From 16f54c820007e03e8d29c99bf3d341be3a72a629 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Mon, 27 Mar 2023 20:22:44 -0400 Subject: [PATCH 01/40] stale-issue-bot: Update github lock-threads action to v4 Update to latest version in hopes it will reduce failure reports. Signed-off-by: Kevin O'Connor --- .github/workflows/stale-issue-bot.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/stale-issue-bot.yaml b/.github/workflows/stale-issue-bot.yaml index 3720e72cf4f6..b6369d8dced0 100644 --- a/.github/workflows/stale-issue-bot.yaml +++ b/.github/workflows/stale-issue-bot.yaml @@ -332,7 +332,7 @@ jobs: if: github.repository == 'Klipper3d/klipper' runs-on: ubuntu-latest steps: - - uses: dessant/lock-threads@v3 + - uses: dessant/lock-threads@v4 with: issue-inactive-days: '180' issue-lock-reason: '' From e93f39444c47e9a2ba7f3b7cfa942d9b87fd0a0b Mon Sep 17 00:00:00 2001 From: Chris Thompson Date: Mon, 27 Mar 2023 18:38:26 -0600 Subject: [PATCH 02/40] docs: Document how to connect ADXL345 to Pico then on to Pi. (#5996) This is based on documentation from: https://klipper.discourse.group/t/raspberry-pi-pico-adxl345-portable-resonance-measurement/1757 Signed-off-by: Christopher Thompson --- docs/Measuring_Resonances.md | 89 ++++++++++++++++++++++++- docs/img/adxl345-pico.png | Bin 0 -> 514492 bytes docs/img/flash_rp2040_FLASH_DEVICE.png | Bin 0 -> 17043 bytes docs/img/klipper_pico_menuconfig.png | Bin 0 -> 6030 bytes 4 files changed, 88 insertions(+), 1 deletion(-) create mode 100644 docs/img/adxl345-pico.png create mode 100644 docs/img/flash_rp2040_FLASH_DEVICE.png create mode 100644 docs/img/klipper_pico_menuconfig.png diff --git a/docs/Measuring_Resonances.md b/docs/Measuring_Resonances.md index 63b61394774d..d09c305433ba 100644 --- a/docs/Measuring_Resonances.md +++ b/docs/Measuring_Resonances.md @@ -39,6 +39,7 @@ SCLK+CS ##### ADXL345 +###### Direct to Raspberry Pi **Note: Many MCUs will work with an ADXL345 in SPI mode(eg Pi Pico), wiring and configuration will vary according to your specific board and available pins.** @@ -60,6 +61,31 @@ Fritzing wiring diagrams for some of the ADXL345 boards: ![ADXL345-Rpi](img/adxl345-fritzing.png) +###### Using Raspberry Pi Pico + +You may connect the ADXL345 to your Raspberry Pi Pico and then connect the +Pico to your Raspberry Pi via USB. This makes it easy to reuse the +accelerometer on other Klipper devices, as you can connect via USB instead +of GPIO. The Pico does not have much processing power, so make sure it is +only running the accelerometer and not performing any other duties. + +In order to avoid damage to your RPi make sure to connect the ADXL345 to 3.3V +only. Depending on the board's layout, a level shifter may be present, which +makes 5V dangerous for your RPi. + +| ADXL345 pin | Pico pin | Pico pin name | +|:--:|:--:|:--:| +| 3V3 (or VCC) | 36 | 3.3V DC power | +| GND | 38 | Ground | +| CS | 2 | GP1 (SPI0_CSn) | +| SDO | 1 | GP0 (SPI0_RX) | +| SDA | 5 | GP3 (SPI0_TX) | +| SCL | 4 | GP2 (SPI0_SCK) | + +Wiring diagrams for some of the ADXL345 boards: + +![ADXL345-Pico](img/adxl345-pico.png) + #### I2C Accelerometers Suggested twisted pair order: @@ -164,6 +190,65 @@ probe_points: It is advised to start with 1 probe point, in the middle of the print bed, slightly above it. +#### Configure ADXL345 With Pi Pico + +##### Flash the Pico Firmware + +On your Raspberry Pi, compile the firmware for the Pico. + +``` +cd ~/klipper +make clean +make menuconfig +``` +![Pico menuconfig](img/klipper_pico_menuconfig.png) + +Now, while holding down the `BOOTSEL` button on the Pico, connect the Pico to +the Raspberry Pi via USB. Compile and flash the firmware. +``` +make flash FLASH_DEVICE=first +``` + +If that fails, you will be told which `FLASH_DEVICE` to use. In this example, +that's ```make flash FLASH_DEVICE=2e8a:0003```. +![Determine flash device](img/flash_rp2040_FLASH_DEVICE.png) + +##### Configure the Connection + +The Pico will now reboot with the new firmware and should show up as a serial +device. Find the pico serial device with `ls /dev/serial/by-id/*`. You can +now add an `adxl.cfg` file with the following settings: + +``` +[mcu adxl] +# Change to whatever you found above. For example, +# usb-Klipper_rp2040_E661640843545B2E-if00 +serial: /dev/serial/by-id/usb-Klipper_rp2040_ + +[adxl345] +cs_pin: adxl:gpio1 +spi_bus: spi0a +axes_map: x,z,y + +[resonance_tester] +accel_chip: adxl345 +probe_points: + # Somewhere slightly above the middle of your print bed + 147,154, 20 + +[output_pin power_mode] # Improve power stability +pin: adxl:gpio23 +``` + +If setting up the ADXL345 configuration in a separate file, as shown above, +you'll also want to modify your `printer.cfg` file to include this: + +``` +[include adxl.cfg] # Comment this out when you disconnect the accelerometer +``` + +Restart Klipper via the `RESTART` command. + #### Configure MPU-6000/9000 series With RPi Make sure the Linux I2C driver is enabled and the baud rate is @@ -228,7 +313,9 @@ Recv: // adxl345 values (x, y, z): 470.719200, 941.438400, 9728.196800 ``` If you get an error like `Invalid adxl345 id (got xx vs e5)`, where `xx` -is some other ID, it is indicative of the connection problem with ADXL345, +is some other ID, immediately try again. There's an issue with SPI +initialization. If you still get an error, it is indicative of the connection +problem with ADXL345, or the faulty sensor. 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z&gLoC__)wqRJ&blP*&jE(Q{jWtsm>;>qBN7t!g;q)VzEcKG(?Hb`ricI^%SX<#cKW>vyTW3BdYGV4#AT_OZ z?cpX^YS#H(a;5*8KBMEoT(a7@3$YKS@!wjiG-I$2f>&Y)uhW~K^dQFjRbYuKu zH}1|Tw7W5vVa2KZpYenQ{){Z!x-#LoO$bDu4W+NurQ`lhPW&?Z`}&79+I-DMmt}7c z;A9k=_Ry;>!yeP+ojH*wldF8qhL3!DyEeN+&3>#h^MJ^{yQ$n*^uU!-dHGdqaw_}I zyG%d}V-FbtwE)FoW!+0Rm_xbAe zXRm+f!puWnw5B|JyfpHh_|m=b9642~7%YwQdd4-rOlftgDmRlh za$QY0m7bc#)k3s*2z1(;;2pCk=pVw((J?zfCdC4FwbaXc_!cD{fL;1C49^wu?`IVl z)?^fy9`sNMlH+Ip=Xt6w{H3H#JQue;gP$WT(%K2(D<^3EPZme*V11+~`1;~IRNvMQC!?b5eTp>!afJdY&qN>$YUJ1QfguAYY zq6J*LcpCwP-piQ-lk4dKzb`IYGYn^Rc(aI8p+>4uRsX;jr%~!$c1uA$Wx-UT7XE=3 uLHhXOcm)7nTs)=xzwjRn7A76fX---O_pI-&GhKiJ(ANe(ta;${^1lGFP~9{D literal 0 HcmV?d00001 From 1a2033aba88e59c59ca4527378344e3407f08fdf Mon Sep 17 00:00:00 2001 From: Jess Date: Mon, 27 Mar 2023 21:09:46 -0400 Subject: [PATCH 03/40] scripts: add install script for Ubuntu 22.04 Jammy (#6112) python-dev package is not available on Jammy; specifies python3-dev. Signed-off-by: Jess Sullivan --- scripts/install-ubuntu-22.04.sh | 102 ++++++++++++++++++++++++++++++++ 1 file changed, 102 insertions(+) create mode 100644 scripts/install-ubuntu-22.04.sh diff --git a/scripts/install-ubuntu-22.04.sh b/scripts/install-ubuntu-22.04.sh new file mode 100644 index 000000000000..e2b9580f5b05 --- /dev/null +++ b/scripts/install-ubuntu-22.04.sh @@ -0,0 +1,102 @@ +#!/bin/bash +# This script installs Klipper on an Ubuntu 22.04 ("Jammy") machine + +PYTHONDIR="${HOME}/klippy-env" +SYSTEMDDIR="/etc/systemd/system" +KLIPPER_USER=$USER +KLIPPER_GROUP=$KLIPPER_USER + +# Step 1: Install system packages +install_packages() +{ + # Packages for python cffi + PKGLIST="virtualenv python3-dev libffi-dev build-essential" + # kconfig requirements + PKGLIST="${PKGLIST} libncurses-dev" + # hub-ctrl + PKGLIST="${PKGLIST} libusb-dev" + # AVR chip installation and building + PKGLIST="${PKGLIST} avrdude gcc-avr binutils-avr avr-libc" + # ARM chip installation and building + PKGLIST="${PKGLIST} stm32flash dfu-util libnewlib-arm-none-eabi" + PKGLIST="${PKGLIST} gcc-arm-none-eabi binutils-arm-none-eabi libusb-1.0" + + # Update system package info + report_status "Running apt-get update..." + sudo apt-get update + + # Install desired packages + report_status "Installing packages..." + sudo apt-get install --yes ${PKGLIST} +} + +# Step 2: Create python virtual environment +create_virtualenv() +{ + report_status "Updating python virtual environment..." + + # Create virtualenv if it doesn't already exist + [ ! -d ${PYTHONDIR} ] && virtualenv -p python3 ${PYTHONDIR} + + # Install/update dependencies + ${PYTHONDIR}/bin/pip install -r ${SRCDIR}/scripts/klippy-requirements.txt +} + +# Step 3: Install startup script +install_script() +{ +# Create systemd service file + KLIPPER_LOG=/tmp/klippy.log + report_status "Installing system start script..." + sudo /bin/sh -c "cat > $SYSTEMDDIR/klipper.service" << EOF +#Systemd service file for klipper +[Unit] +Description=Starts klipper on startup +After=network.target + +[Install] +WantedBy=multi-user.target + +[Service] +Type=simple +User=$KLIPPER_USER +RemainAfterExit=yes +ExecStart=${PYTHONDIR}/bin/python ${SRCDIR}/klippy/klippy.py ${HOME}/printer.cfg -l ${KLIPPER_LOG} +EOF +# Use systemctl to enable the klipper systemd service script + sudo systemctl enable klipper.service +} + +# Step 4: Start host software +start_software() +{ + report_status "Launching Klipper host software..." + sudo systemctl start klipper +} + +# Helper functions +report_status() +{ + echo -e "\n\n###### $1" +} + +verify_ready() +{ + if [ "$EUID" -eq 0 ]; then + echo "This script must not run as root" + exit -1 + fi +} + +# Force script to exit if an error occurs +set -e + +# Find SRCDIR from the pathname of this script +SRCDIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )"/.. && pwd )" + +# Run installation steps defined above +verify_ready +install_packages +create_virtualenv +install_script +start_software From 346e3901f6076987bdb8a6ec391f00f07e5c45e2 Mon Sep 17 00:00:00 2001 From: BIGTREETECH <38851044+bigtreetech@users.noreply.github.com> Date: Tue, 28 Mar 2023 09:18:06 +0800 Subject: [PATCH 04/40] tmc: Enable sg_angle_offset for smooth switching from Stealthchop to Spreadcycle (#6123) Signed-off-by: Alan.Ma from BigTreeTech --- docs/Config_Reference.md | 1 + klippy/extras/tmc2240.py | 2 ++ 2 files changed, 3 insertions(+) diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md index 4e6488476149..a3c1e3145e5d 100644 --- a/docs/Config_Reference.md +++ b/docs/Config_Reference.md @@ -3410,6 +3410,7 @@ run_current: #driver_SEDN: 0 #driver_SEIMIN: 0 #driver_SFILT: 0 +#driver_SG4_ANGLE_OFFSET: 1 # Set the given register during the configuration of the TMC2240 # chip. This may be used to set custom motor parameters. The # defaults for each parameter are next to the parameter name in the diff --git a/klippy/extras/tmc2240.py b/klippy/extras/tmc2240.py index 1bc4c1ca8a3a..45482509915a 100644 --- a/klippy/extras/tmc2240.py +++ b/klippy/extras/tmc2240.py @@ -394,6 +394,8 @@ def __init__(self, config): set_config_field(config, "pwm_lim", 12) # TPOWERDOWN set_config_field(config, "tpowerdown", 10) + # SG4_THRS + set_config_field(config, "sg4_angle_offset", 1) def load_config_prefix(config): return TMC2240(config) From d518152ab27637c306eb1a275c5211e5fd5d2a2a Mon Sep 17 00:00:00 2001 From: BIGTREETECH <38851044+bigtreetech@users.noreply.github.com> Date: Tue, 28 Mar 2023 09:32:42 +0800 Subject: [PATCH 05/40] stm32: Enable I2C on stm32h7 (#6130) Signed-off-by: Alan.Ma from BigTreeTech --- src/stm32/Kconfig | 2 +- src/stm32/Makefile | 1 + src/stm32/stm32f0_i2c.c | 11 +++++++++++ 3 files changed, 13 insertions(+), 1 deletion(-) diff --git a/src/stm32/Kconfig b/src/stm32/Kconfig index 50db29d2536d..94384ec39c4d 100644 --- a/src/stm32/Kconfig +++ b/src/stm32/Kconfig @@ -7,7 +7,7 @@ config STM32_SELECT default y select HAVE_GPIO select HAVE_GPIO_ADC - select HAVE_GPIO_I2C if !(MACH_STM32F031 || MACH_STM32H7) + select HAVE_GPIO_I2C if !(MACH_STM32F031) select HAVE_GPIO_SPI if !MACH_STM32F031 select HAVE_GPIO_SDIO if MACH_STM32F4 select HAVE_GPIO_HARD_PWM if MACH_STM32F1 || MACH_STM32F4 || MACH_STM32G0 || MACH_STM32H7 diff --git a/src/stm32/Makefile b/src/stm32/Makefile index 390ad8d5ea64..fac9ed4aeb2a 100644 --- a/src/stm32/Makefile +++ b/src/stm32/Makefile @@ -57,6 +57,7 @@ src-$(CONFIG_MACH_STM32G4) += stm32/stm32f0_i2c.c src-$(CONFIG_MACH_STM32H7) += ../lib/stm32h7/system_stm32h7xx.c src-$(CONFIG_MACH_STM32H7) += stm32/stm32h7.c generic/armcm_timer.c src-$(CONFIG_MACH_STM32H7) += stm32/gpioperiph.c stm32/stm32h7_adc.c +src-$(CONFIG_MACH_STM32H7) += stm32/stm32f0_i2c.c src-$(CONFIG_MACH_STM32L4) += ../lib/stm32l4/system_stm32l4xx.c src-$(CONFIG_MACH_STM32L4) += stm32/stm32l4.c generic/armcm_timer.c src-$(CONFIG_MACH_STM32L4) += stm32/gpioperiph.c diff --git a/src/stm32/stm32f0_i2c.c b/src/stm32/stm32f0_i2c.c index a37306e8c3d8..48c3ae3e7747 100644 --- a/src/stm32/stm32f0_i2c.c +++ b/src/stm32/stm32f0_i2c.c @@ -72,6 +72,13 @@ struct i2c_info { DECL_CONSTANT_STR("BUS_PINS_i2c3_PC8_PC9", "PC8,PC9"); DECL_ENUMERATION("i2c_bus", "i2c3_PC8_PC11", 7); DECL_CONSTANT_STR("BUS_PINS_i2c3_PC8_PC11", "PC8,PC11"); +#elif CONFIG_MACH_STM32H7 + DECL_ENUMERATION("i2c_bus", "i2c1_PB6_PB7", 0); + DECL_CONSTANT_STR("BUS_PINS_i2c1_PB6_PB7", "PB6,PB7"); + DECL_ENUMERATION("i2c_bus", "i2c1_PB8_PB9", 1); + DECL_CONSTANT_STR("BUS_PINS_i2c1_PB8_PB9", "PB8,PB9"); + DECL_ENUMERATION("i2c_bus", "i2c2_PB10_PB11", 2); + DECL_CONSTANT_STR("BUS_PINS_i2c2_PB10_PB11", "PB10,PB11"); #endif static const struct i2c_info i2c_bus[] = { @@ -104,6 +111,10 @@ static const struct i2c_info i2c_bus[] = { { I2C2, GPIO('C', 4), GPIO('F', 0), GPIO_FUNCTION(4) }, { I2C3, GPIO('C', 8), GPIO('C', 9), GPIO_FUNCTION(8) }, { I2C3, GPIO('C', 8), GPIO('C', 11), GPIO_FUNCTION(8) }, +#elif CONFIG_MACH_STM32H7 + { I2C1, GPIO('B', 6), GPIO('B', 7), GPIO_FUNCTION(4) }, + { I2C1, GPIO('B', 8), GPIO('B', 9), GPIO_FUNCTION(4) }, + { I2C2, GPIO('B', 10), GPIO('B', 11), GPIO_FUNCTION(4) }, #endif }; From 4026365270daa8ba26c52eef01ecd0156626bfb2 Mon Sep 17 00:00:00 2001 From: "Dr. Matthew Swabey" Date: Mon, 27 Mar 2023 21:34:24 -0400 Subject: [PATCH 06/40] linux: Lock Memory and Increase Priority (#6131) Realtime programming best practice is to lock realtime code memory to prevent paging which will lead to unbounded latencies. The Linux MCU process has well bounded memory and small RAM footprint so locking the entire process' RAM has no downsides and will improve behavior when the system comes under memory pressure. (See bootlin training and Linux Foundation documentation linked below.) RT process priority ranges from 0-99 (although POSIX only requires 32), boost MCU process priority to half the max/2 to improve robustness when the system comes under pressure from other RT Kernel or user processes. Reference links: bootlin: https://bootlin.com/doc/training/preempt-rt/preempt-rt-slides.pdf Linux Foundation: https://wiki.linuxfoundation.org/realtime/documentation/howto/applications/application_base#howto_build_a_simple_rt_application Signed-off-by: Matthew Swabey --- src/linux/main.c | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/src/linux/main.c b/src/linux/main.c index c8cb3dfd46d3..f9ea3f6daaa8 100644 --- a/src/linux/main.c +++ b/src/linux/main.c @@ -4,10 +4,11 @@ // // This file may be distributed under the terms of the GNU GPLv3 license. -#include // sched_setscheduler +#include // sched_setscheduler sched_get_priority_max #include // fprintf #include // memset #include // getopt +#include // mlockall MCL_CURRENT MCL_FUTURE #include "board/misc.h" // console_sendf #include "command.h" // DECL_CONSTANT #include "internal.h" // console_setup @@ -25,12 +26,18 @@ realtime_setup(void) { struct sched_param sp; memset(&sp, 0, sizeof(sp)); - sp.sched_priority = 1; + sp.sched_priority = sched_get_priority_max(SCHED_FIFO) / 2; int ret = sched_setscheduler(0, SCHED_FIFO, &sp); if (ret < 0) { report_errno("sched_setscheduler", ret); return -1; } + // Lock ourselves into memory + ret = mlockall(MCL_CURRENT | MCL_FUTURE); + if (ret) { + report_errno("mlockall", ret); + return -1; + } return 0; } From d8a9ab5ef7b41feed0d5059693391fed8553a66b Mon Sep 17 00:00:00 2001 From: bbro44 <83624257+bbro44@users.noreply.github.com> Date: Wed, 29 Mar 2023 08:53:54 -0500 Subject: [PATCH 07/40] config: Add Ratrig V-Minion (#6120) This adds support for the stock configuration of the V-Minion printer from Ratrig, based on the Octopus v1.1 (STM32F446) Signed-off-by: Benjamin Lesher --- config/printer-ratrig-v-minion-2021.cfg | 180 ++++++++++++++++++++++++ test/klippy/printers.test | 1 + 2 files changed, 181 insertions(+) create mode 100644 config/printer-ratrig-v-minion-2021.cfg diff --git a/config/printer-ratrig-v-minion-2021.cfg b/config/printer-ratrig-v-minion-2021.cfg new file mode 100644 index 000000000000..d50d6462f9fc --- /dev/null +++ b/config/printer-ratrig-v-minion-2021.cfg @@ -0,0 +1,180 @@ +# This file contains pin mappings for a full Ratrig V-Minion kit +# with an Octopus Pro v1.1 board. +# +# This will not work with RatOS +# +# To use this config, during "make menuconfig" select the STM32F446 +# with a "32KiB bootloader", USB (on PA11/PA12) communication, and +# a "12MHZ Crystal" +# +# Flash this firmware on the MCU by copying "out/klipper.bin" to an SD +# card and turning the printer on with the card inserted. The firmware +# filename must be named "firmware.bin" +# +# See docs/Config_Reference.md for a description of parameters. + +[stepper_x] +step_pin: PF13 +dir_pin: !PF12 +enable_pin: !PF14 +endstop_pin: ^PG6 +rotation_distance: 40 +microsteps: 64 +position_max: 180 +position_min: 0 +homing_speed: 60 +position_endstop: 0 + +[tmc2209 stepper_x] +uart_pin: PC4 +run_current: 0.8 +interpolate: false +stealthchop_threshold: 0 + +[stepper_y] +step_pin: PG0 +dir_pin: PG1 +enable_pin: !PF15 +endstop_pin: ^PG9 +rotation_distance: 40 +microsteps: 64 +position_max: 180 +position_min: 0 +homing_speed: 60 +position_endstop: 0 + +[tmc2209 stepper_y] +uart_pin: PD11 +run_current: 0.8 +interpolate: false +stealthchop_threshold: 0 + +[stepper_z] +step_pin: PC13 +dir_pin: !PF0 +enable_pin: !PF1 +endstop_pin: probe:z_virtual_endstop +rotation_distance: 4 +position_min: -5 +microsteps: 64 +position_max: 180 + +[tmc2209 stepper_z] +uart_pin: PE4 +run_current: 0.8 +interpolate: false +stealthchop_threshold: 0 + +[extruder] +rotation_distance: 5.57 +full_steps_per_rotation: 200 +filament_diameter: 1.750 +step_pin: PF11 +dir_pin: !PG3 +enable_pin: !PG5 +microsteps: 64 +nozzle_diameter: 0.4 +heater_pin: PA2 +sensor_type: Generic 3950 +sensor_pin: PF4 +control: pid +pid_Kp: 22.2 +pid_Ki: 1.08 +pid_Kd: 114 + +min_temp: 0 +max_temp: 290 + +[tmc2209 extruder] +uart_pin: PC6 +run_current: 0.70 +stealthchop_threshold: 0 +interpolate: False + +[probe] +pin: ^PB7 +x_offset: -24.0 +y_offset: -13.0 +z_offset: 0.0 +speed: 5 +samples: 2 +sample_retract_dist: 2 +lift_speed: 5.0 +samples_result: median +samples_tolerance: 0.02 +samples_tolerance_retries: 5 + +[bed_mesh] +speed: 300 +horizontal_move_z: 5 +mesh_min: 15,15 +mesh_max: 150,160 +probe_count: 5,5 +fade_start: 1.0 +fade_end: 10.0 +mesh_pps: 2,2 +algorithm: bicubic +bicubic_tension: .2 + +[screws_tilt_adjust] +screw1: 80, 108 +screw1_name: Left Screw +screw2: 155, 72 +screw2_name: Front Right Screw +screw3: 155, 147 +screw3_name: Rear Right Screw +horizontal_move_z: 10 +speed: 300 +screw_thread: CCW-M4 + +[safe_z_home] +home_xy_position: 90,90 +z_hop: 5 +speed: 300 + +[heater_bed] +heater_pin: PA1 +sensor_type: EPCOS 100K B57560G104F +sensor_pin: PF3 +control: pid +pid_kp: 54.027 +pid_ki: 0.770 +pid_kd: 948.182 +min_temp: 0 +max_temp: 120 + +[fan] +pin: PA8 +shutdown_speed: 0.0 + +[heater_fan hotend_cooling_fan] +pin: PE5 +fan_speed: 1.0 +heater: extruder +heater_temp: 50.0 + +[controller_fan controller_fan] +pin: PD12 +fan_speed: 1.0 +stepper: stepper_x, stepper_y, stepper_z + +[printer] +kinematics: cartesian +max_velocity: 500 +max_accel: 20000 +max_z_velocity: 15 +max_z_accel: 2000 + +[mcu] +serial: INSERTSERIALIDHERE + +[board_pins octopus_11_tmc2209] +aliases: +## Expansion ports + # EXP1 header + EXP1_1=PE8, EXP1_3=PE9, EXP1_5=PE12, EXP1_7=PE14, EXP1_9=, + EXP1_2=PE7, EXP1_4=PE10, EXP1_6=PE13, EXP1_8=PE15, EXP1_10=<5V>, + # EXP2 header + EXP2_1=PA6, EXP2_3=PB1, EXP2_5=PB2, EXP2_7=PC15, EXP2_9=, + EXP2_2=PA5, EXP2_4=PA4, EXP2_6=PA7, EXP2_8=, EXP2_10=PC5, + # Pins EXP2_1, EXP2_6, EXP2_2 are also MISO, MOSI, SCK of bus "spi2" diff --git a/test/klippy/printers.test b/test/klippy/printers.test index 75b0d7d960c0..22f2be38955c 100644 --- a/test/klippy/printers.test +++ b/test/klippy/printers.test @@ -229,6 +229,7 @@ CONFIG ../../config/generic-fysetc-s6.cfg CONFIG ../../config/generic-fysetc-s6-v2.cfg CONFIG ../../config/generic-fysetc-spider.cfg CONFIG ../../config/generic-mks-rumba32-v1.0.cfg +CONFIG ../../config/printer-ratrig-v-minion-2021.cfg # Printers using the stm32h723 DICTIONARY stm32h723.dict From 9fe3152e23e6637c549006165168a9b8545f3542 Mon Sep 17 00:00:00 2001 From: spinixguy Date: Wed, 29 Mar 2023 09:55:02 -0400 Subject: [PATCH 08/40] config: Add config printer-sovol-sv05-2022.cfg (#6122) Adding Sovol SV06 printer config Signed-off-by: Joseph Spainhour --- config/printer-sovol-sv05-2022.cfg | 144 +++++++++++++++++++++++++++++ test/klippy/printers.test | 1 + 2 files changed, 145 insertions(+) create mode 100644 config/printer-sovol-sv05-2022.cfg diff --git a/config/printer-sovol-sv05-2022.cfg b/config/printer-sovol-sv05-2022.cfg new file mode 100644 index 000000000000..dafc6f3cf322 --- /dev/null +++ b/config/printer-sovol-sv05-2022.cfg @@ -0,0 +1,144 @@ +# This file contains pin mappings for the stock 2022 Sovol SV05 +# with the 32-bit Creality 4.2.2 board. +# +# To use this config, during "make menuconfig" select the STM32F103 +# with a "28KiB bootloader" and serial (on USART1 PA10/PA9) +# communication. +# +# Flash this firmware by copying "out/klipper.bin" to a SD card and +# turning on the printer with the card inserted. The firmware +# filename must end in ".bin" and must not match the last filename +# that was flashed. Might need a renaming if printer dosnt flash. + +# See docs/Config_Reference.md for a description of parameters. +[mcu] +serial: /dev/serial/by-id/usb-1a86_USB_Serial-if00-port0 +restart_method: command + +[printer] +kinematics: cartesian +max_velocity: 300 +max_accel: 1000 +max_accel_to_decel: 1000 +max_z_velocity: 5 +max_z_accel: 100 + +[stepper_x] +step_pin: PC2 +dir_pin: PB9 +enable_pin: !PC3 +microsteps: 16 +rotation_distance: 40 +endstop_pin: ^PA5 +position_endstop: 220 +position_max: 220 +homing_speed: 50 +position_min: -4 + +[stepper_y] +step_pin: PB8 +dir_pin: PB7 +enable_pin: !PC3 +microsteps: 16 +rotation_distance: 40 +endstop_pin: ^PA6 +position_endstop: 220 +position_max: 220 +position_min: -4 +homing_speed: 50 + +[stepper_z] +step_pin: PB6 +dir_pin: PB5 +enable_pin: !PC3 +microsteps: 16 +rotation_distance: 8 +endstop_pin: probe:z_virtual_endstop +position_max: 300 +position_min: -3 + +[heater_bed] +heater_pin: PA2 +sensor_type: EPCOS 100K B57560G104F +sensor_pin: PC4 +min_temp: 0 +max_temp: 130 +control: pid +pid_kp: 64.742 +pid_ki: 0.827 +pid_kd: 1267.326 + +[fan] +pin: PA0 + +[safe_z_home] +home_xy_position: 70, 103 +speed: 100 +z_hop: 10 +z_hop_speed: 20 + +[extruder] +step_pin: PB4 +dir_pin: PB3 +enable_pin: !PC3 +microsteps: 16 +rotation_distance: 7.394 +nozzle_diameter: 0.400 +filament_diameter: 1.750 +max_extrude_only_distance: 100.0 +heater_pin: PA1 +sensor_type: EPCOS 100K B57560G104F +sensor_pin: PC5 +min_temp: 0 +max_temp: 280 +control: pid +pid_kp: 28.850 +pid_ki: 1.658 +pid_kd: 125.496 + +[bltouch] +sensor_pin: ^PB1 +control_pin: PB0 +z_offset: 0 +x_offset: 40 +y_offset: 7 +samples: 2 +samples_tolerance: 0.015 +samples_tolerance_retries: 5 + +[bed_mesh] +speed: 100 +horizontal_move_z: 5 +mesh_min: 40, 7 +mesh_max: 220, 220 +probe_count: 5, 5 +algorithm: bicubic +fade_start: 1 +fade_end: 10 + +[bed_screws] +screw1: 25,28 +screw2: 195,28 +screw3: 195,197 +screw4: 25,197 + +[screws_tilt_adjust] +screw1: -4,21 +screw1_name: front left screw +screw2: 155,21 +screw2_name: front right screw +screw3: 155,190 +screw3_name: rear right screw +screw4: -4,190 +screw4_name: rear left screw +horizontal_move_z: 10 +speed: 50 +screw_thread: CW-M4 + +[display] +lcd_type: st7920 +cs_pin: PB12 +sclk_pin: PB13 +sid_pin: PB15 +encoder_pins: ^PB14, ^PB10 +click_pin: ^!PB2 diff --git a/test/klippy/printers.test b/test/klippy/printers.test index 22f2be38955c..1e4b0e675fea 100644 --- a/test/klippy/printers.test +++ b/test/klippy/printers.test @@ -154,6 +154,7 @@ CONFIG ../../config/generic-bigtreetech-skr-mini-e3-v2.0.cfg CONFIG ../../config/generic-bigtreetech-skr-mini-mz.cfg CONFIG ../../config/printer-anycubic-vyper-2021.cfg CONFIG ../../config/printer-monoprice-select-mini-v1-2016.cfg +CONFIG ../../config/printer-sovol-sv05-2022.cfg CONFIG ../../config/printer-sovol-sv06-2022.cfg CONFIG ../../config/printer-sunlu-t3-2022.cfg From 36e0afea2d7bd6243f58a4ae3b0a3a27551d5ecf Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Wed, 29 Mar 2023 14:19:26 -0400 Subject: [PATCH 09/40] config: Fix motor4 comment in manta m8p configs Reported by @jakep82. Signed-off-by: Kevin O'Connor --- config/generic-bigtreetech-manta-m8p-v1.0.cfg | 2 +- config/generic-bigtreetech-manta-m8p-v1.1.cfg | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/config/generic-bigtreetech-manta-m8p-v1.0.cfg b/config/generic-bigtreetech-manta-m8p-v1.0.cfg index 0ed4c9f0e8ae..2a801cded459 100644 --- a/config/generic-bigtreetech-manta-m8p-v1.0.cfg +++ b/config/generic-bigtreetech-manta-m8p-v1.0.cfg @@ -43,7 +43,7 @@ position_max: 270 #[stepper_] #step_pin: PD3 #dir_pin: PD2 -#enable_pin: PD5 +#enable_pin: !PD5 #endstop_pin: PC0 #... diff --git a/config/generic-bigtreetech-manta-m8p-v1.1.cfg b/config/generic-bigtreetech-manta-m8p-v1.1.cfg index 6a08145147fa..36ef710cde07 100644 --- a/config/generic-bigtreetech-manta-m8p-v1.1.cfg +++ b/config/generic-bigtreetech-manta-m8p-v1.1.cfg @@ -44,7 +44,7 @@ position_max: 270 #[stepper_] #step_pin: PD3 #dir_pin: PD2 -#enable_pin: PD5 +#enable_pin: !PD5 #endstop_pin: PC0 #... From c9731a6fe2968b5c1364d8cb602b6e2230f9a4eb Mon Sep 17 00:00:00 2001 From: Alex Voinea Date: Tue, 28 Mar 2023 09:44:51 +0200 Subject: [PATCH 10/40] tmc: DUMP_TMC optional REGISTER parameter Add an optional REGISTER parameter to DUMP_TMC so that the output is more filtered/cleaner for manual TMC calibration. Signed-off-by: Alex Voinea --- docs/G-Codes.md | 5 +++-- klippy/extras/tmc.py | 35 +++++++++++++++++++++++++---------- 2 files changed, 28 insertions(+), 12 deletions(-) diff --git a/docs/G-Codes.md b/docs/G-Codes.md index b28f8ab66985..ea1f2d735627 100644 --- a/docs/G-Codes.md +++ b/docs/G-Codes.md @@ -1219,8 +1219,9 @@ The following commands are available when any of the are enabled. #### DUMP_TMC -`DUMP_TMC STEPPER=`: This command will read the TMC driver -registers and report their values. +`DUMP_TMC STEPPER=` [REGISTER=]: This command will read all TMC +driver registers and report their values. If a REGISTER is provided, only +the specified register will be dumped. #### INIT_TMC `INIT_TMC STEPPER=`: This command will initialize the TMC diff --git a/klippy/extras/tmc.py b/klippy/extras/tmc.py index 36c27d5ce9ed..10a157691e50 100644 --- a/klippy/extras/tmc.py +++ b/klippy/extras/tmc.py @@ -413,17 +413,32 @@ def setup_register_dump(self, read_registers, read_translate=None): cmd_DUMP_TMC_help = "Read and display TMC stepper driver registers" def cmd_DUMP_TMC(self, gcmd): logging.info("DUMP_TMC %s", self.name) - print_time = self.printer.lookup_object('toolhead').get_last_move_time() - gcmd.respond_info("========== Write-only registers ==========") - for reg_name, val in self.fields.registers.items(): - if reg_name not in self.read_registers: + reg_name = gcmd.get('REGISTER', None) + if reg_name is not None: + reg_name = reg_name.upper() + val = self.fields.registers.get(reg_name) + if (val is not None) and (reg_name not in self.read_registers): + # write-only register + gcmd.respond_info(self.fields.pretty_format(reg_name, val)) + elif reg_name in self.read_registers: + # readable register + val = self.mcu_tmc.get_register(reg_name) + if self.read_translate is not None: + reg_name, val = self.read_translate(reg_name, val) + gcmd.respond_info(self.fields.pretty_format(reg_name, val)) + else: + raise gcmd.error("Unknown register name '%s'" % (reg_name)) + else: + gcmd.respond_info("========== Write-only registers ==========") + for reg_name, val in self.fields.registers.items(): + if reg_name not in self.read_registers: + gcmd.respond_info(self.fields.pretty_format(reg_name, val)) + gcmd.respond_info("========== Queried registers ==========") + for reg_name in self.read_registers: + val = self.mcu_tmc.get_register(reg_name) + if self.read_translate is not None: + reg_name, val = self.read_translate(reg_name, val) gcmd.respond_info(self.fields.pretty_format(reg_name, val)) - gcmd.respond_info("========== Queried registers ==========") - for reg_name in self.read_registers: - val = self.mcu_tmc.get_register(reg_name) - if self.read_translate is not None: - reg_name, val = self.read_translate(reg_name, val) - gcmd.respond_info(self.fields.pretty_format(reg_name, val)) ###################################################################### From fec7ddd8aefd9561fffd7f1ccecd7231002dc884 Mon Sep 17 00:00:00 2001 From: Alex Voinea Date: Thu, 30 Mar 2023 18:30:48 +0200 Subject: [PATCH 11/40] docs: Fix typo in docs (#6147) Signed-off-by: Alex Voinea --- docs/G-Codes.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/G-Codes.md b/docs/G-Codes.md index ea1f2d735627..d89c7df8cd72 100644 --- a/docs/G-Codes.md +++ b/docs/G-Codes.md @@ -1219,7 +1219,7 @@ The following commands are available when any of the are enabled. #### DUMP_TMC -`DUMP_TMC STEPPER=` [REGISTER=]: This command will read all TMC +`DUMP_TMC STEPPER= [REGISTER=]`: This command will read all TMC driver registers and report their values. If a REGISTER is provided, only the specified register will be dumped. From 27dab0ee517a6ab8197faa19e12c2911f67b712c Mon Sep 17 00:00:00 2001 From: "Dr. Matthew Swabey" Date: Fri, 7 Apr 2023 11:45:54 -0400 Subject: [PATCH 12/40] docs: Measuring_Resonances.md improved information on I2C accelerometers and AVR support (#6132) More information on I2C accelerometers. Added in table of MCUs with 400kbit/s I2C support Signed-off-by: Matthew Swabey --- docs/Measuring_Resonances.md | 205 ++++++++++++++++++++++++++++------- 1 file changed, 164 insertions(+), 41 deletions(-) diff --git a/docs/Measuring_Resonances.md b/docs/Measuring_Resonances.md index d09c305433ba..91d538a4eecd 100644 --- a/docs/Measuring_Resonances.md +++ b/docs/Measuring_Resonances.md @@ -1,35 +1,60 @@ # Measuring Resonances -Klipper has built-in support for ADXL345 accelerometer, which can be used to -measure resonance frequencies of the printer for different axes, and auto-tune -[input shapers](Resonance_Compensation.md) to compensate for resonances. -Note that using ADXL345 requires some soldering and crimping. ADXL345 can be -connected to a Raspberry Pi directly, or to an SPI interface of an MCU -board (it needs to be reasonably fast). - -When sourcing ADXL345, be aware that there is a variety of different PCB -board designs and different clones of them. Make sure that the board supports -SPI mode (small number of boards appear to be hard-configured for I2C by -pulling SDO to GND), and, if it is going to be connected to a 5V printer MCU, -that it has a voltage regulator and a level shifter. - +Klipper has built-in support for the ADXL345 and MPU-9250 compatible +accelerometers which can be used to measure resonance frequencies of the printer +for different axes, and auto-tune [input shapers](Resonance_Compensation.md) to +compensate for resonances. Note that using accelerometers requires some +soldering and crimping. The ADXL345 can be connected to the SPI interface of a +Raspberry Pi or MCU board (it needs to be reasonably fast). The MPU family can +be connected to the I2C interface of a Raspberry Pi directly, or to an I2C +interface of an MCU board that supports 400kbit/s *fast mode* in Klipper. + +When sourcing accelerometers, be aware that there are a variety of different PCB +board designs and different clones of them. If it is going to be connected to a +5V printer MCU ensure it has a voltage regulator and level shifters. + +For ADXL345s, make sure that the board supports SPI mode (a small number of +boards appear to be hard-configured for I2C by pulling SDO to GND). + +For MPU-9250/MPU-9255/MPU-6515/MPU-6050/MPU-6500s there are also a variety of +board designs and clones with different I2C pull-up resistors which will need +supplementing. + +## MCUs with Klipper I2C *fast-mode* Support + +| MCU Family | MCU(s) Tested | MCU(s) with Support | +|:--:|:--|:--| +| Raspberry Pi | 3B+, Pico | 3A, 3A+, 3B, 4 | +| AVR ATmega | ATmega328p | ATmega32u4, ATmega128, ATmega168, ATmega328, ATmega644p, ATmega1280, ATmega1284, ATmega2560 | +| AVR AT90 | - | AT90usb646, AT90usb1286 | ## Installation instructions ### Wiring An ethernet cable with shielded twisted pairs (cat5e or better) is recommended -for signal integrity over a long distance. If you still experience signal integrity -issues (SPI/I2C errors), shorten the cable. - -Connect ethernet cable shielding to the controller board/RPI ground. +for signal integrity over a long distance. If you still experience signal +integrity issues (SPI/I2C errors): + + * Double check the wiring with a digital multimeter for: + * Correct connections when turned off (continuity) + * Correct power and ground voltages + * I2C only: + * Check the SCL and SDA lines' resistances to 3.3V are in the range of 900 + ohms to 1.8K + * For full technical details consult [chapter 7 of the I2C-bus specification + and user manual UM10204](https://www.pololu.com/file/0J435/UM10204.pdf) + for *fast-mode* + * Shorten the cable + +Connect ethernet cable shielding only to the MCU board/Pi ground. ***Double-check your wiring before powering up to prevent damaging your MCU/Raspberry Pi or the accelerometer.*** -#### SPI Accelerometers +### SPI Accelerometers -Suggested twisted pair order: +Suggested twisted pair order for three twisted pairs: ``` GND+MISO @@ -37,12 +62,15 @@ GND+MISO SCLK+CS ``` -##### ADXL345 +Note that unlike a cable shield, GND must be connected at both ends. + +#### ADXL345 ###### Direct to Raspberry Pi -**Note: Many MCUs will work with an ADXL345 in SPI mode(eg Pi Pico), wiring and -configuration will vary according to your specific board and available pins.** +**Note: Many MCUs will work with an ADXL345 in SPI mode (e.g. Pi Pico), wiring +and configuration will vary according to your specific board and available +pins.