General fixes for LPC1768 (#7834)

* fixed some include paths * LPC1768: Fix Serial API Add missing serial methods used if TX_BUFFER_SIZE is set Change return value of HalSerial:read to match Arduino API * LPC1768: add filters to ADC This is to try and compensate for hardware issue and oversensitivity to noise * LPC1768: remove the polling section of delayMicroseconds * LPC1768: lock usb mass storage device while device accesses it. Currently only applicable to persistent store, The device always has priority and will unmount the sd card from the host, Windows then tries to automount again so it can look like the explorer window freezes. Linux Mint, by default, just closes the Nemo window. * Add timeout to make sure if Serial never connects that Marlin still boots * Remove unneeded ifdef CPU_32_BIT In general the need for ifdef CPU_32_BIT blocks means that something is missing from the HAL API or a Platform, in this case HAL_TICKS_PER_US was missing from the AVR Platform * LPC1768: relocate RE-ARM debug_extra_script.py
7 years ago · 46b2773e13
14 changed files with 268 additions and 66 deletions
--- a/Marlin/src/HAL/HAL.h
+++ b/Marlin/src/HAL/HAL.h
@ -29,7 +29,7 @@
 #ifndef _HAL_H
 #define _HAL_H

-#include "src/inc/SPI.h"
+#include "../inc/SPI.h"

 #ifdef __AVR__
  #include "HAL_AVR/HAL_AVR.h"
--- a/Marlin/src/HAL/HAL_AVR/HAL_AVR.h
+++ b/Marlin/src/HAL/HAL_AVR/HAL_AVR.h
@ -105,6 +105,7 @@ extern "C" {
 #define HAL_TIMER_RATE ((F_CPU) / 8.0)
 #define HAL_STEPPER_TIMER_RATE HAL_TIMER_RATE
 #define STEPPER_TIMER_PRESCALE INT0_PRESCALER
+#define HAL_TICKS_PER_US (((F_CPU) / 8) / 1000000) // Can not be of type double

 #define ENABLE_STEPPER_DRIVER_INTERRUPT()  SBI(TIMSK1, OCIE1A)
 #define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
--- a/Marlin/src/HAL/HAL_LPC1768/HAL.cpp
+++ b/Marlin/src/HAL/HAL_LPC1768/HAL.cpp
@ -113,6 +113,7 @@ void HAL_adc_enable_channel(int pin) {
  };
 }

+uint8_t active_adc = 0;
 void HAL_adc_start_conversion(const uint8_t adc_pin) {
  if (adc_pin >= (NUM_ANALOG_INPUTS) || adc_pin_map[adc_pin].port == 0xFF) {
    usb_serial.printf("HAL: HAL_adc_start_conversion: no pinmap for %d\n", adc_pin);
@ -121,14 +122,52 @@ void HAL_adc_start_conversion(const uint8_t adc_pin) {
  LPC_ADC->ADCR &= ~0xFF;                       // Reset
  SBI(LPC_ADC->ADCR, adc_pin_map[adc_pin].adc); // Select Channel
  SBI(LPC_ADC->ADCR, 24);                       // Start conversion
+  active_adc = adc_pin;
 }

-bool HAL_adc_finished(void) { return LPC_ADC->ADGDR & ADC_DONE; }
+bool HAL_adc_finished(void) {
+  return LPC_ADC->ADGDR & ADC_DONE;
+}
+
+// possible config options if something similar is extended to more platforms.
+#define ADC_USE_MEDIAN_FILTER      // filter out erroneous readings
+#define ADC_USE_LOWPASS_FILTER     // filter out high frequency noise
+#define ADC_LOWPASS_K_VALUE 4      // how much to smooth out noise (1:8)
+
+struct MedianFilter {
+  uint16_t values[3];
+  uint8_t next_val;
+  MedianFilter() {
+    next_val = 0;
+    values[0] = values[1] = values[2] = 0;
+  }
+  uint16_t update(uint16_t value) {
+    values[next_val++] = value;
+    next_val = next_val % 3;
+    return max(min(values[0], values[1]), min(max(values[0], values[1]), values[2]));     //median
+  }
+};
+
+uint16_t lowpass_filter(uint16_t value) {
+  const uint8_t k_data_shift = ADC_LOWPASS_K_VALUE;
+  static uint32_t data_delay[NUM_ANALOG_INPUTS] = { 0 };
+  uint32_t &active_filter = data_delay[active_adc];
+  active_filter = active_filter - (active_filter >> k_data_shift) + value;
+  return (uint16_t)(active_filter >> k_data_shift);
+}

