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Platform.cpp
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Platform.cpp
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/****************************************************************************************************
RepRapFirmware - Platform: RepRapPro Ormerod with Arduino Due controller
Platform contains all the code and definitions to deal with machine-dependent things such as control
pins, bed area, number of extruders, tolerable accelerations and speeds and so on.
-----------------------------------------------------------------------------------------------------
Version 0.1
18 November 2012
Adrian Bowyer
RepRap Professional Ltd
http://reprappro.com
Licence: GPL
****************************************************************************************************/
#include "RepRapFirmware.h"
#include "DueFlashStorage.h"
extern char _end;
extern "C" char *sbrk(int i);
const uint8_t memPattern = 0xA5;
static uint32_t fanInterruptCount = 0; // accessed only in ISR, so no need to declare it volatile
const uint32_t fanMaxInterruptCount = 32; // number of fan interrupts that we average over
static volatile uint32_t fanLastResetTime = 0; // time (microseconds) at which we last reset the interrupt count, accessed inside and outside ISR
static volatile uint32_t fanInterval = 0; // written by ISR, read outside the ISR
// Arduino initialise and loop functions
// Put nothing in these other than calls to the RepRap equivalents
void setup()
{
// Fill the free memory with a pattern so that we can check for stack usage and memory corruption
char* heapend = sbrk(0);
register const char * stack_ptr asm ("sp");
while (heapend + 16 < stack_ptr)
{
*heapend++ = memPattern;
}
reprap.Init();
}
void loop()
{
reprap.Spin();
}
extern "C"
{
// This intercepts the 1ms system tick. It must return 'false', otherwise the Arduino core tick handler will be bypassed.
int sysTickHook()
{
reprap.Tick();
return 0;
}
}
//*************************************************************************************************
// PidParameters class
bool PidParameters::UsePID() const
{
return kP >= 0;
}
float PidParameters::GetThermistorR25() const
{
return thermistorInfR * exp(thermistorBeta / (25.0 - ABS_ZERO));
}
void PidParameters::SetThermistorR25AndBeta(float r25, float beta)
{
thermistorInfR = r25 * exp(-beta / (25.0 - ABS_ZERO));
thermistorBeta = beta;
}
bool PidParameters::operator==(const PidParameters& other) const
{
return kI == other.kI && kD == other.kD && kP == other.kP && kT == other.kT && kS == other.kS
&& fullBand == other.fullBand && pidMin == other.pidMin
&& pidMax == other.pidMax && thermistorBeta == other.thermistorBeta && thermistorInfR == other.thermistorInfR
&& thermistorSeriesR == other.thermistorSeriesR && adcLowOffset == other.adcLowOffset
&& adcHighOffset == other.adcHighOffset;
}
//*************************************************************************************************
// Platform class
Platform::Platform() :
tickState(0), fileStructureInitialised(false), active(false), errorCodeBits(0), debugCode(0),
messageString(messageStringBuffer, ARRAY_SIZE(messageStringBuffer)), autoSaveEnabled(false)
{
line = new Line(SerialUSB);
aux = new Line(Serial);
// Files
massStorage = new MassStorage(this);
