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Catch a TMC address conflict early (#19458)

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Jason Smith 2020-09-22 18:36:31 -07:00 committed by GitHub
parent 5f5f76956f
commit 5d0429ee2a
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 117 additions and 3 deletions
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105
Marlin/src/module/stepper/trinamic.cpp
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@ -209,113 +209,145 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
#if AXIS_HAS_UART(X)
#ifdef X_HARDWARE_SERIAL
TMC_UART_DEFINE(HW, X, X);
#define X_HAS_HW_SERIAL 1
#else
TMC_UART_DEFINE(SW, X, X);
#define X_HAS_SW_SERIAL 1
#endif
#endif
#if AXIS_HAS_UART(X2)
#ifdef X2_HARDWARE_SERIAL
TMC_UART_DEFINE(HW, X2, X);
#define X2_HAS_HW_SERIAL 1
#else
TMC_UART_DEFINE(SW, X2, X);
#define X2_HAS_SW_SERIAL 1
#endif
#endif
#if AXIS_HAS_UART(Y)
#ifdef Y_HARDWARE_SERIAL
TMC_UART_DEFINE(HW, Y, Y);
#define Y_HAS_HW_SERIAL 1
#else
TMC_UART_DEFINE(SW, Y, Y);
#define Y_HAS_SW_SERIAL 1
#endif
#endif
#if AXIS_HAS_UART(Y2)
#ifdef Y2_HARDWARE_SERIAL
TMC_UART_DEFINE(HW, Y2, Y);
#define Y2_HAS_HW_SERIAL 1
#else
TMC_UART_DEFINE(SW, Y2, Y);
#define Y2_HAS_SW_SERIAL 1
#endif
#endif
#if AXIS_HAS_UART(Z)
#ifdef Z_HARDWARE_SERIAL
TMC_UART_DEFINE(HW, Z, Z);
#define Z_HAS_HW_SERIAL 1
#else
TMC_UART_DEFINE(SW, Z, Z);
#define Z_HAS_SW_SERIAL 1
#endif
#endif
#if AXIS_HAS_UART(Z2)
#ifdef Z2_HARDWARE_SERIAL
TMC_UART_DEFINE(HW, Z2, Z);
#define Z2_HAS_HW_SERIAL 1
#else
TMC_UART_DEFINE(SW, Z2, Z);
#define Z2_HAS_SW_SERIAL 1
#endif
#endif
#if AXIS_HAS_UART(Z3)
#ifdef Z3_HARDWARE_SERIAL
TMC_UART_DEFINE(HW, Z3, Z);
#define Z3_HAS_HW_SERIAL 1
#else
TMC_UART_DEFINE(SW, Z3, Z);
#define Z3_HAS_SW_SERIAL 1
#endif
#endif
#if AXIS_HAS_UART(Z4)
#ifdef Z4_HARDWARE_SERIAL
TMC_UART_DEFINE(HW, Z4, Z);
#define Z4_HAS_HW_SERIAL 1
#else
TMC_UART_DEFINE(SW, Z4, Z);
#define Z4_HAS_SW_SERIAL 1
#endif
#endif
#if AXIS_HAS_UART(E0)
#ifdef E0_HARDWARE_SERIAL
TMC_UART_DEFINE_E(HW, 0);
#define E0_HAS_HW_SERIAL 1
#else
TMC_UART_DEFINE_E(SW, 0);
#define E0_HAS_SW_SERIAL 1
#endif
#endif
#if AXIS_HAS_UART(E1)
#ifdef E1_HARDWARE_SERIAL
TMC_UART_DEFINE_E(HW, 1);
#define E1_HAS_HW_SERIAL 1
#else
TMC_UART_DEFINE_E(SW, 1);
#define E1_HAS_SW_SERIAL 1
#endif
#endif
#if AXIS_HAS_UART(E2)
#ifdef E2_HARDWARE_SERIAL
TMC_UART_DEFINE_E(HW, 2);
#define E2_HAS_HW_SERIAL 1
#else
TMC_UART_DEFINE_E(SW, 2);
#define E2_HAS_SW_SERIAL 1
#endif
#endif
#if AXIS_HAS_UART(E3)
#ifdef E3_HARDWARE_SERIAL
TMC_UART_DEFINE_E(HW, 3);
