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Author SHA1 Message Date
Kevin O'Connor
30595b5cd7 Initial commit of source code. 
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
 2014-08-23 22:43:19 -04:00
319 changed files with 786 additions and 52770 deletions
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COPYING
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To do so, attach the following notices to the program. It is safest
to attach them to the start of each source file to most effectively
state the exclusion of warranty; and each file should have at least
the "copyright" line and a pointer to where the full notice is found.
<one line to give the program's name and a brief idea of what it does.>
Copyright (C) <year> <name of author>
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
Also add information on how to contact you by electronic and paper mail.
If the program does terminal interaction, make it output a short
notice like this when it starts in an interactive mode:
<program> Copyright (C) <year> <name of author>
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, your program's commands
might be different; for a GUI interface, you would use an "about box".
You should also get your employer (if you work as a programmer) or school,
if any, to sign a "copyright disclaimer" for the program, if necessary.
For more information on this, and how to apply and follow the GNU GPL, see
<http://www.gnu.org/licenses/>.
The GNU General Public License does not permit incorporating your program
into proprietary programs. If your program is a subroutine library, you
may consider it more useful to permit linking proprietary applications with
the library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License. But first, please read
<http://www.gnu.org/philosophy/why-not-lgpl.html>.

80
Makefile
View File

@@ -1,8 +1,8 @@
# Klipper build system # XXX build system
# #
# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net> # Copyright (C) 2014 Kevin O'Connor <kevin@koconnor.net>
# #
# This file may be distributed under the terms of the GNU GPLv3 license. # This file may be distributed under the terms of the GNU LGPLv3 license.
# Output directory # Output directory
OUT=out/ OUT=out/
@@ -15,6 +15,9 @@ export KCONFIG_CONFIG := $(CURDIR)/.config
-include $(KCONFIG_CONFIG) -include $(KCONFIG_CONFIG)
# Common command definitions # Common command definitions
ifeq ($(CONFIG_MACH_AVR),y)
CROSS_PREFIX=avr-
endif
CC=$(CROSS_PREFIX)gcc CC=$(CROSS_PREFIX)gcc
AS=$(CROSS_PREFIX)as AS=$(CROSS_PREFIX)as
LD=$(CROSS_PREFIX)ld LD=$(CROSS_PREFIX)ld
@@ -22,29 +25,32 @@ OBJCOPY=$(CROSS_PREFIX)objcopy
OBJDUMP=$(CROSS_PREFIX)objdump OBJDUMP=$(CROSS_PREFIX)objdump
STRIP=$(CROSS_PREFIX)strip STRIP=$(CROSS_PREFIX)strip
CPP=cpp CPP=cpp
PYTHON=python2 PYTHON=python
# Source files # Source files
src-y = src-y=sched.c command.c
dirs-y = src src-$(CONFIG_MACH_AVR) += avr/main.c avr/timer.c
src-$(CONFIG_MACH_SIMU) += simulator/main.c
src-$(CONFIG_AVR_WATCHDOG) += avr/watchdog.c
src-$(CONFIG_AVR_SERIAL) += avr/serial.c
DIRS=src src/avr src/simulator
# Default compiler flags # Default compiler flags
cc-option=$(shell if test -z "`$(1) $(2) -S -o /dev/null -xc /dev/null 2>&1`" \ cc-option=$(shell if test -z "`$(1) $(2) -S -o /dev/null -xc /dev/null 2>&1`" \
; then echo "$(2)"; else echo "$(3)"; fi ;) ; then echo "$(2)"; else echo "$(3)"; fi ;)
CFLAGS := -I$(OUT) -Isrc -I$(OUT)board-generic/ -O2 -MD -g \ CFLAGS-y := -I$(OUT) -Isrc -Os -MD -g \
-Wall -Wold-style-definition $(call cc-option,$(CC),-Wtype-limits,) \ -Wall -Wold-style-definition $(call cc-option,$(CC),-Wtype-limits,) \
-ffunction-sections -fdata-sections -ffunction-sections -fdata-sections
CFLAGS += -flto -fwhole-program -fno-use-linker-plugin CFLAGS-y += -flto -fwhole-program
CFLAGS-$(CONFIG_MACH_AVR) += -mmcu=$(CONFIG_AVR_MCU) -DF_CPU=$(CONFIG_AVR_FREQ)
CFLAGS := $(CFLAGS-y)
CFLAGS_klipper.elf = $(CFLAGS) -Wl,--gc-sections LDFLAGS-$(CONFIG_MACH_AVR) := -Wl,--gc-sections -Wl,--relax
LDFLAGS-$(CONFIG_MACH_AVR) += -Wl,-u,vfprintf -lprintf_min -lm
LDFLAGS := $(LDFLAGS-y)
CPPFLAGS = -I$(OUT) -P -MD -MT $@ CPPFLAGS = -P -MD -MT $@
# Default targets
target-y := $(OUT)klipper.elf
all:
# Run with "make V=1" to see the actual compile commands # Run with "make V=1" to see the actual compile commands
ifdef V ifdef V
@@ -54,44 +60,42 @@ Q=@
MAKEFLAGS += --no-print-directory MAKEFLAGS += --no-print-directory
endif endif
# Include board specific makefile # Default targets
include src/Makefile target-y := $(OUT)klipper.elf
-include src/$(patsubst "%",%,$(CONFIG_BOARD_DIRECTORY))/Makefile
all: $(target-y)
################ Common build rules ################ Common build rules
$(OUT)%.o: %.c $(OUT)autoconf.h $(OUT)board-link $(OUT)%.o: %.c $(OUT)autoconf.h $(OUT)board
@echo " Compiling $@" @echo " Compiling $@"
$(Q)$(CC) $(CFLAGS) -c $< -o $@ $(Q)$(CC) $(CFLAGS) -c $< -o $@
################ Main build rules ################ Main build rules
$(OUT)board-link: $(KCONFIG_CONFIG) $(OUT)board: $(KCONFIG_CONFIG)
@echo " Creating symbolic link $(OUT)board" @echo " Creating symbolic link $@"
$(Q)mkdir -p $(addprefix $(OUT), $(dirs-y)) $(Q)rm -f $@
$(Q)touch $@ $(Q)ln -sf $(PWD)/src/$(CONFIG_BOARD_DIRECTORY) $@
$(Q)ln -Tsf $(PWD)/src/$(CONFIG_BOARD_DIRECTORY) $(OUT)board
$(Q)mkdir -p $(OUT)board-generic
$(Q)ln -Tsf $(PWD)/src/generic $(OUT)board-generic/board
$(OUT)%.o.ctr: $(OUT)%.o $(OUT)declfunc.lds: src/declfunc.lds.S
$(Q)$(OBJCOPY) -j '.compile_time_request' -O binary $^ $@ @echo " Precompiling $@"
$(Q)$(CPP) $(CPPFLAGS) -D__ASSEMBLY__ $< -o $@
$(OUT)compile_time_request.o: $(patsubst %.c, $(OUT)src/%.o.ctr,$(src-y)) ./scripts/buildcommands.py $(OUT)klipper.o: $(patsubst %.c, $(OUT)src/%.o,$(src-y)) $(OUT)declfunc.lds
@echo " Building $@"
$(Q)cat $(patsubst %.c, $(OUT)src/%.o.ctr,$(src-y)) > $(OUT)klipper.compile_time_request
$(Q)$(PYTHON) ./scripts/buildcommands.py -d $(OUT)klipper.dict $(OUT)klipper.compile_time_request $(OUT)compile_time_request.c
$(Q)$(CC) $(CFLAGS) -c $(OUT)compile_time_request.c -o $@
$(OUT)klipper.elf: $(patsubst %.c, $(OUT)src/%.o,$(src-y)) $(OUT)compile_time_request.o
@echo " Linking $@" @echo " Linking $@"
$(Q)$(CC) $(CFLAGS_klipper.elf) $^ -o $@ $(Q)$(CC) $(CFLAGS) -Wl,-r -Wl,-T,$(OUT)declfunc.lds -nostdlib $(patsubst %.c, $(OUT)src/%.o,$(src-y)) -o $@
$(OUT)klipper.elf: $(OUT)klipper.o
@echo " Linking $@"
$(Q)$(CC) $(CFLAGS) $(LDFLAGS) $^ -o $@
################ Kconfig rules ################ Kconfig rules
define do-kconfig define do-kconfig
$(Q)mkdir -p $(OUT)/scripts/kconfig/lxdialog $(Q)mkdir -p $(OUT)/scripts/kconfig/lxdialog
$(Q)mkdir -p $(OUT)/include/config $(Q)mkdir -p $(OUT)/include/config
$(Q)mkdir -p $(addprefix $(OUT), $(DIRS))
$(Q)$(MAKE) -C $(OUT) -f $(CURDIR)/scripts/kconfig/Makefile srctree=$(CURDIR) src=scripts/kconfig obj=scripts/kconfig Q=$(Q) Kconfig=$(CURDIR)/src/Kconfig $1 $(Q)$(MAKE) -C $(OUT) -f $(CURDIR)/scripts/kconfig/Makefile srctree=$(CURDIR) src=scripts/kconfig obj=scripts/kconfig Q=$(Q) Kconfig=$(CURDIR)/src/Kconfig $1
endef endef
@@ -107,12 +111,10 @@ help: ; $(call do-kconfig, $@)
.PHONY : all clean distclean FORCE .PHONY : all clean distclean FORCE
.DELETE_ON_ERROR: .DELETE_ON_ERROR:
all: $(target-y)
clean: clean:
$(Q)rm -rf $(OUT) $(Q)rm -rf $(OUT)
distclean: clean distclean: clean
$(Q)rm -f .config .config.old $(Q)rm -f .config .config.old
-include $(OUT)*.d $(patsubst %,$(OUT)%/*.d,$(dirs-y)) -include $(patsubst %,$(OUT)%/*.d,$(DIRS))

29
README.md
View File

@@ -1,29 +0,0 @@
Welcome to the Klipper project!
This project implements a 3d-printer firmware. There are two parts to
this firmware - code that runs on a micro-controller and code that
runs on a host machine. The host software does the work to build a
schedule of events, while the micro-controller software does the work
to execute the provided schedule at the specified times.
See the [features](docs/Features.md) document to find out why you
should use Klipper. To begin using Klipper start by
[installing](docs/Installation.md) it.
There is also [developer documentation](docs/Overview.md) available.
License
=======
Klipper is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Klipper is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Klipper. If not, see <http://www.gnu.org/licenses/>.

78
config/avrsim.cfg
View File

@@ -1,78 +0,0 @@
# Support for internal testing with the "simulavr" program. To use
# this config, compile the firmware for an AVR atmega644p, disable the
# AVR watchdog timer, set the MCU frequency to 20000000, and set the
# serial baud rate to 250000.
[stepper_x]
# Pins: PA5, PA4, PA1
step_pin: ar29
dir_pin: ar28
enable_pin: ar25
step_distance: .0225
endstop_pin: ^ar0
position_min: -0.25
position_endstop: 0
position_max: 200
[stepper_y]
# Pins: PA3, PA2
step_pin: ar27
dir_pin: ar26
enable_pin: ar25
step_distance: .0225
endstop_pin: ^ar1
position_min: -0.25
position_endstop: 0
position_max: 200
[stepper_z]
# Pins: PC7, PC6
step_pin: ar23
dir_pin: ar22
enable_pin: ar25
step_distance: .005
endstop_pin: ^ar2
position_min: 0.1
position_endstop: 0.5
position_max: 200
[extruder]
# Pins: PC3, PC2
step_pin: ar19
dir_pin: ar18
enable_pin: ar25
step_distance: .004242
nozzle_diameter: 0.500
filament_diameter: 3.500
heater_pin: ar4
sensor_type: EPCOS 100K B57560G104F
sensor_pin: analog1
control: pid
pid_Kp: 22.2
pid_Ki: 1.08
pid_Kd: 114
min_temp: 0
min_extrude_temp: 0
max_temp: 210
[heater_bed]
heater_pin: ar3
sensor_type: EPCOS 100K B57560G104F
sensor_pin: analog0
control: watermark
min_temp: 0
max_temp: 110
[fan]
pin: ar14
[mcu]
serial: /tmp/pseudoserial
pin_map: arduino
[printer]
kinematics: cartesian
max_velocity: 500
max_accel: 3000
max_z_velocity: 250
max_z_accel: 30

81
config/example-corexy.cfg
View File

@@ -1,81 +0,0 @@
# This file serves as documentation for config parameters of corexy
# style printers. One may copy and edit this file to configure a new
# corexy printer. Only parameters unique to corexy printers are
# described here - see the "example.cfg" file for description of
# common config parameters.
# DO NOT COPY THIS FILE WITHOUT CAREFULLY READING AND UPDATING IT
# FIRST. Incorrectly configured parameters may cause damage.
# The stepper_x section is used to describe the X axis as well as the
# stepper controlling the X+Y movement.
[stepper_x]
step_pin: ar54
dir_pin: ar55
enable_pin: !ar38
step_distance: .01
endstop_pin: ^ar3
position_endstop: 0
position_max: 200
homing_speed: 50
# The stepper_y section is used to describe the Y axis as well as the
# stepper controlling the X-Y movement.
[stepper_y]
step_pin: ar60
dir_pin: ar61
enable_pin: !ar56
step_distance: .01
endstop_pin: ^ar14
position_endstop: 0
position_max: 200
homing_speed: 50
[stepper_z]
step_pin: ar46
dir_pin: ar48
enable_pin: !ar62
step_distance: .01
endstop_pin: ^ar18
position_endstop: 0.5
position_max: 200
[extruder]
step_pin: ar26
dir_pin: ar28
enable_pin: !ar24
step_distance: .0022
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: ar10
sensor_type: ATC Semitec 104GT-2
sensor_pin: analog13
control: pid
pid_Kp: 22.2
pid_Ki: 1.08
pid_Kd: 114
min_temp: 0
max_temp: 250
[heater_bed]
heater_pin: ar8
sensor_type: EPCOS 100K B57560G104F
sensor_pin: analog14
control: watermark
min_temp: 0
max_temp: 130
[fan]
pin: ar9
[mcu]
serial: /dev/ttyACM0
pin_map: arduino
[printer]
kinematics: corexy
# This option must be "corexy" for corexy printers.
max_velocity: 300
max_accel: 3000
max_z_velocity: 25
max_z_accel: 30

101
config/example-delta.cfg
View File

@@ -1,101 +0,0 @@
# This file serves as documentation for config parameters of delta
# style printers. One may copy and edit this file to configure a new
# delta printer. Only parameters unique to delta printers are
# described here - see the "example.cfg" file for description of
# common config parameters.
# DO NOT COPY THIS FILE WITHOUT CAREFULLY READING AND UPDATING IT
# FIRST. Incorrectly configured parameters may cause damage.
# The stepper_a section describes the stepper controlling the front
# left tower (at 210 degrees). This section also controls the homing
# parameters (homing_speed, homing_retract_dist) for all towers.
[stepper_a]
step_pin: ar54
dir_pin: ar55
enable_pin: !ar38
step_distance: .01
endstop_pin: ^ar2
position_endstop: 297.05
#angle:
# This option specifies the angle (in degrees) that the tower is
# at. The default is 210 for stepper_a, 330 for stepper_b, and 90
# for stepper_c.
homing_speed: 50
# The stepper_b section describes the stepper controlling the front
# right tower (at 330 degrees).
[stepper_b]
step_pin: ar60
dir_pin: ar61
enable_pin: !ar56
step_distance: .01
endstop_pin: ^ar15
position_endstop: 297.05
# The stepper_c section describes the stepper controlling the rear
# tower (at 90 degrees).
[stepper_c]
step_pin: ar46
dir_pin: ar48
enable_pin: !ar62
step_distance: .01
endstop_pin: ^ar19
position_endstop: 297.05
[extruder]
step_pin: ar26
dir_pin: ar28
enable_pin: !ar24
step_distance: .0022
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: ar10
sensor_type: ATC Semitec 104GT-2
sensor_pin: analog13
control: pid
pid_Kp: 22.2
pid_Ki: 1.08
pid_Kd: 114
min_temp: 0
max_temp: 250
[heater_bed]
heater_pin: ar8
sensor_type: EPCOS 100K B57560G104F
sensor_pin: analog14
control: watermark
min_temp: 0
max_temp: 130
# Print cooling fan (omit section if fan not present).
#[fan]
#pin: ar9
[mcu]
serial: /dev/ttyACM0
pin_map: arduino
[printer]
kinematics: delta
# This option must be "delta" for linear delta printers.
max_velocity: 300
# Maximum velocity (in mm/s) of the toolhead relative to the
# print. This parameter must be specified.
max_accel: 3000
# Maximum acceleration (in mm/s^2) of the toolhead relative to the
# print. This parameter must be specified.
max_z_velocity: 150
# For delta printers this limits the maximum velocity (in mm/s) of
# moves with z axis movement. This setting can be used to reduce the
# maximum speed of up/down moves (which require a higher step rate
# than other moves on a delta printer). The default is to use
# max_velocity for max_z_velocity.
delta_arm_length: 333.0
# Length (in mm) of the diagonal rods that connect the linear axes
# to the print head. This parameter must be provided.
delta_radius: 174.75
# Radius (in mm) of the horizontal circle formed by the three linear
# axis towers. This parameter may also be calculated as:
# delta_radius = smooth_rod_offset - effector_offset - carriage_offset
# This parameter must be provided.

153
config/example-extras.cfg
View File

@@ -1,153 +0,0 @@
# This file serves as documentation for config parameters of
# additional devices that may be configured on a printer. The snippets
# in this file may be copied into the main printer.cfg file. See the
# "example.cfg" file for description of common config parameters.
# In a multi-extruder printer add an additional extruder section for
# each additional extruder. The additional extruder sections should be
# named "extruder1", "extruder2", "extruder3", and so on. See the
# "extruder" section in example.cfg for a description of available
# parameters.
#[extruder1]
#step_pin: ar36
#dir_pin: ar34
#...
#deactivate_gcode:
# A list of G-Code commands (one per line) to execute on a G-Code
# tool change command (eg, "T1") that deactivates this extruder and
# activates some other extruder. It only makes sense to define this
# section on multi-extruder printers. The default is to not run any
# special G-Code commands on deactivation.
#activate_gcode:
# A list of G-Code commands (one per line) to execute on a G-Code
# tool change command (eg, "T0") that activates this extruder. It
# only makes sense to define this section on multi-extruder
# printers. The default is to not run any special G-Code commands on
# activation.
# Heater cooling fans (one may define any number of sections with a
# "heater_fan" prefix). A "heater fan" is a fan that will be enabled
# whenever its associated heater is active. In the event of an MCU
# software error the heater_fan will be set to its max_power.
#[heater_fan my_nozzle_fan]
# See the "fan" section for fan configuration parameters.
#pin: ar4
# The remaining variables are specific to heater_fan.
#heater: extruder
# Name of the config section defining the heater that this fan is
# associated with. The default is "extruder".
#heater_temp: 50.0
# A temperature (in Celsius) that the heater must drop below before
# the fan is disabled. The default is 50 Celsius.
#fan_speed:
# The fan speed (expressed as a value from 0.0 to 1.0) that the fan
# will be set to when its associated heater is enabled. The default
# is max_power.
# Additional micro-controllers (one may define any number of sections
# with an "mcu" prefix). Additional micro-controllers introduce
# additional pins that may be configured as heaters, steppers, fans,
# etc.. For example, if an "[mcu extra_mcu]" section is introduced,
# then pins such as "extra_mcu:ar9" may then be used elsewhere in the
# config (where "ar9" is a hardware pin name or alias name on the
# given mcu).
#[mcu my_extra_mcu]
# See the "mcu" section in example.cfg for configuration parameters.
# Servos (one may define any number of sections with a "servo"
# prefix). The servos may be controlled using the SET_SERVO g-code
# command. For example: SET_SERVO SERVO=my_servo ANGLE=180
#[servo my_servo]
#pin: ar7
# PWM output pin controlling the servo. This parameter must be
# provided.
#maximum_servo_angle: 180
# The maximum angle (in degrees) that this servo can be set to. The
# default is 180 degrees.
#minimum_pulse_width: 0.001
# The minimum pulse width time (in seconds). This should correspond
# with an angle of 0 degrees. The default is 0.001 seconds.
#maximum_pulse_width: 0.002
# The maximum pulse width time (in seconds). This should correspond
# with an angle of maximum_servo_angle. The default is 0.002
# seconds.
# Statically configured digital output pins (one may define any number
# of sections with a "static_digital_output" prefix). Pins configured
# here will be setup as a GPIO output during MCU configuration.
#[static_digital_output my_output_pins]
#pins:
# A comma separated list of pins to be set as GPIO output pins. The
# pin will be set to a high level unless the pin name is prefaced
# with "!". This parameter must be provided.
# Statically configured PWM output pins (one may define any number of
# sections with a "static_pwm_output" prefix). Pins configured here
# will be setup as PWM outputs during MCU configuration.
#[static_pwm_output my_output_pwm]
#pin:
# The pin to configure as PWM output. This parameter must be
# provided.
#value:
# The value to statically set the PWM output to. This is typically
# set to a number between 0.0 and 1.0 with 1.0 being full on and 0.0
# being full off. However, the range may be changed with the 'scale'
# parameter (see below). This parameter must be provided.
#hard_pwm:
# Set this value to force hardware PWM instead of software PWM. Set
# to 1 to force a hardware PWM at the fastest rate; set to a higher
# number to force hardware PWM with the given cycle time in clock
# ticks. The default is to use software PWM.
#cycle_time: 0.100
# The amount of time (in seconds) per PWM cycle when using software
# based PWM. The default is 0.100 seconds.
#scale:
# This parameter can be used to alter how the 'value' parameter is
# interpreted. If provided, then the 'value' parameter should be
# between 0.0 and 'scale'. This may be useful when configuring a PWM
# pin that controls a stepper voltage reference. The 'scale' can be
# set to the equivalent stepper amperage if the PWM were fully
# enabled, and then the 'value' parameter can be specified using the
# desired amperage for the stepper. The default is to not scale the
# 'value' parameter.
# Statically configured AD5206 digipots connected via SPI bus (one may
# define any number of sections with an "ad5206" prefix).
#[ad5206 my_digipot]
#enable_pin:
# The pin corresponding to the AD5206 chip select line. This pin
# will be set to low at the start of SPI messages and raised to high
# after the message completes. This parameter must be provided.
#channel_1:
#channel_2:
#channel_3:
#channel_4:
#channel_5:
#channel_6:
# The value to statically set the given AD5206 channel to. This is
# typically set to a number between 0.0 and 1.0 with 1.0 being the
# highest resistance and 0.0 being the lowest resistance. However,
# the range may be changed with the 'scale' parameter (see
# below). If a channel is not specified then it is left
# unconfigured.
#scale:
# This parameter can be used to alter how the 'channel_x' parameters
# are interpreted. If provided, then the 'channel_x' parameters
# should be between 0.0 and 'scale'. This may be useful when the
# AD5206 is used to set stepper voltage references. The 'scale' can
# be set to the equivalent stepper amperage if the AD5206 were at
# its highest resistance, and then the 'channel_x' parameters can be
# specified using the desired amperage value for the stepper. The
# default is to not scale the 'channel_x' parameters.
# Replicape support - see the generic-replicape.cfg file for further
# details.
#[replicape]

300
config/example.cfg
View File

@@ -1,300 +0,0 @@
# This file serves as documentation for config parameters. One may
# copy and edit this file to configure a new cartesian style
# printer. For delta style printers, see the "example-delta.cfg"
# file. For corexy/h-bot style printers, see the "example-corexy.cfg"
# file. Only common config sections are described here - see the
# "example-extras.cfg" file for configuring less common devices.
# DO NOT COPY THIS FILE WITHOUT CAREFULLY READING AND UPDATING IT
# FIRST. Incorrectly configured parameters may cause damage.
# A note on pin names: pins may be configured with a hardware name
# (such as "PA4") or with an Arduino alias name (such as "ar29" or
# "analog3"). In order to use Arduino names, the pin_map variable in
# the mcu section must be present and have a value of "arduino".
# Pin names may be preceded by an '!' to indicate that a reverse
# polarity should be used (eg, trigger on low instead of high). Input
# pins may be preceded by a '^' to indicate that a hardware pull-up
# resistor should be enabled for the pin.
# The stepper_x section is used to describe the stepper controlling
# the X axis in a cartesian robot.
[stepper_x]
step_pin: ar54
# Step GPIO pin (triggered high). This parameter must be provided.
dir_pin: ar55
# Direction GPIO pin (high indicates positive direction). This
# parameter must be provided.
enable_pin: !ar38
# Enable pin (default is enable high; use ! to indicate enable
# low). If this parameter is not provided then the stepper motor
# driver must always be enabled.
step_distance: .0225
# Distance in mm that each step causes the axis to travel. This
# parameter must be provided.
endstop_pin: ^ar3
# Endstop switch detection pin. This parameter must be provided for
# the X, Y, and Z steppers on cartesian style printers.
#position_min: 0
# Minimum valid distance (in mm) the user may command the stepper to
# move to. The default is 0mm.
position_endstop: 0
# Location of the endstop (in mm). This parameter must be provided
# for the X, Y, and Z steppers on cartesian style printers.
position_max: 200
# Maximum valid distance (in mm) the user may command the stepper to
# move to. This parameter must be provided for the X, Y, and Z
# steppers on cartesian style printers.
#homing_speed: 5.0
# Maximum velocity (in mm/s) of the stepper when homing. The default
# is 5mm/s.
#homing_retract_dist: 5.0
# Distance to backoff (in mm) before homing a second time during
# homing. The default is 5mm.
#homing_positive_dir:
# If true, homing will cause the stepper to move in a positive
# direction (away from zero); if false, home towards zero. The
# default is true if position_endstop is near position_max and false
# if near position_min.
#homing_stepper_phases: 0
# One may optionally set this to the number of phases of the stepper
# motor driver (which is the number of micro-steps multiplied by
# four). When set, the phase of the stepper driver will be used
# during homing to improve the accuracy of the endstop switch.
#homing_endstop_accuracy: 0.200
# Sets the expected accuracy (in mm) of the endstop. This represents
# the maximum error distance the endstop may trigger (eg, if an
# endstop may occasionally trigger 100um early or up to 100um late
# then set this to 0.200 for 200um). This setting is used with
# homing_stepper_phases and is only useful if that parameter is also
# configured.
#homing_endstop_phase: 0
# This specifies the phase of the stepper motor driver to expect
# when hitting the endstop. This setting is only meaningful if
# homing_stepper_phases is also set. Only set this value if one is
# sure the stepper motor driver is reset every time the mcu is
# reset. If this is not set, but homing_stepper_phases is set, then
# the stepper phase will be detected on the first home and that
# phase will be used on all subsequent homes.
# The stepper_y section is used to describe the stepper controlling
# the Y axis in a cartesian robot. It has the same settings as the
# stepper_x section.
[stepper_y]
step_pin: ar60
dir_pin: !ar61
enable_pin: !ar56
step_distance: .0225
endstop_pin: ^ar14
position_endstop: 0
position_max: 200
# The stepper_z section is used to describe the stepper controlling
# the Z axis in a cartesian robot. It has the same settings as the
# stepper_x section.
[stepper_z]
step_pin: ar46
dir_pin: ar48
enable_pin: !ar62
step_distance: .005
endstop_pin: ^ar18
position_endstop: 0.5
position_max: 200
# The extruder section is used to describe both the stepper
# controlling the printer extruder and the heater parameters for the
# nozzle. The stepper configuration has the same settings as the
# stepper_x section and the heater configuration has the same settings
# as the heater_bed section (described below).
[extruder]
step_pin: ar26
dir_pin: ar28
enable_pin: !ar24
step_distance: .004242
nozzle_diameter: 0.500
# Diameter of the nozzle orifice (in mm). This parameter must be
# provided.
filament_diameter: 3.500
# Diameter of the raw filament (in mm) as it enters the
# extruder. This parameter must be provided.
#max_extrude_cross_section:
# Maximum area of the cross section of an extrusion line (in
# mm^2). This setting prevents excessive amounts of extrusion during
# relatively small XY moves. If a move requests an extrusion rate
# that would exceed this value it will cause an error to be
# returned. The default is: 4.0 * nozzle_diameter^2
#max_extrude_only_distance: 50.0
# Maximum length (in mm of raw filament) that an extrude only move
# may be. If an extrude only move requests a distance greater than
# this value it will cause an error to be returned. The default is
# 50mm.
#max_extrude_only_velocity:
# Maximum velocity (in mm/s) of the extruder motor for extrude only
# moves. If this is not specified then it is calculated to match the
# limit an XY printing move with a max_extrude_cross_section
# extrusion would have.
#max_extrude_only_accel:
# Maximum acceleration (in mm/s^2) of the extruder motor for extrude
# only moves. If this is not specified then it is calculated to
# match the limit an XY printing move with a
# max_extrude_cross_section extrusion would have.
#pressure_advance: 0.0
# The amount of raw filament to push into the extruder during
# extruder acceleration. An equal amount of filament is retracted
# during deceleration. It is measured in millimeters per
# millimeter/second. The default is 0, which disables pressure
# advance.
#pressure_advance_lookahead_time: 0.010
# A time (in seconds) to "look ahead" at future extrusion moves when
# calculating pressure advance. This is used to reduce the
# application of pressure advance during cornering moves that would
# otherwise cause retraction followed immediately by pressure
# buildup. This setting only applies if pressure_advance is
# non-zero. The default is 0.010 (10 milliseconds).
#
# The remaining variables describe the extruder heater.
heater_pin: ar10
# PWM output pin controlling the heater. This parameter must be
# provided.
#max_power: 1.0
# The maximum power (expressed as a value from 0.0 to 1.0) that the
# heater_pin may be set to. The value 1.0 allows the pin to be set
# fully enabled for extended periods, while a value of 0.5 would
# allow the pin to be enabled for no more than half the time. This
# setting may be used to limit the total power output (over extended
# periods) to the heater. The default is 1.0.
sensor_type: EPCOS 100K B57560G104F
# Type of sensor - this may be "EPCOS 100K B57560G104F", "ATC
# Semitec 104GT-2", "NTC 100K beta 3950", or "AD595". This parameter
# must be provided.
sensor_pin: analog13
# Analog input pin connected to the sensor. This parameter must be
# provided.
#pullup_resistor: 4700
# The resistance (in ohms) of the pullup attached to the
# thermistor. This parameter is only valid when the sensor is a
# thermistor. The default is 4700 ohms.
#adc_voltage: 5.0
# The ADC comparison voltage. This parameter is only valid when the
# sensor is an AD595. The default is 5 volts.
control: pid
# Control algorithm (either pid or watermark). This parameter must
# be provided.
pid_Kp: 22.2
# Kp is the "proportional" constant for the pid. This parameter must
# be provided for PID heaters.
pid_Ki: 1.08
# Ki is the "integral" constant for the pid. This parameter must be
# provided for PID heaters.
pid_Kd: 114
# Kd is the "derivative" constant for the pid. This parameter must
# be provided for PID heaters.
#pid_deriv_time: 2.0
# A time value (in seconds) over which the derivative in the pid
# will be smoothed to reduce the impact of measurement noise. The
# default is 2 seconds.
#pid_integral_max:
# The maximum "windup" the integral term may accumulate. The default
# is to use the same value as max_power.
#min_extrude_temp: 170
# The minimum temperature (in Celsius) at which extruder move
# commands may be issued. The default is 170 Celsius.
min_temp: 0
# Minimum temperature in Celsius (mcu will shutdown if not
# met). This parameter must be provided.
max_temp: 210
# Maximum temperature (mcu will shutdown if temperature is above
# this value). This parameter must be provided.
# The heater_bed section describes a heated bed (if present - omit
# section if not present).
[heater_bed]
heater_pin: ar8
sensor_type: EPCOS 100K B57560G104F
sensor_pin: analog14
control: watermark
#max_delta: 2.0
# On 'watermark' controlled heaters this is the number of degrees in
# Celsius above the target temperature before disabling the heater
# as well as the number of degrees below the target before
# re-enabling the heater. The default is 2 degrees Celsius.
min_temp: 0
max_temp: 110
# Print cooling fan (omit section if fan not present).
[fan]
pin: ar9
# PWM output pin controlling the fan. This parameter must be
# provided.
#max_power: 1.0
# The maximum power (expressed as a value from 0.0 to 1.0) that the
# pin may be set to. The value 1.0 allows the pin to be set fully
# enabled for extended periods, while a value of 0.5 would allow the
# pin to be enabled for no more than half the time. This setting may
# be used to limit the total power output (over extended periods) to
# the fan. The default is 1.0.
#hard_pwm: 0
# Set this value to force hardware PWM instead of software PWM. Set
# to 1 to force a hardware PWM at the fastest rate; set to a higher
# number to force hardware PWM with the given cycle time in clock
# ticks. The default is 0 which enables software PWM with a cycle
# time of 10ms.
#kick_start_time: 0.100
# Time (in seconds) to run the fan at full speed when first enabling
# it (helps get the fan spinning). The default is 0.100 seconds.
# Micro-controller information.
[mcu]
serial: /dev/ttyACM0
# The serial port to connect to the MCU. The default is /dev/ttyS0
#baud: 250000
# The baud rate to use. The default is 250000.
pin_map: arduino
# This option may be used to enable Arduino pin name aliases. The
# default is to not enable the aliases.
#restart_method: arduino
# This controls the mechanism the host will use to reset the
# micro-controller. The choices are 'arduino', 'rpi_usb', and
# 'command'. The 'arduino' method (toggle DTR) is common on Arduino
# boards and clones. The 'rpi_usb' method is useful on Raspberry Pi
# boards with micro-controllers powered over USB - it briefly
# disables power to all USB ports to accomplish a micro-controller
# reset. The 'command' method involves sending a Klipper command to
# the micro-controller so that it can reset itself. The default is
# 'arduino'.
# The printer section controls high level printer settings.
[printer]
kinematics: cartesian
# This option must be "cartesian" for cartesian printers.
max_velocity: 500
# Maximum velocity (in mm/s) of the toolhead (relative to the
# print). This parameter must be specified.
max_accel: 3000
# Maximum acceleration (in mm/s^2) of the toolhead (relative to the
# print). This parameter must be specified.
#max_accel_to_decel:
# A pseudo acceleration (in mm/s^2) controlling how fast the
# toolhead may go from acceleration to deceleration. It is used to
# reduce the top speed of short zig-zag moves (and thus reduce
# printer vibration from these moves). The default is half of
# max_accel.
max_z_velocity: 25
# For cartesian printers this sets the maximum velocity (in mm/s) of
# movement along the z axis. This setting can be used to restrict
# the maximum speed of the z stepper motor on cartesian
# printers. The default is to use max_velocity for max_z_velocity.
max_z_accel: 30
# For cartesian printers this sets the maximum acceleration (in
# mm/s^2) of movement along the z axis. It limits the acceleration
# of the z stepper motor on cartesian printers. The default is to
# use max_accel for max_z_accel.
#motor_off_time: 600
# Time (in seconds) of idle time before the printer will try to
# disable active motors. The default is 600 seconds.
#junction_deviation: 0.02
# Distance (in mm) used to control the internal approximated
# centripetal velocity cornering algorithm. A larger number will
# permit higher "cornering speeds" at the junction of two moves. The
# default is 0.02mm.

79
config/generic-cramps.cfg
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@@ -1,79 +0,0 @@
# This file contains an example configuration for a Beaglebone PRU
# micro-controller attached to a CRAMPS board.
# THIS FILE HAS NOT BEEN TESTED - PROCEED WITH CAUTION!
# NOTE: Klipper does not alter the input/output state of the
# Beaglebone pins and it does not control their pull-up resistors. In
# order to set the pin state one must use a "device tree overlay" or
# use the config-pin program.
# See the example.cfg file for a description of available parameters.
[stepper_x]
step_pin: P8_13
dir_pin: P8_12
enable_pin: !P9_14
step_distance: .0125
endstop_pin: ^P8_8
position_endstop: 0
position_max: 200
homing_speed: 50
[stepper_y]
step_pin: P8_15
dir_pin: P8_14
enable_pin: !P9_14
step_distance: .0125
endstop_pin: ^P8_10
position_endstop: 0
position_max: 200
homing_speed: 50
[stepper_z]
step_pin: P8_19
dir_pin: P8_18
enable_pin: !P9_14
step_distance: 0.00025
endstop_pin: ^P9_13
position_endstop: 0
position_max: 200
[extruder]
step_pin: P9_16
dir_pin: P9_12
enable_pin: !P9_14
step_distance: .002
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: P9_15
sensor_type: EPCOS 100K B57560G104F
sensor_pin: P9_36
control: pid
pid_Kp: 22.2
pid_Ki: 1.08
pid_Kd: 114
min_temp: 0
max_temp: 250
[heater_bed]
heater_pin: P8_11
sensor_type: EPCOS 100K B57560G104F
sensor_pin: P9_33
control: watermark
min_temp: 0
max_temp: 130
[fan]
pin: P9_41
[mcu]
serial: /dev/rpmsg_pru30
pin_map: beaglebone
[printer]
kinematics: cartesian
max_velocity: 300
max_accel: 3000
max_z_velocity: 5
max_z_accel: 100

76
config/generic-melzi.cfg
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@@ -1,76 +0,0 @@
# This file contains common pin mappings for Melzi v2.0 boards. To use
# this config, the firmware should be compiled for the AVR
# atmega1284p.
# Note that the "make flash" command does not work with Melzi
# boards. The boards are typically flashed with this command:
# avrdude -p atmega1284p -c avrisp -P /dev/ttyUSB0 -U flash:w:out/klipper.elf.hex
# See the example.cfg file for a description of available parameters.
[stepper_x]
step_pin: PD7
dir_pin: PC5
enable_pin: !PD6
step_distance: .0125
endstop_pin: ^!PC2
position_endstop: 0
position_max: 200
homing_speed: 50
[stepper_y]
step_pin: PC6
dir_pin: PC7
enable_pin: !PD6
step_distance: .0125
endstop_pin: ^!PC3
position_endstop: 0
position_max: 200
homing_speed: 50
[stepper_z]
step_pin: PB3
dir_pin: !PB2
enable_pin: !PA5
step_distance: 0.00025
endstop_pin: ^!PC4
position_endstop: 0.5
position_max: 200
[extruder]
step_pin: PB1
dir_pin: PB0
enable_pin: !PD6
step_distance: .002
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: PD5
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PA7
control: pid
pid_Kp: 22.2
pid_Ki: 1.08
pid_Kd: 114
min_temp: 0
max_temp: 250
[heater_bed]
heater_pin: PD2
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PA6
control: watermark
min_temp: 0
max_temp: 130
[fan]
pin: PB4
[mcu]
serial: /dev/ttyUSB0
[printer]
kinematics: cartesian
max_velocity: 300
max_accel: 3000
max_z_velocity: 5
max_z_accel: 100

109
config/generic-rambo.cfg
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@@ -1,109 +0,0 @@
# This file contains common pin mappings for RAMBo boards. To use this
# config, the firmware should be compiled for the AVR atmega2560.
# See the example.cfg file for a description of available parameters.
[stepper_x]
step_pin: PC0
dir_pin: PL1
enable_pin: !PA7
step_distance: .0125
endstop_pin: ^PB6
#endstop_pin: ^PA2
position_endstop: 0
position_max: 200
homing_speed: 50
[stepper_y]
step_pin: PC1
dir_pin: !PL0
enable_pin: !PA6
step_distance: .0125
endstop_pin: ^PB5
#endstop_pin: ^PA1
position_endstop: 0
position_max: 200
homing_speed: 50
[stepper_z]
step_pin: PC2
dir_pin: PL2
enable_pin: !PA5
step_distance: 0.00025
endstop_pin: ^PB4
#endstop_pin: ^PC7
position_endstop: 0.5
position_max: 200
[extruder]
step_pin: PC3
dir_pin: PL6
enable_pin: !PA4
step_distance: .002
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: PH6
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PF0
control: pid
pid_Kp: 22.2
pid_Ki: 1.08
pid_Kd: 114
min_temp: 0
max_temp: 250
#[extruder1]
#step_pin: PC4
#dir_pin: PL7
#enable_pin: !PA3
#heater_pin: PH4
#sensor_pin: PF1
#...
[heater_bed]
heater_pin: PE5
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PF2
control: watermark
min_temp: 0
max_temp: 130
[fan]
pin: PH5
#[heater_fan nozzle_cooling_fan]
#pin: PH3
[mcu]
serial: /dev/ttyACM0
[printer]
kinematics: cartesian
max_velocity: 300
max_accel: 3000
max_z_velocity: 5
max_z_accel: 100
[ad5206 stepper_digipot]
enable_pin: PD7
# Scale the config so that the channel value can be specified in amps.
# (For Rambo v1.0d boards, use 1.56 instead.)
scale: 2.08
# Channel 1 is E0, 2 is E1, 3 is unused, 4 is Z, 5 is X, 6 is Y
channel_1: 1.34
channel_2: 1.0
channel_4: 1.1
channel_5: 1.1
channel_6: 1.1
# Enable 16 micro-steps on steppers X, Y, Z, E0, E1
[static_digital_output stepper_config]
pins:
PG1, PG0,
PK7, PG2,
PK6, PK5,
PK3, PK4,
PK2, PK1
[static_digital_output yellow_led]
pins: !PB7

84
config/generic-ramps.cfg
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@@ -1,84 +0,0 @@
# This file contains common pin mappings for RAMPS (v1.3 and later)
# boards. RAMPS boards typically use a firmware compiled for the AVR
# atmega2560 (though other AVR chips are also possible).
# See the example.cfg file for a description of available parameters.
[stepper_x]
step_pin: ar54
dir_pin: ar55
enable_pin: !ar38
step_distance: .0125
endstop_pin: ^ar3
#endstop_pin: ^ar2
position_endstop: 0
position_max: 200
homing_speed: 50
[stepper_y]
step_pin: ar60
dir_pin: !ar61
enable_pin: !ar56
step_distance: .0125
endstop_pin: ^ar14
#endstop_pin: ^ar15
position_endstop: 0
position_max: 200
homing_speed: 50
[stepper_z]
step_pin: ar46
dir_pin: ar48
enable_pin: !ar62
step_distance: 0.00025
endstop_pin: ^ar18
#endstop_pin: ^ar19
position_endstop: 0.5
position_max: 200
[extruder]
step_pin: ar26
dir_pin: ar28
enable_pin: !ar24
step_distance: .002
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: ar10
sensor_type: EPCOS 100K B57560G104F
sensor_pin: analog13
control: pid
pid_Kp: 22.2
pid_Ki: 1.08
pid_Kd: 114
min_temp: 0
max_temp: 250
#[extruder1]
#step_pin: ar36
#dir_pin: ar34
#enable_pin: !ar30
#heater_pin: ar9
#sensor_pin: analog15
#...
[heater_bed]
heater_pin: ar8
sensor_type: EPCOS 100K B57560G104F
sensor_pin: analog14
control: watermark
min_temp: 0
max_temp: 130
[fan]
pin: ar9
[mcu]
serial: /dev/ttyACM0
pin_map: arduino
[printer]
kinematics: cartesian
max_velocity: 300
max_accel: 3000
max_z_velocity: 5
max_z_accel: 100

124
config/generic-replicape.cfg
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@@ -1,124 +0,0 @@
# This file contains an example configuration for the Replicape rev B3
# board. To use this config, one must compile and install the
# micro-controller code for the "Beaglebone PRU", and then compile and
# install the micro-controller code a second time for a "Linux
# process".
# NOTE: Klipper does not alter the input/output state of the
# Beaglebone pins and it does not control their pull-up resistors.
# Typically the correct settings are automatically applied when the
# Beaglebone detects the Replicape board, but if changes are needed
# they must be specified in a "device tree overlay" or via the
# config-pin program.
# See the example.cfg file for a description of available parameters.
[stepper_x]
step_pin: P8_17
dir_pin: P8_26
enable_pin: replicape:stepper_x_enable
step_distance: .0125
endstop_pin: ^P9_25
position_endstop: 0
position_max: 200
homing_speed: 50
[stepper_y]
step_pin: P8_12
dir_pin: P8_19
enable_pin: replicape:stepper_y_enable
step_distance: .0125
endstop_pin: ^P9_23
position_endstop: 0
position_max: 200
homing_speed: 50
[stepper_z]
step_pin: P8_13
dir_pin: P8_14
enable_pin: replicape:stepper_z_enable
step_distance: 0.00025
endstop_pin: ^P9_13
position_endstop: 0
position_max: 200
[extruder]
step_pin: P9_12
dir_pin: P8_15
enable_pin: replicape:stepper_e_enable
step_distance: .002
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: replicape:power_e
sensor_type: EPCOS 100K B57560G104F
sensor_pin: host:analog4
control: pid
pid_Kp: 22.2
pid_Ki: 1.08
pid_Kd: 114
min_temp: 0
max_temp: 250
[heater_bed]
heater_pin: replicape:power_hotbed
sensor_type: EPCOS 100K B57560G104F
sensor_pin: host:analog6
control: watermark
min_temp: 0
max_temp: 130
[fan]
pin: replicape:power_fan0
[mcu]
serial: /dev/rpmsg_pru30
pin_map: beaglebone
[printer]
kinematics: cartesian
max_velocity: 300
max_accel: 3000
max_z_velocity: 25
max_z_accel: 30
[mcu host]
serial: /tmp/klipper_host_mcu
# The "replicape" config section adds "replicape:stepper_x_enable"
# virtual stepper enable pins (for steppers x, y, z, e, and h) and
# "replicape:power_x" PWM output pins (for hotbed, e, h, fan0, fan1,
# fan2, and fan3) that may then be used elsewhere in the config file.
[replicape]
revision: B3
# The replicape hardware revision. Currently only revision "B3" is
# supported. This parameter must be provided.
#enable_pin: !P9_41
# The replicape global enable pin. The default is !P9_41.
host_mcu: host
# The name of the mcu config section that communicates with the
# Klipper "linux process" mcu instance. This parameter must be
# provided.
stepper_x_microstep_mode: spread16
# This parameter controls the CFG1 and CFG2 pins of the given
# stepper motor driver. Available options are: disable, 1, 2,
# spread2, 4, 16, spread4, spread16, stealth4, and stealth16. The
# default is disable.
stepper_x_current: 0.5
# The configured maximum current (in Amps) of the stepper motor
# driver. This parameter must be provided if the stepper is not in a
# disable mode.
#stepper_x_chopper_off_time_high: False
# This parameter controls the CFG0 pin of the stepper motor driver
# (True sets CFG0 high, False sets it low). The default is False.
#stepper_x_chopper_hysteresis_high: False
# This parameter controls the CFG4 pin of the stepper motor driver
# (True sets CFG4 high, False sets it low). The default is False.
#stepper_x_chopper_blank_time_high: True
# This parameter controls the CFG5 pin of the stepper motor driver
# (True sets CFG5 high, False sets it low). The default is True.
stepper_y_microstep_mode: spread16
stepper_y_current: 0.5
stepper_z_microstep_mode: spread16
stepper_z_current: 0.5
stepper_e_microstep_mode: 16
stepper_e_current: 0.5

107
config/makergear-m2-2012.cfg
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@@ -1,107 +0,0 @@
# Support for Makergear M2 printers circa 2012 that have the RAMBo
# v1.0d electronics along with the V3A extruder. The electronics use
# Allegro A4984 stepper drivers with 1/8th micro-stepping. To use
# this config, the firmware should be compiled for the AVR atmega2560.
[stepper_x]
step_pin: PC0
dir_pin: !PL1
enable_pin: !PA7
step_distance: .0225
endstop_pin: ^!PB6
position_endstop: 0.0
position_max: 200
homing_speed: 50
homing_stepper_phases: 32
homing_endstop_accuracy: .200
[stepper_y]
step_pin: PC1
dir_pin: PL0
enable_pin: !PA6
step_distance: .0225
endstop_pin: ^!PB5
position_endstop: 0.0
position_max: 250
homing_speed: 50
homing_stepper_phases: 32
homing_endstop_accuracy: .200
[stepper_z]
step_pin: PC2
dir_pin: !PL2
enable_pin: !PA5
step_distance: .005
endstop_pin: ^!PB4
position_min: 0.1
position_endstop: 0.7
position_max: 200
homing_retract_dist: 2.0
homing_stepper_phases: 32
homing_endstop_accuracy: .070
[extruder]
step_pin: PC3
dir_pin: PL6
enable_pin: !PA4
step_distance: .004242
nozzle_diameter: 0.350
filament_diameter: 1.750
pressure_advance: 0.07
heater_pin: PH6
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PF0
control: pid
pid_Kp: 7.0
pid_Ki: 0.1
pid_Kd: 12
min_temp: 0
max_temp: 210
[heater_bed]
heater_pin: PE5
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PF2
control: watermark
min_temp: 0
max_temp: 100
[fan]
pin: PH5
[heater_fan nozzle_fan]
pin: PH3
max_power: 0.61
hard_pwm: 1
[mcu]
serial: /dev/ttyACM0
[printer]
kinematics: cartesian
max_velocity: 500
max_accel: 3000
max_z_velocity: 25
max_z_accel: 30
[ad5206 stepper_digipot]
enable_pin: PD7
# Scale the config so that the channel value can be specified in amps
scale: 1.56
# Channel 1 is E0, 2 is E1, 3 is unused, 4 is Z, 5 is X, 6 is Y
channel_1: 1.0
channel_2: 0.75
channel_4: 0.82
channel_5: 0.82
channel_6: 0.82
# Enable 8 micro-steps on steppers X, Y, Z, E0
[static_digital_output stepper_config]
pins:
PG1, PG0,
PK7, PG2,
PK6, PK5,
PK3, PK4
[static_digital_output yellow_led]
pins: !PB7

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This document describes the overall code layout and major code flow of
Klipper.
Directory Layout
================
The **src/** directory contains the C source for the micro-controller
code. The **src/avr/** directory contains specific code for Atmel
ATmega micro-controllers. The **src/sam3x8e/** directory contains code
specific to the Arduino Due style ARM micro-controllers. The
**src/pru/** directory contains code specific to the Beaglebone's
on-board PRU micro-controller. The **src/simulator/** contains code
stubs that allow the micro-controller to be test compiled on other
architectures. The **src/generic/** directory contains helper code
that may be useful across different host architectures. The build
arranges for includes of "board/somefile.h" to first look in the
current architecture directory (eg, src/avr/somefile.h) and then in
the generic directory (eg, src/generic/somefile.h).
The **klippy/** directory contains the C and Python source for the
host part of the software.
The **lib/** directory contains external 3rd-party library code that
is necessary to build some targets.
The **config/** directory contains example printer configuration
files.
The **scripts/** directory contains build-time scripts useful for
compiling the micro-controller code.
During compilation, the build may create an **out/** directory. This
contains temporary build time objects. The final micro-controller
object that is built is **out/klipper.elf.hex** on AVR and
**out/klipper.bin** on ARM.
Micro-controller code flow
==========================
Execution of the micro-controller code starts in architecture specific
code (eg, **src/avr/main.c**) which ultimately calls sched_main()
located in **src/sched.c**. The sched_main() code starts by running
all functions that have been tagged with the DECL_INIT() macro. It
then goes on to repeatedly run all functions tagged with the
DECL_TASK() macro.
One of the main task functions is command_dispatch() located in
**src/command.c**. This function is called from the board specific
input/output code (eg, **src/avr/serial.c**) and it runs the command
functions associated with the commands found in the input
stream. Command functions are declared using the DECL_COMMAND() macro
(see the [protocol](Protocol.md) document for more information).
Task, init, and command functions always run with interrupts enabled
(however, they can temporarily disable interrupts if needed). These
functions should never pause, delay, or do any work that lasts more
than a few micro-seconds. These functions schedule work at specific
times by scheduling timers.
Timer functions are scheduled by calling sched_add_timer() (located in
**src/sched.c**). The scheduler code will arrange for the given
function to be called at the requested clock time. Timer interrupts
are initially handled in an architecture specific interrupt handler
(eg, **src/avr/timer.c**) which calls sched_timer_dispatch() located
in **src/sched.c**. The timer interrupt leads to execution of schedule
timer functions. Timer functions always run with interrupts
disabled. The timer functions should always complete within a few
micro-seconds. At completion of the timer event, the function may
choose to reschedule itself.
In the event an error is detected the code can invoke shutdown() (a
macro which calls sched_shutdown() located in **src/sched.c**).
Invoking shutdown() causes all functions tagged with the
DECL_SHUTDOWN() macro to be run. Shutdown functions always run with
interrupts disabled.
Much of the functionality of the micro-controller involves working
with General-Purpose Input/Output pins (GPIO). In order to abstract
the low-level architecture specific code from the high-level task
code, all GPIO events are implemented in architectures specific
wrappers (eg, **src/avr/gpio.c**). The code is compiled with gcc's
"-flto -fwhole-program" optimization which does an excellent job of
inlining functions across compilation units, so most of these tiny
gpio functions are inlined into their callers, and there is no
run-time cost to using them.
Klippy code overview
====================
The host code (Klippy) is intended to run on a low-cost computer (such
as a Raspberry Pi) paired with the micro-controller. The code is
primarily written in Python, however it does use CFFI to implement
some functionality in C code.
Initial execution starts in **klippy/klippy.py**. This reads the
command-line arguments, opens the printer config file, instantiates
the main printer objects, and starts the serial connection. The main
execution of G-code commands is in the process_commands() method in
**klippy/gcode.py**. This code translates the G-code commands into
printer object calls, which frequently translate the actions to
commands to be executed on the micro-controller (as declared via the
DECL_COMMAND macro in the micro-controller code).
There are four threads in the Klippy host code. The main thread
handles incoming gcode commands. A second thread (which resides
entirely in the **klippy/serialqueue.c** C code) handles low-level IO
with the serial port. The third thread is used to process response
messages from the micro-controller in the Python code (see
**klippy/serialhdl.py**). The fourth thread writes debug messages to
the log (see **klippy/queuelogger.py**) so that the other threads
never block on log writes.
Code flow of a move command
===========================
A typical printer movement starts when a "G1" command is sent to the
Klippy host and it completes when the corresponding step pulses are
produced on the micro-controller. This section outlines the code flow
of a typical move command. The [kinematics](Kinematics.md) document
provides further information on the mechanics of moves.
* Processing for a move command starts in gcode.py. The goal of
gcode.py is to translate G-code into internal calls. Changes in
origin (eg, G92), changes in relative vs absolute positions (eg,
G90), and unit changes (eg, F6000=100mm/s) are handled here. The
code path for a move is: `process_data() -> process_commands() ->
cmd_G1()`. Ultimately the ToolHead class is invoked to execute the
actual request: `cmd_G1() -> ToolHead.move()`
* The ToolHead class (in toolhead.py) handles "look-ahead" and tracks
the timing of printing actions. The codepath for a move is:
`ToolHead.move() -> MoveQueue.add_move() -> MoveQueue.flush() ->
Move.set_junction() -> Move.move()`.
* ToolHead.move() creates a Move() object with the parameters of the
move (in cartesian space and in units of seconds and millimeters).
* MoveQueue.add_move() places the move object on the "look-ahead"
queue.
* MoveQueue.flush() determines the start and end velocities of each
move.
* Move.set_junction() implements the "trapezoid generator" on a
move. The "trapezoid generator" breaks every move into three parts:
a constant acceleration phase, followed by a constant velocity
phase, followed by a constant deceleration phase. Every move
contains these three phases in this order, but some phases may be of
zero duration.
* When Move.move() is called, everything about the move is known -
its start location, its end location, its acceleration, its
start/crusing/end velocity, and distance traveled during
acceleration/cruising/deceleration. All the information is stored in
the Move() class and is in cartesian space in units of millimeters
and seconds.
The move is then handed off to the kinematics classes: `Move.move()
-> kin.move()`
* The goal of the kinematics classes is to translate the movement in
cartesian space to movement on each stepper. The kinematics classes
are in cartesian.py, corexy.py, delta.py, and extruder.py. The
kinematic class is given a chance to audit the move
(`ToolHead.move() -> kin.check_move()`) before it goes on the
look-ahead queue, but once the move arrives in *kin*.move() the
kinematic class is required to handle the move as specified. The
kinematic classes translate the three parts of each move
(acceleration, constant "cruising" velocity, and deceleration) to
the associated movement on each stepper. Note that the extruder is
handled in its own kinematic class. Since the Move() class specifies
the exact movement time and since step pulses are sent to the
micro-controller with specific timing, stepper movements produced by
the extruder class will be in sync with head movement even though
the code is kept separate.
* For efficiency reasons, the stepper pulse times are generated in C
code. The code flow is: `kin.move() -> MCU_Stepper.step_const() ->
stepcompress_push_const()`, or for delta kinematics:
`DeltaKinematics.move() -> MCU_Stepper.step_delta() ->
stepcompress_push_delta()`. The MCU_Stepper code just performs unit
and axis transformation (millimeters to step distances), and calls
the C code. The C code calculates the stepper step times for each
movement and fills an array (struct stepcompress.queue) with the
corresponding micro-controller clock counter times for every
step. Here the "micro-controller clock counter" value directly
corresponds to the micro-controller's hardware counter - it is
relative to when the micro-controller was last powered up.
* The next major step is to compress the steps: `stepcompress_flush()
-> compress_bisect_add()` (in stepcompress.c). This code generates
and encodes a series of micro-controller "queue_step" commands that
correspond to the list of stepper step times built in the previous
stage. These "queue_step" commands are then queued, prioritized, and
sent to the micro-controller (via stepcompress.c:steppersync and
serialqueue.c:serialqueue).
* Processing of the queue_step commands on the micro-controller starts
in command.c which parses the command and calls
`command_queue_step()`. The command_queue_step() code (in stepper.c)
just appends the parameters of each queue_step command to a per
stepper queue. Under normal operation the queue_step command is
parsed and queued at least 100ms before the time of its first
step. Finally, the generation of stepper events is done in
`stepper_event()`. It's called from the hardware timer interrupt at
the scheduled time of the first step. The stepper_event() code
generates a step pulse and then reschedules itself to run at the
time of the next step pulse for the given queue_step parameters. The
parameters for each queue_step command are "interval", "count", and
"add". At a high-level, stepper_event() runs the following, 'count'
times: `do_step(); next_wake_time = last_wake_time + interval;
interval += add;`
The above may seem like a lot of complexity to execute a
movement. However, the only really interesting parts are in the
ToolHead and kinematic classes. It's this part of the code which
specifies the movements and their timings. The remaining parts of the
processing is mostly just communication and plumbing.
Time
====
Fundamental to the operation of Klipper is the handling of clocks,
times, and timestamps. Klipper executes actions on the printer by
scheduling events to occur in the near future. For example, to turn on
a fan, the code might schedule a change to a GPIO pin in a 100ms. It
is rare for the code to attempt to take an instantaneous action. Thus,
the handling of time within Klipper is critical to correct operation.
There are three types of times tracked internally in the Klipper host
software:
* System time. The system time uses the system's monotonic clock - it
is a floating point number stored as seconds and it is (generally)
relative to when the host computer was last started. System times
have limited use in the software - they are primarily used when
interacting with the operating system. Within the host code, system
times are frequently stored in variables named *eventtime* or
*curtime*.
* Print time. The print time is synchronized to the main
micro-controller clock (the micro-controller defined in the "[mcu]"
config section). It is a floating point number stored as seconds and
is relative to when the main mcu was last restarted. It is possible
to convert from a "print time" to the main micro-controller's
hardware clock by multiplying the print time by the mcu's statically
configured frequency rate. The high-level host code uses print times
to calculates almost all physical actions (eg, head movement, heater
changes, etc.). Within the host code, print times are generally
stored in variables named *print_time* or *move_time*.
* MCU clock. This is the hardware clock counter on each
micro-controller. It is stored as an integer and its update rate is
relative to the frequency of the given micro-controller. The host
software translates its internal times to clocks before transmission
to the mcu. The mcu code only ever tracks time in clock
ticks. Within the host code, clock values are tracked as 64bit
integers, while the mcu code uses 32bit integers. Within the host
code, clocks are generally stored in variables with names containing
*clock* or *ticks*.
Conversion between the different time formats is primarily implemented
in the **klippy/clocksync.py** code.
Some things to be aware of when reviewing the code:
* 32bit and 64bit clocks: To reduce bandwidth and to improve
micro-controller efficiency, clocks on the micro-controller are
tracked as 32bit integers. When comparing two clocks in the mcu
code, the `timer_is_before()` function must always be used to ensure
integer rollovers are handled properly. The host software converts
32bit clocks to 64bit clocks by appending the high-order bits from
the last mcu timestamp it has received - no message from the mcu is
ever more than 2^31 clock ticks in the future or past so this
conversion is never ambiguous. The host converts from 64bit clocks
to 32bit clocks by simply truncating the high-order bits. To ensure
there is no ambiguity in this conversion, the
**klippy/serialqueue.c** code will buffer messages until they are
within 2^31 clock ticks of their target time.
* Multiple micro-controllers: The host software supports using
multiple micro-controllers on a single printer. In this case, the
"MCU clock" of each micro-controller is tracked separately. The
clocksync.py code handles clock drift between micro-controllers by
modifying the way it converts from "print time" to "MCU clock". On
secondary mcus, the mcu frequency that is used in this conversion is
regularly updated to account for measured drift.

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This page provides information on how to contact the Klipper
developers.
Bug reporting
=============
Bug reports are submitted through github issues. All bug reports must
include the full /tmp/klippy.log log file from the session that
produced the error. To acquire this log file, ssh into the computer
running the klipper host software, and run:
```
gzip -k /tmp/klippy.log
```
Then scp the resulting `/tmp/klippy.log.gz` file from the host machine
to your desktop. (If your desktop does not have scp installed, there
are a number of free scp programs available - just do a web search for
`windows scp` to find one.) Open a new issue at
https://github.com/KevinOConnor/klipper/issues , attach the
`klippy.log.gz` file to that issue, and provide a description of the
problem.
Mailing list
============
There is a mailing list for general discussions on Klipper. In order
to send am email to the list, one must first subscribe:
https://www.freelists.org/list/klipper . Once subscribed, emails may
be sent to `klipper@freelists.org`.
Archives of the mailing list are available at:
https://www.freelists.org/archive/klipper/
IRC
===
One may join the #klipper channel on freenode.net (
irc://chat.freenode.net:6667 ).
To communicate in this IRC channel one will need an IRC
client. Configure it to connect to chat.freenode.net on port 6667 and
join the #klipper channel (`/join #klipper`).
If asking a question on IRC, be sure to ask the question and then stay
connected to the channel to receive responses. Due to timezone
differences, it may take several hours before receiving a response.

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The Klippy host code has some tools to help in debugging.
Translating gcode files to micro-controller commands
====================================================
The Klippy host code can run in a batch mode to produce the low-level
micro-controller commands associated with a gcode file. Inspecting
these low-level commands is useful when trying to understand the
actions of the low-level hardware. It can also be useful to compare
the difference in micro-controller commands after a code change.
To run Klippy in this batch mode, there is a one time step necessary
to generate the micro-controller "data dictionary". This is done by
compiling the micro-controller code to obtain the **out/klipper.dict**
file:
```
make menuconfig
make
```
Once the above is done it is possible to run Klipper in batch mode
(see [installation](Installation.md) for the steps necessary to build
the python virtual environment and a printer.cfg file):
```
~/klippy-env/bin/python ./klippy/klippy.py ~/printer.cfg -i test.gcode -o test.serial -v -d out/klipper.dict
```
The above will produce a file **test.serial** with the binary serial
output. This output can be translated to readable text with:
```
~/klippy-env/bin/python ./klippy/parsedump.py out/klipper.dict test.serial > test.txt
```
The resulting file **test.txt** contains a human readable list of
micro-controller commands.
The batch mode disables certain response / request commands in order
to function. As a result, there will be some differences between
actual commands and the above output. The generated data is useful for
testing and inspection; it is not useful for sending to a real
micro-controller.
Testing with simulavr
=====================
The [simulavr](http://www.nongnu.org/simulavr/) tool enables one to
simulate an Atmel ATmega micro-controller. This section describes how
one can run test gcode files through simulavr. It is recommended to
run this on a desktop class machine (not a Raspberry Pi) as it does
require significant cpu to run efficiently.
To use simulavr, download the simulavr package and compile with python
support:
```
git clone git://git.savannah.nongnu.org/simulavr.git
cd simulavr
./bootstrap
./configure --enable-python
make
```
Note that the build system may need to have some packages (such as
swig) installed in order to build the python module. Make sure the
file **src/python/_pysimulavr.so** is present after the above
compilation.
To compile Klipper for use in simulavr, run:
```
cd /patch/to/klipper
make menuconfig
```
and compile the micro-controller software for an AVR atmega644p, set
the MCU frequency to 20Mhz, and select SIMULAVR software emulation
support. Then one can compile Klipper (run `make`) and then start the
simulation with:
```
PYTHONPATH=/path/to/simulavr/src/python/ ./scripts/avrsim.py -m atmega644 -s 20000000 -b 250000 out/klipper.elf
```
Then, with simulavr running in another window, one can run the
following to read gcode from a file (eg, "test.gcode"), process it
with Klippy, and send it to Klipper running in simulavr (see
[installation](Installation.md) for the steps necessary to build the
python virtual environment):
```
~/klippy-env/bin/python ./klippy/klippy.py config/avrsim.cfg -i test.gcode -v
```
Using simulavr with gtkwave
---------------------------
One useful feature of simulavr is its ability to create signal wave
generation files with the exact timing of events. To do this, follow
the directions above, but run avrsim.py with a command-line like the
following:
```
PYTHONPATH=/path/to/simulavr/src/python/ ./scripts/avrsim.py -m atmega644 -s 20000000 -b 250000 out/klipper.elf -t PORTA.PORT,PORTC.PORT
```
The above would create a file **avrsim.vcd** with information on each
change to the GPIOs on PORTA and PORTB. This could then be viewed
using gtkwave with:
```
gtkwave avrsim.vcd
```
Manually sending commands to the micro-controller
-------------------------------------------------
Normally, Klippy would be used to translate gcode commands to Klipper
commands. However, it's also possible to manually send Klipper
commands (functions marked with the DECL_COMMAND() macro in the
Klipper source code). To do so, run:
```
~/klippy-env/bin/python ./klippy/console.py /tmp/pseudoserial 250000
```
Generating load graphs
======================
The Klippy log file (/tmp/klippy.log) stores statistics on bandwidth,
micro-controller load, and host buffer load. It can be useful to graph
these statistics after a print.
To generate a graph, a one time step is necessary to install the
"matplotlib" package:
```
sudo apt-get update
sudo apt-get install python-matplotlib
```
Then graphs can be produced with:
```
~/klipper/scripts/graphstats.py /tmp/klippy.log loadgraph.png
```
One can then view the resulting **loadgraph.png** file.

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Klipper has several compelling features:
* High precision stepper movement. Klipper utilizes an application
processor (such as a low-cost Raspberry Pi) when calculating printer
movements. The application processor determines when to step each
stepper motor, it compresses those events, transmits them to the
micro-controller, and then the micro-controller executes each event
at the requested time. Each stepper event is scheduled with a
precision of 25 micro-seconds or better. The software does not use
kinematic estimations (such as the Bresenham algorithm) - instead it
calculates precise step times based on the physics of acceleration
and the physics of the machine kinematics. More precise stepper
movement translates to quieter and more stable printer operation.
* Best in class performance. Klipper is able to achieve high stepping
rates on both new and old micro-controllers. Even an old 8bit AVR
micro-controller can obtain rates over 175K steps per second. On
more recent micro-controllers, rates over 500K steps per second are
possible. Higher stepper rates enable higher print velocities. The
stepper event timing remains precise even at high speeds which
improves overall stability.
* Configuration via simple config file. There's no need to reflash the
micro-controller to change a setting. All of Klipper's configuration
is stored in a standard config file which can be easily edited. This
makes it easier to setup and maintain the hardware.
* Portable code. Klipper works on both ARM and AVR
micro-controllers. Existing "reprap" style printers can run Klipper
without hardware modification - just add a Raspberry Pi. Klipper's
internal code layout makes it easier to support other
micro-controller architectures as well.
* Simpler code. Klipper uses a very high level language (Python) for
most code. The kinematics algorithms, the G-code parsing, the
heating and thermistor algorithms, etc. are all written in
Python. This makes it easier to develop new functionality.
* Advanced features:
* Klipper implements the "pressure advance" algorithm for
extruders. When properly tuned, pressure advance reduces extruder
ooze.
* Klipper supports printers with multiple micro-controllers. For
example, one micro-controller could be used to control an
extruder, while another could control the printer's heaters, while
a third controls the rest of the printer. The Klipper host
software implements clock synchronization to account for clock
drift between micro-controllers. No special code is needed to
enable multiple micro-controllers - it just requires a few extra
lines in the config file.
* Klipper also implements a novel "stepper phase endstop" algorithm
that can dramatically improve the accuracy of typical endstop
switches. When properly tuned it can improve a print's first layer
bed adhesion.
* Support for limiting the top speed of short "zigzag" moves to
reduce printer vibration and noise. See the
[kinematics](Kinematics.md) document for more information.
To get started with Klipper, read the [installation](Installation.md)
guide.
Common features supported by Klipper
====================================
Klipper supports many standard 3d printer features:
* Works with Octoprint. This allows the printer to be controlled using
a regular web-browser. The same Raspberry Pi that runs Klipper can
also run Octoprint.
* Standard G-Code support. Common g-code commands that are produced by
typical "slicers" are supported. One may continue to use Slic3r,
Cura, etc. with Klipper.
* Constant speed acceleration support. All printer moves will
gradually accelerate from standstill to cruising speed and then
decelerate back to a standstill.
* "Look-ahead" support. The incoming stream of G-Code movement
commands are queued and analyzed - the acceleration between
movements in a similar direction will be optimized to reduce print
stalls and improve overall print time.
* Support for cartesian, delta, and corexy style printers.
Step Benchmarks
===============
Below are the results of stepper performance tests. The numbers shown
represent total number of steps per second on the micro-controller.
| Micro-controller | Fastest step rate | 3 steppers active |
| ----------------- | ----------------- | ----------------- |
| 20Mhz AVR | 189K | 125K |
| 16Mhz AVR | 151K | 100K |
| Arduino Due (ARM) | 382K | 337K |
| Beaglebone PRU | 689K | 689K |
On AVR platforms, the highest achievable step rate is with just one
stepper stepping. On the Due, the highest step rate is with two
simultaneous steppers stepping. On the PRU, the highest step rate is
with three simultaneous steppers.

