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This commit is contained in:
Ishan S. Patel
2022-12-14 12:59:19 -05:00
parent 5eea62b96d 03adbb18ef
commit 160f7d2e3c
2226 changed files with 204931 additions and 69893 deletions
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108
Marlin/src/HAL/AVR/HAL.cpp
View File

@@ -23,6 +23,7 @@
#include "../../inc/MarlinConfig.h"
#include "HAL.h"
#include <avr/wdt.h>
#ifdef USBCON
DefaultSerial1 MSerial0(false, Serial);
@@ -35,13 +36,32 @@
// Public Variables
// ------------------------
//uint8_t MCUSR;
// Don't initialize/override variable (which would happen in .init4)
uint8_t MarlinHAL::reset_reason __attribute__((section(".noinit")));
// ------------------------
// Public functions
// ------------------------
void HAL_init() {
__attribute__((naked)) // Don't output function pro- and epilogue
__attribute__((used)) // Output the function, even if "not used"
__attribute__((section(".init3"))) // Put in an early user definable section
void save_reset_reason() {
#if ENABLED(OPTIBOOT_RESET_REASON)
__asm__ __volatile__(
A("STS %0, r2")
: "=m"(hal.reset_reason)
);
#else
hal.reset_reason = MCUSR;
#endif
// Clear within 16ms since WDRF bit enables a 16ms watchdog timer -> Boot loop
hal.clear_reset_source();
wdt_disable();
}
void MarlinHAL::init() {
// Init Servo Pins
#define INIT_SERVO(N) OUT_WRITE(SERVO##N##_PIN, LOW)
#if HAS_SERVO_0
@@ -56,9 +76,11 @@ void HAL_init() {
#if HAS_SERVO_3
INIT_SERVO(3);
#endif
init_pwm_timers(); // Init user timers to default frequency - 1000HZ
}
void HAL_reboot() {
void MarlinHAL::reboot() {
#if ENABLED(USE_WATCHDOG)
while (1) { /* run out the watchdog */ }
#else
@@ -67,6 +89,62 @@ void HAL_reboot() {
#endif
}
// ------------------------
// Watchdog Timer
// ------------------------
#if ENABLED(USE_WATCHDOG)
#include <avr/wdt.h>
#include "../../MarlinCore.h"
// Initialize watchdog with 8s timeout, if possible. Otherwise, make it 4s.
void MarlinHAL::watchdog_init() {
#if ENABLED(WATCHDOG_DURATION_8S) && defined(WDTO_8S)
#define WDTO_NS WDTO_8S
#else
#define WDTO_NS WDTO_4S
#endif
#if ENABLED(WATCHDOG_RESET_MANUAL)
// Enable the watchdog timer, but only for the interrupt.
// Take care, as this requires the correct order of operation, with interrupts disabled.
// See the datasheet of any AVR chip for details.
wdt_reset();
cli();
_WD_CONTROL_REG = _BV(_WD_CHANGE_BIT) | _BV(WDE);
_WD_CONTROL_REG = _BV(WDIE) | (WDTO_NS & 0x07) | ((WDTO_NS & 0x08) << 2); // WDTO_NS directly does not work. bit 0-2 are consecutive in the register but the highest value bit is at bit 5
// So worked for up to WDTO_2S
sei();
wdt_reset();
#else
wdt_enable(WDTO_NS); // The function handles the upper bit correct.
#endif
//delay(10000); // test it!
}
//===========================================================================
//=================================== ISR ===================================
//===========================================================================
// Watchdog timer interrupt, called if main program blocks >4sec and manual reset is enabled.
#if ENABLED(WATCHDOG_RESET_MANUAL)
ISR(WDT_vect) {
sei(); // With the interrupt driven serial we need to allow interrupts.
SERIAL_ERROR_MSG(STR_WATCHDOG_FIRED);
minkill(); // interrupt-safe final kill and infinite loop
}
#endif
// Reset watchdog. MUST be called at least every 4 seconds after the
// first watchdog_init or AVR will go into emergency procedures.
void MarlinHAL::watchdog_refresh() { wdt_reset(); }
#endif // USE_WATCHDOG
// ------------------------
// Free Memory Accessor
// ------------------------
#if ENABLED(SDSUPPORT)
#include "../../sd/SdFatUtil.h"
@@ -74,20 +152,20 @@ void HAL_reboot() {
#else // !SDSUPPORT
extern "C" {
extern char __bss_end;
extern char __heap_start;
extern void* __brkval;
extern "C" {
extern char __bss_end;
extern char __heap_start;
extern void* __brkval;
int freeMemory() {
int free_memory;
if ((int)__brkval == 0)
free_memory = ((int)&free_memory) - ((int)&__bss_end);
else
free_memory = ((int)&free_memory) - ((int)__brkval);
return free_memory;
int freeMemory() {
int free_memory;
if ((int)__brkval == 0)
free_memory = ((int)&free_memory) - ((int)&__bss_end);
else
free_memory = ((int)&free_memory) - ((int)__brkval);
return free_memory;
}
}
}
#endif // !SDSUPPORT

244
Marlin/src/HAL/AVR/HAL.h
View File

@@ -19,17 +19,20 @@
*/
#pragma once
/**
* HAL for Arduino AVR
*/
#include "../shared/Marduino.h"
#include "../shared/HAL_SPI.h"
#include "fastio.h"
#include "watchdog.h"
#include "math.h"
#ifdef USBCON
#include <HardwareSerial.h>
#else
#define HardwareSerial_h // Hack to prevent HardwareSerial.h header inclusion
#include "MarlinSerial.h"
#define BOARD_NO_NATIVE_USB
#endif
#include <stdint.h>
@@ -39,6 +42,19 @@
#include <avr/interrupt.h>
#include <avr/io.h>
//
// Default graphical display delays
//
#if F_CPU >= 20000000
#define CPU_ST7920_DELAY_1 150
#define CPU_ST7920_DELAY_2 0
#define CPU_ST7920_DELAY_3 150
#elif F_CPU == 16000000
#define CPU_ST7920_DELAY_1 125
#define CPU_ST7920_DELAY_2 0
#define CPU_ST7920_DELAY_3 188
#endif
#ifndef pgm_read_ptr
// Compatibility for avr-libc 1.8.0-4.1 included with Ubuntu for
// Windows Subsystem for Linux on Windows 10 as of 10/18/2019
@@ -61,9 +77,9 @@
#define CRITICAL_SECTION_START() unsigned char _sreg = SREG; cli()
#define CRITICAL_SECTION_END() SREG = _sreg
#endif
#define ISRS_ENABLED() TEST(SREG, SREG_I)
#define ENABLE_ISRS() sei()
#define DISABLE_ISRS() cli()
#define HAL_CAN_SET_PWM_FREQ // This HAL supports PWM Frequency adjustment
#define PWM_FREQUENCY 1000 // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency()
// ------------------------
// Types
@@ -71,16 +87,15 @@
typedef int8_t pin_t;
#define SHARED_SERVOS HAS_SERVOS
#define HAL_SERVO_LIB Servo
#define SHARED_SERVOS HAS_SERVOS // Use shared/servos.cpp
class Servo;
typedef Servo hal_servo_t;
// ------------------------
// Public Variables
// ------------------------
//extern uint8_t MCUSR;
// Serial ports
// ------------------------
#ifdef USBCON
#include "../../core/serial_hook.h"
typedef ForwardSerial1Class< decltype(Serial) > DefaultSerial1;
@@ -92,29 +107,36 @@ typedef int8_t pin_t;
#define MYSERIAL1 TERN(BLUETOOTH, btSerial, MSerial0)
#else
#if !WITHIN(SERIAL_PORT, -1, 3)
#error "SERIAL_PORT must be from 0 to 3. You can also use -1 if the board supports Native USB."
#if !WITHIN(SERIAL_PORT, 0, 3)
#error "SERIAL_PORT must be from 0 to 3."
#endif
#define MYSERIAL1 customizedSerial1
#ifdef SERIAL_PORT_2
#if !WITHIN(SERIAL_PORT_2, -1, 3)
#error "SERIAL_PORT_2 must be from 0 to 3. You can also use -1 if the board supports Native USB."
#if !WITHIN(SERIAL_PORT_2, 0, 3)
#error "SERIAL_PORT_2 must be from 0 to 3."
#endif
#define MYSERIAL2 customizedSerial2
#endif
#ifdef SERIAL_PORT_3
#if !WITHIN(SERIAL_PORT_3, 0, 3)
#error "SERIAL_PORT_3 must be from 0 to 3."
#endif
#define MYSERIAL3 customizedSerial3
#endif
#endif
#ifdef MMU2_SERIAL_PORT
#if !WITHIN(MMU2_SERIAL_PORT, -1, 3)
#error "MMU2_SERIAL_PORT must be from 0 to 3. You can also use -1 if the board supports Native USB."
#if !WITHIN(MMU2_SERIAL_PORT, 0, 3)
#error "MMU2_SERIAL_PORT must be from 0 to 3"
#endif
#define MMU2_SERIAL mmuSerial
#endif
#ifdef LCD_SERIAL_PORT
#if !WITHIN(LCD_SERIAL_PORT, -1, 3)
#error "LCD_SERIAL_PORT must be from 0 to 3. You can also use -1 if the board supports Native USB."
#if !WITHIN(LCD_SERIAL_PORT, 0, 3)
#error "LCD_SERIAL_PORT must be from 0 to 3."
#endif
#define LCD_SERIAL lcdSerial
#if HAS_DGUS_LCD
@@ -122,64 +144,20 @@ typedef int8_t pin_t;
#endif
#endif
// ------------------------
// Public functions
// ------------------------
void HAL_init();
//void cli();
//void _delay_ms(const int delay);
inline void HAL_clear_reset_source() { MCUSR = 0; }
inline uint8_t HAL_get_reset_source() { return MCUSR; }
void HAL_reboot();
#if GCC_VERSION <= 50000
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wunused-function"
#endif
extern "C" int freeMemory();
#if GCC_VERSION <= 50000
#pragma GCC diagnostic pop
#endif
//
// ADC
#ifdef DIDR2
#define HAL_ANALOG_SELECT(ind) do{ if (ind < 8) SBI(DIDR0, ind); else SBI(DIDR2, ind & 0x07); }while(0)
#else
#define HAL_ANALOG_SELECT(ind) SBI(DIDR0, ind);
#endif
inline void HAL_adc_init() {
ADCSRA = _BV(ADEN) | _BV(ADSC) | _BV(ADIF) | 0x07;
DIDR0 = 0;
#ifdef DIDR2
DIDR2 = 0;
#endif
}
#define SET_ADMUX_ADCSRA(ch) ADMUX = _BV(REFS0) | (ch & 0x07); SBI(ADCSRA, ADSC)
#ifdef MUX5
#define HAL_START_ADC(ch) if (ch > 7) ADCSRB = _BV(MUX5); else ADCSRB = 0; SET_ADMUX_ADCSRA(ch)
#else
#define HAL_START_ADC(ch) ADCSRB = 0; SET_ADMUX_ADCSRA(ch)
#endif
//
#define HAL_ADC_VREF 5.0
#define HAL_ADC_RESOLUTION 10
#define HAL_READ_ADC() ADC
#define HAL_ADC_READY() !TEST(ADCSRA, ADSC)
//
// Pin Mapping for M42, M43, M226
//
#define GET_PIN_MAP_PIN(index) index
#define GET_PIN_MAP_INDEX(pin) pin
#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
#define HAL_SENSITIVE_PINS 0, 1
#define HAL_SENSITIVE_PINS 0, 1,
#ifdef __AVR_AT90USB1286__
#define JTAG_DISABLE() do{ MCUCR = 0x80; MCUCR = 0x80; }while(0)
@@ -188,23 +166,113 @@ inline void HAL_adc_init() {
// AVR compatibility
#define strtof strtod
#define HAL_CAN_SET_PWM_FREQ // This HAL supports PWM Frequency adjustment
// ------------------------
// Free Memory Accessor
// ------------------------
/**
* set_pwm_frequency
* Sets the frequency of the timer corresponding to the provided pin
* as close as possible to the provided desired frequency. Internally
* calculates the required waveform generation mode, prescaler and
* resolution values required and sets the timer registers accordingly.
* NOTE that the frequency is applied to all pins on the timer (Ex OC3A, OC3B and OC3B)
* NOTE that there are limitations, particularly if using TIMER2. (see Configuration_adv.h -> FAST FAN PWM Settings)
*/
void set_pwm_frequency(const pin_t pin, int f_desired);
#pragma GCC diagnostic push
#if GCC_VERSION <= 50000
#pragma GCC diagnostic ignored "-Wunused-function"
#endif
/**
* set_pwm_duty
* Sets the PWM duty cycle of the provided pin to the provided value
* Optionally allows inverting the duty cycle [default = false]
* Optionally allows changing the maximum size of the provided value to enable finer PWM duty control [default = 255]
*/
void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
extern "C" int freeMemory();
#pragma GCC diagnostic pop
// ------------------------
// MarlinHAL Class
// ------------------------
class MarlinHAL {
public:
// Earliest possible init, before setup()
MarlinHAL() {}
// Watchdog
static void watchdog_init() IF_DISABLED(USE_WATCHDOG, {});
static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
static void init(); // Called early in setup()
static void init_board() {} // Called less early in setup()
static void reboot(); // Restart the firmware from 0x0
// Interrupts
static bool isr_state() { return TEST(SREG, SREG_I); }
static void isr_on() { sei(); }
static void isr_off() { cli(); }
static void delay_ms(const int ms) { _delay_ms(ms); }
// Tasks, called from idle()
static void idletask() {}
// Reset
static uint8_t reset_reason;
static uint8_t get_reset_source() { return reset_reason; }
static void clear_reset_source() { MCUSR = 0; }
// Free SRAM
static int freeMemory() { return ::freeMemory(); }
//
// ADC Methods
//
// Called by Temperature::init once at startup
static void adc_init() {
ADCSRA = _BV(ADEN) | _BV(ADSC) | _BV(ADIF) | 0x07;
DIDR0 = 0;
#ifdef DIDR2
DIDR2 = 0;
#endif
}
// Called by Temperature::init for each sensor at startup
static void adc_enable(const uint8_t ch) {
#ifdef DIDR2
if (ch > 7) { SBI(DIDR2, ch & 0x07); return; }
#endif
SBI(DIDR0, ch);
}
// Begin ADC sampling on the given channel. Called from Temperature::isr!
static void adc_start(const uint8_t ch) {
#ifdef MUX5
ADCSRB = ch > 7 ? _BV(MUX5) : 0;
#else
ADCSRB = 0;
#endif
ADMUX = _BV(REFS0) | (ch & 0x07);
SBI(ADCSRA, ADSC);
}
// Is the ADC ready for reading?
static bool adc_ready() { return !TEST(ADCSRA, ADSC); }
// The current value of the ADC register
static __typeof__(ADC) adc_value() { return ADC; }
/**
* init_pwm_timers
* Set the default frequency for timers 2-5 to 1000HZ
*/
static void init_pwm_timers();
/**
* Set the PWM duty cycle for the pin to the given value.
* Optionally invert the duty cycle [default = false]
* Optionally change the scale of the provided value to enable finer PWM duty control [default = 255]
*/
static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
/**
* Set the frequency of the timer for the given pin as close as
* possible to the provided desired frequency. Internally calculate
* the required waveform generation mode, prescaler, and resolution
* values and set timer registers accordingly.
* NOTE that the frequency is applied to all pins on the timer (Ex OC3A, OC3B and OC3B)
* NOTE that there are limitations, particularly if using TIMER2. (see Configuration_adv.h -> FAST_PWM_FAN Settings)
*/
static void set_pwm_frequency(const pin_t pin, const uint16_t f_desired);
};

25
Marlin/src/HAL/AVR/HAL_SPI.cpp
View File

@@ -34,21 +34,21 @@
#include "../../inc/MarlinConfig.h"
void spiBegin() {
OUT_WRITE(SD_SS_PIN, HIGH);
#if PIN_EXISTS(SD_SS)
// Do not init HIGH for boards with pin 4 used as Fans or Heaters or otherwise, not likely to have multiple SPI devices anyway.
#if defined(__AVR_ATmega644__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__) || defined(__AVR_ATmega1284P__)
// SS must be in output mode even it is not chip select
SET_OUTPUT(SD_SS_PIN);
#else
// set SS high - may be chip select for another SPI device
OUT_WRITE(SD_SS_PIN, HIGH);
#endif
#endif
SET_OUTPUT(SD_SCK_PIN);
SET_INPUT(SD_MISO_PIN);
SET_OUTPUT(SD_MOSI_PIN);
#if DISABLED(SOFTWARE_SPI)
// SS must be in output mode even it is not chip select
//SET_OUTPUT(SD_SS_PIN);
// set SS high - may be chip select for another SPI device
//#if SET_SPI_SS_HIGH
//WRITE(SD_SS_PIN, HIGH);
//#endif
// set a default rate
spiInit(1);
#endif
IF_DISABLED(SOFTWARE_SPI, spiInit(SPI_HALF_SPEED));
}
#if NONE(SOFTWARE_SPI, FORCE_SOFT_SPI)
@@ -74,7 +74,8 @@ void spiBegin() {
#elif defined(PRR0)
PRR0
#endif
, PRSPI);
, PRSPI
);
SPCR = _BV(SPE) | _BV(MSTR) | (spiRate >> 1);
SPSR = spiRate & 1 || spiRate == 6 ? 0 : _BV(SPI2X);

7
Marlin/src/HAL/LINUX/watchdog.h → Marlin/src/HAL/AVR/MarlinSPI.h
View File

@@ -1,6 +1,6 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
* Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
@@ -21,5 +21,6 @@
*/
#pragma once
void watchdog_init();
void HAL_watchdog_refresh();
#include <SPI.h>
using MarlinSPI = SPIClass;

36
Marlin/src/HAL/AVR/MarlinSerial.cpp
View File

@@ -486,7 +486,7 @@ void MarlinSerial<Cfg>::write(const uint8_t c) {
const uint8_t i = (tx_buffer.head + 1) & (Cfg::TX_SIZE - 1);
// If global interrupts are disabled (as the result of being called from an ISR)...
if (!ISRS_ENABLED()) {
if (!hal.isr_state()) {
// Make room by polling if it is possible to transmit, and do so!
while (i == tx_buffer.tail) {
@@ -534,7 +534,7 @@ void MarlinSerial<Cfg>::flushTX() {
if (!_written) return;
// If global interrupts are disabled (as the result of being called from an ISR)...
if (!ISRS_ENABLED()) {
if (!hal.isr_state()) {
// Wait until everything was transmitted - We must do polling, as interrupts are disabled
while (tx_buffer.head != tx_buffer.tail || !B_TXC) {
@@ -567,7 +567,7 @@ ISR(SERIAL_REGNAME(USART, SERIAL_PORT, _UDRE_vect)) {
// Because of the template definition above, it's required to instantiate the template to have all methods generated
template class MarlinSerial< MarlinSerialCfg<SERIAL_PORT> >;
MSerialT customizedSerial1(MSerialT::HasEmergencyParser);
MSerialT1 customizedSerial1(MSerialT1::HasEmergencyParser);
#ifdef SERIAL_PORT_2
@@ -582,7 +582,24 @@ MSerialT customizedSerial1(MSerialT::HasEmergencyParser);
template class MarlinSerial< MarlinSerialCfg<SERIAL_PORT_2> >;
MSerialT2 customizedSerial2(MSerialT2::HasEmergencyParser);
#endif
#endif // SERIAL_PORT_2
#ifdef SERIAL_PORT_3
// Hookup ISR handlers
ISR(SERIAL_REGNAME(USART, SERIAL_PORT_3, _RX_vect)) {
MarlinSerial<MarlinSerialCfg<SERIAL_PORT_3>>::store_rxd_char();
}
ISR(SERIAL_REGNAME(USART, SERIAL_PORT_3, _UDRE_vect)) {
MarlinSerial<MarlinSerialCfg<SERIAL_PORT_3>>::_tx_udr_empty_irq();
}
template class MarlinSerial< MarlinSerialCfg<SERIAL_PORT_3> >;
MSerialT3 customizedSerial3(MSerialT3::HasEmergencyParser);
#endif // SERIAL_PORT_3
#ifdef MMU2_SERIAL_PORT
@@ -595,8 +612,9 @@ MSerialT customizedSerial1(MSerialT::HasEmergencyParser);
}
template class MarlinSerial< MMU2SerialCfg<MMU2_SERIAL_PORT> >;
MSerialT3 mmuSerial(MSerialT3::HasEmergencyParser);
#endif
MSerialMMU2 mmuSerial(MSerialMMU2::HasEmergencyParser);
#endif // MMU2_SERIAL_PORT
#ifdef LCD_SERIAL_PORT
@@ -609,7 +627,7 @@ MSerialT customizedSerial1(MSerialT::HasEmergencyParser);
}
template class MarlinSerial< LCDSerialCfg<LCD_SERIAL_PORT> >;
MSerialT4 lcdSerial(MSerialT4::HasEmergencyParser);
MSerialLCD lcdSerial(MSerialLCD::HasEmergencyParser);
#if HAS_DGUS_LCD
template<typename Cfg>
@@ -622,13 +640,13 @@ MSerialT customizedSerial1(MSerialT::HasEmergencyParser);
}
#endif
#endif
#endif // LCD_SERIAL_PORT
#endif // !USBCON && (UBRRH || UBRR0H || UBRR1H || UBRR2H || UBRR3H)
// For AT90USB targets use the UART for BT interfacing
#if defined(USBCON) && ENABLED(BLUETOOTH)
MSerialT5 bluetoothSerial(false);
MSerialBT bluetoothSerial(false);
#endif
#endif // __AVR__