for(size_t i = 0; i < MAX_FILES; i++)
{
files[i] = new FileStore(this);
}
}
//*******************************************************************************************************************
void Platform::Init()
{
digitalWrite(atxPowerPin, LOW); // ensure ATX power is off by default
pinMode(atxPowerPin, OUTPUT);
idleCurrentFactor = DEFAULT_IDLE_CURRENT_FACTOR;
baudRates[0] = BAUD_RATE;
baudRates[1] = AUX_BAUD_RATE;
commsParams[0] = 0;
commsParams[1] = 1; // by default we require a checksum on data from the aux port, to guard against overrun errors
SerialUSB.begin(baudRates[0]);
Serial.begin(baudRates[1]); // this can't be done in the constructor because the Arduino port initialisation isn't complete at that point
static_assert(sizeof(FlashData) + sizeof(SoftwareResetData) <= 1024, "NVData too large");
ResetNvData();
line->Init();
aux->Init();
messageIndent = 0;
addToTime = 0.0;
lastTimeCall = 0;
lastTime = Time();
longWait = lastTime;
massStorage->Init();
for (size_t file = 0; file < MAX_FILES; file++)
{
files[file]->Init();
}
fileStructureInitialised = true;
mcpDuet.begin(); //only call begin once in the entire execution, this begins the I2C comms on that channel for all objects
mcpExpansion.setMCP4461Address(0x2E); //not required for mcpDuet, as this uses the default address
sysDir = SYS_DIR;
configFile = CONFIG_FILE;
defaultFile = DEFAULT_FILE;
// DRIVES
ARRAY_INIT(stepPins, STEP_PINS);
ARRAY_INIT(directionPins, DIRECTION_PINS);
ARRAY_INIT(directions, DIRECTIONS);
ARRAY_INIT(enablePins, ENABLE_PINS);
//ARRAY_INIT(disableDrives, DISABLE_DRIVES); // not currently used
ARRAY_INIT(lowStopPins, LOW_STOP_PINS);
ARRAY_INIT(highStopPins, HIGH_STOP_PINS);
ARRAY_INIT(maxFeedrates, MAX_FEEDRATES);
ARRAY_INIT(accelerations, ACCELERATIONS);
ARRAY_INIT(driveStepsPerUnit, DRIVE_STEPS_PER_UNIT);
ARRAY_INIT(instantDvs, INSTANT_DVS);
ARRAY_INIT(potWipes, POT_WIPES);
senseResistor = SENSE_RESISTOR;
maxStepperDigipotVoltage = MAX_STEPPER_DIGIPOT_VOLTAGE;
//numMixingDrives = NUM_MIXING_DRIVES;
// Z PROBE
zProbePin = Z_PROBE_PIN;
zProbeModulationPin = Z_PROBE_MOD_PIN;
zProbeAdcChannel = PinToAdcChannel(zProbePin);
InitZProbe();
// AXES
ARRAY_INIT(axisMaxima, AXIS_MAXIMA);
ARRAY_INIT(axisMinima, AXIS_MINIMA);
ARRAY_INIT(homeFeedrates, HOME_FEEDRATES);
SetSlowestDrive();
// HEATERS - Bed is assumed to be the first
ARRAY_INIT(tempSensePins, TEMP_SENSE_PINS);
ARRAY_INIT(heatOnPins, HEAT_ON_PINS);
ARRAY_INIT(standbyTemperatures, STANDBY_TEMPERATURES);
ARRAY_INIT(activeTemperatures, ACTIVE_TEMPERATURES);
heatSampleTime = HEAT_SAMPLE_TIME;
coolingFanValue = 0.0;
coolingFanPin = COOLING_FAN_PIN;
coolingFanRpmPin = COOLING_FAN_RPM_PIN;
timeToHot = TIME_TO_HOT;
lastRpmResetTime = 0.0;
webDir = WEB_DIR;
gcodeDir = GCODE_DIR;
tempDir = TEMP_DIR;
for (size_t drive = 0; drive < DRIVES; drive++)
{
if (stepPins[drive] >= 0)
{
pinMode(stepPins[drive], OUTPUT);
}
if (directionPins[drive] >= 0)
{
pinMode(directionPins[drive], OUTPUT);
}
if (enablePins[drive] >= 0)
{
pinMode(enablePins[drive], OUTPUT);
}
if (lowStopPins[drive] >= 0)
{
pinMode(lowStopPins[drive], INPUT_PULLUP);
}
if (highStopPins[drive] >= 0)
{
pinMode(highStopPins[drive], INPUT_PULLUP);
}
motorCurrents[drive] = 0.0;
DisableDrive(drive);
driveState[drive] = DriveStatus::disabled;
}
extrusionAncilliaryPWM = 0.0;