#define E3_HAS_HW_SERIAL 1
#else
TMC_UART_DEFINE_E(SW, 3);
#define E3_HAS_SW_SERIAL 1
#endif
#endif
#if AXIS_HAS_UART(E4)
#ifdef E4_HARDWARE_SERIAL
TMC_UART_DEFINE_E(HW, 4);
#define E4_HAS_HW_SERIAL 1
#else
TMC_UART_DEFINE_E(SW, 4);
#define E4_HAS_SW_SERIAL 1
#endif
#endif
#if AXIS_HAS_UART(E5)
#ifdef E5_HARDWARE_SERIAL
TMC_UART_DEFINE_E(HW, 5);
#define E5_HAS_HW_SERIAL 1
#else
TMC_UART_DEFINE_E(SW, 5);
#define E5_HAS_SW_SERIAL 1
#endif
#endif
#if AXIS_HAS_UART(E6)
#ifdef E6_HARDWARE_SERIAL
TMC_UART_DEFINE_E(HW, 6);
#define E6_HAS_HW_SERIAL 1
#else
TMC_UART_DEFINE_E(SW, 6);
#define E6_HAS_SW_SERIAL 1
#endif
#endif
#if AXIS_HAS_UART(E7)
#ifdef E7_HARDWARE_SERIAL
TMC_UART_DEFINE_E(HW, 7);
#define E7_HAS_HW_SERIAL 1
#else
TMC_UART_DEFINE_E(SW, 7);
#define E7_HAS_SW_SERIAL 1
#endif
#endif
@ -769,4 +801,77 @@ void reset_trinamic_drivers() {
stepper.set_directions();
}
// TMC Slave Address Conflict Detection
//
// Conflict detection is performed in the following way. Similar methods are used for
// hardware and software serial, but the implementations are indepenent.
//
// 1. Populate a data structure with UART parameters and addresses for all possible axis.
// If an axis is not in use, populate it with recognizable placeholder data.
// 2. For each axis in use, static_assert using a constexpr function, which counts the
// number of matching/conflicting axis. If the value is not exactly 1, fail.
#if ANY_AXIS_HAS(HW_SERIAL)
// Hardware serial names are compared as strings, since actually resolving them cannot occur in a constexpr.
// Using a fixed-length character array for the port name allows this to be constexpr compatible.
struct SanityHwSerialDetails { const char port[20]; uint32_t address; };
#define TMC_HW_DETAIL_ARGS(A) TERN(A##_HAS_HW_SERIAL, STRINGIFY(A##_HARDWARE_SERIAL), ""), TERN0(A##_HAS_HW_SERIAL, A##_SLAVE_ADDRESS)
#define TMC_HW_DETAIL(A) {TMC_HW_DETAIL_ARGS(A)}
constexpr SanityHwSerialDetails sanity_tmc_hw_details[] = {
TMC_HW_DETAIL(X), TMC_HW_DETAIL(X2),
TMC_HW_DETAIL(Y), TMC_HW_DETAIL(Y2),
TMC_HW_DETAIL(Z), TMC_HW_DETAIL(Z2), TMC_HW_DETAIL(Z3), TMC_HW_DETAIL(Z4),
TMC_HW_DETAIL(E0), TMC_HW_DETAIL(E1), TMC_HW_DETAIL(E2), TMC_HW_DETAIL(E3), TMC_HW_DETAIL(E4), TMC_HW_DETAIL(E5), TMC_HW_DETAIL(E6), TMC_HW_DETAIL(E7)
};
// constexpr compatible string comparison
constexpr bool str_eq_ce(const char * a, const char * b) {
return *a == *b && (*a == '\0' || str_eq_ce(a+1,b+1));
}
constexpr bool sc_hw_done(size_t start, size_t end) { return start == end; }
constexpr bool sc_hw_skip(const char* port_name) { return !(*port_name); }