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These instructions assume the software will run on a Raspberry Pi
computer in conjunction with OctoPrint. (See the
[Beaglebone specific instructions](beaglebone.md) if using a
Beaglebone.) It is recommended that a Raspberry Pi 2 or Raspberry Pi 3
computer be used as the host machine.
It should be possible to run the Klipper host software on any computer
running a recent Linux distribution, but doing so will require Linux
admin knowledge to translate these installation instructions to the
particulars of that machine.
Klipper currently supports Atmel ATmega based micro-controllers,
Arduino Due (Atmel SAM3x8e ARM micro-controller), and
[Beaglebone PRU](beaglebone.md) based printers.
Prepping an OS image
====================
Start by installing [OctoPi](https://github.com/guysoft/OctoPi) on the
Raspberry Pi computer. Use OctoPi v0.14.0 or later - see the
[octopi releases](https://github.com/guysoft/OctoPi/releases) for
release information. One should verify that OctoPi boots and that the
OctoPrint web server works. After connecting to the OctoPrint web
page, follow the prompt to upgrade OctoPrint to v1.3.5 or later.
After installing OctoPi and upgrading OctoPrint, ssh into the target
machine (ssh pi@octopi -- password is "raspberry") and run the
following commands:
```
git clone https://github.com/KevinOConnor/klipper
./klipper/scripts/install-octopi.sh
```
The above will download Klipper, install some system dependencies,
setup Klipper to run at system startup, and start the Klipper host
software. It will require an internet connection and it may take a few
minutes to complete.
Building and flashing the micro-controller
==========================================
To compile the micro-controller code, start by configuring it:
```
cd ~/klipper/
make menuconfig
```
Select the appropriate micro-controller and serial baud rate. Once
configured, run:
```
make
```
Finally, for common micro-controllers, the code can be flashed with:
```
sudo service klipper stop
make flash FLASH_DEVICE=/dev/ttyACM0
sudo service klipper start
```
Configuring Klipper
===================
The Klipper configuration is stored in a text file on the Raspberry
Pi. Take a look at the example config files in the
[config directory](../config/). The
[example.cfg](../config/example.cfg) file contains documentation on
command parameters and it can also be used as an initial config file
template. However, for most printers, one of the other config files
may be a more concise starting point. The next step is to copy and
edit one of these config files - for example:
```
cp ~/klipper/config/example.cfg ~/printer.cfg
nano ~/printer.cfg
```
Make sure to review and update each setting that is appropriate for
the hardware.
Configuring OctoPrint to use Klipper
====================================
The OctoPrint web server needs to be configured to communicate with
the Klipper host software. Using a web browser, login to the OctoPrint
web page, and navigate to the Settings tab. Then configure the
following items:
Under "Serial Connection" in "Additional serial ports" add
"/tmp/printer". Then click "Save".
Enter the Settings tab again and under "Serial Connection" change the
"Serial Port" setting to "/tmp/printer". Unselect the "Not only cancel
ongoing prints but also disconnect..." checkbox. Click "Save".
From the main page, under the "Connection" section (at the top left of
the page) make sure the "Serial Port" is set to "/tmp/printer" and
click "Connect". (If "/tmp/printer" is not an available selection then
try reloading the page.)
Once connected, navigate to the "Terminal" tab and type "status"
(without the quotes) into the command entry box and click "Send". The
terminal window will likely report there is an error opening the
config file - issue a "restart" command in the OctoPrint terminal to
load the config. A "status" command will report the printer is ready
if the Klipper config file is successfully read and the
micro-controller is successfully found and configured. It is not
unusual to have configuration errors during the initial setup - update
the printer config file and issue "restart" until "status" reports the
printer is ready.
Klipper reports error messages via the OctoPrint terminal tab. The
"status" command can be used to re-report error messages. The default
Klipper startup script also places a log in **/tmp/klippy.log** which
provides more detailed information.
In addition to common g-code commands, Klipper supports a few extended
commands - "status" and "restart" are examples of these commands. Use
the "help" command to get a list of other extended commands.
Contacting the developers
=========================
See the [contact page](Contact.md) to ask questions or report a bug.

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This document provides an overview of how Klipper implements robot
motion (its [kinematics](https://en.wikipedia.org/wiki/Kinematics)).
The contents may be of interest to both developers interested in
working on the Klipper software as well as users interested in better
understanding the mechanics of their machines.
Acceleration
============
Klipper implements a constant acceleration scheme whenever the print
head changes velocity - the velocity is gradually changed to the new
speed instead of suddenly jerking to it. Klipper always enforces
acceleration between the tool head and the print. The filament leaving
the extruder can be quite fragile - rapid jerks and/or extruder flow
changes lead to poor quality and poor bed adhesion. Even when not
extruding, if the print head is at the same level as the print then
rapid jerking of the head can cause disruption of recently deposited
filament. Limiting speed changes of the print head (relative to the
print) reduces risks of disrupting the print.
It is also important to limit acceleration so that the stepper motors
do not skip or put excessive stress on the machine. Klipper limits the
torque on each stepper by virtue of limiting the acceleration of the
print head. Enforcing acceleration at the print head naturally also
limits the torque of the steppers that move the print head (the
inverse is not always true).
Klipper implements constant acceleration. The key formula for constant
acceleration is:
```
velocity(time) = start_velocity + accel*time
```
Trapezoid generator
===================
Klipper uses a traditional "trapezoid generator" to model the motion
of each move - each move has a start speed, it accelerates to a
cruising speed at constant acceleration, it cruises at a constant
speed, and then decelerates to the end speed using constant
acceleration.
![trapezoid](img/trapezoid.svg.png)
It's called a "trapezoid generator" because a velocity diagram of the
move looks like a trapezoid.
The cruising speed is always greater than or equal to both the start
speed and the end speed. The acceleration phase may be of zero
duration (if the start speed is equal to the cruising speed), the
cruising phase may be of zero duration (if the move immediately starts
decelerating after acceleration), and/or the deceleration phase may be
of zero duration (if the end speed is equal to the cruising speed).
![trapezoids](img/trapezoids.svg.png)
Look-ahead
==========
The "look-ahead" system is used to determine cornering speeds between
moves.
Consider the following two moves contained on an XY plane:
![corner](img/corner.svg.png)
In the above situation it is possible to fully decelerate after the
first move and then fully accelerate at the start of the next move,
but that is not ideal as all that acceleration and deceleration would
greatly increase the print time and the frequent changes in extruder
flow would result in poor print quality.
To solve this, the "look-ahead" mechanism queues multiple incoming
moves and analyzes the angles between moves to determine a reasonable
speed that can be obtained during the "junction" between two moves. If
the next move is nearly in the same direction then the head need only
slow down a little (if at all).
![lookahead](img/lookahead.svg.png)
However, if the next move forms an acute angle (the head is going to
travel in nearly a reverse direction on the next move) then only a
small junction speed is permitted.
![lookahead](img/lookahead-slow.svg.png)
The junction speeds are determined using "approximated centripetal
acceleration". Best
[described by the author](https://onehossshay.wordpress.com/2011/09/24/improving_grbl_cornering_algorithm/).
Klipper implements look-ahead between moves that have similar extruder
flow rates. Other moves are relatively rare and implementing
look-ahead between them is unnecessary.
Key formula for look-ahead:
```
end_velocity^2 = start_velocity^2 + 2*accel*move_distance
```
Smoothed look-ahead
-------------------
Klipper also implements a mechanism for smoothing out the motions of
short "zigzag" moves. Consider the following moves:
![zigzag](img/zigzag.svg.png)
In the above, the frequent changes from acceleration to deceleration
can cause the machine to vibrate which causes stress on the machine
and increases the noise. To reduce this, Klipper tracks both regular
move acceleration as well as a virtual "acceleration to deceleration"
rate. Using this system, the top speed of these short "zigzag" moves
are limited to smooth out the printer motion:
![smoothed](img/smoothed.svg.png)
Specifically, the code calculates what the velocity of each move would
be if it were limited to this virtual "acceleration to deceleration"
rate (half the normal acceleration rate by default). In the above
picture the dashed gray lines represent this virtual acceleration rate
for the first move. If a move can not reach its full cruising speed
using this virtual acceleration rate then its top speed is reduced to
the maximum speed it could obtain at this virtual acceleration
rate. For most moves the limit will be at or above the move's existing
limits and no change in behavior is induced. For short zigzag moves,
however, this limit reduces the top speed. Note that it does not
change the actual acceleration within the move - the move continues to
use the normal acceleration scheme up to its adjusted top-speed.
Generating steps
================
Once the look-ahead process completes, the print head movement for the
given move is fully known (time, start position, end position,
velocity at each point) and it is possible to generate the step times
for the move. This process is done within "kinematic classes" in the
Klipper code. Outside of these kinematic classes, everything is
tracked in millimeters, seconds, and in cartesian coordinate space.
It's the task of the kinematic classes to convert from this generic
coordinate system to the hardware specifics of the particular printer.
In general, the code determines each step time by first calculating
where along the line of movement the head would be if a step is
taken. It then calculates what time the head should be at that
position. Determining the time along the line of movement can be done
using the formulas for constant acceleration and constant velocity:
```
time = sqrt(2*distance/accel + (start_velocity/accel)^2) - start_velocity/accel
time = distance/cruise_velocity
```
Cartesian Robots
----------------
Generating steps for cartesian printers is the simplest case. The
movement on each axis is directly related to the movement in cartesian
space.
Delta Robots
------------
To generate step times on Delta printers it is necessary to correlate
the movement in cartesian space with the movement on each stepper
tower.
To simplify the math, for each stepper tower, the code calculates the
location of a "virtual tower" that is along the line of movement.
This virtual tower is chosen at the point where the line of movement
(extended infinitely in both directions) would be closest to the
actual tower.
![delta-tower](img/delta-tower.svg.png)
It is then possible to calculate where the head will be along the line
of movement after each step is taken on the virtual tower.
![virtual-tower](img/virtual-tower.svg.png)
The key formula is Pythagoras's theorem:
```
distance_to_tower^2 = arm_length^2 - tower_height^2
```
One complexity is that if the print head passes the virtual tower
location then the stepper direction must be reversed. In this case
forward steps will be taken at the start of the move and reverse steps
will be taken at the end of the move.
### Delta movements beyond simple XY plane ###
Movement calculation is more complicated if a single move contains
both XY movement and Z movement. These moves are rare, but they must
still be handled correctly. A virtual tower along the line of movement
is still calculated, but in this case the tower is not at a 90 degree
angle relative to the line of movement:
![xy+z-tower](img/xy+z-tower.svg.png)
The code continues to calculate step times using the same general
scheme as delta moves within an XY plane, but the slope of the tower
must also be used in the calculations.
Should the move contain only Z movement (ie, no XY movement at all)
then the same math is used - just in this case the tower is parallel
to the line of movement.
### Stepper motor acceleration limits ###
With delta kinematics it is possible for a move that is accelerating
in cartesian space to require an acceleration on a particular stepper
motor greater than the move's acceleration. This can occur when a
stepper arm is more horizontal than vertical and the line of movement
passes near that stepper's tower. Although these moves could require a
stepper motor acceleration greater than the printer's maximum
configured move acceleration, the effective mass moved by that stepper
would be smaller. Thus the higher stepper acceleration does not result
in significantly higher stepper torque and it is therefore considered
harmless.
However, to avoid extreme cases, Klipper enforces a maximum ceiling on
stepper acceleration of three times the printer's configured maximum
move acceleration. (Similarly, the maximum velocity of the stepper is
limited to three times the maximum move velocity.) In order to enforce
this limit, moves at the extreme edge of the build envelope (where a
stepper arm may be nearly horizontal) will have a lower maximum
acceleration and velocity.
Extruder kinematics
-------------------
Klipper implements extruder motion in its own kinematic class. Since
the timing and speed of each print head movement is fully known for
each move, it's possible to calculate the step times for the extruder
independently from the step time calculations of the print head
movement.
Basic extruder movement is simple to calculate. The step time
generation uses the same constant acceleration and constant velocity
formulas that cartesian robots use.
### Pressure advance ###
Experimentation has shown that it's possible to improve the modeling
of the extruder beyond the basic extruder formula. In the ideal case,
as an extrusion move progresses, the same volume of filament should be
deposited at each point along the move and there should be no volume
extruded after the move. Unfortunately, it's common to find that the
basic extrusion formulas cause too little filament to exit the
extruder at the start of extrusion moves and for excess filament to
extrude after extrusion ends. This is often referred to as "ooze".
![ooze](img/ooze.svg.png)
The "pressure advance" system attempts to account for this by using a
different model for the extruder. Instead of naively believing that
each mm^3 of filament fed into the extruder will result in that amount
of mm^3 immediately exiting the extruder, it uses a model based on
pressure. Pressure increases when filament is pushed into the extruder
(as in [Hooke's law](https://en.wikipedia.org/wiki/Hooke%27s_law)) and
the pressure necessary to extrude is dominated by the flow rate
through the nozzle orifice (as in
[Poiseuille's law](https://en.wikipedia.org/wiki/Poiseuille_law)). The
key idea is that the relationship between filament, pressure, and flow
rate can be modeled using a linear coefficient:
```
extra_filament = pressure_advance_coefficient * extruder_velocity
```
See the [pressure advance](Pressure_Advance.md) document for
information on how to find this pressure advance coefficient.
Once configured, Klipper will push in an additional amount of filament
during acceleration. The higher the desired filament flow rate, the
more filament must be pushed in during acceleration to account for
pressure. During head deceleration the extra filament is retracted
(the extruder will have a negative velocity).
![pressure-advance](img/pressure-advance.svg.png)
One may notice that the pressure advance algorithm can cause the
extruder motor to make sudden velocity changes. This is tolerated
based on the idea that the majority of the inertia in the system is in
changing the extruder pressure. As long as the extruder pressure does
not change rapidly the sudden changes in extruder motor velocity are
tolerated.
One area where sudden velocity changes become problematic is during
small changes in head speed due to cornering.
![pressure-cornering](img/pressure-cornering.svg.png)
To prevent this, the Klipper pressure advance code utilizes the move
look-ahead queue to detect intermittent speed changes. During a
deceleration event the code finds the maximum upcoming head speed
within a configurable time window. The pressure is then only adjusted
to this found maximum. This can greatly reduce (or even completely
eliminate) pressure changes during cornering.

285
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This document provides information on the low-level micro-controller
commands that are sent from the Klipper "host" software and processed
by the Klipper micro-controller software. This document is not an
authoritative reference for these commands, nor is it an exclusive
list of all available commands.
This document may be useful for developers interested in understanding
the low-level micro-controller commands.
See the [protocol](Protocol.md) document for more information on the
format of commands and their transmission. The commands here are
described using their "printf" style syntax - for those unfamiliar
with that format, just note that where a '%...' sequence is seen it
should be replaced with an actual integer. For example, a description
with "count=%c" could be replaced with the text "count=10".
Startup Commands
================
It may be necessary to take certain one-time actions to configure the
micro-controller and its peripherals. This section lists common
commands available for that purpose. Unlike most micro-controller
commands, these commands run as soon as they are received and they do
not require any particular setup.
Several of these commands will take a "pin=%u" parameter. The
low-level micro-controller software uses integer encodings of the
hardware pin numbers, but to make things more readable the host will
translate human readable pin names (eg, "PA3") to their equivalent
integer encodings. By convention, any parameter named "pin" or that
has a "_pin" suffix will use pin name translation by the
host.
Common startup commands:
* `set_digital_out pin=%u value=%c` : This command immediately
configures the given pin as a digital out GPIO and it sets it to
either a low level (value=0) or a high level (value=1). This command
may be useful for configuring the initial value of LEDs and for
configuring the initial value of stepper driver micro-stepping pins.
* `set_pwm_out pin=%u cycle_ticks=%u value=%hu` : This command will
immediately configure the given pin to use hardware based
pulse-width-modulation (PWM) with the given number of
cycle_ticks. The "cycle_ticks" is the number of MCU clock ticks each
power on and power off cycle should last. A cycle_ticks value of 1
can be used to request the fastest possible cycle time. The "value"
parameter is between 0 and 255 with 0 indicating a full off state
and 255 indicating a full on state. This command may be useful for
enabling CPU and nozzle cooling fans.
* `send_spi_message pin=%u msg=%*s` : This command can be used to
transmit messages to a serial-peripheral-interface (SPI) component
connected to the micro-controller. It has been used to configure the
startup settings of AD5206 digipots. The 'pin' parameter specifies
the chip select line to use during the transmission. The 'msg'
indicates the binary message to transmit to the given chip.
Low-level micro-controller configuration
========================================
Most commands in the micro-controller require an initial setup before
they can be successfully invoked. This section provides an overview of
the configuration process. This section and the following sections are
likely only of interest to developers interested in the internal
details of Klipper.
When the host first connects to the micro-controller it always starts
by obtaining a data dictionary (see [protocol](Protocol.md) for more
information). After the data dictionary is obtained the host will
check if the micro-controller is in a "configured" state and configure
it if not. Configuration involves the following phases:
* `get_config` : The host starts by checking if the micro-controller
is already configured. The micro-controller responds to this command
with a "config" response message. The micro-controller software
always starts in an unconfigured state at power-on. It remains in
this state until the host completes the configuration processes (by
issuing a finalize_config command). If the micro-controller is
already configured from a previous session (and is configured with
the desired settings) then no further action is needed by the host
and the configuration process ends successfully.
* `allocate_oids count=%c` : This command is issued to inform the
micro-controller of the maximum number of object-ids (oid) that the
host requires. It is only valid to issue this command once. An oid
is an integer identifier allocated to each stepper, each endstop,
and each schedulable gpio pin. The host determines in advance the
number of oids it will require to operate the hardware and passes
this to the micro-controller so that it may allocate sufficient
memory to store a mapping from oid to internal object.
* `config_XXX oid=%c ...` : By convention any command starting with
the "config_" prefix creates a new micro-controller object and
assigns the given oid to it. For example, the config_digital_out
command will configure the specified pin as a digital output GPIO
and create an internal object that the host can use to schedule
changes to the given GPIO. The oid parameter passed into the config
command is selected by the host and must be between zero and the
maximum count supplied in the allocate_oids command. The config
commands may only be run when the micro-controller is not in a
configured state (ie, prior to the host sending finalize_config) and
after the allocate_oids command has been sent.
* `finalize_config crc=%u` : The finalize_config command transitions
the micro-controller from an unconfigured state to a configured
state. The crc parameter passed to the micro-controller is stored
and provided back to the host in "config" response messages. By
convention, the host takes a 32bit CRC of the configuration it will
request and at the start of subsequent communication sessions it
checks that the CRC stored in the micro-controller exactly matches
its desired CRC. If the CRC does not match then the host knows the
micro-controller has not been configured in the state desired by the
host.
Common micro-controller objects
-------------------------------
This section lists some commonly used config commands.
* `config_digital_out oid=%c pin=%u value=%c default_value=%c
max_duration=%u` : This command creates an internal micro-controller
object for the given GPIO 'pin'. The pin will be configured in
digital output mode and set to an initial value as specified by
'value' (0 for low, 1 for high). Creating a digital_out object
allows the host to schedule GPIO updates for the given pin at
specified times (see the schedule_digital_out command described
below). Should the micro-controller software go into shutdown mode
then all configured digital_out objects will be set to
'default_value'. The 'max_duration' parameter is used to implement a
safety check - if it is non-zero then it is the maximum number of
clock ticks that the host may set the given GPIO to a non-default
value without further updates. For example, if the default_value is
zero and the max_duration is 16000 then if the host sets the gpio to
a value of one then it must schedule another update to the gpio pin
(to either zero or one) within 16000 clock ticks. This safety
feature can be used with heater pins to ensure the host does not
enable the heater and then go off-line.
* `config_pwm_out oid=%c pin=%u cycle_ticks=%u value=%hu
default_value=%hu max_duration=%u` : This command creates an
internal object for hardware based PWM pins that the host may
schedule updates for. Its usage is analogous to config_digital_out -
see the description of the 'set_pwm_out' and 'config_digital_out'
commands for parameter description.
* `config_soft_pwm_out oid=%c pin=%u cycle_ticks=%u value=%c
default_value=%c max_duration=%u` : This command creates an internal
micro-controller object for software implemented PWM. Unlike
hardware pwm pins, a software pwm object does not require any
special hardware support (other than the ability to configure the
pin as a digital output GPIO). Because the output switching is
implemented in the micro-controller software, it is recommended that
the cycle_ticks parameter correspond to a time of 10ms or
greater. See the description of the 'set_pwm_out' and
'config_digital_out' commands for parameter description.
* `config_analog_in oid=%c pin=%u` : This command is used to configure
a pin in analog input sampling mode. Once configured, the pin can be
sampled at regular interval using the query_analog_in command (see
below).
* `config_stepper oid=%c step_pin=%c dir_pin=%c min_stop_interval=%u
invert_step=%c` : This command creates an internal stepper
object. The 'step_pin' and 'dir_pin' parameters specify the step and
direction pins respectively; this command will configure them in
digital output mode. The 'invert_step' parameter specifies whether a
step occurs on a rising edge (invert_step=0) or falling edge
(invert_step=1). The 'min_stop_interval' implements a safety
feature - it is checked when the micro-controller finishes all moves
for a stepper - if it is non-zero it specifies the minimum number of
clock ticks since the last step. It is used as a check on the
maximum stepper velocity that a stepper may have before stopping.
* `config_end_stop oid=%c pin=%c pull_up=%c stepper_count=%c` : This
command creates an internal "endstop" object. It is used to specify
the endstop pins and to enable "homing" operations (see the
end_stop_home command below). The command will configure the
specified pin in digital input mode. The 'pull_up' parameter
determines whether hardware provided pullup resistors for the pin
(if available) will be enabled. The 'stepper_count' parameter
specifies the maximum number of steppers that this endstop may need
to halt during a homing operation (see end_stop_home below).
Common commands
===============
This section lists some commonly used run-time commands. It is likely
only of interest to developers looking to gain insight into Klipper.
* `schedule_digital_out oid=%c clock=%u value=%c` : This command will
schedule a change to a digital output GPIO pin at the given clock
time. To use this command a 'config_digital_out' command with the
same 'oid' parameter must have been issued during micro-controller
configuration.
* `schedule_pwm_out oid=%c clock=%u value=%hu` : Schedules a change to
a hardware PWM output pin. See the 'schedule_digital_out' and
'config_pwm_out' commands for more info.
* `schedule_soft_pwm_out oid=%c clock=%u value=%hu` : Schedules a
change to a software PWM output pin. See the 'schedule_digital_out'
and 'config_soft_pwm_out' commands for more info.
* `query_analog_in oid=%c clock=%u sample_ticks=%u sample_count=%c
rest_ticks=%u min_value=%hu max_value=%hu` : This command sets up a
recurring schedule of analog input samples. To use this command a
'config_analog_in' command with the same 'oid' parameter must have
been issued during micro-controller configuration. The samples will
start as of 'clock' time, it will report on the obtained value every
'rest_ticks' clock ticks, it will over-sample 'sample_count' number
of times, and it will pause 'sample_ticks' number of clock ticks
between over-sample samples. The 'min_value' and 'max_value'
parameters implement a safety feature - the micro-controller
software will verify the sampled value (after any oversampling) is
always between the supplied range. This is intended for use with
pins attached to thermistors controlling heaters - it can be used to
check that a heater is within a temperature range.
* `get_status` : This command causes the micro-controller to generate
a "status" response message. The host sends this command once a
second to obtain the value of the micro-controller clock and to
estimate the drift between host and micro-controller clocks. It
enables the host to accurately estimate the micro-controller clock.
Stepper commands
----------------
* `queue_step oid=%c interval=%u count=%hu add=%hi` : This command
schedules 'count' number of steps for the given stepper, with
'interval' number of clock ticks between each step. The first step
will be 'interval' number of clock ticks since the last scheduled
step for the given stepper. If 'add' is non-zero then the interval
will be adjusted by 'add' amount after each step. This command
appends the given interval/count/add sequence to a per-stepper
queue. There may be hundreds of these sequences queued during normal
operation. New sequence are appended to the end of the queue and as
each sequence completes its 'count' number of steps it is popped
from the front of the queue. This system allows the micro-controller
to queue potentially hundreds of thousands of steps - all with
reliable and predictable schedule times.
* `set_next_step_dir oid=%c dir=%c` : This command specifies the value
of the dir_pin that the next queue_step command will use.
* `reset_step_clock oid=%c clock=%u` : Normally, step timing is
relative to the last step for a given stepper. This command resets
the clock so that the next step is relative to the supplied 'clock'
time. The host usually only sends this command at the start of a
print.
* `stepper_get_position oid=%c` : This command causes the
micro-controller to generate a "stepper_position" response message
with the stepper's current position. The position is the total
number of steps generated with dir=1 minus the total number of steps
generated with dir=0.
* `end_stop_home oid=%c clock=%u sample_ticks=%u sample_count=%c
rest_ticks=%u pin_value=%c` : This command is used during stepper
"homing" operations. To use this command a 'config_end_stop' command
with the same 'oid' parameter must have been issued during
micro-controller configuration. When this command is invoked, the
micro-controller will sample the endstop pin every 'rest_ticks'
clock ticks and check if it has a value equal to 'pin_value'. If the
value matches (and it continues to match for 'sample_count'
additional samples spread 'sample_ticks' apart) then the movement
queue for the associated stepper will be cleared and the stepper
will come to an immediate halt. The host uses this command to
implement homing - the host instructs the endstop to sample for the
endstop trigger and then it issues a series of queue_step commands
to move a stepper towards the endstop. Once the stepper hits the
endstop, the trigger will be detected, the movement halted, and the
host notified.
### Move queue
Each queue_step command utilizes an entry in the micro-controller
"move queue". This queue is allocated when it receives the
"finalize_config" command, and it reports the number of available
queue entries in "config" response messages.
It is the responsibility of the host to ensure that there is available
space in the queue before sending a queue_step command. The host does
this by calculating when each queue_step command completes and
scheduling new queue_step commands accordingly.

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Welcome to the Klipper documentation. There are two parts to Klipper -
code that runs on a micro-controller and code that runs on a "host"
machine. The host code is intended to run on a low-cost
general-purpose machine such as a Raspberry Pi, while the
micro-controller code is intended to run on commodity micro-controller
chips. Read [features](Features.md) for reasons to use Klipper. See
[installation](Installation.md) to get started with Klipper.
The Klipper configuration is stored in a simple text file on the host
machine. The [config/example.cfg](../config/example.cfg) file serves
as a reference for the config file. The
[Pressure Advance](Pressure_Advance.md) document contains information
on tuning the pressure advance config.
The [kinematics](Kinematics.md) document provides some technical
details on how Klipper implements motion.
The history of Klipper releases is available at
[releases](Releases.md). See [contact](Contact.md) for information on
bug reporting and general communication with the developers.
Developer Documentation
=======================
There are also several documents available for developers interested
in understanding how Klipper works. Start with the
[code overview](Code_Overview.md) document - it provides information
on the structure and layout of the Klipper code.
See [protocol](Protocol.md) for information on the low-level messaging
protocol between host and micro-controller. See also
[MCU commands](MCU_Commands.md) for a description of low-level
commands implemented in the micro-controller software.
See [debugging](Debugging.md) for information on how to test and debug
Klipper.
See [todo](Todo.md) for information on possible future code features.

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This document provides information on tuning the "pressure advance"
configuration variables for a particular nozzle and filament. The
pressure advance feature can be helpful in reducing ooze. For more
information on how pressure advance is implemented see the
[kinematics](Kinematics.md) document.
Prerequisites
=============
In order to tune the pressure advance setting the printer must be
configured and operational. The tuning test involves printing objects
and inspecting the differences between objects. In particular, the
extruder
[E steps](http://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide#E_steps)
and
[nozzle temperature](http://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide#Nozzle_Temperature)
should be tuned prior to tuning pressure advance.
Tuning pressure advance
=======================
Pressure advance does two useful things - it reduces ooze during
non-extrude moves and it reduces blobbing during cornering. This guide
uses the second feature (reducing blobbing during cornering) as a
mechanism for measuring and tuning the pressure advance configuration.
Start by changing the extruder section of the config file so that
pressure_advance is set to 0.0. (Make sure to issue a RESTART command
after each update to the config file so that the new configuration
takes effect.) Then print at least 10 layers of a large hollow square
at high speed (eg, 100mm/s). See
[docs/prints/square.stl](prints/square.stl) file for an STL file that
one may use. While the object is printing, make a note of which
direction the head is moving during external perimeters. What many
people see here is blobbing occurring at the corners - extra filament
at the corner in the direction the head travels followed by a possible
lack of filament on the side immediately after that corner:
![corner-blob](img/corner-blob.jpg)
This blobbing is the result of pressure in the extruder being released
as a blob when the head slows down to corner.
The next step is to set pressure_advance_lookahead_time to 0.0, slowly
increase pressure_advance (eg, start with 0.05), and reprint the test
object. (Be sure to issue RESTART between each config change.) The
goal is to attempt to eliminate the blobbing during cornering. (With
pressure advance, the extruder will retract when the head slows down,
thus countering the pressure buildup and ideally eliminate the
blobbing.)
If a test run is done with a pressure_advance setting that is too
high, one typically sees a dimple in the corner followed by possible
blobbing after the corner (too much filament is retracted during slow
down and then too much filament is extruded during the following speed
up after cornering):
![corner-dimple](img/corner-dimple.jpg)
The goal is to find the smallest pressure_advance value that results
in good quality corners:
![corner-good](img/corner-good.jpg)
Typical pressure_advance values are between 0.05 and 0.20 (the high
end usually only with bowden extruders).
It is not unusual for one corner of the test print to be consistently
different than the other three corners. This typically occurs when the
slicer arranges to always change Z height at that corner. If this
occurs, then ignore that corner and tune pressure_advance using the
other three corners.
Once a good pressure_advance value is found, return
pressure_advance_lookahead_time to its default (0.010). This parameter
controls how far in advance to check if a head slow-down is
immediately followed by a speed-up - it reduces pointless pressure
changes in the head. It's possible to tune this - higher values will
decrease the number of pressure changes in the nozzle at the expense
of permitting more blobbing during cornering. (Tuning this value is
unlikely to impact ooze.) The default of 10ms should work well on most
printers.
Although this tuning exercise directly improves the quality of
corners, it's worth remembering that a good pressure advance
configuration can reduce ooze throughout the print.
Finally, once pressure_advance is tuned in Klipper, it may still be
useful to configure a small retract value in the slicer (eg, 0.75mm)
and to utilize the slicer's "wipe on retract option" if available.
These slicer settings may help counteract ooze caused by filament
cohesion (filament pulled out of the nozzle due to the stickiness of
the plastic). It is recommended to disable the slicer's "z-lift on
retract" option.

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The Klipper messaging protocol is used for low-level communication
between the Klipper host software and the Klipper micro-controller
software. At a high level the protocol can be thought of as a series
of command and response strings that are compressed, transmitted, and
then processed at the receiving side. An example series of commands in
uncompressed human-readable format might look like:
```
set_digital_out pin=86 value=1
set_digital_out pin=85 value=1
schedule_digital_out oid=8 clock=4000000 value=0
queue_step oid=7 interval=7458 count=10 add=331
queue_step oid=7 interval=11717 count=4 add=1281
```
See the [mcu commands](MCU_Commands.md) document for information on
available commands. See the [debugging](Debugging.md) document for
information on how to translate a G-Code file into its corresponding
human-readable micro-controller commands.
This page provides a high-level description of the Klipper messaging
protocol itself. It describes how messages are declared, encoded in
binary format (the "compression" scheme), and transmitted.
The goal of the protocol is to enable an error-free communication
channel between the host and micro-controller that is low-latency,
low-bandwidth, and low-complexity for the micro-controller.
Micro-controller Interface
==========================
The Klipper transmission protocol can be thought of as a
[RPC](https://en.wikipedia.org/wiki/Remote_procedure_call) mechanism
between micro-controller and host. The micro-controller software
declares the commands that the host may invoke along with the response
messages that it can generate. The host uses that information to
command the micro-controller to perform actions and to interpret the
results.
Declaring commands
------------------
The micro-controller software declares a "command" by using the
DECL_COMMAND() macro in the C code. For example:
```
DECL_COMMAND(command_set_digital_out, "set_digital_out pin=%u value=%c");
```
The above declares a command named "set_digital_out". This allows the
host to "invoke" this command which would cause the
command_set_digital_out() C function to be executed in the
micro-controller. The above also indicates that the command takes two
integer parameters. When the command_set_digital_out() C code is
executed, it will be passed an array containing these two integers -
the first corresponding to the 'pin' and the second corresponding to
the 'value'.
In general, the parameters are described with printf() style syntax
(eg, "%u"). The formatting directly corresponds to the human-readable
view of commands (eg, "set_digital_out pin=86 value=1"). In the above
example, "value=" is a parameter name and "%c" indicates the parameter
is an integer. Internally, the parameter name is only used as
documentation. In this example, the "%c" is also used as documentation
to indicate the expected integer is 1 byte in size (the declared
integer size does not impact the parsing or encoding).
The micro-controller build will collect all commands declared with
DECL_COMMAND(), determine their parameters, and arrange for them to be
callable.
Declaring responses
-------------------
To send information from the micro-controller to the host a "response"
is generated. These are both declared and transmitted using the
sendf() C macro. For example:
```
sendf("status clock=%u status=%c", sched_read_time(), sched_is_shutdown());
```
The above transmits a "status" response message that contains two
integer parameters ("clock" and "status"). The micro-controller build
automatically finds all sendf() calls and generates encoders for
them. The first parameter of the sendf() function describes the
response and it is in the same format as command declarations.
The host can arrange to register a callback function for each
response. So, in effect, commands allow the host to invoke C functions
in the micro-controller and responses allow the micro-controller
software to invoke code in the host.
The sendf() macro should only be invoked from command or task
handlers, and it should not be invoked from interrupts or timers. The
code does not need to issue a sendf() in response to a received
command, it is not limited in the number of times sendf() may be
invoked, and it may invoke sendf() at any time from a task handler.
### Output responses
To simplify debugging, there is also has an output() C function. For
example:
```
output("The value of %u is %s with size %u.", x, buf, buf_len);
```
The output() function is similar in usage to printf() - it is intended
to generate and format arbitrary messages for human consumption.
Declaring constants
-------------------
Constants can also be exported. For example, the following:
```
DECL_CONSTANT(SERIAL_BAUD, 250000);
```
would export a constant named "SERIAL_BAUD" with a value of 250000
from the micro-controller to the host.
Low-level message encoding
==========================
To accomplish the above RPC mechanism, each command and response is
encoded into a binary format for transmission. This section describes
the transmission system.
Message Blocks
--------------
All data sent from host to micro-controller and vice-versa are
contained in "message blocks". A message block has a two byte header
and a three byte trailer. The format of a message block is:
```
<1 byte length><1 byte sequence><n-byte content><2 byte crc><1 byte sync>
```
The length byte contains the number of bytes in the message block
including the header and trailer bytes (thus the minimum message
length is 5 bytes). The maximum message block length is currently 64
bytes. The sequence byte contains a 4 bit sequence number in the
low-order bits and the high-order bits always contain 0x10 (the
high-order bits are reserved for future use). The content bytes
contain arbitrary data and its format is described in the following
section. The crc bytes contain a 16bit CCITT
[CRC](https://en.wikipedia.org/wiki/Cyclic_redundancy_check) of the
message block including the header bytes but excluding the trailer
bytes. The sync byte is 0x7e.
The format of the message block is inspired by
[HDLC](https://en.wikipedia.org/wiki/High-Level_Data_Link_Control)
message frames. Like in HDLC, the message block may optionally contain
an additional sync character at the start of the block. Unlike in
HDLC, a sync character is not exclusive to the framing and may be
present in the message block content.
Message Block Contents
----------------------
Each message block sent from host to micro-controller contains a
series of zero or more message commands in its contents. Each command
starts with a [Variable Length Quantity](#variable-length-quantities)
(VLQ) encoded integer command-id followed by zero or more VLQ
parameters for the given command.
As an example, the following four commands might be placed in a single
message block:
```
set_digital_out pin=86 value=1
set_digital_out pin=85 value=0
get_config
get_status
```
and encoded into the following eight VLQ integers:
```
<id_set_digital_out><86><1><id_set_digital_out><85><0><id_get_config><id_get_status>
```
In order to encode and parse the message contents, both the host and
micro-controller must agree on the command ids and the number of
parameters each command has. So, in the above example, both the host
and micro-controller would know that "id_set_digital_out" is always
followed by two parameters, and "id_get_config" and "id_get_status"
have zero parameters. The host and micro-controller share a "data
dictionary" that maps the command descriptions (eg, "set_digital_out
pin=%u value=%c") to their integer command-ids. When processing the
data, the parser will know to expect a specific number of VLQ encoded
parameters following a given command id.
The message contents for blocks sent from micro-controller to host
follow the same format. The identifiers in these messages are
"response ids", but they serve the same purpose and follow the same
encoding rules. In practice, message blocks sent from the
micro-controller to the host never contain more than one response in
the message block contents.
### Variable Length Quantities
See the [wikipedia article](https://en.wikipedia.org/wiki/Variable-length_quantity)
for more information on the general format of VLQ encoded
integers. Klipper uses an encoding scheme that supports both positive
and negative integers. Integers close to zero use less bytes to encode
and positive integers typically encode using less bytes than negative
integers. The following table shows the number of bytes each integer
takes to encode:
| Integer | Encoded size |
|---------------------------|--------------|
| -32 .. 95 | 1 |
| -4096 .. 12287 | 2 |
| -524288 .. 1572863 | 3 |
| -67108864 .. 201326591 | 4 |
| -2147483648 .. 4294967295 | 5 |
### Variable length strings
As an exception to the above encoding rules, if a parameter to a
command or response is a dynamic string then the parameter is not
encoded as a simple VLQ integer. Instead it is encoded by transmitting
the length as a VLQ encoded integer followed by the contents itself:
```
<VLQ encoded length><n-byte contents>
```
The command descriptions found in the data dictionary allow both the
host and micro-controller to know which command parameters use simple
VLQ encoding and which parameters use string encoding.
Data Dictionary
===============
In order for meaningful communications to be established between
micro-controller and host, both sides must agree on a "data
dictionary". This data dictionary contains the integer identifiers for
commands and responses along with their descriptions.
The micro-controller build uses the contents of DECL_COMMAND() and
sendf() macros to generate the data dictionary. The build
automatically assigns unique identifiers to each command and
response. This system allows both the host and micro-controller code
to seamlessly use descriptive human-readable names while still using
minimal bandwidth.
The host queries the data dictionary when it first connects to the
micro-controller. Once the host downloads the data dictionary from the
micro-controller, it uses that data dictionary to encode all commands
and to parse all responses from the micro-controller. The host must
therefore handle a dynamic data dictionary. However, to keep the
micro-controller software simple, the micro-controller always uses its
static (compiled in) data dictionary.
The data dictionary is queried by sending "identify" commands to the
micro-controller. The micro-controller will respond to each identify
command with an "identify_response" message. Since these two commands
are needed prior to obtaining the data dictionary, their integer ids
and parameter types are hard-coded in both the micro-controller and
the host. The "identify_response" response id is 0, the "identify"
command id is 1. Other than having hard-coded ids the identify command
and its response are declared and transmitted the same way as other
commands and responses. No other command or response is hard-coded.
The format of the transmitted data dictionary itself is a zlib
compressed JSON string. The micro-controller build process generates
the string, compresses it, and stores it in the text section of the
micro-controller flash. The data dictionary can be much larger than
the maximum message block size - the host downloads it by sending
multiple identify commands requesting progressive chunks of the data
dictionary. Once all chunks are obtained the host will assemble the
chunks, uncompress the data, and parse the contents.
In addition to information on the communication protocol, the data
dictionary also contains the software version, constants (as defined
by DECL_CONSTANT), and static strings.
Static Strings
--------------
To reduce bandwidth the data dictionary also contains a set of static
strings known to the micro-controller. This is useful when sending
messages from micro-controller to host. For example, if the
micro-controller were to run:
```
shutdown("Unable to handle command");
```
The error message would be encoded and sent using a single VLQ. The
host uses the data dictionary to resolve VLQ encoded static string ids
to their associated human-readable strings.
Message flow
============
Message commands sent from host to micro-controller are intended to be
error-free. The micro-controller will check the CRC and sequence
numbers in each message block to ensure the commands are accurate and
in-order. The micro-controller always processes message blocks
in-order - should it receive a block out-of-order it will discard it
and any other out-of-order blocks until it receives blocks with the
correct sequencing.
The low-level host code implements an automatic retransmission system
for lost and corrupt message blocks sent to the micro-controller. To
facilitate this, the micro-controller transmits an "ack message block"
after each successfully received message block. The host schedules a
timeout after sending each block and it will retransmit should the
timeout expire without receiving a corresponding "ack". In addition,
if the micro-controller detects a corrupt or out-of-order block it may
transmit a "nak message block" to facilitate fast retransmission.
An "ack" is a message block with empty content (ie, a 5 byte message
block) and a sequence number greater than the last received host
sequence number. A "nak" is a message block with empty content and a
sequence number less than the last received host sequence number.
The protocol facilitates a "window" transmission system so that the
host can have many outstanding message blocks in-flight at a
time. (This is in addition to the many commands that may be present in
a given message block.) This allows maximum bandwidth utilization even
in the event of transmission latency. The timeout, retransmit,
windowing, and ack mechanism are inspired by similar mechanisms in
[TCP](https://en.wikipedia.org/wiki/Transmission_Control_Protocol).
In the other direction, message blocks sent from micro-controller to
host are designed to be error-free, but they do not have assured
transmission. (Responses should not be corrupt, but they may go
missing.) This is done to keep the implementation in the
micro-controller simple. There is no automatic retransmission system
for responses - the high-level code is expected to be capable of
handling an occasional missing response (usually by re-requesting the
content or setting up a recurring schedule of response
transmission). The sequence number field in message blocks sent to the
host is always one greater than the last received sequence number of
message blocks received from the host. It is not used to track
sequences of response message blocks.

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Welcome to the Klipper documentation. The
[overview document](Overview.md) is a good starting point.

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History of Klipper releases. Please see
[installation](Installation.md) for information on installing Klipper.
Klipper 0.5.0
=============
Available on 20171025. Major changes in this release:
* Support for printers with multiple extruders.
* Initial support for running on the Beaglebone PRU. Initial support
for the Replicape board.
* Initial support for running the micro-controller code in a real-time
Linux process.
* Support for multiple micro-controllers. (For example, one could
control an extruder with one micro-controller and the rest of the
printer with another.) Software clock synchronization is implemented
to coordinate actions between micro-controllers.
* Stepper performance improvements (20Mhz AVRs up to 189K steps per
second).
* Support for controlling servos and support for defining nozzle
cooling fans.
* Several bug fixes and code cleanups
Klipper 0.4.0
=============
Available on 20170503. Major changes in this release:
* Improved installation on Raspberry Pi machines. Most of the install
is now scripted.
* Support for corexy kinematics
* Documentation updates: New Kinematics document, new Pressure Advance
tuning guide, new example config files, and more
* Stepper performance improvements (20Mhz AVRs over 175K steps per
second, Arduino Due over 460K)
* Support for automatic micro-controller resets. Support for resets
via toggling USB power on Raspberry Pi.
* The pressure advance algorithm now works with look-ahead to reduce
pressure changes during cornering.
* Support for limiting the top speed of short zigzag moves
* Support for AD595 sensors
* Several bug fixes and code cleanups
Klipper 0.3.0
=============
Available on 20161223. Major changes in this release:
* Improved documentation
* Support for robots with delta kinematics
* Support for Arduino Due micro-controller (ARM cortex-M3)
* Support for USB based AVR micro-controllers
* Support for "pressure advance" algorithm - it reduces ooze during
prints.
* New "stepper phased based endstop" feature - enables higher
precision on endstop homing.
* Support for "extended g-code" commands such as "help", "restart",
and "status".
* Support for reloading the Klipper config and restarting the host
software by issuing a "restart" command from the terminal.
* Stepper performance improvements (20Mhz AVRs up to 158K steps per
second).
* Improved error reporting. Most errors now shown via the terminal
along with help on how to resolve.
* Several bug fixes and code cleanups
Klipper 0.2.0
=============
Initial release of Klipper. Available on 20160525. Major features
available in the initial release include:
* Basic support for cartesian printers (steppers, extruder, heated
bed, cooling fan).
* Support for common g-code commands. Support for interfacing with
OctoPrint.
* Acceleration and lookahead handling
* Support for AVR micro-controllers via standard serial ports

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There are several features still to be implemented in Klipper. In no
particular order:
Host user interaction
=====================
* See if there is a better way to report errors. Octoprint sometimes
doesn't highlight an error (one has to look in the terminal tab to
find the error) and errors written to the log can be non-obvious to
a user.
* Improve gcode interface:
* Provide a better way to handle print nozzle z offsets. The M206
command is cryptic to use and it is too easy to set the value
incorrectly or to forget to set it.
* Provide a way to temporarily disable endstop checks so that a user
can issue commands that potentially move the head past
position_min/position_max.
* Improve logging:
* Possibly collate and report the statistics messages in the log in a
more friendly way.
* Possibly support a mechanism for the host to limit maximum velocity
so that the mcu is never requested to step at a higher rate than it
can support.
Safety features
===============
* Support loading a valid step range into the micro-controller
software after homing. This would provide a sanity check in the
micro-controller that would reduce the risk of the host commanding a
stepper motor past its valid step range. To maintain high
efficiency, the micro-controller would only need to check
periodically (eg, every 100ms) that the stepper is in range.
* Possibly support periodically querying the endstop switches and use
multiple step ranges depending on the switch state. This would
enable runtime endstop detection. (However, it's unclear if runtime
endstop detection is a good idea because of spurious signals caused
by electrical noise.)
* Support validating that heaters are heating at expected rates. This
can be useful to detect a sensor failure (eg, thermistor short) that
could otherwise cause the PID to command excessive heating.
Testing features
================
* Complete the host based simulator. It's possible to compile the
micro-controller for a "host simulator", but that simulator doesn't
do anything currently. It would be useful to expand the code to
support more error checks, kinematic simulations, and improved
logging.
Documentation
=============
* Add documentation describing how to perform bed-leveling accurately
in Klipper. Improve description of stepper phase based bed leveling.
Hardware features
=================
* Port to additional micro-controller architectures:
* Smoothieboard / NXP LPC1769 (ARM cortex-M3)
* Support for additional kinematics: scara, etc.
* Support shared motor enable GPIO lines.
* Support for bed-level probes.
* Possible support for touch panels attached to the micro-controller.
(In general, it would be preferable to attach touch panels to the
host system and have octoprint interact with the panel directly, but
it would also be useful to handle panels already hardwired to the
micro-controller.)
Misc features
=============
* Possibly support a "feed forward PID" that takes into account the
amount of plastic being extruded. If the extrude rate changes
significantly during a print it can cause heating bumps that the PID
overcompensates for. The temperature change due to the extrusion
rate could be modeled to eliminate these bumps and make the
extrusion temperature more consistent.

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This document describes the process of running Klipper on a Beaglebone
PRU.
Building an OS image
====================
Start by installing the
[latest Jessie IoT](https://beagleboard.org/latest-images) image
(2017-03-19 or later). One may run the image from either a micro-SD
card or from builtin eMMC. If using the eMMC, install it to eMMC now
by following the instructions from the above link.
Then ssh into the beaglebone machine (ssh debian@beaglebone --
password is "temppwd") and install Klipper by running the following
commands:
```
git clone https://github.com/KevinOConnor/klipper
./klipper/scripts/install-beaglebone.sh
```
Install Octoprint
=================
One may then install Octoprint:
```
git clone https://github.com/foosel/OctoPrint.git
cd OctoPrint/
virtualenv venv
./venv/bin/python setup.py install
```
And setup OctoPrint to start at bootup:
```
sudo cp ~/OctoPrint/scripts/octoprint.init /etc/init.d/octoprint
sudo chmod +x /etc/init.d/octoprint
sudo cp ~/OctoPrint/scripts/octoprint.default /etc/default/octoprint
sudo update-rc.d octoprint defaults
```
It is necessary to modify OctoPrint's **/etc/default/octoprint**
configuration file. One must change the OCTOPRINT_USER user to
"debian", change NICELEVEL to 0, uncomment the BASEDIR, CONFIGFILE,
and DAEMON settings and change the references from "/home/pi/" to
"/home/debian/":
```
sudo nano /etc/default/octoprint
```
Then start the Octoprint service:
```
sudo systemctl start octoprint
```
Make sure the octoprint web server is accessible - it should be at:
[http://beaglebone:5000/](http://beaglebone:5000/)
Building the micro-controller code
==================================
To compile the Klipper micro-controller code, start by configuring it
for the "Beaglebone PRU":
```
cd ~/klipper/
make menuconfig
```
To build and install the new micro-controller code, run:
```
sudo service klipper stop
make flash
sudo service klipper start
```
For the Replicape, it is also necessary to compile and install the
micro-controller code for a Linux host process. Run "make menuconfig"
a second time and configure it for a "Linux process":
```
make menuconfig
```
Then install this micro-controller code as well:
```
sudo service klipper stop
make flash
sudo service klipper start
```
Remaining configuration
=======================
Complete the installation by configuring Klipper and Octoprint
following the instructions in
[the main installation document](Installation.md#configuring-klipper).

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16
docs/prints/square.scad
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// Test square
//
// Generate STL using OpenSCAD:
// openscad square.scad -o square.stl
square_width = 5;
square_size = 60;
square_height = 5;
difference() {
cube([square_size, square_size, square_height]);
translate([square_width, square_width, -1])
cube([square_size-2*square_width, square_size-2*square_width, square_height+2]);
translate([-.5, square_size/2 - 4, -1])
cube([1, 2, square_height+2]);
}

338
docs/prints/square.stl
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135
klippy/cartesian.py
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@@ -1,135 +0,0 @@
# Code for handling the kinematics of cartesian robots
#
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
import stepper, homing
StepList = (0, 1, 2)
class CartKinematics:
def __init__(self, toolhead, printer, config):
self.steppers = [stepper.PrinterHomingStepper(
printer, config.getsection('stepper_' + n), n)
for n in ['x', 'y', 'z']]
max_velocity, max_accel = toolhead.get_max_velocity()
self.max_z_velocity = config.getfloat(
'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
self.max_z_accel = config.getfloat(
'max_z_accel', max_accel, above=0., maxval=max_accel)
self.need_motor_enable = True
self.limits = [(1.0, -1.0)] * 3
# Setup stepper max halt velocity
max_halt_velocity = toolhead.get_max_axis_halt()
self.steppers[0].set_max_jerk(max_halt_velocity, max_accel)
self.steppers[1].set_max_jerk(max_halt_velocity, max_accel)
self.steppers[2].set_max_jerk(
min(max_halt_velocity, self.max_z_velocity), max_accel)
def set_position(self, newpos):
for i in StepList:
self.steppers[i].mcu_stepper.set_position(newpos[i])
def home(self, homing_state):
# Each axis is homed independently and in order
for axis in homing_state.get_axes():
s = self.steppers[axis]
self.limits[axis] = (s.position_min, s.position_max)
# Determine moves
if s.homing_positive_dir:
pos = s.position_endstop - 1.5*(
s.position_endstop - s.position_min)
rpos = s.position_endstop - s.homing_retract_dist
r2pos = rpos - s.homing_retract_dist
else:
pos = s.position_endstop + 1.5*(
s.position_max - s.position_endstop)
rpos = s.position_endstop + s.homing_retract_dist
r2pos = rpos + s.homing_retract_dist
# Initial homing
homing_speed = s.get_homing_speed()
homepos = [None, None, None, None]
homepos[axis] = s.position_endstop
coord = [None, None, None, None]
coord[axis] = pos
homing_state.home(list(coord), homepos, [s], homing_speed)
# Retract
coord[axis] = rpos
homing_state.retract(list(coord), homing_speed)
# Home again
coord[axis] = r2pos
homing_state.home(
list(coord), homepos, [s], homing_speed/2.0, second_home=True)
# Set final homed position
coord[axis] = s.position_endstop + s.get_homed_offset()
homing_state.set_homed_position(coord)
def query_endstops(self, print_time, query_flags):
return homing.query_endstops(print_time, query_flags, self.steppers)
def motor_off(self, print_time):
self.limits = [(1.0, -1.0)] * 3
for stepper in self.steppers:
stepper.motor_enable(print_time, 0)
self.need_motor_enable = True
def _check_motor_enable(self, print_time, move):
need_motor_enable = False
for i in StepList:
if move.axes_d[i]:
self.steppers[i].motor_enable(print_time, 1)
need_motor_enable |= self.steppers[i].need_motor_enable
self.need_motor_enable = need_motor_enable
def _check_endstops(self, move):
end_pos = move.end_pos
for i in StepList:
if (move.axes_d[i]
and (end_pos[i] < self.limits[i][0]
or end_pos[i] > self.limits[i][1])):
if self.limits[i][0] > self.limits[i][1]:
raise homing.EndstopMoveError(
end_pos, "Must home axis first")
raise homing.EndstopMoveError(end_pos)
def check_move(self, move):
limits = self.limits
xpos, ypos = move.end_pos[:2]
if (xpos < limits[0][0] or xpos > limits[0][1]
or ypos < limits[1][0] or ypos > limits[1][1]):
self._check_endstops(move)
if not move.axes_d[2]:
# Normal XY move - use defaults
return
# Move with Z - update velocity and accel for slower Z axis
self._check_endstops(move)
z_ratio = move.move_d / abs(move.axes_d[2])
move.limit_speed(
self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
def move(self, print_time, move):
if self.need_motor_enable:
self._check_motor_enable(print_time, move)
for i in StepList:
axis_d = move.axes_d[i]
if not axis_d:
continue
mcu_stepper = self.steppers[i].mcu_stepper
move_time = print_time
start_pos = move.start_pos[i]
axis_r = abs(axis_d) / move.move_d
accel = move.accel * axis_r
cruise_v = move.cruise_v * axis_r
# Acceleration steps
if move.accel_r:
accel_d = move.accel_r * axis_d
mcu_stepper.step_const(
move_time, start_pos, accel_d, move.start_v * axis_r, accel)
start_pos += accel_d
move_time += move.accel_t
# Cruising steps
if move.cruise_r:
cruise_d = move.cruise_r * axis_d
mcu_stepper.step_const(
move_time, start_pos, cruise_d, cruise_v, 0.)
start_pos += cruise_d
move_time += move.cruise_t
# Deceleration steps
if move.decel_r:
decel_d = move.decel_r * axis_d
mcu_stepper.step_const(
move_time, start_pos, decel_d, cruise_v, -accel)

137
klippy/chelper.py
View File

@@ -1,137 +0,0 @@
# Wrapper around C helper code
#
# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import os, logging
import cffi
######################################################################
# c_helper.so compiling
######################################################################
COMPILE_CMD = "gcc -Wall -g -O2 -shared -fPIC -o %s %s"
SOURCE_FILES = ['stepcompress.c', 'serialqueue.c', 'pyhelper.c']
DEST_LIB = "c_helper.so"
OTHER_FILES = ['list.h', 'serialqueue.h', 'pyhelper.h']
defs_stepcompress = """
struct stepcompress *stepcompress_alloc(uint32_t max_error
, uint32_t queue_step_msgid, uint32_t set_next_step_dir_msgid
, uint32_t invert_sdir, uint32_t oid);
void stepcompress_free(struct stepcompress *sc);
int stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock);
int stepcompress_set_homing(struct stepcompress *sc, uint64_t homing_clock);
int stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len);
int32_t stepcompress_push(struct stepcompress *sc, double step_clock
, int32_t sdir);
int32_t stepcompress_push_const(struct stepcompress *sc, double clock_offset
, double step_offset, double steps, double start_sv, double accel);
int32_t stepcompress_push_delta(struct stepcompress *sc
, double clock_offset, double move_sd, double start_sv, double accel
, double height, double startxy_sd, double arm_d, double movez_r);
struct steppersync *steppersync_alloc(struct serialqueue *sq
, struct stepcompress **sc_list, int sc_num, int move_num);
void steppersync_free(struct steppersync *ss);
void steppersync_set_time(struct steppersync *ss
, double time_offset, double mcu_freq);
int steppersync_flush(struct steppersync *ss, uint64_t move_clock);
"""
defs_serialqueue = """
#define MESSAGE_MAX 64
struct pull_queue_message {
uint8_t msg[MESSAGE_MAX];
int len;
double sent_time, receive_time;
};
struct serialqueue *serialqueue_alloc(int serial_fd, int write_only);
void serialqueue_exit(struct serialqueue *sq);
void serialqueue_free(struct serialqueue *sq);
struct command_queue *serialqueue_alloc_commandqueue(void);
void serialqueue_free_commandqueue(struct command_queue *cq);
void serialqueue_send(struct serialqueue *sq, struct command_queue *cq
, uint8_t *msg, int len, uint64_t min_clock, uint64_t req_clock);
void serialqueue_encode_and_send(struct serialqueue *sq
, struct command_queue *cq, uint32_t *data, int len
, uint64_t min_clock, uint64_t req_clock);
void serialqueue_pull(struct serialqueue *sq, struct pull_queue_message *pqm);
void serialqueue_set_baud_adjust(struct serialqueue *sq, double baud_adjust);
void serialqueue_set_clock_est(struct serialqueue *sq, double est_freq
, double last_clock_time, uint64_t last_clock);
void serialqueue_get_stats(struct serialqueue *sq, char *buf, int len);
int serialqueue_extract_old(struct serialqueue *sq, int sentq
, struct pull_queue_message *q, int max);
"""
defs_pyhelper = """
void set_python_logging_callback(void (*func)(const char *));
double get_monotonic(void);
"""
# Return the list of file modification times
def get_mtimes(srcdir, filelist):
out = []
for filename in filelist:
pathname = os.path.join(srcdir, filename)
try:
t = os.path.getmtime(pathname)
except os.error:
continue
out.append(t)
return out
# Check if the code needs to be compiled
def check_build_code(srcdir, target, sources, cmd, other_files=[]):
src_times = get_mtimes(srcdir, sources + other_files)
obj_times = get_mtimes(srcdir, [target])
if not obj_times or max(src_times) > min(obj_times):
logging.info("Building C code module %s", target)
srcfiles = [os.path.join(srcdir, fname) for fname in sources]
destlib = os.path.join(srcdir, target)
os.system(cmd % (destlib, ' '.join(srcfiles)))
FFI_main = None
FFI_lib = None
pyhelper_logging_callback = None
# Return the Foreign Function Interface api to the caller
def get_ffi():
global FFI_main, FFI_lib, pyhelper_logging_callback
if FFI_lib is None:
srcdir = os.path.dirname(os.path.realpath(__file__))
check_build_code(srcdir, DEST_LIB, SOURCE_FILES, COMPILE_CMD
, OTHER_FILES)
FFI_main = cffi.FFI()
FFI_main.cdef(defs_stepcompress)
FFI_main.cdef(defs_serialqueue)
FFI_main.cdef(defs_pyhelper)
FFI_lib = FFI_main.dlopen(os.path.join(srcdir, DEST_LIB))
# Setup error logging
def logging_callback(msg):
logging.error(FFI_main.string(msg))
pyhelper_logging_callback = FFI_main.callback(
"void(const char *)", logging_callback)
FFI_lib.set_python_logging_callback(pyhelper_logging_callback)
return FFI_main, FFI_lib
######################################################################
# hub-ctrl hub power controller
######################################################################
HC_COMPILE_CMD = "gcc -Wall -g -O2 -o %s %s -lusb"
HC_SOURCE_FILES = ['hub-ctrl.c']
HC_SOURCE_DIR = '../lib/hub-ctrl'
HC_TARGET = "hub-ctrl"
HC_CMD = "sudo %s/hub-ctrl -h 0 -P 2 -p %d"
def run_hub_ctrl(enable_power):
srcdir = os.path.dirname(os.path.realpath(__file__))
hubdir = os.path.join(srcdir, HC_SOURCE_DIR)
check_build_code(hubdir, HC_TARGET, HC_SOURCE_FILES, HC_COMPILE_CMD)
os.system(HC_CMD % (hubdir, enable_power))

296
klippy/chipmisc.py
View File

@@ -1,296 +0,0 @@
# Code to configure miscellaneous chips
#
# Copyright (C) 2017 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import pins, mcu
######################################################################
# Statically configured output pins
######################################################################
class PrinterStaticDigitalOut:
def __init__(self, printer, config):
pin_list = [pin.strip() for pin in config.get('pins').split(',')]
for pin_desc in pin_list:
mcu_pin = pins.setup_pin(printer, 'digital_out', pin_desc)
mcu_pin.setup_static()
class PrinterStaticPWM:
def __init__(self, printer, config):
mcu_pwm = pins.setup_pin(printer, 'pwm', config.get('pin'))
mcu_pwm.setup_max_duration(0.)
hard_pwm = config.getint('hard_pwm', None, minval=1)
if hard_pwm is None:
mcu_pwm.setup_cycle_time(config.getfloat(
'cycle_time', 0.100, above=0.))
else:
mcu_pwm.setup_hard_pwm(hard_pwm)
scale = config.getfloat('scale', 1., above=0.)
value = config.getfloat('value', minval=0., maxval=scale)
mcu_pwm.setup_static_pwm(value / scale)
######################################################################
# Servos
######################################################################
SERVO_MIN_TIME = 0.100
SERVO_SIGNAL_PERIOD = 0.020
class PrinterServo:
def __init__(self, printer, config):
self.mcu_servo = pins.setup_pin(printer, 'pwm', config.get('pin'))
self.mcu_servo.setup_max_duration(0.)
self.mcu_servo.setup_cycle_time(SERVO_SIGNAL_PERIOD)
self.min_width = config.getfloat(
'minimum_pulse_width', .001, above=0., below=SERVO_SIGNAL_PERIOD)
self.max_width = config.getfloat(
'maximum_pulse_width', .002
, above=self.min_width, below=SERVO_SIGNAL_PERIOD)
self.max_angle = config.getfloat('maximum_servo_angle', 180.)
self.angle_to_width = (self.max_width - self.min_width) / self.max_angle
self.width_to_value = 1. / SERVO_SIGNAL_PERIOD
self.last_value = self.last_value_time = 0.
def set_pwm(self, print_time, value):
if value == self.last_value:
return
print_time = max(self.last_value_time + SERVO_MIN_TIME, print_time)
self.mcu_servo.set_pwm(print_time, value)
self.last_value = value
self.last_value_time = print_time
# External commands
def set_angle(self, print_time, angle):
angle = max(0., min(self.max_angle, angle))
width = self.min_width + angle * self.angle_to_width
self.set_pwm(print_time, width * self.width_to_value)
def set_pulse_width(self, print_time, width):
width = max(self.min_width, min(self.max_width, width))
self.set_pwm(print_time, width * self.width_to_value)
def get_printer_servo(printer, name):
return printer.objects.get('servo ' + name)
######################################################################
# AD5206 digipot
######################################################################
class ad5206:
def __init__(self, printer, config):
enable_pin_params = pins.get_printer_pins(printer).parse_pin_desc(
config.get('enable_pin'))
self.mcu = enable_pin_params['chip']
self.pin = enable_pin_params['pin']
self.mcu.add_config_object(self)
scale = config.getfloat('scale', 1., above=0.)
self.channels = [None] * 6
for i in range(len(self.channels)):
val = config.getfloat('channel_%d' % (i+1,), None,
minval=0., maxval=scale)
if val is not None:
self.channels[i] = int(val * 256. / scale + .5)
def build_config(self):
for i, val in enumerate(self.channels):
if val is not None:
self.mcu.add_config_cmd(
"send_spi_message pin=%s msg=%02x%02x" % (self.pin, i, val))
######################################################################
# Replicape board
######################################################################
REPLICAPE_MAX_CURRENT = 3.84
REPLICAPE_SHIFT_REGISTER_BUS = 1
REPLICAPE_SHIFT_REGISTER_DEVICE = 1
REPLICAPE_PCA9685_BUS = 2
REPLICAPE_PCA9685_ADDRESS = 0x70
REPLICAPE_PCA9685_CYCLE_TIME = .001
class pca9685_pwm:
def __init__(self, replicape, channel, pin_params):
self._replicape = replicape
self._channel = channel
if pin_params['type'] not in ['digital_out', 'pwm']:
raise pins.error("Pin type not supported on replicape")
self._mcu = replicape.host_mcu
self._mcu.add_config_object(self)
self._bus = REPLICAPE_PCA9685_BUS
self._address = REPLICAPE_PCA9685_ADDRESS
self._cycle_time = REPLICAPE_PCA9685_CYCLE_TIME
self._max_duration = 2.
self._oid = None
self._invert = pin_params['invert']
self._shutdown_value = float(self._invert)
self._last_clock = 0
self._pwm_max = 0.
self._cmd_queue = self._mcu.alloc_command_queue()
self._set_cmd = None
self._static_value = None
def get_mcu(self):
return self._mcu
def setup_max_duration(self, max_duration):
self._max_duration = max_duration
def setup_cycle_time(self, cycle_time):
pass
def setup_hard_pwm(self, hard_cycle_ticks):
if hard_cycle_ticks:
raise pins.error("pca9685 does not support hard_pwm parameter")
def setup_static_pwm(self, value):
if self._invert:
value = 1. - value
self._static_value = max(0., min(1., value))
def setup_shutdown_value(self, value):
if self._invert:
value = 1. - value
self._shutdown_value = max(0., min(1., value))
if self._shutdown_value:
self._replicape.note_enable_on_shutdown()
def build_config(self):
self._pwm_max = self._mcu.get_constant_float("PCA9685_MAX")
cycle_ticks = self._mcu.seconds_to_clock(self._cycle_time)
if self._static_value is not None:
value = int(self._static_value * self._pwm_max + 0.5)
self._mcu.add_config_cmd(
"set_pca9685_out bus=%d addr=%d channel=%d"
" cycle_ticks=%d value=%d" % (
self._bus, self._address, self._channel,
cycle_ticks, value))
return
self._oid = self._mcu.create_oid()
self._mcu.add_config_cmd(
"config_pca9685 oid=%d bus=%d addr=%d channel=%d cycle_ticks=%d"
" value=%d default_value=%d max_duration=%d" % (
self._oid, self._bus, self._address, self._channel, cycle_ticks,
self._invert * self._pwm_max,
self._shutdown_value * self._pwm_max,
self._mcu.seconds_to_clock(self._max_duration)))
self._set_cmd = self._mcu.lookup_command(
"schedule_pca9685_out oid=%c clock=%u value=%hu")
def set_pwm(self, print_time, value):
clock = self._mcu.print_time_to_clock(print_time)
if self._invert:
value = 1. - value
value = int(max(0., min(1., value)) * self._pwm_max + 0.5)
self._replicape.note_enable(print_time, self._channel, not not value)
msg = self._set_cmd.encode(self._oid, clock, value)
self._mcu.send(msg, minclock=self._last_clock, reqclock=clock
, cq=self._cmd_queue)
self._last_clock = clock
def set_digital(self, print_time, value):
if value:
self.set_pwm(print_time, 1.)
else:
self.set_pwm(print_time, 0.)
class ReplicapeDACEnable:
def __init__(self, replicape, channel, pin_params):
if pin_params['type'] != 'digital_out':
raise pins.error("Replicape virtual enable pin must be digital_out")
if pin_params['invert']:
raise pins.error("Replicape virtual enable pin can not be inverted")
self.mcu = replicape.host_mcu
self.value = replicape.stepper_dacs[channel]
self.pwm = pca9685_pwm(replicape, channel, pin_params)
self.last = 0
def get_mcu(self):
return self.mcu
def setup_max_duration(self, max_duration):
self.pwm.setup_max_duration(max_duration)
def set_digital(self, print_time, value):
if value:
self.pwm.set_pwm(print_time, self.value)
else:
self.pwm.set_pwm(print_time, 0.)
self.last = value
def get_last_setting(self):
return self.last
ReplicapeStepConfig = {
'disable': None,
'1': (1<<7)|(1<<5), '2': (1<<7)|(1<<5)|(1<<6), 'spread2': (1<<5),
'4': (1<<7)|(1<<5)|(1<<4), '16': (1<<7)|(1<<5)|(1<<6)|(1<<4),
'spread4': (1<<5)|(1<<4), 'spread16': (1<<7), 'stealth4': (1<<7)|(1<<6),
'stealth16': 0
}
class Replicape:
def __init__(self, printer, config):
pins.get_printer_pins(printer).register_chip('replicape', self)
revisions = {'B3': 'B3'}
config.getchoice('revision', revisions)
self.host_mcu = mcu.get_printer_mcu(printer, config.get('host_mcu'))
# Setup enable pin
self.mcu_enable = pins.setup_pin(
printer, 'digital_out', config.get('enable_pin', '!P9_41'))
self.mcu_enable.setup_max_duration(0.)
self.enabled_channels = {}
# Setup power pins
self.pins = {
"power_e": (pca9685_pwm, 5), "power_h": (pca9685_pwm, 3),
"power_hotbed": (pca9685_pwm, 4),
"power_fan0": (pca9685_pwm, 7), "power_fan1": (pca9685_pwm, 8),
"power_fan2": (pca9685_pwm, 9), "power_fan3": (pca9685_pwm, 10) }
# Setup stepper config
self.stepper_dacs = {}
shift_registers = [1] * 5
for port, name in enumerate('xyzeh'):
prefix = 'stepper_%s_' % (name,)
sc = config.getchoice(
prefix + 'microstep_mode', ReplicapeStepConfig, 'disable')
if sc is None:
continue
if config.getboolean(prefix + 'chopper_off_time_high', False):
sc |= 1<<3
if config.getboolean(prefix + 'chopper_hysteresis_high', False):
sc |= 1<<2
if config.getboolean(prefix + 'chopper_blank_time_high', True):
sc |= 1<<1
shift_registers[port] = sc
channel = port + 11
cur = config.getfloat(
prefix + 'current', above=0., maxval=REPLICAPE_MAX_CURRENT)
self.stepper_dacs[channel] = cur / REPLICAPE_MAX_CURRENT
self.pins[prefix + 'enable'] = (ReplicapeDACEnable, channel)
shift_registers.reverse()
self.host_mcu.add_config_cmd("send_spi bus=%d dev=%d msg=%s" % (
REPLICAPE_SHIFT_REGISTER_BUS, REPLICAPE_SHIFT_REGISTER_DEVICE,
"".join(["%02x" % (x,) for x in shift_registers])))
def note_enable_on_shutdown(self):
self.mcu_enable.setup_shutdown_value(1)
def note_enable(self, print_time, channel, is_enable):
if is_enable:
is_off = not self.enabled_channels
self.enabled_channels[channel] = 1
if is_off:
self.mcu_enable.set_digital(print_time, 1)
elif channel in self.enabled_channels:
del self.enabled_channels[channel]
if not self.enabled_channels:
self.mcu_enable.set_digital(print_time, 0)
def setup_pin(self, pin_params):
pin = pin_params['pin']
if pin not in self.pins:
raise pins.error("Unknown replicape pin %s" % (pin,))
pclass, channel = self.pins[pin]
return pclass(self, channel, pin_params)
######################################################################
# Setup
######################################################################
def add_printer_objects(printer, config):
if config.has_section('replicape'):
printer.add_object('replicape', Replicape(
printer, config.getsection('replicape')))
for s in config.get_prefix_sections('static_digital_output '):
printer.add_object(s.section, PrinterStaticDigitalOut(printer, s))
for s in config.get_prefix_sections('static_pwm_output '):
printer.add_object(s.section, PrinterStaticPWM(printer, s))
for s in config.get_prefix_sections('servo '):
printer.add_object(s.section, PrinterServo(printer, s))
for s in config.get_prefix_sections('ad5206 '):
printer.add_object(s.section, ad5206(printer, s))

