Merge remote-tracking branch 'upstream/master'

docs/Bootloader_Entry.md

@@ -44,7 +44,7 @@ releasing `Ctrl`
 
 If a physical serial port is being used on the MCU (even if a USB serial adapter
 is being used to connect to it), sending the string
-`<SPACE><FS><SPACE>Request Serial Bootloader!!<SPACE>~`.
+`<SPACE><FS><SPACE>Request Serial Bootloader!!<SPACE>~` requests the bootloader.
 
 `<SPACE>` is an ASCII literal space, 0x20.
 

docs/Config_checks.md

@@ -67,7 +67,7 @@ The QUERY_ENDSTOPS command should report the endstop as "TRIGGERED".
 
 If the endstop appears inverted (it reports "open" when triggered and
 vice-versa) then add a "!" to the pin definition (for example,
-"endstop_pin: ^PA2"), or remove the "!" if there is already one
+"endstop_pin: ^!PA2"), or remove the "!" if there is already one
 present.
 
 If the endstop does not change at all then it generally indicates that

klippy/extras/input_shaper.py

@@ -135,16 +135,13 @@ def _update_input_shaping(self, error=None):
             is_sk = self._get_input_shaper_stepper_kinematics(s)
             if is_sk is None:
                 continue
-            old_delay = ffi_lib.input_shaper_get_step_generation_window(is_sk)
             for shaper in self.shapers:
                 if shaper in failed_shapers:
                     continue
                 if not shaper.set_shaper_kinematics(is_sk):
                     failed_shapers.append(shaper)
             new_delay = ffi_lib.input_shaper_get_step_generation_window(is_sk)
-            if old_delay != new_delay:
-                self.toolhead.note_step_generation_scan_time(new_delay,
-                                                             old_delay)
+            self.toolhead.note_step_generation_scan_time(self, new_delay)
         if failed_shapers:
             error = error or self.printer.command_error
             raise error("Failed to configure shaper(s) %s with given parameters"

klippy/kinematics/extruder.py

@@ -95,12 +95,15 @@ def cmd_default_SET_PRESSURE_ADVANCE(self, gcmd):
         extruder.extruder_stepper.cmd_SET_PRESSURE_ADVANCE(gcmd)
     def cmd_SET_PRESSURE_ADVANCE(self, gcmd):
         verbose = gcmd.get('VERBOSE', 'high').lower()
-        self.pressure_advance = gcmd.get_float(
+        pressure_advance = gcmd.get_float(
             'ADVANCE', self.pressure_advance, minval=0.)
-        self.pa_smooth_time = gcmd.get_float(
+        pa_smooth_time = gcmd.get_float(
             'SMOOTH_TIME', self.active_pa_smooth_time, minval=0., maxval=.200)
-        self.pa_enabled = gcmd.get_int(
+        pa_enabled = gcmd.get_int(
             'ENABLE', self.pa_enabled, minval=0, maxval=1)
+        self.pressure_advance = pressure_advance
+        self.pa_smooth_time = pa_smooth_time
+        self.pa_enabled = pa_enabled
         self._update_pressure_advance()
         msg = ("pressure_advance: %.6f\n"
                "pressure_advance_smooth_time: %.6f\n"

klippy/toolhead.py

@@ -239,7 +239,8 @@ def __init__(self, config):
         self.drip_completion = None
         # Kinematic step generation scan window time tracking
         self.kin_flush_delay = SDS_CHECK_TIME
-        self.kin_flush_times = []
+        # Map from requester to requested time
+        self.kin_flush_times = {self: SDS_CHECK_TIME}
         self.force_flush_time = self.last_kin_move_time = 0.
         # Setup iterative solver
         ffi_main, ffi_lib = chelper.get_ffi()
@@ -526,15 +527,15 @@ def get_trapq(self):
         return self.trapq
     def register_step_generator(self, handler):
         self.step_generators.append(handler)
-    def note_step_generation_scan_time(self, delay, old_delay=0.):
+    def note_step_generation_scan_time(self, requester, delay):
         self.flush_step_generation()
-        cur_delay = self.kin_flush_delay
-        if old_delay:
-            self.kin_flush_times.pop(self.kin_flush_times.index(old_delay))
+        if delay == self.kin_flush_times.get(requester, None):
+            return
         if delay:
-            self.kin_flush_times.append(delay)
-        new_delay = max(self.kin_flush_times + [SDS_CHECK_TIME])
-        self.kin_flush_delay = new_delay
+            self.kin_flush_times[requester] = delay
+        elif requester in self.kin_flush_times:
+            del self.kin_flush_times[requester]
+        self.kin_flush_delay = max(self.kin_flush_times.values())
     def register_lookahead_callback(self, callback):
         last_move = self.move_queue.get_last()
         if last_move is None:

src/atsam/Kconfig

@@ -50,6 +50,9 @@ config MACH_SAM4E
     select MACH_SAM4
 config MACH_SAME70
     bool
+config HAVE_SAM_CANBUS
+    bool
+    default y if MACH_SAME70
 