29
Marlin/src/HAL/AVR/MarlinSerial.h
View File

@@ -191,13 +191,13 @@
rx_framing_errors;
static ring_buffer_pos_t rx_max_enqueued;
static FORCE_INLINE ring_buffer_pos_t atomic_read_rx_head();
FORCE_INLINE static ring_buffer_pos_t atomic_read_rx_head();
static volatile bool rx_tail_value_not_stable;
static volatile uint16_t rx_tail_value_backup;
static FORCE_INLINE void atomic_set_rx_tail(ring_buffer_pos_t value);
static FORCE_INLINE ring_buffer_pos_t atomic_read_rx_tail();
FORCE_INLINE static void atomic_set_rx_tail(ring_buffer_pos_t value);
FORCE_INLINE static ring_buffer_pos_t atomic_read_rx_tail();
public:
FORCE_INLINE static void store_rxd_char();
@@ -217,7 +217,7 @@
#endif
enum { HasEmergencyParser = Cfg::EMERGENCYPARSER };
static inline bool emergency_parser_enabled() { return Cfg::EMERGENCYPARSER; }
static bool emergency_parser_enabled() { return Cfg::EMERGENCYPARSER; }
FORCE_INLINE static uint8_t dropped() { return Cfg::DROPPED_RX ? rx_dropped_bytes : 0; }
FORCE_INLINE static uint8_t buffer_overruns() { return Cfg::RX_OVERRUNS ? rx_buffer_overruns : 0; }
@@ -238,14 +238,19 @@
static constexpr bool MAX_RX_QUEUED = ENABLED(SERIAL_STATS_MAX_RX_QUEUED);
};
typedef Serial1Class< MarlinSerial< MarlinSerialCfg<SERIAL_PORT> > > MSerialT;
extern MSerialT customizedSerial1;
typedef Serial1Class< MarlinSerial< MarlinSerialCfg<SERIAL_PORT> > > MSerialT1;
extern MSerialT1 customizedSerial1;
#ifdef SERIAL_PORT_2
typedef Serial1Class< MarlinSerial< MarlinSerialCfg<SERIAL_PORT_2> > > MSerialT2;
extern MSerialT2 customizedSerial2;
#endif
#ifdef SERIAL_PORT_3
typedef Serial1Class< MarlinSerial< MarlinSerialCfg<SERIAL_PORT_3> > > MSerialT3;
extern MSerialT3 customizedSerial3;
#endif
#endif // !USBCON
#ifdef MMU2_SERIAL_PORT
@@ -262,8 +267,8 @@
static constexpr bool RX_OVERRUNS = false;
};
typedef Serial1Class< MarlinSerial< MMU2SerialCfg<MMU2_SERIAL_PORT> > > MSerialT3;
extern MSerialT3 mmuSerial;
typedef Serial1Class< MarlinSerial< MMU2SerialCfg<MMU2_SERIAL_PORT> > > MSerialMMU2;
extern MSerialMMU2 mmuSerial;
#endif
#ifdef LCD_SERIAL_PORT
@@ -281,12 +286,12 @@
static constexpr bool RX_OVERRUNS = BOTH(HAS_DGUS_LCD, SERIAL_STATS_RX_BUFFER_OVERRUNS);
};
typedef Serial1Class< MarlinSerial< LCDSerialCfg<LCD_SERIAL_PORT> > > MSerialT4;
extern MSerialT4 lcdSerial;
typedef Serial1Class< MarlinSerial< LCDSerialCfg<LCD_SERIAL_PORT> > > MSerialLCD;
extern MSerialLCD lcdSerial;
#endif
// Use the UART for Bluetooth in AT90USB configurations
#if defined(USBCON) && ENABLED(BLUETOOTH)
typedef Serial1Class<HardwareSerial> MSerialT5;
extern MSerialT5 bluetoothSerial;
typedef Serial1Class<HardwareSerial> MSerialBT;
extern MSerialBT bluetoothSerial;
#endif

194
Marlin/src/HAL/AVR/Servo.cpp
View File

@@ -66,27 +66,26 @@ static volatile int8_t Channel[_Nbr_16timers]; // counter for the s
/************ static functions common to all instances ***********************/
static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t* TCNTn, volatile uint16_t* OCRnA) {
if (Channel[timer] < 0)
*TCNTn = 0; // channel set to -1 indicated that refresh interval completed so reset the timer
else {
if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && SERVO(timer, Channel[timer]).Pin.isActive)
extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, LOW); // pulse this channel low if activated
}
static inline void handle_interrupts(const timer16_Sequence_t timer, volatile uint16_t* TCNTn, volatile uint16_t* OCRnA) {
int8_t cho = Channel[timer]; // Handle the prior Channel[timer] first
if (cho < 0) // Channel -1 indicates the refresh interval completed...
*TCNTn = 0; // ...so reset the timer
else if (SERVO_INDEX(timer, cho) < ServoCount) // prior channel handled?
extDigitalWrite(SERVO(timer, cho).Pin.nbr, LOW); // pulse the prior channel LOW
Channel[timer]++; // increment to the next channel
if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
*OCRnA = *TCNTn + SERVO(timer, Channel[timer]).ticks;
if (SERVO(timer, Channel[timer]).Pin.isActive) // check if activated
extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, HIGH); // it's an active channel so pulse it high
Channel[timer] = ++cho; // Handle the next channel (or 0)
if (cho < SERVOS_PER_TIMER && SERVO_INDEX(timer, cho) < ServoCount) {
*OCRnA = *TCNTn + SERVO(timer, cho).ticks; // set compare to current ticks plus duration
if (SERVO(timer, cho).Pin.isActive) // activated?
extDigitalWrite(SERVO(timer, cho).Pin.nbr, HIGH); // yes: pulse HIGH
}
else {
// finished all channels so wait for the refresh period to expire before starting over
if (((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL)) // allow a few ticks to ensure the next OCR1A not missed
*OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL);
else
*OCRnA = *TCNTn + 4; // at least REFRESH_INTERVAL has elapsed
Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
const unsigned int cval = ((unsigned)*TCNTn) + 32 / (SERVO_TIMER_PRESCALER), // allow 32 cycles to ensure the next OCR1A not missed
ival = (unsigned int)usToTicks(REFRESH_INTERVAL); // at least REFRESH_INTERVAL has elapsed
*OCRnA = max(cval, ival);
Channel[timer] = -1; // reset the timer counter to 0 on the next call
}
}
@@ -123,91 +122,102 @@ static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t
/****************** end of static functions ******************************/
void initISR(timer16_Sequence_t timer) {
#ifdef _useTimer1
if (timer == _timer1) {
TCCR1A = 0; // normal counting mode
TCCR1B = _BV(CS11); // set prescaler of 8
TCNT1 = 0; // clear the timer count
#if defined(__AVR_ATmega8__) || defined(__AVR_ATmega128__)
SBI(TIFR, OCF1A); // clear any pending interrupts;
SBI(TIMSK, OCIE1A); // enable the output compare interrupt
#else
// here if not ATmega8 or ATmega128
SBI(TIFR1, OCF1A); // clear any pending interrupts;
SBI(TIMSK1, OCIE1A); // enable the output compare interrupt
#endif
#ifdef WIRING
timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service);
#endif
}
#endif
void initISR(const timer16_Sequence_t timer_index) {
switch (timer_index) {
default: break;
#ifdef _useTimer3
if (timer == _timer3) {
TCCR3A = 0; // normal counting mode
TCCR3B = _BV(CS31); // set prescaler of 8
TCNT3 = 0; // clear the timer count
#ifdef __AVR_ATmega128__
SBI(TIFR, OCF3A); // clear any pending interrupts;
SBI(ETIMSK, OCIE3A); // enable the output compare interrupt
#else
SBI(TIFR3, OCF3A); // clear any pending interrupts;
SBI(TIMSK3, OCIE3A); // enable the output compare interrupt
#endif
#ifdef WIRING
timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service); // for Wiring platform only
#endif
}
#endif
#ifdef _useTimer1
case _timer1:
TCCR1A = 0; // normal counting mode
TCCR1B = _BV(CS11); // set prescaler of 8
TCNT1 = 0; // clear the timer count
#if defined(__AVR_ATmega8__) || defined(__AVR_ATmega128__)
SBI(TIFR, OCF1A); // clear any pending interrupts;
SBI(TIMSK, OCIE1A); // enable the output compare interrupt
#else
// here if not ATmega8 or ATmega128
SBI(TIFR1, OCF1A); // clear any pending interrupts;
SBI(TIMSK1, OCIE1A); // enable the output compare interrupt
#endif
#ifdef WIRING
timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service);
#endif
break;
#endif
#ifdef _useTimer4
if (timer == _timer4) {
TCCR4A = 0; // normal counting mode
TCCR4B = _BV(CS41); // set prescaler of 8
TCNT4 = 0; // clear the timer count
TIFR4 = _BV(OCF4A); // clear any pending interrupts;
TIMSK4 = _BV(OCIE4A); // enable the output compare interrupt
}
#endif
#ifdef _useTimer3
case _timer3:
TCCR3A = 0; // normal counting mode
TCCR3B = _BV(CS31); // set prescaler of 8
TCNT3 = 0; // clear the timer count
#ifdef __AVR_ATmega128__
SBI(TIFR, OCF3A); // clear any pending interrupts;
SBI(ETIMSK, OCIE3A); // enable the output compare interrupt
#else
SBI(TIFR3, OCF3A); // clear any pending interrupts;
SBI(TIMSK3, OCIE3A); // enable the output compare interrupt
#endif
#ifdef WIRING
timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service); // for Wiring platform only
#endif
break;
#endif
#ifdef _useTimer5
if (timer == _timer5) {
TCCR5A = 0; // normal counting mode
TCCR5B = _BV(CS51); // set prescaler of 8
TCNT5 = 0; // clear the timer count
TIFR5 = _BV(OCF5A); // clear any pending interrupts;
TIMSK5 = _BV(OCIE5A); // enable the output compare interrupt
}
#endif
#ifdef _useTimer4
case _timer4:
TCCR4A = 0; // normal counting mode
TCCR4B = _BV(CS41); // set prescaler of 8
TCNT4 = 0; // clear the timer count
TIFR4 = _BV(OCF4A); // clear any pending interrupts;
TIMSK4 = _BV(OCIE4A); // enable the output compare interrupt
break;
#endif
#ifdef _useTimer5
case _timer5:
TCCR5A = 0; // normal counting mode
TCCR5B = _BV(CS51); // set prescaler of 8
TCNT5 = 0; // clear the timer count
TIFR5 = _BV(OCF5A); // clear any pending interrupts;
TIMSK5 = _BV(OCIE5A); // enable the output compare interrupt
break;
#endif
}
}
void finISR(timer16_Sequence_t timer) {
void finISR(const timer16_Sequence_t timer_index) {
// Disable use of the given timer
#ifdef WIRING
if (timer == _timer1) {
CBI(
#if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__)
TIMSK1
#else
TIMSK
#endif
, OCIE1A); // disable timer 1 output compare interrupt
timerDetach(TIMER1OUTCOMPAREA_INT);
}
else if (timer == _timer3) {
CBI(
#if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__)
TIMSK3
#else
ETIMSK
#endif
, OCIE3A); // disable the timer3 output compare A interrupt
timerDetach(TIMER3OUTCOMPAREA_INT);
switch (timer_index) {
default: break;
case _timer1:
CBI(
#if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__)
TIMSK1
#else
TIMSK
#endif
, OCIE1A // disable timer 1 output compare interrupt
);
timerDetach(TIMER1OUTCOMPAREA_INT);
break;
case _timer3:
CBI(
#if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__)
TIMSK3
#else
ETIMSK
#endif
, OCIE3A // disable the timer3 output compare A interrupt
);
timerDetach(TIMER3OUTCOMPAREA_INT);
break;
}
#else // !WIRING
// For arduino - in future: call here to a currently undefined function to reset the timer
UNUSED(timer);
UNUSED(timer_index);
#endif
}

90
Marlin/src/HAL/AVR/endstop_interrupts.h
View File

@@ -168,6 +168,96 @@ void setup_endstop_interrupts() {
pciSetup(Z_MIN_PIN);
#endif
#endif
#if HAS_I_MAX
#if (digitalPinToInterrupt(I_MAX_PIN) != NOT_AN_INTERRUPT)
_ATTACH(I_MAX_PIN);
#else
static_assert(digitalPinHasPCICR(I_MAX_PIN), "I_MAX_PIN is not interrupt-capable");
pciSetup(I_MAX_PIN);
#endif
#elif HAS_I_MIN
#if (digitalPinToInterrupt(I_MIN_PIN) != NOT_AN_INTERRUPT)
_ATTACH(I_MIN_PIN);
#else
static_assert(digitalPinHasPCICR(I_MIN_PIN), "I_MIN_PIN is not interrupt-capable");
pciSetup(I_MIN_PIN);
#endif
#endif
#if HAS_J_MAX
#if (digitalPinToInterrupt(J_MAX_PIN) != NOT_AN_INTERRUPT)
_ATTACH(J_MAX_PIN);
#else
static_assert(digitalPinHasPCICR(J_MAX_PIN), "J_MAX_PIN is not interrupt-capable");
pciSetup(J_MAX_PIN);
#endif
#elif HAS_J_MIN
#if (digitalPinToInterrupt(J_MIN_PIN) != NOT_AN_INTERRUPT)
_ATTACH(J_MIN_PIN);
#else
static_assert(digitalPinHasPCICR(J_MIN_PIN), "J_MIN_PIN is not interrupt-capable");
pciSetup(J_MIN_PIN);
#endif
#endif
#if HAS_K_MAX
#if (digitalPinToInterrupt(K_MAX_PIN) != NOT_AN_INTERRUPT)
_ATTACH(K_MAX_PIN);
#else
static_assert(digitalPinHasPCICR(K_MAX_PIN), "K_MAX_PIN is not interrupt-capable");
pciSetup(K_MAX_PIN);
#endif
#elif HAS_K_MIN
#if (digitalPinToInterrupt(K_MIN_PIN) != NOT_AN_INTERRUPT)
_ATTACH(K_MIN_PIN);
#else
static_assert(digitalPinHasPCICR(K_MIN_PIN), "K_MIN_PIN is not interrupt-capable");
pciSetup(K_MIN_PIN);
#endif
#endif
#if HAS_U_MAX
#if (digitalPinToInterrupt(U_MAX_PIN) != NOT_AN_INTERRUPT)
_ATTACH(U_MAX_PIN);
#else
static_assert(digitalPinHasPCICR(U_MAX_PIN), "U_MAX_PIN is not interrupt-capable");
pciSetup(U_MAX_PIN);
#endif
#elif HAS_U_MIN
#if (digitalPinToInterrupt(U_MIN_PIN) != NOT_AN_INTERRUPT)
_ATTACH(U_MIN_PIN);
#else
static_assert(digitalPinHasPCICR(U_MIN_PIN), "U_MIN_PIN is not interrupt-capable");
pciSetup(U_MIN_PIN);
#endif
#endif
#if HAS_V_MAX
#if (digitalPinToInterrupt(V_MAX_PIN) != NOT_AN_INTERRUPT)
_ATTACH(V_MAX_PIN);
#else
static_assert(digitalPinHasPCICR(V_MAX_PIN), "V_MAX_PIN is not interrupt-capable");
pciSetup(V_MAX_PIN);
#endif
#elif HAS_V_MIN
#if (digitalPinToInterrupt(V_MIN_PIN) != NOT_AN_INTERRUPT)
_ATTACH(V_MIN_PIN);
#else
static_assert(digitalPinHasPCICR(V_MIN_PIN), "V_MIN_PIN is not interrupt-capable");
pciSetup(V_MIN_PIN);
#endif
#endif
#if HAS_W_MAX
#if (digitalPinToInterrupt(W_MAX_PIN) != NOT_AN_INTERRUPT)
_ATTACH(W_MAX_PIN);
#else
static_assert(digitalPinHasPCICR(W_MAX_PIN), "W_MAX_PIN is not interrupt-capable");
pciSetup(W_MAX_PIN);
#endif
#elif HAS_W_MIN
#if (digitalPinToInterrupt(W_MIN_PIN) != NOT_AN_INTERRUPT)
_ATTACH(W_MIN_PIN);
#else
static_assert(digitalPinHasPCICR(W_MIN_PIN), "W_MIN_PIN is not interrupt-capable");
pciSetup(W_MIN_PIN);
#endif
#endif
#if HAS_X2_MAX
#if (digitalPinToInterrupt(X2_MAX_PIN) != NOT_AN_INTERRUPT)
_ATTACH(X2_MAX_PIN);