212
klippy/clocksync.py
View File

@@ -1,212 +0,0 @@
# Micro-controller clock synchronization
#
# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, threading, math
COMM_TIMEOUT = 3.5
RTT_AGE = .000010 / (60. * 60.)
DECAY = 1. / (2. * 60.)
TRANSMIT_EXTRA = .001
class ClockSync:
def __init__(self, reactor):
self.reactor = reactor
self.serial = None
self.status_timer = self.reactor.register_timer(self._status_event)
self.status_cmd = None
self.mcu_freq = 1.
self.last_clock = 0
self.clock_est = (0., 0., 0.)
# Minimum round-trip-time tracking
self.min_half_rtt = 999999999.9
self.min_rtt_time = 0.
# Linear regression of mcu clock and system sent_time
self.time_avg = self.time_variance = 0.
self.clock_avg = self.clock_covariance = 0.
self.prediction_variance = 0.
self.last_prediction_time = 0.
def connect(self, serial):
self.serial = serial
msgparser = serial.msgparser
self.mcu_freq = msgparser.get_constant_float('CLOCK_FREQ')
# Load initial clock and frequency
uptime_msg = msgparser.create_command('get_uptime')
params = serial.send_with_response(uptime_msg, 'uptime')
self.last_clock = (params['high'] << 32) | params['clock']
self.clock_avg = self.last_clock
self.time_avg = params['#sent_time']
self.clock_est = (self.time_avg, self.clock_avg, self.mcu_freq)
self.prediction_variance = (.001 * self.mcu_freq)**2
# Enable periodic get_status timer
self.status_cmd = msgparser.create_command('get_status')
for i in range(8):
params = serial.send_with_response(self.status_cmd, 'status')
self._handle_status(params)
self.reactor.pause(0.100)
serial.register_callback(self._handle_status, 'status')
self.reactor.update_timer(self.status_timer, self.reactor.NOW)
def connect_file(self, serial, pace=False):
self.serial = serial
self.mcu_freq = serial.msgparser.get_constant_float('CLOCK_FREQ')
self.clock_est = (0., 0., self.mcu_freq)
freq = 1000000000000.
if pace:
freq = self.mcu_freq
serial.set_clock_est(freq, self.reactor.monotonic(), 0)
# MCU clock querying (status callback invoked from background thread)
def _status_event(self, eventtime):
self.serial.send(self.status_cmd)
return eventtime + 1.0
def _handle_status(self, params):
# Extend clock to 64bit
last_clock = self.last_clock
clock = (last_clock & ~0xffffffff) | params['clock']
if clock < last_clock:
clock += 0x100000000
self.last_clock = clock
# Check if this is the best round-trip-time seen so far
sent_time = params['#sent_time']
if not sent_time:
return
receive_time = params['#receive_time']
half_rtt = .5 * (receive_time - sent_time)
aged_rtt = (sent_time - self.min_rtt_time) * RTT_AGE
if half_rtt < self.min_half_rtt + aged_rtt:
self.min_half_rtt = half_rtt
self.min_rtt_time = sent_time
logging.debug("new minimum rtt %.3f: hrtt=%.6f freq=%d",
sent_time, half_rtt, self.clock_est[2])
# Filter out samples that are extreme outliers
exp_clock = ((sent_time - self.time_avg) * self.clock_est[2]
+ self.clock_avg)
clock_diff2 = (clock - exp_clock)**2
if (clock_diff2 > 25. * self.prediction_variance
and clock_diff2 > (.000500 * self.mcu_freq)**2):
if clock > exp_clock and sent_time < self.last_prediction_time + 10.:
logging.debug("Ignoring clock sample %.3f:"
" freq=%d diff=%d stddev=%.3f",
sent_time, self.clock_est[2], clock - exp_clock,
math.sqrt(self.prediction_variance))
return
logging.info("Resetting prediction variance %.3f:"
" freq=%d diff=%d stddev=%.3f",
sent_time, self.clock_est[2], clock - exp_clock,
math.sqrt(self.prediction_variance))
self.prediction_variance = (.001 * self.mcu_freq)**2
else:
self.last_prediction_time = sent_time
self.prediction_variance = (
(1. - DECAY) * (self.prediction_variance + clock_diff2 * DECAY))
# Add clock and sent_time to linear regression
diff_sent_time = sent_time - self.time_avg
self.time_avg += DECAY * diff_sent_time
self.time_variance = (1. - DECAY) * (
self.time_variance + diff_sent_time**2 * DECAY)
diff_clock = clock - self.clock_avg
self.clock_avg += DECAY * diff_clock
self.clock_covariance = (1. - DECAY) * (
self.clock_covariance + diff_sent_time * diff_clock * DECAY)
# Update prediction from linear regression
new_freq = self.clock_covariance / self.time_variance
pred_stddev = math.sqrt(self.prediction_variance)
self.serial.set_clock_est(new_freq, self.time_avg + TRANSMIT_EXTRA,
int(self.clock_avg - 3. * pred_stddev))
self.clock_est = (self.time_avg - self.min_half_rtt,
self.clock_avg, new_freq)
#logging.debug("regr %.3f: freq=%.3f d=%d(%.3f)",
# sent_time, new_freq, clock - exp_clock, pred_stddev)
# clock frequency conversions
def print_time_to_clock(self, print_time):
return int(print_time * self.mcu_freq)
def clock_to_print_time(self, clock):
return clock / self.mcu_freq
def get_adjusted_freq(self):
return self.mcu_freq
# system time conversions
def get_clock(self, eventtime):
sample_time, clock, freq = self.clock_est
return int(clock + (eventtime - sample_time) * freq)
def estimated_print_time(self, eventtime):
return self.clock_to_print_time(self.get_clock(eventtime))
# misc commands
def clock32_to_clock64(self, clock32):
last_clock = self.last_clock
clock_diff = (last_clock - clock32) & 0xffffffff
if clock_diff & 0x80000000:
return last_clock + 0x100000000 - clock_diff
return last_clock - clock_diff
def is_active(self, eventtime):
print_time = self.estimated_print_time(eventtime)
last_clock_print_time = self.clock_to_print_time(self.last_clock)
return print_time < last_clock_print_time + COMM_TIMEOUT
def dump_debug(self):
sample_time, clock, freq = self.clock_est
return ("clocksync state: mcu_freq=%d last_clock=%d"
" clock_est=(%.3f %d %.3f) min_half_rtt=%.6f min_rtt_time=%.3f"
" time_avg=%.3f(%.3f) clock_avg=%.3f(%.3f)"
" pred_variance=%.3f" % (
self.mcu_freq, self.last_clock, sample_time, clock, freq,
self.min_half_rtt, self.min_rtt_time,
self.time_avg, self.time_variance,
self.clock_avg, self.clock_covariance,
self.prediction_variance))
def stats(self, eventtime):
sample_time, clock, freq = self.clock_est
return "freq=%d" % (freq,)
def calibrate_clock(self, print_time, eventtime):
return (0., self.mcu_freq)
# Clock syncing code for secondary MCUs (whose clocks are sync'ed to a
# primary MCU)
class SecondarySync(ClockSync):
def __init__(self, reactor, main_sync):
ClockSync.__init__(self, reactor)
self.main_sync = main_sync
self.clock_adj = (0., 1.)
def connect(self, serial):
ClockSync.connect(self, serial)
self.clock_adj = (0., self.mcu_freq)
curtime = self.reactor.monotonic()
main_print_time = self.main_sync.estimated_print_time(curtime)
local_print_time = self.estimated_print_time(curtime)
self.clock_adj = (main_print_time - local_print_time, self.mcu_freq)
self.calibrate_clock(0., curtime)
def connect_file(self, serial, pace=False):
ClockSync.connect_file(self, serial, pace)
self.clock_adj = (0., self.mcu_freq)
# clock frequency conversions
def print_time_to_clock(self, print_time):
adjusted_offset, adjusted_freq = self.clock_adj
return int((print_time - adjusted_offset) * adjusted_freq)
def clock_to_print_time(self, clock):
adjusted_offset, adjusted_freq = self.clock_adj
return clock / adjusted_freq + adjusted_offset
def get_adjusted_freq(self):
adjusted_offset, adjusted_freq = self.clock_adj
return adjusted_freq
# misc commands
def dump_debug(self):
adjusted_offset, adjusted_freq = self.clock_adj
return "%s clock_adj=(%.3f %.3f)" % (
ClockSync.dump_debug(self), adjusted_offset, adjusted_freq)
def stats(self, eventtime):
adjusted_offset, adjusted_freq = self.clock_adj
return "%s adj=%d" % (ClockSync.stats(self, eventtime), adjusted_freq)
def calibrate_clock(self, print_time, eventtime):
ser_time, ser_clock, ser_freq = self.main_sync.clock_est
main_mcu_freq = self.main_sync.mcu_freq
main_clock = (eventtime - ser_time) * ser_freq + ser_clock
print_time = max(print_time, main_clock / main_mcu_freq)
main_sync_clock = (print_time + 4.) * main_mcu_freq
sync_time = ser_time + (main_sync_clock - ser_clock) / ser_freq
print_clock = self.print_time_to_clock(print_time)
sync_clock = self.get_clock(sync_time)
adjusted_freq = .25 * (sync_clock - print_clock)
adjusted_offset = print_time - print_clock / adjusted_freq
self.clock_adj = (adjusted_offset, adjusted_freq)
return self.clock_adj

208
klippy/console.py
View File

@@ -1,208 +0,0 @@
#!/usr/bin/env python2
# Script to implement a test console with firmware over serial port
#
# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import sys, optparse, os, re, logging
import reactor, serialhdl, pins, util, msgproto, clocksync
help_txt = """
This is a debugging console for the Klipper micro-controller.
In addition to mcu commands, the following artificial commands are
available:
PINS : Load pin name aliases (eg, "PINS arduino")
DELAY : Send a command at a clock time (eg, "DELAY 9999 get_uptime")
FLOOD : Send a command many times (eg, "FLOOD 22 .01 get_uptime")
SUPPRESS : Suppress a response message (eg, "SUPPRESS stats")
SET : Create a local variable (eg, "SET myvar 123.4")
STATS : Report serial statistics
LIST : List available mcu commands, local commands, and local variables
HELP : Show this text
All commands also support evaluation by enclosing an expression in { }.
For example, "reset_step_clock oid=4 clock={clock + freq}". In addition
to user defined variables (via the SET command) the following builtin
variables may be used in expressions:
clock : The current mcu clock time (as estimated by the host)
freq : The mcu clock frequency
"""
re_eval = re.compile(r'\{(?P<eval>[^}]*)\}')
class KeyboardReader:
def __init__(self, ser, reactor):
self.ser = ser
self.reactor = reactor
self.clocksync = clocksync.ClockSync(self.reactor)
self.fd = sys.stdin.fileno()
util.set_nonblock(self.fd)
self.mcu_freq = 0
self.pins = None
self.data = ""
reactor.register_fd(self.fd, self.process_kbd)
self.connect_timer = reactor.register_timer(self.connect, reactor.NOW)
self.local_commands = {
"PINS": self.command_PINS, "SET": self.command_SET,
"DELAY": self.command_DELAY, "FLOOD": self.command_FLOOD,
"SUPPRESS": self.command_SUPPRESS, "STATS": self.command_STATS,
"LIST": self.command_LIST, "HELP": self.command_HELP,
}
self.eval_globals = {}
def connect(self, eventtime):
self.output(help_txt)
self.output("="*20 + " attempting to connect " + "="*20)
self.ser.connect()
self.clocksync.connect(self.ser)
self.ser.handle_default = self.handle_default
self.mcu_freq = self.ser.msgparser.get_constant_float('CLOCK_FREQ')
mcu = self.ser.msgparser.get_constant('MCU')
self.pins = pins.get_pin_map(mcu)
self.reactor.unregister_timer(self.connect_timer)
self.output("="*20 + " connected " + "="*20)
return self.reactor.NEVER
def output(self, msg):
sys.stdout.write("%s\n" % (msg,))
sys.stdout.flush()
def handle_default(self, params):
self.output(self.ser.msgparser.format_params(params))
def handle_suppress(self, params):
pass
def update_evals(self, eventtime):
self.eval_globals['freq'] = self.mcu_freq
self.eval_globals['clock'] = self.clocksync.get_clock(eventtime)
def command_PINS(self, parts):
mcu = self.ser.msgparser.get_constant('MCU')
self.pins = pins.get_pin_map(mcu, parts[1])
def command_SET(self, parts):
val = parts[2]
try:
val = float(val)
except ValueError:
pass
self.eval_globals[parts[1]] = val
def command_DELAY(self, parts):
try:
val = int(parts[1])
except ValueError as e:
self.output("Error: %s" % (str(e),))
return
try:
msg = self.ser.msgparser.create_command(' '.join(parts[2:]))
except msgproto.error as e:
self.output("Error: %s" % (str(e),))
return
self.ser.send(msg, minclock=val)
def command_FLOOD(self, parts):
try:
count = int(parts[1])
delay = float(parts[2])
except ValueError as e:
self.output("Error: %s" % (str(e),))
return
try:
msg = self.ser.msgparser.create_command(' '.join(parts[3:]))
except msgproto.error as e:
self.output("Error: %s" % (str(e),))
return
delay_clock = int(delay * self.mcu_freq)
msg_clock = int(self.clocksync.get_clock(self.reactor.monotonic())
+ self.mcu_freq * .200)
for i in range(count):
next_clock = msg_clock + delay_clock
self.ser.send(msg, minclock=msg_clock, reqclock=next_clock)
msg_clock = next_clock
def command_SUPPRESS(self, parts):
oid = None
try:
name = parts[1]
if len(parts) > 2:
oid = int(parts[2])
except ValueError as e:
self.output("Error: %s" % (str(e),))
return
self.ser.register_callback(self.handle_suppress, name, oid)
def command_STATS(self, parts):
curtime = self.reactor.monotonic()
self.output(' '.join([self.ser.stats(curtime),
self.clocksync.stats(curtime)]))
def command_LIST(self, parts):
self.update_evals(self.reactor.monotonic())
mp = self.ser.msgparser
out = "Available mcu commands:"
out += "\n ".join([""] + sorted([
mp.messages_by_id[i].msgformat for i in mp.command_ids]))
out += "\nAvailable artificial commands:"
out += "\n ".join([""] + [n for n in sorted(self.local_commands)])
out += "\nAvailable local variables:"
out += "\n ".join([""] + ["%s: %s" % (k, v)
for k, v in sorted(self.eval_globals.items())])
self.output(out)
def command_HELP(self, parts):
self.output(help_txt)
def translate(self, line, eventtime):
evalparts = re_eval.split(line)
if len(evalparts) > 1:
self.update_evals(eventtime)
try:
for i in range(1, len(evalparts), 2):
e = eval(evalparts[i], dict(self.eval_globals))
if type(e) == type(0.):
e = int(e)
evalparts[i] = str(e)
except:
self.output("Unable to evaluate: %s" % (line,))
return None
line = ''.join(evalparts)
self.output("Eval: %s" % (line,))
if self.pins is not None:
try:
line = pins.update_command(line, self.pins).strip()
except:
self.output("Unable to map pin: %s" % (line,))
return None
if line:
parts = line.split()
if parts[0] in self.local_commands:
self.local_commands[parts[0]](parts)
return None
try:
msg = self.ser.msgparser.create_command(line)
except msgproto.error as e:
self.output("Error: %s" % (str(e),))
return None
return msg
def process_kbd(self, eventtime):
self.data += os.read(self.fd, 4096)
kbdlines = self.data.split('\n')
for line in kbdlines[:-1]:
line = line.strip()
cpos = line.find('#')
if cpos >= 0:
line = line[:cpos]
if not line:
continue
msg = self.translate(line.strip(), eventtime)
if msg is None:
continue
self.ser.send(msg)
self.data = kbdlines[-1]
def main():
usage = "%prog [options] <serialdevice> <baud>"
opts = optparse.OptionParser(usage)
options, args = opts.parse_args()
serialport, baud = args
baud = int(baud)
logging.basicConfig(level=logging.DEBUG)
r = reactor.Reactor()
ser = serialhdl.SerialReader(r, serialport, baud)
kbd = KeyboardReader(ser, r)
try:
r.run()
except KeyboardInterrupt:
sys.stdout.write("\n")
if __name__ == '__main__':
main()

150
klippy/corexy.py
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@@ -1,150 +0,0 @@
# Code for handling the kinematics of corexy robots
#
# Copyright (C) 2017 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, math
import stepper, homing
StepList = (0, 1, 2)
class CoreXYKinematics:
def __init__(self, toolhead, printer, config):
self.steppers = [stepper.PrinterHomingStepper(
printer, config.getsection('stepper_' + n), n)
for n in ['x', 'y', 'z']]
self.steppers[0].mcu_endstop.add_stepper(self.steppers[1].mcu_stepper)
self.steppers[1].mcu_endstop.add_stepper(self.steppers[0].mcu_stepper)
max_velocity, max_accel = toolhead.get_max_velocity()
self.max_z_velocity = config.getfloat(
'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
self.max_z_accel = config.getfloat(
'max_z_accel', max_accel, above=0., maxval=max_accel)
self.need_motor_enable = True
self.limits = [(1.0, -1.0)] * 3
# Setup stepper max halt velocity
max_halt_velocity = toolhead.get_max_axis_halt()
max_xy_halt_velocity = max_halt_velocity * math.sqrt(2.)
self.steppers[0].set_max_jerk(max_xy_halt_velocity, max_accel)
self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel)
self.steppers[2].set_max_jerk(
min(max_halt_velocity, self.max_z_velocity), self.max_z_accel)
def set_position(self, newpos):
pos = (newpos[0] + newpos[1], newpos[0] - newpos[1], newpos[2])
for i in StepList:
self.steppers[i].mcu_stepper.set_position(pos[i])
def home(self, homing_state):
# Each axis is homed independently and in order
for axis in homing_state.get_axes():
s = self.steppers[axis]
self.limits[axis] = (s.position_min, s.position_max)
# Determine moves
if s.homing_positive_dir:
pos = s.position_endstop - 1.5*(
s.position_endstop - s.position_min)
rpos = s.position_endstop - s.homing_retract_dist
r2pos = rpos - s.homing_retract_dist
else:
pos = s.position_endstop + 1.5*(
s.position_max - s.position_endstop)
rpos = s.position_endstop + s.homing_retract_dist
r2pos = rpos + s.homing_retract_dist
# Initial homing
homing_speed = s.get_homing_speed()
homepos = [None, None, None, None]
homepos[axis] = s.position_endstop
coord = [None, None, None, None]
coord[axis] = pos
homing_state.home(list(coord), homepos, [s], homing_speed)
# Retract
coord[axis] = rpos
homing_state.retract(list(coord), homing_speed)
# Home again
coord[axis] = r2pos
homing_state.home(
list(coord), homepos, [s], homing_speed/2.0, second_home=True)
if axis == 2:
# Support endstop phase detection on Z axis
coord[axis] = s.position_endstop + s.get_homed_offset()
homing_state.set_homed_position(coord)
def query_endstops(self, print_time, query_flags):
return homing.query_endstops(print_time, query_flags, self.steppers)
def motor_off(self, print_time):
self.limits = [(1.0, -1.0)] * 3
for stepper in self.steppers:
stepper.motor_enable(print_time, 0)
self.need_motor_enable = True
def _check_motor_enable(self, print_time, move):
if move.axes_d[0] or move.axes_d[1]:
self.steppers[0].motor_enable(print_time, 1)
self.steppers[1].motor_enable(print_time, 1)
if move.axes_d[2]:
self.steppers[2].motor_enable(print_time, 1)
need_motor_enable = False
for i in StepList:
need_motor_enable |= self.steppers[i].need_motor_enable
self.need_motor_enable = need_motor_enable
def _check_endstops(self, move):
end_pos = move.end_pos
for i in StepList:
if (move.axes_d[i]
and (end_pos[i] < self.limits[i][0]
or end_pos[i] > self.limits[i][1])):
if self.limits[i][0] > self.limits[i][1]:
raise homing.EndstopMoveError(
end_pos, "Must home axis first")
raise homing.EndstopMoveError(end_pos)
def check_move(self, move):
limits = self.limits
xpos, ypos = move.end_pos[:2]
if (xpos < limits[0][0] or xpos > limits[0][1]
or ypos < limits[1][0] or ypos > limits[1][1]):
self._check_endstops(move)
if not move.axes_d[2]:
# Normal XY move - use defaults
return
# Move with Z - update velocity and accel for slower Z axis
self._check_endstops(move)
z_ratio = move.move_d / abs(move.axes_d[2])
move.limit_speed(
self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
def move(self, print_time, move):
if self.need_motor_enable:
self._check_motor_enable(print_time, move)
sxp = move.start_pos[0]
syp = move.start_pos[1]
move_start_pos = (sxp + syp, sxp - syp, move.start_pos[2])
exp = move.end_pos[0]
eyp = move.end_pos[1]
axes_d = ((exp + eyp) - move_start_pos[0],
(exp - eyp) - move_start_pos[1], move.axes_d[2])
for i in StepList:
axis_d = axes_d[i]
if not axis_d:
continue
mcu_stepper = self.steppers[i].mcu_stepper
move_time = print_time
start_pos = move_start_pos[i]
axis_r = abs(axis_d) / move.move_d
accel = move.accel * axis_r
cruise_v = move.cruise_v * axis_r
# Acceleration steps
if move.accel_r:
accel_d = move.accel_r * axis_d
mcu_stepper.step_const(
move_time, start_pos, accel_d, move.start_v * axis_r, accel)
start_pos += accel_d
move_time += move.accel_t
# Cruising steps
if move.cruise_r:
cruise_d = move.cruise_r * axis_d
mcu_stepper.step_const(
move_time, start_pos, cruise_d, cruise_v, 0.)
start_pos += cruise_d
move_time += move.cruise_t
# Deceleration steps
if move.decel_r:
decel_d = move.decel_r * axis_d
mcu_stepper.step_const(
move_time, start_pos, decel_d, cruise_v, -accel)

245
klippy/delta.py
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@@ -1,245 +0,0 @@
# Code for handling the kinematics of linear delta robots
#
# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
import stepper, homing
StepList = (0, 1, 2)
# Slow moves once the ratio of tower to XY movement exceeds SLOW_RATIO
SLOW_RATIO = 3.
class DeltaKinematics:
def __init__(self, toolhead, printer, config):
self.steppers = [stepper.PrinterHomingStepper(
printer, config.getsection('stepper_' + n), n)
for n in ['a', 'b', 'c']]
self.need_motor_enable = self.need_home = True
radius = config.getfloat('delta_radius', above=0.)
arm_length = config.getfloat('delta_arm_length', above=radius)
self.arm_length2 = arm_length**2
self.limit_xy2 = -1.
tower_height_at_zeros = math.sqrt(self.arm_length2 - radius**2)
self.max_z = min([s.position_endstop for s in self.steppers])
self.limit_z = self.max_z - (arm_length - tower_height_at_zeros)
logging.info(
"Delta max build height %.2fmm (radius tapered above %.2fmm)" % (
self.max_z, self.limit_z))
# Setup stepper max halt velocity
self.max_velocity, self.max_accel = toolhead.get_max_velocity()
self.max_z_velocity = config.getfloat(
'max_z_velocity', self.max_velocity,
above=0., maxval=self.max_velocity)
max_halt_velocity = toolhead.get_max_axis_halt()
for s in self.steppers:
s.set_max_jerk(max_halt_velocity, self.max_accel)
# Determine tower locations in cartesian space
angles = [config.getsection('stepper_a').getfloat('angle', 210.),
config.getsection('stepper_b').getfloat('angle', 330.),
config.getsection('stepper_c').getfloat('angle', 90.)]
self.towers = [(math.cos(math.radians(angle)) * radius,
math.sin(math.radians(angle)) * radius)
for angle in angles]
# Find the point where an XY move could result in excessive
# tower movement
half_min_step_dist = min([s.step_dist for s in self.steppers]) * .5
def ratio_to_dist(ratio):
return (ratio * math.sqrt(self.arm_length2 / (ratio**2 + 1.)
- half_min_step_dist**2)
+ half_min_step_dist)
self.slow_xy2 = (ratio_to_dist(SLOW_RATIO) - radius)**2
self.very_slow_xy2 = (ratio_to_dist(2. * SLOW_RATIO) - radius)**2
self.max_xy2 = min(radius, arm_length - radius,
ratio_to_dist(4. * SLOW_RATIO) - radius)**2
logging.info(
"Delta max build radius %.2fmm (moves slowed past %.2fmm and %.2fmm)"
% (math.sqrt(self.max_xy2), math.sqrt(self.slow_xy2),
math.sqrt(self.very_slow_xy2)))
self.set_position([0., 0., 0.])
def _cartesian_to_actuator(self, coord):
return [math.sqrt(self.arm_length2
- (self.towers[i][0] - coord[0])**2
- (self.towers[i][1] - coord[1])**2) + coord[2]
for i in StepList]
def _actuator_to_cartesian(self, pos):
# Based on code from Smoothieware
tower1 = list(self.towers[0]) + [pos[0]]
tower2 = list(self.towers[1]) + [pos[1]]
tower3 = list(self.towers[2]) + [pos[2]]
s12 = matrix_sub(tower1, tower2)
s23 = matrix_sub(tower2, tower3)
s13 = matrix_sub(tower1, tower3)
normal = matrix_cross(s12, s23)
magsq_s12 = matrix_magsq(s12)
magsq_s23 = matrix_magsq(s23)
magsq_s13 = matrix_magsq(s13)
inv_nmag_sq = 1.0 / matrix_magsq(normal)
q = 0.5 * inv_nmag_sq
a = q * magsq_s23 * matrix_dot(s12, s13)
b = -q * magsq_s13 * matrix_dot(s12, s23) # negate because we use s12 instead of s21
c = q * magsq_s12 * matrix_dot(s13, s23)
circumcenter = [tower1[0] * a + tower2[0] * b + tower3[0] * c,
tower1[1] * a + tower2[1] * b + tower3[1] * c,
tower1[2] * a + tower2[2] * b + tower3[2] * c]
r_sq = 0.5 * q * magsq_s12 * magsq_s23 * magsq_s13
dist = math.sqrt(inv_nmag_sq * (self.arm_length2 - r_sq))
return matrix_sub(circumcenter, matrix_mul(normal, dist))
def set_position(self, newpos):
pos = self._cartesian_to_actuator(newpos)
for i in StepList:
self.steppers[i].mcu_stepper.set_position(pos[i])
self.limit_xy2 = -1.
def home(self, homing_state):
# All axes are homed simultaneously
homing_state.set_axes([0, 1, 2])
s = self.steppers[0] # Assume homing speed same for all steppers
self.need_home = False
# Initial homing
homing_speed = s.get_homing_speed()
homepos = [0., 0., self.max_z, None]
coord = list(homepos)
coord[2] = -1.5 * math.sqrt(self.arm_length2-self.max_xy2)
homing_state.home(list(coord), homepos, self.steppers, homing_speed)
# Retract
coord[2] = homepos[2] - s.homing_retract_dist
homing_state.retract(list(coord), homing_speed)
# Home again
coord[2] -= s.homing_retract_dist
homing_state.home(list(coord), homepos, self.steppers
, homing_speed/2.0, second_home=True)
# Set final homed position
spos = self._cartesian_to_actuator(homepos)
spos = [spos[i] + self.steppers[i].position_endstop - self.max_z
+ self.steppers[i].get_homed_offset()
for i in StepList]
homing_state.set_homed_position(self._actuator_to_cartesian(spos))
def query_endstops(self, print_time, query_flags):
return homing.query_endstops(print_time, query_flags, self.steppers)
def motor_off(self, print_time):
self.limit_xy2 = -1.
for stepper in self.steppers:
stepper.motor_enable(print_time, 0)
self.need_motor_enable = self.need_home = True
def _check_motor_enable(self, print_time):
for i in StepList:
self.steppers[i].motor_enable(print_time, 1)
self.need_motor_enable = False
def check_move(self, move):
end_pos = move.end_pos
xy2 = end_pos[0]**2 + end_pos[1]**2
if xy2 <= self.limit_xy2 and not move.axes_d[2]:
# Normal XY move
return
if self.need_home:
raise homing.EndstopMoveError(end_pos, "Must home first")
limit_xy2 = self.max_xy2
if end_pos[2] > self.limit_z:
limit_xy2 = min(limit_xy2, (self.max_z - end_pos[2])**2)
if xy2 > limit_xy2 or end_pos[2] < 0. or end_pos[2] > self.max_z:
raise homing.EndstopMoveError(end_pos)
if move.axes_d[2]:
move.limit_speed(self.max_z_velocity, move.accel)
limit_xy2 = -1.
# Limit the speed/accel of this move if is is at the extreme
# end of the build envelope
extreme_xy2 = max(xy2, move.start_pos[0]**2 + move.start_pos[1]**2)
if extreme_xy2 > self.slow_xy2:
r = 0.5
if extreme_xy2 > self.very_slow_xy2:
r = 0.25
max_velocity = self.max_velocity
if move.axes_d[2]:
max_velocity = self.max_z_velocity
move.limit_speed(max_velocity * r, self.max_accel * r)
limit_xy2 = -1.
self.limit_xy2 = min(limit_xy2, self.slow_xy2)
def move(self, print_time, move):
if self.need_motor_enable:
self._check_motor_enable(print_time)
axes_d = move.axes_d
move_d = move.move_d
movexy_r = 1.
movez_r = 0.
inv_movexy_d = 1. / move_d
if not axes_d[0] and not axes_d[1]:
# Z only move
movez_r = axes_d[2] * inv_movexy_d
movexy_r = inv_movexy_d = 0.
elif axes_d[2]:
# XY+Z move
movexy_d = math.sqrt(axes_d[0]**2 + axes_d[1]**2)
movexy_r = movexy_d * inv_movexy_d
movez_r = axes_d[2] * inv_movexy_d
inv_movexy_d = 1. / movexy_d
origx, origy, origz = move.start_pos[:3]
accel = move.accel
cruise_v = move.cruise_v
accel_d = move.accel_r * move_d
cruise_d = move.cruise_r * move_d
decel_d = move.decel_r * move_d
for i in StepList:
# Calculate a virtual tower along the line of movement at
# the point closest to this stepper's tower.
towerx_d = self.towers[i][0] - origx
towery_d = self.towers[i][1] - origy
vt_startxy_d = (towerx_d*axes_d[0] + towery_d*axes_d[1])*inv_movexy_d
tangentxy_d2 = towerx_d**2 + towery_d**2 - vt_startxy_d**2
vt_arm_d = math.sqrt(self.arm_length2 - tangentxy_d2)
vt_startz = origz
# Generate steps
mcu_stepper = self.steppers[i].mcu_stepper
move_time = print_time
if accel_d:
mcu_stepper.step_delta(
move_time, accel_d, move.start_v, accel,
vt_startz, vt_startxy_d, vt_arm_d, movez_r)
vt_startz += accel_d * movez_r
vt_startxy_d -= accel_d * movexy_r
move_time += move.accel_t
if cruise_d:
mcu_stepper.step_delta(
move_time, cruise_d, cruise_v, 0.,
vt_startz, vt_startxy_d, vt_arm_d, movez_r)
vt_startz += cruise_d * movez_r
vt_startxy_d -= cruise_d * movexy_r
move_time += move.cruise_t
if decel_d:
mcu_stepper.step_delta(
move_time, decel_d, cruise_v, -accel,
vt_startz, vt_startxy_d, vt_arm_d, movez_r)
######################################################################
# Matrix helper functions for 3x1 matrices
######################################################################
def matrix_cross(m1, m2):
return [m1[1] * m2[2] - m1[2] * m2[1],
m1[2] * m2[0] - m1[0] * m2[2],
m1[0] * m2[1] - m1[1] * m2[0]]
def matrix_dot(m1, m2):
return m1[0] * m2[0] + m1[1] * m2[1] + m1[2] * m2[2]
def matrix_magsq(m1):
return m1[0]**2 + m1[1]**2 + m1[2]**2
def matrix_sub(m1, m2):
return [m1[0] - m2[0], m1[1] - m2[1], m1[2] - m2[2]]
def matrix_mul(m1, s):
return [m1[0]*s, m1[1]*s, m1[2]*s]

260
klippy/extruder.py
View File

@@ -1,260 +0,0 @@
# Code for handling printer nozzle extruders
#
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
import stepper, heater, homing
EXTRUDE_DIFF_IGNORE = 1.02
class PrinterExtruder:
def __init__(self, printer, config):
self.config = config
self.heater = heater.PrinterHeater(printer, config)
self.stepper = stepper.PrinterStepper(printer, config, 'extruder')
self.nozzle_diameter = config.getfloat('nozzle_diameter', above=0.)
filament_diameter = config.getfloat(
'filament_diameter', minval=self.nozzle_diameter)
self.filament_area = math.pi * (filament_diameter * .5)**2
max_cross_section = config.getfloat(
'max_extrude_cross_section', 4. * self.nozzle_diameter**2
, above=0.)
self.max_extrude_ratio = max_cross_section / self.filament_area
toolhead = printer.objects['toolhead']
max_velocity, max_accel = toolhead.get_max_velocity()
self.max_e_velocity = self.config.getfloat(
'max_extrude_only_velocity', max_velocity * self.max_extrude_ratio
, above=0.)
self.max_e_accel = self.config.getfloat(
'max_extrude_only_accel', max_accel * self.max_extrude_ratio
, above=0.)
self.stepper.set_max_jerk(9999999.9, 9999999.9)
self.max_e_dist = config.getfloat(
'max_extrude_only_distance', 50., minval=0.)
self.activate_gcode = config.get('activate_gcode', '')
self.deactivate_gcode = config.get('deactivate_gcode', '')
self.pressure_advance = config.getfloat(
'pressure_advance', 0., minval=0.)
self.pressure_advance_lookahead_time = 0.
if self.pressure_advance:
self.pressure_advance_lookahead_time = config.getfloat(
'pressure_advance_lookahead_time', 0.010, minval=0.)
self.need_motor_enable = True
self.extrude_pos = 0.
def get_heater(self):
return self.heater
def set_active(self, print_time, is_active):
return self.extrude_pos
def get_activate_gcode(self, is_active):
if is_active:
return self.activate_gcode
return self.deactivate_gcode
def motor_off(self, print_time):
self.stepper.motor_enable(print_time, 0)
self.need_motor_enable = True
def check_move(self, move):
move.extrude_r = move.axes_d[3] / move.move_d
move.extrude_max_corner_v = 0.
if not self.heater.can_extrude:
raise homing.EndstopError(
"Extrude below minimum temp\n"
"See the 'min_extrude_temp' config option for details")
if not move.is_kinematic_move or move.extrude_r < 0.:
# Extrude only move (or retraction move) - limit accel and velocity
if abs(move.axes_d[3]) > self.max_e_dist:
raise homing.EndstopError(
"Extrude only move too long (%.3fmm vs %.3fmm)\n"
"See the 'max_extrude_only_distance' config"
" option for details" % (move.axes_d[3], self.max_e_dist))
inv_extrude_r = 1. / abs(move.extrude_r)
move.limit_speed(self.max_e_velocity * inv_extrude_r
, self.max_e_accel * inv_extrude_r)
elif (move.extrude_r > self.max_extrude_ratio
and move.axes_d[3] > self.nozzle_diameter*self.max_extrude_ratio):
area = move.axes_d[3] * self.filament_area / move.move_d
logging.debug("Overextrude: %s vs %s (area=%.3f dist=%.3f)",
move.extrude_r, self.max_extrude_ratio,
area, move.move_d)
raise homing.EndstopError(
"Move exceeds maximum extrusion (%.3fmm^2 vs %.3fmm^2)\n"
"See the 'max_extrude_cross_section' config option for details"
% (area, self.max_extrude_ratio * self.filament_area))
def calc_junction(self, prev_move, move):
extrude = move.axes_d[3]
prev_extrude = prev_move.axes_d[3]
if extrude or prev_extrude:
if not extrude or not prev_extrude:
# Extrude move to non-extrude move - disable lookahead
return 0.
if ((move.extrude_r > prev_move.extrude_r * EXTRUDE_DIFF_IGNORE
or prev_move.extrude_r > move.extrude_r * EXTRUDE_DIFF_IGNORE)
and abs(move.move_d * prev_move.extrude_r - extrude) >= .001):
# Extrude ratio between moves is too different
return 0.
move.extrude_r = prev_move.extrude_r
return move.max_cruise_v2
def lookahead(self, moves, flush_count, lazy):
lookahead_t = self.pressure_advance_lookahead_time
if not lookahead_t:
return flush_count
# Calculate max_corner_v - the speed the head will accelerate
# to after cornering.
for i in range(flush_count):
move = moves[i]
if not move.decel_t:
continue
cruise_v = move.cruise_v
max_corner_v = 0.
sum_t = lookahead_t
for j in range(i+1, flush_count):
fmove = moves[j]
if not fmove.max_start_v2:
break
if fmove.cruise_v > max_corner_v:
if (not max_corner_v
and not fmove.accel_t and not fmove.cruise_t):
# Start timing after any full decel moves
continue
if sum_t >= fmove.accel_t:
max_corner_v = fmove.cruise_v
else:
max_corner_v = max(
max_corner_v, fmove.start_v + fmove.accel * sum_t)
if max_corner_v >= cruise_v:
break
sum_t -= fmove.accel_t + fmove.cruise_t + fmove.decel_t
if sum_t <= 0.:
break
else:
if lazy:
return i
move.extrude_max_corner_v = max_corner_v
return flush_count
def move(self, print_time, move):
if self.need_motor_enable:
self.stepper.motor_enable(print_time, 1)
self.need_motor_enable = False
axis_d = move.axes_d[3]
axis_r = abs(axis_d) / move.move_d
accel = move.accel * axis_r
start_v = move.start_v * axis_r
cruise_v = move.cruise_v * axis_r
end_v = move.end_v * axis_r
accel_t, cruise_t, decel_t = move.accel_t, move.cruise_t, move.decel_t
accel_d = move.accel_r * axis_d
cruise_d = move.cruise_r * axis_d
decel_d = move.decel_r * axis_d
retract_t = retract_d = retract_v = 0.
decel_v = cruise_v
# Update for pressure advance
start_pos = self.extrude_pos
if (axis_d >= 0. and (move.axes_d[0] or move.axes_d[1])
and self.pressure_advance):
# Increase accel_d and start_v when accelerating
pressure_advance = self.pressure_advance * move.extrude_r
prev_pressure_d = start_pos - move.start_pos[3]
if accel_d:
npd = move.cruise_v * pressure_advance
extra_accel_d = npd - prev_pressure_d
if extra_accel_d > 0.:
accel_d += extra_accel_d
start_v += extra_accel_d / accel_t
prev_pressure_d += extra_accel_d
# Update decel and retract parameters when decelerating
emcv = move.extrude_max_corner_v
if decel_d and emcv < move.cruise_v:
npd = max(emcv, move.end_v) * pressure_advance
extra_decel_d = prev_pressure_d - npd
if extra_decel_d > 0.:
extra_decel_v = extra_decel_d / decel_t
decel_v -= extra_decel_v
end_v -= extra_decel_v
if decel_v <= 0.:
# The entire decel phase is replaced with retraction
retract_t = decel_t
retract_d = -(end_v + decel_v) * 0.5 * decel_t
retract_v = -decel_v
decel_t = decel_d = 0.
elif end_v < 0.:
# Split decel phase into decel and retraction
retract_t = -end_v / accel
retract_d = -end_v * 0.5 * retract_t
decel_t -= retract_t
decel_d = decel_v * 0.5 * decel_t
else:
# There is still only a decel phase (no retraction)
decel_d -= extra_decel_d
# Prepare for steps
mcu_stepper = self.stepper.mcu_stepper
move_time = print_time
# Acceleration steps
if accel_d:
mcu_stepper.step_const(move_time, start_pos, accel_d, start_v, accel)
start_pos += accel_d
move_time += accel_t
# Cruising steps
if cruise_d:
mcu_stepper.step_const(move_time, start_pos, cruise_d, cruise_v, 0.)
start_pos += cruise_d
move_time += cruise_t
# Deceleration steps
if decel_d:
mcu_stepper.step_const(
move_time, start_pos, decel_d, decel_v, -accel)
start_pos += decel_d
move_time += decel_t
# Retraction steps
if retract_d:
mcu_stepper.step_const(
move_time, start_pos, -retract_d, retract_v, accel)
start_pos -= retract_d
self.extrude_pos = start_pos
# Dummy extruder class used when a printer has no extruder at all
class DummyExtruder:
def set_active(self, print_time, is_active):
return 0.
def motor_off(self, move_time):
pass
def check_move(self, move):
raise homing.EndstopMoveError(
move.end_pos, "Extrude when no extruder present")
def calc_junction(self, prev_move, move):
return move.max_cruise_v2
def lookahead(self, moves, flush_count, lazy):
return flush_count
def add_printer_objects(printer, config):
for i in range(99):
section = 'extruder%d' % (i,)
if not config.has_section(section):
if not i and config.has_section('extruder'):
printer.add_object('extruder0', PrinterExtruder(
printer, config.getsection('extruder')))
continue
break
printer.add_object(section, PrinterExtruder(
printer, config.getsection(section)))
def get_printer_extruders(printer):
out = []
for i in range(99):
extruder = printer.objects.get('extruder%d' % (i,))
if extruder is None:
break
out.append(extruder)
return out
def get_printer_heater(printer, name):
if name == 'heater_bed' and name in printer.objects:
return printer.objects[name]
if name == 'extruder':
name = 'extruder0'
if name.startswith('extruder') and name in printer.objects:
return printer.objects[name].get_heater()
raise printer.config_error("Unknown heater '%s'" % (name,))

63
klippy/fan.py
View File

@@ -1,63 +0,0 @@
# Printer fan support
#
# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import extruder, pins
FAN_MIN_TIME = 0.1
PWM_CYCLE_TIME = 0.010
class PrinterFan:
def __init__(self, printer, config):
self.last_fan_value = 0.
self.last_fan_time = 0.
self.max_power = config.getfloat('max_power', 1., above=0., maxval=1.)
self.kick_start_time = config.getfloat('kick_start_time', 0.1, minval=0.)
self.mcu_fan = pins.setup_pin(printer, 'pwm', config.get('pin'))
self.mcu_fan.setup_max_duration(0.)
self.mcu_fan.setup_cycle_time(PWM_CYCLE_TIME)
self.mcu_fan.setup_hard_pwm(config.getint('hard_pwm', 0))
def set_speed(self, print_time, value):
value = max(0., min(self.max_power, value))
if value == self.last_fan_value:
return
print_time = max(self.last_fan_time + FAN_MIN_TIME, print_time)
if (value and value < self.max_power
and not self.last_fan_value and self.kick_start_time):
# Run fan at full speed for specified kick_start_time
self.mcu_fan.set_pwm(print_time, self.max_power)
print_time += self.kick_start_time
self.mcu_fan.set_pwm(print_time, value)
self.last_fan_time = print_time
self.last_fan_value = value
class PrinterHeaterFan:
def __init__(self, printer, config):
self.fan = PrinterFan(printer, config)
self.mcu = printer.objects['mcu']
heater = config.get("heater", "extruder0")
self.heater = extruder.get_printer_heater(printer, heater)
self.heater_temp = config.getfloat("heater_temp", 50.0)
max_power = self.fan.max_power
self.fan_speed = config.getfloat(
"fan_speed", max_power, minval=0., maxval=max_power)
self.fan.mcu_fan.setup_shutdown_value(max_power)
printer.reactor.register_timer(self.callback, printer.reactor.NOW)
def callback(self, eventtime):
current_temp, target_temp = self.heater.get_temp(eventtime)
if not current_temp and not target_temp and not self.fan.last_fan_time:
# Printer still starting
return eventtime + 1.
power = 0.
if target_temp or current_temp > self.heater_temp:
power = self.fan_speed
print_time = self.mcu.estimated_print_time(eventtime) + FAN_MIN_TIME
self.fan.set_speed(print_time, power)
return eventtime + 1.
def add_printer_objects(printer, config):
if config.has_section('fan'):
printer.add_object('fan', PrinterFan(printer, config.getsection('fan')))
for s in config.get_prefix_sections('heater_fan '):
printer.add_object(s.section, PrinterHeaterFan(printer, s))

523
klippy/gcode.py
View File

@@ -1,523 +0,0 @@
# Parse gcode commands
#
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import os, re, logging, collections
import homing, extruder, chipmisc
# Parse out incoming GCode and find and translate head movements
class GCodeParser:
RETRY_TIME = 0.100
def __init__(self, printer, fd):
self.printer = printer
self.fd = fd
# Input handling
self.reactor = printer.reactor
self.is_processing_data = False
self.is_fileinput = not not printer.get_start_args().get("debuginput")
self.fd_handle = None
if not self.is_fileinput:
self.fd_handle = self.reactor.register_fd(self.fd, self.process_data)
self.partial_input = ""
self.bytes_read = 0
self.input_log = collections.deque([], 50)
# Command handling
self.is_printer_ready = False
self.gcode_handlers = {}
self.build_handlers()
self.need_ack = False
self.toolhead = self.fan = self.extruder = None
self.heaters = []
self.speed = 25.0
self.absolutecoord = self.absoluteextrude = True
self.base_position = [0.0, 0.0, 0.0, 0.0]
self.last_position = [0.0, 0.0, 0.0, 0.0]
self.homing_add = [0.0, 0.0, 0.0, 0.0]
self.axis2pos = {'X': 0, 'Y': 1, 'Z': 2, 'E': 3}
def build_handlers(self):
handlers = self.all_handlers
if not self.is_printer_ready:
handlers = [h for h in handlers
if getattr(self, 'cmd_'+h+'_when_not_ready', False)]
gcode_handlers = { h: getattr(self, 'cmd_'+h) for h in handlers }
for h, f in list(gcode_handlers.items()):
aliases = getattr(self, 'cmd_'+h+'_aliases', [])
gcode_handlers.update({ a: f for a in aliases })
self.gcode_handlers = gcode_handlers
def stats(self, eventtime):
return "gcodein=%d" % (self.bytes_read,)
def connect(self):
self.is_printer_ready = True
self.build_handlers()
# Lookup printer components
self.toolhead = self.printer.objects.get('toolhead')
extruders = extruder.get_printer_extruders(self.printer)
if extruders:
self.extruder = extruders[0]
self.toolhead.set_extruder(self.extruder)
self.heaters = [ e.get_heater() for e in extruders ]
self.heaters.append(self.printer.objects.get('heater_bed'))
self.fan = self.printer.objects.get('fan')
if self.is_fileinput and self.fd_handle is None:
self.fd_handle = self.reactor.register_fd(self.fd, self.process_data)
def do_shutdown(self):
if not self.is_printer_ready:
return
self.is_printer_ready = False
self.build_handlers()
self.dump_debug()
if self.is_fileinput:
self.printer.request_exit()
def motor_heater_off(self):
if self.toolhead is None:
return
self.toolhead.motor_off()
print_time = self.toolhead.get_last_move_time()
for heater in self.heaters:
if heater is not None:
heater.set_temp(print_time, 0.)
if self.fan is not None:
self.fan.set_speed(print_time, 0.)
def dump_debug(self):
out = []
out.append("Dumping gcode input %d blocks" % (
len(self.input_log),))
for eventtime, data in self.input_log:
out.append("Read %f: %s" % (eventtime, repr(data)))
logging.info("\n".join(out))
# Parse input into commands
args_r = re.compile('([A-Z_]+|[A-Z*])')
def process_commands(self, commands, need_ack=True):
prev_need_ack = self.need_ack
for line in commands:
# Ignore comments and leading/trailing spaces
line = origline = line.strip()
cpos = line.find(';')
if cpos >= 0:
line = line[:cpos]
# Break command into parts
parts = self.args_r.split(line.upper())[1:]
params = { parts[i]: parts[i+1].strip()
for i in range(0, len(parts), 2) }
params['#original'] = origline
if parts and parts[0] == 'N':
# Skip line number at start of command
del parts[:2]
if not parts:
self.cmd_default(params)
continue
params['#command'] = cmd = parts[0] + parts[1].strip()
# Invoke handler for command
self.need_ack = need_ack
handler = self.gcode_handlers.get(cmd, self.cmd_default)
try:
handler(params)
except error as e:
self.respond_error(str(e))
except:
msg = 'Internal error on command:"%s"' % (cmd,)
logging.exception(msg)
self.printer.invoke_shutdown(msg)
self.respond_error(msg)
self.ack()
self.need_ack = prev_need_ack
def process_data(self, eventtime):
data = os.read(self.fd, 4096)
self.input_log.append((eventtime, data))
self.bytes_read += len(data)
lines = data.split('\n')
lines[0] = self.partial_input + lines[0]
self.partial_input = lines.pop()
if self.is_processing_data:
if not self.is_fileinput and not lines:
return
self.reactor.unregister_fd(self.fd_handle)
self.fd_handle = None
if not self.is_fileinput and lines[0].strip().upper() == 'M112':
self.cmd_M112({})
while self.is_processing_data:
eventtime = self.reactor.pause(eventtime + 0.100)
self.fd_handle = self.reactor.register_fd(self.fd, self.process_data)
self.is_processing_data = True
self.process_commands(lines)
if not data and self.is_fileinput:
self.motor_heater_off()
if self.toolhead is not None:
self.toolhead.wait_moves()
self.printer.request_exit()
self.is_processing_data = False
# Response handling
def ack(self, msg=None):
if not self.need_ack or self.is_fileinput:
return
if msg:
os.write(self.fd, "ok %s\n" % (msg,))
else:
os.write(self.fd, "ok\n")
self.need_ack = False
def respond(self, msg):
if self.is_fileinput:
return
os.write(self.fd, msg+"\n")
def respond_info(self, msg):
logging.debug(msg)
lines = [l.strip() for l in msg.strip().split('\n')]
self.respond("// " + "\n// ".join(lines))
def respond_error(self, msg):
logging.warning(msg)
lines = msg.strip().split('\n')
if len(lines) > 1:
self.respond_info("\n".join(lines[:-1]))
self.respond('!! %s' % (lines[-1].strip(),))
# Parameter parsing helpers
def get_int(self, name, params, default=None):
if name in params:
try:
return int(params[name])
except ValueError:
raise error("Error on '%s': unable to parse %s" % (
params['#original'], params[name]))
if default is not None:
return default
raise error("Error on '%s': missing %s" % (params['#original'], name))
def get_float(self, name, params, default=None):
if name in params:
try:
return float(params[name])
except ValueError:
raise error("Error on '%s': unable to parse %s" % (
params['#original'], params[name]))
if default is not None:
return default
raise error("Error on '%s': missing %s" % (params['#original'], name))
extended_r = re.compile(
r'^\s*(?:N[0-9]+\s*)?'
r'(?P<cmd>[a-zA-Z_][a-zA-Z_]+)(?:\s+|$)'
r'(?P<args>[^#*;]*?)'
r'\s*(?:[#*;].*)?$')
def get_extended_params(self, params):
m = self.extended_r.match(params['#original'])
if m is None:
# Not an "extended" command
return params
eargs = m.group('args')
try:
eparams = [earg.split('=', 1) for earg in eargs.split()]
eparams = { k.upper(): v for k, v in eparams }
eparams.update({k: params[k] for k in params if k.startswith('#')})
return eparams
except ValueError as e:
raise error("Malformed command '%s'" % (params['#original'],))
# Temperature wrappers
def get_temp(self, eventtime):
# Tn:XXX /YYY B:XXX /YYY
out = []
for i, heater in enumerate(self.heaters):
if heater is not None:
cur, target = heater.get_temp(eventtime)
name = "B"
if i < len(self.heaters) - 1:
name = "T%d" % (i,)
out.append("%s:%.1f /%.1f" % (name, cur, target))
if not out:
return "T:0"
return " ".join(out)
def bg_temp(self, heater):
if self.is_fileinput:
return
eventtime = self.reactor.monotonic()
while self.is_printer_ready and heater.check_busy(eventtime):
print_time = self.toolhead.get_last_move_time()
self.respond(self.get_temp(eventtime))
eventtime = self.reactor.pause(eventtime + 1.)
def set_temp(self, params, is_bed=False, wait=False):
temp = self.get_float('S', params, 0.)
heater = None
if is_bed:
heater = self.heaters[-1]
elif 'T' in params:
heater_index = self.get_int('T', params)
if heater_index >= 0 and heater_index < len(self.heaters) - 1:
heater = self.heaters[heater_index]
elif self.extruder is not None:
heater = self.extruder.get_heater()
if heater is None:
if temp > 0.:
self.respond_error("Heater not configured")
return
print_time = self.toolhead.get_last_move_time()
try:
heater.set_temp(print_time, temp)
except heater.error as e:
self.respond_error(str(e))
return
if wait:
self.bg_temp(heater)
def set_fan_speed(self, speed):
if self.fan is None:
if speed and not self.is_fileinput:
self.respond_info("Fan not configured")
return
print_time = self.toolhead.get_last_move_time()
self.fan.set_speed(print_time, speed)
# Individual command handlers
def cmd_default(self, params):
if not self.is_printer_ready:
self.respond_error(self.printer.get_state_message())
return
cmd = params.get('#command')
if not cmd:
logging.debug(params['#original'])
return
if cmd[0] == 'T' and len(cmd) > 1 and cmd[1].isdigit():
# Tn command has to be handled specially
self.cmd_Tn(params)
return
self.respond_info('Unknown command:"%s"' % (cmd,))
def cmd_Tn(self, params):
# Select Tool
index = self.get_int('T', params)
extruders = extruder.get_printer_extruders(self.printer)
if self.extruder is None or index < 0 or index >= len(extruders):
self.respond_error("Extruder %d not configured" % (index,))
return
e = extruders[index]
if self.extruder is e:
return
deactivate_gcode = self.extruder.get_activate_gcode(False)
self.process_commands(deactivate_gcode.split('\n'), need_ack=False)
try:
self.toolhead.set_extruder(e)
except homing.EndstopError as e:
self.respond_error(str(e))
return
self.extruder = e
self.last_position = self.toolhead.get_position()
activate_gcode = self.extruder.get_activate_gcode(True)
self.process_commands(activate_gcode.split('\n'), need_ack=False)
all_handlers = [
'G1', 'G4', 'G20', 'G28', 'G90', 'G91', 'G92',
'M82', 'M83', 'M18', 'M105', 'M104', 'M109', 'M112', 'M114', 'M115',
'M140', 'M190', 'M106', 'M107', 'M206', 'M400',
'IGNORE', 'QUERY_ENDSTOPS', 'PID_TUNE', 'SET_SERVO',
'RESTART', 'FIRMWARE_RESTART', 'ECHO', 'STATUS', 'HELP']
cmd_G1_aliases = ['G0']
def cmd_G1(self, params):
# Move
try:
for a, p in self.axis2pos.items():
if a in params:
v = float(params[a])
if (not self.absolutecoord
or (p>2 and not self.absoluteextrude)):
# value relative to position of last move
self.last_position[p] += v
else:
# value relative to base coordinate position
self.last_position[p] = v + self.base_position[p]
if 'F' in params:
speed = float(params['F']) / 60.
if speed <= 0.:
raise ValueError()
self.speed = speed
except ValueError as e:
self.last_position = self.toolhead.get_position()
raise error("Unable to parse move '%s'" % (params['#original'],))
try:
self.toolhead.move(self.last_position, self.speed)
except homing.EndstopError as e:
self.respond_error(str(e))
self.last_position = self.toolhead.get_position()
def cmd_G4(self, params):
# Dwell
if 'S' in params:
delay = self.get_float('S', params)
else:
delay = self.get_float('P', params, 0.) / 1000.
self.toolhead.dwell(delay)
def cmd_G20(self, params):
# Set units to inches
self.respond_error('Machine does not support G20 (inches) command')
def cmd_G28(self, params):
# Move to origin
axes = []
for axis in 'XYZ':
if axis in params:
axes.append(self.axis2pos[axis])
if not axes:
axes = [0, 1, 2]
homing_state = homing.Homing(self.toolhead, axes)
if self.is_fileinput:
homing_state.set_no_verify_retract()
try:
self.toolhead.home(homing_state)
except homing.EndstopError as e:
self.toolhead.motor_off()
self.respond_error(str(e))
return
newpos = self.toolhead.get_position()
for axis in homing_state.get_axes():
self.last_position[axis] = newpos[axis]
self.base_position[axis] = -self.homing_add[axis]
def cmd_G90(self, params):
# Use absolute coordinates
self.absolutecoord = True
def cmd_G91(self, params):
# Use relative coordinates
self.absolutecoord = False
def cmd_G92(self, params):
# Set position
offsets = { p: self.get_float(a, params)
for a, p in self.axis2pos.items() if a in params }
for p, offset in offsets.items():
self.base_position[p] = self.last_position[p] - offset
if not offsets:
self.base_position = list(self.last_position)
def cmd_M82(self, params):
# Use absolute distances for extrusion
self.absoluteextrude = True
def cmd_M83(self, params):
# Use relative distances for extrusion
self.absoluteextrude = False
cmd_M18_aliases = ["M84"]
def cmd_M18(self, params):
# Turn off motors
self.toolhead.motor_off()
cmd_M105_when_not_ready = True
def cmd_M105(self, params):
# Get Extruder Temperature
self.ack(self.get_temp(self.reactor.monotonic()))
def cmd_M104(self, params):
# Set Extruder Temperature
self.set_temp(params)
def cmd_M109(self, params):
# Set Extruder Temperature and Wait
self.set_temp(params, wait=True)
def cmd_M112(self, params):
# Emergency Stop
self.printer.invoke_shutdown("Shutdown due to M112 command")
cmd_M114_when_not_ready = True
def cmd_M114(self, params):
# Get Current Position
if self.toolhead is None:
self.cmd_default(params)
return
raw_pos = self.toolhead.query_endstops("get_mcu_position")
self.respond("X:%.3f Y:%.3f Z:%.3f E:%.3f Count %s" % (
self.last_position[0], self.last_position[1],
self.last_position[2], self.last_position[3],
" ".join(["%s:%d" % (n.upper(), p) for n, p in raw_pos])))
cmd_M115_when_not_ready = True
def cmd_M115(self, params):
# Get Firmware Version and Capabilities
software_version = self.printer.get_start_args().get('software_version')
kw = {"FIRMWARE_NAME": "Klipper", "FIRMWARE_VERSION": software_version}
self.ack(" ".join(["%s:%s" % (k, v) for k, v in kw.items()]))
def cmd_M140(self, params):
# Set Bed Temperature
self.set_temp(params, is_bed=True)
def cmd_M190(self, params):
# Set Bed Temperature and Wait
self.set_temp(params, is_bed=True, wait=True)
def cmd_M106(self, params):
# Set fan speed
self.set_fan_speed(self.get_float('S', params, 255.) / 255.)
def cmd_M107(self, params):
# Turn fan off
self.set_fan_speed(0.)
def cmd_M206(self, params):
# Set home offset
offsets = { p: self.get_float(a, params)
for a, p in self.axis2pos.items() if a in params }
for p, offset in offsets.items():
self.base_position[p] += self.homing_add[p] - offset
self.homing_add[p] = offset
def cmd_M400(self, params):
# Wait for current moves to finish
self.toolhead.wait_moves()
cmd_IGNORE_when_not_ready = True
cmd_IGNORE_aliases = ["G21", "M110", "M21"]
def cmd_IGNORE(self, params):
# Commands that are just silently accepted
pass
cmd_QUERY_ENDSTOPS_help = "Report on the status of each endstop"
cmd_QUERY_ENDSTOPS_aliases = ["M119"]
def cmd_QUERY_ENDSTOPS(self, params):
# Get Endstop Status
if self.is_fileinput:
return
try:
res = self.toolhead.query_endstops()
except homing.EndstopError as e:
self.respond_error(str(e))
return
self.respond(" ".join(["%s:%s" % (name, ["open", "TRIGGERED"][not not t])
for name, t in res]))
cmd_PID_TUNE_help = "Run PID Tuning"
cmd_PID_TUNE_aliases = ["M303"]
def cmd_PID_TUNE(self, params):
# Run PID tuning
heater_index = self.get_int('E', params, 0)
if (heater_index < -1 or heater_index >= len(self.heaters) - 1
or self.heaters[heater_index] is None):
self.respond_error("Heater not configured")
heater = self.heaters[heater_index]
temp = self.get_float('S', params)
heater.start_auto_tune(temp)
self.bg_temp(heater)
cmd_SET_SERVO_help = "Set servo angle"
def cmd_SET_SERVO(self, params):
params = self.get_extended_params(params)
name = params.get('SERVO')
if name is None:
raise error("Error on '%s': missing SERVO" % (params['#original'],))
s = chipmisc.get_printer_servo(self.printer, name)
if s is None:
raise error("Servo not configured")
print_time = self.toolhead.get_last_move_time()
if 'WIDTH' in params:
s.set_pulse_width(print_time, self.get_float('WIDTH', params))
return
s.set_angle(print_time, self.get_float('ANGLE', params))
def prep_restart(self):
if self.is_printer_ready:
self.respond_info("Preparing to restart...")
self.motor_heater_off()
self.toolhead.dwell(0.500)
self.toolhead.wait_moves()
cmd_RESTART_when_not_ready = True
cmd_RESTART_help = "Reload config file and restart host software"
def cmd_RESTART(self, params):
self.prep_restart()
self.printer.request_exit('restart')
cmd_FIRMWARE_RESTART_when_not_ready = True
cmd_FIRMWARE_RESTART_help = "Restart firmware, host, and reload config"
def cmd_FIRMWARE_RESTART(self, params):
self.prep_restart()
self.printer.request_exit('firmware_restart')
cmd_ECHO_when_not_ready = True
def cmd_ECHO(self, params):
self.respond_info(params['#original'])
cmd_STATUS_when_not_ready = True
cmd_STATUS_help = "Report the printer status"
def cmd_STATUS(self, params):
msg = self.printer.get_state_message()
if self.is_printer_ready:
self.respond_info(msg)
else:
self.respond_error(msg)
cmd_HELP_when_not_ready = True
def cmd_HELP(self, params):
cmdhelp = []
if not self.is_printer_ready:
cmdhelp.append("Printer is not ready - not all commands available.")
cmdhelp.append("Available extended commands:")
for cmd in sorted(self.gcode_handlers):
desc = getattr(self, 'cmd_'+cmd+'_help', None)
if desc is not None:
cmdhelp.append("%-10s: %s" % (cmd, desc))
self.respond_info("\n".join(cmdhelp))
class error(Exception):
pass

367
klippy/heater.py
View File

@@ -1,367 +0,0 @@
# Printer heater support
#
# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging, threading
import pins
######################################################################
# Sensors
######################################################################
KELVIN_TO_CELCIUS = -273.15
# Thermistor calibrated with three temp measurements
class Thermistor:
def __init__(self, config, params):
self.pullup = config.getfloat('pullup_resistor', 4700., above=0.)
# Calculate Steinhart-Hart coefficents from temp measurements
inv_t1 = 1. / (params['t1'] - KELVIN_TO_CELCIUS)
inv_t2 = 1. / (params['t2'] - KELVIN_TO_CELCIUS)
inv_t3 = 1. / (params['t3'] - KELVIN_TO_CELCIUS)
ln_r1 = math.log(params['r1'])
ln_r2 = math.log(params['r2'])
ln_r3 = math.log(params['r3'])
ln3_r1, ln3_r2, ln3_r3 = ln_r1**3, ln_r2**3, ln_r3**3
inv_t12, inv_t13 = inv_t1 - inv_t2, inv_t1 - inv_t3
ln_r12, ln_r13 = ln_r1 - ln_r2, ln_r1 - ln_r3
ln3_r12, ln3_r13 = ln3_r1 - ln3_r2, ln3_r1 - ln3_r3
self.c3 = ((inv_t12 - inv_t13 * ln_r12 / ln_r13)
/ (ln3_r12 - ln3_r13 * ln_r12 / ln_r13))
self.c2 = (inv_t12 - self.c3 * ln3_r12) / ln_r12
self.c1 = inv_t1 - self.c2 * ln_r1 - self.c3 * ln3_r1
def calc_temp(self, adc):
r = self.pullup * adc / (1.0 - adc)
ln_r = math.log(r)
inv_t = self.c1 + self.c2 * ln_r + self.c3 * ln_r**3
return 1.0/inv_t + KELVIN_TO_CELCIUS
def calc_adc(self, temp):
inv_t = 1. / (temp - KELVIN_TO_CELCIUS)
if self.c3:
y = (self.c1 - inv_t) / (2. * self.c3)
x = math.sqrt((self.c2 / (3. * self.c3))**3 + y**2)
ln_r = math.pow(x - y, 1./3.) - math.pow(x + y, 1./3.)
else:
ln_r = (inv_t - self.c1) / self.c2
r = math.exp(ln_r)
return r / (self.pullup + r)
# Thermistor calibrated from one temp measurement and its beta
class ThermistorBeta(Thermistor):
def __init__(self, config, params):
self.pullup = config.getfloat('pullup_resistor', 4700., above=0.)
# Calculate Steinhart-Hart coefficents from beta
inv_t1 = 1. / (params['t1'] - KELVIN_TO_CELCIUS)
ln_r1 = math.log(params['r1'])
self.c3 = 0.
self.c2 = 1. / params['beta']
self.c1 = inv_t1 - self.c2 * ln_r1
# Linear style conversion chips calibrated with two temp measurements
class Linear:
def __init__(self, config, params):
adc_voltage = config.getfloat('adc_voltage', 5., above=0.)
slope = (params['t2'] - params['t1']) / (params['v2'] - params['v1'])
self.gain = adc_voltage * slope
self.offset = params['t1'] - params['v1'] * slope
def calc_temp(self, adc):
return adc * self.gain + self.offset
def calc_adc(self, temp):
return (temp - self.offset) / self.gain
# Available sensors
Sensors = {
"EPCOS 100K B57560G104F": {
'class': Thermistor, 't1': 25., 'r1': 100000.,
't2': 150., 'r2': 1641.9, 't3': 250., 'r3': 226.15 },
"ATC Semitec 104GT-2": {
'class': Thermistor, 't1': 20., 'r1': 126800.,
't2': 150., 'r2': 1360., 't3': 300., 'r3': 80.65 },
"NTC 100K beta 3950": {
'class': ThermistorBeta, 't1': 25., 'r1': 100000., 'beta': 3950. },
"AD595": { 'class': Linear, 't1': 25., 'v1': .25, 't2': 300., 'v2': 3.022 },
}
######################################################################
# Heater
######################################################################
SAMPLE_TIME = 0.001
SAMPLE_COUNT = 8
REPORT_TIME = 0.300
PWM_CYCLE_TIME = 0.100
MAX_HEAT_TIME = 5.0
AMBIENT_TEMP = 25.
PID_PARAM_BASE = 255.
class error(Exception):
pass
class PrinterHeater:
error = error
def __init__(self, printer, config):
self.name = config.section
sensor_params = config.getchoice('sensor_type', Sensors)
self.sensor = sensor_params['class'](config, sensor_params)
self.min_temp = config.getfloat('min_temp', minval=0.)
self.max_temp = config.getfloat('max_temp', above=self.min_temp)
self.min_extrude_temp = config.getfloat(
'min_extrude_temp', 170., minval=self.min_temp, maxval=self.max_temp)
self.max_power = config.getfloat('max_power', 1., above=0., maxval=1.)
self.lock = threading.Lock()
self.last_temp = 0.
self.last_temp_time = 0.
self.target_temp = 0.
algos = {'watermark': ControlBangBang, 'pid': ControlPID}
algo = config.getchoice('control', algos)
heater_pin = config.get('heater_pin')
if algo is ControlBangBang and self.max_power == 1.:
self.mcu_pwm = pins.setup_pin(printer, 'digital_out', heater_pin)
else:
self.mcu_pwm = pins.setup_pin(printer, 'pwm', heater_pin)
self.mcu_pwm.setup_cycle_time(PWM_CYCLE_TIME)
self.mcu_pwm.setup_max_duration(MAX_HEAT_TIME)
self.mcu_adc = pins.setup_pin(printer, 'adc', config.get('sensor_pin'))
adc_range = [self.sensor.calc_adc(self.min_temp),
self.sensor.calc_adc(self.max_temp)]
self.mcu_adc.setup_minmax(SAMPLE_TIME, SAMPLE_COUNT,
minval=min(adc_range), maxval=max(adc_range))
self.mcu_adc.setup_adc_callback(REPORT_TIME, self.adc_callback)
is_fileoutput = self.mcu_adc.get_mcu().is_fileoutput()
self.can_extrude = self.min_extrude_temp <= 0. or is_fileoutput
self.control = algo(self, config)
# pwm caching
self.next_pwm_time = 0.
self.last_pwm_value = 0
def set_pwm(self, read_time, value):
if self.target_temp <= 0.:
value = 0.
if ((read_time < self.next_pwm_time or not self.last_pwm_value)
and abs(value - self.last_pwm_value) < 0.05):
# No significant change in value - can suppress update
return
pwm_time = read_time + REPORT_TIME + SAMPLE_TIME*SAMPLE_COUNT
self.next_pwm_time = pwm_time + 0.75 * MAX_HEAT_TIME
self.last_pwm_value = value
logging.debug("%s: pwm=%.3f@%.3f (from %.3f@%.3f [%.3f])",
self.name, value, pwm_time,
self.last_temp, self.last_temp_time, self.target_temp)
self.mcu_pwm.set_pwm(pwm_time, value)
def adc_callback(self, read_time, read_value):
temp = self.sensor.calc_temp(read_value)
with self.lock:
self.last_temp = temp
self.last_temp_time = read_time
self.can_extrude = (temp >= self.min_extrude_temp)
self.control.adc_callback(read_time, temp)
#logging.debug("temp: %.3f %f = %f", read_time, read_value, temp)
# External commands
def set_temp(self, print_time, degrees):
if degrees and (degrees < self.min_temp or degrees > self.max_temp):
raise error("Requested temperature (%.1f) out of range (%.1f:%.1f)"
% (degrees, self.min_temp, self.max_temp))
with self.lock:
self.target_temp = degrees
def get_temp(self, eventtime):
print_time = self.mcu_adc.get_mcu().estimated_print_time(eventtime) - 5.
with self.lock:
if self.last_temp_time < print_time:
return 0., self.target_temp
return self.last_temp, self.target_temp
def check_busy(self, eventtime):
with self.lock:
return self.control.check_busy(eventtime)
def start_auto_tune(self, degrees):
if degrees and (degrees < self.min_temp or degrees > self.max_temp):
raise error("Requested temperature (%.1f) out of range (%.1f:%.1f)"
% (degrees, self.min_temp, self.max_temp))
with self.lock:
self.control = ControlAutoTune(self, self.control)
self.target_temp = degrees
def finish_auto_tune(self, old_control):
self.control = old_control
self.target_temp = 0
######################################################################
# Bang-bang control algo
######################################################################
class ControlBangBang:
def __init__(self, heater, config):
self.heater = heater
self.max_delta = config.getfloat('max_delta', 2.0, above=0.)
self.heating = False
def adc_callback(self, read_time, temp):
if self.heating and temp >= self.heater.target_temp+self.max_delta:
self.heating = False
elif not self.heating and temp <= self.heater.target_temp-self.max_delta:
self.heating = True
if self.heating:
self.heater.set_pwm(read_time, self.heater.max_power)
else:
self.heater.set_pwm(read_time, 0.)
def check_busy(self, eventtime):
return self.heater.last_temp < self.heater.target_temp-self.max_delta
######################################################################
# Proportional Integral Derivative (PID) control algo
######################################################################
class ControlPID:
def __init__(self, heater, config):
self.heater = heater
self.Kp = config.getfloat('pid_Kp') / PID_PARAM_BASE
self.Ki = config.getfloat('pid_Ki') / PID_PARAM_BASE
self.Kd = config.getfloat('pid_Kd') / PID_PARAM_BASE
self.min_deriv_time = config.getfloat('pid_deriv_time', 2., above=0.)
imax = config.getfloat('pid_integral_max', heater.max_power, minval=0.)
self.temp_integ_max = imax / self.Ki
self.prev_temp = AMBIENT_TEMP
self.prev_temp_time = 0.
self.prev_temp_deriv = 0.
self.prev_temp_integ = 0.
def adc_callback(self, read_time, temp):
time_diff = read_time - self.prev_temp_time
# Calculate change of temperature
temp_diff = temp - self.prev_temp
if time_diff >= self.min_deriv_time:
temp_deriv = temp_diff / time_diff
else:
temp_deriv = (self.prev_temp_deriv * (self.min_deriv_time-time_diff)
+ temp_diff) / self.min_deriv_time
# Calculate accumulated temperature "error"
temp_err = self.heater.target_temp - temp
temp_integ = self.prev_temp_integ + temp_err * time_diff
temp_integ = max(0., min(self.temp_integ_max, temp_integ))
# Calculate output
co = self.Kp*temp_err + self.Ki*temp_integ - self.Kd*temp_deriv
#logging.debug("pid: %f@%.3f -> diff=%f deriv=%f err=%f integ=%f co=%d",
# temp, read_time, temp_diff, temp_deriv, temp_err, temp_integ, co)
bounded_co = max(0., min(self.heater.max_power, co))
self.heater.set_pwm(read_time, bounded_co)
# Store state for next measurement
self.prev_temp = temp
self.prev_temp_time = read_time
self.prev_temp_deriv = temp_deriv
if co == bounded_co:
self.prev_temp_integ = temp_integ
def check_busy(self, eventtime):
temp_diff = self.heater.target_temp - self.heater.last_temp
return abs(temp_diff) > 1. or abs(self.prev_temp_deriv) > 0.1
######################################################################
# Ziegler-Nichols PID autotuning
######################################################################
TUNE_PID_DELTA = 5.0
class ControlAutoTune:
def __init__(self, heater, old_control):
self.heater = heater
self.old_control = old_control
self.heating = False
self.peaks = []
self.peak = 0.
self.peak_time = 0.
def adc_callback(self, read_time, temp):
if self.heating and temp >= self.heater.target_temp:
self.heating = False
self.check_peaks()
elif (not self.heating
and temp <= self.heater.target_temp - TUNE_PID_DELTA):
self.heating = True
self.check_peaks()
if self.heating:
self.heater.set_pwm(read_time, self.heater.max_power)
if temp < self.peak:
self.peak = temp
self.peak_time = read_time
else:
self.heater.set_pwm(read_time, 0.)
if temp > self.peak:
self.peak = temp
self.peak_time = read_time
def check_peaks(self):
self.peaks.append((self.peak, self.peak_time))
if self.heating:
self.peak = 9999999.
else:
self.peak = -9999999.
if len(self.peaks) < 4:
return
temp_diff = self.peaks[-1][0] - self.peaks[-2][0]
time_diff = self.peaks[-1][1] - self.peaks[-3][1]
max_power = self.heater.max_power
Ku = 4. * (2. * max_power) / (abs(temp_diff) * math.pi)
Tu = time_diff
Kp = 0.6 * Ku
Ti = 0.5 * Tu
Td = 0.125 * Tu
Ki = Kp / Ti
Kd = Kp * Td
logging.info("Autotune: raw=%f/%f Ku=%f Tu=%f Kp=%f Ki=%f Kd=%f",
temp_diff, max_power, Ku, Tu, Kp * PID_PARAM_BASE,
Ki * PID_PARAM_BASE, Kd * PID_PARAM_BASE)
def check_busy(self, eventtime):
if self.heating or len(self.peaks) < 12:
return True
self.heater.finish_auto_tune(self.old_control)
return False
######################################################################
# Tuning information test
######################################################################
class ControlBumpTest:
def __init__(self, heater, old_control):
self.heater = heater
self.old_control = old_control
self.temp_samples = {}
self.pwm_samples = {}
self.state = 0
def set_pwm(self, read_time, value):
self.pwm_samples[read_time + 2*REPORT_TIME] = value
self.heater.set_pwm(read_time, value)
def adc_callback(self, read_time, temp):
self.temp_samples[read_time] = temp
if not self.state:
self.set_pwm(read_time, 0.)
if len(self.temp_samples) >= 20:
self.state += 1
elif self.state == 1:
if temp < self.heater.target_temp:
self.set_pwm(read_time, self.heater.max_power)
return
self.set_pwm(read_time, 0.)
self.state += 1
elif self.state == 2:
self.set_pwm(read_time, 0.)
if temp <= (self.heater.target_temp + AMBIENT_TEMP) / 2.:
self.dump_stats()
self.state += 1
def dump_stats(self):
out = ["%.3f %.1f %d" % (time, temp, self.pwm_samples.get(time, -1.))
for time, temp in sorted(self.temp_samples.items())]
f = open("/tmp/heattest.txt", "wb")
f.write('\n'.join(out))
f.close()
def check_busy(self, eventtime):
if self.state < 3:
return True
self.heater.finish_auto_tune(self.old_control)
return False
def add_printer_objects(printer, config):
if config.has_section('heater_bed'):
printer.add_object('heater_bed', PrinterHeater(
printer, config.getsection('heater_bed')))