for (size_t heater = 0; heater < HEATERS; heater++)
{
if (heatOnPins[heater] >= 0)
{
digitalWrite(heatOnPins[heater], HIGH); // turn the heater off
pinMode(heatOnPins[heater], OUTPUT);
}
analogReadResolution(12);
thermistorFilters[heater].Init(analogRead(tempSensePins[heater]));
heaterAdcChannels[heater] = PinToAdcChannel(tempSensePins[heater]);
// Calculate and store the ADC average sum that corresponds to an overheat condition, so that we can check is quickly in the tick ISR
float thermistorOverheatResistance = nvData.pidParams[heater].GetRInf()
* exp(-nvData.pidParams[heater].GetBeta() / (BAD_HIGH_TEMPERATURE - ABS_ZERO));
float thermistorOverheatAdcValue = (adRangeReal + 1) * thermistorOverheatResistance
/ (thermistorOverheatResistance + nvData.pidParams[heater].thermistorSeriesR);
thermistorOverheatSums[heater] = (uint32_t) (thermistorOverheatAdcValue + 0.9) * numThermistorReadingsAveraged;
}
if (coolingFanPin >= 0)
{
// Inverse logic for Duet v0.6 and later; this turns it off
analogWriteDuet(coolingFanPin, (HEAT_ON == 0) ? 255 : 0, true);
}
if (coolingFanRpmPin >= 0)
{
pinModeDuet(coolingFanRpmPin, INPUT_PULLUP, 1500);
}
InitialiseInterrupts();
lastTime = Time();
longWait = lastTime;
}
// Specify which thermistor channel a particular heater uses
void Platform::SetThermistorNumber(size_t heater, size_t thermistor)
//pre(heater < HEATERS && thermistor < HEATERS)
{
heaterAdcChannels[heater] = PinToAdcChannel(tempSensePins[thermistor]);
}
int Platform::GetThermistorNumber(size_t heater) const
{
for (size_t thermistor = 0; thermistor < HEATERS; ++thermistor)
{
if (heaterAdcChannels[heater] == PinToAdcChannel(tempSensePins[thermistor]))
{
return thermistor;
}
}
return -1;
}
void Platform::SetSlowestDrive()
{
slowestDrive = 0;
for(int8_t drive = 1; drive < DRIVES; drive++)
{
if(InstantDv(drive) < InstantDv(slowestDrive))
slowestDrive = drive;
}
}
void Platform::InitZProbe()
{
zProbeOnFilter.Init(0);
zProbeOffFilter.Init(0);
// zpl-2015-01-15: Don't introduce new Z-probe types for different modulation pin configurations; use 'G31 R' instead
if (nvData.zProbeType >= 1)
{
zProbeModulationPin = (nvData.zProbeChannel == 1) ? Z_PROBE_MOD_PIN07 : Z_PROBE_MOD_PIN;
pinMode(zProbeModulationPin, OUTPUT);
digitalWrite(zProbeModulationPin, (nvData.zProbeType <= 2) ? HIGH : LOW); // enable the IR LED or alternate sensor
}
}
int Platform::GetRawZHeight() const
{
return (nvData.zProbeType != 0) ? analogRead(zProbePin) : 0;
}
// Return the Z probe data.
// The ADC readings are 12 bits, so we convert them to 10-bit readings for compatibility with the old firmware.
int Platform::ZProbe() const
{
if (zProbeOnFilter.IsValid() && zProbeOffFilter.IsValid())
{
switch (nvData.zProbeType)
{
case 1:
case 3:
// Simple IR sensor, or direct-mode ultrasonic sensor
return (int) ((zProbeOnFilter.GetSum() + zProbeOffFilter.GetSum()) / (8 * numZProbeReadingsAveraged));
case 2:
// Modulated IR sensor. We assume that zProbeOnFilter and zprobeOffFilter average the same number of readings.
// Because of noise, it is possible to get a negative reading, so allow for this.
return (int) (((int32_t) zProbeOnFilter.GetSum() - (int32_t) zProbeOffFilter.GetSum())
/ (4 * numZProbeReadingsAveraged));
default:
break;
}
}
return 0; // Z probe not turned on or not initialised yet
}
// Return the Z probe secondary values.