330
Marlin/src/HAL/AVR/fast_pwm.cpp
View File

@@ -21,11 +21,7 @@
*/
#ifdef __AVR__
#include "../../inc/MarlinConfigPre.h"
#if NEEDS_HARDWARE_PWM // Specific meta-flag for features that mandate PWM
#include "HAL.h"
#include "../../inc/MarlinConfig.h"
struct Timer {
volatile uint8_t* TCCRnQ[3]; // max 3 TCCR registers per timer
@@ -33,250 +29,194 @@ struct Timer {
volatile uint16_t* ICRn; // max 1 ICR register per timer
uint8_t n; // the timer number [0->5]
uint8_t q; // the timer output [0->2] (A->C)
bool isPWM; // True if pin is a "hardware timer"
bool isProtected; // True if timer is protected
};
// Macros for the Timer structure
#define _SET_WGMnQ(T, V) do{ \
*(T.TCCRnQ)[0] = (*(T.TCCRnQ)[0] & ~(0x3 << 0)) | (( int(V) & 0x3) << 0); \
*(T.TCCRnQ)[1] = (*(T.TCCRnQ)[1] & ~(0x3 << 3)) | (((int(V) >> 2) & 0x3) << 3); \
}while(0)
// Set TCCR CS bits
#define _SET_CSn(T, V) (*(T.TCCRnQ)[1] = (*(T.TCCRnQ[1]) & ~(0x7 << 0)) | ((int(V) & 0x7) << 0))
// Set TCCR COM bits
#define _SET_COMnQ(T, Q, V) (*(T.TCCRnQ)[0] = (*(T.TCCRnQ)[0] & ~(0x3 << (6-2*(Q)))) | (int(V) << (6-2*(Q))))
// Set OCRnQ register
#define _SET_OCRnQ(T, Q, V) (*(T.OCRnQ)[Q] = int(V) & 0xFFFF)
// Set ICRn register (one per timer)
#define _SET_ICRn(T, V) (*(T.ICRn) = int(V) & 0xFFFF)
/**
* get_pwm_timer
* Get the timer information and register of the provided pin.
* Return a Timer struct containing this information.
* Used by set_pwm_frequency, set_pwm_duty
* Return a Timer struct describing a pin's timer.
*/
Timer get_pwm_timer(const pin_t pin) {
const Timer get_pwm_timer(const pin_t pin) {
uint8_t q = 0;
switch (digitalPinToTimer(pin)) {
// Protect reserved timers (TIMER0 & TIMER1)
#ifdef TCCR0A
#if !AVR_AT90USB1286_FAMILY
case TIMER0A:
#endif
case TIMER0B:
IF_DISABLED(AVR_AT90USB1286_FAMILY, case TIMER0A:)
#endif
#ifdef TCCR1A
case TIMER1A: case TIMER1B:
#endif
break;
#if defined(TCCR2) || defined(TCCR2A)
#ifdef TCCR2
case TIMER2: {
Timer timer = {
/*TCCRnQ*/ { &TCCR2, nullptr, nullptr },
/*OCRnQ*/ { (uint16_t*)&OCR2, nullptr, nullptr },
/*ICRn*/ nullptr,
/*n, q*/ 2, 0
};
}
#elif defined(TCCR2A)
#if ENABLED(USE_OCR2A_AS_TOP)
case TIMER2A: break; // protect TIMER2A
case TIMER2B: {
Timer timer = {
/*TCCRnQ*/ { &TCCR2A, &TCCR2B, nullptr },
/*OCRnQ*/ { (uint16_t*)&OCR2A, (uint16_t*)&OCR2B, nullptr },
/*ICRn*/ nullptr,
/*n, q*/ 2, 1
};
return timer;
}
#else
case TIMER2B: ++q;
case TIMER2A: {
Timer timer = {
/*TCCRnQ*/ { &TCCR2A, &TCCR2B, nullptr },
/*OCRnQ*/ { (uint16_t*)&OCR2A, (uint16_t*)&OCR2B, nullptr },
/*ICRn*/ nullptr,
2, q
};
return timer;
}
#endif
#endif
break; // Protect reserved timers (TIMER0 & TIMER1)
#ifdef TCCR0A
case TIMER0B: // Protected timer, but allow setting the duty cycle on OCR0B for pin D4 only
return Timer({ { &TCCR0A, nullptr, nullptr }, { (uint16_t*)&OCR0A, (uint16_t*)&OCR0B, nullptr }, nullptr, 0, 1, true, true });
#endif
#if HAS_TCCR2
case TIMER2:
return Timer({ { &TCCR2, nullptr, nullptr }, { (uint16_t*)&OCR2, nullptr, nullptr }, nullptr, 2, 0, true, false });
#elif ENABLED(USE_OCR2A_AS_TOP)
case TIMER2A: break; // Protect TIMER2A since its OCR is used by TIMER2B
case TIMER2B:
return Timer({ { &TCCR2A, &TCCR2B, nullptr }, { (uint16_t*)&OCR2A, (uint16_t*)&OCR2B, nullptr }, nullptr, 2, 1, true, false });
#elif defined(TCCR2A)
case TIMER2B: ++q; case TIMER2A:
return Timer({ { &TCCR2A, &TCCR2B, nullptr }, { (uint16_t*)&OCR2A, (uint16_t*)&OCR2B, nullptr }, nullptr, 2, q, true, false });
#endif
#ifdef OCR3C
case TIMER3C: ++q;
case TIMER3B: ++q;
case TIMER3A: {
Timer timer = {
/*TCCRnQ*/ { &TCCR3A, &TCCR3B, &TCCR3C },
/*OCRnQ*/ { &OCR3A, &OCR3B, &OCR3C },
/*ICRn*/ &ICR3,
/*n, q*/ 3, q
};
return timer;
}
case TIMER3C: ++q; case TIMER3B: ++q; case TIMER3A:
return Timer({ { &TCCR3A, &TCCR3B, &TCCR3C }, { &OCR3A, &OCR3B, &OCR3C }, &ICR3, 3, q, true, false });
#elif defined(OCR3B)
case TIMER3B: ++q;
case TIMER3A: {
Timer timer = {
/*TCCRnQ*/ { &TCCR3A, &TCCR3B, nullptr },
/*OCRnQ*/ { &OCR3A, &OCR3B, nullptr },
/*ICRn*/ &ICR3,
/*n, q*/ 3, q
};
return timer;
}
case TIMER3B: ++q; case TIMER3A:
return Timer({ { &TCCR3A, &TCCR3B, nullptr }, { &OCR3A, &OCR3B, nullptr }, &ICR3, 3, q, true, false });
#endif
#ifdef TCCR4A
case TIMER4C: ++q;
case TIMER4B: ++q;
case TIMER4A: {
Timer timer = {
/*TCCRnQ*/ { &TCCR4A, &TCCR4B, &TCCR4C },
/*OCRnQ*/ { &OCR4A, &OCR4B, &OCR4C },
/*ICRn*/ &ICR4,
/*n, q*/ 4, q
};
return timer;
}
case TIMER4C: ++q; case TIMER4B: ++q; case TIMER4A:
return Timer({ { &TCCR4A, &TCCR4B, &TCCR4C }, { &OCR4A, &OCR4B, &OCR4C }, &ICR4, 4, q, true, false });
#endif
#ifdef TCCR5A
case TIMER5C: ++q;
case TIMER5B: ++q;
case TIMER5A: {
Timer timer = {
/*TCCRnQ*/ { &TCCR5A, &TCCR5B, &TCCR5C },
/*OCRnQ*/ { &OCR5A, &OCR5B, &OCR5C },
/*ICRn*/ &ICR5,
/*n, q*/ 5, q
};
return timer;
}
case TIMER5C: ++q; case TIMER5B: ++q; case TIMER5A:
return Timer({ { &TCCR5A, &TCCR5B, &TCCR5C }, { &OCR5A, &OCR5B, &OCR5C }, &ICR5, 5, q, true, false });
#endif
}
Timer timer = {
/*TCCRnQ*/ { nullptr, nullptr, nullptr },
/*OCRnQ*/ { nullptr, nullptr, nullptr },
/*ICRn*/ nullptr,
0, 0
};
return timer;
return Timer();
}
void set_pwm_frequency(const pin_t pin, int f_desired) {
Timer timer = get_pwm_timer(pin);
if (timer.n == 0) return; // Don't proceed if protected timer or not recognised
uint16_t size;
if (timer.n == 2) size = 255; else size = 65535;
void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
const Timer timer = get_pwm_timer(pin);
if (timer.isProtected || !timer.isPWM) return; // Don't proceed if protected timer or not recognized
uint16_t res = 255; // resolution (TOP value)
uint8_t j = 0; // prescaler index
uint8_t wgm = 1; // waveform generation mode
const bool is_timer2 = timer.n == 2;
const uint16_t maxtop = is_timer2 ? 0xFF : 0xFFFF;
uint16_t res = 0xFF; // resolution (TOP value)
uint8_t j = CS_NONE; // prescaler index
uint8_t wgm = WGM_PWM_PC_8; // waveform generation mode
// Calculating the prescaler and resolution to use to achieve closest frequency
if (f_desired != 0) {
int f = (F_CPU) / (2 * 1024 * size) + 1; // Initialize frequency as lowest (non-zero) achievable
uint16_t prescaler[] = { 0, 1, 8, /*TIMER2 ONLY*/32, 64, /*TIMER2 ONLY*/128, 256, 1024 };
constexpr uint16_t prescaler[] = { 1, 8, (32), 64, (128), 256, 1024 }; // (*) are Timer 2 only
uint16_t f = (F_CPU) / (2 * 1024 * maxtop) + 1; // Start with the lowest non-zero frequency achievable (1 or 31)
// loop over prescaler values
LOOP_S_L_N(i, 1, 8) {
uint16_t res_temp_fast = 255, res_temp_phase_correct = 255;
if (timer.n == 2) {
// No resolution calculation for TIMER2 unless enabled USE_OCR2A_AS_TOP
#if ENABLED(USE_OCR2A_AS_TOP)
const uint16_t rtf = (F_CPU) / (prescaler[i] * f_desired);
res_temp_fast = rtf - 1;
res_temp_phase_correct = rtf / 2;
LOOP_L_N(i, COUNT(prescaler)) { // Loop through all prescaler values
const uint16_t p = prescaler[i];
uint16_t res_fast_temp, res_pc_temp;
if (is_timer2) {
#if ENABLED(USE_OCR2A_AS_TOP) // No resolution calculation for TIMER2 unless enabled USE_OCR2A_AS_TOP
const uint16_t rft = (F_CPU) / (p * f_desired);
res_fast_temp = rft - 1;
res_pc_temp = rft / 2;
#else
res_fast_temp = res_pc_temp = maxtop;
#endif
}
else {
// Skip TIMER2 specific prescalers when not TIMER2
if (i == 3 || i == 5) continue;
const uint16_t rtf = (F_CPU) / (prescaler[i] * f_desired);
res_temp_fast = rtf - 1;
res_temp_phase_correct = rtf / 2;
if (p == 32 || p == 128) continue; // Skip TIMER2 specific prescalers when not TIMER2
const uint16_t rft = (F_CPU) / (p * f_desired);
res_fast_temp = rft - 1;
res_pc_temp = rft / 2;
}
LIMIT(res_temp_fast, 1U, size);
LIMIT(res_temp_phase_correct, 1U, size);
LIMIT(res_fast_temp, 1U, maxtop);
LIMIT(res_pc_temp, 1U, maxtop);
// Calculate frequencies of test prescaler and resolution values
const int f_temp_fast = (F_CPU) / (prescaler[i] * (1 + res_temp_fast)),
f_temp_phase_correct = (F_CPU) / (2 * prescaler[i] * res_temp_phase_correct),
f_diff = ABS(f - f_desired),
f_fast_diff = ABS(f_temp_fast - f_desired),
f_phase_diff = ABS(f_temp_phase_correct - f_desired);
const uint16_t f_fast_temp = (F_CPU) / (p * (1 + res_fast_temp)),
f_pc_temp = (F_CPU) / (2 * p * res_pc_temp);
const int f_diff = _MAX(f, f_desired) - _MIN(f, f_desired),
f_fast_diff = _MAX(f_fast_temp, f_desired) - _MIN(f_fast_temp, f_desired),
f_pc_diff = _MAX(f_pc_temp, f_desired) - _MIN(f_pc_temp, f_desired);
// If FAST values are closest to desired f
if (f_fast_diff < f_diff && f_fast_diff <= f_phase_diff) {
// Remember this combination
f = f_temp_fast;
res = res_temp_fast;
j = i;
if (f_fast_diff < f_diff && f_fast_diff <= f_pc_diff) { // FAST values are closest to desired f
// Set the Wave Generation Mode to FAST PWM
if (timer.n == 2) {
wgm = (
#if ENABLED(USE_OCR2A_AS_TOP)
WGM2_FAST_PWM_OCR2A
#else
WGM2_FAST_PWM
#endif
);
}
else wgm = WGM_FAST_PWM_ICRn;
wgm = is_timer2 ? uint8_t(TERN(USE_OCR2A_AS_TOP, WGM2_FAST_PWM_OCR2A, WGM2_FAST_PWM)) : uint8_t(WGM_FAST_PWM_ICRn);
// Remember this combination
f = f_fast_temp; res = res_fast_temp; j = i + 1;
}
// If PHASE CORRECT values are closes to desired f
else if (f_phase_diff < f_diff) {
f = f_temp_phase_correct;
res = res_temp_phase_correct;
j = i;
else if (f_pc_diff < f_diff) { // PHASE CORRECT values are closes to desired f
// Set the Wave Generation Mode to PWM PHASE CORRECT
if (timer.n == 2) {
wgm = (
#if ENABLED(USE_OCR2A_AS_TOP)
WGM2_PWM_PC_OCR2A
#else
WGM2_PWM_PC
#endif
);
}
else wgm = WGM_PWM_PC_ICRn;
wgm = is_timer2 ? uint8_t(TERN(USE_OCR2A_AS_TOP, WGM2_PWM_PC_OCR2A, WGM2_PWM_PC)) : uint8_t(WGM_PWM_PC_ICRn);
f = f_pc_temp; res = res_pc_temp; j = i + 1;
}
}
}
_SET_WGMnQ(timer.TCCRnQ, wgm);
_SET_CSn(timer.TCCRnQ, j);
if (timer.n == 2) {
#if ENABLED(USE_OCR2A_AS_TOP)
_SET_OCRnQ(timer.OCRnQ, 0, res); // Set OCR2A value (TOP) = res
#endif
_SET_WGMnQ(timer, wgm);
_SET_CSn(timer, j);
if (is_timer2) {
TERN_(USE_OCR2A_AS_TOP, _SET_OCRnQ(timer, 0, res)); // Set OCR2A value (TOP) = res
}
else
_SET_ICRn(timer.ICRn, res); // Set ICRn value (TOP) = res
_SET_ICRn(timer, res); // Set ICRn value (TOP) = res
}
void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
// If v is 0 or v_size (max), digitalWrite to LOW or HIGH.
// Note that digitalWrite also disables pwm output for us (sets COM bit to 0)
// Note that digitalWrite also disables PWM output for us (sets COM bit to 0)
if (v == 0)
digitalWrite(pin, invert);
else if (v == v_size)
digitalWrite(pin, !invert);
else {
Timer timer = get_pwm_timer(pin);
if (timer.n == 0) return; // Don't proceed if protected timer or not recognised
// Set compare output mode to CLEAR -> SET or SET -> CLEAR (if inverted)
_SET_COMnQ(timer.TCCRnQ, (timer.q
#ifdef TCCR2
+ (timer.q == 2) // COM20 is on bit 4 of TCCR2, thus requires q + 1 in the macro
#endif
), COM_CLEAR_SET + invert
);
uint16_t top;
if (timer.n == 2) { // if TIMER2
top = (
#if ENABLED(USE_OCR2A_AS_TOP)
*timer.OCRnQ[0] // top = OCR2A
#else
255 // top = 0xFF (max)
#endif
);
const Timer timer = get_pwm_timer(pin);
if (timer.isPWM) {
if (timer.n == 0) {
_SET_COMnQ(timer, timer.q, COM_CLEAR_SET); // Only allow a TIMER0B select...
_SET_OCRnQ(timer, timer.q, v); // ...and OCR0B duty update. For output pin D4 no frequency changes are permitted.
}
else if (!timer.isProtected) {
const uint16_t top = timer.n == 2 ? TERN(USE_OCR2A_AS_TOP, *timer.OCRnQ[0], 255) : *timer.ICRn;
_SET_COMnQ(timer, SUM_TERN(HAS_TCCR2, timer.q, timer.q == 2), COM_CLEAR_SET + invert); // COM20 is on bit 4 of TCCR2, so +1 for q==2
_SET_OCRnQ(timer, timer.q, uint16_t(uint32_t(v) * top / v_size)); // Scale 8/16-bit v to top value
}
}
else
top = *timer.ICRn; // top = ICRn
_SET_OCRnQ(timer.OCRnQ, timer.q, v * float(top) / float(v_size)); // Scale 8/16-bit v to top value
digitalWrite(pin, v < v_size / 2 ? LOW : HIGH);
}
}
#endif // NEEDS_HARDWARE_PWM
void MarlinHAL::init_pwm_timers() {
// Init some timer frequencies to a default 1KHz
const pin_t pwm_pin[] = {
#ifdef __AVR_ATmega2560__
10, 5, 6, 46
#elif defined(__AVR_ATmega1280__)
12, 31
#elif defined(__AVR_ATmega644__) || defined(__AVR_ATmega1284__)
15, 6
#elif defined(__AVR_AT90USB1286__) || defined(__AVR_mega64) || defined(__AVR_mega128)
16, 24
#endif
};
LOOP_L_N(i, COUNT(pwm_pin))
set_pwm_frequency(pwm_pin[i], 1000);
}
#endif // __AVR__

16
Marlin/src/HAL/AVR/fastio.cpp
View File

@@ -245,7 +245,7 @@ uint16_t set_pwm_frequency_hz(const_float_t hz, const float dca, const float dcb
float count = 0;
if (hz > 0 && (dca || dcb || dcc)) {
count = float(F_CPU) / hz; // 1x prescaler, TOP for 16MHz base freq.
uint16_t prescaler; // Range of 30.5Hz (65535) 64.5KHz (>31)
uint16_t prescaler; // Range of 30.5Hz (65535) 64.5kHz (>31)
if (count >= 255. * 256.) { prescaler = 1024; SET_CS(5, PRESCALER_1024); }
else if (count >= 255. * 64.) { prescaler = 256; SET_CS(5, PRESCALER_256); }
@@ -257,7 +257,7 @@ uint16_t set_pwm_frequency_hz(const_float_t hz, const float dca, const float dcb
const float pwm_top = round(count); // Get the rounded count
ICR5 = (uint16_t)pwm_top - 1; // Subtract 1 for TOP
OCR5A = pwm_top * ABS(dca); // Update and scale DCs
OCR5A = pwm_top * ABS(dca); // Update and scale DCs
OCR5B = pwm_top * ABS(dcb);
OCR5C = pwm_top * ABS(dcc);
_SET_COM(5, A, dca ? (dca < 0 ? COM_SET_CLEAR : COM_CLEAR_SET) : COM_NORMAL); // Set compare modes
@@ -267,17 +267,17 @@ uint16_t set_pwm_frequency_hz(const_float_t hz, const float dca, const float dcb
SET_WGM(5, FAST_PWM_ICRn); // Fast PWM with ICR5 as TOP
//SERIAL_ECHOLNPGM("Timer 5 Settings:");
//SERIAL_ECHOLNPAIR(" Prescaler=", prescaler);
//SERIAL_ECHOLNPAIR(" TOP=", ICR5);
//SERIAL_ECHOLNPAIR(" OCR5A=", OCR5A);
//SERIAL_ECHOLNPAIR(" OCR5B=", OCR5B);
//SERIAL_ECHOLNPAIR(" OCR5C=", OCR5C);
//SERIAL_ECHOLNPGM(" Prescaler=", prescaler);
//SERIAL_ECHOLNPGM(" TOP=", ICR5);
//SERIAL_ECHOLNPGM(" OCR5A=", OCR5A);
//SERIAL_ECHOLNPGM(" OCR5B=", OCR5B);
//SERIAL_ECHOLNPGM(" OCR5C=", OCR5C);
}
else {
// Restore the default for Timer 5
SET_WGM(5, PWM_PC_8); // PWM 8-bit (Phase Correct)
SET_COMS(5, NORMAL, NORMAL, NORMAL); // Do nothing
SET_CS(5, PRESCALER_64); // 16MHz / 64 = 250KHz
SET_CS(5, PRESCALER_64); // 16MHz / 64 = 250kHz
OCR5A = OCR5B = OCR5C = 0;
}
return round(count);

73
Marlin/src/HAL/AVR/fastio.h
View File

@@ -118,7 +118,7 @@
*/
// Waveform Generation Modes
enum WaveGenMode : char {
enum WaveGenMode : uint8_t {
WGM_NORMAL, // 0
WGM_PWM_PC_8, // 1
WGM_PWM_PC_9, // 2
@@ -138,19 +138,19 @@ enum WaveGenMode : char {
};
// Wavefore Generation Modes (Timer 2 only)
enum WaveGenMode2 : char {
WGM2_NORMAL, // 0
WGM2_PWM_PC, // 1
WGM2_CTC_OCR2A, // 2
WGM2_FAST_PWM, // 3
WGM2_reserved_1, // 4
WGM2_PWM_PC_OCR2A, // 5
WGM2_reserved_2, // 6
WGM2_FAST_PWM_OCR2A, // 7
enum WaveGenMode2 : uint8_t {
WGM2_NORMAL, // 0
WGM2_PWM_PC, // 1
WGM2_CTC_OCR2A, // 2
WGM2_FAST_PWM, // 3
WGM2_reserved_1, // 4
WGM2_PWM_PC_OCR2A, // 5
WGM2_reserved_2, // 6
WGM2_FAST_PWM_OCR2A, // 7
};
// Compare Modes
enum CompareMode : char {
enum CompareMode : uint8_t {
COM_NORMAL, // 0
COM_TOGGLE, // 1 Non-PWM: OCnx ... Both PWM (WGM 9,11,14,15): OCnA only ... else NORMAL
COM_CLEAR_SET, // 2 Non-PWM: OCnx ... Fast PWM: OCnx/Bottom ... PF-FC: OCnx Up/Down
@@ -158,7 +158,7 @@ enum CompareMode : char {
};
// Clock Sources
enum ClockSource : char {
enum ClockSource : uint8_t {
CS_NONE, // 0
CS_PRESCALER_1, // 1
CS_PRESCALER_8, // 2
@@ -170,7 +170,7 @@ enum ClockSource : char {
};
// Clock Sources (Timer 2 only)
enum ClockSource2 : char {
enum ClockSource2 : uint8_t {
CS2_NONE, // 0
CS2_PRESCALER_1, // 1
CS2_PRESCALER_8, // 2
@@ -203,40 +203,33 @@ enum ClockSource2 : char {
TCCR##T##B = (TCCR##T##B & ~(0x3 << WGM##T##2)) | (((int(V) >> 2) & 0x3) << WGM##T##2); \
}while(0)
#define SET_WGM(T,V) _SET_WGM(T,WGM_##V)
// Runtime (see set_pwm_frequency):
#define _SET_WGMnQ(TCCRnQ, V) do{ \
*(TCCRnQ)[0] = (*(TCCRnQ)[0] & ~(0x3 << 0)) | (( int(V) & 0x3) << 0); \
*(TCCRnQ)[1] = (*(TCCRnQ)[1] & ~(0x3 << 3)) | (((int(V) >> 2) & 0x3) << 3); \
}while(0)
// Set Clock Select bits
// Ex: SET_CS3(PRESCALER_64);
#ifdef TCCR2
#define HAS_TCCR2 1
#endif
#define _SET_CS(T,V) (TCCR##T##B = (TCCR##T##B & ~(0x7 << CS##T##0)) | ((int(V) & 0x7) << CS##T##0))
#define _SET_CS0(V) _SET_CS(0,V)
#define _SET_CS1(V) _SET_CS(1,V)
#ifdef TCCR2
#define _SET_CS2(V) (TCCR2 = (TCCR2 & ~(0x7 << CS20)) | (int(V) << CS20))
#else
#define _SET_CS2(V) _SET_CS(2,V)
#endif
#define _SET_CS3(V) _SET_CS(3,V)
#define _SET_CS4(V) _SET_CS(4,V)
#define _SET_CS5(V) _SET_CS(5,V)
#define SET_CS0(V) _SET_CS0(CS_##V)
#define SET_CS1(V) _SET_CS1(CS_##V)
#ifdef TCCR2
#if HAS_TCCR2
#define _SET_CS2(V) (TCCR2 = (TCCR2 & ~(0x7 << CS20)) | (int(V) << CS20))
#define SET_CS2(V) _SET_CS2(CS2_##V)
#else
#define _SET_CS2(V) _SET_CS(2,V)
#define SET_CS2(V) _SET_CS2(CS_##V)
#endif
#define SET_CS3(V) _SET_CS3(CS_##V)
#define SET_CS4(V) _SET_CS4(CS_##V)
#define SET_CS5(V) _SET_CS5(CS_##V)
#define SET_CS(T,V) SET_CS##T(V)
// Runtime (see set_pwm_frequency)
#define _SET_CSn(TCCRnQ, V) do{ \
(*(TCCRnQ)[1] = (*(TCCRnQ[1]) & ~(0x7 << 0)) | ((int(V) & 0x7) << 0)); \
}while(0)
// Set Compare Mode bits
// Ex: SET_COMS(4,CLEAR_SET,CLEAR_SET,CLEAR_SET);
@@ -246,22 +239,6 @@ enum ClockSource2 : char {
#define SET_COMB(T,V) SET_COM(T,B,V)
#define SET_COMC(T,V) SET_COM(T,C,V)
#define SET_COMS(T,V1,V2,V3) do{ SET_COMA(T,V1); SET_COMB(T,V2); SET_COMC(T,V3); }while(0)
// Runtime (see set_pwm_duty)
#define _SET_COMnQ(TCCRnQ, Q, V) do{ \
(*(TCCRnQ)[0] = (*(TCCRnQ)[0] & ~(0x3 << (6-2*(Q)))) | (int(V) << (6-2*(Q)))); \
}while(0)
// Set OCRnQ register
// Runtime (see set_pwm_duty):
#define _SET_OCRnQ(OCRnQ, Q, V) do{ \
(*(OCRnQ)[(Q)] = (0x0000) | (int(V) & 0xFFFF)); \
}while(0)
// Set ICRn register (one per timer)
// Runtime (see set_pwm_frequency)
#define _SET_ICRn(ICRn, V) do{ \
(*(ICRn) = (0x0000) | (int(V) & 0xFFFF)); \
}while(0)
// Set Noise Canceler bit
// Ex: SET_ICNC(2,1)
@@ -284,7 +261,7 @@ enum ClockSource2 : char {
* PWM availability macros
*/
// Determine which harware PWMs are already in use
// Determine which hardware PWMs are already in use
#define _PWM_CHK_FAN_B(P) (P == E0_AUTO_FAN_PIN || P == E1_AUTO_FAN_PIN || P == E2_AUTO_FAN_PIN || P == E3_AUTO_FAN_PIN || P == E4_AUTO_FAN_PIN || P == E5_AUTO_FAN_PIN || P == E6_AUTO_FAN_PIN || P == E7_AUTO_FAN_PIN || P == CHAMBER_AUTO_FAN_PIN || P == COOLER_AUTO_FAN_PIN)
#if PIN_EXISTS(CONTROLLER_FAN)
#define PWM_CHK_FAN_B(P) (_PWM_CHK_FAN_B(P) || P == CONTROLLER_FAN_PIN)
@@ -316,11 +293,11 @@ enum ClockSource2 : char {
#if HAS_MOTOR_CURRENT_PWM
#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
#define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_Z || P == MOTOR_CURRENT_PWM_XY)
#define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_E0 || P == MOTOR_CURRENT_PWM_E1 || P == MOTOR_CURRENT_PWM_Z || P == MOTOR_CURRENT_PWM_XY)
#elif PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
#define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_Z)
#define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_E0 || P == MOTOR_CURRENT_PWM_E1 || P == MOTOR_CURRENT_PWM_Z)
#else
#define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E)
#define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_E0 || P == MOTOR_CURRENT_PWM_E1)
#endif
#else
#define PWM_CHK_MOTOR_CURRENT(P) false