83
klippy/homing.py
View File

@@ -1,83 +0,0 @@
# Code for state tracking during homing operations
#
# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
HOMING_DELAY = 0.250
ENDSTOP_SAMPLE_TIME = .000015
ENDSTOP_SAMPLE_COUNT = 4
class Homing:
def __init__(self, toolhead, changed_axes):
self.toolhead = toolhead
self.changed_axes = changed_axes
self.verify_retract = True
def set_no_verify_retract(self):
self.verify_retract = False
def set_axes(self, axes):
self.changed_axes = axes
def get_axes(self):
return self.changed_axes
def _fill_coord(self, coord):
# Fill in any None entries in 'coord' with current toolhead position
thcoord = list(self.toolhead.get_position())
for i in range(len(coord)):
if coord[i] is not None:
thcoord[i] = coord[i]
return thcoord
def retract(self, newpos, speed):
self.toolhead.move(self._fill_coord(newpos), speed)
def home(self, forcepos, movepos, steppers, speed, second_home=False):
# Alter kinematics class to think printer is at forcepos
self.toolhead.set_position(self._fill_coord(forcepos))
# Start homing and issue move
if not second_home:
self.toolhead.dwell(HOMING_DELAY)
print_time = self.toolhead.get_last_move_time()
endstops = []
for s in steppers:
s.mcu_endstop.home_start(print_time, ENDSTOP_SAMPLE_TIME,
ENDSTOP_SAMPLE_COUNT, s.step_dist / speed)
endstops.append((s, s.mcu_stepper.get_mcu_position()))
self.toolhead.move(self._fill_coord(movepos), speed)
move_end_print_time = self.toolhead.get_last_move_time()
self.toolhead.reset_print_time(print_time)
for s, last_pos in endstops:
s.mcu_endstop.home_finalize(move_end_print_time)
# Wait for endstops to trigger
for s, last_pos in endstops:
try:
s.mcu_endstop.home_wait()
except s.mcu_endstop.error as e:
raise EndstopError("Failed to home stepper %s: %s" % (
s.name, str(e)))
post_home_pos = s.mcu_stepper.get_mcu_position()
if second_home and self.verify_retract and last_pos == post_home_pos:
raise EndstopError("Endstop %s still triggered after retract" % (
s.name,))
def set_homed_position(self, pos):
self.toolhead.set_position(self._fill_coord(pos))
def query_endstops(print_time, query_flags, steppers):
if query_flags == "get_mcu_position":
# Only the commanded position is requested
return [(s.name.upper(), s.mcu_stepper.get_mcu_position())
for s in steppers]
for s in steppers:
s.mcu_endstop.query_endstop(print_time)
out = []
for s in steppers:
try:
out.append((s.name, s.mcu_endstop.query_endstop_wait()))
except s.mcu_endstop.error as e:
raise EndstopError(str(e))
return out
class EndstopError(Exception):
pass
def EndstopMoveError(pos, msg="Move out of range"):
return EndstopError("%s: %.3f %.3f %.3f [%.3f]" % (
msg, pos[0], pos[1], pos[2], pos[3]))

341
klippy/klippy.py
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@@ -1,341 +0,0 @@
#!/usr/bin/env python2
# Main code for host side printer firmware
#
# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import sys, optparse, ConfigParser, logging, time, threading
import util, reactor, queuelogger, msgproto, gcode
import pins, mcu, chipmisc, toolhead, extruder, heater, fan
message_ready = "Printer is ready"
message_startup = """
The klippy host software is attempting to connect. Please
retry in a few moments.
Printer is not ready
"""
message_restart = """
Once the underlying issue is corrected, use the "RESTART"
command to reload the config and restart the host software.
Printer is halted
"""
message_protocol_error = """
This type of error is frequently caused by running an older
version of the firmware on the micro-controller (fix by
recompiling and flashing the firmware).
Once the underlying issue is corrected, use the "RESTART"
command to reload the config and restart the host software.
Protocol error connecting to printer
"""
message_mcu_connect_error = """
Once the underlying issue is corrected, use the
"FIRMWARE_RESTART" command to reset the firmware, reload the
config, and restart the host software.
Error configuring printer
"""
message_shutdown = """
Once the underlying issue is corrected, use the
"FIRMWARE_RESTART" command to reset the firmware, reload the
config, and restart the host software.
Printer is shutdown
"""
class ConfigWrapper:
error = ConfigParser.Error
class sentinel:
pass
def __init__(self, printer, section):
self.printer = printer
self.section = section
def get_wrapper(self, parser, option, default
, minval=None, maxval=None, above=None, below=None):
if (default is not self.sentinel
and not self.printer.fileconfig.has_option(self.section, option)):
return default
self.printer.all_config_options[
(self.section.lower(), option.lower())] = 1
try:
v = parser(self.section, option)
except self.error as e:
raise
except:
raise self.error("Unable to parse option '%s' in section '%s'" % (
option, self.section))
if minval is not None and v < minval:
raise self.error(
"Option '%s' in section '%s' must have minimum of %s" % (
option, self.section, minval))
if maxval is not None and v > maxval:
raise self.error(
"Option '%s' in section '%s' must have maximum of %s" % (
option, self.section, maxval))
if above is not None and v <= above:
raise self.error(
"Option '%s' in section '%s' must be above %s" % (
option, self.section, above))
if below is not None and v >= below:
raise self.error(
"Option '%s' in section '%s' must be below %s" % (
option, self.section, below))
return v
def get(self, option, default=sentinel):
return self.get_wrapper(self.printer.fileconfig.get, option, default)
def getint(self, option, default=sentinel, minval=None, maxval=None):
return self.get_wrapper(
self.printer.fileconfig.getint, option, default, minval, maxval)
def getfloat(self, option, default=sentinel
, minval=None, maxval=None, above=None, below=None):
return self.get_wrapper(
self.printer.fileconfig.getfloat, option, default
, minval, maxval, above, below)
def getboolean(self, option, default=sentinel):
return self.get_wrapper(
self.printer.fileconfig.getboolean, option, default)
def getchoice(self, option, choices, default=sentinel):
c = self.get(option, default)
if c not in choices:
raise self.error(
"Option '%s' in section '%s' is not a valid choice" % (
option, self.section))
return choices[c]
def getsection(self, section):
return ConfigWrapper(self.printer, section)
def has_section(self, section):
return self.printer.fileconfig.has_section(section)
def get_prefix_sections(self, prefix):
return [self.getsection(s) for s in self.printer.fileconfig.sections()
if s.startswith(prefix)]
class ConfigLogger():
def __init__(self, cfg, bglogger):
self.lines = ["===== Config file ====="]
cfg.write(self)
self.lines.append("=======================")
data = "\n".join(self.lines)
logging.info(data)
bglogger.set_rollover_info("config", data)
def write(self, data):
self.lines.append(data.strip())
class Printer:
config_error = ConfigParser.Error
def __init__(self, input_fd, bglogger, start_args):
self.bglogger = bglogger
self.start_args = start_args
if bglogger is not None:
bglogger.set_rollover_info("config", None)
self.reactor = reactor.Reactor()
self.objects = {}
self.gcode = gcode.GCodeParser(self, input_fd)
self.stats_timer = self.reactor.register_timer(self._stats)
self.connect_timer = self.reactor.register_timer(
self._connect, self.reactor.NOW)
self.all_config_options = {}
self.state_message = message_startup
self.is_shutdown = False
self.async_shutdown_msg = ""
self.run_result = None
self.fileconfig = None
self.mcus = []
def get_start_args(self):
return self.start_args
def _stats(self, eventtime, force_output=False):
toolhead = self.objects.get('toolhead')
if toolhead is None:
return eventtime + 1.
is_active = toolhead.check_active(eventtime)
if not is_active and not force_output:
return eventtime + 1.
out = []
out.append(self.gcode.stats(eventtime))
out.append(toolhead.stats(eventtime))
for m in self.mcus:
out.append(m.stats(eventtime))
logging.info("Stats %.1f: %s", eventtime, ' '.join(out))
return eventtime + 1.
def add_object(self, name, obj):
self.objects[name] = obj
def _load_config(self):
self.fileconfig = ConfigParser.RawConfigParser()
config_file = self.start_args['config_file']
res = self.fileconfig.read(config_file)
if not res:
raise self.config_error("Unable to open config file %s" % (
config_file,))
if self.bglogger is not None:
ConfigLogger(self.fileconfig, self.bglogger)
# Create printer components
config = ConfigWrapper(self, 'printer')
for m in [pins, mcu, chipmisc, toolhead, extruder, heater, fan]:
m.add_printer_objects(self, config)
self.mcus = mcu.get_printer_mcus(self)
# Validate that there are no undefined parameters in the config file
valid_sections = { s: 1 for s, o in self.all_config_options }
for section in self.fileconfig.sections():
section = section.lower()
if section not in valid_sections:
raise self.config_error("Unknown config file section '%s'" % (
section,))
for option in self.fileconfig.options(section):
option = option.lower()
if (section, option) not in self.all_config_options:
raise self.config_error(
"Unknown option '%s' in section '%s'" % (
option, section))
def _connect(self, eventtime):
self.reactor.unregister_timer(self.connect_timer)
try:
self._load_config()
for m in self.mcus:
m.connect()
self.gcode.connect()
self.state_message = message_ready
if self.start_args.get('debugoutput') is None:
self.reactor.update_timer(self.stats_timer, self.reactor.NOW)
except (self.config_error, pins.error) as e:
logging.exception("Config error")
self.state_message = "%s%s" % (str(e), message_restart)
except msgproto.error as e:
logging.exception("Protocol error")
self.state_message = "%s%s" % (str(e), message_protocol_error)
except mcu.error as e:
logging.exception("MCU error during connect")
self.state_message = "%s%s" % (str(e), message_mcu_connect_error)
except:
logging.exception("Unhandled exception during connect")
self.state_message = "Internal error during connect.%s" % (
message_restart,)
return self.reactor.NEVER
def run(self):
systime = time.time()
monotime = self.reactor.monotonic()
logging.info("Start printer at %s (%.1f %.1f)",
time.asctime(time.localtime(systime)), systime, monotime)
while 1:
# Enter main reactor loop
try:
self.reactor.run()
except:
logging.exception("Unhandled exception during run")
return "exit"
# Check restart flags
run_result = self.run_result
try:
if run_result == 'shutdown':
self.invoke_shutdown(self.async_shutdown_msg, True)
continue
self._stats(self.reactor.monotonic(), force_output=True)
for m in self.mcus:
if run_result == 'firmware_restart':
m.microcontroller_restart()
m.disconnect()
except:
logging.exception("Unhandled exception during post run")
return run_result
def get_state_message(self):
return self.state_message
def invoke_shutdown(self, msg, is_mcu_shutdown=False):
if self.is_shutdown:
return
self.is_shutdown = True
if is_mcu_shutdown:
self.state_message = "%s%s" % (msg, message_shutdown)
else:
self.state_message = "%s%s" % (msg, message_restart)
for m in self.mcus:
m.do_shutdown()
self.gcode.do_shutdown()
toolhead = self.objects.get('toolhead')
if toolhead is not None:
toolhead.do_shutdown()
def invoke_async_shutdown(self, msg):
self.async_shutdown_msg = msg
self.request_exit("shutdown")
def request_exit(self, result="exit"):
self.run_result = result
self.reactor.end()
######################################################################
# Startup
######################################################################
def arg_dictionary(option, opt_str, value, parser):
key, fname = "dictionary", value
if '=' in value:
mcu_name, fname = value.split('=', 1)
key = "dictionary_" + mcu_name
if parser.values.dictionary is None:
parser.values.dictionary = {}
parser.values.dictionary[key] = fname
def main():
usage = "%prog [options] <config file>"
opts = optparse.OptionParser(usage)
opts.add_option("-i", "--debuginput", dest="debuginput",
help="read commands from file instead of from tty port")
opts.add_option("-I", "--input-tty", dest="inputtty", default='/tmp/printer',
help="input tty name (default is /tmp/printer)")
opts.add_option("-l", "--logfile", dest="logfile",
help="write log to file instead of stderr")
opts.add_option("-v", action="store_true", dest="verbose",
help="enable debug messages")
opts.add_option("-o", "--debugoutput", dest="debugoutput",
help="write output to file instead of to serial port")
opts.add_option("-d", "--dictionary", dest="dictionary", type="string",
action="callback", callback=arg_dictionary,
help="file to read for mcu protocol dictionary")
options, args = opts.parse_args()
if len(args) != 1:
opts.error("Incorrect number of arguments")
start_args = {'config_file': args[0], 'start_reason': 'startup'}
input_fd = bglogger = None
debuglevel = logging.INFO
if options.verbose:
debuglevel = logging.DEBUG
if options.debuginput:
start_args['debuginput'] = options.debuginput
debuginput = open(options.debuginput, 'rb')
input_fd = debuginput.fileno()
else:
input_fd = util.create_pty(options.inputtty)
if options.debugoutput:
start_args['debugoutput'] = options.debugoutput
start_args.update(options.dictionary)
if options.logfile:
bglogger = queuelogger.setup_bg_logging(options.logfile, debuglevel)
else:
logging.basicConfig(level=debuglevel)
logging.info("Starting Klippy...")
start_args['software_version'] = util.get_git_version()
if bglogger is not None:
lines = ["Args: %s" % (sys.argv,),
"Git version: %s" % (repr(start_args['software_version']),),
"CPU: %s" % (util.get_cpu_info(),),
"Python: %s" % (repr(sys.version),)]
lines = "\n".join(lines)
logging.info(lines)
bglogger.set_rollover_info('versions', lines)
# Start Printer() class
while 1:
printer = Printer(input_fd, bglogger, start_args)
res = printer.run()
if res == 'exit':
break
time.sleep(1.)
logging.info("Restarting printer")
start_args['start_reason'] = res
if bglogger is not None:
bglogger.stop()
if __name__ == '__main__':
main()

108
klippy/list.h
View File

@@ -1,108 +0,0 @@
#ifndef __LIST_H
#define __LIST_H
#define container_of(ptr, type, member) ({ \
const typeof( ((type *)0)->member ) *__mptr = (ptr); \
(type *)( (char *)__mptr - offsetof(type,member) );})
/****************************************************************
* list - Double linked lists
****************************************************************/
struct list_node {
struct list_node *next, *prev;
};
struct list_head {
struct list_node root;
};
static inline void
list_init(struct list_head *h)
{
h->root.prev = h->root.next = &h->root;
}
static inline int
list_empty(const struct list_head *h)
{
return h->root.next == &h->root;
}
static inline void
list_del(struct list_node *n)
{
struct list_node *prev = n->prev;
struct list_node *next = n->next;
next->prev = prev;
prev->next = next;
}
static inline void
__list_add(struct list_node *n, struct list_node *prev, struct list_node *next)
{
next->prev = n;
n->next = next;
n->prev = prev;
prev->next = n;
}
static inline void
list_add_after(struct list_node *n, struct list_node *prev)
{
__list_add(n, prev, prev->next);
}
static inline void
list_add_before(struct list_node *n, struct list_node *next)
{
__list_add(n, next->prev, next);
}
static inline void
list_add_head(struct list_node *n, struct list_head *h)
{
list_add_after(n, &h->root);
}
static inline void
list_add_tail(struct list_node *n, struct list_head *h)
{
list_add_before(n, &h->root);
}
static inline void
list_join_tail(struct list_head *add, struct list_head *h)
{
if (!list_empty(add)) {
struct list_node *prev = h->root.prev;
struct list_node *next = &h->root;
struct list_node *first = add->root.next;
struct list_node *last = add->root.prev;
first->prev = prev;
prev->next = first;
last->next = next;
next->prev = last;
}
}
#define list_next_entry(pos, member) \
container_of((pos)->member.next, typeof(*pos), member)
#define list_first_entry(head, type, member) \
container_of((head)->root.next, type, member)
#define list_for_each_entry(pos, head, member) \
for (pos = list_first_entry((head), typeof(*pos), member) \
; &pos->member != &(head)->root \
; pos = list_next_entry(pos, member))
#define list_for_each_entry_safe(pos, n, head, member) \
for (pos = list_first_entry((head), typeof(*pos), member) \
, n = list_next_entry(pos, member) \
; &pos->member != &(head)->root \
; pos = n, n = list_next_entry(n, member))
#endif // list.h

790
klippy/mcu.py
View File

@@ -1,790 +0,0 @@
# Interface to Klipper micro-controller code
#
# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import sys, os, zlib, logging, math
import serialhdl, pins, chelper, clocksync
class error(Exception):
pass
STEPCOMPRESS_ERROR_RET = -989898989
class MCU_stepper:
def __init__(self, mcu, pin_params):
self._mcu = mcu
self._oid = self._mcu.create_oid()
self._step_pin = pin_params['pin']
self._invert_step = pin_params['invert']
self._dir_pin = self._invert_dir = None
self._commanded_pos = 0
self._step_dist = self._inv_step_dist = 1.
self._mcu_position_offset = 0
self._min_stop_interval = 0.
self._reset_cmd = self._get_position_cmd = None
self._ffi_lib = self._stepqueue = None
def get_mcu(self):
return self._mcu
def setup_dir_pin(self, pin_params):
if pin_params['chip'] is not self._mcu:
raise pins.error("Stepper dir pin must be on same mcu as step pin")
self._dir_pin = pin_params['pin']
self._invert_dir = pin_params['invert']
def setup_min_stop_interval(self, min_stop_interval):
self._min_stop_interval = min_stop_interval
def setup_step_distance(self, step_dist):
self._step_dist = step_dist
self._inv_step_dist = 1. / step_dist
def build_config(self):
max_error = self._mcu.get_max_stepper_error()
min_stop_interval = max(0., self._min_stop_interval - max_error)
self._mcu.add_config_cmd(
"config_stepper oid=%d step_pin=%s dir_pin=%s"
" min_stop_interval=%d invert_step=%d" % (
self._oid, self._step_pin, self._dir_pin,
self._mcu.seconds_to_clock(min_stop_interval),
self._invert_step))
step_cmd = self._mcu.lookup_command(
"queue_step oid=%c interval=%u count=%hu add=%hi")
dir_cmd = self._mcu.lookup_command(
"set_next_step_dir oid=%c dir=%c")
self._reset_cmd = self._mcu.lookup_command(
"reset_step_clock oid=%c clock=%u")
self._get_position_cmd = self._mcu.lookup_command(
"stepper_get_position oid=%c")
ffi_main, self._ffi_lib = chelper.get_ffi()
self._stepqueue = ffi_main.gc(self._ffi_lib.stepcompress_alloc(
self._mcu.seconds_to_clock(max_error), step_cmd.msgid, dir_cmd.msgid,
self._invert_dir, self._oid),
self._ffi_lib.stepcompress_free)
self._mcu.register_stepqueue(self._stepqueue)
def get_oid(self):
return self._oid
def set_position(self, pos):
if pos >= 0.:
steppos = int(pos * self._inv_step_dist + 0.5)
else:
steppos = int(pos * self._inv_step_dist - 0.5)
self._mcu_position_offset += self._commanded_pos - steppos
self._commanded_pos = steppos
def get_commanded_position(self):
return self._commanded_pos * self._step_dist
def get_mcu_position(self):
return self._commanded_pos + self._mcu_position_offset
def note_homing_start(self, homing_clock):
ret = self._ffi_lib.stepcompress_set_homing(
self._stepqueue, homing_clock)
if ret:
raise error("Internal error in stepcompress")
def note_homing_finalized(self):
ret = self._ffi_lib.stepcompress_set_homing(self._stepqueue, 0)
if ret:
raise error("Internal error in stepcompress")
ret = self._ffi_lib.stepcompress_reset(self._stepqueue, 0)
if ret:
raise error("Internal error in stepcompress")
def note_homing_triggered(self):
cmd = self._get_position_cmd.encode(self._oid)
params = self._mcu.send_with_response(cmd, 'stepper_position', self._oid)
pos = params['pos']
if self._invert_dir:
pos = -pos
self._mcu_position_offset = pos - self._commanded_pos
def reset_step_clock(self, print_time):
clock = self._mcu.print_time_to_clock(print_time)
ret = self._ffi_lib.stepcompress_reset(self._stepqueue, clock)
if ret:
raise error("Internal error in stepcompress")
data = (self._reset_cmd.msgid, self._oid, clock & 0xffffffff)
ret = self._ffi_lib.stepcompress_queue_msg(
self._stepqueue, data, len(data))
if ret:
raise error("Internal error in stepcompress")
def step(self, print_time, sdir):
count = self._ffi_lib.stepcompress_push(
self._stepqueue, print_time, sdir)
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self._commanded_pos += count
def step_const(self, print_time, start_pos, dist, start_v, accel):
inv_step_dist = self._inv_step_dist
step_offset = self._commanded_pos - start_pos * inv_step_dist
count = self._ffi_lib.stepcompress_push_const(
self._stepqueue, print_time, step_offset, dist * inv_step_dist,
start_v * inv_step_dist, accel * inv_step_dist)
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self._commanded_pos += count
def step_delta(self, print_time, dist, start_v, accel
, height_base, startxy_d, arm_d, movez_r):
inv_step_dist = self._inv_step_dist
height = self._commanded_pos - height_base * inv_step_dist
count = self._ffi_lib.stepcompress_push_delta(
self._stepqueue, print_time, dist * inv_step_dist,
start_v * inv_step_dist, accel * inv_step_dist,
height, startxy_d * inv_step_dist, arm_d * inv_step_dist, movez_r)
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self._commanded_pos += count
class MCU_endstop:
error = error
RETRY_QUERY = 1.000
def __init__(self, mcu, pin_params):
self._mcu = mcu
self._steppers = []
self._pin = pin_params['pin']
self._pullup = pin_params['pullup']
self._invert = pin_params['invert']
self._cmd_queue = mcu.alloc_command_queue()
self._oid = self._home_cmd = self._query_cmd = None
self._homing = False
self._min_query_time = self._next_query_time = self._home_timeout = 0.
self._last_state = {}
def get_mcu(self):
return self._mcu
def add_stepper(self, stepper):
self._steppers.append(stepper)
def build_config(self):
self._oid = self._mcu.create_oid()
self._mcu.add_config_cmd(
"config_end_stop oid=%d pin=%s pull_up=%d stepper_count=%d" % (
self._oid, self._pin, self._pullup, len(self._steppers)))
for i, s in enumerate(self._steppers):
self._mcu.add_config_cmd(
"end_stop_set_stepper oid=%d pos=%d stepper_oid=%d" % (
self._oid, i, s.get_oid()), is_init=True)
self._home_cmd = self._mcu.lookup_command(
"end_stop_home oid=%c clock=%u sample_ticks=%u sample_count=%c"
" rest_ticks=%u pin_value=%c")
self._query_cmd = self._mcu.lookup_command("end_stop_query oid=%c")
self._mcu.register_msg(self._handle_end_stop_state, "end_stop_state"
, self._oid)
def home_start(self, print_time, sample_time, sample_count, rest_time):
clock = self._mcu.print_time_to_clock(print_time)
rest_ticks = int(rest_time * self._mcu.get_adjusted_freq())
self._homing = True
self._min_query_time = self._mcu.monotonic()
self._next_query_time = print_time + self.RETRY_QUERY
msg = self._home_cmd.encode(
self._oid, clock, self._mcu.seconds_to_clock(sample_time),
sample_count, rest_ticks, 1 ^ self._invert)
self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue)
for s in self._steppers:
s.note_homing_start(clock)
def home_finalize(self, print_time):
for s in self._steppers:
s.note_homing_finalized()
self._home_timeout = print_time
def home_wait(self):
eventtime = self._mcu.monotonic()
while self._check_busy(eventtime):
eventtime = self._mcu.pause(eventtime + 0.1)
def _handle_end_stop_state(self, params):
logging.debug("end_stop_state %s", params)
self._last_state = params
def _check_busy(self, eventtime):
# Check if need to send an end_stop_query command
if self._mcu.is_fileoutput():
return False
print_time = self._mcu.estimated_print_time(eventtime)
last_sent_time = self._last_state.get('#sent_time', -1.)
if last_sent_time >= self._min_query_time:
if not self._homing:
return False
if not self._last_state.get('homing', 0):
for s in self._steppers:
s.note_homing_triggered()
self._homing = False
return False
if print_time > self._home_timeout:
# Timeout - disable endstop checking
msg = self._home_cmd.encode(self._oid, 0, 0, 0, 0, 0)
self._mcu.send(msg, reqclock=0, cq=self._cmd_queue)
raise error("Timeout during endstop homing")
if self._mcu.is_shutdown():
raise error("MCU is shutdown")
if print_time >= self._next_query_time:
self._next_query_time = print_time + self.RETRY_QUERY
msg = self._query_cmd.encode(self._oid)
self._mcu.send(msg, cq=self._cmd_queue)
return True
def query_endstop(self, print_time):
self._homing = False
self._next_query_time = print_time
self._min_query_time = self._mcu.monotonic()
def query_endstop_wait(self):
eventtime = self._mcu.monotonic()
while self._check_busy(eventtime):
eventtime = self._mcu.pause(eventtime + 0.1)
return self._last_state.get('pin', self._invert) ^ self._invert
class MCU_digital_out:
def __init__(self, mcu, pin_params):
self._mcu = mcu
self._oid = None
self._static_value = None
self._pin = pin_params['pin']
self._invert = self._shutdown_value = pin_params['invert']
self._max_duration = 2.
self._last_clock = 0
self._last_value = None
self._cmd_queue = mcu.alloc_command_queue()
self._set_cmd = None
def get_mcu(self):
return self._mcu
def setup_max_duration(self, max_duration):
self._max_duration = max_duration
def setup_static(self):
self._static_value = not self._invert
def setup_shutdown_value(self, value):
self._shutdown_value = (not not value) ^ self._invert
def build_config(self):
if self._static_value is not None:
self._mcu.add_config_cmd("set_digital_out pin=%s value=%d" % (
self._pin, self._static_value))
return
self._oid = self._mcu.create_oid()
self._mcu.add_config_cmd(
"config_digital_out oid=%d pin=%s value=%d default_value=%d"
" max_duration=%d" % (
self._oid, self._pin, self._invert, self._shutdown_value,
self._mcu.seconds_to_clock(self._max_duration)))
self._set_cmd = self._mcu.lookup_command(
"schedule_digital_out oid=%c clock=%u value=%c")
def set_digital(self, print_time, value):
clock = self._mcu.print_time_to_clock(print_time)
msg = self._set_cmd.encode(
self._oid, clock, (not not value) ^ self._invert)
self._mcu.send(msg, minclock=self._last_clock, reqclock=clock
, cq=self._cmd_queue)
self._last_clock = clock
self._last_value = value
def get_last_setting(self):
return self._last_value
def set_pwm(self, print_time, value):
self.set_digital(print_time, value >= 0.5)
class MCU_pwm:
def __init__(self, mcu, pin_params):
self._mcu = mcu
self._hard_pwm = False
self._cycle_time = 0.100
self._max_duration = 2.
self._oid = None
self._static_value = None
self._pin = pin_params['pin']
self._invert = pin_params['invert']
self._shutdown_value = float(self._invert)
self._last_clock = 0
self._pwm_max = 0.
self._cmd_queue = mcu.alloc_command_queue()
self._set_cmd = None
def get_mcu(self):
return self._mcu
def setup_max_duration(self, max_duration):
self._max_duration = max_duration
def setup_cycle_time(self, cycle_time):
self._cycle_time = cycle_time
self._hard_pwm = False
def setup_hard_pwm(self, hard_cycle_ticks):
if not hard_cycle_ticks:
return
self._cycle_time = hard_cycle_ticks
self._hard_pwm = True
def setup_static_pwm(self, value):
if self._invert:
value = 1. - value
self._static_value = max(0., min(1., value))
def setup_shutdown_value(self, value):
if self._invert:
value = 1. - value
self._shutdown_value = max(0., min(1., value))
def build_config(self):
if self._hard_pwm:
self._pwm_max = self._mcu.get_constant_float("PWM_MAX")
if self._static_value is not None:
value = int(self._static_value * self._pwm_max + 0.5)
self._mcu.add_config_cmd(
"set_pwm_out pin=%s cycle_ticks=%d value=%d" % (
self._pin, self._cycle_time, value))
return
self._oid = self._mcu.create_oid()
self._mcu.add_config_cmd(
"config_pwm_out oid=%d pin=%s cycle_ticks=%d value=%d"
" default_value=%d max_duration=%d" % (
self._oid, self._pin, self._cycle_time,
self._invert * self._pwm_max,
self._shutdown_value * self._pwm_max,
self._mcu.seconds_to_clock(self._max_duration)))
self._set_cmd = self._mcu.lookup_command(
"schedule_pwm_out oid=%c clock=%u value=%hu")
else:
self._pwm_max = self._mcu.get_constant_float("SOFT_PWM_MAX")
if self._static_value is not None:
if self._static_value not in [0., 1.]:
raise pins.error(
"static value must be 0.0 or 1.0 on soft pwm")
self._mcu.add_config_cmd("set_digital_out pin=%s value=%d" % (
self._pin, self._static_value >= 0.5))
return
if self._shutdown_value not in [0., 1.]:
raise pins.error(
"shutdown value must be 0.0 or 1.0 on soft pwm")
self._oid = self._mcu.create_oid()
self._mcu.add_config_cmd(
"config_soft_pwm_out oid=%d pin=%s cycle_ticks=%d value=%d"
" default_value=%d max_duration=%d" % (
self._oid, self._pin,
self._mcu.seconds_to_clock(self._cycle_time),
self._invert, self._shutdown_value >= 0.5,
self._mcu.seconds_to_clock(self._max_duration)))
self._set_cmd = self._mcu.lookup_command(
"schedule_soft_pwm_out oid=%c clock=%u value=%hu")
def set_pwm(self, print_time, value):
clock = self._mcu.print_time_to_clock(print_time)
if self._invert:
value = 1. - value
value = int(max(0., min(1., value)) * self._pwm_max + 0.5)
msg = self._set_cmd.encode(self._oid, clock, value)
self._mcu.send(msg, minclock=self._last_clock, reqclock=clock
, cq=self._cmd_queue)
self._last_clock = clock
class MCU_adc:
def __init__(self, mcu, pin_params):
self._mcu = mcu
self._pin = pin_params['pin']
self._min_sample = self._max_sample = 0.
self._sample_time = self._report_time = 0.
self._sample_count = 0
self._report_clock = 0
self._oid = self._callback = None
self._inv_max_adc = 0.
self._cmd_queue = mcu.alloc_command_queue()
def get_mcu(self):
return self._mcu
def setup_minmax(self, sample_time, sample_count, minval=0., maxval=1.):
self._sample_time = sample_time
self._sample_count = sample_count
self._min_sample = minval
self._max_sample = maxval
def setup_adc_callback(self, report_time, callback):
self._report_time = report_time
self._callback = callback
def build_config(self):
if not self._sample_count:
return
self._oid = self._mcu.create_oid()
self._mcu.add_config_cmd("config_analog_in oid=%d pin=%s" % (
self._oid, self._pin))
clock = self._mcu.get_query_slot(self._oid)
sample_ticks = self._mcu.seconds_to_clock(self._sample_time)
mcu_adc_max = self._mcu.get_constant_float("ADC_MAX")
max_adc = self._sample_count * mcu_adc_max
self._inv_max_adc = 1.0 / max_adc
self._report_clock = self._mcu.seconds_to_clock(self._report_time)
min_sample = max(0, min(0xffff, int(self._min_sample * max_adc)))
max_sample = max(0, min(0xffff, int(
math.ceil(self._max_sample * max_adc))))
self._mcu.add_config_cmd(
"query_analog_in oid=%d clock=%d sample_ticks=%d sample_count=%d"
" rest_ticks=%d min_value=%d max_value=%d" % (
self._oid, clock, sample_ticks, self._sample_count,
self._report_clock, min_sample, max_sample), is_init=True)
self._mcu.register_msg(self._handle_analog_in_state, "analog_in_state"
, self._oid)
def _handle_analog_in_state(self, params):
last_value = params['value'] * self._inv_max_adc
next_clock = self._mcu.clock32_to_clock64(params['next_clock'])
last_read_clock = next_clock - self._report_clock
last_read_time = self._mcu.clock_to_print_time(last_read_clock)
if self._callback is not None:
self._callback(last_read_time, last_value)
class MCU:
error = error
def __init__(self, printer, config, clocksync):
self._printer = printer
self._clocksync = clocksync
self._name = config.section
if self._name.startswith('mcu '):
self._name = self._name[4:]
# Serial port
self._serialport = config.get('serial', '/dev/ttyS0')
baud = 0
if not (self._serialport.startswith("/dev/rpmsg_")
or self._serialport.startswith("/tmp/klipper_host_")):
baud = config.getint('baud', 250000, minval=2400)
self._serial = serialhdl.SerialReader(
printer.reactor, self._serialport, baud)
# Restarts
self._restart_method = 'command'
if baud:
rmethods = {m: m for m in ['arduino', 'command', 'rpi_usb']}
self._restart_method = config.getchoice(
'restart_method', rmethods, 'arduino')
self._reset_cmd = self._config_reset_cmd = None
self._emergency_stop_cmd = None
self._is_shutdown = False
self._shutdown_msg = ""
if printer.bglogger is not None:
printer.bglogger.set_rollover_info(self._name, None)
# Config building
pins.get_printer_pins(printer).register_chip(self._name, self)
self._oid_count = 0
self._config_objects = []
self._init_cmds = []
self._config_cmds = []
self._config_crc = None
self._pin_map = config.get('pin_map', None)
self._custom = config.get('custom', '')
self._mcu_freq = 0.
# Move command queuing
ffi_main, self._ffi_lib = chelper.get_ffi()
self._max_stepper_error = config.getfloat(
'max_stepper_error', 0.000025, minval=0.)
self._stepqueues = []
self._steppersync = None
# Stats
self._stats_sumsq_base = 0.
self._mcu_tick_avg = 0.
self._mcu_tick_stddev = 0.
self._mcu_tick_awake = 0.
# Serial callbacks
def handle_mcu_stats(self, params):
count = params['count']
tick_sum = params['sum']
c = 1.0 / (count * self._mcu_freq)
self._mcu_tick_avg = tick_sum * c
tick_sumsq = params['sumsq'] * self._stats_sumsq_base
self._mcu_tick_stddev = c * math.sqrt(count*tick_sumsq - tick_sum**2)
self._mcu_tick_awake = tick_sum / self._mcu_freq
def handle_shutdown(self, params):
if self._is_shutdown:
return
self._is_shutdown = True
self._shutdown_msg = msg = params['#msg']
logging.info("MCU '%s' %s: %s\n%s\n%s", self._name, params['#name'],
self._shutdown_msg, self._clocksync.dump_debug(),
self._serial.dump_debug())
prefix = "MCU '%s' shutdown: " % (self._name,)
if params['#name'] == 'is_shutdown':
prefix = "Previous MCU '%s' shutdown: " % (self._name,)
self._printer.invoke_async_shutdown(prefix + msg + error_help(msg))
# Connection phase
def _check_restart(self, reason):
start_reason = self._printer.get_start_args().get("start_reason")
if start_reason == 'firmware_restart':
return
logging.info("Attempting automated MCU '%s' restart: %s",
self._name, reason)
self._printer.request_exit('firmware_restart')
self._printer.reactor.pause(self._printer.reactor.monotonic() + 2.000)
raise error("Attempt MCU '%s' restart failed" % (self._name,))
def _connect_file(self, pace=False):
# In a debugging mode. Open debug output file and read data dictionary
start_args = self._printer.get_start_args()
if self._name == 'mcu':
out_fname = start_args.get('debugoutput')
dict_fname = start_args.get('dictionary')
else:
out_fname = start_args.get('debugoutput') + "-" + self._name
dict_fname = start_args.get('dictionary_' + self._name)
outfile = open(out_fname, 'wb')
dfile = open(dict_fname, 'rb')
dict_data = dfile.read()
dfile.close()
self._serial.connect_file(outfile, dict_data)
self._clocksync.connect_file(self._serial, pace)
# Handle pacing
if not pace:
def dummy_estimated_print_time(eventtime):
return 0.
self.estimated_print_time = dummy_estimated_print_time
def _add_custom(self):
for line in self._custom.split('\n'):
line = line.strip()
cpos = line.find('#')
if cpos >= 0:
line = line[:cpos].strip()
if not line:
continue
self.add_config_cmd(line)
def _build_config(self):
# Build config commands
for co in self._config_objects:
co.build_config()
self._add_custom()
self._config_cmds.insert(0, "allocate_oids count=%d" % (
self._oid_count,))
# Resolve pin names
mcu = self._serial.msgparser.get_constant('MCU')
pnames = pins.get_pin_map(mcu, self._pin_map)
updated_cmds = []
for cmd in self._config_cmds:
try:
updated_cmds.append(pins.update_command(cmd, pnames))
except:
raise pins.error("Unable to translate pin name: %s" % (cmd,))
self._config_cmds = updated_cmds
# Calculate config CRC
self._config_crc = zlib.crc32('\n'.join(self._config_cmds)) & 0xffffffff
self.add_config_cmd("finalize_config crc=%d" % (self._config_crc,))
def _send_config(self):
msg = self.create_command("get_config")
if self.is_fileoutput():
config_params = {
'is_config': 0, 'move_count': 500, 'crc': self._config_crc}
else:
config_params = self.send_with_response(msg, 'config')
if not config_params['is_config']:
if self._restart_method == 'rpi_usb':
# Only configure mcu after usb power reset
self._check_restart("full reset before config")
# Send config commands
logging.info("Sending MCU '%s' printer configuration...",
self._name)
for c in self._config_cmds:
self.send(self.create_command(c))
if not self.is_fileoutput():
config_params = self.send_with_response(msg, 'config')
if not config_params['is_config']:
if self._is_shutdown:
raise error("MCU '%s' error during config: %s" % (
self._name, self._shutdown_msg))
raise error("Unable to configure MCU '%s'" % (self._name,))
else:
start_reason = self._printer.get_start_args().get("start_reason")
if start_reason == 'firmware_restart':
raise error("Failed automated reset of MCU '%s'" % (self._name,))
if self._config_crc != config_params['crc']:
self._check_restart("CRC mismatch")
raise error("MCU '%s' CRC does not match config" % (self._name,))
move_count = config_params['move_count']
logging.info("Configured MCU '%s' (%d moves)", self._name, move_count)
if self._printer.bglogger is not None:
msgparser = self._serial.msgparser
info = [
"Configured MCU '%s' (%d moves)" % (self._name, move_count),
"Loaded MCU '%s' %d commands (%s)" % (
self._name, len(msgparser.messages_by_id),
msgparser.version),
"MCU '%s' config: %s" % (self._name, " ".join(
["%s=%s" % (k, v) for k, v in msgparser.config.items()]))]
self._printer.bglogger.set_rollover_info(self._name, "\n".join(info))
self._steppersync = self._ffi_lib.steppersync_alloc(
self._serial.serialqueue, self._stepqueues, len(self._stepqueues),
move_count)
self._ffi_lib.steppersync_set_time(self._steppersync, 0., self._mcu_freq)
for c in self._init_cmds:
self.send(self.create_command(c))
def connect(self):
if self.is_fileoutput():
self._connect_file()
else:
if (self._restart_method == 'rpi_usb'
and not os.path.exists(self._serialport)):
# Try toggling usb power
self._check_restart("enable power")
self._serial.connect()
self._clocksync.connect(self._serial)
self._mcu_freq = self.get_constant_float('CLOCK_FREQ')
self._stats_sumsq_base = self.get_constant_float('STATS_SUMSQ_BASE')
self._emergency_stop_cmd = self.lookup_command("emergency_stop")
self._reset_cmd = self.try_lookup_command("reset")
self._config_reset_cmd = self.try_lookup_command("config_reset")
self.register_msg(self.handle_shutdown, 'shutdown')
self.register_msg(self.handle_shutdown, 'is_shutdown')
self.register_msg(self.handle_mcu_stats, 'stats')
self._build_config()
self._send_config()
# Config creation helpers
def setup_pin(self, pin_params):
pcs = {'stepper': MCU_stepper, 'endstop': MCU_endstop,
'digital_out': MCU_digital_out, 'pwm': MCU_pwm, 'adc': MCU_adc}
pin_type = pin_params['type']
if pin_type not in pcs:
raise pins.error("pin type %s not supported on mcu" % (pin_type,))
co = pcs[pin_type](self, pin_params)
self.add_config_object(co)
return co
def create_oid(self):
self._oid_count += 1
return self._oid_count - 1
def add_config_object(self, co):
self._config_objects.append(co)
def add_config_cmd(self, cmd, is_init=False):
if is_init:
self._init_cmds.append(cmd)
else:
self._config_cmds.append(cmd)
def get_query_slot(self, oid):
slot = self.seconds_to_clock(oid * .01)
t = int(self.estimated_print_time(self.monotonic()) + 1.5)
return self.print_time_to_clock(t) + slot
def register_stepqueue(self, stepqueue):
self._stepqueues.append(stepqueue)
def seconds_to_clock(self, time):
return int(time * self._mcu_freq)
def get_max_stepper_error(self):
return self._max_stepper_error
# Wrapper functions
def send(self, cmd, minclock=0, reqclock=0, cq=None):
self._serial.send(cmd, minclock, reqclock, cq=cq)
def send_with_response(self, cmd, name, oid=None):
return self._serial.send_with_response(cmd, name, oid)
def register_msg(self, cb, msg, oid=None):
self._serial.register_callback(cb, msg, oid)
def alloc_command_queue(self):
return self._serial.alloc_command_queue()
def create_command(self, msg):
return self._serial.msgparser.create_command(msg)
def lookup_command(self, msgformat):
return self._serial.msgparser.lookup_command(msgformat)
def try_lookup_command(self, msgformat):
try:
return self._serial.msgparser.lookup_command(msgformat)
except self._serial.msgparser.error as e:
return None
def get_constant_float(self, name):
return self._serial.msgparser.get_constant_float(name)
def print_time_to_clock(self, print_time):
return self._clocksync.print_time_to_clock(print_time)
def clock_to_print_time(self, clock):
return self._clocksync.clock_to_print_time(clock)
def estimated_print_time(self, eventtime):
return self._clocksync.estimated_print_time(eventtime)
def get_adjusted_freq(self):
return self._clocksync.get_adjusted_freq()
def clock32_to_clock64(self, clock32):
return self._clocksync.clock32_to_clock64(clock32)
def pause(self, waketime):
return self._printer.reactor.pause(waketime)
def monotonic(self):
return self._printer.reactor.monotonic()
# Restarts
def _restart_arduino(self):
logging.info("Attempting MCU '%s' reset", self._name)
self.disconnect()
serialhdl.arduino_reset(self._serialport, self._printer.reactor)
def _restart_via_command(self):
reactor = self._printer.reactor
if ((self._reset_cmd is None and self._config_reset_cmd is None)
or not self._clocksync.is_active(reactor.monotonic())):
logging.info("Unable to issue reset command on MCU '%s'", self._name)
return
if self._reset_cmd is None:
# Attempt reset via config_reset command
logging.info("Attempting MCU '%s' config_reset command", self._name)
self._is_shutdown = True
self.do_shutdown(force=True)
reactor.pause(reactor.monotonic() + 0.015)
self.send(self._config_reset_cmd.encode())
else:
# Attempt reset via reset command
logging.info("Attempting MCU '%s' reset command", self._name)
self.send(self._reset_cmd.encode())
reactor.pause(reactor.monotonic() + 0.015)
self.disconnect()
def _restart_rpi_usb(self):
logging.info("Attempting MCU '%s' reset via rpi usb power", self._name)
self.disconnect()
chelper.run_hub_ctrl(0)
self._printer.reactor.pause(self._printer.reactor.monotonic() + 2.)
chelper.run_hub_ctrl(1)
def microcontroller_restart(self):
if self._restart_method == 'rpi_usb':
self._restart_rpi_usb()
elif self._restart_method == 'command':
self._restart_via_command()
else:
self._restart_arduino()
# Misc external commands
def is_fileoutput(self):
return self._printer.get_start_args().get('debugoutput') is not None
def is_shutdown(self):
return self._is_shutdown
def flush_moves(self, print_time):
if self._steppersync is None:
return
clock = self.print_time_to_clock(print_time)
if clock < 0:
return
ret = self._ffi_lib.steppersync_flush(self._steppersync, clock)
if ret:
raise error("Internal error in MCU '%s' stepcompress" % (
self._name,))
def check_active(self, print_time, eventtime):
if self._steppersync is None:
return
offset, freq = self._clocksync.calibrate_clock(print_time, eventtime)
self._ffi_lib.steppersync_set_time(self._steppersync, offset, freq)
if self._clocksync.is_active(eventtime) or self.is_fileoutput():
return
logging.info("Timeout with MCU '%s' (eventtime=%f)",
self._name, eventtime)
self._printer.invoke_shutdown("Lost communication with MCU '%s'" % (
self._name,))
def stats(self, eventtime):
msg = "%s: mcu_awake=%.03f mcu_task_avg=%.06f mcu_task_stddev=%.06f" % (
self._name, self._mcu_tick_awake, self._mcu_tick_avg,
self._mcu_tick_stddev)
return ' '.join([msg, self._serial.stats(eventtime),
self._clocksync.stats(eventtime)])
def do_shutdown(self, force=False):
if self._emergency_stop_cmd is None or (self._is_shutdown and not force):
return
self.send(self._emergency_stop_cmd.encode())
def disconnect(self):
self._serial.disconnect()
if self._steppersync is not None:
self._ffi_lib.steppersync_free(self._steppersync)
self._steppersync = None
def __del__(self):
self.disconnect()
Common_MCU_errors = {
("Timer too close", "No next step", "Missed scheduling of next "): """
This is generally indicative of an intermittent
communication failure between micro-controller and host.""",
("ADC out of range",): """
This generally occurs when a heater temperature exceeds
its configured min_temp or max_temp.""",
("Rescheduled timer in the past", "Stepper too far in past"): """
This generally occurs when the micro-controller has been
requested to step at a rate higher than it is capable of
obtaining.""",
("Command request",): """
This generally occurs in response to an M112 G-Code command
or in response to an internal error in the host software.""",
}
def error_help(msg):
for prefixes, help_msg in Common_MCU_errors.items():
for prefix in prefixes:
if msg.startswith(prefix):
return help_msg
return ""
def add_printer_objects(printer, config):
mainsync = clocksync.ClockSync(printer.reactor)
printer.add_object('mcu', MCU(printer, config.getsection('mcu'), mainsync))
for s in config.get_prefix_sections('mcu '):
printer.add_object(s.section, MCU(
printer, s, clocksync.SecondarySync(printer.reactor, mainsync)))
def get_printer_mcus(printer):
return [printer.objects[n] for n in sorted(printer.objects)
if n.startswith('mcu')]
def get_printer_mcu(printer, name):
mcu_name = name
if name != 'mcu':
mcu_name = 'mcu ' + name
if mcu_name not in printer.objects:
raise printer.config_error("Unknown MCU %s" % (name,))
return printer.objects[mcu_name]

337
klippy/msgproto.py
View File

@@ -1,337 +0,0 @@
# Protocol definitions for firmware communication
#
# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import json, zlib, logging
DefaultMessages = {
0: "identify_response offset=%u data=%.*s",
1: "identify offset=%u count=%c",
}
MESSAGE_MIN = 5
MESSAGE_MAX = 64
MESSAGE_HEADER_SIZE = 2
MESSAGE_TRAILER_SIZE = 3
MESSAGE_POS_LEN = 0
MESSAGE_POS_SEQ = 1
MESSAGE_TRAILER_CRC = 3
MESSAGE_TRAILER_SYNC = 1
MESSAGE_PAYLOAD_MAX = MESSAGE_MAX - MESSAGE_MIN
MESSAGE_SEQ_MASK = 0x0f
MESSAGE_DEST = 0x10
MESSAGE_SYNC = '\x7E'
class error(Exception):
pass
def crc16_ccitt(buf):
crc = 0xffff
for data in buf:
data = ord(data)
data ^= crc & 0xff
data ^= (data & 0x0f) << 4
crc = ((data << 8) | (crc >> 8)) ^ (data >> 4) ^ (data << 3)
crc = chr(crc >> 8) + chr(crc & 0xff)
return crc
class PT_uint32:
is_int = 1
max_length = 5
signed = 0
def encode(self, out, v):
if v >= 0xc000000 or v < -0x4000000: out.append((v>>28) & 0x7f | 0x80)
if v >= 0x180000 or v < -0x80000: out.append((v>>21) & 0x7f | 0x80)
if v >= 0x3000 or v < -0x1000: out.append((v>>14) & 0x7f | 0x80)
if v >= 0x60 or v < -0x20: out.append((v>>7) & 0x7f | 0x80)
out.append(v & 0x7f)
def parse(self, s, pos):
c = s[pos]
pos += 1
v = c & 0x7f
if (c & 0x60) == 0x60:
v |= -0x20
while c & 0x80:
c = s[pos]
pos += 1
v = (v<<7) | (c & 0x7f)
if not self.signed:
v = int(v & 0xffffffff)
return v, pos
class PT_int32(PT_uint32):
signed = 1
class PT_uint16(PT_uint32):
max_length = 3
class PT_int16(PT_int32):
signed = 1
max_length = 3
class PT_byte(PT_uint32):
max_length = 2
class PT_string:
is_int = 0
max_length = 64
def encode(self, out, v):
out.append(len(v))
out.extend(bytearray(v))
def parse(self, s, pos):
l = s[pos]
return str(bytearray(s[pos+1:pos+l+1])), pos+l+1
class PT_progmem_buffer(PT_string):
pass
class PT_buffer(PT_string):
pass
MessageTypes = {
'%u': PT_uint32(), '%i': PT_int32(),
'%hu': PT_uint16(), '%hi': PT_int16(),
'%c': PT_byte(),
'%s': PT_string(), '%.*s': PT_progmem_buffer(), '%*s': PT_buffer(),
}
# Update the message format to be compatible with python's % operator
def convert_msg_format(msgformat):
mf = msgformat.replace('%c', '%u')
mf = mf.replace('%.*s', '%s').replace('%*s', '%s')
return mf
class MessageFormat:
def __init__(self, msgid, msgformat):
self.msgid = msgid
self.msgformat = msgformat
self.debugformat = convert_msg_format(msgformat)
parts = msgformat.split()
self.name = parts[0]
argparts = [arg.split('=') for arg in parts[1:]]
self.param_types = [MessageTypes[fmt] for name, fmt in argparts]
self.param_names = [(name, MessageTypes[fmt]) for name, fmt in argparts]
self.name_to_type = dict(self.param_names)
def encode(self, *params):
out = []
out.append(self.msgid)
for i, t in enumerate(self.param_types):
t.encode(out, params[i])
return out
def encode_by_name(self, **params):
out = []
out.append(self.msgid)
for name, t in self.param_names:
t.encode(out, params[name])
return out
def parse(self, s, pos):
pos += 1
out = {}
for name, t in self.param_names:
v, pos = t.parse(s, pos)
out[name] = v
return out, pos
def format_params(self, params):
out = []
for name, t in self.param_names:
v = params[name]
if not t.is_int:
v = repr(v)
out.append(v)
return self.debugformat % tuple(out)
class OutputFormat:
name = '#output'
def __init__(self, msgid, msgformat):
self.msgid = msgid
self.msgformat = msgformat
self.debugformat = convert_msg_format(msgformat)
self.param_types = []
args = msgformat
while 1:
pos = args.find('%')
if pos < 0:
break
if pos+1 >= len(args) or args[pos+1] != '%':
for i in range(4):
t = MessageTypes.get(args[pos:pos+1+i])
if t is not None:
self.param_types.append(t)
break
else:
raise error("Invalid output format for '%s'" % (msg,))
args = args[pos+1:]
def parse(self, s, pos):
pos += 1
out = []
for t in self.param_types:
v, pos = t.parse(s, pos)
if not t.is_int:
v = repr(v)
out.append(v)
outmsg = self.debugformat % tuple(out)
return {'#msg': outmsg}, pos
def format_params(self, params):
return "#output %s" % (params['#msg'],)
class UnknownFormat:
name = '#unknown'
def parse(self, s, pos):
msgid = s[pos]
msg = str(bytearray(s))
return {'#msgid': msgid, '#msg': msg}, len(s)-MESSAGE_TRAILER_SIZE
def format_params(self, params):
return "#unknown %s" % (repr(params['#msg']),)
class MessageParser:
error = error
def __init__(self):
self.unknown = UnknownFormat()
self.command_ids = []
self.messages_by_id = {}
self.messages_by_name = {}
self.static_strings = {}
self.config = {}
self.version = ""
self.raw_identify_data = ""
self._init_messages(DefaultMessages, DefaultMessages.keys())
def check_packet(self, s):
if len(s) < MESSAGE_MIN:
return 0
msglen = ord(s[MESSAGE_POS_LEN])
if msglen < MESSAGE_MIN or msglen > MESSAGE_MAX:
return -1
msgseq = ord(s[MESSAGE_POS_SEQ])
if (msgseq & ~MESSAGE_SEQ_MASK) != MESSAGE_DEST:
return -1
if len(s) < msglen:
# Need more data
return 0
if s[msglen-MESSAGE_TRAILER_SYNC] != MESSAGE_SYNC:
return -1
msgcrc = s[msglen-MESSAGE_TRAILER_CRC:msglen-MESSAGE_TRAILER_CRC+2]
crc = crc16_ccitt(s[:msglen-MESSAGE_TRAILER_SIZE])
if crc != msgcrc:
#logging.debug("got crc %s vs %s", repr(crc), repr(msgcrc))
return -1
return msglen
def dump(self, s):
msgseq = s[MESSAGE_POS_SEQ]
out = ["seq: %02x" % (msgseq,)]
pos = MESSAGE_HEADER_SIZE
while 1:
msgid = s[pos]
mid = self.messages_by_id.get(msgid, self.unknown)
params, pos = mid.parse(s, pos)
out.append(mid.format_params(params))
if pos >= len(s)-MESSAGE_TRAILER_SIZE:
break
return out
def format_params(self, params):
name = params.get('#name')
mid = self.messages_by_name.get(name)
if mid is not None:
return mid.format_params(params)
msg = params.get('#msg')
if msg is not None:
return "%s %s" % (name, msg)
return str(params)
def parse(self, s):
msgid = s[MESSAGE_HEADER_SIZE]
mid = self.messages_by_id.get(msgid, self.unknown)
params, pos = mid.parse(s, MESSAGE_HEADER_SIZE)
if pos != len(s)-MESSAGE_TRAILER_SIZE:
raise error("Extra data at end of message")
params['#name'] = mid.name
static_string_id = params.get('static_string_id')
if static_string_id is not None:
params['#msg'] = self.static_strings.get(static_string_id, "?")
return params
def encode(self, seq, cmd):
msglen = MESSAGE_MIN + len(cmd)
seq = (seq & MESSAGE_SEQ_MASK) | MESSAGE_DEST
out = [chr(msglen), chr(seq), cmd]
out.append(crc16_ccitt(''.join(out)))
out.append(MESSAGE_SYNC)
return ''.join(out)
def _parse_buffer(self, value):
tval = int(value, 16)
out = []
for i in range(len(value) // 2):
out.append(tval & 0xff)
tval >>= 8
out.reverse()
return ''.join([chr(i) for i in out])
def lookup_command(self, msgformat):
parts = msgformat.strip().split()
msgname = parts[0]
mp = self.messages_by_name.get(msgname)
if mp is None:
raise error("Unknown command: %s" % (msgname,))
if msgformat != mp.msgformat:
raise error("Command format mismatch: %s vs %s" % (
msgformat, mp.msgformat))
return mp
def create_command(self, msg):
parts = msg.strip().split()
if not parts:
return ""
msgname = parts[0]
mp = self.messages_by_name.get(msgname)
if mp is None:
raise error("Unknown command: %s" % (msgname,))
try:
argparts = dict(arg.split('=', 1) for arg in parts[1:])
for name, value in argparts.items():
t = mp.name_to_type[name]
if t.is_int:
tval = int(value, 0)
else:
tval = self._parse_buffer(value)
argparts[name] = tval
except:
#traceback.print_exc()
raise error("Unable to extract params from: %s" % (msgname,))
try:
cmd = mp.encode_by_name(**argparts)
except:
#traceback.print_exc()
raise error("Unable to encode: %s" % (msgname,))
return cmd
def _init_messages(self, messages, parsers):
for msgid, msgformat in messages.items():
msgid = int(msgid)
if msgid not in parsers:
self.messages_by_id[msgid] = OutputFormat(msgid, msgformat)
continue
msg = MessageFormat(msgid, msgformat)
self.messages_by_id[msgid] = msg
self.messages_by_name[msg.name] = msg
def process_identify(self, data, decompress=True):
try:
if decompress:
data = zlib.decompress(data)
self.raw_identify_data = data
data = json.loads(data)
messages = data.get('messages')
commands = data.get('commands')
self.command_ids = commands
responses = data.get('responses')
self._init_messages(messages, commands+responses)
static_strings = data.get('static_strings', {})
self.static_strings = { int(k): v for k, v in static_strings.items() }
self.config.update(data.get('config', {}))
self.version = data.get('version', '')
except error as e:
raise
except Exception as e:
logging.exception("process_identify error")
raise error("Error during identify: %s" % (str(e),))
def get_constant(self, name):
try:
return self.config[name]
except KeyError:
raise error("Firmware constant '%s' not found" % (name,))
def get_constant_float(self, name):
try:
return float(self.config[name])
except ValueError:
raise error("Firmware constant '%s' not a float" % (name,))
except KeyError:
raise error("Firmware constant '%s' not found" % (name,))

45
klippy/parsedump.py
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@@ -1,45 +0,0 @@
#!/usr/bin/env python2
# Script to parse a serial port data dump
#
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import os, sys, logging
import msgproto
def read_dictionary(filename):
dfile = open(filename, 'rb')
dictionary = dfile.read()
dfile.close()
return dictionary
def main():
dict_filename, data_filename = sys.argv[1:]
dictionary = read_dictionary(dict_filename)
mp = msgproto.MessageParser()
mp.process_identify(dictionary, decompress=False)
f = open(data_filename, 'rb')
fd = f.fileno()
data = ""
while 1:
newdata = os.read(fd, 4096)
if not newdata:
break
data += newdata
while 1:
l = mp.check_packet(data)
if l == 0:
break
if l < 0:
logging.error("Invalid data")
data = data[-l:]
continue
msgs = mp.dump(bytearray(data[:l]))
sys.stdout.write('\n'.join(msgs[1:]) + '\n')
data = data[l:]
if __name__ == '__main__':
main()

216
klippy/pins.py
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@@ -1,216 +0,0 @@
# Pin name to pin number definitions
#
# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import re
######################################################################
# Hardware pin names
######################################################################
def port_pins(port_count, bit_count=8):
pins = {}
for port in range(port_count):
portchr = chr(65 + port)
if portchr == 'I':
continue
for portbit in range(bit_count):
pins['P%c%d' % (portchr, portbit)] = port * bit_count + portbit
return pins
def named_pins(fmt, port_count, bit_count=32):
return { fmt % (port, portbit) : port * bit_count + portbit
for port in range(port_count)
for portbit in range(bit_count) }
def beaglebone_pins():
gpios = named_pins("gpio%d_%d", 4)
gpios.update({"AIN%d" % i: i+4*32 for i in range(8)})
return gpios
MCU_PINS = {
"atmega168": port_pins(4), "atmega328": port_pins(4),
"atmega644p": port_pins(4), "atmega1284p": port_pins(4),
"at90usb1286": port_pins(6),
"atmega1280": port_pins(12), "atmega2560": port_pins(12),
"sam3x8e": port_pins(4, 32),
"pru": beaglebone_pins(),
"linux": {"analog%d" % i: i for i in range(8)}, # XXX
}
######################################################################
# Arduino mappings
######################################################################
Arduino_standard = [
"PD0", "PD1", "PD2", "PD3", "PD4", "PD5", "PD6", "PD7", "PB0", "PB1",
"PB2", "PB3", "PB4", "PB5", "PC0", "PC1", "PC2", "PC3", "PC4", "PC5",
]
Arduino_analog_standard = [
"PC0", "PC1", "PC2", "PC3", "PC4", "PC5", "PE0", "PE1",
]
Arduino_mega = [
"PE0", "PE1", "PE4", "PE5", "PG5", "PE3", "PH3", "PH4", "PH5", "PH6",
"PB4", "PB5", "PB6", "PB7", "PJ1", "PJ0", "PH1", "PH0", "PD3", "PD2",
"PD1", "PD0", "PA0", "PA1", "PA2", "PA3", "PA4", "PA5", "PA6", "PA7",
"PC7", "PC6", "PC5", "PC4", "PC3", "PC2", "PC1", "PC0", "PD7", "PG2",
"PG1", "PG0", "PL7", "PL6", "PL5", "PL4", "PL3", "PL2", "PL1", "PL0",
"PB3", "PB2", "PB1", "PB0", "PF0", "PF1", "PF2", "PF3", "PF4", "PF5",
"PF6", "PF7", "PK0", "PK1", "PK2", "PK3", "PK4", "PK5", "PK6", "PK7",
]
Arduino_analog_mega = [
"PF0", "PF1", "PF2", "PF3", "PF4", "PF5",
"PF6", "PF7", "PK0", "PK1", "PK2", "PK3", "PK4", "PK5", "PK6", "PK7",
]
Sanguino = [
"PB0", "PB1", "PB2", "PB3", "PB4", "PB5", "PB6", "PB7", "PD0", "PD1",
"PD2", "PD3", "PD4", "PD5", "PD6", "PD7", "PC0", "PC1", "PC2", "PC3",
"PC4", "PC5", "PC6", "PC7", "PA0", "PA1", "PA2", "PA3", "PA4", "PA5",
"PA6", "PA7"
]
Sanguino_analog = [
"PA0", "PA1", "PA2", "PA3", "PA4", "PA5", "PA6", "PA7"
]
Arduino_Due = [
"PA8", "PA9", "PB25", "PC28", "PA29", "PC25", "PC24", "PC23", "PC22", "PC21",
"PA28", "PD7", "PD8", "PB27", "PD4", "PD5", "PA13", "PA12", "PA11", "PA10",
"PB12", "PB13", "PB26", "PA14", "PA15", "PD0", "PD1", "PD2", "PD3", "PD6",
"PD9", "PA7", "PD10", "PC1", "PC2", "PC3", "PC4", "PC5", "PC6", "PC7",
"PC8", "PC9", "PA19", "PA20", "PC19", "PC18", "PC17", "PC16", "PC15", "PC14",
"PC13", "PC12", "PB21", "PB14", "PA16", "PA24", "PA23", "PA22", "PA6", "PA4",
"PA3", "PA2", "PB17", "PB18", "PB19", "PB20", "PB15", "PB16", "PA1", "PA0",
"PA17", "PA18", "PC30", "PA21", "PA25", "PA26", "PA27", "PA28", "PB23"
]
Arduino_Due_analog = [
"PA16", "PA24", "PA23", "PA22", "PA6", "PA4", "PA3", "PA2", "PB17", "PB18",
"PB19", "PB20"
]
Arduino_from_mcu = {
"atmega168": (Arduino_standard, Arduino_analog_standard),
"atmega644p": (Sanguino, Sanguino_analog),
"atmega1280": (Arduino_mega, Arduino_analog_mega),
"atmega2560": (Arduino_mega, Arduino_analog_mega),
"sam3x8e": (Arduino_Due, Arduino_Due_analog),
}
def update_map_arduino(pins, mcu):
dpins, apins = Arduino_from_mcu.get(mcu, ([], []))
for i in range(len(dpins)):
pins['ar' + str(i)] = pins[dpins[i]]
for i in range(len(apins)):
pins['analog%d' % (i,)] = pins[apins[i]]
######################################################################
# Beaglebone mappings
######################################################################
beagleboneblack_mappings = {
'P8_3': 'gpio1_6', 'P8_4': 'gpio1_7', 'P8_5': 'gpio1_2',
'P8_6': 'gpio1_3', 'P8_7': 'gpio2_2', 'P8_8': 'gpio2_3',
'P8_9': 'gpio2_5', 'P8_10': 'gpio2_4', 'P8_11': 'gpio1_13',
'P8_12': 'gpio1_12', 'P8_13': 'gpio0_23', 'P8_14': 'gpio0_26',
'P8_15': 'gpio1_15', 'P8_16': 'gpio1_14', 'P8_17': 'gpio0_27',
'P8_18': 'gpio2_1', 'P8_19': 'gpio0_22', 'P8_20': 'gpio1_31',
'P8_21': 'gpio1_30', 'P8_22': 'gpio1_5', 'P8_23': 'gpio1_4',
'P8_24': 'gpio1_1', 'P8_25': 'gpio1_0', 'P8_26': 'gpio1_29',
'P8_27': 'gpio2_22', 'P8_28': 'gpio2_24', 'P8_29': 'gpio2_23',
'P8_30': 'gpio2_25', 'P8_31': 'gpio0_10', 'P8_32': 'gpio0_11',
'P8_33': 'gpio0_9', 'P8_34': 'gpio2_17', 'P8_35': 'gpio0_8',
'P8_36': 'gpio2_16', 'P8_37': 'gpio2_14', 'P8_38': 'gpio2_15',
'P8_39': 'gpio2_12', 'P8_40': 'gpio2_13', 'P8_41': 'gpio2_10',
'P8_42': 'gpio2_11', 'P8_43': 'gpio2_8', 'P8_44': 'gpio2_9',
'P8_45': 'gpio2_6', 'P8_46': 'gpio2_7', 'P9_11': 'gpio0_30',
'P9_12': 'gpio1_28', 'P9_13': 'gpio0_31', 'P9_14': 'gpio1_18',
'P9_15': 'gpio1_16', 'P9_16': 'gpio1_19', 'P9_17': 'gpio0_5',
'P9_18': 'gpio0_4', 'P9_19': 'gpio0_13', 'P9_20': 'gpio0_12',
'P9_21': 'gpio0_3', 'P9_22': 'gpio0_2', 'P9_23': 'gpio1_17',
'P9_24': 'gpio0_15', 'P9_25': 'gpio3_21', 'P9_26': 'gpio0_14',
'P9_27': 'gpio3_19', 'P9_28': 'gpio3_17', 'P9_29': 'gpio3_15',
'P9_30': 'gpio3_16', 'P9_31': 'gpio3_14', 'P9_41': 'gpio0_20',
'P9_42': 'gpio3_20', 'P9_43': 'gpio0_7', 'P9_44': 'gpio3_18',
'P9_33': 'AIN4', 'P9_35': 'AIN6', 'P9_36': 'AIN5', 'P9_37': 'AIN2',
'P9_38': 'AIN3', 'P9_39': 'AIN0', 'P9_40': 'AIN1',
}
def update_map_beaglebone(pins, mcu):
for pin, gpio in beagleboneblack_mappings.items():
pins[pin] = pins[gpio]
######################################################################
# Command translation
######################################################################
# Obtains the pin mappings
def get_pin_map(mcu, mapping_name=None):
pins = dict(MCU_PINS.get(mcu, {}))
if mapping_name == 'arduino':
update_map_arduino(pins, mcu)
elif mapping_name == 'beaglebone':
update_map_beaglebone(pins, mcu)
return pins
# Translate pin names in a firmware command
re_pin = re.compile(r'(?P<prefix>[ _]pin=)(?P<name>[^ ]*)')
def update_command(cmd, pmap):
def pin_fixup(m):
return m.group('prefix') + str(pmap[m.group('name')])
return re_pin.sub(pin_fixup, cmd)
######################################################################
# Pin to chip mapping
######################################################################
class error(Exception):
pass
class PrinterPins:
error = error
def __init__(self):
self.chips = {}
def parse_pin_desc(self, pin_desc, can_invert=False, can_pullup=False):
pullup = invert = 0
if can_pullup and pin_desc.startswith('^'):
pullup = 1
pin_desc = pin_desc[1:].strip()
if can_invert and pin_desc.startswith('!'):
invert = 1
pin_desc = pin_desc[1:].strip()
if ':' not in pin_desc:
chip_name, pin = 'mcu', pin_desc
else:
chip_name, pin = [s.strip() for s in pin_desc.split(':', 1)]
if chip_name not in self.chips:
raise error("Unknown pin chip name '%s'" % (chip_name,))
return {'chip': self.chips[chip_name], 'pin': pin,
'invert': invert, 'pullup': pullup}
def register_chip(self, chip_name, chip):
chip_name = chip_name.strip()
if chip_name in self.chips:
raise error("Duplicate chip name '%s'" % (chip_name,))
self.chips[chip_name] = chip
def add_printer_objects(printer, config):
printer.add_object('pins', PrinterPins())
def get_printer_pins(printer):
return printer.objects['pins']
def setup_pin(printer, pin_type, pin_desc):
ppins = get_printer_pins(printer)
can_invert = pin_type in ['stepper', 'endstop', 'digital_out', 'pwm']
can_pullup = pin_type == 'endstop'
pin_params = ppins.parse_pin_desc(pin_desc, can_invert, can_pullup)
pin_params['type'] = pin_type
return pin_params['chip'].setup_pin(pin_params)