** You need to connect ADXL345 to your Raspberry Pi via SPI. Note that the I2C connection, which is suggested by ADXL345 documentation, has too low throughput @@ -86,20 +114,56 @@ Wiring diagrams for some of the ADXL345 boards: ![ADXL345-Pico](img/adxl345-pico.png) -#### I2C Accelerometers +###### Using Raspberry Pi Pico + +You may connect the ADXL345 to your Raspberry Pi Pico and then connect the +Pico to your Raspberry Pi via USB. This makes it easy to reuse the +accelerometer on other Klipper devices, as you can connect via USB instead +of GPIO. The Pico does not have much processing power, so make sure it is +only running the accelerometer and not performing any other duties. + +In order to avoid damage to your RPi make sure to connect the ADXL345 to 3.3V +only. Depending on the board's layout, a level shifter may be present, which +makes 5V dangerous for your RPi. + +| ADXL345 pin | Pico pin | Pico pin name | +|:--:|:--:|:--:| +| 3V3 (or VCC) | 36 | 3.3V DC power | +| GND | 38 | Ground | +| CS | 2 | GP1 (SPI0_CSn) | +| SDO | 1 | GP0 (SPI0_RX) | +| SDA | 5 | GP3 (SPI0_TX) | +| SCL | 4 | GP2 (SPI0_SCK) | + +Wiring diagrams for some of the ADXL345 boards: + +![ADXL345-Pico](img/adxl345-pico.png) + +### I2C Accelerometers + +Suggested twisted pair order for three pairs (preferred): + +``` +3.3V+GND +SDA+GND +SCL+GND +``` -Suggested twisted pair order: +or for two pairs: ``` 3.3V+SDA GND+SCL ``` -##### MPU-9250/MPU-9255/MPU-6515/MPU-6050/MPU-6500 +Note that unlike a cable shield, any GND(s) should be connected at both ends. -Alternatives to the ADXL345 are MPU-9250/MPU-9255/MPU-6515/MPU-6050/MPU-6500. -These accelerometers have been tested to work over I2C on the RPi or RP2040(pico) -at 400kbaud. +#### MPU-9250/MPU-9255/MPU-6515/MPU-6050/MPU-6500 + +These accelerometers have been tested to work over I2C on the RPi, RP2040 (Pico) +and AVR at 400kbit/s (*fast mode*). Some MPU accelerometer modules include +pull-ups, but some are too large at 10K and must be changed or supplemented by +smaller parallel resistors. Recommended connection scheme for I2C on the Raspberry Pi: @@ -110,18 +174,34 @@ Recommended connection scheme for I2C on the Raspberry Pi: | SDA | 03 | GPIO02 (SDA1) | | SCL | 05 | GPIO03 (SCL1) | -![MPU-9250 connected to RPI](img/mpu9250-PI-fritzing.png) +The RPi has buit-in 1.8K pull-ups on both SCL and SDA. + +![MPU-9250 connected to Pi](img/mpu9250-PI-fritzing.png) -Recommended connection scheme for I2C(i2c0a) on the RP2040: +Recommended connection scheme for I2C (i2c0a) on the RP2040: -| MPU-9250 pin | RP2040 pin | RPi pin name | +| MPU-9250 pin | RP2040 pin | RP2040 pin name | |:--:|:--:|:--:| | VCC | 39 | 3v3 | | GND | 38 | Ground | | SDA | 01 | GP0 (I2C0 SDA) | | SCL | 02 | GP1 (I2C0 SCL) | -![MPU-9250 connected to PICO](img/mpu9250-PICO-fritzing.png) +The Pico does not include any built-in I2C pull-up resistors. + +![MPU-9250 connected to Pico](img/mpu9250-PICO-fritzing.png) + +##### Recommended connection scheme for I2C(TWI) on the AVR ATmega328P Arduino Nano: + +| MPU-9250 pin | Atmega328P TQFP32 pin | Atmega328P pin name | Arduino Nano pin | +|:--:|:--:|:--:|:--:| +| VCC | 39 | - | - | +| GND | 38 | Ground | GND | +| SDA | 27 | SDA | A4 | +| SCL | 28 | SCL | A5 | + +The Arduino Nano does not include any built-in pull-up resistors nor a 3.3V +power pin. ### Mounting the accelerometer @@ -269,14 +349,14 @@ probe_points: 100, 100, 20 # an example ``` -#### Configure MPU-6000/9000 series With PICO +#### Configure MPU-9520 Compatibles With Pico -PICO I2C is set to 400000 on default. Simply add the following to the +Pico I2C is set to 400000 on default. Simply add the following to the printer.cfg: ``` [mcu pico] -serial: /dev/serial/by-id/ +serial: /dev/serial/by-id/ [mpu9250] i2c_mcu: pico @@ -291,6 +371,24 @@ probe_points: pin: pico:gpio23 ``` +#### Configure MPU-9520 Compatibles with AVR + +AVR I2C will be set to 400000 by the mpu9250 option. Simply add the following +to the printer.cfg: + +``` +[mcu nano] +serial: /dev/serial/by-id/ + +[mpu9250] +i2c_mcu: nano + +[resonance_tester] +accel_chip: mpu9250 +probe_points: + 100, 100, 20 # an example +``` + Restart Klipper via the `RESTART` command. ## Measuring the resonances @@ -319,8 +417,8 @@ problem with ADXL345, or the faulty sensor. Double-check the power, the wiring (that it matches the schematics, no wire is broken or loose, etc.), and soldering quality. -**If you are using MPU-6000/9000 series accelerometer and it show up as `mpu-unknown`, use with -caution! They are probably refurbished chips!** +**If you are using a MPU-9250 compatible accelerometer and it shows up as +`mpu-unknown`, use with caution! They are probably refurbished chips!** Next, try running `MEASURE_AXES_NOISE` in Octoprint, you should get some baseline numbers for the noise of accelerometer on the axes (should be @@ -409,10 +507,11 @@ of the accelerometer between the measurements for X and Y axes: measure the resonances of X axis with the accelerometer attached to the toolhead and the resonances of Y axis - to the bed (the usual bed slinger setup). -However, you can also connect two accelerometers simultaneously, though they -must be connected to different boards (say, to an RPi and printer MCU board), or -to two different physical SPI interfaces on the same board (rarely available). -Then they can be configured in the following manner: +However, you can also connect two accelerometers simultaneously, though the +ADXL345 must be connected to different boards (say, to an RPi and printer MCU +board), or to two different physical SPI interfaces on the same board (rarely +available). Then they can be configured in the following manner: + ``` [adxl345 hotend] # Assuming `hotend` chip is connected to an RPi @@ -429,6 +528,30 @@ accel_chip_y: adxl345 bed probe_points: ... ``` +Two MPUs can share one I2C bus, but they **cannot** measure simultaneously as +the 400kbit/s I2C bus is not fast enough. One must have its AD0 pin pulled-down +to 0V (address 104) and the other its AD0 pin pulled-up to 3.3V (address 105): + +``` +[mpu9250 hotend] +i2c_mcu: rpi +i2c_bus: i2c.1 +i2c_address: 104 # This MPU has pin AD0 pulled low + +[mpu9250 bed] +i2c_mcu: rpi +i2c_bus: i2c.1 +i2c_address: 105 # This MPU has pin AD0 pulled high + +[resonance_tester] +# Assuming the typical setup of the bed slinger printer +accel_chip_x: mpu9250 hotend +accel_chip_y: mpu9250 bed +probe_points: ... +``` +[Test with each MPU individually before connecting both to the bus for easy +debugging.] + Then the commands `TEST_RESONANCES AXIS=X` and `TEST_RESONANCES AXIS=Y` will use the correct accelerometer for each axis. From 23e82d37f14b79a164234361a01b893443b5a34d Mon Sep 17 00:00:00 2001 From: Alexey Date: Fri, 7 Apr 2023 19:20:14 +0300 Subject: [PATCH 13/40] stm32: Add support for Nation N32G45x mcus (#6116) N32G452/G455 are mostly compatible with STM32F103 but have M4 core and different ADC. Signed-off-by: Alexey Golyshin --- config/printer-voxelab-aquila-2021.cfg | 83 +++++++ lib/README | 4 + lib/n32g45x/include/n32g45x_adc.h | 331 +++++++++++++++++++++++++ lib/n32g45x/n32g45x_adc.c | 211 ++++++++++++++++ src/stm32/Kconfig | 23 +- src/stm32/Makefile | 13 +- src/stm32/hard_pwm.c | 2 +- src/stm32/n32g45x_adc.c | 185 ++++++++++++++ src/stm32/usbfs.c | 2 +- test/klippy/printers.test | 1 + 10 files changed, 845 insertions(+), 10 deletions(-) create mode 100644 config/printer-voxelab-aquila-2021.cfg create mode 100644 lib/n32g45x/include/n32g45x_adc.h create mode 100644 lib/n32g45x/n32g45x_adc.c create mode 100644 src/stm32/n32g45x_adc.c diff --git a/config/printer-voxelab-aquila-2021.cfg b/config/printer-voxelab-aquila-2021.cfg new file mode 100644 index 000000000000..892e32e633e6 --- /dev/null +++ b/config/printer-voxelab-aquila-2021.cfg @@ -0,0 +1,83 @@ +# This file contains pin mappings for the Voxelab Aquila +# with the FFP0173 1.0.1 mainboard. To use this config, during +# "make menuconfig" select the STM32F103 for STM32/G32, or +# Nation N32G452 for N32 version, 28KB boot, serial PA9/PA10. +# See docs/Config_Reference.md for a description of parameters. + +[stepper_x] +step_pin: PC2 +dir_pin: PB9 +enable_pin: !PC3 +microsteps: 16 +rotation_distance: 40 +endstop_pin: ^PA5 +position_endstop: 0 +position_max: 235 +homing_speed: 50 + +[stepper_y] +step_pin: PB8 +dir_pin: PB7 +enable_pin: !PC3 +microsteps: 16 +rotation_distance: 40 +endstop_pin: ^PA6 +position_endstop: 0 +position_max: 235 +homing_speed: 50 + +[stepper_z] +step_pin: PB6 +dir_pin: !PB5 +enable_pin: !PC3 +microsteps: 16 +rotation_distance: 8 +endstop_pin: ^PA7 +position_endstop: 0.0 +position_max: 250 + +[extruder] +max_extrude_only_distance: 100.0 +step_pin: PB4 +dir_pin: PB3 +enable_pin: !PC3 +microsteps: 16 +rotation_distance: 34.406 +nozzle_diameter: 0.400 +filament_diameter: 1.750 +heater_pin: PA1 +sensor_type: EPCOS 100K B57560G104F +sensor_pin: PC5 +control: pid +# tuned for stock hardware with 200 degree Celsius target +pid_Kp: 21.527 +pid_Ki: 1.063 +pid_Kd: 108.982 +min_temp: 0 +max_temp: 250 + +[heater_bed] +heater_pin: PA2 +sensor_type: EPCOS 100K B57560G104F +sensor_pin: PC4 +control: pid +# tuned for stock hardware with 50 degree Celsius target +pid_Kp: 54.027 +pid_Ki: 0.770 +pid_Kd: 948.182 +min_temp: 0 +max_temp: 130 + +[fan] +pin: PA0 + +[mcu] +serial: /dev/serial/by-id/usb-1a86_USB_Serial-if00-port0 +restart_method: command + +[printer] +kinematics: cartesian +max_velocity: 300 +max_accel: 3000 +max_z_velocity: 5 +max_z_accel: 100 diff --git a/lib/README b/lib/README index 848cd03999c9..84bfcb56f020 100644 --- a/lib/README +++ b/lib/README @@ -160,3 +160,7 @@ revision 177b0073fe6f19281ee7f7fdbe9599e32d1b4b8b. The Huada HC32F460 directory contains code from: https://www.hdsc.com.cn/Category83-1490 version 2.2 DDL minus example directory, empty/extra files + +The n32g45x directory contains parts of code from: + https://github.com/RT-Thread/rt-thread/tree/master/bsp/n32g452xx/Libraries/N32_Std_Driver +version v1.0.1 (77638c17877c4b6b0b81e189a36bb08b3384923b) diff --git a/lib/n32g45x/include/n32g45x_adc.h b/lib/n32g45x/include/n32g45x_adc.h new file mode 100644 index 000000000000..ab929feb83bb --- /dev/null +++ b/lib/n32g45x/include/n32g45x_adc.h @@ -0,0 +1,331 @@ +/***************************************************************************** + * Copyright (c) 2019, Nations Technologies Inc. + * + * 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 disclaimer below. + * + * Nations' name may not be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * DISCLAIMER: THIS SOFTWARE IS PROVIDED BY NATIONS "AS IS" AND ANY EXPRESS OR + * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE + * DISCLAIMED. IN NO EVENT SHALL NATIONS 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. + * ****************************************************************************/ + +#ifndef ____N32G45x_ADC____ +#define ____N32G45x_ADC____ + +#define __IO volatile + +typedef struct +{ + uint32_t WorkMode; + uint32_t MultiChEn; + uint32_t ContinueConvEn; + uint32_t ExtTrigSelect; + uint32_t DatAlign; + uint8_t ChsNumber; +} ADC_InitType; + +typedef struct +{ + __IO uint32_t STS; + __IO uint32_t CTRL1; + __IO uint32_t CTRL2; + __IO uint32_t SAMPT1; + __IO uint32_t SAMPT2; + __IO uint32_t JOFFSET1; + __IO uint32_t JOFFSET2; + __IO uint32_t JOFFSET3; + __IO uint32_t JOFFSET4; + __IO uint32_t WDGHIGH; + __IO uint32_t WDGLOW; + __IO uint32_t RSEQ1; + __IO uint32_t RSEQ2; + __IO uint32_t RSEQ3; + __IO uint32_t JSEQ; + __IO uint32_t JDAT1; + __IO uint32_t JDAT2; + __IO uint32_t JDAT3; + __IO uint32_t JDAT4; + __IO uint32_t DAT; + __IO uint32_t DIFSEL; + __IO uint32_t CALFACT; + __IO uint32_t CTRL3; + __IO uint32_t SAMPT3; +} ADC_Module; + +#define NS_ADC1_BASE ((uint32_t)0x40020800) +#define NS_ADC2_BASE ((uint32_t)0x40020c00) +#define NS_ADC3_BASE ((uint32_t)0x40021800) +#define NS_ADC4_BASE ((uint32_t)0x40021c00) + +#define NS_ADC1 ((ADC_Module *)NS_ADC1_BASE) +#define NS_ADC2 ((ADC_Module *)NS_ADC2_BASE) +#define NS_ADC3 ((ADC_Module *)NS_ADC3_BASE) +#define NS_ADC4 ((ADC_Module *)NS_ADC4_BASE) + +#define ADC_RCC_BASE ((uint32_t)0x40021000) +#define ADC_RCC_CTRL *((uint32_t *)(ADC_RCC_BASE + 0x00)) +#define ADC_RCC_CFG *((uint32_t *)(ADC_RCC_BASE + 0x04)) +#define ADC_RCC_CLKINT *((uint32_t *)(ADC_RCC_BASE + 0x08)) +#define ADC_RCC_APB2PRST *((uint32_t *)(ADC_RCC_BASE + 0x0c)) +#define ADC_RCC_APB1PRST *((uint32_t *)(ADC_RCC_BASE + 0x10)) +#define ADC_RCC_AHBPCLKEN *((uint32_t *)(ADC_RCC_BASE + 0x14)) +#define ADC_RCC_APB2PCLKEN *((uint32_t *)(ADC_RCC_BASE + 0x18)) +#define ADC_RCC_APB1PCLKEN *((uint32_t *)(ADC_RCC_BASE + 0x1c)) +#define ADC_RCC_BDCTRL *((uint32_t *)(ADC_RCC_BASE + 0x20)) +#define ADC_RCC_CTRLSTS *((uint32_t *)(ADC_RCC_BASE + 0x24)) +#define ADC_RCC_AHBPRST *((uint32_t *)(ADC_RCC_BASE + 0x28)) +#define ADC_RCC_CFG2 *((uint32_t *)(ADC_RCC_BASE + 0x2c)) +#define ADC_RCC_CFG3 *((uint32_t *)(ADC_RCC_BASE + 0x30)) + +/* CFG2 register bit mask */ +#define CFG2_TIM18CLKSEL_SET_MASK ((uint32_t)0x20000000) +#define CFG2_TIM18CLKSEL_RESET_MASK ((uint32_t)0xDFFFFFFF) +#define CFG2_RNGCPRES_SET_MASK ((uint32_t)0x1F000000) +#define CFG2_RNGCPRES_RESET_MASK ((uint32_t)0xE0FFFFFF) +#define CFG2_ADC1MSEL_SET_MASK ((uint32_t)0x00000400) +#define CFG2_ADC1MSEL_RESET_MASK ((uint32_t)0xFFFFFBFF) +#define CFG2_ADC1MPRES_SET_MASK ((uint32_t)0x0000F800) +#define CFG2_ADC1MPRES_RESET_MASK ((uint32_t)0xFFFF07FF) +#define CFG2_ADCPLLPRES_SET_MASK ((uint32_t)0x000001F0) +#define CFG2_ADCPLLPRES_RESET_MASK ((uint32_t)0xFFFFFE0F) +#define CFG2_ADCHPRES_SET_MASK ((uint32_t)0x0000000F) +#define CFG2_ADCHPRES_RESET_MASK ((uint32_t)0xFFFFFFF0) + +#define RCC_ADCPLLCLK_DISABLE ((uint32_t)0xFFFFFEFF) +#define RCC_ADCPLLCLK_DIV1 ((uint32_t)0x00000100) +#define RCC_ADCPLLCLK_DIV2 ((uint32_t)0x00000110) +#define RCC_ADCPLLCLK_DIV4 ((uint32_t)0x00000120) +#define RCC_ADCPLLCLK_DIV6 ((uint32_t)0x00000130) +#define RCC_ADCPLLCLK_DIV8 ((uint32_t)0x00000140) +#define RCC_ADCPLLCLK_DIV10 ((uint32_t)0x00000150) +#define RCC_ADCPLLCLK_DIV12 ((uint32_t)0x00000160) +#define RCC_ADCPLLCLK_DIV16 ((uint32_t)0x00000170) +#define RCC_ADCPLLCLK_DIV32 ((uint32_t)0x00000180) +#define RCC_ADCPLLCLK_DIV64 ((uint32_t)0x00000190) +#define RCC_ADCPLLCLK_DIV128 ((uint32_t)0x000001A0) +#define RCC_ADCPLLCLK_DIV256 ((uint32_t)0x000001B0) +#define RCC_ADCPLLCLK_DIV_OTHERS ((uint32_t)0x000001C0) + +#define RCC_ADCHCLK_DIV1 ((uint32_t)0x00000000) +#define RCC_ADCHCLK_DIV2 ((uint32_t)0x00000001) +#define RCC_ADCHCLK_DIV4 ((uint32_t)0x00000002) +#define RCC_ADCHCLK_DIV6 ((uint32_t)0x00000003) +#define RCC_ADCHCLK_DIV8 ((uint32_t)0x00000004) +#define RCC_ADCHCLK_DIV10 ((uint32_t)0x00000005) +#define RCC_ADCHCLK_DIV12 ((uint32_t)0x00000006) +#define RCC_ADCHCLK_DIV16 ((uint32_t)0x00000007) +#define RCC_ADCHCLK_DIV32 ((uint32_t)0x00000008) +#define RCC_ADCHCLK_DIV_OTHERS ((uint32_t)0x00000008) + +#define RCC_ADC1MCLK_SRC_HSI ((uint32_t)0x00000000) +#define RCC_ADC1MCLK_SRC_HSE ((uint32_t)0x00000400) + +#define RCC_ADC1MCLK_DIV1 ((uint32_t)0x00000000) +#define RCC_ADC1MCLK_DIV2 ((uint32_t)0x00000800) +#define RCC_ADC1MCLK_DIV3 ((uint32_t)0x00001000) +#define RCC_ADC1MCLK_DIV4 ((uint32_t)0x00001800) +#define RCC_ADC1MCLK_DIV5 ((uint32_t)0x00002000) +#define RCC_ADC1MCLK_DIV6 ((uint32_t)0x00002800) +#define RCC_ADC1MCLK_DIV7 ((uint32_t)0x00003000) +#define RCC_ADC1MCLK_DIV8 ((uint32_t)0x00003800) +#define RCC_ADC1MCLK_DIV9 ((uint32_t)0x00004000) +#define RCC_ADC1MCLK_DIV10 ((uint32_t)0x00004800) +#define RCC_ADC1MCLK_DIV11 ((uint32_t)0x00005000) +#define RCC_ADC1MCLK_DIV12 ((uint32_t)0x00005800) +#define RCC_ADC1MCLK_DIV13 ((uint32_t)0x00006000) +#define RCC_ADC1MCLK_DIV14 ((uint32_t)0x00006800) +#define RCC_ADC1MCLK_DIV15 ((uint32_t)0x00007000) +#define RCC_ADC1MCLK_DIV16 ((uint32_t)0x00007800) +#define RCC_ADC1MCLK_DIV17 ((uint32_t)0x00008000) +#define RCC_ADC1MCLK_DIV18 ((uint32_t)0x00008800) +#define RCC_ADC1MCLK_DIV19 ((uint32_t)0x00009000) +#define RCC_ADC1MCLK_DIV20 ((uint32_t)0x00009800) +#define RCC_ADC1MCLK_DIV21 ((uint32_t)0x0000A000) +#define RCC_ADC1MCLK_DIV22 ((uint32_t)0x0000A800) +#define RCC_ADC1MCLK_DIV23 ((uint32_t)0x0000B000) +#define RCC_ADC1MCLK_DIV24 ((uint32_t)0x0000B800) +#define RCC_ADC1MCLK_DIV25 ((uint32_t)0x0000C000) +#define RCC_ADC1MCLK_DIV26 ((uint32_t)0x0000C800) +#define RCC_ADC1MCLK_DIV27 ((uint32_t)0x0000D000) +#define RCC_ADC1MCLK_DIV28 ((uint32_t)0x0000D800) +#define RCC_ADC1MCLK_DIV29 ((uint32_t)0x0000E000) +#define RCC_ADC1MCLK_DIV30 ((uint32_t)0x0000E800) +#define RCC_ADC1MCLK_DIV31 ((uint32_t)0x0000F000) +#define RCC_ADC1MCLK_DIV32 ((uint32_t)0x0000F800) + +#define RCC_AHB_PERIPH_ADC1 ((uint32_t)0x00001000) +#define RCC_AHB_PERIPH_ADC2 ((uint32_t)0x00002000) +#define RCC_AHB_PERIPH_ADC3 ((uint32_t)0x00004000) +#define RCC_AHB_PERIPH_ADC4 ((uint32_t)0x00008000) + +#define SAMPT1_SMP_SET ((uint32_t)0x00000007) +#define SAMPT2_SMP_SET ((uint32_t)0x00000007) + +#define SQR4_SEQ_SET ((uint32_t)0x0000001F) +#define SQR3_SEQ_SET ((uint32_t)0x0000001F) +#define SQR2_SEQ_SET ((uint32_t)0x0000001F) +#define SQR1_SEQ_SET ((uint32_t)0x0000001F) + +#define CTRL1_CLR_MASK ((uint32_t)0xFFF0FEFF) +#define RSEQ1_CLR_MASK ((uint32_t)0xFF0FFFFF) +#define CTRL2_CLR_MASK ((uint32_t)0xFFF1F7FD) + +#define ADC_CH_0 ((uint8_t)0x00) +#define ADC_CH_1 ((uint8_t)0x01) +#define ADC_CH_2 ((uint8_t)0x02) +#define ADC_CH_3 ((uint8_t)0x03) +#define ADC_CH_4 ((uint8_t)0x04) +#define ADC_CH_5 ((uint8_t)0x05) +#define ADC_CH_6 ((uint8_t)0x06) +#define ADC_CH_7 ((uint8_t)0x07) +#define ADC_CH_8 ((uint8_t)0x08) +#define ADC_CH_9 ((uint8_t)0x09) +#define ADC_CH_10 ((uint8_t)0x0A) +#define ADC_CH_11 ((uint8_t)0x0B) +#define ADC_CH_12 ((uint8_t)0x0C) +#define ADC_CH_13 ((uint8_t)0x0D) +#define ADC_CH_14 ((uint8_t)0x0E) +#define ADC_CH_15 ((uint8_t)0x0F) +#define ADC_CH_16 ((uint8_t)0x10) +#define ADC_CH_17 ((uint8_t)0x11) +#define ADC_CH_18 ((uint8_t)0x12) + +#define ADC_WORKMODE_INDEPENDENT ((uint32_t)0x00000000) +#define ADC_WORKMODE_REG_INJECT_SIMULT ((uint32_t)0x00010000) +#define ADC_WORKMODE_REG_SIMULT_ALTER_TRIG ((uint32_t)0x00020000) +#define ADC_WORKMODE_INJ_SIMULT_FAST_INTERL ((uint32_t)0x00030000) +#define ADC_WORKMODE_INJ_SIMULT_SLOW_INTERL ((uint32_t)0x00040000) +#define ADC_WORKMODE_INJ_SIMULT ((uint32_t)0x00050000) +#define ADC_WORKMODE_REG_SIMULT ((uint32_t)0x00060000) +#define ADC_WORKMODE_FAST_INTERL ((uint32_t)0x00070000) +#define ADC_WORKMODE_SLOW_INTERL ((uint32_t)0x00080000) +#define ADC_WORKMODE_ALTER_TRIG ((uint32_t)0x00090000) + +#define ADC_EXT_TRIGCONV_T1_CC1 \ + ((uint32_t)0x00000000) /*!< For ADC1 and ADC2 */ +#define ADC_EXT_TRIGCONV_T1_CC2 \ + ((uint32_t)0x00020000) /*!< For ADC1 and ADC2 */ +#define ADC_EXT_TRIGCONV_T2_CC2 \ + ((uint32_t)0x00060000) /*!< For ADC1 and ADC2 */ +#define ADC_EXT_TRIGCONV_T1_CC3 \ + ((uint32_t)0x00040000) /*!< For ADC1, ADC2 , ADC3 and ADC4 */ +#define ADC_EXT_TRIGCONV_NONE \ + ((uint32_t)0x000E0000) /*!