constexpr bool sc_hw_match(const char* port_name, uint32_t address, size_t start, size_t end) {
return !sc_hw_done(start, end) && !sc_hw_skip(port_name) && (address == sanity_tmc_hw_details[start].address && str_eq_ce(port_name, sanity_tmc_hw_details[start].port));
}
constexpr int count_tmc_hw_serial_matches(const char* port_name, uint32_t address, size_t start, size_t end) {
return sc_hw_done(start, end) ? 0 : ((sc_hw_skip(port_name) ? 0 : (sc_hw_match(port_name, address, start, end) ? 1 : 0)) + count_tmc_hw_serial_matches(port_name, address, start + 1, end));
}
#define TMC_HWSERIAL_CONFLICT_MSG(A) STRINGIFY(A) "_SLAVE_ADDRESS conflicts with another driver using the same " STRINGIFY(A) "_HARDWARE_SERIAL"
#define SA_NO_TMC_HW_C(A) static_assert(1 >= count_tmc_hw_serial_matches(TMC_HW_DETAIL_ARGS(A), 0, COUNT(sanity_tmc_hw_details)), TMC_HWSERIAL_CONFLICT_MSG(A));
SA_NO_TMC_HW_C(X);SA_NO_TMC_HW_C(X2);
SA_NO_TMC_HW_C(Y);SA_NO_TMC_HW_C(Y2);
SA_NO_TMC_HW_C(Z);SA_NO_TMC_HW_C(Z2);SA_NO_TMC_HW_C(Z3);SA_NO_TMC_HW_C(Z4);
SA_NO_TMC_HW_C(E0);SA_NO_TMC_HW_C(E1);SA_NO_TMC_HW_C(E2);SA_NO_TMC_HW_C(E3);SA_NO_TMC_HW_C(E4);SA_NO_TMC_HW_C(E5);SA_NO_TMC_HW_C(E6);SA_NO_TMC_HW_C(E7);
#endif
#if ANY_AXIS_HAS(SW_SERIAL)
struct SanitySwSerialDetails { int32_t txpin; int32_t rxpin; uint32_t address; };
#define TMC_SW_DETAIL_ARGS(A) TERN(A##_HAS_SW_SERIAL, A##_SERIAL_TX_PIN, -1), TERN(A##_HAS_SW_SERIAL, A##_SERIAL_RX_PIN, -1), TERN0(A##_HAS_SW_SERIAL, A##_SLAVE_ADDRESS)
#define TMC_SW_DETAIL(A) TMC_SW_DETAIL_ARGS(A)
constexpr SanitySwSerialDetails sanity_tmc_sw_details[] = {
TMC_SW_DETAIL(X), TMC_SW_DETAIL(X2),
TMC_SW_DETAIL(Y), TMC_SW_DETAIL(Y2),
TMC_SW_DETAIL(Z), TMC_SW_DETAIL(Z2), TMC_SW_DETAIL(Z3), TMC_SW_DETAIL(Z4),
TMC_SW_DETAIL(E0), TMC_SW_DETAIL(E1), TMC_SW_DETAIL(E2), TMC_SW_DETAIL(E3), TMC_SW_DETAIL(E4), TMC_SW_DETAIL(E5), TMC_SW_DETAIL(E6), TMC_SW_DETAIL(E7)
};
constexpr bool sc_sw_done(size_t start, size_t end) { return start == end; }
constexpr bool sc_sw_skip(int32_t txpin) { return txpin < 0; }
constexpr bool sc_sw_match(int32_t txpin, int32_t rxpin, uint32_t address, size_t start, size_t end) {
return !sc_sw_done(start, end) && !sc_sw_skip(txpin) && (txpin == sanity_tmc_sw_details[start].txpin || rxpin == sanity_tmc_sw_details[start].rxpin) && (address == sanity_tmc_sw_details[start].address);
}
constexpr int count_tmc_sw_serial_matches(int32_t txpin, int32_t rxpin, uint32_t address, size_t start, size_t end) {
return sc_sw_done(start, end) ? 0 : ((sc_sw_skip(txpin) ? 0 : (sc_sw_match(txpin, rxpin, address, start, end) ? 1 : 0)) + count_tmc_sw_serial_matches(txpin, rxpin, address, start + 1, end));
