.cpp +++ b/Marlin/src/gcode/calibrate/G28.cpp @@ -24,8 +24,9 @@ #include "../gcode.h" -#include "../../module/stepper.h" #include "../../module/endstops.h" +#include "../../module/planner.h" +#include "../../module/stepper.h" // for various #if HAS_MULTI_HOTEND #include "../../module/tool_change.h" @@ -55,11 +56,7 @@ #include "../../lcd/e3v2/proui/dwin.h" #endif -#if HAS_L64XX // set L6470 absolute position registers to counts - #include "../../libs/L64XX/L64XX_Marlin.h" -#endif - -#if ENABLED(LASER_MOVE_G28_OFF) +#if ENABLED(LASER_FEATURE) #include "../../feature/spindle_laser.h" #endif @@ -85,7 +82,7 @@ NUM_AXIS_LIST( TERN0(X_SENSORLESS, tmc_enable_stallguard(stepperX)), TERN0(Y_SENSORLESS, tmc_enable_stallguard(stepperY)), - false, false, false, false + false, false, false, false, false, false, false ) , TERN0(X2_SENSORLESS, tmc_enable_stallguard(stepperX2)) , TERN0(Y2_SENSORLESS, tmc_enable_stallguard(stepperY2)) @@ -123,14 +120,7 @@ * (Z is already at the right height) */ constexpr xy_float_t safe_homing_xy = { Z_SAFE_HOMING_X_POINT, Z_SAFE_HOMING_Y_POINT }; - #if HAS_HOME_OFFSET - xy_float_t okay_homing_xy = safe_homing_xy; - okay_homing_xy -= home_offset; - #else - constexpr xy_float_t okay_homing_xy = safe_homing_xy; - #endif - - destination.set(okay_homing_xy, current_position.z); + destination.set(safe_homing_xy, current_position.z); TERN_(HOMING_Z_WITH_PROBE, destination -= probe.offset_xy); @@ -169,7 +159,7 @@ motion_state.jerk_state = planner.max_jerk; planner.max_jerk.set(0, 0 OPTARG(DELTA, 0)); #endif - planner.reset_acceleration_rates(); + planner.refresh_acceleration_rates(); return motion_state; } @@ -178,7 +168,7 @@ planner.settings.max_acceleration_mm_per_s2[Y_AXIS] = motion_state.acceleration.y; TERN_(DELTA, planner.settings.max_acceleration_mm_per_s2[Z_AXIS] = motion_state.acceleration.z); TERN_(HAS_CLASSIC_JERK, planner.max_jerk = motion_state.jerk_state); - planner.reset_acceleration_rates(); + planner.refresh_acceleration_rates(); } #endif // IMPROVE_HOMING_RELIABILITY @@ -205,13 +195,6 @@ void GcodeSuite::G28() { DEBUG_SECTION(log_G28, "G28", DEBUGGING(LEVELING)); if (DEBUGGING(LEVELING)) log_machine_info(); - TERN_(LASER_MOVE_G28_OFF, cutter.set_inline_enabled(false)); // turn off laser - - #if ENABLED(DUAL_X_CARRIAGE) - bool IDEX_saved_duplication_state = extruder_duplication_enabled; - DualXMode IDEX_saved_mode = dual_x_carriage_mode; - #endif - #if ENABLED(MARLIN_DEV_MODE) if (parser.seen_test('S')) { LOOP_NUM_AXES(a) set_axis_is_at_home((AxisEnum)a); @@ -222,6 +205,13 @@ void GcodeSuite::G28() { } #endif + /** + * Set the laser power to false to stop the planner from processing the current power setting. + */ + #if ENABLED(LASER_FEATURE) + planner.laser_inline.status.isPowered = false; + #endif + // Home (O)nly if position is unknown if (!axes_should_home() && parser.seen_test('O')) { if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> homing not needed, skip"); @@ -233,190 +223,327 @@ void GcodeSuite::G28() { set_and_report_grblstate(M_HOMING); #endif - TERN_(HAS_DWIN_E3V2_BASIC, DWIN_HomingStart()); + TERN_(HAS_DWIN_E3V2_BASIC, dwinHomingStart()); TERN_(EXTENSIBLE_UI, ExtUI::onHomingStart()); planner.synchronize(); // Wait for planner moves to finish! - SET_SOFT_ENDSTOP_LOOSE(false); // Reset a leftover 'loose' motion state - - // Disable the leveling matrix before homing - #if CAN_SET_LEVELING_AFTER_G28 - const bool leveling_restore_state = parser.boolval('L', TERN1(RESTORE_LEVELING_AFTER_G28, planner.leveling_active)); - #endif - - // Cancel any prior G29 session - TERN_(PROBE_MANUALLY, g29_in_progress = false); - - // Disable leveling before homing - TERN_(HAS_LEVELING, set_bed_leveling_enabled(false)); - - // Reset to the XY plane - TERN_(CNC_WORKSPACE_PLANES, workspace_plane = PLANE_XY); - // Count this command as movement / activity reset_stepper_timeout(); - #define HAS_CURRENT_HOME(N) (defined(N##_CURRENT_HOME) && N##_CURRENT_HOME != N##_CURRENT) - #if HAS_CURRENT_HOME(X) || HAS_CURRENT_HOME(X2) || HAS_CURRENT_HOME(Y) || HAS_CURRENT_HOME(Y2) || (ENABLED(DELTA) && HAS_CURRENT_HOME(Z)) || HAS_CURRENT_HOME(I) || HAS_CURRENT_HOME(J) || HAS_CURRENT_HOME(K) || HAS_CURRENT_HOME(U) || HAS_CURRENT_HOME(V) || HAS_CURRENT_HOME(W) - #define HAS_HOMING_CURRENT 1 - #endif + #if NUM_AXES - #if HAS_HOMING_CURRENT - auto debug_current = [](FSTR_P const s, const int16_t a, const int16_t b) { - DEBUG_ECHOF(s); DEBUG_ECHOLNPGM(" current: ", a, " -> ", b); - }; - #if HAS_CURRENT_HOME(X) - const int16_t tmc_save_current_X = stepperX.getMilliamps(); - stepperX.rms_current(X_CURRENT_HOME); - if (DEBUGGING(LEVELING)) debug_current(F(STR_X), tmc_save_current_X, X_CURRENT_HOME); + #if ENABLED(DUAL_X_CARRIAGE) + bool IDEX_saved_duplication_state = extruder_duplication_enabled; + DualXMode IDEX_saved_mode = dual_x_carriage_mode; #endif - #if HAS_CURRENT_HOME(X2) - const int16_t tmc_save_current_X2 = stepperX2.getMilliamps(); - stepperX2.rms_current(X2_CURRENT_HOME); - if (DEBUGGING(LEVELING)) debug_current(F(STR_X2), tmc_save_current_X2, X2_CURRENT_HOME); + + SET_SOFT_ENDSTOP_LOOSE(false); // Reset a leftover 'loose' motion state + + // Disable the leveling matrix before homing + #if CAN_SET_LEVELING_AFTER_G28 + const bool leveling_restore_state = parser.boolval('L', TERN1(RESTORE_LEVELING_AFTER_G28, planner.leveling_active)); #endif - #if HAS_CURRENT_HOME(Y) - const int16_t tmc_save_current_Y = stepperY.getMilliamps(); - stepperY.rms_current(Y_CURRENT_HOME); - if (DEBUGGING(LEVELING)) debug_current(F(STR_Y), tmc_save_current_Y, Y_CURRENT_HOME); + + // Cancel any prior G29 session + TERN_(PROBE_MANUALLY, g29_in_progress = false); + + // Disable leveling before homing + TERN_(HAS_LEVELING, set_bed_leveling_enabled(false)); + + // Reset to the XY plane + TERN_(CNC_WORKSPACE_PLANES, workspace_plane = PLANE_XY); + + #define _OR_HAS_CURR_HOME(N) HAS_CURRENT_HOME(N) || + #if MAIN_AXIS_MAP(_OR_HAS_CURR_HOME) MAP(_OR_HAS_CURR_HOME, X2, Y2, Z2, Z3, Z4) 0 + #define HAS_HOMING_CURRENT 1 #endif - #if HAS_CURRENT_HOME(Y2) - const int16_t tmc_save_current_Y2 = stepperY2.getMilliamps(); - stepperY2.rms_current(Y2_CURRENT_HOME); - if (DEBUGGING(LEVELING)) debug_current(F(STR_Y2), tmc_save_current_Y2, Y2_CURRENT_HOME); + + #if HAS_HOMING_CURRENT + + #if ENABLED(DEBUG_LEVELING_FEATURE) + auto debug_current = [](FSTR_P const s, const int16_t a, const int16_t b) { + if (DEBUGGING(LEVELING)) { DEBUG_ECHOF(s); DEBUG_ECHOLNPGM(" current: ", a, " -> ", b); } + }; + #else + #define debug_current(...) + #endif + + #define _SAVE_SET_CURRENT(A) \ + const int16_t saved_current_##A = stepper##A.getMilliamps(); \ + stepper##A.rms_current(A##_CURRENT_HOME); \ + debug_current(F(STR_##A), saved_current_##A, A##_CURRENT_HOME) + + #if HAS_CURRENT_HOME(X) + _SAVE_SET_CURRENT(X); + #endif + #if HAS_CURRENT_HOME(X2) + _SAVE_SET_CURRENT(X2); + #endif + #if HAS_CURRENT_HOME(Y) + _SAVE_SET_CURRENT(Y); + #endif + #if HAS_CURRENT_HOME(Y2) + _SAVE_SET_CURRENT(Y2); + #endif + #if HAS_CURRENT_HOME(Z) + _SAVE_SET_CURRENT(Z); + #endif + #if HAS_CURRENT_HOME(Z2) + _SAVE_SET_CURRENT(Z2); + #endif + #if HAS_CURRENT_HOME(Z3) + _SAVE_SET_CURRENT(Z3); + #endif + #if HAS_CURRENT_HOME(Z4) + _SAVE_SET_CURRENT(Z4); + #endif + #if HAS_CURRENT_HOME(I) + _SAVE_SET_CURRENT(I); + #endif + #if HAS_CURRENT_HOME(J) + _SAVE_SET_CURRENT(J); + #endif + #if HAS_CURRENT_HOME(K) + _SAVE_SET_CURRENT(K); + #endif + #if HAS_CURRENT_HOME(U) + _SAVE_SET_CURRENT(U); + #endif + #if HAS_CURRENT_HOME(V) + _SAVE_SET_CURRENT(V); + #endif + #if HAS_CURRENT_HOME(W) + _SAVE_SET_CURRENT(W); + #endif + #if SENSORLESS_STALLGUARD_DELAY + safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle + #endif + #endif // HAS_HOMING_CURRENT + + #if ENABLED(IMPROVE_HOMING_RELIABILITY) + motion_state_t saved_motion_state = begin_slow_homing(); #endif - #if HAS_CURRENT_HOME(Z) && ENABLED(DELTA) - const int16_t tmc_save_current_Z = stepperZ.getMilliamps(); - stepperZ.rms_current(Z_CURRENT_HOME); - if (DEBUGGING(LEVELING)) debug_current(F(STR_Z), tmc_save_current_Z, Z_CURRENT_HOME); + + // Always home with tool 0 active + #if HAS_MULTI_HOTEND + #if DISABLED(DELTA) || ENABLED(DELTA_HOME_TO_SAFE_ZONE) + const uint8_t old_tool_index = active_extruder; + #endif + // PARKING_EXTRUDER homing requires different handling of movement / solenoid activation, depending on the side of homing + #if ENABLED(PARKING_EXTRUDER) + const bool pe_final_change_must_unpark = parking_extruder_unpark_after_homing(old_tool_index, X_HOME_DIR + 1 == old_tool_index * 2); + #endif + tool_change(0, true); #endif - #if HAS_CURRENT_HOME(I) - const int16_t tmc_save_current_I = stepperI.getMilliamps(); - stepperI.rms_current(I_CURRENT_HOME); - if (DEBUGGING(LEVELING)) debug_current(F(STR_I), tmc_save_current_I, I_CURRENT_HOME); - #endif - #if HAS_CURRENT_HOME(J) - const int16_t tmc_save_current_J = stepperJ.getMilliamps(); - stepperJ.rms_current(J_CURRENT_HOME); - if (DEBUGGING(LEVELING)) debug_current(F(STR_J), tmc_save_current_J, J_CURRENT_HOME); - #endif - #if HAS_CURRENT_HOME(K) - const int16_t tmc_save_current_K = stepperK.getMilliamps(); - stepperK.rms_current(K_CURRENT_HOME); - if (DEBUGGING(LEVELING)) debug_current(F(STR_K), tmc_save_current_K, K_CURRENT_HOME); - #endif - #if HAS_CURRENT_HOME(U) - const int16_t tmc_save_current_U = stepperU.getMilliamps(); - stepperU.rms_current(U_CURRENT_HOME); - if (DEBUGGING(LEVELING)) debug_current(F(STR_U), tmc_save_current_U, U_CURRENT_HOME); - #endif - #if HAS_CURRENT_HOME(V) - const int16_t tmc_save_current_V = stepperV.getMilliamps(); - stepperV.rms_current(V_CURRENT_HOME); - if (DEBUGGING(LEVELING)) debug_current(F(STR_V), tmc_save_current_V, V_CURRENT_HOME); - #endif - #if HAS_CURRENT_HOME(W) - const int16_t tmc_save_current_W = stepperW.getMilliamps(); - stepperW.rms_current(W_CURRENT_HOME); - if (DEBUGGING(LEVELING)) debug_current(F(STR_W), tmc_save_current_W, W_CURRENT_HOME); - #endif - #endif - #if ENABLED(IMPROVE_HOMING_RELIABILITY) - motion_state_t saved_motion_state = begin_slow_homing(); - #endif + TERN_(HAS_DUPLICATION_MODE, set_duplication_enabled(false)); - // Always home with tool 0 active - #if HAS_MULTI_HOTEND - #if DISABLED(DELTA) || ENABLED(DELTA_HOME_TO_SAFE_ZONE) - const uint8_t old_tool_index = active_extruder; - #endif - // PARKING_EXTRUDER homing requires different handling of movement / solenoid activation, depending on the side of homing - #if ENABLED(PARKING_EXTRUDER) - const bool pe_final_change_must_unpark = parking_extruder_unpark_after_homing(old_tool_index, X_HOME_DIR + 1 == old_tool_index * 2); - #endif - tool_change(0, true); - #endif + remember_feedrate_scaling_off(); - TERN_(HAS_DUPLICATION_MODE, set_duplication_enabled(false)); - - remember_feedrate_scaling_off(); - - endstops.enable(true); // Enable endstops for next homing move - - #if ENABLED(DELTA) - - constexpr bool doZ = true; // for NANODLP_Z_SYNC if your DLP is on a DELTA - - home_delta(); - - TERN_(IMPROVE_HOMING_RELIABILITY, end_slow_homing(saved_motion_state)); - - #elif ENABLED(AXEL_TPARA) - - constexpr bool doZ = true; // for NANODLP_Z_SYNC if your DLP is on a TPARA - - home_TPARA(); - - #else - - #define _UNSAFE(A) (homeZ && TERN0(Z_SAFE_HOMING, axes_should_home(_BV(A##_AXIS)))) - - const bool homeZ = TERN0(HAS_Z_AXIS, parser.seen_test('Z')), - NUM_AXIS_LIST( // Other axes should be homed before Z safe-homing - needX = _UNSAFE(X), needY = _UNSAFE(Y), needZ = false, // UNUSED - needI = _UNSAFE(I), needJ = _UNSAFE(J), needK = _UNSAFE(K), - needU = _UNSAFE(U), needV = _UNSAFE(V), needW = _UNSAFE(W) - ), - NUM_AXIS_LIST( // Home each axis if needed or flagged - homeX = needX || parser.seen_test('X'), - homeY = needY || parser.seen_test('Y'), - homeZZ = homeZ, - homeI = needI || parser.seen_test(AXIS4_NAME), homeJ = needJ || parser.seen_test(AXIS5_NAME), - homeK = needK || parser.seen_test(AXIS6_NAME), homeU = needU || parser.seen_test(AXIS7_NAME), - homeV = needV || parser.seen_test(AXIS8_NAME), homeW = needW || parser.seen_test(AXIS9_NAME), - ), - home_all = NUM_AXIS_GANG( // Home-all if all or none are flagged - homeX == homeX, && homeY == homeX, && homeZ == homeX, - && homeI == homeX, && homeJ == homeX, && homeK == homeX, - && homeU == homeX, && homeV == homeX, && homeW == homeX - ), - NUM_AXIS_LIST( - doX = home_all || homeX, doY = home_all || homeY, doZ = home_all || homeZ, - doI = home_all || homeI, doJ = home_all || homeJ, doK = home_all || homeK, - doU = home_all || homeU, doV = home_all || homeV, doW = home_all || homeW - ); + endstops.enable(true); // Enable endstops for next homing move #if HAS_Z_AXIS - UNUSED(needZ); UNUSED(homeZZ); - #else - constexpr bool doZ = false; + bool finalRaiseZ = false; #endif - TERN_(HOME_Z_FIRST, if (doZ) homeaxis(Z_AXIS)); + #if ENABLED(DELTA) - const bool seenR = parser.seenval('R'); - const float z_homing_height = seenR ? parser.value_linear_units() : Z_HOMING_HEIGHT; + constexpr bool doZ = true; // for NANODLP_Z_SYNC if your DLP is on a DELTA - if (z_homing_height && (seenR || NUM_AXIS_GANG(doX, || doY, || TERN0(Z_SAFE_HOMING, doZ), || doI, || doJ, || doK, || doU, || doV, || doW))) { - // Raise Z before homing any other axes and z is not already high enough (never lower z) - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Raise Z (before homing) by ", z_homing_height); - do_z_clearance(z_homing_height); - TERN_(BLTOUCH, bltouch.init()); - } + home_delta(); - // Diagonal move first if both are homing - TERN_(QUICK_HOME, if (doX && doY) quick_home_xy()); + TERN_(IMPROVE_HOMING_RELIABILITY, end_slow_homing(saved_motion_state)); - // Home Y (before X) - if (ENABLED(HOME_Y_BEFORE_X) && (doY || TERN0(CODEPENDENT_XY_HOMING, doX))) - homeaxis(Y_AXIS); + #elif ENABLED(AXEL_TPARA) - // Home X - if (doX || (doY && ENABLED(CODEPENDENT_XY_HOMING) && DISABLED(HOME_Y_BEFORE_X))) { + constexpr bool doZ = true; // for NANODLP_Z_SYNC if your DLP is on a TPARA - #if ENABLED(DUAL_X_CARRIAGE) + home_TPARA(); + + #else // !DELTA && !AXEL_TPARA + + #define _UNSAFE(A) (homeZ && TERN0(Z_SAFE_HOMING, axes_should_home(_BV(A##_AXIS)))) + + const bool homeZ = TERN0(HAS_Z_AXIS, parser.seen_test('Z')), + NUM_AXIS_LIST_( // Other axes should be homed before Z safe-homing + needX = _UNSAFE(X), needY = _UNSAFE(Y), needZ = false, // UNUSED + needI = _UNSAFE(I), needJ = _UNSAFE(J), needK = _UNSAFE(K), + needU = _UNSAFE(U), needV = _UNSAFE(V), needW = _UNSAFE(W) + ) + NUM_AXIS_LIST_( // Home each axis if needed or flagged + homeX = needX || parser.seen_test('X'), + homeY = needY || parser.seen_test('Y'), + homeZZ = homeZ, + homeI = needI || parser.seen_test(AXIS4_NAME), homeJ = needJ || parser.seen_test(AXIS5_NAME), + homeK = needK || parser.seen_test(AXIS6_NAME), homeU = needU || parser.seen_test(AXIS7_NAME), + homeV = needV || parser.seen_test(AXIS8_NAME), homeW = needW || parser.seen_test(AXIS9_NAME) + ) + home_all = NUM_AXIS_GANG_( // Home-all if all or none are flagged + homeX == homeX, && homeY == homeX, && homeZ == homeX, + && homeI == homeX, && homeJ == homeX, && homeK == homeX, + && homeU == homeX, && homeV == homeX, && homeW == homeX + ) + NUM_AXIS_LIST( + doX = home_all || homeX, doY = home_all || homeY, doZ = home_all || homeZ, + doI = home_all || homeI, doJ = home_all || homeJ, doK = home_all || homeK, + doU = home_all || homeU, doV = home_all || homeV, doW = home_all || homeW + ); + + #if !HAS_Y_AXIS + constexpr bool doY = false; + #endif + + #if HAS_Z_AXIS + + UNUSED(needZ); UNUSED(homeZZ); + + // Z may home first, e.g., when homing away from the bed. + // This is also permitted when homing with a Z endstop. + if (TERN0(HOME_Z_FIRST, doZ)) homeaxis(Z_AXIS); + + // 'R' to specify a specific raise. 'R0' indicates no raise, e.g., for recovery.resume + // When 'R0' is used, there should already be adequate clearance, e.g., from homing Z to max. + const bool seenR = parser.seenval('R'); + + // Use raise given by 'R' or Z_CLEARANCE_FOR_HOMING (above the probe trigger point) + float z_homing_height = seenR ? parser.value_linear_units() : Z_CLEARANCE_FOR_HOMING; + + // Check for any lateral motion that might require clearance + const bool may_skate = seenR NUM_AXIS_GANG(|| doX, || doY, || TERN0(Z_SAFE_HOMING, doZ), || doI, || doJ, || doK, || doU, || doV, || doW); + + if (seenR && z_homing_height == 0) { + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("R0 = No Z raise"); + } + else { + bool with_probe = ENABLED(HOMING_Z_WITH_PROBE); + // Raise above the current Z (which should be synced in the planner) + // The "height" for Z is a coordinate. But if Z is not trusted/homed make it relative. + if (seenR || !TERN(HOME_AFTER_DEACTIVATE, axis_is_trusted, axis_was_homed)(Z_AXIS)) { + z_homing_height += current_position.z; + with_probe = false; + } + + if (may_skate) { + // Apply Z clearance before doing any lateral motion + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Raise Z before homing:"); + do_z_clearance(z_homing_height, with_probe); + } + } + + // Init BLTouch ahead of any lateral motion, even if not homing with the probe + TERN_(BLTOUCH, if (may_skate) bltouch.init()); + + #endif // HAS_Z_AXIS + + // Diagonal move first if both are homing + TERN_(QUICK_HOME, if (doX && doY) quick_home_xy()); + + #if HAS_Y_AXIS + // Home Y (before X) + if (ENABLED(HOME_Y_BEFORE_X) && (doY || TERN0(CODEPENDENT_XY_HOMING, doX))) + homeaxis(Y_AXIS); + #endif + + // Home X + #if HAS_X_AXIS + if (doX || (doY && ENABLED(CODEPENDENT_XY_HOMING) && DISABLED(HOME_Y_BEFORE_X))) { + + #if ENABLED(DUAL_X_CARRIAGE) + + // Always home the 2nd (right) extruder first + active_extruder = 1; + homeaxis(X_AXIS); + + // Remember this extruder's position for later tool change + inactive_extruder_x = current_position.x; + + // Home the 1st (left) extruder + active_extruder = 0; + homeaxis(X_AXIS); + + // Consider the active extruder to be in its "parked" position + idex_set_parked(); + + #else + + homeaxis(X_AXIS); + + #endif + } + #endif // HAS_X_AXIS + + #if ALL(FOAMCUTTER_XYUV, HAS_I_AXIS) + // Home I (after X) + if (doI) homeaxis(I_AXIS); + #endif + + #if HAS_Y_AXIS + // Home Y (after X) + if (DISABLED(HOME_Y_BEFORE_X) && doY) + homeaxis(Y_AXIS); + #endif + + #if ALL(FOAMCUTTER_XYUV, HAS_J_AXIS) + // Home J (after Y) + if (doJ) homeaxis(J_AXIS); + #endif + + TERN_(IMPROVE_HOMING_RELIABILITY, end_slow_homing(saved_motion_state)); + + #if ENABLED(FOAMCUTTER_XYUV) + + // Skip homing of unused Z axis for foamcutters + if (doZ) set_axis_is_at_home(Z_AXIS); + + #elif HAS_Z_AXIS + + // Home Z last if homing towards the bed + #if DISABLED(HOME_Z_FIRST) + if (doZ) { + #if ANY(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN) + stepper.set_all_z_lock(false); + stepper.set_separate_multi_axis(false); + #endif + + #if ENABLED(Z_SAFE_HOMING) + if (TERN1(POWER_LOSS_RECOVERY, !parser.seen_test('H'))) home_z_safely(); else homeaxis(Z_AXIS); + #else + homeaxis(Z_AXIS); + #endif + + #if ANY(Z_HOME_TO_MIN, ALLOW_Z_AFTER_HOMING) + finalRaiseZ = true; + #endif + } + #endif + + SECONDARY_AXIS_CODE( + if (doI) homeaxis(I_AXIS), + if (doJ) homeaxis(J_AXIS), + if (doK) homeaxis(K_AXIS), + if (doU) homeaxis(U_AXIS), + if (doV) homeaxis(V_AXIS), + if (doW) homeaxis(W_AXIS) + ); + + #endif // HAS_Z_AXIS + + sync_plan_position(); + + #endif + + /** + * Preserve DXC mode across a G28 for IDEX printers in DXC_DUPLICATION_MODE. + * This is important because it lets a user use the LCD Panel to set an IDEX Duplication mode, and + * then print a standard GCode file that contains a single print that does a G28 and has no other + * IDEX specific commands in it. + */ + #if ENABLED(DUAL_X_CARRIAGE) + + if (idex_is_duplicating()) { + + TERN_(IMPROVE_HOMING_RELIABILITY, saved_motion_state = begin_slow_homing()); // Always home the 2nd (right) extruder first active_extruder = 1; @@ -429,181 +556,102 @@ void GcodeSuite::G28() { active_extruder = 0; homeaxis(X_AXIS); - // Consider the active extruder to be in its "parked" position + // Consider the active extruder to be parked idex_set_parked(); - #else + dual_x_carriage_mode = IDEX_saved_mode; + set_duplication_enabled(IDEX_saved_duplication_state); - homeaxis(X_AXIS); + TERN_(IMPROVE_HOMING_RELIABILITY, end_slow_homing(saved_motion_state)); + } + #endif // DUAL_X_CARRIAGE + + endstops.not_homing(); + + // Clear endstop state for polled stallGuard endstops + TERN_(SPI_ENDSTOPS, endstops.clear_endstop_state()); + + #if HAS_HOMING_CURRENT + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Restore driver current..."); + #if HAS_CURRENT_HOME(X) + stepperX.rms_current(saved_current_X); #endif - } - - #if BOTH(FOAMCUTTER_XYUV, HAS_I_AXIS) - // Home I (after X) - if (doI) homeaxis(I_AXIS); - #endif - - // Home Y (after X) - if (DISABLED(HOME_Y_BEFORE_X) && doY) - homeaxis(Y_AXIS); - - #if BOTH(FOAMCUTTER_XYUV, HAS_J_AXIS) - // Home J (after Y) - if (doJ) homeaxis(J_AXIS); - #endif - - TERN_(IMPROVE_HOMING_RELIABILITY, end_slow_homing(saved_motion_state)); - - #if ENABLED(FOAMCUTTER_XYUV) - // skip homing of unused Z axis for foamcutters - if (doZ) set_axis_is_at_home(Z_AXIS); - #else - // Home Z last if homing towards the bed - #if HAS_Z_AXIS && DISABLED(HOME_Z_FIRST) - if (doZ) { - #if EITHER(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN) - stepper.set_all_z_lock(false); - stepper.set_separate_multi_axis(false); - #endif - - #if ENABLED(Z_SAFE_HOMING) - if (TERN1(POWER_LOSS_RECOVERY, !parser.seen_test('H'))) home_z_safely(); else homeaxis(Z_AXIS); - #else - homeaxis(Z_AXIS); - #endif - probe.move_z_after_homing(); - } + #if HAS_CURRENT_HOME(X2) + stepperX2.rms_current(saved_current_X2); #endif + #if HAS_CURRENT_HOME(Y) + stepperY.rms_current(saved_current_Y); + #endif + #if HAS_CURRENT_HOME(Y2) + stepperY2.rms_current(saved_current_Y2); + #endif + #if HAS_CURRENT_HOME(Z) + stepperZ.rms_current(saved_current_Z); + #endif + #if HAS_CURRENT_HOME(Z2) + stepperZ2.rms_current(saved_current_Z2); + #endif + #if HAS_CURRENT_HOME(Z3) + stepperZ3.rms_current(saved_current_Z3); + #endif + #if HAS_CURRENT_HOME(Z4) + stepperZ4.rms_current(saved_current_Z4); + #endif + #if HAS_CURRENT_HOME(I) + stepperI.rms_current(saved_current_I); + #endif + #if HAS_CURRENT_HOME(J) + stepperJ.rms_current(saved_current_J); + #endif + #if HAS_CURRENT_HOME(K) + stepperK.rms_current(saved_current_K); + #endif + #if HAS_CURRENT_HOME(U) + stepperU.rms_current(saved_current_U); + #endif + #if HAS_CURRENT_HOME(V) + stepperV.rms_current(saved_current_V); + #endif + #if HAS_CURRENT_HOME(W) + stepperW.rms_current(saved_current_W); + #endif + #if SENSORLESS_STALLGUARD_DELAY + safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle + #endif + #endif // HAS_HOMING_CURRENT - SECONDARY_AXIS_CODE( - if (doI) homeaxis(I_AXIS), - if (doJ) homeaxis(J_AXIS), - if (doK) homeaxis(K_AXIS), - if (doU) homeaxis(U_AXIS), - if (doV) homeaxis(V_AXIS), - if (doW) homeaxis(W_AXIS) - ); + // Move to a height where we can use the full xy-area + TERN_(DELTA_HOME_TO_SAFE_ZONE, do_blocking_move_to_z(delta_clip_start_height)); + + #if HAS_Z_AXIS + // Move to the configured Z only if Z was homed to MIN, because machines that + // home to MAX historically expect 'G28 Z' to be safe to use at the end of a + // print, and do_move_after_z_homing is not very nuanced. + if (finalRaiseZ) do_move_after_z_homing(); #endif - sync_plan_position(); + TERN_(CAN_SET_LEVELING_AFTER_G28, if (leveling_restore_state) set_bed_leveling_enabled()); - #endif - - /** - * Preserve DXC mode across a G28 for IDEX printers in DXC_DUPLICATION_MODE. - * This is important because it lets a user use the LCD Panel to set an IDEX Duplication mode, and - * then print a standard GCode file that contains a single print that does a G28 and has no other - * IDEX specific commands in it. - */ - #if ENABLED(DUAL_X_CARRIAGE) - - if (idex_is_duplicating()) { - - TERN_(IMPROVE_HOMING_RELIABILITY, saved_motion_state = begin_slow_homing()); - - // Always home the 2nd (right) extruder first - active_extruder = 1; - homeaxis(X_AXIS); - - // Remember this extruder's position for later tool change - inactive_extruder_x = current_position.x; - - // Home the 1st (left) extruder - active_extruder = 0; - homeaxis(X_AXIS); - - // Consider the active extruder to be parked - idex_set_parked(); - - dual_x_carriage_mode = IDEX_saved_mode; - set_duplication_enabled(IDEX_saved_duplication_state); - - TERN_(IMPROVE_HOMING_RELIABILITY, end_slow_homing(saved_motion_state)); - } - - #endif // DUAL_X_CARRIAGE - - endstops.not_homing(); - - // Clear endstop state for polled stallGuard endstops - TERN_(SPI_ENDSTOPS, endstops.clear_endstop_state()); - - // Move to a height where we can use the full xy-area - TERN_(DELTA_HOME_TO_SAFE_ZONE, do_blocking_move_to_z(delta_clip_start_height)); - - TERN_(CAN_SET_LEVELING_AFTER_G28, if (leveling_restore_state) set_bed_leveling_enabled()); - - restore_feedrate_and_scaling(); - - // Restore the active tool after homing - #if HAS_MULTI_HOTEND && (DISABLED(DELTA) || ENABLED(DELTA_HOME_TO_SAFE_ZONE)) - tool_change(old_tool_index, TERN(PARKING_EXTRUDER, !pe_final_change_must_unpark, DISABLED(DUAL_X_CARRIAGE))); // Do move if one of these - #endif - - #if HAS_HOMING_CURRENT - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Restore driver current..."); - #if HAS_CURRENT_HOME(X) - stepperX.rms_current(tmc_save_current_X); + // Restore the active tool after homing + #if HAS_MULTI_HOTEND && (DISABLED(DELTA) || ENABLED(DELTA_HOME_TO_SAFE_ZONE)) + tool_change(old_tool_index, TERN(PARKING_EXTRUDER, !pe_final_change_must_unpark, DISABLED(DUAL_X_CARRIAGE))); // Do move if one of these #endif - #if HAS_CURRENT_HOME(X2) - stepperX2.rms_current(tmc_save_current_X2); - #endif - #if HAS_CURRENT_HOME(Y) - stepperY.rms_current(tmc_save_current_Y); - #endif - #if HAS_CURRENT_HOME(Y2) - stepperY2.rms_current(tmc_save_current_Y2); - #endif - #if HAS_CURRENT_HOME(Z) && ENABLED(DELTA) - stepperZ.rms_current(tmc_save_current_Z); - #endif - #if HAS_CURRENT_HOME(I) - stepperI.rms_current(tmc_save_current_I); - #endif - #if HAS_CURRENT_HOME(J) - stepperJ.rms_current(tmc_save_current_J); - #endif - #if HAS_CURRENT_HOME(K) - stepperK.rms_current(tmc_save_current_K); - #endif - #if HAS_CURRENT_HOME(U) - stepperU.rms_current(tmc_save_current_U); - #endif - #if HAS_CURRENT_HOME(V) - stepperV.rms_current(tmc_save_current_V); - #endif - #if HAS_CURRENT_HOME(W) - stepperW.rms_current(tmc_save_current_W); - #endif - #endif // HAS_HOMING_CURRENT + + restore_feedrate_and_scaling(); + + if (ENABLED(NANODLP_Z_SYNC) && (ENABLED(NANODLP_ALL_AXIS) || TERN0(HAS_Z_AXIS, doZ))) + SERIAL_ECHOLNPGM(STR_Z_MOVE_COMP); + + #endif // NUM_AXES ui.refresh(); - TERN_(HAS_DWIN_E3V2_BASIC, DWIN_HomingDone()); + TERN_(HAS_DWIN_E3V2_BASIC, dwinHomingDone()); TERN_(EXTENSIBLE_UI, ExtUI::onHomingDone()); report_current_position(); - if (ENABLED(NANODLP_Z_SYNC) && (doZ || ENABLED(NANODLP_ALL_AXIS))) - SERIAL_ECHOLNPGM(STR_Z_MOVE_COMP); - TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(old_grblstate)); - #if HAS_L64XX - // Set L6470 absolute position registers to counts - // constexpr *might* move this to PROGMEM. - // If not, this will need a PROGMEM directive and an accessor. - #define _EN_ITEM(N) , E_AXIS - static constexpr AxisEnum L64XX_axis_xref[MAX_L64XX] = { - NUM_AXIS_LIST(X_AXIS, Y_AXIS, Z_AXIS, I_AXIS, J_AXIS, K_AXIS, U_AXIS, V_AXIS, W_AXIS), - X_AXIS, Y_AXIS, Z_AXIS, Z_AXIS, Z_AXIS - REPEAT(E_STEPPERS, _EN_ITEM) - }; - #undef _EN_ITEM - for (uint8_t j = 1; j <= L64XX::chain[0]; j++) { - const uint8_t cv = L64XX::chain[j]; - L64xxManager.set_param((L64XX_axis_t)cv, L6470_ABS_POS, stepper.position(L64XX_axis_xref[cv])); - } - #endif } diff --git a/Marlin/src/gcode/calibrate/G33.cpp b/Marlin/src/gcode/calibrate/G33.cpp index 7f487abd6b..10f5afca2d 100644 --- a/Marlin/src/gcode/calibrate/G33.cpp +++ b/Marlin/src/gcode/calibrate/G33.cpp @@ -27,7 +27,7 @@ #include "../gcode.h" #include "../../module/delta.h" #include "../../module/motion.h" -#include "../../module/stepper.h" +#include "../../module/planner.h" #include "../../module/endstops.h" #include "../../lcd/marlinui.h" @@ -63,22 +63,18 @@ enum CalEnum : char { // the 7 main calibration points - #define LOOP_CAL_RAD(VAR) LOOP_CAL_PT(VAR, __A, _7P_STEP) #define LOOP_CAL_ACT(VAR, _4P, _OP) LOOP_CAL_PT(VAR, _OP ? _AB : __A, _4P ? _4P_STEP : _7P_STEP) -#if HAS_MULTI_HOTEND - const uint8_t old_tool_index = active_extruder; -#endif - float lcd_probe_pt(const xy_pos_t &xy); void ac_home() { endstops.enable(true); - TERN_(HAS_DELTA_SENSORLESS_PROBING, probe.set_homing_current(true)); + TERN_(SENSORLESS_HOMING, endstops.set_z_sensorless_current(true)); home_delta(); - TERN_(HAS_DELTA_SENSORLESS_PROBING, probe.set_homing_current(false)); + TERN_(SENSORLESS_HOMING, endstops.set_z_sensorless_current(false)); endstops.not_homing(); } void ac_setup(const bool reset_bed) { - TERN_(HAS_MULTI_HOTEND, tool_change(0, true)); + TERN_(HAS_BED_PROBE, probe.use_probing_tool()); planner.synchronize(); remember_feedrate_scaling_off(); @@ -92,12 +88,11 @@ void ac_cleanup(TERN_(HAS_MULTI_HOTEND, const uint8_t old_tool_index)) { TERN_(DELTA_HOME_TO_SAFE_ZONE, do_blocking_move_to_z(delta_clip_start_height)); TERN_(HAS_BED_PROBE, probe.stow()); restore_feedrate_and_scaling(); - TERN_(HAS_MULTI_HOTEND, tool_change(old_tool_index, true)); + TERN_(HAS_BED_PROBE, probe.use_probing_tool(false)); } void print_signed_float(FSTR_P const prefix, const_float_t f) { - SERIAL_ECHOPGM(" "); - SERIAL_ECHOF(prefix, AS_CHAR(':')); + SERIAL_ECHO(F(" "), prefix, AS_CHAR(':')); serial_offset(f); } @@ -174,7 +169,7 @@ static float std_dev_points(float z_pt[NPP + 1], const bool _0p_cal, const bool */ static float calibration_probe(const xy_pos_t &xy, const bool stow, const bool probe_at_offset) { #if HAS_BED_PROBE - return probe.probe_at_point(xy, stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, probe_at_offset, false); + return probe.probe_at_point(xy, stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, probe_at_offset, false, Z_PROBE_LOW_POINT, Z_TWEEN_SAFE_CLEARANCE, true); #else UNUSED(stow); return lcd_probe_pt(xy); @@ -390,6 +385,8 @@ static float auto_tune_a(const float dcr) { * X Don't activate stallguard on X. * Y Don't activate stallguard on Y. * Z Don't activate stallguard on Z. + * + * S Save offset_sensorless_adj */ void GcodeSuite::G33() { @@ -405,13 +402,14 @@ void GcodeSuite::G33() { towers_set = !parser.seen_test('T'); // The calibration radius is set to a calculated value - float dcr = probe_at_offset ? DELTA_PRINTABLE_RADIUS : DELTA_PRINTABLE_RADIUS - PROBING_MARGIN; + float dcr = probe_at_offset ? PRINTABLE_RADIUS : PRINTABLE_RADIUS - PROBING_MARGIN; #if HAS_PROBE_XY_OFFSET const float total_offset = HYPOT(probe.offset_xy.x, probe.offset_xy.y); dcr -= probe_at_offset ? _MAX(total_offset, PROBING_MARGIN) : total_offset; #endif - NOMORE(dcr, DELTA_PRINTABLE_RADIUS); - if (parser.seenval('R')) dcr -= _MAX(parser.value_float(),0); + NOMORE(dcr, PRINTABLE_RADIUS); + if (parser.seenval('R')) dcr -= _MAX(parser.value_float(), 0.0f); + TERN_(HAS_DELTA_SENSORLESS_PROBING, dcr *= sensorless_radius_factor); const float calibration_precision = parser.floatval('C', 0.0f); if (calibration_precision < 0) { @@ -434,9 +432,8 @@ void GcodeSuite::G33() { const bool stow_after_each = parser.seen_test('E'); #if HAS_DELTA_SENSORLESS_PROBING - probe.test_sensitivity.x = !parser.seen_test('X'); - TERN_(HAS_Y_AXIS, probe.test_sensitivity.y = !parser.seen_test('Y')); - TERN_(HAS_Z_AXIS, probe.test_sensitivity.z = !parser.seen_test('Z')); + probe.test_sensitivity = { !parser.seen_test('X'), !parser.seen_test('Y'), !parser.seen_test('Z') }; + const bool do_save_offset_adj = parser.seen_test('S'); #endif const bool _0p_calibration = probe_points == 0, @@ -475,6 +472,24 @@ void GcodeSuite::G33() { if (!_0p_calibration) ac_home(); + #if HAS_DELTA_SENSORLESS_PROBING + if (verbose_level > 0 && do_save_offset_adj) { + offset_sensorless_adj.reset(); + auto caltower = [&](Probe::sense_bool_t s) { + float z_at_pt[NPP + 1]; + LOOP_CAL_ALL(rad) z_at_pt[rad] = 0.0f; + probe.test_sensitivity = s; + if (probe_calibration_points(z_at_pt, 1, dcr, false, false, probe_at_offset)) + probe.set_offset_sensorless_adj(z_at_pt[CEN]); + }; + caltower({ true, false, false }); // A + caltower({ false, true, false }); // B + caltower({ false, false, true }); // C + + probe.test_sensitivity = { true, true, true }; // reset to all + } + #endif + do { // start iterations float z_at_pt[NPP + 1] = { 0.0f }; @@ -598,8 +613,17 @@ void GcodeSuite::G33() { // print report - if (verbose_level == 3 || verbose_level == 0) + if (verbose_level == 3 || verbose_level == 0) { print_calibration_results(z_at_pt, _tower_results, _opposite_results); + #if HAS_DELTA_SENSORLESS_PROBING + if (verbose_level == 0 && probe_points == 1) { + if (do_save_offset_adj) + probe.set_offset_sensorless_adj(z_at_pt[CEN]); + else + probe.refresh_largest_sensorless_adj(); + } + #endif + } if (verbose_level != 0) { // !dry run if ((zero_std_dev >= test_precision && iterations > force_iterations) || zero_std_dev <= calibration_precision) { // end iterations @@ -611,47 +635,44 @@ void GcodeSuite::G33() { else #endif { - SERIAL_ECHOPAIR_F("std dev:", zero_std_dev_min, 3); + SERIAL_ECHOPGM("std dev:", p_float_t(zero_std_dev_min, 3)); } SERIAL_EOL(); - char mess[21]; - strcpy_P(mess, PSTR("Calibration sd:")); + + MString<20> msg(F("Calibration sd:")); if (zero_std_dev_min < 1) - sprintf_P(&mess[15], PSTR("0.%03i"), (int)LROUND(zero_std_dev_min * 1000.0f)); + msg.appendf(F("0.%03i"), (int)LROUND(zero_std_dev_min * 1000.0f)); else - sprintf_P(&mess[15], PSTR("%03i.x"), (int)LROUND(zero_std_dev_min)); - ui.set_status(mess); + msg.appendf(F("%03i.x"), (int)LROUND(zero_std_dev_min)); + ui.set_status(msg); print_calibration_settings(_endstop_results, _angle_results); SERIAL_ECHOLNPGM("Save with M500 and/or copy to Configuration.h"); } else { // !end iterations - char mess[15]; + SString<15> msg; if (iterations < 31) - sprintf_P(mess, PSTR("Iteration : %02i"), (unsigned int)iterations); + msg.setf(F("Iteration : %02i"), (unsigned int)iterations); else - strcpy_P(mess, PSTR("No convergence")); - SERIAL_ECHO(mess); + msg.set(F("No convergence")); + msg.echo(); SERIAL_ECHO_SP(32); - SERIAL_ECHOLNPAIR_F("std dev:", zero_std_dev, 3); - ui.set_status(mess); + SERIAL_ECHOLNPGM("std dev:", p_float_t(zero_std_dev, 3)); + ui.set_status(msg); if (verbose_level > 1) print_calibration_settings(_endstop_results, _angle_results); } } else { // dry run FSTR_P const enddryrun = F("End DRY-RUN"); - SERIAL_ECHOF(enddryrun); + SERIAL_ECHO(enddryrun); SERIAL_ECHO_SP(35); - SERIAL_ECHOLNPAIR_F("std dev:", zero_std_dev, 3); - - char mess[21]; - strcpy_P(mess, FTOP(enddryrun)); - strcpy_P(&mess[11], PSTR(" sd:")); + SERIAL_ECHOLNPGM("std dev:", p_float_t(zero_std_dev, 3)); + MString<30> msg(enddryrun, F(" sd:")); if (zero_std_dev < 1) - sprintf_P(&mess[15], PSTR("0.%03i"), (int)LROUND(zero_std_dev * 1000.0f)); + msg.appendf(F("0.%03i"), (int)LROUND(zero_std_dev * 1000.0f)); else - sprintf_P(&mess[15], PSTR("%03i.x"), (int)LROUND(zero_std_dev)); - ui.set_status(mess); + msg.appendf(F("%03i.x"), (int)LROUND(zero_std_dev)); + ui.set_status(msg); } ac_home(); } @@ -660,6 +681,9 @@ void GcodeSuite::G33() { ac_cleanup(TERN_(HAS_MULTI_HOTEND, old_tool_index)); TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE)); + #if HAS_DELTA_SENSORLESS_PROBING + probe.test_sensitivity = { true, true, true }; + #endif } #endif // DELTA_AUTO_CALIBRATION diff --git a/Marlin/src/gcode/calibrate/G34.cpp b/Marlin/src/gcode/calibrate/G34.cpp index ea5d5fa150..9a0cb0054b 100644 --- a/Marlin/src/gcode/calibrate/G34.cpp +++ b/Marlin/src/gcode/calibrate/G34.cpp @@ -26,9 +26,12 @@ #include "../gcode.h" #include "../../module/motion.h" -#include "../../module/stepper.h" #include "../../module/endstops.h" +#if ANY(HAS_MOTOR_CURRENT_SPI, HAS_MOTOR_CURRENT_PWM, HAS_TRINAMIC_CONFIG) + #include "../../module/stepper.h" +#endif + #if HAS_LEVELING #include "../../feature/bedlevel/bedlevel.h" #endif @@ -36,6 +39,23 @@ #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) #include "../../core/debug_out.h" +/** + * G34 - Align the ends of the X gantry. See https://youtu.be/3jAFQdTk8iw + * + * - The carriage moves to GANTRY_CALIBRATION_SAFE_POSITION, also called the “pounce†position. + * - If possible, the Z stepper current is reduced to the value specified by 'S' + * (or GANTRY_CALIBRATION_CURRENT) to prevent damage to steppers and other parts. + * The reduced current should be just high enough to move the Z axis when not blocked. + * - The Z axis is jogged past the Z limit, only as far as the specified Z distance + * (or GANTRY_CALIBRATION_EXTRA_HEIGHT) at the GANTRY_CALIBRATION_FEEDRATE. + * - The Z axis is moved back to the working area (also at GANTRY_CALIBRATION_FEEDRATE). + * - Stepper current is restored back to normal. + * - The machine is re-homed, according to GANTRY_CALIBRATION_COMMANDS_POST. + * + * Parameters: + * [S] - Current value to use for the raise move. (Default: GANTRY_CALIBRATION_CURRENT) + * [Z] - Extra distance past Z_MAX_POS to move the Z axis. (Default: GANTRY_CALIBRATION_EXTRA_HEIGHT) + */ void GcodeSuite::G34() { // Home before the alignment procedure @@ -55,7 +75,7 @@ void GcodeSuite::G34() { // Move XY to safe position if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Parking XY"); const xy_pos_t safe_pos = GANTRY_CALIBRATION_SAFE_POSITION; - do_blocking_move_to(safe_pos, MMM_TO_MMS(GANTRY_CALIBRATION_XY_PARK_FEEDRATE)); + do_blocking_move_to_xy(safe_pos, MMM_TO_MMS(GANTRY_CALIBRATION_XY_PARK_FEEDRATE)); #endif const float move_distance = parser.intval('Z', GANTRY_CALIBRATION_EXTRA_HEIGHT), @@ -79,7 +99,7 @@ void GcodeSuite::G34() { stepper.set_digipot_current(Z_AXIS, target_current); #elif HAS_MOTOR_CURRENT_PWM const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT); - const uint32_t previous_current = stepper.motor_current_setting[Z_AXIS]; + const uint32_t previous_current = stepper.motor_current_setting[1]; // Z stepper.set_digipot_current(1, target_current); #elif HAS_MOTOR_CURRENT_DAC const float target_current = parser.floatval('S', GANTRY_CALIBRATION_CURRENT); @@ -91,7 +111,7 @@ void GcodeSuite::G34() { digipot_i2c.set_current(Z_AXIS, target_current) #elif HAS_TRINAMIC_CONFIG const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT); - static uint16_t previous_current_arr[NUM_Z_STEPPER_DRIVERS]; + static uint16_t previous_current_arr[NUM_Z_STEPPERS]; #if AXIS_IS_TMC(Z) previous_current_arr[0] = stepperZ.getMilliamps(); stepperZ.rms_current(target_current); diff --git a/Marlin/src/gcode/calibrate/G34_M422.cpp b/Marlin/src/gcode/calibrate/G34_M422.cpp index d1f82e7e98..f76df4316c 100644 --- a/Marlin/src/gcode/calibrate/G34_M422.cpp +++ b/Marlin/src/gcode/calibrate/G34_M422.cpp @@ -22,7 +22,7 @@ #include "../../inc/MarlinConfigPre.h" -#if EITHER(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN) +#if ANY(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN) #include "../../feature/z_stepper_align.h" @@ -52,9 +52,9 @@ #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) #include "../../core/debug_out.h" -#if NUM_Z_STEPPER_DRIVERS >= 3 +#if NUM_Z_STEPPERS >= 3 #define TRIPLE_Z 1 - #if NUM_Z_STEPPER_DRIVERS >= 4 + #if NUM_Z_STEPPERS >= 4 #define QUAD_Z 1 #endif #endif @@ -108,6 +108,7 @@ void GcodeSuite::G34() { } #if ENABLED(Z_STEPPER_AUTO_ALIGN) + do { // break out on error const int8_t z_auto_align_iterations = parser.intval('I', Z_STEPPER_ALIGN_ITERATIONS); @@ -142,26 +143,18 @@ void GcodeSuite::G34() { TERN_(CNC_WORKSPACE_PLANES, workspace_plane = PLANE_XY); - // Always home with tool 0 active - #if HAS_MULTI_HOTEND - const uint8_t old_tool_index = active_extruder; - tool_change(0, true); - #endif + probe.use_probing_tool(); TERN_(HAS_DUPLICATION_MODE, set_duplication_enabled(false)); - // In BLTOUCH HS mode, the probe travels in a deployed state. - // Users of G34 might have a badly misaligned bed, so raise Z by the - // length of the deployed pin (BLTOUCH stroke < 7mm) - #define Z_BASIC_CLEARANCE (Z_CLEARANCE_BETWEEN_PROBES + TERN0(BLTOUCH, bltouch.z_extra_clearance())) - // Compute a worst-case clearance height to probe from. After the first // iteration this will be re-calculated based on the actual bed position auto magnitude2 = [&](const uint8_t i, const uint8_t j) { const xy_pos_t diff = z_stepper_align.xy[i] - z_stepper_align.xy[j]; return HYPOT2(diff.x, diff.y); }; - float z_probe = Z_BASIC_CLEARANCE + (G34_MAX_GRADE) * 0.01f * SQRT(_MAX(0, magnitude2(0, 1) + const float zoffs = (probe.offset.z < 0) ? -probe.offset.z : 0.0f; + float z_probe = (Z_TWEEN_SAFE_CLEARANCE + zoffs) + (G34_MAX_GRADE) * 0.01f * SQRT(_MAX(0, magnitude2(0, 1) #if TRIPLE_Z , magnitude2(2, 1), magnitude2(2, 0) #if QUAD_Z @@ -173,18 +166,12 @@ void GcodeSuite::G34() { // Home before the alignment procedure home_if_needed(); - // Move the Z coordinate realm towards the positive - dirty trick - current_position.z += z_probe * 0.5f; - sync_plan_position(); - // Now, the Z origin lies below the build plate. That allows to probe deeper, before run_z_probe throws an error. - // This hack is un-done at the end of G34 - either by re-homing, or by using the probed heights of the last iteration. - #if !HAS_Z_STEPPER_ALIGN_STEPPER_XY - float last_z_align_move[NUM_Z_STEPPER_DRIVERS] = ARRAY_N_1(NUM_Z_STEPPER_DRIVERS, 10000.0f); + float last_z_align_move[NUM_Z_STEPPERS] = ARRAY_N_1(NUM_Z_STEPPERS, 10000.0f); #else float last_z_align_level_indicator = 10000.0f; #endif - float z_measured[NUM_Z_STEPPER_DRIVERS] = { 0 }, + float z_measured[NUM_Z_STEPPERS] = { 0 }, z_maxdiff = 0.0f, amplification = z_auto_align_amplification; @@ -217,22 +204,20 @@ void GcodeSuite::G34() { float z_measured_max = -100000.0f; // Probe all positions (one per Z-Stepper) - LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) { + for (uint8_t i = 0; i < NUM_Z_STEPPERS; ++i) { // iteration odd/even --> downward / upward stepper sequence - const uint8_t iprobe = (iteration & 1) ? NUM_Z_STEPPER_DRIVERS - 1 - i : i; + const uint8_t iprobe = (iteration & 1) ? NUM_Z_STEPPERS - 1 - i : i; - // Safe clearance even on an incline - if ((iteration == 0 || i > 0) && z_probe > current_position.z) do_blocking_move_to_z(z_probe); + xy_pos_t &ppos = z_stepper_align.xy[iprobe]; - if (DEBUGGING(LEVELING)) - DEBUG_ECHOLNPGM_P(PSTR("Probing X"), z_stepper_align.xy[iprobe].x, SP_Y_STR, z_stepper_align.xy[iprobe].y); + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM_P(PSTR("Probing X"), ppos.x, SP_Y_STR, ppos.y); // Probe a Z height for each stepper. // Probing sanity check is disabled, as it would trigger even in normal cases because // current_position.z has been manually altered in the "dirty trick" above. - const float z_probed_height = probe.probe_at_point(z_stepper_align.xy[iprobe], raise_after, 0, true, false); + const float z_probed_height = probe.probe_at_point(DIFF_TERN(HAS_HOME_OFFSET, ppos, xy_pos_t(home_offset)), raise_after, 0, true, false, (Z_PROBE_LOW_POINT) - z_probe * 0.5f, z_probe * 0.5f); if (isnan(z_probed_height)) { - SERIAL_ECHOLNPGM("Probing failed"); + SERIAL_ECHOLNPGM(STR_ERR_PROBING_FAILED); LCD_MESSAGE(MSG_LCD_PROBING_FAILED); err_break = true; break; @@ -240,7 +225,7 @@ void GcodeSuite::G34() { // Add height to each value, to provide a more useful target height for // the next iteration of probing. This allows adjustments to be made away from the bed. - z_measured[iprobe] = z_probed_height + Z_CLEARANCE_BETWEEN_PROBES; + z_measured[iprobe] = z_probed_height + (Z_TWEEN_SAFE_CLEARANCE + zoffs); //do we need to add the clearance to this? if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> Z", iprobe + 1, " measured position is ", z_measured[iprobe]); @@ -254,7 +239,7 @@ void GcodeSuite::G34() { // Adapt the next probe clearance height based on the new measurements. // Safe_height = lowest distance to bed (= highest measurement) plus highest measured misalignment. z_maxdiff = z_measured_max - z_measured_min; - z_probe = Z_BASIC_CLEARANCE + z_measured_max + z_maxdiff; + z_probe = (Z_TWEEN_SAFE_CLEARANCE + zoffs) + z_measured_max + z_maxdiff; //Not sure we need z_maxdiff, but leaving it in for safety. #if HAS_Z_STEPPER_ALIGN_STEPPER_XY // Replace the initial values in z_measured with calculated heights at @@ -270,20 +255,20 @@ void GcodeSuite::G34() { // This allows the actual adjustment logic to be shared by both algorithms. linear_fit_data lfd; incremental_LSF_reset(&lfd); - LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) { + for (uint8_t i = 0; i < NUM_Z_STEPPERS; ++i) { SERIAL_ECHOLNPGM("PROBEPT_", i, ": ", z_measured[i]); incremental_LSF(&lfd, z_stepper_align.xy[i], z_measured[i]); } finish_incremental_LSF(&lfd); z_measured_min = 100000.0f; - LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) { + for (uint8_t i = 0; i < NUM_Z_STEPPERS; ++i) { z_measured[i] = -(lfd.A * z_stepper_align.stepper_xy[i].x + lfd.B * z_stepper_align.stepper_xy[i].y + lfd.D); z_measured_min = _MIN(z_measured_min, z_measured[i]); } SERIAL_ECHOLNPGM( - LIST_N(DOUBLE(NUM_Z_STEPPER_DRIVERS), + LIST_N(DOUBLE(NUM_Z_STEPPERS), "Calculated Z1=", z_measured[0], " Z2=", z_measured[1], " Z3=", z_measured[2], @@ -292,42 +277,21 @@ void GcodeSuite::G34() { ); #endif - SERIAL_ECHOLNPGM("\n" - "Z2-Z1=", ABS(z_measured[1] - z_measured[0]) - #if TRIPLE_Z - , " Z3-Z2=", ABS(z_measured[2] - z_measured[1]) - , " Z3-Z1=", ABS(z_measured[2] - z_measured[0]) - #if QUAD_Z - , " Z4-Z3=", ABS(z_measured[3] - z_measured[2]) - , " Z4-Z2=", ABS(z_measured[3] - z_measured[1]) - , " Z4-Z1=", ABS(z_measured[3] - z_measured[0]) - #endif - #endif - ); + SERIAL_EOL(); - #if HAS_STATUS_MESSAGE - char fstr1[10]; - char msg[6 + (6 + 5) * NUM_Z_STEPPER_DRIVERS + 1] - #if TRIPLE_Z - , fstr2[10], fstr3[10] - #if QUAD_Z - , fstr4[10], fstr5[10], fstr6[10] - #endif - #endif - ; - sprintf_P(msg, - PSTR("1:2=%s" TERN_(TRIPLE_Z, " 3-2=%s 3-1=%s") TERN_(QUAD_Z, " 4-3=%s 4-2=%s 4-1=%s")), - dtostrf(ABS(z_measured[1] - z_measured[0]), 1, 3, fstr1) - OPTARG(TRIPLE_Z, - dtostrf(ABS(z_measured[2] - z_measured[1]), 1, 3, fstr2), - dtostrf(ABS(z_measured[2] - z_measured[0]), 1, 3, fstr3)) - OPTARG(QUAD_Z, - dtostrf(ABS(z_measured[3] - z_measured[2]), 1, 3, fstr4), - dtostrf(ABS(z_measured[3] - z_measured[1]), 1, 3, fstr5), - dtostrf(ABS(z_measured[3] - z_measured[0]), 1, 3, fstr6)) - ); - ui.set_status(msg); + SString<15 + TERN0(TRIPLE_Z, 30) + TERN0(QUAD_Z, 45)> msg(F("1:2="), p_float_t(ABS(z_measured[1] - z_measured[0]), 3)); + #if TRIPLE_Z + msg.append(F(" 3-2="), p_float_t(ABS(z_measured[2] - z_measured[1]), 3)) + .append(F(" 3-1="), p_float_t(ABS(z_measured[2] - z_measured[0]), 3)); #endif + #if QUAD_Z + msg.append(F(" 4-3="), p_float_t(ABS(z_measured[3] - z_measured[2]), 3)) + .append(F(" 4-2="), p_float_t(ABS(z_measured[3] - z_measured[1]), 3)) + .append(F(" 4-1="), p_float_t(ABS(z_measured[3] - z_measured[0]), 3)); + #endif + + msg.echoln(); + ui.set_status(msg); auto decreasing_accuracy = [](const_float_t v1, const_float_t v2) { if (v1 < v2 * 0.7f) { @@ -345,12 +309,12 @@ void GcodeSuite::G34() { // Calculate mean value as a reference float z_measured_mean = 0.0f; - LOOP_L_N(zstepper, NUM_Z_STEPPER_DRIVERS) z_measured_mean += z_measured[zstepper]; - z_measured_mean /= NUM_Z_STEPPER_DRIVERS; + for (uint8_t zstepper = 0; zstepper < NUM_Z_STEPPERS; ++zstepper) z_measured_mean += z_measured[zstepper]; + z_measured_mean /= NUM_Z_STEPPERS; // Calculate the sum of the absolute deviations from the mean value float z_align_level_indicator = 0.0f; - LOOP_L_N(zstepper, NUM_Z_STEPPER_DRIVERS) + for (uint8_t zstepper = 0; zstepper < NUM_Z_STEPPERS; ++zstepper) z_align_level_indicator += ABS(z_measured[zstepper] - z_measured_mean); // If it's getting worse, stop and throw an error @@ -365,7 +329,7 @@ void GcodeSuite::G34() { bool success_break = true; // Correct the individual stepper offsets - LOOP_L_N(zstepper, NUM_Z_STEPPER_DRIVERS) { + for (uint8_t zstepper = 0; zstepper < NUM_Z_STEPPERS; ++zstepper) { // Calculate current stepper move float z_align_move = z_measured[zstepper] - z_measured_min; const float z_align_abs = ABS(z_align_move); @@ -426,7 +390,7 @@ void GcodeSuite::G34() { SERIAL_ECHOLNPGM("G34 aborted."); else { SERIAL_ECHOLNPGM("Did ", iteration + (iteration != z_auto_align_iterations), " of ", z_auto_align_iterations); - SERIAL_ECHOLNPAIR_F("Accuracy: ", z_maxdiff); + SERIAL_ECHOLNPGM("Accuracy: ", p_float_t(z_maxdiff, 2)); } // Stow the probe because the last call to probe.probe_at_point(...) @@ -434,26 +398,26 @@ void GcodeSuite::G34() { IF_DISABLED(TOUCH_MI_PROBE, probe.stow()); #if ENABLED(HOME_AFTER_G34) - // After this operation the z position needs correction - set_axis_never_homed(Z_AXIS); // Home Z after the alignment procedure process_subcommands_now(F("G28Z")); #else // Use the probed height from the last iteration to determine the Z height. // z_measured_min is used, because all steppers are aligned to z_measured_min. // Ideally, this would be equal to the 'z_probe * 0.5f' which was added earlier. - current_position.z -= z_measured_min - (float)Z_CLEARANCE_BETWEEN_PROBES; + current_position.z -= z_measured_min - (Z_TWEEN_SAFE_CLEARANCE + zoffs); //we shouldn't want to subtract the clearance from here right? (Depends if we added it further up) sync_plan_position(); #endif - // Restore the active tool after homing - TERN_(HAS_MULTI_HOTEND, tool_change(old_tool_index, DISABLED(PARKING_EXTRUDER))); // Fetch previous tool for parking extruder + probe.use_probing_tool(false); - #if BOTH(HAS_LEVELING, RESTORE_LEVELING_AFTER_G34) + #if ALL(HAS_LEVELING, RESTORE_LEVELING_AFTER_G34) set_bed_leveling_enabled(leveling_was_active); #endif }while(0); + + probe.use_probing_tool(false); + #endif // Z_STEPPER_AUTO_ALIGN } @@ -515,9 +479,8 @@ void GcodeSuite::M422() { #endif } - if (!WITHIN(position_index, 1, NUM_Z_STEPPER_DRIVERS)) { - SERIAL_ECHOF(err_string); - SERIAL_ECHOLNPGM(" index invalid (1.." STRINGIFY(NUM_Z_STEPPER_DRIVERS) ")."); + if (!WITHIN(position_index, 1, NUM_Z_STEPPERS)) { + SERIAL_ECHOLN(err_string, F(" index invalid (1.." STRINGIFY(NUM_Z_STEPPERS) ").")); return; } @@ -544,7 +507,7 @@ void GcodeSuite::M422() { void GcodeSuite::M422_report(const bool forReplay/*=true*/) { report_heading(forReplay, F(STR_Z_AUTO_ALIGN)); - LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) { + for (uint8_t i = 0; i < NUM_Z_STEPPERS; ++i) { report_echo_start(forReplay); SERIAL_ECHOLNPGM_P( PSTR(" M422 S"), i + 1, @@ -553,7 +516,7 @@ void GcodeSuite::M422_report(const bool forReplay/*=true*/) { ); } #if HAS_Z_STEPPER_ALIGN_STEPPER_XY - LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) { + for (uint8_t i = 0; i < NUM_Z_STEPPERS; ++i) { report_echo_start(forReplay); SERIAL_ECHOLNPGM_P( PSTR(" M422 W"), i + 1, diff --git a/Marlin/src/gcode/calibrate/G425.cpp b/Marlin/src/gcode/calibrate/G425.cpp index 450a715117..fb211ad88c 100644 --- a/Marlin/src/gcode/calibrate/G425.cpp +++ b/Marlin/src/gcode/calibrate/G425.cpp @@ -70,7 +70,7 @@ #define CALIBRATION_MEASUREMENT_CERTAIN 0.5 // mm #endif -#if BOTH(CALIBRATION_MEASURE_LEFT, CALIBRATION_MEASURE_RIGHT) +#if ALL(HAS_X_AXIS, CALIBRATION_MEASURE_LEFT, CALIBRATION_MEASURE_RIGHT) #define HAS_X_CENTER 1 #endif #if ALL(HAS_Y_AXIS, CALIBRATION_MEASURE_FRONT, CALIBRATION_MEASURE_BACK) @@ -171,7 +171,7 @@ inline void park_above_object(measurements_t &m, const float uncertainty) { #if HAS_HOTEND_OFFSET inline void normalize_hotend_offsets() { - LOOP_S_L_N(e, 1, HOTENDS) + for (uint8_t e = 1; e < HOTENDS; ++e) hotend_offset[e] -= hotend_offset[0]; hotend_offset[0].reset(); } @@ -271,10 +271,10 @@ inline void probe_side(measurements_t &m, const float uncertainty, const side_t #if AXIS_CAN_CALIBRATE(X) _ACASE(X, RIGHT, LEFT); #endif - #if HAS_Y_AXIS && AXIS_CAN_CALIBRATE(Y) + #if AXIS_CAN_CALIBRATE(Y) _ACASE(Y, BACK, FRONT); #endif - #if HAS_Z_AXIS && AXIS_CAN_CALIBRATE(Z) + #if AXIS_CAN_CALIBRATE(Z) case TOP: { const float measurement = measure(Z_AXIS, -1, true, &m.backlash[TOP], uncertainty); m.obj_center.z = measurement - dimensions.z / 2; @@ -282,22 +282,22 @@ inline void probe_side(measurements_t &m, const float uncertainty, const side_t return; } #endif - #if HAS_I_AXIS && AXIS_CAN_CALIBRATE(I) + #if AXIS_CAN_CALIBRATE(I) _PCASE(I); #endif - #if HAS_J_AXIS && AXIS_CAN_CALIBRATE(J) + #if AXIS_CAN_CALIBRATE(J) _PCASE(J); #endif - #if HAS_K_AXIS && AXIS_CAN_CALIBRATE(K) + #if AXIS_CAN_CALIBRATE(K) _PCASE(K); #endif - #if HAS_U_AXIS && AXIS_CAN_CALIBRATE(U) + #if AXIS_CAN_CALIBRATE(U) _PCASE(U); #endif - #if HAS_V_AXIS && AXIS_CAN_CALIBRATE(V) + #if AXIS_CAN_CALIBRATE(V) _PCASE(V); #endif - #if HAS_W_AXIS && AXIS_CAN_CALIBRATE(W) + #if AXIS_CAN_CALIBRATE(W) _PCASE(W); #endif