93
klippy/pyhelper.c
View File

@@ -1,93 +0,0 @@
// Helper functions for C / Python interface
//
// Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
#include <errno.h> // errno
#include <stdarg.h> // va_start
#include <stdint.h> // uint8_t
#include <stdio.h> // fprintf
#include <string.h> // strerror
#include <time.h> // struct timespec
#include "pyhelper.h" // get_monotonic
// Return the monotonic system time as a double
double
get_monotonic(void)
{
struct timespec ts;
int ret = clock_gettime(CLOCK_MONOTONIC, &ts);
if (ret) {
report_errno("clock_gettime", ret);
return 0.;
}
return (double)ts.tv_sec + (double)ts.tv_nsec * .000000001;
}
// Fill a 'struct timespec' with a system time stored in a double
struct timespec
fill_time(double time)
{
time_t t = time;
return (struct timespec) {t, (time - t)*1000000000. };
}
static void
default_logger(const char *msg)
{
fprintf(stderr, "%s\n", msg);
}
static void (*python_logging_callback)(const char *msg) = default_logger;
void
set_python_logging_callback(void (*func)(const char *))
{
python_logging_callback = func;
}
// Log an error message
void
errorf(const char *fmt, ...)
{
char buf[512];
va_list args;
va_start(args, fmt);
vsnprintf(buf, sizeof(buf), fmt, args);
va_end(args);
buf[sizeof(buf)-1] = '\0';
python_logging_callback(buf);
}
// Report 'errno' in a message written to stderr
void
report_errno(char *where, int rc)
{
int e = errno;
errorf("Got error %d in %s: (%d)%s", rc, where, e, strerror(e));
}
// Return a hex character for a given number
#define GETHEX(x) ((x) < 10 ? '0' + (x) : 'a' + (x) - 10)
// Translate a binary string into an ASCII string with escape sequences
char *
dump_string(char *outbuf, int outbuf_size, char *inbuf, int inbuf_size)
{
char *outend = &outbuf[outbuf_size-5], *o = outbuf;
uint8_t *inend = (void*)&inbuf[inbuf_size], *p = (void*)inbuf;
while (p < inend && o < outend) {
uint8_t c = *p++;
if (c > 31 && c < 127 && c != '\\') {
*o++ = c;
continue;
}
*o++ = '\\';
*o++ = 'x';
*o++ = GETHEX(c >> 4);
*o++ = GETHEX(c & 0x0f);
}
*o = '\0';
return outbuf;
}

14
klippy/pyhelper.h
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@@ -1,14 +0,0 @@
#ifndef PYHELPER_H
#define PYHELPER_H
#define likely(x) __builtin_expect(!!(x), 1)
#define unlikely(x) __builtin_expect(!!(x), 0)
double get_monotonic(void);
struct timespec fill_time(double time);
void set_python_logging_callback(void (*func)(const char *));
void errorf(const char *fmt, ...) __attribute__ ((format (printf, 1, 2)));
void report_errno(char *where, int rc);
char *dump_string(char *outbuf, int outbuf_size, char *inbuf, int inbuf_size);
#endif // pyhelper.h

60
klippy/queuelogger.py
View File

@@ -1,60 +0,0 @@
# Code to implement asynchronous logging from a background thread
#
# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, logging.handlers, threading, Queue, time
# Class to forward all messages through a queue to a background thread
class QueueHandler(logging.Handler):
def __init__(self, queue):
logging.Handler.__init__(self)
self.queue = queue
def emit(self, record):
try:
self.format(record)
record.msg = record.message
record.args = None
record.exc_info = None
self.queue.put_nowait(record)
except Exception:
self.handleError(record)
# Class to poll a queue in a background thread and log each message
class QueueListener(logging.handlers.TimedRotatingFileHandler):
def __init__(self, filename):
logging.handlers.TimedRotatingFileHandler.__init__(
self, filename, when='midnight', backupCount=5)
self.bg_queue = Queue.Queue()
self.bg_thread = threading.Thread(target=self._bg_thread)
self.bg_thread.start()
self.rollover_info = {}
def _bg_thread(self):
while 1:
record = self.bg_queue.get(True)
if record is None:
break
self.handle(record)
def stop(self):
self.bg_queue.put_nowait(None)
self.bg_thread.join()
def set_rollover_info(self, name, info):
self.rollover_info[name] = info
def doRollover(self):
logging.handlers.TimedRotatingFileHandler.doRollover(self)
lines = [self.rollover_info[name]
for name in sorted(self.rollover_info)
if self.rollover_info[name]]
lines.append(
"=============== Log rollover at %s ===============" % (
time.asctime(),))
self.emit(logging.makeLogRecord(
{'msg': "\n".join(lines), 'level': logging.INFO}))
def setup_bg_logging(filename, debuglevel):
ql = QueueListener(filename)
qh = QueueHandler(ql.bg_queue)
root = logging.getLogger()
root.addHandler(qh)
root.setLevel(debuglevel)
return ql

201
klippy/reactor.py
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@@ -1,201 +0,0 @@
# File descriptor and timer event helper
#
# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import select, math, time
import greenlet
import chelper
class ReactorTimer:
def __init__(self, callback, waketime):
self.callback = callback
self.waketime = waketime
class ReactorFileHandler:
def __init__(self, fd, callback):
self.fd = fd
self.callback = callback
def fileno(self):
return self.fd
class ReactorGreenlet(greenlet.greenlet):
def __init__(self, run):
greenlet.greenlet.__init__(self, run=run)
self.timer = None
class SelectReactor:
NOW = 0.
NEVER = 9999999999999999.
def __init__(self):
self._fds = []
self._timers = []
self._next_timer = self.NEVER
self._process = False
self._g_dispatch = None
self._greenlets = []
self.monotonic = chelper.get_ffi()[1].get_monotonic
# Timers
def _note_time(self, t):
nexttime = t.waketime
if nexttime < self._next_timer:
self._next_timer = nexttime
def update_timer(self, t, nexttime):
t.waketime = nexttime
self._note_time(t)
def register_timer(self, callback, waketime = NEVER):
handler = ReactorTimer(callback, waketime)
timers = list(self._timers)
timers.append(handler)
self._timers = timers
self._note_time(handler)
return handler
def unregister_timer(self, handler):
timers = list(self._timers)
timers.pop(timers.index(handler))
self._timers = timers
def _check_timers(self, eventtime):
if eventtime < self._next_timer:
return min(1., max(.001, self._next_timer - eventtime))
self._next_timer = self.NEVER
g_dispatch = self._g_dispatch
for t in self._timers:
if eventtime >= t.waketime:
t.waketime = self.NEVER
t.waketime = t.callback(eventtime)
if g_dispatch is not self._g_dispatch:
self._end_greenlet(g_dispatch)
return 0.
self._note_time(t)
if eventtime >= self._next_timer:
return 0.
return min(1., max(.001, self._next_timer - self.monotonic()))
# Greenlets
def _sys_pause(self, waketime):
# Pause using system sleep for when reactor not running
delay = waketime - self.monotonic()
if delay > 0.:
time.sleep(delay)
return self.monotonic()
def pause(self, waketime):
g = greenlet.getcurrent()
if g is not self._g_dispatch:
if self._g_dispatch is None:
return self._sys_pause(waketime)
return self._g_dispatch.switch(waketime)
if self._greenlets:
g_next = self._greenlets.pop()
else:
g_next = ReactorGreenlet(run=self._dispatch_loop)
g_next.parent = g.parent
g.timer = self.register_timer(g.switch, waketime)
return g_next.switch()
def _end_greenlet(self, g_old):
self._greenlets.append(g_old)
self.unregister_timer(g_old.timer)
g_old.timer = None
self._g_dispatch.switch(self.NEVER)
self._g_dispatch = g_old
# File descriptors
def register_fd(self, fd, callback):
handler = ReactorFileHandler(fd, callback)
self._fds.append(handler)
return handler
def unregister_fd(self, handler):
self._fds.pop(self._fds.index(handler))
# Main loop
def _dispatch_loop(self):
self._g_dispatch = g_dispatch = greenlet.getcurrent()
eventtime = self.monotonic()
while self._process:
timeout = self._check_timers(eventtime)
res = select.select(self._fds, [], [], timeout)
eventtime = self.monotonic()
for fd in res[0]:
fd.callback(eventtime)
if g_dispatch is not self._g_dispatch:
self._end_greenlet(g_dispatch)
eventtime = self.monotonic()
break
self._g_dispatch = None
def run(self):
self._process = True
g_next = ReactorGreenlet(run=self._dispatch_loop)
g_next.switch()
def end(self):
self._process = False
class PollReactor(SelectReactor):
def __init__(self):
SelectReactor.__init__(self)
self._poll = select.poll()
self._fds = {}
# File descriptors
def register_fd(self, fd, callback):
handler = ReactorFileHandler(fd, callback)
fds = self._fds.copy()
fds[fd] = callback
self._fds = fds
self._poll.register(handler, select.POLLIN | select.POLLHUP)
return handler
def unregister_fd(self, handler):
self._poll.unregister(handler)
fds = self._fds.copy()
del fds[handler.fd]
self._fds = fds
# Main loop
def _dispatch_loop(self):
self._g_dispatch = g_dispatch = greenlet.getcurrent()
eventtime = self.monotonic()
while self._process:
timeout = self._check_timers(eventtime)
res = self._poll.poll(int(math.ceil(timeout * 1000.)))
eventtime = self.monotonic()
for fd, event in res:
self._fds[fd](eventtime)
if g_dispatch is not self._g_dispatch:
self._end_greenlet(g_dispatch)
eventtime = self.monotonic()
break
self._g_dispatch = None
class EPollReactor(SelectReactor):
def __init__(self):
SelectReactor.__init__(self)
self._epoll = select.epoll()
self._fds = {}
# File descriptors
def register_fd(self, fd, callback):
handler = ReactorFileHandler(fd, callback)
fds = self._fds.copy()
fds[fd] = callback
self._fds = fds
self._epoll.register(fd, select.EPOLLIN | select.EPOLLHUP)
return handler
def unregister_fd(self, handler):
self._epoll.unregister(handler.fd)
fds = self._fds.copy()
del fds[handler.fd]
self._fds = fds
# Main loop
def _dispatch_loop(self):
self._g_dispatch = g_dispatch = greenlet.getcurrent()
eventtime = self.monotonic()
while self._process:
timeout = self._check_timers(eventtime)
res = self._epoll.poll(timeout)
eventtime = self.monotonic()
for fd, event in res:
self._fds[fd](eventtime)
if g_dispatch is not self._g_dispatch:
self._end_greenlet(g_dispatch)
eventtime = self.monotonic()
break
self._g_dispatch = None
# Use the poll based reactor if it is available
try:
select.poll
Reactor = PollReactor
except:
Reactor = SelectReactor

284
klippy/serialhdl.py
View File

@@ -1,284 +0,0 @@
# Serial port management for firmware communication
#
# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, threading
import serial
import msgproto, chelper, util
class error(Exception):
pass
class SerialReader:
BITS_PER_BYTE = 10.
def __init__(self, reactor, serialport, baud):
self.reactor = reactor
self.serialport = serialport
self.baud = baud
# Serial port
self.ser = None
self.msgparser = msgproto.MessageParser()
# C interface
self.ffi_main, self.ffi_lib = chelper.get_ffi()
self.serialqueue = None
self.default_cmd_queue = self.alloc_command_queue()
self.stats_buf = self.ffi_main.new('char[4096]')
# Threading
self.lock = threading.Lock()
self.background_thread = None
# Message handlers
handlers = {
'#unknown': self.handle_unknown, '#output': self.handle_output,
'shutdown': self.handle_output, 'is_shutdown': self.handle_output
}
self.handlers = { (k, None): v for k, v in handlers.items() }
def _bg_thread(self):
response = self.ffi_main.new('struct pull_queue_message *')
while 1:
self.ffi_lib.serialqueue_pull(self.serialqueue, response)
count = response.len
if count <= 0:
break
params = self.msgparser.parse(response.msg[0:count])
params['#sent_time'] = response.sent_time
params['#receive_time'] = response.receive_time
hdl = (params['#name'], params.get('oid'))
with self.lock:
hdl = self.handlers.get(hdl, self.handle_default)
try:
hdl(params)
except:
logging.exception("Exception in serial callback")
def connect(self):
# Initial connection
logging.info("Starting serial connect")
while 1:
starttime = self.reactor.monotonic()
try:
if self.baud:
self.ser = serial.Serial(
self.serialport, self.baud, timeout=0)
else:
self.ser = open(self.serialport, 'rb+')
except (OSError, IOError, serial.SerialException) as e:
logging.warn("Unable to open port: %s", e)
self.reactor.pause(starttime + 5.)
continue
if self.baud:
stk500v2_leave(self.ser, self.reactor)
self.serialqueue = self.ffi_lib.serialqueue_alloc(
self.ser.fileno(), 0)
self.background_thread = threading.Thread(target=self._bg_thread)
self.background_thread.start()
# Obtain and load the data dictionary from the firmware
sbs = SerialBootStrap(self)
identify_data = sbs.get_identify_data(starttime + 5.)
if identify_data is None:
logging.warn("Timeout on serial connect")
self.disconnect()
continue
break
msgparser = msgproto.MessageParser()
msgparser.process_identify(identify_data)
self.msgparser = msgparser
self.register_callback(self.handle_unknown, '#unknown')
logging.info("Loaded %d commands (%s)",
len(msgparser.messages_by_id), msgparser.version)
logging.info("MCU config: %s", " ".join(
["%s=%s" % (k, v) for k, v in msgparser.config.items()]))
# Setup baud adjust
mcu_baud = float(msgparser.config.get('SERIAL_BAUD', 0.))
if mcu_baud:
baud_adjust = self.BITS_PER_BYTE / mcu_baud
self.ffi_lib.serialqueue_set_baud_adjust(
self.serialqueue, baud_adjust)
def connect_file(self, debugoutput, dictionary, pace=False):
self.ser = debugoutput
self.msgparser.process_identify(dictionary, decompress=False)
self.serialqueue = self.ffi_lib.serialqueue_alloc(self.ser.fileno(), 1)
def set_clock_est(self, freq, last_time, last_clock):
self.ffi_lib.serialqueue_set_clock_est(
self.serialqueue, freq, last_time, last_clock)
def disconnect(self):
if self.serialqueue is not None:
self.ffi_lib.serialqueue_exit(self.serialqueue)
if self.background_thread is not None:
self.background_thread.join()
self.ffi_lib.serialqueue_free(self.serialqueue)
self.background_thread = self.serialqueue = None
if self.ser is not None:
self.ser.close()
self.ser = None
def stats(self, eventtime):
if self.serialqueue is None:
return ""
self.ffi_lib.serialqueue_get_stats(
self.serialqueue, self.stats_buf, len(self.stats_buf))
return self.ffi_main.string(self.stats_buf)
# Serial response callbacks
def register_callback(self, callback, name, oid=None):
with self.lock:
self.handlers[name, oid] = callback
def unregister_callback(self, name, oid=None):
with self.lock:
del self.handlers[name, oid]
# Command sending
def send(self, cmd, minclock=0, reqclock=0, cq=None):
if cq is None:
cq = self.default_cmd_queue
self.ffi_lib.serialqueue_send(
self.serialqueue, cq, cmd, len(cmd), minclock, reqclock)
def encode_and_send(self, data, minclock, reqclock, cq):
self.ffi_lib.serialqueue_encode_and_send(
self.serialqueue, cq, data, len(data), minclock, reqclock)
def send_with_response(self, cmd, name, oid=None):
src = SerialRetryCommand(self, cmd, name, oid)
return src.get_response()
def alloc_command_queue(self):
return self.ffi_main.gc(self.ffi_lib.serialqueue_alloc_commandqueue(),
self.ffi_lib.serialqueue_free_commandqueue)
# Dumping debug lists
def dump_debug(self):
out = []
out.append("Dumping serial stats: %s" % (
self.stats(self.reactor.monotonic()),))
sdata = self.ffi_main.new('struct pull_queue_message[1024]')
rdata = self.ffi_main.new('struct pull_queue_message[1024]')
scount = self.ffi_lib.serialqueue_extract_old(
self.serialqueue, 1, sdata, len(sdata))
rcount = self.ffi_lib.serialqueue_extract_old(
self.serialqueue, 0, rdata, len(rdata))
out.append("Dumping send queue %d messages" % (scount,))
for i in range(scount):
msg = sdata[i]
cmds = self.msgparser.dump(msg.msg[0:msg.len])
out.append("Sent %d %f %f %d: %s" % (
i, msg.receive_time, msg.sent_time, msg.len, ', '.join(cmds)))
out.append("Dumping receive queue %d messages" % (rcount,))
for i in range(rcount):
msg = rdata[i]
cmds = self.msgparser.dump(msg.msg[0:msg.len])
out.append("Receive: %d %f %f %d: %s" % (
i, msg.receive_time, msg.sent_time, msg.len, ', '.join(cmds)))
return '\n'.join(out)
# Default message handlers
def handle_unknown(self, params):
logging.warn("Unknown message type %d: %s",
params['#msgid'], repr(params['#msg']))
def handle_output(self, params):
logging.info("%s: %s", params['#name'], params['#msg'])
def handle_default(self, params):
logging.warn("got %s", params)
def __del__(self):
self.disconnect()
# Class to retry sending of a query command until a given response is received
class SerialRetryCommand:
TIMEOUT_TIME = 5.0
RETRY_TIME = 0.500
def __init__(self, serial, cmd, name, oid=None):
self.serial = serial
self.cmd = cmd
self.name = name
self.oid = oid
self.response = None
self.min_query_time = self.serial.reactor.monotonic()
self.serial.register_callback(self.handle_callback, self.name, self.oid)
self.send_timer = self.serial.reactor.register_timer(
self.send_event, self.serial.reactor.NOW)
def unregister(self):
self.serial.unregister_callback(self.name, self.oid)
self.serial.reactor.unregister_timer(self.send_timer)
def send_event(self, eventtime):
if self.response is not None:
return self.serial.reactor.NEVER
self.serial.send(self.cmd)
return eventtime + self.RETRY_TIME
def handle_callback(self, params):
last_sent_time = params['#sent_time']
if last_sent_time >= self.min_query_time:
self.response = params
def get_response(self):
eventtime = self.serial.reactor.monotonic()
while self.response is None:
eventtime = self.serial.reactor.pause(eventtime + 0.05)
if eventtime > self.min_query_time + self.TIMEOUT_TIME:
self.unregister()
raise error("Timeout on wait for '%s' response" % (self.name,))
self.unregister()
return self.response
# Code to start communication and download message type dictionary
class SerialBootStrap:
RETRY_TIME = 0.500
def __init__(self, serial):
self.serial = serial
self.identify_data = ""
self.identify_cmd = self.serial.msgparser.lookup_command(
"identify offset=%u count=%c")
self.is_done = False
self.serial.register_callback(self.handle_identify, 'identify_response')
self.serial.register_callback(self.handle_unknown, '#unknown')
self.send_timer = self.serial.reactor.register_timer(
self.send_event, self.serial.reactor.NOW)
def get_identify_data(self, timeout):
eventtime = self.serial.reactor.monotonic()
while not self.is_done and eventtime <= timeout:
eventtime = self.serial.reactor.pause(eventtime + 0.05)
self.serial.unregister_callback('identify_response')
self.serial.reactor.unregister_timer(self.send_timer)
if not self.is_done:
return None
return self.identify_data
def handle_identify(self, params):
if self.is_done or params['offset'] != len(self.identify_data):
return
msgdata = params['data']
if not msgdata:
self.is_done = True
return
self.identify_data += msgdata
imsg = self.identify_cmd.encode(len(self.identify_data), 40)
self.serial.send(imsg)
def send_event(self, eventtime):
if self.is_done:
return self.serial.reactor.NEVER
imsg = self.identify_cmd.encode(len(self.identify_data), 40)
self.serial.send(imsg)
return eventtime + self.RETRY_TIME
def handle_unknown(self, params):
logging.debug("Unknown message %d (len %d) while identifying",
params['#msgid'], len(params['#msg']))
# Attempt to place an AVR stk500v2 style programmer into normal mode
def stk500v2_leave(ser, reactor):
logging.debug("Starting stk500v2 leave programmer sequence")
util.clear_hupcl(ser.fileno())
origbaud = ser.baudrate
# Request a dummy speed first as this seems to help reset the port
ser.baudrate = 2400
ser.read(1)
# Send stk500v2 leave programmer sequence
ser.baudrate = 115200
reactor.pause(reactor.monotonic() + 0.100)
ser.read(4096)
ser.write('\x1b\x01\x00\x01\x0e\x11\x04')
reactor.pause(reactor.monotonic() + 0.050)
res = ser.read(4096)
logging.debug("Got %s from stk500v2", repr(res))
ser.baudrate = origbaud
# Attempt an arduino style reset on a serial port
def arduino_reset(serialport, reactor):
# First try opening the port at a different baud
ser = serial.Serial(serialport, 2400, timeout=0)
ser.read(1)
reactor.pause(reactor.monotonic() + 0.100)
# Then toggle DTR
ser.dtr = True
reactor.pause(reactor.monotonic() + 0.100)
ser.dtr = False
reactor.pause(reactor.monotonic() + 0.100)
ser.close()

1084
klippy/serialqueue.c
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File diff suppressed because it is too large Load Diff

68
klippy/serialqueue.h
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@@ -1,68 +0,0 @@
#ifndef SERIALQUEUE_H
#define SERIALQUEUE_H
#include "list.h" // struct list_head
#define MAX_CLOCK 0x7fffffffffffffff
#define MESSAGE_MIN 5
#define MESSAGE_MAX 64
#define MESSAGE_HEADER_SIZE 2
#define MESSAGE_TRAILER_SIZE 3
#define MESSAGE_POS_LEN 0
#define MESSAGE_POS_SEQ 1
#define MESSAGE_TRAILER_CRC 3
#define MESSAGE_TRAILER_SYNC 1
#define MESSAGE_PAYLOAD_MAX (MESSAGE_MAX - MESSAGE_MIN)
#define MESSAGE_SEQ_MASK 0x0f
#define MESSAGE_DEST 0x10
#define MESSAGE_SYNC 0x7E
struct queue_message {
int len;
uint8_t msg[MESSAGE_MAX];
union {
// Filled when on a command queue
struct {
uint64_t min_clock, req_clock;
};
// Filled when in sent/receive queues
struct {
double sent_time, receive_time;
};
};
struct list_node node;
};
struct queue_message *message_alloc_and_encode(uint32_t *data, int len);
void message_queue_free(struct list_head *root);
struct pull_queue_message {
uint8_t msg[MESSAGE_MAX];
int len;
double sent_time, receive_time;
};
struct serialqueue;
struct serialqueue *serialqueue_alloc(int serial_fd, int write_only);
void serialqueue_exit(struct serialqueue *sq);
void serialqueue_free(struct serialqueue *sq);
struct command_queue *serialqueue_alloc_commandqueue(void);
void serialqueue_free_commandqueue(struct command_queue *cq);
void serialqueue_send_batch(struct serialqueue *sq, struct command_queue *cq
, struct list_head *msgs);
void serialqueue_send(struct serialqueue *sq, struct command_queue *cq
, uint8_t *msg, int len
, uint64_t min_clock, uint64_t req_clock);
void serialqueue_encode_and_send(struct serialqueue *sq, struct command_queue *cq
, uint32_t *data, int len
, uint64_t min_clock, uint64_t req_clock);
void serialqueue_pull(struct serialqueue *sq, struct pull_queue_message *pqm);
void serialqueue_set_baud_adjust(struct serialqueue *sq, double baud_adjust);
void serialqueue_set_clock_est(struct serialqueue *sq, double est_freq
, double last_clock_time, uint64_t last_clock);
void serialqueue_get_stats(struct serialqueue *sq, char *buf, int len);
int serialqueue_extract_old(struct serialqueue *sq, int sentq
, struct pull_queue_message *q, int max);
#endif // serialqueue.h

847
klippy/stepcompress.c
View File

@@ -1,847 +0,0 @@
// Stepper pulse schedule compression
//
// Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
//
// The goal of this code is to take a series of scheduled stepper
// pulse times and compress them into a handful of commands that can
// be efficiently transmitted and executed on a microcontroller (mcu).
// The mcu accepts step pulse commands that take interval, count, and
// add parameters such that 'count' pulses occur, with each step event
// calculating the next step event time using:
// next_wake_time = last_wake_time + interval; interval += add
// This code is writtin in C (instead of python) for processing
// efficiency - the repetitive integer math is vastly faster in C.
#include <math.h> // sqrt
#include <stddef.h> // offsetof
#include <stdint.h> // uint32_t
#include <stdio.h> // fprintf
#include <stdlib.h> // malloc
#include <string.h> // memset
#include "pyhelper.h" // errorf
#include "serialqueue.h" // struct queue_message
#define CHECK_LINES 1
#define QUEUE_START_SIZE 1024
struct stepcompress {
// Buffer management
uint32_t *queue, *queue_end, *queue_pos, *queue_next;
// Internal tracking
uint32_t max_error;
double mcu_time_offset, mcu_freq;
// Message generation
uint64_t last_step_clock, homing_clock;
struct list_head msg_queue;
uint32_t queue_step_msgid, set_next_step_dir_msgid, oid;
int sdir, invert_sdir;
};
/****************************************************************
* Step compression
****************************************************************/
#define DIV_UP(n,d) (((n) + (d) - 1) / (d))
static inline int32_t
idiv_up(int32_t n, int32_t d)
{
return (n>=0) ? DIV_UP(n,d) : (n/d);
}
static inline int32_t
idiv_down(int32_t n, int32_t d)
{
return (n>=0) ? (n/d) : (n - d + 1) / d;
}
struct points {
int32_t minp, maxp;
};
// Given a requested step time, return the minimum and maximum
// acceptable times
static inline struct points
minmax_point(struct stepcompress *sc, uint32_t *pos)
{
uint32_t lsc = sc->last_step_clock, point = *pos - lsc;
uint32_t prevpoint = pos > sc->queue_pos ? *(pos-1) - lsc : 0;
uint32_t max_error = (point - prevpoint) / 2;
if (max_error > sc->max_error)
max_error = sc->max_error;
return (struct points){ point - max_error, point };
}
// The maximum add delta between two valid quadratic sequences of the
// form "add*count*(count-1)/2 + interval*count" is "(6 + 4*sqrt(2)) *
// maxerror / (count*count)". The "6 + 4*sqrt(2)" is 11.65685, but
// using 11 works well in practice.
#define QUADRATIC_DEV 11
struct step_move {
uint32_t interval;
uint16_t count;
int16_t add;
};
// Find a 'step_move' that covers a series of step times
static struct step_move
compress_bisect_add(struct stepcompress *sc)
{
uint32_t *qlast = sc->queue_next;
if (qlast > sc->queue_pos + 65535)
qlast = sc->queue_pos + 65535;
struct points point = minmax_point(sc, sc->queue_pos);
int32_t outer_mininterval = point.minp, outer_maxinterval = point.maxp;
int32_t add = 0, minadd = -0x8000, maxadd = 0x7fff;
int32_t bestinterval = 0, bestcount = 1, bestadd = 1, bestreach = INT32_MIN;
int32_t zerointerval = 0, zerocount = 0;
for (;;) {
// Find longest valid sequence with the given 'add'
struct points nextpoint;
int32_t nextmininterval = outer_mininterval;
int32_t nextmaxinterval = outer_maxinterval, interval = nextmaxinterval;
int32_t nextcount = 1;
for (;;) {
nextcount++;
if (&sc->queue_pos[nextcount-1] >= qlast) {
int32_t count = nextcount - 1;
return (struct step_move){ interval, count, add };
}
nextpoint = minmax_point(sc, sc->queue_pos + nextcount - 1);
int32_t nextaddfactor = nextcount*(nextcount-1)/2;
int32_t c = add*nextaddfactor;
if (nextmininterval*nextcount < nextpoint.minp - c)
nextmininterval = DIV_UP(nextpoint.minp - c, nextcount);
if (nextmaxinterval*nextcount > nextpoint.maxp - c)
nextmaxinterval = (nextpoint.maxp - c) / nextcount;
if (nextmininterval > nextmaxinterval)
break;
interval = nextmaxinterval;
}
// Check if this is the best sequence found so far
int32_t count = nextcount - 1, addfactor = count*(count-1)/2;
int32_t reach = add*addfactor + interval*count;
if (reach > bestreach
|| (reach == bestreach && interval > bestinterval)) {
bestinterval = interval;
bestcount = count;
bestadd = add;
bestreach = reach;
if (!add) {
zerointerval = interval;
zerocount = count;
}
if (count > 0x200)
// No 'add' will improve sequence; avoid integer overflow
break;
}
// Check if a greater or lesser add could extend the sequence
int32_t nextaddfactor = nextcount*(nextcount-1)/2;
int32_t nextreach = add*nextaddfactor + interval*nextcount;
if (nextreach < nextpoint.minp) {
minadd = add + 1;
outer_maxinterval = nextmaxinterval;
} else {
maxadd = add - 1;
outer_mininterval = nextmininterval;
}
// The maximum valid deviation between two quadratic sequences
// can be calculated and used to further limit the add range.
if (count > 1) {
int32_t errdelta = sc->max_error*QUADRATIC_DEV / (count*count);
if (minadd < add - errdelta)
minadd = add - errdelta;
if (maxadd > add + errdelta)
maxadd = add + errdelta;
}
// See if next point would further limit the add range
int32_t c = outer_maxinterval * nextcount;
if (minadd*nextaddfactor < nextpoint.minp - c)
minadd = idiv_up(nextpoint.minp - c, nextaddfactor);
c = outer_mininterval * nextcount;
if (maxadd*nextaddfactor > nextpoint.maxp - c)
maxadd = idiv_down(nextpoint.maxp - c, nextaddfactor);
// Bisect valid add range and try again with new 'add'
if (minadd > maxadd)
break;
add = maxadd - (maxadd - minadd) / 4;
}
if (zerocount + zerocount/16 >= bestcount)
// Prefer add=0 if it's similar to the best found sequence
return (struct step_move){ zerointerval, zerocount, 0 };
return (struct step_move){ bestinterval, bestcount, bestadd };
}
/****************************************************************
* Step compress checking
****************************************************************/
#define ERROR_RET -989898989
// Verify that a given 'step_move' matches the actual step times
static int
check_line(struct stepcompress *sc, struct step_move move)
{
if (!CHECK_LINES)
return 0;
if (!move.count || (!move.interval && !move.add && move.count > 1)
|| move.interval >= 0x80000000) {
errorf("stepcompress o=%d i=%d c=%d a=%d: Invalid sequence"
, sc->oid, move.interval, move.count, move.add);
return ERROR_RET;
}
uint32_t interval = move.interval, p = 0;
uint16_t i;
for (i=0; i<move.count; i++) {
struct points point = minmax_point(sc, sc->queue_pos + i);
p += interval;
if (p < point.minp || p > point.maxp) {
errorf("stepcompress o=%d i=%d c=%d a=%d: Point %d: %d not in %d:%d"
, sc->oid, move.interval, move.count, move.add
, i+1, p, point.minp, point.maxp);
return ERROR_RET;
}
if (interval >= 0x80000000) {
errorf("stepcompress o=%d i=%d c=%d a=%d:"
" Point %d: interval overflow %d"
, sc->oid, move.interval, move.count, move.add
, i+1, interval);
return ERROR_RET;
}
interval += move.add;
}
return 0;
}
/****************************************************************
* Step compress interface
****************************************************************/
// Allocate a new 'stepcompress' object
struct stepcompress *
stepcompress_alloc(uint32_t max_error, uint32_t queue_step_msgid
, uint32_t set_next_step_dir_msgid, uint32_t invert_sdir
, uint32_t oid)
{
struct stepcompress *sc = malloc(sizeof(*sc));
memset(sc, 0, sizeof(*sc));
sc->max_error = max_error;
list_init(&sc->msg_queue);
sc->queue_step_msgid = queue_step_msgid;
sc->set_next_step_dir_msgid = set_next_step_dir_msgid;
sc->oid = oid;
sc->sdir = -1;
sc->invert_sdir = !!invert_sdir;
return sc;
}
// Free memory associated with a 'stepcompress' object
void
stepcompress_free(struct stepcompress *sc)
{
if (!sc)
return;
free(sc->queue);
message_queue_free(&sc->msg_queue);
free(sc);
}
// Convert previously scheduled steps into commands for the mcu
static int
stepcompress_flush(struct stepcompress *sc, uint64_t move_clock)
{
if (sc->queue_pos >= sc->queue_next)
return 0;
while (sc->last_step_clock < move_clock) {
struct step_move move = compress_bisect_add(sc);
int ret = check_line(sc, move);
if (ret)
return ret;
uint32_t msg[5] = {
sc->queue_step_msgid, sc->oid, move.interval, move.count, move.add
};
struct queue_message *qm = message_alloc_and_encode(msg, 5);
qm->min_clock = qm->req_clock = sc->last_step_clock;
int32_t addfactor = move.count*(move.count-1)/2;
uint32_t ticks = move.add*addfactor + move.interval*move.count;
sc->last_step_clock += ticks;
if (sc->homing_clock)
// When homing, all steps should be sent prior to homing_clock
qm->min_clock = qm->req_clock = sc->homing_clock;
list_add_tail(&qm->node, &sc->msg_queue);
if (sc->queue_pos + move.count >= sc->queue_next) {
sc->queue_pos = sc->queue_next = sc->queue;
break;
}
sc->queue_pos += move.count;
}
return 0;
}
// Generate a queue_step for a step far in the future from the last step
static int
stepcompress_flush_far(struct stepcompress *sc, uint64_t abs_step_clock)
{
uint32_t msg[5] = {
sc->queue_step_msgid, sc->oid, abs_step_clock - sc->last_step_clock, 1, 0
};
struct queue_message *qm = message_alloc_and_encode(msg, 5);
qm->min_clock = sc->last_step_clock;
sc->last_step_clock = qm->req_clock = abs_step_clock;
if (sc->homing_clock)
// When homing, all steps should be sent prior to homing_clock
qm->min_clock = qm->req_clock = sc->homing_clock;
list_add_tail(&qm->node, &sc->msg_queue);
return 0;
}
// Send the set_next_step_dir command
static int
set_next_step_dir(struct stepcompress *sc, int sdir)
{
if (sc->sdir == sdir)
return 0;
sc->sdir = sdir;
int ret = stepcompress_flush(sc, UINT64_MAX);
if (ret)
return ret;
uint32_t msg[3] = {
sc->set_next_step_dir_msgid, sc->oid, sdir ^ sc->invert_sdir
};
struct queue_message *qm = message_alloc_and_encode(msg, 3);
qm->req_clock = sc->homing_clock ?: sc->last_step_clock;
list_add_tail(&qm->node, &sc->msg_queue);
return 0;
}
// Reset the internal state of the stepcompress object
int
stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock)
{
int ret = stepcompress_flush(sc, UINT64_MAX);
if (ret)
return ret;
sc->last_step_clock = last_step_clock;
sc->sdir = -1;
return 0;
}
// Indicate the stepper is in homing mode (or done homing if zero)
int
stepcompress_set_homing(struct stepcompress *sc, uint64_t homing_clock)
{
int ret = stepcompress_flush(sc, UINT64_MAX);
if (ret)
return ret;
sc->homing_clock = homing_clock;
return 0;
}
// Queue an mcu command to go out in order with stepper commands
int
stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len)
{
int ret = stepcompress_flush(sc, UINT64_MAX);
if (ret)
return ret;
struct queue_message *qm = message_alloc_and_encode(data, len);
qm->req_clock = sc->homing_clock ?: sc->last_step_clock;
list_add_tail(&qm->node, &sc->msg_queue);
return 0;
}
// Set the conversion rate of 'print_time' to mcu clock
static void
stepcompress_set_time(struct stepcompress *sc
, double time_offset, double mcu_freq)
{
sc->mcu_time_offset = time_offset;
sc->mcu_freq = mcu_freq;
}
/****************************************************************
* Queue management
****************************************************************/
struct queue_append {
struct stepcompress *sc;
uint32_t *qnext, *qend, last_step_clock_32;
double clock_offset;
};
// Maximium clock delta between messages in the queue
#define CLOCK_DIFF_MAX (3<<28)
// Create a cursor for inserting clock times into the queue
static inline struct queue_append
queue_append_start(struct stepcompress *sc, double print_time, double adjust)
{
double print_clock = (print_time - sc->mcu_time_offset) * sc->mcu_freq;
return (struct queue_append) {
.sc = sc, .qnext = sc->queue_next, .qend = sc->queue_end,
.last_step_clock_32 = sc->last_step_clock,
.clock_offset = (print_clock - (double)sc->last_step_clock) + adjust };
}
// Finalize a cursor created with queue_append_start()
static inline void
queue_append_finish(struct queue_append qa)
{
qa.sc->queue_next = qa.qnext;
}
// Slow path for queue_append()
static int
queue_append_slow(struct stepcompress *sc, double rel_sc)
{
uint64_t abs_step_clock = (uint64_t)rel_sc + sc->last_step_clock;
if (abs_step_clock >= sc->last_step_clock + CLOCK_DIFF_MAX) {
// Avoid integer overflow on steps far in the future
int ret = stepcompress_flush(sc, abs_step_clock - CLOCK_DIFF_MAX + 1);
if (ret)
return ret;
if (abs_step_clock >= sc->last_step_clock + CLOCK_DIFF_MAX)
return stepcompress_flush_far(sc, abs_step_clock);
}
if (sc->queue_next - sc->queue_pos > 65535 + 2000) {
// No point in keeping more than 64K steps in memory
int ret = stepcompress_flush(sc, *(sc->queue_next - 65535));
if (ret)
return ret;
}
int in_use = sc->queue_next - sc->queue_pos;
if (sc->queue_pos > sc->queue) {
// Shuffle the internal queue to avoid having to allocate more ram
memmove(sc->queue, sc->queue_pos, in_use * sizeof(*sc->queue));
} else {
// Expand the internal queue of step times
int alloc = sc->queue_end - sc->queue;
if (!alloc)
alloc = QUEUE_START_SIZE;
while (in_use >= alloc)
alloc *= 2;
sc->queue = realloc(sc->queue, alloc * sizeof(*sc->queue));
sc->queue_end = sc->queue + alloc;
}
sc->queue_pos = sc->queue;
sc->queue_next = sc->queue + in_use;
*sc->queue_next++ = abs_step_clock;
return 0;
}
// Add a clock time to the queue (flushing the queue if needed)
static inline int
queue_append(struct queue_append *qa, double step_clock)
{
double rel_sc = step_clock + qa->clock_offset;
if (likely(!(qa->qnext >= qa->qend || rel_sc >= (double)CLOCK_DIFF_MAX))) {
*qa->qnext++ = qa->last_step_clock_32 + (uint32_t)rel_sc;
return 0;
}
// Call queue_append_slow() to handle queue expansion and integer overflow
struct stepcompress *sc = qa->sc;
uint64_t old_last_step_clock = sc->last_step_clock;
sc->queue_next = qa->qnext;
int ret = queue_append_slow(sc, rel_sc);
if (ret)
return ret;
qa->qnext = sc->queue_next;
qa->qend = sc->queue_end;
qa->last_step_clock_32 = sc->last_step_clock;
qa->clock_offset -= sc->last_step_clock - old_last_step_clock;
return 0;
}
/****************************************************************
* Motion to step conversions
****************************************************************/
// Common suffixes: _sd is step distance (a unit length the same
// distance the stepper moves on each step), _sv is step velocity (in
// units of step distance per time), _sd2 is step distance squared, _r
// is ratio (scalar usually between 0.0 and 1.0). Times are in
// seconds and acceleration is in units of step distance per second
// squared.
// Wrapper around sqrt() to handle small negative numbers
static double
_safe_sqrt(double v)
{
// Due to floating point truncation, it's possible to get a small
// negative number - treat it as zero.
if (v < -0.001)
errorf("safe_sqrt of %.9f", v);
return 0.;
}
static inline double safe_sqrt(double v) {
return likely(v >= 0.) ? sqrt(v) : _safe_sqrt(v);
}
// Schedule a step event at the specified step_clock time
int32_t
stepcompress_push(struct stepcompress *sc, double print_time, int32_t sdir)
{
int ret = set_next_step_dir(sc, !!sdir);
if (ret)
return ret;
struct queue_append qa = queue_append_start(sc, print_time, 0.5);
ret = queue_append(&qa, 0.);
if (ret)
return ret;
queue_append_finish(qa);
return sdir ? 1 : -1;
}
// Schedule 'steps' number of steps at constant acceleration. If
// acceleration is zero (ie, constant velocity) it uses the formula:
// step_time = print_time + step_num/start_sv
// Otherwise it uses the formula:
// step_time = (print_time + sqrt(2*step_num/accel + (start_sv/accel)**2)
// - start_sv/accel)
int32_t
stepcompress_push_const(
struct stepcompress *sc, double print_time
, double step_offset, double steps, double start_sv, double accel)
{
// Calculate number of steps to take
int sdir = 1;
if (steps < 0) {
sdir = 0;
steps = -steps;
step_offset = -step_offset;
}
int count = steps + .5 - step_offset;
if (count <= 0 || count > 10000000) {
if (count && steps) {
errorf("push_const invalid count %d %f %f %f %f %f"
, sc->oid, print_time, step_offset, steps
, start_sv, accel);
return ERROR_RET;
}
return 0;
}
int ret = set_next_step_dir(sc, sdir);
if (ret)
return ret;
int res = sdir ? count : -count;
// Calculate each step time
if (!accel) {
// Move at constant velocity (zero acceleration)
struct queue_append qa = queue_append_start(sc, print_time, .5);
double inv_cruise_sv = sc->mcu_freq / start_sv;
double pos = (step_offset + .5) * inv_cruise_sv;
while (count--) {
ret = queue_append(&qa, pos);
if (ret)
return ret;
pos += inv_cruise_sv;
}
queue_append_finish(qa);
} else {
// Move with constant acceleration
double inv_accel = 1. / accel;
double accel_time = start_sv * inv_accel * sc->mcu_freq;
struct queue_append qa = queue_append_start(
sc, print_time, 0.5 - accel_time);
double accel_multiplier = 2. * inv_accel * sc->mcu_freq * sc->mcu_freq;
double pos = (step_offset + .5)*accel_multiplier + accel_time*accel_time;
while (count--) {
double v = safe_sqrt(pos);
int ret = queue_append(&qa, accel_multiplier >= 0. ? v : -v);
if (ret)
return ret;
pos += accel_multiplier;
}
queue_append_finish(qa);
}
return res;
}
// Schedule steps using delta kinematics
static int32_t
_stepcompress_push_delta(
struct stepcompress *sc, int sdir
, double print_time, double move_sd, double start_sv, double accel
, double height, double startxy_sd, double arm_sd, double movez_r)
{
// Calculate number of steps to take
double movexy_r = movez_r ? sqrt(1. - movez_r*movez_r) : 1.;
double arm_sd2 = arm_sd * arm_sd;
double endxy_sd = startxy_sd - movexy_r*move_sd;
double end_height = safe_sqrt(arm_sd2 - endxy_sd*endxy_sd);
int count = (end_height + movez_r*move_sd - height) * (sdir ? 1. : -1.) + .5;
if (count <= 0 || count > 10000000) {
if (count) {
errorf("push_delta invalid count %d %d %f %f %f %f %f %f %f %f"
, sc->oid, count, print_time, move_sd, start_sv, accel
, height, startxy_sd, arm_sd, movez_r);
return ERROR_RET;
}
return 0;
}
int ret = set_next_step_dir(sc, sdir);
if (ret)
return ret;
int res = sdir ? count : -count;
// Calculate each step time
height += (sdir ? .5 : -.5);
if (!accel) {
// Move at constant velocity (zero acceleration)
struct queue_append qa = queue_append_start(sc, print_time, .5);
double inv_cruise_sv = sc->mcu_freq / start_sv;
if (!movez_r) {
// Optimized case for common XY only moves (no Z movement)
while (count--) {
double v = safe_sqrt(arm_sd2 - height*height);
double pos = startxy_sd + (sdir ? -v : v);
int ret = queue_append(&qa, pos * inv_cruise_sv);
if (ret)
return ret;
height += (sdir ? 1. : -1.);
}
} else if (!movexy_r) {
// Optimized case for Z only moves
double pos = ((sdir ? height-end_height : end_height-height)
* inv_cruise_sv);
while (count--) {
int ret = queue_append(&qa, pos);
if (ret)
return ret;
pos += inv_cruise_sv;
}
} else {
// General case (handles XY+Z moves)
double start_pos = movexy_r*startxy_sd, zoffset = movez_r*startxy_sd;
while (count--) {
double relheight = movexy_r*height - zoffset;
double v = safe_sqrt(arm_sd2 - relheight*relheight);
double pos = start_pos + movez_r*height + (sdir ? -v : v);
int ret = queue_append(&qa, pos * inv_cruise_sv);
if (ret)
return ret;
height += (sdir ? 1. : -1.);
}
}
queue_append_finish(qa);
} else {
// Move with constant acceleration
double start_pos = movexy_r*startxy_sd, zoffset = movez_r*startxy_sd;
double inv_accel = 1. / accel;
start_pos += 0.5 * start_sv*start_sv * inv_accel;
struct queue_append qa = queue_append_start(
sc, print_time, 0.5 - start_sv * inv_accel * sc->mcu_freq);
double accel_multiplier = 2. * inv_accel * sc->mcu_freq * sc->mcu_freq;
while (count--) {
double relheight = movexy_r*height - zoffset;
double v = safe_sqrt(arm_sd2 - relheight*relheight);
double pos = start_pos + movez_r*height + (sdir ? -v : v);
v = safe_sqrt(pos * accel_multiplier);
int ret = queue_append(&qa, accel_multiplier >= 0. ? v : -v);
if (ret)
return ret;
height += (sdir ? 1. : -1.);
}
queue_append_finish(qa);
}
return res;
}
int32_t
stepcompress_push_delta(
struct stepcompress *sc, double print_time, double move_sd
, double start_sv, double accel
, double height, double startxy_sd, double arm_sd, double movez_r)
{
double reversexy_sd = startxy_sd + arm_sd*movez_r;
if (reversexy_sd <= 0.)
// All steps are in down direction
return _stepcompress_push_delta(
sc, 0, print_time, move_sd, start_sv, accel
, height, startxy_sd, arm_sd, movez_r);
double movexy_r = movez_r ? sqrt(1. - movez_r*movez_r) : 1.;
if (reversexy_sd >= move_sd * movexy_r)
// All steps are in up direction
return _stepcompress_push_delta(
sc, 1, print_time, move_sd, start_sv, accel
, height, startxy_sd, arm_sd, movez_r);
// Steps in both up and down direction
int res1 = _stepcompress_push_delta(
sc, 1, print_time, reversexy_sd / movexy_r, start_sv, accel
, height, startxy_sd, arm_sd, movez_r);
if (res1 == ERROR_RET)
return res1;
int res2 = _stepcompress_push_delta(
sc, 0, print_time, move_sd, start_sv, accel
, height + res1, startxy_sd, arm_sd, movez_r);
if (res2 == ERROR_RET)
return res2;
return res1 + res2;
}
/****************************************************************
* Step compress synchronization
****************************************************************/
// The steppersync object is used to synchronize the output of mcu
// step commands. The mcu can only queue a limited number of step
// commands - this code tracks when items on the mcu step queue become
// free so that new commands can be transmitted. It also ensures the
// mcu step queue is ordered between steppers so that no stepper
// starves the other steppers of space in the mcu step queue.
struct steppersync {
// Serial port
struct serialqueue *sq;
struct command_queue *cq;
// Storage for associated stepcompress objects
struct stepcompress **sc_list;
int sc_num;
// Storage for list of pending move clocks
uint64_t *move_clocks;
int num_move_clocks;
};
// Allocate a new 'steppersync' object
struct steppersync *
steppersync_alloc(struct serialqueue *sq, struct stepcompress **sc_list
, int sc_num, int move_num)
{
struct steppersync *ss = malloc(sizeof(*ss));
memset(ss, 0, sizeof(*ss));
ss->sq = sq;
ss->cq = serialqueue_alloc_commandqueue();
ss->sc_list = malloc(sizeof(*sc_list)*sc_num);
memcpy(ss->sc_list, sc_list, sizeof(*sc_list)*sc_num);
ss->sc_num = sc_num;
ss->move_clocks = malloc(sizeof(*ss->move_clocks)*move_num);
memset(ss->move_clocks, 0, sizeof(*ss->move_clocks)*move_num);
ss->num_move_clocks = move_num;
return ss;
}
// Free memory associated with a 'steppersync' object
void
steppersync_free(struct steppersync *ss)
{
if (!ss)
return;
free(ss->sc_list);
free(ss->move_clocks);
serialqueue_free_commandqueue(ss->cq);
free(ss);
}
// Set the conversion rate of 'print_time' to mcu clock
void
steppersync_set_time(struct steppersync *ss, double time_offset, double mcu_freq)
{
int i;
for (i=0; i<ss->sc_num; i++) {
struct stepcompress *sc = ss->sc_list[i];
stepcompress_set_time(sc, time_offset, mcu_freq);
}
}
// Implement a binary heap algorithm to track when the next available
// 'struct move' in the mcu will be available
static void
heap_replace(struct steppersync *ss, uint64_t req_clock)
{
uint64_t *mc = ss->move_clocks;
int nmc = ss->num_move_clocks, pos = 0;
for (;;) {
int child1_pos = 2*pos+1, child2_pos = 2*pos+2;
uint64_t child2_clock = child2_pos < nmc ? mc[child2_pos] : UINT64_MAX;
uint64_t child1_clock = child1_pos < nmc ? mc[child1_pos] : UINT64_MAX;
if (req_clock <= child1_clock && req_clock <= child2_clock) {
mc[pos] = req_clock;
break;
}
if (child1_clock < child2_clock) {
mc[pos] = child1_clock;
pos = child1_pos;
} else {
mc[pos] = child2_clock;
pos = child2_pos;
}
}
}
// Find and transmit any scheduled steps prior to the given 'move_clock'
int
steppersync_flush(struct steppersync *ss, uint64_t move_clock)
{
// Flush each stepcompress to the specified move_clock
int i;
for (i=0; i<ss->sc_num; i++) {
int ret = stepcompress_flush(ss->sc_list[i], move_clock);
if (ret)
return ret;
}
// Order commands by the reqclock of each pending command
struct list_head msgs;
list_init(&msgs);
for (;;) {
// Find message with lowest reqclock
uint64_t req_clock = MAX_CLOCK;
struct queue_message *qm = NULL;
for (i=0; i<ss->sc_num; i++) {
struct stepcompress *sc = ss->sc_list[i];
if (!list_empty(&sc->msg_queue)) {
struct queue_message *m = list_first_entry(
&sc->msg_queue, struct queue_message, node);
if (m->req_clock < req_clock) {
qm = m;
req_clock = m->req_clock;
}
}
}
if (!qm || (qm->min_clock && req_clock > move_clock))
break;
uint64_t next_avail = ss->move_clocks[0];
if (qm->min_clock)
// The qm->min_clock field is overloaded to indicate that
// the command uses the 'move queue' and to store the time
// that move queue item becomes available.
heap_replace(ss, qm->min_clock);
// Reset the min_clock to its normal meaning (minimum transmit time)
qm->min_clock = next_avail;
// Batch this command
list_del(&qm->node);
list_add_tail(&qm->node, &msgs);
}
// Transmit commands
if (!list_empty(&msgs))
serialqueue_send_batch(ss->sq, ss->cq, &msgs);
return 0;
}

135
klippy/stepper.py
View File

@@ -1,135 +0,0 @@
# Printer stepper support
#
# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
import homing, pins
class PrinterStepper:
def __init__(self, printer, config, name):
self.name = name
self.step_dist = config.getfloat('step_distance', above=0.)
self.inv_step_dist = 1. / self.step_dist
self.min_stop_interval = 0.
self.mcu_stepper = pins.setup_pin(
printer, 'stepper', config.get('step_pin'))
dir_pin_params = pins.get_printer_pins(printer).parse_pin_desc(
config.get('dir_pin'), can_invert=True)
self.mcu_stepper.setup_dir_pin(dir_pin_params)
self.mcu_stepper.setup_step_distance(self.step_dist)
enable_pin = config.get('enable_pin', None)
self.mcu_enable = None
if enable_pin is not None:
self.mcu_enable = pins.setup_pin(printer, 'digital_out', enable_pin)
self.mcu_enable.setup_max_duration(0.)
self.need_motor_enable = True
def _dist_to_time(self, dist, start_velocity, accel):
# Calculate the time it takes to travel a distance with constant accel
time_offset = start_velocity / accel
return math.sqrt(2. * dist / accel + time_offset**2) - time_offset
def set_max_jerk(self, max_halt_velocity, max_accel):
# Calculate the firmware's maximum halt interval time
last_step_time = self._dist_to_time(
self.step_dist, max_halt_velocity, max_accel)
second_last_step_time = self._dist_to_time(
2. * self.step_dist, max_halt_velocity, max_accel)
min_stop_interval = second_last_step_time - last_step_time
self.mcu_stepper.setup_min_stop_interval(min_stop_interval)
def motor_enable(self, print_time, enable=0):
if enable and self.need_motor_enable:
self.mcu_stepper.reset_step_clock(print_time)
if (self.mcu_enable is not None
and self.mcu_enable.get_last_setting() != enable):
self.mcu_enable.set_digital(print_time, enable)
self.need_motor_enable = not enable
class PrinterHomingStepper(PrinterStepper):
def __init__(self, printer, config, name):
PrinterStepper.__init__(self, printer, config, name)
self.mcu_endstop = pins.setup_pin(
printer, 'endstop', config.get('endstop_pin'))
self.mcu_endstop.add_stepper(self.mcu_stepper)
self.position_min = config.getfloat('position_min', 0.)
self.position_max = config.getfloat(
'position_max', 0., above=self.position_min)
self.position_endstop = config.getfloat('position_endstop')
self.homing_speed = config.getfloat('homing_speed', 5.0, above=0.)
self.homing_positive_dir = config.getboolean('homing_positive_dir', None)
if self.homing_positive_dir is None:
axis_len = self.position_max - self.position_min
if self.position_endstop <= self.position_min + axis_len / 4.:
self.homing_positive_dir = False
elif self.position_endstop >= self.position_max - axis_len / 4.:
self.homing_positive_dir = True
else:
raise config.error(
"Unable to infer homing_positive_dir in section '%s'" % (
config.section,))
self.homing_retract_dist = config.getfloat(
'homing_retract_dist', 5., above=0.)
self.homing_stepper_phases = config.getint(
'homing_stepper_phases', None, minval=0)
endstop_accuracy = config.getfloat(
'homing_endstop_accuracy', None, above=0.)
self.homing_endstop_accuracy = self.homing_endstop_phase = None
if self.homing_stepper_phases:
self.homing_endstop_phase = config.getint(
'homing_endstop_phase', None, minval=0
, maxval=self.homing_stepper_phases-1)
if self.homing_endstop_phase is not None:
# Adjust the endstop position so 0.0 is always at a full step
micro_steps = self.homing_stepper_phases // 4
phase_offset = (
((self.homing_endstop_phase + micro_steps // 2) % micro_steps)
- micro_steps // 2) * self.step_dist
full_step = micro_steps * self.step_dist
es_pos = (int(self.position_endstop / full_step + .5) * full_step
+ phase_offset)
if es_pos != self.position_endstop:
logging.info("Changing %s endstop position to %.3f"
" (from %.3f)", self.name, es_pos,
self.position_endstop)
self.position_endstop = es_pos
if endstop_accuracy is None:
self.homing_endstop_accuracy = self.homing_stepper_phases//2 - 1
elif self.homing_endstop_phase is not None:
self.homing_endstop_accuracy = int(math.ceil(
endstop_accuracy * self.inv_step_dist / 2.))
else:
self.homing_endstop_accuracy = int(math.ceil(
endstop_accuracy * self.inv_step_dist))
if self.homing_endstop_accuracy >= self.homing_stepper_phases // 2:
logging.info("Endstop for %s is not accurate enough for stepper"
" phase adjustment", name)
self.homing_stepper_phases = None
if self.mcu_endstop.get_mcu().is_fileoutput():
self.homing_endstop_accuracy = self.homing_stepper_phases
def get_homing_speed(self):
# Round the configured homing speed so that it is an even
# number of ticks per step.
adjusted_freq = self.mcu_stepper.get_mcu().get_adjusted_freq()
dist_ticks = adjusted_freq * self.step_dist
ticks_per_step = round(dist_ticks / self.homing_speed)
return dist_ticks / ticks_per_step
def get_homed_offset(self):
if not self.homing_stepper_phases or self.need_motor_enable:
return 0
pos = self.mcu_stepper.get_mcu_position()
pos %= self.homing_stepper_phases
if self.homing_endstop_phase is None:
logging.info("Setting %s endstop phase to %d", self.name, pos)
self.homing_endstop_phase = pos
return 0
delta = (pos - self.homing_endstop_phase) % self.homing_stepper_phases
if delta >= self.homing_stepper_phases - self.homing_endstop_accuracy:
delta -= self.homing_stepper_phases
elif delta > self.homing_endstop_accuracy:
raise homing.EndstopError(
"Endstop %s incorrect phase (got %d vs %d)" % (
self.name, pos, self.homing_endstop_phase))
return delta * self.step_dist

390
klippy/toolhead.py
View File

@@ -1,390 +0,0 @@
# Code for coordinating events on the printer toolhead
#
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
import mcu, homing, cartesian, corexy, delta, extruder
# Common suffixes: _d is distance (in mm), _v is velocity (in
# mm/second), _v2 is velocity squared (mm^2/s^2), _t is time (in
# seconds), _r is ratio (scalar between 0.0 and 1.0)
# Class to track each move request
class Move:
def __init__(self, toolhead, start_pos, end_pos, speed):
self.toolhead = toolhead
self.start_pos = tuple(start_pos)
self.end_pos = tuple(end_pos)
self.accel = toolhead.max_accel
self.is_kinematic_move = True
self.axes_d = axes_d = [end_pos[i] - start_pos[i] for i in (0, 1, 2, 3)]
self.move_d = move_d = math.sqrt(sum([d*d for d in axes_d[:3]]))
if not move_d:
# Extrude only move
self.move_d = move_d = abs(axes_d[3])
self.is_kinematic_move = False
self.min_move_t = move_d / speed
# Junction speeds are tracked in velocity squared. The
# delta_v2 is the maximum amount of this squared-velocity that
# can change in this move.
self.max_start_v2 = 0.
self.max_cruise_v2 = speed**2
self.delta_v2 = 2.0 * move_d * self.accel
self.max_smoothed_v2 = 0.
self.smooth_delta_v2 = 2.0 * move_d * toolhead.max_accel_to_decel
def limit_speed(self, speed, accel):
speed2 = speed**2
if speed2 < self.max_cruise_v2:
self.max_cruise_v2 = speed2
self.min_move_t = self.move_d / speed
self.accel = min(self.accel, accel)
self.delta_v2 = 2.0 * self.move_d * self.accel
self.smooth_delta_v2 = min(self.smooth_delta_v2, self.delta_v2)
def calc_junction(self, prev_move):
if not self.is_kinematic_move or not prev_move.is_kinematic_move:
return
# Allow extruder to calculate its maximum junction
extruder_v2 = self.toolhead.extruder.calc_junction(prev_move, self)
# Find max velocity using approximated centripetal velocity as
# described at:
# https://onehossshay.wordpress.com/2011/09/24/improving_grbl_cornering_algorithm/
axes_d = self.axes_d
prev_axes_d = prev_move.axes_d
junction_cos_theta = -((axes_d[0] * prev_axes_d[0]
+ axes_d[1] * prev_axes_d[1]
+ axes_d[2] * prev_axes_d[2])
/ (self.move_d * prev_move.move_d))
if junction_cos_theta > 0.999999:
return
junction_cos_theta = max(junction_cos_theta, -0.999999)
sin_theta_d2 = math.sqrt(0.5*(1.0-junction_cos_theta))
R = self.toolhead.junction_deviation * sin_theta_d2 / (1. - sin_theta_d2)
self.max_start_v2 = min(
R * self.accel, R * prev_move.accel, extruder_v2
, self.max_cruise_v2, prev_move.max_cruise_v2
, prev_move.max_start_v2 + prev_move.delta_v2)
self.max_smoothed_v2 = min(
self.max_start_v2
, prev_move.max_smoothed_v2 + prev_move.smooth_delta_v2)
def set_junction(self, start_v2, cruise_v2, end_v2):
# Determine accel, cruise, and decel portions of the move distance
inv_delta_v2 = 1. / self.delta_v2
self.accel_r = accel_r = (cruise_v2 - start_v2) * inv_delta_v2
self.decel_r = decel_r = (cruise_v2 - end_v2) * inv_delta_v2
self.cruise_r = cruise_r = 1. - accel_r - decel_r
# Determine move velocities
self.start_v = start_v = math.sqrt(start_v2)
self.cruise_v = cruise_v = math.sqrt(cruise_v2)
self.end_v = end_v = math.sqrt(end_v2)
# Determine time spent in each portion of move (time is the
# distance divided by average velocity)
self.accel_t = accel_r * self.move_d / ((start_v + cruise_v) * 0.5)
self.cruise_t = cruise_r * self.move_d / cruise_v
self.decel_t = decel_r * self.move_d / ((end_v + cruise_v) * 0.5)
def move(self):
# Generate step times for the move
next_move_time = self.toolhead.get_next_move_time()
if self.is_kinematic_move:
self.toolhead.kin.move(next_move_time, self)
if self.axes_d[3]:
self.toolhead.extruder.move(next_move_time, self)
self.toolhead.update_move_time(
self.accel_t + self.cruise_t + self.decel_t)
LOOKAHEAD_FLUSH_TIME = 0.250
# Class to track a list of pending move requests and to facilitate
# "look-ahead" across moves to reduce acceleration between moves.
class MoveQueue:
def __init__(self):
self.extruder_lookahead = None
self.queue = []
self.leftover = 0
self.junction_flush = LOOKAHEAD_FLUSH_TIME
def reset(self):
del self.queue[:]
self.leftover = 0
self.junction_flush = LOOKAHEAD_FLUSH_TIME
def set_flush_time(self, flush_time):
self.junction_flush = flush_time
def set_extruder(self, extruder):
self.extruder_lookahead = extruder.lookahead
def flush(self, lazy=False):
self.junction_flush = LOOKAHEAD_FLUSH_TIME
update_flush_count = lazy
queue = self.queue
flush_count = len(queue)
# Traverse queue from last to first move and determine maximum
# junction speed assuming the robot comes to a complete stop
# after the last move.
delayed = []
next_end_v2 = next_smoothed_v2 = peak_cruise_v2 = 0.
for i in range(flush_count-1, self.leftover-1, -1):
move = queue[i]
reachable_start_v2 = next_end_v2 + move.delta_v2
start_v2 = min(move.max_start_v2, reachable_start_v2)
reachable_smoothed_v2 = next_smoothed_v2 + move.smooth_delta_v2
smoothed_v2 = min(move.max_smoothed_v2, reachable_smoothed_v2)
if smoothed_v2 < reachable_smoothed_v2:
# It's possible for this move to accelerate
if (smoothed_v2 + move.smooth_delta_v2 > next_smoothed_v2
or delayed):
# This move can decelerate or this is a full accel
# move after a full decel move
if update_flush_count and peak_cruise_v2:
flush_count = i
update_flush_count = False
peak_cruise_v2 = min(move.max_cruise_v2, (
smoothed_v2 + reachable_smoothed_v2) * .5)
if delayed:
# Propagate peak_cruise_v2 to any delayed moves
if not update_flush_count and i < flush_count:
for m, ms_v2, me_v2 in delayed:
mc_v2 = min(peak_cruise_v2, ms_v2)
m.set_junction(min(ms_v2, mc_v2), mc_v2
, min(me_v2, mc_v2))
del delayed[:]
if not update_flush_count and i < flush_count:
cruise_v2 = min((start_v2 + reachable_start_v2) * .5
, move.max_cruise_v2, peak_cruise_v2)
move.set_junction(min(start_v2, cruise_v2), cruise_v2
, min(next_end_v2, cruise_v2))
else:
# Delay calculating this move until peak_cruise_v2 is known
delayed.append((move, start_v2, next_end_v2))
next_end_v2 = start_v2
next_smoothed_v2 = smoothed_v2
if update_flush_count:
return
# Allow extruder to do its lookahead
move_count = self.extruder_lookahead(queue, flush_count, lazy)
# Generate step times for all moves ready to be flushed
for move in queue[:move_count]:
move.move()
# Remove processed moves from the queue
self.leftover = flush_count - move_count
del queue[:move_count]
def add_move(self, move):
self.queue.append(move)
if len(self.queue) == 1:
return
move.calc_junction(self.queue[-2])
self.junction_flush -= move.min_move_t
if self.junction_flush <= 0.:
# There are enough queued moves to return to zero velocity
# from the first move's maximum possible velocity, so at
# least one move can be flushed.
self.flush(lazy=True)
STALL_TIME = 0.100
# Main code to track events (and their timing) on the printer toolhead
class ToolHead:
def __init__(self, printer, config):
self.printer = printer
self.reactor = printer.reactor
self.all_mcus = mcu.get_printer_mcus(printer)
self.mcu = self.all_mcus[0]
self.max_velocity = config.getfloat('max_velocity', above=0.)
self.max_accel = config.getfloat('max_accel', above=0.)
self.max_accel_to_decel = config.getfloat(
'max_accel_to_decel', self.max_accel * 0.5
, above=0., maxval=self.max_accel)
self.junction_deviation = config.getfloat(
'junction_deviation', 0.02, above=0.)
self.move_queue = MoveQueue()
self.commanded_pos = [0., 0., 0., 0.]
# Print time tracking
self.buffer_time_low = config.getfloat(
'buffer_time_low', 1.000, above=0.)
self.buffer_time_high = config.getfloat(
'buffer_time_high', 2.000, above=self.buffer_time_low)
self.buffer_time_start = config.getfloat(
'buffer_time_start', 0.250, above=0.)
self.move_flush_time = config.getfloat(
'move_flush_time', 0.050, above=0.)
self.print_time = 0.
self.need_check_stall = -1.
self.print_stall = 0
self.sync_print_time = True
self.last_flush_from_idle = False
self.flush_timer = self.reactor.register_timer(self._flush_handler)
self.move_queue.set_flush_time(self.buffer_time_high)
# Motor off tracking
self.need_motor_off = False
self.motor_off_time = config.getfloat('motor_off_time', 600., above=0.)
self.motor_off_timer = self.reactor.register_timer(
self._motor_off_handler, self.reactor.NOW)
# Create kinematics class
self.extruder = extruder.DummyExtruder()
self.move_queue.set_extruder(self.extruder)
kintypes = {'cartesian': cartesian.CartKinematics,
'corexy': corexy.CoreXYKinematics,
'delta': delta.DeltaKinematics}
self.kin = config.getchoice('kinematics', kintypes)(
self, printer, config)
# Print time tracking
def update_move_time(self, movetime):
self.print_time += movetime
flush_to_time = self.print_time - self.move_flush_time
for m in self.all_mcus:
m.flush_moves(flush_to_time)
def get_next_move_time(self):
if not self.sync_print_time:
return self.print_time
self.sync_print_time = False
est_print_time = self.mcu.estimated_print_time(self.reactor.monotonic())
if self.last_flush_from_idle and self.print_time > est_print_time:
self.print_stall += 1
self.last_flush_from_idle = False
self.need_motor_off = True
self.print_time = max(
self.print_time, est_print_time + self.buffer_time_start)
self.reactor.update_timer(self.flush_timer, self.reactor.NOW)
return self.print_time
def _flush_lookahead(self, must_sync=False):
sync_print_time = self.sync_print_time
self.move_queue.flush()
self.last_flush_from_idle = False
if sync_print_time or must_sync:
self.sync_print_time = True
self.move_queue.set_flush_time(self.buffer_time_high)
self.need_check_stall = -1.
self.reactor.update_timer(self.flush_timer, self.reactor.NEVER)
for m in self.all_mcus:
m.flush_moves(self.print_time)
def get_last_move_time(self):
self._flush_lookahead()
return self.get_next_move_time()
def reset_print_time(self, min_print_time=0.):
self._flush_lookahead(must_sync=True)
self.print_time = max(min_print_time, self.mcu.estimated_print_time(
self.reactor.monotonic()))
def _check_stall(self):
eventtime = self.reactor.monotonic()
if self.sync_print_time:
# Building initial queue - make sure to flush on idle input
self.reactor.update_timer(self.flush_timer, eventtime + 0.100)
return
# Check if there are lots of queued moves and stall if so
while 1:
est_print_time = self.mcu.estimated_print_time(eventtime)
buffer_time = self.print_time - est_print_time
stall_time = buffer_time - self.buffer_time_high
if stall_time <= 0.:
break
if self.mcu.is_fileoutput():
self.need_check_stall = self.reactor.NEVER
return
eventtime = self.reactor.pause(eventtime + min(1., stall_time))
self.need_check_stall = est_print_time + self.buffer_time_high + 0.100
def _flush_handler(self, eventtime):
try:
print_time = self.print_time
buffer_time = print_time - self.mcu.estimated_print_time(eventtime)
if buffer_time > self.buffer_time_low:
# Running normally - reschedule check
return eventtime + buffer_time - self.buffer_time_low
# Under ran low buffer mark - flush lookahead queue
self._flush_lookahead(must_sync=True)
if print_time != self.print_time:
self.last_flush_from_idle = True
except:
logging.exception("Exception in flush_handler")
self.printer.invoke_shutdown("Exception in flush_handler")
return self.reactor.NEVER
# Motor off timer
def _motor_off_handler(self, eventtime):
if not self.need_motor_off or not self.sync_print_time:
return eventtime + self.motor_off_time
elapsed_time = self.mcu.estimated_print_time(eventtime) - self.print_time
if elapsed_time < self.motor_off_time:
return eventtime + self.motor_off_time - elapsed_time
try:
self.motor_off()
except:
logging.exception("Exception in motor_off_handler")
self.printer.invoke_shutdown("Exception in motor_off_handler")
return eventtime + self.motor_off_time
# Movement commands
def get_position(self):
return list(self.commanded_pos)
def set_position(self, newpos):
self._flush_lookahead()
self.commanded_pos[:] = newpos
self.kin.set_position(newpos)
def move(self, newpos, speed):
speed = min(speed, self.max_velocity)
move = Move(self, self.commanded_pos, newpos, speed)
if not move.move_d:
return
if move.is_kinematic_move:
self.kin.check_move(move)
if move.axes_d[3]:
self.extruder.check_move(move)
self.commanded_pos[:] = newpos
self.move_queue.add_move(move)
if self.print_time > self.need_check_stall:
self._check_stall()
def home(self, homing_state):
self.kin.home(homing_state)
def dwell(self, delay):
self.get_last_move_time()
self.update_move_time(delay)
self._check_stall()
def motor_off(self):
self.dwell(STALL_TIME)
last_move_time = self.get_last_move_time()
self.kin.motor_off(last_move_time)
self.extruder.motor_off(last_move_time)
self.dwell(STALL_TIME)
self.need_motor_off = False
logging.debug('; Max time of %f', last_move_time)
def wait_moves(self):
self._flush_lookahead()
if self.mcu.is_fileoutput():
return
eventtime = self.reactor.monotonic()
while (not self.sync_print_time
or self.print_time >= self.mcu.estimated_print_time(eventtime)):
eventtime = self.reactor.pause(eventtime + 0.100)
def query_endstops(self, query_flags=""):
last_move_time = self.get_last_move_time()
return self.kin.query_endstops(last_move_time, query_flags)
def set_extruder(self, extruder):
last_move_time = self.get_last_move_time()
self.extruder.set_active(last_move_time, False)
extrude_pos = extruder.set_active(last_move_time, True)
self.extruder = extruder
self.move_queue.set_extruder(extruder)
self.commanded_pos[3] = extrude_pos
# Misc commands
def check_active(self, eventtime):
for m in self.all_mcus:
m.check_active(self.print_time, eventtime)
if not self.sync_print_time:
return True
return self.print_time + 60. > self.mcu.estimated_print_time(eventtime)
def stats(self, eventtime):
est_print_time = self.mcu.estimated_print_time(eventtime)
buffer_time = max(0., self.print_time - est_print_time)
return "print_time=%.3f buffer_time=%.3f print_stall=%d" % (
self.print_time, buffer_time, self.print_stall)
def do_shutdown(self):
try:
self.move_queue.reset()
self.reset_print_time()
except:
logging.exception("Exception in do_shutdown")
def get_max_velocity(self):
return self.max_velocity, self.max_accel
def get_max_axis_halt(self):
# Determine the maximum velocity a cartesian axis could halt
# at due to the junction_deviation setting. The 8.0 was
# determined experimentally.
return min(self.max_velocity,
math.sqrt(8. * self.junction_deviation * self.max_accel))
def add_printer_objects(printer, config):
printer.add_object('toolhead', ToolHead(printer, config))

69
klippy/util.py
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@@ -1,69 +0,0 @@
# Low level unix utility functions
#
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import sys, os, pty, fcntl, termios, signal, logging
import subprocess, traceback, shlex
# Return the SIGINT interrupt handler back to the OS default
def fix_sigint():
signal.signal(signal.SIGINT, signal.SIG_DFL)
fix_sigint()
# Set a file-descriptor as non-blocking
def set_nonblock(fd):
fcntl.fcntl(fd, fcntl.F_SETFL
, fcntl.fcntl(fd, fcntl.F_GETFL) | os.O_NONBLOCK)
# Clear HUPCL flag
def clear_hupcl(fd):
attrs = termios.tcgetattr(fd)
attrs[2] = attrs[2] & ~termios.HUPCL
termios.tcsetattr(fd, termios.TCSADRAIN, attrs)
# Support for creating a pseudo-tty for emulating a serial port
def create_pty(ptyname):
mfd, sfd = pty.openpty()
try:
os.unlink(ptyname)
except os.error:
pass
os.symlink(os.ttyname(sfd), ptyname)
fcntl.fcntl(mfd, fcntl.F_SETFL
, fcntl.fcntl(mfd, fcntl.F_GETFL) | os.O_NONBLOCK)
old = termios.tcgetattr(mfd)
old[3] = old[3] & ~termios.ECHO
termios.tcsetattr(mfd, termios.TCSADRAIN, old)
return mfd
def get_cpu_info():
try:
f = open('/proc/cpuinfo', 'rb')
data = f.read()
f.close()
except OSError:
logging.debug("Exception on read /proc/cpuinfo: %s",
traceback.format_exc())
return "?"
lines = [l.split(':', 1) for l in data.split('\n')]
lines = [(l[0].strip(), l[1].strip()) for l in lines if len(l) == 2]
core_count = [k for k, v in lines].count("processor")
model_name = dict(lines).get("model name", "?")
return "%d core %s" % (core_count, model_name)
def get_git_version():
# Obtain version info from "git" program
gitdir = os.path.join(sys.path[0], '..')
if not os.path.exists(gitdir):
logging.debug("No '.git' file/directory found")
return "?"
prog = "git -C %s describe --tags --long --dirty" % (gitdir,)
try:
process = subprocess.Popen(shlex.split(prog), stdout=subprocess.PIPE)
output = process.communicate()[0]
retcode = process.poll()
except OSError:
logging.debug("Exception on run: %s", traceback.format_exc())
return "?"
return output.strip()

24
lib/README
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@@ -1,24 +0,0 @@
This directory contains external library code.
The pjrc_usb_serial directory contains code from:
http://www.pjrc.com/teensy/usb_serial.html
version 1.7 (extracted on 20160605). It has been modified to compile
on recent versions of gcc, to support asynchronous notification of
incoming data, and to not use SOF interrupts. See usb_serial.patch for
the modifications.
The cmsis-sam3x8e directory contains code from the Arduino project:
https://www.arduino.cc/
version 1.5.1 (extracted on 20160608). It has been modified to compile
with gcc's LTO feature. See cmsis-sam3x8e.patch for the modifications.
The hub-ctrl directory contains code from:
https://github.com/codazoda/hub-ctrl.c/
revision 42095e522859059e8a5f4ec05c1e3def01a870a9.
The pru_rpmsg directory contains code from:
https://github.com/dinuxbg/pru-gcc-examples
revision 425a42d82006cf0aa24be27b483d2f6a41607489. The code is taken
from the repo's hc-sr04-range-sensor directory. It has been modified
so that the IEP definitions compile correctly. See pru_rpmsg.patch for
the modifications.

