Merge pull request #8521 from teemuatlut/Ultratronics

[2.0.x] Add support for Ultratronics Pro v1.0 and fix compiling for Due HAL

Marlin/src/HAL/HAL_DUE/MarlinSerial_Due.cpp

 #include "../../Marlin.h"
 
 // Based on selected port, use the proper configuration
-#if SERIAL_PORT == 0
+#if SERIAL_PORT == -1
   #define HWUART UART
   #define HWUART_IRQ UART_IRQn
   #define HWUART_IRQ_ID ID_UART
-#elif SERIAL_PORT == 1
+#elif SERIAL_PORT == 0
   #define HWUART USART0
   #define HWUART_IRQ USART0_IRQn
   #define HWUART_IRQ_ID ID_USART0
-#elif SERIAL_PORT == 2
+#elif SERIAL_PORT == 1
   #define HWUART USART1
   #define HWUART_IRQ USART1_IRQn
   #define HWUART_IRQ_ID ID_USART1
+#elif SERIAL_PORT == 2
+  #define HWUART USART2
+  #define HWUART_IRQ USART2_IRQn
+  #define HWUART_IRQ_ID ID_USART2
 #elif SERIAL_PORT == 3
   #define HWUART USART3
   #define HWUART_IRQ USART3_IRQn
 
 #if ENABLED(EMERGENCY_PARSER)
 
-  #include "../../module/stepper.h"
-
   // Currently looking for: M108, M112, M410
   // If you alter the parser please don't forget to update the capabilities in Conditionals_post.h
 
     static e_parser_state state = state_RESET;
 
     switch (state) {
-    case state_RESET:
-      switch (c) {
-        case ' ': break;
-        case 'N': state = state_N;      break;
-        case 'M': state = state_M;      break;
-        default: state = state_IGNORE;
-      }
-      break;
-
-    case state_N:
-      switch (c) {
-        case '0': case '1': case '2':
-        case '3': case '4': case '5':
-        case '6': case '7': case '8':
-        case '9': case '-': case ' ':   break;
-        case 'M': state = state_M;      break;
-        default:  state = state_IGNORE;
-      }
-      break;
-
-    case state_M:
-      switch (c) {
-        case ' ': break;
-        case '1': state = state_M1;     break;
-        case '4': state = state_M4;     break;
-        default: state = state_IGNORE;
-      }
-      break;
+      case state_RESET:
+        switch (c) {
+          case ' ': break;
+          case 'N': state = state_N;      break;
+          case 'M': state = state_M;      break;
+          default: state = state_IGNORE;
+        }
+        break;
+
+      case state_N:
+        switch (c) {
+          case '0': case '1': case '2':
+          case '3': case '4': case '5':
+          case '6': case '7': case '8':
+          case '9': case '-': case ' ':   break;
+          case 'M': state = state_M;      break;
+          default:  state = state_IGNORE;
+        }
+        break;
+
+      case state_M:
+        switch (c) {
+          case ' ': break;
+          case '1': state = state_M1;     break;
+          case '4': state = state_M4;     break;
+          default: state = state_IGNORE;
+        }
+        break;
 
-    case state_M1:
-      switch (c) {
-        case '0': state = state_M10;    break;
-        case '1': state = state_M11;    break;
-        default: state = state_IGNORE;
-      }
-      break;
-
-    case state_M10:
-      state = (c == '8') ? state_M108 : state_IGNORE;
-      break;
-
-    case state_M11:
-      state = (c == '2') ? state_M112 : state_IGNORE;
-      break;
-
-    case state_M4:
-      state = (c == '1') ? state_M41 : state_IGNORE;
-      break;
-
-    case state_M41:
-      state = (c == '0') ? state_M410 : state_IGNORE;
-      break;
-
-    case state_IGNORE:
-      if (c == '\n') state = state_RESET;
-      break;
-
-    default:
-      if (c == '\n') {
-        switch (state) {
-          case state_M108:
-          wait_for_user = wait_for_heatup = false;
-          break;
-          case state_M112:
-          kill(PSTR(MSG_KILLED));
-          break;
-          case state_M410:
-          quickstop_stepper();
-          break;
-          default:
-          break;
+      case state_M1:
+        switch (c) {
+          case '0': state = state_M10;    break;
+          case '1': state = state_M11;    break;
+          default: state = state_IGNORE;
+        }
+        break;
+
+      case state_M10:
+        state = (c == '8') ? state_M108 : state_IGNORE;
+        break;
+
+      case state_M11:
+        state = (c == '2') ? state_M112 : state_IGNORE;
+        break;
+
+      case state_M4:
+        state = (c == '1') ? state_M41 : state_IGNORE;
+        break;
+
+      case state_M41:
+        state = (c == '0') ? state_M410 : state_IGNORE;
+        break;
+
+      case state_IGNORE:
+        if (c == '\n') state = state_RESET;
+        break;
+
+      default:
+        if (c == '\n') {
+          switch (state) {
+            case state_M108:
+              wait_for_user = wait_for_heatup = false;
+              break;
+            case state_M112:
+              kill(PSTR(MSG_KILLED));
+              break;
+            case state_M410:
+              quickstop_stepper();
+              break;
+            default:
+              break;
+          }
+          state = state_RESET;
         }
-        state = state_RESET;
-      }
     }
   }
 
