Commit f28eb902 reworked the switch to fix int16 encoding. However,
at least one version of avr gcc doesn't like that switch layout (it
uses a jump table). Reorg the switch to avoid that issue.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The est_clock calculation code requires timestamps on status messages
to never be prior to the reception of the message. The eventtime of
handle_message() is taken before the read() and there is a small
possibility that it could be inaccurate enough to corrupt the
est_clock calculation. Take a new timestamp when storing receive_time
to prevent this. This fix prevents some firmware "Move queue empty"
shutdowns.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The code wasn't properly sign-extending 16bit integers which caused
int16_t reports in output() to appear as uint16_t.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Support timing the simulation scaled to the system clock. This can be
used to make the host estimation of the mcu clock more accurate.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Don't start/stop the simulavr simulation loop to do IO - instead
implement the IO directly in the serial callback handlers. This
improves the speed and consistency of the simulation.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
sqrt() of a negative number in the C code returns NaN. This value
results in behavior that is difficult to debug. Always return 0.0
instead as this results in better behavior that is easier to track
down. Also, on some code paths, safe_sqrt is called on numbers that
are multiplied by very large amounts (eg, 16000000**2) and thus
distinguishing between large and small negative numbers is difficult.
For now, report in the log if the value is below -0.001.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The code disables lookahead between two extruding moves with
significantly different extrude ratios. Unfortunately, it was
possible for very tiny moves to show different extrude ratios just due
to how the slicer implements rounding when it produces the gcode.
Allow lookahead to be enabled between moves with extrude ratios that
are different if they don't noticeably produce more or less extrusion.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Be less likely to raise a "Move exceeds maximum extrusion cross
section" error on very short moves. It's okay to extrude a little
extra plastic on moves shorter than the nozzle diameter.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Catch and ignore any exceptions when trying to shutdown the printer in
toolhead.force_shutdown() - there's a good chance an exception will be
raised as this method is often called after an invalid internal state
is found.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The previous calculation was only valid if the stepper is always
commanded to a position that is an exact multiple of the
step_distance. The safety check was programmed with a value too large
for other commanded positions, which could result in "No next step"
errors. Fix by changing the calculation to use the worst case
scenario.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Don't force a firmware shutdown on a simple gcode parse error.
Instead, report the error back to the user and otherwise ignore the
command.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Fix a corner case where a residual in the PID could cause a non-zero
pwm request even when the target_temp is zero. (Which could lead to a
firmware "Missed scheduling of next pwm event" shutdown.)
Simplify the logic for suppressing duplicate pwm updates and make sure
a zero target_temp always results in a zero pwm update on the
following set_pwm calculation.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Rename the thermistor_type and thermistor_pin config variables to
sensor_type and sensor_pin. This is in preparation for support of
sensors beyond thermistors.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
When using a sensor that isn't a thermisistor, the maximum and minimum
adc values may be swapped - handle that case.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Now that the mcu objects can be created prior to connecting to the
mcu, it is no longer necessary to separate the init and build_config
phases in the high-level code. Move the mcu objection creation from
the build_config phase to the init phase and eliminate the
build_config phase.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Create a separate callback for setting the min_stop_interval.
Also, move the setting of the stepper max_error from the stepper
configs to the mcu config and rename it to max_stepper_error.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Create a build_config() method on each oid object and call it just
after connecting to the MCU. Move code that requires a connected
state from the oid init to its new build_config method.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Introduce a TICKS() macro during config parsing that will translate
time in seconds to time in clock ticks.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Use map_pins() to obtain the pin mapping - don't export
mcu_to_pins(). The functionality of mcu_to_pins() can be obtained by
calling map_pins() with name=None.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Most of sam3x8e/timer.c is going to be platform agnostic for any board
with standard irq handling. Move the generic code into a new file
generic/timer.c.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
If a shutdown occurs while the machine is already shutdown, then keep
the original shutdown reason code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It's tricky to reschedule the timer irq correctly (due to race
conditions with the irq) and in practice it's very rarely needed.
Handle the special cases in the generic sched.c code so that the board
code doesn't have to handle it.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Introduce a dummy sentinel timer object that is always the last item
on timer_list. This optimizes the timer_list walking code as it no
longer needs to check for NULL when traversing the list.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The hardware timer overflow bit can be used to optimize the conversion
from 16bit timers to 32bit timers.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move the logic to calculate and report the stepper's current position
from endstop.c to stepper.c. This localizes the stepper code into
stepper.c.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It's better to not have the unimplemented command defined so that the
host can detect when it is actually implemented.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Consistently use an "oid_" prefix on the oid functions - this makes
them similar to other functions with a common prefix.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add initial support for micro-controller resets via the Arduino reset
mechanism. Also, automatically attempt a firmware restart if the
printer CRC does not match.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Don't report a CRC mismatch if a shutdown or other failure occurs
during config - instead report the appropriate details.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Not all hardware has PWM support and there is no compelling reason to
use hardware PWM for fans. Change the default to use software PWM.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Detect the maximum size of each "move queue" item during the
configuration phase instead of using the stepper move struct. This
allows the stepper code to be contained entirely in stepper.c and it
allows for future run time allocations from other types of objects.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Store a full 64bit uptime in the mcu and query it at the start of each
connection. This ensures the host's 64bit clock is always in synch
with the mcu's clock.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Kevin O'Connor