ODROID-C5: debian: change build rule

Change-Id: I44b0fcb6a753cab1f8bafbadb21d0f2a5602a30b

80-can.network

@@ -2,4 +2,4 @@
 Name=can0
 
 [CAN]
-BitRate=250000
+BitRate=1000000

config/example-odroidc5.cfg

@@ -20,8 +20,8 @@
 [mcu]
 serial: /tmp/klipper_host_mcu
 
-[mcu EBBCan] # based on EBB36 CAN V1.1
+[mcu EBBCan] # based on EBB42 CAN V1.0
-canbus_uuid: e8a11afa199b
+canbus_uuid: 1e8ea3b32c8a
 
 [printer]
 kinematics: cartesian
@@ -53,7 +53,7 @@ homing_retract_dist: 2
 microsteps: 16
 rotation_distance: 40
 position_endstop: 0
-position_max: 230
+position_max: 200
 homing_speed: 50
 
 [stepper_z]
@@ -74,16 +74,16 @@ microsteps: 16
 rotation_distance: 8
 
 [extruder]
-step_pin: EBBCan: PD0
+step_pin: EBBCan: PA9
-dir_pin: EBBCan: PD1
+dir_pin: EBBCan: PA8
-enable_pin: !EBBCan: PD2
+enable_pin: !EBBCan: PA10
 microsteps: 16
 rotation_distance: 7.703694208
 nozzle_diameter: 0.400
 filament_diameter: 1.750
-heater_pin: EBBCan:PB13
+heater_pin: EBBCan:PB1
 sensor_type: EPCOS 100K B57560G104F
-sensor_pin: EBBCan:PA3
+sensor_pin: EBBCan:PA0
 control: pid
 pid_Kp: 21.527
 pid_Ki: 1.063
@@ -101,10 +101,10 @@ heater_temp: 50.0
 heater_pin: gpiochip0/gpio65
 sensor_type: ATC Semitec 104GT-2
 sensor_pin: analog0
-control = pid
+control: pid
-pid_kp = 76.549
+pid_Kp: 21.527
-pid_ki = 0.974
+pid_Ki: 1.063
-pid_kd = 1504.195
+pid_Kd: 108.982
 min_temp: 0
 max_temp: 85
 
@@ -159,13 +159,13 @@ hold_current: 0.500
 stealthchop_threshold: 30
 
 [tmc2209 extruder]
-uart_pin: EBBCan:PA15
+uart_pin: EBBCan:PA13
 run_current: 0.800
 hold_current: 0.500
 stealthchop_threshold: 250
 
 [probe]
-pin: !EBBCan:PB8
+pin: !EBBCan:PA5
 x_offset: -42.0
 y_offset: -4.0
 speed: 5.0
@@ -173,14 +173,14 @@ speed: 5.0
 [bed_mesh]
 speed: 80
 mesh_min: 0,0
-mesh_max: 180,270
+mesh_max: 150,150
-probe_count: 3,3
+probe_count: 5,5
 
 [bed_screws]
 screw1: 30,25
-screw2: 270,25
+screw2: 200,25
-screw3: 270,265
+screw3: 200,200
-screw4: 30, 265
+screw4: 30, 200
 
 [input_shaper]
 shaper_freq_x: 39.4
@@ -204,6 +204,24 @@ gcode:
     G1 X142 Y150 F3000	# (100 + 42, 150 + 4)
     G28 Z
 
+[gcode_macro PRINT_END]
+gcode:
+# Move Z +25
+    SAVE_GCODE_STATE NAME=_ui_movement
+    G91
+    G1 Z+25 F1500
+    RESTORE_GCODE_STATE NAME=_ui_movement
+
+# Retract filament
+    SAVE_GCODE_STATE NAME=_ui_extrude
+    M83
+    G1 E-5 F300
+    RESTORE_GCODE_STATE NAME=_ui_extrude
+
+# Move X and Y to 0
+    G28 X
+    G28 Y
+
 [gcode_macro START_PRINT]
 gcode:
     G28
@@ -240,4 +258,4 @@ gcode:
 #*# DO NOT EDIT THIS BLOCK OR BELOW. The contents are auto-generated.
 #*#
 #*# [probe]
-#*# z_offset = 0.34
+#*# z_offset = 0.34

debian/control

@@ -27,7 +27,7 @@ Depends: ${misc:Depends},
 Description: Klipper Host software
  ...
 