 uint16_t HAL_adc_get_result(void) {
  uint32_t data = LPC_ADC->ADGDR;
-  CBI(LPC_ADC->ADCR, 24);                       // Stop conversion
-  return (data & ADC_OVERRUN) ? 0 : (data >> 6) & 0x3FF; // 10bit
+  CBI(LPC_ADC->ADCR, 24);    // Stop conversion
+  if (data & ADC_OVERRUN) return 0;
+  #ifdef ADC_USE_MEDIAN_FILTER
+    static MedianFilter median_filter[NUM_ANALOG_INPUTS];
+    data = median_filter[active_adc].update((uint16_t)data);
+  #endif
+  #ifdef ADC_USE_LOWPASS_FILTER
+    data = lowpass_filter((uint16_t)data);
+  #endif
+  return ((data >> 6) & 0x3ff);    // 10bit
 }

 #define SBIT_CNTEN     0
--- a/Marlin/src/HAL/HAL_LPC1768/arduino.cpp
+++ b/Marlin/src/HAL/HAL_LPC1768/arduino.cpp
@ -57,20 +57,9 @@ void delayMicroseconds(uint32_t us) {
    us = us % 1000;
  }

-  if (us < 5) { // burn cycles, time in interrupts will not be taken into account
-    loops = us * nop_factor;
-    while (loops > 0) --loops;
-  }
-  else { // poll systick, more accurate through interrupts
-    uint32_t start = SysTick->VAL;
-    uint32_t load = SysTick->LOAD;
-    uint32_t end = start - (load / 1000) * us;
-
-    if (end >> 31)
-      while (!(SysTick->VAL > start && SysTick->VAL < (load + end))) __NOP();
-    else
-      while (SysTick->VAL > end) __NOP();
-  }
+  // burn cycles, time in interrupts will not be taken into account
+  loops = us * nop_factor;
+  while (loops > 0) --loops;
 }

 extern "C" void delay(const int msec) {
--- a/Marlin/src/HAL/HAL_LPC1768/debug_extra_script.py
+++ b/Marlin/src/HAL/HAL_LPC1768/debug_extra_script.py
--- a/Marlin/src/HAL/HAL_LPC1768/persistent_store_impl.cpp
+++ b/Marlin/src/HAL/HAL_LPC1768/persistent_store_impl.cpp
@ -9,6 +9,9 @@
 #include "chanfs/diskio.h"
 #include "chanfs/ff.h"

+extern uint32_t MSC_Aquire_Lock();
+extern uint32_t MSC_Release_Lock();
+
 namespace HAL {
 namespace PersistentStore {

@ -16,14 +19,20 @@ FATFS fat_fs;
 FIL eeprom_file;

 bool access_start() {
-  f_mount(&fat_fs, "", 1);
+  MSC_Aquire_Lock();
+  if(f_mount(&fat_fs, "", 1)){
+    MSC_Release_Lock();
+    return false;
+  }
  FRESULT res = f_open(&eeprom_file, "eeprom.dat", FA_OPEN_ALWAYS | FA_WRITE | FA_READ);
+  if(res) MSC_Release_Lock();
  return (res == FR_OK);
 }

 bool access_finish() {
  f_close(&eeprom_file);
  f_unmount("");
+  MSC_Release_Lock();
  return true;
 }

--- a/Marlin/src/HAL/HAL_LPC1768/serial.h
+++ b/Marlin/src/HAL/HAL_LPC1768/serial.h
@ -100,6 +100,7 @@ public:
  }

  char read() {
+    if(receive_buffer.empty()) return -1;
    return (char)receive_buffer.read();
  }

@ -117,6 +118,17 @@ public:
  }

  void flush() {
+    receive_buffer.clear();
+  }
+
+  uint8_t availableForWrite(void){
+    return transmit_buffer.free() > 255 ? 255 : (uint8_t)transmit_buffer.free();
+  }
+
+  void flushTX(void){
+    if(host_connected) {
+      while(transmit_buffer.available());
+    }
  }

  void printf(const char *format, ...) {
--- a/Marlin/src/Marlin.cpp
+++ b/Marlin/src/Marlin.cpp
@ -681,7 +681,8 @@ void setup() {
  #endif

