Fix MK2.5 softReset()

Disable the watchdog early in the program

More documentation for pins file

retrigger build

fix watchdog not getting disabled on user app boot

Fix interrupts not enabled during setup()

Firmware/Marlin_main.cpp

@@ -84,6 +84,7 @@
 #include "Prusa_farm.h"
 
 #include <avr/wdt.h>
+#include <util/atomic.h>
 #include <avr/pgmspace.h>
 
 #include "Dcodes.h"
@@ -700,10 +701,40 @@ void failstats_reset_print()
 #endif
 }
 
-void softReset()
-{
+void watchdogEarlyDisable(void) {
+    // Regardless if the watchdog support is enabled or not, disable the watchdog very early
+    // after the program starts since there's no danger in doing this.
+    // The reason for this is because old bootloaders might not handle the watchdog timer at all,
+    // leaving it enabled when jumping to the program. This could cause another watchdog reset
+    // during setup() if not handled properly. So to avoid any issue of this kind, stop the
+    // watchdog timer manually.
+    ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+      wdt_reset();
+      MCUSR &= ~_BV(WDRF);
+      wdt_disable();
+    }
+}
+
+void softReset(void) {
     cli();
-    wdt_enable(WDTO_15MS);
+#ifdef WATCHDOG
+    // If the watchdog support is enabled, use that for resetting. The timeout value is customized
+    // for each board since the miniRambo ships with a bootloader which doesn't properly handle the
+    // WDT. In order to avoid bootlooping, the watchdog is set to a value large enough for the
+    // usual timeout of the bootloader to pass.
+    wdt_enable(WATCHDOG_SOFT_RESET_VALUE);
+#else
+    #warning WATCHDOG not defined. See the following comment for more details about the implications
+    // In case the watchdog is not enabled, the reset is acomplished by jumping to the bootloader
+    // vector manually. This however is somewhat dangerous since the peripherals don't get reset
+    // by this operation. Considering this is not going to be used in any production firmware,
+    // it can be left as is and just be cautious with it. The only way to accomplish a peripheral
+    // reset is by an external reset, by a watchdog reset or by a power cycle. All of these options
+    // can't be accomplished just from software. One way to minimize the dangers of this is by
+    // setting all dangerous pins to INPUT before jumping to the bootloader, but that still doesn't
+    // reset other peripherals such as UART, timers, INT, PCINT, etc...
+    asm volatile("jmp 0x3E000");
+#endif
     while(1);
 }
 
@@ -1061,6 +1092,8 @@ static void xflash_err_msg()
 // are initialized by the main() routine provided by the Arduino framework.
 void setup()
 {
+  watchdogEarlyDisable();
+
 	timer2_init(); // enables functional millis
 
 	mmu_init();
@@ -4282,15 +4315,11 @@ void process_commands()
 			mmu_reset();
 		}
 		else if (code_seen_P(PSTR("RESET"))) { // PRUSA RESET
-#ifdef WATCHDOG
 #if defined(XFLASH) && defined(BOOTAPP)
             boot_app_magic = BOOT_APP_MAGIC;
             boot_app_flags = BOOT_APP_FLG_RUN;
 #endif //defined(XFLASH) && defined(BOOTAPP)
             softReset();
-#elif defined(BOOTAPP) //this is a safety precaution. This is because the new bootloader turns off the heaters, but the old one doesn't. The watchdog should be used most of the time.
-            asm volatile("jmp 0x3E000");
-#endif
     }
 #ifdef PRUSA_SN_SUPPORT
     else if (code_seen_P(PSTR("SN"))) { // PRUSA SN

Firmware/optiboot_xflash.cpp

@@ -55,9 +55,7 @@ static void putch(char ch) {
 static void verifySpace() {
   if (getch() != CRC_EOP) {
     putch(STK_FAILED);
-    wdt_enable(WDTO_15MS); // shorten WD timeout
-    while (1)           // and busy-loop so that WD causes
-      ;             //  a reset and app start.
+    softReset();
   }
   putch(STK_INSYNC);
 }
@@ -300,7 +298,7 @@ uint8_t optiboot_xflash_enter()
     }
     else if (ch == STK_LEAVE_PROGMODE) { /* 'Q' */
       // Adaboot no-wait mod
-      wdt_enable(WDTO_15MS);
+      wdt_enable(WATCHDOG_SOFT_RESET_VALUE);
       verifySpace();
     }
     else {

Firmware/pins_Einsy_1_0.h

@@ -19,6 +19,7 @@
 
 #define XFLASH                 // external 256kB flash
 #define BOOTAPP                  // bootloader support
+#define WATCHDOG_SOFT_RESET_VALUE WDTO_15MS
 
 #define XFLASH_PIN_CS          32
 

Firmware/pins_Rambo_1_0.h

@@ -14,6 +14,8 @@
 #define SWI2C_SDA      20 //SDA on P3
 #define SWI2C_SCL      84 //PH2 on P3, sensor cable must be rewired
 
+// This should be long enough to safely exit the bootloader when it uses the default timeout (~1-2s)
+#define WATCHDOG_SOFT_RESET_VALUE WDTO_2S
 
 
 #define X_STEP_PIN             37

Firmware/pins_Rambo_1_3.h

@@ -17,6 +17,8 @@
 #define D_REQUIRE		23	//Z_MAX (white)
 #endif //MICROMETER_LOGGING
 
+// This should be long enough to safely exit the bootloader when it uses the default timeout (~1-2s)
+#define WATCHDOG_SOFT_RESET_VALUE WDTO_2S
 
 
 #define X_STEP_PIN             37