From 97e8a6ebd972ce0ad5b4e27aa139b9bb074ff44e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Eduardo=20Jos=C3=A9=20Tagle?= Date: Wed, 21 Mar 2018 21:04:45 -0300 Subject: [PATCH] Various fixes for DUE... (#10152) - Watchdog reset during SD Card initialization. - Move `DebugMonitor` to `DebugMonitor_Due.cpp`. - Since the watchdog is enabled on boot do extra resets during init. - Have `thermalManager` do watchdog reset before its ISR starts to prevent reset. - Ensure that timers are stopped before reprogramming them to address tone issues. - Improve SAM3XE reset when reflashed through the native port. --- Marlin/src/HAL/HAL_DUE/DebugMonitor_Due.cpp | 238 ++++++++++++++++++ Marlin/src/HAL/HAL_DUE/HAL_Due.cpp | 28 ++- Marlin/src/HAL/HAL_DUE/HAL_Due.h | 7 +- Marlin/src/HAL/HAL_DUE/HAL_timers_Due.cpp | 13 + Marlin/src/HAL/HAL_DUE/HAL_timers_Due.h | 11 - Marlin/src/HAL/HAL_DUE/Tone.cpp | 10 +- Marlin/src/HAL/HAL_DUE/usb/ctrl_access.c | 5 +- Marlin/src/HAL/HAL_DUE/usb/sysclk.c | 2 +- Marlin/src/HAL/HAL_DUE/usb/udc.c | 2 +- Marlin/src/HAL/HAL_DUE/usb/udi_cdc.c | 2 +- Marlin/src/HAL/HAL_DUE/usb/udi_cdc_desc.c | 6 +- .../src/HAL/HAL_DUE/usb/udi_composite_desc.c | 5 +- Marlin/src/HAL/HAL_DUE/usb/udi_msc.c | 5 +- .../src/HAL/HAL_DUE/usb/uotghs_device_due.c | 2 +- Marlin/src/HAL/HAL_DUE/usb/uotghs_otg.h | 1 - Marlin/src/HAL/HAL_DUE/usb/usb_task.c | 13 +- Marlin/src/HAL/HAL_DUE/usb/usb_task.h | 20 +- Marlin/src/HAL/HAL_DUE/watchdog_Due.cpp | 87 ++++++- Marlin/src/Marlin.cpp | 3 - Marlin/src/inc/Conditionals_post.h | 3 + Marlin/src/module/temperature.cpp | 18 ++ Marlin/src/module/temperature.h | 5 + Marlin/src/sd/Sd2Card.cpp | 15 ++ 23 files changed, 441 insertions(+), 60 deletions(-) create mode 100644 Marlin/src/HAL/HAL_DUE/DebugMonitor_Due.cpp diff --git a/Marlin/src/HAL/HAL_DUE/DebugMonitor_Due.cpp b/Marlin/src/HAL/HAL_DUE/DebugMonitor_Due.cpp new file mode 100644 index 0000000000..b7130a45cb --- /dev/null +++ b/Marlin/src/HAL/HAL_DUE/DebugMonitor_Due.cpp @@ -0,0 +1,238 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm + * + * 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 . + * + */ + +#ifdef ARDUINO_ARCH_SAM + +#include "../../inc/MarlinConfig.h" +#include "../../Marlin.h" + +// Debug monitor that dumps to the Programming port all status when +// an exception or WDT timeout happens - And then resets the board + +// All the Monitor routines must run with interrupts disabled and +// under an ISR execution context. That is why we cannot reuse the +// Serial interrupt routines or any C runtime, as we don't know the +// state we are when running them + +// A SW memory barrier, to ensure GCC does not overoptimize loops +#define sw_barrier() asm volatile("": : :"memory"); + +// (re)initialize UART0 as a monitor output to 250000,n,8,1 +static void TXBegin(void) { + + // Disable UART interrupt in NVIC + NVIC_DisableIRQ( UART_IRQn ); + + // Disable clock + pmc_disable_periph_clk( ID_UART ); + + // Configure PMC + pmc_enable_periph_clk( ID_UART ); + + // Disable PDC channel + UART->UART_PTCR = UART_PTCR_RXTDIS | UART_PTCR_TXTDIS; + + // Reset and disable receiver and transmitter + UART->UART_CR = UART_CR_RSTRX | UART_CR_RSTTX | UART_CR_RXDIS | UART_CR_TXDIS; + + // Configure mode: 8bit, No parity, 1 bit stop + UART->UART_MR = UART_MR_CHMODE_NORMAL | US_MR_CHRL_8_BIT | US_MR_NBSTOP_1_BIT | UART_MR_PAR_NO; + + // Configure baudrate (asynchronous, no oversampling) to 250000 bauds + UART->UART_BRGR = (SystemCoreClock / (250000 << 4)); + + // Enable receiver and transmitter + UART->UART_CR = UART_CR_RXEN | UART_CR_TXEN; +} + + +// Send character through UART with no interrupts +static void TX(char c) { + while (!