  MYSERIAL.begin(BAUDRATE);
-  while(!MYSERIAL);
+  uint32_t serial_connect_timeout = millis() + 1000;
+  while(!MYSERIAL && PENDING(millis(), serial_connect_timeout));
  SERIAL_PROTOCOLLNPGM("start");
  SERIAL_ECHO_START();

--- a/Marlin/src/lcd/dogm/ultralcd_st7920_u8glib_rrd.h
+++ b/Marlin/src/lcd/dogm/ultralcd_st7920_u8glib_rrd.h
@ -23,7 +23,7 @@
 #ifndef ULCDST7920_H
 #define ULCDST7920_H

-#include <src/Marlin.h>
+#include "../../Marlin.h"

 #if ENABLED(U8GLIB_ST7920)

--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@ -323,13 +323,8 @@ void Stepper::isr() {

  HAL_TIMER_TYPE ocr_val;

-  #ifdef CPU_32_BIT
-    #define ENDSTOP_NOMINAL_OCR_VAL 1500 * HAL_TICKS_PER_US    // check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch
-    #define OCR_VAL_TOLERANCE 500 * HAL_TICKS_PER_US           // First max delay is 2.0ms, last min delay is 0.5ms, all others 1.5ms
-  #else
-    #define ENDSTOP_NOMINAL_OCR_VAL 3000    // check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch
-    #define OCR_VAL_TOLERANCE 1000          // First max delay is 2.0ms, last min delay is 0.5ms, all others 1.5ms
-  #endif
+  #define ENDSTOP_NOMINAL_OCR_VAL 1500 * HAL_TICKS_PER_US    // check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch
+  #define OCR_VAL_TOLERANCE 500 * HAL_TICKS_PER_US           // First max delay is 2.0ms, last min delay is 0.5ms, all others 1.5ms

  #if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
    // Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
--- a/frameworks/CMSIS/LPC1768/lib/LiquidCrystal.cpp
+++ b/frameworks/CMSIS/LPC1768/lib/LiquidCrystal.cpp
@ -3,7 +3,7 @@
 #include <stdio.h>
 #include <string.h>
 #include <inttypes.h>
-#include "arduino.h"
+#include <arduino.h>

 // When the display powers up, it is configured as follows:
 //
--- a/frameworks/CMSIS/LPC1768/lib/usb/mscuser.cpp
+++ b/frameworks/CMSIS/LPC1768/lib/usb/mscuser.cpp
@ -26,6 +26,7 @@ extern "C" {
 #include "usbhw.h"
 #include "usbcore.h"
 #include "mscuser.h"
+#include "lpc17xx_wdt.h"

 #include "../chanfs/diskio.h"
 #include <debug_frmwrk.h>
@ -44,13 +45,71 @@ uint8_t  BulkStage;               /* Bulk Stage */
 uint8_t  BulkBuf[MSC_MAX_PACKET]; /* Bulk In/Out Buffer */
 uint8_t  block_cache[MSC_BLOCK_SIZE];
 uint8_t  BulkLen;                 /* Bulk In/Out Length */
+Sense sense_data;