< For ADC1, ADC2 , ADC3 and ADC4 */ + +#define ADC_DAT_ALIGN_R ((uint32_t)0x00000000) +#define ADC_DAT_ALIGN_L ((uint32_t)0x00000800) + +#define ADC_FLAG_RDY ((uint8_t)0x20) +#define ADC_FLAG_PD_RDY ((uint8_t)0x40) + +#define CTRL2_AD_ON_SET ((uint32_t)0x00000001) +#define CTRL2_AD_ON_RESET ((uint32_t)0xFFFFFFFE) + +#define CTRL2_CAL_SET ((uint32_t)0x00000004) + +/* ADC Software start mask */ +#define CTRL2_EXT_TRIG_SWSTART_SET ((uint32_t)0x00500000) +#define CTRL2_EXT_TRIG_SWSTART_RESET ((uint32_t)0xFFAFFFFF) + +#define ADC_SAMP_TIME_1CYCLES5 ((uint8_t)0x00) +#define ADC_SAMP_TIME_7CYCLES5 ((uint8_t)0x01) +#define ADC_SAMP_TIME_13CYCLES5 ((uint8_t)0x02) +#define ADC_SAMP_TIME_28CYCLES5 ((uint8_t)0x03) +#define ADC_SAMP_TIME_41CYCLES5 ((uint8_t)0x04) +#define ADC_SAMP_TIME_55CYCLES5 ((uint8_t)0x05) +#define ADC_SAMP_TIME_71CYCLES5 ((uint8_t)0x06) +#define ADC_SAMP_TIME_239CYCLES5 ((uint8_t)0x07) + +#define ADC_FLAG_AWDG ((uint8_t)0x01) +#define ADC_FLAG_ENDC ((uint8_t)0x02) +#define ADC_FLAG_JENDC ((uint8_t)0x04) +#define ADC_FLAG_JSTR ((uint8_t)0x08) +#define ADC_FLAG_STR ((uint8_t)0x10) +#define ADC_FLAG_EOC_ANY ((uint8_t)0x20) +#define ADC_FLAG_JEOC_ANY ((uint8_t)0x40) + +#define ADC_STS_AWDG ((uint8_t)0x01) /*!< Analog watchdog flag */ +#define ADC_STS_ENDC ((uint8_t)0x02) /*!< End of conversion */ +#define ADC_STS_JENDC \ + ((uint8_t)0x04) /*!< Injected channel end of conversion */ +#define ADC_STS_JSTR ((uint8_t)0x08) /*!< Injected channel Start flag */ +#define ADC_STS_STR ((uint8_t)0x10) /*!< Regular channel Start flag */ +#define ADC_STS_ENDCA ((uint8_t)0x20) /*!< Any end of conversion */ +#define ADC_STS_JENDCA \ + ((uint8_t)0x40) /*!< Any injected channel end of conversion */ + +/* ADC DMA mask */ +#define CTRL2_DMA_SET ((uint32_t)0x00000100) +#define CTRL2_DMA_RESET ((uint32_t)0xFFFFFEFF) + +#define CTRL2_TSVREFE_SET ((uint32_t)0x00800000) +#define CTRL2_TSVREFE_RESET ((uint32_t)0xFF7FFFFF) +#define VREF1P2_CTRL (*(uint32_t *)(0x40001800 + 0x20)) +/******************* Bit definition for ADC_CTRL2 register + * ********************/ +#define ADC_CTRL2_ON ((uint32_t)0x00000001) /*!< A/D Converter ON / OFF */ +#define ADC_CTRL2_CTU ((uint32_t)0x00000002) /*!< Continuous Conversion */ +#define ADC_CTRL2_ENCAL ((uint32_t)0x00000004) /*!< A/D Calibration */ +#define ADC_CTRL2_ENDMA \ + ((uint32_t)0x00000100) /*!< Direct Memory access mode */ +#define ADC_CTRL2_ALIG ((uint32_t)0x00000800) /*!< Data Alignment */ + +#define ADC_CTRL2_EXTJSEL \ + ((uint32_t)0x00007000) /*!< INJ_EXT_SEL[2:0] bits (External event select \ + for injected group) */ +#define ADC_CTRL2_EXTJSEL_0 ((uint32_t)0x00001000) /*!< Bit 0 */ +#define ADC_CTRL2_EXTJSEL_1 ((uint32_t)0x00002000) /*!< Bit 1 */ +#define ADC_CTRL2_EXTJSEL_2 ((uint32_t)0x00004000) /*!< Bit 2 */ + +#define ADC_CTRL2_EXTJTRIG \ + ((uint32_t)0x00008000) /*!< External Trigger Conversion mode for injected \ + channels */ + +#define ADC_CTRL2_EXTRSEL \ + ((uint32_t)0x000E0000) /*!< EXTSEL[2:0] bits (External Event Select for \ + regular group) */ +#define ADC_CTRL2_EXTRSEL_0 ((uint32_t)0x00020000) /*!< Bit 0 */ +#define ADC_CTRL2_EXTRSEL_1 ((uint32_t)0x00040000) /*!< Bit 1 */ +#define ADC_CTRL2_EXTRSEL_2 ((uint32_t)0x00080000) /*!< Bit 2 */ + +#define ADC_CTRL2_EXTRTRIG \ + ((uint32_t)0x00100000) /*!< External Trigger Conversion mode for regular \ + channels */ +#define ADC_CTRL2_SWSTRJCH \ + ((uint32_t)0x00200000) /*!< Start Conversion of injected channels */ +#define ADC_CTRL2_SWSTRRCH \ + ((uint32_t)0x00400000) /*!< Start Conversion of regular channels */ +#define ADC_CTRL2_TEMPEN \ + ((uint32_t)0x00800000) /*!< Temperature Sensor and VREFINT Enable */ + +#define ADC_CTRL3_VABTMEN_MSK ((uint32_t)0x01L << 11) +#define ADC_CTRL3_DPWMOD_MSK ((uint32_t)0x01L << 10) +#define ADC_CTRL3_JENDCAIEN_MSK ((uint32_t)0x01L << 9) +#define ADC_CTRL3_ENDCAIEN_MSK ((uint32_t)0x01L << 8) +#define ADC_CTRL3_BPCAL_MSK ((uint32_t)0x01L << 7) +#define ADC_CTRL3_PDRDY_MSK ((uint32_t)0x01L << 6) +#define ADC_CTRL3_RDY_MSK ((uint32_t)0x01L << 5) +#define ADC_CTRL3_CKMOD_MSK ((uint32_t)0x01L << 4) +#define ADC_CTRL3_CALALD_MSK ((uint32_t)0x01L << 3) +#define ADC_CTRL3_CALDIF_MSK ((uint32_t)0x01L << 2) +#define ADC_CTRL3_RES_MSK ((uint32_t)0x03L << 0) + +void ADC_Init(ADC_Module* ADCx, ADC_InitType* ADC_InitStruct); +void ADC_ConfigRegularChannel(ADC_Module* ADCx, uint8_t ADC_Channel, uint8_t Rank, uint8_t ADC_SampleTime); +#endif \ No newline at end of file diff --git a/lib/n32g45x/n32g45x_adc.c b/lib/n32g45x/n32g45x_adc.c new file mode 100644 index 000000000000..6621bcb21324 --- /dev/null +++ b/lib/n32g45x/n32g45x_adc.c @@ -0,0 +1,211 @@ +/***************************************************************************** + * Copyright (c) 2019, Nations Technologies Inc. + * + * 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 disclaimer below. + * + * Nations' name may not be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * DISCLAIMER: THIS SOFTWARE IS PROVIDED BY NATIONS "AS IS" AND ANY EXPRESS OR + * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE + * DISCLAIMED. IN NO EVENT SHALL NATIONS 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. + * ****************************************************************************/ + +#include "stdint.h" +#include "n32g45x_adc.h" + +/** + * @brief Initializes the ADCx peripheral according to the specified parameters + * in the ADC_InitStruct. + * @param ADCx where x can be 1, 2 ,3 or 4 to select the ADC peripheral. + * @param ADC_InitStruct pointer to an ADC_InitType structure that contains + * the configuration information for the specified ADC peripheral. + */ +void ADC_Init(ADC_Module* ADCx, ADC_InitType* ADC_InitStruct) +{ + uint32_t tmpreg1 = 0; + uint8_t tmpreg2 = 0; + + /*---------------------------- ADCx CTRL1 Configuration -----------------*/ + /* Get the ADCx CTRL1 value */ + tmpreg1 = ADCx->CTRL1; + /* Clear DUALMOD and SCAN bits */ + tmpreg1 &= CTRL1_CLR_MASK; + /* Configure ADCx: Dual mode and scan conversion mode */ + /* Set DUALMOD bits according to WorkMode value */ + /* Set SCAN bit according to MultiChEn value */ + tmpreg1 |= (uint32_t)(ADC_InitStruct->WorkMode | ((uint32_t)ADC_InitStruct->MultiChEn << 8)); + /* Write to ADCx CTRL1 */ + ADCx->CTRL1 = tmpreg1; + + /*---------------------------- ADCx CTRL2 Configuration -----------------*/ + /* Get the ADCx CTRL2 value */ + tmpreg1 = ADCx->CTRL2; + /* Clear CONT, ALIGN and EXTSEL bits */ + tmpreg1 &= CTRL2_CLR_MASK; + /* Configure ADCx: external trigger event and continuous conversion mode */ + /* Set ALIGN bit according to DatAlign value */ + /* Set EXTSEL bits according to ExtTrigSelect value */ + /* Set CONT bit according to ContinueConvEn value */ + tmpreg1 |= (uint32_t)(ADC_InitStruct->DatAlign | ADC_InitStruct->ExtTrigSelect + | ((uint32_t)ADC_InitStruct->ContinueConvEn << 1)); + /* Write to ADCx CTRL2 */ + ADCx->CTRL2 = tmpreg1; + + /*---------------------------- ADCx RSEQ1 Configuration -----------------*/ + /* Get the ADCx RSEQ1 value */ + tmpreg1 = ADCx->RSEQ1; + /* Clear L bits */ + tmpreg1 &= RSEQ1_CLR_MASK; + /* Configure ADCx: regular channel sequence length */ + /* Set L bits according to ChsNumber value */ + tmpreg2 |= (uint8_t)(ADC_InitStruct->ChsNumber - (uint8_t)1); + tmpreg1 |= (uint32_t)tmpreg2 << 20; + /* Write to ADCx RSEQ1 */ + ADCx->RSEQ1 = tmpreg1; +} + + +/** + * @brief Configures for the selected ADC regular channel its corresponding + * rank in the sequencer and its sample time. + * @param ADCx where x can be 1, 2, 3 or 4 to select the ADC peripheral. + * @param ADC_Channel the ADC channel to configure. + * This parameter can be one of the following values: + * @arg ADC_CH_0 ADC Channel0 selected + * @arg ADC_CH_1 ADC Channel1 selected + * @arg ADC_CH_2 ADC Channel2 selected + * @arg ADC_CH_3 ADC Channel3 selected + * @arg ADC_CH_4 ADC Channel4 selected + * @arg ADC_CH_5 ADC Channel5 selected + * @arg ADC_CH_6 ADC Channel6 selected + * @arg ADC_CH_7 ADC Channel7 selected + * @arg ADC_CH_8 ADC Channel8 selected + * @arg ADC_CH_9 ADC Channel9 selected + * @arg ADC_CH_10 ADC Channel10 selected + * @arg ADC_CH_11 ADC Channel11 selected + * @arg ADC_CH_12 ADC Channel12 selected + * @arg ADC_CH_13 ADC Channel13 selected + * @arg ADC_CH_14 ADC Channel14 selected + * @arg ADC_CH_15 ADC Channel15 selected + * @arg ADC_CH_16 ADC Channel16 selected + * @arg ADC_CH_17 ADC Channel17 selected + * @arg ADC_CH_18 ADC Channel18 selected + * @param Rank The rank in the regular group sequencer. This parameter must be between 1 to 16. + * @param ADC_SampleTime The sample time value to be set for the selected channel. + * This parameter can be one of the following values: + * @arg ADC_SAMP_TIME_1CYCLES5 Sample time equal to 1.5 cycles + * @arg ADC_SAMP_TIME_7CYCLES5 Sample time equal to 7.5 cycles + * @arg ADC_SAMP_TIME_13CYCLES5 Sample time equal to 13.5 cycles + * @arg ADC_SAMP_TIME_28CYCLES5 Sample time equal to 28.5 cycles + * @arg ADC_SAMP_TIME_41CYCLES5 Sample time equal to 41.5 cycles + * @arg ADC_SAMP_TIME_55CYCLES5 Sample time equal to 55.5 cycles + * @arg ADC_SAMP_TIME_71CYCLES5 Sample time equal to 71.5 cycles + * @arg ADC_SAMP_TIME_239CYCLES5 Sample time equal to 239.5 cycles + */ + +void ADC_ConfigRegularChannel(ADC_Module* ADCx, uint8_t ADC_Channel, uint8_t Rank, uint8_t ADC_SampleTime) +{ + uint32_t tmpreg1 = 0, tmpreg2 = 0; + + if (ADC_Channel == ADC_CH_18) + { + tmpreg1 = ADCx->SAMPT3; + tmpreg1 &= (~0x00000007); + tmpreg1 |= ADC_SampleTime; + ADCx->SAMPT3 = tmpreg1; + } + else if (ADC_Channel > ADC_CH_9) /* if ADC_CH_10 ... ADC_CH_17 is selected */ + { + /* Get the old register value */ + tmpreg1 = ADCx->SAMPT1; + /* Calculate the mask to clear */ + tmpreg2 = SAMPT1_SMP_SET << (3 * (ADC_Channel - 10)); + /* Clear the old channel sample time */ + tmpreg1 &= ~tmpreg2; + /* Calculate the mask to set */ + tmpreg2 = (uint32_t)ADC_SampleTime << (3 * (ADC_Channel - 10)); + /* Set the new channel sample time */ + tmpreg1 |= tmpreg2; + /* Store the new register value */ + ADCx->SAMPT1 = tmpreg1; + } + else /* ADC_Channel include in ADC_Channel_[0..9] */ + { + /* Get the old register value */ + tmpreg1 = ADCx->SAMPT2; + /* Calculate the mask to clear */ + tmpreg2 = SAMPT2_SMP_SET << (3 * ADC_Channel); + /* Clear the old channel sample time */ + tmpreg1 &= ~tmpreg2; + /* Calculate the mask to set */ + tmpreg2 = (uint32_t)ADC_SampleTime << (3 * ADC_Channel); + /* Set the new channel sample time */ + tmpreg1 |= tmpreg2; + /* Store the new register value */ + ADCx->SAMPT2 = tmpreg1; + } + /* For Rank 1 to 6 */ + if (Rank < 7) + { + /* Get the old register value */ + tmpreg1 = ADCx->RSEQ3; + /* Calculate the mask to clear */ + tmpreg2 = SQR3_SEQ_SET << (5 * (Rank - 1)); + /* Clear the old SQx bits for the selected rank */ + tmpreg1 &= ~tmpreg2; + /* Calculate the mask to set */ + tmpreg2 = (uint32_t)ADC_Channel << (5 * (Rank - 1)); + /* Set the SQx bits for the selected rank */ + tmpreg1 |= tmpreg2; + /* Store the new register value */ + ADCx->RSEQ3 = tmpreg1; + } + /* For Rank 7 to 12 */ + else if (Rank < 13) + { + /* Get the old register value */ + tmpreg1 = ADCx->RSEQ2; + /* Calculate the mask to clear */ + tmpreg2 = SQR2_SEQ_SET << (5 * (Rank - 7)); + /* Clear the old SQx bits for the selected rank */ + tmpreg1 &= ~tmpreg2; + /* Calculate the mask to set */ + tmpreg2 = (uint32_t)ADC_Channel << (5 * (Rank - 7)); + /* Set the SQx bits for the selected rank */ + tmpreg1 |= tmpreg2; + /* Store the new register value */ + ADCx->RSEQ2 = tmpreg1; + } + /* For Rank 13 to 16 */ + else + { + /* Get the old register value */ + tmpreg1 = ADCx->RSEQ1; + /* Calculate the mask to clear */ + tmpreg2 = SQR1_SEQ_SET << (5 * (Rank - 13)); + /* Clear the old SQx bits for the selected rank */ + tmpreg1 &= ~tmpreg2; + /* Calculate the mask to set */ + tmpreg2 = (uint32_t)ADC_Channel << (5 * (Rank - 13)); + /* Set the SQx bits for the selected rank */ + tmpreg1 |= tmpreg2; + /* Store the new register value */ + ADCx->RSEQ1 = tmpreg1; + } +} + diff --git a/src/stm32/Kconfig b/src/stm32/Kconfig index 94384ec39c4d..30b2e48d891f 100644 --- a/src/stm32/Kconfig +++ b/src/stm32/Kconfig @@ -97,6 +97,14 @@ choice config MACH_STM32L412 bool "STM32L412" select MACH_STM32L4 + config MACH_N32G452 + bool "Nation N32G452" + select MACH_N32G45x + select MACH_STM32F1 + config MACH_N32G455 + bool "Nation N32G455" + select MACH_N32G45x + select MACH_STM32F1 endchoice config MACH_STM32F103x6 @@ -127,10 +135,12 @@ config MACH_STM32F4x5 # F405, F407, F429 series bool config MACH_STM32L4 bool +config MACH_N32G45x + bool config HAVE_STM32_USBFS bool default y if MACH_STM32F0x2 || MACH_STM32G0Bx || MACH_STM32L4 || MACH_STM32G4 - default y if (MACH_STM32F103 || MACH_STM32F070) && !STM32_CLOCK_REF_INTERNAL + default y if (MACH_STM32F1 || MACH_STM32F070) && !STM32_CLOCK_REF_INTERNAL config HAVE_STM32_USBOTG bool default y if MACH_STM32F2 || MACH_STM32F4 || MACH_STM32H7 @@ -144,7 +154,7 @@ config HAVE_STM32_USBCANBUS bool depends on HAVE_STM32_USBFS || HAVE_STM32_USBOTG depends on HAVE_STM32_CANBUS || HAVE_STM32_FDCANBUS - depends on !MACH_STM32F103 + depends on !MACH_STM32F1 default y config MCU @@ -169,6 +179,7 @@ config MCU default "stm32h743xx" if MACH_STM32H743 default "stm32h750xx" if MACH_STM32H750 default "stm32l412xx" if MACH_STM32L412 + default "stm32f103xe" if MACH_N32G45x config CLOCK_FREQ int @@ -183,6 +194,8 @@ config CLOCK_FREQ default 150000000 if MACH_STM32G431 default 400000000 if MACH_STM32H7 # 400Mhz is max Klipper currently supports default 80000000 if MACH_STM32L412 + default 64000000 if MACH_N32G45x && STM32_CLOCK_REF_INTERNAL + default 128000000 if MACH_N32G45x config FLASH_SIZE hex @@ -195,6 +208,7 @@ config FLASH_SIZE default 0x20000 if MACH_STM32G0 || MACH_STM32G431 default 0x20000 if MACH_STM32H750 default 0x200000 if MACH_STM32H743 + default 0x20000 if MACH_N32G45x config FLASH_BOOT_ADDRESS hex @@ -219,6 +233,7 @@ config RAM_SIZE default 0x9000 if MACH_STM32G07x default 0x24000 if MACH_STM32G0Bx default 0x20000 if MACH_STM32H7 + default 0x10000 if MACH_N32G45x config STACK_SIZE int @@ -251,11 +266,11 @@ config STM32_DFU_ROM_ADDRESS choice prompt "Bootloader offset" config STM32_FLASH_START_2000 - bool "8KiB bootloader" if MACH_STM32F103 || MACH_STM32F070 || MACH_STM32G0 || MACH_STM32F0x2 + bool "8KiB bootloader" if MACH_STM32F1 || MACH_STM32F070 || MACH_STM32G0 || MACH_STM32F0x2 config STM32_FLASH_START_5000 bool "20KiB bootloader" if MACH_STM32F103 config STM32_FLASH_START_7000 - bool "28KiB bootloader" if MACH_STM32F103 + bool "28KiB bootloader" if MACH_STM32F1 config STM32_FLASH_START_8000 bool "32KiB bootloader" if MACH_STM32F1 || MACH_STM32F2 || MACH_STM32F4 config STM32_FLASH_START_8800 diff --git a/src/stm32/Makefile b/src/stm32/Makefile index fac9ed4aeb2a..e5dac2aac2d0 100644 --- a/src/stm32/Makefile +++ b/src/stm32/Makefile @@ -6,6 +6,7 @@ CROSS_PREFIX=arm-none-eabi- dirs-y += src/stm32 src/generic lib/fast-hash dirs-$(CONFIG_MACH_STM32F0) += lib/stm32f0 dirs-$(CONFIG_MACH_STM32F1) += lib/stm32f1 +dirs-$(CONFIG_MACH_N32G45x) += lib/n32g45x dirs-$(CONFIG_MACH_STM32F2) += lib/stm32f2 dirs-$(CONFIG_MACH_STM32F4) += lib/stm32f4 dirs-$(CONFIG_MACH_STM32G0) += lib/stm32g0 @@ -17,7 +18,9 @@ MCU := $(shell echo $(CONFIG_MCU)) MCU_UPPER := $(shell echo $(CONFIG_MCU) | tr a-z A-Z | tr X x) CFLAGS-$(CONFIG_MACH_STM32F0) += -mcpu=cortex-m0 -Ilib/stm32f0/include -CFLAGS-$(CONFIG_MACH_STM32F1) += -mcpu=cortex-m3 -Ilib/stm32f1/include +CFLAGS-$(CONFIG_MACH_STM32F103) += -mcpu=cortex-m3 +CFLAGS-$(CONFIG_MACH_N32G45x) += -mcpu=cortex-m4 -Ilib/n32g45x/include +CFLAGS-$(CONFIG_MACH_STM32F1) += -Ilib/stm32f1/include CFLAGS-$(CONFIG_MACH_STM32F2) += -mcpu=cortex-m3 -Ilib/stm32f2/include CFLAGS-$(CONFIG_MACH_STM32F4) += -mcpu=cortex-m4 -Ilib/stm32f4/include CFLAGS-$(CONFIG_MACH_STM32G0) += -mcpu=cortex-m0plus -Ilib/stm32g0/include @@ -38,9 +41,11 @@ src-$(CONFIG_MACH_STM32F0) += ../lib/stm32f0/system_stm32f0xx.c src-$(CONFIG_MACH_STM32F0) += generic/timer_irq.c stm32/stm32f0_timer.c src-$(CONFIG_MACH_STM32F0) += stm32/stm32f0.c stm32/gpioperiph.c src-$(CONFIG_MACH_STM32F0) += stm32/stm32f0_adc.c stm32/stm32f0_i2c.c -src-$(CONFIG_MACH_STM32F1) += ../lib/stm32f1/system_stm32f1xx.c -src-$(CONFIG_MACH_STM32F1) += stm32/stm32f1.c generic/armcm_timer.c -src-$(CONFIG_MACH_STM32F1) += stm32/adc.c stm32/i2c.c +src-$(CONFIG_MACH_STM32F103) += ../lib/stm32f1/system_stm32f1xx.c +src-$(CONFIG_MACH_STM32F103) += stm32/adc.c +src-$(CONFIG_MACH_N32G45x) += ../lib/stm32f1/system_stm32f1xx.c +src-$(CONFIG_MACH_N32G45x) += ../lib/n32g45x/n32g45x_adc.c stm32/n32g45x_adc.c +src-$(CONFIG_MACH_STM32F1) += stm32/stm32f1.c generic/armcm_timer.c stm32/i2c.c src-$(CONFIG_MACH_STM32F2) += ../lib/stm32f2/system_stm32f2xx.c src-$(CONFIG_MACH_STM32F2) += stm32/stm32f4.c generic/armcm_timer.c src-$(CONFIG_MACH_STM32F2) += stm32/gpioperiph.c stm32/adc.c stm32/i2c.c diff --git a/src/stm32/hard_pwm.c b/src/stm32/hard_pwm.c index 0aafe7d49bd1..6f7d8d08cfc0 100644 --- a/src/stm32/hard_pwm.c +++ b/src/stm32/hard_pwm.c @@ -20,7 +20,7 @@ struct gpio_pwm_info { }; static const struct gpio_pwm_info pwm_regs[] = { -#if CONFIG_MACH_STM32F103 +#if CONFIG_MACH_STM32F103 || CONFIG_MACH_N32G45x {TIM2, GPIO('A', 0), 1, GPIO_FUNCTION(2)}, {TIM2, GPIO('A', 1), 2, GPIO_FUNCTION(2)}, {TIM2, GPIO('A', 2), 3, GPIO_FUNCTION(2)}, diff --git a/src/stm32/n32g45x_adc.c b/src/stm32/n32g45x_adc.c new file mode 100644 index 000000000000..d27e70c9e445 --- /dev/null +++ b/src/stm32/n32g45x_adc.c @@ -0,0 +1,185 @@ +// ADC functions on N32G45x +// +// Copyright (C) 2022-2023 Alexey Golyshin +// +// This file may be distributed under the terms of the GNU GPLv3 license. + +#include "board/irq.h" // irq_save +#include "board/misc.h" // timer_from_us +#include "command.h" // shutdown +#include "compiler.h" // ARRAY_SIZE +#include "generic/armcm_timer.h" // udelay +#include "gpio.h" // gpio_adc_setup +#include "internal.h" // GPIO +#include "sched.h" // sched_shutdown +#include "n32g45x_adc.h" // ADC + +DECL_CONSTANT("ADC_MAX", 4095); + +#define ADC_TEMPERATURE_PIN 0xfe +DECL_ENUMERATION("pin", "ADC_TEMPERATURE", ADC_TEMPERATURE_PIN); + +static const uint8_t adc_pins[] = { + // ADC1 + 0, GPIO('A', 0), GPIO('A', 1), GPIO('A', 6), + GPIO('A', 3), GPIO('F', 4), 0, 0, + 0, 0, 0, 0, + 0, 0, 0, 0, + ADC_TEMPERATURE_PIN, 0, 0, 0, + 0, 0, 0, 0, + 0, 0, 0, 0, + 0, 0, 0, 0, + // ADC2 + 0, GPIO('A', 4), GPIO('A', 5), GPIO('B', 1), + GPIO('A', 7), GPIO('C', 4), GPIO('C', 0), GPIO('C', 1), + GPIO('C', 2), GPIO('C', 3), GPIO('F', 2), GPIO('A', 2), + GPIO('C', 5), GPIO('B', 2), 0, 0, + 0, 0, 0, 0, + 0, 0, 0, 0, + 0, 0, 0, 0, + 0, 0, 0, 0, +#if CONFIG_MACH_N32G455 // ADC3/4 for G455 only + // ADC3 + 0, GPIO('B', 11), GPIO('E', 9), GPIO('E', 13), + GPIO('E', 12), GPIO('B', 13), GPIO('E', 8), GPIO('D', 10), + GPIO('D', 11), GPIO('D', 12), GPIO('D', 13), GPIO('D', 14), + GPIO('B', 0), GPIO('E', 7), GPIO('E', 10), GPIO('E', 11), + 0, 0, 0, 0, + 0, 0, 0, 0, + 0, 0, 0, 0, + 0, 0, 0, 0, + // ADC4 + 0, GPIO('E', 14), GPIO('E', 15), GPIO('B', 12), + GPIO('B', 14), GPIO('B', 15), 0, 0, + 0, 0, 0, 0, + GPIO('D', 8), GPIO('D', 9), 0, 0, + 0, 0, 0, 0, + 0, 0, 0, 0, + 0, 0, 0, 0, + 0, 0, 0, 0, +#endif +}; + +// Perform calibration +static void +adc_calibrate(ADC_Module *adc) +{ + adc->CTRL2 = CTRL2_AD_ON_SET; + while (!