1244
lib/cmsis-sam3x8e/cmsis-include/core_cm3.h
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File diff suppressed because it is too large Load Diff

609
lib/cmsis-sam3x8e/cmsis-include/core_cmFunc.h
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/**************************************************************************//**
* @file core_cmFunc.h
* @brief CMSIS Cortex-M Core Function Access Header File
* @version V2.10
* @date 26. July 2011
*
* @note
* Copyright (C) 2009-2011 ARM Limited. All rights reserved.
*
* @par
* ARM Limited (ARM) is supplying this software for use with Cortex-M
* processor based microcontrollers. This file can be freely distributed
* within development tools that are supporting such ARM based processors.
*
* @par
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
* ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
* CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
*
******************************************************************************/
#ifndef __CORE_CMFUNC_H
#define __CORE_CMFUNC_H
/* ########################### Core Function Access ########################### */
/** \ingroup CMSIS_Core_FunctionInterface
\defgroup CMSIS_Core_RegAccFunctions CMSIS Core Register Access Functions
@{
*/
#if defined ( __CC_ARM ) /*------------------RealView Compiler -----------------*/
/* ARM armcc specific functions */
#if (__ARMCC_VERSION < 400677)
#error "Please use ARM Compiler Toolchain V4.0.677 or later!"
#endif
/* intrinsic void __enable_irq(); */
/* intrinsic void __disable_irq(); */
/** \brief Get Control Register
This function returns the content of the Control Register.
\return Control Register value
*/
static __INLINE uint32_t __get_CONTROL(void)
{
register uint32_t __regControl __ASM("control");
return(__regControl);
}
/** \brief Set Control Register
This function writes the given value to the Control Register.
\param [in] control Control Register value to set
*/
static __INLINE void __set_CONTROL(uint32_t control)
{
register uint32_t __regControl __ASM("control");
__regControl = control;
}
/** \brief Get ISPR Register
This function returns the content of the ISPR Register.
\return ISPR Register value
*/
static __INLINE uint32_t __get_IPSR(void)
{
register uint32_t __regIPSR __ASM("ipsr");
return(__regIPSR);
}
/** \brief Get APSR Register
This function returns the content of the APSR Register.
\return APSR Register value
*/
static __INLINE uint32_t __get_APSR(void)
{
register uint32_t __regAPSR __ASM("apsr");
return(__regAPSR);
}
/** \brief Get xPSR Register
This function returns the content of the xPSR Register.
\return xPSR Register value
*/
static __INLINE uint32_t __get_xPSR(void)
{
register uint32_t __regXPSR __ASM("xpsr");
return(__regXPSR);
}
/** \brief Get Process Stack Pointer
This function returns the current value of the Process Stack Pointer (PSP).
\return PSP Register value
*/
static __INLINE uint32_t __get_PSP(void)
{
register uint32_t __regProcessStackPointer __ASM("psp");
return(__regProcessStackPointer);
}
/** \brief Set Process Stack Pointer
This function assigns the given value to the Process Stack Pointer (PSP).
\param [in] topOfProcStack Process Stack Pointer value to set
*/
static __INLINE void __set_PSP(uint32_t topOfProcStack)
{
register uint32_t __regProcessStackPointer __ASM("psp");
__regProcessStackPointer = topOfProcStack;
}
/** \brief Get Main Stack Pointer
This function returns the current value of the Main Stack Pointer (MSP).
\return MSP Register value
*/
static __INLINE uint32_t __get_MSP(void)
{
register uint32_t __regMainStackPointer __ASM("msp");
return(__regMainStackPointer);
}
/** \brief Set Main Stack Pointer
This function assigns the given value to the Main Stack Pointer (MSP).
\param [in] topOfMainStack Main Stack Pointer value to set
*/
static __INLINE void __set_MSP(uint32_t topOfMainStack)
{
register uint32_t __regMainStackPointer __ASM("msp");
__regMainStackPointer = topOfMainStack;
}
/** \brief Get Priority Mask
This function returns the current state of the priority mask bit from the Priority Mask Register.
\return Priority Mask value
*/
static __INLINE uint32_t __get_PRIMASK(void)
{
register uint32_t __regPriMask __ASM("primask");
return(__regPriMask);
}
/** \brief Set Priority Mask
This function assigns the given value to the Priority Mask Register.
\param [in] priMask Priority Mask
*/
static __INLINE void __set_PRIMASK(uint32_t priMask)
{
register uint32_t __regPriMask __ASM("primask");
__regPriMask = (priMask);
}
#if (__CORTEX_M >= 0x03)
/** \brief Enable FIQ
This function enables FIQ interrupts by clearing the F-bit in the CPSR.
Can only be executed in Privileged modes.
*/
#define __enable_fault_irq __enable_fiq
/** \brief Disable FIQ
This function disables FIQ interrupts by setting the F-bit in the CPSR.
Can only be executed in Privileged modes.
*/
#define __disable_fault_irq __disable_fiq
/** \brief Get Base Priority
This function returns the current value of the Base Priority register.
\return Base Priority register value
*/
static __INLINE uint32_t __get_BASEPRI(void)
{
register uint32_t __regBasePri __ASM("basepri");
return(__regBasePri);
}
/** \brief Set Base Priority
This function assigns the given value to the Base Priority register.
\param [in] basePri Base Priority value to set
*/
static __INLINE void __set_BASEPRI(uint32_t basePri)
{
register uint32_t __regBasePri __ASM("basepri");
__regBasePri = (basePri & 0xff);
}
/** \brief Get Fault Mask
This function returns the current value of the Fault Mask register.
\return Fault Mask register value
*/
static __INLINE uint32_t __get_FAULTMASK(void)
{
register uint32_t __regFaultMask __ASM("faultmask");
return(__regFaultMask);
}
/** \brief Set Fault Mask
This function assigns the given value to the Fault Mask register.
\param [in] faultMask Fault Mask value to set
*/
static __INLINE void __set_FAULTMASK(uint32_t faultMask)
{
register uint32_t __regFaultMask __ASM("faultmask");
__regFaultMask = (faultMask & (uint32_t)1);
}
#endif /* (__CORTEX_M >= 0x03) */
#if (__CORTEX_M == 0x04)
/** \brief Get FPSCR
This function returns the current value of the Floating Point Status/Control register.
\return Floating Point Status/Control register value
*/
static __INLINE uint32_t __get_FPSCR(void)
{
#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
register uint32_t __regfpscr __ASM("fpscr");
return(__regfpscr);
#else
return(0);
#endif
}
/** \brief Set FPSCR
This function assigns the given value to the Floating Point Status/Control register.
\param [in] fpscr Floating Point Status/Control value to set
*/
static __INLINE void __set_FPSCR(uint32_t fpscr)
{
#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
register uint32_t __regfpscr __ASM("fpscr");
__regfpscr = (fpscr);
#endif
}
#endif /* (__CORTEX_M == 0x04) */
#elif defined ( __ICCARM__ ) /*------------------ ICC Compiler -------------------*/
/* IAR iccarm specific functions */
#include <cmsis_iar.h>
#elif defined ( __GNUC__ ) /*------------------ GNU Compiler ---------------------*/
/* GNU gcc specific functions */
/** \brief Enable IRQ Interrupts
This function enables IRQ interrupts by clearing the I-bit in the CPSR.
Can only be executed in Privileged modes.
*/
__attribute__( ( always_inline ) ) static __INLINE void __enable_irq(void)
{
__ASM volatile ("cpsie i");
}
/** \brief Disable IRQ Interrupts
This function disables IRQ interrupts by setting the I-bit in the CPSR.
Can only be executed in Privileged modes.
*/
__attribute__( ( always_inline ) ) static __INLINE void __disable_irq(void)
{
__ASM volatile ("cpsid i");
}
/** \brief Get Control Register
This function returns the content of the Control Register.
\return Control Register value
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_CONTROL(void)
{
uint32_t result;
__ASM volatile ("MRS %0, control" : "=r" (result) );
return(result);
}
/** \brief Set Control Register
This function writes the given value to the Control Register.
\param [in] control Control Register value to set
*/
__attribute__( ( always_inline ) ) static __INLINE void __set_CONTROL(uint32_t control)
{
__ASM volatile ("MSR control, %0" : : "r" (control) );
}
/** \brief Get ISPR Register
This function returns the content of the ISPR Register.
\return ISPR Register value
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_IPSR(void)
{
uint32_t result;
__ASM volatile ("MRS %0, ipsr" : "=r" (result) );
return(result);
}
/** \brief Get APSR Register
This function returns the content of the APSR Register.
\return APSR Register value
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_APSR(void)
{
uint32_t result;
__ASM volatile ("MRS %0, apsr" : "=r" (result) );
return(result);
}
/** \brief Get xPSR Register
This function returns the content of the xPSR Register.
\return xPSR Register value
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_xPSR(void)
{
uint32_t result;
__ASM volatile ("MRS %0, xpsr" : "=r" (result) );
return(result);
}
/** \brief Get Process Stack Pointer
This function returns the current value of the Process Stack Pointer (PSP).
\return PSP Register value
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_PSP(void)
{
register uint32_t result;
__ASM volatile ("MRS %0, psp\n" : "=r" (result) );
return(result);
}
/** \brief Set Process Stack Pointer
This function assigns the given value to the Process Stack Pointer (PSP).
\param [in] topOfProcStack Process Stack Pointer value to set
*/
__attribute__( ( always_inline ) ) static __INLINE void __set_PSP(uint32_t topOfProcStack)
{
__ASM volatile ("MSR psp, %0\n" : : "r" (topOfProcStack) );
}
/** \brief Get Main Stack Pointer
This function returns the current value of the Main Stack Pointer (MSP).
\return MSP Register value
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_MSP(void)
{
register uint32_t result;
__ASM volatile ("MRS %0, msp\n" : "=r" (result) );
return(result);
}
/** \brief Set Main Stack Pointer
This function assigns the given value to the Main Stack Pointer (MSP).
\param [in] topOfMainStack Main Stack Pointer value to set
*/
__attribute__( ( always_inline ) ) static __INLINE void __set_MSP(uint32_t topOfMainStack)
{
__ASM volatile ("MSR msp, %0\n" : : "r" (topOfMainStack) );
}
/** \brief Get Priority Mask
This function returns the current state of the priority mask bit from the Priority Mask Register.
\return Priority Mask value
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_PRIMASK(void)
{
uint32_t result;
__ASM volatile ("MRS %0, primask" : "=r" (result) );
return(result);
}
/** \brief Set Priority Mask
This function assigns the given value to the Priority Mask Register.
\param [in] priMask Priority Mask
*/
__attribute__( ( always_inline ) ) static __INLINE void __set_PRIMASK(uint32_t priMask)
{
__ASM volatile ("MSR primask, %0" : : "r" (priMask) );
}
#if (__CORTEX_M >= 0x03)
/** \brief Enable FIQ
This function enables FIQ interrupts by clearing the F-bit in the CPSR.
Can only be executed in Privileged modes.
*/
__attribute__( ( always_inline ) ) static __INLINE void __enable_fault_irq(void)
{
__ASM volatile ("cpsie f");
}
/** \brief Disable FIQ
This function disables FIQ interrupts by setting the F-bit in the CPSR.
Can only be executed in Privileged modes.
*/
__attribute__( ( always_inline ) ) static __INLINE void __disable_fault_irq(void)
{
__ASM volatile ("cpsid f");
}
/** \brief Get Base Priority
This function returns the current value of the Base Priority register.
\return Base Priority register value
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_BASEPRI(void)
{
uint32_t result;
__ASM volatile ("MRS %0, basepri_max" : "=r" (result) );
return(result);
}
/** \brief Set Base Priority
This function assigns the given value to the Base Priority register.
\param [in] basePri Base Priority value to set
*/
__attribute__( ( always_inline ) ) static __INLINE void __set_BASEPRI(uint32_t value)
{
__ASM volatile ("MSR basepri, %0" : : "r" (value) );
}
/** \brief Get Fault Mask
This function returns the current value of the Fault Mask register.
\return Fault Mask register value
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_FAULTMASK(void)
{
uint32_t result;
__ASM volatile ("MRS %0, faultmask" : "=r" (result) );
return(result);
}
/** \brief Set Fault Mask
This function assigns the given value to the Fault Mask register.
\param [in] faultMask Fault Mask value to set
*/
__attribute__( ( always_inline ) ) static __INLINE void __set_FAULTMASK(uint32_t faultMask)
{
__ASM volatile ("MSR faultmask, %0" : : "r" (faultMask) );
}
#endif /* (__CORTEX_M >= 0x03) */
#if (__CORTEX_M == 0x04)
/** \brief Get FPSCR
This function returns the current value of the Floating Point Status/Control register.
\return Floating Point Status/Control register value
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_FPSCR(void)
{
#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
uint32_t result;
__ASM volatile ("VMRS %0, fpscr" : "=r" (result) );
return(result);
#else
return(0);
#endif
}
/** \brief Set FPSCR
This function assigns the given value to the Floating Point Status/Control register.
\param [in] fpscr Floating Point Status/Control value to set
*/
__attribute__( ( always_inline ) ) static __INLINE void __set_FPSCR(uint32_t fpscr)
{
#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
__ASM volatile ("VMSR fpscr, %0" : : "r" (fpscr) );
#endif
}
#endif /* (__CORTEX_M == 0x04) */
#elif defined ( __TASKING__ ) /*------------------ TASKING Compiler --------------*/
/* TASKING carm specific functions */
/*
* The CMSIS functions have been implemented as intrinsics in the compiler.
* Please use "carm -?i" to get an up to date list of all instrinsics,
* Including the CMSIS ones.
*/
#endif
/*@} end of CMSIS_Core_RegAccFunctions */
#endif /* __CORE_CMFUNC_H */

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lib/cmsis-sam3x8e/cmsis-include/core_cmInstr.h
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/**************************************************************************//**
* @file core_cmInstr.h
* @brief CMSIS Cortex-M Core Instruction Access Header File
* @version V2.10
* @date 19. July 2011
*
* @note
* Copyright (C) 2009-2011 ARM Limited. All rights reserved.
*
* @par
* ARM Limited (ARM) is supplying this software for use with Cortex-M
* processor based microcontrollers. This file can be freely distributed
* within development tools that are supporting such ARM based processors.
*
* @par
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
* ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
* CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
*
******************************************************************************/
#ifndef __CORE_CMINSTR_H
#define __CORE_CMINSTR_H
/* ########################## Core Instruction Access ######################### */
/** \defgroup CMSIS_Core_InstructionInterface CMSIS Core Instruction Interface
Access to dedicated instructions
@{
*/
#if defined ( __CC_ARM ) /*------------------RealView Compiler -----------------*/
/* ARM armcc specific functions */
#if (__ARMCC_VERSION < 400677)
#error "Please use ARM Compiler Toolchain V4.0.677 or later!"
#endif
/** \brief No Operation
No Operation does nothing. This instruction can be used for code alignment purposes.
*/
#define __NOP __nop
/** \brief Wait For Interrupt
Wait For Interrupt is a hint instruction that suspends execution
until one of a number of events occurs.
*/
#define __WFI __wfi
/** \brief Wait For Event
Wait For Event is a hint instruction that permits the processor to enter
a low-power state until one of a number of events occurs.
*/
#define __WFE __wfe
/** \brief Send Event
Send Event is a hint instruction. It causes an event to be signaled to the CPU.
*/
#define __SEV __sev
/** \brief Instruction Synchronization Barrier
Instruction Synchronization Barrier flushes the pipeline in the processor,
so that all instructions following the ISB are fetched from cache or
memory, after the instruction has been completed.
*/
#define __ISB() __isb(0xF)
/** \brief Data Synchronization Barrier
This function acts as a special kind of Data Memory Barrier.
It completes when all explicit memory accesses before this instruction complete.
*/
#define __DSB() __dsb(0xF)
/** \brief Data Memory Barrier
This function ensures the apparent order of the explicit memory operations before
and after the instruction, without ensuring their completion.
*/
#define __DMB() __dmb(0xF)
/** \brief Reverse byte order (32 bit)
This function reverses the byte order in integer value.
\param [in] value Value to reverse
\return Reversed value
*/
#define __REV __rev
/** \brief Reverse byte order (16 bit)
This function reverses the byte order in two unsigned short values.
\param [in] value Value to reverse
\return Reversed value
*/
static __INLINE __ASM uint32_t __REV16(uint32_t value)
{
rev16 r0, r0
bx lr
}
/** \brief Reverse byte order in signed short value
This function reverses the byte order in a signed short value with sign extension to integer.
\param [in] value Value to reverse
\return Reversed value
*/
static __INLINE __ASM int32_t __REVSH(int32_t value)
{
revsh r0, r0
bx lr
}
#if (__CORTEX_M >= 0x03)
/** \brief Reverse bit order of value
This function reverses the bit order of the given value.
\param [in] value Value to reverse
\return Reversed value
*/
#define __RBIT __rbit
/** \brief LDR Exclusive (8 bit)
This function performs a exclusive LDR command for 8 bit value.
\param [in] ptr Pointer to data
\return value of type uint8_t at (*ptr)
*/
#define __LDREXB(ptr) ((uint8_t ) __ldrex(ptr))
/** \brief LDR Exclusive (16 bit)
This function performs a exclusive LDR command for 16 bit values.
\param [in] ptr Pointer to data
\return value of type uint16_t at (*ptr)
*/
#define __LDREXH(ptr) ((uint16_t) __ldrex(ptr))
/** \brief LDR Exclusive (32 bit)
This function performs a exclusive LDR command for 32 bit values.
\param [in] ptr Pointer to data
\return value of type uint32_t at (*ptr)
*/
#define __LDREXW(ptr) ((uint32_t ) __ldrex(ptr))
/** \brief STR Exclusive (8 bit)
This function performs a exclusive STR command for 8 bit values.
\param [in] value Value to store
\param [in] ptr Pointer to location
\return 0 Function succeeded
\return 1 Function failed
*/
#define __STREXB(value, ptr) __strex(value, ptr)
/** \brief STR Exclusive (16 bit)
This function performs a exclusive STR command for 16 bit values.
\param [in] value Value to store
\param [in] ptr Pointer to location
\return 0 Function succeeded
\return 1 Function failed
*/
#define __STREXH(value, ptr) __strex(value, ptr)
/** \brief STR Exclusive (32 bit)
This function performs a exclusive STR command for 32 bit values.
\param [in] value Value to store
\param [in] ptr Pointer to location
\return 0 Function succeeded
\return 1 Function failed
*/
#define __STREXW(value, ptr) __strex(value, ptr)
/** \brief Remove the exclusive lock
This function removes the exclusive lock which is created by LDREX.
*/
#define __CLREX __clrex
/** \brief Signed Saturate
This function saturates a signed value.
\param [in] value Value to be saturated
\param [in] sat Bit position to saturate to (1..32)
\return Saturated value
*/
#define __SSAT __ssat
/** \brief Unsigned Saturate
This function saturates an unsigned value.
\param [in] value Value to be saturated
\param [in] sat Bit position to saturate to (0..31)
\return Saturated value
*/
#define __USAT __usat
/** \brief Count leading zeros
This function counts the number of leading zeros of a data value.
\param [in] value Value to count the leading zeros
\return number of leading zeros in value
*/
#define __CLZ __clz
#endif /* (__CORTEX_M >= 0x03) */
#elif defined ( __ICCARM__ ) /*------------------ ICC Compiler -------------------*/
/* IAR iccarm specific functions */
#include <cmsis_iar.h>
#elif defined ( __GNUC__ ) /*------------------ GNU Compiler ---------------------*/
/* GNU gcc specific functions */
/** \brief No Operation
No Operation does nothing. This instruction can be used for code alignment purposes.
*/
__attribute__( ( always_inline ) ) static __INLINE void __NOP(void)
{
__ASM volatile ("nop");
}
/** \brief Wait For Interrupt
Wait For Interrupt is a hint instruction that suspends execution
until one of a number of events occurs.
*/
__attribute__( ( always_inline ) ) static __INLINE void __WFI(void)
{
__ASM volatile ("wfi");
}
/** \brief Wait For Event
Wait For Event is a hint instruction that permits the processor to enter
a low-power state until one of a number of events occurs.
*/
__attribute__( ( always_inline ) ) static __INLINE void __WFE(void)
{
__ASM volatile ("wfe");
}
/** \brief Send Event
Send Event is a hint instruction. It causes an event to be signaled to the CPU.
*/
__attribute__( ( always_inline ) ) static __INLINE void __SEV(void)
{
__ASM volatile ("sev");
}
/** \brief Instruction Synchronization Barrier
Instruction Synchronization Barrier flushes the pipeline in the processor,
so that all instructions following the ISB are fetched from cache or
memory, after the instruction has been completed.
*/
__attribute__( ( always_inline ) ) static __INLINE void __ISB(void)
{
__ASM volatile ("isb");
}
/** \brief Data Synchronization Barrier
This function acts as a special kind of Data Memory Barrier.
It completes when all explicit memory accesses before this instruction complete.
*/
__attribute__( ( always_inline ) ) static __INLINE void __DSB(void)
{
__ASM volatile ("dsb");
}
/** \brief Data Memory Barrier
This function ensures the apparent order of the explicit memory operations before
and after the instruction, without ensuring their completion.
*/
__attribute__( ( always_inline ) ) static __INLINE void __DMB(void)
{
__ASM volatile ("dmb");
}
/** \brief Reverse byte order (32 bit)
This function reverses the byte order in integer value.
\param [in] value Value to reverse
\return Reversed value
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __REV(uint32_t value)
{
uint32_t result;
__ASM volatile ("rev %0, %1" : "=r" (result) : "r" (value) );
return(result);
}
/** \brief Reverse byte order (16 bit)
This function reverses the byte order in two unsigned short values.
\param [in] value Value to reverse
\return Reversed value
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __REV16(uint32_t value)
{
uint32_t result;
__ASM volatile ("rev16 %0, %1" : "=r" (result) : "r" (value) );
return(result);
}
/** \brief Reverse byte order in signed short value
This function reverses the byte order in a signed short value with sign extension to integer.
\param [in] value Value to reverse
\return Reversed value
*/
__attribute__( ( always_inline ) ) static __INLINE int32_t __REVSH(int32_t value)
{
uint32_t result;
__ASM volatile ("revsh %0, %1" : "=r" (result) : "r" (value) );
return(result);
}
#if (__CORTEX_M >= 0x03)
/** \brief Reverse bit order of value
This function reverses the bit order of the given value.
\param [in] value Value to reverse
\return Reversed value
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __RBIT(uint32_t value)
{
uint32_t result;
__ASM volatile ("rbit %0, %1" : "=r" (result) : "r" (value) );
return(result);
}
/** \brief LDR Exclusive (8 bit)
This function performs a exclusive LDR command for 8 bit value.
\param [in] ptr Pointer to data
\return value of type uint8_t at (*ptr)
*/
__attribute__( ( always_inline ) ) static __INLINE uint8_t __LDREXB(volatile uint8_t *addr)
{
uint8_t result;
__ASM volatile ("ldrexb %0, [%1]" : "=r" (result) : "r" (addr) );
return(result);
}
/** \brief LDR Exclusive (16 bit)
This function performs a exclusive LDR command for 16 bit values.
\param [in] ptr Pointer to data
\return value of type uint16_t at (*ptr)
*/
__attribute__( ( always_inline ) ) static __INLINE uint16_t __LDREXH(volatile uint16_t *addr)
{
uint16_t result;
__ASM volatile ("ldrexh %0, [%1]" : "=r" (result) : "r" (addr) );
return(result);
}
/** \brief LDR Exclusive (32 bit)
This function performs a exclusive LDR command for 32 bit values.
\param [in] ptr Pointer to data
\return value of type uint32_t at (*ptr)
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __LDREXW(volatile uint32_t *addr)
{
uint32_t result;
__ASM volatile ("ldrex %0, [%1]" : "=r" (result) : "r" (addr) );
return(result);
}
/** \brief STR Exclusive (8 bit)
This function performs a exclusive STR command for 8 bit values.
\param [in] value Value to store
\param [in] ptr Pointer to location
\return 0 Function succeeded
\return 1 Function failed
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __STREXB(uint8_t value, volatile uint8_t *addr)
{
uint32_t result;
__ASM volatile ("strexb %0, %2, [%1]" : "=r" (result) : "r" (addr), "r" (value) );
return(result);
}
/** \brief STR Exclusive (16 bit)
This function performs a exclusive STR command for 16 bit values.
\param [in] value Value to store
\param [in] ptr Pointer to location
\return 0 Function succeeded
\return 1 Function failed
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __STREXH(uint16_t value, volatile uint16_t *addr)
{
uint32_t result;
__ASM volatile ("strexh %0, %2, [%1]" : "=r" (result) : "r" (addr), "r" (value) );
return(result);
}
/** \brief STR Exclusive (32 bit)
This function performs a exclusive STR command for 32 bit values.
\param [in] value Value to store
\param [in] ptr Pointer to location
\return 0 Function succeeded
\return 1 Function failed
*/
__attribute__( ( always_inline ) ) static __INLINE uint32_t __STREXW(uint32_t value, volatile uint32_t *addr)
{
uint32_t result;
__ASM volatile ("strex %0, %2, [%1]" : "=r" (result) : "r" (addr), "r" (value) );
return(result);
}
/** \brief Remove the exclusive lock
This function removes the exclusive lock which is created by LDREX.
*/
__attribute__( ( always_inline ) ) static __INLINE void __CLREX(void)
{
__ASM volatile ("clrex");
}
/** \brief Signed Saturate
This function saturates a signed value.
\param [in] value Value to be saturated
\param [in] sat Bit position to saturate to (1..32)
\return Saturated value
*/
#define __SSAT(ARG1,ARG2) \
({ \
uint32_t __RES, __ARG1 = (ARG1); \
__ASM ("ssat %0, %1, %2" : "=r" (__RES) : "I" (ARG2), "r" (__ARG1) ); \
__RES; \
})
/** \brief Unsigned Saturate
This function saturates an unsigned value.
\param [in] value Value to be saturated
\param [in] sat Bit position to saturate to (0..31)
\return Saturated value
*/
#define __USAT(ARG1,ARG2) \
({ \
uint32_t __RES, __ARG1 = (ARG1); \
__ASM ("usat %0, %1, %2" : "=r" (__RES) : "I" (ARG2), "r" (__ARG1) ); \
__RES; \
})
/** \brief Count leading zeros
This function counts the number of leading zeros of a data value.
\param [in] value Value to count the leading zeros
\return number of leading zeros in value
*/
__attribute__( ( always_inline ) ) static __INLINE uint8_t __CLZ(uint32_t value)
{
uint8_t result;
__ASM volatile ("clz %0, %1" : "=r" (result) : "r" (value) );
return(result);
}
#endif /* (__CORTEX_M >= 0x03) */
#elif defined ( __TASKING__ ) /*------------------ TASKING Compiler --------------*/
/* TASKING carm specific functions */
/*
* The CMSIS functions have been implemented as intrinsics in the compiler.
* Please use "carm -?i" to get an up to date list of all intrinsics,
* Including the CMSIS ones.
*/
#endif
/*@}*/ /* end of group CMSIS_Core_InstructionInterface */
#endif /* __CORE_CMINSTR_H */

11
lib/cmsis-sam3x8e/cmsis-sam3x8e.patch
View File

@@ -1,11 +0,0 @@
--- source/gcc/startup_sam3xa.c.orig 2016-06-14 14:20:43.166209461 -0400
+++ source/gcc/startup_sam3xa.c 2016-06-14 14:00:57.497137169 -0400
@@ -129,7 +129,7 @@
void CAN1_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
/* Exception Table */
-__attribute__ ((section(".vectors")))
+__attribute__ ((section(".vectors"))) __attribute__((externally_visible))
const DeviceVectors exception_table = {
/* Configure Initial Stack Pointer, using linker-generated symbols */

504
lib/cmsis-sam3x8e/include/component/component_adc.h
View File

@@ -1,504 +0,0 @@
/* ----------------------------------------------------------------------------
* SAM Software Package License
* ----------------------------------------------------------------------------
* Copyright (c) 2012, Atmel Corporation
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following condition is met:
*
* - Redistributions of source code must retain the above copyright notice,
* this list of conditions and the disclaimer below.
*
* Atmel's 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 ATMEL "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 ATMEL 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 _SAM3XA_ADC_COMPONENT_
#define _SAM3XA_ADC_COMPONENT_
/* ============================================================================= */
/** SOFTWARE API DEFINITION FOR Analog-to-digital Converter */
/* ============================================================================= */
/** \addtogroup SAM3XA_ADC Analog-to-digital Converter */
/*@{*/
#if !(defined(__ASSEMBLY__) || defined(__IAR_SYSTEMS_ASM__))
/** \brief Adc hardware registers */
typedef struct {
WoReg ADC_CR; /**< \brief (Adc Offset: 0x00) Control Register */
RwReg ADC_MR; /**< \brief (Adc Offset: 0x04) Mode Register */
RwReg ADC_SEQR1; /**< \brief (Adc Offset: 0x08) Channel Sequence Register 1 */
RwReg ADC_SEQR2; /**< \brief (Adc Offset: 0x0C) Channel Sequence Register 2 */
WoReg ADC_CHER; /**< \brief (Adc Offset: 0x10) Channel Enable Register */
WoReg ADC_CHDR; /**< \brief (Adc Offset: 0x14) Channel Disable Register */
RoReg ADC_CHSR; /**< \brief (Adc Offset: 0x18) Channel Status Register */
RoReg Reserved1[1];
RoReg ADC_LCDR; /**< \brief (Adc Offset: 0x20) Last Converted Data Register */
WoReg ADC_IER; /**< \brief (Adc Offset: 0x24) Interrupt Enable Register */
WoReg ADC_IDR; /**< \brief (Adc Offset: 0x28) Interrupt Disable Register */
RoReg ADC_IMR; /**< \brief (Adc Offset: 0x2C) Interrupt Mask Register */
RoReg ADC_ISR; /**< \brief (Adc Offset: 0x30) Interrupt Status Register */
RoReg Reserved2[2];
RoReg ADC_OVER; /**< \brief (Adc Offset: 0x3C) Overrun Status Register */
RwReg ADC_EMR; /**< \brief (Adc Offset: 0x40) Extended Mode Register */
RwReg ADC_CWR; /**< \brief (Adc Offset: 0x44) Compare Window Register */
RwReg ADC_CGR; /**< \brief (Adc Offset: 0x48) Channel Gain Register */
RwReg ADC_COR; /**< \brief (Adc Offset: 0x4C) Channel Offset Register */
RoReg ADC_CDR[16]; /**< \brief (Adc Offset: 0x50) Channel Data Register */
RoReg Reserved3[1];
RwReg ADC_ACR; /**< \brief (Adc Offset: 0x94) Analog Control Register */
RoReg Reserved4[19];
RwReg ADC_WPMR; /**< \brief (Adc Offset: 0xE4) Write Protect Mode Register */
RoReg ADC_WPSR; /**< \brief (Adc Offset: 0xE8) Write Protect Status Register */
RoReg Reserved5[5];
RwReg ADC_RPR; /**< \brief (Adc Offset: 0x100) Receive Pointer Register */
RwReg ADC_RCR; /**< \brief (Adc Offset: 0x104) Receive Counter Register */
RoReg Reserved6[2];
RwReg ADC_RNPR; /**< \brief (Adc Offset: 0x110) Receive Next Pointer Register */
RwReg ADC_RNCR; /**< \brief (Adc Offset: 0x114) Receive Next Counter Register */
RoReg Reserved7[2];
WoReg ADC_PTCR; /**< \brief (Adc Offset: 0x120) Transfer Control Register */
RoReg ADC_PTSR; /**< \brief (Adc Offset: 0x124) Transfer Status Register */
} Adc;
#endif /* !(defined(__ASSEMBLY__) || defined(__IAR_SYSTEMS_ASM__)) */
/* -------- ADC_CR : (ADC Offset: 0x00) Control Register -------- */
#define ADC_CR_SWRST (0x1u << 0) /**< \brief (ADC_CR) Software Reset */
#define ADC_CR_START (0x1u << 1) /**< \brief (ADC_CR) Start Conversion */
/* -------- ADC_MR : (ADC Offset: 0x04) Mode Register -------- */
#define ADC_MR_TRGEN (0x1u << 0) /**< \brief (ADC_MR) Trigger Enable */
#define ADC_MR_TRGEN_DIS (0x0u << 0) /**< \brief (ADC_MR) Hardware triggers are disabled. Starting a conversion is only possible by software. */
#define ADC_MR_TRGEN_EN (0x1u << 0) /**< \brief (ADC_MR) Hardware trigger selected by TRGSEL field is enabled. */
#define ADC_MR_TRGSEL_Pos 1
#define ADC_MR_TRGSEL_Msk (0x7u << ADC_MR_TRGSEL_Pos) /**< \brief (ADC_MR) Trigger Selection */
#define ADC_MR_TRGSEL_ADC_TRIG0 (0x0u << 1) /**< \brief (ADC_MR) External : ADCTRG */
#define ADC_MR_TRGSEL_ADC_TRIG1 (0x1u << 1) /**< \brief (ADC_MR) TIOA Output of the Timer Counter Channel 0 */
#define ADC_MR_TRGSEL_ADC_TRIG2 (0x2u << 1) /**< \brief (ADC_MR) TIOA Output of the Timer Counter Channel 1 */
#define ADC_MR_TRGSEL_ADC_TRIG3 (0x3u << 1) /**< \brief (ADC_MR) TIOA Output of the Timer Counter Channel 2 */
#define ADC_MR_TRGSEL_ADC_TRIG4 (0x4u << 1) /**< \brief (ADC_MR) PWM Event Line 0 */
#define ADC_MR_TRGSEL_ADC_TRIG5 (0x5u << 1) /**< \brief (ADC_MR) PWM Event Line 0 */
#define ADC_MR_LOWRES (0x1u << 4) /**< \brief (ADC_MR) Resolution */
#define ADC_MR_LOWRES_BITS_12 (0x0u << 4) /**< \brief (ADC_MR) 12-bit resolution */
#define ADC_MR_LOWRES_BITS_10 (0x1u << 4) /**< \brief (ADC_MR) 10-bit resolution */
#define ADC_MR_SLEEP (0x1u << 5) /**< \brief (ADC_MR) Sleep Mode */
#define ADC_MR_SLEEP_NORMAL (0x0u << 5) /**< \brief (ADC_MR) Normal Mode: The ADC Core and reference voltage circuitry are kept ON between conversions */
#define ADC_MR_SLEEP_SLEEP (0x1u << 5) /**< \brief (ADC_MR) Sleep Mode: The ADC Core and reference voltage circuitry are OFF between conversions */
#define ADC_MR_FWUP (0x1u << 6) /**< \brief (ADC_MR) Fast Wake Up */
#define ADC_MR_FWUP_OFF (0x0u << 6) /**< \brief (ADC_MR) Normal Sleep Mode: The sleep mode is defined by the SLEEP bit */
#define ADC_MR_FWUP_ON (0x1u << 6) /**< \brief (ADC_MR) Fast Wake Up Sleep Mode: The Voltage reference is ON between conversions and ADC Core is OFF */
#define ADC_MR_FREERUN (0x1u << 7) /**< \brief (ADC_MR) Free Run Mode */
#define ADC_MR_FREERUN_OFF (0x0u << 7) /**< \brief (ADC_MR) Normal Mode */
#define ADC_MR_FREERUN_ON (0x1u << 7) /**< \brief (ADC_MR) Free Run Mode: Never wait for any trigger. */
#define ADC_MR_PRESCAL_Pos 8
#define ADC_MR_PRESCAL_Msk (0xffu << ADC_MR_PRESCAL_Pos) /**< \brief (ADC_MR) Prescaler Rate Selection */
#define ADC_MR_PRESCAL(value) ((ADC_MR_PRESCAL_Msk & ((value) << ADC_MR_PRESCAL_Pos)))
#define ADC_MR_STARTUP_Pos 16
#define ADC_MR_STARTUP_Msk (0xfu << ADC_MR_STARTUP_Pos) /**< \brief (ADC_MR) Start Up Time */
#define ADC_MR_STARTUP_SUT0 (0x0u << 16) /**< \brief (ADC_MR) 0 periods of ADCClock */
#define ADC_MR_STARTUP_SUT8 (0x1u << 16) /**< \brief (ADC_MR) 8 periods of ADCClock */
#define ADC_MR_STARTUP_SUT16 (0x2u << 16) /**< \brief (ADC_MR) 16 periods of ADCClock */
#define ADC_MR_STARTUP_SUT24 (0x3u << 16) /**< \brief (ADC_MR) 24 periods of ADCClock */
#define ADC_MR_STARTUP_SUT64 (0x4u << 16) /**< \brief (ADC_MR) 64 periods of ADCClock */
#define ADC_MR_STARTUP_SUT80 (0x5u << 16) /**< \brief (ADC_MR) 80 periods of ADCClock */
#define ADC_MR_STARTUP_SUT96 (0x6u << 16) /**< \brief (ADC_MR) 96 periods of ADCClock */
#define ADC_MR_STARTUP_SUT112 (0x7u << 16) /**< \brief (ADC_MR) 112 periods of ADCClock */
#define ADC_MR_STARTUP_SUT512 (0x8u << 16) /**< \brief (ADC_MR) 512 periods of ADCClock */
#define ADC_MR_STARTUP_SUT576 (0x9u << 16) /**< \brief (ADC_MR) 576 periods of ADCClock */
#define ADC_MR_STARTUP_SUT640 (0xAu << 16) /**< \brief (ADC_MR) 640 periods of ADCClock */
#define ADC_MR_STARTUP_SUT704 (0xBu << 16) /**< \brief (ADC_MR) 704 periods of ADCClock */
#define ADC_MR_STARTUP_SUT768 (0xCu << 16) /**< \brief (ADC_MR) 768 periods of ADCClock */
#define ADC_MR_STARTUP_SUT832 (0xDu << 16) /**< \brief (ADC_MR) 832 periods of ADCClock */
#define ADC_MR_STARTUP_SUT896 (0xEu << 16) /**< \brief (ADC_MR) 896 periods of ADCClock */
#define ADC_MR_STARTUP_SUT960 (0xFu << 16) /**< \brief (ADC_MR) 960 periods of ADCClock */
#define ADC_MR_SETTLING_Pos 20
#define ADC_MR_SETTLING_Msk (0x3u << ADC_MR_SETTLING_Pos) /**< \brief (ADC_MR) Analog Settling Time */
#define ADC_MR_SETTLING_AST3 (0x0u << 20) /**< \brief (ADC_MR) 3 periods of ADCClock */
#define ADC_MR_SETTLING_AST5 (0x1u << 20) /**< \brief (ADC_MR) 5 periods of ADCClock */
#define ADC_MR_SETTLING_AST9 (0x2u << 20) /**< \brief (ADC_MR) 9 periods of ADCClock */
#define ADC_MR_SETTLING_AST17 (0x3u << 20) /**< \brief (ADC_MR) 17 periods of ADCClock */
#define ADC_MR_ANACH (0x1u << 23) /**< \brief (ADC_MR) Analog Change */
#define ADC_MR_ANACH_NONE (0x0u << 23) /**< \brief (ADC_MR) No analog change on channel switching: DIFF0, GAIN0 and OFF0 are used for all channels */
#define ADC_MR_ANACH_ALLOWED (0x1u << 23) /**< \brief (ADC_MR) Allows different analog settings for each channel. See ADC_CGR and ADC_COR Registers */
#define ADC_MR_TRACKTIM_Pos 24
#define ADC_MR_TRACKTIM_Msk (0xfu << ADC_MR_TRACKTIM_Pos) /**< \brief (ADC_MR) Tracking Time */
#define ADC_MR_TRACKTIM(value) ((ADC_MR_TRACKTIM_Msk & ((value) << ADC_MR_TRACKTIM_Pos)))
#define ADC_MR_TRANSFER_Pos 28
#define ADC_MR_TRANSFER_Msk (0x3u << ADC_MR_TRANSFER_Pos) /**< \brief (ADC_MR) Transfer Period */
#define ADC_MR_TRANSFER(value) ((ADC_MR_TRANSFER_Msk & ((value) << ADC_MR_TRANSFER_Pos)))
#define ADC_MR_USEQ (0x1u << 31) /**< \brief (ADC_MR) Use Sequence Enable */
#define ADC_MR_USEQ_NUM_ORDER (0x0u << 31) /**< \brief (ADC_MR) Normal Mode: The controller converts channels in a simple numeric order. */
#define ADC_MR_USEQ_REG_ORDER (0x1u << 31) /**< \brief (ADC_MR) User Sequence Mode: The sequence respects what is defined in ADC_SEQR1 and ADC_SEQR2 registers. */
/* -------- ADC_SEQR1 : (ADC Offset: 0x08) Channel Sequence Register 1 -------- */
#define ADC_SEQR1_USCH1_Pos 0
#define ADC_SEQR1_USCH1_Msk (0xfu << ADC_SEQR1_USCH1_Pos) /**< \brief (ADC_SEQR1) User Sequence Number 1 */
#define ADC_SEQR1_USCH1(value) ((ADC_SEQR1_USCH1_Msk & ((value) << ADC_SEQR1_USCH1_Pos)))
#define ADC_SEQR1_USCH2_Pos 4
#define ADC_SEQR1_USCH2_Msk (0xfu << ADC_SEQR1_USCH2_Pos) /**< \brief (ADC_SEQR1) User Sequence Number 2 */
#define ADC_SEQR1_USCH2(value) ((ADC_SEQR1_USCH2_Msk & ((value) << ADC_SEQR1_USCH2_Pos)))
#define ADC_SEQR1_USCH3_Pos 8
#define ADC_SEQR1_USCH3_Msk (0xfu << ADC_SEQR1_USCH3_Pos) /**< \brief (ADC_SEQR1) User Sequence Number 3 */
#define ADC_SEQR1_USCH3(value) ((ADC_SEQR1_USCH3_Msk & ((value) << ADC_SEQR1_USCH3_Pos)))
#define ADC_SEQR1_USCH4_Pos 12
#define ADC_SEQR1_USCH4_Msk (0xfu << ADC_SEQR1_USCH4_Pos) /**< \brief (ADC_SEQR1) User Sequence Number 4 */
#define ADC_SEQR1_USCH4(value) ((ADC_SEQR1_USCH4_Msk & ((value) << ADC_SEQR1_USCH4_Pos)))
#define ADC_SEQR1_USCH5_Pos 16
#define ADC_SEQR1_USCH5_Msk (0xfu << ADC_SEQR1_USCH5_Pos) /**< \brief (ADC_SEQR1) User Sequence Number 5 */
#define ADC_SEQR1_USCH5(value) ((ADC_SEQR1_USCH5_Msk & ((value) << ADC_SEQR1_USCH5_Pos)))
#define ADC_SEQR1_USCH6_Pos 20
#define ADC_SEQR1_USCH6_Msk (0xfu << ADC_SEQR1_USCH6_Pos) /**< \brief (ADC_SEQR1) User Sequence Number 6 */
#define ADC_SEQR1_USCH6(value) ((ADC_SEQR1_USCH6_Msk & ((value) << ADC_SEQR1_USCH6_Pos)))
#define ADC_SEQR1_USCH7_Pos 24
#define ADC_SEQR1_USCH7_Msk (0xfu << ADC_SEQR1_USCH7_Pos) /**< \brief (ADC_SEQR1) User Sequence Number 7 */
#define ADC_SEQR1_USCH7(value) ((ADC_SEQR1_USCH7_Msk & ((value) << ADC_SEQR1_USCH7_Pos)))
#define ADC_SEQR1_USCH8_Pos 28
#define ADC_SEQR1_USCH8_Msk (0xfu << ADC_SEQR1_USCH8_Pos) /**< \brief (ADC_SEQR1) User Sequence Number 8 */
#define ADC_SEQR1_USCH8(value) ((ADC_SEQR1_USCH8_Msk & ((value) << ADC_SEQR1_USCH8_Pos)))
/* -------- ADC_SEQR2 : (ADC Offset: 0x0C) Channel Sequence Register 2 -------- */
#define ADC_SEQR2_USCH9_Pos 0
#define ADC_SEQR2_USCH9_Msk (0xfu << ADC_SEQR2_USCH9_Pos) /**< \brief (ADC_SEQR2) User Sequence Number 9 */
#define ADC_SEQR2_USCH9(value) ((ADC_SEQR2_USCH9_Msk & ((value) << ADC_SEQR2_USCH9_Pos)))
#define ADC_SEQR2_USCH10_Pos 4
#define ADC_SEQR2_USCH10_Msk (0xfu << ADC_SEQR2_USCH10_Pos) /**< \brief (ADC_SEQR2) User Sequence Number 10 */
#define ADC_SEQR2_USCH10(value) ((ADC_SEQR2_USCH10_Msk & ((value) << ADC_SEQR2_USCH10_Pos)))
#define ADC_SEQR2_USCH11_Pos 8
#define ADC_SEQR2_USCH11_Msk (0xfu << ADC_SEQR2_USCH11_Pos) /**< \brief (ADC_SEQR2) User Sequence Number 11 */
#define ADC_SEQR2_USCH11(value) ((ADC_SEQR2_USCH11_Msk & ((value) << ADC_SEQR2_USCH11_Pos)))
#define ADC_SEQR2_USCH12_Pos 12
#define ADC_SEQR2_USCH12_Msk (0xfu << ADC_SEQR2_USCH12_Pos) /**< \brief (ADC_SEQR2) User Sequence Number 12 */
#define ADC_SEQR2_USCH12(value) ((ADC_SEQR2_USCH12_Msk & ((value) << ADC_SEQR2_USCH12_Pos)))
#define ADC_SEQR2_USCH13_Pos 16
#define ADC_SEQR2_USCH13_Msk (0xfu << ADC_SEQR2_USCH13_Pos) /**< \brief (ADC_SEQR2) User Sequence Number 13 */
#define ADC_SEQR2_USCH13(value) ((ADC_SEQR2_USCH13_Msk & ((value) << ADC_SEQR2_USCH13_Pos)))
#define ADC_SEQR2_USCH14_Pos 20
#define ADC_SEQR2_USCH14_Msk (0xfu << ADC_SEQR2_USCH14_Pos) /**< \brief (ADC_SEQR2) User Sequence Number 14 */
#define ADC_SEQR2_USCH14(value) ((ADC_SEQR2_USCH14_Msk & ((value) << ADC_SEQR2_USCH14_Pos)))
#define ADC_SEQR2_USCH15_Pos 24
#define ADC_SEQR2_USCH15_Msk (0xfu << ADC_SEQR2_USCH15_Pos) /**< \brief (ADC_SEQR2) User Sequence Number 15 */
#define ADC_SEQR2_USCH15(value) ((ADC_SEQR2_USCH15_Msk & ((value) << ADC_SEQR2_USCH15_Pos)))
#define ADC_SEQR2_USCH16_Pos 28
#define ADC_SEQR2_USCH16_Msk (0xfu << ADC_SEQR2_USCH16_Pos) /**< \brief (ADC_SEQR2) User Sequence Number 16 */
#define ADC_SEQR2_USCH16(value) ((ADC_SEQR2_USCH16_Msk & ((value) << ADC_SEQR2_USCH16_Pos)))
/* -------- ADC_CHER : (ADC Offset: 0x10) Channel Enable Register -------- */
#define ADC_CHER_CH0 (0x1u << 0) /**< \brief (ADC_CHER) Channel 0 Enable */
#define ADC_CHER_CH1 (0x1u << 1) /**< \brief (ADC_CHER) Channel 1 Enable */
#define ADC_CHER_CH2 (0x1u << 2) /**< \brief (ADC_CHER) Channel 2 Enable */
#define ADC_CHER_CH3 (0x1u << 3) /**< \brief (ADC_CHER) Channel 3 Enable */
#define ADC_CHER_CH4 (0x1u << 4) /**< \brief (ADC_CHER) Channel 4 Enable */
#define ADC_CHER_CH5 (0x1u << 5) /**< \brief (ADC_CHER) Channel 5 Enable */
#define ADC_CHER_CH6 (0x1u << 6) /**< \brief (ADC_CHER) Channel 6 Enable */
#define ADC_CHER_CH7 (0x1u << 7) /**< \brief (ADC_CHER) Channel 7 Enable */
#define ADC_CHER_CH8 (0x1u << 8) /**< \brief (ADC_CHER) Channel 8 Enable */
#define ADC_CHER_CH9 (0x1u << 9) /**< \brief (ADC_CHER) Channel 9 Enable */
#define ADC_CHER_CH10 (0x1u << 10) /**< \brief (ADC_CHER) Channel 10 Enable */
#define ADC_CHER_CH11 (0x1u << 11) /**< \brief (ADC_CHER) Channel 11 Enable */
#define ADC_CHER_CH12 (0x1u << 12) /**< \brief (ADC_CHER) Channel 12 Enable */
#define ADC_CHER_CH13 (0x1u << 13) /**< \brief (ADC_CHER) Channel 13 Enable */
#define ADC_CHER_CH14 (0x1u << 14) /**< \brief (ADC_CHER) Channel 14 Enable */
#define ADC_CHER_CH15 (0x1u << 15) /**< \brief (ADC_CHER) Channel 15 Enable */
/* -------- ADC_CHDR : (ADC Offset: 0x14) Channel Disable Register -------- */
#define ADC_CHDR_CH0 (0x1u << 0) /**< \brief (ADC_CHDR) Channel 0 Disable */
#define ADC_CHDR_CH1 (0x1u << 1) /**< \brief (ADC_CHDR) Channel 1 Disable */
#define ADC_CHDR_CH2 (0x1u << 2) /**< \brief (ADC_CHDR) Channel 2 Disable */
#define ADC_CHDR_CH3 (0x1u << 3) /**< \brief (ADC_CHDR) Channel 3 Disable */
#define ADC_CHDR_CH4 (0x1u << 4) /**< \brief (ADC_CHDR) Channel 4 Disable */
#define ADC_CHDR_CH5 (0x1u << 5) /**< \brief (ADC_CHDR) Channel 5 Disable */
#define ADC_CHDR_CH6 (0x1u << 6) /**< \brief (ADC_CHDR) Channel 6 Disable */
#define ADC_CHDR_CH7 (0x1u << 7) /**< \brief (ADC_CHDR) Channel 7 Disable */
#define ADC_CHDR_CH8 (0x1u << 8) /**< \brief (ADC_CHDR) Channel 8 Disable */
#define ADC_CHDR_CH9 (0x1u << 9) /**< \brief (ADC_CHDR) Channel 9 Disable */
#define ADC_CHDR_CH10 (0x1u << 10) /**< \brief (ADC_CHDR) Channel 10 Disable */
#define ADC_CHDR_CH11 (0x1u << 11) /**< \brief (ADC_CHDR) Channel 11 Disable */
#define ADC_CHDR_CH12 (0x1u << 12) /**< \brief (ADC_CHDR) Channel 12 Disable */
#define ADC_CHDR_CH13 (0x1u << 13) /**< \brief (ADC_CHDR) Channel 13 Disable */
#define ADC_CHDR_CH14 (0x1u << 14) /**< \brief (ADC_CHDR) Channel 14 Disable */
#define ADC_CHDR_CH15 (0x1u << 15) /**< \brief (ADC_CHDR) Channel 15 Disable */
/* -------- ADC_CHSR : (ADC Offset: 0x18) Channel Status Register -------- */
#define ADC_CHSR_CH0 (0x1u << 0) /**< \brief (ADC_CHSR) Channel 0 Status */
#define ADC_CHSR_CH1 (0x1u << 1) /**< \brief (ADC_CHSR) Channel 1 Status */
#define ADC_CHSR_CH2 (0x1u << 2) /**< \brief (ADC_CHSR) Channel 2 Status */
#define ADC_CHSR_CH3 (0x1u << 3) /**< \brief (ADC_CHSR) Channel 3 Status */
#define ADC_CHSR_CH4 (0x1u << 4) /**< \brief (ADC_CHSR) Channel 4 Status */
#define ADC_CHSR_CH5 (0x1u << 5) /**< \brief (ADC_CHSR) Channel 5 Status */
#define ADC_CHSR_CH6 (0x1u << 6) /**< \brief (ADC_CHSR) Channel 6 Status */
#define ADC_CHSR_CH7 (0x1u << 7) /**< \brief (ADC_CHSR) Channel 7 Status */
#define ADC_CHSR_CH8 (0x1u << 8) /**< \brief (ADC_CHSR) Channel 8 Status */
#define ADC_CHSR_CH9 (0x1u << 9) /**< \brief (ADC_CHSR) Channel 9 Status */
#define ADC_CHSR_CH10 (0x1u << 10) /**< \brief (ADC_CHSR) Channel 10 Status */
#define ADC_CHSR_CH11 (0x1u << 11) /**< \brief (ADC_CHSR) Channel 11 Status */
#define ADC_CHSR_CH12 (0x1u << 12) /**< \brief (ADC_CHSR) Channel 12 Status */
#define ADC_CHSR_CH13 (0x1u << 13) /**< \brief (ADC_CHSR) Channel 13 Status */
#define ADC_CHSR_CH14 (0x1u << 14) /**< \brief (ADC_CHSR) Channel 14 Status */
#define ADC_CHSR_CH15 (0x1u << 15) /**< \brief (ADC_CHSR) Channel 15 Status */
/* -------- ADC_LCDR : (ADC Offset: 0x20) Last Converted Data Register -------- */
#define ADC_LCDR_LDATA_Pos 0
#define ADC_LCDR_LDATA_Msk (0xfffu << ADC_LCDR_LDATA_Pos) /**< \brief (ADC_LCDR) Last Data Converted */
#define ADC_LCDR_CHNB_Pos 12
#define ADC_LCDR_CHNB_Msk (0xfu << ADC_LCDR_CHNB_Pos) /**< \brief (ADC_LCDR) Channel Number */
/* -------- ADC_IER : (ADC Offset: 0x24) Interrupt Enable Register -------- */
#define ADC_IER_EOC0 (0x1u << 0) /**< \brief (ADC_IER) End of Conversion Interrupt Enable 0 */
#define ADC_IER_EOC1 (0x1u << 1) /**< \brief (ADC_IER) End of Conversion Interrupt Enable 1 */
#define ADC_IER_EOC2 (0x1u << 2) /**< \brief (ADC_IER) End of Conversion Interrupt Enable 2 */
#define ADC_IER_EOC3 (0x1u << 3) /**< \brief (ADC_IER) End of Conversion Interrupt Enable 3 */
#define ADC_IER_EOC4 (0x1u << 4) /**< \brief (ADC_IER) End of Conversion Interrupt Enable 4 */
#define ADC_IER_EOC5 (0x1u << 5) /**< \brief (ADC_IER) End of Conversion Interrupt Enable 5 */
#define ADC_IER_EOC6 (0x1u << 6) /**< \brief (ADC_IER) End of Conversion Interrupt Enable 6 */
#define ADC_IER_EOC7 (0x1u << 7) /**< \brief (ADC_IER) End of Conversion Interrupt Enable 7 */
#define ADC_IER_EOC8 (0x1u << 8) /**< \brief (ADC_IER) End of Conversion Interrupt Enable 8 */
#define ADC_IER_EOC9 (0x1u << 9) /**< \brief (ADC_IER) End of Conversion Interrupt Enable 9 */
#define ADC_IER_EOC10 (0x1u << 10) /**< \brief (ADC_IER) End of Conversion Interrupt Enable 10 */
#define ADC_IER_EOC11 (0x1u << 11) /**< \brief (ADC_IER) End of Conversion Interrupt Enable 11 */
#define ADC_IER_EOC12 (0x1u << 12) /**< \brief (ADC_IER) End of Conversion Interrupt Enable 12 */
#define ADC_IER_EOC13 (0x1u << 13) /**< \brief (ADC_IER) End of Conversion Interrupt Enable 13 */
#define ADC_IER_EOC14 (0x1u << 14) /**< \brief (ADC_IER) End of Conversion Interrupt Enable 14 */
#define ADC_IER_EOC15 (0x1u << 15) /**< \brief (ADC_IER) End of Conversion Interrupt Enable 15 */
#define ADC_IER_DRDY (0x1u << 24) /**< \brief (ADC_IER) Data Ready Interrupt Enable */
#define ADC_IER_GOVRE (0x1u << 25) /**< \brief (ADC_IER) General Overrun Error Interrupt Enable */
#define ADC_IER_COMPE (0x1u << 26) /**< \brief (ADC_IER) Comparison Event Interrupt Enable */
#define ADC_IER_ENDRX (0x1u << 27) /**< \brief (ADC_IER) End of Receive Buffer Interrupt Enable */
#define ADC_IER_RXBUFF (0x1u << 28) /**< \brief (ADC_IER) Receive Buffer Full Interrupt Enable */
/* -------- ADC_IDR : (ADC Offset: 0x28) Interrupt Disable Register -------- */
#define ADC_IDR_EOC0 (0x1u << 0) /**< \brief (ADC_IDR) End of Conversion Interrupt Disable 0 */
#define ADC_IDR_EOC1 (0x1u << 1) /**< \brief (ADC_IDR) End of Conversion Interrupt Disable 1 */
#define ADC_IDR_EOC2 (0x1u << 2) /**< \brief (ADC_IDR) End of Conversion Interrupt Disable 2 */
#define ADC_IDR_EOC3 (0x1u << 3) /**< \brief (ADC_IDR) End of Conversion Interrupt Disable 3 */
#define ADC_IDR_EOC4 (0x1u << 4) /**< \brief (ADC_IDR) End of Conversion Interrupt Disable 4 */
#define ADC_IDR_EOC5 (0x1u << 5) /**< \brief (ADC_IDR) End of Conversion Interrupt Disable 5 */
#define ADC_IDR_EOC6 (0x1u << 6) /**< \brief (ADC_IDR) End of Conversion Interrupt Disable 6 */
#define ADC_IDR_EOC7 (0x1u << 7) /**< \brief (ADC_IDR) End of Conversion Interrupt Disable 7 */
#define ADC_IDR_EOC8 (0x1u << 8) /**< \brief (ADC_IDR) End of Conversion Interrupt Disable 8 */
#define ADC_IDR_EOC9 (0x1u << 9) /**< \brief (ADC_IDR) End of Conversion Interrupt Disable 9 */
#define ADC_IDR_EOC10 (0x1u << 10) /**< \brief (ADC_IDR) End of Conversion Interrupt Disable 10 */
#define ADC_IDR_EOC11 (0x1u << 11) /**< \brief (ADC_IDR) End of Conversion Interrupt Disable 11 */
#define ADC_IDR_EOC12 (0x1u << 12) /**< \brief (ADC_IDR) End of Conversion Interrupt Disable 12 */
#define ADC_IDR_EOC13 (0x1u << 13) /**< \brief (ADC_IDR) End of Conversion Interrupt Disable 13 */
#define ADC_IDR_EOC14 (0x1u << 14) /**< \brief (ADC_IDR) End of Conversion Interrupt Disable 14 */
#define ADC_IDR_EOC15 (0x1u << 15) /**< \brief (ADC_IDR) End of Conversion Interrupt Disable 15 */
#define ADC_IDR_DRDY (0x1u << 24) /**< \brief (ADC_IDR) Data Ready Interrupt Disable */
#define ADC_IDR_GOVRE (0x1u << 25) /**< \brief (ADC_IDR) General Overrun Error Interrupt Disable */
#define ADC_IDR_COMPE (0x1u << 26) /**< \brief (ADC_IDR) Comparison Event Interrupt Disable */
#define ADC_IDR_ENDRX (0x1u << 27) /**< \brief (ADC_IDR) End of Receive Buffer Interrupt Disable */
#define ADC_IDR_RXBUFF (0x1u << 28) /**< \brief (ADC_IDR) Receive Buffer Full Interrupt Disable */
/* -------- ADC_IMR : (ADC Offset: 0x2C) Interrupt Mask Register -------- */
#define ADC_IMR_EOC0 (0x1u << 0) /**< \brief (ADC_IMR) End of Conversion Interrupt Mask 0 */
#define ADC_IMR_EOC1 (0x1u << 1) /**< \brief (ADC_IMR) End of Conversion Interrupt Mask 1 */
#define ADC_IMR_EOC2 (0x1u << 2) /**< \brief (ADC_IMR) End of Conversion Interrupt Mask 2 */
#define ADC_IMR_EOC3 (0x1u << 3) /**< \brief (ADC_IMR) End of Conversion Interrupt Mask 3 */
#define ADC_IMR_EOC4 (0x1u << 4) /**< \brief (ADC_IMR) End of Conversion Interrupt Mask 4 */
#define ADC_IMR_EOC5 (0x1u << 5) /**< \brief (ADC_IMR) End of Conversion Interrupt Mask 5 */
#define ADC_IMR_EOC6 (0x1u << 6) /**< \brief (ADC_IMR) End of Conversion Interrupt Mask 6 */
#define ADC_IMR_EOC7 (0x1u << 7) /**< \brief (ADC_IMR) End of Conversion Interrupt Mask 7 */
#define ADC_IMR_EOC8 (0x1u << 8) /**< \brief (ADC_IMR) End of Conversion Interrupt Mask 8 */
#define ADC_IMR_EOC9 (0x1u << 9) /**< \brief (ADC_IMR) End of Conversion Interrupt Mask 9 */
#define ADC_IMR_EOC10 (0x1u << 10) /**< \brief (ADC_IMR) End of Conversion Interrupt Mask 10 */
#define ADC_IMR_EOC11 (0x1u << 11) /**< \brief (ADC_IMR) End of Conversion Interrupt Mask 11 */
#define ADC_IMR_EOC12 (0x1u << 12) /**< \brief (ADC_IMR) End of Conversion Interrupt Mask 12 */
#define ADC_IMR_EOC13 (0x1u << 13) /**< \brief (ADC_IMR) End of Conversion Interrupt Mask 13 */
#define ADC_IMR_EOC14 (0x1u << 14) /**< \brief (ADC_IMR) End of Conversion Interrupt Mask 14 */
#define ADC_IMR_EOC15 (0x1u << 15) /**< \brief (ADC_IMR) End of Conversion Interrupt Mask 15 */
#define ADC_IMR_DRDY (0x1u << 24) /**< \brief (ADC_IMR) Data Ready Interrupt Mask */
#define ADC_IMR_GOVRE (0x1u << 25) /**< \brief (ADC_IMR) General Overrun Error Interrupt Mask */
#define ADC_IMR_COMPE (0x1u << 26) /**< \brief (ADC_IMR) Comparison Event Interrupt Mask */
#define ADC_IMR_ENDRX (0x1u << 27) /**< \brief (ADC_IMR) End of Receive Buffer Interrupt Mask */
#define ADC_IMR_RXBUFF (0x1u << 28) /**< \brief (ADC_IMR) Receive Buffer Full Interrupt Mask */
/* -------- ADC_ISR : (ADC Offset: 0x30) Interrupt Status Register -------- */
#define ADC_ISR_EOC0 (0x1u << 0) /**< \brief (ADC_ISR) End of Conversion 0 */
#define ADC_ISR_EOC1 (0x1u << 1) /**< \brief (ADC_ISR) End of Conversion 1 */
#define ADC_ISR_EOC2 (0x1u << 2) /**< \brief (ADC_ISR) End of Conversion 2 */
#define ADC_ISR_EOC3 (0x1u << 3) /**< \brief (ADC_ISR) End of Conversion 3 */
#define ADC_ISR_EOC4 (0x1u << 4) /**< \brief (ADC_ISR) End of Conversion 4 */
#define ADC_ISR_EOC5 (0x1u << 5) /**< \brief (ADC_ISR) End of Conversion 5 */
#define ADC_ISR_EOC6 (0x1u << 6) /**< \brief (ADC_ISR) End of Conversion 6 */
#define ADC_ISR_EOC7 (0x1u << 7) /**< \brief (ADC_ISR) End of Conversion 7 */
#define ADC_ISR_EOC8 (0x1u << 8) /**< \brief (ADC_ISR) End of Conversion 8 */
#define ADC_ISR_EOC9 (0x1u << 9) /**< \brief (ADC_ISR) End of Conversion 9 */
#define ADC_ISR_EOC10 (0x1u << 10) /**< \brief (ADC_ISR) End of Conversion 10 */
#define ADC_ISR_EOC11 (0x1u << 11) /**< \brief (ADC_ISR) End of Conversion 11 */
#define ADC_ISR_EOC12 (0x1u << 12) /**< \brief (ADC_ISR) End of Conversion 12 */
#define ADC_ISR_EOC13 (0x1u << 13) /**< \brief (ADC_ISR) End of Conversion 13 */
#define ADC_ISR_EOC14 (0x1u << 14) /**< \brief (ADC_ISR) End of Conversion 14 */
#define ADC_ISR_EOC15 (0x1u << 15) /**< \brief (ADC_ISR) End of Conversion 15 */
#define ADC_ISR_DRDY (0x1u << 24) /**< \brief (ADC_ISR) Data Ready */
#define ADC_ISR_GOVRE (0x1u << 25) /**< \brief (ADC_ISR) General Overrun Error */
#define ADC_ISR_COMPE (0x1u << 26) /**< \brief (ADC_ISR) Comparison Error */
#define ADC_ISR_ENDRX (0x1u << 27) /**< \brief (ADC_ISR) End of RX Buffer */
#define ADC_ISR_RXBUFF (0x1u << 28) /**< \brief (ADC_ISR) RX Buffer Full */
/* -------- ADC_OVER : (ADC Offset: 0x3C) Overrun Status Register -------- */
#define ADC_OVER_OVRE0 (0x1u << 0) /**< \brief (ADC_OVER) Overrun Error 0 */
#define ADC_OVER_OVRE1 (0x1u << 1) /**< \brief (ADC_OVER) Overrun Error 1 */
#define ADC_OVER_OVRE2 (0x1u << 2) /**< \brief (ADC_OVER) Overrun Error 2 */
#define ADC_OVER_OVRE3 (0x1u << 3) /**< \brief (ADC_OVER) Overrun Error 3 */
#define ADC_OVER_OVRE4 (0x1u << 4) /**< \brief (ADC_OVER) Overrun Error 4 */
#define ADC_OVER_OVRE5 (0x1u << 5) /**< \brief (ADC_OVER) Overrun Error 5 */
#define ADC_OVER_OVRE6 (0x1u << 6) /**< \brief (ADC_OVER) Overrun Error 6 */
#define ADC_OVER_OVRE7 (0x1u << 7) /**< \brief (ADC_OVER) Overrun Error 7 */
#define ADC_OVER_OVRE8 (0x1u << 8) /**< \brief (ADC_OVER) Overrun Error 8 */
#define ADC_OVER_OVRE9 (0x1u << 9) /**< \brief (ADC_OVER) Overrun Error 9 */
#define ADC_OVER_OVRE10 (0x1u << 10) /**< \brief (ADC_OVER) Overrun Error 10 */
#define ADC_OVER_OVRE11 (0x1u << 11) /**< \brief (ADC_OVER) Overrun Error 11 */
#define ADC_OVER_OVRE12 (0x1u << 12) /**< \brief (ADC_OVER) Overrun Error 12 */
#define ADC_OVER_OVRE13 (0x1u << 13) /**< \brief (ADC_OVER) Overrun Error 13 */
#define ADC_OVER_OVRE14 (0x1u << 14) /**< \brief (ADC_OVER) Overrun Error 14 */
#define ADC_OVER_OVRE15 (0x1u << 15) /**< \brief (ADC_OVER) Overrun Error 15 */
/* -------- ADC_EMR : (ADC Offset: 0x40) Extended Mode Register -------- */
#define ADC_EMR_CMPMODE_Pos 0
#define ADC_EMR_CMPMODE_Msk (0x3u << ADC_EMR_CMPMODE_Pos) /**< \brief (ADC_EMR) Comparison Mode */
#define ADC_EMR_CMPMODE_LOW (0x0u << 0) /**< \brief (ADC_EMR) Generates an event when the converted data is lower than the low threshold of the window. */
#define ADC_EMR_CMPMODE_HIGH (0x1u << 0) /**< \brief (ADC_EMR) Generates an event when the converted data is higher than the high threshold of the window. */
#define ADC_EMR_CMPMODE_IN (0x2u << 0) /**< \brief (ADC_EMR) Generates an event when the converted data is in the comparison window. */
#define ADC_EMR_CMPMODE_OUT (0x3u << 0) /**< \brief (ADC_EMR) Generates an event when the converted data is out of the comparison window. */
#define ADC_EMR_CMPSEL_Pos 4
#define ADC_EMR_CMPSEL_Msk (0xfu << ADC_EMR_CMPSEL_Pos) /**< \brief (ADC_EMR) Comparison Selected Channel */
#define ADC_EMR_CMPSEL(value) ((ADC_EMR_CMPSEL_Msk & ((value) << ADC_EMR_CMPSEL_Pos)))
#define ADC_EMR_CMPALL (0x1u << 9) /**< \brief (ADC_EMR) Compare All Channels */
#define ADC_EMR_CMPFILTER_Pos 12
#define ADC_EMR_CMPFILTER_Msk (0x3u << ADC_EMR_CMPFILTER_Pos) /**< \brief (ADC_EMR) Compare Event Filtering */
#define ADC_EMR_CMPFILTER(value) ((ADC_EMR_CMPFILTER_Msk & ((value) << ADC_EMR_CMPFILTER_Pos)))
#define ADC_EMR_TAG (0x1u << 24) /**< \brief (ADC_EMR) TAG of ADC_LDCR register */
/* -------- ADC_CWR : (ADC Offset: 0x44) Compare Window Register -------- */
#define ADC_CWR_LOWTHRES_Pos 0
#define ADC_CWR_LOWTHRES_Msk (0xfffu << ADC_CWR_LOWTHRES_Pos) /**< \brief (ADC_CWR) Low Threshold */
#define ADC_CWR_LOWTHRES(value) ((ADC_CWR_LOWTHRES_Msk & ((value) << ADC_CWR_LOWTHRES_Pos)))
#define ADC_CWR_HIGHTHRES_Pos 16
#define ADC_CWR_HIGHTHRES_Msk (0xfffu << ADC_CWR_HIGHTHRES_Pos) /**< \brief (ADC_CWR) High Threshold */
#define ADC_CWR_HIGHTHRES(value) ((ADC_CWR_HIGHTHRES_Msk & ((value) << ADC_CWR_HIGHTHRES_Pos)))
/* -------- ADC_CGR : (ADC Offset: 0x48) Channel Gain Register -------- */
#define ADC_CGR_GAIN0_Pos 0
#define ADC_CGR_GAIN0_Msk (0x3u << ADC_CGR_GAIN0_Pos) /**< \brief (ADC_CGR) Gain for channel 0 */
#define ADC_CGR_GAIN0(value) ((ADC_CGR_GAIN0_Msk & ((value) << ADC_CGR_GAIN0_Pos)))
#define ADC_CGR_GAIN1_Pos 2
#define ADC_CGR_GAIN1_Msk (0x3u << ADC_CGR_GAIN1_Pos) /**< \brief (ADC_CGR) Gain for channel 1 */
#define ADC_CGR_GAIN1(value) ((ADC_CGR_GAIN1_Msk & ((value) << ADC_CGR_GAIN1_Pos)))
#define ADC_CGR_GAIN2_Pos 4
#define ADC_CGR_GAIN2_Msk (0x3u << ADC_CGR_GAIN2_Pos) /**< \brief (ADC_CGR) Gain for channel 2 */
#define ADC_CGR_GAIN2(value) ((ADC_CGR_GAIN2_Msk & ((value) << ADC_CGR_GAIN2_Pos)))
#define ADC_CGR_GAIN3_Pos 6
#define ADC_CGR_GAIN3_Msk (0x3u << ADC_CGR_GAIN3_Pos) /**< \brief (ADC_CGR) Gain for channel 3 */
#define ADC_CGR_GAIN3(value) ((ADC_CGR_GAIN3_Msk & ((value) << ADC_CGR_GAIN3_Pos)))
#define ADC_CGR_GAIN4_Pos 8
#define ADC_CGR_GAIN4_Msk (0x3u << ADC_CGR_GAIN4_Pos) /**< \brief (ADC_CGR) Gain for channel 4 */
#define ADC_CGR_GAIN4(value) ((ADC_CGR_GAIN4_Msk & ((value) << ADC_CGR_GAIN4_Pos)))
#define ADC_CGR_GAIN5_Pos 10
#define ADC_CGR_GAIN5_Msk (0x3u << ADC_CGR_GAIN5_Pos) /**< \brief (ADC_CGR) Gain for channel 5 */
#define ADC_CGR_GAIN5(value) ((ADC_CGR_GAIN5_Msk & ((value) << ADC_CGR_GAIN5_Pos)))
#define ADC_CGR_GAIN6_Pos 12
#define ADC_CGR_GAIN6_Msk (0x3u << ADC_CGR_GAIN6_Pos) /**< \brief (ADC_CGR) Gain for channel 6 */
#define ADC_CGR_GAIN6(value) ((ADC_CGR_GAIN6_Msk & ((value) << ADC_CGR_GAIN6_Pos)))
#define ADC_CGR_GAIN7_Pos 14
#define ADC_CGR_GAIN7_Msk (0x3u << ADC_CGR_GAIN7_Pos) /**< \brief (ADC_CGR) Gain for channel 7 */
#define ADC_CGR_GAIN7(value) ((ADC_CGR_GAIN7_Msk & ((value) << ADC_CGR_GAIN7_Pos)))
#define ADC_CGR_GAIN8_Pos 16
#define ADC_CGR_GAIN8_Msk (0x3u << ADC_CGR_GAIN8_Pos) /**< \brief (ADC_CGR) Gain for channel 8 */
#define ADC_CGR_GAIN8(value) ((ADC_CGR_GAIN8_Msk & ((value) << ADC_CGR_GAIN8_Pos)))
#define ADC_CGR_GAIN9_Pos 18
#define ADC_CGR_GAIN9_Msk (0x3u << ADC_CGR_GAIN9_Pos) /**< \brief (ADC_CGR) Gain for channel 9 */
#define ADC_CGR_GAIN9(value) ((ADC_CGR_GAIN9_Msk & ((value) << ADC_CGR_GAIN9_Pos)))
#define ADC_CGR_GAIN10_Pos 20
#define ADC_CGR_GAIN10_Msk (0x3u << ADC_CGR_GAIN10_Pos) /**< \brief (ADC_CGR) Gain for channel 10 */
#define ADC_CGR_GAIN10(value) ((ADC_CGR_GAIN10_Msk & ((value) << ADC_CGR_GAIN10_Pos)))
#define ADC_CGR_GAIN11_Pos 22
#define ADC_CGR_GAIN11_Msk (0x3u << ADC_CGR_GAIN11_Pos) /**< \brief (ADC_CGR) Gain for channel 11 */
#define ADC_CGR_GAIN11(value) ((ADC_CGR_GAIN11_Msk & ((value) << ADC_CGR_GAIN11_Pos)))
#define ADC_CGR_GAIN12_Pos 24
#define ADC_CGR_GAIN12_Msk (0x3u << ADC_CGR_GAIN12_Pos) /**< \brief (ADC_CGR) Gain for channel 12 */
#define ADC_CGR_GAIN12(value) ((ADC_CGR_GAIN12_Msk & ((value) << ADC_CGR_GAIN12_Pos)))
#define ADC_CGR_GAIN13_Pos 26
#define ADC_CGR_GAIN13_Msk (0x3u << ADC_CGR_GAIN13_Pos) /**< \brief (ADC_CGR) Gain for channel 13 */
#define ADC_CGR_GAIN13(value) ((ADC_CGR_GAIN13_Msk & ((value) << ADC_CGR_GAIN13_Pos)))
#define ADC_CGR_GAIN14_Pos 28
#define ADC_CGR_GAIN14_Msk (0x3u << ADC_CGR_GAIN14_Pos) /**< \brief (ADC_CGR) Gain for channel 14 */
#define ADC_CGR_GAIN14(value) ((ADC_CGR_GAIN14_Msk & ((value) << ADC_CGR_GAIN14_Pos)))
#define ADC_CGR_GAIN15_Pos 30
#define ADC_CGR_GAIN15_Msk (0x3u << ADC_CGR_GAIN15_Pos) /**< \brief (ADC_CGR) Gain for channel 15 */
#define ADC_CGR_GAIN15(value) ((ADC_CGR_GAIN15_Msk & ((value) << ADC_CGR_GAIN15_Pos)))
/* -------- ADC_COR : (ADC Offset: 0x4C) Channel Offset Register -------- */
#define ADC_COR_OFF0 (0x1u << 0) /**< \brief (ADC_COR) Offset for channel 0 */
#define ADC_COR_OFF1 (0x1u << 1) /**< \brief (ADC_COR) Offset for channel 1 */
#define ADC_COR_OFF2 (0x1u << 2) /**< \brief (ADC_COR) Offset for channel 2 */
#define ADC_COR_OFF3 (0x1u << 3) /**< \brief (ADC_COR) Offset for channel 3 */
#define ADC_COR_OFF4 (0x1u << 4) /**< \brief (ADC_COR) Offset for channel 4 */
#define ADC_COR_OFF5 (0x1u << 5) /**< \brief (ADC_COR) Offset for channel 5 */
#define ADC_COR_OFF6 (0x1u << 6) /**< \brief (ADC_COR) Offset for channel 6 */
#define ADC_COR_OFF7 (0x1u << 7) /**< \brief (ADC_COR) Offset for channel 7 */
#define ADC_COR_OFF8 (0x1u << 8) /**< \brief (ADC_COR) Offset for channel 8 */
#define ADC_COR_OFF9 (0x1u << 9) /**< \brief (ADC_COR) Offset for channel 9 */
#define ADC_COR_OFF10 (0x1u << 10) /**< \brief (ADC_COR) Offset for channel 10 */
#define ADC_COR_OFF11 (0x1u << 11) /**< \brief (ADC_COR) Offset for channel 11 */
#define ADC_COR_OFF12 (0x1u << 12) /**< \brief (ADC_COR) Offset for channel 12 */
#define ADC_COR_OFF13 (0x1u << 13) /**< \brief (ADC_COR) Offset for channel 13 */
#define ADC_COR_OFF14 (0x1u << 14) /**< \brief (ADC_COR) Offset for channel 14 */
#define ADC_COR_OFF15 (0x1u << 15) /**< \brief (ADC_COR) Offset for channel 15 */
#define ADC_COR_DIFF0 (0x1u << 16) /**< \brief (ADC_COR) Differential inputs for channel 0 */
#define ADC_COR_DIFF1 (0x1u << 17) /**< \brief (ADC_COR) Differential inputs for channel 1 */
#define ADC_COR_DIFF2 (0x1u << 18) /**< \brief (ADC_COR) Differential inputs for channel 2 */
#define ADC_COR_DIFF3 (0x1u << 19) /**< \brief (ADC_COR) Differential inputs for channel 3 */
#define ADC_COR_DIFF4 (0x1u << 20) /**< \brief (ADC_COR) Differential inputs for channel 4 */
#define ADC_COR_DIFF5 (0x1u << 21) /**< \brief (ADC_COR) Differential inputs for channel 5 */
#define ADC_COR_DIFF6 (0x1u << 22) /**< \brief (ADC_COR) Differential inputs for channel 6 */
#define ADC_COR_DIFF7 (0x1u << 23) /**< \brief (ADC_COR) Differential inputs for channel 7 */
#define ADC_COR_DIFF8 (0x1u << 24) /**< \brief (ADC_COR) Differential inputs for channel 8 */
#define ADC_COR_DIFF9 (0x1u << 25) /**< \brief (ADC_COR) Differential inputs for channel 9 */
#define ADC_COR_DIFF10 (0x1u << 26) /**< \brief (ADC_COR) Differential inputs for channel 10 */
#define ADC_COR_DIFF11 (0x1u << 27) /**< \brief (ADC_COR) Differential inputs for channel 11 */
#define ADC_COR_DIFF12 (0x1u << 28) /**< \brief (ADC_COR) Differential inputs for channel 12 */
#define ADC_COR_DIFF13 (0x1u << 29) /**< \brief (ADC_COR) Differential inputs for channel 13 */
#define ADC_COR_DIFF14 (0x1u << 30) /**< \brief (ADC_COR) Differential inputs for channel 14 */
#define ADC_COR_DIFF15 (0x1u << 31) /**< \brief (ADC_COR) Differential inputs for channel 15 */
/* -------- ADC_CDR[16] : (ADC Offset: 0x50) Channel Data Register -------- */
#define ADC_CDR_DATA_Pos 0
#define ADC_CDR_DATA_Msk (0xfffu << ADC_CDR_DATA_Pos) /**< \brief (ADC_CDR[16]) Converted Data */
/* -------- ADC_ACR : (ADC Offset: 0x94) Analog Control Register -------- */
#define ADC_ACR_TSON (0x1u << 4) /**< \brief (ADC_ACR) Temperature Sensor On */
#define ADC_ACR_IBCTL_Pos 8
#define ADC_ACR_IBCTL_Msk (0x3u << ADC_ACR_IBCTL_Pos) /**< \brief (ADC_ACR) ADC Bias Current Control */
#define ADC_ACR_IBCTL(value) ((ADC_ACR_IBCTL_Msk & ((value) << ADC_ACR_IBCTL_Pos)))
/* -------- ADC_WPMR : (ADC Offset: 0xE4) Write Protect Mode Register -------- */
#define ADC_WPMR_WPEN (0x1u << 0) /**< \brief (ADC_WPMR) Write Protect Enable */
#define ADC_WPMR_WPKEY_Pos 8
#define ADC_WPMR_WPKEY_Msk (0xffffffu << ADC_WPMR_WPKEY_Pos) /**< \brief (ADC_WPMR) Write Protect KEY */
#define ADC_WPMR_WPKEY(value) ((ADC_WPMR_WPKEY_Msk & ((value) << ADC_WPMR_WPKEY_Pos)))
/* -------- ADC_WPSR : (ADC Offset: 0xE8) Write Protect Status Register -------- */
#define ADC_WPSR_WPVS (0x1u << 0) /**< \brief (ADC_WPSR) Write Protect Violation Status */
#define ADC_WPSR_WPVSRC_Pos 8
#define ADC_WPSR_WPVSRC_Msk (0xffffu << ADC_WPSR_WPVSRC_Pos) /**< \brief (ADC_WPSR) Write Protect Violation Source */
/* -------- ADC_RPR : (ADC Offset: 0x100) Receive Pointer Register -------- */
#define ADC_RPR_RXPTR_Pos 0
#define ADC_RPR_RXPTR_Msk (0xffffffffu << ADC_RPR_RXPTR_Pos) /**< \brief (ADC_RPR) Receive Pointer Register */
#define ADC_RPR_RXPTR(value) ((ADC_RPR_RXPTR_Msk & ((value) << ADC_RPR_RXPTR_Pos)))
/* -------- ADC_RCR : (ADC Offset: 0x104) Receive Counter Register -------- */
#define ADC_RCR_RXCTR_Pos 0
#define ADC_RCR_RXCTR_Msk (0xffffu << ADC_RCR_RXCTR_Pos) /**< \brief (ADC_RCR) Receive Counter Register */
#define ADC_RCR_RXCTR(value) ((ADC_RCR_RXCTR_Msk & ((value) << ADC_RCR_RXCTR_Pos)))
/* -------- ADC_RNPR : (ADC Offset: 0x110) Receive Next Pointer Register -------- */
#define ADC_RNPR_RXNPTR_Pos 0
#define ADC_RNPR_RXNPTR_Msk (0xffffffffu << ADC_RNPR_RXNPTR_Pos) /**< \brief (ADC_RNPR) Receive Next Pointer */
#define ADC_RNPR_RXNPTR(value) ((ADC_RNPR_RXNPTR_Msk & ((value) << ADC_RNPR_RXNPTR_Pos)))
/* -------- ADC_RNCR : (ADC Offset: 0x114) Receive Next Counter Register -------- */
#define ADC_RNCR_RXNCTR_Pos 0
#define ADC_RNCR_RXNCTR_Msk (0xffffu << ADC_RNCR_RXNCTR_Pos) /**< \brief (ADC_RNCR) Receive Next Counter */
#define ADC_RNCR_RXNCTR(value) ((ADC_RNCR_RXNCTR_Msk & ((value) << ADC_RNCR_RXNCTR_Pos)))
/* -------- ADC_PTCR : (ADC Offset: 0x120) Transfer Control Register -------- */
#define ADC_PTCR_RXTEN (0x1u << 0) /**< \brief (ADC_PTCR) Receiver Transfer Enable */
#define ADC_PTCR_RXTDIS (0x1u << 1) /**< \brief (ADC_PTCR) Receiver Transfer Disable */
#define ADC_PTCR_TXTEN (0x1u << 8) /**< \brief (ADC_PTCR) Transmitter Transfer Enable */
#define ADC_PTCR_TXTDIS (0x1u << 9) /**< \brief (ADC_PTCR) Transmitter Transfer Disable */
/* -------- ADC_PTSR : (ADC Offset: 0x124) Transfer Status Register -------- */
#define ADC_PTSR_RXTEN (0x1u << 0) /**< \brief (ADC_PTSR) Receiver Transfer Enable */
#define ADC_PTSR_TXTEN (0x1u << 8) /**< \brief (ADC_PTSR) Transmitter Transfer Enable */
/*@}*/
#endif /* _SAM3XA_ADC_COMPONENT_ */