     else if (!++rx_dropped_bytes) ++rx_dropped_bytes;
   #endif
 
-#if ENABLED(SERIAL_STATS_MAX_RX_QUEUED)
-  // calculate count of bytes stored into the RX buffer
-  ring_buffer_pos_t rx_count = (ring_buffer_pos_t)(rx_buffer.head - rx_buffer.tail) & (ring_buffer_pos_t)(RX_BUFFER_SIZE - 1);
-  // Keep track of the maximum count of enqueued bytes
-  NOLESS(rx_max_enqueued, rx_count);
-#endif
+  #if ENABLED(SERIAL_STATS_MAX_RX_QUEUED)
+    // calculate count of bytes stored into the RX buffer
+    ring_buffer_pos_t rx_count = (ring_buffer_pos_t)(rx_buffer.head - rx_buffer.tail) & (ring_buffer_pos_t)(RX_BUFFER_SIZE - 1);
+    // Keep track of the maximum count of enqueued bytes
+    NOLESS(rx_max_enqueued, rx_count);
+  #endif
 
-#if ENABLED(SERIAL_XON_XOFF)
+  #if ENABLED(SERIAL_XON_XOFF)
 
-  // for high speed transfers, we can use XON/XOFF protocol to do
-  // software handshake and avoid overruns.
-  if ((xon_xoff_state & XON_XOFF_CHAR_MASK) == XON_CHAR) {
+    // for high speed transfers, we can use XON/XOFF protocol to do
+    // software handshake and avoid overruns.
+    if ((xon_xoff_state & XON_XOFF_CHAR_MASK) == XON_CHAR) {
 
-    // calculate count of bytes stored into the RX buffer
-    ring_buffer_pos_t rx_count = (ring_buffer_pos_t)(rx_buffer.head - rx_buffer.tail) & (ring_buffer_pos_t)(RX_BUFFER_SIZE - 1);
+      // calculate count of bytes stored into the RX buffer
+      ring_buffer_pos_t rx_count = (ring_buffer_pos_t)(rx_buffer.head - rx_buffer.tail) & (ring_buffer_pos_t)(RX_BUFFER_SIZE - 1);
 