(adc->CTRL3 & ADC_FLAG_RDY)) + ; + adc->CTRL3 &= (~ADC_CTRL3_BPCAL_MSK); + udelay(10); + adc->CTRL2 = CTRL2_AD_ON_SET | CTRL2_CAL_SET; + while (adc->CTRL2 & CTRL2_CAL_SET) + ; +} + +struct gpio_adc +gpio_adc_setup(uint32_t pin) +{ + // Find pin in adc_pins table + int chan; + for (chan=0; ; chan++) { + if (chan >= ARRAY_SIZE(adc_pins)) + shutdown("Not a valid ADC pin"); + if (adc_pins[chan] == pin) + break; + } + + // Determine which ADC block to use + ADC_Module *adc; + if ((chan >> 5) == 0) + adc = NS_ADC1; + if ((chan >> 5) == 1) + adc = NS_ADC2; + if ((chan >> 5) == 2) + adc = NS_ADC3; + if ((chan >> 5) == 3) + adc = NS_ADC4; + chan &= 0x1F; + + // Enable the ADC + uint32_t reg_temp; + reg_temp = ADC_RCC_AHBPCLKEN; + reg_temp |= (RCC_AHB_PERIPH_ADC1 | RCC_AHB_PERIPH_ADC2 | + RCC_AHB_PERIPH_ADC3 | RCC_AHB_PERIPH_ADC4); + ADC_RCC_AHBPCLKEN = reg_temp; + + reg_temp = ADC_RCC_CFG2; + reg_temp &= CFG2_ADCPLLPRES_RESET_MASK; + reg_temp |= RCC_ADCPLLCLK_DIV1; + reg_temp &= RCC_ADCPLLCLK_DISABLE; + ADC_RCC_CFG2 = reg_temp; + + reg_temp = ADC_RCC_CFG2; + reg_temp &= CFG2_ADCHPRES_RESET_MASK; + reg_temp |= RCC_ADCHCLK_DIV16; + ADC_RCC_CFG2 = reg_temp; + + ADC_InitType ADC_InitStructure; + ADC_InitStructure.WorkMode = ADC_WORKMODE_INDEPENDENT; + ADC_InitStructure.MultiChEn = 0; + ADC_InitStructure.ContinueConvEn = 0; + ADC_InitStructure.ExtTrigSelect = ADC_EXT_TRIGCONV_NONE; + ADC_InitStructure.DatAlign = ADC_DAT_ALIGN_R; + ADC_InitStructure.ChsNumber = 1; + ADC_Init(adc, &ADC_InitStructure); + + adc_calibrate(adc); + + if (pin == ADC_TEMPERATURE_PIN) { + NS_ADC1->CTRL2 |= CTRL2_TSVREFE_SET; + VREF1P2_CTRL |= (1<<10); + } else { + gpio_peripheral(pin, GPIO_ANALOG, 0); + } + + return (struct gpio_adc){ .adc = adc, .chan = chan }; +} + +// Try to sample a value. Returns zero if sample ready, otherwise +// returns the number of clock ticks the caller should wait before +// retrying this function. +uint32_t +gpio_adc_sample(struct gpio_adc g) +{ + ADC_Module *adc = g.adc; + uint32_t sr = adc->STS; + if (sr & ADC_STS_STR) { + if (!(sr & ADC_STS_ENDC) || adc->RSEQ3 != g.chan) + // Conversion still in progress or busy on another channel + goto need_delay; + // Conversion ready + return 0; + } + // ADC timing: clock=4Mhz, Tconv=12.5, Tsamp=41.5, total=13.500us + ADC_ConfigRegularChannel(adc, g.chan, 1, ADC_SAMP_TIME_41CYCLES5); + adc->CTRL2 |= CTRL2_AD_ON_SET; + adc->CTRL2 |= CTRL2_EXT_TRIG_SWSTART_SET; + +need_delay: + return timer_from_us(20); +} + +// Read a value; use only after gpio_adc_sample() returns zero +uint16_t +gpio_adc_read(struct gpio_adc g) +{ + ADC_Module *adc = g.adc; + adc->STS &= ~ADC_STS_ENDC; + adc->STS &= ~ADC_STS_STR; + adc->CTRL2 &= CTRL2_EXT_TRIG_SWSTART_RESET; + uint16_t result = adc->DAT; + return result; +} + +// Cancel a sample that may have been started with gpio_adc_sample() +void +gpio_adc_cancel_sample(struct gpio_adc g) +{ + ADC_Module *adc = g.adc; + irqstatus_t flag = irq_save(); + if (adc->STS & ADC_STS_STR) + gpio_adc_read(g); + irq_restore(flag); +} diff --git a/src/stm32/usbfs.c b/src/stm32/usbfs.c index f7559efd6fa0..f2c3057fd070 100644 --- a/src/stm32/usbfs.c +++ b/src/stm32/usbfs.c @@ -15,7 +15,7 @@ #include "internal.h" // GPIO #include "sched.h" // DECL_INIT -#if CONFIG_MACH_STM32F103 || CONFIG_MACH_STM32G4 +#if CONFIG_MACH_STM32F103 || CONFIG_MACH_STM32G4 || CONFIG_MACH_N32G45x // Transfer memory is accessed with 32bits, but contains only 16bits of data typedef volatile uint32_t epmword_t; #define WSIZE 2 diff --git a/test/klippy/printers.test b/test/klippy/printers.test index 1e4b0e675fea..431bb8f58f1e 100644 --- a/test/klippy/printers.test +++ b/test/klippy/printers.test @@ -196,6 +196,7 @@ CONFIG ../../config/printer-tronxy-xy-2-Pro-2020.cfg CONFIG ../../config/printer-twotrees-sapphire-plus-sp-5-v1-2020.cfg CONFIG ../../config/printer-twotrees-sapphire-plus-sp-5-v1.1-2021.cfg CONFIG ../../config/printer-twotrees-sapphire-pro-sp-3-2020.cfg +CONFIG ../../config/printer-voxelab-aquila-2021.cfg # Printers using the stm32f401 DICTIONARY stm32f401.dict From ef34c5bb5d026203396969dd6c3120d900ad64b9 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Fri, 7 Apr 2023 12:21:22 -0400 Subject: [PATCH 14/40] config: Update comment header in printer-voxelab-aquila-2021.cfg Signed-off-by: Kevin O'Connor --- config/printer-voxelab-aquila-2021.cfg | 1 + 1 file changed, 1 insertion(+) diff --git a/config/printer-voxelab-aquila-2021.cfg b/config/printer-voxelab-aquila-2021.cfg index 892e32e633e6..a23d00c6f01a 100644 --- a/config/printer-voxelab-aquila-2021.cfg +++ b/config/printer-voxelab-aquila-2021.cfg @@ -2,6 +2,7 @@ # with the FFP0173 1.0.1 mainboard. To use this config, during # "make menuconfig" select the STM32F103 for STM32/G32, or # Nation N32G452 for N32 version, 28KB boot, serial PA9/PA10. + # See docs/Config_Reference.md for a description of parameters. [stepper_x] From ecc23fc6fa3c3a866cf8dbbb0a118adbe7e61568 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Fri, 7 Apr 2023 12:25:27 -0400 Subject: [PATCH 15/40] stm32: Prefer "MACH_STM32F1" test over "MACH_STM32F103 || MACH_N32G45x" Signed-off-by: Kevin O'Connor --- src/stm32/hard_pwm.c | 2 +- src/stm32/usbfs.c | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/stm32/hard_pwm.c b/src/stm32/hard_pwm.c index 6f7d8d08cfc0..dbed84c1fa28 100644 --- a/src/stm32/hard_pwm.c +++ b/src/stm32/hard_pwm.c @@ -20,7 +20,7 @@ struct gpio_pwm_info { }; static const struct gpio_pwm_info pwm_regs[] = { -#if CONFIG_MACH_STM32F103 || CONFIG_MACH_N32G45x +#if CONFIG_MACH_STM32F1 {TIM2, GPIO('A', 0), 1, GPIO_FUNCTION(2)}, {TIM2, GPIO('A', 1), 2, GPIO_FUNCTION(2)}, {TIM2, GPIO('A', 2), 3, GPIO_FUNCTION(2)}, diff --git a/src/stm32/usbfs.c b/src/stm32/usbfs.c index f2c3057fd070..fda2ce9d299c 100644 --- a/src/stm32/usbfs.c +++ b/src/stm32/usbfs.c @@ -15,7 +15,7 @@ #include "internal.h" // GPIO #include "sched.h" // DECL_INIT -#if CONFIG_MACH_STM32F103 || CONFIG_MACH_STM32G4 || CONFIG_MACH_N32G45x +#if CONFIG_MACH_STM32F1 || CONFIG_MACH_STM32G4 // Transfer memory is accessed with 32bits, but contains only 16bits of data typedef volatile uint32_t epmword_t; #define WSIZE 2 From e5ed245ff2cc04f80fa248c18ea18535cc06e553 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Fri, 7 Apr 2023 12:27:09 -0400 Subject: [PATCH 16/40] stm32: Improve ifdef indent in hard_pwm.c Signed-off-by: Kevin O'Connor --- src/stm32/hard_pwm.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/stm32/hard_pwm.c b/src/stm32/hard_pwm.c index dbed84c1fa28..a15b1c375568 100644 --- a/src/stm32/hard_pwm.c +++ b/src/stm32/hard_pwm.c @@ -117,12 +117,12 @@ static const struct gpio_pwm_info pwm_regs[] = { {TIM1, GPIO('B', 3), 2, GPIO_FUNCTION(1)}, {TIM3, GPIO('B', 4), 1, GPIO_FUNCTION(1)}, {TIM3, GPIO('B', 5), 2, GPIO_FUNCTION(1)}, -#if CONFIG_MACH_STM32G0Bx + #if CONFIG_MACH_STM32G0Bx {TIM4, GPIO('B', 6), 1, GPIO_FUNCTION(9)}, {TIM4, GPIO('B', 7), 2, GPIO_FUNCTION(9)}, {TIM4, GPIO('B', 8), 3, GPIO_FUNCTION(9)}, {TIM4, GPIO('B', 9), 4, GPIO_FUNCTION(9)}, -#endif + #endif {TIM15, GPIO('B', 14), 1, GPIO_FUNCTION(5)}, {TIM15, GPIO('B', 15), 2, GPIO_FUNCTION(5)}, {TIM15, GPIO('C', 1), 1, GPIO_FUNCTION(2)}, @@ -136,12 +136,12 @@ static const struct gpio_pwm_info pwm_regs[] = { {TIM14, GPIO('C', 12), 1, GPIO_FUNCTION(2)}, {TIM16, GPIO('D', 0), 1, GPIO_FUNCTION(2)}, {TIM17, GPIO('D', 1), 1, GPIO_FUNCTION(2)}, -#if CONFIG_MACH_STM32G0Bx + #if CONFIG_MACH_STM32G0Bx {TIM4, GPIO('D', 12), 1, GPIO_FUNCTION(2)}, {TIM4, GPIO('D', 13), 2, GPIO_FUNCTION(2)}, {TIM4, GPIO('D', 14), 3, GPIO_FUNCTION(2)}, {TIM4, GPIO('D', 15), 4, GPIO_FUNCTION(2)}, -#endif + #endif {TIM3, GPIO('E', 3), 1, GPIO_FUNCTION(1)}, {TIM3, GPIO('E', 4), 2, GPIO_FUNCTION(1)}, {TIM3, GPIO('E', 5), 3, GPIO_FUNCTION(1)}, From 8850084fcf001c496d160985999a76f74a13ef44 Mon Sep 17 00:00:00 2001 From: visilya <84504499+visilya@users.noreply.github.com> Date: Fri, 7 Apr 2023 19:32:23 +0300 Subject: [PATCH 17/40] scripts: Fix flash linux when OUT argument provided (#6133) Signed-off-by: Ilya Vislotsky --- scripts/flash-linux.sh | 9 ++++++++- src/linux/Makefile | 2 +- 2 files changed, 9 insertions(+), 2 deletions(-) diff --git a/scripts/flash-linux.sh b/scripts/flash-linux.sh index cc808aa85ada..bd3b4f63ce28 100755 --- a/scripts/flash-linux.sh +++ b/scripts/flash-linux.sh @@ -7,10 +7,17 @@ if [ "$EUID" -ne 0 ]; then fi set -e +# Setting build output directory +if [ -z "${1}" ]; then + out='out' +else + out=${1} +fi + # Install new micro-controller code echo "Installing micro-controller code to /usr/local/bin/" rm -f /usr/local/bin/klipper_mcu -cp out/klipper.elf /usr/local/bin/klipper_mcu +cp ${out}/klipper.elf /usr/local/bin/klipper_mcu sync # Restart (if system install script present) diff --git a/src/linux/Makefile b/src/linux/Makefile index f234c3af4552..7c1de7c1f88b 100644 --- a/src/linux/Makefile +++ b/src/linux/Makefile @@ -11,4 +11,4 @@ CFLAGS_klipper.elf += -lutil -lrt -lpthread flash: $(OUT)klipper.elf @echo " Flashing" - $(Q)sudo ./scripts/flash-linux.sh + $(Q)sudo ./scripts/flash-linux.sh $(OUT) From 754a67af4e0286b9b4ce43716c420618bbfdf172 Mon Sep 17 00:00:00 2001 From: JamesH1978 <87171443+JamesH1978@users.noreply.github.com> Date: Fri, 7 Apr 2023 18:05:55 +0100 Subject: [PATCH 18/40] config: SKR3, update for second chip choice (#6153) As found on the discord by user Qtin, this board now ships with one of STM32H743 or STM32H723 Example config updated to reflect this. This has been tested on the users board. To note, the H743 bin will flash to the H723 chip, but will not work. Signed-off-by: James Hartley --- config/generic-bigtreetech-skr-3.cfg | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/config/generic-bigtreetech-skr-3.cfg b/config/generic-bigtreetech-skr-3.cfg index c769ae0399af..97570cd514fc 100644 --- a/config/generic-bigtreetech-skr-3.cfg +++ b/config/generic-bigtreetech-skr-3.cfg @@ -1,6 +1,8 @@ # This file contains common pin mappings for the BigTreeTech SKR 3. +# This board can ship with one of two chips, STM32H743 or STM32H723. # To use this config, during "make menuconfig" enable "low-level -# options", "STM32H743", "128KiB bootloader", and "25MHz clock". +# options", "STM32H743" or "STM32H723", "128KiB bootloader", +# and "25MHz clock". # See docs/Config_Reference.md for a description of parameters. From acca55b074d5d51cb93be36c9f3597ef3c998873 Mon Sep 17 00:00:00 2001 From: Scott Mudge <19617165+scottmudge@users.noreply.github.com> Date: Fri, 7 Apr 2023 13:41:06 -0400 Subject: [PATCH 19/40] aht10: Added support for AHT10 ambient temperature sensor (#6138) This commit adds support for the I2C-based AHT10 ambient temperature sensor. The sensor comes pre-calibrated and has a fairly simple command interface, so the interface class is in-turn relatively simple. So far this has been tested on a BTT GTR 1.0 MCU board (STM32F4), and seems to work fine. Signed-off-by: Scott Mudge --- klippy/extras/aht10.py | 160 ++++++++++++++++++++++++++ klippy/extras/temperature_sensors.cfg | 3 + 2 files changed, 163 insertions(+) create mode 100644 klippy/extras/aht10.py diff --git a/klippy/extras/aht10.py b/klippy/extras/aht10.py new file mode 100644 index 000000000000..b6cac2e33dbc --- /dev/null +++ b/klippy/extras/aht10.py @@ -0,0 +1,160 @@ +# AHT10 I2c-based humiditure sensor support +# +# Copyright (C) 2023 Scott Mudge +# +# This file may be distributed under the terms of the GNU GPLv3 license. +import logging +from . import bus + +###################################################################### +# Compatible Sensors: +# AHT10 - Tested w/ BTT GTR 1.0 MCU on i2c3 +###################################################################### + +AHT10_I2C_ADDR= 0x38 + +AHT10_COMMANDS = { + 'INIT' :[0xE1, 0x08, 0x00], + 'MEASURE' :[0xAC, 0x33, 0x00], + 'RESET' :[0xBA, 0x08, 0x00] +} + +AHT10_MAX_BUSY_CYCLES= 5 + +class AHT10: + def __init__(self, config): + self.printer = config.get_printer() + self.name = config.get_name().split()[-1] + self.reactor = self.printer.get_reactor() + self.i2c = bus.MCU_I2C_from_config( + config, default_addr=AHT10_I2C_ADDR, default_speed=100000) + self.report_time = config.getint('aht10_report_time',30,minval=5) + self.temp = self.min_temp = self.max_temp = self.humidity = 0. + self.sample_timer = self.reactor.register_timer(self._sample_aht10) + self.printer.add_object("aht10 " + self.name, self) + self.printer.register_event_handler("klippy:connect", + self.handle_connect) + self.is_calibrated = False + self.init_sent = False + + def handle_connect(self): + self._init_aht10() + self.reactor.update_timer(self.sample_timer, self.reactor.NOW) + + def setup_minmax(self, min_temp, max_temp): + self.min_temp = min_temp + self.max_temp = max_temp + + def setup_callback(self, cb): + self._callback = cb + + def get_report_time_delta(self): + return self.report_time + + def _make_measurement(self): + if not self.init_sent: + return False + + data = None + + is_busy = True + cycles = 0 + + try: + while is_busy: + # Check if we're constantly busy. If so, send soft-reset + # and issue warning. + if is_busy and cycles > AHT10_MAX_BUSY_CYCLES: + logging.warning("aht10: device reported busy after " + + "%d cycles, resetting device"% AHT10_MAX_BUSY_CYCLES) + self._reset_device() + data = None + break + + cycles += 1 + # Write command for updating temperature+status bit + self.i2c.i2c_write(AHT10_COMMANDS['MEASURE']) + # Wait 110ms after first read, 75ms minimum + self.reactor.pause(self.reactor.monotonic() + .110) + + # Read data + read = self.i2c.i2c_read([], 6) + if read is None: + logging.warning("aht10: received data from" + + " i2c_read is None") + continue + data = bytearray(read['response']) + if len(data) < 6: + logging.warning("aht10: received bytes less than" + + " expected 6 [%d]"%len(data)) + continue + + self.is_calibrated = True if (data[0] & 0b00000100) else False + is_busy = True if (data[0] & 0b01000000) else False + + if is_busy: + return False + except Exception as e: + logging.exception("aht10: exception encountered" + + " reading data: %s"%str(e)) + return False + + temp = ((data[3] & 0x0F) << 16) | (data[4] << 8) | data[5] + self.temp = ((temp*200) / 1048576) - 50 + hum = ((data[1] << 16) | (data[2] << 8) | data[3]) >> 4 + self.humidity = int(hum * 100 / 1048576) + + # Clamp humidity + if (self.humidity > 100): + self.humidity = 100 + elif (self.humidity < 0): + self.humidity = 0 + + return True + + def _reset_device(self): + if not self.init_sent: + return + + # Reset device + self.i2c.i2c_write(AHT10_COMMANDS['RESET']) + # Wait 100ms after reset + self.reactor.pause(self.reactor.monotonic() + .10) + + def _init_aht10(self): + # Init device + self.i2c.i2c_write(AHT10_COMMANDS['INIT']) + # Wait 100ms after init + self.reactor.pause(self.reactor.monotonic() + .10) + self.init_sent = True + + if self._make_measurement(): + logging.info("aht10: successfully initialized, initial temp: " + + "%.3f, humidity: %.3f"%(self.temp, self.humidity)) + + def _sample_aht10(self, eventtime): + if not self._make_measurement(): + self.temp = self.humidity = .0 + return self.reactor.NEVER + + if self.temp < self.min_temp or self.temp > self.max_temp: + self.printer.invoke_shutdown( + "AHT10 temperature %0.1f outside range of %0.1f:%.01f" + % (self.temp, self.min_temp, self.max_temp)) + + measured_time = self.reactor.monotonic() + print_time = self.i2c.get_mcu().estimated_print_time(measured_time) + self._callback(print_time, self.temp) + return measured_time + self.report_time + + def get_status(self, eventtime): + return { + 'temperature': round(self.temp, 2), + 'humidity': self.humidity, + } + + +def load_config(config): + # Register sensor + pheater = config.get_printer().lookup_object("heaters") + pheater.add_sensor_factory("AHT10", AHT10) diff --git a/klippy/extras/temperature_sensors.cfg b/klippy/extras/temperature_sensors.cfg index ebee3089979d..7e0d918f5b8a 100644 --- a/klippy/extras/temperature_sensors.cfg +++ b/klippy/extras/temperature_sensors.cfg @@ -18,6 +18,9 @@ # Load "SI7013", "SI7020", "SI7021", "SHT21", and "HTU21D" sensors [htu21d] +# Load "AHT10" +[aht10] + # Load "LM75" sensor [lm75] From 22ee889f41249a00664d3ccd7e12696975bd4fde Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Wed, 29 Mar 2023 18:24:32 -0400 Subject: [PATCH 20/40] serialqueue: Rename stalled_bytes stat to upcoming_bytes The stalled_bytes counter refers to the number of bytes that are not yet eligible for transmission. However, the naming leads to confusion as it could be interpretted as an inability to transmit