@dc42
Just to put a bow on this (Merry Xmas 🙂 ). I got it all working. It took another board rev as I had a couple hw hiccups. This included to swapping the MAX3051 to the TJA1441A CAN xcvr per David's #2 note. Any rate, brand new mcu flashed the bootloader first go. I had to first set the fuses as I listed above. The default fuses had several differences, but I didn't note them.
Also, all gpio, motor drivers and accelerometer are working as intended. interested. The '1HCL' is config'd as;
x3 step/dir drives
x2 med current outputs
x4 inputs, 24v tol
x1 lis3dH. I have the W on hand but just wanted to get the original circuit working first
e1255b16-39f8-4966-8c8b-0503e1aacb47-image.png
I attached the final config with all the extraneous comments deleted in case anyone is interested.
/* * EXP1HCLv1_0.h * * Created on: 3 Dec 2021 * Author: David */ #ifndef SRC_CONFIG_EXP1HCLV1_0_H_ #define SRC_CONFIG_EXP1HCLV1_0_H_ #include <Hardware/PinDescription.h> #define BOARD_TYPE_NAME "EXP1HCL" #define BOOTLOADER_NAME "SAME5x" // General features #define HAS_VREF_MONITOR 0 #define HAS_VOLTAGE_MONITOR 0 #define HAS_12V_MONITOR 0 #define HAS_CPU_TEMP_SENSOR 1 #define HAS_ADDRESS_SWITCHES 0 #define HAS_BUTTONS 1 // Drivers configuration #define SUPPORT_DRIVERS 1 #define HAS_SMART_DRIVERS 0 #define HAS_STALL_DETECT 0 #define SINGLE_DRIVER 0 #define SUPPORT_SLOW_DRIVERS 0 #define SUPPORT_DELTA_MOVEMENT 0 #define DEDICATED_STEP_TIMER 1 #define ACTIVE_HIGH_STEP 1 // 1 = active high, 0 = active low #define ACTIVE_HIGH_DIR 1 // 1 = active high, 0 = active low #define ACTIVE_HIGH_ENABLE 1 #define SUPPORT_TMC51xx 0 #define SUPPORT_TMC2160 0 #define SUPPORT_TMC2660 0 #define SUPPORT_TMC22xx 0 #define SUPPORT_CLOSED_LOOP 0 #define SUPPORT_BRAKE_PWM 0 constexpr size_t NumDrivers = 3; constexpr size_t MaxSmartDrivers = 0; PortGroup * const StepPio = &(PORT->Group[1]); // the PIO that all the step pins are on (port B) constexpr Pin StepPins[NumDrivers] = { PortBPin(8), PortBPin(22), PortBPin(23) }; constexpr Pin DirectionPins[NumDrivers] = { PortBPin(9), PortAPin(24), PortAPin(27) }; constexpr Pin EnablePins[NumDrivers] = { PortBPin(2), PortAPin(20), PortAPin(25) }; #define SUPPORT_THERMISTORS 0 #define SUPPORT_SPI_SENSORS 1 #define SUPPORT_DMA_NEOPIXEL 0 #ifdef DEBUG # define SUPPORT_I2C_SENSORS 0 // in debug mode the SERCOM is used for debugging # define SUPPORT_LIS3DH 0 #else # define SUPPORT_I2C_SENSORS 0 # define SUPPORT_LIS3DH 1 #endif #define SUPPORT_DHT_SENSOR 0 #define NUM_SERIAL_PORTS 0 #define USE_MPU 0 #define USE_CACHE 1 constexpr bool UseAlternateCanPins = true; constexpr size_t MaxPortsPerHeater = 0; constexpr size_t NumThermistorInputs = 0; constexpr Pin BoardTypePin = PortAPin(3); // Diagnostic LEDs constexpr Pin LedPins[] = { PortAPin(31), PortAPin(30) }; constexpr bool LedActiveHigh = false; constexpr Pin VinMonitorPin = PortAPin(2); //constexpr Pin V12MonitorPin = PortAPin(6); //constexpr float VinDividerRatio = (100.0 + 5.1)/5.1; //constexpr float V12DividerRatio = (60.4 + 4.7)/4.7; //constexpr float VinMonitorVoltageRange = VinDividerRatio * 3.3; //constexpr float V12MonitorVoltageRange = V12DividerRatio * 3.3; constexpr Pin ButtonPins[] = { PortAPin(0) }; //Used for CAN ID reset #if SUPPORT_I2C_SENSORS // I2C using pins PA12,13 constexpr uint8_t I2CSercomNumber = 2; constexpr Pin I2CSDAPin = PortAPin(12); constexpr GpioPinFunction I2CSDAPinPeriphMode = GpioPinFunction::C; constexpr Pin I2CSCLPin = PortAPin(13); constexpr GpioPinFunction I2CSCLPinPeriphMode = GpioPinFunction::C; # define I2C_HANDLER0 SERCOM2_0_Handler # define I2C_HANDLER1 SERCOM2_1_Handler # define I2C_HANDLER2 SERCOM2_2_Handler # define I2C_HANDLER3 SERCOM2_3_Handler #endif #if