default: return; @@ -395,14 +395,16 @@ inline void probe_sides(measurements_t &m, const float uncertainty) { #if ENABLED(CALIBRATION_REPORTING) inline void report_measured_faces(const measurements_t &m) { SERIAL_ECHOLNPGM("Sides:"); - #if HAS_Z_AXIS && AXIS_CAN_CALIBRATE(Z) + #if AXIS_CAN_CALIBRATE(Z) SERIAL_ECHOLNPGM(" Top: ", m.obj_side[TOP]); #endif - #if ENABLED(CALIBRATION_MEASURE_LEFT) - SERIAL_ECHOLNPGM(" Left: ", m.obj_side[LEFT]); - #endif - #if ENABLED(CALIBRATION_MEASURE_RIGHT) - SERIAL_ECHOLNPGM(" Right: ", m.obj_side[RIGHT]); + #if HAS_X_AXIS + #if ENABLED(CALIBRATION_MEASURE_LEFT) + SERIAL_ECHOLNPGM(" Left: ", m.obj_side[LEFT]); + #endif + #if ENABLED(CALIBRATION_MEASURE_RIGHT) + SERIAL_ECHOLNPGM(" Right: ", m.obj_side[RIGHT]); + #endif #endif #if HAS_Y_AXIS #if ENABLED(CALIBRATION_MEASURE_FRONT) @@ -438,26 +440,26 @@ inline void probe_sides(measurements_t &m, const float uncertainty) { #endif #if HAS_U_AXIS #if ENABLED(CALIBRATION_MEASURE_UMIN) - SERIAL_ECHOLNPAIR(" " STR_U_MIN ": ", m.obj_side[UMINIMUM]); + SERIAL_ECHOLNPGM(" " STR_U_MIN ": ", m.obj_side[UMINIMUM]); #endif #if ENABLED(CALIBRATION_MEASURE_UMAX) - SERIAL_ECHOLNPAIR(" " STR_U_MAX ": ", m.obj_side[UMAXIMUM]); + SERIAL_ECHOLNPGM(" " STR_U_MAX ": ", m.obj_side[UMAXIMUM]); #endif #endif #if HAS_V_AXIS #if ENABLED(CALIBRATION_MEASURE_VMIN) - SERIAL_ECHOLNPAIR(" " STR_V_MIN ": ", m.obj_side[VMINIMUM]); + SERIAL_ECHOLNPGM(" " STR_V_MIN ": ", m.obj_side[VMINIMUM]); #endif #if ENABLED(CALIBRATION_MEASURE_VMAX) - SERIAL_ECHOLNPAIR(" " STR_V_MAX ": ", m.obj_side[VMAXIMUM]); + SERIAL_ECHOLNPGM(" " STR_V_MAX ": ", m.obj_side[VMAXIMUM]); #endif #endif #if HAS_W_AXIS #if ENABLED(CALIBRATION_MEASURE_WMIN) - SERIAL_ECHOLNPAIR(" " STR_W_MIN ": ", m.obj_side[WMINIMUM]); + SERIAL_ECHOLNPGM(" " STR_W_MIN ": ", m.obj_side[WMINIMUM]); #endif #if ENABLED(CALIBRATION_MEASURE_WMAX) - SERIAL_ECHOLNPAIR(" " STR_W_MAX ": ", m.obj_side[WMAXIMUM]); + SERIAL_ECHOLNPGM(" " STR_W_MAX ": ", m.obj_side[WMAXIMUM]); #endif #endif SERIAL_EOL(); @@ -503,7 +505,7 @@ inline void probe_sides(measurements_t &m, const float uncertainty) { SERIAL_ECHOLNPGM(" Right: ", m.backlash[RIGHT]); #endif #endif - #if HAS_Y_AXIS && AXIS_CAN_CALIBRATE(Y) + #if AXIS_CAN_CALIBRATE(Y) #if ENABLED(CALIBRATION_MEASURE_FRONT) SERIAL_ECHOLNPGM(" Front: ", m.backlash[FRONT]); #endif @@ -511,10 +513,10 @@ inline void probe_sides(measurements_t &m, const float uncertainty) { SERIAL_ECHOLNPGM(" Back: ", m.backlash[BACK]); #endif #endif - #if HAS_Z_AXIS && AXIS_CAN_CALIBRATE(Z) + #if AXIS_CAN_CALIBRATE(Z) SERIAL_ECHOLNPGM(" Top: ", m.backlash[TOP]); #endif - #if HAS_I_AXIS && AXIS_CAN_CALIBRATE(I) + #if AXIS_CAN_CALIBRATE(I) #if ENABLED(CALIBRATION_MEASURE_IMIN) SERIAL_ECHOLNPGM(" " STR_I_MIN ": ", m.backlash[IMINIMUM]); #endif @@ -522,7 +524,7 @@ inline void probe_sides(measurements_t &m, const float uncertainty) { SERIAL_ECHOLNPGM(" " STR_I_MAX ": ", m.backlash[IMAXIMUM]); #endif #endif - #if HAS_J_AXIS && AXIS_CAN_CALIBRATE(J) + #if AXIS_CAN_CALIBRATE(J) #if ENABLED(CALIBRATION_MEASURE_JMIN) SERIAL_ECHOLNPGM(" " STR_J_MIN ": ", m.backlash[JMINIMUM]); #endif @@ -530,7 +532,7 @@ inline void probe_sides(measurements_t &m, const float uncertainty) { SERIAL_ECHOLNPGM(" " STR_J_MAX ": ", m.backlash[JMAXIMUM]); #endif #endif - #if HAS_K_AXIS && AXIS_CAN_CALIBRATE(K) + #if AXIS_CAN_CALIBRATE(K) #if ENABLED(CALIBRATION_MEASURE_KMIN) SERIAL_ECHOLNPGM(" " STR_K_MIN ": ", m.backlash[KMINIMUM]); #endif @@ -538,7 +540,7 @@ inline void probe_sides(measurements_t &m, const float uncertainty) { SERIAL_ECHOLNPGM(" " STR_K_MAX ": ", m.backlash[KMAXIMUM]); #endif #endif - #if HAS_U_AXIS && AXIS_CAN_CALIBRATE(U) + #if AXIS_CAN_CALIBRATE(U) #if ENABLED(CALIBRATION_MEASURE_UMIN) SERIAL_ECHOLNPGM(" " STR_U_MIN ": ", m.backlash[UMINIMUM]); #endif @@ -546,7 +548,7 @@ inline void probe_sides(measurements_t &m, const float uncertainty) { SERIAL_ECHOLNPGM(" " STR_U_MAX ": ", m.backlash[UMAXIMUM]); #endif #endif - #if HAS_V_AXIS && AXIS_CAN_CALIBRATE(V) + #if AXIS_CAN_CALIBRATE(V) #if ENABLED(CALIBRATION_MEASURE_VMIN) SERIAL_ECHOLNPGM(" " STR_V_MIN ": ", m.backlash[VMINIMUM]); #endif @@ -554,7 +556,7 @@ inline void probe_sides(measurements_t &m, const float uncertainty) { SERIAL_ECHOLNPGM(" " STR_V_MAX ": ", m.backlash[VMAXIMUM]); #endif #endif - #if HAS_W_AXIS && AXIS_CAN_CALIBRATE(W) + #if AXIS_CAN_CALIBRATE(W) #if ENABLED(CALIBRATION_MEASURE_WMIN) SERIAL_ECHOLNPGM(" " STR_W_MIN ": ", m.backlash[WMINIMUM]); #endif @@ -575,7 +577,7 @@ inline void probe_sides(measurements_t &m, const float uncertainty) { #if HAS_Y_CENTER && AXIS_CAN_CALIBRATE(Y) SERIAL_ECHOLNPGM_P(SP_Y_STR, m.pos_error.y); #endif - #if HAS_Z_AXIS && AXIS_CAN_CALIBRATE(Z) + #if AXIS_CAN_CALIBRATE(Z) SERIAL_ECHOLNPGM_P(SP_Z_STR, m.pos_error.z); #endif #if HAS_I_CENTER && AXIS_CAN_CALIBRATE(I) @@ -616,7 +618,7 @@ inline void probe_sides(measurements_t &m, const float uncertainty) { // This function requires normalize_hotend_offsets() to be called // inline void report_hotend_offsets() { - LOOP_S_L_N(e, 1, HOTENDS) + for (uint8_t e = 1; e < HOTENDS; ++e) SERIAL_ECHOLNPGM_P(PSTR("T"), e, PSTR(" Hotend Offset X"), hotend_offset[e].x, SP_Y_STR, hotend_offset[e].y, SP_Z_STR, hotend_offset[e].z); } #endif diff --git a/Marlin/src/gcode/calibrate/G76_M871.cpp b/Marlin/src/gcode/calibrate/G76_M871.cpp index ad13b20306..6fe3dd89cf 100644 --- a/Marlin/src/gcode/calibrate/G76_M871.cpp +++ b/Marlin/src/gcode/calibrate/G76_M871.cpp @@ -34,7 +34,6 @@ #include "../../module/probe.h" #include "../../feature/bedlevel/bedlevel.h" #include "../../module/temperature.h" -#include "../../module/probe.h" #include "../../feature/probe_temp_comp.h" #include "../../lcd/marlinui.h" @@ -82,12 +81,12 @@ * - `P` - Run probe temperature calibration. */ -static void say_waiting_for() { SERIAL_ECHOPGM("Waiting for "); } -static void say_waiting_for_probe_heating() { say_waiting_for(); SERIAL_ECHOLNPGM("probe heating."); } -static void say_successfully_calibrated() { SERIAL_ECHOPGM("Successfully calibrated"); } -static void say_failed_to_calibrate() { SERIAL_ECHOPGM("!Failed to calibrate"); } +#if ALL(PTC_PROBE, PTC_BED) -#if BOTH(PTC_PROBE, PTC_BED) + static void say_waiting_for() { SERIAL_ECHOPGM("Waiting for "); } + static void say_waiting_for_probe_heating() { say_waiting_for(); SERIAL_ECHOLNPGM("probe heating."); } + static void say_successfully_calibrated() { SERIAL_ECHOPGM("Successfully calibrated"); } + static void say_failed_to_calibrate() { SERIAL_ECHOPGM("!Failed to calibrate"); } void GcodeSuite::G76() { auto report_temps = [](millis_t &ntr, millis_t timeout=0) { @@ -108,14 +107,13 @@ static void say_failed_to_calibrate() { SERIAL_ECHOPGM("!Failed to calibra }; auto g76_probe = [](const TempSensorID sid, celsius_t &targ, const xy_pos_t &nozpos) { - do_z_clearance(5.0); // Raise nozzle before probing ptc.set_enabled(false); const float measured_z = probe.probe_at_point(nozpos, PROBE_PT_STOW, 0, false); // verbose=0, probe_relative=false ptc.set_enabled(true); if (isnan(measured_z)) SERIAL_ECHOLNPGM("!Received NAN. Aborting."); else { - SERIAL_ECHOLNPAIR_F("Measured: ", measured_z); + SERIAL_ECHOLNPGM("Measured: ", p_float_t(measured_z, 2)); if (targ == ProbeTempComp::cali_info[sid].start_temp) ptc.prepare_new_calibration(measured_z); else diff --git a/Marlin/src/gcode/calibrate/M100.cpp b/Marlin/src/gcode/calibrate/M100.cpp index 338392b597..c05fe12fc3 100644 --- a/Marlin/src/gcode/calibrate/M100.cpp +++ b/Marlin/src/gcode/calibrate/M100.cpp @@ -60,7 +60,7 @@ #define TEST_BYTE ((char) 0xE5) -#if EITHER(__AVR__, IS_32BIT_TEENSY) +#if ANY(__AVR__, IS_32BIT_TEENSY) extern char __bss_end; char *end_bss = &__bss_end, @@ -163,14 +163,14 @@ inline int32_t count_test_bytes(const char * const start_free_memory) { while (start_free_memory < end_free_memory) { print_hex_address(start_free_memory); // Print the address SERIAL_CHAR(':'); - LOOP_L_N(i, 16) { // and 16 data bytes + for (uint8_t i = 0; i < 16; ++i) { // and 16 data bytes if (i == 8) SERIAL_CHAR('-'); print_hex_byte(start_free_memory[i]); SERIAL_CHAR(' '); } serial_delay(25); SERIAL_CHAR('|'); // Point out non test bytes - LOOP_L_N(i, 16) { + for (uint8_t i = 0; i < 16; ++i) { char ccc = (char)start_free_memory[i]; // cast to char before automatically casting to char on assignment, in case the compiler is broken ccc = (ccc == TEST_BYTE) ? ' ' : '?'; SERIAL_CHAR(ccc); @@ -183,7 +183,7 @@ inline int32_t count_test_bytes(const char * const start_free_memory) { } void M100_dump_routine(FSTR_P const title, const char * const start, const uintptr_t size) { - SERIAL_ECHOLNF(title); + SERIAL_ECHOLN(title); // // Round the start and end locations to produce full lines of output // @@ -197,7 +197,7 @@ inline int32_t count_test_bytes(const char * const start_free_memory) { #endif // M100_FREE_MEMORY_DUMPER inline int check_for_free_memory_corruption(FSTR_P const title) { - SERIAL_ECHOF(title); + SERIAL_ECHO(title); char *start_free_memory = free_memory_start, *end_free_memory = free_memory_end; int n = end_free_memory - start_free_memory; diff --git a/Marlin/src/gcode/calibrate/M425.cpp b/Marlin/src/gcode/calibrate/M425.cpp index bfceefdbe2..cd206ca489 100644 --- a/Marlin/src/gcode/calibrate/M425.cpp +++ b/Marlin/src/gcode/calibrate/M425.cpp @@ -46,27 +46,19 @@ void GcodeSuite::M425() { bool noArgs = true; - auto axis_can_calibrate = [](const uint8_t a) { + auto axis_can_calibrate = [](const uint8_t a) -> bool { + #define _CAN_CASE(N) case N##_AXIS: return bool(AXIS_CAN_CALIBRATE(N)); switch (a) { - default: return false; - NUM_AXIS_CODE( - case X_AXIS: return AXIS_CAN_CALIBRATE(X), - case Y_AXIS: return AXIS_CAN_CALIBRATE(Y), - case Z_AXIS: return AXIS_CAN_CALIBRATE(Z), - case I_AXIS: return AXIS_CAN_CALIBRATE(I), - case J_AXIS: return AXIS_CAN_CALIBRATE(J), - case K_AXIS: return AXIS_CAN_CALIBRATE(K), - case U_AXIS: return AXIS_CAN_CALIBRATE(U), - case V_AXIS: return AXIS_CAN_CALIBRATE(V), - case W_AXIS: return AXIS_CAN_CALIBRATE(W) - ); + MAIN_AXIS_MAP(_CAN_CASE) + default: break; } + return false; }; LOOP_NUM_AXES(a) { if (axis_can_calibrate(a) && parser.seen(AXIS_CHAR(a))) { planner.synchronize(); - backlash.set_distance_mm(AxisEnum(a), parser.has_value() ? parser.value_axis_units(AxisEnum(a)) : backlash.get_measurement(AxisEnum(a))); + backlash.set_distance_mm((AxisEnum)a, parser.has_value() ? parser.value_axis_units((AxisEnum)a) : backlash.get_measurement((AxisEnum)a)); noArgs = false; } } @@ -92,9 +84,7 @@ void GcodeSuite::M425() { SERIAL_ECHOLNPGM(" Correction Amount/Fade-out: F", backlash.get_correction(), " (F1.0 = full, F0.0 = none)"); SERIAL_ECHOPGM(" Backlash Distance (mm): "); LOOP_NUM_AXES(a) if (axis_can_calibrate(a)) { - SERIAL_CHAR(' ', AXIS_CHAR(a)); - SERIAL_ECHO(backlash.get_distance_mm(AxisEnum(a))); - SERIAL_EOL(); + SERIAL_ECHOLNPGM_P((PGM_P)pgm_read_ptr(&SP_AXIS_STR[a]), backlash.get_distance_mm((AxisEnum)a)); } #ifdef BACKLASH_SMOOTHING_MM @@ -105,8 +95,7 @@ void GcodeSuite::M425() { SERIAL_ECHOPGM(" Average measured backlash (mm):"); if (backlash.has_any_measurement()) { LOOP_NUM_AXES(a) if (axis_can_calibrate(a) && backlash.has_measurement(AxisEnum(a))) { - SERIAL_CHAR(' ', AXIS_CHAR(a)); - SERIAL_ECHO(backlash.get_measurement(AxisEnum(a))); + SERIAL_ECHOPGM_P((PGM_P)pgm_read_ptr(&SP_AXIS_STR[a]), backlash.get_measurement((AxisEnum)a)); } } else @@ -123,17 +112,19 @@ void GcodeSuite::M425_report(const bool forReplay/*=true*/) { #ifdef BACKLASH_SMOOTHING_MM , PSTR(" S"), LINEAR_UNIT(backlash.get_smoothing_mm()) #endif - , LIST_N(DOUBLE(NUM_AXES), - SP_X_STR, LINEAR_UNIT(backlash.get_distance_mm(X_AXIS)), - SP_Y_STR, LINEAR_UNIT(backlash.get_distance_mm(Y_AXIS)), - SP_Z_STR, LINEAR_UNIT(backlash.get_distance_mm(Z_AXIS)), - SP_I_STR, I_AXIS_UNIT(backlash.get_distance_mm(I_AXIS)), - SP_J_STR, J_AXIS_UNIT(backlash.get_distance_mm(J_AXIS)), - SP_K_STR, K_AXIS_UNIT(backlash.get_distance_mm(K_AXIS)), - SP_U_STR, U_AXIS_UNIT(backlash.get_distance_mm(U_AXIS)), - SP_V_STR, V_AXIS_UNIT(backlash.get_distance_mm(V_AXIS)), - SP_W_STR, W_AXIS_UNIT(backlash.get_distance_mm(W_AXIS)) - ) + #if NUM_AXES + , LIST_N(DOUBLE(NUM_AXES), + SP_X_STR, LINEAR_UNIT(backlash.get_distance_mm(X_AXIS)), + SP_Y_STR, LINEAR_UNIT(backlash.get_distance_mm(Y_AXIS)), + SP_Z_STR, LINEAR_UNIT(backlash.get_distance_mm(Z_AXIS)), + SP_I_STR, I_AXIS_UNIT(backlash.get_distance_mm(I_AXIS)), + SP_J_STR, J_AXIS_UNIT(backlash.get_distance_mm(J_AXIS)), + SP_K_STR, K_AXIS_UNIT(backlash.get_distance_mm(K_AXIS)), + SP_U_STR, U_AXIS_UNIT(backlash.get_distance_mm(U_AXIS)), + SP_V_STR, V_AXIS_UNIT(backlash.get_distance_mm(V_AXIS)), + SP_W_STR, W_AXIS_UNIT(backlash.get_distance_mm(W_AXIS)) + ) + #endif ); } diff --git a/Marlin/src/gcode/calibrate/M48.cpp b/Marlin/src/gcode/calibrate/M48.cpp index 8b6ea0bf1f..9f285b8b8a 100644 --- a/Marlin/src/gcode/calibrate/M48.cpp +++ b/Marlin/src/gcode/calibrate/M48.cpp @@ -84,7 +84,7 @@ void GcodeSuite::M48() { }; if (!probe.can_reach(test_position)) { - ui.set_status(GET_TEXT_F(MSG_M48_OUT_OF_BOUNDS), 99); + LCD_MESSAGE_MAX(MSG_M48_OUT_OF_BOUNDS); SERIAL_ECHOLNPGM("? (X,Y) out of bounds."); return; } @@ -112,7 +112,7 @@ void GcodeSuite::M48() { set_bed_leveling_enabled(false); #endif - TERN_(HAS_PTC, ptc.set_enabled(!parser.seen('C') || parser.value_bool())); + TERN_(HAS_PTC, ptc.set_enabled(parser.boolval('C', true))); // Work with reasonable feedrates remember_feedrate_scaling_off(); @@ -126,15 +126,13 @@ void GcodeSuite::M48() { auto dev_report = [](const bool verbose, const_float_t mean, const_float_t sigma, const_float_t min, const_float_t max, const bool final=false) { if (verbose) { - SERIAL_ECHOPAIR_F("Mean: ", mean, 6); - if (!final) SERIAL_ECHOPAIR_F(" Sigma: ", sigma, 6); - SERIAL_ECHOPAIR_F(" Min: ", min, 3); - SERIAL_ECHOPAIR_F(" Max: ", max, 3); - SERIAL_ECHOPAIR_F(" Range: ", max-min, 3); + SERIAL_ECHOPGM("Mean: ", p_float_t(mean, 6)); + if (!final) SERIAL_ECHOPGM(" Sigma: ", p_float_t(sigma, 6)); + SERIAL_ECHOPGM(" Min: ", p_float_t(min, 3), " Max: ", p_float_t(max, 3), " Range: ", p_float_t(max-min, 3)); if (final) SERIAL_EOL(); } if (final) { - SERIAL_ECHOLNPAIR_F("Standard Deviation: ", sigma, 6); + SERIAL_ECHOLNPGM("Standard Deviation: ", p_float_t(sigma, 6)); SERIAL_EOL(); } }; @@ -148,7 +146,7 @@ void GcodeSuite::M48() { float sample_sum = 0.0; - LOOP_L_N(n, n_samples) { + for (uint8_t n = 0; n < n_samples; ++n) { #if HAS_STATUS_MESSAGE // Display M48 progress in the status bar ui.status_printf(0, F(S_FMT ": %d/%d"), GET_TEXT(MSG_M48_POINT), int(n + 1), int(n_samples)); @@ -162,8 +160,8 @@ void GcodeSuite::M48() { float angle = random(0, 360); const float radius = random( #if ENABLED(DELTA) - int(0.1250000000 * (DELTA_PRINTABLE_RADIUS)), - int(0.3333333333 * (DELTA_PRINTABLE_RADIUS)) + int(0.1250000000 * (PRINTABLE_RADIUS)), + int(0.3333333333 * (PRINTABLE_RADIUS)) #else int(5), int(0.125 * _MIN(X_BED_SIZE, Y_BED_SIZE)) #endif @@ -175,7 +173,7 @@ void GcodeSuite::M48() { } // Move from leg to leg in rapid succession - LOOP_L_N(l, n_legs - 1) { + for (uint8_t l = 0; l < n_legs - 1; ++l) { // Move some distance around the perimeter float delta_angle; @@ -207,7 +205,7 @@ void GcodeSuite::M48() { while (!probe.can_reach(next_pos)) { next_pos *= 0.8f; if (verbose_level > 3) - SERIAL_ECHOLNPGM_P(PSTR("Moving inward: X"), next_pos.x, SP_Y_STR, next_pos.y); + SERIAL_ECHOLN(F("Moving inward: X"), next_pos.x, FPSTR(SP_Y_STR), next_pos.y); } #elif HAS_ENDSTOPS // For a rectangular bed just keep the probe in bounds @@ -216,14 +214,14 @@ void GcodeSuite::M48() { #endif if (verbose_level > 3) - SERIAL_ECHOLNPGM_P(PSTR("Going to: X"), next_pos.x, SP_Y_STR, next_pos.y); + SERIAL_ECHOLN(F("Going to: X"), next_pos.x, FPSTR(SP_Y_STR), next_pos.y); do_blocking_move_to_xy(next_pos); } // n_legs loop } // n_legs // Probe a single point - const float pz = probe.probe_at_point(test_position, raise_after, 0); + const float pz = probe.probe_at_point(test_position, raise_after); // Break the loop if the probe fails probing_good = !isnan(pz); @@ -243,14 +241,11 @@ void GcodeSuite::M48() { // Calculate the standard deviation so far. // The value after the last sample will be the final output. float dev_sum = 0.0; - LOOP_LE_N(j, n) dev_sum += sq(sample_set[j] - mean); + for (uint8_t j = 0; j <= n; ++j) dev_sum += sq(sample_set[j] - mean); sigma = SQRT(dev_sum / (n + 1)); if (verbose_level > 1) { - SERIAL_ECHO(n + 1); - SERIAL_ECHOPGM(" of ", n_samples); - SERIAL_ECHOPAIR_F(": z: ", pz, 3); - SERIAL_CHAR(' '); + SERIAL_ECHO(n + 1, F(" of "), n_samples, F(": z: "), p_float_t(pz, 3), AS_CHAR(' ')); dev_report(verbose_level > 2, mean, sigma, min, max); SERIAL_EOL(); } diff --git a/Marlin/src/gcode/calibrate/M665.cpp b/Marlin/src/gcode/calibrate/M665.cpp index aa21471b60..22ad80425a 100644 --- a/Marlin/src/gcode/calibrate/M665.cpp +++ b/Marlin/src/gcode/calibrate/M665.cpp @@ -86,13 +86,13 @@ * * Parameters: * - * S[segments-per-second] - Segments-per-second + * S[segments] - Segments-per-second * * Without NO_WORKSPACE_OFFSETS: * - * P[theta-psi-offset] - Theta-Psi offset, added to the shoulder (A/X) angle - * T[theta-offset] - Theta offset, added to the elbow (B/Y) angle - * Z[z-offset] - Z offset, added to Z + * P[theta-psi-offset] - Theta-Psi offset, added to the shoulder (A/X) angle + * T[theta-offset] - Theta offset, added to the elbow (B/Y) angle + * Z[z-offset] - Z offset, added to Z * * A, P, and X are all aliases for the shoulder angle * B, T, and Y are all aliases for the elbow angle @@ -152,18 +152,52 @@ * * Parameters: * - * S[segments-per-second] - Segments-per-second + * S[segments] - Segments-per-second + * L[left] - Work area minimum X + * R[right] - Work area maximum X + * T[top] - Work area maximum Y + * B[bottom] - Work area minimum Y + * H[length] - Maximum belt length */ void GcodeSuite::M665() { - if (parser.seenval('S')) - segments_per_second = parser.value_float(); - else - M665_report(); + if (!parser.seen_any()) return M665_report(); + if (parser.seenval('S')) segments_per_second = parser.value_float(); + if (parser.seenval('L')) draw_area_min.x = parser.value_linear_units(); + if (parser.seenval('R')) draw_area_max.x = parser.value_linear_units(); + if (parser.seenval('T')) draw_area_max.y = parser.value_linear_units(); + if (parser.seenval('B')) draw_area_min.y = parser.value_linear_units(); + if (parser.seenval('H')) polargraph_max_belt_len = parser.value_linear_units(); } void GcodeSuite::M665_report(const bool forReplay/*=true*/) { - report_heading_etc(forReplay, F(STR_POLARGRAPH_SETTINGS " (" STR_S_SEG_PER_SEC ")")); - SERIAL_ECHOLNPGM(" M665 S", segments_per_second); + report_heading_etc(forReplay, F(STR_POLARGRAPH_SETTINGS)); + SERIAL_ECHOLNPGM_P( + PSTR(" M665 S"), LINEAR_UNIT(segments_per_second), + PSTR(" L"), LINEAR_UNIT(draw_area_min.x), + PSTR(" R"), LINEAR_UNIT(draw_area_max.x), + SP_T_STR, LINEAR_UNIT(draw_area_max.y), + SP_B_STR, LINEAR_UNIT(draw_area_min.y), + PSTR(" H"), LINEAR_UNIT(polargraph_max_belt_len) + ); + } + +#elif ENABLED(POLAR) + + #include "../../module/polar.h" + + /** + * M665: Set POLAR settings + * Parameters: + * S[segments] - Segments-per-second + */ + void GcodeSuite::M665() { + if (!parser.seen_any()) return M665_report(); + if (parser.seenval('S')) segments_per_second = parser.value_float(); + } + + void GcodeSuite::M665_report(const bool forReplay/*=true*/) { + report_heading_etc(forReplay, F(STR_POLAR_SETTINGS)); + SERIAL_ECHOLNPGM_P(PSTR(" M665 S"), segments_per_second); } #endif diff --git a/Marlin/src/gcode/calibrate/M666.cpp b/Marlin/src/gcode/calibrate/M666.cpp index fe244b21f7..dbee73f394 100644 --- a/Marlin/src/gcode/calibrate/M666.cpp +++ b/Marlin/src/gcode/calibrate/M666.cpp @@ -22,7 +22,7 @@ #include "../../inc/MarlinConfig.h" -#if ENABLED(DELTA) || HAS_EXTRA_ENDSTOPS +#if ANY(DELTA, HAS_EXTRA_ENDSTOPS) #include "../gcode.h" @@ -45,7 +45,7 @@ DEBUG_SECTION(log_M666, "M666", DEBUGGING(LEVELING)); bool is_err = false, is_set = false; LOOP_NUM_AXES(i) { - if (parser.seen(AXIS_CHAR(i))) { + if (parser.seenval(AXIS_CHAR(i))) { is_set = true; const float v = parser.value_linear_units(); if (v > 0) @@ -93,12 +93,12 @@ #if ENABLED(Z_MULTI_ENDSTOPS) if (parser.seenval('Z')) { const float z_adj = parser.value_linear_units(); - #if NUM_Z_STEPPER_DRIVERS == 2 + #if NUM_Z_STEPPERS == 2 endstops.z2_endstop_adj = z_adj; #else const int ind = parser.intval('S'); #define _SET_ZADJ(N) if (!ind || ind == N) endstops.z##N##_endstop_adj = z_adj; - REPEAT_S(2, INCREMENT(NUM_Z_STEPPER_DRIVERS), _SET_ZADJ) + REPEAT_S(2, INCREMENT(NUM_Z_STEPPERS), _SET_ZADJ) #endif } #endif @@ -114,11 +114,11 @@ SERIAL_ECHOLNPGM_P(SP_Y_STR, LINEAR_UNIT(endstops.y2_endstop_adj)); #endif #if ENABLED(Z_MULTI_ENDSTOPS) - #if NUM_Z_STEPPER_DRIVERS >= 3 + #if NUM_Z_STEPPERS >= 3 SERIAL_ECHOPGM(" S2 Z", LINEAR_UNIT(endstops.z3_endstop_adj)); report_echo_start(forReplay); SERIAL_ECHOPGM(" M666 S3 Z", LINEAR_UNIT(endstops.z3_endstop_adj)); - #if NUM_Z_STEPPER_DRIVERS >= 4 + #if NUM_Z_STEPPERS >= 4 report_echo_start(forReplay); SERIAL_ECHOPGM(" M666 S4 Z", LINEAR_UNIT(endstops.z4_endstop_adj)); #endif diff --git a/Marlin/src/gcode/calibrate/M852.cpp b/Marlin/src/gcode/calibrate/M852.cpp index 6c661dcd61..6d3c004548 100644 --- a/Marlin/src/gcode/calibrate/M852.cpp +++ b/Marlin/src/gcode/calibrate/M852.cpp @@ -93,11 +93,9 @@ void GcodeSuite::M852() { void GcodeSuite::M852_report(const bool forReplay/*=true*/) { report_heading_etc(forReplay, F(STR_SKEW_FACTOR)); - SERIAL_ECHOPAIR_F(" M852 I", planner.skew_factor.xy, 6); + SERIAL_ECHOPGM(" M852 I", p_float_t(planner.skew_factor.xy, 6)); #if ENABLED(SKEW_CORRECTION_FOR_Z) - SERIAL_ECHOPAIR_F(" J", planner.skew_factor.xz, 6); - SERIAL_ECHOPAIR_F(" K", planner.skew_factor.yz, 6); - SERIAL_ECHOLNPGM(" ; XY, XZ, YZ"); + SERIAL_ECHOLNPGM(" J", p_float_t(planner.skew_factor.xz, 6), " K", p_float_t(planner.skew_factor.yz, 6), " ; XY, XZ, YZ"); #else SERIAL_ECHOLNPGM(" ; XY"); #endif diff --git a/Marlin/src/gcode/config/M200-M205.cpp b/Marlin/src/gcode/config/M200-M205.cpp index 5e15ff65e8..e5e1edf326 100644 --- a/Marlin/src/gcode/config/M200-M205.cpp +++ b/Marlin/src/gcode/config/M200-M205.cpp @@ -108,12 +108,21 @@ #endif // !NO_VOLUMETRICS /** - * M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000) + * M201: Set max acceleration in units/s^2 for print moves. * - * With multiple extruders use T to specify which one. + * X : Max Acceleration for X + * Y : Max Acceleration for Y + * Z : Max Acceleration for Z + * ... : etc + * E : Max Acceleration for Extruder + * T : Extruder index to set + * + * With XY_FREQUENCY_LIMIT: + * F : Frequency limit for XY...IJKUVW + * S : Speed factor percentage. */ void GcodeSuite::M201() { - if (!parser.seen("T" LOGICAL_AXES_STRING)) + if (!parser.seen("T" STR_AXES_LOGICAL TERN_(XY_FREQUENCY_LIMIT, "FS"))) return M201_report(); const int8_t target_extruder = get_target_extruder_from_command(); @@ -121,37 +130,45 @@ void GcodeSuite::M201() { #ifdef XY_FREQUENCY_LIMIT if (parser.seenval('F')) planner.set_frequency_limit(parser.value_byte()); - if (parser.seenval('G')) planner.xy_freq_min_speed_factor = constrain(parser.value_float(), 1, 100) / 100; + if (parser.seenval('S')) planner.xy_freq_min_speed_factor = constrain(parser.value_float(), 1, 100) / 100; #endif LOOP_LOGICAL_AXES(i) { - if (parser.seenval(axis_codes[i])) { - const uint8_t a = TERN(HAS_EXTRUDERS, (i == E_AXIS ? uint8_t(E_AXIS_N(target_extruder)) : i), i); - planner.set_max_acceleration(a, parser.value_axis_units((AxisEnum)a)); + if (parser.seenval(AXIS_CHAR(i))) { + const AxisEnum a = TERN(HAS_EXTRUDERS, (i == E_AXIS ? E_AXIS_N(target_extruder) : (AxisEnum)i), (AxisEnum)i); + planner.set_max_acceleration(a, parser.value_axis_units(a)); } } } void GcodeSuite::M201_report(const bool forReplay/*=true*/) { report_heading_etc(forReplay, F(STR_MAX_ACCELERATION)); - SERIAL_ECHOLNPGM_P( - LIST_N(DOUBLE(NUM_AXES), - PSTR(" M201 X"), LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[X_AXIS]), - SP_Y_STR, LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[Y_AXIS]), - SP_Z_STR, LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[Z_AXIS]), - SP_I_STR, I_AXIS_UNIT(planner.settings.max_acceleration_mm_per_s2[I_AXIS]), - SP_J_STR, J_AXIS_UNIT(planner.settings.max_acceleration_mm_per_s2[J_AXIS]), - SP_K_STR, K_AXIS_UNIT(planner.settings.max_acceleration_mm_per_s2[K_AXIS]), - SP_U_STR, U_AXIS_UNIT(planner.settings.max_acceleration_mm_per_s2[U_AXIS]), - SP_V_STR, V_AXIS_UNIT(planner.settings.max_acceleration_mm_per_s2[V_AXIS]), - SP_W_STR, W_AXIS_UNIT(planner.settings.max_acceleration_mm_per_s2[W_AXIS]), - ) - #if HAS_EXTRUDERS && DISABLED(DISTINCT_E_FACTORS) - , SP_E_STR, VOLUMETRIC_UNIT(planner.settings.max_acceleration_mm_per_s2[E_AXIS]) - #endif - ); + #if NUM_AXES + SERIAL_ECHOPGM_P( + LIST_N(DOUBLE(NUM_AXES), + PSTR(" M201 X"), LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[X_AXIS]), + SP_Y_STR, LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[Y_AXIS]), + SP_Z_STR, LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[Z_AXIS]), + SP_I_STR, I_AXIS_UNIT(planner.settings.max_acceleration_mm_per_s2[I_AXIS]), + SP_J_STR, J_AXIS_UNIT(planner.settings.max_acceleration_mm_per_s2[J_AXIS]), + SP_K_STR, K_AXIS_UNIT(planner.settings.max_acceleration_mm_per_s2[K_AXIS]), + SP_U_STR, U_AXIS_UNIT(planner.settings.max_acceleration_mm_per_s2[U_AXIS]), + SP_V_STR, V_AXIS_UNIT(planner.settings.max_acceleration_mm_per_s2[V_AXIS]), + SP_W_STR, W_AXIS_UNIT(planner.settings.max_acceleration_mm_per_s2[W_AXIS]) + ) + ); + #endif + + #if HAS_EXTRUDERS && DISABLED(DISTINCT_E_FACTORS) + SERIAL_ECHOPGM_P(SP_E_STR, VOLUMETRIC_UNIT(planner.settings.max_acceleration_mm_per_s2[E_AXIS])); + #endif + + #if NUM_AXES || (HAS_EXTRUDERS && DISABLED(DISTINCT_E_FACTORS)) + SERIAL_EOL(); + #endif + #if ENABLED(DISTINCT_E_FACTORS) - LOOP_L_N(i, E_STEPPERS) { + for (uint8_t i = 0; i < E_STEPPERS; ++i) { report_echo_start(forReplay); SERIAL_ECHOLNPGM_P( PSTR(" M201 T"), i @@ -167,40 +184,48 @@ void GcodeSuite::M201_report(const bool forReplay/*=true*/) { * With multiple extruders use T to specify which one. */ void GcodeSuite::M203() { - if (!parser.seen("T" LOGICAL_AXES_STRING)) + if (!parser.seen("T" STR_AXES_LOGICAL)) return M203_report(); const int8_t target_extruder = get_target_extruder_from_command(); if (target_extruder < 0) return; LOOP_LOGICAL_AXES(i) - if (parser.seenval(axis_codes[i])) { - const uint8_t a = TERN(HAS_EXTRUDERS, (i == E_AXIS ? uint8_t(E_AXIS_N(target_extruder)) : i), i); - planner.set_max_feedrate(a, parser.value_axis_units((AxisEnum)a)); + if (parser.seenval(AXIS_CHAR(i))) { + const AxisEnum a = TERN(HAS_EXTRUDERS, (i == E_AXIS ? E_AXIS_N(target_extruder) : (AxisEnum)i), (AxisEnum)i); + planner.set_max_feedrate(a, parser.value_axis_units(a)); } } void GcodeSuite::M203_report(const bool forReplay/*=true*/) { report_heading_etc(forReplay, F(STR_MAX_FEEDRATES)); - SERIAL_ECHOLNPGM_P( - LIST_N(DOUBLE(NUM_AXES), - PSTR(" M203 X"), LINEAR_UNIT(planner.settings.max_feedrate_mm_s[X_AXIS]), - SP_Y_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[Y_AXIS]), - SP_Z_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[Z_AXIS]), - SP_I_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[I_AXIS]), - SP_J_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[J_AXIS]), - SP_K_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[K_AXIS]), - SP_U_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[U_AXIS]), - SP_V_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[V_AXIS]), - SP_W_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[W_AXIS]) - ) - #if HAS_EXTRUDERS && DISABLED(DISTINCT_E_FACTORS) - , SP_E_STR, VOLUMETRIC_UNIT(planner.settings.max_feedrate_mm_s[E_AXIS]) - #endif - ); + #if NUM_AXES + SERIAL_ECHOPGM_P( + LIST_N(DOUBLE(NUM_AXES), + PSTR(" M203 X"), LINEAR_UNIT(planner.settings.max_feedrate_mm_s[X_AXIS]), + SP_Y_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[Y_AXIS]), + SP_Z_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[Z_AXIS]), + SP_I_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[I_AXIS]), + SP_J_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[J_AXIS]), + SP_K_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[K_AXIS]), + SP_U_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[U_AXIS]), + SP_V_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[V_AXIS]), + SP_W_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[W_AXIS]) + ) + ); + #endif + + #if HAS_EXTRUDERS && DISABLED(DISTINCT_E_FACTORS) + SERIAL_ECHOPGM_P(SP_E_STR, VOLUMETRIC_UNIT(planner.settings.max_feedrate_mm_s[E_AXIS])); + #endif + + #if NUM_AXES || (HAS_EXTRUDERS && DISABLED(DISTINCT_E_FACTORS)) + SERIAL_EOL(); + #endif + #if ENABLED(DISTINCT_E_FACTORS) - LOOP_L_N(i, E_STEPPERS) { - SERIAL_ECHO_START(); + for (uint8_t i = 0; i < E_STEPPERS; ++i) { + if (!forReplay) SERIAL_ECHO_START(); SERIAL_ECHOLNPGM_P( PSTR(" M203 T"), i , SP_E_STR, VOLUMETRIC_UNIT(planner.settings.max_feedrate_mm_s[E_AXIS_N(i)]) @@ -212,9 +237,9 @@ void GcodeSuite::M203_report(const bool forReplay/*=true*/) { /** * M204: Set Accelerations in units/sec^2 (M204 P1200 R3000 T3000) * - * P = Printing moves - * R = Retract only (no X, Y, Z) moves - * T = Travel (non printing) moves + * P Printing moves + * R Retract only (no X, Y, Z) moves + * T Travel (non printing) moves */ void GcodeSuite::M204() { if (!parser.seen("PRST")) @@ -238,24 +263,37 @@ void GcodeSuite::M204_report(const bool forReplay/*=true*/) { ); } +#if AXIS_COLLISION('B') + #define M205_MIN_SEG_TIME_PARAM 'D' + #define M205_MIN_SEG_TIME_STR "D" + #warning "Use 'M205 D' for Minimum Segment Time." +#else + #define M205_MIN_SEG_TIME_PARAM 'B' + #define M205_MIN_SEG_TIME_STR "B" +#endif + /** * M205: Set Advanced Settings * - * B = Min Segment Time (µs) - * S = Min Feed Rate (units/s) - * T = Min Travel Feed Rate (units/s) - * X = Max X Jerk (units/sec^2) - * Y = Max Y Jerk (units/sec^2) - * Z = Max Z Jerk (units/sec^2) - * E = Max E Jerk (units/sec^2) - * J = Junction Deviation (mm) (If not using CLASSIC_JERK) + * B<µs> : Min Segment Time + * S : Min Feed Rate + * T : Min Travel Feed Rate + * + * With CLASSIC_JERK: + * X : Max X Jerk + * Y : Max Y Jerk + * Z : Max Z Jerk + * ... : etc + * E : Max E Jerk + * + * Without CLASSIC_JERK: + * J(mm) : Junction Deviation */ void GcodeSuite::M205() { - if (!parser.seen("BST" TERN_(HAS_JUNCTION_DEVIATION, "J") TERN_(HAS_CLASSIC_JERK, "XYZE"))) - return M205_report(); + if (!parser.seen_any()) return M205_report(); //planner.synchronize(); - if (parser.seenval('B')) planner.settings.min_segment_time_us = parser.value_ulong(); + if (parser.seenval(M205_MIN_SEG_TIME_PARAM)) planner.settings.min_segment_time_us = parser.value_ulong(); if (parser.seenval('S')) planner.settings.min_feedrate_mm_s = parser.value_linear_units(); if (parser.seenval('T')) planner.settings.min_travel_feedrate_mm_s = parser.value_linear_units(); #if HAS_JUNCTION_DEVIATION @@ -295,7 +333,7 @@ void GcodeSuite::M205() { void GcodeSuite::M205_report(const bool forReplay/*=true*/) { report_heading_etc(forReplay, F( - "Advanced (B S T" + "Advanced (" M205_MIN_SEG_TIME_STR " S T" TERN_(HAS_JUNCTION_DEVIATION, " J") #if HAS_CLASSIC_JERK NUM_AXIS_GANG( @@ -308,13 +346,13 @@ void GcodeSuite::M205_report(const bool forReplay/*=true*/) { ")" )); SERIAL_ECHOLNPGM_P( - PSTR(" M205 B"), LINEAR_UNIT(planner.settings.min_segment_time_us) + PSTR(" M205 " M205_MIN_SEG_TIME_STR), LINEAR_UNIT(planner.settings.min_segment_time_us) , PSTR(" S"), LINEAR_UNIT(planner.settings.min_feedrate_mm_s) , SP_T_STR, LINEAR_UNIT(planner.settings.min_travel_feedrate_mm_s) #if HAS_JUNCTION_DEVIATION , PSTR(" J"), LINEAR_UNIT(planner.junction_deviation_mm) #endif - #if HAS_CLASSIC_JERK + #if HAS_CLASSIC_JERK && NUM_AXES , LIST_N(DOUBLE(NUM_AXES), SP_X_STR, LINEAR_UNIT(planner.max_jerk.x), SP_Y_STR, LINEAR_UNIT(planner.max_jerk.y), diff --git a/Marlin/src/gcode/config/M217.cpp b/Marlin/src/gcode/config/M217.cpp index ad96b2b659..908a19fae7 100644 --- a/Marlin/src/gcode/config/M217.cpp +++ b/Marlin/src/gcode/config/M217.cpp @@ -34,31 +34,32 @@ #include "../../MarlinCore.h" // for SP_X_STR, etc. /** - * M217 - Set SINGLENOZZLE toolchange parameters + * M217 - Set toolchange parameters * * // Tool change command * Q Prime active tool and exit * * // Tool change settings - * S[linear] Swap length - * B[linear] Extra Swap length - * E[linear] Prime length - * P[linear/m] Prime speed - * R[linear/m] Retract speed - * U[linear/m] UnRetract speed - * V[linear] 0/1 Enable auto prime first extruder used - * W[linear] 0/1 Enable park & Z Raise - * X[linear] Park X (Requires TOOLCHANGE_PARK) - * Y[linear] Park Y (Requires TOOLCHANGE_PARK) - * I[linear] Park I (Requires TOOLCHANGE_PARK and NUM_AXES >= 4) - * J[linear] Park J (Requires TOOLCHANGE_PARK and NUM_AXES >= 5) - * K[linear] Park K (Requires TOOLCHANGE_PARK and NUM_AXES >= 6) - * C[linear] Park U (Requires TOOLCHANGE_PARK and NUM_AXES >= 7) - * H[linear] Park V (Requires TOOLCHANGE_PARK and NUM_AXES >= 8) - * O[linear] Park W (Requires TOOLCHANGE_PARK and NUM_AXES >= 9) - * Z[linear] Z Raise - * F[linear] Fan Speed 0-255 - * G[linear/s] Fan time + * S[linear] Swap length + * B[linear] Extra Swap resume length + * E[linear] Extra Prime length (as used by M217 Q) + * G[linear] Cutting wipe retract length (<=100mm) + * R[linear/min] Retract speed + * U[linear/min] UnRetract speed + * P[linear/min] Prime speed + * V[linear] 0/1 Enable auto prime first extruder used + * W[linear] 0/1 Enable park & Z Raise + * X[linear] Park X (Requires TOOLCHANGE_PARK) + * Y[linear] Park Y (Requires TOOLCHANGE_PARK and NUM_AXES >= 2) + * I[linear] Park I (Requires TOOLCHANGE_PARK and NUM_AXES >= 4) + * J[linear] Park J (Requires TOOLCHANGE_PARK and NUM_AXES >= 5) + * K[linear] Park K (Requires TOOLCHANGE_PARK and NUM_AXES >= 6) + * C[linear] Park U (Requires TOOLCHANGE_PARK and NUM_AXES >= 7) + * H[linear] Park V (Requires TOOLCHANGE_PARK and NUM_AXES >= 8) + * O[linear] Park W (Requires TOOLCHANGE_PARK and NUM_AXES >= 9) + * Z[linear] Z Raise + * F[speed] Fan Speed 0-255 + * D[seconds] Fan time * * Tool migration settings * A[0|1] Enable auto-migration on runout @@ -79,11 +80,12 @@ void GcodeSuite::M217() { if (parser.seenval('B')) { const float v = parser.value_linear_units(); toolchange_settings.extra_resume = constrain(v, -10, 10); } if (parser.seenval('E')) { const float v = parser.value_linear_units(); toolchange_settings.extra_prime = constrain(v, 0, max_extrude); } if (parser.seenval('P')) { const int16_t v = parser.value_linear_units(); toolchange_settings.prime_speed = constrain(v, 10, 5400); } + if (parser.seenval('G')) { const int16_t v = parser.value_linear_units(); toolchange_settings.wipe_retract = constrain(v, 0, 100); } if (parser.seenval('R')) { const int16_t v = parser.value_linear_units(); toolchange_settings.retract_speed = constrain(v, 10, 5400); } if (parser.seenval('U')) { const int16_t v = parser.value_linear_units(); toolchange_settings.unretract_speed = constrain(v, 10, 5400); } #if TOOLCHANGE_FS_FAN >= 0 && HAS_FAN - if (parser.seenval('F')) { const int16_t v = parser.value_linear_units(); toolchange_settings.fan_speed = constrain(v, 0, 255); } - if (parser.seenval('G')) { const int16_t v = parser.value_linear_units(); toolchange_settings.fan_time = constrain(v, 1, 30); } + if (parser.seenval('F')) { const uint16_t v = parser.value_ushort(); toolchange_settings.fan_speed = constrain(v, 0, 255); } + if (parser.seenval('D')) { const uint16_t v = parser.value_ushort(); toolchange_settings.fan_time = constrain(v, 1, 30); } #endif #endif @@ -93,7 +95,9 @@ void GcodeSuite::M217() { #if ENABLED(TOOLCHANGE_PARK) if (parser.seenval('W')) { toolchange_settings.enable_park = parser.value_linear_units(); } - if (parser.seenval('X')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.x = constrain(v, X_MIN_POS, X_MAX_POS); } + #if HAS_X_AXIS + if (parser.seenval('X')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.x = constrain(v, X_MIN_POS, X_MAX_POS); } + #endif #if HAS_Y_AXIS if (parser.seenval('Y')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.y = constrain(v, Y_MIN_POS, Y_MAX_POS); } #endif @@ -164,38 +168,44 @@ void GcodeSuite::M217_report(const bool forReplay/*=true*/) { SERIAL_ECHOPGM(" M217"); #if ENABLED(TOOLCHANGE_FILAMENT_SWAP) - SERIAL_ECHOPGM(" S", LINEAR_UNIT(toolchange_settings.swap_length)); - SERIAL_ECHOPGM_P(SP_B_STR, LINEAR_UNIT(toolchange_settings.extra_resume), - SP_E_STR, LINEAR_UNIT(toolchange_settings.extra_prime), - SP_P_STR, LINEAR_UNIT(toolchange_settings.prime_speed)); - SERIAL_ECHOPGM(" R", LINEAR_UNIT(toolchange_settings.retract_speed), - " U", LINEAR_UNIT(toolchange_settings.unretract_speed), - " F", toolchange_settings.fan_speed, - " G", toolchange_settings.fan_time); + SERIAL_ECHOPGM_P( + PSTR(" S"), LINEAR_UNIT(toolchange_settings.swap_length), + SP_B_STR, LINEAR_UNIT(toolchange_settings.extra_resume), + SP_E_STR, LINEAR_UNIT(toolchange_settings.extra_prime), + SP_P_STR, LINEAR_UNIT(toolchange_settings.prime_speed), + PSTR(" G"), LINEAR_UNIT(toolchange_settings.wipe_retract), + PSTR(" R"), LINEAR_UNIT(toolchange_settings.retract_speed), + PSTR(" U"), LINEAR_UNIT(toolchange_settings.unretract_speed), + PSTR(" F"), toolchange_settings.fan_speed, + PSTR(" D"), toolchange_settings.fan_time + ); #if ENABLED(TOOLCHANGE_MIGRATION_FEATURE) - SERIAL_ECHOPGM(" A", migration.automode); - SERIAL_ECHOPGM(" L", LINEAR_UNIT(migration.last)); + SERIAL_ECHOPGM(" A", migration.automode, " L", LINEAR_UNIT(migration.last)); #endif #if ENABLED(TOOLCHANGE_PARK) SERIAL_ECHOPGM(" W", LINEAR_UNIT(toolchange_settings.enable_park)); - SERIAL_ECHOPGM_P( - SP_X_STR, LINEAR_UNIT(toolchange_settings.change_point.x) - #if HAS_Y_AXIS - , SP_Y_STR, LINEAR_UNIT(toolchange_settings.change_point.y) - #endif - #if SECONDARY_AXES >= 1 - , LIST_N(DOUBLE(SECONDARY_AXES), - PSTR(" I"), I_AXIS_UNIT(toolchange_settings.change_point.i), - PSTR(" J"), J_AXIS_UNIT(toolchange_settings.change_point.j), - PSTR(" K"), K_AXIS_UNIT(toolchange_settings.change_point.k), - SP_C_STR, U_AXIS_UNIT(toolchange_settings.change_point.u), - PSTR(" H"), V_AXIS_UNIT(toolchange_settings.change_point.v), - PSTR(" O"), W_AXIS_UNIT(toolchange_settings.change_point.w), - ) - #endif - ); + #if NUM_AXES + { + SERIAL_ECHOPGM_P( + SP_X_STR, LINEAR_UNIT(toolchange_settings.change_point.x) + #if HAS_Y_AXIS + , SP_Y_STR, LINEAR_UNIT(toolchange_settings.change_point.y) + #endif + #if SECONDARY_AXES >= 1 + , LIST_N(DOUBLE(SECONDARY_AXES) + , SP_I_STR, I_AXIS_UNIT(toolchange_settings.change_point.i) + , SP_J_STR, J_AXIS_UNIT(toolchange_settings.change_point.j) + , SP_K_STR, K_AXIS_UNIT(toolchange_settings.change_point.k) + , SP_C_STR, U_AXIS_UNIT(toolchange_settings.change_point.u) + , PSTR(" H"), V_AXIS_UNIT(toolchange_settings.change_point.v) + , PSTR(" O"), W_AXIS_UNIT(toolchange_settings.change_point.w) + ) + #endif + ); + } + #endif #endif #if ENABLED(TOOLCHANGE_FS_PRIME_FIRST_USED) diff --git a/Marlin/src/gcode/config/M218.cpp b/Marlin/src/gcode/config/M218.cpp index c39447a28d..ff63dcaf34 100644 --- a/Marlin/src/gcode/config/M218.cpp +++ b/Marlin/src/gcode/config/M218.cpp @@ -46,9 +46,15 @@ void GcodeSuite::M218() { const int8_t target_extruder = get_target_extruder_from_command(); if (target_extruder < 0) return; - if (parser.seenval('X')) hotend_offset[target_extruder].x = parser.value_linear_units(); - if (parser.seenval('Y')) hotend_offset[target_extruder].y = parser.value_linear_units(); - if (parser.seenval('Z')) hotend_offset[target_extruder].z = parser.value_linear_units(); + #if HAS_X_AXIS + if (parser.seenval('X')) hotend_offset[target_extruder].x = parser.value_linear_units(); + #endif + #if HAS_Y_AXIS + if (parser.seenval('Y')) hotend_offset[target_extruder].y = parser.value_linear_units(); + #endif + #if HAS_Z_AXIS + if (parser.seenval('Z')) hotend_offset[target_extruder].z = parser.value_linear_units(); + #endif #if ENABLED(DELTA) if (target_extruder == active_extruder) @@ -58,14 +64,14 @@ void GcodeSuite::M218() { void GcodeSuite::M218_report(const bool forReplay/*=true*/) { report_heading_etc(forReplay, F(STR_HOTEND_OFFSETS)); - LOOP_S_L_N(e, 1, HOTENDS) { + for (uint8_t e = 1; e < HOTENDS; ++e) { report_echo_start(forReplay); - SERIAL_ECHOPGM_P( + SERIAL_ECHOLNPGM_P( PSTR(" M218 T"), e, SP_X_STR, LINEAR_UNIT(hotend_offset[e].x), - SP_Y_STR, LINEAR_UNIT(hotend_offset[e].y) + SP_Y_STR, LINEAR_UNIT(hotend_offset[e].y), + SP_Z_STR, p_float_t(LINEAR_UNIT(hotend_offset[e].z), 3) ); - SERIAL_ECHOLNPAIR_F_P(SP_Z_STR, LINEAR_UNIT(hotend_offset[e].z), 3); } } diff --git a/Marlin/src/gcode/config/M220.cpp b/Marlin/src/gcode/config/M220.cpp index c9070df803..6797df25d5 100644 --- a/Marlin/src/gcode/config/M220.cpp +++ b/Marlin/src/gcode/config/M220.cpp @@ -36,16 +36,15 @@ * R : Flag to restore the last-saved factor */ void GcodeSuite::M220() { + if (!parser.seen_any()) { + SERIAL_ECHOLNPGM("FR:", feedrate_percentage, "%"); + return; + } static int16_t backup_feedrate_percentage = 100; - if (parser.seen('B')) backup_feedrate_percentage = feedrate_percentage; - if (parser.seen('R')) feedrate_percentage = backup_feedrate_percentage; - + const int16_t now_feedrate_perc = feedrate_percentage; + if (parser.seen_test('R')) feedrate_percentage = backup_feedrate_percentage; + if (parser.seen_test('B')) backup_feedrate_percentage = now_feedrate_perc; if (parser.seenval('S')) feedrate_percentage = parser.value_int(); - if (!parser.seen_any()) { - SERIAL_ECHOPGM("FR:", feedrate_percentage); - SERIAL_CHAR('%'); - SERIAL_EOL(); - } } diff --git a/Marlin/src/gcode/config/M281.cpp b/Marlin/src/gcode/config/M281.cpp index b90de6be30..2e7f08fe86 100644 --- a/Marlin/src/gcode/config/M281.cpp +++ b/Marlin/src/gcode/config/M281.cpp @@ -47,8 +47,8 @@ void GcodeSuite::M281() { return; } #endif - if (parser.seen('L')) servo_angles[servo_index][0] = parser.value_int(); - if (parser.seen('U')) servo_angles[servo_index][1] = parser.value_int(); + if (parser.seenval('L')) servo_angles[servo_index][0] = parser.value_int(); + if (parser.seenval('U')) servo_angles[servo_index][1] = parser.value_int(); } else SERIAL_ERROR_MSG("Servo ", servo_index, " out of range"); @@ -56,7 +56,7 @@ void GcodeSuite::M281() { void GcodeSuite::M281_report(const bool forReplay/*=true*/) { report_heading_etc(forReplay, F(STR_SERVO_ANGLES)); - LOOP_L_N(i, NUM_SERVOS) { + for (uint8_t i = 0; i < NUM_SERVOS; ++i) { switch (i) { default: break; #if ENABLED(SWITCHING_EXTRUDER) diff --git a/Marlin/src/gcode/config/M301.cpp b/Marlin/src/gcode/config/M301.cpp index fc9f1883d6..a3938acb11 100644 --- a/Marlin/src/gcode/config/M301.cpp +++ b/Marlin/src/gcode/config/M301.cpp @@ -57,19 +57,18 @@ void GcodeSuite::M301() { if (e < HOTENDS) { // catch bad input value - if (parser.seenval('P')) PID_PARAM(Kp, e) = parser.value_float(); - if (parser.seenval('I')) PID_PARAM(Ki, e) = scalePID_i(parser.value_float()); - if (parser.seenval('D')) PID_PARAM(Kd, e) = scalePID_d(parser.value_float()); + if (parser.seenval('P')) SET_HOTEND_PID(Kp, e, parser.value_float()); + if (parser.seenval('I')) SET_HOTEND_PID(Ki, e, parser.value_float()); + if (parser.seenval('D')) SET_HOTEND_PID(Kd, e, parser.value_float()); #if ENABLED(PID_EXTRUSION_SCALING) - if (parser.seenval('C')) PID_PARAM(Kc, e) = parser.value_float(); + if (parser.seenval('C')) SET_HOTEND_PID(Kc, e, parser.value_float()); if (parser.seenval('L')) thermalManager.lpq_len = parser.value_int(); - NOMORE(thermalManager.lpq_len, LPQ_MAX_LEN); - NOLESS(thermalManager.lpq_len, 0); + LIMIT(thermalManager.lpq_len, 0, LPQ_MAX_LEN); #endif #if ENABLED(PID_FAN_SCALING) - if (parser.seenval('F')) PID_PARAM(Kf, e) = parser.value_float(); + if (parser.seenval('F')) SET_HOTEND_PID(Kf, e, parser.value_float()); #endif thermalManager.updatePID(); @@ -83,6 +82,7 @@ void GcodeSuite::M301_report(const bool forReplay/*=true*/ E_OPTARG(const int8_t IF_DISABLED(HAS_MULTI_EXTRUDER, constexpr int8_t eindex = -1); HOTEND_LOOP() { if (e == eindex || eindex == -1) { + const hotend_pid_t &pid = thermalManager.temp_hotend[e].pid; report_echo_start(forReplay); SERIAL_ECHOPGM_P( #if ENABLED(PID_PARAMS_PER_HOTEND) @@ -90,16 +90,14 @@ void GcodeSuite::M301_report(const bool forReplay/*=true*/ E_OPTARG(const int8_t #else PSTR(" M301 P") #endif - , PID_PARAM(Kp, e) - , PSTR(" I"), unscalePID_i(PID_PARAM(Ki, e)) - , PSTR(" D"), unscalePID_d(PID_PARAM(Kd, e)) + , pid.p(), PSTR(" I"), pid.i(), PSTR(" D"), pid.d() ); #if ENABLED(PID_EXTRUSION_SCALING) - SERIAL_ECHOPGM_P(SP_C_STR, PID_PARAM(Kc, e)); + SERIAL_ECHOPGM_P(SP_C_STR, pid.c()); if (e == 0) SERIAL_ECHOPGM(" L", thermalManager.lpq_len); #endif #if ENABLED(PID_FAN_SCALING) - SERIAL_ECHOPGM(" F", PID_PARAM(Kf, e)); + SERIAL_ECHOPGM(" F", pid.f()); #endif SERIAL_EOL(); } diff --git a/Marlin/src/gcode/config/M302.cpp b/Marlin/src/gcode/config/M302.cpp index 9f4d569d7b..3373e14325 100644 --- a/Marlin/src/gcode/config/M302.cpp +++ b/Marlin/src/gcode/config/M302.cpp @@ -28,7 +28,7 @@ #include "../../module/temperature.h" #if ENABLED(DWIN_LCD_PROUI) - #include "../../lcd/e3v2/proui/dwin_defines.h" + #include "../../lcd/e3v2/proui/dwin.h" #endif /** @@ -51,7 +51,7 @@ void GcodeSuite::M302() { if (seen_S) { thermalManager.extrude_min_temp = parser.value_celsius(); thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0); - TERN_(DWIN_LCD_PROUI, HMI_data.ExtMinT = thermalManager.extrude_min_temp); + TERN_(DWIN_LCD_PROUI, hmiData.extMinT = thermalManager.extrude_min_temp); } if (parser.seen('P')) @@ -59,9 +59,7 @@ void GcodeSuite::M302() { else if (!seen_S) { // Report current state SERIAL_ECHO_START(); - SERIAL_ECHOPGM("Cold extrudes are "); - SERIAL_ECHOF(thermalManager.allow_cold_extrude ? F("en") : F("dis")); - SERIAL_ECHOLNPGM("abled (min temp ", thermalManager.extrude_min_temp, "C)"); + SERIAL_ECHOLN(F("Cold extrudes are "), thermalManager.allow_cold_extrude ? F("en") : F("dis"), F("abled (min temp "), thermalManager.extrude_min_temp, F("C)")); } } diff --git a/Marlin/src/gcode/config/M304.cpp b/Marlin/src/gcode/config/M304.cpp index 97dc4be25e..a71a34c6de 100644 --- a/Marlin/src/gcode/config/M304.cpp +++ b/Marlin/src/gcode/config/M304.cpp @@ -36,17 +36,17 @@ */ void GcodeSuite::M304() { if (!parser.seen("PID")) return M304_report(); - if (parser.seen('P')) thermalManager.temp_bed.pid.Kp = parser.value_float(); - if (parser.seen('I')) thermalManager.temp_bed.pid.Ki = scalePID_i(parser.value_float()); - if (parser.seen('D')) thermalManager.temp_bed.pid.Kd = scalePID_d(parser.value_float()); + if (parser.seenval('P')) thermalManager.temp_bed.pid.set_Kp(parser.value_float()); + if (parser.seenval('I')) thermalManager.temp_bed.pid.set_Ki(parser.value_float()); + if (parser.seenval('D')) thermalManager.temp_bed.pid.set_Kd(parser.value_float()); } void GcodeSuite::M304_report(const bool forReplay/*=true*/) { report_heading_etc(forReplay, F(STR_BED_PID)); - SERIAL_ECHOLNPGM( - " M304 P", thermalManager.temp_bed.pid.Kp - , " I", unscalePID_i(thermalManager.temp_bed.pid.Ki) - , " D", unscalePID_d(thermalManager.temp_bed.pid.Kd) + SERIAL_ECHOLNPGM(" M304" + " P", thermalManager.temp_bed.pid.p() + , " I", thermalManager.temp_bed.pid.i() + , " D", thermalManager.temp_bed.pid.d() ); } diff --git a/Marlin/src/gcode/config/M305.cpp b/Marlin/src/gcode/config/M305.cpp index 6957eef050..48d7cf1882 100644 --- a/Marlin/src/gcode/config/M305.cpp +++ b/Marlin/src/gcode/config/M305.cpp @@ -52,24 +52,24 @@ void GcodeSuite::M305() { if (t_index >= (USER_THERMISTORS) || (do_set && t_index < 0)) SERIAL_ECHO_MSG("!Invalid index. (0 <= P <= ", USER_THERMISTORS - 1, ")"); else if (do_set) { - if (parser.seen('R')) // Pullup resistor value + if (parser.seenval('R')) // Pullup resistor value if (!thermalManager.set_pull_up_res(t_index, parser.value_float())) SERIAL_ECHO_MSG("!Invalid series resistance. (0 < R < 1000000)"); - if (parser.seen('T')) // Resistance at 25C + if (parser.seenval('T')) // Resistance at 25C if (!thermalManager.set_res25(t_index, parser.value_float())) SERIAL_ECHO_MSG("!Invalid 25C resistance. (0 < T < 10000000)"); - if (parser.seen('B')) // Beta value + if (parser.seenval('B')) // Beta value if (!thermalManager.set_beta(t_index, parser.value_float())) SERIAL_ECHO_MSG("!Invalid beta. (0 < B < 1000000)"); - if (parser.seen('C')) // Steinhart-Hart C coefficient + if (parser.seenval('C')) // Steinhart-Hart C coefficient if (!thermalManager.set_sh_coeff(t_index, parser.value_float())) SERIAL_ECHO_MSG("!Invalid Steinhart-Hart C coeff. (-0.01 < C < +0.01)"); } // If not setting then report parameters else if (t_index < 0) { // ...all user thermistors - LOOP_L_N(i, USER_THERMISTORS) + for (uint8_t i = 0; i < USER_THERMISTORS; ++i) thermalManager.M305_report(i); } else // ...one user thermistor diff --git a/Marlin/src/gcode/config/M309.cpp b/Marlin/src/gcode/config/M309.cpp index 577023292e..4953113041 100644 --- a/Marlin/src/gcode/config/M309.cpp +++ b/Marlin/src/gcode/config/M309.cpp @@ -36,17 +36,17 @@ */ void GcodeSuite::M309() { if (!parser.seen("PID")) return M309_report(); - if (parser.seen('P')) thermalManager.temp_chamber.pid.Kp = parser.value_float(); - if (parser.seen('I')) thermalManager.temp_chamber.pid.Ki = scalePID_i(parser.value_float()); - if (parser.seen('D')) thermalManager.temp_chamber.pid.Kd = scalePID_d(parser.value_float()); + if (parser.seenval('P')) thermalManager.temp_chamber.pid.set_Kp(parser.value_float()); + if (parser.seenval('I')) thermalManager.temp_chamber.pid.set_Ki(parser.value_float()); + if (parser.seenval('D')) thermalManager.temp_chamber.pid.set_Kd(parser.value_float()); } void GcodeSuite::M309_report(const bool forReplay/*=true*/) { report_heading_etc(forReplay, F(STR_CHAMBER_PID)); - SERIAL_ECHOLNPGM( - " M309 P", thermalManager.temp_chamber.pid.Kp - , " I", unscalePID_i(thermalManager.temp_chamber.pid.Ki) - , " D", unscalePID_d(thermalManager.temp_chamber.pid.Kd) + SERIAL_ECHOLNPGM(" M309" + " P", thermalManager.temp_chamber.pid.p() + , " I", thermalManager.temp_chamber.pid.i() + , " D", thermalManager.temp_chamber.pid.d() ); } diff --git a/Marlin/src/gcode/config/M43.cpp b/Marlin/src/gcode/config/M43.cpp index 097aa142f0..5ea89b7136 100644 --- a/Marlin/src/gcode/config/M43.cpp +++ b/Marlin/src/gcode/config/M43.cpp @@ -25,7 +25,7 @@ #if ENABLED(PINS_DEBUGGING) #include "../gcode.h" -#include "../../MarlinCore.h" // for pin_is_protected +#include "../../MarlinCore.h" // for pin_is_protected, wait_for_user #include "../../pins/pinsDebug.h" #include "../../module/endstops.h" @@ -61,7 +61,7 @@ inline void toggle_pins() { end = PARSED_PIN_INDEX('L', NUM_DIGITAL_PINS - 1), wait = parser.intval('W', 500); - LOOP_S_LE_N(i, start, end) { + for (uint8_t i = start; i <= end; ++i) { pin_t pin = GET_PIN_MAP_PIN_M43(i); if (!VALID_PIN(pin)) continue; if (M43_NEVER_TOUCH(i) || (!ignore_protection && pin_is_protected(pin))) { @@ -69,7 +69,7 @@ inline void toggle_pins() { SERIAL_EOL(); } else { - watchdog_refresh(); + hal.watchdog_refresh(); report_pin_state_extended(pin, ignore_protection, true, F("Pulsing ")); #ifdef __STM32F1__ const auto prior_mode = _GET_MODE(i); @@ -98,10 +98,10 @@ inline void toggle_pins() { { pinMode(pin, OUTPUT); for (int16_t j = 0; j < repeat; j++) { - watchdog_refresh(); extDigitalWrite(pin, 0); safe_delay(wait); - watchdog_refresh(); extDigitalWrite(pin, 1); safe_delay(wait); - watchdog_refresh(); extDigitalWrite(pin, 0); safe_delay(wait); - watchdog_refresh(); + hal.watchdog_refresh(); extDigitalWrite(pin, 0); safe_delay(wait); + hal.watchdog_refresh(); extDigitalWrite(pin, 1); safe_delay(wait); + hal.watchdog_refresh(); extDigitalWrite(pin, 0); safe_delay(wait); + hal.watchdog_refresh(); } } #ifdef __STM32F1__ @@ -139,24 +139,15 @@ inline void servo_probe_test() { bool deploy_state = false, stow_state; #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) - #define PROBE_TEST_PIN Z_MIN_PIN - constexpr bool probe_inverting = Z_MIN_ENDSTOP_INVERTING; - - SERIAL_ECHOLNPGM(". Probe Z_MIN_PIN: ", PROBE_TEST_PIN); - SERIAL_ECHOPGM(". Z_MIN_ENDSTOP_INVERTING: "); - + #define _PROBE_PREF "Z_MIN" #else - #define PROBE_TEST_PIN Z_MIN_PROBE_PIN - constexpr bool probe_inverting = Z_MIN_PROBE_ENDSTOP_INVERTING; - - SERIAL_ECHOLNPGM(". Probe Z_MIN_PROBE_PIN: ", PROBE_TEST_PIN); - SERIAL_ECHOPGM( ". Z_MIN_PROBE_ENDSTOP_INVERTING: "); - + #define _PROBE_PREF "Z_MIN_PROBE" #endif - serialprint_truefalse(probe_inverting); + SERIAL_ECHOLNPGM(". Probe " _PROBE_PREF "_PIN: ", PROBE_TEST_PIN); + serial_ternary(F(". " _PROBE_PREF "_ENDSTOP_HIT_STATE: "), PROBE_HIT_STATE, F("HIGH"), F("LOW")); SERIAL_EOL(); SET_INPUT_PULLUP(PROBE_TEST_PIN); @@ -173,11 +164,11 @@ inline