56
Marlin/src/HAL/AVR/inc/SanityCheck.h
View File

@@ -25,25 +25,67 @@
* Test AVR-specific configuration values for errors at compile-time.
*/
/**
* Check for common serial pin conflicts
*/
#define CHECK_SERIAL_PIN(N) ( \
X_STOP_PIN == N || Y_STOP_PIN == N || Z_STOP_PIN == N \
|| X_MIN_PIN == N || Y_MIN_PIN == N || Z_MIN_PIN == N \
|| X_MAX_PIN == N || Y_MAX_PIN == N || Z_MAX_PIN == N \
|| X_STEP_PIN == N || Y_STEP_PIN == N || Z_STEP_PIN == N \
|| X_DIR_PIN == N || Y_DIR_PIN == N || Z_DIR_PIN == N \
|| X_ENA_PIN == N || Y_ENA_PIN == N || Z_ENA_PIN == N \
|| BTN_EN1 == N || BTN_EN2 == N \
)
#if SERIAL_IN_USE(0)
// D0-D1. No known conflicts.
#endif
#if SERIAL_IN_USE(1)
#if NOT_TARGET(__AVR_ATmega644P__, __AVR_ATmega1284P__)
#if CHECK_SERIAL_PIN(18) || CHECK_SERIAL_PIN(19)
#error "Serial Port 1 pin D18 and/or D19 conflicts with another pin on the board."
#endif
#else
#if CHECK_SERIAL_PIN(10) || CHECK_SERIAL_PIN(11)
#error "Serial Port 1 pin D10 and/or D11 conflicts with another pin on the board."
#endif
#endif
#endif
#if SERIAL_IN_USE(2) && (CHECK_SERIAL_PIN(16) || CHECK_SERIAL_PIN(17))
#error "Serial Port 2 pin D16 and/or D17 conflicts with another pin on the board."
#endif
#if SERIAL_IN_USE(3) && (CHECK_SERIAL_PIN(14) || CHECK_SERIAL_PIN(15))
#error "Serial Port 3 pin D14 and/or D15 conflicts with another pin on the board."
#endif
#undef CHECK_SERIAL_PIN
/**
* Checks for FAST PWM
*/
#if ENABLED(FAST_PWM_FAN) && (ENABLED(USE_OCR2A_AS_TOP) && defined(TCCR2))
#error "USE_OCR2A_AS_TOP does not apply to devices with a single output TIMER2"
#if ALL(FAST_PWM_FAN, USE_OCR2A_AS_TOP, HAS_TCCR2)
#error "USE_OCR2A_AS_TOP does not apply to devices with a single output TIMER2."
#endif
/**
* Checks for SOFT PWM
*/
#if HAS_FAN0 && FAN_PIN == 9 && DISABLED(FAN_SOFT_PWM) && ENABLED(SPEAKER)
#error "FAN_PIN 9 Hardware PWM uses Timer 2 which conflicts with Arduino AVR Tone Timer (for SPEAKER)."
#error "Disable SPEAKER or enable FAN_SOFT_PWM."
#endif
/**
* Sanity checks for Spindle / Laser PWM
*/
#if ENABLED(SPINDLE_LASER_PWM)
#if ENABLED(SPINDLE_LASER_USE_PWM)
#include "../ServoTimers.h" // Needed to check timer availability (_useTimer3)
#if SPINDLE_LASER_PWM_PIN == 4 || WITHIN(SPINDLE_LASER_PWM_PIN, 11, 13)
#error "Counter/Timer for SPINDLE_LASER_PWM_PIN is used by a system interrupt."
#elif NUM_SERVOS > 0 && defined(_useTimer3) && (WITHIN(SPINDLE_LASER_PWM_PIN, 2, 3) || SPINDLE_LASER_PWM_PIN == 5)
#error "Counter/Timer for SPINDLE_LASER_PWM_PIN is used by the servo system."
#endif
#elif defined(SPINDLE_LASER_FREQUENCY)
#error "SPINDLE_LASER_FREQUENCY requires SPINDLE_LASER_PWM."
#elif SPINDLE_LASER_FREQUENCY
#error "SPINDLE_LASER_FREQUENCY requires SPINDLE_LASER_USE_PWM."
#endif
/**
@@ -63,3 +105,7 @@
#if ENABLED(POSTMORTEM_DEBUGGING)
#error "POSTMORTEM_DEBUGGING is not supported on AVR boards."
#endif
#if USING_PULLDOWNS
#error "PULLDOWN pin mode is not available on AVR boards."
#endif

4
Marlin/src/HAL/AVR/math.h
View File

@@ -35,7 +35,7 @@
// C B A is longIn1
// D C B A is longIn2
//
static FORCE_INLINE uint16_t MultiU24X32toH16(uint32_t longIn1, uint32_t longIn2) {
FORCE_INLINE static uint16_t MultiU24X32toH16(uint32_t longIn1, uint32_t longIn2) {
uint8_t tmp1;
uint8_t tmp2;
uint16_t intRes;
@@ -89,7 +89,7 @@ static FORCE_INLINE uint16_t MultiU24X32toH16(uint32_t longIn1, uint32_t longIn2
// uses:
// r26 to store 0
// r27 to store the byte 1 of the 24 bit result
static FORCE_INLINE uint16_t MultiU16X8toH16(uint8_t charIn1, uint16_t intIn2) {
FORCE_INLINE static uint16_t MultiU16X8toH16(uint8_t charIn1, uint16_t intIn2) {
uint8_t tmp;
uint16_t intRes;
__asm__ __volatile__ (

67
Marlin/src/HAL/AVR/pinsDebug.h
View File

@@ -2,6 +2,9 @@
* Marlin 3D Printer Firmware
* Copyright (c) 2020 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
@@ -38,7 +41,7 @@
// portModeRegister takes a different argument
#define digitalPinToTimer_DEBUG(p) digitalPinToTimer(p)
#define digitalPinToBitMask_DEBUG(p) digitalPinToBitMask(p)
#define digitalPinToPort_DEBUG(p) digitalPinToPort_Teensy(p)
#define digitalPinToPort_DEBUG(p) digitalPinToPort(p)
#define GET_PINMODE(pin) (*portModeRegister(pin) & digitalPinToBitMask_DEBUG(pin))
#elif AVR_ATmega2560_FAMILY_PLUS_70 // So we can access/display all the pins on boards using more than 70
@@ -71,7 +74,7 @@
#define MULTI_NAME_PAD 26 // space needed to be pretty if not first name assigned to a pin
void PRINT_ARRAY_NAME(uint8_t x) {
char *name_mem_pointer = (char*)pgm_read_ptr(&pin_array[x].name);
PGM_P const name_mem_pointer = (PGM_P)pgm_read_ptr(&pin_array[x].name);
LOOP_L_N(y, MAX_NAME_LENGTH) {
char temp_char = pgm_read_byte(name_mem_pointer + y);
if (temp_char != 0)
@@ -99,7 +102,7 @@ void PRINT_ARRAY_NAME(uint8_t x) {
return true; \
} else return false
#define ABTEST(N) defined(TCCR##N##A) && defined(COM##N##A1)
/**
* Print a pin's PWM status.
@@ -110,7 +113,7 @@ static bool pwm_status(uint8_t pin) {
switch (digitalPinToTimer_DEBUG(pin)) {
#if defined(TCCR0A) && defined(COM0A1)
#if ABTEST(0)
#ifdef TIMER0A
#if !AVR_AT90USB1286_FAMILY // not available in Teensyduino type IDEs
PWM_CASE(0, A);
@@ -119,20 +122,20 @@ static bool pwm_status(uint8_t pin) {
PWM_CASE(0, B);
#endif
#if defined(TCCR1A) && defined(COM1A1)
#if ABTEST(1)
PWM_CASE(1, A);
PWM_CASE(1, B);
#if defined(COM1C1) && defined(TIMER1C)
PWM_CASE(1, C);
#endif
#if defined(COM1C1) && defined(TIMER1C)
PWM_CASE(1, C);
#endif
#endif
#if defined(TCCR2A) && defined(COM2A1)
#if ABTEST(2)
PWM_CASE(2, A);
PWM_CASE(2, B);
#endif
#if defined(TCCR3A) && defined(COM3A1)
#if ABTEST(3)
PWM_CASE(3, A);
PWM_CASE(3, B);
#ifdef COM3C1
@@ -146,7 +149,7 @@ static bool pwm_status(uint8_t pin) {
PWM_CASE(4, C);
#endif
#if defined(TCCR5A) && defined(COM5A1)
#if ABTEST(5)
PWM_CASE(5, A);
PWM_CASE(5, B);
PWM_CASE(5, C);
@@ -163,16 +166,16 @@ static bool pwm_status(uint8_t pin) {
const volatile uint8_t* const PWM_other[][3] PROGMEM = {
{ &TCCR0A, &TCCR0B, &TIMSK0 },
{ &TCCR1A, &TCCR1B, &TIMSK1 },
#if defined(TCCR2A) && defined(COM2A1)
#if ABTEST(2)
{ &TCCR2A, &TCCR2B, &TIMSK2 },
#endif
#if defined(TCCR3A) && defined(COM3A1)
#if ABTEST(3)
{ &TCCR3A, &TCCR3B, &TIMSK3 },
#endif
#ifdef TCCR4A
{ &TCCR4A, &TCCR4B, &TIMSK4 },
#endif
#if defined(TCCR5A) && defined(COM5A1)
#if ABTEST(5)
{ &TCCR5A, &TCCR5B, &TIMSK5 },
#endif
};
@@ -192,11 +195,11 @@ const volatile uint8_t* const PWM_OCR[][3] PROGMEM = {
{ (const uint8_t*)&OCR1A, (const uint8_t*)&OCR1B, 0 },
#endif
#if defined(TCCR2A) && defined(COM2A1)
#if ABTEST(2)
{ &OCR2A, &OCR2B, 0 },
#endif
#if defined(TCCR3A) && defined(COM3A1)
#if ABTEST(3)
#ifdef COM3C1
{ (const uint8_t*)&OCR3A, (const uint8_t*)&OCR3B, (const uint8_t*)&OCR3C },
#else
@@ -208,7 +211,7 @@ const volatile uint8_t* const PWM_OCR[][3] PROGMEM = {
{ (const uint8_t*)&OCR4A, (const uint8_t*)&OCR4B, (const uint8_t*)&OCR4C },
#endif
#if defined(TCCR5A) && defined(COM5A1)
#if ABTEST(5)
{ (const uint8_t*)&OCR5A, (const uint8_t*)&OCR5B, (const uint8_t*)&OCR5C },
#endif
};
@@ -235,9 +238,9 @@ static void print_is_also_tied() { SERIAL_ECHOPGM(" is also tied to this pin");
inline void com_print(const uint8_t N, const uint8_t Z) {
const uint8_t *TCCRA = (uint8_t*)TCCR_A(N);
SERIAL_ECHOPAIR(" COM", AS_CHAR('0' + N));
SERIAL_ECHOPGM(" COM", AS_DIGIT(N));
SERIAL_CHAR(Z);
SERIAL_ECHOPAIR(": ", int((*TCCRA >> (6 - Z * 2)) & 0x03));
SERIAL_ECHOPGM(": ", int((*TCCRA >> (6 - Z * 2)) & 0x03));
}
void timer_prefix(uint8_t T, char L, uint8_t N) { // T - timer L - pwm N - WGM bit layout
@@ -247,7 +250,7 @@ void timer_prefix(uint8_t T, char L, uint8_t N) { // T - timer L - pwm N -
uint8_t WGM = (((*TCCRB & _BV(WGM_2)) >> 1) | (*TCCRA & (_BV(WGM_0) | _BV(WGM_1))));
if (N == 4) WGM |= ((*TCCRB & _BV(WGM_3)) >> 1);
SERIAL_ECHOPAIR(" TIMER", AS_CHAR(T + '0'));
SERIAL_ECHOPGM(" TIMER", AS_DIGIT(T));
SERIAL_CHAR(L);
SERIAL_ECHO_SP(3);
@@ -259,14 +262,14 @@ void timer_prefix(uint8_t T, char L, uint8_t N) { // T - timer L - pwm N -
const uint16_t *OCRVAL16 = (uint16_t*)OCR_VAL(T, L - 'A');
PWM_PRINT(*OCRVAL16);
}
SERIAL_ECHOPAIR(" WGM: ", WGM);
SERIAL_ECHOPGM(" WGM: ", WGM);
com_print(T,L);
SERIAL_ECHOPAIR(" CS: ", (*TCCRB & (_BV(CS_0) | _BV(CS_1) | _BV(CS_2)) ));
SERIAL_ECHOPAIR(" TCCR", AS_CHAR(T + '0'), "A: ", *TCCRA);
SERIAL_ECHOPAIR(" TCCR", AS_CHAR(T + '0'), "B: ", *TCCRB);
SERIAL_ECHOPGM(" CS: ", (*TCCRB & (_BV(CS_0) | _BV(CS_1) | _BV(CS_2)) ));
SERIAL_ECHOPGM(" TCCR", AS_DIGIT(T), "A: ", *TCCRA);
SERIAL_ECHOPGM(" TCCR", AS_DIGIT(T), "B: ", *TCCRB);
const uint8_t *TMSK = (uint8_t*)TIMSK(T);
SERIAL_ECHOPAIR(" TIMSK", AS_CHAR(T + '0'), ": ", *TMSK);
SERIAL_ECHOPGM(" TIMSK", AS_DIGIT(T), ": ", *TMSK);
const uint8_t OCIE = L - 'A' + 1;
if (N == 3) { if (WGM == 0 || WGM == 2 || WGM == 4 || WGM == 6) err_is_counter(); }
@@ -278,7 +281,7 @@ void timer_prefix(uint8_t T, char L, uint8_t N) { // T - timer L - pwm N -
static void pwm_details(uint8_t pin) {
switch (digitalPinToTimer_DEBUG(pin)) {
#if defined(TCCR0A) && defined(COM0A1)
#if ABTEST(0)
#ifdef TIMER0A
#if !AVR_AT90USB1286_FAMILY // not available in Teensyduino type IDEs
case TIMER0A: timer_prefix(0, 'A', 3); break;
@@ -287,7 +290,7 @@ static void pwm_details(uint8_t pin) {
case TIMER0B: timer_prefix(0, 'B', 3); break;
#endif
#if defined(TCCR1A) && defined(COM1A1)
#if ABTEST(1)
case TIMER1A: timer_prefix(1, 'A', 4); break;
case TIMER1B: timer_prefix(1, 'B', 4); break;
#if defined(COM1C1) && defined(TIMER1C)
@@ -295,12 +298,12 @@ static void pwm_details(uint8_t pin) {
#endif
#endif
#if defined(TCCR2A) && defined(COM2A1)
#if ABTEST(2)
case TIMER2A: timer_prefix(2, 'A', 3); break;
case TIMER2B: timer_prefix(2, 'B', 3); break;
#endif
#if defined(TCCR3A) && defined(COM3A1)
#if ABTEST(3)
case TIMER3A: timer_prefix(3, 'A', 4); break;
case TIMER3B: timer_prefix(3, 'B', 4); break;
#ifdef COM3C1
@@ -314,7 +317,7 @@ static void pwm_details(uint8_t pin) {
case TIMER4C: timer_prefix(4, 'C', 4); break;
#endif
#if defined(TCCR5A) && defined(COM5A1)
#if ABTEST(5)
case TIMER5A: timer_prefix(5, 'A', 4); break;
case TIMER5B: timer_prefix(5, 'B', 4); break;
case TIMER5C: timer_prefix(5, 'C', 4); break;
@@ -348,7 +351,6 @@ static void pwm_details(uint8_t pin) {
#endif
} // pwm_details
#ifndef digitalRead_mod // Use Teensyduino's version of digitalRead - it doesn't disable the PWMs
int digitalRead_mod(const int8_t pin) { // same as digitalRead except the PWM stop section has been removed
const uint8_t port = digitalPinToPort_DEBUG(pin);
@@ -393,3 +395,6 @@ static void pwm_details(uint8_t pin) {
#endif
#define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%3d "), p); SERIAL_ECHO(buffer); }while(0)
#define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d) "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
#undef ABTEST

3
Marlin/src/HAL/AVR/pinsDebug_Teensyduino.h
View File

@@ -2,6 +2,9 @@
* Marlin 3D Printer Firmware
* Copyright (c) 2020 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

3
Marlin/src/HAL/AVR/pinsDebug_plus_70.h
View File

@@ -2,6 +2,9 @@
* Marlin 3D Printer Firmware
* Copyright (c) 2020 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

44
Marlin/src/HAL/AVR/timers.h
View File

@@ -34,14 +34,14 @@ typedef uint16_t hal_timer_t;
#define HAL_TIMER_RATE ((F_CPU) / 8) // i.e., 2MHz or 2.5MHz
#ifndef STEP_TIMER_NUM
#define STEP_TIMER_NUM 1
#ifndef MF_TIMER_STEP
#define MF_TIMER_STEP 1
#endif
#ifndef PULSE_TIMER_NUM
#define PULSE_TIMER_NUM STEP_TIMER_NUM
#ifndef MF_TIMER_PULSE
#define MF_TIMER_PULSE MF_TIMER_STEP
#endif
#ifndef TEMP_TIMER_NUM
#define TEMP_TIMER_NUM 0
#ifndef MF_TIMER_TEMP
#define MF_TIMER_TEMP 0
#endif
#define TEMP_TIMER_FREQUENCY ((F_CPU) / 64.0 / 256.0)
@@ -58,13 +58,13 @@ typedef uint16_t hal_timer_t;
#define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
#define STEPPER_ISR_ENABLED() TEST(TIMSK1, OCIE1A)
#define ENABLE_TEMPERATURE_INTERRUPT() SBI(TIMSK0, OCIE0B)
#define DISABLE_TEMPERATURE_INTERRUPT() CBI(TIMSK0, OCIE0B)
#define TEMPERATURE_ISR_ENABLED() TEST(TIMSK0, OCIE0B)
#define ENABLE_TEMPERATURE_INTERRUPT() SBI(TIMSK0, OCIE0A)
#define DISABLE_TEMPERATURE_INTERRUPT() CBI(TIMSK0, OCIE0A)
#define TEMPERATURE_ISR_ENABLED() TEST(TIMSK0, OCIE0A)
FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
switch (timer_num) {
case STEP_TIMER_NUM:
case MF_TIMER_STEP:
// waveform generation = 0100 = CTC
SET_WGM(1, CTC_OCRnA);
@@ -84,10 +84,10 @@ FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
TCNT1 = 0;
break;
case TEMP_TIMER_NUM:
case MF_TIMER_TEMP:
// Use timer0 for temperature measurement
// Interleave temperature interrupt with millies interrupt
OCR0B = 128;
OCR0A = 128;
break;
}
}
@@ -109,12 +109,12 @@ FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
* (otherwise, characters will be lost due to UART overflow).
* Then: Stepper, Endstops, Temperature, and -finally- all others.
*/
#define HAL_timer_isr_prologue(TIMER_NUM)
#define HAL_timer_isr_epilogue(TIMER_NUM)
#define HAL_timer_isr_prologue(T) NOOP
#define HAL_timer_isr_epilogue(T) NOOP
/* 18 cycles maximum latency */
#ifndef HAL_STEP_TIMER_ISR
/* 18 cycles maximum latency */
#define HAL_STEP_TIMER_ISR() \
extern "C" void TIMER1_COMPA_vect() __attribute__ ((signal, naked, used, externally_visible)); \
extern "C" void TIMER1_COMPA_vect_bottom() asm ("TIMER1_COMPA_vect_bottom") __attribute__ ((used, externally_visible, noinline)); \
@@ -180,7 +180,7 @@ void TIMER1_COMPA_vect() { \
: \
: [timsk0] "i" ((uint16_t)&TIMSK0), \
[timsk1] "i" ((uint16_t)&TIMSK1), \
[msk0] "M" ((uint8_t)(1<<OCIE0B)),\
[msk0] "M" ((uint8_t)(1<<OCIE0A)),\
[msk1] "M" ((uint8_t)(1<<OCIE1A)) \
: \
); \
@@ -193,9 +193,9 @@ void TIMER1_COMPA_vect_bottom()
/* 14 cycles maximum latency */
#define HAL_TEMP_TIMER_ISR() \
extern "C" void TIMER0_COMPB_vect() __attribute__ ((signal, naked, used, externally_visible)); \
extern "C" void TIMER0_COMPB_vect_bottom() asm ("TIMER0_COMPB_vect_bottom") __attribute__ ((used, externally_visible, noinline)); \
void TIMER0_COMPB_vect() { \
extern "C" void TIMER0_COMPA_vect() __attribute__ ((signal, naked, used, externally_visible)); \
extern "C" void TIMER0_COMPA_vect_bottom() asm ("TIMER0_COMPA_vect_bottom") __attribute__ ((used, externally_visible, noinline)); \
void TIMER0_COMPA_vect() { \
__asm__ __volatile__ ( \
A("push r16") /* 2 Save R16 */ \
A("in r16, __SREG__") /* 1 Get SREG */ \
@@ -223,7 +223,7 @@ void TIMER0_COMPB_vect() { \
A("push r30") \
A("push r31") \
A("clr r1") /* C runtime expects this register to be 0 */ \
A("call TIMER0_COMPB_vect_bottom") /* Call the bottom handler - No inlining allowed, otherwise registers used are not saved */ \
A("call TIMER0_COMPA_vect_bottom") /* Call the bottom handler - No inlining allowed, otherwise registers used are not saved */ \
A("pop r31") \
A("pop r30") \
A("pop r27") \
@@ -251,10 +251,10 @@ void TIMER0_COMPB_vect() { \
A("reti") /* 4 Return from interrupt */ \
: \
: [timsk0] "i"((uint16_t)&TIMSK0), \
[msk0] "M" ((uint8_t)(1<<OCIE0B)) \
[msk0] "M" ((uint8_t)(1<<OCIE0A)) \
: \
); \
} \
void TIMER0_COMPB_vect_bottom()
void TIMER0_COMPA_vect_bottom()
#endif // HAL_TEMP_TIMER_ISR