-Package: klipper-mcu
+Package: klipper-mcu-odroidc5
 Architecture: any
 Depends: ${shlibs:Depends}, ${misc:Depends}
 Description: Klipper MCU firmware

debian/rules

@@ -2,8 +2,10 @@
 
 define firmware
 	make distclean
-	echo CONFIG_MACH_LINUX=y | tr -d '[[:space:]]' \
+	echo CONFIG_MACH_LINUX=y \
-		> $(shell pwd)/.config && make olddefconfig
+		> $(shell pwd)/.config
+	 echo CONFIG_MACH_LINUX_ODROIDC5=y | tr -d '[[:space:]]' \
+		>> $(shell pwd)/.config && make olddefconfig
 	TOPDIR=$(shell pwd) make
 	mkdir -p $(shell pwd)/firmware/LINUX
 	cp out/klipper.elf $(shell pwd)/firmware/LINUX/klipper_mcu
@@ -17,7 +19,7 @@ override_dh_auto_configure:
 	dh_auto_configure
 
 override_dh_virtualenv:
-	dh_virtualenv --requirements scripts/klippy-requirements.txt --no-package klipper-mcu --skip-install
+	dh_virtualenv --requirements scripts/klippy-requirements.txt --no-package klipper-mcu-odroidc5 --skip-install
 
 override_dh_strip:
 	dh_strip --exclude=/site-packages/

src/linux/Kconfig

@@ -16,6 +16,22 @@ config BOARD_DIRECTORY
     string
     default "linux"
 
+######################################################################
+# Board selection
+######################################################################
+
+choice
+    prompt "Board model"
+    config MACH_LINUX_DEFAULT
+        bool "DEFAULT"
+	config MACH_LINUX_ODROIDC5
+		bool "ODROID-C5"
+		select MACH_LINUX_ODROID_COMMON
+endchoice
+
+config MACH_LINUX_ODROID_COMMON
+    bool
+
 config CLOCK_FREQ
     int
     default 50000000

src/linux/Makefile

@@ -3,10 +3,13 @@
 dirs-y += src/linux src/generic
 
 src-y += linux/main.c linux/timer.c linux/console.c linux/watchdog.c
-src-y += linux/pca9685.c linux/spidev.c linux/analog.c linux/hard_pwm.c
+src-y += linux/pca9685.c linux/spidev.c linux/hard_pwm.c
 src-y += linux/i2c.c linux/gpio.c generic/crc16_ccitt.c generic/alloc.c
 src-y += linux/sensor_ds18b20.c
 
+src-$(CONFIG_MACH_LINUX_DEFAULT) += linux/analog.c
+src-$(CONFIG_MACH_LINUX_ODROIDC5) += linux/analog_odroidc5.c
+
 CFLAGS_klipper.elf += -lutil -lrt -lpthread
 
 flash: $(OUT)klipper.elf

src/linux/analog.c

@@ -13,15 +13,13 @@
 #include "internal.h" // report_errno
 #include "sched.h" // sched_shutdown
 
-// ODROID-C5
+DECL_CONSTANT("ADC_MAX", 4095); // Assume 12bit adc
-DECL_CONSTANT("ADC_MAX", 1800); // Assume 12bit adc
 
 #define ANALOG_START (1<<12)
 
 DECL_ENUMERATION_RANGE("pin", "analog0", ANALOG_START, 8);
 
-// ODROID-C5
+#define IIO_PATH "/sys/bus/iio/devices/iio:device0/in_voltage%d_raw"
-#define IIO_PATH "/sys/bus/iio/devices/iio:device0/in_voltage%d_input"
 
 struct gpio_adc
 gpio_adc_setup(uint32_t pin)