void servo_probe_test() { SERIAL_ECHOLNPGM(". Check for BLTOUCH"); bltouch._reset(); bltouch._stow(); - if (probe_inverting == READ(PROBE_TEST_PIN)) { + if (!PROBE_TRIGGERED()) { bltouch._set_SW_mode(); - if (probe_inverting != READ(PROBE_TEST_PIN)) { + if (PROBE_TRIGGERED()) { bltouch._deploy(); - if (probe_inverting == READ(PROBE_TEST_PIN)) { + if (!PROBE_TRIGGERED()) { bltouch._stow(); SERIAL_ECHOLNPGM("= BLTouch Classic 1.2, 1.3, Smart 1.0, 2.0, 2.2, 3.0, 3.1 detected."); // Check for a 3.1 by letting the user trigger it, later @@ -195,38 +186,37 @@ inline void servo_probe_test() { if (!blt) { // DEPLOY and STOW 4 times and see if the signal follows // Then it is a mechanical switch - uint8_t i = 0; SERIAL_ECHOLNPGM(". Deploy & stow 4 times"); - do { - MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy + for (uint8_t i = 0; i < 4; ++i) { + servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy safe_delay(500); deploy_state = READ(PROBE_TEST_PIN); - MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][1]); // Stow + servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][1]); // Stow safe_delay(500); stow_state = READ(PROBE_TEST_PIN); - } while (++i < 4); + } - if (probe_inverting != deploy_state) SERIAL_ECHOLNPGM("WARNING: INVERTING setting probably backwards."); + if (PROBE_HIT_STATE == deploy_state) SERIAL_ECHOLNPGM("WARNING: " _PROBE_PREF "_ENDSTOP_HIT_STATE is probably wrong."); if (deploy_state != stow_state) { SERIAL_ECHOLNPGM("= Mechanical Switch detected"); if (deploy_state) { - SERIAL_ECHOLNPGM(" DEPLOYED state: HIGH (logic 1)", - " STOWED (triggered) state: LOW (logic 0)"); + SERIAL_ECHOLNPGM(". DEPLOYED state: HIGH (logic 1)\n" + ". STOWED (triggered) state: LOW (logic 0)"); } else { - SERIAL_ECHOLNPGM(" DEPLOYED state: LOW (logic 0)", - " STOWED (triggered) state: HIGH (logic 1)"); + SERIAL_ECHOLNPGM(". DEPLOYED state: LOW (logic 0)\n" + ". STOWED (triggered) state: HIGH (logic 1)"); } #if ENABLED(BLTOUCH) - SERIAL_ECHOLNPGM("FAIL: BLTOUCH enabled - Set up this device as a Servo Probe with INVERTING set to 'true'."); + SERIAL_ECHOLNPGM("FAIL: Can't enable BLTOUCH. Check your settings."); #endif return; } } // Ask the user for a trigger event and measure the pulse width. - MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy + servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy safe_delay(500); SERIAL_ECHOLNPGM("** Please trigger probe within 30 sec **"); uint16_t probe_counter = 0; @@ -256,7 +246,7 @@ inline void servo_probe_test() { } else SERIAL_ECHOLNPGM("FAIL: Noise detected - please re-run test"); - MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][1]); // Stow + servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][1]); // Stow return; } } @@ -302,9 +292,7 @@ void GcodeSuite::M43() { // 'E' Enable or disable endstop monitoring and return if (parser.seen('E')) { endstops.monitor_flag = parser.value_bool(); - SERIAL_ECHOPGM("endstop monitor "); - SERIAL_ECHOF(endstops.monitor_flag ? F("en") : F("dis")); - SERIAL_ECHOLNPGM("abled"); + SERIAL_ECHOLN(F("endstop monitor "), endstops.monitor_flag ? F("en") : F("dis"), F("abled")); return; } @@ -313,44 +301,74 @@ void GcodeSuite::M43() { // 'P' Get the range of pins to test or watch uint8_t first_pin = PARSED_PIN_INDEX('P', 0), - last_pin = parser.seenval('P') ? first_pin : NUMBER_PINS_TOTAL - 1; + last_pin = parser.seenval('L') ? PARSED_PIN_INDEX('L', 0) : (parser.seenval('P') ? first_pin : (NUMBER_PINS_TOTAL) - 1); - if (first_pin > last_pin) return; + NOMORE(first_pin, (NUMBER_PINS_TOTAL) - 1); + NOMORE(last_pin, (NUMBER_PINS_TOTAL) - 1); + + if (first_pin > last_pin) { + const uint8_t f = first_pin; + first_pin = last_pin; + last_pin = f; + } // 'I' to ignore protected pins const bool ignore_protection = parser.boolval('I'); // 'W' Watch until click, M108, or reset if (parser.boolval('W')) { - SERIAL_ECHOLNPGM("Watching pins"); #ifdef ARDUINO_ARCH_SAM NOLESS(first_pin, 2); // Don't hijack the UART pins #endif - uint8_t pin_state[last_pin - first_pin + 1]; - LOOP_S_LE_N(i, first_pin, last_pin) { + + const uint8_t pin_count = last_pin - first_pin + 1; + uint8_t pin_state[pin_count]; + bool can_watch = false; + for (uint8_t i = first_pin; i <= last_pin; ++i) { pin_t pin = GET_PIN_MAP_PIN_M43(i); if (!VALID_PIN(pin)) continue; if (M43_NEVER_TOUCH(i) || (!ignore_protection && pin_is_protected(pin))) continue; + can_watch = true; pinMode(pin, INPUT_PULLUP); delay(1); - /* - if (IS_ANALOG(pin)) - pin_state[pin - first_pin] = analogRead(DIGITAL_PIN_TO_ANALOG_PIN(pin)); // int16_t pin_state[...] - else - //*/ - pin_state[i - first_pin] = extDigitalRead(pin); + /* + if (IS_ANALOG(pin)) + pin_state[pin - first_pin] = analogRead(DIGITAL_PIN_TO_ANALOG_PIN(pin)); // int16_t pin_state[...] + else + //*/ + pin_state[i - first_pin] = extDigitalRead(pin); } + const bool multipin = (pin_count > 1); + + if (!can_watch) { + SERIAL_ECHOPGM("Specified pin"); + SERIAL_ECHOPGM_P(multipin ? PSTR("s are") : PSTR(" is")); + SERIAL_ECHOLNPGM(" protected. Use 'I' to override."); + return; + } + + // "Watching pin(s) # - #" + SERIAL_ECHOPGM("Watching pin"); + if (multipin) SERIAL_CHAR('s'); + SERIAL_CHAR(' '); SERIAL_ECHO(first_pin); + if (multipin) SERIAL_ECHOPGM(" - ", last_pin); + SERIAL_EOL(); + #if HAS_RESUME_CONTINUE KEEPALIVE_STATE(PAUSED_FOR_USER); wait_for_user = true; - TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_do(PROMPT_USER_CONTINUE, F("M43 Wait Called"), FPSTR(CONTINUE_STR))); - TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired(F("M43 Wait Called"))); + TERN_(HOST_PROMPT_SUPPORT, hostui.continue_prompt(F("M43 Waiting..."))); + #if ENABLED(EXTENSIBLE_UI) + ExtUI::onUserConfirmRequired(F("M43 Waiting...")); + #else + LCD_MESSAGE(MSG_USERWAIT); + #endif #endif for (;;) { - LOOP_S_LE_N(i, first_pin, last_pin) { - pin_t pin = GET_PIN_MAP_PIN_M43(i); + for (uint8_t i = first_pin; i <= last_pin; ++i) { + const pin_t pin = GET_PIN_MAP_PIN_M43(i); if (!VALID_PIN(pin)) continue; if (M43_NEVER_TOUCH(i) || (!ignore_protection && pin_is_protected(pin))) continue; const byte val = @@ -361,7 +379,7 @@ void GcodeSuite::M43() { //*/ extDigitalRead(pin); if (val != pin_state[i - first_pin]) { - report_pin_state_extended(pin, ignore_protection, false); + report_pin_state_extended(pin, ignore_protection, true); pin_state[i - first_pin] = val; } } @@ -373,11 +391,13 @@ void GcodeSuite::M43() { safe_delay(200); } + + TERN_(HAS_RESUME_CONTINUE, ui.reset_status()); } else { // Report current state of selected pin(s) - LOOP_S_LE_N(i, first_pin, last_pin) { - pin_t pin = GET_PIN_MAP_PIN_M43(i); + for (uint8_t i = first_pin; i <= last_pin; ++i) { + const pin_t pin = GET_PIN_MAP_PIN_M43(i); if (VALID_PIN(pin)) report_pin_state_extended(pin, ignore_protection, true); } } diff --git a/Marlin/src/gcode/config/M540.cpp b/Marlin/src/gcode/config/M540.cpp index 54d52f3a31..e751248dd6 100644 --- a/Marlin/src/gcode/config/M540.cpp +++ b/Marlin/src/gcode/config/M540.cpp @@ -25,7 +25,7 @@ #if ENABLED(SD_ABORT_ON_ENDSTOP_HIT) #include "../gcode.h" -#include "../../module/stepper.h" +#include "../../module/planner.h" /** * M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>) diff --git a/Marlin/src/gcode/config/M672.cpp b/Marlin/src/gcode/config/M672.cpp index 257b49471f..064d05d0b6 100644 --- a/Marlin/src/gcode/config/M672.cpp +++ b/Marlin/src/gcode/config/M672.cpp @@ -54,7 +54,7 @@ // b3 b2 b1 b0 ~b0 ... lo bits, NOT last bit // void M672_send(uint8_t b) { // bit rate requirement: 1kHz +/- 30% - LOOP_L_N(bits, 14) { + for (uint8_t bits = 0; bits < 14; ++bits) { switch (bits) { default: { OUT_WRITE(SMART_EFFECTOR_MOD_PIN, !!(b & 0x80)); b <<= 1; break; } // send bit, shift next into place case 7: diff --git a/Marlin/src/gcode/config/M92.cpp b/Marlin/src/gcode/config/M92.cpp index cca4f7f12a..67f55e2232 100644 --- a/Marlin/src/gcode/config/M92.cpp +++ b/Marlin/src/gcode/config/M92.cpp @@ -43,11 +43,11 @@ void GcodeSuite::M92() { if (target_extruder < 0) return; // No arguments? Show M92 report. - if (!parser.seen(LOGICAL_AXES_STRING TERN_(MAGIC_NUMBERS_GCODE, "HL"))) + if (!parser.seen(STR_AXES_LOGICAL TERN_(MAGIC_NUMBERS_GCODE, "HL"))) return M92_report(true, target_extruder); LOOP_LOGICAL_AXES(i) { - if (parser.seenval(axis_codes[i])) { + if (parser.seenval(AXIS_CHAR(i))) { if (TERN1(HAS_EXTRUDERS, i != E_AXIS)) planner.settings.axis_steps_per_mm[i] = parser.value_per_axis_units((AxisEnum)i); else { @@ -82,7 +82,7 @@ void GcodeSuite::M92() { if (wanted) { const float best = uint16_t(wanted / z_full_step_mm) * z_full_step_mm; SERIAL_ECHOPGM(", best:[", best); - if (best != wanted) { SERIAL_CHAR(','); SERIAL_DECIMAL(best + z_full_step_mm); } + if (best != wanted) { SERIAL_ECHO(AS_CHAR(','), best + z_full_step_mm); } SERIAL_CHAR(']'); } SERIAL_ECHOLNPGM(" }"); @@ -92,24 +92,30 @@ void GcodeSuite::M92() { void GcodeSuite::M92_report(const bool forReplay/*=true*/, const int8_t e/*=-1*/) { report_heading_etc(forReplay, F(STR_STEPS_PER_UNIT)); - SERIAL_ECHOPGM_P(LIST_N(DOUBLE(NUM_AXES), - PSTR(" M92 X"), LINEAR_UNIT(planner.settings.axis_steps_per_mm[X_AXIS]), - SP_Y_STR, LINEAR_UNIT(planner.settings.axis_steps_per_mm[Y_AXIS]), - SP_Z_STR, LINEAR_UNIT(planner.settings.axis_steps_per_mm[Z_AXIS]), - SP_I_STR, I_AXIS_UNIT(planner.settings.axis_steps_per_mm[I_AXIS]), - SP_J_STR, J_AXIS_UNIT(planner.settings.axis_steps_per_mm[J_AXIS]), - SP_K_STR, K_AXIS_UNIT(planner.settings.axis_steps_per_mm[K_AXIS]), - SP_U_STR, U_AXIS_UNIT(planner.settings.axis_steps_per_mm[U_AXIS]), - SP_V_STR, V_AXIS_UNIT(planner.settings.axis_steps_per_mm[V_AXIS]), - SP_W_STR, W_AXIS_UNIT(planner.settings.axis_steps_per_mm[W_AXIS]) - )); + #if NUM_AXES + SERIAL_ECHOPGM_P(LIST_N(DOUBLE(NUM_AXES), + PSTR(" M92 X"), LINEAR_UNIT(planner.settings.axis_steps_per_mm[X_AXIS]), + SP_Y_STR, LINEAR_UNIT(planner.settings.axis_steps_per_mm[Y_AXIS]), + SP_Z_STR, LINEAR_UNIT(planner.settings.axis_steps_per_mm[Z_AXIS]), + SP_I_STR, I_AXIS_UNIT(planner.settings.axis_steps_per_mm[I_AXIS]), + SP_J_STR, J_AXIS_UNIT(planner.settings.axis_steps_per_mm[J_AXIS]), + SP_K_STR, K_AXIS_UNIT(planner.settings.axis_steps_per_mm[K_AXIS]), + SP_U_STR, U_AXIS_UNIT(planner.settings.axis_steps_per_mm[U_AXIS]), + SP_V_STR, V_AXIS_UNIT(planner.settings.axis_steps_per_mm[V_AXIS]), + SP_W_STR, W_AXIS_UNIT(planner.settings.axis_steps_per_mm[W_AXIS]) + )); + #endif + #if HAS_EXTRUDERS && DISABLED(DISTINCT_E_FACTORS) SERIAL_ECHOPGM_P(SP_E_STR, VOLUMETRIC_UNIT(planner.settings.axis_steps_per_mm[E_AXIS])); #endif - SERIAL_EOL(); + + #if NUM_AXES || (HAS_EXTRUDERS && DISABLED(DISTINCT_E_FACTORS)) + SERIAL_EOL(); + #endif #if ENABLED(DISTINCT_E_FACTORS) - LOOP_L_N(i, E_STEPPERS) { + for (uint8_t i = 0; i < E_STEPPERS; ++i) { if (e >= 0 && i != e) continue; report_echo_start(forReplay); SERIAL_ECHOLNPGM_P( diff --git a/Marlin/src/gcode/control/M111.cpp b/Marlin/src/gcode/control/M111.cpp index d6aeb77410..02f37f8497 100644 --- a/Marlin/src/gcode/control/M111.cpp +++ b/Marlin/src/gcode/control/M111.cpp @@ -46,10 +46,10 @@ void GcodeSuite::M111() { SERIAL_ECHOPGM(STR_DEBUG_PREFIX); if (marlin_debug_flags) { uint8_t comma = 0; - LOOP_L_N(i, COUNT(debug_strings)) { + for (uint8_t i = 0; i < COUNT(debug_strings); ++i) { if (TEST(marlin_debug_flags, i)) { if (comma++) SERIAL_CHAR(','); - SERIAL_ECHOPGM_P((char*)pgm_read_ptr(&debug_strings[i])); + SERIAL_ECHOPGM_P((PGM_P)pgm_read_ptr(&debug_strings[i])); } } } diff --git a/Marlin/src/gcode/control/M17_M18_M84.cpp b/Marlin/src/gcode/control/M17_M18_M84.cpp index c6473af48f..1742d288b3 100644 --- a/Marlin/src/gcode/control/M17_M18_M84.cpp +++ b/Marlin/src/gcode/control/M17_M18_M84.cpp @@ -23,6 +23,8 @@ #include "../gcode.h" #include "../../MarlinCore.h" // for stepper_inactive_time, disable_e_steppers #include "../../lcd/marlinui.h" +#include "../../module/motion.h" // for e_axis_mask +#include "../../module/planner.h" #include "../../module/stepper.h" #if ENABLED(AUTO_BED_LEVELING_UBL) @@ -33,8 +35,8 @@ #include "../../core/debug_out.h" #include "../../libs/hex_print.h" -inline axis_flags_t selected_axis_bits() { - axis_flags_t selected{0}; +inline stepper_flags_t selected_axis_bits() { + stepper_flags_t selected{0}; #if HAS_EXTRUDERS if (parser.seen('E')) { if (E_TERN0(parser.has_value())) { @@ -43,25 +45,27 @@ inline axis_flags_t selected_axis_bits() { selected.bits = _BV(INDEX_OF_AXIS(E_AXIS, e)); } else - selected.bits = selected.e_bits(); + selected.bits = e_axis_mask; } #endif - selected.bits |= NUM_AXIS_GANG( - (parser.seen_test('X') << X_AXIS), - | (parser.seen_test('Y') << Y_AXIS), - | (parser.seen_test('Z') << Z_AXIS), - | (parser.seen_test(AXIS4_NAME) << I_AXIS), - | (parser.seen_test(AXIS5_NAME) << J_AXIS), - | (parser.seen_test(AXIS6_NAME) << K_AXIS), - | (parser.seen_test(AXIS7_NAME) << U_AXIS), - | (parser.seen_test(AXIS8_NAME) << V_AXIS), - | (parser.seen_test(AXIS9_NAME) << W_AXIS) - ); + #if NUM_AXES + selected.bits |= NUM_AXIS_GANG( + (parser.seen_test('X') << X_AXIS), + | (parser.seen_test('Y') << Y_AXIS), + | (parser.seen_test('Z') << Z_AXIS), + | (parser.seen_test(AXIS4_NAME) << I_AXIS), + | (parser.seen_test(AXIS5_NAME) << J_AXIS), + | (parser.seen_test(AXIS6_NAME) << K_AXIS), + | (parser.seen_test(AXIS7_NAME) << U_AXIS), + | (parser.seen_test(AXIS8_NAME) << V_AXIS), + | (parser.seen_test(AXIS9_NAME) << W_AXIS) + ); + #endif return selected; } // Enable specified axes and warn about other affected axes -void do_enable(const axis_flags_t to_enable) { +void do_enable(const stepper_flags_t to_enable) { const ena_mask_t was_enabled = stepper.axis_enabled.bits, shall_enable = to_enable.bits & ~was_enabled; @@ -69,13 +73,13 @@ void do_enable(const axis_flags_t to_enable) { if (!shall_enable) return; // All specified axes already enabled? - ena_mask_t also_enabled = 0; // Track steppers enabled due to overlap + ena_mask_t also_enabled = 0; // Track steppers enabled due to overlap // Enable all flagged axes LOOP_NUM_AXES(a) { if (TEST(shall_enable, a)) { stepper.enable_axis(AxisEnum(a)); // Mark and enable the requested axis - DEBUG_ECHOLNPGM("Enabled ", axis_codes[a], " (", a, ") with overlap ", hex_word(enable_overlap[a]), " ... Enabled: ", hex_word(stepper.axis_enabled.bits)); + DEBUG_ECHOLNPGM("Enabled ", AXIS_CHAR(a), " (", a, ") with overlap ", hex_word(enable_overlap[a]), " ... Enabled: ", hex_word(stepper.axis_enabled.bits)); also_enabled |= enable_overlap[a]; } } @@ -92,7 +96,7 @@ void do_enable(const axis_flags_t to_enable) { if ((also_enabled &= ~(shall_enable | was_enabled))) { SERIAL_CHAR('('); - LOOP_NUM_AXES(a) if (TEST(also_enabled, a)) SERIAL_CHAR(axis_codes[a], ' '); + LOOP_NUM_AXES(a) if (TEST(also_enabled, a)) SERIAL_CHAR(AXIS_CHAR(a), ' '); #if HAS_EXTRUDERS #define _EN_ALSO(N) if (TEST(also_enabled, INDEX_OF_AXIS(E_AXIS, N))) SERIAL_CHAR('E', '0' + N, ' '); REPEAT(EXTRUDERS, _EN_ALSO) @@ -128,17 +132,8 @@ void GcodeSuite::M17() { stepper.enable_e_steppers(); } #endif - NUM_AXIS_CODE( - if (parser.seen_test('X')) stepper.enable_axis(X_AXIS), - if (parser.seen_test('Y')) stepper.enable_axis(Y_AXIS), - if (parser.seen_test('Z')) stepper.enable_axis(Z_AXIS), - if (parser.seen_test(AXIS4_NAME)) stepper.enable_axis(I_AXIS), - if (parser.seen_test(AXIS5_NAME)) stepper.enable_axis(J_AXIS), - if (parser.seen_test(AXIS6_NAME)) stepper.enable_axis(K_AXIS), - if (parser.seen_test(AXIS7_NAME)) stepper.enable_axis(U_AXIS), - if (parser.seen_test(AXIS8_NAME)) stepper.enable_axis(V_AXIS), - if (parser.seen_test(AXIS9_NAME)) stepper.enable_axis(W_AXIS) - ); + LOOP_NUM_AXES(a) + if (parser.seen_test(AXIS_CHAR(a))) stepper.enable_axis((AxisEnum)a); } } else { @@ -147,7 +142,7 @@ void GcodeSuite::M17() { } } -void try_to_disable(const axis_flags_t to_disable) { +void try_to_disable(const stepper_flags_t to_disable) { ena_mask_t still_enabled = to_disable.bits & stepper.axis_enabled.bits; DEBUG_ECHOLNPGM("Enabled: ", hex_word(stepper.axis_enabled.bits), " To Disable: ", hex_word(to_disable.bits), " | ", hex_word(still_enabled)); @@ -157,7 +152,7 @@ void try_to_disable(const axis_flags_t to_disable) { // Attempt to disable all flagged axes LOOP_NUM_AXES(a) if (TEST(to_disable.bits, a)) { - DEBUG_ECHOPGM("Try to disable ", axis_codes[a], " (", a, ") with overlap ", hex_word(enable_overlap[a]), " ... "); + DEBUG_ECHOPGM("Try to disable ", AXIS_CHAR(a), " (", a, ") with overlap ", hex_word(enable_overlap[a]), " ... "); if (stepper.disable_axis(AxisEnum(a))) { // Mark the requested axis and request to disable DEBUG_ECHOPGM("OK"); still_enabled &= ~(_BV(a) | enable_overlap[a]); // If actually disabled, clear one or more tracked bits @@ -184,7 +179,7 @@ void try_to_disable(const axis_flags_t to_disable) { auto overlap_warning = [](const ena_mask_t axis_bits) { SERIAL_ECHOPGM(" not disabled. Shared with"); - LOOP_NUM_AXES(a) if (TEST(axis_bits, a)) SERIAL_CHAR(' ', axis_codes[a]); + LOOP_NUM_AXES(a) if (TEST(axis_bits, a)) SERIAL_ECHOPGM_P((PGM_P)pgm_read_ptr(&SP_AXIS_STR[a])); #if HAS_EXTRUDERS #define _EN_STILLON(N) if (TEST(axis_bits, INDEX_OF_AXIS(E_AXIS, N))) SERIAL_CHAR(' ', 'E', '0' + N); REPEAT(EXTRUDERS, _EN_STILLON) @@ -195,7 +190,7 @@ void try_to_disable(const axis_flags_t to_disable) { // If any of the requested axes are still enabled, give a warning LOOP_NUM_AXES(a) { if (TEST(still_enabled, a)) { - SERIAL_CHAR(axis_codes[a]); + SERIAL_CHAR(AXIS_CHAR(a)); overlap_warning(stepper.axis_enabled.bits & enable_overlap[a]); } } @@ -219,7 +214,16 @@ void try_to_disable(const axis_flags_t to_disable) { void GcodeSuite::M18_M84() { if (parser.seenval('S')) { reset_stepper_timeout(); - stepper_inactive_time = parser.value_millis_from_seconds(); + #if HAS_DISABLE_IDLE_AXES + const millis_t ms = parser.value_millis_from_seconds(); + #if LASER_SAFETY_TIMEOUT_MS > 0 + if (ms && ms <= LASER_SAFETY_TIMEOUT_MS) { + SERIAL_ECHO_MSG("M18 timeout must be > ", MS_TO_SEC(LASER_SAFETY_TIMEOUT_MS + 999), " s for laser safety."); + return; + } + #endif + stepper_inactive_time = ms; + #endif } else { if (parser.seen_axis()) { @@ -235,22 +239,13 @@ void GcodeSuite::M18_M84() { stepper.disable_e_steppers(); } #endif - NUM_AXIS_CODE( - if (parser.seen_test('X')) stepper.disable_axis(X_AXIS), - if (parser.seen_test('Y')) stepper.disable_axis(Y_AXIS), - if (parser.seen_test('Z')) stepper.disable_axis(Z_AXIS), - if (parser.seen_test(AXIS4_NAME)) stepper.disable_axis(I_AXIS), - if (parser.seen_test(AXIS5_NAME)) stepper.disable_axis(J_AXIS), - if (parser.seen_test(AXIS6_NAME)) stepper.disable_axis(K_AXIS), - if (parser.seen_test(AXIS7_NAME)) stepper.disable_axis(U_AXIS), - if (parser.seen_test(AXIS8_NAME)) stepper.disable_axis(V_AXIS), - if (parser.seen_test(AXIS9_NAME)) stepper.disable_axis(W_AXIS) - ); + LOOP_NUM_AXES(a) + if (parser.seen_test(AXIS_CHAR(a))) stepper.disable_axis((AxisEnum)a); } } else planner.finish_and_disable(); - TERN_(AUTO_BED_LEVELING_UBL, ubl.steppers_were_disabled()); + TERN_(AUTO_BED_LEVELING_UBL, bedlevel.steppers_were_disabled()); } } diff --git a/Marlin/src/gcode/control/M211.cpp b/Marlin/src/gcode/control/M211.cpp index 95ae052a7b..8e7d10ce65 100644 --- a/Marlin/src/gcode/control/M211.cpp +++ b/Marlin/src/gcode/control/M211.cpp @@ -47,8 +47,8 @@ void GcodeSuite::M211_report(const bool forReplay/*=true*/) { report_echo_start(forReplay); const xyz_pos_t l_soft_min = soft_endstop.min.asLogical(), l_soft_max = soft_endstop.max.asLogical(); - print_pos(l_soft_min, F(STR_SOFT_MIN), F(" ")); - print_pos(l_soft_max, F(STR_SOFT_MAX)); + print_xyz(l_soft_min, F(STR_SOFT_MIN), F(" ")); + print_xyz(l_soft_max, F(STR_SOFT_MAX)); } #endif // HAS_SOFTWARE_ENDSTOPS diff --git a/Marlin/src/gcode/control/M226.cpp b/Marlin/src/gcode/control/M226.cpp index 63f022e82b..4eb3db4bc3 100644 --- a/Marlin/src/gcode/control/M226.cpp +++ b/Marlin/src/gcode/control/M226.cpp @@ -26,7 +26,7 @@ #include "../gcode.h" #include "../../MarlinCore.h" // for pin_is_protected and idle() -#include "../../module/stepper.h" +#include "../../module/planner.h" void protected_pin_err(); diff --git a/Marlin/src/gcode/control/M280.cpp b/Marlin/src/gcode/control/M280.cpp index 2a8e73eafb..82981e44bc 100644 --- a/Marlin/src/gcode/control/M280.cpp +++ b/Marlin/src/gcode/control/M280.cpp @@ -48,7 +48,7 @@ void GcodeSuite::M280() { const int anew = parser.value_int(); if (anew >= 0) { #if ENABLED(POLARGRAPH) - if (parser.seen('T')) { // (ms) Total duration of servo move + if (parser.seenval('T')) { // (ms) Total duration of servo move const int16_t t = constrain(parser.value_int(), 0, 10000); const int aold = servo[servo_index].read(); millis_t now = millis(); @@ -56,14 +56,14 @@ void GcodeSuite::M280() { while (PENDING(now, end)) { safe_delay(50); now = _MIN(millis(), end); - MOVE_SERVO(servo_index, LROUND(aold + (anew - aold) * (float(now - start) / t))); + servo[servo_index].move(LROUND(aold + (anew - aold) * (float(now - start) / t))); } } #endif // POLARGRAPH - MOVE_SERVO(servo_index, anew); + servo[servo_index].move(anew); } else - DETACH_SERVO(servo_index); + servo[servo_index].detach(); } else SERIAL_ECHO_MSG(" Servo ", servo_index, ": ", servo[servo_index].read()); diff --git a/Marlin/src/gcode/control/M282.cpp b/Marlin/src/gcode/control/M282.cpp index e6f5ce7dcc..3ac5ac9f5b 100644 --- a/Marlin/src/gcode/control/M282.cpp +++ b/Marlin/src/gcode/control/M282.cpp @@ -36,7 +36,7 @@ void GcodeSuite::M282() { const int servo_index = parser.value_int(); if (WITHIN(servo_index, 0, NUM_SERVOS - 1)) - DETACH_SERVO(servo_index); + servo[servo_index].detach(); else SERIAL_ECHO_MSG("Servo ", servo_index, " out of range"); diff --git a/Marlin/src/gcode/control/M3-M5.cpp b/Marlin/src/gcode/control/M3-M5.cpp index 2cf22e81ce..5d5d44e8bf 100644 --- a/Marlin/src/gcode/control/M3-M5.cpp +++ b/Marlin/src/gcode/control/M3-M5.cpp @@ -26,22 +26,32 @@ #include "../gcode.h" #include "../../feature/spindle_laser.h" -#include "../../module/stepper.h" +#include "../../module/planner.h" /** * Laser: * M3 - Laser ON/Power (Ramped power) - * M4 - Laser ON/Power (Continuous power) + * M4 - Laser ON/Power (Ramped power) + * M5 - Set power output to 0 (leaving inline mode unchanged). + * + * M3I - Enable continuous inline power to be processed by the planner, with power + * calculated and set in the planner blocks, processed inline during stepping. + * Within inline mode M3 S-Values will set the power for the next moves e.g. G1 X10 Y10 powers on with the last S-Value. + * M3I must be set before using planner-synced M3 inline S-Values (LASER_POWER_SYNC). + * + * M4I - Set dynamic mode which calculates laser power OCR based on the current feedrate. + * + * M5I - Clear inline mode and set power to 0. * * Spindle: * M3 - Spindle ON (Clockwise) * M4 - Spindle ON (Counter-clockwise) + * M5 - Spindle OFF * * Parameters: - * S - Set power. S0 will turn the spindle/laser off, except in relative mode. - * O - Set power and OCR (oscillator count register) + * S - Set power. S0 will turn the spindle/laser off. * - * If no PWM pin is defined then M3/M4 just turns it on. + * If no PWM pin is defined then M3/M4 just turns it on or off. * * At least 12.8kHz (50Hz * 256) is needed for Spindle PWM. * Hardware PWM is required on AVR. ISRs are too slow. @@ -66,77 +76,81 @@ * PWM duty cycle goes from 0 (off) to 255 (always on). */ void GcodeSuite::M3_M4(const bool is_M4) { - #if EITHER(SPINDLE_LASER_USE_PWM, SPINDLE_SERVO) - auto get_s_power = [] { - if (parser.seenval('S')) { - const float spwr = parser.value_float(); - #if ENABLED(SPINDLE_SERVO) - cutter.unitPower = spwr; - #else - cutter.unitPower = TERN(SPINDLE_LASER_USE_PWM, - cutter.power_to_range(cutter_power_t(round(spwr))), - spwr > 0 ? 255 : 0); - #endif - } - else - cutter.unitPower = cutter.cpwr_to_upwr(SPEED_POWER_STARTUP); - return cutter.unitPower; - }; + #if LASER_SAFETY_TIMEOUT_MS > 0 + reset_stepper_timeout(); // Reset timeout to allow subsequent G-code to power the laser (imm.) #endif - #if ENABLED(LASER_POWER_INLINE) - if (parser.seen('I') == DISABLED(LASER_POWER_INLINE_INVERT)) { - // Laser power in inline mode - cutter.inline_direction(is_M4); // Should always be unused - #if ENABLED(SPINDLE_LASER_USE_PWM) - if (parser.seen('O')) { - cutter.unitPower = cutter.power_to_range(parser.value_byte(), 0); - cutter.inline_ocr_power(cutter.unitPower); // The OCR is a value from 0 to 255 (uint8_t) - } - else - cutter.inline_power(cutter.upower_to_ocr(get_s_power())); + if (cutter.cutter_mode == CUTTER_MODE_STANDARD) + planner.synchronize(); // Wait for previous movement commands (G0/G1/G2/G3) to complete before changing power + + #if ENABLED(LASER_FEATURE) + if (parser.seen_test('I')) { + cutter.cutter_mode = is_M4 ? CUTTER_MODE_DYNAMIC : CUTTER_MODE_CONTINUOUS; + cutter.inline_power(0); + cutter.set_enabled(true); + } + #endif + + auto get_s_power = [] { + float u; + if (parser.seenval('S')) { + const float v = parser.value_float(); + u = TERN(LASER_POWER_TRAP, v, cutter.power_to_range(v)); + } + else if (cutter.cutter_mode == CUTTER_MODE_STANDARD) + u = cutter.cpwr_to_upwr(SPEED_POWER_STARTUP); + + cutter.menuPower = cutter.unitPower = u; + + // PWM not implied, power converted to OCR from unit definition and on/off if not PWM. + cutter.power = TERN(SPINDLE_LASER_USE_PWM, cutter.upower_to_ocr(u), u > 0 ? 255 : 0); + return u; + }; + + if (cutter.cutter_mode == CUTTER_MODE_CONTINUOUS || cutter.cutter_mode == CUTTER_MODE_DYNAMIC) { // Laser power in inline mode + #if ENABLED(LASER_FEATURE) + planner.laser_inline.status.isPowered = true; // M3 or M4 is powered either way + get_s_power(); // Update cutter.power if seen + #if ENABLED(LASER_POWER_SYNC) + // With power sync we only set power so it does not effect queued inline power sets + planner.buffer_sync_block(BLOCK_BIT_LASER_PWR); // Send the flag, queueing inline power #else - cutter.set_inline_enabled(true); + planner.synchronize(); + cutter.inline_power(cutter.power); #endif - return; - } - // Non-inline, standard case - cutter.inline_disable(); // Prevent future blocks re-setting the power - #endif - - planner.synchronize(); // Wait for previous movement commands (G0/G0/G2/G3) to complete before changing power - cutter.set_reverse(is_M4); - - #if ENABLED(SPINDLE_LASER_USE_PWM) - if (parser.seenval('O')) { - cutter.unitPower = cutter.power_to_range(parser.value_byte(), 0); - cutter.ocr_set_power(cutter.unitPower); // The OCR is a value from 0 to 255 (uint8_t) - } - else - cutter.set_power(cutter.upower_to_ocr(get_s_power())); - #elif ENABLED(SPINDLE_SERVO) - cutter.set_power(get_s_power()); - #else + #endif + } + else { cutter.set_enabled(true); - #endif - cutter.menuPower = cutter.unitPower; + get_s_power(); + cutter.apply_power( + #if ENABLED(SPINDLE_SERVO) + cutter.unitPower + #elif ENABLED(SPINDLE_LASER_USE_PWM) + cutter.upower_to_ocr(cutter.unitPower) + #else + cutter.unitPower > 0 ? 