Merge pull request #393 from bubnikv/MK3

Mk3

Firmware/Configuration_prusa.h

@@ -127,6 +127,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 //#define DEBUG_DISABLE_FANCHECK     //disable fan check (no ISR INT7, check disabled)
 //#define DEBUG_DISABLE_FSENSORCHECK //disable fsensor check (no ISR INT7, check disabled)
 #define DEBUG_DUMP_TO_2ND_SERIAL   //dump received characters to 2nd serial line
+//#define DEBUG_STEPPER_TIMER_MISSED // Stop on stepper timer overflow, beep and display a message.
 #endif
 
 

Firmware/fastio.h

@@ -66,6 +66,11 @@
 #define READ(IO)  _READ(IO)
 /// Write to a pin wrapper
 #define WRITE(IO, v)  _WRITE(IO, v)
+/// Write to a pin wrapper, non critical.
+/// This macro is cheaper than WRITE(IO,v) on ports H,I,J,K,L, as _WRITE_C disables / enables interrupts
+/// and stores the old CPU flags on the stack.
+/// This macro should only be called, where it cannot be interrupted. 
+#define WRITE_NC(IO, v)  _WRITE_NC(IO, v)
 
 /// toggle a pin wrapper
 #define TOGGLE(IO)  _TOGGLE(IO)

Firmware/language_all.cpp

@@ -2039,6 +2039,11 @@ const char * const MSG_STEEL_SHEET_CHECK_LANG_TABLE[LANG_NUM] PROGMEM = {
 	MSG_STEEL_SHEET_CHECK_CZ
 };
 
+const char MSG_STEPPER_TIMER_OVERFLOW_ERROR_EN[] PROGMEM = "Error - stepper timer overflow";
+const char * const MSG_STEPPER_TIMER_OVERFLOW_ERROR_LANG_TABLE[1] PROGMEM = {
+	MSG_STEPPER_TIMER_OVERFLOW_ERROR_EN
+};
+
 const char MSG_STEPPER_TOO_HIGH_EN[] PROGMEM = "Steprate too high: ";
 const char * const MSG_STEPPER_TOO_HIGH_LANG_TABLE[1] PROGMEM = {
 	MSG_STEPPER_TOO_HIGH_EN

Firmware/language_all.h

@@ -672,6 +672,8 @@ extern const char* const MSG_STATS_TOTALPRINTTIME_LANG_TABLE[LANG_NUM];
 #define MSG_STATS_TOTALPRINTTIME LANG_TABLE_SELECT(MSG_STATS_TOTALPRINTTIME_LANG_TABLE)
 extern const char* const MSG_STEEL_SHEET_CHECK_LANG_TABLE[LANG_NUM];
 #define MSG_STEEL_SHEET_CHECK LANG_TABLE_SELECT(MSG_STEEL_SHEET_CHECK_LANG_TABLE)
+extern const char* const MSG_STEPPER_TIMER_OVERFLOW_ERROR_LANG_TABLE[1];
+#define MSG_STEPPER_TIMER_OVERFLOW_ERROR LANG_TABLE_SELECT_EXPLICIT(MSG_STEPPER_TIMER_OVERFLOW_ERROR_LANG_TABLE, 0)
 extern const char* const MSG_STEPPER_TOO_HIGH_LANG_TABLE[1];
 #define MSG_STEPPER_TOO_HIGH LANG_TABLE_SELECT_EXPLICIT(MSG_STEPPER_TOO_HIGH_LANG_TABLE, 0)
 extern const char* const MSG_STOPPED_LANG_TABLE[1];

Firmware/language_en.h

@@ -261,6 +261,7 @@
 #define(length=20, lines=4) MSG_FIL_ADJUSTING								"Adjusting filaments. Please wait."
 #define(length=20,lines=8) MSG_CONFIRM_NOZZLE_CLEAN_FIL_ADJ			"Filaments are now adjusted. Please clean the nozzle for calibration. Click when done."
 #define(length=20, lines=4) MSG_STACK_ERROR						"Error - static memory has been overwritten"
+#define(length=20, lines=4) MSG_STEPPER_TIMER_OVERFLOW_ERROR	"Error - stepper timer overflow"
 #define(length=20, lines=1) MSG_CALIBRATE_E						"Calibrate E"
 //#define(length=20, lines=1) MSG_RESET_CALIBRATE_E				"Reset E Cal."
 #define(length=20, lines=8) MSG_E_CAL_KNOB						"Rotate knob until mark reaches extruder body. Click when done."