(UART->UART_SR & UART_SR_TXRDY)) { WDT_Restart(WDT); sw_barrier(); }; + UART->UART_THR = c; +} + +// Send String through UART +static void TX(const char* s) { + while (*s) { + TX(*s++); + } +} + +static void TXDigit(uint32_t d) { + if (d < 10) TX((char)(d+'0')); + else if (d < 16) TX((char)(d+'A'-10)); + else TX('?'); +} + +// Send Hex number thru UART +static void TXHex(uint32_t v) { + TX("0x"); + for (int i=0; i<8; i++, v <<= 4) { + TXDigit((v >> 28) & 0xF); + } +} + +/** + * HardFaultHandler_C: + * This is called from the HardFault_HandlerAsm with a pointer the Fault stack + * as the parameter. We can then read the values from the stack and place them + * into local variables for ease of reading. + * We then read the various Fault Status and Address Registers to help decode + * cause of the fault. + * The function ends with a BKPT instruction to force control back into the debugger + */ +extern "C" +void HardFault_HandlerC(unsigned long *hardfault_args, unsigned long cause) { + + static const char* causestr[] = { + "NMI","Hard","Mem","Bus","Usage","Debug","WDT","RSTC" + }; + + // Dump report to the Programming port (interrupts are DISABLED) + TXBegin(); + TX("\n\n## Software Fault detected ##\n"); + TX("Cause: "); TX(causestr[cause]); TX('\n'); + TX("R0 : "); TXHex(((unsigned long)hardfault_args[0])); TX('\n'); + TX("R1 : "); TXHex(((unsigned long)hardfault_args[1])); TX('\n'); + TX("R2 : "); TXHex(((unsigned long)hardfault_args[2])); TX('\n'); + TX("R3 : "); TXHex(((unsigned long)hardfault_args[3])); TX('\n'); + TX("R12 : "); TXHex(((unsigned long)hardfault_args[4])); TX('\n'); + TX("LR : "); TXHex(((unsigned long)hardfault_args[5])); TX('\n'); + TX("PC : "); TXHex(((unsigned long)hardfault_args[6])); TX('\n'); + TX("PSR : "); TXHex(((unsigned long)hardfault_args[7])); TX('\n'); + + // Configurable Fault Status Register + // Consists of MMSR, BFSR and UFSR + TX("CFSR : "); TXHex((*((volatile unsigned long *)(0xE000ED28)))); TX('\n'); + + // Hard Fault Status Register + TX("HFSR : "); TXHex((*((volatile unsigned long *)(0xE000ED2C)))); TX('\n'); + + // Debug Fault Status Register + TX("DFSR : "); TXHex((*((volatile unsigned long *)(0xE000ED30)))); TX('\n'); + + // Auxiliary Fault Status Register + TX("AFSR : "); TXHex((*((volatile unsigned long *)(0xE000ED3C)))); TX('\n'); + + // Read the Fault Address Registers. These may not contain valid values. + // Check BFARVALID/MMARVALID to see if they are valid values + // MemManage Fault Address Register + TX("MMAR : "); TXHex((*((volatile unsigned long *)(0xE000ED34)))); TX('\n'); + + // Bus Fault Address Register + TX("BFAR : "); TXHex((*((volatile unsigned long *)(0xE000ED38)))); TX('\n'); + + // Reset controller + NVIC_SystemReset(); + while(1) { WDT_Restart(WDT); } +} + +__attribute__((naked)) void NMI_Handler(void) { + __asm volatile ( + " tst lr, #4 \n" + " ite eq \n" + " mrseq r0, msp \n" + " mrsne r0, psp \n" + " mov r1,#0 \n" + " b HardFault_HandlerC \n" + ); +} + +__attribute__((naked)) void HardFault_Handler(void) { + __asm volatile ( + " tst lr, #4 \n" + " ite eq \n" + " mrseq r0, msp \n" + " mrsne r0, psp \n" + " mov r1,#1 \n" + " b HardFault_HandlerC \n" + ); +} + +__attribute__((naked)) void MemManage_Handler(void) { + __asm volatile ( + " tst lr, #4 \n" + " ite eq \n" + " mrseq r0, msp \n" + " mrsne r0, psp \n" + " mov r1,#2 \n" + " b HardFault_HandlerC \n" + ); +} + +__attribute__((naked)) void BusFault_Handler(void) { + __asm volatile ( + " tst lr, #4 \n" + " ite eq \n" + " mrseq r0, msp \n" + " mrsne r0, psp \n" + " mov r1,#3 \n" + " b HardFault_HandlerC \n" + ); +} + +__attribute__((naked)) void UsageFault_Handler(void) { + __asm volatile ( + " tst lr, #4 \n" + " ite eq \n" + " mrseq r0, msp \n" + " mrsne r0, psp \n" + " mov r1,#4 \n" + " b HardFault_HandlerC \n" + ); +} + +__attribute__((naked)) void DebugMon_Handler(void) { + __asm volatile ( + " tst lr, #4 \n" + " ite eq \n" + " mrseq r0, msp \n" + " mrsne r0, psp \n" + " mov r1,#5 \n" + " b HardFault_HandlerC \n" + ); +} + +__attribute__((naked)) void WDT_Handler(void) { + __asm volatile ( + " tst lr, #4 \n" + " ite eq \n" + " mrseq r0, msp \n" + " mrsne r0, psp \n" + " mov r1,#6 \n" + " b HardFault_HandlerC \n" + ); +} + +__attribute__((naked)) void RSTC_Handler(void) { + __asm volatile ( + " tst lr, #4 \n" + " ite eq \n" + " mrseq r0, msp \n" + " mrsne r0, psp \n" + " mov r1,#7 \n" + " b HardFault_HandlerC \n" + ); +} + +#endif diff --git a/Marlin/src/HAL/HAL_DUE/HAL_Due.cpp b/Marlin/src/HAL/HAL_DUE/HAL_Due.cpp index 17abbff991..44fd6a019f 100644 --- a/Marlin/src/HAL/HAL_DUE/HAL_Due.cpp +++ b/Marlin/src/HAL/HAL_DUE/HAL_Due.cpp @@ -34,6 +34,7 @@ #include "../HAL.h" #include +#include "usb/usb_task.h" // -------------------------------------------------------------------------- // Externals @@ -73,6 +74,18 @@ uint16_t HAL_adc_result; // Public functions // -------------------------------------------------------------------------- +// HAL initialization task +void HAL_init(void) { + // Initialize the USB stack + usb_task_init(); +} + +// HAL idle task +void HAL_idletask(void) { + // Perform USB stack housekeeping + usb_task_idle(); +} + // disable interrupts void cli(void) { noInterrupts(); } @@ -82,14 +95,13 @@ void sei(void) { interrupts(); } void HAL_clear_reset_source(void) { } uint8_t HAL_get_reset_source(void) { - switch ((RSTC->RSTC_SR >> 8) & 7) { - case 0: return RST_POWER_ON; break; - case 1: return RST_BACKUP; break; - case 2: return RST_WATCHDOG; break; - case 3: return RST_SOFTWARE; break; - case 4: return RST_EXTERNAL; break; - default: - return 0; + switch ((RSTC->RSTC_SR >> 8) & 0x07) { + case 0: return RST_POWER_ON; + case 1: return RST_BACKUP; + case 2: return RST_WATCHDOG; + case 3: return RST_SOFTWARE; + case 4: return RST_EXTERNAL; + default: return 0; } } diff --git a/Marlin/src/HAL/HAL_DUE/HAL_Due.h b/Marlin/src/HAL/HAL_DUE/HAL_Due.h index f3c50927f2..4f574ecbd2 100644 --- a/Marlin/src/HAL/HAL_DUE/HAL_Due.h +++ b/Marlin/src/HAL/HAL_DUE/HAL_Due.h @@ -160,14 +160,15 @@ void toneInit(); void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration=0); void noTone(const pin_t _pin); -// Enable hooks into idle and