6
Marlin/src/HAL/AVR/u8g_com_HAL_AVR_sw_spi.cpp
View File

@@ -62,10 +62,10 @@
#include "../shared/Marduino.h"
#include "../shared/Delay.h"
#include <U8glib.h>
#include <U8glib-HAL.h>
uint8_t u8g_bitData, u8g_bitNotData, u8g_bitClock, u8g_bitNotClock;
volatile uint8_t *u8g_outData, *u8g_outClock;
static uint8_t u8g_bitData, u8g_bitNotData, u8g_bitClock, u8g_bitNotClock;
static volatile uint8_t *u8g_outData, *u8g_outClock;
static void u8g_com_arduino_init_shift_out(uint8_t dataPin, uint8_t clockPin) {
u8g_outData = portOutputRegister(digitalPinToPort(dataPin));

70
Marlin/src/HAL/AVR/watchdog.cpp
View File

@@ -1,70 +0,0 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
*
*/
#ifdef __AVR__
#include "../../inc/MarlinConfig.h"
#if ENABLED(USE_WATCHDOG)
#include "watchdog.h"
#include "../../MarlinCore.h"
// Initialize watchdog with 8s timeout, if possible. Otherwise, make it 4s.
void watchdog_init() {
#if ENABLED(WATCHDOG_DURATION_8S) && defined(WDTO_8S)
#define WDTO_NS WDTO_8S
#else
#define WDTO_NS WDTO_4S
#endif
#if ENABLED(WATCHDOG_RESET_MANUAL)
// Enable the watchdog timer, but only for the interrupt.
// Take care, as this requires the correct order of operation, with interrupts disabled.
// See the datasheet of any AVR chip for details.
wdt_reset();
cli();
_WD_CONTROL_REG = _BV(_WD_CHANGE_BIT) | _BV(WDE);
_WD_CONTROL_REG = _BV(WDIE) | (WDTO_NS & 0x07) | ((WDTO_NS & 0x08) << 2); // WDTO_NS directly does not work. bit 0-2 are consecutive in the register but the highest value bit is at bit 5
// So worked for up to WDTO_2S
sei();
wdt_reset();
#else
wdt_enable(WDTO_NS); // The function handles the upper bit correct.
#endif
//delay(10000); // test it!
}
//===========================================================================
//=================================== ISR ===================================
//===========================================================================
// Watchdog timer interrupt, called if main program blocks >4sec and manual reset is enabled.
#if ENABLED(WATCHDOG_RESET_MANUAL)
ISR(WDT_vect) {
sei(); // With the interrupt driven serial we need to allow interrupts.
SERIAL_ERROR_MSG(STR_WATCHDOG_FIRED);
minkill(); // interrupt-safe final kill and infinite loop
}
#endif
#endif // USE_WATCHDOG
#endif // __AVR__

143
Marlin/src/HAL/DUE/HAL.cpp
View File

@@ -25,7 +25,7 @@
#ifdef ARDUINO_ARCH_SAM
#include "../../inc/MarlinConfig.h"
#include "HAL.h"
#include "../../MarlinCore.h"
#include <Wire.h>
#include "usb/usb_task.h"
@@ -34,39 +34,33 @@
// Public Variables
// ------------------------
uint16_t HAL_adc_result;
uint16_t MarlinHAL::adc_result;
// ------------------------
// Public functions
// ------------------------
TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial());
#if ENABLED(POSTMORTEM_DEBUGGING)
extern void install_min_serial();
#endif
// HAL initialization task
void HAL_init() {
// Initialize the USB stack
void MarlinHAL::init() {
#if ENABLED(SDSUPPORT)
OUT_WRITE(SDSS, HIGH); // Try to set SDSS inactive before any other SPI users start up
#endif
usb_task_init();
usb_task_init(); // Initialize the USB stack
TERN_(POSTMORTEM_DEBUGGING, install_min_serial()); // Install the min serial handler
}
// HAL idle task
void HAL_idletask() {
// Perform USB stack housekeeping
usb_task_idle();
void MarlinHAL::init_board() {
#ifdef BOARD_INIT
BOARD_INIT();
#endif
}
// Disable interrupts
void cli() { noInterrupts(); }
void MarlinHAL::idletask() { usb_task_idle(); } // Perform USB stack housekeeping
// Enable interrupts
void sei() { interrupts(); }
void HAL_clear_reset_source() { }
uint8_t HAL_get_reset_source() {
uint8_t MarlinHAL::get_reset_source() {
switch ((RSTC->RSTC_SR >> 8) & 0x07) {
case 0: return RST_POWER_ON;
case 1: return RST_BACKUP;
@@ -77,13 +71,105 @@ uint8_t HAL_get_reset_source() {
}
}
void HAL_reboot() { rstc_start_software_reset(RSTC); }
void MarlinHAL::reboot() { rstc_start_software_reset(RSTC); }
void _delay_ms(const int delay_ms) {
// Todo: port for Due?
delay(delay_ms);
// ------------------------
// Watchdog Timer
// ------------------------
#if ENABLED(USE_WATCHDOG)
// Initialize watchdog - On SAM3X, Watchdog was already configured
// and enabled or disabled at startup, so no need to reconfigure it
// here.
void MarlinHAL::watchdog_init() { WDT_Restart(WDT); } // Reset watchdog to start clean
// Reset watchdog. MUST be called at least every 4 seconds after the
// first watchdog_init or AVR will go into emergency procedures.
void MarlinHAL::watchdog_refresh() { watchdogReset(); }
#endif
// Override Arduino runtime to either config or disable the watchdog
//
// We need to configure the watchdog as soon as possible in the boot
// process, because watchdog initialization at hardware reset on SAM3X8E
// is unreliable, and there is risk of unintended resets if we delay
// that initialization to a later time.
void watchdogSetup() {
#if ENABLED(USE_WATCHDOG)
// 4 seconds timeout
uint32_t timeout = TERN(WATCHDOG_DURATION_8S, 8000, 4000);
// Calculate timeout value in WDT counter ticks: This assumes
// the slow clock is running at 32.768 kHz watchdog
// frequency is therefore 32768 / 128 = 256 Hz
timeout = (timeout << 8) / 1000;
if (timeout == 0)
timeout = 1;
else if (timeout > 0xFFF)
timeout = 0xFFF;
// We want to enable the watchdog with the specified timeout
uint32_t value =
WDT_MR_WDV(timeout) | // With the specified timeout
WDT_MR_WDD(timeout) | // and no invalid write window
#if !(SAMV70 || SAMV71 || SAME70 || SAMS70)
WDT_MR_WDRPROC | // WDT fault resets processor only - We want
// to keep PIO controller state
#endif
WDT_MR_WDDBGHLT | // WDT stops in debug state.
WDT_MR_WDIDLEHLT; // WDT stops in idle state.
#if ENABLED(WATCHDOG_RESET_MANUAL)
// We enable the watchdog timer, but only for the interrupt.
// Configure WDT to only trigger an interrupt
value |= WDT_MR_WDFIEN; // Enable WDT fault interrupt.
// Disable WDT interrupt (just in case, to avoid triggering it!)
NVIC_DisableIRQ(WDT_IRQn);
// We NEED memory barriers to ensure Interrupts are actually disabled!
// ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
__DSB();
__ISB();
// Initialize WDT with the given parameters
WDT_Enable(WDT, value);
// Configure and enable WDT interrupt.
NVIC_ClearPendingIRQ(WDT_IRQn);
NVIC_SetPriority(WDT_IRQn, 0); // Use highest priority, so we detect all kinds of lockups
NVIC_EnableIRQ(WDT_IRQn);
#else
// a WDT fault triggers a reset
value |= WDT_MR_WDRSTEN;
// Initialize WDT with the given parameters
WDT_Enable(WDT, value);
#endif
// Reset the watchdog
WDT_Restart(WDT);
#else
// Make sure to completely disable the Watchdog
WDT_Disable(WDT);
#endif
}
// ------------------------
// Free Memory Accessor
// ------------------------
extern "C" {
extern unsigned int _ebss; // end of bss section
}
@@ -95,18 +181,9 @@ int freeMemory() {
}
// ------------------------
// ADC
// Serial Ports
// ------------------------
void HAL_adc_start_conversion(const uint8_t ch) {
HAL_adc_result = analogRead(ch);
}
uint16_t HAL_adc_get_result() {
// nop
return HAL_adc_result;
}
// Forward the default serial ports
#if USING_HW_SERIAL0
DefaultSerial1 MSerial0(false, Serial);

162
Marlin/src/HAL/DUE/HAL.h
View File

@@ -32,12 +32,15 @@
#include "../shared/math_32bit.h"
#include "../shared/HAL_SPI.h"
#include "fastio.h"
#include "watchdog.h"
#include <stdint.h>
#include "../../core/serial_hook.h"
// ------------------------
// Serial ports
// ------------------------
typedef ForwardSerial1Class< decltype(Serial) > DefaultSerial1;
typedef ForwardSerial1Class< decltype(Serial1) > DefaultSerial2;
typedef ForwardSerial1Class< decltype(Serial2) > DefaultSerial3;
@@ -50,13 +53,12 @@ extern DefaultSerial4 MSerial3;
#define _MSERIAL(X) MSerial##X
#define MSERIAL(X) _MSERIAL(X)
// Define MYSERIAL1/2 before MarlinSerial includes!
#if SERIAL_PORT == -1 || ENABLED(EMERGENCY_PARSER)
#define MYSERIAL1 customizedSerial1
#elif WITHIN(SERIAL_PORT, 0, 3)
#define MYSERIAL1 MSERIAL(SERIAL_PORT)
#else
#error "The required SERIAL_PORT must be from 0 to 3. You can also use -1 if the board supports Native USB."
#error "The required SERIAL_PORT must be from 0 to 3, or -1 for USB Serial."
#endif
#ifdef SERIAL_PORT_2
@@ -65,7 +67,17 @@ extern DefaultSerial4 MSerial3;
#elif WITHIN(SERIAL_PORT_2, 0, 3)
#define MYSERIAL2 MSERIAL(SERIAL_PORT_2)
#else
#error "SERIAL_PORT_2 must be from 0 to 3. You can also use -1 if the board supports Native USB."
#error "SERIAL_PORT_2 must be from 0 to 3, or -1 for USB Serial."
#endif
#endif
#ifdef SERIAL_PORT_3
#if SERIAL_PORT_3 == -1 || ENABLED(EMERGENCY_PARSER)
#define MYSERIAL3 customizedSerial3
#elif WITHIN(SERIAL_PORT_3, 0, 3)
#define MYSERIAL3 MSERIAL(SERIAL_PORT_3)
#else
#error "SERIAL_PORT_3 must be from 0 to 3, or -1 for USB Serial."
#endif
#endif
@@ -78,67 +90,48 @@ extern DefaultSerial4 MSerial3;
#endif
#ifdef LCD_SERIAL_PORT
#if LCD_SERIAL_PORT == -1
#define LCD_SERIAL lcdSerial
#elif WITHIN(LCD_SERIAL_PORT, 0, 3)
#if WITHIN(LCD_SERIAL_PORT, 0, 3)
#define LCD_SERIAL MSERIAL(LCD_SERIAL_PORT)
#else
#error "LCD_SERIAL_PORT must be from 0 to 3. You can also use -1 if the board supports Native USB."
#error "LCD_SERIAL_PORT must be from 0 to 3."
#endif
#endif
#include "MarlinSerial.h"
#include "MarlinSerialUSB.h"
// On AVR this is in math.h?
#define square(x) ((x)*(x))
// ------------------------
// Types
// ------------------------
typedef int8_t pin_t;
#define SHARED_SERVOS HAS_SERVOS
#define HAL_SERVO_LIB Servo
#define SHARED_SERVOS HAS_SERVOS // Use shared/servos.cpp
class Servo;
typedef Servo hal_servo_t;
//
// Interrupts
//
#define CRITICAL_SECTION_START() uint32_t primask = __get_PRIMASK(); __disable_irq()
#define CRITICAL_SECTION_END() if (!primask) __enable_irq()
#define ISRS_ENABLED() (!__get_PRIMASK())
#define ENABLE_ISRS() __enable_irq()
#define DISABLE_ISRS() __disable_irq()
#define sei() interrupts()
#define cli() noInterrupts()
void cli(); // Disable interrupts
void sei(); // Enable interrupts
void HAL_clear_reset_source(); // clear reset reason
uint8_t HAL_get_reset_source(); // get reset reason
void HAL_reboot();
#define CRITICAL_SECTION_START() const bool _irqon = hal.isr_state(); hal.isr_off()
#define CRITICAL_SECTION_END() if (_irqon) hal.isr_on()
//
// ADC
//
extern uint16_t HAL_adc_result; // result of last ADC conversion
#define HAL_ADC_VREF 3.3
#define HAL_ADC_RESOLUTION 10
#ifndef analogInputToDigitalPin
#define analogInputToDigitalPin(p) ((p < 12U) ? (p) + 54U : -1)
#endif
#define HAL_ANALOG_SELECT(ch)
inline void HAL_adc_init() {}//todo
#define HAL_ADC_VREF 3.3
#define HAL_ADC_RESOLUTION 10
#define HAL_START_ADC(ch) HAL_adc_start_conversion(ch)
#define HAL_READ_ADC() HAL_adc_result
#define HAL_ADC_READY() true
void HAL_adc_start_conversion(const uint8_t ch);
uint16_t HAL_adc_get_result();
//
// Pin Map
// Pin Mapping for M42, M43, M226
//
#define GET_PIN_MAP_PIN(index) index
#define GET_PIN_MAP_INDEX(pin) pin
@@ -147,30 +140,19 @@ uint16_t HAL_adc_get_result();
//
// Tone
//
void toneInit();
void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration=0);
void noTone(const pin_t _pin);
// Enable hooks into idle and setup for HAL
#define HAL_IDLETASK 1
void HAL_idletask();
void HAL_init();
//
// Utility functions
//
void _delay_ms(const int delay);
// ------------------------
// Class Utilities
// ------------------------
#pragma GCC diagnostic push
#if GCC_VERSION <= 50000
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wunused-function"
#endif
int freeMemory();
#if GCC_VERSION <= 50000
#pragma GCC diagnostic pop
#endif
#pragma GCC diagnostic pop
#ifdef __cplusplus
extern "C" {
@@ -179,3 +161,73 @@ char *dtostrf(double __val, signed char __width, unsigned char __prec, char *__s
#ifdef __cplusplus
}
#endif
// Return free RAM between end of heap (or end bss) and whatever is current
int freeMemory();
// ------------------------
// MarlinHAL Class
// ------------------------
class MarlinHAL {
public:
// Earliest possible init, before setup()
MarlinHAL() {}
// Watchdog
static void watchdog_init() IF_DISABLED(USE_WATCHDOG, {});
static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
static void init(); // Called early in setup()
static void init_board(); // Called less early in setup()
static void reboot(); // Restart the firmware
// Interrupts
static bool isr_state() { return !__get_PRIMASK(); }
static void isr_on() { __enable_irq(); }
static void isr_off() { __disable_irq(); }
static void delay_ms(const int ms) { delay(ms); }
// Tasks, called from idle()
static void idletask();
// Reset
static uint8_t get_reset_source();
static void clear_reset_source() {}
// Free SRAM
static int freeMemory() { return ::freeMemory(); }
//
// ADC Methods
//
static uint16_t adc_result;
// Called by Temperature::init once at startup
static void adc_init() {}
// Called by Temperature::init for each sensor at startup
static void adc_enable(const uint8_t /*ch*/) {}
// Begin ADC sampling on the given channel. Called from Temperature::isr!
static void adc_start(const uint8_t ch) { adc_result = analogRead(ch); }
// Is the ADC ready for reading?
static bool adc_ready() { return true; }
// The current value of the ADC register
static uint16_t adc_value() { return adc_result; }
/**
* Set the PWM duty cycle for the pin to the given value.
* No inverting the duty cycle in this HAL.
* No changing the maximum size of the provided value to enable finer PWM duty control in this HAL.
*/
static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
analogWrite(pin, v);
}
};

28
Marlin/src/HAL/DUE/HAL_SPI.cpp
View File

@@ -31,8 +31,6 @@
/**
* HAL for Arduino Due and compatible (SAM3X8E)
*
* For ARDUINO_ARCH_SAM
*/
#ifdef ARDUINO_ARCH_SAM
@@ -240,7 +238,7 @@
}
// all the others
static uint32_t spiDelayCyclesX4 = 4 * (F_CPU) / 1000000; // 4µs => 125khz
static uint16_t spiDelayNS = 4000; // 4000ns => 125khz
static uint8_t spiTransferX(uint8_t b) { // using Mode 0
int bits = 8;
@@ -249,12 +247,12 @@
b <<= 1; // little setup time
WRITE(SD_SCK_PIN, HIGH);
DELAY_CYCLES(spiDelayCyclesX4);
DELAY_NS_VAR(spiDelayNS);
b |= (READ(SD_MISO_PIN) != 0);
WRITE(SD_SCK_PIN, LOW);
DELAY_CYCLES(spiDelayCyclesX4);
DELAY_NS_VAR(spiDelayNS);
} while (--bits);
return b;
}
@@ -437,7 +435,7 @@
} while (--todo);
}
// Pointers to generic functions for block tranfers
// Pointers to generic functions for block transfers
static pfnSpiTxBlock spiTxBlock = (pfnSpiTxBlock)spiTxBlockX;
static pfnSpiRxBlock spiRxBlock = (pfnSpiRxBlock)spiRxBlockX;
@@ -510,7 +508,7 @@
spiRxBlock = (pfnSpiRxBlock)spiRxBlockX;
break;
default:
spiDelayCyclesX4 = ((F_CPU) / 1000000) >> (6 - spiRate) << 2; // spiRate of 2 gives the maximum error with current CPU
spiDelayNS = 4000 >> (6 - spiRate); // spiRate of 2 gives the maximum error with current CPU
spiTransferTx = (pfnSpiTransfer)spiTransferX;
spiTransferRx = (pfnSpiTransfer)spiTransferX;
spiTxBlock = (pfnSpiTxBlock)spiTxBlockX;
@@ -594,18 +592,14 @@
SPI_Configure(SPI0, ID_SPI0, SPI_MR_MSTR | SPI_MR_MODFDIS | SPI_MR_PS);
SPI_Enable(SPI0);
SET_OUTPUT(DAC0_SYNC);
SET_OUTPUT(DAC0_SYNC_PIN);
#if HAS_MULTI_EXTRUDER
SET_OUTPUT(DAC1_SYNC);
WRITE(DAC1_SYNC, HIGH);
OUT_WRITE(DAC1_SYNC_PIN, HIGH);
#endif
SET_OUTPUT(SPI_EEPROM1_CS);
SET_OUTPUT(SPI_EEPROM2_CS);
SET_OUTPUT(SPI_FLASH_CS);
WRITE(DAC0_SYNC, HIGH);
WRITE(SPI_EEPROM1_CS, HIGH);
WRITE(SPI_EEPROM2_CS, HIGH);
WRITE(SPI_FLASH_CS, HIGH);
WRITE(DAC0_SYNC_PIN, HIGH);
OUT_WRITE(SPI_EEPROM1_CS_PIN, HIGH);
OUT_WRITE(SPI_EEPROM2_CS_PIN, HIGH);
OUT_WRITE(SPI_FLASH_CS_PIN, HIGH);
WRITE(SD_SS_PIN, HIGH);
OUT_WRITE(SDSS, LOW);

2
Marlin/src/HAL/DUE/InterruptVectors.cpp
View File

@@ -41,7 +41,7 @@
practice, we need alignment to 256 bytes to make this work in all
cases */
__attribute__ ((aligned(256)))
static DeviceVectors ram_tab = { nullptr };
static DeviceVectors ram_tab[61] = { nullptr };
/**
* This function checks if the exception/interrupt table is already in SRAM or not.