Firmware/pins_Einy_0_4.h

@@ -126,3 +126,27 @@
 
 #endif //NEWPANEL
 #endif //ULTRA_LCD
+
+// Support for an 8 bit logic analyzer, for example the Saleae.
+// Channels 0-2 are fast, they could generate 2.667Mhz waveform with a software loop.
+#define LOGIC_ANALYZER_CH0		X_MIN_PIN		// PB6
+#define LOGIC_ANALYZER_CH1		Y_MIN_PIN		// PB5
+#define LOGIC_ANALYZER_CH2		53				// PB0 (PROC_nCS)
+// Channels 3-7 are slow, they could generate
+// 0.889Mhz waveform with a software loop and interrupt locking,
+// 1.333MHz waveform without interrupt locking.
+#define LOGIC_ANALYZER_CH3 		73				// PJ3
+// PK0 has no Arduino digital pin assigned, so we set it directly.
+#define WRITE_LOGIC_ANALYZER_CH4(value) if (value) PORTK |= (1 << 0); else PORTK &= ~(1 << 0) // PK0
+#define LOGIC_ANALYZER_CH5		16				// PH0 (RXD2)
+#define LOGIC_ANALYZER_CH6		17				// PH1 (TXD2)
+#define LOGIC_ANALYZER_CH7 		76				// PJ5
+
+#define LOGIC_ANALYZER_CH0_ENABLE SET_OUTPUT(LOGIC_ANALYZER_CH0)
+#define LOGIC_ANALYZER_CH1_ENABLE SET_OUTPUT(LOGIC_ANALYZER_CH1)
+#define LOGIC_ANALYZER_CH2_ENABLE SET_OUTPUT(LOGIC_ANALYZER_CH2)
+#define LOGIC_ANALYZER_CH3_ENABLE SET_OUTPUT(LOGIC_ANALYZER_CH3)
+#define LOGIC_ANALYZER_CH4_ENABLE do { DDRK |= 1 << 0; } while (0)
+#define LOGIC_ANALYZER_CH5_ENABLE do { cbi(UCSR2B, TXEN2); cbi(UCSR2B, RXEN2); cbi(UCSR2B, RXCIE2); SET_OUTPUT(LOGIC_ANALYZER_CH5); } while (0)
+#define LOGIC_ANALYZER_CH6_ENABLE do { cbi(UCSR2B, TXEN2); cbi(UCSR2B, RXEN2); cbi(UCSR2B, RXCIE2); SET_OUTPUT(LOGIC_ANALYZER_CH6); } while (0)
+#define LOGIC_ANALYZER_CH7_ENABLE SET_OUTPUT(LOGIC_ANALYZER_CH7)

Firmware/stepper.cpp

@@ -126,6 +126,10 @@ uint8_t LastStepMask = 0;
   #define _NEXT_ISR(T) OCR1A = T
 #endif
 
+#ifdef DEBUG_STEPPER_TIMER_MISSED
+extern bool stepper_timer_overflow_state;
+#endif /* DEBUG_STEPPER_TIMER_MISSED */
+
 //===========================================================================
 //=============================functions         ============================
 //===========================================================================
@@ -842,6 +846,16 @@ void isr() {
 #ifdef TMC2130
 	tmc2130_st_isr(LastStepMask);
 #endif //TMC2130
+#ifdef DEBUG_STEPPER_TIMER_MISSED
+  // Verify whether the next planned timer interrupt has not been missed already.  
+  // This debugging test takes < 1.125us
+  // This skews the profiling slightly as the fastest stepper timer
+  // interrupt repeats at a 100us rate (10kHz).
+  if (OCR1A < TCNT1) {
+    stepper_timer_overflow_state = true;
+    WRITE(BEEPER, HIGH);
+  }
+#endif
 }
 
 #ifdef LIN_ADVANCE

Firmware/ultralcd.cpp

@@ -5109,6 +5109,19 @@ void stack_error() {
 	 while (1) delay_keep_alive(1000);
 }
 
+#ifdef DEBUG_STEPPER_TIMER_MISSED
+bool stepper_timer_overflow_state = false;
+void stepper_timer_overflow() {
+  SET_OUTPUT(BEEPER);
+  WRITE(BEEPER, HIGH);
+  delay(1000);
+  WRITE(BEEPER, LOW);
+  lcd_display_message_fullscreen_P(MSG_STEPPER_TIMER_OVERFLOW_ERROR);
+  //err_triggered = 1;
+   while (1) delay_keep_alive(1000);
+}
+#endif /* DEBUG_STEPPER_TIMER_MISSED */
+
 #ifdef SDSUPPORT
 static void lcd_autostart_sd()
 {
@@ -6779,6 +6792,9 @@ void lcd_update(uint8_t lcdDrawUpdateOverride)
 	  lcd_next_update_millis = millis() + LCD_UPDATE_INTERVAL;
 	  }
 	if (!SdFatUtil::test_stack_integrity()) stack_error();
+#ifdef DEBUG_STEPPER_TIMER_MISSED
+  if (stepper_timer_overflow_state) stepper_timer_overflow();
+#endif /* DEBUG_STEPPER_TIMER_MISSED */
 	lcd_ping(); //check that we have received ping command if we are in farm mode
 	if (lcd_commands_type == LCD_COMMAND_V2_CAL) lcd_commands();
 }