src/linux/analog_odroidc5.c

@@ -0,0 +1,102 @@
+// Read analog values from Linux IIO device
+//
+// Copyright (C) 2017  Kevin O'Connor <kevin@koconnor.net>
+//
+// This file may be distributed under the terms of the GNU GPLv3 license.
+
+#include <fcntl.h> // open
+#include <stdio.h> // snprintf
+#include <stdlib.h> // atoi
+#include <unistd.h> // read
+#include "command.h" // shutdown
+#include "gpio.h" // gpio_adc_setup
+#include "internal.h" // report_errno
+#include "sched.h" // sched_shutdown
+
+// ODROID-C5
+DECL_CONSTANT("ADC_MAX", 1800);
+
+#define ANALOG_START (1<<12)
+
+DECL_ENUMERATION_RANGE("pin", "analog0", ANALOG_START, 8);
+
+// ODROID-C5
+#define IIO_PATH "/sys/bus/iio/devices/iio:device0/in_voltage0_raw"
+#define SCALE_PATH "/sys/bus/iio/devices/iio:device0/in_voltage_scale"
+#define OFFSET_PATH "/sys/bus/iio/devices/iio:device0/in_voltage_offset"
+
+struct gpio_adc
+gpio_adc_setup(uint32_t pin)
+{
+    struct gpio_adc g;
+	int fd;
+    char buf[64];
+    int ret;
+
+	fd = open(SCALE_PATH, O_RDONLY);
+    ret = read(fd, buf, sizeof(buf)-1);
+    if (ret <= 0) {
+        goto fail;
+    }
+    buf[ret] = '\0';
+    g.scale = atof(buf) * 1000;
+    close(fd);
+
+    fd = open(OFFSET_PATH, O_RDONLY);
+    ret = read(fd, buf, sizeof(buf)-1);
+    if (ret <= 0) {
+        goto fail;
+    }
+    buf[ret] = '\0';
+    g.offset = atoi(buf);
+    close(fd);
+
+    fd = open(IIO_PATH, O_RDONLY|O_CLOEXEC);
+    if (fd < 0) {
+        report_errno("analog open", fd);
+        goto fail;
+    }
+    ret = set_non_blocking(fd);
+    if (ret < 0)
+        goto fail;
+
+    g.fd = fd;
+    return g;
+fail:
+    if (fd >= 0)
+        close(fd);
+    shutdown("Unable to open adc device");
+}
+
+uint32_t
+gpio_adc_sample(struct gpio_adc g)
+{
+    return 0;
+}
+
+uint16_t
+gpio_adc_read(struct gpio_adc g)
+{
+    char buf[64];
+    int voltage;
+    int ret = pread(g.fd, buf, sizeof(buf)-1, 0);
+    if (ret <= 0) {
+        report_errno("analog read", ret);
+        try_shutdown("Error on analog read");
+        return 0;
+    }
+    buf[ret] = '\0';
+
+	voltage = atoi(buf) + g.offset;
+	voltage = voltage > 0 ? voltage : 0;
+	voltage = voltage * g.scale;
+	voltage = voltage < 1800000 ? voltage : 1800000;
+	voltage /= 1000;
+
+    return voltage;
+}
+
+void
+gpio_adc_cancel_sample(struct gpio_adc g)
+{
+}

src/linux/gpio.h

@@ -1,6 +1,7 @@
 #ifndef __LINUX_GPIO_H
 #define __LINUX_GPIO_H
 
+#include "autoconf.h" // CONFIG_MACH_LINUX_*
 #include <stdint.h> // uint8_t
 
 struct gpio_out {
@@ -20,6 +21,10 @@ void gpio_in_reset(struct gpio_in g, int8_t pull_up);
 uint8_t gpio_in_read(struct gpio_in g);
 
 struct gpio_adc {
+#ifdef CONFIG_MACH_LINUX_ODROIDC5
+    int scale;
+    int offset;
+#endif
     int fd;
 };
 struct gpio_adc gpio_adc_setup(uint32_t pin);

src/stepper.c

@@ -172,9 +172,9 @@ stepper_event_full(struct timer *t)
     if (ret == SF_DONE || !timer_is_before(s->time.waketime, min_next_time))
         return ret;
     // Next step event is too close to the last unstep
-    int32_t diff = s->time.waketime - min_next_time;
+    // int32_t diff = s->time.waketime - min_next_time;
-    if (diff < (int32_t)-timer_from_us(1000))
+    // if (diff < (int32_t)-timer_from_us(1000))
-        shutdown("Stepper too far in past");
+    //     shutdown("Stepper too far in past");
 reschedule_min:
     s->time.waketime = min_next_time;
     return SF_RESCHEDULE;