7
Marlin/src/HAL/STM32/watchdog.h → Marlin/src/HAL/DUE/MarlinSPI.h
View File

@@ -1,6 +1,6 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
* Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
@@ -21,5 +21,6 @@
*/
#pragma once
void watchdog_init();
void HAL_watchdog_refresh();
#include <SPI.h>
using MarlinSPI = SPIClass;

11
Marlin/src/HAL/DUE/MarlinSerial.cpp
View File

@@ -406,7 +406,7 @@ size_t MarlinSerial<Cfg>::write(const uint8_t c) {
const uint8_t i = (tx_buffer.head + 1) & (Cfg::TX_SIZE - 1);
// If global interrupts are disabled (as the result of being called from an ISR)...
if (!ISRS_ENABLED()) {
if (!hal.isr_state()) {
// Make room by polling if it is possible to transmit, and do so!
while (i == tx_buffer.tail) {
@@ -454,7 +454,7 @@ void MarlinSerial<Cfg>::flushTX() {
if (!_written) return;
// If global interrupts are disabled (as the result of being called from an ISR)...
if (!ISRS_ENABLED()) {
if (!hal.isr_state()) {
// Wait until everything was transmitted - We must do polling, as interrupts are disabled
while (tx_buffer.head != tx_buffer.tail || !(HWUART->UART_SR & UART_SR_TXEMPTY)) {
@@ -478,7 +478,7 @@ void MarlinSerial<Cfg>::flushTX() {
// If not using the USB port as serial port
#if defined(SERIAL_PORT) && SERIAL_PORT >= 0
template class MarlinSerial< MarlinSerialCfg<SERIAL_PORT> >;
MSerialT customizedSerial1(MarlinSerialCfg<SERIAL_PORT>::EMERGENCYPARSER);
MSerialT1 customizedSerial1(MarlinSerialCfg<SERIAL_PORT>::EMERGENCYPARSER);
#endif
#if defined(SERIAL_PORT_2) && SERIAL_PORT_2 >= 0
@@ -486,4 +486,9 @@ void MarlinSerial<Cfg>::flushTX() {
MSerialT2 customizedSerial2(MarlinSerialCfg<SERIAL_PORT_2>::EMERGENCYPARSER);
#endif
#if defined(SERIAL_PORT_3) && SERIAL_PORT_3 >= 0
template class MarlinSerial< MarlinSerialCfg<SERIAL_PORT_3> >;
MSerialT3 customizedSerial3(MarlinSerialCfg<SERIAL_PORT_3>::EMERGENCYPARSER);
#endif
#endif // ARDUINO_ARCH_SAM

11
Marlin/src/HAL/DUE/MarlinSerial.h
View File

@@ -118,7 +118,7 @@ public:
static size_t write(const uint8_t c);
static void flushTX();
static inline bool emergency_parser_enabled() { return Cfg::EMERGENCYPARSER; }
static bool emergency_parser_enabled() { return Cfg::EMERGENCYPARSER; }
FORCE_INLINE static uint8_t dropped() { return Cfg::DROPPED_RX ? rx_dropped_bytes : 0; }
FORCE_INLINE static uint8_t buffer_overruns() { return Cfg::RX_OVERRUNS ? rx_buffer_overruns : 0; }
@@ -141,11 +141,16 @@ struct MarlinSerialCfg {
};
#if defined(SERIAL_PORT) && SERIAL_PORT >= 0
typedef Serial1Class< MarlinSerial< MarlinSerialCfg<SERIAL_PORT> > > MSerialT;
extern MSerialT customizedSerial1;
typedef Serial1Class< MarlinSerial< MarlinSerialCfg<SERIAL_PORT> > > MSerialT1;
extern MSerialT1 customizedSerial1;
#endif
#if defined(SERIAL_PORT_2) && SERIAL_PORT_2 >= 0
typedef Serial1Class< MarlinSerial< MarlinSerialCfg<SERIAL_PORT_2> > > MSerialT2;
extern MSerialT2 customizedSerial2;
#endif
#if defined(SERIAL_PORT_3) && SERIAL_PORT_3 >= 0
typedef Serial1Class< MarlinSerial< MarlinSerialCfg<SERIAL_PORT_3> > > MSerialT3;
extern MSerialT3 customizedSerial3;
#endif

15
Marlin/src/HAL/DUE/MarlinSerialUSB.cpp
View File

@@ -19,13 +19,13 @@
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#ifdef ARDUINO_ARCH_SAM
/**
* MarlinSerial_Due.cpp - Hardware serial library for Arduino DUE
* Copyright (c) 2017 Eduardo José Tagle. All right reserved
* Based on MarlinSerial for AVR, copyright (c) 2006 Nicholas Zambetti. All right reserved.
*/
#ifdef ARDUINO_ARCH_SAM
#include "../../inc/MarlinConfig.h"
@@ -41,7 +41,7 @@ extern "C" {
int udi_cdc_getc();
bool udi_cdc_is_tx_ready();
int udi_cdc_putc(int value);
};
}
// Pending character
static int pending_char = -1;
@@ -65,7 +65,7 @@ int MarlinSerialUSB::peek() {
pending_char = udi_cdc_getc();
TERN_(EMERGENCY_PARSER, emergency_parser.update(static_cast<MSerialT*>(this)->emergency_state, (char)pending_char));
TERN_(EMERGENCY_PARSER, emergency_parser.update(static_cast<MSerialT1*>(this)->emergency_state, (char)pending_char));
return pending_char;
}
@@ -87,7 +87,7 @@ int MarlinSerialUSB::read() {
int c = udi_cdc_getc();
TERN_(EMERGENCY_PARSER, emergency_parser.update(static_cast<MSerialT*>(this)->emergency_state, (char)c));
TERN_(EMERGENCY_PARSER, emergency_parser.update(static_cast<MSerialT1*>(this)->emergency_state, (char)c));
return c;
}
@@ -129,10 +129,13 @@ size_t MarlinSerialUSB::write(const uint8_t c) {
// Preinstantiate
#if SERIAL_PORT == -1
MSerialT customizedSerial1(TERN0(EMERGENCY_PARSER, true));
MSerialT1 customizedSerial1(TERN0(EMERGENCY_PARSER, true));
#endif
#if SERIAL_PORT_2 == -1
MSerialT customizedSerial2(TERN0(EMERGENCY_PARSER, true));
MSerialT2 customizedSerial2(TERN0(EMERGENCY_PARSER, true));
#endif
#if SERIAL_PORT_3 == -1
MSerialT3 customizedSerial3(TERN0(EMERGENCY_PARSER, true));
#endif
#endif // HAS_USB_SERIAL

16
Marlin/src/HAL/DUE/MarlinSerialUSB.h
View File

@@ -27,11 +27,9 @@
*/
#include "../../inc/MarlinConfig.h"
#if HAS_USB_SERIAL
#include <WString.h>
#include "../../core/serial_hook.h"
#include <WString.h>
struct MarlinSerialUSB {
void begin(const long);
@@ -50,14 +48,18 @@ struct MarlinSerialUSB {
FORCE_INLINE int rxMaxEnqueued() { return 0; }
#endif
};
typedef Serial1Class<MarlinSerialUSB> MSerialT;
#if SERIAL_PORT == -1
extern MSerialT customizedSerial1;
typedef Serial1Class<MarlinSerialUSB> MSerialT1;
extern MSerialT1 customizedSerial1;
#endif
#if SERIAL_PORT_2 == -1
extern MSerialT customizedSerial2;
typedef Serial1Class<MarlinSerialUSB> MSerialT2;
extern MSerialT2 customizedSerial2;
#endif
#endif // HAS_USB_SERIAL
#if SERIAL_PORT_3 == -1
typedef Serial1Class<MarlinSerialUSB> MSerialT3;
extern MSerialT3 customizedSerial3;
#endif

2
Marlin/src/HAL/DUE/HAL_MinSerial.cpp → Marlin/src/HAL/DUE/MinSerial.cpp
View File

@@ -25,7 +25,7 @@
#if ENABLED(POSTMORTEM_DEBUGGING)
#include "../shared/HAL_MinSerial.h"
#include "../shared/MinSerial.h"
#include <stdarg.h>

132
Marlin/src/HAL/DUE/Servo.cpp
View File

@@ -47,12 +47,12 @@
#include "../shared/servo.h"
#include "../shared/servo_private.h"
static volatile int8_t Channel[_Nbr_16timers]; // counter for the servo being pulsed for each timer (or -1 if refresh interval)
static Flags<_Nbr_16timers> DisablePending; // ISR should disable the timer at the next timer reset
// ------------------------
/// Interrupt handler for the TC0 channel 1.
// ------------------------
void Servo_Handler(timer16_Sequence_t timer, Tc *pTc, uint8_t channel);
void Servo_Handler(const timer16_Sequence_t, Tc*, const uint8_t);
#ifdef _useTimer1
void HANDLER_FOR_TIMER1() { Servo_Handler(_timer1, TC_FOR_TIMER1, CHANNEL_FOR_TIMER1); }
@@ -70,88 +70,92 @@ void Servo_Handler(timer16_Sequence_t timer, Tc *pTc, uint8_t channel);
void HANDLER_FOR_TIMER5() { Servo_Handler(_timer5, TC_FOR_TIMER5, CHANNEL_FOR_TIMER5); }
#endif
void Servo_Handler(timer16_Sequence_t timer, Tc *tc, uint8_t channel) {
// clear interrupt
tc->TC_CHANNEL[channel].TC_SR;
if (Channel[timer] < 0)
tc->TC_CHANNEL[channel].TC_CCR |= TC_CCR_SWTRG; // channel set to -1 indicated that refresh interval completed so reset the timer
else if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && SERVO(timer, Channel[timer]).Pin.isActive)
extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, LOW); // pulse this channel low if activated
void Servo_Handler(const timer16_Sequence_t timer, Tc *tc, const uint8_t channel) {
static int8_t Channel[_Nbr_16timers]; // Servo counters to pulse (or -1 for refresh interval)
int8_t cho = Channel[timer]; // Handle the prior Channel[timer] first
if (cho < 0) { // Channel -1 indicates the refresh interval completed...
tc->TC_CHANNEL[channel].TC_CCR |= TC_CCR_SWTRG; // ...so reset the timer
if (DisablePending[timer]) {
// Disabling only after the full servo period expires prevents
// pulses being too close together if immediately re-enabled.
DisablePending.clear(timer);
TC_Stop(tc, channel);
tc->TC_CHANNEL[channel].TC_SR; // clear interrupt
return;
}
}
else if (SERVO_INDEX(timer, cho) < ServoCount) // prior channel handled?
extDigitalWrite(SERVO(timer, cho).Pin.nbr, LOW); // pulse the prior channel LOW
Channel[timer]++; // increment to the next channel
if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
tc->TC_CHANNEL[channel].TC_RA = tc->TC_CHANNEL[channel].TC_CV + SERVO(timer,Channel[timer]).ticks;
if (SERVO(timer,Channel[timer]).Pin.isActive) // check if activated
extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, HIGH); // its an active channel so pulse it high
Channel[timer] = ++cho; // go to the next channel (or 0)
if (cho < SERVOS_PER_TIMER && SERVO_INDEX(timer, cho) < ServoCount) {
tc->TC_CHANNEL[channel].TC_RA = tc->TC_CHANNEL[channel].TC_CV + SERVO(timer, cho).ticks;
if (SERVO(timer, cho).Pin.isActive) // activated?
extDigitalWrite(SERVO(timer, cho).Pin.nbr, HIGH); // yes: pulse HIGH
}
else {
// finished all channels so wait for the refresh period to expire before starting over
tc->TC_CHANNEL[channel].TC_RA =
tc->TC_CHANNEL[channel].TC_CV < usToTicks(REFRESH_INTERVAL) - 4
? (unsigned int)usToTicks(REFRESH_INTERVAL) // allow a few ticks to ensure the next OCR1A not missed
: tc->TC_CHANNEL[channel].TC_CV + 4; // at least REFRESH_INTERVAL has elapsed
Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
const unsigned int cval = tc->TC_CHANNEL[channel].TC_CV + 128 / (SERVO_TIMER_PRESCALER), // allow 128 cycles to ensure the next CV not missed
ival = (unsigned int)usToTicks(REFRESH_INTERVAL); // at least REFRESH_INTERVAL has elapsed
tc->TC_CHANNEL[channel].TC_RA = max(cval, ival);
Channel[timer] = -1; // reset the timer CCR on the next call
}
tc->TC_CHANNEL[channel].TC_SR; // clear interrupt
}
static void _initISR(Tc *tc, uint32_t channel, uint32_t id, IRQn_Type irqn) {
pmc_enable_periph_clk(id);
TC_Configure(tc, channel,
TC_CMR_TCCLKS_TIMER_CLOCK3 | // MCK/32
TC_CMR_WAVE | // Waveform mode
TC_CMR_WAVSEL_UP_RC ); // Counter running up and reset when equals to RC
TC_CMR_WAVE // Waveform mode
| TC_CMR_WAVSEL_UP_RC // Counter running up and reset when equal to RC
| (SERVO_TIMER_PRESCALER == 2 ? TC_CMR_TCCLKS_TIMER_CLOCK1 : 0) // MCK/2
| (SERVO_TIMER_PRESCALER == 8 ? TC_CMR_TCCLKS_TIMER_CLOCK2 : 0) // MCK/8
| (SERVO_TIMER_PRESCALER == 32 ? TC_CMR_TCCLKS_TIMER_CLOCK3 : 0) // MCK/32
| (SERVO_TIMER_PRESCALER == 128 ? TC_CMR_TCCLKS_TIMER_CLOCK4 : 0) // MCK/128
);
/* 84MHz, MCK/32, for 1.5ms: 3937 */
TC_SetRA(tc, channel, 2625); // 1ms
// Wait 1ms before the first ISR
TC_SetRA(tc, channel, (F_CPU) / (SERVO_TIMER_PRESCALER) / 1000UL); // 1ms
/* Configure and enable interrupt */
// Configure and enable interrupt
NVIC_EnableIRQ(irqn);
// TC_IER_CPAS: RA Compare
tc->TC_CHANNEL[channel].TC_IER = TC_IER_CPAS;
tc->TC_CHANNEL[channel].TC_IER = TC_IER_CPAS; // TC_IER_CPAS: RA Compare
// Enables the timer clock and performs a software reset to start the counting
TC_Start(tc, channel);
}
void initISR(timer16_Sequence_t timer) {
#ifdef _useTimer1
if (timer == _timer1)
_initISR(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1, ID_TC_FOR_TIMER1, IRQn_FOR_TIMER1);
#endif
#ifdef _useTimer2
if (timer == _timer2)
_initISR(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2, ID_TC_FOR_TIMER2, IRQn_FOR_TIMER2);
#endif
#ifdef _useTimer3
if (timer == _timer3)
_initISR(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3, ID_TC_FOR_TIMER3, IRQn_FOR_TIMER3);
#endif
#ifdef _useTimer4
if (timer == _timer4)
_initISR(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4, ID_TC_FOR_TIMER4, IRQn_FOR_TIMER4);
#endif
#ifdef _useTimer5
if (timer == _timer5)
_initISR(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5, ID_TC_FOR_TIMER5, IRQn_FOR_TIMER5);
#endif
void initISR(const timer16_Sequence_t timer_index) {
CRITICAL_SECTION_START();
const bool disable_soon = DisablePending[timer_index];
DisablePending.clear(timer_index);
CRITICAL_SECTION_END();
if (!disable_soon) switch (timer_index) {
default: break;
#ifdef _useTimer1
case _timer1: return _initISR(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1, ID_TC_FOR_TIMER1, IRQn_FOR_TIMER1);
#endif
#ifdef _useTimer2
case _timer2: return _initISR(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2, ID_TC_FOR_TIMER2, IRQn_FOR_TIMER2);
#endif
#ifdef _useTimer3
case _timer3: return _initISR(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3, ID_TC_FOR_TIMER3, IRQn_FOR_TIMER3);
#endif
#ifdef _useTimer4
case _timer4: return _initISR(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4, ID_TC_FOR_TIMER4, IRQn_FOR_TIMER4);
#endif
#ifdef _useTimer5
case _timer5: return _initISR(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5, ID_TC_FOR_TIMER5, IRQn_FOR_TIMER5);
#endif
}
}
void finISR(timer16_Sequence_t) {
#ifdef _useTimer1
TC_Stop(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1);
#endif
#ifdef _useTimer2
TC_Stop(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2);
#endif
#ifdef _useTimer3
TC_Stop(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3);
#endif
#ifdef _useTimer4
TC_Stop(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4);
#endif
#ifdef _useTimer5
TC_Stop(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5);
#endif
void finISR(const timer16_Sequence_t timer_index) {
// Timer is disabled from the ISR, to ensure proper final pulse length.
DisablePending.set(timer_index);
}
#endif // HAS_SERVOS

2
Marlin/src/HAL/DUE/ServoTimers.h
View File

@@ -37,7 +37,7 @@
#define _useTimer5
#define TRIM_DURATION 2 // compensation ticks to trim adjust for digitalWrite delays
#define SERVO_TIMER_PRESCALER 32 // timer prescaler
#define SERVO_TIMER_PRESCALER 2 // timer prescaler
/*
TC0, chan 0 => TC0_Handler

8
Marlin/src/HAL/DUE/Tone.cpp
View File

@@ -35,20 +35,20 @@
static pin_t tone_pin;
volatile static int32_t toggles;
void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration) {
void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration/*=0*/) {
tone_pin = _pin;
toggles = 2 * frequency * duration / 1000;
HAL_timer_start(TONE_TIMER_NUM, 2 * frequency);
HAL_timer_start(MF_TIMER_TONE, 2 * frequency);
}
void noTone(const pin_t _pin) {
HAL_timer_disable_interrupt(TONE_TIMER_NUM);
HAL_timer_disable_interrupt(MF_TIMER_TONE);
extDigitalWrite(_pin, LOW);
}
HAL_TONE_TIMER_ISR() {
static uint8_t pin_state = 0;
HAL_timer_isr_prologue(TONE_TIMER_NUM);
HAL_timer_isr_prologue(MF_TIMER_TONE);
if (toggles) {
toggles--;

3
Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_shared_hw_spi.cpp
View File

@@ -20,7 +20,6 @@
*
*/
/**
* Based on u8g_com_msp430_hw_spi.c
*
@@ -60,7 +59,7 @@
#if HAS_MARLINUI_U8GLIB
#include <U8glib.h>
#include <U8glib-HAL.h>
#include "../../../MarlinCore.h"

6
Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_st7920_sw_spi.cpp
View File

@@ -57,12 +57,12 @@
#include "../../../inc/MarlinConfigPre.h"
#if ENABLED(U8GLIB_ST7920)
#if IS_U8GLIB_ST7920
#include "../../../inc/MarlinConfig.h"
#include "../../shared/Delay.h"
#include <U8glib.h>
#include <U8glib-HAL.h>
#include "u8g_com_HAL_DUE_sw_spi_shared.h"
@@ -182,5 +182,5 @@ uint8_t u8g_com_HAL_DUE_ST7920_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_va
}
#endif // LIGHTWEIGHT_UI
#endif // U8GLIB_ST7920
#endif // IS_U8GLIB_ST7920
#endif // ARDUINO_ARCH_SAM

6
Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_sw_spi.cpp
View File

@@ -57,14 +57,14 @@
#include "../../../inc/MarlinConfigPre.h"
#if HAS_MARLINUI_U8GLIB && DISABLED(U8GLIB_ST7920)
#if HAS_MARLINUI_U8GLIB && !IS_U8GLIB_ST7920
#include "u8g_com_HAL_DUE_sw_spi_shared.h"
#include "../../shared/Marduino.h"
#include "../../shared/Delay.h"
#include <U8glib.h>
#include <U8glib-HAL.h>
#if ENABLED(FYSETC_MINI_12864)
#define SPISEND_SW_DUE u8g_spiSend_sw_DUE_mode_3
@@ -141,5 +141,5 @@ uint8_t u8g_com_HAL_DUE_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void
return 1;
}
#endif // HAS_MARLINUI_U8GLIB && !U8GLIB_ST7920
#endif // HAS_MARLINUI_U8GLIB && !IS_U8GLIB_ST7920
#endif // ARDUINO_ARCH_SAM

2
Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_sw_spi_shared.cpp
View File

@@ -62,7 +62,7 @@
#include "../../../inc/MarlinConfig.h"
#include "../../shared/Delay.h"
#include <U8glib.h>
#include <U8glib-HAL.h>
#include "u8g_com_HAL_DUE_sw_spi_shared.h"

2
Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_sw_spi_shared.h
View File

@@ -23,7 +23,7 @@
#include "../../../inc/MarlinConfigPre.h"
#include "../../shared/Marduino.h"
#include <U8glib.h>
#include <U8glib-HAL.h>
void u8g_SetPIOutput_DUE(u8g_t *u8g, uint8_t pin_index);
void u8g_SetPILevel_DUE(u8g_t *u8g, uint8_t pin_index, uint8_t level);

