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* linux: Make sure to close fd on analog/pca9685 init failureKevin O'Connor2017-10-142-11/+17
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* pca9685: Fix missing devices_count incrementKevin O'Connor2017-10-131-0/+1
| | | | | | The devices_count was not being incremented on each device add. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* pca9685: Support default valuesKevin O'Connor2017-10-121-21/+31
| | | | | | Allow the pwm pin to have a non-zero default value. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* gpiocmds: Allow the start value for a pin to differ from the default_valueKevin O'Connor2017-10-122-14/+17
| | | | | | | | | Allow the start value to be different from the default/shutdown value for the pin. This will be useful for "heater fans" that should startup in the off state, and transition to full on in a shutdown state. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* adccmds: Continue to query analog inputs after a shutdownKevin O'Connor2017-10-122-2/+9
| | | | | | | | Continue to sample the ADC input pins even if the MCU goes into a shutdown state. This enables the printer to continue reporting temperatures even on an mcu error. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* sched: Don't shutdown on a "timer in the past" if already shutdownKevin O'Connor2017-10-124-6/+5
| | | | | | A shutdown will not help if the mcu is already in a shutdown state. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* endstop: Eliminate end_stop_set_oversample commandKevin O'Connor2017-10-121-21/+13
| | | | | | | | | | Pass the sample_ticks and sample_count parameters directly in the end_stop_home command instead. This simplifies the code. Also, simplify calculation of next wakeup time in end_stop_oversample_event(). Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* avr: Add support for atmega1284pKevin O'Connor2017-10-052-5/+13
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* endstop: Fix typo in commentKevin O'Connor2017-10-021-1/+1
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* endstop: Support oversampling of the endstopKevin O'Connor2017-10-011-5/+45
| | | | | | | | Some printers can show occasional noise on the endstop pin. Support sampling the endstop pin multiple times to attempt to filter out this noise. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* pru: Update installation and flash scriptsKevin O'Connor2017-09-201-0/+4
| | | | | | | | | Update the scripts used to install and "flash" the pru micro-controller code. Also, add a "flash" script for the linux micro-controller code. This makes it easier to install Klipper on a Beaglebone board that uses a Replicape. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* linux: Add support for analog IIO devicesKevin O'Connor2017-09-205-2/+82
| | | | | | | | Add support for reading analog values via the standard Linux IIO interface. This can be used on Replicape boards to sample analog input pins. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* linux: Add support for spidev devicesKevin O'Connor2017-09-202-1/+69
| | | | | | | | Add support for sending SPI messages to devices via the standard Linux SPI interface. This can be used to configure the shift registers on Replicape boards. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* linux: Add support for pca9685 i2c pwm devicesKevin O'Connor2017-09-204-2/+210
| | | | | | | Add support for controlling pca9685 PWM drivers using the standard Linux I2C interface. The pca9685 device is found on Replicape boards. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* linux: Initial support for running Klipper in a Linux real-time processKevin O'Connor2017-09-209-1/+620
| | | | | | | Add support for compiling the Klipper micro-controller code as a real-time process capable of running on standard Linux systems. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* pru: Avoid calling "slp" instruction on pru0Kevin O'Connor2017-09-111-1/+3
| | | | | | | | If pru0 waits in sleep mode then a full beaglebone reboot is needed to reprogram the pru0 firmware. For now, avoid using the "slp" instruction as a workaround. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* pru: Batch outgoing writesKevin O'Connor2017-09-081-5/+31
| | | | | | | Allow pru0 to gather multiple outgoing message blocks into a single rpmsg. This can reduce communication overhead. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* pru: Fix race condition in clearing of irq flagsKevin O'Connor2017-09-081-2/+4
| | | | | | | | Each irq flag must only be cleared after it has been serviced. This fixes a race condition that could cause incoming commands to be delayed for extended period. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* mcu: Provide some further help on common MCU shutdown errorsKevin O'Connor2017-09-053-3/+3
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* avr: Check that FLASH_DEVICE is set on "make flash" commandKevin O'Connor2017-09-051-0/+1
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* pru: Support config_reset command to manually reset mcuKevin O'Connor2017-09-035-2/+26
| | | | | | | Add support for resetting the MCU via a software only mechanism. This is useful on the PRU. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* pru: Only sleep the pru0 if the incoming queue is fully emptyKevin O'Connor2017-09-031-5/+7
| | | | | | | | It's possible for multiple blocks to be pending on the incoming "rpmsg" stream. Don't sleep unless the input is confirmed to be empty. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* pru: Compile the irq_poll() function with -O2 optimizationKevin O'Connor2017-08-151-1/+1
| | | | | | | | Compile the PRU binary with -Os optimization, but request that the timer dispatch code be compiled with -O2 optimization. This improves the performance of timers slightly. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* pru: Compile with -Os instead of -O2Kevin O'Connor2017-08-141-1/+1
| | | | | | | The gcc -Os option significantly reduces the size of the PRU binary and it has little impact on performance. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* command: Don't pass max_size to command_encodef()Kevin O'Connor2017-08-147-29/+24