int Platform::GetZProbeSecondaryValues(int& v1, int& v2)
{
if (zProbeOnFilter.IsValid() && zProbeOffFilter.IsValid())
{
switch (nvData.zProbeType)
{
case 2: // modulated IR sensor
v1 = (int) (zProbeOnFilter.GetSum() / (4 * numZProbeReadingsAveraged)); // pass back the reading with IR turned on
return 1;
default:
break;
}
}
return 0;
}
int Platform::GetZProbeType() const
{
return nvData.zProbeType;
}
int Platform::GetZProbeChannel() const
{
return nvData.zProbeChannel;
}
void Platform::SetZProbeAxes(const bool axes[AXES])
{
for(int axis=0; axis<AXES; axis++)
{
nvData.zProbeAxes[axis] = axes[axis];
}
if (autoSaveEnabled)
{
WriteNvData();
}
}
void Platform::GetZProbeAxes(bool (&axes)[AXES])
{
for(int axis=0; axis<AXES; axis++)
{
axes[axis] = nvData.zProbeAxes[axis];
}
}
float Platform::ZProbeStopHeight() const
{
switch (nvData.zProbeType)
{
case 0:
return nvData.switchZProbeParameters.GetStopHeight(GetTemperature(0));
case 1:
case 2:
return nvData.irZProbeParameters.GetStopHeight(GetTemperature(0));
case 3:
return nvData.alternateZProbeParameters.GetStopHeight(GetTemperature(0));
default:
return 0;
}
}
void Platform::SetZProbeType(int pt)
{
int newZProbeType = (pt >= 0 && pt <= 3) ? pt : 0;
if (newZProbeType != nvData.zProbeType)
{
nvData.zProbeType = newZProbeType;
if (autoSaveEnabled)
{
WriteNvData();
}
}
InitZProbe();
}
void Platform::SetZProbeChannel(int channel)
{
switch (channel)
{
case 1:
zProbeModulationPin = Z_PROBE_MOD_PIN07;
break;
default:
zProbeModulationPin = Z_PROBE_MOD_PIN;
channel = 0;
}
if (channel != nvData.zProbeChannel)
{
nvData.zProbeChannel = channel;
if (autoSaveEnabled)
{
WriteNvData();
}
}
}
bool Platform::GetZProbeParameters(struct ZProbeParameters& params) const
{
switch (nvData.zProbeType)
{
case 0:
params = nvData.switchZProbeParameters;
return true;
case 1:
case 2:
params = nvData.irZProbeParameters;
return true;
case 3:
params = nvData.alternateZProbeParameters;
return true;
default:
return false;
}
}
bool Platform::SetZProbeParameters(const struct ZProbeParameters& params)
{
switch (nvData.zProbeType)
{
case 0:
if (nvData.switchZProbeParameters != params)
{
nvData.switchZProbeParameters = params;
if (autoSaveEnabled)
{
WriteNvData();
}
}
return true;
case 1:
case 2:
if (nvData.irZProbeParameters != params)
{
nvData.irZProbeParameters = params;
if (autoSaveEnabled)
{
WriteNvData();
}
}
return true;
case 3:
if (nvData.alternateZProbeParameters != params)
{
nvData.alternateZProbeParameters = params;
if (autoSaveEnabled)
{
WriteNvData();
}
}
return true;
default:
return false;
}
}
// Return true if we must home X and Y before we home Z (i.e. we are using a bed probe)
bool Platform::MustHomeXYBeforeZ() const
{
return nvData.zProbeType != 0;
}
void Platform::ResetNvData()
{
nvData.compatibility = me;
ARRAY_INIT(nvData.ipAddress, IP_ADDRESS);
ARRAY_INIT(nvData.netMask, NET_MASK);
ARRAY_INIT(nvData.gateWay, GATE_WAY);
ARRAY_INIT(nvData.macAddress, MAC_ADDRESS);
nvData.zProbeType = 0; // Default is to use the switch
nvData.zProbeChannel = 0; // Ormerods are usually shipped with a Duet v0.6
ARRAY_INIT(nvData.zProbeAxes, Z_PROBE_AXES);
nvData.switchZProbeParameters.Init(0.0);
nvData.irZProbeParameters.Init(Z_PROBE_STOP_HEIGHT);
nvData.alternateZProbeParameters.Init(Z_PROBE_STOP_HEIGHT);
for (size_t i = 0; i < HEATERS; ++i)
{
PidParameters& pp = nvData.pidParams[i];
pp.thermistorSeriesR = defaultThermistorSeriesRs[i];