-    // if we are above 12.5% of RX buffer capacity, send XOFF before
-    // we run out of RX buffer space .. We need 325 bytes @ 250kbits/s to
-    // let the host react and stop sending bytes. This translates to 13mS
-    // propagation time.
-    if (rx_count >= (RX_BUFFER_SIZE) / 8) {
-      // If TX interrupts are disabled and data register is empty,
-      // just write the byte to the data register and be done. This
-      // shortcut helps significantly improve the effective datarate
-      // at high (>500kbit/s) bitrates, where interrupt overhead
-      // becomes a slowdown.
-      if (!(HWUART->UART_IMR & UART_IMR_TXRDY) && (HWUART->UART_SR & UART_SR_TXRDY)) {
-        // Send an XOFF character
-        HWUART->UART_THR = XOFF_CHAR;
-
-        // And remember it was sent
-        xon_xoff_state = XOFF_CHAR | XON_XOFF_CHAR_SENT;
-      }
-      else {
-        // TX interrupts disabled, but buffer still not empty ... or
-        // TX interrupts enabled. Reenable TX ints and schedule XOFF
-        // character to be sent
-        #if TX_BUFFER_SIZE > 0
-          HWUART->UART_IER = UART_IER_TXRDY;
-          xon_xoff_state = XOFF_CHAR;
-        #else
-          // We are not using TX interrupts, we will have to send this manually
-          while (!(HWUART->UART_SR & UART_SR_TXRDY)) { sw_barrier(); };
+      // if we are above 12.5% of RX buffer capacity, send XOFF before
+      // we run out of RX buffer space .. We need 325 bytes @ 250kbits/s to
+      // let the host react and stop sending bytes. This translates to 13mS
+      // propagation time.
+      if (rx_count >= (RX_BUFFER_SIZE) / 8) {
+        // If TX interrupts are disabled and data register is empty,
+        // just write the byte to the data register and be done. This
+        // shortcut helps significantly improve the effective datarate
+        // at high (>500kbit/s) bitrates, where interrupt overhead
+        // becomes a slowdown.
+        if (!(HWUART->UART_IMR & UART_IMR_TXRDY) && (HWUART->UART_SR & UART_SR_TXRDY)) {
+          // Send an XOFF character
           HWUART->UART_THR = XOFF_CHAR;
-          // And remember we already sent it
+
+          // And remember it was sent
           xon_xoff_state = XOFF_CHAR | XON_XOFF_CHAR_SENT;
-        #endif
+        }
+        else {
+          // TX interrupts disabled, but buffer still not empty ... or
+          // TX interrupts enabled. Reenable TX ints and schedule XOFF
+          // character to be sent
+          #if TX_BUFFER_SIZE > 0
+            HWUART->UART_IER = UART_IER_TXRDY;
+            xon_xoff_state = XOFF_CHAR;
+          #else
+            // We are not using TX interrupts, we will have to send this manually
+            while (!(HWUART->UART_SR & UART_SR_TXRDY)) { sw_barrier(); };
+            HWUART->UART_THR = XOFF_CHAR;
+            // And remember we already sent it
+            xon_xoff_state = XOFF_CHAR | XON_XOFF_CHAR_SENT;
+          #endif
+        }
       }
     }
-  }
-#endif // SERIAL_XON_XOFF
+  #endif // SERIAL_XON_XOFF
 
-#if ENABLED(EMERGENCY_PARSER)
-  emergency_parser(c);
-#endif
+  #if ENABLED(EMERGENCY_PARSER)
+    emergency_parser(c);
+  #endif
 }
 
 #if TX_BUFFER_SIZE > 0
       HWUART->UART_IDR = UART_IDR_TXRDY;
   }
 
-#endif // TX_BUFFER_SIZE
+#endif // TX_BUFFER_SIZE > 0
 
 static void UART_ISR(void) {
   uint32_t status = HWUART->UART_SR;
     v = rx_buffer.buffer[t];
     rx_buffer.tail = (ring_buffer_pos_t)(t + 1) & (RX_BUFFER_SIZE - 1);
 
-  #if ENABLED(SERIAL_XON_XOFF)
-    if ((xon_xoff_state & XON_XOFF_CHAR_MASK) == XOFF_CHAR) {
-      // Get count of bytes in the RX buffer
-      ring_buffer_pos_t rx_count = (ring_buffer_pos_t)(rx_buffer.head - rx_buffer.tail) & (ring_buffer_pos_t)(RX_BUFFER_SIZE - 1);
-      // When below 10% of RX buffer capacity, send XON before
-      // running out of RX buffer bytes
-      if (rx_count < (RX_BUFFER_SIZE) / 10) {
-        xon_xoff_state = XON_CHAR | XON_XOFF_CHAR_SENT;
-        CRITICAL_SECTION_END;       // End critical section before returning!
-        writeNoHandshake(XON_CHAR);
-        return v;
+    #if ENABLED(SERIAL_XON_XOFF)
+      if ((xon_xoff_state & XON_XOFF_CHAR_MASK) == XOFF_CHAR) {
+        // Get count of bytes in the RX buffer
+        ring_buffer_pos_t rx_count = (ring_buffer_pos_t)(rx_buffer.head - rx_buffer.tail) & (ring_buffer_pos_t)(RX_BUFFER_SIZE - 1);
+        // When below 10% of RX buffer capacity, send XON before
+        // running out of RX buffer bytes
+        if (rx_count < (RX_BUFFER_SIZE) / 10) {
+          xon_xoff_state = XON_CHAR | XON_XOFF_CHAR_SENT;
+          CRITICAL_SECTION_END;       // End critical section before returning!
+          writeNoHandshake(XON_CHAR);
+          return v;
+        }
       }
-    }
-  #endif
+    #endif
   }
   CRITICAL_SECTION_END;
   return v;
   rx_buffer.head = rx_buffer.tail;
   CRITICAL_SECTION_END;
 
