(DO NOT MERGE) test

Change-Id: I33d0c05d5fe17c4955aad5192e42e7421b8d4fbf

80-can.network

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

config/example-odroidc5.cfg

@@ -20,7 +20,7 @@
 [mcu]
 serial: /tmp/klipper_host_mcu
 
-[mcu EBBCan] # based on EBB42 CAN V1.0
+[mcu EBBCan] # based on EBB36 CAN V1.1
 canbus_uuid: 1e8ea3b32c8a
 
 [printer]
@@ -53,12 +53,12 @@ homing_retract_dist: 2
 microsteps: 16
 rotation_distance: 40
 position_endstop: 0
-position_max: 200
+position_max: 230
 homing_speed: 50
 
 [stepper_z]
 step_pin: gpiochip0/gpio55
-dir_pin: !gpiochip0/gpio62
+dir_pin: !gpiochip0/gpio54
 enable_pin: !gpiochip0/gpio26
 microsteps: 16
 rotation_distance: 8
@@ -67,7 +67,7 @@ position_min: -4.0
 position_max: 300
 
 [stepper_z1]
-step_pin: gpiochip0/gpio54
+step_pin: gpiochip0/gpio62
 dir_pin: !gpiochip0/gpio40
 enable_pin: !gpiochip0/gpio27
 microsteps: 16
@@ -101,10 +101,10 @@ heater_temp: 50.0
 heater_pin: gpiochip0/gpio65
 sensor_type: ATC Semitec 104GT-2
 sensor_pin: analog0
-control: pid
-pid_Kp: 21.527
-pid_Ki: 1.063
-pid_Kd: 108.982
+control = pid
+pid_kp = 76.549
+pid_ki = 0.974
+pid_kd = 1504.195
 min_temp: 0
 max_temp: 85
 
@@ -173,14 +173,14 @@ speed: 5.0
 [bed_mesh]
 speed: 80
 mesh_min: 0,0
-mesh_max: 150,150
-probe_count: 5,5
+mesh_max: 180,270
+probe_count: 3,3
 
 [bed_screws]
 screw1: 30,25
-screw2: 200,25
-screw3: 200,200
-screw4: 30, 200
+screw2: 270,25
+screw3: 270,265
+screw4: 30, 265
 
 [input_shaper]
 shaper_freq_x: 39.4
@@ -204,24 +204,6 @@ 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

debian/control

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

debian/rules

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

src/linux/Kconfig

@@ -16,22 +16,6 @@ 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

@@ -3,13 +3,10 @@
 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/hard_pwm.c
+src-y += linux/pca9685.c linux/spidev.c linux/analog.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

@@ -13,29 +13,58 @@
 #include "internal.h" // report_errno
 #include "sched.h" // sched_shutdown
 
-DECL_CONSTANT("ADC_MAX", 4095); // Assume 12bit adc
+// ODROID-C5
+DECL_CONSTANT("ADC_MAX", 1800); // Assume 12bit adc
 
 #define ANALOG_START (1<<12)
 
 DECL_ENUMERATION_RANGE("pin", "analog0", ANALOG_START, 8);
 
-#define IIO_PATH "/sys/bus/iio/devices/iio:device0/in_voltage%d_raw"
+// ODROID-C5
+#define IIO_PATH "/sys/bus/iio/devices/iio:device0/in_voltage0_input"
+#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)
 {
-    char fname[256];
-    snprintf(fname, sizeof(fname), IIO_PATH, pin-ANALOG_START);
+    // char fname[256];
+    // snprintf(fname, sizeof(fname), IIO_PATH, pin-ANALOG_START);
 
-    int fd = open(fname, O_RDONLY|O_CLOEXEC);
+    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 = atoi(buf);
+    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;
     }
-    int ret = set_non_blocking(fd);
+    ret = set_non_blocking(fd);
     if (ret < 0)
         goto fail;
-    return (struct gpio_adc){ .fd = fd };
+
+    g.fd = fd;
+    return g;
 fail:
     if (fd >= 0)
         close(fd);
@@ -52,6 +81,7 @@ 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);
@@ -59,7 +89,14 @@ gpio_adc_read(struct gpio_adc g)
         return 0;
     }
     buf[ret] = '\0';
-    return atoi(buf);
+
+	voltage = atoi(buf) + g.offset;
+	voltage = voltage > 0 ? voltage : 0;
+	voltage = voltage * g.scale;
+	voltage = voltage < 1800000 ? voltage : 1800000;
+	voltage /= 1000;
+
+    return voltage;
 }
 
 void

src/linux/analog_odroidc5.c

@@ -1,102 +0,0 @@
-// 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

@@ -1,7 +1,6 @@
 #ifndef __LINUX_GPIO_H
 #define __LINUX_GPIO_H
 
-#include "autoconf.h" // CONFIG_MACH_LINUX_*
 #include <stdint.h> // uint8_t
 
 struct gpio_out {
@@ -21,10 +20,8 @@ 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;
-    // if (diff < (int32_t)-timer_from_us(1000))
-    //     shutdown("Stepper too far in past");
+//    int32_t diff = s->time.waketime - min_next_time;
+//    if (diff < (int32_t)-timer_from_us(1000))
+//        shutdown("Stepper too far in past");
 reschedule_min:
     s->time.waketime = min_next_time;
     return SF_RESCHEDULE;