pp.SetThermistorR25AndBeta(defaultThermistor25RS[i], defaultThermistorBetas[i]);
pp.kI = defaultPidKis[i];
pp.kD = defaultPidKds[i];
pp.kP = defaultPidKps[i];
pp.kT = defaultPidKts[i];
pp.kS = defaultPidKss[i];
pp.fullBand = defaultFullBands[i];
pp.pidMin = defaultPidMins[i];
pp.pidMax = defaultPidMaxes[i];
pp.adcLowOffset = pp.adcHighOffset = 0.0;
}
#ifdef FLASH_SAVE_ENABLED
nvData.magic = FlashData::magicValue;
#endif
}
void Platform::ReadNvData()
{
#ifdef FLASH_SAVE_ENABLED
DueFlashStorage::read(FlashData::nvAddress, &nvData, sizeof(nvData));
if (nvData.magic != FlashData::magicValue)
{
// Nonvolatile data has not been initialized since the firmware was last written, so set up default values
ResetNvData();
// No point in writing it back here
}
#else
Message(BOTH_ERROR_MESSAGE, "Cannot load non-volatile data, because Flash support has been disabled!\n");
#endif
}
void Platform::WriteNvData()
{
#ifdef FLASH_SAVE_ENABLED
DueFlashStorage::write(FlashData::nvAddress, &nvData, sizeof(nvData));
#else
Message(BOTH_ERROR_MESSAGE, "Cannot write non-volatile data, because Flash support has been disabled!\n");
#endif
}
void Platform::SetAutoSave(bool enabled)
{
#ifdef FLASH_SAVE_ENABLED
autoSaveEnabled = enabled;
#else
Message(BOTH_ERROR_MESSAGE, "Cannot enable auto-save, because Flash support has been disabled!\n");
#endif
}
// AUX device
void Platform::Beep(int freq, int ms)
{
// Send the beep command to the aux channel. There is no flow control on this port, so it can't block for long.
scratchString.printf("{\"beep_freq\":%d,\"beep_length\":%d}\n", freq, ms);
aux->Write(scratchString.Pointer(), true);
}
// Note: the use of floating point time will cause the resolution to degrade over time.
// For example, 1ms time resolution will only be available for about half an hour from startup.
// Personally, I (dc42) would rather just maintain and provide the time in milliseconds in a uint32_t.
// This would wrap round after about 49 days, but that isn't difficult to handle.
float Platform::Time()
{
unsigned long now = micros();
if (now < lastTimeCall) // Has timer overflowed?
{
addToTime += ((float) ULONG_MAX) * TIME_FROM_REPRAP;
}
lastTimeCall = now;
return addToTime + TIME_FROM_REPRAP * (float) now;
}
void Platform::Exit()
{
Message(BOTH_MESSAGE, "Platform class exited.\n");
active = false;
}
Compatibility Platform::Emulating() const
{
if (nvData.compatibility == reprapFirmware)
return me;
return nvData.compatibility;
}
void Platform::SetEmulating(Compatibility c)
{
if (c != me && c != reprapFirmware && c != marlin)
{
Message(BOTH_ERROR_MESSAGE, "Attempt to emulate unsupported firmware.\n");
return;
}
if (c == reprapFirmware)
{
c = me;
}
if (c != nvData.compatibility)
{
nvData.compatibility = c;
if (autoSaveEnabled)
{
WriteNvData();
}
}
}
void Platform::UpdateNetworkAddress(byte dst[4], const byte src[4])
{
bool changed = false;
for (uint8_t i = 0; i < 4; i++)
{
if (dst[i] != src[i])
{
dst[i] = src[i];
changed = true;
}
}
if (changed && autoSaveEnabled)
{
WriteNvData();
}
}
void Platform::SetIPAddress(byte ip[])
{
UpdateNetworkAddress(nvData.ipAddress, ip);
}
void Platform::SetGateWay(byte gw[])
{
UpdateNetworkAddress(nvData.gateWay, gw);
}
void Platform::SetNetMask(byte nm[])
{
UpdateNetworkAddress(nvData.netMask, nm);
}
void Platform::Spin()
{
if (!active)
return;
if (debugCode == DiagnosticTest::TestSpinLockup)
{
for (;;) {}
}
line->Spin();
aux->Spin();
ClassReport(longWait);