data. Rename to upcoming_bytes to try to avoid that confusion. Signed-off-by: Kevin O'Connor --- docs/Config_Changes.md | 3 +++ klippy/chelper/serialqueue.c | 32 ++++++++++++++++---------------- 2 files changed, 19 insertions(+), 16 deletions(-) diff --git a/docs/Config_Changes.md b/docs/Config_Changes.md index efe962d1a77f..14c3b12bfbda 100644 --- a/docs/Config_Changes.md +++ b/docs/Config_Changes.md @@ -8,6 +8,9 @@ All dates in this document are approximate. ## Changes +20230407: The `stalled_bytes` counter in the log and in the +`printer.mcu.last_stats` field has been renamed to `upcoming_bytes`. + 20230304: The `SET_TMC_CURRENT` command now properly adjusts the globalscaler register for drivers that have it. This removes a limitation where on tmc5160, the currents could not be raised higher with `SET_TMC_CURRENT` than the diff --git a/klippy/chelper/serialqueue.c b/klippy/chelper/serialqueue.c index 684710c1d8cd..b6500fe621d5 100644 --- a/klippy/chelper/serialqueue.c +++ b/klippy/chelper/serialqueue.c @@ -30,7 +30,7 @@ #include "serialqueue.h" // struct queue_message struct command_queue { - struct list_head stalled_queue, ready_queue; + struct list_head upcoming_queue, ready_queue; struct list_node node; }; @@ -59,7 +59,7 @@ struct serialqueue { double srtt, rttvar, rto; // Pending transmission message queues struct list_head pending_queues; - int ready_bytes, stalled_bytes, need_ack_bytes, last_ack_bytes; + int ready_bytes, upcoming_bytes, need_ack_bytes, last_ack_bytes; uint64_t need_kick_clock; struct list_head notify_queue; // Received messages @@ -458,7 +458,7 @@ build_and_send_command(struct serialqueue *sq, uint8_t *buf, int pending if (len + qm->len > MESSAGE_MAX - MESSAGE_TRAILER_SIZE) break; list_del(&qm->node); - if (list_empty(&cq->ready_queue) && list_empty(&cq->stalled_queue)) + if (list_empty(&cq->ready_queue) && list_empty(&cq->upcoming_queue)) list_del(&cq->node); memcpy(&buf[len], qm->msg, qm->len); len += qm->len; @@ -523,10 +523,10 @@ check_send_command(struct serialqueue *sq, int pending, double eventtime) uint64_t min_stalled_clock = MAX_CLOCK, min_ready_clock = MAX_CLOCK; struct command_queue *cq; list_for_each_entry(cq, &sq->pending_queues, node) { - // Move messages from the stalled_queue to the ready_queue - while (!list_empty(&cq->stalled_queue)) { + // Move messages from the upcoming_queue to the ready_queue + while (!list_empty(&cq->upcoming_queue)) { struct queue_message *qm = list_first_entry( - &cq->stalled_queue, struct queue_message, node); + &cq->upcoming_queue, struct queue_message, node); if (ack_clock < qm->min_clock) { if (qm->min_clock < min_stalled_clock) min_stalled_clock = qm->min_clock; @@ -534,7 +534,7 @@ check_send_command(struct serialqueue *sq, int pending, double eventtime) } list_del(&qm->node); list_add_tail(&qm->node, &cq->ready_queue); - sq->stalled_bytes -= qm->len; + sq->upcoming_bytes -= qm->len; sq->ready_bytes += qm->len; } // Update min_ready_clock @@ -714,7 +714,7 @@ serialqueue_free(struct serialqueue *sq) &sq->pending_queues, struct command_queue, node); list_del(&cq->node); message_queue_free(&cq->ready_queue); - message_queue_free(&cq->stalled_queue); + message_queue_free(&cq->upcoming_queue); } pthread_mutex_unlock(&sq->lock); pollreactor_free(sq->pr); @@ -728,7 +728,7 @@ serialqueue_alloc_commandqueue(void) struct command_queue *cq = malloc(sizeof(*cq)); memset(cq, 0, sizeof(*cq)); list_init(&cq->ready_queue); - list_init(&cq->stalled_queue); + list_init(&cq->upcoming_queue); return cq; } @@ -738,7 +738,7 @@ serialqueue_free_commandqueue(struct command_queue *cq) { if (!cq) return; - if (!list_empty(&cq->ready_queue) || !list_empty(&cq->stalled_queue)) { + if (!list_empty(&cq->ready_queue) || !list_empty(&cq->upcoming_queue)) { errorf("Memory leak! Can't free non-empty commandqueue"); return; } @@ -784,12 +784,12 @@ serialqueue_send_batch(struct serialqueue *sq, struct command_queue *cq return; qm = list_first_entry(msgs, struct queue_message, node); - // Add list to cq->stalled_queue + // Add list to cq->upcoming_queue pthread_mutex_lock(&sq->lock); - if (list_empty(&cq->ready_queue) && list_empty(&cq->stalled_queue)) + if (list_empty(&cq->ready_queue) && list_empty(&cq->upcoming_queue)) list_add_tail(&cq->node, &sq->pending_queues); - list_join_tail(msgs, &cq->stalled_queue); - sq->stalled_bytes += len; + list_join_tail(msgs, &cq->upcoming_queue); + sq->upcoming_bytes += len; int mustwake = 0; if (qm->min_clock < sq->need_kick_clock) { sq->need_kick_clock = 0; @@ -925,13 +925,13 @@ serialqueue_get_stats(struct serialqueue *sq, char *buf, int len) " bytes_retransmit=%u bytes_invalid=%u" " send_seq=%u receive_seq=%u retransmit_seq=%u" " srtt=%.3f rttvar=%.3f rto=%.3f" - " ready_bytes=%u stalled_bytes=%u" + " ready_bytes=%u upcoming_bytes=%u" , stats.bytes_write, stats.bytes_read , stats.bytes_retransmit, stats.bytes_invalid , (int)stats.send_seq, (int)stats.receive_seq , (int)stats.retransmit_seq , stats.srtt, stats.rttvar, stats.rto - , stats.ready_bytes, stats.stalled_bytes); + , stats.ready_bytes, stats.upcoming_bytes); } // Extract old messages stored in the debug queues From 83308a10510ca4efa022c463b5e6455192f8a0a7 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Tue, 28 Mar 2023 16:34:58 -0400 Subject: [PATCH 21/40] tmc: Support reporting tmc2240 temperature in driver get_status() Signed-off-by: Kevin O'Connor --- docs/Status_Reference.md | 3 +++ klippy/extras/tmc.py | 24 +++++++++++++++++++----- 2 files changed, 22 insertions(+), 5 deletions(-) diff --git a/docs/Status_Reference.md b/docs/Status_Reference.md index 423e3fd50a68..84b4de73ae00 100644 --- a/docs/Status_Reference.md +++ b/docs/Status_Reference.md @@ -458,6 +458,9 @@ objects (eg, `[tmc2208 stepper_x]`): - `drv_status`: The results of the last driver status query. (Only non-zero fields are reported.) This field will be null if the driver is not enabled (and thus is not periodically queried). +- `temperature`: The internal temperature reported by the driver. This + field will be null if the driver is not enabled or if the driver + does not support temperature reporting. - `run_current`: The currently set run current. - `hold_current`: The currently set hold current. diff --git a/klippy/extras/tmc.py b/klippy/extras/tmc.py index 10a157691e50..28f7be6fc01f 100644 --- a/klippy/extras/tmc.py +++ b/klippy/extras/tmc.py @@ -93,7 +93,7 @@ def __init__(self, config, mcu_tmc): self.mcu_tmc = mcu_tmc self.fields = mcu_tmc.get_fields() self.check_timer = None - self.last_drv_status = self.last_status = None + self.last_drv_status = self.last_drv_fields = None # Setup for GSTAT query reg_name = self.fields.lookup_register("drv_err") if reg_name is not None: @@ -122,6 +122,9 @@ def __init__(self, config, mcu_tmc): if f in err_fields: err_mask |= self.fields.all_fields[reg_name][f] self.drv_status_reg_info = [0, reg_name, mask, err_mask, cs_actual_mask] + # Setup for temperature query + self.adc_temp = None + self.adc_temp_reg = self.fields.lookup_register("adc_temp") def _query_register(self, reg_info, try_clear=False): last_value, reg_name, mask, err_mask, cs_actual_mask = reg_info cleared_flags = 0 @@ -161,11 +164,20 @@ def _query_register(self, reg_info, try_clear=False): cleared_flags |= val & err_mask self.mcu_tmc.set_register(reg_name, val & err_mask) return cleared_flags + def _query_temperature(self): + try: + self.adc_temp = self.mcu_tmc.get_register(self.adc_temp_reg) + except self.printer.command_error as e: + # Ignore comms error for temperature + self.adc_temp = None + return def _do_periodic_check(self, eventtime): try: self._query_register(self.drv_status_reg_info) if self.gstat_reg_info is not None: self._query_register(self.gstat_reg_info) + if self.adc_temp_reg is not None: + self._query_temperature() except self.printer.command_error as e: self.printer.invoke_shutdown(str(e)) return self.printer.get_reactor().NEVER @@ -194,14 +206,16 @@ def start_checks(self): return False def get_status(self, eventtime=None): if self.check_timer is None: - return {'drv_status': None} + return {'drv_status': None, 'temperature': None} + temp = None + if self.adc_temp is not None: + temp = round((self.adc_temp - 2038) / 7.7, 2) last_value, reg_name = self.drv_status_reg_info[:2] if last_value != self.last_drv_status: self.last_drv_status = last_value fields = self.fields.get_reg_fields(reg_name, last_value) - fields = {n: v for n, v in fields.items() if v} - self.last_status = {'drv_status': fields} - return self.last_status + self.last_drv_fields = {n: v for n, v in fields.items() if v} + return {'drv_status': self.last_drv_fields, 'temperature': temp} ###################################################################### From aa8a6f4cf1a50724a61fd0ee6a80590677856b21 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Tue, 11 Apr 2023 11:20:57 -0400 Subject: [PATCH 22/40] lib: Update to latest can2040 code Avoid some gcc warnings by using uint32_t for iterators Better document the fallthough case statement in crc_bytes() Fix txpending race from report_line_ackdone() Make can2040_transmit() multi-cpu atomic Signed-off-by: Kevin O'Connor --- lib/README | 2 +- lib/can2040/can2040.c | 32 ++++++++++++++++++++------------ 2 files changed, 21 insertions(+), 13 deletions(-) diff --git a/lib/README b/lib/README index 84bfcb56f020..ce24bce650ca 100644 --- a/lib/README +++ b/lib/README @@ -155,7 +155,7 @@ used to upload firmware to devices flashed with the CanBoot bootloader. The can2040 directory contains code from: https://github.com/KevinOConnor/can2040 -revision 177b0073fe6f19281ee7f7fdbe9599e32d1b4b8b. +revision d1190afcaa6245c20da28199d06e453d2e743099. The Huada HC32F460 directory contains code from: https://www.hdsc.com.cn/Category83-1490 diff --git a/lib/can2040/can2040.c b/lib/can2040/can2040.c index fb9e3fb62b64..759f09747ab9 100644 --- a/lib/can2040/can2040.c +++ b/lib/can2040/can2040.c @@ -267,7 +267,7 @@ pio_tx_send(struct can2040 *cd, uint32_t *data, uint32_t count) pio_hw_t *pio_hw = cd->pio_hw; pio_tx_reset(cd); pio_hw->instr_mem[can2040_offset_tx_got_recessive] = 0xa242; // nop [2] - int i; + uint32_t i; for (i=0; itxf[3] = data[i]; struct pio_sm_hw *sm = &pio_hw->sm[3]; @@ -351,7 +351,7 @@ pio_sm_setup(struct can2040 *cd) pio_signal_set_txpending(cd); // Load pio program - int i; + uint32_t i; for (i=0; iinstr_mem[i] = can2040_program_instructions[i]; @@ -436,9 +436,9 @@ static inline uint32_t crc_bytes(uint32_t crc, uint32_t data, uint32_t num) { switch (num) { - default: crc = crc_byte(crc, data >> 24); - case 3: crc = crc_byte(crc, data >> 16); - case 2: crc = crc_byte(crc, data >> 8); + default: crc = crc_byte(crc, data >> 24); /* FALLTHRU */ + case 3: crc = crc_byte(crc, data >> 16); /* FALLTHRU */ + case 2: crc = crc_byte(crc, data >> 8); /* FALLTHRU */ case 1: crc = crc_byte(crc, data); } return crc; @@ -647,14 +647,19 @@ tx_schedule_transmit(struct can2040 *cd) if (cd->tx_state == TS_QUEUED && !pio_tx_did_fail(cd)) // Already queued or actively transmitting return 0; - if (cd->tx_push_pos == cd->tx_pull_pos) { + uint32_t tx_pull_pos = cd->tx_pull_pos; + if (readl(&cd->tx_push_pos) == tx_pull_pos) { // No new messages to transmit cd->tx_state = TS_IDLE; pio_signal_clear_txpending(cd); - return SI_TXPENDING; + __DMB(); + if (likely(readl(&cd->tx_push_pos) == tx_pull_pos)) + return SI_TXPENDING; + // Raced with can2040_transmit() - msg is now available for transmit + pio_signal_set_txpending(cd); } cd->tx_state = TS_QUEUED; - struct can2040_transmit *qt = &cd->tx_queue[tx_qpos(cd, cd->tx_pull_pos)]; + struct can2040_transmit *qt = &cd->tx_queue[tx_qpos(cd, tx_pull_pos)]; pio_tx_send(cd, qt->stuffed_data, qt->stuffed_words); return 0; } @@ -717,7 +722,7 @@ report_callback_rx_msg(struct can2040 *cd) static void report_callback_tx_msg(struct can2040 *cd) { - cd->tx_pull_pos++; + writel(&cd->tx_pull_pos, cd->tx_pull_pos + 1); cd->rx_cb(cd, CAN2040_NOTIFY_TX, &cd->parse_msg); } @@ -856,7 +861,9 @@ report_line_maytx(struct can2040 *cd) static void report_line_txpending(struct can2040 *cd) { - if (cd->report_state == RS_NEED_RX_ACK) { + uint32_t pio_irqs = pio_irq_get(cd); + if (pio_irqs == (SI_MAYTX | SI_TXPENDING | SI_RX_DATA) + && cd->report_state == RS_NEED_RX_ACK) { // Ack inject request from report_note_crc_start() uint32_t mk = pio_match_calc_key(cd->parse_crc_bits, cd->parse_crc_pos); tx_inject_ack(cd, mk); @@ -866,7 +873,7 @@ report_line_txpending(struct can2040 *cd) // Tx request from can2040_transmit(), report_note_eof_success(), // or report_note_parse_error(). uint32_t check_txpending = tx_schedule_transmit(cd); - pio_irq_set(cd, (pio_irq_get(cd) & ~SI_TXPENDING) | check_txpending); + pio_irq_set(cd, (pio_irqs & ~SI_TXPENDING) | check_txpending); } @@ -1241,7 +1248,7 @@ can2040_transmit(struct can2040 *cd, struct can2040_msg *msg) crc = crc_bytes(crc, hdr, 3); bs_push(&bs, hdr, 19); } - int i; + uint32_t i; for (i=0; imsg.data[i]; crc = crc_byte(crc, v); @@ -1256,6 +1263,7 @@ can2040_transmit(struct can2040 *cd, struct can2040_msg *msg) writel(&cd->tx_push_pos, tx_push_pos + 1); // Wakeup if in TS_IDLE state + __DMB(); pio_signal_set_txpending(cd); return 0; From d16adc356bc03cbb1095f4b91b57afbdec667dd4 Mon Sep 17 00:00:00 2001 From: flowerysong Date: Tue, 11 Apr 2023 11:39:41 -0400 Subject: [PATCH 23/40] docs: Add missing code block indicators to Slicers.md(#6161) Signed-off-by: Paul Arthur --- docs/Slicers.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/docs/Slicers.md b/docs/Slicers.md index cb0f5e6d06fb..afffe7499994 100644 --- a/docs/Slicers.md +++ b/docs/Slicers.md @@ -103,7 +103,9 @@ START_PRINT BED_TEMP={material_bed_temperature_layer_0} EXTRUDER_TEMP={material_ In slic3r derivatives such as PrusaSlicer and SuperSlicer, the following would be used: +``` START_PRINT EXTRUDER_TEMP=[first_layer_temperature] BED_TEMP=[first_layer_bed_temperature] +``` Also note that these slicers will insert their own heating codes when certain conditions are not met. In Cura, the existence of the From c2b2278a49a25ec180a9671e3f5a37643a102658 Mon Sep 17 00:00:00 2001 From: vcore85 Date: Tue, 11 Apr 2023 23:43:19 +0800 Subject: [PATCH 24/40] tmc5160: add DRV_CONF Register for TMC5160 (#6154) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit In some condition ，“drvstrength 2” does not work. According to page 17, some mosfets need “drvstrength” set to 0 . From datasheet rev1.15, the DRVSTRENGTH reset default is 0 . (instead of 2) Signed-off-by: Albert Lin --- docs/Config_Reference.md | 4 ++++ klippy/extras/tmc5160.py | 12 ++++++++++++ 2 files changed, 16 insertions(+) diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md index a3c1e3145e5d..7aab31d7c289 100644 --- a/docs/Config_Reference.md +++ b/docs/Config_Reference.md @@ -3524,6 +3524,10 @@ run_current: #driver_SEDN: 0 #driver_SEIMIN: 0 #driver_SFILT: 0 +#driver_DRVSTRENGTH: 0 +#driver_BBMCLKS: 4 +#driver_BBMTIME: 0 +#driver_FILT_ISENSE: 0 # Set the given register during the configuration of the TMC5160 # chip. This may be used to set custom motor parameters. The # defaults for each parameter are next to the parameter name in the diff --git a/klippy/extras/tmc5160.py b/klippy/extras/tmc5160.py index 0e7acf60a60e..1e8266b3cf54 100644 --- a/klippy/extras/tmc5160.py +++ b/klippy/extras/tmc5160.py @@ -105,6 +105,13 @@ "diss2g": 0x01 << 30, "diss2vs": 0x01 << 31 } +Fields["DRV_CONF"] = { + "bbmtime": 0x1F << 0, + "bbmclks": 0x0F << 8, + "otselect": 0x03 << 16, + "drvstrength": 0x03 << 18, + "filt_isense": 0x03 << 20, +} Fields["DRV_STATUS"] = { "sg_result": 0x3FF << 0, "s2vsa": 0x01 << 12, @@ -352,6 +359,11 @@ def __init__(self, config): set_config_field(config, "seimin", 0) set_config_field(config, "sgt", 0) set_config_field(config, "sfilt", 0) + # DRV_CONF + set_config_field(config, "drvstrength", 0) + set_config_field(config, "bbmclks", 4) + set_config_field(config, "bbmtime", 0) + set_config_field(config, "filt_isense", 0) # IHOLDIRUN set_config_field(config, "iholddelay", 6) # PWMCONF From a8b1b0ef0572f07f04f0d68969ef042fff290fa7 Mon Sep 17 00:00:00 2001 From: Nathan Date: Tue, 11 Apr 2023 23:48:20 +0800 Subject: [PATCH 25/40] docs: Fix duplicate section in Measuring_Resonaces.md (#6160) Removed a duplicated section in Measuring_Resonances.md. Also fixed its header level. Signed-off-by: Nathan Chiu --- docs/Measuring_Resonances.md | 29 ++--------------------------- 1 file changed, 2 insertions(+), 27 deletions(-) diff --git a/docs/Measuring_Resonances.md b/docs/Measuring_Resonances.md index 91d538a4eecd..1ab21eed8788 100644 --- a/docs/Measuring_Resonances.md +++ b/docs/Measuring_Resonances.md @@ -66,7 +66,7 @@ Note that unlike a cable shield, GND must be connected at both ends. #### ADXL345 -###### Direct to Raspberry Pi +##### Direct to Raspberry Pi **Note: Many MCUs will work with an ADXL345 in SPI mode (e.g. Pi Pico), wiring and configuration will vary according to your specific board and available @@ -89,32 +89,7 @@ Fritzing wiring diagrams for some of the ADXL345 boards: ![ADXL345-Rpi](img/adxl345-fritzing.png) -###### Using Raspberry Pi Pico - -You may connect the ADXL345 to your Raspberry Pi Pico and then connect the -Pico to your Raspberry Pi via USB. This makes it easy to reuse the -accelerometer on other Klipper devices, as you can connect via USB instead -of GPIO. The Pico does not have much processing power, so make sure it is -only running the accelerometer and not performing any other duties. - -In order to avoid damage to your RPi make sure to connect the ADXL345 to 3.3V -only. Depending on the board's layout, a level shifter may be present, which -makes 5V dangerous for your RPi. - -| ADXL345 pin | Pico pin | Pico pin name | -|:--:|:--:|:--:| -| 3V3 (or VCC) | 36 | 3.3V DC power | -| GND | 38 | Ground | -| CS | 2 | GP1 (SPI0_CSn) | -| SDO | 1 | GP0 (SPI0_RX) | -| SDA | 5 | GP3 (SPI0_TX) | -| SCL | 4 | GP2 (SPI0_SCK) | - -Wiring diagrams for some of the ADXL345 boards: - -![ADXL345-Pico](img/adxl345-pico.png) - -###### Using Raspberry Pi Pico +##### Using Raspberry Pi Pico You may connect the ADXL345 to your Raspberry Pi Pico and then connect the Pico to your Raspberry Pi via USB. This makes it easy to reuse the From 4748dffd7a0fcf736b270b6d37c5e6fbb8f07805 Mon Sep 17 00:00:00 2001 From: Scott Mudge <19617165+scottmudge@users.noreply.github.com> Date: Sat, 15 Apr 2023 19:17:54 -0400 Subject: [PATCH 26/40] docs: Add AHT10 temperature sensor doc section in Config_Reference.md (followup #6138) (#6167) Followed general outline used by HTU21D and BME280. Signed-off-by: Scott Mudge --- docs/Config_Reference.md | 23 +++++++++++++++++++++++ 1 file changed, 23 insertions(+) diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md index 7aab31d7c289..eda1a06e93aa 100644 --- a/docs/Config_Reference.md +++ b/docs/Config_Reference.md @@ -2375,6 +2375,29 @@ sensor_type: BME280 # above parameters. ``` +### AHT10 temperature sensor + +AHT10 two wire interface (I2C) environmental sensor. +Note that these sensors are not intended for use with extruders and +heater beds, but rather for monitoring ambient temperature (C) and +relative humidity. See +[sample-macros.cfg](../config/sample-macros.cfg) for a gcode_macro +that may be used to report humidity in addition to temperature. + +``` +sensor_type: AHT10 +#i2c_address: +# Default is 56 (0x38). Some AHT10 sensors give the option to use +# 57 (0x39) by moving a resistor. +#i2c_mcu: +#i2c_bus: +#i2c_speed: +# See the "common I2C settings" section for a description of the +# above parameters. +#aht10_report_time: +# Interval in seconds between readings. Default is 30, minimum is 5 +``` + ### HTU21D sensor HTU21D family two wire interface (I2C) environmental sensor. Note that From cba119db3a386c70caa4dc1f0a52be626792e208 Mon Sep 17 00:00:00 2001 From: xpeng <46627911+xiaopeng12138@users.noreply.github.com> Date: Sun, 16 Apr 2023 04:24:02 +0200 Subject: [PATCH 27/40] config: Add printer configuration for Anycubic Kobra Go (#6166) Signed-off-by: Yipeng Zhou --- config/printer-anycubic-kobra-go-2022.cfg | 133 ++++++++++++++++++++++ test/klippy/printers.test | 1 + 2 files changed, 134 insertions(+) create mode 100644 config/printer-anycubic-kobra-go-2022.cfg diff --git a/config/printer-anycubic-kobra-go-2022.cfg b/config/printer-anycubic-kobra-go-2022.cfg new file mode 100644 index 000000000000..525a50bd2837 --- /dev/null +++ b/config/printer-anycubic-kobra-go-2022.cfg @@ -0,0 +1,133 @@ +# This file contains a configuration for the Anycubic Kobra Go printer. +# +# See docs/Config_Reference.md for a description of parameters. +# +# To build the firmware, use the following configuration: +# - Micro-controller: Huada Semiconductor HC32F460 +# - Communication interface: Serial (PA3 & PA2) - Anycubic +# +# Installation: +# 1. Rename the klipper bin to `firmware.bin` and copy it to an SD Card. +# 2. Power off the Printer, insert the SD Card and power it on. +# 3. The the LCD will be stuck on the Firmware-update screen. +# Just Wait for 3-5 minutes to ensure the firmware is flashed. +# 4. After waiting, shutdown the printer and remove the SD Card. + +[stepper_x] +step_pin: PA12 +dir_pin: PA11 +enable_pin: !PA15 +microsteps: 16 +rotation_distance: 40 +endstop_pin: !PH2 +position_endstop: -13 +position_min:-13 +position_max: 238 +homing_speed: 50 + +[stepper_y] +step_pin: PA9 +dir_pin: PA8 +enable_pin: !PA15 +microsteps: 16 +rotation_distance: 40 +endstop_pin: ^!PC13 +position_endstop: -9 +position_min:-9 +position_max: 238 +homing_speed: 50 + +[stepper_z] +step_pin: PC7 +dir_pin: !PC6 +enable_pin: !PA15 +microsteps: 16 +rotation_distance: 8 +endstop_pin: ^PC14 +position_endstop: 0 +position_min: -10 +position_max: 250 +homing_speed: 5 + +[extruder] +step_pin: PB15 +dir_pin: PB14 +enable_pin: !PA15 +microsteps: 16 +rotation_distance: 31.07 +max_extrude_only_velocity: 25 +max_extrude_only_accel: 1000 +nozzle_diameter: 0.400 +filament_diameter: 1.750 +heater_pin: PB8 +sensor_type: ATC Semitec 104GT-2 +sensor_pin: PC3 +min_extrude_temp: 170 +min_temp: 0 +max_temp: 250 +control: pid +pid_kp: 19.56 +pid_ki: 1.62 +pid_kd: 200.00 + +[heater_bed] +heater_pin: PB9 +sensor_type: EPCOS 100K B57560G104F +sensor_pin: PC1 +min_temp: 0 +max_temp: 120 +control: pid +pid_kp: 97.1 +pid_ki: 1.41 +pid_kd: 1675.16 + +[bed_mesh] +speed: 200 +horizontal_move_z: 2.5 +mesh_min: 5, 5 +mesh_max: 217.2, 207.8 +probe_count: 5, 5 + +[probe] +pin: PA1 +x_offset: -20.8 +y_offset: 0 +z_offset: 0 +samples: 3 +samples_result: average +samples_tolerance_retries: 3 +sample_retract_dist: 0.5 +speed: 2 +lift_speed: 4 + +[safe_z_home] +home_xy_position: 0, 0 +speed: 5 +z_hop: 10 +z_hop_speed: 15 + +[controller_fan controller_fan] +pin: PB12 + +[heater_fan extruder_fan] +pin: PB13 + +[fan] +pin: PB5 +cycle_time: 0.00005 #20kHz + +[output_pin enable_pin] +pin: PB6 +static_value: 1 + #This pin enables the bed, hotend, extruder fan, part fan. + +[mcu] +serial: /dev/serial/by-id/usb-1a86_USB_Serial-if00-port0 +restart_method: command + +[printer] +kinematics: cartesian +max_velocity: 300 +max_accel: 500 +max_z_velocity: 4 +max_z_accel: 100 diff --git a/test/klippy/printers.test b/test/klippy/printers.test index 431bb8f58f1e..7194eb46dc69 100644 --- a/test/klippy/printers.test +++ b/test/klippy/printers.test @@ -257,6 +257,7 @@ CONFIG ../../config/generic-bigtreetech-skr-pico-v1.0.cfg # Anycubic Printers using trigorilla board with the hc32f460 DICTIONARY hc32f460-serial-PA3PA2.dict +CONFIG ../../config/printer-anycubic-kobra-go-2022.cfg CONFIG ../../config/printer-anycubic-kobra-plus-2022.cfg # Printers using the PRU From 40b4b34998c0708b2050c394feb383f901b76a0b Mon Sep 17 00:00:00 2001 From: Florin Popescu Date: Wed, 19 Apr 2023 17:47:18 +0200 Subject: [PATCH 28/40] stm32: Support for USART5 on STM32G0B1 (#6105) Support for USART5 on PD2,3 Add exception on RCC bits for USART5&6 Signed-off-by: Florin Popescu --- src/stm32/Kconfig | 4 ++++ src/stm32/stm32f0_serial.c | 11 +++++++++++ src/stm32/stm32g0.c | 8 ++++++++ 3 files changed, 23 insertions(+) diff --git a/src/stm32/Kconfig b/src/stm32/Kconfig index 30b2e48d891f..5d82f9c3f6db 100644 --- a/src/stm32/Kconfig +++ b/src/stm32/Kconfig @@ -400,6 +400,10 @@ choice bool "Serial (on UART4 PA0/PA1)" depends on MACH_STM32H7 select SERIAL + config STM32_SERIAL_USART5 + bool "Serial (on USART5 PD2/PD3)" if LOW_LEVEL_OPTIONS + depends on MACH_STM32G0Bx + select SERIAL config STM32_CANBUS_PA11_PA12 bool "CAN bus (on PA11/PA12)" depends on HAVE_STM32_CANBUS || HAVE_STM32_FDCANBUS diff --git a/src/stm32/stm32f0_serial.c b/src/stm32/stm32f0_serial.c index 4f6495f7ecb7..e48960f1163c 100644 --- a/src/stm32/stm32f0_serial.c +++ b/src/stm32/stm32f0_serial.c @@ -78,6 +78,13 @@ #define USARTx_FUNCTION GPIO_FUNCTION(8) #define USARTx UART4 #define USARTx_IRQn UART4_IRQn +#elif CONFIG_STM32_SERIAL_USART5 + DECL_CONSTANT_STR("RESERVE_PINS_serial", "PD2,PD3"); + #define GPIO_Rx GPIO('D', 2) + #define GPIO_Tx GPIO('D', 3) + #define USARTx_FUNCTION GPIO_FUNCTION(3) + #define USARTx USART5 + #define USARTx_IRQn USART5_IRQn #endif #if CONFIG_MACH_STM32F031 @@ -90,6 +97,10 @@ // Some of the stm32g0 MCUs have slightly different register names #if CONFIG_MACH_STM32G0B1 #define USART2_IRQn USART2_LPUART2_IRQn + #define USART3_IRQn USART3_4_5_6_LPUART1_IRQn + #define USART4_IRQn USART3_4_5_6_LPUART1_IRQn + #define USART5_IRQn USART3_4_5_6_LPUART1_IRQn + #define USART6_IRQn USART3_4_5_6_LPUART1_IRQn #endif #define USART_CR1_RXNEIE USART_CR1_RXNEIE_RXFNEIE #define USART_CR1_TXEIE USART_CR1_TXEIE_TXFNFIE diff --git a/src/stm32/stm32g0.c b/src/stm32/stm32g0.c index b96d4a517fd1..7408612ade2e 100644 --- a/src/stm32/stm32g0.c +++ b/src/stm32/stm32g0.c @@ -32,6 +32,14 @@ lookup_clock_line(uint32_t periph_base) uint32_t bit = 1 << ((periph_base - AHBPERIPH_BASE) / 0x400); return (struct cline){.en=&RCC->AHBENR, .rst=&RCC->AHBRSTR, .bit=bit}; } +#ifdef USART5_BASE + if (periph_base == USART5_BASE) + return (struct cline){.en=&RCC->APBENR1,.rst=&RCC->APBRSTR1,.bit=1<<8}; +#endif +#ifdef USART6_BASE + if (periph_base == USART6_BASE) + return (struct cline){.en=&RCC->APBENR1,.rst=&RCC->APBRSTR1,.bit=1<<9}; +#endif #if defined(FDCAN1_BASE) || defined(FDCAN2_BASE) if ((periph_base == FDCAN1_BASE) || (periph_base == FDCAN2_BASE)) return (struct cline){.en=&RCC->APBENR1,.rst=&RCC->APBRSTR1,.bit=1<<12}; From d68a6c28ba93df4f9bca6cb5a4bde4da09adfa0e Mon Sep 17 00:00:00 2001 From: Justin Schuh Date: Sat, 8 Apr 2023 19:34:32 -0700 Subject: [PATCH 29/40] webhooks: Log json encoding errors Signed-off-by: Justin Schuh --- klippy/webhooks.py | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/klippy/webhooks.py b/klippy/webhooks.py index 43ff9a914e62..9188a4f70af4 100644 --- a/klippy/webhooks.py +++ b/klippy/webhooks.py @@ -268,8 +268,14 @@ def _process_request(self, web_request): self.send(result) def send(self, data): - jmsg = json.dumps(data, separators=(',', ':')) - self.send_buffer += jmsg.encode() + b"\x03" + try: + jmsg = json.dumps(data, separators=(',', ':')) + self.send_buffer += jmsg.encode() + b"\x03" + except (TypeError, ValueError) as e: + msg = ("json encoding error: %s" % (str(e),)) + logging.exception(msg) + self.printer.invoke_shutdown(msg) + return if not self.is_blocking: self._do_send() From c2fe37292584455e71ca6e531b9d7286d4cb56a6 Mon Sep 17 00:00:00 2001 From: Justin Schuh Date: Wed, 12 Apr 2023 07:27:15 -0700 Subject: [PATCH 30/40] gcode_macro: Catch variable encoding errors Catch parsing and json encoding errors at variable assignment. Signed-off-by: Justin Schuh --- klippy/extras/gcode_macro.py | 19 +++++++++++-------- 1 file changed, 11 insertions(+), 8 deletions(-) diff --git a/klippy/extras/gcode_macro.py b/klippy/extras/gcode_macro.py index 4f50c75ade02..78cdae0eea3c 100644 --- a/klippy/extras/gcode_macro.py +++ b/klippy/extras/gcode_macro.py @@ -3,7 +3,7 @@ # Copyright (C) 2018-2021 Kevin O'Connor # # This file may be distributed under the terms of the GNU GPLv3 license. -import traceback, logging, ast, copy +import traceback, logging, ast, copy, json import jinja2 @@ -144,12 +144,13 @@ def __init__(self, config): prefix = 'variable_' for option in config.get_prefix_options(prefix): try: - self.variables[option[len(prefix):]] = ast.literal_eval( - config.get(option)) - except ValueError as e: + literal = ast.literal_eval(config.get(option)) + json.dumps(literal, separators=(',', ':')) + self.variables[option[len(prefix):]] = literal + except (SyntaxError, TypeError, ValueError) as e: raise config.error( - "Option '%s' in section '%s' is not a valid literal" % ( - option, config.get_name())) + "Option '%s' in section '%s' is not a valid literal: %s" % ( + option, config.get_name(), e)) def handle_connect(self): prev_cmd = self.gcode.register_command(self.alias, None) if prev_cmd is None: @@ -169,8 +170,10 @@ def cmd_SET_GCODE_VARIABLE(self, gcmd): raise gcmd.error("Unknown gcode_macro variable '%s'" % (variable,)) try: literal = ast.literal_eval(value) - except ValueError as e: - raise gcmd.error("Unable to parse '%s' as a literal" % (value,)) + json.dumps(literal, separators=(',', ':')) + except (SyntaxError, TypeError, ValueError) as e: + raise gcmd.error("Unable to parse '%s' as a literal: %s" % + (value, e)) v = dict(self.variables) v[variable] = literal self.variables = v From 80a7744b42aabd38eab52f845fc94a724d6676c0 Mon Sep 17 00:00:00 2001 From: "Dr. Matthew Swabey" Date: Wed, 19 Apr 2023 12:34:22 -0400 Subject: [PATCH 31/40] sensor_mpu9250: Fix or improve reliability (#6170) Fixes common MPU-9250 accelerometer issues for RPi Linux MCU and improves reliability on all other architectures by adjusting the MPU-* reading algorithm to only read whole Klipper messages' worth of data from MPU-* and eliminating many unnecessary checks of the MPU FIFO fill-level that consumed bus bandwidth needed for data transfer. Fixes intermittent "Lost communication with MCU 'rpi'" due to "Timer too close" and transposed / corrupted data due to FIFO overrun/data loss when using MPU-* accelerometers. In addition FIFO overrun checks are performed by testing the MPU interrupt flag vs. inferring from the FIFO fill level. Stress tested for 13hrs with two MPU-6500 attached to one I2C bus on RPi and one on a PR2040 Stress tested for 23hrs with two MPU-6500 attached to one I2C bus on RPi and one on a ATmega328P (Seeduino Nano) Signed-off-by: Matthew Swabey --- klippy/extras/mpu9250.py | 2 +- src/sensor_mpu9250.c | 102 +++++++++++++++++++++------------------ 2 files changed, 55 insertions(+), 49 deletions(-) diff --git a/klippy/extras/mpu9250.py b/klippy/extras/mpu9250.py index 419207fc4384..dc25449bba7b 100644 --- a/klippy/extras/mpu9250.py +++ b/klippy/extras/mpu9250.py @@ -221,7 +221,7 @@ def _start_measurements(self): systime = self.printer.get_reactor().monotonic() print_time = self.mcu.estimated_print_time(systime) + MIN_MSG_TIME reqclock = self.mcu.print_time_to_clock(print_time) - rest_ticks = self.mcu.seconds_to_clock(1. / self.data_rate) + rest_ticks = self.mcu.seconds_to_clock(4. / self.data_rate) self.query_rate = self.data_rate self.query_mpu9250_cmd.send([self.oid, reqclock, rest_ticks], reqclock=reqclock) diff --git a/src/sensor_mpu9250.c b/src/sensor_mpu9250.c index d7f3092867ce..51df5a711d31 100644 --- a/src/sensor_mpu9250.c +++ b/src/sensor_mpu9250.c @@ -1,5 +1,6 @@ // Support for gathering acceleration data from mpu9250 chip // +// Copyright (C) 2023 Matthew Swabey // Copyright (C) 2022 Harry Beyel // Copyright (C) 2020-2021 Kevin O'Connor // @@ -24,6 +25,7 @@ #define AR_USER_CTRL 0x6A #define AR_FIFO_COUNT_H 0x72 #define AR_FIFO 0x74 +#define AR_INT_STATUS 0x3A #define SET_ENABLE_FIFO 0x08 #define SET_DISABLE_FIFO 0x00 @@ -35,15 +37,17 @@ #define SET_PWR_2_ACCEL 0x07 // only enable accelerometers #define SET_PWR_2_NONE 0x3F // disable all sensors +#define FIFO_OVERFLOW_INT 0x10 + #define BYTES_PER_FIFO_ENTRY 6 struct mpu9250 { struct timer timer; uint32_t rest_ticks; struct i2cdev_s *i2c; - uint16_t sequence, limit_count; + uint16_t sequence, limit_count, fifo_max, fifo_pkts_bytes; uint8_t flags, data_count; - // data size must be <= 255 due to i2c api + // msg size must be <= 255 due to Klipper api // = SAMPLES_PER_BLOCK (from mpu9250.py) * BYTES_PER_FIFO_ENTRY + 1 uint8_t data[48]; }; @@ -55,14 +59,16 @@ enum { static struct task_wake mpu9250_wake; // Reads the fifo byte count from the device. -uint16_t +static uint16_t get_fifo_status (struct mpu9250 *mp) { - uint8_t regs[] = {AR_FIFO_COUNT_H}; + uint8_t reg[] = {AR_FIFO_COUNT_H}; uint8_t msg[2]; - i2c_read(mp->i2c->i2c_config, sizeof(regs), regs, 2, msg); + i2c_read(mp->i2c->i2c_config, sizeof(reg), reg, sizeof(msg), msg); msg[0] = 0x1F & msg[0]; // discard 3 MSB per datasheet - return (((uint16_t)msg[0]) << 8 | msg[1]); + uint16_t bytes_to_read = ((uint16_t)msg[0]) << 8 | msg[1]; + if (bytes_to_read > mp->fifo_max) mp->fifo_max = bytes_to_read; + return bytes_to_read; } // Event handler that wakes mpu9250_task() periodically @@ -120,42 +126,30 @@ mp9250_reschedule_timer(struct mpu9250 *mp) static void mp9250_query(struct mpu9250 *mp, uint8_t oid) { - // Check fifo status - uint16_t fifo_bytes = get_fifo_status(mp); - if (fifo_bytes >= AR_FIFO_SIZE - BYTES_PER_FIFO_ENTRY) - mp->limit_count++; - - // Read data - // FIFO data are: [Xh, Xl, Yh, Yl, Zh, Zl] - uint8_t reg = AR_FIFO; - uint8_t bytes_to_read = fifo_bytes < sizeof(mp->data) - mp->data_count ? - fifo_bytes & 0xFF : - (sizeof(mp->data) - mp->data_count) & 0xFF; + // Find remaining space in report buffer + uint8_t data_space = sizeof(mp->data) - mp->data_count; - // round down to nearest full packet of data - bytes_to_read = bytes_to_read / BYTES_PER_FIFO_ENTRY * BYTES_PER_FIFO_ENTRY; + // If not enough bytes to fill report read MPU FIFO's fill + if (mp->fifo_pkts_bytes < data_space) { + mp->fifo_pkts_bytes = get_fifo_status(mp) / BYTES_PER_FIFO_ENTRY + * BYTES_PER_FIFO_ENTRY; + } - // Extract x, y, z measurements into data holder and report - if (bytes_to_read > 0) { + // If we have enough bytes to fill the buffer do it and send report + if (mp->fifo_pkts_bytes >= data_space) { + uint8_t reg = AR_FIFO; i2c_read(mp->i2c->i2c_config, sizeof(reg), ®, - bytes_to_read, &mp->data[mp->data_count]); - mp->data_count += bytes_to_read; - - // report data when buffer is full - if (mp->data_count + BYTES_PER_FIFO_ENTRY > sizeof(mp->data)) { - mp9250_report(mp, oid); - } + data_space, &mp->data[mp->data_count]); + mp->data_count += data_space; + mp->fifo_pkts_bytes -= data_space; + mp9250_report(mp, oid); } - // check if we need to run the task again (more packets in fifo?) - if ( bytes_to_read > 0 && - bytes_to_read / BYTES_PER_FIFO_ENTRY < - fifo_bytes / BYTES_PER_FIFO_ENTRY) { - // more data still ready in the fifo buffer + // If we have enough bytes remaining to fill another report wake again + // otherwise schedule timed wakeup + if (mp->fifo_pkts_bytes > data_space) { sched_wake_task(&mpu9250_wake); - } - else if (mp->flags & AX_RUNNING) { - // No more fifo data, but actively running. Sleep until next check + } else if (mp->flags & AX_RUNNING) { sched_del_timer(&mp->timer); mp->flags &= ~AX_PENDING; mp9250_reschedule_timer(mp); @@ -182,6 +176,9 @@ mp9250_start(struct mpu9250 *mp, uint8_t oid) msg[1] = SET_USER_FIFO_EN; // enable FIFO buffer access i2c_write(mp->i2c->i2c_config, sizeof(msg), msg); + uint8_t int_reg[] = {AR_INT_STATUS}; // clear FIFO overflow flag + i2c_read(mp->i2c->i2c_config, sizeof(int_reg), int_reg, 1, msg); + msg[0] = AR_FIFO_EN; msg[1] = SET_ENABLE_FIFO; // enable accel output to FIFO i2c_write(mp->i2c->i2c_config, sizeof(msg), msg); @@ -203,18 +200,24 @@ mp9250_stop(struct mpu9250 *mp, uint8_t