 MSC_CBW CBW;                   /* Command Block Wrapper */
 MSC_CSW CSW;                   /* Command Status Wrapper */
-uint8_t media_lock = 0;
+volatile uint8_t media_lock = 0;
+volatile bool device_wants_lock = false;
+
+#define NO_LOCK 0
+#define HOST_LOCK 1
+#define DEVICE_LOCK 2
+
+extern uint32_t millis();
+extern void _delay_ms(int delay);
+
+uint32_t MSC_Aquire_Lock() {
+  NVIC_DisableIRQ(USB_IRQn);
+  device_wants_lock = true;
+  uint32_t end_millis = millis() + 1000;
+  if(media_lock == HOST_LOCK) {
+    NVIC_EnableIRQ(USB_IRQn);
+    while(media_lock == HOST_LOCK) {
+      if(((long)(end_millis - (millis())) < 0)) {
+        _DBG("No signal from Host, Assume success\n");
+        break;
+      }
+      WDT_Feed();
+    }
+  }
+  NVIC_DisableIRQ(USB_IRQn);
+  media_lock = DEVICE_LOCK;
+  NVIC_EnableIRQ(USB_IRQn);
+  _DBG("Device MSC Lock\n");
+  device_wants_lock = false;
+  return 0;
+}
+
+uint32_t MSC_Release_Lock() {
+  if(media_lock != DEVICE_LOCK) {
+    return 0; // Didn't have lock
+  }
+  media_lock = NO_LOCK;
+  if(disk_status(0) != STA_NOINIT) disk_ioctl(0, GET_SECTOR_COUNT, (void *)(&MSC_BlockCount));
+  _DBG("Device MSC Unlock\n");
+  NVIC_DisableIRQ(USB_IRQn);
+  sense_data.set(Sense_KEY::UNIT_ATTENTION, Sense_ASC::MEDIA_CHANGED);
+  NVIC_EnableIRQ(USB_IRQn);
+  return 0;   // Released
+}

 uint32_t MSC_SD_Lock() {
-  media_lock = CBW.CB[4]; //0x1 - lock, 0x0 - unlock
+  if(media_lock == DEVICE_LOCK || (device_wants_lock && CBW.CB[4])) {
+    CSW.bStatus = CSW_CMD_FAILED;
+    sense_data.set(Sense_KEY::NOT_READY, Sense_ASC::LOGICAL_UNIT_NOT_READY, Sense_ASCQ::DEVICE_IS_BUSY);
+    MSC_SetCSW();
+    _DBG("Device has Lock (or is waiting for lock) cannot Lock..\n");
+    return 1;
+  }
+
+  if(CBW.CB[4]) {
+    media_lock = HOST_LOCK;
+    _DBG("OS MSC Lock\n");
+  } else {
+    media_lock = NO_LOCK;
+    _DBG("OS MSC Unlock\n");
+  }
  // logical_unit = CBW.CB[1] & 0xE0;
  CSW.bStatus = CSW_CMD_PASSED;
  MSC_SetCSW();
@ -78,20 +137,28 @@ void MSC_StartStopUnit() {
  switch (CBW.CB[4] & 0x03) {
    case STARTSTOP_EJECT:
      MSC_SD_Release(0);
+      media_lock = NO_LOCK;
+      _DBG("OS Media Ejected UNLOCK\n");
      break;
    case STARTSTOP_LOAD:
      if(MSC_BlockCount == 0) {
        if(MSC_SD_Init(0) != 0) {
          CSW.bStatus = CSW_CMD_FAILED;
+          sense_data.set(Sense_KEY::NOT_READY, Sense_ASC::MEDIUM_NOT_PRESENT, Sense_ASCQ::MANUAL_INTERVENTION_REQUIRED);
          MSC_SetCSW();
          return;
        }
      }
+      media_lock = HOST_LOCK;
+      _DBG("OS Media Mount LOCKED\n");
      break;
    default:
-      _DBG("MSC_StartStopUnit unknown startstopunit sub command\n");
+      _DBG("MSC_StartStopUnit unknown startstopunit sub command: ");
+      _DBH(CBW.CB[4] & 0x03);
+      _DBG("\n");
  }
  CSW.bStatus = CSW_CMD_PASSED;
+  sense_data.reset();
  MSC_SetCSW();
 }

@ -122,6 +189,18 @@ uint32_t MSC_GetMaxLUN (void) {
 }


+bool host_get_lock(void) {
+  if(media_lock != DEVICE_LOCK && !device_wants_lock) {
+    media_lock = HOST_LOCK;
+    return true;
+  } else {
+    CSW.bStatus = CSW_CMD_FAILED;
+    sense_data.set(Sense_KEY::NOT_READY, Sense_ASC::LOGICAL_UNIT_NOT_READY, Sense_ASCQ::DEVICE_IS_BUSY);
+    MSC_SetCSW();
+    return false;
+  }
+}
+
 /*
 *  MSC Memory Read Callback
 *   Called automatically on Memory Read Event
@ -130,6 +209,12 @@ uint32_t MSC_GetMaxLUN (void) {
 */

 void MSC_MemoryRead (void) {
+  if(!host_get_lock()) {
+     _DBG("Auto Lock Fail Permission Denied Device has Lock\n");
+     return;
+  }
+  WDT_Feed();
+
  uint32_t n = (length > MSC_MAX_PACKET) ? MSC_MAX_PACKET : length;

  if (lba > MSC_BlockCount) {
@ -158,6 +243,7 @@ void MSC_MemoryRead (void) {

  if (BulkStage != MSC_BS_DATA_IN) {
    CSW.bStatus = CSW_CMD_PASSED;
+    sense_data.reset();
  }
 }