-#if ENABLED(SERIAL_XON_XOFF)
-  if ((xon_xoff_state & XON_XOFF_CHAR_MASK) == XOFF_CHAR) {
-    xon_xoff_state = XON_CHAR | XON_XOFF_CHAR_SENT;
-    writeNoHandshake(XON_CHAR);
-  }
-#endif
+  #if ENABLED(SERIAL_XON_XOFF)
+    if ((xon_xoff_state & XON_XOFF_CHAR_MASK) == XOFF_CHAR) {
+      xon_xoff_state = XON_CHAR | XON_XOFF_CHAR_SENT;
+      writeNoHandshake(XON_CHAR);
+    }
+  #endif
 }
 
 #if TX_BUFFER_SIZE > 0
+
   uint8_t MarlinSerial::availableForWrite(void) {
     CRITICAL_SECTION_START;
     const uint8_t h = tx_buffer.head, t = tx_buffer.tail;

Marlin/src/core/boards.h

 #define BOARD_RAMPS4DUE_EEF    1546   // RAMPS4DUE (Power outputs: Hotend0, Hotend1, Fan)
 #define BOARD_RAMPS4DUE_SF     1548   // RAMPS4DUE (Power outputs: Spindle, Controller Fan)
 #define BOARD_RURAMPS4D        1550   // RuRAMPS4Duo v1 (Power outputs: Hotend0, Hotend2, Hotend2, Fan0, Fan1, Bed)
+#define BOARD_ULTRATRONICS_PRO 1560   // ReprapWorld Ultratronics Pro V1.0
 #define BOARD_ARCHIM2          1590   // UltiMachine Archim2 (with TMC2130 drivers)
 #define BOARD_ALLIGATOR        1602   // Alligator Board R2
 

Marlin/src/gcode/gcode.h

  * G32  - Undock sled (Z_PROBE_SLED only)
  * G33  - Delta Auto-Calibration (Requires DELTA_AUTO_CALIBRATION)
  * G38  - Probe in any direction using the Z_MIN_PROBE (Requires G38_PROBE_TARGET)
- * G42  - Coordinated move to a mesh point (Requires HAS_MESH)
+ * G42  - Coordinated move to a mesh point (Requires MESH_BED_LEVELING, AUTO_BED_LEVELING_BLINEAR, or AUTO_BED_LEVELING_UBL)
  * G90  - Use Absolute Coordinates
  * G91  - Use Relative Coordinates
  * G92  - Set current position to coordinates given

Marlin/src/lcd/ultralcd_impl_DOGM.h

 
 // LCD selection
 #if ENABLED(REPRAPWORLD_GRAPHICAL_LCD)
+  #ifdef CPU_32_BIT // SPI too fast with 32bit?
+    U8GLIB_ST7920_128X64_4X u8g(LCD_PINS_D4, LCD_PINS_ENABLE, LCD_PINS_RS); // Original u8glib device. 2 stripes, SW SPI
+  #else
     U8GLIB_ST7920_128X64_4X u8g(LCD_PINS_RS); // 2 stripes, HW SPI
-    //U8GLIB_ST7920_128X64_4X u8g(LCD_PINS_D4, LCD_PINS_ENABLE, LCD_PINS_RS); // Original u8glib device. 2 stripes, SW SPI
+  #endif
 #elif ENABLED(U8GLIB_ST7920)
   // RepRap Discount Full Graphics Smart Controller
     //U8GLIB_ST7920_128X64_4X u8g(LCD_PINS_RS); // 2 stripes, HW SPI

Marlin/src/pins/pins.h

   #include "pins_RAMPS4DUE.h"
 #elif MB(RAMPS4DUE_SF)
   #include "pins_RAMPS4DUE.h"
+#elif MB(ULTRATRONICS_PRO)
+  #include "pins_ULTRATRONICS_PRO.h"
 #elif MB(ARCHIM2)
   #include "pins_ARCHIM2.h"
 #elif MB(ALLIGATOR)

Marlin/src/pins/pins_RAMBO.h

 #define SERVO3_PIN          5 // PWM header pin 5
 
 //
-// Z Probe (when not Z_MIN_PIN)
-//
-#ifndef Z_MIN_PROBE_PIN
-  #define Z_MIN_PROBE_PIN  30
-#endif
-
-//
 // Limit Switches
 //
 #define X_MIN_PIN          12
 #define Z_MAX_PIN          30
 