255 : 0 + #endif + ); + TERN_(SPINDLE_CHANGE_DIR, cutter.set_reverse(is_M4)); + } } /** * M5 - Cutter OFF (when moves are complete) */ void GcodeSuite::M5() { - #if ENABLED(LASER_POWER_INLINE) - if (parser.seen('I') == DISABLED(LASER_POWER_INLINE_INVERT)) { - cutter.set_inline_enabled(false); // Laser power in inline mode - return; - } - // Non-inline, standard case - cutter.inline_disable(); // Prevent future blocks re-setting the power - #endif planner.synchronize(); - cutter.set_enabled(false); - cutter.menuPower = cutter.unitPower; + cutter.power = 0; + cutter.apply_power(0); // M5 just kills power, leaving inline mode unchanged + if (cutter.cutter_mode != CUTTER_MODE_STANDARD) { + if (parser.seen_test('I')) { + TERN_(LASER_FEATURE, cutter.inline_power(cutter.power)); + cutter.set_enabled(false); // Needs to happen while we are in inline mode to clear inline power. + cutter.cutter_mode = CUTTER_MODE_STANDARD; // Switch from inline to standard mode. + } + } + cutter.set_enabled(false); // Disable enable output setting } #endif // HAS_CUTTER diff --git a/Marlin/src/gcode/control/M350_M351.cpp b/Marlin/src/gcode/control/M350_M351.cpp index a92238e4bb..425abad529 100644 --- a/Marlin/src/gcode/control/M350_M351.cpp +++ b/Marlin/src/gcode/control/M350_M351.cpp @@ -27,35 +27,42 @@ #include "../gcode.h" #include "../../module/stepper.h" +#if NUM_AXES == XYZ && EXTRUDERS >= 1 + #define HAS_M350_B_PARAM 1 // "5th axis" (after E0) for an original XYZEB setup. +#endif + /** * M350: Set axis microstepping modes. S sets mode for all drivers. * * Warning: Steps-per-unit remains unchanged. */ void GcodeSuite::M350() { - if (parser.seen('S')) LOOP_LE_N(i, 4) stepper.microstep_mode(i, parser.value_byte()); - LOOP_LOGICAL_AXES(i) if (parser.seen(axis_codes[i])) stepper.microstep_mode(i, parser.value_byte()); - if (parser.seen('B')) stepper.microstep_mode(4, parser.value_byte()); + if (parser.seen('S')) LOOP_DISTINCT_AXES(i) stepper.microstep_mode(i, parser.value_byte()); + LOOP_LOGICAL_AXES(i) if (parser.seenval(AXIS_CHAR(i))) stepper.microstep_mode(i, parser.value_byte()); + TERN_(HAS_M350_B_PARAM, if (parser.seenval('B')) stepper.microstep_mode(E_AXIS + 1, parser.value_byte())); stepper.microstep_readings(); } /** - * M351: Toggle MS1 MS2 pins directly with axis codes X Y Z E B + * M351: Toggle MS1 MS2 pins directly with axis codes X Y Z . . . E [B] * S# determines MS1, MS2 or MS3, X# sets the pin high/low. + * + * Parameter 'B' sets "5th axis" (after E0) only for an original XYZEB setup. */ void GcodeSuite::M351() { + const int8_t bval = TERN(HAS_M350_B_PARAM, parser.byteval('B', -1), -1); UNUSED(bval); if (parser.seenval('S')) switch (parser.value_byte()) { case 1: - LOOP_LOGICAL_AXES(i) if (parser.seenval(axis_codes[i])) stepper.microstep_ms(i, parser.value_byte(), -1, -1); - if (parser.seenval('B')) stepper.microstep_ms(4, parser.value_byte(), -1, -1); + LOOP_LOGICAL_AXES(i) if (parser.seenval(AXIS_CHAR(i))) stepper.microstep_ms(i, parser.value_byte(), -1, -1); + TERN_(HAS_M350_B_PARAM, if (bval >= 0) stepper.microstep_ms(E_AXIS + 1, bval != 0, -1, -1)); break; case 2: - LOOP_LOGICAL_AXES(i) if (parser.seenval(axis_codes[i])) stepper.microstep_ms(i, -1, parser.value_byte(), -1); - if (parser.seenval('B')) stepper.microstep_ms(4, -1, parser.value_byte(), -1); + LOOP_LOGICAL_AXES(i) if (parser.seenval(AXIS_CHAR(i))) stepper.microstep_ms(i, -1, parser.value_byte(), -1); + TERN_(HAS_M350_B_PARAM, if (bval >= 0) stepper.microstep_ms(E_AXIS + 1, -1, bval != 0, -1)); break; case 3: - LOOP_LOGICAL_AXES(i) if (parser.seenval(axis_codes[i])) stepper.microstep_ms(i, -1, -1, parser.value_byte()); - if (parser.seenval('B')) stepper.microstep_ms(4, -1, -1, parser.value_byte()); + LOOP_LOGICAL_AXES(i) if (parser.seenval(AXIS_CHAR(i))) stepper.microstep_ms(i, -1, -1, parser.value_byte()); + TERN_(HAS_M350_B_PARAM, if (bval >= 0) stepper.microstep_ms(E_AXIS + 1, -1, -1, bval != 0)); break; } stepper.microstep_readings(); diff --git a/Marlin/src/gcode/control/M380_M381.cpp b/Marlin/src/gcode/control/M380_M381.cpp index 6bcec891e2..20d24484ed 100644 --- a/Marlin/src/gcode/control/M380_M381.cpp +++ b/Marlin/src/gcode/control/M380_M381.cpp @@ -22,7 +22,7 @@ #include "../../inc/MarlinConfig.h" -#if EITHER(EXT_SOLENOID, MANUAL_SOLENOID_CONTROL) +#if ANY(EXT_SOLENOID, MANUAL_SOLENOID_CONTROL) #include "../gcode.h" #include "../../feature/solenoid.h" diff --git a/Marlin/src/gcode/control/M42.cpp b/Marlin/src/gcode/control/M42.cpp index 1b3a29d100..6e75ffd4e7 100644 --- a/Marlin/src/gcode/control/M42.cpp +++ b/Marlin/src/gcode/control/M42.cpp @@ -25,7 +25,6 @@ #if ENABLED(DIRECT_PIN_CONTROL) #include "../gcode.h" -#include "../../MarlinCore.h" // for pin_is_protected #if HAS_FAN #include "../../module/temperature.h" @@ -38,6 +37,8 @@ #define OUTPUT_OPEN_DRAIN OUTPUT_OPEN_DRAIN #endif +bool pin_is_protected(const pin_t pin); + void protected_pin_err() { SERIAL_ERROR_MSG(STR_ERR_PROTECTED_PIN); } @@ -53,6 +54,7 @@ void protected_pin_err() { * I Flag to ignore Marlin's pin protection * * T Pin mode: 0=INPUT 1=OUTPUT 2=INPUT_PULLUP 3=INPUT_PULLDOWN + * 4=INPUT_ANALOG 5=OUTPUT_OPEN_DRAIN */ void GcodeSuite::M42() { const int pin_index = PARSED_PIN_INDEX('P', GET_PIN_MAP_INDEX(LED_PIN)); @@ -86,30 +88,8 @@ void GcodeSuite::M42() { #if HAS_FAN switch (pin) { - #if HAS_FAN0 - case FAN0_PIN: thermalManager.fan_speed[0] = pin_status; return; - #endif - #if HAS_FAN1 - case FAN1_PIN: thermalManager.fan_speed[1] = pin_status; return; - #endif - #if HAS_FAN2 - case FAN2_PIN: thermalManager.fan_speed[2] = pin_status; return; - #endif - #if HAS_FAN3 - case FAN3_PIN: thermalManager.fan_speed[3] = pin_status; return; - #endif - #if HAS_FAN4 - case FAN4_PIN: thermalManager.fan_speed[4] = pin_status; return; - #endif - #if HAS_FAN5 - case FAN5_PIN: thermalManager.fan_speed[5] = pin_status; return; - #endif - #if HAS_FAN6 - case FAN6_PIN: thermalManager.fan_speed[6] = pin_status; return; - #endif - #if HAS_FAN7 - case FAN7_PIN: thermalManager.fan_speed[7] = pin_status; return; - #endif + #define _CASE(N) case FAN##N##_PIN: thermalManager.fan_speed[N] = pin_status; return; + REPEAT(FAN_COUNT, _CASE) } #endif @@ -119,7 +99,7 @@ void GcodeSuite::M42() { } // An OUTPUT_OPEN_DRAIN should not be changed to normal OUTPUT (STM32) - // Use M42 Px M1/5 S0/1 to set the output type and then set value + // Use M42 Px T1/5 S0/1 to set the output type and then set value #ifndef OUTPUT_OPEN_DRAIN pinMode(pin, OUTPUT); #endif diff --git a/Marlin/src/gcode/control/M605.cpp b/Marlin/src/gcode/control/M605.cpp index a0296bba57..6bf99df4c2 100644 --- a/Marlin/src/gcode/control/M605.cpp +++ b/Marlin/src/gcode/control/M605.cpp @@ -28,7 +28,6 @@ #include "../gcode.h" #include "../../module/motion.h" -#include "../../module/stepper.h" #include "../../module/tool_change.h" #include "../../module/planner.h" @@ -64,7 +63,7 @@ void GcodeSuite::M605() { planner.synchronize(); - if (parser.seen('S')) { + if (parser.seenval('S')) { const DualXMode previous_mode = dual_x_carriage_mode; dual_x_carriage_mode = (DualXMode)parser.value_byte(); @@ -78,8 +77,8 @@ case DXC_DUPLICATION_MODE: // Set the X offset, but no less than the safety gap - if (parser.seen('X')) duplicate_extruder_x_offset = _MAX(parser.value_linear_units(), (X2_MIN_POS) - (X1_MIN_POS)); - if (parser.seen('R')) duplicate_extruder_temp_offset = parser.value_celsius_diff(); + if (parser.seenval('X')) duplicate_extruder_x_offset = _MAX(parser.value_linear_units(), (X2_MIN_POS) - (X1_MIN_POS)); + if (parser.seenval('R')) duplicate_extruder_temp_offset = parser.value_celsius_diff(); // Always switch back to tool 0 if (active_extruder != 0) tool_change(0); break; @@ -128,21 +127,20 @@ case DXC_MIRRORED_MODE: DEBUG_ECHOPGM("MIRRORED"); break; } DEBUG_ECHOPGM("\nActive Ext: ", active_extruder); - if (!active_extruder_parked) DEBUG_ECHOPGM(" NOT "); - DEBUG_ECHOPGM(" parked."); - DEBUG_ECHOPGM("\nactive_extruder_x_pos: ", current_position.x); - DEBUG_ECHOPGM("\ninactive_extruder_x: ", inactive_extruder_x); - DEBUG_ECHOPGM("\nextruder_duplication_enabled: ", extruder_duplication_enabled); - DEBUG_ECHOPGM("\nduplicate_extruder_x_offset: ", duplicate_extruder_x_offset); - DEBUG_ECHOPGM("\nduplicate_extruder_temp_offset: ", duplicate_extruder_temp_offset); - DEBUG_ECHOPGM("\ndelayed_move_time: ", delayed_move_time); - DEBUG_ECHOPGM("\nX1 Home X: ", x_home_pos(0), "\nX1_MIN_POS=", X1_MIN_POS, "\nX1_MAX_POS=", X1_MAX_POS); - DEBUG_ECHOPGM("\nX2 Home X: ", x_home_pos(1), "\nX2_MIN_POS=", X2_MIN_POS, "\nX2_MAX_POS=", X2_MAX_POS); - DEBUG_ECHOPGM("\nX2_HOME_DIR=", X2_HOME_DIR, "\nX2_HOME_POS=", X2_HOME_POS); - DEBUG_ECHOPGM("\nDEFAULT_DUAL_X_CARRIAGE_MODE=", STRINGIFY(DEFAULT_DUAL_X_CARRIAGE_MODE)); - DEBUG_ECHOPGM("\toolchange_settings.z_raise=", toolchange_settings.z_raise); - DEBUG_ECHOPGM("\nDEFAULT_DUPLICATION_X_OFFSET=", DEFAULT_DUPLICATION_X_OFFSET); - DEBUG_EOL(); + if (!active_extruder_parked) DEBUG_ECHOPGM(" NOT ", F(" parked.")); + DEBUG_ECHOLNPGM( + "\nactive_extruder_x_pos: ", current_position.x, + "\ninactive_extruder_x: ", inactive_extruder_x, + "\nextruder_duplication_enabled: ", extruder_duplication_enabled, + "\nduplicate_extruder_x_offset: ", duplicate_extruder_x_offset, + "\nduplicate_extruder_temp_offset: ", duplicate_extruder_temp_offset, + "\ndelayed_move_time: ", delayed_move_time, + "\nX1 Home: ", x_home_pos(0), " X1_MIN_POS=", X1_MIN_POS, " X1_MAX_POS=", X1_MAX_POS, + "\nX2 Home: ", x_home_pos(1), " X2_MIN_POS=", X2_MIN_POS, " X2_MAX_POS=", X2_MAX_POS, + "\nDEFAULT_DUAL_X_CARRIAGE_MODE=", STRINGIFY(DEFAULT_DUAL_X_CARRIAGE_MODE), + "\toolchange_settings.z_raise=", toolchange_settings.z_raise, + "\nDEFAULT_DUPLICATION_X_OFFSET=", DEFAULT_DUPLICATION_X_OFFSET + ); HOTEND_LOOP() { DEBUG_ECHOPGM_P(SP_T_STR, e); @@ -170,7 +168,7 @@ if (parser.seen("EPS")) { planner.synchronize(); if (parser.seenval('P')) duplication_e_mask = parser.value_int(); // Set the mask directly - else if (parser.seenval('E')) duplication_e_mask = pow(2, parser.value_int() + 1) - 1; // Set the mask by E index + else if (parser.seenval('E')) duplication_e_mask = _BV(parser.value_int() + 1) - 1; // Set the mask by E index ena = (2 == parser.intval('S', extruder_duplication_enabled ? 2 : 0)); set_duplication_enabled(ena && (duplication_e_mask >= 3)); } diff --git a/Marlin/src/gcode/control/M7-M9.cpp b/Marlin/src/gcode/control/M7-M9.cpp index ccde4f552c..837bb114b2 100644 --- a/Marlin/src/gcode/control/M7-M9.cpp +++ b/Marlin/src/gcode/control/M7-M9.cpp @@ -37,7 +37,7 @@ } #endif -#if EITHER(COOLANT_FLOOD, AIR_ASSIST) +#if ANY(COOLANT_FLOOD, AIR_ASSIST) #if ENABLED(AIR_ASSIST) #include "../../feature/spindle_laser.h" diff --git a/Marlin/src/gcode/control/M80_M81.cpp b/Marlin/src/gcode/control/M80_M81.cpp index 90b25e7ed3..2d3e407446 100644 --- a/Marlin/src/gcode/control/M80_M81.cpp +++ b/Marlin/src/gcode/control/M80_M81.cpp @@ -48,7 +48,7 @@ // S: Report the current power supply state and exit if (parser.seen('S')) { - SERIAL_ECHOF(powerManager.psu_on ? F("PS:1\n") : F("PS:0\n")); + SERIAL_ECHO(powerManager.psu_on ? F("PS:1\n") : F("PS:0\n")); return; } @@ -79,7 +79,7 @@ void GcodeSuite::M81() { print_job_timer.stop(); - #if BOTH(HAS_FAN, PROBING_FANS_OFF) + #if ALL(HAS_FAN, PROBING_FANS_OFF) thermalManager.fans_paused = false; ZERO(thermalManager.saved_fan_speed); #endif diff --git a/Marlin/src/gcode/control/M85.cpp b/Marlin/src/gcode/control/M85.cpp index 9c8c02c59a..ee868349ed 100644 --- a/Marlin/src/gcode/control/M85.cpp +++ b/Marlin/src/gcode/control/M85.cpp @@ -29,7 +29,14 @@ void GcodeSuite::M85() { if (parser.seen('S')) { reset_stepper_timeout(); - max_inactive_time = parser.value_millis_from_seconds(); + const millis_t ms = parser.value_millis_from_seconds(); + #if LASER_SAFETY_TIMEOUT_MS > 0 + if (ms && ms <= LASER_SAFETY_TIMEOUT_MS) { + SERIAL_ECHO_MSG("M85 timeout must be > ", MS_TO_SEC(LASER_SAFETY_TIMEOUT_MS + 999), " s for laser safety."); + return; + } + #endif + max_inactive_time = ms; } } diff --git a/Marlin/src/gcode/control/M993_M994.cpp b/Marlin/src/gcode/control/M993_M994.cpp index 252792e522..bc634ae13c 100644 --- a/Marlin/src/gcode/control/M993_M994.cpp +++ b/Marlin/src/gcode/control/M993_M994.cpp @@ -22,7 +22,7 @@ #include "../../inc/MarlinConfig.h" -#if ALL(HAS_SPI_FLASH, SDSUPPORT, MARLIN_DEV_MODE) +#if SPI_FLASH_BACKUP #include "../gcode.h" #include "../../sd/cardreader.h" @@ -85,4 +85,4 @@ void GcodeSuite::M994() { card.closefile(); } -#endif // HAS_SPI_FLASH && SDSUPPORT && MARLIN_DEV_MODE +#endif // SPI_FLASH_BACKUP diff --git a/Marlin/src/gcode/control/M997.cpp b/Marlin/src/gcode/control/M997.cpp index 74ed8b0d07..5ac0ba23bb 100644 --- a/Marlin/src/gcode/control/M997.cpp +++ b/Marlin/src/gcode/control/M997.cpp @@ -33,7 +33,7 @@ */ void GcodeSuite::M997() { - TERN_(DWIN_LCD_PROUI, DWIN_RebootScreen()); + TERN_(DWIN_LCD_PROUI, dwinRebootScreen()); flashFirmware(parser.intval('S')); diff --git a/Marlin/src/gcode/control/T.cpp b/Marlin/src/gcode/control/T.cpp index 5e8f6b5436..5e1579ec12 100644 --- a/Marlin/src/gcode/control/T.cpp +++ b/Marlin/src/gcode/control/T.cpp @@ -23,7 +23,7 @@ #include "../gcode.h" #include "../../module/tool_change.h" -#if EITHER(HAS_MULTI_EXTRUDER, DEBUG_LEVELING_FEATURE) +#if ANY(HAS_MULTI_EXTRUDER, DEBUG_LEVELING_FEATURE) #include "../../module/motion.h" #endif diff --git a/Marlin/src/gcode/eeprom/M500-M504.cpp b/Marlin/src/gcode/eeprom/M500-M504.cpp index 412d003355..c3962117e5 100644 --- a/Marlin/src/gcode/eeprom/M500-M504.cpp +++ b/Marlin/src/gcode/eeprom/M500-M504.cpp @@ -26,7 +26,7 @@ #include "../../inc/MarlinConfig.h" #if ENABLED(CONFIGURATION_EMBEDDING) - #include "../../sd/SdBaseFile.h" + #include "../../sd/cardreader.h" #include "../../mczip.h" #endif @@ -66,11 +66,19 @@ void GcodeSuite::M502() { #if ENABLED(CONFIGURATION_EMBEDDING) if (parser.seen_test('C')) { - SdBaseFile file; - const uint16_t size = sizeof(mc_zip); + MediaFile file; // Need to create the config size on the SD card - if (file.open("mc.zip", O_WRITE|O_CREAT) && file.write(pgm_read_ptr(mc_zip), size) != -1 && file.close()) - SERIAL_ECHO_MSG("Configuration saved as 'mc.zip'"); + MediaFile root = card.getroot(); + if (file.open(&root, "mc.zip", O_WRITE|O_CREAT)) { + bool success = true; + for (uint16_t i = 0; success && i < sizeof(mc_zip); ++i) { + const uint8_t c = pgm_read_byte(&mc_zip[i]); + success = (file.write(c) == 1); + } + success = file.close() && success; + + if (success) SERIAL_ECHO_MSG("Configuration saved as 'mc.zip'"); + } } #endif } diff --git a/Marlin/src/gcode/feature/L6470/M122.cpp b/Marlin/src/gcode/feature/L6470/M122.cpp deleted file mode 100644 index 4a5629b049..0000000000 --- a/Marlin/src/gcode/feature/L6470/M122.cpp +++ /dev/null @@ -1,151 +0,0 @@ -/** - * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * - * Based on Sprinter and grbl. - * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program. If not, see . - * - */ - -#include "../../../inc/MarlinConfig.h" - -#if HAS_L64XX - -#include "../../gcode.h" -#include "../../../libs/L64XX/L64XX_Marlin.h" -#include "../../../module/stepper/indirection.h" - -void echo_yes_no(const bool yes); - -inline void L6470_say_status(const L64XX_axis_t axis) { - if (L64xxManager.spi_abort) return; - const L64XX_Marlin::L64XX_shadow_t &sh = L64xxManager.shadow; - L64xxManager.get_status(axis); - L64xxManager.say_axis(axis); - #if ENABLED(L6470_CHITCHAT) - char temp_buf[20]; - sprintf_P(temp_buf, PSTR(" status: %4x "), sh.STATUS_AXIS_RAW); - SERIAL_ECHO(temp_buf); - print_bin(sh.STATUS_AXIS_RAW); - switch (sh.STATUS_AXIS_LAYOUT) { - case L6470_STATUS_LAYOUT: SERIAL_ECHOPGM(" L6470"); break; - case L6474_STATUS_LAYOUT: SERIAL_ECHOPGM(" L6474"); break; - case L6480_STATUS_LAYOUT: SERIAL_ECHOPGM(" L6480/powerSTEP01"); break; - } - #endif - SERIAL_ECHOPGM("\n...OUTPUT: "); - SERIAL_ECHOF(sh.STATUS_AXIS & STATUS_HIZ ? F("OFF") : F("ON ")); - SERIAL_ECHOPGM(" BUSY: "); echo_yes_no((sh.STATUS_AXIS & STATUS_BUSY) == 0); - SERIAL_ECHOPGM(" DIR: "); - SERIAL_ECHOF((((sh.STATUS_AXIS & STATUS_DIR) >> 4) ^ L64xxManager.index_to_dir[axis]) ? F("FORWARD") : F("REVERSE")); - if (sh.STATUS_AXIS_LAYOUT == L6480_STATUS_LAYOUT) { - SERIAL_ECHOPGM(" Last Command: "); - if (sh.STATUS_AXIS & sh.STATUS_AXIS_WRONG_CMD) SERIAL_ECHOPGM("VALID"); - else SERIAL_ECHOPGM("ERROR"); - SERIAL_ECHOPGM("\n...THERMAL: "); - switch ((sh.STATUS_AXIS & (sh.STATUS_AXIS_TH_SD | sh.STATUS_AXIS_TH_WRN)) >> 11) { - case 0: SERIAL_ECHOPGM("DEVICE SHUTDOWN"); break; - case 1: SERIAL_ECHOPGM("BRIDGE SHUTDOWN"); break; - case 2: SERIAL_ECHOPGM("WARNING "); break; - case 3: SERIAL_ECHOPGM("OK "); break; - } - } - else { - SERIAL_ECHOPGM(" Last Command: "); - if (!(sh.STATUS_AXIS & sh.STATUS_AXIS_WRONG_CMD)) SERIAL_ECHOPGM("IN"); - SERIAL_ECHOPGM("VALID "); - SERIAL_ECHOF(sh.STATUS_AXIS & sh.STATUS_AXIS_NOTPERF_CMD ? F("COMPLETED ") : F("Not PERFORMED")); - SERIAL_ECHOPGM("\n...THERMAL: ", !(sh.STATUS_AXIS & sh.STATUS_AXIS_TH_SD) ? "SHUTDOWN " : !(sh.STATUS_AXIS & sh.STATUS_AXIS_TH_WRN) ? "WARNING " : "OK "); - } - SERIAL_ECHOPGM(" OVERCURRENT:"); echo_yes_no((sh.STATUS_AXIS & sh.STATUS_AXIS_OCD) == 0); - if (sh.STATUS_AXIS_LAYOUT != L6474_STATUS_LAYOUT) { - SERIAL_ECHOPGM(" STALL:"); echo_yes_no((sh.STATUS_AXIS & sh.STATUS_AXIS_STEP_LOSS_A) == 0 || (sh.STATUS_AXIS & sh.STATUS_AXIS_STEP_LOSS_B) == 0); - SERIAL_ECHOPGM(" STEP-CLOCK MODE:"); echo_yes_no((sh.STATUS_AXIS & sh.STATUS_AXIS_SCK_MOD) != 0); - } - else { - SERIAL_ECHOPGM(" STALL: NA " - " STEP-CLOCK MODE: NA" - " UNDER VOLTAGE LOCKOUT: "); echo_yes_no((sh.STATUS_AXIS & sh.STATUS_AXIS_UVLO) == 0); - } - SERIAL_EOL(); -} - -/** - * M122: Debug L6470 drivers - */ -void GcodeSuite::M122() { - L64xxManager.pause_monitor(true); // Keep monitor_driver() from stealing status - L64xxManager.spi_active = true; // Tell set_directions() a series of SPI transfers is underway - - //if (parser.seen('S')) - // tmc_set_report_interval(parser.value_bool()); - //else - - #if AXIS_IS_L64XX(X) - L6470_say_status(X); - #endif - #if AXIS_IS_L64XX(X2) - L6470_say_status(X2); - #endif - #if AXIS_IS_L64XX(Y) - L6470_say_status(Y); - #endif - #if AXIS_IS_L64XX(Y2) - L6470_say_status(Y2); - #endif - #if AXIS_IS_L64XX(Z) - L6470_say_status(Z); - #endif - #if AXIS_IS_L64XX(Z2) - L6470_say_status(Z2); - #endif - #if AXIS_IS_L64XX(Z3) - L6470_say_status(Z3); - #endif - #if AXIS_IS_L64XX(Z4) - L6470_say_status(Z4); - #endif - #if AXIS_IS_L64XX(E0) - L6470_say_status(E0); - #endif - #if AXIS_IS_L64XX(E1) - L6470_say_status(E1); - #endif - #if AXIS_IS_L64XX(E2) - L6470_say_status(E2); - #endif - #if AXIS_IS_L64XX(E3) - L6470_say_status(E3); - #endif - #if AXIS_IS_L64XX(E4) - L6470_say_status(E4); - #endif - #if AXIS_IS_L64XX(E5) - L6470_say_status(E5); - #endif - #if AXIS_IS_L64XX(E6) - L6470_say_status(E6); - #endif - #if AXIS_IS_L64XX(E7) - L6470_say_status(E7); - #endif - - L64xxManager.spi_active = false; // done with all SPI transfers - clear handshake flags - L64xxManager.spi_abort = false; - L64xxManager.pause_monitor(false); -} - -#endif // HAS_L64XX diff --git a/Marlin/src/gcode/feature/L6470/M906.cpp b/Marlin/src/gcode/feature/L6470/M906.cpp deleted file mode 100644 index f55405b798..0000000000 --- a/Marlin/src/gcode/feature/L6470/M906.cpp +++ /dev/null @@ -1,380 +0,0 @@ -/** - * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * - * Based on Sprinter and grbl. - * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program. If not, see . - * - */ - -#include "../../../inc/MarlinConfig.h" - -#if HAS_L64XX - -#if AXIS_COLLISION('I') - #error "M906 parameter collision with axis name." -#endif - -#include "../../gcode.h" -#include "../../../libs/L64XX/L64XX_Marlin.h" -#include "../../../module/stepper/indirection.h" -#include "../../../module/planner.h" - -#define DEBUG_OUT ENABLED(L6470_CHITCHAT) -#include "../../../core/debug_out.h" - -/** - * MACRO to fetch information on the items associated with current limiting - * and maximum voltage output. - * - * L6470 can be setup to shutdown if either current threshold is exceeded. - * - * L6470 output current can not be set directly. It is set indirectly by - * setting the maximum effective output voltage. - * - * Effective output voltage is set by PWM duty cycle. - * - * Maximum effective output voltage is affected by MANY variables. The main ones are: - * KVAL_HOLD - * KVAL_RUN - * KVAL_ACC - * KVAL_DEC - * Vs compensation (if enabled) - */ -void L64XX_report_current(L64XX &motor, const L64XX_axis_t axis) { - - if (L64xxManager.spi_abort) return; // don't do anything if set_directions() has occurred - - const L64XX_Marlin::L64XX_shadow_t &sh = L64xxManager.shadow; - const uint16_t status = L64xxManager.get_status(axis); //also populates shadow structure - const uint8_t OverCurrent_Threshold = uint8_t(motor.GetParam(L6470_OCD_TH)); - - auto say_axis_status = [](const L64XX_axis_t axis, const uint16_t status) { - L64xxManager.say_axis(axis); - #if ENABLED(L6470_CHITCHAT) - char tmp[10]; - sprintf_P(tmp, PSTR("%4x "), status); - DEBUG_ECHOPGM(" status: ", tmp); - print_bin(status); - #else - UNUSED(status); - #endif - SERIAL_EOL(); - }; - - char temp_buf[10]; - - switch (sh.STATUS_AXIS_LAYOUT) { - case L6470_STATUS_LAYOUT: // L6470 - case L6480_STATUS_LAYOUT: { // L6480 & powerstep01 - const uint16_t Stall_Threshold = (uint8_t)motor.GetParam(L6470_STALL_TH), - motor_status = (status & (STATUS_MOT_STATUS)) >> 5, - L6470_ADC_out = motor.GetParam(L6470_ADC_OUT), - L6470_ADC_out_limited = constrain(L6470_ADC_out, 8, 24); - const float comp_coef = 1600.0f / L6470_ADC_out_limited; - const uint16_t MicroSteps = _BV(motor.GetParam(L6470_STEP_MODE) & 0x07); - - say_axis_status(axis, sh.STATUS_AXIS_RAW); - - SERIAL_ECHOPGM("...OverCurrent Threshold: "); - sprintf_P(temp_buf, PSTR("%2d ("), OverCurrent_Threshold); - SERIAL_ECHO(temp_buf); - SERIAL_ECHO((OverCurrent_Threshold + 1) * motor.OCD_CURRENT_CONSTANT_INV); - SERIAL_ECHOPGM(" mA)"); - SERIAL_ECHOPGM(" Stall Threshold: "); - sprintf_P(temp_buf, PSTR("%2d ("), Stall_Threshold); - SERIAL_ECHO(temp_buf); - SERIAL_ECHO((Stall_Threshold + 1) * motor.STALL_CURRENT_CONSTANT_INV); - SERIAL_ECHOPGM(" mA)"); - SERIAL_ECHOPGM(" Motor Status: "); - switch (motor_status) { - case 0: SERIAL_ECHOPGM("stopped"); break; - case 1: SERIAL_ECHOPGM("accelerating"); break; - case 2: SERIAL_ECHOPGM("decelerating"); break; - case 3: SERIAL_ECHOPGM("at constant speed"); break; - } - SERIAL_EOL(); - - SERIAL_ECHOPGM("...MicroSteps: ", MicroSteps, - " ADC_OUT: ", L6470_ADC_out); - SERIAL_ECHOPGM(" Vs_compensation: "); - SERIAL_ECHOF((motor.GetParam(sh.L6470_AXIS_CONFIG) & CONFIG_EN_VSCOMP) ? F("ENABLED ") : F("DISABLED")); - SERIAL_ECHOLNPGM(" Compensation coefficient: ~", comp_coef * 0.01f); - - SERIAL_ECHOPGM("...KVAL_HOLD: ", motor.GetParam(L6470_KVAL_HOLD), - " KVAL_RUN : ", motor.GetParam(L6470_KVAL_RUN), - " KVAL_ACC: ", motor.GetParam(L6470_KVAL_ACC), - " KVAL_DEC: ", motor.GetParam(L6470_KVAL_DEC), - " V motor max = "); - switch (motor_status) { - case 0: SERIAL_ECHO(motor.GetParam(L6470_KVAL_HOLD) * 100 / 256); SERIAL_ECHOPGM("% (KVAL_HOLD)"); break; - case 1: SERIAL_ECHO(motor.GetParam(L6470_KVAL_RUN) * 100 / 256); SERIAL_ECHOPGM("% (KVAL_RUN)"); break; - case 2: SERIAL_ECHO(motor.GetParam(L6470_KVAL_ACC) * 100 / 256); SERIAL_ECHOPGM("% (KVAL_ACC)"); break; - case 3: SERIAL_ECHO(motor.GetParam(L6470_KVAL_DEC) * 100 / 256); SERIAL_ECHOPGM("% (KVAL_HOLD)"); break; - } - SERIAL_EOL(); - - #if ENABLED(L6470_CHITCHAT) - DEBUG_ECHOPGM("...SLEW RATE: "); - switch (sh.STATUS_AXIS_LAYOUT) { - case L6470_STATUS_LAYOUT: { - switch ((motor.GetParam(sh.L6470_AXIS_CONFIG) & CONFIG_POW_SR) >> CONFIG_POW_SR_BIT) { - case 0: { DEBUG_ECHOLNPGM("320V/uS") ; break; } - case 1: { DEBUG_ECHOLNPGM("75V/uS") ; break; } - case 2: { DEBUG_ECHOLNPGM("110V/uS") ; break; } - case 3: { DEBUG_ECHOLNPGM("260V/uS") ; break; } - } - break; - } - case L6480_STATUS_LAYOUT: { - switch (motor.GetParam(L6470_GATECFG1) & CONFIG1_SR ) { - case CONFIG1_SR_220V_us: { DEBUG_ECHOLNPGM("220V/uS") ; break; } - case CONFIG1_SR_400V_us: { DEBUG_ECHOLNPGM("400V/uS") ; break; } - case CONFIG1_SR_520V_us: { DEBUG_ECHOLNPGM("520V/uS") ; break; } - case CONFIG1_SR_980V_us: { DEBUG_ECHOLNPGM("980V/uS") ; break; } - default: { DEBUG_ECHOLNPGM("unknown") ; break; } - } - } - } - #endif - SERIAL_EOL(); - break; - } - - case L6474_STATUS_LAYOUT: { // L6474 - const uint16_t L6470_ADC_out = motor.GetParam(L6470_ADC_OUT) & 0x1F, - L6474_TVAL_val = motor.GetParam(L6474_TVAL) & 0x7F; - - say_axis_status(axis, sh.STATUS_AXIS_RAW); - - SERIAL_ECHOPGM("...OverCurrent Threshold: "); - sprintf_P(temp_buf, PSTR("%2d ("), OverCurrent_Threshold); - SERIAL_ECHO(temp_buf); - SERIAL_ECHO((OverCurrent_Threshold + 1) * motor.OCD_CURRENT_CONSTANT_INV); - SERIAL_ECHOPGM(" mA)"); - SERIAL_ECHOPGM(" TVAL: "); - sprintf_P(temp_buf, PSTR("%2d ("), L6474_TVAL_val); - SERIAL_ECHO(temp_buf); - SERIAL_ECHO((L6474_TVAL_val + 1) * motor.STALL_CURRENT_CONSTANT_INV); - SERIAL_ECHOLNPGM(" mA) Motor Status: NA"); - - const uint16_t MicroSteps = _BV(motor.GetParam(L6470_STEP_MODE) & 0x07); //NOMORE(MicroSteps, 16); - SERIAL_ECHOPGM("...MicroSteps: ", MicroSteps, - " ADC_OUT: ", L6470_ADC_out); - - SERIAL_ECHOLNPGM(" Vs_compensation: NA\n"); - SERIAL_ECHOLNPGM("...KVAL_HOLD: NA" - " KVAL_RUN : NA" - " KVAL_ACC: NA" - " KVAL_DEC: NA" - " V motor max = NA"); - - #if ENABLED(L6470_CHITCHAT) - DEBUG_ECHOPGM("...SLEW RATE: "); - switch ((motor.GetParam(sh.L6470_AXIS_CONFIG) & CONFIG_POW_SR) >> CONFIG_POW_SR_BIT) { - case 0: DEBUG_ECHOLNPGM("320V/uS") ; break; - case 1: DEBUG_ECHOLNPGM("75V/uS") ; break; - case 2: DEBUG_ECHOLNPGM("110V/uS") ; break; - case 3: DEBUG_ECHOLNPGM("260V/uS") ; break; - default: DEBUG_ECHOLNPGM("slew rate: ", (motor.GetParam(sh.L6470_AXIS_CONFIG) & CONFIG_POW_SR) >> CONFIG_POW_SR_BIT); break; - } - #endif - SERIAL_EOL(); - SERIAL_EOL(); - break; - } - } -} - -/** - * M906: report or set KVAL_HOLD which sets the maximum effective voltage provided by the - * PWMs to the steppers - * - * On L6474 this sets the TVAL register (same address). - * - * I - select which driver(s) to change on multi-driver axis - * (default) all drivers on the axis - * 0 - monitor only the first XYZ... driver - * 1 - monitor only X2, Y2, Z2 - * 2 - monitor only Z3 - * 3 - monitor only Z4 - * Xxxx, Yxxx, Zxxx, Exxx - axis to change (optional) - * L6474 - current in mA (4A max) - * All others - 0-255 - * - * Sets KVAL_HOLD which affects the current being driven through the stepper. - * - * L6470 is used in the STEP-CLOCK mode. KVAL_HOLD is the only KVAL_xxx - * that affects the effective voltage seen by the stepper. - */ -void GcodeSuite::M906() { - - L64xxManager.pause_monitor(true); // Keep monitor_driver() from stealing status - - #define L6470_SET_KVAL_HOLD(Q) (AXIS_IS_L64XX(Q) ? stepper##Q.setTVALCurrent(value) : stepper##Q.SetParam(L6470_KVAL_HOLD, uint8_t(value))) - - DEBUG_ECHOLNPGM("M906"); - - uint8_t report_current = true; - - #if AXIS_IS_L64XX(X2) || AXIS_IS_L64XX(Y2) || AXIS_IS_L64XX(Z2) || AXIS_IS_L64XX(Z3) || AXIS_IS_L64XX(Z4) - const int8_t index = parser.byteval('I', -1); - #else - constexpr int8_t index = -1; - #endif - - LOOP_LOGICAL_AXES(i) if (uint16_t value = parser.intval(axis_codes[i])) { - - report_current = false; - - if (planner.has_blocks_queued() || planner.cleaning_buffer_counter) { - SERIAL_ECHOLNPGM("Test aborted. Can't set KVAL_HOLD while steppers are moving."); - return; - } - - switch (i) { - #if AXIS_IS_L64XX(X) || AXIS_IS_L64XX(X2) - case X_AXIS: - #if AXIS_IS_L64XX(X) - if (index < 0 || index == 0) L6470_SET_KVAL_HOLD(X); - #endif - #if AXIS_IS_L64XX(X2) - if (index < 0 || index == 1) L6470_SET_KVAL_HOLD(X2); - #endif - break; - #endif - - #if AXIS_IS_L64XX(Y) || AXIS_IS_L64XX(Y2) - case Y_AXIS: - #if AXIS_IS_L64XX(Y) - if (index < 0 || index == 0) L6470_SET_KVAL_HOLD(Y); - #endif - #if AXIS_IS_L64XX(Y2) - if (index < 0 || index == 1) L6470_SET_KVAL_HOLD(Y2); - #endif - break; - #endif - - #if AXIS_IS_L64XX(Z) || AXIS_IS_L64XX(Z2) || AXIS_IS_L64XX(Z3) || AXIS_IS_L64XX(Z4) - case Z_AXIS: - #if AXIS_IS_L64XX(Z) - if (index < 0 || index == 0) L6470_SET_KVAL_HOLD(Z); - #endif - #if AXIS_IS_L64XX(Z2) - if (index < 0 || index == 1) L6470_SET_KVAL_HOLD(Z2); - #endif - #if AXIS_IS_L64XX(Z3) - if (index < 0 || index == 2) L6470_SET_KVAL_HOLD(Z3); - #endif - #if AXIS_IS_L64XX(Z4) - if (index < 0 || index == 3) L6470_SET_KVAL_HOLD(Z4); - #endif - break; - #endif - - #if AXIS_IS_L64XX(E0) || AXIS_IS_L64XX(E1) || AXIS_IS_L64XX(E2) || AXIS_IS_L64XX(E3) || AXIS_IS_L64XX(E4) || AXIS_IS_L64XX(E5) || AXIS_IS_L64XX(E6) || AXIS_IS_L64XX(E7) - case E_AXIS: { - const int8_t eindex = get_target_e_stepper_from_command(-2); - #if AXIS_IS_L64XX(E0) - if (eindex < 0 || eindex == 0) L6470_SET_KVAL_HOLD(E0); - #endif - #if AXIS_IS_L64XX(E1) - if (eindex < 0 || eindex == 1) L6470_SET_KVAL_HOLD(E1); - #endif - #if AXIS_IS_L64XX(E2) - if (eindex < 0 || eindex == 2) L6470_SET_KVAL_HOLD(E2); - #endif - #if AXIS_IS_L64XX(E3) - if (eindex < 0 || eindex == 3) L6470_SET_KVAL_HOLD(E3); - #endif - #if AXIS_IS_L64XX(E4) - if (eindex < 0 || eindex == 4) L6470_SET_KVAL_HOLD(E4); - #endif - #if AXIS_IS_L64XX(E5) - if (eindex < 0 || eindex == 5) L6470_SET_KVAL_HOLD(E5); - #endif - #if AXIS_IS_L64XX(E6) - if (eindex < 0 || eindex == 6) L6470_SET_KVAL_HOLD(E6); - #endif - #if AXIS_IS_L64XX(E7) - if (eindex < 0 || eindex == 7) L6470_SET_KVAL_HOLD(E7); - #endif - } break; - #endif - } - } - - if (report_current) { - #define L64XX_REPORT_CURRENT(Q) L64XX_report_current(stepper##Q, Q) - - L64xxManager.spi_active = true; // Tell set_directions() a series of SPI transfers is underway - - #if AXIS_IS_L64XX(X) - L64XX_REPORT_CURRENT(X); - #endif - #if AXIS_IS_L64XX(X2) - L64XX_REPORT_CURRENT(X2); - #endif - #if AXIS_IS_L64XX(Y) - L64XX_REPORT_CURRENT(Y); - #endif - #if AXIS_IS_L64XX(Y2) - L64XX_REPORT_CURRENT(Y2); - #endif - #if AXIS_IS_L64XX(Z) - L64XX_REPORT_CURRENT(Z); - #endif - #if AXIS_IS_L64XX(Z2) - L64XX_REPORT_CURRENT(Z2); - #endif - #if AXIS_IS_L64XX(Z3) - L64XX_REPORT_CURRENT(Z3); - #endif - #if AXIS_IS_L64XX(Z4) - L64XX_REPORT_CURRENT(Z4); - #endif - #if AXIS_IS_L64XX(E0) - L64XX_REPORT_CURRENT(E0); - #endif - #if AXIS_IS_L64XX(E1) - L64XX_REPORT_CURRENT(E1); - #endif - #if AXIS_IS_L64XX(E2) - L64XX_REPORT_CURRENT(E2); - #endif - #if AXIS_IS_L64XX(E3) - L64XX_REPORT_CURRENT(E3); - #endif - #if AXIS_IS_L64XX(E4) - L64XX_REPORT_CURRENT(E4); - #endif - #if AXIS_IS_L64XX(E5) - L64XX_REPORT_CURRENT(E5); - #endif - #if AXIS_IS_L64XX(E6) - L64XX_REPORT_CURRENT(E6); - #endif - #if AXIS_IS_L64XX(E7) - L64XX_REPORT_CURRENT(E7); - #endif - - L64xxManager.spi_active = false; // done with all SPI transfers - clear handshake flags - L64xxManager.spi_abort = false; - L64xxManager.pause_monitor(false); - } -} - -#endif // HAS_L64XX diff --git a/Marlin/src/gcode/feature/L6470/M916-M918.cpp b/Marlin/src/gcode/feature/L6470/M916-M918.cpp deleted file mode 100644 index 8d614603ed..0000000000 --- a/Marlin/src/gcode/feature/L6470/M916-M918.cpp +++ /dev/null @@ -1,651 +0,0 @@ -/** - * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * - * Based on Sprinter and grbl. - * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program. If not, see . - * - */ - -// -// NOTE: All tests assume each axis uses matching driver chips. -// - -#include "../../../inc/MarlinConfig.h" - -#if HAS_L64XX - -#include "../../gcode.h" -#include "../../../module/stepper/indirection.h" -#include "../../../module/planner.h" -#include "../../../libs/L64XX/L64XX_Marlin.h" - -#define DEBUG_OUT ENABLED(L6470_CHITCHAT) -#include "../../../core/debug_out.h" - -/** - * M916: increase KVAL_HOLD until get thermal warning - * NOTE - on L6474 it is TVAL that is used - * - * J - select which driver(s) to monitor on multi-driver axis - * 0 - (default) monitor all drivers on the axis or E0 - * 1 - monitor only X, Y, Z, E1 - * 2 - monitor only X2, Y2, Z2, E2 - * 3 - monitor only Z3, E3 - * 4 - monitor only Z4, E4 - * - * Xxxx, Yxxx, Zxxx, Exxx - axis to be monitored with displacement - * xxx (1-255) is distance moved on either side of current position - * - * F - feedrate - * optional - will use default max feedrate from configuration.h if not specified - * - * T - current (mA) setting for TVAL (0 - 4A in 31.25mA increments, rounds down) - L6474 only - * optional - will report current value from driver if not specified - * - * K - value for KVAL_HOLD (0 - 255) (ignored for L6474) - * optional - will report current value from driver if not specified - * - * D - time (in seconds) to run each setting of KVAL_HOLD/TVAL - * optional - defaults to zero (runs each setting once) - */ - -/** - * This routine is also useful for determining the approximate KVAL_HOLD - * where the stepper stops losing steps. The sound will get noticeably quieter - * as it stops losing steps. - */ - -void GcodeSuite::M916() { - - DEBUG_ECHOLNPGM("M916"); - - L64xxManager.pause_monitor(true); // Keep monitor_driver() from stealing status - - // Variables used by L64xxManager.get_user_input function - some may not be used - char axis_mon[3][3] = { {" "}, {" "}, {" "} }; // list of Axes to be monitored - L64XX_axis_t axis_index[3]; - uint16_t axis_status[3]; - uint8_t driver_count = 1; - float position_max; - float position_min; - float final_feedrate; - uint8_t kval_hold; - uint8_t OCD_TH_val = 0; - uint8_t STALL_TH_val = 0; - uint16_t over_current_threshold; - constexpr uint8_t over_current_flag = false; // M916 doesn't play with the overcurrent thresholds - - #define DRIVER_TYPE_L6474(Q) AXIS_DRIVER_TYPE_##Q(L6474) - - uint8_t j; // general purpose counter - - if (L64xxManager.get_user_input(driver_count, axis_index, axis_mon, position_max, position_min, final_feedrate, kval_hold, over_current_flag, OCD_TH_val, STALL_TH_val, over_current_threshold)) - return; // quit if invalid user input - - DEBUG_ECHOLNPGM("feedrate = ", final_feedrate); - - planner.synchronize(); // wait for all current movement commands to complete - - const L64XX_Marlin::L64XX_shadow_t &sh = L64xxManager.shadow; - for (j = 0; j < driver_count; j++) - L64xxManager.get_status(axis_index[j]); // clear out any pre-existing error flags - - char temp_axis_string[] = " "; - temp_axis_string[0] = axis_mon[0][0]; // need to have a string for use within sprintf format section - char gcode_string[80]; - uint16_t status_composite = 0; - - uint16_t M91x_counter = kval_hold; - uint16_t M91x_counter_max; - if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) { - M91x_counter_max = 128; // TVAL is 7 bits - LIMIT(M91x_counter, 0U, 127U); - } - else - M91x_counter_max = 256; // KVAL_HOLD is 8 bits - - uint8_t M91x_delay_s = parser.byteval('D'); // get delay in seconds - millis_t M91x_delay_ms = SEC_TO_MS(M91x_delay_s * 60); - millis_t M91x_delay_end; - - DEBUG_ECHOLNPGM(".\n."); - - do { - - if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) - DEBUG_ECHOLNPGM("TVAL current (mA) = ", (M91x_counter + 1) * sh.AXIS_STALL_CURRENT_CONSTANT_INV); // report TVAL current for this run - else - DEBUG_ECHOLNPGM("kval_hold = ", M91x_counter); // report KVAL_HOLD for this run - - for (j = 0; j < driver_count; j++) - L64xxManager.set_param(axis_index[j], L6470_KVAL_HOLD, M91x_counter); //set KVAL_HOLD or TVAL (same register address) - - M91x_delay_end = millis() + M91x_delay_ms; - do { - // turn the motor(s) both directions - sprintf_P(gcode_string, PSTR("G0 %s%03d F%03d"), temp_axis_string, uint16_t(position_min), uint16_t(final_feedrate)); - process_subcommands_now(gcode_string); - - sprintf_P(gcode_string, PSTR("G0 %s%03d F%03d"), temp_axis_string, uint16_t(position_max), uint16_t(final_feedrate)); - process_subcommands_now(gcode_string); - - // get the status after the motors have stopped - planner.synchronize(); - - status_composite = 0; // clear out the old bits - - for (j = 0; j < driver_count; j++) { - axis_status[j] = (~L64xxManager.get_status(axis_index[j])) & sh.L6470_ERROR_MASK; // bits of interest are all active low - status_composite |= axis_status[j] ; - } - - if (status_composite) break; - } while (millis() < M91x_delay_end); - - if (status_composite) break; - - M91x_counter++; - - } while (!(status_composite & (sh.STATUS_AXIS_TH_WRN | sh.STATUS_AXIS_TH_SD)) && (M91x_counter < M91x_counter_max)); - - DEBUG_ECHOLNPGM("."); - - #if ENABLED(L6470_CHITCHAT) - if (status_composite) { - L64xxManager.error_status_decode(status_composite, axis_index[0], - sh.STATUS_AXIS_TH_SD, sh.STATUS_AXIS_TH_WRN, - sh.STATUS_AXIS_STEP_LOSS_A, sh.STATUS_AXIS_STEP_LOSS_B, - sh.STATUS_AXIS_OCD, sh.STATUS_AXIS_LAYOUT); - DEBUG_ECHOLNPGM("."); - } - #endif - - if ((status_composite & (sh.STATUS_AXIS_TH_WRN | sh.STATUS_AXIS_TH_SD))) - DEBUG_ECHOLNPGM(".\n.\nTest completed normally - Thermal warning/shutdown has occurred"); - else if (status_composite) - DEBUG_ECHOLNPGM(".\n.\nTest completed abnormally - non-thermal error has occurred"); - else - DEBUG_ECHOLNPGM(".\n.\nTest completed normally - Unable to get to thermal warning/shutdown"); - - L64xxManager.pause_monitor(false); -} - -/** - * M917: Find minimum current thresholds - * - * Decrease OCD current until overcurrent error - * Increase OCD until overcurrent error goes away - * Decrease stall threshold until stall (not done on L6474) - * Increase stall until stall error goes away (not done on L6474) - * - * J - select which driver(s) to monitor on multi-driver axis - * 0 - (default) monitor all drivers on the axis or E0 - * 1 - monitor only X, Y, Z, E1 - * 2 - monitor only X2, Y2, Z2, E2 - * Xxxx, Yxxx, Zxxx, Exxx - axis to be monitored with displacement - * xxx (1-255) is distance moved on either side of current position - * - * F - feedrate - * optional - will use default max feedrate from Configuration.h if not specified - * - * I - starting over-current threshold - * optional - will report current value from driver if not specified - * if there are multiple drivers on the axis then all will be set the same - * - * T - current (mA) setting for TVAL (0 - 4A in 31.25mA increments, rounds down) - L6474 only - * optional - will report current value from driver if not specified - * - * K - value for KVAL_HOLD (0 - 255) (ignored for L6474) - * optional - will report current value from driver if not specified - */ -void GcodeSuite::M917() { - - DEBUG_ECHOLNPGM("M917"); - - L64xxManager.pause_monitor(true); // Keep monitor_driver() from stealing status - - char axis_mon[3][3] = { {" "}, {" "}, {" "} }; // list of Axes to be monitored - L64XX_axis_t axis_index[3]; - uint16_t axis_status[3]; - uint8_t driver_count = 1; - float position_max; - float position_min; - float final_feedrate; - uint8_t kval_hold; - uint8_t OCD_TH_val = 0; - uint8_t STALL_TH_val = 0; - uint16_t over_current_threshold; - constexpr uint8_t over_current_flag = true; - - uint8_t j; // general purpose counter - - if (L64xxManager.get_user_input(driver_count, axis_index, axis_mon, position_max, position_min, final_feedrate, kval_hold, over_current_flag, OCD_TH_val, STALL_TH_val, over_current_threshold)) - return; // quit if invalid user input - - DEBUG_ECHOLNPGM("feedrate = ", final_feedrate); - - planner.synchronize(); // wait for all current movement commands to complete - - const L64XX_Marlin::L64XX_shadow_t &sh = L64xxManager.shadow; - for (j = 0; j < driver_count; j++) - L64xxManager.get_status(axis_index[j]); // clear error flags - char temp_axis_string[] = " "; - temp_axis_string[0] = axis_mon[0][0]; // need a sprintf format string - char gcode_string[80]; - uint16_t status_composite = 0; - uint8_t test_phase = 0; // 0 - decreasing OCD - exit when OCD warning occurs (ignore STALL) - // 1 - increasing OCD - exit when OCD warning stops (ignore STALL) - // 2 - OCD finalized - decreasing STALL - exit when STALL warning happens - // 3 - OCD finalized - increasing STALL - exit when STALL warning stop - // 4 - all testing completed - DEBUG_ECHOPGM(".\n.\n.\nover_current threshold : ", (OCD_TH_val + 1) * 375); // first status display - DEBUG_ECHOPGM(" (OCD_TH: : ", OCD_TH_val); - if (sh.STATUS_AXIS_LAYOUT != L6474_STATUS_LAYOUT) { - DEBUG_ECHOPGM(") Stall threshold: ", (STALL_TH_val + 1) * 31.25); - DEBUG_ECHOPGM(" (STALL_TH: ", STALL_TH_val); - } - DEBUG_ECHOLNPGM(")"); - - do { - - if (sh.STATUS_AXIS_LAYOUT != L6474_STATUS_LAYOUT) DEBUG_ECHOPGM("STALL threshold : ", (STALL_TH_val + 1) * 31.25); - DEBUG_ECHOLNPGM(" OCD threshold : ", (OCD_TH_val + 1) * 375); - - sprintf_P(gcode_string, PSTR("G0 %s%03d F%03d"), temp_axis_string, uint16_t(position_min), uint16_t(final_feedrate)); - process_subcommands_now(gcode_string); - - sprintf_P(gcode_string, PSTR("G0 %s%03d F%03d"), temp_axis_string, uint16_t(position_max), uint16_t(final_feedrate)); - process_subcommands_now(gcode_string); - - planner.synchronize(); - - status_composite = 0; // clear out the old bits - - for (j = 0; j < driver_count; j++) { - axis_status[j] = (~L64xxManager.get_status(axis_index[j])) & sh.L6470_ERROR_MASK; // bits of interest are all active low - status_composite |= axis_status[j]; - } - - if (status_composite && (status_composite & sh.STATUS_AXIS_UVLO)) { - DEBUG_ECHOLNPGM("Test aborted (Undervoltage lockout active)"); - #if ENABLED(L6470_CHITCHAT) - for (j = 0; j < driver_count; j++) { - if (j) DEBUG_ECHOPGM("..."); - L64xxManager.error_status_decode(axis_status[j], axis_index[j], - sh.STATUS_AXIS_TH_SD, sh.STATUS_AXIS_TH_WRN, - sh.STATUS_AXIS_STEP_LOSS_A, sh.STATUS_AXIS_STEP_LOSS_B, - sh.STATUS_AXIS_OCD, sh.STATUS_AXIS_LAYOUT); - } - #endif - return; - } - - if (status_composite & (sh.STATUS_AXIS_TH_WRN | sh.STATUS_AXIS_TH_SD)) { - DEBUG_ECHOLNPGM("thermal problem - waiting for chip(s) to cool down "); - uint16_t status_composite_temp = 0; - uint8_t k = 0; - do { - k++; - if (!(k % 4)) { - kval_hold *= 0.95; - DEBUG_EOL(); - DEBUG_ECHOLNPGM("Lowering KVAL_HOLD by about 5% to ", kval_hold); - for (j = 0; j < driver_count; j++) - L64xxManager.set_param(axis_index[j], L6470_KVAL_HOLD, kval_hold); - } - DEBUG_ECHOLNPGM("."); - reset_stepper_timeout(); // keep steppers powered - watchdog_refresh(); - safe_delay(5000); - status_composite_temp = 0; - for (j = 0; j < driver_count; j++) { - axis_status[j] = (~L64xxManager.get_status(axis_index[j])) & sh.L6470_ERROR_MASK; // bits of interest are all active low - status_composite_temp |= axis_status[j]; - } - } - while (status_composite_temp & (sh.STATUS_AXIS_TH_WRN | sh.STATUS_AXIS_TH_SD)); - DEBUG_EOL(); - } - if (status_composite & (sh.STATUS_AXIS_STEP_LOSS_A | sh.STATUS_AXIS_STEP_LOSS_B | sh.STATUS_AXIS_OCD)) { - switch (test_phase) { - - case 0: { - if (status_composite & sh.STATUS_AXIS_OCD) { - // phase 0 with OCD warning - time to go to next phase - if (OCD_TH_val >= sh.AXIS_OCD_TH_MAX) { - OCD_TH_val = sh.AXIS_OCD_TH_MAX; // limit to max - test_phase = 2; // at highest value so skip phase 1 - //DEBUG_ECHOLNPGM("LOGIC E0A OCD at highest - skip to 2"); - DEBUG_ECHOLNPGM("OCD at highest - OCD finalized"); - } - else { - OCD_TH_val++; // normal exit to next phase - test_phase = 1; // setup for first pass of phase 1 - //DEBUG_ECHOLNPGM("LOGIC E0B - inc OCD & go to 1"); - DEBUG_ECHOLNPGM("inc OCD"); - } - } - else { // phase 0 without OCD warning - keep on decrementing if can - if (OCD_TH_val) { - OCD_TH_val--; // try lower value - //DEBUG_ECHOLNPGM("LOGIC E0C - dec OCD"); - DEBUG_ECHOLNPGM("dec OCD"); - } - else { - test_phase = 2; // at lowest value without warning so skip phase 1 - //DEBUG_ECHOLNPGM("LOGIC E0D - OCD at latest - go to 2"); - DEBUG_ECHOLNPGM("OCD finalized"); - } - } - } break; - - case 1: { - if (status_composite & sh.STATUS_AXIS_OCD) { - // phase 1 with OCD warning - increment if can - if (OCD_TH_val >= sh.AXIS_OCD_TH_MAX) { - OCD_TH_val = sh.AXIS_OCD_TH_MAX; // limit to max - test_phase = 2; // at highest value so go to next phase - //DEBUG_ECHOLNPGM("LOGIC E1A - OCD at max - go to 2"); - DEBUG_ECHOLNPGM("OCD finalized"); - } - else { - OCD_TH_val++; // try a higher value - //DEBUG_ECHOLNPGM("LOGIC E1B - inc OCD"); - DEBUG_ECHOLNPGM("inc OCD"); - } - } - else { // phase 1 without OCD warning - normal exit to phase 2 - test_phase = 2; - //DEBUG_ECHOLNPGM("LOGIC E1C - no OCD warning - go to 1"); - DEBUG_ECHOLNPGM("OCD finalized"); - } - } break; - - case 2: { - if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) { // skip all STALL_TH steps if L6474 - test_phase = 4; - break; - } - if (status_composite & (sh.STATUS_AXIS_STEP_LOSS_A | sh.STATUS_AXIS_STEP_LOSS_B)) { - // phase 2 with stall warning - time to go to next phase - if (STALL_TH_val >= 127) { - STALL_TH_val = 127; // limit to max - //DEBUG_ECHOLNPGM("LOGIC E2A - STALL warning, STALL at max, quit"); - DEBUG_ECHOLNPGM("finished - STALL at maximum value but still have stall warning"); - test_phase = 4; - } - else { - test_phase = 3; // normal exit to next phase (found failing value of STALL) - STALL_TH_val++; // setup for first pass of phase 3 - //DEBUG_ECHOLNPGM("LOGIC E2B - INC - STALL warning, inc Stall, go to 3"); - DEBUG_ECHOLNPGM("inc Stall"); - } - } - else { // phase 2 without stall warning - decrement if can - if (STALL_TH_val) { - STALL_TH_val--; // try a lower value - //DEBUG_ECHOLNPGM("LOGIC E2C - no STALL, dec STALL"); - DEBUG_ECHOLNPGM("dec STALL"); - } - else { - DEBUG_ECHOLNPGM("finished - STALL at lowest value but still do NOT have stall warning"); - test_phase = 4; - //DEBUG_ECHOLNPGM("LOGIC E2D - no STALL, at lowest so quit"); - } - } - } break; - - case 3: { - if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) { // skip all STALL_TH steps if L6474 - test_phase = 4; - break; - } - if (status_composite & (sh.STATUS_AXIS_STEP_LOSS_A | sh.STATUS_AXIS_STEP_LOSS_B)) { - // phase 3 with stall warning - increment if can - if (STALL_TH_val >= 127) { - STALL_TH_val = 127; // limit to max - DEBUG_ECHOLNPGM("finished - STALL at maximum value but still have stall warning"); - test_phase = 4; - //DEBUG_ECHOLNPGM("LOGIC E3A - STALL, at max so quit"); - } - else { - STALL_TH_val++; // still looking for passing value - //DEBUG_ECHOLNPGM("LOGIC E3B - STALL, inc stall"); - DEBUG_ECHOLNPGM("inc stall"); - } - } - else { //phase 3 without stall warning but have OCD warning - DEBUG_ECHOLNPGM("Hardware problem - OCD warning without STALL warning"); - test_phase = 4; - //DEBUG_ECHOLNPGM("LOGIC E3C - not STALLED, hardware problem (quit)"); - } - } break; - - } - - } - else { - switch (test_phase) { - case 0: { // phase 0 without OCD warning - keep on decrementing if can - if (OCD_TH_val) { - OCD_TH_val--; // try lower value - //DEBUG_ECHOLNPGM("LOGIC N0A - DEC OCD"); - DEBUG_ECHOLNPGM("DEC OCD"); - } - else { - test_phase = 2; // at lowest value without warning so skip phase 1 - //DEBUG_ECHOLNPGM("LOGIC N0B - OCD at lowest (go to phase 2)"); - DEBUG_ECHOLNPGM("OCD finalized"); - } - } break; - - case 1: //DEBUG_ECHOLNPGM("LOGIC N1 (go directly to 2)"); // phase 1 without OCD warning - drop directly to phase 2 - DEBUG_ECHOLNPGM("OCD finalized"); - - case 2: { // phase 2 without stall warning - keep on decrementing if can - if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) { // skip all STALL_TH steps if L6474 - test_phase = 4; - break; - } - if (STALL_TH_val) { - STALL_TH_val--; // try a lower value (stay in phase 2) - //DEBUG_ECHOLNPGM("LOGIC N2B - dec STALL"); - DEBUG_ECHOLNPGM("dec STALL"); - } - else { - DEBUG_ECHOLNPGM("finished - STALL at lowest value but still no stall warning"); - test_phase = 4; - //DEBUG_ECHOLNPGM("LOGIC N2C - STALL at lowest (quit)"); - } - } break; - - case 3: { - if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) { // skip all STALL_TH steps if L6474 - test_phase = 4; - break; - } - test_phase = 4; - //DEBUG_ECHOLNPGM("LOGIC N3 - finished!"); - DEBUG_ECHOLNPGM("finished!"); - } break; // phase 3 without any warnings - desired exit - } // - } // end of status checks - - if (test_phase != 4) { - for (j = 0; j < driver_count; j++) { // update threshold(s) - L64xxManager.set_param(axis_index[j], L6470_OCD_TH, OCD_TH_val); - if (sh.STATUS_AXIS_LAYOUT != L6474_STATUS_LAYOUT) L64xxManager.set_param(axis_index[j], L6470_STALL_TH, STALL_TH_val); - if (L64xxManager.get_param(axis_index[j], L6470_OCD_TH) != OCD_TH_val) DEBUG_ECHOLNPGM("OCD mismatch"); - if ((L64xxManager.get_param(axis_index[j], L6470_STALL_TH) != STALL_TH_val) && (sh.STATUS_AXIS_LAYOUT != L6474_STATUS_LAYOUT)) DEBUG_ECHOLNPGM("STALL mismatch"); - } - } - - } while (test_phase != 4); - - DEBUG_ECHOLNPGM("."); - if (status_composite) { - #if ENABLED(L6470_CHITCHAT) - for (j = 0; j < driver_count; j++) { - if (j) DEBUG_ECHOPGM("..."); - L64xxManager.error_status_decode(axis_status[j], axis_index[j], - sh.STATUS_AXIS_TH_SD, sh.STATUS_AXIS_TH_WRN, - sh.STATUS_AXIS_STEP_LOSS_A, sh.STATUS_AXIS_STEP_LOSS_B, - sh.STATUS_AXIS_OCD, sh.STATUS_AXIS_LAYOUT); - } - DEBUG_ECHOLNPGM("."); - #endif - DEBUG_ECHOLNPGM("Completed with errors"); - } - else - DEBUG_ECHOLNPGM("Completed with no errors"); - DEBUG_ECHOLNPGM("."); - - L64xxManager.pause_monitor(false); -} - -/** - * M918: increase speed until error or max feedrate achieved (as shown in configuration.h)) - * - * J - select which driver(s) to monitor on multi-driver axis - * 0 - (default) monitor all drivers on the axis or E0 - * 1 - monitor only X, Y, Z, E1 - * 2 - monitor only X2, Y2, Z2, E2 - * Xxxx, Yxxx, Zxxx, Exxx - axis to be monitored with displacement - * xxx (1-255) is distance moved on either side of current position - * - * I - over current threshold - * optional - will report current value from driver if not specified - * - * T - current (mA) setting for TVAL (0 - 4A in 31.25mA increments, rounds down) - L6474 only - * optional - will report current value from driver if not specified - * - * K - value for KVAL_HOLD (0 - 255) (ignored for L6474) - * optional - will report current value from driver if not specified - * - * M - value for microsteps (1 - 128) (optional) - * optional - will report current value from driver if not specified - */ -void GcodeSuite::M918() { - - DEBUG_ECHOLNPGM("M918"); - - L64xxManager.pause_monitor(true); // Keep monitor_driver() from stealing status - - char axis_mon[3][3] = { {" "}, {" "}, {" "} }; // list of Axes to be monitored - L64XX_axis_t axis_index[3]; - uint16_t axis_status[3]; - uint8_t driver_count = 1; - float position_max, position_min; - float final_feedrate; - uint8_t kval_hold; - uint8_t OCD_TH_val = 0; - uint8_t STALL_TH_val = 0; - uint16_t over_current_threshold; - constexpr uint8_t over_current_flag = true; - - const L64XX_Marlin::L64XX_shadow_t &sh = L64xxManager.shadow; - - uint8_t j; // general purpose counter - - if (L64xxManager.get_user_input(driver_count, axis_index, axis_mon, position_max, position_min, final_feedrate, kval_hold, over_current_flag, OCD_TH_val, STALL_TH_val, over_current_threshold)) - return; // quit if invalid user input - - L64xxManager.get_status(axis_index[0]); // populate shadow array - - uint8_t m_steps = parser.byteval('M'); - - if (m_steps != 0) { - LIMIT(m_steps, 1, sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT ? 16 : 128); // L6474 - - uint8_t stepVal; - for (stepVal = 0; stepVal < 8; stepVal++) { // convert to L64xx register value - if (m_steps == 1) break; - m_steps >>= 1; - } - - if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) - stepVal |= 0x98; // NO SYNC - else - stepVal |= (!SYNC_EN) | SYNC_SEL_1 | stepVal; - - for (j = 0; j < driver_count; j++) { - L64xxManager.set_param(axis_index[j], dSPIN_HARD_HIZ, 0); // can't write STEP register if stepper being powered - // results in an extra NOOP being sent (data 00) - L64xxManager.set_param(axis_index[j], L6470_STEP_MODE, stepVal); // set microsteps - } - } - m_steps = L64xxManager.get_param(axis_index[0], L6470_STEP_MODE) & 0x07; // get microsteps - - DEBUG_ECHOLNPGM("Microsteps = ", _BV(m_steps)); - DEBUG_ECHOLNPGM("target (maximum) feedrate = ", final_feedrate); - - const float feedrate_inc = final_feedrate / 10, // Start at 1/10 of max & go up by 1/10 per step - fr_limit = final_feedrate * 0.99f; // Rounding-safe comparison value - float current_feedrate = 0; - - planner.synchronize(); // Wait for moves to complete - - for (j = 0; j < driver_count; j++) - L64xxManager.get_status(axis_index[j]); // Clear error flags - - char temp_axis_string[2] = " "; - temp_axis_string[0] = axis_mon[0][0]; // Need a sprintf format string - //temp_axis_string[1] = '\n'; - - char gcode_string[80]; - uint16_t status_composite = 0; - DEBUG_ECHOLNPGM(".