@ -170,6 +256,11 @@ void MSC_MemoryRead (void) {
 */

 void MSC_MemoryWrite (void) {
+  if(!host_get_lock()) {
+     _DBG("Auto Lock Fail Permission Denied Device has Lock\n");
+     return;
+  }
+  WDT_Feed();

  for (uint32_t n = 0; n < BulkLen; n++) {
    block_cache[block_offset + n] = BulkBuf[n];
@ -192,6 +283,7 @@ void MSC_MemoryWrite (void) {

  if ((length == 0) || (BulkStage == MSC_BS_CSW)) {
    CSW.bStatus = CSW_CMD_PASSED;
+    sense_data.reset();
    MSC_SetCSW();
  }
 }
@ -205,6 +297,11 @@ void MSC_MemoryWrite (void) {
 */

 void MSC_MemoryVerify (void) {
+  if(!host_get_lock()) {
+     _DBG("Auto Lock Fail Permission Denied Device has Lock\n");
+     return;
+  }
+  WDT_Feed();

  if(!block_offset) {
    disk_read(0, block_cache, lba, 1);
@ -222,7 +319,13 @@ void MSC_MemoryVerify (void) {
  CSW.dDataResidue -= BulkLen;

  if ((length == 0) || (BulkStage == MSC_BS_CSW)) {
-    CSW.bStatus = (MemOK) ? CSW_CMD_PASSED : CSW_CMD_FAILED;
+    if(MemOK) {
+      CSW.bStatus = CSW_CMD_PASSED;
+      sense_data.reset();
+    } else {
+      CSW.bStatus = CSW_CMD_FAILED;
+      sense_data.set(Sense_KEY::MEDIUM_ERROR);
+    }
    MSC_SetCSW();
  }
 }
@ -321,10 +424,15 @@ void MSC_TestUnitReady (void) {
    }
  }

-  if(MSC_BlockCount > 0) {
+  if(device_wants_lock) {
+    sense_data.set(Sense_KEY::NOT_READY, Sense_ASC::MEDIUM_NOT_PRESENT, Sense_ASCQ::REASON_UNKNOWN);
+    CSW.bStatus = CSW_CMD_FAILED;
+  } else if(MSC_BlockCount > 0) {
+    sense_data.reset();
    CSW.bStatus = CSW_CMD_PASSED;
  } else {
    CSW.bStatus = CSW_CMD_FAILED;
+    sense_data.set(Sense_KEY::NOT_READY, Sense_ASC::MEDIUM_NOT_PRESENT, Sense_ASCQ::LOADABLE);
  }

  MSC_SetCSW();
@ -341,9 +449,13 @@ void MSC_RequestSense (void) {

  if (!DataInFormat()) return;

+  if(media_lock == DEVICE_LOCK || device_wants_lock) {
+    sense_data.set(Sense_KEY::NOT_READY, Sense_ASC::MEDIUM_NOT_PRESENT, Sense_ASCQ::REASON_UNKNOWN);
+  }
+
  BulkBuf[ 0] = 0x70;          /* Response Code */
  BulkBuf[ 1] = 0x00;
-  BulkBuf[ 2] = static_cast<uint8_t>(Sense_KEY::ILLEGAL_REQUEST);
+  BulkBuf[ 2] = static_cast<uint8_t>(sense_data.key);
  BulkBuf[ 3] = 0x00;
  BulkBuf[ 4] = 0x00;
  BulkBuf[ 5] = 0x00;
@ -354,17 +466,17 @@ void MSC_RequestSense (void) {
  BulkBuf[ 9] = 0x00;
  BulkBuf[10] = 0x00;
  BulkBuf[11] = 0x00;
-  BulkBuf[12] = static_cast<uint8_t>(Sense_ASC::CANNOT_READ_MEDIUM);
-  BulkBuf[13] = static_cast<uint8_t>(Sense_ASCQ::UNKNOWN_FORMAT);
+  BulkBuf[12] = static_cast<uint8_t>(sense_data.asc);
+  BulkBuf[13] = static_cast<uint8_t>(sense_data.ascq);
  BulkBuf[14] = 0x00;
  BulkBuf[15] = 0x00;
  BulkBuf[16] = 0x00;
  BulkBuf[17] = 0x00;