46
Marlin/src/HAL/DUE/eeprom_flash.cpp
View File

@@ -199,10 +199,9 @@ static bool ee_PageWrite(uint16_t page, const void *data) {
for (i = 0; i <PageSize >> 2; i++)
pageContents[i] = (((uint32_t*)data)[i]) | (~(pageContents[i] ^ ((uint32_t*)data)[i]));
DEBUG_ECHO_START();
DEBUG_ECHOLNPAIR("EEPROM PageWrite ", page);
DEBUG_ECHOLNPAIR(" in FLASH address ", (uint32_t)addrflash);
DEBUG_ECHOLNPAIR(" base address ", (uint32_t)getFlashStorage(0));
DEBUG_ECHO_MSG("EEPROM PageWrite ", page);
DEBUG_ECHOLNPGM(" in FLASH address ", (uint32_t)addrflash);
DEBUG_ECHOLNPGM(" base address ", (uint32_t)getFlashStorage(0));
DEBUG_FLUSH();
// Get the page relative to the start of the EFC controller, and the EFC controller to use
@@ -245,8 +244,7 @@ static bool ee_PageWrite(uint16_t page, const void *data) {
// Reenable interrupts
__enable_irq();
DEBUG_ECHO_START();
DEBUG_ECHOLNPAIR("EEPROM Unlock failure for page ", page);
DEBUG_ECHO_MSG("EEPROM Unlock failure for page ", page);
return false;
}
@@ -270,8 +268,7 @@ static bool ee_PageWrite(uint16_t page, const void *data) {
// Reenable interrupts
__enable_irq();
DEBUG_ECHO_START();
DEBUG_ECHOLNPAIR("EEPROM Write failure for page ", page);
DEBUG_ECHO_MSG("EEPROM Write failure for page ", page);
return false;
}
@@ -286,8 +283,7 @@ static bool ee_PageWrite(uint16_t page, const void *data) {
if (memcmp(getFlashStorage(page),data,PageSize)) {
#ifdef EE_EMU_DEBUG
DEBUG_ECHO_START();
DEBUG_ECHOLNPAIR("EEPROM Verify Write failure for page ", page);
DEBUG_ECHO_MSG("EEPROM Verify Write failure for page ", page);
ee_Dump( page, (uint32_t *)addrflash);
ee_Dump(-page, data);
@@ -306,7 +302,7 @@ static bool ee_PageWrite(uint16_t page, const void *data) {
}
}
}
DEBUG_ECHOLNPAIR("--> Differing bits: ", count);
DEBUG_ECHOLNPGM("--> Differing bits: ", count);
#endif
return false;
@@ -325,10 +321,9 @@ static bool ee_PageErase(uint16_t page) {
uint16_t i;
uint32_t addrflash = uint32_t(getFlashStorage(page));
DEBUG_ECHO_START();
DEBUG_ECHOLNPAIR("EEPROM PageErase ", page);
DEBUG_ECHOLNPAIR(" in FLASH address ", (uint32_t)addrflash);
DEBUG_ECHOLNPAIR(" base address ", (uint32_t)getFlashStorage(0));
DEBUG_ECHO_MSG("EEPROM PageErase ", page);
DEBUG_ECHOLNPGM(" in FLASH address ", (uint32_t)addrflash);
DEBUG_ECHOLNPGM(" base address ", (uint32_t)getFlashStorage(0));
DEBUG_FLUSH();
// Get the page relative to the start of the EFC controller, and the EFC controller to use
@@ -370,8 +365,7 @@ static bool ee_PageErase(uint16_t page) {
// Reenable interrupts
__enable_irq();
DEBUG_ECHO_START();
DEBUG_ECHOLNPAIR("EEPROM Unlock failure for page ",page);
DEBUG_ECHO_MSG("EEPROM Unlock failure for page ",page);
return false;
}
@@ -394,8 +388,7 @@ static bool ee_PageErase(uint16_t page) {
// Reenable interrupts
__enable_irq();
DEBUG_ECHO_START();
DEBUG_ECHOLNPAIR("EEPROM Erase failure for page ",page);
DEBUG_ECHO_MSG("EEPROM Erase failure for page ",page);
return false;
}
@@ -410,8 +403,7 @@ static bool ee_PageErase(uint16_t page) {
uint32_t * aligned_src = (uint32_t *) addrflash;
for (i = 0; i < PageSize >> 2; i++) {
if (*aligned_src++ != 0xFFFFFFFF) {
DEBUG_ECHO_START();
DEBUG_ECHOLNPAIR("EEPROM Verify Erase failure for page ",page);
DEBUG_ECHO_MSG("EEPROM Verify Erase failure for page ",page);
ee_Dump(page, (uint32_t *)addrflash);
return false;
}
@@ -921,8 +913,7 @@ static void ee_Init() {
// If all groups seem to be used, default to first group
if (curGroup >= GroupCount) curGroup = 0;
DEBUG_ECHO_START();
DEBUG_ECHOLNPAIR("EEPROM Current Group: ",curGroup);
DEBUG_ECHO_MSG("EEPROM Current Group: ",curGroup);
DEBUG_FLUSH();
// Now, validate that all the other group pages are empty
@@ -931,8 +922,7 @@ static void ee_Init() {
for (int page = 0; page < PagesPerGroup; page++) {
if (!ee_IsPageClean(grp * PagesPerGroup + page)) {
DEBUG_ECHO_START();
DEBUG_ECHOLNPAIR("EEPROM Page ", page, " not clean on group ", grp);
DEBUG_ECHO_MSG("EEPROM Page ", page, " not clean on group ", grp);
DEBUG_FLUSH();
ee_PageErase(grp * PagesPerGroup + page);
}
@@ -948,15 +938,13 @@ static void ee_Init() {
}
}
DEBUG_ECHO_START();
DEBUG_ECHOLNPAIR("EEPROM Active page: ", curPage);
DEBUG_ECHO_MSG("EEPROM Active page: ", curPage);
DEBUG_FLUSH();
// Make sure the pages following the first clean one are also clean
for (int page = curPage + 1; page < PagesPerGroup; page++) {
if (!ee_IsPageClean(curGroup * PagesPerGroup + page)) {
DEBUG_ECHO_START();
DEBUG_ECHOLNPAIR("EEPROM Page ", page, " not clean on active group ", curGroup);
DEBUG_ECHO_MSG("EEPROM Page ", page, " not clean on active group ", curGroup);
DEBUG_FLUSH();
ee_Dump(curGroup * PagesPerGroup + page, getFlashStorage(curGroup * PagesPerGroup + page));
ee_PageErase(curGroup * PagesPerGroup + page);

12
Marlin/src/HAL/DUE/endstop_interrupts.h
View File

@@ -64,4 +64,16 @@ void setup_endstop_interrupts() {
TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN));
TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN));
TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN));
TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN));
TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN));
TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN));
TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN));
TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN));
TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN));
TERN_(HAS_U_MAX, _ATTACH(U_MAX_PIN));
TERN_(HAS_U_MIN, _ATTACH(U_MIN_PIN));
TERN_(HAS_V_MAX, _ATTACH(V_MAX_PIN));
TERN_(HAS_V_MIN, _ATTACH(V_MIN_PIN));
TERN_(HAS_W_MAX, _ATTACH(W_MAX_PIN));
TERN_(HAS_W_MIN, _ATTACH(W_MIN_PIN));
}

2
Marlin/src/HAL/DUE/fastio.h
View File

@@ -33,7 +33,7 @@
* For ARDUINO_ARCH_SAM
* Note the code here was specifically crafted by disassembling what GCC produces
* out of it, so GCC is able to optimize it out as much as possible to the least
* amount of instructions. Be very carefull if you modify them, as "clean code"
* amount of instructions. Be very careful if you modify them, as "clean code"
* leads to less efficient compiled code!!
*/

2
Marlin/src/HAL/DUE/fastio/G2_PWM.cpp
View File

@@ -25,7 +25,7 @@
* is NOT used to directly toggle pins. The ISR writes to the pin assigned to
* that interrupt.
*
* All PWMs use the same repetition rate. The G2 needs about 10KHz min in order to
* All PWMs use the same repetition rate. The G2 needs about 10kHz min in order to
* not have obvious ripple on the Vref signals.
*
* The data structures are setup to minimize the computation done by the ISR which

28
Marlin/src/HAL/DUE/inc/SanityCheck.h
View File

@@ -25,6 +25,30 @@
* Test Arduino Due specific configuration values for errors at compile-time.
*/
/**
* Check for common serial pin conflicts
*/
#define CHECK_SERIAL_PIN(N) ( \
X_STOP_PIN == N || Y_STOP_PIN == N || Z_STOP_PIN == N \
|| X_MIN_PIN == N || Y_MIN_PIN == N || Z_MIN_PIN == N \
|| X_MAX_PIN == N || Y_MAX_PIN == N || Z_MAX_PIN == N \
|| X_STEP_PIN == N || Y_STEP_PIN == N || Z_STEP_PIN == N \
|| X_DIR_PIN == N || Y_DIR_PIN == N || Z_DIR_PIN == N \
|| X_ENA_PIN == N || Y_ENA_PIN == N || Z_ENA_PIN == N \
)
#if SERIAL_IN_USE(0) // D0-D1. No known conflicts.
#endif
#if SERIAL_IN_USE(1) && (CHECK_SERIAL_PIN(18) || CHECK_SERIAL_PIN(19))
#error "Serial Port 1 pin D18 and/or D19 conflicts with another pin on the board."
#endif
#if SERIAL_IN_USE(2) && (CHECK_SERIAL_PIN(16) || CHECK_SERIAL_PIN(17))
#error "Serial Port 2 pin D16 and/or D17 conflicts with another pin on the board."
#endif
#if SERIAL_IN_USE(3) && (CHECK_SERIAL_PIN(14) || CHECK_SERIAL_PIN(15))
#error "Serial Port 3 pin D14 and/or D15 conflicts with another pin on the board."
#endif
#undef CHECK_SERIAL_PIN
/**
* HARDWARE VS. SOFTWARE SPI COMPATIBILITY
*
@@ -59,3 +83,7 @@
#if HAS_TMC_SW_SERIAL
#error "TMC220x Software Serial is not supported on the DUE platform."
#endif
#if USING_PULLDOWNS
#error "PULLDOWN pin mode is not available on DUE boards."
#endif

11
Marlin/src/HAL/DUE/pinsDebug.h
View File

@@ -2,6 +2,9 @@
* Marlin 3D Printer Firmware
* Copyright (c) 2020 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
@@ -50,7 +53,7 @@
* The net result is that both the g_pinStatus[pin] array and the PIO_OSR register
* needs to be looked at when determining if a pin is an input or an output.
*
* b) Due has only pins 6, 7, 8 & 9 enabled for PWMs. FYI - they run at 1KHz
* b) Due has only pins 6, 7, 8 & 9 enabled for PWMs. FYI - they run at 1kHz
*
* c) NUM_DIGITAL_PINS does not include the analog pins
*
@@ -64,9 +67,10 @@
#define PRINT_PORT(p)
#define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
#define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%02d"), p); SERIAL_ECHO(buffer); }while(0)
#define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d) "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
#define GET_ARRAY_PIN(p) pin_array[p].pin
#define GET_ARRAY_IS_DIGITAL(p) pin_array[p].is_digital
#define VALID_PIN(pin) (pin >= 0 && pin < (int8_t)NUMBER_PINS_TOTAL ? 1 : 0)
#define VALID_PIN(pin) (pin >= 0 && pin < int8_t(NUMBER_PINS_TOTAL))
#define DIGITAL_PIN_TO_ANALOG_PIN(p) int(p - analogInputToDigitalPin(0))
#define IS_ANALOG(P) WITHIN(P, char(analogInputToDigitalPin(0)), char(analogInputToDigitalPin(NUM_ANALOG_INPUTS - 1)))
#define pwm_status(pin) (((g_pinStatus[pin] & 0xF) == PIN_STATUS_PWM) && \
@@ -82,11 +86,10 @@ bool GET_PINMODE(int8_t pin) { // 1: output, 0: input
|| pwm_status(pin));
}
void pwm_details(int32_t pin) {
if (pwm_status(pin)) {
uint32_t chan = g_APinDescription[pin].ulPWMChannel;
SERIAL_ECHOPAIR("PWM = ", PWM_INTERFACE->PWM_CH_NUM[chan].PWM_CDTY);
SERIAL_ECHOPGM("PWM = ", PWM_INTERFACE->PWM_CH_NUM[chan].PWM_CDTY);
}
}

27
Marlin/src/HAL/DUE/timers.cpp
View File

@@ -42,7 +42,7 @@
// Private Variables
// ------------------------
const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = {
const tTimerConfig timer_config[NUM_HARDWARE_TIMERS] = {
{ TC0, 0, TC0_IRQn, 3}, // 0 - [servo timer5]
{ TC0, 1, TC1_IRQn, 0}, // 1
{ TC0, 2, TC2_IRQn, 2}, // 2 - stepper
@@ -66,9 +66,9 @@ const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = {
*/
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
Tc *tc = TimerConfig[timer_num].pTimerRegs;
IRQn_Type irq = TimerConfig[timer_num].IRQ_Id;
uint32_t channel = TimerConfig[timer_num].channel;
Tc *tc = timer_config[timer_num].pTimerRegs;
IRQn_Type irq = timer_config[timer_num].IRQ_Id;
uint32_t channel = timer_config[timer_num].channel;
// Disable interrupt, just in case it was already enabled
NVIC_DisableIRQ(irq);
@@ -86,13 +86,20 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
pmc_set_writeprotect(false);
pmc_enable_periph_clk((uint32_t)irq);
NVIC_SetPriority(irq, TimerConfig [timer_num].priority);
NVIC_SetPriority(irq, timer_config[timer_num].priority);
// wave mode, reset counter on match with RC,
TC_Configure(tc, channel, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK1);
TC_Configure(tc, channel,
TC_CMR_WAVE
| TC_CMR_WAVSEL_UP_RC
| (HAL_TIMER_PRESCALER == 2 ? TC_CMR_TCCLKS_TIMER_CLOCK1 : 0)
| (HAL_TIMER_PRESCALER == 8 ? TC_CMR_TCCLKS_TIMER_CLOCK2 : 0)
| (HAL_TIMER_PRESCALER == 32 ? TC_CMR_TCCLKS_TIMER_CLOCK3 : 0)
| (HAL_TIMER_PRESCALER == 128 ? TC_CMR_TCCLKS_TIMER_CLOCK4 : 0)
);
// Set compare value
TC_SetRC(tc, channel, VARIANT_MCK / 2 / frequency);
TC_SetRC(tc, channel, VARIANT_MCK / (HAL_TIMER_PRESCALER) / frequency);
// And start timer
TC_Start(tc, channel);
@@ -105,12 +112,12 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
}
void HAL_timer_enable_interrupt(const uint8_t timer_num) {
IRQn_Type irq = TimerConfig[timer_num].IRQ_Id;
IRQn_Type irq = timer_config[timer_num].IRQ_Id;
NVIC_EnableIRQ(irq);
}
void HAL_timer_disable_interrupt(const uint8_t timer_num) {
IRQn_Type irq = TimerConfig[timer_num].IRQ_Id;
IRQn_Type irq = timer_config[timer_num].IRQ_Id;
NVIC_DisableIRQ(irq);
// We NEED memory barriers to ensure Interrupts are actually disabled!
@@ -125,7 +132,7 @@ static bool NVIC_GetEnabledIRQ(IRQn_Type IRQn) {
}
bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
IRQn_Type irq = TimerConfig[timer_num].IRQ_Id;
IRQn_Type irq = timer_config[timer_num].IRQ_Id;
return NVIC_GetEnabledIRQ(irq);
}

53
Marlin/src/HAL/DUE/timers.h
View File

@@ -35,37 +35,38 @@
typedef uint32_t hal_timer_t;
#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
#define HAL_TIMER_RATE ((F_CPU) / 2) // frequency of timers peripherals
#define HAL_TIMER_PRESCALER 2
#define HAL_TIMER_RATE ((F_CPU) / (HAL_TIMER_PRESCALER)) // frequency of timers peripherals
#ifndef STEP_TIMER_NUM
#define STEP_TIMER_NUM 2 // Timer Index for Stepper
#ifndef MF_TIMER_STEP
#define MF_TIMER_STEP 2 // Timer Index for Stepper
#endif
#ifndef PULSE_TIMER_NUM
#define PULSE_TIMER_NUM STEP_TIMER_NUM
#ifndef MF_TIMER_PULSE
#define MF_TIMER_PULSE MF_TIMER_STEP
#endif
#ifndef TEMP_TIMER_NUM
#define TEMP_TIMER_NUM 4 // Timer Index for Temperature
#ifndef MF_TIMER_TEMP
#define MF_TIMER_TEMP 4 // Timer Index for Temperature
#endif
#ifndef TONE_TIMER_NUM
#define TONE_TIMER_NUM 6 // index of timer to use for beeper tones
#ifndef MF_TIMER_TONE
#define MF_TIMER_TONE 6 // index of timer to use for beeper tones
#endif
#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
#define STEPPER_TIMER_RATE HAL_TIMER_RATE // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
#define STEPPER_TIMER_RATE HAL_TIMER_RATE // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM)
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_STEP)
#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP)
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)
#ifndef HAL_STEP_TIMER_ISR
#define HAL_STEP_TIMER_ISR() void TC2_Handler()
@@ -92,7 +93,7 @@ typedef struct {
// Public Variables
// ------------------------
extern const tTimerConfig TimerConfig[];
extern const tTimerConfig timer_config[];
// ------------------------
// Public functions
@@ -101,17 +102,17 @@ extern const tTimerConfig TimerConfig[];
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
const tTimerConfig * const pConfig = &TimerConfig[timer_num];
const tTimerConfig * const pConfig = &timer_config[timer_num];
pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC = compare;
}
FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
const tTimerConfig * const pConfig = &TimerConfig[timer_num];
const tTimerConfig * const pConfig = &timer_config[timer_num];
return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC;
}
FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
const tTimerConfig * const pConfig = &TimerConfig[timer_num];
const tTimerConfig * const pConfig = &timer_config[timer_num];
return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_CV;
}
@@ -120,9 +121,9 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num);
bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
const tTimerConfig * const pConfig = &TimerConfig[timer_num];
const tTimerConfig * const pConfig = &timer_config[timer_num];
// Reading the status register clears the interrupt flag
pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_SR;
}
#define HAL_timer_isr_epilogue(TIMER_NUM)
#define HAL_timer_isr_epilogue(T) NOOP

19
Marlin/src/HAL/DUE/upload_extra_script.py
View File

@@ -4,15 +4,16 @@
# Windows: bossac.exe
# Other: leave unchanged
#
import pioutil
if pioutil.is_pio_build():
import platform
current_OS = platform.system()
import platform
current_OS = platform.system()
if current_OS == 'Windows':
if current_OS == 'Windows':
Import("env")
Import("env")
# Use bossac.exe on Windows
env.Replace(
UPLOADCMD="bossac --info --unlock --write --verify --reset --erase -U false --boot $SOURCE"
)
# Use bossac.exe on Windows
env.Replace(
UPLOADCMD="bossac --info --unlock --write --verify --reset --erase -U false --boot $SOURCE"
)

2
Marlin/src/HAL/DUE/usb/arduino_due_x.h
View File

@@ -71,7 +71,7 @@
/* ------------------------------------------------------------------------ */
/**
* \page arduino_due_x_board_info "Arduino Due/X - Board informations"
* \page arduino_due_x_board_info "Arduino Due/X - Board information"
* This page lists several definition related to the board description.
*
*/

2
Marlin/src/HAL/DUE/usb/compiler.h
View File

@@ -1059,7 +1059,7 @@ static inline void convert_64_bit_to_byte_array(uint64_t value, uint8_t *data)
while (val_index < 8)
{
data[val_index++] = value & 0xFF;
value = value >> 8;
value >>= 8;
}
}

2
Marlin/src/HAL/DUE/usb/sd_mmc_spi_mem.cpp
View File

@@ -10,7 +10,7 @@
#include "../../../sd/cardreader.h"
extern "C" {
#include "sd_mmc_spi_mem.h"
#include "sd_mmc_spi_mem.h"
}
#define SD_MMC_BLOCK_SIZE 512

4
Marlin/src/HAL/DUE/usb/sd_mmc_spi_mem.h
View File

@@ -74,7 +74,7 @@
#define SD_MMC_REMOVING 2
//---- CONTROL FONCTIONS ----
//---- CONTROL FUNCTIONS ----
//!
//! @brief This function initializes the hw/sw resources required to drive the SD_MMC_SPI.
//!/
@@ -134,7 +134,7 @@ extern bool sd_mmc_spi_wr_protect(void);
extern bool sd_mmc_spi_removal(void);
//---- ACCESS DATA FONCTIONS ----
//---- ACCESS DATA FUNCTIONS ----
#if ACCESS_USB == true
// Standard functions for open in read/write mode the device

8
Marlin/src/HAL/DUE/usb/udd.h
View File

@@ -90,7 +90,7 @@ typedef struct {
//! This buffer must be word align for DATA IN phase (use prefix COMPILER_WORD_ALIGNED for buffer)
uint8_t *payload;
//! Size of buffer to send or fill, and content the number of byte transfered
//! Size of buffer to send or fill, and content the number of byte transferred
uint16_t payload_size;
//! Callback called after reception of ZLP from setup request
@@ -132,10 +132,10 @@ typedef void (*udd_callback_halt_cleared_t)(void);
*
* \param status UDD_EP_TRANSFER_OK, if transfer is complete
* \param status UDD_EP_TRANSFER_ABORT, if transfer is aborted
* \param n number of data transfered
* \param n number of data transferred
*/
typedef void (*udd_callback_trans_t) (udd_ep_status_t status,
iram_size_t nb_transfered, udd_ep_id_t ep);
iram_size_t nb_transferred, udd_ep_id_t ep);
/**
* \brief Authorizes the VBUS event
@@ -303,7 +303,7 @@ bool udd_ep_wait_stall_clear(udd_ep_id_t ep,
* The driver uses a specific DMA USB to transfer data
* from internal RAM to endpoint, if this one is available.
* When the transfer is finished or aborted (stall, reset, ...), the \a callback is called.
* The \a callback returns the transfer status and eventually the number of byte transfered.
* The \a callback returns the transfer status and eventually the number of byte transferred.
* Note: The control endpoint is not authorized.
*
* \param ep The ID of the endpoint to use

4
Marlin/src/HAL/DUE/usb/udi_cdc.c
View File

@@ -162,7 +162,7 @@ static void udi_cdc_ctrl_state_notify(uint8_t port, udd_ep_id_t ep);
*
* \param status UDD_EP_TRANSFER_OK, if transfer finished
* \param status UDD_EP_TRANSFER_ABORT, if transfer aborted
* \param n number of data transfered
* \param n number of data transferred
*/
static void udi_cdc_serial_state_msg_sent(udd_ep_status_t status, iram_size_t n, udd_ep_id_t ep);
@@ -200,7 +200,7 @@ static void udi_cdc_data_received(udd_ep_status_t status, iram_size_t n, udd_ep_
*
* \param status UDD_EP_TRANSFER_OK, if transfer finished
* \param status UDD_EP_TRANSFER_ABORT, if transfer aborted
* \param n number of data transfered
* \param n number of data transferred
*/
static void udi_cdc_data_sent(udd_ep_status_t status, iram_size_t n, udd_ep_id_t ep);