}
void Platform::SoftwareReset(uint16_t reason)
{
if (reason != SoftwareResetReason::user)
{
if (line->inWrite)
{
reason |= SoftwareResetReason::inUsbOutput; // if we are resetting because we are stuck in a Spin function, record whether we are trying to send to USB
}
if (reprap.GetNetwork()->InLwip())
{
reason |= SoftwareResetReason::inLwipSpin;
}
if (aux->inWrite)
{
reason |= SoftwareResetReason::inAuxOutput; // if we are resetting because we are stuck in a Spin function, record whether we are trying to send to aux
}
}
reason |= reprap.GetSpinningModule();
// Record the reason for the software reset
SoftwareResetData temp;
temp.magic = SoftwareResetData::magicValue;
temp.resetReason = reason;
GetStackUsage(NULL, NULL, &temp.neverUsedRam);
// zpl fork usually includes the last-known message as it might provide debug info
if (reason != SoftwareResetReason::user)
{
strncpy(temp.lastMessage, messageString.Pointer(), sizeof(temp.lastMessage) - 1);
temp.lastMessage[sizeof(temp.lastMessage) - 1] = 0;
}
else
{
temp.lastMessage[0] = 0;
}
// Save diagnostics data to Flash and reset the software
DueFlashStorage::write(SoftwareResetData::nvAddress, &temp, sizeof(SoftwareResetData));
rstc_start_software_reset(RSTC);
for(;;) {}
}
//*****************************************************************************************************************
// Interrupts
void TC3_Handler()
{
TC_GetStatus(TC1, 0);
reprap.Interrupt();
}
void TC4_Handler()
{
TC_GetStatus(TC1, 1);
reprap.GetNetwork()->Interrupt();
}
void FanInterrupt()
{
++fanInterruptCount;
if (fanInterruptCount == fanMaxInterruptCount)
{
uint32_t now = micros();
fanInterval = now - fanLastResetTime;
fanLastResetTime = now;
fanInterruptCount = 0;
}
}
void Platform::InitialiseInterrupts()
{
// Timer interrupt for stepper motors
pmc_set_writeprotect(false);
pmc_enable_periph_clk((uint32_t) TC3_IRQn);
TC_Configure(TC1, 0, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK4);
TC1 ->TC_CHANNEL[0].TC_IER = TC_IER_CPCS;
TC1 ->TC_CHANNEL[0].TC_IDR = ~TC_IER_CPCS;
SetInterrupt(STANDBY_INTERRUPT_RATE);
// Timer interrupt to keep the networking timers running (called at 16Hz)
pmc_enable_periph_clk((uint32_t) TC4_IRQn);
TC_Configure(TC1, 1, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK2);
uint32_t rc = VARIANT_MCK/8/16; // 8 because we selected TIMER_CLOCK2 above
TC_SetRA(TC1, 1, rc/2); // 50% high, 50% low
TC_SetRC(TC1, 1, rc);
TC_Start(TC1, 1);
TC1 ->TC_CHANNEL[1].TC_IER = TC_IER_CPCS;
TC1 ->TC_CHANNEL[1].TC_IDR = ~TC_IER_CPCS;
NVIC_EnableIRQ(TC4_IRQn);
// Interrupt for 4-pin PWM fan sense line
attachInterrupt(coolingFanRpmPin, FanInterrupt, FALLING);
// Tick interrupt for ADC conversions
tickState = 0;
currentHeater = 0;
active = true; // this enables the tick interrupt, which keeps the watchdog happy
}
void Platform::SetInterrupt(float s) // Seconds
{
if (s <= 0.0)
{
//NVIC_DisableIRQ(TC3_IRQn);
Message(BOTH_ERROR_MESSAGE, "Negative interrupt!\n");
s = STANDBY_INTERRUPT_RATE;
}
uint32_t rc = (uint32_t)( (((long)(TIME_TO_REPRAP*s))*84l)/128l );
TC_SetRA(TC1, 0, rc/2); //50% high, 50% low
TC_SetRC(TC1, 0, rc);
TC_Start(TC1, 0);
NVIC_EnableIRQ(TC3_IRQn);
}
//void Platform::DisableInterrupts()
//{
// NVIC_DisableIRQ(TC3_IRQn);
/// NVIC_DisableIRQ(TC4_IRQn);
//}
// Process a 1ms tick interrupt
// This function must be kept fast so as not to disturb the stepper timing, so don't do any floating point maths in here.