-  if (MSC_BlockCount == 0) {
-    BulkBuf[ 2] = static_cast<uint8_t>(Sense_KEY::NOT_READY);
-    BulkBuf[12] = static_cast<uint8_t>(Sense_ASC::MEDIUM_NOT_PRESENT);
-    BulkBuf[13] = static_cast<uint8_t>(Sense_ASCQ::LOADABLE);
+  if(sense_data.has_sense()){
+    _DBG("Sent Response to SenseRequest: ");
+    _DBH(static_cast<uint8_t>(sense_data.key));
+    _DBG("\n");
  }

  BulkLen = 18;
@ -423,10 +535,6 @@ void MSC_Inquiry (void) {
  BulkBuf[34] = '0';
  BulkBuf[35] = ' ';

-  if(MSC_BlockCount == 0) {
-    BulkBuf[0] = 0x20; // Direct Access Device usually available but not currently
-  }
-
  BulkLen = 36;
  DataInTransfer();
 }
@ -553,8 +661,9 @@ void MSC_GetCBW (void) {
    CSW.dDataResidue = CBW.dDataLength;
    if ((CBW.bLUN != 0) || (CBW.bCBLength < 1) || CBW.bCBLength > 16) {
 fail: CSW.bStatus = CSW_CMD_FAILED;
+      sense_data.set(Sense_KEY::ILLEGAL_REQUEST);
      MSC_SetCSW();
-      _DBG("Failed SCSI OP code ");
+      _DBG("Unsupported SCSI OP code ");
      _DBH(CBW.CB[0]);
      _DBG("\n");
    } else {
@ -627,6 +736,20 @@ fail: CSW.bStatus = CSW_CMD_FAILED;
            }
          }
          break;
+        case 0x35: // SCSI_SYNCHRONIZECACHE10
+          _DBG("SCSI_SYNCHRONIZECACHE10 Unsupported\n");
+          CSW.bStatus = CSW_CMD_FAILED;
+          sense_data.set(Sense_KEY::ILLEGAL_REQUEST);
+          MSC_SetCSW();
+          break;
+        case 0x9E: // SCSI_SERVICEACTIONIN16
+          _DBG("ServiceAction(16) Action: ");
+          _DBH(CBW.CB[1]);
+          _DBG(" Unsupported\n");
+          CSW.bStatus = CSW_CMD_FAILED;
+          sense_data.set(Sense_KEY::ILLEGAL_REQUEST);
+          MSC_SetCSW();
+          break;
        default:
          goto fail;
      }
@ -647,7 +770,6 @@ fail: CSW.bStatus = CSW_CMD_FAILED;
 */

 void MSC_SetCSW (void) {
-
  CSW.dSignature = MSC_CSW_Signature;
  USB_WriteEP(MSC_EP_IN, (uint8_t *)&CSW, sizeof(CSW));
  BulkStage = MSC_BS_CSW;
@ -661,7 +783,6 @@ void MSC_SetCSW (void) {
 */

 void MSC_BulkIn (void) {
-
  switch (BulkStage) {
    case MSC_BS_DATA_IN:
      switch (CBW.CB[0]) {
@ -691,7 +812,6 @@ void MSC_BulkIn (void) {
 */

 void MSC_BulkOut (void) {
-
  BulkLen = (uint8_t)USB_ReadEP(MSC_EP_OUT, BulkBuf);
  switch (BulkStage) {
    case MSC_BS_CBW:
--- a/frameworks/CMSIS/LPC1768/lib/usb/mscuser.h
+++ b/frameworks/CMSIS/LPC1768/lib/usb/mscuser.h
@ -38,7 +38,7 @@ extern void MSC_SetCSW (void);
 extern void MSC_BulkIn (void);
 extern void MSC_BulkOut(void);