SUPPORT_LIS3DH # if SUPPORT_I2C_SENSORS # define ACCELEROMETER_USES_SPI (0) // accelerometer is connected via I2C constexpr Pin Lis3dhInt1Pin = PortAPin(20); // same as io1.in # else # define ACCELEROMETER_USES_SPI (1) // accelerometer is connected via SPI constexpr Pin Lis3dhCsPin = PortAPin(18); // same as encoder CS pin constexpr Pin Lis3dhInt1Pin = PortAPin(12); // same as io1.in # endif #endif // Shared SPI (used for interface to encoders, not for temperature sensors) constexpr uint8_t SspiSercomNumber = 1; constexpr uint32_t SspiDataInPad = 3; constexpr Pin SSPIMosiPin = PortAPin(16); constexpr GpioPinFunction SSPIMosiPinPeriphMode = GpioPinFunction::C; constexpr Pin SSPISclkPin = PortAPin(17); constexpr GpioPinFunction SSPISclkPinPeriphMode = GpioPinFunction::C; constexpr Pin SSPIMisoPin = PortAPin(19); constexpr GpioPinFunction SSPIMisoPinPeriphMode = GpioPinFunction::C; // Clock generator pin for TMC2160 constexpr uint8_t ClockGenGclkNumber = 5; constexpr Pin ClockGenPin = PortBPin(11); constexpr GpioPinFunction ClockGenPinPeriphMode = GpioPinFunction::M; // Table of pin functions that we are allowed to use constexpr PinDescription PinTable[] = { // TC TCC ADC SERCOM in SERCOM out Exint PinName // Port A { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, 0, nullptr }, // PA00 ButtonPins[0] PortAPin(0) CANRST { TcOutput::tc2_1, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA01 { TcOutput::none, TccOutput::none, AdcInput::adc0_0, SercomIo::none, SercomIo::none, Nx, "ate.vin" }, // PA02 VinMonitorPin PortAPin(2) { TcOutput::none, TccOutput::none, AdcInput::adc0_1, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA03 BoardTypePin PortAPin(3) { TcOutput::none, TccOutput::none, AdcInput::adc0_4, SercomIo::none, SercomIo::none, Nx, "out1" }, // PA04 { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, "out0" }, // PA05 { TcOutput::none, TccOutput::none, AdcInput::adc0_6, SercomIo::none, SercomIo::none, 6, "io0.in" }, // PA06 { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA07 { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA08//nullptr { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, 9, "io1.in" }, // PA09 { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, 10, "io2.in" }, // PA10 { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, 11, "io3.in" }, // PA11 { TcOutput::none, TccOutput::tcc1_2F, AdcInput::none, SercomIo::none, SercomIo::none, 12, nullptr }, // PA12 Lis3dhInt1Pin = PortAPin(12); { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA13 No IO!! { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA14 crystal { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA15 crystal { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA16 SSPIMosiPin = PortAPin(16); { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA17 SSPISclkPin = PortAPin(17); { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, 2, "spi.cs0" }, // PA18 Lis3dhCsPin = PortAPin(18); { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA19 SSPIMisoPin = PortAPin(19); { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA20 { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA21 { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA22 CAN0 Tx { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA23 CAN0 Rx { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA24 { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA25 { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA26 not on chip { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA27 { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA28 not on chip { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA29 not on chip { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA30 