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lib/cmsis-sam3x8e/include/component/component_can.h
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@@ -1,298 +0,0 @@
/* ----------------------------------------------------------------------------
* SAM Software Package License
* ----------------------------------------------------------------------------
* Copyright (c) 2012, Atmel Corporation
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following condition is met:
*
* - Redistributions of source code must retain the above copyright notice,
* this list of conditions and the disclaimer below.
*
* Atmel's 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 ATMEL "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 ATMEL 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 _SAM3XA_CAN_COMPONENT_
#define _SAM3XA_CAN_COMPONENT_
/* ============================================================================= */
/** SOFTWARE API DEFINITION FOR Controller Area Network */
/* ============================================================================= */
/** \addtogroup SAM3XA_CAN Controller Area Network */
/*@{*/
#if !(defined(__ASSEMBLY__) || defined(__IAR_SYSTEMS_ASM__))
/** \brief CanMb hardware registers */
typedef struct {
RwReg CAN_MMR; /**< \brief (CanMb Offset: 0x0) Mailbox Mode Register */
RwReg CAN_MAM; /**< \brief (CanMb Offset: 0x4) Mailbox Acceptance Mask Register */
RwReg CAN_MID; /**< \brief (CanMb Offset: 0x8) Mailbox ID Register */
RwReg CAN_MFID; /**< \brief (CanMb Offset: 0xC) Mailbox Family ID Register */
RwReg CAN_MSR; /**< \brief (CanMb Offset: 0x10) Mailbox Status Register */
RwReg CAN_MDL; /**< \brief (CanMb Offset: 0x14) Mailbox Data Low Register */
RwReg CAN_MDH; /**< \brief (CanMb Offset: 0x18) Mailbox Data High Register */
RwReg CAN_MCR; /**< \brief (CanMb Offset: 0x1C) Mailbox Control Register */
} CanMb;
/** \brief Can hardware registers */
#define CANMB_NUMBER 8
typedef struct {
RwReg CAN_MR; /**< \brief (Can Offset: 0x0000) Mode Register */
WoReg CAN_IER; /**< \brief (Can Offset: 0x0004) Interrupt Enable Register */
WoReg CAN_IDR; /**< \brief (Can Offset: 0x0008) Interrupt Disable Register */
RoReg CAN_IMR; /**< \brief (Can Offset: 0x000C) Interrupt Mask Register */
RoReg CAN_SR; /**< \brief (Can Offset: 0x0010) Status Register */
RwReg CAN_BR; /**< \brief (Can Offset: 0x0014) Baudrate Register */
RoReg CAN_TIM; /**< \brief (Can Offset: 0x0018) Timer Register */
RoReg CAN_TIMESTP; /**< \brief (Can Offset: 0x001C) Timestamp Register */
RoReg CAN_ECR; /**< \brief (Can Offset: 0x0020) Error Counter Register */
WoReg CAN_TCR; /**< \brief (Can Offset: 0x0024) Transfer Command Register */
WoReg CAN_ACR; /**< \brief (Can Offset: 0x0028) Abort Command Register */
RoReg Reserved1[46];
RwReg CAN_WPMR; /**< \brief (Can Offset: 0x00E4) Write Protect Mode Register */
RoReg CAN_WPSR; /**< \brief (Can Offset: 0x00E8) Write Protect Status Register */
RoReg Reserved2[69];
CanMb CAN_MB[CANMB_NUMBER]; /**< \brief (Can Offset: 0x200) MB = 0 .. 7 */
} Can;
#endif /* !(defined(__ASSEMBLY__) || defined(__IAR_SYSTEMS_ASM__)) */
/* -------- CAN_MR : (CAN Offset: 0x0000) Mode Register -------- */
#define CAN_MR_CANEN (0x1u << 0) /**< \brief (CAN_MR) CAN Controller Enable */
#define CAN_MR_LPM (0x1u << 1) /**< \brief (CAN_MR) Disable/Enable Low Power Mode */
#define CAN_MR_ABM (0x1u << 2) /**< \brief (CAN_MR) Disable/Enable Autobaud/Listen mode */
#define CAN_MR_OVL (0x1u << 3) /**< \brief (CAN_MR) Disable/Enable Overload Frame */
#define CAN_MR_TEOF (0x1u << 4) /**< \brief (CAN_MR) Timestamp messages at each end of Frame */
#define CAN_MR_TTM (0x1u << 5) /**< \brief (CAN_MR) Disable/Enable Time Triggered Mode */
#define CAN_MR_TIMFRZ (0x1u << 6) /**< \brief (CAN_MR) Enable Timer Freeze */
#define CAN_MR_DRPT (0x1u << 7) /**< \brief (CAN_MR) Disable Repeat */
#define CAN_MR_RXSYNC_Pos 24
#define CAN_MR_RXSYNC_Msk (0x7u << CAN_MR_RXSYNC_Pos) /**< \brief (CAN_MR) Reception Synchronization Stage (not readable) */
#define CAN_MR_RXSYNC_DOUBLE_PP (0x0u << 24) /**< \brief (CAN_MR) Rx Signal with Double Synchro Stages (2 Positive Edges) */
#define CAN_MR_RXSYNC_DOUBLE_PN (0x1u << 24) /**< \brief (CAN_MR) Rx Signal with Double Synchro Stages (One Positive Edge and One Negative Edge) */
#define CAN_MR_RXSYNC_SINGLE_P (0x2u << 24) /**< \brief (CAN_MR) Rx Signal with Single Synchro Stage (Positive Edge) */
#define CAN_MR_RXSYNC_NONE (0x3u << 24) /**< \brief (CAN_MR) Rx Signal with No Synchro Stage */
/* -------- CAN_IER : (CAN Offset: 0x0004) Interrupt Enable Register -------- */
#define CAN_IER_MB0 (0x1u << 0) /**< \brief (CAN_IER) Mailbox 0 Interrupt Enable */
#define CAN_IER_MB1 (0x1u << 1) /**< \brief (CAN_IER) Mailbox 1 Interrupt Enable */
#define CAN_IER_MB2 (0x1u << 2) /**< \brief (CAN_IER) Mailbox 2 Interrupt Enable */
#define CAN_IER_MB3 (0x1u << 3) /**< \brief (CAN_IER) Mailbox 3 Interrupt Enable */
#define CAN_IER_MB4 (0x1u << 4) /**< \brief (CAN_IER) Mailbox 4 Interrupt Enable */
#define CAN_IER_MB5 (0x1u << 5) /**< \brief (CAN_IER) Mailbox 5 Interrupt Enable */
#define CAN_IER_MB6 (0x1u << 6) /**< \brief (CAN_IER) Mailbox 6 Interrupt Enable */
#define CAN_IER_MB7 (0x1u << 7) /**< \brief (CAN_IER) Mailbox 7 Interrupt Enable */
#define CAN_IER_ERRA (0x1u << 16) /**< \brief (CAN_IER) Error Active Mode Interrupt Enable */
#define CAN_IER_WARN (0x1u << 17) /**< \brief (CAN_IER) Warning Limit Interrupt Enable */
#define CAN_IER_ERRP (0x1u << 18) /**< \brief (CAN_IER) Error Passive Mode Interrupt Enable */
#define CAN_IER_BOFF (0x1u << 19) /**< \brief (CAN_IER) Bus Off Mode Interrupt Enable */
#define CAN_IER_SLEEP (0x1u << 20) /**< \brief (CAN_IER) Sleep Interrupt Enable */
#define CAN_IER_WAKEUP (0x1u << 21) /**< \brief (CAN_IER) Wakeup Interrupt Enable */
#define CAN_IER_TOVF (0x1u << 22) /**< \brief (CAN_IER) Timer Overflow Interrupt Enable */
#define CAN_IER_TSTP (0x1u << 23) /**< \brief (CAN_IER) TimeStamp Interrupt Enable */
#define CAN_IER_CERR (0x1u << 24) /**< \brief (CAN_IER) CRC Error Interrupt Enable */
#define CAN_IER_SERR (0x1u << 25) /**< \brief (CAN_IER) Stuffing Error Interrupt Enable */
#define CAN_IER_AERR (0x1u << 26) /**< \brief (CAN_IER) Acknowledgment Error Interrupt Enable */
#define CAN_IER_FERR (0x1u << 27) /**< \brief (CAN_IER) Form Error Interrupt Enable */
#define CAN_IER_BERR (0x1u << 28) /**< \brief (CAN_IER) Bit Error Interrupt Enable */
/* -------- CAN_IDR : (CAN Offset: 0x0008) Interrupt Disable Register -------- */
#define CAN_IDR_MB0 (0x1u << 0) /**< \brief (CAN_IDR) Mailbox 0 Interrupt Disable */
#define CAN_IDR_MB1 (0x1u << 1) /**< \brief (CAN_IDR) Mailbox 1 Interrupt Disable */
#define CAN_IDR_MB2 (0x1u << 2) /**< \brief (CAN_IDR) Mailbox 2 Interrupt Disable */
#define CAN_IDR_MB3 (0x1u << 3) /**< \brief (CAN_IDR) Mailbox 3 Interrupt Disable */
#define CAN_IDR_MB4 (0x1u << 4) /**< \brief (CAN_IDR) Mailbox 4 Interrupt Disable */
#define CAN_IDR_MB5 (0x1u << 5) /**< \brief (CAN_IDR) Mailbox 5 Interrupt Disable */
#define CAN_IDR_MB6 (0x1u << 6) /**< \brief (CAN_IDR) Mailbox 6 Interrupt Disable */
#define CAN_IDR_MB7 (0x1u << 7) /**< \brief (CAN_IDR) Mailbox 7 Interrupt Disable */
#define CAN_IDR_ERRA (0x1u << 16) /**< \brief (CAN_IDR) Error Active Mode Interrupt Disable */
#define CAN_IDR_WARN (0x1u << 17) /**< \brief (CAN_IDR) Warning Limit Interrupt Disable */
#define CAN_IDR_ERRP (0x1u << 18) /**< \brief (CAN_IDR) Error Passive Mode Interrupt Disable */
#define CAN_IDR_BOFF (0x1u << 19) /**< \brief (CAN_IDR) Bus Off Mode Interrupt Disable */
#define CAN_IDR_SLEEP (0x1u << 20) /**< \brief (CAN_IDR) Sleep Interrupt Disable */
#define CAN_IDR_WAKEUP (0x1u << 21) /**< \brief (CAN_IDR) Wakeup Interrupt Disable */
#define CAN_IDR_TOVF (0x1u << 22) /**< \brief (CAN_IDR) Timer Overflow Interrupt */
#define CAN_IDR_TSTP (0x1u << 23) /**< \brief (CAN_IDR) TimeStamp Interrupt Disable */
#define CAN_IDR_CERR (0x1u << 24) /**< \brief (CAN_IDR) CRC Error Interrupt Disable */
#define CAN_IDR_SERR (0x1u << 25) /**< \brief (CAN_IDR) Stuffing Error Interrupt Disable */
#define CAN_IDR_AERR (0x1u << 26) /**< \brief (CAN_IDR) Acknowledgment Error Interrupt Disable */
#define CAN_IDR_FERR (0x1u << 27) /**< \brief (CAN_IDR) Form Error Interrupt Disable */
#define CAN_IDR_BERR (0x1u << 28) /**< \brief (CAN_IDR) Bit Error Interrupt Disable */
/* -------- CAN_IMR : (CAN Offset: 0x000C) Interrupt Mask Register -------- */
#define CAN_IMR_MB0 (0x1u << 0) /**< \brief (CAN_IMR) Mailbox 0 Interrupt Mask */
#define CAN_IMR_MB1 (0x1u << 1) /**< \brief (CAN_IMR) Mailbox 1 Interrupt Mask */
#define CAN_IMR_MB2 (0x1u << 2) /**< \brief (CAN_IMR) Mailbox 2 Interrupt Mask */
#define CAN_IMR_MB3 (0x1u << 3) /**< \brief (CAN_IMR) Mailbox 3 Interrupt Mask */
#define CAN_IMR_MB4 (0x1u << 4) /**< \brief (CAN_IMR) Mailbox 4 Interrupt Mask */
#define CAN_IMR_MB5 (0x1u << 5) /**< \brief (CAN_IMR) Mailbox 5 Interrupt Mask */
#define CAN_IMR_MB6 (0x1u << 6) /**< \brief (CAN_IMR) Mailbox 6 Interrupt Mask */
#define CAN_IMR_MB7 (0x1u << 7) /**< \brief (CAN_IMR) Mailbox 7 Interrupt Mask */
#define CAN_IMR_ERRA (0x1u << 16) /**< \brief (CAN_IMR) Error Active Mode Interrupt Mask */
#define CAN_IMR_WARN (0x1u << 17) /**< \brief (CAN_IMR) Warning Limit Interrupt Mask */
#define CAN_IMR_ERRP (0x1u << 18) /**< \brief (CAN_IMR) Error Passive Mode Interrupt Mask */
#define CAN_IMR_BOFF (0x1u << 19) /**< \brief (CAN_IMR) Bus Off Mode Interrupt Mask */
#define CAN_IMR_SLEEP (0x1u << 20) /**< \brief (CAN_IMR) Sleep Interrupt Mask */
#define CAN_IMR_WAKEUP (0x1u << 21) /**< \brief (CAN_IMR) Wakeup Interrupt Mask */
#define CAN_IMR_TOVF (0x1u << 22) /**< \brief (CAN_IMR) Timer Overflow Interrupt Mask */
#define CAN_IMR_TSTP (0x1u << 23) /**< \brief (CAN_IMR) Timestamp Interrupt Mask */
#define CAN_IMR_CERR (0x1u << 24) /**< \brief (CAN_IMR) CRC Error Interrupt Mask */
#define CAN_IMR_SERR (0x1u << 25) /**< \brief (CAN_IMR) Stuffing Error Interrupt Mask */
#define CAN_IMR_AERR (0x1u << 26) /**< \brief (CAN_IMR) Acknowledgment Error Interrupt Mask */
#define CAN_IMR_FERR (0x1u << 27) /**< \brief (CAN_IMR) Form Error Interrupt Mask */
#define CAN_IMR_BERR (0x1u << 28) /**< \brief (CAN_IMR) Bit Error Interrupt Mask */
/* -------- CAN_SR : (CAN Offset: 0x0010) Status Register -------- */
#define CAN_SR_MB0 (0x1u << 0) /**< \brief (CAN_SR) Mailbox 0 Event */
#define CAN_SR_MB1 (0x1u << 1) /**< \brief (CAN_SR) Mailbox 1 Event */
#define CAN_SR_MB2 (0x1u << 2) /**< \brief (CAN_SR) Mailbox 2 Event */
#define CAN_SR_MB3 (0x1u << 3) /**< \brief (CAN_SR) Mailbox 3 Event */
#define CAN_SR_MB4 (0x1u << 4) /**< \brief (CAN_SR) Mailbox 4 Event */
#define CAN_SR_MB5 (0x1u << 5) /**< \brief (CAN_SR) Mailbox 5 Event */
#define CAN_SR_MB6 (0x1u << 6) /**< \brief (CAN_SR) Mailbox 6 Event */
#define CAN_SR_MB7 (0x1u << 7) /**< \brief (CAN_SR) Mailbox 7 Event */
#define CAN_SR_ERRA (0x1u << 16) /**< \brief (CAN_SR) Error Active Mode */
#define CAN_SR_WARN (0x1u << 17) /**< \brief (CAN_SR) Warning Limit */
#define CAN_SR_ERRP (0x1u << 18) /**< \brief (CAN_SR) Error Passive Mode */
#define CAN_SR_BOFF (0x1u << 19) /**< \brief (CAN_SR) Bus Off Mode */
#define CAN_SR_SLEEP (0x1u << 20) /**< \brief (CAN_SR) CAN controller in Low power Mode */
#define CAN_SR_WAKEUP (0x1u << 21) /**< \brief (CAN_SR) CAN controller is not in Low power Mode */
#define CAN_SR_TOVF (0x1u << 22) /**< \brief (CAN_SR) Timer Overflow */
#define CAN_SR_TSTP (0x1u << 23) /**< \brief (CAN_SR) */
#define CAN_SR_CERR (0x1u << 24) /**< \brief (CAN_SR) Mailbox CRC Error */
#define CAN_SR_SERR (0x1u << 25) /**< \brief (CAN_SR) Mailbox Stuffing Error */
#define CAN_SR_AERR (0x1u << 26) /**< \brief (CAN_SR) Acknowledgment Error */
#define CAN_SR_FERR (0x1u << 27) /**< \brief (CAN_SR) Form Error */
#define CAN_SR_BERR (0x1u << 28) /**< \brief (CAN_SR) Bit Error */
#define CAN_SR_RBSY (0x1u << 29) /**< \brief (CAN_SR) Receiver busy */
#define CAN_SR_TBSY (0x1u << 30) /**< \brief (CAN_SR) Transmitter busy */
#define CAN_SR_OVLSY (0x1u << 31) /**< \brief (CAN_SR) Overload busy */
/* -------- CAN_BR : (CAN Offset: 0x0014) Baudrate Register -------- */
#define CAN_BR_PHASE2_Pos 0
#define CAN_BR_PHASE2_Msk (0x7u << CAN_BR_PHASE2_Pos) /**< \brief (CAN_BR) Phase 2 segment */
#define CAN_BR_PHASE2(value) ((CAN_BR_PHASE2_Msk & ((value) << CAN_BR_PHASE2_Pos)))
#define CAN_BR_PHASE1_Pos 4
#define CAN_BR_PHASE1_Msk (0x7u << CAN_BR_PHASE1_Pos) /**< \brief (CAN_BR) Phase 1 segment */
#define CAN_BR_PHASE1(value) ((CAN_BR_PHASE1_Msk & ((value) << CAN_BR_PHASE1_Pos)))
#define CAN_BR_PROPAG_Pos 8
#define CAN_BR_PROPAG_Msk (0x7u << CAN_BR_PROPAG_Pos) /**< \brief (CAN_BR) Programming time segment */
#define CAN_BR_PROPAG(value) ((CAN_BR_PROPAG_Msk & ((value) << CAN_BR_PROPAG_Pos)))
#define CAN_BR_SJW_Pos 12
#define CAN_BR_SJW_Msk (0x3u << CAN_BR_SJW_Pos) /**< \brief (CAN_BR) Re-synchronization jump width */
#define CAN_BR_SJW(value) ((CAN_BR_SJW_Msk & ((value) << CAN_BR_SJW_Pos)))
#define CAN_BR_BRP_Pos 16
#define CAN_BR_BRP_Msk (0x7fu << CAN_BR_BRP_Pos) /**< \brief (CAN_BR) Baudrate Prescaler. */
#define CAN_BR_BRP(value) ((CAN_BR_BRP_Msk & ((value) << CAN_BR_BRP_Pos)))
#define CAN_BR_SMP (0x1u << 24) /**< \brief (CAN_BR) Sampling Mode */
#define CAN_BR_SMP_ONCE (0x0u << 24) /**< \brief (CAN_BR) The incoming bit stream is sampled once at sample point. */
#define CAN_BR_SMP_THREE (0x1u << 24) /**< \brief (CAN_BR) The incoming bit stream is sampled three times with a period of a MCK clock period, centered on sample point. */
/* -------- CAN_TIM : (CAN Offset: 0x0018) Timer Register -------- */
#define CAN_TIM_TIMER_Pos 0
#define CAN_TIM_TIMER_Msk (0xffffu << CAN_TIM_TIMER_Pos) /**< \brief (CAN_TIM) Timer */
/* -------- CAN_TIMESTP : (CAN Offset: 0x001C) Timestamp Register -------- */
#define CAN_TIMESTP_MTIMESTAMP_Pos 0
#define CAN_TIMESTP_MTIMESTAMP_Msk (0xffffu << CAN_TIMESTP_MTIMESTAMP_Pos) /**< \brief (CAN_TIMESTP) Timestamp */
/* -------- CAN_ECR : (CAN Offset: 0x0020) Error Counter Register -------- */
#define CAN_ECR_REC_Pos 0
#define CAN_ECR_REC_Msk (0xffu << CAN_ECR_REC_Pos) /**< \brief (CAN_ECR) Receive Error Counter */
#define CAN_ECR_TEC_Pos 16
#define CAN_ECR_TEC_Msk (0xffu << CAN_ECR_TEC_Pos) /**< \brief (CAN_ECR) Transmit Error Counter */
/* -------- CAN_TCR : (CAN Offset: 0x0024) Transfer Command Register -------- */
#define CAN_TCR_MB0 (0x1u << 0) /**< \brief (CAN_TCR) Transfer Request for Mailbox 0 */
#define CAN_TCR_MB1 (0x1u << 1) /**< \brief (CAN_TCR) Transfer Request for Mailbox 1 */
#define CAN_TCR_MB2 (0x1u << 2) /**< \brief (CAN_TCR) Transfer Request for Mailbox 2 */
#define CAN_TCR_MB3 (0x1u << 3) /**< \brief (CAN_TCR) Transfer Request for Mailbox 3 */
#define CAN_TCR_MB4 (0x1u << 4) /**< \brief (CAN_TCR) Transfer Request for Mailbox 4 */
#define CAN_TCR_MB5 (0x1u << 5) /**< \brief (CAN_TCR) Transfer Request for Mailbox 5 */
#define CAN_TCR_MB6 (0x1u << 6) /**< \brief (CAN_TCR) Transfer Request for Mailbox 6 */
#define CAN_TCR_MB7 (0x1u << 7) /**< \brief (CAN_TCR) Transfer Request for Mailbox 7 */
#define CAN_TCR_TIMRST (0x1u << 31) /**< \brief (CAN_TCR) Timer Reset */
/* -------- CAN_ACR : (CAN Offset: 0x0028) Abort Command Register -------- */
#define CAN_ACR_MB0 (0x1u << 0) /**< \brief (CAN_ACR) Abort Request for Mailbox 0 */
#define CAN_ACR_MB1 (0x1u << 1) /**< \brief (CAN_ACR) Abort Request for Mailbox 1 */
#define CAN_ACR_MB2 (0x1u << 2) /**< \brief (CAN_ACR) Abort Request for Mailbox 2 */
#define CAN_ACR_MB3 (0x1u << 3) /**< \brief (CAN_ACR) Abort Request for Mailbox 3 */
#define CAN_ACR_MB4 (0x1u << 4) /**< \brief (CAN_ACR) Abort Request for Mailbox 4 */
#define CAN_ACR_MB5 (0x1u << 5) /**< \brief (CAN_ACR) Abort Request for Mailbox 5 */
#define CAN_ACR_MB6 (0x1u << 6) /**< \brief (CAN_ACR) Abort Request for Mailbox 6 */
#define CAN_ACR_MB7 (0x1u << 7) /**< \brief (CAN_ACR) Abort Request for Mailbox 7 */
/* -------- CAN_WPMR : (CAN Offset: 0x00E4) Write Protect Mode Register -------- */
#define CAN_WPMR_WPEN (0x1u << 0) /**< \brief (CAN_WPMR) Write Protection Enable */
#define CAN_WPMR_WPKEY_Pos 8
#define CAN_WPMR_WPKEY_Msk (0xffffffu << CAN_WPMR_WPKEY_Pos) /**< \brief (CAN_WPMR) SPI Write Protection Key Password */
#define CAN_WPMR_WPKEY(value) ((CAN_WPMR_WPKEY_Msk & ((value) << CAN_WPMR_WPKEY_Pos)))
/* -------- CAN_WPSR : (CAN Offset: 0x00E8) Write Protect Status Register -------- */
#define CAN_WPSR_WPVS (0x1u << 0) /**< \brief (CAN_WPSR) Write Protection Violation Status */
#define CAN_WPSR_WPVSRC_Pos 8
#define CAN_WPSR_WPVSRC_Msk (0xffu << CAN_WPSR_WPVSRC_Pos) /**< \brief (CAN_WPSR) Write Protection Violation Source */
/* -------- CAN_MMR : (CAN Offset: N/A) Mailbox Mode Register -------- */
#define CAN_MMR_MTIMEMARK_Pos 0
#define CAN_MMR_MTIMEMARK_Msk (0xffffu << CAN_MMR_MTIMEMARK_Pos) /**< \brief (CAN_MMR) Mailbox Timemark */
#define CAN_MMR_MTIMEMARK(value) ((CAN_MMR_MTIMEMARK_Msk & ((value) << CAN_MMR_MTIMEMARK_Pos)))
#define CAN_MMR_PRIOR_Pos 16
#define CAN_MMR_PRIOR_Msk (0xfu << CAN_MMR_PRIOR_Pos) /**< \brief (CAN_MMR) Mailbox Priority */
#define CAN_MMR_PRIOR(value) ((CAN_MMR_PRIOR_Msk & ((value) << CAN_MMR_PRIOR_Pos)))
#define CAN_MMR_MOT_Pos 24
#define CAN_MMR_MOT_Msk (0x7u << CAN_MMR_MOT_Pos) /**< \brief (CAN_MMR) Mailbox Object Type */
#define CAN_MMR_MOT_MB_DISABLED (0x0u << 24) /**< \brief (CAN_MMR) Mailbox is disabled. This prevents receiving or transmitting any messages with this mailbox. */
#define CAN_MMR_MOT_MB_RX (0x1u << 24) /**< \brief (CAN_MMR) Reception Mailbox. Mailbox is configured for reception. If a message is received while the mailbox data register is full, it is discarded. */
#define CAN_MMR_MOT_MB_RX_OVERWRITE (0x2u << 24) /**< \brief (CAN_MMR) Reception mailbox with overwrite. Mailbox is configured for reception. If a message is received while the mailbox is full, it overwrites the previous message. */
#define CAN_MMR_MOT_MB_TX (0x3u << 24) /**< \brief (CAN_MMR) Transmit mailbox. Mailbox is configured for transmission. */
#define CAN_MMR_MOT_MB_CONSUMER (0x4u << 24) /**< \brief (CAN_MMR) Consumer Mailbox. Mailbox is configured in reception but behaves as a Transmit Mailbox, i.e., it sends a remote frame and waits for an answer. */
#define CAN_MMR_MOT_MB_PRODUCER (0x5u << 24) /**< \brief (CAN_MMR) Producer Mailbox. Mailbox is configured in transmission but also behaves like a reception mailbox, i.e., it waits to receive a Remote Frame before sending its contents. */
/* -------- CAN_MAM : (CAN Offset: N/A) Mailbox Acceptance Mask Register -------- */
#define CAN_MAM_MIDvB_Pos 0
#define CAN_MAM_MIDvB_Msk (0x3ffffu << CAN_MAM_MIDvB_Pos) /**< \brief (CAN_MAM) Complementary bits for identifier in extended frame mode */
#define CAN_MAM_MIDvB(value) ((CAN_MAM_MIDvB_Msk & ((value) << CAN_MAM_MIDvB_Pos)))
#define CAN_MAM_MIDvA_Pos 18
#define CAN_MAM_MIDvA_Msk (0x7ffu << CAN_MAM_MIDvA_Pos) /**< \brief (CAN_MAM) Identifier for standard frame mode */
#define CAN_MAM_MIDvA(value) ((CAN_MAM_MIDvA_Msk & ((value) << CAN_MAM_MIDvA_Pos)))
#define CAN_MAM_MIDE (0x1u << 29) /**< \brief (CAN_MAM) Identifier Version */
/* -------- CAN_MID : (CAN Offset: N/A) Mailbox ID Register -------- */
#define CAN_MID_MIDvB_Pos 0
#define CAN_MID_MIDvB_Msk (0x3ffffu << CAN_MID_MIDvB_Pos) /**< \brief (CAN_MID) Complementary bits for identifier in extended frame mode */
#define CAN_MID_MIDvB(value) ((CAN_MID_MIDvB_Msk & ((value) << CAN_MID_MIDvB_Pos)))
#define CAN_MID_MIDvA_Pos 18
#define CAN_MID_MIDvA_Msk (0x7ffu << CAN_MID_MIDvA_Pos) /**< \brief (CAN_MID) Identifier for standard frame mode */
#define CAN_MID_MIDvA(value) ((CAN_MID_MIDvA_Msk & ((value) << CAN_MID_MIDvA_Pos)))
#define CAN_MID_MIDE (0x1u << 29) /**< \brief (CAN_MID) Identifier Version */
/* -------- CAN_MFID : (CAN Offset: N/A) Mailbox Family ID Register -------- */
#define CAN_MFID_MFID_Pos 0
#define CAN_MFID_MFID_Msk (0x1fffffffu << CAN_MFID_MFID_Pos) /**< \brief (CAN_MFID) Family ID */
/* -------- CAN_MSR : (CAN Offset: N/A) Mailbox Status Register -------- */
#define CAN_MSR_MTIMESTAMP_Pos 0
#define CAN_MSR_MTIMESTAMP_Msk (0xffffu << CAN_MSR_MTIMESTAMP_Pos) /**< \brief (CAN_MSR) Timer value */
#define CAN_MSR_MDLC_Pos 16
#define CAN_MSR_MDLC_Msk (0xfu << CAN_MSR_MDLC_Pos) /**< \brief (CAN_MSR) Mailbox Data Length Code */
#define CAN_MSR_MRTR (0x1u << 20) /**< \brief (CAN_MSR) Mailbox Remote Transmission Request */
#define CAN_MSR_MABT (0x1u << 22) /**< \brief (CAN_MSR) Mailbox Message Abort */
#define CAN_MSR_MRDY (0x1u << 23) /**< \brief (CAN_MSR) Mailbox Ready */
#define CAN_MSR_MMI (0x1u << 24) /**< \brief (CAN_MSR) Mailbox Message Ignored */
/* -------- CAN_MDL : (CAN Offset: N/A) Mailbox Data Low Register -------- */
#define CAN_MDL_MDL_Pos 0
#define CAN_MDL_MDL_Msk (0xffffffffu << CAN_MDL_MDL_Pos) /**< \brief (CAN_MDL) Message Data Low Value */
#define CAN_MDL_MDL(value) ((CAN_MDL_MDL_Msk & ((value) << CAN_MDL_MDL_Pos)))
/* -------- CAN_MDH : (CAN Offset: N/A) Mailbox Data High Register -------- */
#define CAN_MDH_MDH_Pos 0
#define CAN_MDH_MDH_Msk (0xffffffffu << CAN_MDH_MDH_Pos) /**< \brief (CAN_MDH) Message Data High Value */
#define CAN_MDH_MDH(value) ((CAN_MDH_MDH_Msk & ((value) << CAN_MDH_MDH_Pos)))
/* -------- CAN_MCR : (CAN Offset: N/A) Mailbox Control Register -------- */
#define CAN_MCR_MDLC_Pos 16
#define CAN_MCR_MDLC_Msk (0xfu << CAN_MCR_MDLC_Pos) /**< \brief (CAN_MCR) Mailbox Data Length Code */
#define CAN_MCR_MDLC(value) ((CAN_MCR_MDLC_Msk & ((value) << CAN_MCR_MDLC_Pos)))
#define CAN_MCR_MRTR (0x1u << 20) /**< \brief (CAN_MCR) Mailbox Remote Transmission Request */
#define CAN_MCR_MACR (0x1u << 22) /**< \brief (CAN_MCR) Abort Request for Mailbox x */
#define CAN_MCR_MTCR (0x1u << 23) /**< \brief (CAN_MCR) Mailbox Transfer Command */
/*@}*/
#endif /* _SAM3XA_CAN_COMPONENT_ */

159
lib/cmsis-sam3x8e/include/component/component_chipid.h
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@@ -1,159 +0,0 @@
/* ----------------------------------------------------------------------------
* SAM Software Package License
* ----------------------------------------------------------------------------
* Copyright (c) 2012, Atmel Corporation
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following condition is met:
*
* - Redistributions of source code must retain the above copyright notice,
* this list of conditions and the disclaimer below.
*
* Atmel's 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 ATMEL "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 ATMEL 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 _SAM3XA_CHIPID_COMPONENT_
#define _SAM3XA_CHIPID_COMPONENT_
/* ============================================================================= */
/** SOFTWARE API DEFINITION FOR Chip Identifier */
/* ============================================================================= */
/** \addtogroup SAM3XA_CHIPID Chip Identifier */
/*@{*/
#if !(defined(__ASSEMBLY__) || defined(__IAR_SYSTEMS_ASM__))
/** \brief Chipid hardware registers */
typedef struct {
RoReg CHIPID_CIDR; /**< \brief (Chipid Offset: 0x0) Chip ID Register */
RoReg CHIPID_EXID; /**< \brief (Chipid Offset: 0x4) Chip ID Extension Register */
} Chipid;
#endif /* !(defined(__ASSEMBLY__) || defined(__IAR_SYSTEMS_ASM__)) */
/* -------- CHIPID_CIDR : (CHIPID Offset: 0x0) Chip ID Register -------- */
#define CHIPID_CIDR_VERSION_Pos 0
#define CHIPID_CIDR_VERSION_Msk (0x1fu << CHIPID_CIDR_VERSION_Pos) /**< \brief (CHIPID_CIDR) Version of the Device */
#define CHIPID_CIDR_EPROC_Pos 5
#define CHIPID_CIDR_EPROC_Msk (0x7u << CHIPID_CIDR_EPROC_Pos) /**< \brief (CHIPID_CIDR) Embedded Processor */
#define CHIPID_CIDR_EPROC_ARM946ES (0x1u << 5) /**< \brief (CHIPID_CIDR) ARM946ES */
#define CHIPID_CIDR_EPROC_ARM7TDMI (0x2u << 5) /**< \brief (CHIPID_CIDR) ARM7TDMI */
#define CHIPID_CIDR_EPROC_CM3 (0x3u << 5) /**< \brief (CHIPID_CIDR) Cortex-M3 */
#define CHIPID_CIDR_EPROC_ARM920T (0x4u << 5) /**< \brief (CHIPID_CIDR) ARM920T */
#define CHIPID_CIDR_EPROC_ARM926EJS (0x5u << 5) /**< \brief (CHIPID_CIDR) ARM926EJS */
#define CHIPID_CIDR_EPROC_CA5 (0x6u << 5) /**< \brief (CHIPID_CIDR) Cortex-A5 */
#define CHIPID_CIDR_EPROC_CM4 (0x7u << 5) /**< \brief (CHIPID_CIDR) Cortex-M4 */
#define CHIPID_CIDR_NVPSIZ_Pos 8
#define CHIPID_CIDR_NVPSIZ_Msk (0xfu << CHIPID_CIDR_NVPSIZ_Pos) /**< \brief (CHIPID_CIDR) Nonvolatile Program Memory Size */
#define CHIPID_CIDR_NVPSIZ_NONE (0x0u << 8) /**< \brief (CHIPID_CIDR) None */
#define CHIPID_CIDR_NVPSIZ_8K (0x1u << 8) /**< \brief (CHIPID_CIDR) 8K bytes */
#define CHIPID_CIDR_NVPSIZ_16K (0x2u << 8) /**< \brief (CHIPID_CIDR) 16K bytes */
#define CHIPID_CIDR_NVPSIZ_32K (0x3u << 8) /**< \brief (CHIPID_CIDR) 32K bytes */
#define CHIPID_CIDR_NVPSIZ_64K (0x5u << 8) /**< \brief (CHIPID_CIDR) 64K bytes */
#define CHIPID_CIDR_NVPSIZ_128K (0x7u << 8) /**< \brief (CHIPID_CIDR) 128K bytes */
#define CHIPID_CIDR_NVPSIZ_256K (0x9u << 8) /**< \brief (CHIPID_CIDR) 256K bytes */
#define CHIPID_CIDR_NVPSIZ_512K (0xAu << 8) /**< \brief (CHIPID_CIDR) 512K bytes */
#define CHIPID_CIDR_NVPSIZ_1024K (0xCu << 8) /**< \brief (CHIPID_CIDR) 1024K bytes */
#define CHIPID_CIDR_NVPSIZ_2048K (0xEu << 8) /**< \brief (CHIPID_CIDR) 2048K bytes */
#define CHIPID_CIDR_NVPSIZ2_Pos 12
#define CHIPID_CIDR_NVPSIZ2_Msk (0xfu << CHIPID_CIDR_NVPSIZ2_Pos) /**< \brief (CHIPID_CIDR) Second Nonvolatile Program Memory Size */
#define CHIPID_CIDR_NVPSIZ2_NONE (0x0u << 12) /**< \brief (CHIPID_CIDR) None */
#define CHIPID_CIDR_NVPSIZ2_8K (0x1u << 12) /**< \brief (CHIPID_CIDR) 8K bytes */
#define CHIPID_CIDR_NVPSIZ2_16K (0x2u << 12) /**< \brief (CHIPID_CIDR) 16K bytes */
#define CHIPID_CIDR_NVPSIZ2_32K (0x3u << 12) /**< \brief (CHIPID_CIDR) 32K bytes */
#define CHIPID_CIDR_NVPSIZ2_64K (0x5u << 12) /**< \brief (CHIPID_CIDR) 64K bytes */
#define CHIPID_CIDR_NVPSIZ2_128K (0x7u << 12) /**< \brief (CHIPID_CIDR) 128K bytes */
#define CHIPID_CIDR_NVPSIZ2_256K (0x9u << 12) /**< \brief (CHIPID_CIDR) 256K bytes */
#define CHIPID_CIDR_NVPSIZ2_512K (0xAu << 12) /**< \brief (CHIPID_CIDR) 512K bytes */
#define CHIPID_CIDR_NVPSIZ2_1024K (0xCu << 12) /**< \brief (CHIPID_CIDR) 1024K bytes */
#define CHIPID_CIDR_NVPSIZ2_2048K (0xEu << 12) /**< \brief (CHIPID_CIDR) 2048K bytes */
#define CHIPID_CIDR_SRAMSIZ_Pos 16
#define CHIPID_CIDR_SRAMSIZ_Msk (0xfu << CHIPID_CIDR_SRAMSIZ_Pos) /**< \brief (CHIPID_CIDR) Internal SRAM Size */
#define CHIPID_CIDR_SRAMSIZ_48K (0x0u << 16) /**< \brief (CHIPID_CIDR) 48K bytes */
#define CHIPID_CIDR_SRAMSIZ_1K (0x1u << 16) /**< \brief (CHIPID_CIDR) 1K bytes */
#define CHIPID_CIDR_SRAMSIZ_2K (0x2u << 16) /**< \brief (CHIPID_CIDR) 2K bytes */
#define CHIPID_CIDR_SRAMSIZ_6K (0x3u << 16) /**< \brief (CHIPID_CIDR) 6K bytes */
#define CHIPID_CIDR_SRAMSIZ_24K (0x4u << 16) /**< \brief (CHIPID_CIDR) 24K bytes */
#define CHIPID_CIDR_SRAMSIZ_4K (0x5u << 16) /**< \brief (CHIPID_CIDR) 4K bytes */
#define CHIPID_CIDR_SRAMSIZ_80K (0x6u << 16) /**< \brief (CHIPID_CIDR) 80K bytes */
#define CHIPID_CIDR_SRAMSIZ_160K (0x7u << 16) /**< \brief (CHIPID_CIDR) 160K bytes */
#define CHIPID_CIDR_SRAMSIZ_8K (0x8u << 16) /**< \brief (CHIPID_CIDR) 8K bytes */
#define CHIPID_CIDR_SRAMSIZ_16K (0x9u << 16) /**< \brief (CHIPID_CIDR) 16K bytes */
#define CHIPID_CIDR_SRAMSIZ_32K (0xAu << 16) /**< \brief (CHIPID_CIDR) 32K bytes */
#define CHIPID_CIDR_SRAMSIZ_64K (0xBu << 16) /**< \brief (CHIPID_CIDR) 64K bytes */
#define CHIPID_CIDR_SRAMSIZ_128K (0xCu << 16) /**< \brief (CHIPID_CIDR) 128K bytes */
#define CHIPID_CIDR_SRAMSIZ_256K (0xDu << 16) /**< \brief (CHIPID_CIDR) 256K bytes */
#define CHIPID_CIDR_SRAMSIZ_96K (0xEu << 16) /**< \brief (CHIPID_CIDR) 96K bytes */
#define CHIPID_CIDR_SRAMSIZ_512K (0xFu << 16) /**< \brief (CHIPID_CIDR) 512K bytes */
#define CHIPID_CIDR_ARCH_Pos 20
#define CHIPID_CIDR_ARCH_Msk (0xffu << CHIPID_CIDR_ARCH_Pos) /**< \brief (CHIPID_CIDR) Architecture Identifier */
#define CHIPID_CIDR_ARCH_AT91SAM9xx (0x19u << 20) /**< \brief (CHIPID_CIDR) AT91SAM9xx Series */
#define CHIPID_CIDR_ARCH_AT91SAM9XExx (0x29u << 20) /**< \brief (CHIPID_CIDR) AT91SAM9XExx Series */
#define CHIPID_CIDR_ARCH_AT91x34 (0x34u << 20) /**< \brief (CHIPID_CIDR) AT91x34 Series */
#define CHIPID_CIDR_ARCH_CAP7 (0x37u << 20) /**< \brief (CHIPID_CIDR) CAP7 Series */
#define CHIPID_CIDR_ARCH_CAP9 (0x39u << 20) /**< \brief (CHIPID_CIDR) CAP9 Series */
#define CHIPID_CIDR_ARCH_CAP11 (0x3Bu << 20) /**< \brief (CHIPID_CIDR) CAP11 Series */
#define CHIPID_CIDR_ARCH_AT91x40 (0x40u << 20) /**< \brief (CHIPID_CIDR) AT91x40 Series */
#define CHIPID_CIDR_ARCH_AT91x42 (0x42u << 20) /**< \brief (CHIPID_CIDR) AT91x42 Series */
#define CHIPID_CIDR_ARCH_AT91x55 (0x55u << 20) /**< \brief (CHIPID_CIDR) AT91x55 Series */
#define CHIPID_CIDR_ARCH_AT91SAM7Axx (0x60u << 20) /**< \brief (CHIPID_CIDR) AT91SAM7Axx Series */
#define CHIPID_CIDR_ARCH_AT91SAM7AQxx (0x61u << 20) /**< \brief (CHIPID_CIDR) AT91SAM7AQxx Series */
#define CHIPID_CIDR_ARCH_AT91x63 (0x63u << 20) /**< \brief (CHIPID_CIDR) AT91x63 Series */
#define CHIPID_CIDR_ARCH_AT91SAM7Sxx (0x70u << 20) /**< \brief (CHIPID_CIDR) AT91SAM7Sxx Series */
#define CHIPID_CIDR_ARCH_AT91SAM7XCxx (0x71u << 20) /**< \brief (CHIPID_CIDR) AT91SAM7XCxx Series */
#define CHIPID_CIDR_ARCH_AT91SAM7SExx (0x72u << 20) /**< \brief (CHIPID_CIDR) AT91SAM7SExx Series */
#define CHIPID_CIDR_ARCH_AT91SAM7Lxx (0x73u << 20) /**< \brief (CHIPID_CIDR) AT91SAM7Lxx Series */
#define CHIPID_CIDR_ARCH_AT91SAM7Xxx (0x75u << 20) /**< \brief (CHIPID_CIDR) AT91SAM7Xxx Series */
#define CHIPID_CIDR_ARCH_AT91SAM7SLxx (0x76u << 20) /**< \brief (CHIPID_CIDR) AT91SAM7SLxx Series */
#define CHIPID_CIDR_ARCH_SAM3UxC (0x80u << 20) /**< \brief (CHIPID_CIDR) SAM3UxC Series (100-pin version) */
#define CHIPID_CIDR_ARCH_SAM3UxE (0x81u << 20) /**< \brief (CHIPID_CIDR) SAM3UxE Series (144-pin version) */
#define CHIPID_CIDR_ARCH_SAM3AxC (0x83u << 20) /**< \brief (CHIPID_CIDR) SAM3AxC Series (100-pin version) */
#define CHIPID_CIDR_ARCH_SAM4AxC (0x83u << 20) /**< \brief (CHIPID_CIDR) SAM4AxC Series (100-pin version) */
#define CHIPID_CIDR_ARCH_SAM3XxC (0x84u << 20) /**< \brief (CHIPID_CIDR) SAM3XxC Series (100-pin version) */
#define CHIPID_CIDR_ARCH_SAM4XxC (0x84u << 20) /**< \brief (CHIPID_CIDR) SAM4XxC Series (100-pin version) */
#define CHIPID_CIDR_ARCH_SAM3XxE (0x85u << 20) /**< \brief (CHIPID_CIDR) SAM3XxE Series (144-pin version) */
#define CHIPID_CIDR_ARCH_SAM4XxE (0x85u << 20) /**< \brief (CHIPID_CIDR) SAM4XxE Series (144-pin version) */
#define CHIPID_CIDR_ARCH_SAM3XxG (0x86u << 20) /**< \brief (CHIPID_CIDR) SAM3XxG Series (208/217-pin version) */
#define CHIPID_CIDR_ARCH_SAM4XxG (0x86u << 20) /**< \brief (CHIPID_CIDR) SAM4XxG Series (208/217-pin version) */
#define CHIPID_CIDR_ARCH_SAM3SxA (0x88u << 20) /**< \brief (CHIPID_CIDR) SAM3SxASeries (48-pin version) */
#define CHIPID_CIDR_ARCH_SAM4SxA (0x88u << 20) /**< \brief (CHIPID_CIDR) SAM4SxA Series (48-pin version) */
#define CHIPID_CIDR_ARCH_SAM3SxB (0x89u << 20) /**< \brief (CHIPID_CIDR) SAM3SxB Series (64-pin version) */
#define CHIPID_CIDR_ARCH_SAM4SxB (0x89u << 20) /**< \brief (CHIPID_CIDR) SAM4SxB Series (64-pin version) */
#define CHIPID_CIDR_ARCH_SAM3SxC (0x8Au << 20) /**< \brief (CHIPID_CIDR) SAM3SxC Series (100-pin version) */
#define CHIPID_CIDR_ARCH_SAM4SxC (0x8Au << 20) /**< \brief (CHIPID_CIDR) SAM4SxC Series (100-pin version) */
#define CHIPID_CIDR_ARCH_AT91x92 (0x92u << 20) /**< \brief (CHIPID_CIDR) AT91x92 Series */
#define CHIPID_CIDR_ARCH_SAM3NxA (0x93u << 20) /**< \brief (CHIPID_CIDR) SAM3NxA Series (48-pin version) */
#define CHIPID_CIDR_ARCH_SAM3NxB (0x94u << 20) /**< \brief (CHIPID_CIDR) SAM3NxB Series (64-pin version) */
#define CHIPID_CIDR_ARCH_SAM3NxC (0x95u << 20) /**< \brief (CHIPID_CIDR) SAM3NxC Series (100-pin version) */
#define CHIPID_CIDR_ARCH_SAM3SDxB (0x99u << 20) /**< \brief (CHIPID_CIDR) SAM3SDxB Series (64-pin version) */
#define CHIPID_CIDR_ARCH_SAM3SDxC (0x9Au << 20) /**< \brief (CHIPID_CIDR) SAM3SDxC Series (100-pin version) */
#define CHIPID_CIDR_ARCH_SAM5A (0xA5u << 20) /**< \brief (CHIPID_CIDR) SAM5A */
#define CHIPID_CIDR_ARCH_AT75Cxx (0xF0u << 20) /**< \brief (CHIPID_CIDR) AT75Cxx Series */
#define CHIPID_CIDR_NVPTYP_Pos 28
#define CHIPID_CIDR_NVPTYP_Msk (0x7u << CHIPID_CIDR_NVPTYP_Pos) /**< \brief (CHIPID_CIDR) Nonvolatile Program Memory Type */
#define CHIPID_CIDR_NVPTYP_ROM (0x0u << 28) /**< \brief (CHIPID_CIDR) ROM */
#define CHIPID_CIDR_NVPTYP_ROMLESS (0x1u << 28) /**< \brief (CHIPID_CIDR) ROMless or on-chip Flash */
#define CHIPID_CIDR_NVPTYP_FLASH (0x2u << 28) /**< \brief (CHIPID_CIDR) Embedded Flash Memory */
#define CHIPID_CIDR_NVPTYP_ROM_FLASH (0x3u << 28) /**< \brief (CHIPID_CIDR) ROM and Embedded Flash MemoryNVPSIZ is ROM size NVPSIZ2 is Flash size */
#define CHIPID_CIDR_NVPTYP_SRAM (0x4u << 28) /**< \brief (CHIPID_CIDR) SRAM emulating ROM */
#define CHIPID_CIDR_EXT (0x1u << 31) /**< \brief (CHIPID_CIDR) Extension Flag */
/* -------- CHIPID_EXID : (CHIPID Offset: 0x4) Chip ID Extension Register -------- */
#define CHIPID_EXID_EXID_Pos 0
#define CHIPID_EXID_EXID_Msk (0xffffffffu << CHIPID_EXID_EXID_Pos) /**< \brief (CHIPID_EXID) Chip ID Extension */
/*@}*/
#endif /* _SAM3XA_CHIPID_COMPONENT_ */