\n.\n."); // Make feedrate outputs easier to read - - do { - current_feedrate += feedrate_inc; - DEBUG_ECHOLNPGM("...feedrate = ", current_feedrate); - - sprintf_P(gcode_string, PSTR("G0 %s%03d F%03d"), temp_axis_string, uint16_t(position_min), uint16_t(current_feedrate)); - process_subcommands_now(gcode_string); - - sprintf_P(gcode_string, PSTR("G0 %s%03d F%03d"), temp_axis_string, uint16_t(position_max), uint16_t(current_feedrate)); - process_subcommands_now(gcode_string); - - planner.synchronize(); - - for (j = 0; j < driver_count; j++) { - axis_status[j] = (~L64xxManager.get_status(axis_index[j])) & 0x0800; // Bits of interest are all active LOW - status_composite |= axis_status[j]; - } - if (status_composite) break; // Break on any error - } while (current_feedrate < fr_limit); - - DEBUG_ECHOPGM("Completed with "); - if (status_composite) { - DEBUG_ECHOLNPGM("errors"); - #if ENABLED(L6470_CHITCHAT) - for (j = 0; j < driver_count; j++) { - if (j) DEBUG_ECHOPGM("..."); - L64xxManager.error_status_decode(axis_status[j], axis_index[j], - sh.STATUS_AXIS_TH_SD, sh.STATUS_AXIS_TH_WRN, - sh.STATUS_AXIS_STEP_LOSS_A, sh.STATUS_AXIS_STEP_LOSS_B, - sh.STATUS_AXIS_OCD, sh.STATUS_AXIS_LAYOUT); - } - #endif - } - else - DEBUG_ECHOLNPGM("no errors"); - - L64xxManager.pause_monitor(false); -} - -#endif // HAS_L64XX diff --git a/Marlin/src/gcode/feature/adc/M3426.cpp b/Marlin/src/gcode/feature/adc/M3426.cpp index 8205fa01f2..2820c8b880 100644 --- a/Marlin/src/gcode/feature/adc/M3426.cpp +++ b/Marlin/src/gcode/feature/adc/M3426.cpp @@ -28,6 +28,8 @@ #include "../../../feature/adc/adc_mcp3426.h" +#define MCP3426_BASE_ADDR (0b1101 << 3) + /** * M3426: Read 16 bit (signed) value from I2C MCP3426 ADC device * @@ -36,12 +38,15 @@ * M3426 I 0 or 1, invert reply */ void GcodeSuite::M3426() { - uint8_t channel = parser.byteval('C', 1), // Select the channel 1 or 2 - gain = parser.byteval('G', 1); - const bool inverted = parser.byteval('I') == 1; + uint8_t channel = parser.byteval('C', 1), // Channel 1 or 2 + gain = parser.byteval('G', 1), // Gain 1, 2, 4, or 8 + address = parser.byteval('A', 3); // Address 0-7 (or 104-111) + const bool inverted = parser.boolval('I'); - if (channel <= 2 && (gain == 1 || gain == 2 || gain == 4 || gain == 8)) { - int16_t result = mcp3426.ReadValue(channel, gain); + if (address <= 7) address += MCP3426_BASE_ADDR; + + if (WITHIN(channel, 1, 2) && (gain == 1 || gain == 2 || gain == 4 || gain == 8) && WITHIN(address, MCP3426_BASE_ADDR, MCP3426_BASE_ADDR + 7)) { + int16_t result = mcp3426.ReadValue(channel, gain, address); if (mcp3426.Error == false) { if (inverted) { diff --git a/Marlin/src/gcode/feature/advance/M900.cpp b/Marlin/src/gcode/feature/advance/M900.cpp index 8b59e88fb1..28cc4f8047 100644 --- a/Marlin/src/gcode/feature/advance/M900.cpp +++ b/Marlin/src/gcode/feature/advance/M900.cpp @@ -26,10 +26,9 @@ #include "../../gcode.h" #include "../../../module/planner.h" -#include "../../../module/stepper.h" -#if ENABLED(EXTRA_LIN_ADVANCE_K) - float other_extruder_advance_K[EXTRUDERS]; +#if ENABLED(ADVANCE_K_EXTRA) + float other_extruder_advance_K[DISTINCT_E]; uint8_t lin_adv_slot = 0; #endif @@ -37,8 +36,8 @@ * M900: Get or Set Linear Advance K-factor * T Which tool to address * K Set current advance K factor (Slot 0). - * L Set secondary advance K factor (Slot 1). Requires EXTRA_LIN_ADVANCE_K. - * S<0/1> Activate slot 0 or 1. Requires EXTRA_LIN_ADVANCE_K. + * L Set secondary advance K factor (Slot 1). Requires ADVANCE_K_EXTRA. + * S<0/1> Activate slot 0 or 1. Requires ADVANCE_K_EXTRA. */ void GcodeSuite::M900() { @@ -51,6 +50,7 @@ void GcodeSuite::M900() { #if EXTRUDERS < 2 constexpr uint8_t tool_index = 0; + UNUSED(tool_index); #else const uint8_t tool_index = parser.intval('T', active_extruder); if (tool_index >= EXTRUDERS) { @@ -59,12 +59,12 @@ void GcodeSuite::M900() { } #endif - float &kref = planner.extruder_advance_K[tool_index], newK = kref; + float &kref = planner.extruder_advance_K[E_INDEX_N(tool_index)], newK = kref; const float oldK = newK; - #if ENABLED(EXTRA_LIN_ADVANCE_K) + #if ENABLED(ADVANCE_K_EXTRA) - float &lref = other_extruder_advance_K[tool_index]; + float &lref = other_extruder_advance_K[E_INDEX_N(tool_index)]; const bool old_slot = TEST(lin_adv_slot, tool_index), // The tool's current slot (0 or 1) new_slot = parser.boolval('S', old_slot); // The passed slot (default = current) @@ -112,30 +112,26 @@ void GcodeSuite::M900() { if (!parser.seen_any()) { - #if ENABLED(EXTRA_LIN_ADVANCE_K) + #if ENABLED(ADVANCE_K_EXTRA) - #if EXTRUDERS < 2 + #if DISTINCT_E < 2 SERIAL_ECHOLNPGM("Advance S", new_slot, " K", kref, "(S", !new_slot, " K", lref, ")"); #else EXTRUDER_LOOP() { const bool slot = TEST(lin_adv_slot, e); SERIAL_ECHOLNPGM("Advance T", e, " S", slot, " K", planner.extruder_advance_K[e], - "(S", !slot, " K", other_extruder_advance_K[e], ")"); - SERIAL_EOL(); + "(S", !slot, " K", other_extruder_advance_K[e], ")"); } #endif #else SERIAL_ECHO_START(); - #if EXTRUDERS < 2 + #if DISTINCT_E < 2 SERIAL_ECHOLNPGM("Advance K=", planner.extruder_advance_K[0]); #else SERIAL_ECHOPGM("Advance K"); - EXTRUDER_LOOP() { - SERIAL_CHAR(' ', '0' + e, ':'); - SERIAL_DECIMAL(planner.extruder_advance_K[e]); - } + EXTRUDER_LOOP() SERIAL_ECHO(AS_CHAR(' '), AS_CHAR('0' + e), AS_CHAR(':'), planner.extruder_advance_K[e]); SERIAL_EOL(); #endif @@ -146,7 +142,7 @@ void GcodeSuite::M900() { void GcodeSuite::M900_report(const bool forReplay/*=true*/) { report_heading(forReplay, F(STR_LINEAR_ADVANCE)); - #if EXTRUDERS < 2 + #if DISTINCT_E < 2 report_echo_start(forReplay); SERIAL_ECHOLNPGM(" M900 K", planner.extruder_advance_K[0]); #else diff --git a/Marlin/src/gcode/feature/camera/M240.cpp b/Marlin/src/gcode/feature/camera/M240.cpp index 19051ffd42..bb1d3f9eee 100644 --- a/Marlin/src/gcode/feature/camera/M240.cpp +++ b/Marlin/src/gcode/feature/camera/M240.cpp @@ -84,7 +84,7 @@ inline void spin_photo_pin() { static constexpr uint32_t sequence[] = PHOTO_PULSES_US; - LOOP_L_N(i, COUNT(sequence)) + for (uint8_t i = 0; i < COUNT(sequence); ++i) pulse_photo_pin(sequence[i], !(i & 1)); } @@ -111,7 +111,7 @@ * B - Y offset to the return position * F - Override the XY movement feedrate * R - Retract/recover length (current units) - * S - Retract/recover feedrate (mm/m) + * S - Retract/recover feedrate (mm/min) * X - Move to X before triggering the shutter * Y - Move to Y before triggering the shutter * Z - Raise Z by a distance before triggering the shutter @@ -128,11 +128,13 @@ void GcodeSuite::M240() { if (homing_needed_error()) return; - const xyz_pos_t old_pos = { + const xyz_pos_t old_pos = NUM_AXIS_ARRAY( current_position.x + parser.linearval('A'), current_position.y + parser.linearval('B'), - current_position.z - }; + current_position.z, + current_position.i, current_position.j, current_position.k, + current_position.u, current_position.v, current_position.w + ); #ifdef PHOTO_RETRACT_MM const float rval = parser.linearval('R', _PHOTO_RETRACT_MM); @@ -140,7 +142,7 @@ void GcodeSuite::M240() { e_move_m240(-rval, sval); #endif - feedRate_t fr_mm_s = MMM_TO_MMS(parser.linearval('F')); + feedRate_t fr_mm_s = parser.feedrateval('F'); if (fr_mm_s) NOLESS(fr_mm_s, 10.0f); constexpr xyz_pos_t photo_position = PHOTO_POSITION; diff --git a/Marlin/src/gcode/feature/cancel/M486.cpp b/Marlin/src/gcode/feature/cancel/M486.cpp index 1f14ae0fd2..c1e90d1b96 100644 --- a/Marlin/src/gcode/feature/cancel/M486.cpp +++ b/Marlin/src/gcode/feature/cancel/M486.cpp @@ -44,14 +44,14 @@ void GcodeSuite::M486() { cancelable.object_count = parser.intval('T', 1); } - if (parser.seen('S')) + if (parser.seenval('S')) cancelable.set_active_object(parser.value_int()); if (parser.seen('C')) cancelable.cancel_active_object(); - if (parser.seen('P')) cancelable.cancel_object(parser.value_int()); + if (parser.seenval('P')) cancelable.cancel_object(parser.value_int()); - if (parser.seen('U')) cancelable.uncancel_object(parser.value_int()); + if (parser.seenval('U')) cancelable.uncancel_object(parser.value_int()); } #endif // CANCEL_OBJECTS diff --git a/Marlin/src/gcode/feature/clean/G12.cpp b/Marlin/src/gcode/feature/clean/G12.cpp index 999a9b10bd..a5e312f8fd 100644 --- a/Marlin/src/gcode/feature/clean/G12.cpp +++ b/Marlin/src/gcode/feature/clean/G12.cpp @@ -45,9 +45,10 @@ * X, Y, Z : Specify axes to move during cleaning. Default: ALL. */ void GcodeSuite::G12() { + // Don't allow nozzle cleaning without homing first - if (homing_needed_error(linear_bits & ~TERN0(NOZZLE_CLEAN_NO_Z, Z_AXIS) & ~TERN0(NOZZLE_CLEAN_NO_Y, Y_AXIS))) - return; + constexpr main_axes_bits_t clean_axis_mask = main_axes_mask & ~TERN0(NOZZLE_CLEAN_NO_Z, Z_AXIS) & ~TERN0(NOZZLE_CLEAN_NO_Y, Y_AXIS); + if (homing_needed_error(clean_axis_mask)) return; #ifdef WIPE_SEQUENCE_COMMANDS if (!parser.seen_any()) { @@ -56,10 +57,16 @@ void GcodeSuite::G12() { } #endif - const uint8_t pattern = parser.ushortval('P', 0), - strokes = parser.ushortval('S', NOZZLE_CLEAN_STROKES), - objects = parser.ushortval('T', NOZZLE_CLEAN_TRIANGLES); - const float radius = parser.linearval('R', NOZZLE_CLEAN_CIRCLE_RADIUS); + const uint8_t pattern = ( + #if COUNT_ENABLED(NOZZLE_CLEAN_PATTERN_LINE, NOZZLE_CLEAN_PATTERN_ZIGZAG, NOZZLE_CLEAN_PATTERN_CIRCLE) > 1 + parser.ushortval('P', NOZZLE_CLEAN_DEFAULT_PATTERN) + #else + NOZZLE_CLEAN_DEFAULT_PATTERN + #endif + ); + const uint8_t strokes = parser.ushortval('S', NOZZLE_CLEAN_STROKES), + objects = TERN0(NOZZLE_CLEAN_PATTERN_ZIGZAG, parser.ushortval('T', NOZZLE_CLEAN_TRIANGLES)); + const float radius = TERN0(NOZZLE_CLEAN_PATTERN_CIRCLE, parser.linearval('R', NOZZLE_CLEAN_CIRCLE_RADIUS)); const bool seenxyz = parser.seen("XYZ"); const uint8_t cleans = (!seenxyz || parser.boolval('X') ? _BV(X_AXIS) : 0) diff --git a/Marlin/src/gcode/feature/digipot/M907-M910.cpp b/Marlin/src/gcode/feature/digipot/M907-M910.cpp index 3b66f78593..8869f8d494 100644 --- a/Marlin/src/gcode/feature/digipot/M907-M910.cpp +++ b/Marlin/src/gcode/feature/digipot/M907-M910.cpp @@ -40,56 +40,76 @@ /** * M907: Set digital trimpot motor current using axis codes X [Y] [Z] [I] [J] [K] [U] [V] [W] [E] - * B - Special case for 4th (E) axis - * S - Special case to set first 3 axes + * B - Special case for E1 (Requires DIGIPOTSS_PIN or DIGIPOT_MCP4018 or DIGIPOT_MCP4451) + * C - Special case for E2 (Requires DIGIPOTSS_PIN or DIGIPOT_MCP4018 or DIGIPOT_MCP4451) + * S - Set current in mA for all axes (Requires DIGIPOTSS_PIN or DIGIPOT_MCP4018 or DIGIPOT_MCP4451), or + * Set percentage of max current for all axes (Requires HAS_DIGIPOT_DAC) */ void GcodeSuite::M907() { #if HAS_MOTOR_CURRENT_SPI - if (!parser.seen("BS" LOGICAL_AXES_STRING)) + if (!parser.seen("BS" STR_AXES_LOGICAL)) return M907_report(); - LOOP_LOGICAL_AXES(i) if (parser.seenval(IAXIS_CHAR(i))) stepper.set_digipot_current(i, parser.value_int()); - if (parser.seenval('B')) stepper.set_digipot_current(4, parser.value_int()); - if (parser.seenval('S')) LOOP_LE_N(i, 4) stepper.set_digipot_current(i, parser.value_int()); + if (parser.seenval('S')) for (uint8_t i = 0; i < MOTOR_CURRENT_COUNT; ++i) stepper.set_digipot_current(i, parser.value_int()); + LOOP_LOGICAL_AXES(i) if (parser.seenval(IAXIS_CHAR(i))) stepper.set_digipot_current(i, parser.value_int()); // X Y Z (I J K U V W) E (map to drivers according to DIGIPOT_CHANNELS. Default with NUM_AXES 3: map X Y Z E to X Y Z E0) + // Additional extruders use B,C. + // TODO: Change these parameters because 'E' is used and D should be reserved for debugging. B? + #if E_STEPPERS >= 2 + if (parser.seenval('B')) stepper.set_digipot_current(E_AXIS + 1, parser.value_int()); + #if E_STEPPERS >= 3 + if (parser.seenval('C')) stepper.set_digipot_current(E_AXIS + 2, parser.value_int()); + #endif + #endif #elif HAS_MOTOR_CURRENT_PWM - if (!parser.seen( - #if ANY_PIN(MOTOR_CURRENT_PWM_X, MOTOR_CURRENT_PWM_Y, MOTOR_CURRENT_PWM_XY, MOTOR_CURRENT_PWM_I, MOTOR_CURRENT_PWM_J, MOTOR_CURRENT_PWM_K, MOTOR_CURRENT_PWM_U, MOTOR_CURRENT_PWM_V, MOTOR_CURRENT_PWM_W) - "XY" SECONDARY_AXIS_GANG("I", "J", "K", "U", "V", "W") + #if ANY_PIN(MOTOR_CURRENT_PWM_X, MOTOR_CURRENT_PWM_Y, MOTOR_CURRENT_PWM_XY, MOTOR_CURRENT_PWM_I, MOTOR_CURRENT_PWM_J, MOTOR_CURRENT_PWM_K, MOTOR_CURRENT_PWM_U, MOTOR_CURRENT_PWM_V, MOTOR_CURRENT_PWM_W) + #define HAS_X_Y_XY_I_J_K_U_V_W 1 + #endif + + #if HAS_X_Y_XY_I_J_K_U_V_W || ANY_PIN(MOTOR_CURRENT_PWM_E, MOTOR_CURRENT_PWM_Z) + + if (!parser.seen("S" + #if HAS_X_Y_XY_I_J_K_U_V_W + "XY" SECONDARY_AXIS_GANG("I", "J", "K", "U", "V", "W") + #endif + #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z) + "Z" + #endif + #if PIN_EXISTS(MOTOR_CURRENT_PWM_E) + "E" + #endif + )) return M907_report(); + + if (parser.seenval('S')) for (uint8_t a = 0; a < MOTOR_CURRENT_COUNT; ++a) stepper.set_digipot_current(a, parser.value_int()); + + #if HAS_X_Y_XY_I_J_K_U_V_W + if (NUM_AXIS_GANG( + parser.seenval('X'), || parser.seenval('Y'), || false, + || parser.seenval('I'), || parser.seenval('J'), || parser.seenval('K'), + || parser.seenval('U'), || parser.seenval('V'), || parser.seenval('W') + )) stepper.set_digipot_current(0, parser.value_int()); #endif #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z) - "Z" + if (parser.seenval('Z')) stepper.set_digipot_current(1, parser.value_int()); #endif #if PIN_EXISTS(MOTOR_CURRENT_PWM_E) - "E" + if (parser.seenval('E')) stepper.set_digipot_current(2, parser.value_int()); #endif - )) return M907_report(); - #if ANY_PIN(MOTOR_CURRENT_PWM_X, MOTOR_CURRENT_PWM_Y, MOTOR_CURRENT_PWM_XY, MOTOR_CURRENT_PWM_I, MOTOR_CURRENT_PWM_J, MOTOR_CURRENT_PWM_K, MOTOR_CURRENT_PWM_U, MOTOR_CURRENT_PWM_V, MOTOR_CURRENT_PWM_W) - if (NUM_AXIS_GANG( - parser.seenval('X'), || parser.seenval('Y'), || false, - || parser.seenval('I'), || parser.seenval('J'), || parser.seenval('K'), - || parser.seenval('U'), || parser.seenval('V'), || parser.seenval('W') - )) stepper.set_digipot_current(0, parser.value_int()); - #endif - #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z) - if (parser.seenval('Z')) stepper.set_digipot_current(1, parser.value_int()); - #endif - #if PIN_EXISTS(MOTOR_CURRENT_PWM_E) - if (parser.seenval('E')) stepper.set_digipot_current(2, parser.value_int()); #endif #endif // HAS_MOTOR_CURRENT_PWM #if HAS_MOTOR_CURRENT_I2C // this one uses actual amps in floating point - LOOP_LOGICAL_AXES(i) if (parser.seenval(IAXIS_CHAR(i))) digipot_i2c.set_current(i, parser.value_float()); - // Additional extruders use B,C,D for channels 4,5,6. - // TODO: Change these parameters because 'E' is used. B? - #if HAS_EXTRUDERS - for (uint8_t i = E_AXIS + 1; i < DIGIPOT_I2C_NUM_CHANNELS; i++) + if (parser.seenval('S')) for (uint8_t q = 0; q < DIGIPOT_I2C_NUM_CHANNELS; ++q) digipot_i2c.set_current(q, parser.value_float()); + LOOP_LOGICAL_AXES(i) if (parser.seenval(IAXIS_CHAR(i))) digipot_i2c.set_current(i, parser.value_float()); // X Y Z (I J K U V W) E (map to drivers according to pots adresses. Default with NUM_AXES 3 X Y Z E: map to X Y Z E0) + // Additional extruders use B,C,D. + // TODO: Change these parameters because 'E' is used and because 'D' should be reserved for debugging. B? + #if E_STEPPERS >= 2 + for (uint8_t i = E_AXIS + 1; i < _MAX(DIGIPOT_I2C_NUM_CHANNELS, (NUM_AXES + 3)); i++) if (parser.seenval('B' + i - (E_AXIS + 1))) digipot_i2c.set_current(i, parser.value_float()); #endif #endif @@ -97,9 +117,9 @@ void GcodeSuite::M907() { #if HAS_MOTOR_CURRENT_DAC if (parser.seenval('S')) { const float dac_percent = parser.value_float(); - LOOP_LE_N(i, 4) stepper_dac.set_current_percent(i, dac_percent); + LOOP_LOGICAL_AXES(i) stepper_dac.set_current_percent(i, dac_percent); } - LOOP_LOGICAL_AXES(i) if (parser.seenval(IAXIS_CHAR(i))) stepper_dac.set_current_percent(i, parser.value_float()); + LOOP_LOGICAL_AXES(i) if (parser.seenval(IAXIS_CHAR(i))) stepper_dac.set_current_percent(i, parser.value_float()); // X Y Z (I J K U V W) E (map to drivers according to DAC_STEPPER_ORDER. Default with NUM_AXES 3: X Y Z E map to X Y Z E0) #endif } @@ -119,8 +139,14 @@ void GcodeSuite::M907() { SERIAL_CHAR(' ', IAXIS_CHAR(q)); SERIAL_ECHO(stepper.motor_current_setting[q]); } - SERIAL_CHAR(' ', 'B'); // B (maps to E1 by default) - SERIAL_ECHOLN(stepper.motor_current_setting[4]); + #if E_STEPPERS >= 2 + SERIAL_ECHOPGM_P(PSTR(" B"), stepper.motor_current_setting[E_AXIS + 1] // B (maps to E1 with NUM_AXES 3 according to DIGIPOT_CHANNELS) + #if E_STEPPERS >= 3 + , PSTR(" C"), stepper.motor_current_setting[E_AXIS + 2] // C (mapping to E2 must be defined by DIGIPOT_CHANNELS) + #endif + ); + #endif + SERIAL_EOL(); #endif } diff --git a/Marlin/src/gcode/feature/ft_motion/M493.cpp b/Marlin/src/gcode/feature/ft_motion/M493.cpp new file mode 100644 index 0000000000..e3231480f3 --- /dev/null +++ b/Marlin/src/gcode/feature/ft_motion/M493.cpp @@ -0,0 +1,324 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2023 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../../inc/MarlinConfig.h" + +#if ENABLED(FT_MOTION) + +#include "../../gcode.h" +#include "../../../module/ft_motion.h" + +void say_shaping() { + // FT Enabled + SERIAL_ECHO_TERNARY(fxdTiCtrl.cfg.mode, "Fixed-Time Motion ", "en", "dis", "abled"); + + // FT Shaping + #if HAS_X_AXIS + if (fxdTiCtrl.cfg.mode > ftMotionMode_ENABLED) { + SERIAL_ECHOPGM(" with "); + switch (fxdTiCtrl.cfg.mode) { + default: break; + case ftMotionMode_ZV: SERIAL_ECHOPGM("ZV"); break; + case ftMotionMode_ZVD: SERIAL_ECHOPGM("ZVD"); break; + case ftMotionMode_EI: SERIAL_ECHOPGM("EI"); break; + case ftMotionMode_2HEI: SERIAL_ECHOPGM("2 Hump EI"); break; + case ftMotionMode_3HEI: SERIAL_ECHOPGM("3 Hump EI"); break; + case ftMotionMode_MZV: SERIAL_ECHOPGM("MZV"); break; + //case ftMotionMode_DISCTF: SERIAL_ECHOPGM("discrete transfer functions"); break; + //case ftMotionMode_ULENDO_FBS: SERIAL_ECHOPGM("Ulendo FBS."); return; + } + SERIAL_ECHOPGM(" shaping"); + } + #endif + SERIAL_ECHOLNPGM("."); + + const bool z_based = TERN0(HAS_DYNAMIC_FREQ_MM, fxdTiCtrl.cfg.dynFreqMode == dynFreqMode_Z_BASED), + g_based = TERN0(HAS_DYNAMIC_FREQ_G, fxdTiCtrl.cfg.dynFreqMode == dynFreqMode_MASS_BASED), + dynamic = z_based || g_based; + + // FT Dynamic Frequency Mode + if (fxdTiCtrl.cfg.modeHasShaper()) { + #if HAS_DYNAMIC_FREQ + SERIAL_ECHOPGM("Dynamic Frequency Mode "); + switch (fxdTiCtrl.cfg.dynFreqMode) { + default: + case dynFreqMode_DISABLED: SERIAL_ECHOPGM("disabled"); break; + #if HAS_DYNAMIC_FREQ_MM + case dynFreqMode_Z_BASED: SERIAL_ECHOPGM("Z-based"); break; + #endif + #if HAS_DYNAMIC_FREQ_G + case dynFreqMode_MASS_BASED: SERIAL_ECHOPGM("Mass-based"); break; + #endif + } + SERIAL_ECHOLNPGM("."); + #endif + + #if HAS_X_AXIS + SERIAL_ECHO_TERNARY(dynamic, "X/A ", "base dynamic", "static", " compensator frequency: "); + SERIAL_ECHO(p_float_t(fxdTiCtrl.cfg.baseFreq[X_AXIS], 2), F("Hz")); + #if HAS_DYNAMIC_FREQ + if (dynamic) SERIAL_ECHO(" scaling: ", p_float_t(fxdTiCtrl.cfg.dynFreqK[X_AXIS], 8), F("Hz/"), z_based ? F("mm") : F("g")); + #endif + SERIAL_EOL(); + #endif + + #if HAS_Y_AXIS + SERIAL_ECHO_TERNARY(dynamic, "Y/B ", "base dynamic", "static", " compensator frequency: "); + SERIAL_ECHO(p_float_t(fxdTiCtrl.cfg.baseFreq[Y_AXIS], 2), F(" Hz")); + #if HAS_DYNAMIC_FREQ + if (dynamic) SERIAL_ECHO(F(" scaling: "), p_float_t(fxdTiCtrl.cfg.dynFreqK[Y_AXIS], 8), F("Hz/"), z_based ? F("mm") : F("g")); + #endif + SERIAL_EOL(); + #endif + } + + #if HAS_EXTRUDERS + SERIAL_ECHO_TERNARY(fxdTiCtrl.cfg.linearAdvEna, "Linear Advance ", "en", "dis", "abled"); + SERIAL_ECHOLN(F(". Gain: "), p_float_t(fxdTiCtrl.cfg.linearAdvK, 5)); + #endif +} + +void GcodeSuite::M493_report(const bool forReplay/*=true*/) { + report_heading_etc(forReplay, F(STR_FT_MOTION)); + const ft_config_t &c = fxdTiCtrl.cfg; + SERIAL_ECHOPGM(" M493 S", c.mode); + #if HAS_X_AXIS + SERIAL_ECHOPGM(" A", c.baseFreq[X_AXIS]); + #if HAS_Y_AXIS + SERIAL_ECHOPGM(" B", c.baseFreq[Y_AXIS]); + #endif + #endif + #if HAS_DYNAMIC_FREQ + SERIAL_ECHOPGM(" D", c.dynFreqMode); + #if HAS_X_AXIS + SERIAL_ECHOPGM(" F", c.dynFreqK[X_AXIS]); + #if HAS_Y_AXIS + SERIAL_ECHOPGM(" H", c.dynFreqK[Y_AXIS]); + #endif + #endif + #endif + #if HAS_EXTRUDERS + SERIAL_ECHOPGM(" P", c.linearAdvEna, " K", c.linearAdvK); + #endif + SERIAL_EOL(); +} + +/** + * M493: Set Fixed-time Motion Control parameters + * + * S Set the motion / shaping mode. Shaping requires an X axis, at the minimum. + * 0: NORMAL + * 1: FIXED-TIME + * 10: ZV + * 11: ZVD + * 12: EI + * 13: 2HEI + * 14: 3HEI + * 15: MZV + * + * P Enable (1) or Disable (0) Linear Advance pressure control + * + * K Set Linear Advance gain + * + * D Set Dynamic Frequency mode + * 0: DISABLED + * 1: Z-based (Requires a Z axis) + * 2: Mass-based (Requires X and E axes) + * + * A Set static/base frequency for the X axis + * F Set frequency scaling for the X axis + * + * B Set static/base frequency for the Y axis + * H Set frequency scaling for the Y axis + */ +void GcodeSuite::M493() { + struct { bool update_n:1, update_a:1, reset_ft:1, report_h:1; } flag = { false }; + + if (!parser.seen_any()) + flag.report_h = true; + else + planner.synchronize(); + + // Parse 'S' mode parameter. + if (parser.seenval('S')) { + const ftMotionMode_t oldmm = fxdTiCtrl.cfg.mode, + newmm = (ftMotionMode_t)parser.value_byte(); + + if (newmm != oldmm) { + switch (newmm) { + default: SERIAL_ECHOLNPGM("?Invalid control mode [S] value."); return; + #if HAS_X_AXIS + case ftMotionMode_ZV: + case ftMotionMode_ZVD: + case ftMotionMode_EI: + case ftMotionMode_2HEI: + case ftMotionMode_3HEI: + case ftMotionMode_MZV: + //case ftMotionMode_ULENDO_FBS: + //case ftMotionMode_DISCTF: + flag.update_n = flag.update_a = true; + #endif + case ftMotionMode_DISABLED: + case ftMotionMode_ENABLED: + fxdTiCtrl.cfg.mode = newmm; + flag.report_h = true; + if (oldmm == ftMotionMode_DISABLED) flag.reset_ft = true; + break; + } + } + } + + #if HAS_EXTRUDERS + + // Pressure control (linear advance) parameter. + if (parser.seen('P')) { + const bool val = parser.value_bool(); + fxdTiCtrl.cfg.linearAdvEna = val; + SERIAL_ECHO_TERNARY(val, "Linear Advance ", "en", "dis", "abled.\n"); + } + + // Pressure control (linear advance) gain parameter. + if (parser.seenval('K')) { + const float val = parser.value_float(); + if (val >= 0.0f) { + fxdTiCtrl.cfg.linearAdvK = val; + flag.report_h = true; + } + else // Value out of range. + SERIAL_ECHOLNPGM("Linear Advance gain out of range."); + } + + #endif // HAS_EXTRUDERS + + #if HAS_DYNAMIC_FREQ + + // Dynamic frequency mode parameter. + if (parser.seenval('D')) { + if (fxdTiCtrl.cfg.modeHasShaper()) { + const dynFreqMode_t val = dynFreqMode_t(parser.value_byte()); + switch (val) { + case dynFreqMode_DISABLED: + fxdTiCtrl.cfg.dynFreqMode = val; + flag.report_h = true; + break; + #if HAS_DYNAMIC_FREQ_MM + case dynFreqMode_Z_BASED: + fxdTiCtrl.cfg.dynFreqMode = val; + flag.report_h = true; + break; + #endif + #if HAS_DYNAMIC_FREQ_G + case dynFreqMode_MASS_BASED: + fxdTiCtrl.cfg.dynFreqMode = val; + flag.report_h = true; + break; + #endif + default: + SERIAL_ECHOLNPGM("?Invalid Dynamic Frequency Mode [D] value."); + break; + } + } + else { + SERIAL_ECHOLNPGM("?Wrong shaper for [D] Dynamic Frequency mode."); + } + } + + const bool modeUsesDynFreq = ( + TERN0(HAS_DYNAMIC_FREQ_MM, fxdTiCtrl.cfg.dynFreqMode == dynFreqMode_Z_BASED) + || TERN0(HAS_DYNAMIC_FREQ_G, fxdTiCtrl.cfg.dynFreqMode == dynFreqMode_MASS_BASED) + ); + + #endif // HAS_DYNAMIC_FREQ + + #if HAS_X_AXIS + + // Parse frequency parameter (X axis). + if (parser.seenval('A')) { + if (fxdTiCtrl.cfg.modeHasShaper()) { + const float val = parser.value_float(); + // TODO: Frequency minimum is dependent on the shaper used; the above check isn't always correct. + if (WITHIN(val, FTM_MIN_SHAPE_FREQ, (FTM_FS) / 2)) { + fxdTiCtrl.cfg.baseFreq[X_AXIS] = val; + flag.update_n = flag.reset_ft = flag.report_h = true; + } + else // Frequency out of range. + SERIAL_ECHOLNPGM("Invalid [", AS_CHAR('A'), "] frequency value."); + } + else // Mode doesn't use frequency. + SERIAL_ECHOLNPGM("Wrong mode for [", AS_CHAR('A'), "] frequency."); + } + + #if HAS_DYNAMIC_FREQ + // Parse frequency scaling parameter (X axis). + if (parser.seenval('F')) { + if (modeUsesDynFreq) { + fxdTiCtrl.cfg.dynFreqK[X_AXIS] = parser.value_float(); + flag.report_h = true; + } + else + SERIAL_ECHOLNPGM("Wrong mode for [", AS_CHAR('F'), "] frequency scaling."); + } + #endif + + #endif // HAS_X_AXIS + + #if HAS_Y_AXIS + + // Parse frequency parameter (Y axis). + if (parser.seenval('B')) { + if (fxdTiCtrl.cfg.modeHasShaper()) { + const float val = parser.value_float(); + if (WITHIN(val, FTM_MIN_SHAPE_FREQ, (FTM_FS) / 2)) { + fxdTiCtrl.cfg.baseFreq[Y_AXIS] = val; + flag.update_n = flag.reset_ft = flag.report_h = true; + } + else // Frequency out of range. + SERIAL_ECHOLNPGM("Invalid frequency [", AS_CHAR('B'), "] value."); + } + else // Mode doesn't use frequency. + SERIAL_ECHOLNPGM("Wrong mode for [", AS_CHAR('B'), "] frequency."); + } + + #if HAS_DYNAMIC_FREQ + // Parse frequency scaling parameter (Y axis). + if (parser.seenval('H')) { + if (modeUsesDynFreq) { + fxdTiCtrl.cfg.dynFreqK[Y_AXIS] = parser.value_float(); + flag.report_h = true; + } + else + SERIAL_ECHOLNPGM("Wrong mode for [", AS_CHAR('H'), "] frequency scaling."); + } + #endif + + #endif // HAS_Y_AXIS + + #if HAS_X_AXIS + if (flag.update_n) fxdTiCtrl.refreshShapingN(); + if (flag.update_a) fxdTiCtrl.updateShapingA(); + #endif + if (flag.reset_ft) fxdTiCtrl.reset(); + if (flag.report_h) say_shaping(); + +} + +#endif // FT_MOTION diff --git a/Marlin/src/gcode/feature/i2c/M260_M261.cpp b/Marlin/src/gcode/feature/i2c/M260_M261.cpp index e978fb5048..cf9bb7e583 100644 --- a/Marlin/src/gcode/feature/i2c/M260_M261.cpp +++ b/Marlin/src/gcode/feature/i2c/M260_M261.cpp @@ -45,10 +45,10 @@ */ void GcodeSuite::M260() { // Set the target address - if (parser.seen('A')) i2c.address(parser.value_byte()); + if (parser.seenval('A')) i2c.address(parser.value_byte()); // Add a new byte to the buffer - if (parser.seen('B')) i2c.addbyte(parser.value_byte()); + if (parser.seenval('B')) i2c.addbyte(parser.value_byte()); // Flush the buffer to the bus if (parser.seen('S')) i2c.send(); @@ -63,7 +63,7 @@ void GcodeSuite::M260() { * Usage: M261 A B S