-enum class Sense_KEY : uint8_t {
+enum struct Sense_KEY : uint8_t {
  NO_SENSE,
  RECOVERED_ERROR,
  NOT_READY,
@ -49,15 +49,25 @@ enum class Sense_KEY : uint8_t {
  DATA_PROTECT
 };

-enum class Sense_ASC : uint8_t {
+enum struct Sense_ASC : uint8_t {
+  NONE = 0x0,
+  LOGICAL_UNIT_NOT_READY = 0x04,
  CANNOT_READ_MEDIUM = 0x30,
-  MEDIUM_NOT_PRESENT = 0x3A
+  MEDIUM_NOT_PRESENT = 0x3A,
+  MEDIA_CHANGED = 0x28
 };

-enum class Sense_ASCQ : uint8_t {
-  // CANNOT_READ_MEDIUM
+enum struct Sense_ASCQ : uint8_t {
+  // ASC: LOGICAL_UNIT_NOT_READY
+  CAUSE_NOT_REPORTABLE = 0x00,
+  UNIT_IS_IN_PROCESS_OF_BECOMING_READY,
+  INITIALIZING_COMMAND_REQUIRED,
+  MANUAL_INTERVENTION_REQUIRED,
+  FORMAT_IN_PROGRESS,
+  DEVICE_IS_BUSY = 0xFF,
+  // ASC: CANNOT_READ_MEDIUM
  UNKNOWN_FORMAT = 0x01,
-  // MEDIUM_NOT_PRESENT
+  // ASC: MEDIUM_NOT_PRESENT
  REASON_UNKNOWN = 0x00,
  TRAY_CLOSED,
  TRAY_OPEN,
@ -65,5 +75,30 @@ enum class Sense_ASCQ : uint8_t {
  AUXILIARY_MEMORY_ACCESSIBLE
 };

+struct Sense {
+  Sense() {
+    reset();
+  }
+
+  void set(Sense_KEY key_val, Sense_ASC asc_val = Sense_ASC::NONE, Sense_ASCQ ascq_val = Sense_ASCQ::REASON_UNKNOWN) {
+    key = key_val;
+    asc = asc_val;
+    ascq = ascq_val;
+  }
+
+  void reset() {
+    key = Sense_KEY::NO_SENSE;
+    asc = Sense_ASC::NONE;
+    ascq = Sense_ASCQ::REASON_UNKNOWN;
+  }
+
+  bool has_sense() {
+    return key != Sense_KEY::NO_SENSE;
+  }
+
+  Sense_KEY key;
+  Sense_ASC asc;
+  Sense_ASCQ ascq;
+};

 #endif  /* __MSCUSER_H__ */
--- a/platformio.ini
+++ b/platformio.ini
@ -158,17 +158,18 @@ src_filter      = ${common.default_src_filter}
 #
 [env:Re-ARM_debug_and_upload]
 # Segger JLink
-platform      = nxplpc
-#framework    = mbed
-board         = lpc1768
-board_f_cpu   = 100000000L
-build_flags   = !python Marlin/src/HAL/HAL_LPC1768/lpc1768_flag_script.py
-lib_ldf_mode  = off
-lib_deps      = U8glib-ARM
-src_filter    = ${common.default_src_filter}
-extra_scripts = debug_extra_script.py, Marlin/src/HAL/HAL_LPC1768/lpc1768_flag_script.py
-debug_tool    = custom
-debug_server  =
+platform       = nxplpc
+#framework     = mbed
+board          = lpc1768
+board_f_cpu    = 100000000L
+build_flags    = !python Marlin/src/HAL/HAL_LPC1768/lpc1768_flag_script.py
+lib_ldf_mode   = off
+lib_extra_dirs = frameworks
+lib_deps       = U8glib-ARM, CMSIS-LPC1768
+src_filter     = ${common.default_src_filter}
+extra_scripts  =  Marlin/src/HAL/HAL_LPC1768/debug_extra_script.py, Marlin/src/HAL/HAL_LPC1768/lpc1768_flag_script.py
+debug_tool     = custom
+debug_server   =
  C:\Program Files (x86)\SEGGER\JLink_V618d\JLinkGDBServerCL.exe
  -select
  USB