// This is what we need to do:
// 0. Kick the watchdog.
// 1. Kick off a new ADC conversion.
// 2. Fetch and process the result of the last ADC conversion.
// 3a. If the last ADC conversion was for the Z probe, toggle the modulation output if using a modulated IR sensor.
// 3b. If the last ADC reading was a thermistor reading, check for an over-temperature situation and turn off the heater if necessary.
// We do this here because the usual polling loop sometimes gets stuck trying to send data to the USB port.
//#define TIME_TICK_ISR 1 // define this to store the tick ISR time in errorCodeBits
void Platform::Tick()
{
#ifdef TIME_TICK_ISR
uint32_t now = micros();
#endif
switch (tickState)
{
case 1: // last conversion started was a thermistor
case 3:
{
ThermistorAveragingFilter& currentFilter = const_cast<ThermistorAveragingFilter&>(thermistorFilters[currentHeater]);
currentFilter.ProcessReading(GetAdcReading(heaterAdcChannels[currentHeater]));
StartAdcConversion(zProbeAdcChannel);
if (currentFilter.IsValid())
{
uint32_t sum = currentFilter.GetSum();
if (sum < thermistorOverheatSums[currentHeater] || sum >= adDisconnectedReal * numThermistorReadingsAveraged)
{
// We have an over-temperature or bad reading from this thermistor, so turn off the heater
// NB - the SetHeater function we call does floating point maths, but this is an exceptional situation so we allow it
SetHeater(currentHeater, 0.0);
errorCodeBits |= ErrorBadTemp;
}
}
++currentHeater;
if (currentHeater == HEATERS)
{
currentHeater = 0;
}
}
++tickState;
break;
case 2: // last conversion started was the Z probe, with IR LED on
const_cast<ZProbeAveragingFilter&>(zProbeOnFilter).ProcessReading(GetAdcReading(zProbeAdcChannel));
StartAdcConversion(heaterAdcChannels[currentHeater]); // read a thermistor
if (nvData.zProbeType == 2) // if using a modulated IR sensor
{
digitalWrite(zProbeModulationPin, LOW); // turn off the IR emitter
}
++tickState;
break;
case 4: // last conversion started was the Z probe, with IR LED off if modulation is enabled
const_cast<ZProbeAveragingFilter&>(zProbeOffFilter).ProcessReading(GetAdcReading(zProbeAdcChannel));
// no break
case 0: // this is the state after initialisation, no conversion has been started
default:
{
StartAdcConversion(heaterAdcChannels[currentHeater]); // read a thermistor
if (nvData.zProbeType == 2) // if using a modulated IR sensor
{
digitalWrite(zProbeModulationPin, HIGH); // turn on the IR emitter
}
}
tickState = 1;
break;
}
#ifdef TIME_TICK_ISR
uint32_t now2 = micros();
if (now2 - now > errorCodeBits)
{
errorCodeBits = now2 - now;
}
#endif
}
/*static*/uint16_t Platform::GetAdcReading(adc_channel_num_t chan)
{
uint16_t rslt = (uint16_t) adc_get_channel_value(ADC, chan);
adc_disable_channel(ADC, chan);
return rslt;
}
/*static*/void Platform::StartAdcConversion(adc_channel_num_t chan)
{
adc_enable_channel(ADC, chan);
adc_start(ADC );
}
// Convert an Arduino Due pin number to the corresponding ADC channel number
/*static*/adc_channel_num_t Platform::PinToAdcChannel(int pin)
{
if (pin < A0)
{
pin += A0;
}
return (adc_channel_num_t) (int) g_APinDescription[pin].ulADCChannelNumber;
}
//*************************************************************************************************
// This diagnostics function is the first to be called, so it calls Message to start with.