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lib/cmsis-sam3x8e/include/component/component_dacc.h
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@@ -1,210 +0,0 @@
/* ----------------------------------------------------------------------------
* SAM Software Package License
* ----------------------------------------------------------------------------
* Copyright (c) 2012, Atmel Corporation
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following condition is met:
*
* - Redistributions of source code must retain the above copyright notice,
* this list of conditions and the disclaimer below.
*
* Atmel's 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 ATMEL "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 ATMEL 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 _SAM3XA_DACC_COMPONENT_
#define _SAM3XA_DACC_COMPONENT_
/* ============================================================================= */
/** SOFTWARE API DEFINITION FOR Digital-to-Analog Converter Controller */
/* ============================================================================= */
/** \addtogroup SAM3XA_DACC Digital-to-Analog Converter Controller */
/*@{*/
#if !(defined(__ASSEMBLY__) || defined(__IAR_SYSTEMS_ASM__))
/** \brief Dacc hardware registers */
typedef struct {
WoReg DACC_CR; /**< \brief (Dacc Offset: 0x00) Control Register */
RwReg DACC_MR; /**< \brief (Dacc Offset: 0x04) Mode Register */
RoReg Reserved1[2];
WoReg DACC_CHER; /**< \brief (Dacc Offset: 0x10) Channel Enable Register */
WoReg DACC_CHDR; /**< \brief (Dacc Offset: 0x14) Channel Disable Register */
RoReg DACC_CHSR; /**< \brief (Dacc Offset: 0x18) Channel Status Register */
RoReg Reserved2[1];
WoReg DACC_CDR; /**< \brief (Dacc Offset: 0x20) Conversion Data Register */
WoReg DACC_IER; /**< \brief (Dacc Offset: 0x24) Interrupt Enable Register */
WoReg DACC_IDR; /**< \brief (Dacc Offset: 0x28) Interrupt Disable Register */
RoReg DACC_IMR; /**< \brief (Dacc Offset: 0x2C) Interrupt Mask Register */
RoReg DACC_ISR; /**< \brief (Dacc Offset: 0x30) Interrupt Status Register */
RoReg Reserved3[24];
RwReg DACC_ACR; /**< \brief (Dacc Offset: 0x94) Analog Current Register */
RoReg Reserved4[19];
RwReg DACC_WPMR; /**< \brief (Dacc Offset: 0xE4) Write Protect Mode register */
RoReg DACC_WPSR; /**< \brief (Dacc Offset: 0xE8) Write Protect Status register */
RoReg Reserved5[7];
RwReg DACC_TPR; /**< \brief (Dacc Offset: 0x108) Transmit Pointer Register */
RwReg DACC_TCR; /**< \brief (Dacc Offset: 0x10C) Transmit Counter Register */
RoReg Reserved6[2];
RwReg DACC_TNPR; /**< \brief (Dacc Offset: 0x118) Transmit Next Pointer Register */
RwReg DACC_TNCR; /**< \brief (Dacc Offset: 0x11C) Transmit Next Counter Register */
WoReg DACC_PTCR; /**< \brief (Dacc Offset: 0x120) Transfer Control Register */
RoReg DACC_PTSR; /**< \brief (Dacc Offset: 0x124) Transfer Status Register */
} Dacc;
#endif /* !(defined(__ASSEMBLY__) || defined(__IAR_SYSTEMS_ASM__)) */
/* -------- DACC_CR : (DACC Offset: 0x00) Control Register -------- */
#define DACC_CR_SWRST (0x1u << 0) /**< \brief (DACC_CR) Software Reset */
/* -------- DACC_MR : (DACC Offset: 0x04) Mode Register -------- */
#define DACC_MR_TRGEN (0x1u << 0) /**< \brief (DACC_MR) Trigger Enable */
#define DACC_MR_TRGEN_DIS (0x0u << 0) /**< \brief (DACC_MR) External trigger mode disabled. DACC in free running mode. */
#define DACC_MR_TRGEN_EN (0x1u << 0) /**< \brief (DACC_MR) External trigger mode enabled. */
#define DACC_MR_TRGSEL_Pos 1
#define DACC_MR_TRGSEL_Msk (0x7u << DACC_MR_TRGSEL_Pos) /**< \brief (DACC_MR) Trigger Selection */
#define DACC_MR_TRGSEL(value) ((DACC_MR_TRGSEL_Msk & ((value) << DACC_MR_TRGSEL_Pos)))
#define DACC_MR_WORD (0x1u << 4) /**< \brief (DACC_MR) Word Transfer */
#define DACC_MR_WORD_HALF (0x0u << 4) /**< \brief (DACC_MR) Half-Word transfer */
#define DACC_MR_WORD_WORD (0x1u << 4) /**< \brief (DACC_MR) Word Transfer */
#define DACC_MR_SLEEP (0x1u << 5) /**< \brief (DACC_MR) Sleep Mode */
#define DACC_MR_FASTWKUP (0x1u << 6) /**< \brief (DACC_MR) Fast Wake up Mode */
#define DACC_MR_REFRESH_Pos 8
#define DACC_MR_REFRESH_Msk (0xffu << DACC_MR_REFRESH_Pos) /**< \brief (DACC_MR) Refresh Period */
#define DACC_MR_REFRESH(value) ((DACC_MR_REFRESH_Msk & ((value) << DACC_MR_REFRESH_Pos)))
#define DACC_MR_USER_SEL_Pos 16
#define DACC_MR_USER_SEL_Msk (0x3u << DACC_MR_USER_SEL_Pos) /**< \brief (DACC_MR) User Channel Selection */
#define DACC_MR_USER_SEL_CHANNEL0 (0x0u << 16) /**< \brief (DACC_MR) Channel 0 */
#define DACC_MR_USER_SEL_CHANNEL1 (0x1u << 16) /**< \brief (DACC_MR) Channel 1 */
#define DACC_MR_TAG (0x1u << 20) /**< \brief (DACC_MR) Tag Selection Mode */
#define DACC_MR_TAG_DIS (0x0u << 20) /**< \brief (DACC_MR) Tag selection mode disabled. Using USER_SEL to select the channel for the conversion. */
#define DACC_MR_TAG_EN (0x1u << 20) /**< \brief (DACC_MR) Tag selection mode enabled */
#define DACC_MR_MAXS (0x1u << 21) /**< \brief (DACC_MR) Max Speed Mode */
#define DACC_MR_MAXS_NORMAL (0x0u << 21) /**< \brief (DACC_MR) Normal Mode */
#define DACC_MR_MAXS_MAXIMUM (0x1u << 21) /**< \brief (DACC_MR) Max Speed Mode enabled */
#define DACC_MR_STARTUP_Pos 24
#define DACC_MR_STARTUP_Msk (0x3fu << DACC_MR_STARTUP_Pos) /**< \brief (DACC_MR) Startup Time Selection */
#define DACC_MR_STARTUP_0 (0x0u << 24) /**< \brief (DACC_MR) 0 periods of DACClock */
#define DACC_MR_STARTUP_8 (0x1u << 24) /**< \brief (DACC_MR) 8 periods of DACClock */
#define DACC_MR_STARTUP_16 (0x2u << 24) /**< \brief (DACC_MR) 16 periods of DACClock */
#define DACC_MR_STARTUP_24 (0x3u << 24) /**< \brief (DACC_MR) 24 periods of DACClock */
#define DACC_MR_STARTUP_64 (0x4u << 24) /**< \brief (DACC_MR) 64 periods of DACClock */
#define DACC_MR_STARTUP_80 (0x5u << 24) /**< \brief (DACC_MR) 80 periods of DACClock */
#define DACC_MR_STARTUP_96 (0x6u << 24) /**< \brief (DACC_MR) 96 periods of DACClock */
#define DACC_MR_STARTUP_112 (0x7u << 24) /**< \brief (DACC_MR) 112 periods of DACClock */
#define DACC_MR_STARTUP_512 (0x8u << 24) /**< \brief (DACC_MR) 512 periods of DACClock */
#define DACC_MR_STARTUP_576 (0x9u << 24) /**< \brief (DACC_MR) 576 periods of DACClock */
#define DACC_MR_STARTUP_640 (0xAu << 24) /**< \brief (DACC_MR) 640 periods of DACClock */
#define DACC_MR_STARTUP_704 (0xBu << 24) /**< \brief (DACC_MR) 704 periods of DACClock */
#define DACC_MR_STARTUP_768 (0xCu << 24) /**< \brief (DACC_MR) 768 periods of DACClock */
#define DACC_MR_STARTUP_832 (0xDu << 24) /**< \brief (DACC_MR) 832 periods of DACClock */
#define DACC_MR_STARTUP_896 (0xEu << 24) /**< \brief (DACC_MR) 896 periods of DACClock */
#define DACC_MR_STARTUP_960 (0xFu << 24) /**< \brief (DACC_MR) 960 periods of DACClock */
#define DACC_MR_STARTUP_1024 (0x10u << 24) /**< \brief (DACC_MR) 1024 periods of DACClock */
#define DACC_MR_STARTUP_1088 (0x11u << 24) /**< \brief (DACC_MR) 1088 periods of DACClock */
#define DACC_MR_STARTUP_1152 (0x12u << 24) /**< \brief (DACC_MR) 1152 periods of DACClock */
#define DACC_MR_STARTUP_1216 (0x13u << 24) /**< \brief (DACC_MR) 1216 periods of DACClock */
#define DACC_MR_STARTUP_1280 (0x14u << 24) /**< \brief (DACC_MR) 1280 periods of DACClock */
#define DACC_MR_STARTUP_1344 (0x15u << 24) /**< \brief (DACC_MR) 1344 periods of DACClock */
#define DACC_MR_STARTUP_1408 (0x16u << 24) /**< \brief (DACC_MR) 1408 periods of DACClock */
#define DACC_MR_STARTUP_1472 (0x17u << 24) /**< \brief (DACC_MR) 1472 periods of DACClock */
#define DACC_MR_STARTUP_1536 (0x18u << 24) /**< \brief (DACC_MR) 1536 periods of DACClock */
#define DACC_MR_STARTUP_1600 (0x19u << 24) /**< \brief (DACC_MR) 1600 periods of DACClock */
#define DACC_MR_STARTUP_1664 (0x1Au << 24) /**< \brief (DACC_MR) 1664 periods of DACClock */
#define DACC_MR_STARTUP_1728 (0x1Bu << 24) /**< \brief (DACC_MR) 1728 periods of DACClock */
#define DACC_MR_STARTUP_1792 (0x1Cu << 24) /**< \brief (DACC_MR) 1792 periods of DACClock */
#define DACC_MR_STARTUP_1856 (0x1Du << 24) /**< \brief (DACC_MR) 1856 periods of DACClock */
#define DACC_MR_STARTUP_1920 (0x1Eu << 24) /**< \brief (DACC_MR) 1920 periods of DACClock */
#define DACC_MR_STARTUP_1984 (0x1Fu << 24) /**< \brief (DACC_MR) 1984 periods of DACClock */
/* -------- DACC_CHER : (DACC Offset: 0x10) Channel Enable Register -------- */
#define DACC_CHER_CH0 (0x1u << 0) /**< \brief (DACC_CHER) Channel 0 Enable */
#define DACC_CHER_CH1 (0x1u << 1) /**< \brief (DACC_CHER) Channel 1 Enable */
/* -------- DACC_CHDR : (DACC Offset: 0x14) Channel Disable Register -------- */
#define DACC_CHDR_CH0 (0x1u << 0) /**< \brief (DACC_CHDR) Channel 0 Disable */
#define DACC_CHDR_CH1 (0x1u << 1) /**< \brief (DACC_CHDR) Channel 1 Disable */
/* -------- DACC_CHSR : (DACC Offset: 0x18) Channel Status Register -------- */
#define DACC_CHSR_CH0 (0x1u << 0) /**< \brief (DACC_CHSR) Channel 0 Status */
#define DACC_CHSR_CH1 (0x1u << 1) /**< \brief (DACC_CHSR) Channel 1 Status */
/* -------- DACC_CDR : (DACC Offset: 0x20) Conversion Data Register -------- */
#define DACC_CDR_DATA_Pos 0
#define DACC_CDR_DATA_Msk (0xffffffffu << DACC_CDR_DATA_Pos) /**< \brief (DACC_CDR) Data to Convert */
#define DACC_CDR_DATA(value) ((DACC_CDR_DATA_Msk & ((value) << DACC_CDR_DATA_Pos)))
/* -------- DACC_IER : (DACC Offset: 0x24) Interrupt Enable Register -------- */
#define DACC_IER_TXRDY (0x1u << 0) /**< \brief (DACC_IER) Transmit Ready Interrupt Enable */
#define DACC_IER_EOC (0x1u << 1) /**< \brief (DACC_IER) End of Conversion Interrupt Enable */
#define DACC_IER_ENDTX (0x1u << 2) /**< \brief (DACC_IER) End of Transmit Buffer Interrupt Enable */
#define DACC_IER_TXBUFE (0x1u << 3) /**< \brief (DACC_IER) Transmit Buffer Empty Interrupt Enable */
/* -------- DACC_IDR : (DACC Offset: 0x28) Interrupt Disable Register -------- */
#define DACC_IDR_TXRDY (0x1u << 0) /**< \brief (DACC_IDR) Transmit Ready Interrupt Disable. */
#define DACC_IDR_EOC (0x1u << 1) /**< \brief (DACC_IDR) End of Conversion Interrupt Disable */
#define DACC_IDR_ENDTX (0x1u << 2) /**< \brief (DACC_IDR) End of Transmit Buffer Interrupt Disable */
#define DACC_IDR_TXBUFE (0x1u << 3) /**< \brief (DACC_IDR) Transmit Buffer Empty Interrupt Disable */
/* -------- DACC_IMR : (DACC Offset: 0x2C) Interrupt Mask Register -------- */
#define DACC_IMR_TXRDY (0x1u << 0) /**< \brief (DACC_IMR) Transmit Ready Interrupt Mask */
#define DACC_IMR_EOC (0x1u << 1) /**< \brief (DACC_IMR) End of Conversion Interrupt Mask */
#define DACC_IMR_ENDTX (0x1u << 2) /**< \brief (DACC_IMR) End of Transmit Buffer Interrupt Mask */
#define DACC_IMR_TXBUFE (0x1u << 3) /**< \brief (DACC_IMR) Transmit Buffer Empty Interrupt Mask */
/* -------- DACC_ISR : (DACC Offset: 0x30) Interrupt Status Register -------- */
#define DACC_ISR_TXRDY (0x1u << 0) /**< \brief (DACC_ISR) Transmit Ready Interrupt Flag */
#define DACC_ISR_EOC (0x1u << 1) /**< \brief (DACC_ISR) End of Conversion Interrupt Flag */
#define DACC_ISR_ENDTX (0x1u << 2) /**< \brief (DACC_ISR) End of DMA Interrupt Flag */
#define DACC_ISR_TXBUFE (0x1u << 3) /**< \brief (DACC_ISR) Transmit Buffer Empty */
/* -------- DACC_ACR : (DACC Offset: 0x94) Analog Current Register -------- */
#define DACC_ACR_IBCTLCH0_Pos 0
#define DACC_ACR_IBCTLCH0_Msk (0x3u << DACC_ACR_IBCTLCH0_Pos) /**< \brief (DACC_ACR) Analog Output Current Control */
#define DACC_ACR_IBCTLCH0(value) ((DACC_ACR_IBCTLCH0_Msk & ((value) << DACC_ACR_IBCTLCH0_Pos)))
#define DACC_ACR_IBCTLCH1_Pos 2
#define DACC_ACR_IBCTLCH1_Msk (0x3u << DACC_ACR_IBCTLCH1_Pos) /**< \brief (DACC_ACR) Analog Output Current Control */
#define DACC_ACR_IBCTLCH1(value) ((DACC_ACR_IBCTLCH1_Msk & ((value) << DACC_ACR_IBCTLCH1_Pos)))
#define DACC_ACR_IBCTLDACCORE_Pos 8
#define DACC_ACR_IBCTLDACCORE_Msk (0x3u << DACC_ACR_IBCTLDACCORE_Pos) /**< \brief (DACC_ACR) Bias Current Control for DAC Core */
#define DACC_ACR_IBCTLDACCORE(value) ((DACC_ACR_IBCTLDACCORE_Msk & ((value) << DACC_ACR_IBCTLDACCORE_Pos)))
/* -------- DACC_WPMR : (DACC Offset: 0xE4) Write Protect Mode register -------- */
#define DACC_WPMR_WPEN (0x1u << 0) /**< \brief (DACC_WPMR) Write Protect Enable */
#define DACC_WPMR_WPKEY_Pos 8
#define DACC_WPMR_WPKEY_Msk (0xffffffu << DACC_WPMR_WPKEY_Pos) /**< \brief (DACC_WPMR) Write Protect KEY */
#define DACC_WPMR_WPKEY(value) ((DACC_WPMR_WPKEY_Msk & ((value) << DACC_WPMR_WPKEY_Pos)))
/* -------- DACC_WPSR : (DACC Offset: 0xE8) Write Protect Status register -------- */
#define DACC_WPSR_WPROTERR (0x1u << 0) /**< \brief (DACC_WPSR) Write protection error */
#define DACC_WPSR_WPROTADDR_Pos 8
#define DACC_WPSR_WPROTADDR_Msk (0xffu << DACC_WPSR_WPROTADDR_Pos) /**< \brief (DACC_WPSR) Write protection error address */
/* -------- DACC_TPR : (DACC Offset: 0x108) Transmit Pointer Register -------- */
#define DACC_TPR_TXPTR_Pos 0
#define DACC_TPR_TXPTR_Msk (0xffffffffu << DACC_TPR_TXPTR_Pos) /**< \brief (DACC_TPR) Transmit Counter Register */
#define DACC_TPR_TXPTR(value) ((DACC_TPR_TXPTR_Msk & ((value) << DACC_TPR_TXPTR_Pos)))
/* -------- DACC_TCR : (DACC Offset: 0x10C) Transmit Counter Register -------- */
#define DACC_TCR_TXCTR_Pos 0
#define DACC_TCR_TXCTR_Msk (0xffffu << DACC_TCR_TXCTR_Pos) /**< \brief (DACC_TCR) Transmit Counter Register */
#define DACC_TCR_TXCTR(value) ((DACC_TCR_TXCTR_Msk & ((value) << DACC_TCR_TXCTR_Pos)))
/* -------- DACC_TNPR : (DACC Offset: 0x118) Transmit Next Pointer Register -------- */
#define DACC_TNPR_TXNPTR_Pos 0
#define DACC_TNPR_TXNPTR_Msk (0xffffffffu << DACC_TNPR_TXNPTR_Pos) /**< \brief (DACC_TNPR) Transmit Next Pointer */
#define DACC_TNPR_TXNPTR(value) ((DACC_TNPR_TXNPTR_Msk & ((value) << DACC_TNPR_TXNPTR_Pos)))
/* -------- DACC_TNCR : (DACC Offset: 0x11C) Transmit Next Counter Register -------- */
#define DACC_TNCR_TXNCTR_Pos 0
#define DACC_TNCR_TXNCTR_Msk (0xffffu << DACC_TNCR_TXNCTR_Pos) /**< \brief (DACC_TNCR) Transmit Counter Next */
#define DACC_TNCR_TXNCTR(value) ((DACC_TNCR_TXNCTR_Msk & ((value) << DACC_TNCR_TXNCTR_Pos)))
/* -------- DACC_PTCR : (DACC Offset: 0x120) Transfer Control Register -------- */
#define DACC_PTCR_RXTEN (0x1u << 0) /**< \brief (DACC_PTCR) Receiver Transfer Enable */
#define DACC_PTCR_RXTDIS (0x1u << 1) /**< \brief (DACC_PTCR) Receiver Transfer Disable */
#define DACC_PTCR_TXTEN (0x1u << 8) /**< \brief (DACC_PTCR) Transmitter Transfer Enable */
#define DACC_PTCR_TXTDIS (0x1u << 9) /**< \brief (DACC_PTCR) Transmitter Transfer Disable */
/* -------- DACC_PTSR : (DACC Offset: 0x124) Transfer Status Register -------- */
#define DACC_PTSR_RXTEN (0x1u << 0) /**< \brief (DACC_PTSR) Receiver Transfer Enable */
#define DACC_PTSR_TXTEN (0x1u << 8) /**< \brief (DACC_PTSR) Transmitter Transfer Enable */
/*@}*/
#endif /* _SAM3XA_DACC_COMPONENT_ */

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lib/cmsis-sam3x8e/include/component/component_dmac.h
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@@ -1,367 +0,0 @@
/* ----------------------------------------------------------------------------
* SAM Software Package License
* ----------------------------------------------------------------------------
* Copyright (c) 2012, Atmel Corporation
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following condition is met:
*
* - Redistributions of source code must retain the above copyright notice,
* this list of conditions and the disclaimer below.
*
* Atmel's 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 ATMEL "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 ATMEL 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 _SAM3XA_DMAC_COMPONENT_
#define _SAM3XA_DMAC_COMPONENT_
/* ============================================================================= */
/** SOFTWARE API DEFINITION FOR DMA Controller */
/* ============================================================================= */
/** \addtogroup SAM3XA_DMAC DMA Controller */
/*@{*/
#if !(defined(__ASSEMBLY__) || defined(__IAR_SYSTEMS_ASM__))
/** \brief DmacCh_num hardware registers */
typedef struct {
RwReg DMAC_SADDR; /**< \brief (DmacCh_num Offset: 0x0) DMAC Channel Source Address Register */
RwReg DMAC_DADDR; /**< \brief (DmacCh_num Offset: 0x4) DMAC Channel Destination Address Register */
RwReg DMAC_DSCR; /**< \brief (DmacCh_num Offset: 0x8) DMAC Channel Descriptor Address Register */
RwReg DMAC_CTRLA; /**< \brief (DmacCh_num Offset: 0xC) DMAC Channel Control A Register */
RwReg DMAC_CTRLB; /**< \brief (DmacCh_num Offset: 0x10) DMAC Channel Control B Register */
RwReg DMAC_CFG; /**< \brief (DmacCh_num Offset: 0x14) DMAC Channel Configuration Register */
RoReg Reserved1[4];
} DmacCh_num;
/** \brief Dmac hardware registers */
#define DMACCH_NUM_NUMBER 6
typedef struct {
RwReg DMAC_GCFG; /**< \brief (Dmac Offset: 0x000) DMAC Global Configuration Register */
RwReg DMAC_EN; /**< \brief (Dmac Offset: 0x004) DMAC Enable Register */
RwReg DMAC_SREQ; /**< \brief (Dmac Offset: 0x008) DMAC Software Single Request Register */
RwReg DMAC_CREQ; /**< \brief (Dmac Offset: 0x00C) DMAC Software Chunk Transfer Request Register */
RwReg DMAC_LAST; /**< \brief (Dmac Offset: 0x010) DMAC Software Last Transfer Flag Register */
RoReg Reserved1[1];
WoReg DMAC_EBCIER; /**< \brief (Dmac Offset: 0x018) DMAC Error, Chained Buffer Transfer Completed Interrupt and Buffer Transfer Completed Interrupt Enable register. */
WoReg DMAC_EBCIDR; /**< \brief (Dmac Offset: 0x01C) DMAC Error, Chained Buffer Transfer Completed Interrupt and Buffer Transfer Completed Interrupt Disable register. */
RoReg DMAC_EBCIMR; /**< \brief (Dmac Offset: 0x020) DMAC Error, Chained Buffer Transfer Completed Interrupt and Buffer transfer completed Mask Register. */
RoReg DMAC_EBCISR; /**< \brief (Dmac Offset: 0x024) DMAC Error, Chained Buffer Transfer Completed Interrupt and Buffer transfer completed Status Register. */
WoReg DMAC_CHER; /**< \brief (Dmac Offset: 0x028) DMAC Channel Handler Enable Register */
WoReg DMAC_CHDR; /**< \brief (Dmac Offset: 0x02C) DMAC Channel Handler Disable Register */
RoReg DMAC_CHSR; /**< \brief (Dmac Offset: 0x030) DMAC Channel Handler Status Register */
RoReg Reserved2[2];
DmacCh_num DMAC_CH_NUM[DMACCH_NUM_NUMBER]; /**< \brief (Dmac Offset: 0x3C) ch_num = 0 .. 5 */
RoReg Reserved3[46];
RwReg DMAC_WPMR; /**< \brief (Dmac Offset: 0x1E4) DMAC Write Protect Mode Register */
RoReg DMAC_WPSR; /**< \brief (Dmac Offset: 0x1E8) DMAC Write Protect Status Register */
} Dmac;
#endif /* !(defined(__ASSEMBLY__) || defined(__IAR_SYSTEMS_ASM__)) */
/* -------- DMAC_GCFG : (DMAC Offset: 0x000) DMAC Global Configuration Register -------- */
#define DMAC_GCFG_ARB_CFG (0x1u << 4) /**< \brief (DMAC_GCFG) Arbiter Configuration */
#define DMAC_GCFG_ARB_CFG_FIXED (0x0u << 4) /**< \brief (DMAC_GCFG) Fixed priority arbiter. */
#define DMAC_GCFG_ARB_CFG_ROUND_ROBIN (0x1u << 4) /**< \brief (DMAC_GCFG) Modified round robin arbiter. */
/* -------- DMAC_EN : (DMAC Offset: 0x004) DMAC Enable Register -------- */
#define DMAC_EN_ENABLE (0x1u << 0) /**< \brief (DMAC_EN) */
/* -------- DMAC_SREQ : (DMAC Offset: 0x008) DMAC Software Single Request Register -------- */
#define DMAC_SREQ_SSREQ0 (0x1u << 0) /**< \brief (DMAC_SREQ) Source Request */
#define DMAC_SREQ_DSREQ0 (0x1u << 1) /**< \brief (DMAC_SREQ) Destination Request */
#define DMAC_SREQ_SSREQ1 (0x1u << 2) /**< \brief (DMAC_SREQ) Source Request */
#define DMAC_SREQ_DSREQ1 (0x1u << 3) /**< \brief (DMAC_SREQ) Destination Request */
#define DMAC_SREQ_SSREQ2 (0x1u << 4) /**< \brief (DMAC_SREQ) Source Request */
#define DMAC_SREQ_DSREQ2 (0x1u << 5) /**< \brief (DMAC_SREQ) Destination Request */
#define DMAC_SREQ_SSREQ3 (0x1u << 6) /**< \brief (DMAC_SREQ) Source Request */
#define DMAC_SREQ_DSREQ3 (0x1u << 7) /**< \brief (DMAC_SREQ) Destination Request */
#define DMAC_SREQ_SSREQ4 (0x1u << 8) /**< \brief (DMAC_SREQ) Source Request */
#define DMAC_SREQ_DSREQ4 (0x1u << 9) /**< \brief (DMAC_SREQ) Destination Request */
#define DMAC_SREQ_SSREQ5 (0x1u << 10) /**< \brief (DMAC_SREQ) Source Request */
#define DMAC_SREQ_DSREQ5 (0x1u << 11) /**< \brief (DMAC_SREQ) Destination Request */
/* -------- DMAC_CREQ : (DMAC Offset: 0x00C) DMAC Software Chunk Transfer Request Register -------- */
#define DMAC_CREQ_SCREQ0 (0x1u << 0) /**< \brief (DMAC_CREQ) Source Chunk Request */
#define DMAC_CREQ_DCREQ0 (0x1u << 1) /**< \brief (DMAC_CREQ) Destination Chunk Request */
#define DMAC_CREQ_SCREQ1 (0x1u << 2) /**< \brief (DMAC_CREQ) Source Chunk Request */
#define DMAC_CREQ_DCREQ1 (0x1u << 3) /**< \brief (DMAC_CREQ) Destination Chunk Request */
#define DMAC_CREQ_SCREQ2 (0x1u << 4) /**< \brief (DMAC_CREQ) Source Chunk Request */
#define DMAC_CREQ_DCREQ2 (0x1u << 5) /**< \brief (DMAC_CREQ) Destination Chunk Request */
#define DMAC_CREQ_SCREQ3 (0x1u << 6) /**< \brief (DMAC_CREQ) Source Chunk Request */
#define DMAC_CREQ_DCREQ3 (0x1u << 7) /**< \brief (DMAC_CREQ) Destination Chunk Request */
#define DMAC_CREQ_SCREQ4 (0x1u << 8) /**< \brief (DMAC_CREQ) Source Chunk Request */
#define DMAC_CREQ_DCREQ4 (0x1u << 9) /**< \brief (DMAC_CREQ) Destination Chunk Request */
#define DMAC_CREQ_SCREQ5 (0x1u << 10) /**< \brief (DMAC_CREQ) Source Chunk Request */
#define DMAC_CREQ_DCREQ5 (0x1u << 11) /**< \brief (DMAC_CREQ) Destination Chunk Request */
/* -------- DMAC_LAST : (DMAC Offset: 0x010) DMAC Software Last Transfer Flag Register -------- */
#define DMAC_LAST_SLAST0 (0x1u << 0) /**< \brief (DMAC_LAST) Source Last */
#define DMAC_LAST_DLAST0 (0x1u << 1) /**< \brief (DMAC_LAST) Destination Last */
#define DMAC_LAST_SLAST1 (0x1u << 2) /**< \brief (DMAC_LAST) Source Last */
#define DMAC_LAST_DLAST1 (0x1u << 3) /**< \brief (DMAC_LAST) Destination Last */
#define DMAC_LAST_SLAST2 (0x1u << 4) /**< \brief (DMAC_LAST) Source Last */
#define DMAC_LAST_DLAST2 (0x1u << 5) /**< \brief (DMAC_LAST) Destination Last */
#define DMAC_LAST_SLAST3 (0x1u << 6) /**< \brief (DMAC_LAST) Source Last */
#define DMAC_LAST_DLAST3 (0x1u << 7) /**< \brief (DMAC_LAST) Destination Last */
#define DMAC_LAST_SLAST4 (0x1u << 8) /**< \brief (DMAC_LAST) Source Last */
#define DMAC_LAST_DLAST4 (0x1u << 9) /**< \brief (DMAC_LAST) Destination Last */
#define DMAC_LAST_SLAST5 (0x1u << 10) /**< \brief (DMAC_LAST) Source Last */
#define DMAC_LAST_DLAST5 (0x1u << 11) /**< \brief (DMAC_LAST) Destination Last */
/* -------- DMAC_EBCIER : (DMAC Offset: 0x018) DMAC Error, Chained Buffer Transfer Completed Interrupt and Buffer Transfer Completed Interrupt Enable register. -------- */
#define DMAC_EBCIER_BTC0 (0x1u << 0) /**< \brief (DMAC_EBCIER) Buffer Transfer Completed [5:0] */
#define DMAC_EBCIER_BTC1 (0x1u << 1) /**< \brief (DMAC_EBCIER) Buffer Transfer Completed [5:0] */
#define DMAC_EBCIER_BTC2 (0x1u << 2) /**< \brief (DMAC_EBCIER) Buffer Transfer Completed [5:0] */
#define DMAC_EBCIER_BTC3 (0x1u << 3) /**< \brief (DMAC_EBCIER) Buffer Transfer Completed [5:0] */
#define DMAC_EBCIER_BTC4 (0x1u << 4) /**< \brief (DMAC_EBCIER) Buffer Transfer Completed [5:0] */
#define DMAC_EBCIER_BTC5 (0x1u << 5) /**< \brief (DMAC_EBCIER) Buffer Transfer Completed [5:0] */
#define DMAC_EBCIER_CBTC0 (0x1u << 8) /**< \brief (DMAC_EBCIER) Chained Buffer Transfer Completed [5:0] */
#define DMAC_EBCIER_CBTC1 (0x1u << 9) /**< \brief (DMAC_EBCIER) Chained Buffer Transfer Completed [5:0] */
#define DMAC_EBCIER_CBTC2 (0x1u << 10) /**< \brief (DMAC_EBCIER) Chained Buffer Transfer Completed [5:0] */
#define DMAC_EBCIER_CBTC3 (0x1u << 11) /**< \brief (DMAC_EBCIER) Chained Buffer Transfer Completed [5:0] */
#define DMAC_EBCIER_CBTC4 (0x1u << 12) /**< \brief (DMAC_EBCIER) Chained Buffer Transfer Completed [5:0] */
#define DMAC_EBCIER_CBTC5 (0x1u << 13) /**< \brief (DMAC_EBCIER) Chained Buffer Transfer Completed [5:0] */
#define DMAC_EBCIER_ERR0 (0x1u << 16) /**< \brief (DMAC_EBCIER) Access Error [5:0] */
#define DMAC_EBCIER_ERR1 (0x1u << 17) /**< \brief (DMAC_EBCIER) Access Error [5:0] */
#define DMAC_EBCIER_ERR2 (0x1u << 18) /**< \brief (DMAC_EBCIER) Access Error [5:0] */
#define DMAC_EBCIER_ERR3 (0x1u << 19) /**< \brief (DMAC_EBCIER) Access Error [5:0] */
#define DMAC_EBCIER_ERR4 (0x1u << 20) /**< \brief (DMAC_EBCIER) Access Error [5:0] */
#define DMAC_EBCIER_ERR5 (0x1u << 21) /**< \brief (DMAC_EBCIER) Access Error [5:0] */
/* -------- DMAC_EBCIDR : (DMAC Offset: 0x01C) DMAC Error, Chained Buffer Transfer Completed Interrupt and Buffer Transfer Completed Interrupt Disable register. -------- */
#define DMAC_EBCIDR_BTC0 (0x1u << 0) /**< \brief (DMAC_EBCIDR) Buffer Transfer Completed [5:0] */
#define DMAC_EBCIDR_BTC1 (0x1u << 1) /**< \brief (DMAC_EBCIDR) Buffer Transfer Completed [5:0] */
#define DMAC_EBCIDR_BTC2 (0x1u << 2) /**< \brief (DMAC_EBCIDR) Buffer Transfer Completed [5:0] */
#define DMAC_EBCIDR_BTC3 (0x1u << 3) /**< \brief (DMAC_EBCIDR) Buffer Transfer Completed [5:0] */
#define DMAC_EBCIDR_BTC4 (0x1u << 4) /**< \brief (DMAC_EBCIDR) Buffer Transfer Completed [5:0] */
#define DMAC_EBCIDR_BTC5 (0x1u << 5) /**< \brief (DMAC_EBCIDR) Buffer Transfer Completed [5:0] */
#define DMAC_EBCIDR_CBTC0 (0x1u << 8) /**< \brief (DMAC_EBCIDR) Chained Buffer Transfer Completed [5:0] */
#define DMAC_EBCIDR_CBTC1 (0x1u << 9) /**< \brief (DMAC_EBCIDR) Chained Buffer Transfer Completed [5:0] */
#define DMAC_EBCIDR_CBTC2 (0x1u << 10) /**< \brief (DMAC_EBCIDR) Chained Buffer Transfer Completed [5:0] */
#define DMAC_EBCIDR_CBTC3 (0x1u << 11) /**< \brief (DMAC_EBCIDR) Chained Buffer Transfer Completed [5:0] */
#define DMAC_EBCIDR_CBTC4 (0x1u << 12) /**< \brief (DMAC_EBCIDR) Chained Buffer Transfer Completed [5:0] */
#define DMAC_EBCIDR_CBTC5 (0x1u << 13) /**< \brief (DMAC_EBCIDR) Chained Buffer Transfer Completed [5:0] */
#define DMAC_EBCIDR_ERR0 (0x1u << 16) /**< \brief (DMAC_EBCIDR) Access Error [5:0] */
#define DMAC_EBCIDR_ERR1 (0x1u << 17) /**< \brief (DMAC_EBCIDR) Access Error [5:0] */
#define DMAC_EBCIDR_ERR2 (0x1u << 18) /**< \brief (DMAC_EBCIDR) Access Error [5:0] */
#define DMAC_EBCIDR_ERR3 (0x1u << 19) /**< \brief (DMAC_EBCIDR) Access Error [5:0] */
#define DMAC_EBCIDR_ERR4 (0x1u << 20) /**< \brief (DMAC_EBCIDR) Access Error [5:0] */
#define DMAC_EBCIDR_ERR5 (0x1u << 21) /**< \brief (DMAC_EBCIDR) Access Error [5:0] */
/* -------- DMAC_EBCIMR : (DMAC Offset: 0x020) DMAC Error, Chained Buffer Transfer Completed Interrupt and Buffer transfer completed Mask Register. -------- */
#define DMAC_EBCIMR_BTC0 (0x1u << 0) /**< \brief (DMAC_EBCIMR) Buffer Transfer Completed [5:0] */
#define DMAC_EBCIMR_BTC1 (0x1u << 1) /**< \brief (DMAC_EBCIMR) Buffer Transfer Completed [5:0] */
#define DMAC_EBCIMR_BTC2 (0x1u << 2) /**< \brief (DMAC_EBCIMR) Buffer Transfer Completed [5:0] */
#define DMAC_EBCIMR_BTC3 (0x1u << 3) /**< \brief (DMAC_EBCIMR) Buffer Transfer Completed [5:0] */
#define DMAC_EBCIMR_BTC4 (0x1u << 4) /**< \brief (DMAC_EBCIMR) Buffer Transfer Completed [5:0] */
#define DMAC_EBCIMR_BTC5 (0x1u << 5) /**< \brief (DMAC_EBCIMR) Buffer Transfer Completed [5:0] */
#define DMAC_EBCIMR_CBTC0 (0x1u << 8) /**< \brief (DMAC_EBCIMR) Chained Buffer Transfer Completed [5:0] */
#define DMAC_EBCIMR_CBTC1 (0x1u << 9) /**< \brief (DMAC_EBCIMR) Chained Buffer Transfer Completed [5:0] */
#define DMAC_EBCIMR_CBTC2 (0x1u << 10) /**< \brief (DMAC_EBCIMR) Chained Buffer Transfer Completed [5:0] */
#define DMAC_EBCIMR_CBTC3 (0x1u << 11) /**< \brief (DMAC_EBCIMR) Chained Buffer Transfer Completed [5:0] */
#define DMAC_EBCIMR_CBTC4 (0x1u << 12) /**< \brief (DMAC_EBCIMR) Chained Buffer Transfer Completed [5:0] */
#define DMAC_EBCIMR_CBTC5 (0x1u << 13) /**< \brief (DMAC_EBCIMR) Chained Buffer Transfer Completed [5:0] */
#define DMAC_EBCIMR_ERR0 (0x1u << 16) /**< \brief (DMAC_EBCIMR) Access Error [5:0] */
#define DMAC_EBCIMR_ERR1 (0x1u << 17) /**< \brief (DMAC_EBCIMR) Access Error [5:0] */
#define DMAC_EBCIMR_ERR2 (0x1u << 18) /**< \brief (DMAC_EBCIMR) Access Error [5:0] */
#define DMAC_EBCIMR_ERR3 (0x1u << 19) /**< \brief (DMAC_EBCIMR) Access Error [5:0] */
#define DMAC_EBCIMR_ERR4 (0x1u << 20) /**< \brief (DMAC_EBCIMR) Access Error [5:0] */
#define DMAC_EBCIMR_ERR5 (0x1u << 21) /**< \brief (DMAC_EBCIMR) Access Error [5:0] */
/* -------- DMAC_EBCISR : (DMAC Offset: 0x024) DMAC Error, Chained Buffer Transfer Completed Interrupt and Buffer transfer completed Status Register. -------- */
#define DMAC_EBCISR_BTC0 (0x1u << 0) /**< \brief (DMAC_EBCISR) Buffer Transfer Completed [5:0] */
#define DMAC_EBCISR_BTC1 (0x1u << 1) /**< \brief (DMAC_EBCISR) Buffer Transfer Completed [5:0] */
#define DMAC_EBCISR_BTC2 (0x1u << 2) /**< \brief (DMAC_EBCISR) Buffer Transfer Completed [5:0] */
#define DMAC_EBCISR_BTC3 (0x1u << 3) /**< \brief (DMAC_EBCISR) Buffer Transfer Completed [5:0] */
#define DMAC_EBCISR_BTC4 (0x1u << 4) /**< \brief (DMAC_EBCISR) Buffer Transfer Completed [5:0] */
#define DMAC_EBCISR_BTC5 (0x1u << 5) /**< \brief (DMAC_EBCISR) Buffer Transfer Completed [5:0] */
#define DMAC_EBCISR_CBTC0 (0x1u << 8) /**< \brief (DMAC_EBCISR) Chained Buffer Transfer Completed [5:0] */
#define DMAC_EBCISR_CBTC1 (0x1u << 9) /**< \brief (DMAC_EBCISR) Chained Buffer Transfer Completed [5:0] */
#define DMAC_EBCISR_CBTC2 (0x1u << 10) /**< \brief (DMAC_EBCISR) Chained Buffer Transfer Completed [5:0] */
#define DMAC_EBCISR_CBTC3 (0x1u << 11) /**< \brief (DMAC_EBCISR) Chained Buffer Transfer Completed [5:0] */
#define DMAC_EBCISR_CBTC4 (0x1u << 12) /**< \brief (DMAC_EBCISR) Chained Buffer Transfer Completed [5:0] */
#define DMAC_EBCISR_CBTC5 (0x1u << 13) /**< \brief (DMAC_EBCISR) Chained Buffer Transfer Completed [5:0] */
#define DMAC_EBCISR_ERR0 (0x1u << 16) /**< \brief (DMAC_EBCISR) Access Error [5:0] */
#define DMAC_EBCISR_ERR1 (0x1u << 17) /**< \brief (DMAC_EBCISR) Access Error [5:0] */
#define DMAC_EBCISR_ERR2 (0x1u << 18) /**< \brief (DMAC_EBCISR) Access Error [5:0] */
#define DMAC_EBCISR_ERR3 (0x1u << 19) /**< \brief (DMAC_EBCISR) Access Error [5:0] */
#define DMAC_EBCISR_ERR4 (0x1u << 20) /**< \brief (DMAC_EBCISR) Access Error [5:0] */
#define DMAC_EBCISR_ERR5 (0x1u << 21) /**< \brief (DMAC_EBCISR) Access Error [5:0] */
/* -------- DMAC_CHER : (DMAC Offset: 0x028) DMAC Channel Handler Enable Register -------- */
#define DMAC_CHER_ENA0 (0x1u << 0) /**< \brief (DMAC_CHER) Enable [5:0] */
#define DMAC_CHER_ENA1 (0x1u << 1) /**< \brief (DMAC_CHER) Enable [5:0] */
#define DMAC_CHER_ENA2 (0x1u << 2) /**< \brief (DMAC_CHER) Enable [5:0] */
#define DMAC_CHER_ENA3 (0x1u << 3) /**< \brief (DMAC_CHER) Enable [5:0] */
#define DMAC_CHER_ENA4 (0x1u << 4) /**< \brief (DMAC_CHER) Enable [5:0] */
#define DMAC_CHER_ENA5 (0x1u << 5) /**< \brief (DMAC_CHER) Enable [5:0] */
#define DMAC_CHER_SUSP0 (0x1u << 8) /**< \brief (DMAC_CHER) Suspend [5:0] */
#define DMAC_CHER_SUSP1 (0x1u << 9) /**< \brief (DMAC_CHER) Suspend [5:0] */
#define DMAC_CHER_SUSP2 (0x1u << 10) /**< \brief (DMAC_CHER) Suspend [5:0] */
#define DMAC_CHER_SUSP3 (0x1u << 11) /**< \brief (DMAC_CHER) Suspend [5:0] */
#define DMAC_CHER_SUSP4 (0x1u << 12) /**< \brief (DMAC_CHER) Suspend [5:0] */
#define DMAC_CHER_SUSP5 (0x1u << 13) /**< \brief (DMAC_CHER) Suspend [5:0] */
#define DMAC_CHER_KEEP0 (0x1u << 24) /**< \brief (DMAC_CHER) Keep on [5:0] */
#define DMAC_CHER_KEEP1 (0x1u << 25) /**< \brief (DMAC_CHER) Keep on [5:0] */
#define DMAC_CHER_KEEP2 (0x1u << 26) /**< \brief (DMAC_CHER) Keep on [5:0] */
#define DMAC_CHER_KEEP3 (0x1u << 27) /**< \brief (DMAC_CHER) Keep on [5:0] */
#define DMAC_CHER_KEEP4 (0x1u << 28) /**< \brief (DMAC_CHER) Keep on [5:0] */
#define DMAC_CHER_KEEP5 (0x1u << 29) /**< \brief (DMAC_CHER) Keep on [5:0] */
/* -------- DMAC_CHDR : (DMAC Offset: 0x02C) DMAC Channel Handler Disable Register -------- */
#define DMAC_CHDR_DIS0 (0x1u << 0) /**< \brief (DMAC_CHDR) Disable [5:0] */
#define DMAC_CHDR_DIS1 (0x1u << 1) /**< \brief (DMAC_CHDR) Disable [5:0] */
#define DMAC_CHDR_DIS2 (0x1u << 2) /**< \brief (DMAC_CHDR) Disable [5:0] */
#define DMAC_CHDR_DIS3 (0x1u << 3) /**< \brief (DMAC_CHDR) Disable [5:0] */
#define DMAC_CHDR_DIS4 (0x1u << 4) /**< \brief (DMAC_CHDR) Disable [5:0] */
#define DMAC_CHDR_DIS5 (0x1u << 5) /**< \brief (DMAC_CHDR) Disable [5:0] */
#define DMAC_CHDR_RES0 (0x1u << 8) /**< \brief (DMAC_CHDR) Resume [5:0] */
#define DMAC_CHDR_RES1 (0x1u << 9) /**< \brief (DMAC_CHDR) Resume [5:0] */
#define DMAC_CHDR_RES2 (0x1u << 10) /**< \brief (DMAC_CHDR) Resume [5:0] */
#define DMAC_CHDR_RES3 (0x1u << 11) /**< \brief (DMAC_CHDR) Resume [5:0] */
#define DMAC_CHDR_RES4 (0x1u << 12) /**< \brief (DMAC_CHDR) Resume [5:0] */
#define DMAC_CHDR_RES5 (0x1u << 13) /**< \brief (DMAC_CHDR) Resume [5:0] */
/* -------- DMAC_CHSR : (DMAC Offset: 0x030) DMAC Channel Handler Status Register -------- */
#define DMAC_CHSR_ENA0 (0x1u << 0) /**< \brief (DMAC_CHSR) Enable [5:0] */
#define DMAC_CHSR_ENA1 (0x1u << 1) /**< \brief (DMAC_CHSR) Enable [5:0] */
#define DMAC_CHSR_ENA2 (0x1u << 2) /**< \brief (DMAC_CHSR) Enable [5:0] */
#define DMAC_CHSR_ENA3 (0x1u << 3) /**< \brief (DMAC_CHSR) Enable [5:0] */
#define DMAC_CHSR_ENA4 (0x1u << 4) /**< \brief (DMAC_CHSR) Enable [5:0] */
#define DMAC_CHSR_ENA5 (0x1u << 5) /**< \brief (DMAC_CHSR) Enable [5:0] */
#define DMAC_CHSR_SUSP0 (0x1u << 8) /**< \brief (DMAC_CHSR) Suspend [5:0] */
#define DMAC_CHSR_SUSP1 (0x1u << 9) /**< \brief (DMAC_CHSR) Suspend [5:0] */
#define DMAC_CHSR_SUSP2 (0x1u << 10) /**< \brief (DMAC_CHSR) Suspend [5:0] */
#define DMAC_CHSR_SUSP3 (0x1u << 11) /**< \brief (DMAC_CHSR) Suspend [5:0] */
#define DMAC_CHSR_SUSP4 (0x1u << 12) /**< \brief (DMAC_CHSR) Suspend [5:0] */
#define DMAC_CHSR_SUSP5 (0x1u << 13) /**< \brief (DMAC_CHSR) Suspend [5:0] */
#define DMAC_CHSR_EMPT0 (0x1u << 16) /**< \brief (DMAC_CHSR) Empty [5:0] */
#define DMAC_CHSR_EMPT1 (0x1u << 17) /**< \brief (DMAC_CHSR) Empty [5:0] */
#define DMAC_CHSR_EMPT2 (0x1u << 18) /**< \brief (DMAC_CHSR) Empty [5:0] */
#define DMAC_CHSR_EMPT3 (0x1u << 19) /**< \brief (DMAC_CHSR) Empty [5:0] */
#define DMAC_CHSR_EMPT4 (0x1u << 20) /**< \brief (DMAC_CHSR) Empty [5:0] */
#define DMAC_CHSR_EMPT5 (0x1u << 21) /**< \brief (DMAC_CHSR) Empty [5:0] */
#define DMAC_CHSR_STAL0 (0x1u << 24) /**< \brief (DMAC_CHSR) Stalled [5:0] */
#define DMAC_CHSR_STAL1 (0x1u << 25) /**< \brief (DMAC_CHSR) Stalled [5:0] */
#define DMAC_CHSR_STAL2 (0x1u << 26) /**< \brief (DMAC_CHSR) Stalled [5:0] */
#define DMAC_CHSR_STAL3 (0x1u << 27) /**< \brief (DMAC_CHSR) Stalled [5:0] */
#define DMAC_CHSR_STAL4 (0x1u << 28) /**< \brief (DMAC_CHSR) Stalled [5:0] */
#define DMAC_CHSR_STAL5 (0x1u << 29) /**< \brief (DMAC_CHSR) Stalled [5:0] */
/* -------- DMAC_SADDR : (DMAC Offset: N/A) DMAC Channel Source Address Register -------- */
#define DMAC_SADDR_SADDR_Pos 0
#define DMAC_SADDR_SADDR_Msk (0xffffffffu << DMAC_SADDR_SADDR_Pos) /**< \brief (DMAC_SADDR) Channel x Source Address */
#define DMAC_SADDR_SADDR(value) ((DMAC_SADDR_SADDR_Msk & ((value) << DMAC_SADDR_SADDR_Pos)))
/* -------- DMAC_DADDR : (DMAC Offset: N/A) DMAC Channel Destination Address Register -------- */
#define DMAC_DADDR_DADDR_Pos 0
#define DMAC_DADDR_DADDR_Msk (0xffffffffu << DMAC_DADDR_DADDR_Pos) /**< \brief (DMAC_DADDR) Channel x Destination Address */
#define DMAC_DADDR_DADDR(value) ((DMAC_DADDR_DADDR_Msk & ((value) << DMAC_DADDR_DADDR_Pos)))
/* -------- DMAC_DSCR : (DMAC Offset: N/A) DMAC Channel Descriptor Address Register -------- */
#define DMAC_DSCR_DSCR_Pos 2
#define DMAC_DSCR_DSCR_Msk (0x3fffffffu << DMAC_DSCR_DSCR_Pos) /**< \brief (DMAC_DSCR) Buffer Transfer Descriptor Address */
#define DMAC_DSCR_DSCR(value) ((DMAC_DSCR_DSCR_Msk & ((value) << DMAC_DSCR_DSCR_Pos)))
/* -------- DMAC_CTRLA : (DMAC Offset: N/A) DMAC Channel Control A Register -------- */
#define DMAC_CTRLA_BTSIZE_Pos 0
#define DMAC_CTRLA_BTSIZE_Msk (0xffffu << DMAC_CTRLA_BTSIZE_Pos) /**< \brief (DMAC_CTRLA) Buffer Transfer Size */
#define DMAC_CTRLA_BTSIZE(value) ((DMAC_CTRLA_BTSIZE_Msk & ((value) << DMAC_CTRLA_BTSIZE_Pos)))
#define DMAC_CTRLA_SCSIZE_Pos 16
#define DMAC_CTRLA_SCSIZE_Msk (0x7u << DMAC_CTRLA_SCSIZE_Pos) /**< \brief (DMAC_CTRLA) Source Chunk Transfer Size. */
#define DMAC_CTRLA_SCSIZE_CHK_1 (0x0u << 16) /**< \brief (DMAC_CTRLA) 1 data transferred */
#define DMAC_CTRLA_SCSIZE_CHK_4 (0x1u << 16) /**< \brief (DMAC_CTRLA) 4 data transferred */
#define DMAC_CTRLA_SCSIZE_CHK_8 (0x2u << 16) /**< \brief (DMAC_CTRLA) 8 data transferred */
#define DMAC_CTRLA_SCSIZE_CHK_16 (0x3u << 16) /**< \brief (DMAC_CTRLA) 16 data transferred */
#define DMAC_CTRLA_SCSIZE_CHK_32 (0x4u << 16) /**< \brief (DMAC_CTRLA) 32 data transferred */
#define DMAC_CTRLA_SCSIZE_CHK_64 (0x5u << 16) /**< \brief (DMAC_CTRLA) 64 data transferred */
#define DMAC_CTRLA_SCSIZE_CHK_128 (0x6u << 16) /**< \brief (DMAC_CTRLA) 128 data transferred */
#define DMAC_CTRLA_SCSIZE_CHK_256 (0x7u << 16) /**< \brief (DMAC_CTRLA) 256 data transferred */
#define DMAC_CTRLA_DCSIZE_Pos 20
#define DMAC_CTRLA_DCSIZE_Msk (0x7u << DMAC_CTRLA_DCSIZE_Pos) /**< \brief (DMAC_CTRLA) Destination Chunk Transfer Size */
#define DMAC_CTRLA_DCSIZE_CHK_1 (0x0u << 20) /**< \brief (DMAC_CTRLA) 1 data transferred */
#define DMAC_CTRLA_DCSIZE_CHK_4 (0x1u << 20) /**< \brief (DMAC_CTRLA) 4 data transferred */
#define DMAC_CTRLA_DCSIZE_CHK_8 (0x2u << 20) /**< \brief (DMAC_CTRLA) 8 data transferred */
#define DMAC_CTRLA_DCSIZE_CHK_16 (0x3u << 20) /**< \brief (DMAC_CTRLA) 16 data transferred */
#define DMAC_CTRLA_DCSIZE_CHK_32 (0x4u << 20) /**< \brief (DMAC_CTRLA) 32 data transferred */
#define DMAC_CTRLA_DCSIZE_CHK_64 (0x5u << 20) /**< \brief (DMAC_CTRLA) 64 data transferred */
#define DMAC_CTRLA_DCSIZE_CHK_128 (0x6u << 20) /**< \brief (DMAC_CTRLA) 128 data transferred */
#define DMAC_CTRLA_DCSIZE_CHK_256 (0x7u << 20) /**< \brief (DMAC_CTRLA) 256 data transferred */
#define DMAC_CTRLA_SRC_WIDTH_Pos 24
#define DMAC_CTRLA_SRC_WIDTH_Msk (0x3u << DMAC_CTRLA_SRC_WIDTH_Pos) /**< \brief (DMAC_CTRLA) Transfer Width for the Source */
#define DMAC_CTRLA_SRC_WIDTH_BYTE (0x0u << 24) /**< \brief (DMAC_CTRLA) the transfer size is set to 8-bit width */
#define DMAC_CTRLA_SRC_WIDTH_HALF_WORD (0x1u << 24) /**< \brief (DMAC_CTRLA) the transfer size is set to 16-bit width */
#define DMAC_CTRLA_SRC_WIDTH_WORD (0x2u << 24) /**< \brief (DMAC_CTRLA) the transfer size is set to 32-bit width */
#define DMAC_CTRLA_DST_WIDTH_Pos 28
#define DMAC_CTRLA_DST_WIDTH_Msk (0x3u << DMAC_CTRLA_DST_WIDTH_Pos) /**< \brief (DMAC_CTRLA) Transfer Width for the Destination */
#define DMAC_CTRLA_DST_WIDTH_BYTE (0x0u << 28) /**< \brief (DMAC_CTRLA) the transfer size is set to 8-bit width */
#define DMAC_CTRLA_DST_WIDTH_HALF_WORD (0x1u << 28) /**< \brief (DMAC_CTRLA) the transfer size is set to 16-bit width */
#define DMAC_CTRLA_DST_WIDTH_WORD (0x2u << 28) /**< \brief (DMAC_CTRLA) the transfer size is set to 32-bit width */
#define DMAC_CTRLA_DONE (0x1u << 31) /**< \brief (DMAC_CTRLA) */
/* -------- DMAC_CTRLB : (DMAC Offset: N/A) DMAC Channel Control B Register -------- */
#define DMAC_CTRLB_SRC_DSCR (0x1u << 16) /**< \brief (DMAC_CTRLB) Source Address Descriptor */
#define DMAC_CTRLB_SRC_DSCR_FETCH_FROM_MEM (0x0u << 16) /**< \brief (DMAC_CTRLB) Source address is updated when the descriptor is fetched from the memory. */
#define DMAC_CTRLB_SRC_DSCR_FETCH_DISABLE (0x1u << 16) /**< \brief (DMAC_CTRLB) Buffer Descriptor Fetch operation is disabled for the source. */
#define DMAC_CTRLB_DST_DSCR (0x1u << 20) /**< \brief (DMAC_CTRLB) Destination Address Descriptor */
#define DMAC_CTRLB_DST_DSCR_FETCH_FROM_MEM (0x0u << 20) /**< \brief (DMAC_CTRLB) Destination address is updated when the descriptor is fetched from the memory. */
#define DMAC_CTRLB_DST_DSCR_FETCH_DISABLE (0x1u << 20) /**< \brief (DMAC_CTRLB) Buffer Descriptor Fetch operation is disabled for the destination. */
#define DMAC_CTRLB_FC_Pos 21
#define DMAC_CTRLB_FC_Msk (0x7u << DMAC_CTRLB_FC_Pos) /**< \brief (DMAC_CTRLB) Flow Control */
#define DMAC_CTRLB_FC_MEM2MEM_DMA_FC (0x0u << 21) /**< \brief (DMAC_CTRLB) Memory-to-Memory Transfer DMAC is flow controller */
#define DMAC_CTRLB_FC_MEM2PER_DMA_FC (0x1u << 21) /**< \brief (DMAC_CTRLB) Memory-to-Peripheral Transfer DMAC is flow controller */
#define DMAC_CTRLB_FC_PER2MEM_DMA_FC (0x2u << 21) /**< \brief (DMAC_CTRLB) Peripheral-to-Memory Transfer DMAC is flow controller */
#define DMAC_CTRLB_FC_PER2PER_DMA_FC (0x3u << 21) /**< \brief (DMAC_CTRLB) Peripheral-to-Peripheral Transfer DMAC is flow controller */
#define DMAC_CTRLB_SRC_INCR_Pos 24
#define DMAC_CTRLB_SRC_INCR_Msk (0x3u << DMAC_CTRLB_SRC_INCR_Pos) /**< \brief (DMAC_CTRLB) Incrementing, Decrementing or Fixed Address for the Source */
#define DMAC_CTRLB_SRC_INCR_INCREMENTING (0x0u << 24) /**< \brief (DMAC_CTRLB) The source address is incremented */
#define DMAC_CTRLB_SRC_INCR_DECREMENTING (0x1u << 24) /**< \brief (DMAC_CTRLB) The source address is decremented */
#define DMAC_CTRLB_SRC_INCR_FIXED (0x2u << 24) /**< \brief (DMAC_CTRLB) The source address remains unchanged */
#define DMAC_CTRLB_DST_INCR_Pos 28
#define DMAC_CTRLB_DST_INCR_Msk (0x3u << DMAC_CTRLB_DST_INCR_Pos) /**< \brief (DMAC_CTRLB) Incrementing, Decrementing or Fixed Address for the Destination */
#define DMAC_CTRLB_DST_INCR_INCREMENTING (0x0u << 28) /**< \brief (DMAC_CTRLB) The destination address is incremented */
#define DMAC_CTRLB_DST_INCR_DECREMENTING (0x1u << 28) /**< \brief (DMAC_CTRLB) The destination address is decremented */
#define DMAC_CTRLB_DST_INCR_FIXED (0x2u << 28) /**< \brief (DMAC_CTRLB) The destination address remains unchanged */
#define DMAC_CTRLB_IEN (0x1u << 30) /**< \brief (DMAC_CTRLB) */
/* -------- DMAC_CFG : (DMAC Offset: N/A) DMAC Channel Configuration Register -------- */
#define DMAC_CFG_SRC_PER_Pos 0
#define DMAC_CFG_SRC_PER_Msk (0xfu << DMAC_CFG_SRC_PER_Pos) /**< \brief (DMAC_CFG) Source with Peripheral identifier */
#define DMAC_CFG_SRC_PER(value) ((DMAC_CFG_SRC_PER_Msk & ((value) << DMAC_CFG_SRC_PER_Pos)))
#define DMAC_CFG_DST_PER_Pos 4
#define DMAC_CFG_DST_PER_Msk (0xfu << DMAC_CFG_DST_PER_Pos) /**< \brief (DMAC_CFG) Destination with Peripheral identifier */
#define DMAC_CFG_DST_PER(value) ((DMAC_CFG_DST_PER_Msk & ((value) << DMAC_CFG_DST_PER_Pos)))
#define DMAC_CFG_SRC_H2SEL (0x1u << 9) /**< \brief (DMAC_CFG) Software or Hardware Selection for the Source */
#define DMAC_CFG_SRC_H2SEL_SW (0x0u << 9) /**< \brief (DMAC_CFG) Software handshaking interface is used to trigger a transfer request. */
#define DMAC_CFG_SRC_H2SEL_HW (0x1u << 9) /**< \brief (DMAC_CFG) Hardware handshaking interface is used to trigger a transfer request. */
#define DMAC_CFG_DST_H2SEL (0x1u << 13) /**< \brief (DMAC_CFG) Software or Hardware Selection for the Destination */
#define DMAC_CFG_DST_H2SEL_SW (0x0u << 13) /**< \brief (DMAC_CFG) Software handshaking interface is used to trigger a transfer request. */
#define DMAC_CFG_DST_H2SEL_HW (0x1u << 13) /**< \brief (DMAC_CFG) Hardware handshaking interface is used to trigger a transfer request. */
#define DMAC_CFG_SOD (0x1u << 16) /**< \brief (DMAC_CFG) Stop On Done */
#define DMAC_CFG_SOD_DISABLE (0x0u << 16) /**< \brief (DMAC_CFG) STOP ON DONE disabled, the descriptor fetch operation ignores DONE Field of CTRLA register. */
#define DMAC_CFG_SOD_ENABLE (0x1u << 16) /**< \brief (DMAC_CFG) STOP ON DONE activated, the DMAC module is automatically disabled if DONE FIELD is set to 1. */
#define DMAC_CFG_LOCK_IF (0x1u << 20) /**< \brief (DMAC_CFG) Interface Lock */
#define DMAC_CFG_LOCK_IF_DISABLE (0x0u << 20) /**< \brief (DMAC_CFG) Interface Lock capability is disabled */
#define DMAC_CFG_LOCK_IF_ENABLE (0x1u << 20) /**< \brief (DMAC_CFG) Interface Lock capability is enabled */
#define DMAC_CFG_LOCK_B (0x1u << 21) /**< \brief (DMAC_CFG) Bus Lock */
#define DMAC_CFG_LOCK_B_DISABLE (0x0u << 21) /**< \brief (DMAC_CFG) AHB Bus Locking capability is disabled. */
#define DMAC_CFG_LOCK_IF_L (0x1u << 22) /**< \brief (DMAC_CFG) Master Interface Arbiter Lock */
#define DMAC_CFG_LOCK_IF_L_CHUNK (0x0u << 22) /**< \brief (DMAC_CFG) The Master Interface Arbiter is locked by the channel x for a chunk transfer. */
#define DMAC_CFG_LOCK_IF_L_BUFFER (0x1u << 22) /**< \brief (DMAC_CFG) The Master Interface Arbiter is locked by the channel x for a buffer transfer. */
#define DMAC_CFG_AHB_PROT_Pos 24
#define DMAC_CFG_AHB_PROT_Msk (0x7u << DMAC_CFG_AHB_PROT_Pos) /**< \brief (DMAC_CFG) AHB Protection */
#define DMAC_CFG_AHB_PROT(value) ((DMAC_CFG_AHB_PROT_Msk & ((value) << DMAC_CFG_AHB_PROT_Pos)))
#define DMAC_CFG_FIFOCFG_Pos 28
#define DMAC_CFG_FIFOCFG_Msk (0x3u << DMAC_CFG_FIFOCFG_Pos) /**< \brief (DMAC_CFG) FIFO Configuration */
#define DMAC_CFG_FIFOCFG_ALAP_CFG (0x0u << 28) /**< \brief (DMAC_CFG) The largest defined length AHB burst is performed on the destination AHB interface. */
#define DMAC_CFG_FIFOCFG_HALF_CFG (0x1u << 28) /**< \brief (DMAC_CFG) When half FIFO size is available/filled, a source/destination request is serviced. */
#define DMAC_CFG_FIFOCFG_ASAP_CFG (0x2u << 28) /**< \brief (DMAC_CFG) When there is enough space/data available to perform a single AHB access, then the request is serviced. */
/* -------- DMAC_WPMR : (DMAC Offset: 0x1E4) DMAC Write Protect Mode Register -------- */
#define DMAC_WPMR_WPEN (0x1u << 0) /**< \brief (DMAC_WPMR) Write Protect Enable */
#define DMAC_WPMR_WPKEY_Pos 8
#define DMAC_WPMR_WPKEY_Msk (0xffffffu << DMAC_WPMR_WPKEY_Pos) /**< \brief (DMAC_WPMR) Write Protect KEY */
#define DMAC_WPMR_WPKEY(value) ((DMAC_WPMR_WPKEY_Msk & ((value) << DMAC_WPMR_WPKEY_Pos)))
/* -------- DMAC_WPSR : (DMAC Offset: 0x1E8) DMAC Write Protect Status Register -------- */
#define DMAC_WPSR_WPVS (0x1u << 0) /**< \brief (DMAC_WPSR) Write Protect Violation Status */
#define DMAC_WPSR_WPVSRC_Pos 8
#define DMAC_WPSR_WPVSRC_Msk (0xffffu << DMAC_WPSR_WPVSRC_Pos) /**< \brief (DMAC_WPSR) Write Protect Violation Source */
/*@}*/
#endif /* _SAM3XA_DMAC_COMPONENT_ */

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lib/cmsis-sam3x8e/include/component/component_efc.h
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@@ -1,76 +0,0 @@
/* ----------------------------------------------------------------------------
* SAM Software Package License
* ----------------------------------------------------------------------------
* Copyright (c) 2012, Atmel Corporation
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following condition is met:
*
* - Redistributions of source code must retain the above copyright notice,
* this list of conditions and the disclaimer below.
*
* Atmel's 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 ATMEL "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 ATMEL 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 _SAM3XA_EFC_COMPONENT_
#define _SAM3XA_EFC_COMPONENT_
/* ============================================================================= */
/** SOFTWARE API DEFINITION FOR Embedded Flash Controller */
/* ============================================================================= */
/** \addtogroup SAM3XA_EFC Embedded Flash Controller */
/*@{*/
#if !(defined(__ASSEMBLY__) || defined(__IAR_SYSTEMS_ASM__))
/** \brief Efc hardware registers */
typedef struct {
RwReg EEFC_FMR; /**< \brief (Efc Offset: 0x00) EEFC Flash Mode Register */
WoReg EEFC_FCR; /**< \brief (Efc Offset: 0x04) EEFC Flash Command Register */
RoReg EEFC_FSR; /**< \brief (Efc Offset: 0x08) EEFC Flash Status Register */
RoReg EEFC_FRR; /**< \brief (Efc Offset: 0x0C) EEFC Flash Result Register */
} Efc;
#endif /* !(defined(__ASSEMBLY__) || defined(__IAR_SYSTEMS_ASM__)) */
/* -------- EEFC_FMR : (EFC Offset: 0x00) EEFC Flash Mode Register -------- */
#define EEFC_FMR_FRDY (0x1u << 0) /**< \brief (EEFC_FMR) Ready Interrupt Enable */
#define EEFC_FMR_FWS_Pos 8
#define EEFC_FMR_FWS_Msk (0xfu << EEFC_FMR_FWS_Pos) /**< \brief (EEFC_FMR) Flash Wait State */
#define EEFC_FMR_FWS(value) ((EEFC_FMR_FWS_Msk & ((value) << EEFC_FMR_FWS_Pos)))
#define EEFC_FMR_SCOD (0x1u << 16) /**< \brief (EEFC_FMR) Sequential Code Optimization Disable */
#define EEFC_FMR_FAM (0x1u << 24) /**< \brief (EEFC_FMR) Flash Access Mode */
/* -------- EEFC_FCR : (EFC Offset: 0x04) EEFC Flash Command Register -------- */
#define EEFC_FCR_FCMD_Pos 0
#define EEFC_FCR_FCMD_Msk (0xffu << EEFC_FCR_FCMD_Pos) /**< \brief (EEFC_FCR) Flash Command */
#define EEFC_FCR_FCMD(value) ((EEFC_FCR_FCMD_Msk & ((value) << EEFC_FCR_FCMD_Pos)))
#define EEFC_FCR_FARG_Pos 8
#define EEFC_FCR_FARG_Msk (0xffffu << EEFC_FCR_FARG_Pos) /**< \brief (EEFC_FCR) Flash Command Argument */
#define EEFC_FCR_FARG(value) ((EEFC_FCR_FARG_Msk & ((value) << EEFC_FCR_FARG_Pos)))
#define EEFC_FCR_FKEY_Pos 24
#define EEFC_FCR_FKEY_Msk (0xffu << EEFC_FCR_FKEY_Pos) /**< \brief (EEFC_FCR) Flash Writing Protection Key */
#define EEFC_FCR_FKEY(value) ((EEFC_FCR_FKEY_Msk & ((value) << EEFC_FCR_FKEY_Pos)))
/* -------- EEFC_FSR : (EFC Offset: 0x08) EEFC Flash Status Register -------- */
#define EEFC_FSR_FRDY (0x1u << 0) /**< \brief (EEFC_FSR) Flash Ready Status */
#define EEFC_FSR_FCMDE (0x1u << 1) /**< \brief (EEFC_FSR) Flash Command Error Status */
#define EEFC_FSR_FLOCKE (0x1u << 2) /**< \brief (EEFC_FSR) Flash Lock Error Status */
/* -------- EEFC_FRR : (EFC Offset: 0x0C) EEFC Flash Result Register -------- */
#define EEFC_FRR_FVALUE_Pos 0
#define EEFC_FRR_FVALUE_Msk (0xffffffffu << EEFC_FRR_FVALUE_Pos) /**< \brief (EEFC_FRR) Flash Result Value */
/*@}*/
#endif /* _SAM3XA_EFC_COMPONENT_ */

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