LedPins[1] PortAPin(30) { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA31 LedPins[0] PortAPin(31) // Port B { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB00 not on chip { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB01 not on chip { TcOutput::none, TccOutput::tcc2_2F, AdcInput::none, SercomIo::none, SercomIo::sercom5d, Nx, nullptr }, // PB02 EnablePins[2] PortBPin(2) { TcOutput::none, TccOutput::none, AdcInput::adc0_15, SercomIo::sercom5d, SercomIo::none, Nx, nullptr }, // PB03 { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB04 not on chip { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB05 not on chip { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB06 not on chip { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB07 not on chip { TcOutput::none, TccOutput::none, AdcInput::adc0_2, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB08 StepPins[2] PortBPin(8) { TcOutput::none, TccOutput::none, AdcInput::adc0_3, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB09 DirectionPins[2] PortBPin(9) { TcOutput::none, TccOutput::tcc0_4F, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB10 { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB11 ClockGenPin PortBPin(11); { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB12 not on chip { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB13 not on chip { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB14 not on chip { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB15 not on chip { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB16 not on chip { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB17 not on chip { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB18 not on chip { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB19 not on chip { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB20 not on chip { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB21 not on chip { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB22 StepPins[1] PortBPin(22) { TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB23 StepPins[0] PortBPin(23) }; static constexpr size_t NumPins = ARRAY_SIZE(PinTable); static constexpr size_t NumRealPins = 32 + 24; // 32 pins on port A (some missing), 24 on port B static_assert(NumPins == NumRealPins); // no virtual pins in this table // Timer/counter used to generate step pulses and other sub-millisecond timings TcCount32 * const StepTc = &(TC0->COUNT32); constexpr IRQn StepTcIRQn = TC0_IRQn; constexpr unsigned int StepTcNumber = 0; #define STEP_TC_HANDLER TC0_Handler // Available UART ports #define NUM_SERIAL_PORTS 0 // DMA channel assignments constexpr DmaChannel DmacChanTmcTx = 0; constexpr DmaChannel DmacChanTmcRx = 1; constexpr DmaChannel DmacChanAdc0Rx = 2; constexpr DmaChannel DmacChanLedTx = 3; constexpr unsigned int NumDmaChannelsUsed = 4; // must be at least the number of channels used, may be larger. Max 12 on the SAME5x. constexpr DmaPriority DmacPrioTmcTx = 0; constexpr DmaPriority DmacPrioTmcRx = 3; constexpr DmaPriority DmacPrioAdcRx = 2; constexpr DmaPriority DmacPrioLed = 1; // Interrupt priorities, lower means higher priority. 0-2 can't make RTOS calls. const NvicPriority NvicPriorityStep = 3; // step interrupt is next highest, it can preempt most other interrupts const NvicPriority NvicPriorityUart = 3; // serial driver makes RTOS calls const NvicPriority NvicPriorityI2C = 3; const NvicPriority NvicPriorityPins = 3; // priority for GPIO pin interrupts const NvicPriority NvicPriorityCan = 4; const NvicPriority NvicPriorityDmac = 5; // priority for DMA complete interrupts const NvicPriority NvicPriorityAdc = 5; #endif /* SRC_CONFIG_EXP1HCLV1_0_H_ */