| | | | | | | | | The command_encodef() can read the max_size parameter directly from the 'struct command_encoder' passed into it. Also, there is no need to check that a message will fit in a buffer if the buffer is declared to be MESSAGE_MAX in size. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* docs: Update Code_Overview.md with PRU and command_dispatch() changesKevin O'Connor2017-08-111-1/+1
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Revert f8b0c884Kevin O'Connor2017-08-111-26/+25
| | | | | | | | Go back to scheduling the unstep time instead of busy waiting in the timer dispatch. With the unstep time increased to 2us, it no longer makes sense to spin while waiting for the unstep. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* avr: Make sure timer_high and timer_event() stay in syncKevin O'Connor2017-08-111-1/+5
| | | | | | Schedule the next wakeup time of timer_event() using timer_high. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* timer_irq: Rework timer irq handler to check for tasks pendingKevin O'Connor2017-08-091-24/+14
| | | | | | | | Allow timer_dispatch_many() to run for extended periods if there are no tasks pending. This reduces the amount of lost cpu time spent entering and exiting the irq handler. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* sched: Reduce the amount of time irqs are disabled in sleep checkKevin O'Connor2017-08-091-16/+19
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* sched: Write out a message on startupKevin O'Connor2017-08-081-0/+2
| | | | | | | Send a "startup" message after completing the mcu init functions. This may help detect mcu reboots during debugging. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* avr: Rework timer irq handler to check for tasks pendingKevin O'Connor2017-08-081-39/+33
| | | | | | | | Allow the timer dispatch irq handler to run for extended periods if there are no tasks pending. This reduces the amount of lost cpu time spent entering and exiting the irq handler. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* sched: Implement generic sleep mechanism based on tasks pendingKevin O'Connor2017-08-089-80/+60
| | | | | | | | | Track when tasks are pending and spin in irq_wait() when no tasks are pending. This improves the mechanism for sleeping the processor - it's simpler for the board specific code and it reduces the possibility of the processor sleeping when tasks are busy. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* sched: Introduce sched_wake_tasks() function to wake up tasksKevin O'Connor2017-08-087-4/+25
| | | | | | | | Add function to indicate when tasks need to be run. This will allow the scheduler code to know if there are any tasks that need to be processed. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* avr: Tune the low-level timer entry and exit heuristicsKevin O'Connor2017-08-081-2/+4
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* avr: Implement internal avr specific timer to handle 16bit overflowsKevin O'Connor2017-08-085-26/+31
| | | | | | | | | | Don't rely on the generic scheduler code to always have a timer no more than 1ms in the future. Instead, create an avr specific timer that will be called every 0x8000 ticks. This simplifies the generic code and it reduces the amount of code that needs to be run every millisecond. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* sched: Support adding timers to the start of timer_listKevin O'Connor2017-08-087-44/+61
| | | | | | | | If sched_add_timer() is called on a timer that would make it the new head of the list, then add it and signal the board code that the timer should be rescheduled. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* sched: Don't count milliseconds in the periodic timerKevin O'Connor2017-08-084-37/+53
| | | | | | | It's not necessary to keep a millisecond counter. Replace the two users of sched_check_periodic() with explicit task wakeup flags. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* sam3x8e: Fix watchdog timeout calculationKevin O'Connor2017-08-081-1/+1
| | | | | | | Fix error causing the watchdog to be set to an ~4ms timeout instead of 500ms. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* avr: Move prescaler and sleep initialization from timer.c to main.cKevin O'Connor2017-08-072-11/+21
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* avr: Enable watchdog code even on simulavrKevin O'Connor2017-08-071-1/+0
| | | | | | | | The simulavr simulator will warn when writing to the watchdog registers, but running code closer to what real hardware runs is worth a few extra warnings. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* pwmcmds: Update event prototypes to use uint_fast8_tKevin O'Connor2017-08-061-2/+2
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* pru: Improve comments in pru0.cKevin O'Connor2017-08-022-3/+1
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* build: Allow boards to disable digital input/output supportKevin O'Connor2017-07-206-1/+17
| | | | | | | | Allow the micro-controller code to be built without support for regular gpio pins. In this case, the code for endstops, steppers, and gpiocmds will be disabled. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* basecmd: Move low-level alloc code into basecmd.cKevin O'Connor2017-07-206-90/+74
| | | | | | | | Implement new dynmem_start() and dynmem_end() functions instead of alloc_chunk() and alloc_chunks() in the board code. This simplifies the board code. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* irq: Support sleeping when mcu is idleKevin O'Connor2017-07-1712-8/+97
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* pru: Move peripheral init from pru0 to pru1Kevin O'Connor2017-07-173-45/+37
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* pru: Move ADC code from gpio.c to new file adc.cKevin O'Connor2017-07-123-66/+78
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* avr: Fix readl() typo in serial.cKevin O'Connor2017-07-121-1/+1
| | | | | | The code should have used a readb() call instead of readl(). Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* pru: Add support for "make flash" ruleKevin O'Connor2017-07-051-0/+4
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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