oid) i2c_write(mp->i2c->i2c_config, sizeof(msg), msg); uint32_t end2_time = timer_read_time(); - // Drain any measurements still in fifo - uint16_t fifo_bytes = get_fifo_status(mp); - while (fifo_bytes >= BYTES_PER_FIFO_ENTRY) { - mp9250_query(mp, oid); - fifo_bytes = get_fifo_status(mp); - } + // Detect if a FIFO overrun occured + uint8_t int_reg[] = {AR_INT_STATUS}; + uint8_t int_msg; + i2c_read(mp->i2c->i2c_config, sizeof(int_reg), int_reg, sizeof(int_msg), + &int_msg); + if (int_msg & FIFO_OVERFLOW_INT) + mp->limit_count++; // Report final data if (mp->data_count > 0) mp9250_report(mp, oid); + uint16_t bytes_to_read = get_fifo_status(mp); mp9250_status(mp, oid, end1_time, end2_time, - fifo_bytes / BYTES_PER_FIFO_ENTRY); + bytes_to_read / BYTES_PER_FIFO_ENTRY); + + // Uncomment and rebuilt to check for FIFO overruns when tuning + //output("mpu9240 limit_count=%u fifo_max=%u", + // mp->limit_count, mp->fifo_max); } void @@ -232,8 +235,11 @@ command_query_mpu9250(uint32_t *args) mp->timer.waketime = args[1]; mp->rest_ticks = args[2]; mp->flags = AX_HAVE_START; - mp->sequence = mp->limit_count = 0; + mp->sequence = 0; + mp->limit_count = 0; mp->data_count = 0; + mp->fifo_max = 0; + mp->fifo_pkts_bytes = 0; sched_add_timer(&mp->timer); } DECL_COMMAND(command_query_mpu9250, @@ -245,12 +251,12 @@ command_query_mpu9250_status(uint32_t *args) struct mpu9250 *mp = oid_lookup(args[0], command_config_mpu9250); uint8_t msg[2]; uint32_t time1 = timer_read_time(); - uint8_t regs[] = {AR_FIFO_COUNT_H}; - i2c_read(mp->i2c->i2c_config, 1, regs, 2, msg); + uint8_t reg[] = {AR_FIFO_COUNT_H}; + i2c_read(mp->i2c->i2c_config, sizeof(reg), reg, sizeof(msg), msg); uint32_t time2 = timer_read_time(); msg[0] = 0x1F & msg[0]; // discard 3 MSB - uint16_t fifo_bytes = (((uint16_t)msg[0]) << 8) | msg[1]; - mp9250_status(mp, args[0], time1, time2, fifo_bytes / BYTES_PER_FIFO_ENTRY); + mp9250_status(mp, args[0], time1, time2, mp->fifo_pkts_bytes + / BYTES_PER_FIFO_ENTRY); } DECL_COMMAND(command_query_mpu9250_status, "query_mpu9250_status oid=%c"); From 011b4e39e63980266342cdd6dacfdb15da8c684d Mon Sep 17 00:00:00 2001 From: "Dr. Matthew Swabey" Date: Wed, 19 Apr 2023 22:00:03 -0400 Subject: [PATCH 32/40] docs: Fix nested list in Measuring_Resonances (#6157) Signed-off-by: Matthew Swabey --- docs/Measuring_Resonances.md | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/docs/Measuring_Resonances.md b/docs/Measuring_Resonances.md index 1ab21eed8788..0897628f497f 100644 --- a/docs/Measuring_Resonances.md +++ b/docs/Measuring_Resonances.md @@ -36,16 +36,16 @@ An ethernet cable with shielded twisted pairs (cat5e or better) is recommended for signal integrity over a long distance. If you still experience signal integrity issues (SPI/I2C errors): - * Double check the wiring with a digital multimeter for: - * Correct connections when turned off (continuity) - * Correct power and ground voltages - * I2C only: - * Check the SCL and SDA lines' resistances to 3.3V are in the range of 900 - ohms to 1.8K - * For full technical details consult [chapter 7 of the I2C-bus specification - and user manual UM10204](https://www.pololu.com/file/0J435/UM10204.pdf) - for *fast-mode* - * Shorten the cable +- Double check the wiring with a digital multimeter for: + - Correct connections when turned off (continuity) + - Correct power and ground voltages +- I2C only: + - Check the SCL and SDA lines' resistances to 3.3V are in the range of 900 + ohms to 1.8K + - For full technical details consult [chapter 7 of the I2C-bus specification + and user manual UM10204](https://www.pololu.com/file/0J435/UM10204.pdf) + for *fast-mode* +- Shorten the cable Connect ethernet cable shielding only to the MCU board/Pi ground. From 9b59d745f1d025e883533825b55435d2240b7944 Mon Sep 17 00:00:00 2001 From: jdonagher Date: Mon, 24 Apr 2023 08:00:50 -0700 Subject: [PATCH 33/40] docs: Update Bed_Mesh.md (#6143) Fix typo. Signed-off-by: John Donagher --- docs/Bed_Mesh.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/Bed_Mesh.md b/docs/Bed_Mesh.md index cdae4cbde19a..c45ca2ab2f51 100644 --- a/docs/Bed_Mesh.md +++ b/docs/Bed_Mesh.md @@ -371,7 +371,7 @@ following parameters are available: - `MESH_ORIGIN` - `ROUND_PROBE_COUNT` - All beds: - - `RELATIVE_REFERNCE_INDEX` + - `RELATIVE_REFERENCE_INDEX` - `ALGORITHM` See the configuration documentation above for details on how each parameter From 5a49372dec24fc9874c17fa63b6676d3adb9b4f6 Mon Sep 17 00:00:00 2001 From: crazyroses <34101354+crazyroses@users.noreply.github.com> Date: Mon, 24 Apr 2023 17:07:10 +0200 Subject: [PATCH 34/40] docs: Update Measuring_Resonances.md (#6177) Correction for table "Recommended connection scheme for I2C (i2c0a) on the RP2040", line 160, to match the correct writing in the Fritzing image shown above, RP2040 pin 36 in place of 39; Correction of typo in line 346, "pins" in place of "pin" Signed-off-by: Adrian Rose --- docs/Measuring_Resonances.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/Measuring_Resonances.md b/docs/Measuring_Resonances.md index 0897628f497f..17a3756251aa 100644 --- a/docs/Measuring_Resonances.md +++ b/docs/Measuring_Resonances.md @@ -157,7 +157,7 @@ Recommended connection scheme for I2C (i2c0a) on the RP2040: | MPU-9250 pin | RP2040 pin | RP2040 pin name | |:--:|:--:|:--:| -| VCC | 39 | 3v3 | +| VCC | 36 | 3v3 | | GND | 38 | Ground | | SDA | 01 | GP0 (I2C0 SDA) | | SCL | 02 | GP1 (I2C0 SCL) | @@ -343,7 +343,7 @@ probe_points: 100, 100, 20 # an example [static_digital_output pico_3V3pwm] # Improve power stability -pin: pico:gpio23 +pins: pico:gpio23 ``` #### Configure MPU-9520 Compatibles with AVR From 10e816979e628784ee0b9fe2bc76b2d3f7cc9d50 Mon Sep 17 00:00:00 2001 From: Scott Mudge Date: Fri, 21 Apr 2023 09:38:44 -0400 Subject: [PATCH 35/40] aht10: update comments and docs for AHT20/AHT21 support The control bytes for the AHT20 and AHT21 are identical to the AHT10, but I had not been able to test just yet to ensure the sensor code supported the other sensors. I've wrapped up testing and updated the comments/docs to reflect this additional support. Signed-off-by: Scott Mudge --- docs/Config_Reference.md | 5 +++-- klippy/extras/aht10.py | 4 +++- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md index eda1a06e93aa..dd4449567699 100644 --- a/docs/Config_Reference.md +++ b/docs/Config_Reference.md @@ -2375,9 +2375,9 @@ sensor_type: BME280 # above parameters. ``` -### AHT10 temperature sensor +### AHT10/AHT20/AHT21 temperature sensor -AHT10 two wire interface (I2C) environmental sensor. +AHT10/AHT20/AHT21 two wire interface (I2C) environmental sensors. Note that these sensors are not intended for use with extruders and heater beds, but rather for monitoring ambient temperature (C) and relative humidity. See @@ -2386,6 +2386,7 @@ that may be used to report humidity in addition to temperature. ``` sensor_type: AHT10 +# Also use AHT10 for AHT20 and AHT21 sensors. #i2c_address: # Default is 56 (0x38). Some AHT10 sensors give the option to use # 57 (0x39) by moving a resistor. diff --git a/klippy/extras/aht10.py b/klippy/extras/aht10.py index b6cac2e33dbc..001f7e54d59a 100644 --- a/klippy/extras/aht10.py +++ b/klippy/extras/aht10.py @@ -1,4 +1,4 @@ -# AHT10 I2c-based humiditure sensor support +# AHT10/AHT20/AHT21 I2c-based humiditure sensor support # # Copyright (C) 2023 Scott Mudge # @@ -9,6 +9,8 @@ ###################################################################### # Compatible Sensors: # AHT10 - Tested w/ BTT GTR 1.0 MCU on i2c3 +# AHT20 - Untested but should work +# AHT21 - Tested w/ BTT GTR 1.0 MCU on i2c3 ###################################################################### AHT10_I2C_ADDR= 0x38 From 8b2074e068b661fcc91ba7d70fe239a4b08fa0e5 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Fri, 14 Apr 2023 23:59:34 -0400 Subject: [PATCH 36/40] stm32: Fix usbotg irq wakeup notification The DAINTMSK prevents irqs but does not prevent the status reporting in the GINTSTS and DAINT fields. Thus, the mask bits should be checked prior to sending a wakeup notification. Signed-off-by: Kevin O'Connor --- src/stm32/usbotg.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/stm32/usbotg.c b/src/stm32/usbotg.c index b61c99ca2959..7482925606e5 100644 --- a/src/stm32/usbotg.c +++ b/src/stm32/usbotg.c @@ -397,11 +397,11 @@ OTG_FS_IRQHandler(void) } if (sts & USB_OTG_GINTSTS_IEPINT) { // Can transmit data - disable irq and notify endpoint - uint32_t daint = OTGD->DAINT; - OTGD->DAINTMSK &= ~daint; - if (daint & (1 << 0)) + uint32_t daint = OTGD->DAINT, msk = OTGD->DAINTMSK, pend = daint & msk; + OTGD->DAINTMSK = msk & ~daint; + if (pend & (1 << 0)) usb_notify_ep0(); - if (daint & (1 << USB_CDC_EP_BULK_IN)) + if (pend & (1 << USB_CDC_EP_BULK_IN)) usb_notify_bulk_in(); } } From f10c60eea767e04f3eda524e66b410127a5af34a Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Fri, 14 Apr 2023 14:51:48 -0400 Subject: [PATCH 37/40] usb_canbus: Increase rx canbus packet buffer to 32 A buffer of only 8 canbus packets is only 64 bytes of data, which could be exceeded if the usb-to-canbus mcu gets busy doing other work. Increase the buffer to 32 packets. Signed-off-by: Kevin O'Connor --- src/generic/usb_canbus.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/generic/usb_canbus.c b/src/generic/usb_canbus.c index 3cb4bdd06fef..b102362742d6 100644 --- a/src/generic/usb_canbus.c +++ b/src/generic/usb_canbus.c @@ -117,7 +117,7 @@ static struct usbcan_data { // Data from physical canbus interface uint32_t pull_pos, push_pos; - struct canbus_msg queue[8]; + struct canbus_msg queue[32]; } UsbCan; enum { From 3377f29bc54938ab2820ff6b5212ce525e12b511 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Fri, 14 Apr 2023 14:48:40 -0400 Subject: [PATCH 38/40] usb_canbus: Minor code reformatting of drain_hw_queue() Signed-off-by: Kevin O'Connor --- src/generic/usb_canbus.c | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/src/generic/usb_canbus.c b/src/generic/usb_canbus.c index b102362742d6..602acc705e21 100644 --- a/src/generic/usb_canbus.c +++ b/src/generic/usb_canbus.c @@ -169,18 +169,18 @@ send_frame(struct canbus_msg *msg) static int drain_hw_queue(void) { + uint32_t pull_pos = UsbCan.pull_pos; for (;;) { uint32_t push_pos = readl(&UsbCan.push_pos); - uint32_t pull_pos = UsbCan.pull_pos; - if (push_pos != pull_pos) { - uint32_t pos = pull_pos % ARRAY_SIZE(UsbCan.queue); - int ret = send_frame(&UsbCan.queue[pos]); - if (ret < 0) - return -1; - UsbCan.pull_pos = pull_pos + 1; - continue; - } - return 0; + if (push_pos == pull_pos) + // No more data to send + return 0; + uint32_t pos = pull_pos % ARRAY_SIZE(UsbCan.queue); + int ret = send_frame(&UsbCan.queue[pos]); + if (ret < 0) + // USB is busy - retry later + return -1; + UsbCan.pull_pos = pull_pos = pull_pos + 1; } } From 28f11244c3a91c18f0f4f3c3a02b5f20b0ff5547 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Sat, 15 Apr 2023 12:21:46 -0400 Subject: [PATCH 39/40] usb_canbus: No need to check if canserial can accept a packet The canserial code already advertizes a receive window, so the host should never flood the canserial code. Remove the extra scheduling checks to simplify the usb_canbus code. Signed-off-by: Kevin O'Connor --- src/generic/canserial.c | 7 +++---- src/generic/canserial.h | 2 +- src/generic/usb_canbus.c | 12 ++++-------- 3 files changed, 8 insertions(+), 13 deletions(-) diff --git a/src/generic/canserial.c b/src/generic/canserial.c index 0607e4893e91..d56235f57fe7 100644 --- a/src/generic/canserial.c +++ b/src/generic/canserial.c @@ -224,7 +224,7 @@ canserial_notify_rx(void) DECL_CONSTANT("RECEIVE_WINDOW", ARRAY_SIZE(CanData.receive_buf)); // Handle incoming data (called from IRQ handler) -int +void canserial_process_data(struct canbus_msg *msg) { uint32_t id = msg->id; @@ -233,7 +233,7 @@ canserial_process_data(struct canbus_msg *msg) int rpos = CanData.receive_pos; uint32_t len = CANMSG_DATA_LEN(msg); if (len > sizeof(CanData.receive_buf) - rpos) - return -1; + return; memcpy(&CanData.receive_buf[rpos], msg->data, len); CanData.receive_pos = rpos + len; canserial_notify_rx(); @@ -243,13 +243,12 @@ canserial_process_data(struct canbus_msg *msg) uint32_t pushp = CanData.admin_push_pos; if (pushp >= CanData.admin_pull_pos + ARRAY_SIZE(CanData.admin_queue)) // No space - drop message - return -1; + return; uint32_t pos = pushp % ARRAY_SIZE(CanData.admin_queue); memcpy(&CanData.admin_queue[pos], msg, sizeof(*msg)); CanData.admin_push_pos = pushp + 1; canserial_notify_rx(); } - return 0; } // Remove from the receive buffer the given number of bytes diff --git a/src/generic/canserial.h b/src/generic/canserial.h index e8f3767fab18..3dd5cd9deae4 100644 --- a/src/generic/canserial.h +++ b/src/generic/canserial.h @@ -9,7 +9,7 @@ // canserial.c void canserial_notify_tx(void); struct canbus_msg; -int canserial_process_data(struct canbus_msg *msg); +void canserial_process_data(struct canbus_msg *msg); void canserial_set_uuid(uint8_t *raw_uuid, uint32_t raw_uuid_len); #endif // canserial.h diff --git a/src/generic/usb_canbus.c b/src/generic/usb_canbus.c index 602acc705e21..9b0bebe6079d 100644 --- a/src/generic/usb_canbus.c +++ b/src/generic/usb_canbus.c @@ -204,20 +204,16 @@ usbcan_task(void) msg.dlc = gs->can_dlc; msg.data32[0] = gs->data32[0]; msg.data32[1] = gs->data32[1]; + if (host_status & HS_TX_LOCAL) { + canserial_process_data(&msg); + UsbCan.host_status = host_status = host_status & ~HS_TX_LOCAL; + } if (host_status & HS_TX_HW) { ret = canhw_send(&msg); if (ret < 0) return; UsbCan.host_status = host_status = host_status & ~HS_TX_HW; } - if (host_status & HS_TX_LOCAL) { - ret = canserial_process_data(&msg); - if (ret < 0) { - usb_notify_bulk_out(); - return; - } - UsbCan.host_status = host_status & ~HS_TX_LOCAL; - } continue; } From b17ae55f5bd3a079ab3626b1e6fd5c60416e6ba0 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Sat, 15 Apr 2023 12:54:32 -0400 Subject: [PATCH 40/40] usb_canbus: Rework USB message transmit prioritization There is no need to heavily prioritize the sending of canbus packets over USB. A single check to flush the incoming canbus packets is sufficient. Also, be sure to wake up canserial_notify_tx() even if canhw_send() blocks. Signed-off-by: Kevin O'Connor --- src/generic/usb_canbus.c | 76 ++++++++++++++++++++-------------------- 1 file changed, 38 insertions(+), 38 deletions(-) diff --git a/src/generic/usb_canbus.c b/src/generic/usb_canbus.c index 9b0bebe6079d..d776d45f248a 100644 --- a/src/generic/usb_canbus.c +++ b/src/generic/usb_canbus.c @@ -112,7 +112,7 @@ static struct usbcan_data { uint8_t host_status; // Canbus data routed locally - uint8_t notify_local; + uint8_t notify_local, usb_send_busy; uint32_t assigned_id; // Data from physical canbus interface @@ -166,20 +166,24 @@ send_frame(struct canbus_msg *msg) } // Send any pending hw frames to host -static int +static void drain_hw_queue(void) { uint32_t pull_pos = UsbCan.pull_pos; for (;;) { uint32_t push_pos = readl(&UsbCan.push_pos); - if (push_pos == pull_pos) + if (push_pos == pull_pos) { // No more data to send - return 0; + UsbCan.usb_send_busy = 0; + return; + } uint32_t pos = pull_pos % ARRAY_SIZE(UsbCan.queue); int ret = send_frame(&UsbCan.queue[pos]); - if (ret < 0) + if (ret < 0) { // USB is busy - retry later - return -1; + UsbCan.usb_send_busy = 1; + return; + } UsbCan.pull_pos = pull_pos = pull_pos + 1; } } @@ -189,12 +193,11 @@ usbcan_task(void) { if (!sched_check_wake(&UsbCan.wake)) return; - for (;;) { - // Send any pending hw frames to host - int ret = drain_hw_queue(); - if (ret < 0) - return; + // Send any pending hw frames to host + drain_hw_queue(); + + for (;;) { // See if previous host frame needs to be transmitted uint_fast8_t host_status = UsbCan.host_status; if (host_status & (HS_TX_HW | HS_TX_LOCAL)) { @@ -209,53 +212,50 @@ usbcan_task(void) UsbCan.host_status = host_status = host_status & ~HS_TX_LOCAL; } if (host_status & HS_TX_HW) { - ret = canhw_send(&msg); + int ret = canhw_send(&msg); if (ret < 0) - return; + break; UsbCan.host_status = host_status = host_status & ~HS_TX_HW; } - continue; } // Send any previous echo frames if (host_status) { - ret = usb_send_bulk_in(&UsbCan.host_frame - , sizeof(UsbCan.host_frame)); + if (UsbCan.usb_send_busy) + // Don't send echo frame until other traffic is sent + return; + int ret = usb_send_bulk_in(&UsbCan.host_frame + , sizeof(UsbCan.host_frame)); if (ret < 0) return; UsbCan.host_status = 0; - continue; - } - - // See if can read a new frame from host - ret = usb_read_bulk_out(&UsbCan.host_frame, USB_CDC_EP_BULK_OUT_SIZE); - if (ret > 0) { - uint32_t id = UsbCan.host_frame.can_id; - UsbCan.host_status = HS_TX_ECHO | HS_TX_HW; - if (id == CANBUS_ID_ADMIN) - UsbCan.host_status = HS_TX_ECHO | HS_TX_HW | HS_TX_LOCAL; - else if (UsbCan.assigned_id && UsbCan.assigned_id == id) - UsbCan.host_status = HS_TX_ECHO | HS_TX_LOCAL; - continue; } - // No more work to be done - if (UsbCan.notify_local) { - UsbCan.notify_local = 0; - canserial_notify_tx(); - } - return; + // Read next frame from host + int ret = usb_read_bulk_out(&UsbCan.host_frame + , USB_CDC_EP_BULK_OUT_SIZE); + if (ret <= 0) + // No frame available - no more work to be done + break; + uint32_t id = UsbCan.host_frame.can_id; + UsbCan.host_status = HS_TX_ECHO | HS_TX_HW; + if (id == CANBUS_ID_ADMIN) + UsbCan.host_status = HS_TX_ECHO | HS_TX_HW | HS_TX_LOCAL; + else if (UsbCan.assigned_id && UsbCan.assigned_id == id) + UsbCan.host_status = HS_TX_ECHO | HS_TX_LOCAL; } + + if (UsbCan.notify_local && !UsbCan.usb_send_busy) + canserial_notify_tx(); } DECL_TASK(usbcan_task); int canbus_send(struct canbus_msg *msg) { - int ret = drain_hw_queue(); - if (ret < 0) + if (UsbCan.usb_send_busy) goto retry_later; - ret = send_frame(msg); + int ret = send_frame(msg); if (ret < 0) goto retry_later; UsbCan.notify_local = 0;