setup for USB stack +// Enable hooks into idle and setup for HAL #define HAL_IDLETASK 1 #define HAL_INIT 1 +void HAL_idletask(void); +void HAL_init(void); + #ifdef __cplusplus extern "C" { #endif -void HAL_idletask(void); -void HAL_init(void); char *dtostrf (double __val, signed char __width, unsigned char __prec, char *__s); #ifdef __cplusplus } diff --git a/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.cpp b/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.cpp index 06b6d25b89..131318c159 100644 --- a/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.cpp +++ b/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.cpp @@ -96,6 +96,15 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { IRQn_Type irq = TimerConfig[timer_num].IRQ_Id; uint32_t channel = TimerConfig[timer_num].channel; + // Disable interrupt, just in case it was already enabled + NVIC_DisableIRQ(irq); + + // Disable timer interrupt + tc->TC_CHANNEL[channel].TC_IDR = TC_IDR_CPCS; + + // Stop timer, just in case, to be able to reconfigure it + TC_Stop(tc, channel); + pmc_set_writeprotect(false); pmc_enable_periph_clk((uint32_t)irq); NVIC_SetPriority(irq, TimerConfig [timer_num].priority); @@ -103,12 +112,16 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { // wave mode, reset counter on match with RC, TC_Configure(tc, channel, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK1); + // Set compare value TC_SetRC(tc, channel, VARIANT_MCK / 2 / frequency); + + // And start timer TC_Start(tc, channel); // enable interrupt on RC compare tc->TC_CHANNEL[channel].TC_IER = TC_IER_CPCS; + // Finally, enable IRQ NVIC_EnableIRQ(irq); } diff --git a/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.h b/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.h index 0429746e6b..2fbe4480fe 100644 --- a/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.h +++ b/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.h @@ -109,23 +109,12 @@ FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) { return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_CV; } -FORCE_INLINE static void HAL_timer_set_count(const uint8_t timer_num, const hal_timer_t counter) { - const tTimerConfig * const pConfig = &TimerConfig[timer_num]; - pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_CV = counter; -} - // if counter too high then bump up compare FORCE_INLINE static void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_ticks) { const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_ticks; if (HAL_timer_get_compare(timer_num) < mincmp) HAL_timer_set_compare(timer_num, mincmp); } -// if counter too high then clear it -FORCE_INLINE static void HAL_timer_restrain_count(const uint8_t timer_num, const uint16_t interval_ticks) { - const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_ticks; - if (HAL_timer_get_compare(timer_num) < mincmp) HAL_timer_set_count(timer_num, 0); -} - void HAL_timer_enable_interrupt(const uint8_t timer_num); void HAL_timer_disable_interrupt(const uint8_t timer_num); bool HAL_timer_interrupt_enabled(const uint8_t timer_num); diff --git a/Marlin/src/HAL/HAL_DUE/Tone.cpp b/Marlin/src/HAL/HAL_DUE/Tone.cpp index 1b8a3122b7..c097e1e4ca 100644 --- a/Marlin/src/HAL/HAL_DUE/Tone.cpp +++ b/Marlin/src/HAL/HAL_DUE/Tone.cpp @@ -33,17 +33,10 @@ static pin_t tone_pin; volatile static int32_t toggles; -void toneInit() { - HAL_timer_start(TONE_TIMER_NUM, 100000); - HAL_timer_disable_interrupt(TONE_TIMER_NUM); -} - void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration) { tone_pin = _pin; toggles = 2 * frequency * duration / 1000; - HAL_timer_set_count(TONE_TIMER_NUM, 0); // ensure first beep is correct (make sure counter is less than the compare value) - HAL_timer_set_compare(TONE_TIMER_NUM, VARIANT_MCK / 2 / 2 / frequency); // 84MHz / 2 prescaler / 2 interrupts per cycle /Hz - HAL_timer_enable_interrupt(TONE_TIMER_NUM); + HAL_timer_start(TONE_TIMER_NUM, 2 * frequency); } void noTone(const pin_t _pin) { @@ -60,7 +53,6 @@ HAL_TONE_TIMER_ISR { digitalWrite(tone_pin, (pin_state ^= 1)); } else noTone(tone_pin); // turn off interrupt - HAL_timer_restrain_count(TONE_TIMER_NUM, 10); // make sure next ISR isn't delayed by up to 2 minutes } #endif // ARDUINO_ARCH_SAM diff --git a/Marlin/src/HAL/HAL_DUE/usb/ctrl_access.c b/Marlin/src/HAL/HAL_DUE/usb/ctrl_access.c index a57c54fee6..0ec14e0b8f 100644 --- a/Marlin/src/HAL/HAL_DUE/usb/ctrl_access.c +++ b/Marlin/src/HAL/HAL_DUE/usb/ctrl_access.c @@ -642,5 +642,6 @@ U16 stream_stop(U8 id) //! @} -#endif // ACCESS_STREAM == true -#endif \ No newline at end of file +#endif // ACCESS_STREAM + +#endif // ARDUINO_ARCH_SAM diff --git a/Marlin/src/HAL/HAL_DUE/usb/sysclk.c b/Marlin/src/HAL/HAL_DUE/usb/sysclk.c index 2328a0853f..899244dd88 100644 --- a/Marlin/src/HAL/HAL_DUE/usb/sysclk.c +++ b/Marlin/src/HAL/HAL_DUE/usb/sysclk.c @@ -119,4 +119,4 @@ void sysclk_disable_usb(void) /**INDENT-ON**/ /// @endcond -#endif \ No newline at end of file +#endif // ARDUINO_ARCH_SAM diff --git a/Marlin/src/HAL/HAL_DUE/usb/udc.c b/Marlin/src/HAL/HAL_DUE/usb/udc.c index 6995d20b56..a4521be832 100644 --- a/Marlin/src/HAL/HAL_DUE/usb/udc.c +++ b/Marlin/src/HAL/HAL_DUE/usb/udc.c @@ -1146,4 +1146,4 @@ bool udc_process_setup(void) //! @} -#endif \ No newline at end of file +#endif // ARDUINO_ARCH_SAM diff --git a/Marlin/src/HAL/HAL_DUE/usb/udi_cdc.c b/Marlin/src/HAL/HAL_DUE/usb/udi_cdc.c index c8ab19b4b3..e54ee570fa 100644 --- a/Marlin/src/HAL/HAL_DUE/usb/udi_cdc.c +++ b/Marlin/src/HAL/HAL_DUE/usb/udi_cdc.c @@ -1152,4 +1152,4 @@ iram_size_t udi_cdc_write_buf(const void* buf, iram_size_t size) //@} -#endif \ No newline at end of file +#endif // ARDUINO_ARCH_SAM diff --git a/Marlin/src/HAL/HAL_DUE/usb/udi_cdc_desc.c b/Marlin/src/HAL/HAL_DUE/usb/udi_cdc_desc.c index 98e8ba194d..8f730ba823 100644 --- a/Marlin/src/HAL/HAL_DUE/usb/udi_cdc_desc.c +++ b/Marlin/src/HAL/HAL_DUE/usb/udi_cdc_desc.c @@ -255,5 +255,7 @@ UDC_DESC_STORAGE udc_config_t udc_config = { //@} //@} -#endif -#endif + +#endif // SDSUPPORT + +#endif // ARDUINO_ARCH_SAM diff --git a/Marlin/src/HAL/HAL_DUE/usb/udi_composite_desc.c b/Marlin/src/HAL/HAL_DUE/usb/udi_composite_desc.c index d4b155e014..3c5f001a26 100644 --- a/Marlin/src/HAL/HAL_DUE/usb/udi_composite_desc.c +++ b/Marlin/src/HAL/HAL_DUE/usb/udi_composite_desc.c @@ -187,5 +187,6 @@ UDC_DESC_STORAGE udc_config_t udc_config = { /**INDENT-ON**/ //@} -#endif -#endif \ No newline at end of file +#endif // ARDUINO_ARCH_SAM + +#endif // SDSUPPORT diff --git a/Marlin/src/HAL/HAL_DUE/usb/udi_msc.c b/Marlin/src/HAL/HAL_DUE/usb/udi_msc.c