 //
+// Z Probe (when not Z_MIN_PIN)
+//
+#ifndef Z_MIN_PROBE_PIN
+  #define Z_MIN_PROBE_PIN  30
+#endif
+
+//
 // Steppers
 //
 #define X_STEP_PIN         37

Marlin/src/pins/pins_ULTRATRONICS_PRO.h

+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * ReprapWorld ULTRATRONICS v1.0
+ */
+
+#define KNOWN_BOARD
+#define BOARD_NAME "Ultratronics v1.0"
+
+#ifndef ARDUINO_ARCH_SAM
+  #error Oops!  Make sure you have 'Arduino Due' selected from the 'Tools -> Boards' menu.
+#endif
+
+//
+// Servos
+//
+#if NUM_SERVOS > 0
+  #define SERVO0_PIN     11
+  #if NUM_SERVOS > 1
+    #define SERVO1_PIN   12
+  #endif
+#endif
+
+//
+// Limit Switches
+//
+#define X_MIN_PIN        31
+#define X_MAX_PIN        30
+#define Y_MIN_PIN        12
+#define Y_MAX_PIN        11
+#define Z_MIN_PIN        29
+#define Z_MAX_PIN        28
+
+//
+// Steppers
+//
+#define X_STEP_PIN       35
+#define X_DIR_PIN        34
+#define X_ENABLE_PIN     37
+
+#define Y_STEP_PIN       22
+#define Y_DIR_PIN        23
+#define Y_ENABLE_PIN     33
+
+#define Z_STEP_PIN       25
+#define Z_DIR_PIN        26
+#define Z_ENABLE_PIN     24
+
+#define E0_STEP_PIN      47
+#define E0_DIR_PIN       46
+#define E0_ENABLE_PIN    48
+
+#define E1_STEP_PIN      44
+#define E1_DIR_PIN       36
+#define E1_ENABLE_PIN    45
+
+#define E2_STEP_PIN      42
+#define E2_DIR_PIN       41
+#define E2_ENABLE_PIN    43
+
+#define E3_STEP_PIN      39
+#define E3_DIR_PIN       38
+#define E3_ENABLE_PIN    40
+
+//
+// Temperature Sensors
+//
+#define TEMP_0_PIN        0  // Analog Input
+#define TEMP_1_PIN        2  // Analog Input
+#define TEMP_2_PIN        3  // Analog Input
+#define TEMP_3_PIN        4  // Analog Input
+#define TEMP_BED_PIN      1  // Analog Input
+
+//
+// Heaters / Fans
+//
+#define HEATER_0_PIN      3
+#define HEATER_1_PIN      8
+#define HEATER_2_PIN      7
+#define HEATER_3_PIN      9
+#define HEATER_BED_PIN    2
+
+#define FAN_PIN           6
+#define FAN2_PIN          5
+
+//
+// Misc. Functions
+//
+#define SDSS             59
+#define SD_DETECT_PIN    60
+#define LED_PIN          13
+#define PS_ON_PIN        32
+
+//
+// SPI Buses
+//
+
+#define DAC0_SYNC        53 // PB14
+#define SPI_CHAN_DAC      1
+
+#define SPI_CHAN_EEPROM1 -1
+#define SPI_EEPROM1_CS   -1
+#define SPI_EEPROM2_CS   -1
+#define SPI_FLASH_CS     -1
+
+// SPI for Max6675 or Max31855 Thermocouple
+#define MAX6675_SS       65
+#define MAX31855_SS0     65
+#define MAX31855_SS1     52
+#define MAX31855_SS2     50
+#define MAX31855_SS3     51
+
+#define ENC424_SS        61
+
+//
+// LCD / Controller
+//
+
+#define BEEPER_PIN       27
+
+#if ENABLED(REPRAPWORLD_GRAPHICAL_LCD)
+
+  #define LCD_PINS_RS     A8    // CS chip select / SS chip slave select
+  #define LCD_PINS_ENABLE MOSI  // SID (MOSI)
+  #define LCD_PINS_D4     SCK   // SCK (CLK) clock
+
+  #define BTN_EN1         20
+  #define BTN_EN2         21
+  #define BTN_ENC         64
+
+#endif // REPRAPWORLD_GRAPHICAL_LCD