 config MCU
     string
@@ -101,6 +104,32 @@ choice
     config ATSAM_SERIAL
         bool "Serial"
         select SERIAL
+    config ATSAM_MMENU_CANBUS_PC12_PD12
+        bool "CAN bus (on PC12/PD12)"
+        depends on HAVE_SAM_CANBUS
+        select CANSERIAL
+    config ATSAM_MMENU_CANBUS_PB3_PB2
+        bool "CAN bus (on PB3/PB2)"
+        depends on HAVE_SAM_CANBUS
+        select CANSERIAL
+    config ATSAM_USBCANBUS
+        bool "USB to CAN bus bridge"
+        depends on HAVE_SAM_CANBUS
+        select USBCANBUS
+endchoice
+choice
+    prompt "CAN bus interface" if USBCANBUS
+    config ATSAM_CMENU_CANBUS_PC12_PD12
+        bool "CAN bus (on PC12/PD12)"
+    config ATSAM_CMENU_CANBUS_PB3_PB2
+        bool "CAN bus (on PB3/PB2)"
 endchoice
 
+config ATSAM_CANBUS_PC12_PD12
+    bool
+    default y if ATSAM_MMENU_CANBUS_PC12_PD12 || ATSAM_CMENU_CANBUS_PC12_PD12
+config ATSAM_CANBUS_PB3_PB2
+    bool
+    default y if ATSAM_MMENU_CANBUS_PB3_PB2 || ATSAM_CMENU_CANBUS_PB3_PB2
+
 endif

src/atsam/Makefile

@@ -3,7 +3,7 @@
 # Setup the toolchain
 CROSS_PREFIX=arm-none-eabi-
 
-dirs-y += src/atsam src/generic
+dirs-y += src/atsam src/generic lib/fast-hash
 dirs-$(CONFIG_MACH_SAM3X) += lib/sam3x/gcc
 dirs-$(CONFIG_MACH_SAM4S) += lib/sam4s/gcc
 dirs-$(CONFIG_MACH_SAM4E) += lib/sam4e/gcc
@@ -18,7 +18,7 @@ CFLAGS-$(CONFIG_MACH_SAM3X) += -Ilib/sam3x/include
 CFLAGS-$(CONFIG_MACH_SAM4S) += -Ilib/sam4s/include
 CFLAGS-$(CONFIG_MACH_SAM4E) += -Ilib/sam4e/include
 CFLAGS-$(CONFIG_MACH_SAME70) += -Ilib/same70b/include
-CFLAGS += $(CFLAGS-y) -D__$(MCU)__ -mthumb -Ilib/cmsis-core
+CFLAGS += $(CFLAGS-y) -D__$(MCU)__ -mthumb -Ilib/cmsis-core -Ilib/fast-hash
 
 CFLAGS_klipper.elf += --specs=nano.specs --specs=nosys.specs
 CFLAGS_klipper.elf += -T $(OUT)src/generic/armcm_link.ld
@@ -33,6 +33,10 @@ usb-src-$(CONFIG_MACH_SAM4) := atsam/sam4_usb.c
 usb-src-$(CONFIG_MACH_SAME70) := atsam/sam3_usb.c
 src-$(CONFIG_USBSERIAL) += $(usb-src-y) atsam/chipid.c generic/usb_cdc.c
 src-$(CONFIG_SERIAL) += atsam/serial.c generic/serial_irq.c
+canbus-src-y := generic/canserial.c ../lib/fast-hash/fasthash.c
+canbus-src-y += atsam/fdcan.c atsam/chipid.c
+src-$(CONFIG_USBCANBUS) += $(canbus-src-y) $(usb-src-y) generic/usb_canbus.c
+src-$(CONFIG_CANSERIAL) += $(canbus-src-y) generic/canbus.c
 src-$(CONFIG_MACH_SAM3X) += atsam/adc.c atsam/hard_pwm.c
 src-$(CONFIG_MACH_SAM4)  += atsam/hard_pwm.c
 src-$(CONFIG_MACH_SAM4S) += atsam/adc.c

src/atsam/chipid.c

@@ -5,6 +5,7 @@
 // This file may be distributed under the terms of the GNU GPLv3 license.
 
 #include "generic/irq.h" // irq_disable
+#include "generic/canserial.h" // canserial_set_uuid
 #include "generic/usb_cdc.h" // usb_fill_serial
 #include "generic/usbstd.h" // usb_string_descriptor
 #include "internal.h" // EFC0
@@ -61,14 +62,18 @@ read_chip_id(uint32_t *id)
 void
 chipid_init(void)
 {
-    if (!CONFIG_USB_SERIAL_NUMBER_CHIPID)
+    if (!CONFIG_USB_SERIAL_NUMBER_CHIPID && !CONFIG_CANBUS)
         return;
 
     uint32_t id[4];
     irq_disable();
     read_chip_id(id);
     irq_enable();
 
-    usb_fill_serial(&cdc_chipid.desc, ARRAY_SIZE(cdc_chipid.data), id);
+    if (CONFIG_USB_SERIAL_NUMBER_CHIPID)
+        usb_fill_serial(&cdc_chipid.desc, ARRAY_SIZE(cdc_chipid.data), id);
+
+    if (CONFIG_CANBUS)
+        canserial_set_uuid((void*)id, CHIP_UID_LEN);
 }
 DECL_INIT(chipid_init);