index 83d4447561..97d3f2990b 100644 --- a/Marlin/src/HAL/HAL_DUE/usb/udi_msc.c +++ b/Marlin/src/HAL/HAL_DUE/usb/udi_msc.c @@ -1127,5 +1127,6 @@ bool udi_msc_trans_block(bool b_read, uint8_t * block, iram_size_t block_size, //@} -#endif -#endif \ No newline at end of file +#endif // SDSUPPORT + +#endif // ARDUINO_ARCH_SAM diff --git a/Marlin/src/HAL/HAL_DUE/usb/uotghs_device_due.c b/Marlin/src/HAL/HAL_DUE/usb/uotghs_device_due.c index 243e2db541..fce050cf69 100644 --- a/Marlin/src/HAL/HAL_DUE/usb/uotghs_device_due.c +++ b/Marlin/src/HAL/HAL_DUE/usb/uotghs_device_due.c @@ -2070,4 +2070,4 @@ static bool udd_ep_interrupt(void) //@} -#endif \ No newline at end of file +#endif // ARDUINO_ARCH_SAM diff --git a/Marlin/src/HAL/HAL_DUE/usb/uotghs_otg.h b/Marlin/src/HAL/HAL_DUE/usb/uotghs_otg.h index 34436165e2..86c903b2c1 100644 --- a/Marlin/src/HAL/HAL_DUE/usb/uotghs_otg.h +++ b/Marlin/src/HAL/HAL_DUE/usb/uotghs_otg.h @@ -238,5 +238,4 @@ void otg_dual_disable(void); } #endif - #endif /* UOTGHS_OTG_H_INCLUDED */ diff --git a/Marlin/src/HAL/HAL_DUE/usb/usb_task.c b/Marlin/src/HAL/HAL_DUE/usb/usb_task.c index 55d3e846fb..468385b508 100644 --- a/Marlin/src/HAL/HAL_DUE/usb/usb_task.c +++ b/Marlin/src/HAL/HAL_DUE/usb/usb_task.c @@ -56,7 +56,7 @@ static volatile bool main_b_cdc_enable = false; static volatile bool main_b_dtr_active = false; -void HAL_idletask(void) { +void usb_task_idle(void) { #if ENABLED(SDSUPPORT) // Attend SD card access from the USB MSD -- Prioritize access to improve speed int delay = 2; @@ -107,8 +107,15 @@ void usb_task_cdc_set_dtr(const uint8_t port, const bool b_enable) { if (1200 == dwDTERate) { // We check DTR state to determine if host port is open (bit 0 of lineState). - if (!b_enable) + if (!b_enable) { + + // Set RST pin to go low for 65535 clock cycles on reset + // This helps restarting when firmware flash ends + RSTC->RSTC_MR = 0xA5000F01; + + // Schedule delayed reset initiateReset(250); + } else cancelReset(); } @@ -290,7 +297,7 @@ bool usb_task_other_requests(void) { return true; } -void HAL_init(void) { +void usb_task_init(void) { uint16_t *ptr; diff --git a/Marlin/src/HAL/HAL_DUE/usb/usb_task.h b/Marlin/src/HAL/HAL_DUE/usb/usb_task.h index 22328e6de4..fad62fda50 100644 --- a/Marlin/src/HAL/HAL_DUE/usb/usb_task.h +++ b/Marlin/src/HAL/HAL_DUE/usb/usb_task.h @@ -49,6 +49,10 @@ #include "usb_protocol_cdc.h" +#ifdef __cplusplus +extern "C" { +#endif + /*! \brief Called by MSC interface * Callback running when USB Host enable MSC interface * @@ -111,8 +115,20 @@ void usb_task_cdc_rx_notify(const uint8_t port); */ void usb_task_cdc_config(const uint8_t port, usb_cdc_line_coding_t *cfg); -/* The USB device interrupt +/*! \brief The USB device interrupt */ void USBD_ISR(void); -#endif // _MAIN_H_ +/*! \brief USB task init + */ +void usb_task_init(void); + +/*! \brief USB task idle + */ +void usb_task_idle(void); + +#ifdef __cplusplus +} +#endif + +#endif // _USB_TASK_H_ diff --git a/Marlin/src/HAL/HAL_DUE/watchdog_Due.cpp b/Marlin/src/HAL/HAL_DUE/watchdog_Due.cpp index 329c97c557..79081f43a2 100644 --- a/Marlin/src/HAL/HAL_DUE/watchdog_Due.cpp +++ b/Marlin/src/HAL/HAL_DUE/watchdog_Due.cpp @@ -23,17 +23,88 @@ #ifdef ARDUINO_ARCH_SAM #include "../../inc/MarlinConfig.h" +#include "../../Marlin.h" +#include "watchdog_Due.h" + +// Override Arduino runtime to either config or disable the watchdog +// +// We need to configure the watchdog as soon as possible in the boot +// process, because watchdog initialization at hardware reset on SAM3X8E +// is unreliable, and there is risk of unintended resets if we delay +// that initialization to a later time. +void watchdogSetup(void) { + + #if ENABLED(USE_WATCHDOG) + + // 4 seconds timeout + uint32_t timeout = 4000; + + // Calculate timeout value in WDT counter ticks: This assumes + // the slow clock is running at 32.768 kHz watchdog + // frequency is therefore 32768 / 128 = 256 Hz + timeout = (timeout << 8) / 1000; + if (timeout == 0) + timeout = 1; + else if (timeout > 0xFFF) + timeout = 0xFFF; + + // We want to enable the watchdog with the specified timeout + uint32_t value = + WDT_MR_WDV(timeout) | // With the specified timeout + WDT_MR_WDD(timeout) | // and no invalid write window + #if !(SAMV70 || SAMV71 || SAME70 || SAMS70) + WDT_MR_WDRPROC | // WDT fault resets processor only - We want + // to keep PIO controller state + #endif + WDT_MR_WDDBGHLT | // WDT stops in debug state. + WDT_MR_WDIDLEHLT; // WDT stops in idle state. + + #if ENABLED(WATCHDOG_RESET_MANUAL) + // We enable the watchdog timer, but only for the interrupt. + + // Configure WDT to only trigger an interrupt + value |= WDT_MR_WDFIEN; // Enable WDT fault interrupt. + + // Disable WDT interrupt (just in case, to avoid triggering it!) + NVIC_DisableIRQ(WDT_IRQn); + + // Initialize WDT with the given parameters + WDT_Enable(WDT, value); + + // Configure and enable WDT interrupt. + NVIC_ClearPendingIRQ(WDT_IRQn); + NVIC_SetPriority(WDT_IRQn, 0); // Use highest priority, so we detect all kinds of lockups + NVIC_EnableIRQ(WDT_IRQn); + + #else + + // a WDT fault triggers a reset + value |= WDT_MR_WDRSTEN; + + // Initialize WDT with the given parameters + WDT_Enable(WDT, value); + + #endif + + // Reset the watchdog + WDT_Restart(WDT); + + #else + + // Make sure to completely disable the Watchdog + WDT_Disable(WDT); + + #endif +} #if ENABLED(USE_WATCHDOG) - - #include "watchdog_Due.h" - - void watchdogSetup(void) { - // do whatever. don't remove this function. + // Initialize watchdog - On SAM3X, Watchdog was already configured + // and enabled or disabled at startup, so no need to reconfigure it + // here. + void watchdog_init(void) { + // Reset watchdog to start clean + WDT_Restart(WDT); } - - void watchdog_init(void) { watchdogEnable(4000); } - #endif // USE_WATCHDOG #endif diff --git a/Marlin/src/Marlin.cpp b/Marlin/src/Marlin.cpp index 41672e9aae..c7ee0f407d 100644 --- a/Marlin/src/Marlin.cpp +++ b/Marlin/src/Marlin.cpp @@ -648,9 +648,6 @@ void setup() { #ifdef HAL_INIT HAL_init(); - #if defined(ARDUINO_ARCH_SAM) && PIN_EXISTS(BEEPER) && ENABLED(SPEAKER) - toneInit(); - #endif #endif #if ENABLED(MAX7219_DEBUG) diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h index a440771d33..c838690aef 100644 --- a/Marlin/src/inc/Conditionals_post.h +++ b/Marlin/src/inc/Conditionals_post.h @@ -1396,4 +1396,7 @@ #define HAS_FOLDER_SORTING (FOLDER_SORTING || ENABLED(SDSORT_GCODE)) #endif +// If platform requires early initialization of watchdog to properly boot +#define EARLY_WATCHDOG (ENABLED(USE_WATCHDOG) && defined(ARDUINO_ARCH_SAM)) + #endif // CONDITIONALS_POST_H diff --git a/Marlin/src/module/temperature.cpp b/Marlin/src/module/temperature.cpp index 1f7089adc1..68feb8bd09 100644 --- a/Marlin/src/module/temperature.cpp +++ b/Marlin/src/module/temperature.cpp @@ -117,6 +117,10 @@ int16_t Temperature::current_temperature_raw[HOTENDS] = { 0 }, // private: +#if EARLY_WATCHDOG + bool Temperature::inited = false; +#endif + #if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT) uint16_t Temperature::redundant_temperature_raw = 0; float Temperature::redundant_temperature = 0.0; @@ -761,6 +765,14 @@ float Temperature::get_pid_output(const int8_t e) { */ void Temperature::manage_heater() { + #if EARLY_WATCHDOG + // If thermal manager is still not running, make sure to at least reset the watchdog! + if (!inited) { + watchdog_reset(); + return; + } + #endif + #if ENABLED(PROBING_HEATERS_OFF) && ENABLED(BED_LIMIT_SWITCHING) static bool last_pause_state; #endif @@ -1053,6 +1065,12 @@ void Temperature::updateTemperaturesFromRawValues() { */ void Temperature::init() { + #if EARLY_WATCHDOG + // Flag that the thermalManager should be running + if (inited) return; + inited = true; + #endif + #if MB(RUMBA) && (TEMP_SENSOR_0 == -1 || TEMP_SENSOR_1 == -1 || TEMP_SENSOR_2 == -1 || TEMP_SENSOR_BED == -1) // Disable RUMBA JTAG in case the thermocouple extension is plugged on top of JTAG connector MCUCR = _BV(JTD); diff --git a/Marlin/src/module/temperature.h b/Marlin/src/module/temperature.h index b92140c26a..45263b4a2f 100644 --- a/Marlin/src/module/temperature.h +++ b/Marlin/src/module/temperature.h @@ -202,6 +202,11 @@ class Temperature { private: + #if EARLY_WATCHDOG + // If temperature controller is running + static bool inited; + #endif + #if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT) static uint16_t redundant_temperature_raw; static float redundant_temperature; diff --git a/Marlin/src/sd/Sd2Card.cpp b/Marlin/src/sd/Sd2Card.cpp index da831525ef..9216480e20 100644 --- a/Marlin/src/sd/Sd2Card.cpp +++ b/Marlin/src/sd/Sd2Card.cpp @@ -260,6 +260,11 @@ bool Sd2Card::init(uint8_t sckRateID, pin_t chipSelectPin) { // must supply min of 74 clock cycles with CS high. for (uint8_t i = 0; i < 10; i++) spiSend(0xFF); + // Initialization can cause the watchdog to timeout, so reinit it here + #if ENABLED(USE_WATCHDOG) + watchdog_reset(); + #endif + // command to go idle in SPI mode while ((status_ = cardCommand(CMD0, 0)) != R1_IDLE_STATE) { if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) { @@ -272,6 +277,11 @@ bool Sd2Card::init(uint8_t sckRateID, pin_t chipSelectPin) { crcSupported = (cardCommand(CMD59, 1) == R1_IDLE_STATE); #endif + // Initialization can cause the watchdog to timeout, so reinit it here + #if ENABLED(USE_WATCHDOG) + watchdog_reset(); + #endif + // check SD version for (;;) { if (cardCommand(CMD8, 0x1AA) == (R1_ILLEGAL_COMMAND | R1_IDLE_STATE)) { @@ -292,6 +302,11 @@ bool Sd2Card::init(uint8_t sckRateID, pin_t chipSelectPin) { } } + // Initialization can cause the watchdog to timeout, so reinit it here + #if ENABLED(USE_WATCHDOG) + watchdog_reset(); + #endif + // initialize card and send host supports SDHC if SD2 arg = type() == SD_CARD_TYPE_SD2 ? 0x40000000 : 0; while ((status_ = cardAcmd(ACMD41, arg)) != R1_READY_STATE) {