}
#define TMC_SWSERIAL_CONFLICT_MSG(A) STRINGIFY(A) "_SLAVE_ADDRESS conflicts with another driver using the same " STRINGIFY(A) "_SERIAL_RX_PIN or " STRINGIFY(A) "_SERIAL_TX_PIN"
#define SA_NO_TMC_SW_C(A) static_assert(1 >= count_tmc_sw_serial_matches(TMC_SW_DETAIL_ARGS(A), 0, COUNT(sanity_tmc_sw_details)), TMC_SWSERIAL_CONFLICT_MSG(A));
SA_NO_TMC_SW_C(X);SA_NO_TMC_SW_C(X2);
SA_NO_TMC_SW_C(Y);SA_NO_TMC_SW_C(Y2);
SA_NO_TMC_SW_C(Z);SA_NO_TMC_SW_C(Z2);SA_NO_TMC_SW_C(Z3);SA_NO_TMC_SW_C(Z4);
SA_NO_TMC_SW_C(E0);SA_NO_TMC_SW_C(E1);SA_NO_TMC_SW_C(E2);SA_NO_TMC_SW_C(E3);SA_NO_TMC_SW_C(E4);SA_NO_TMC_SW_C(E5);SA_NO_TMC_SW_C(E6);SA_NO_TMC_SW_C(E7);
#endif
#endif // HAS_TRINAMIC_CONFIG

4
buildroot/bin/opt_set
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@ -6,7 +6,7 @@ set -e
SED=$(which gsed || which sed)
# Logic for returning nonzero based on answer here: https://stackoverflow.com/a/15966279/104648
eval "${SED} -i '/\(\/\/\)*\([[:blank:]]*\)\(#define \b${1}\b\).*$/{s//\2\3 ${2}/;h};\${x;/./{x;q0};x;q9}' Marlin/Configuration.h" ||
eval "${SED} -i '/\(\/\/\)*\([[:blank:]]*\)\(#define \b${1}\b\).*$/{s//\2\3 ${2}/;h};\${x;/./{x;q0};x;q9}' Marlin/Configuration_adv.h" ||
eval "${SED} -i '/\(\/\/\)*\([[:blank:]]*\)\(#define\s\+\b${1}\b\).*$/{s//\2\3 ${2}/;h};\${x;/./{x;q0};x;q9}' Marlin/Configuration.h" ||
eval "${SED} -i '/\(\/\/\)*\([[:blank:]]*\)\(#define\s\+\b${1}\b\).*$/{s//\2\3 ${2}/;h};\${x;/./{x;q0};x;q9}' Marlin/Configuration_adv.h" ||
eval "echo '#define ${@}' >>Marlin/Configuration_adv.h" ||
(echo "ERROR: opt_set Can't set or add ${1}" >&2 && exit 9)

7
buildroot/tests/STM32F103RC_btt-tests
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@ -16,7 +16,12 @@ opt_set SERIAL_PORT_2 -1
opt_set X_DRIVER_TYPE TMC2209
opt_set Y_DRIVER_TYPE TMC2209
opt_set Z_DRIVER_TYPE TMC2209
opt_set E_DRIVER_TYPE TMC2209
opt_set E0_DRIVER_TYPE TMC2209
opt_set X_SLAVE_ADDRESS 0
opt_set Y_SLAVE_ADDRESS 1
opt_set Z_SLAVE_ADDRESS 2
opt_set E0_SLAVE_ADDRESS 3
exec_test $1 $2 "BigTreeTech SKR Mini E3 1.0 - Basic Config with TMC2209 HW Serial"
# clean up

4
buildroot/tests/esp32-tests
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@ -30,6 +30,10 @@ opt_set X_HARDWARE_SERIAL Serial1
opt_set Y_HARDWARE_SERIAL Serial1
opt_set Z_HARDWARE_SERIAL Serial1
opt_set E0_HARDWARE_SERIAL Serial1
opt_set X_SLAVE_ADDRESS 0
opt_set Y_SLAVE_ADDRESS 1
opt_set Z_SLAVE_ADDRESS 2
opt_set E0_SLAVE_ADDRESS 3
opt_enable HOTEND_IDLE_TIMEOUT
exec_test $1 $2 "ESP32, TMC HW Serial, Hotend Idle"