// All other messages generated by this and other diagnostics functions must call AppendMessage.
void Platform::Diagnostics()
{
Message(BOTH_MESSAGE, "Platform Diagnostics:\n");
// Print memory stats and error codes to USB and copy them to the current webserver reply
const char *ramstart = (char *) 0x20070000;
const struct mallinfo mi = mallinfo();
AppendMessage(BOTH_MESSAGE, "Memory usage:\n");
AppendMessage(BOTH_MESSAGE, "Program static ram used: %d\n", &_end - ramstart);
AppendMessage(BOTH_MESSAGE, "Dynamic ram used: %d\n", mi.uordblks);
AppendMessage(BOTH_MESSAGE, "Recycled dynamic ram: %d\n", mi.fordblks);
size_t currentStack, maxStack, neverUsed;
GetStackUsage(¤tStack, &maxStack, &neverUsed);
AppendMessage(BOTH_MESSAGE, "Current stack ram used: %d\n", currentStack);
AppendMessage(BOTH_MESSAGE, "Maximum stack ram used: %d\n", maxStack);
AppendMessage(BOTH_MESSAGE, "Never used ram: %d\n", neverUsed);
// Show the up time and reason for the last reset
const uint32_t now = (uint32_t)Time(); // get up time in seconds
const char* resetReasons[8] = { "power up", "backup", "watchdog", "software", "external", "?", "?", "?" };
AppendMessage(BOTH_MESSAGE, "Last reset %02d:%02d:%02d ago, cause: %s\n",
(unsigned int)(now/3600), (unsigned int)((now % 3600)/60), (unsigned int)(now % 60),
resetReasons[(REG_RSTC_SR & RSTC_SR_RSTTYP_Msk) >> RSTC_SR_RSTTYP_Pos]);
// Show the error code stored at the last software reset
{
SoftwareResetData temp;
temp.magic = 0;
DueFlashStorage::read(SoftwareResetData::nvAddress, &temp, sizeof(SoftwareResetData));
if (temp.magic == SoftwareResetData::magicValue)
{
AppendMessage(BOTH_MESSAGE, "Last software reset code & available RAM: 0x%04x, %u\n", temp.resetReason, temp.neverUsedRam);
AppendMessage(BOTH_MESSAGE, "Spinning module during software reset: %s\n", moduleName[temp.resetReason & 0x0F]);
if (temp.lastMessage[0])
{
AppendMessage(BOTH_MESSAGE, "Last message before reset: %s", temp.lastMessage); // usually ends with NL
}
}
}
// Show the current error codes
AppendMessage(BOTH_MESSAGE, "Error status: %u\n", errorCodeBits);
// Show the current probe position heights
AppendMessage(BOTH_MESSAGE, "Bed probe heights:");
for (size_t i = 0; i < NUMBER_OF_PROBE_POINTS; ++i)
{
AppendMessage(BOTH_MESSAGE, " %.3f", reprap.GetMove()->ZBedProbePoint(i));
}
AppendMessage(BOTH_MESSAGE, "\n");
// Show the number of free entries in the file table
unsigned int numFreeFiles = 0;
for (size_t i = 0; i < MAX_FILES; i++)
{
if (!files[i]->inUse)
{
++numFreeFiles;
}
}
AppendMessage(BOTH_MESSAGE, "Free file entries: %u\n", numFreeFiles);
// Show the longest write time
AppendMessage(BOTH_MESSAGE, "Longest block write time: %.1fms\n", FileStore::GetAndClearLongestWriteTime());
reprap.Timing();
}
void Platform::DiagnosticTest(int d)
{
switch (d)
{
case DiagnosticTest::TestWatchdog:
SysTick ->CTRL &= ~(SysTick_CTRL_TICKINT_Msk); // disable the system tick interrupt so that we get a watchdog timeout reset
break;
case DiagnosticTest::TestSpinLockup:
debugCode = d; // tell the Spin function to loop
break;
case DiagnosticTest::TestSerialBlock: // write an arbitrary message via debugPrintf()