2
Marlin/src/HAL/DUE/usb/udi_cdc_conf.h
View File

@@ -106,7 +106,7 @@ extern "C" {
*/
//@{
# if UDI_CDC_PORT_NB > 2
# error USBB, UDP, UDPHS and UOTGHS interfaces have not enought endpoints.
# error USBB, UDP, UDPHS and UOTGHS interfaces have not enough endpoints.
# endif
#define UDI_CDC_DATA_EP_IN_0 (1 | USB_EP_DIR_IN) // TX
#define UDI_CDC_DATA_EP_OUT_0 (2 | USB_EP_DIR_OUT) // RX

10
Marlin/src/HAL/DUE/usb/udi_msc.c
View File

@@ -173,7 +173,7 @@ static void udi_msc_cbw_wait(void);
*
* \param status UDD_EP_TRANSFER_OK, if transfer is finished
* \param status UDD_EP_TRANSFER_ABORT, if transfer is aborted
* \param nb_received number of data transfered
* \param nb_received number of data transferred
*/
static void udi_msc_cbw_received(udd_ep_status_t status,
iram_size_t nb_received, udd_ep_id_t ep);
@@ -211,7 +211,7 @@ static void udi_msc_data_send(uint8_t * buffer, uint8_t buf_size);
*
* \param status UDD_EP_TRANSFER_OK, if transfer finish
* \param status UDD_EP_TRANSFER_ABORT, if transfer aborted
* \param nb_sent number of data transfered
* \param nb_sent number of data transferred
*/
static void udi_msc_data_sent(udd_ep_status_t status, iram_size_t nb_sent,
udd_ep_id_t ep);
@@ -244,7 +244,7 @@ void udi_msc_csw_send(void);
*
* \param status UDD_EP_TRANSFER_OK, if transfer is finished
* \param status UDD_EP_TRANSFER_ABORT, if transfer is aborted
* \param nb_sent number of data transfered
* \param nb_sent number of data transferred
*/
static void udi_msc_csw_sent(udd_ep_status_t status, iram_size_t nb_sent,
udd_ep_id_t ep);
@@ -463,7 +463,7 @@ uint8_t udi_msc_getsetting(void)
static void udi_msc_cbw_invalid(void)
{
if (!udi_msc_b_cbw_invalid)
return; // Don't re-stall endpoint if error reseted by setup
return; // Don't re-stall endpoint if error reset by setup
udd_ep_set_halt(UDI_MSC_EP_OUT);
// If stall cleared then re-stall it. Only Setup MSC Reset can clear it
udd_ep_wait_stall_clear(UDI_MSC_EP_OUT, udi_msc_cbw_invalid);
@@ -472,7 +472,7 @@ static void udi_msc_cbw_invalid(void)
static void udi_msc_csw_invalid(void)
{
if (!udi_msc_b_cbw_invalid)
return; // Don't re-stall endpoint if error reseted by setup
return; // Don't re-stall endpoint if error reset by setup
udd_ep_set_halt(UDI_MSC_EP_IN);
// If stall cleared then re-stall it. Only Setup MSC Reset can clear it
udd_ep_wait_stall_clear(UDI_MSC_EP_IN, udi_msc_csw_invalid);

46
Marlin/src/HAL/DUE/usb/uotghs_device_due.c
View File

@@ -325,7 +325,7 @@ static void udd_sleep_mode(bool b_idle)
/**
* \name Control endpoint low level management routine.
*
* This function performs control endpoint mangement.
* This function performs control endpoint management.
* It handle the SETUP/DATA/HANDSHAKE phases of a control transaction.
*/
//@{
@@ -397,9 +397,9 @@ static void udd_ctrl_endofrequest(void);
/**
* \brief Main interrupt routine for control endpoint
*
* This switchs control endpoint events to correct sub function.
* This switches control endpoint events to correct sub function.
*
* \return \c 1 if an event about control endpoint is occured, otherwise \c 0.
* \return \c 1 if an event about control endpoint is occurred, otherwise \c 0.
*/
static bool udd_ctrl_interrupt(void);
@@ -410,7 +410,7 @@ static bool udd_ctrl_interrupt(void);
* \name Management of bulk/interrupt/isochronous endpoints
*
* The UDD manages the data transfer on endpoints:
* - Start data tranfer on endpoint with USB Device DMA
* - Start data transfer on endpoint with USB Device DMA
* - Send a ZLP packet if requested
* - Call callback registered to signal end of transfer
* The transfer abort and stall feature are supported.
@@ -431,7 +431,7 @@ typedef struct {
uint8_t *buf;
//! Size of buffer to send or fill
iram_size_t buf_size;
//!< Size of data transfered
//!< Size of data transferred
iram_size_t buf_cnt;
//!< Size of data loaded (or prepared for DMA) last time
iram_size_t buf_load;
@@ -486,7 +486,7 @@ static void udd_ep_finish_job(udd_ep_job_t * ptr_job, bool b_abort, uint8_t ep_n
#ifdef UDD_EP_DMA_SUPPORTED
/**
* \brief Start the next transfer if necessary or complet the job associated.
* \brief Start the next transfer if necessary or complete the job associated.
*
* \param ep endpoint number without direction flag
*/
@@ -496,9 +496,9 @@ static void udd_ep_finish_job(udd_ep_job_t * ptr_job, bool b_abort, uint8_t ep_n
/**
* \brief Main interrupt routine for bulk/interrupt/isochronous endpoints
*
* This switchs endpoint events to correct sub function.
* This switches endpoint events to correct sub function.
*
* \return \c 1 if an event about bulk/interrupt/isochronous endpoints has occured, otherwise \c 0.
* \return \c 1 if an event about bulk/interrupt/isochronous endpoints has occurred, otherwise \c 0.
*/
static bool udd_ep_interrupt(void);
@@ -520,7 +520,7 @@ static bool udd_ep_interrupt(void);
*
* Note:
* Here, the global interrupt mask is not clear when an USB interrupt is enabled
* because this one can not be occured during the USB ISR (=during INTX is masked).
* because this one can not be occurred during the USB ISR (=during INTX is masked).
* See Technical reference $3.8.3 Masking interrupt requests in peripheral modules.
*/
#ifdef UHD_ENABLE
@@ -787,7 +787,7 @@ void udd_attach(void)
udd_sleep_mode(true);
otg_unfreeze_clock();
// This section of clock check can be improved with a chek of
// This section of clock check can be improved with a check of
// USB clock source via sysclk()
// Check USB clock because the source can be a PLL
while (!Is_otg_clock_usable());
@@ -803,7 +803,7 @@ void udd_attach(void)
#ifdef USB_DEVICE_HS_SUPPORT
udd_enable_msof_interrupt();
#endif
// Reset following interupts flag
// Reset following interrupts flag
udd_ack_reset();
udd_ack_sof();
udd_ack_msof();
@@ -902,7 +902,7 @@ bool udd_ep_alloc(udd_ep_id_t ep, uint8_t bmAttributes,
}
dbg_print("alloc(%x, %d) ", ep, MaxEndpointSize);
// Bank choise
// Bank choice
switch (bmAttributes & USB_EP_TYPE_MASK) {
case USB_EP_TYPE_ISOCHRONOUS:
nb_bank = UDD_ISOCHRONOUS_NB_BANK(ep);
@@ -1228,7 +1228,7 @@ bool udd_ep_wait_stall_clear(udd_ep_id_t ep,
if (Is_udd_endpoint_stall_requested(ep)
|| ptr_job->stall_requested) {
// Endpoint halted then registes the callback
// Endpoint halted then registers the callback
ptr_job->busy = true;
ptr_job->call_nohalt = callback;
} else {
@@ -1386,7 +1386,7 @@ static void udd_ctrl_setup_received(void)
// Decode setup request
if (udc_process_setup() == false) {
// Setup request unknow then stall it
// Setup request unknown then stall it
udd_ctrl_stall_data();
udd_ack_setup_received(0);
return;
@@ -1447,7 +1447,7 @@ static void udd_ctrl_in_sent(void)
udd_ctrl_prev_payload_buf_cnt += udd_ctrl_payload_buf_cnt;
if ((udd_g_ctrlreq.req.wLength == udd_ctrl_prev_payload_buf_cnt)
|| b_shortpacket) {
// All data requested are transfered or a short packet has been sent
// All data requested are transferred or a short packet has been sent
// then it is the end of data phase.
// Generate an OUT ZLP for handshake phase.
udd_ctrl_send_zlp_out();
@@ -1516,7 +1516,7 @@ static void udd_ctrl_out_received(void)
// End of SETUP request:
// - Data IN Phase aborted,
// - or last Data IN Phase hidden by ZLP OUT sending quiclky,
// - or ZLP OUT received normaly.
// - or ZLP OUT received normally.
udd_ctrl_endofrequest();
} else {
// Protocol error during SETUP request
@@ -1544,7 +1544,7 @@ static void udd_ctrl_out_received(void)
(udd_ctrl_prev_payload_buf_cnt +
udd_ctrl_payload_buf_cnt))) {
// End of reception because it is a short packet
// Before send ZLP, call intermediat calback
// Before send ZLP, call intermediate callback
// in case of data receiv generate a stall
udd_g_ctrlreq.payload_size = udd_ctrl_payload_buf_cnt;
if (NULL != udd_g_ctrlreq.over_under_run) {
@@ -1565,7 +1565,7 @@ static void udd_ctrl_out_received(void)
if (udd_g_ctrlreq.payload_size == udd_ctrl_payload_buf_cnt) {
// Overrun then request a new payload buffer
if (!udd_g_ctrlreq.over_under_run) {
// No callback availabled to request a new payload buffer
// No callback available to request a new payload buffer
udd_ctrl_stall_data();
// Ack reception of OUT to replace NAK by a STALL
udd_ack_out_received(0);
@@ -1805,7 +1805,7 @@ static void udd_ep_trans_done(udd_ep_id_t ep)
// transfer size of UDD_ENDPOINT_MAX_TRANS Bytes
next_trans = UDD_ENDPOINT_MAX_TRANS;
// Set 0 to tranfer the maximum
// Set 0 to transfer the maximum
udd_dma_ctrl = UOTGHS_DEVDMACONTROL_BUFF_LENGTH(0);
} else {
udd_dma_ctrl = UOTGHS_DEVDMACONTROL_BUFF_LENGTH(next_trans);
@@ -1850,7 +1850,7 @@ static void udd_ep_trans_done(udd_ep_id_t ep)
}
cpu_irq_restore(flags);
// Here a ZLP has been recieved
// Here a ZLP has been received
// and the DMA transfer must be not started.
// It is the end of transfer
ptr_job->buf_size = ptr_job->buf_cnt;
@@ -1991,13 +1991,13 @@ static bool udd_ep_interrupt(void)
}
dbg_print("dma%x: ", ep);
udd_disable_endpoint_dma_interrupt(ep);
// Save number of data no transfered
// Save number of data no transferred
nb_remaining = (udd_endpoint_dma_get_status(ep) &
UOTGHS_DEVDMASTATUS_BUFF_COUNT_Msk)
>> UOTGHS_DEVDMASTATUS_BUFF_COUNT_Pos;
if (nb_remaining) {
// Transfer no complete (short packet or ZLP) then:
// Update number of data transfered
// Update number of data transferred
ptr_job->buf_cnt -= nb_remaining;
// Set transfer complete to stop the transfer
ptr_job->buf_size = ptr_job->buf_cnt;
@@ -2056,7 +2056,7 @@ static bool udd_ep_interrupt(void)
udd_disable_endpoint_interrupt(ep);
Assert(ptr_job->stall_requested);
// A stall has been requested during backgound transfer
// A stall has been requested during background transfer
ptr_job->stall_requested = false;
udd_disable_endpoint_bank_autoswitch(ep);
udd_enable_stall_handshake(ep);

2
Marlin/src/HAL/DUE/usb/usb_protocol_msc.h
View File

@@ -130,7 +130,7 @@ struct usb_msc_cbw {
struct usb_msc_csw {
le32_t dCSWSignature; //!< Must contain 'USBS'
le32_t dCSWTag; //!< Same as dCBWTag
le32_t dCSWDataResidue; //!< Number of bytes not transfered
le32_t dCSWDataResidue; //!< Number of bytes not transferred
uint8_t bCSWStatus; //!< Status code
};

2
Marlin/src/HAL/DUE/usb/usb_task.c
View File

@@ -62,7 +62,7 @@ void usb_task_idle(void) {
// Attend SD card access from the USB MSD -- Prioritize access to improve speed
int delay = 2;
while (main_b_msc_enable && --delay > 0) {
if (udi_msc_process_trans()) delay = 10000;
if (udi_msc_process_trans()) delay = 20;
// Reset the watchdog, just to be sure
REG_WDT_CR = WDT_CR_WDRSTT | WDT_CR_KEY(0xA5);

114
Marlin/src/HAL/DUE/watchdog.cpp
View File

@@ -1,114 +0,0 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
*
*/
#ifdef ARDUINO_ARCH_SAM
#include "../../inc/MarlinConfig.h"
#include "../../MarlinCore.h"
#include "watchdog.h"
// Override Arduino runtime to either config or disable the watchdog
//
// We need to configure the watchdog as soon as possible in the boot
// process, because watchdog initialization at hardware reset on SAM3X8E
// is unreliable, and there is risk of unintended resets if we delay
// that initialization to a later time.
void watchdogSetup() {
#if ENABLED(USE_WATCHDOG)
// 4 seconds timeout
uint32_t timeout = TERN(WATCHDOG_DURATION_8S, 8000, 4000);
// Calculate timeout value in WDT counter ticks: This assumes
// the slow clock is running at 32.768 kHz watchdog
// frequency is therefore 32768 / 128 = 256 Hz
timeout = (timeout << 8) / 1000;
if (timeout == 0)
timeout = 1;
else if (timeout > 0xFFF)
timeout = 0xFFF;
// We want to enable the watchdog with the specified timeout
uint32_t value =
WDT_MR_WDV(timeout) | // With the specified timeout
WDT_MR_WDD(timeout) | // and no invalid write window
#if !(SAMV70 || SAMV71 || SAME70 || SAMS70)
WDT_MR_WDRPROC | // WDT fault resets processor only - We want
// to keep PIO controller state
#endif
WDT_MR_WDDBGHLT | // WDT stops in debug state.
WDT_MR_WDIDLEHLT; // WDT stops in idle state.
#if ENABLED(WATCHDOG_RESET_MANUAL)
// We enable the watchdog timer, but only for the interrupt.
// Configure WDT to only trigger an interrupt
value |= WDT_MR_WDFIEN; // Enable WDT fault interrupt.
// Disable WDT interrupt (just in case, to avoid triggering it!)
NVIC_DisableIRQ(WDT_IRQn);
// We NEED memory barriers to ensure Interrupts are actually disabled!
// ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
__DSB();
__ISB();
// Initialize WDT with the given parameters
WDT_Enable(WDT, value);
// Configure and enable WDT interrupt.
NVIC_ClearPendingIRQ(WDT_IRQn);
NVIC_SetPriority(WDT_IRQn, 0); // Use highest priority, so we detect all kinds of lockups
NVIC_EnableIRQ(WDT_IRQn);
#else
// a WDT fault triggers a reset
value |= WDT_MR_WDRSTEN;
// Initialize WDT with the given parameters
WDT_Enable(WDT, value);
#endif
// Reset the watchdog
WDT_Restart(WDT);
#else
// Make sure to completely disable the Watchdog
WDT_Disable(WDT);
#endif
}
#if ENABLED(USE_WATCHDOG)
// Initialize watchdog - On SAM3X, Watchdog was already configured
// and enabled or disabled at startup, so no need to reconfigure it
// here.
void watchdog_init() {
// Reset watchdog to start clean
WDT_Restart(WDT);
}
#endif // USE_WATCHDOG
#endif

240
Marlin/src/HAL/ESP32/HAL.cpp
View File

@@ -28,6 +28,10 @@
#include <esp_adc_cal.h>
#include <HardwareSerial.h>
#if ENABLED(USE_ESP32_TASK_WDT)
#include <esp_task_wdt.h>
#endif
#if ENABLED(WIFISUPPORT)
#include <ESPAsyncWebServer.h>
#include "wifi.h"
@@ -48,7 +52,7 @@
// Externs
// ------------------------
portMUX_TYPE spinlock = portMUX_INITIALIZER_UNLOCKED;
portMUX_TYPE MarlinHAL::spinlock = portMUX_INITIALIZER_UNLOCKED;
// ------------------------
// Local defines
@@ -60,7 +64,8 @@ portMUX_TYPE spinlock = portMUX_INITIALIZER_UNLOCKED;
// Public Variables
// ------------------------
uint16_t HAL_adc_result;
uint16_t MarlinHAL::adc_result;
pwm_pin_t MarlinHAL::pwm_pin_data[MAX_EXPANDER_BITS];
// ------------------------
// Private Variables
@@ -69,9 +74,16 @@ uint16_t HAL_adc_result;
esp_adc_cal_characteristics_t characteristics[ADC_ATTEN_MAX];
adc_atten_t attenuations[ADC1_CHANNEL_MAX] = {};
uint32_t thresholds[ADC_ATTEN_MAX];
volatile int numPWMUsed = 0,
pwmPins[MAX_PWM_PINS],
pwmValues[MAX_PWM_PINS];
volatile int numPWMUsed = 0;
volatile struct { pin_t pin; int value; } pwmState[MAX_PWM_PINS];
pin_t chan_pin[CHANNEL_MAX_NUM + 1] = { 0 }; // PWM capable IOpins - not 0 or >33 on ESP32
struct {
uint32_t freq; // ledcReadFreq doesn't work if a duty hasn't been set yet!
uint16_t res;
} pwmInfo[(CHANNEL_MAX_NUM + 1) / 2];
// ------------------------
// Public functions
@@ -90,8 +102,26 @@ volatile int numPWMUsed = 0,
#endif
void HAL_init_board() {
#if ENABLED(USE_ESP32_EXIO)
HardwareSerial YSerial2(2);
void Write_EXIO(uint8_t IO, uint8_t v) {
if (hal.isr_state()) {
hal.isr_off();
YSerial2.write(0x80 | (((char)v) << 5) | (IO - 100));
hal.isr_on();
}
else
YSerial2.write(0x80 | (((char)v) << 5) | (IO - 100));
}
#endif
void MarlinHAL::init_board() {
#if ENABLED(USE_ESP32_TASK_WDT)
esp_task_wdt_init(10, true);
#endif
#if ENABLED(ESP3D_WIFISUPPORT)
esp3dlib.init();
#elif ENABLED(WIFISUPPORT)
@@ -127,30 +157,58 @@ void HAL_init_board() {
// Initialize the i2s peripheral only if the I2S stepper stream is enabled.
// The following initialization is performed after Serial1 and Serial2 are defined as
// their native pins might conflict with the i2s stream even when they are remapped.
TERN_(I2S_STEPPER_STREAM, i2s_init());
#if ENABLED(USE_ESP32_EXIO)
YSerial2.begin(460800 * 3, SERIAL_8N1, 16, 17);
#elif ENABLED(I2S_STEPPER_STREAM)
i2s_init();
#endif
}
void HAL_idletask() {
void MarlinHAL::idletask() {
#if BOTH(WIFISUPPORT, OTASUPPORT)
OTA_handle();
#endif
TERN_(ESP3D_WIFISUPPORT, esp3dlib.idletask());
}
void HAL_clear_reset_source() { }
uint8_t MarlinHAL::get_reset_source() { return rtc_get_reset_reason(1); }
uint8_t HAL_get_reset_source() { return rtc_get_reset_reason(1); }
void HAL_reboot() { ESP.restart(); }
void MarlinHAL::reboot() { ESP.restart(); }
void _delay_ms(int delay_ms) { delay(delay_ms); }
// return free memory between end of heap (or end bss) and whatever is current
int freeMemory() { return ESP.getFreeHeap(); }
int MarlinHAL::freeMemory() { return ESP.getFreeHeap(); }
// ------------------------
// Watchdog Timer
// ------------------------
#if ENABLED(USE_WATCHDOG)
#define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout
extern "C" {
esp_err_t esp_task_wdt_reset();
}
void watchdogSetup() {
// do whatever. don't remove this function.
}
void MarlinHAL::watchdog_init() {
// TODO
}
// Reset watchdog.
void MarlinHAL::watchdog_refresh() { esp_task_wdt_reset(); }
#endif
// ------------------------
// ADC
// ------------------------
#define ADC1_CHANNEL(pin) ADC1_GPIO ## pin ## _CHANNEL
adc1_channel_t get_channel(int pin) {
@@ -172,22 +230,24 @@ void adc1_set_attenuation(adc1_channel_t chan, adc_atten_t atten) {
}
}
void HAL_adc_init() {
void MarlinHAL::adc_init() {
// Configure ADC
adc1_config_width(ADC_WIDTH_12Bit);
// Configure channels only if used as (re-)configuring a pin for ADC that is used elsewhere might have adverse effects
TERN_(HAS_TEMP_ADC_0, adc1_set_attenuation(get_channel(TEMP_0_PIN), ADC_ATTEN_11db));
TERN_(HAS_TEMP_ADC_1, adc1_set_attenuation(get_channel(TEMP_1_PIN), ADC_ATTEN_11db));
TERN_(HAS_TEMP_ADC_2, adc1_set_attenuation(get_channel(TEMP_2_PIN), ADC_ATTEN_11db));
TERN_(HAS_TEMP_ADC_3, adc1_set_attenuation(get_channel(TEMP_3_PIN), ADC_ATTEN_11db));
TERN_(HAS_TEMP_ADC_4, adc1_set_attenuation(get_channel(TEMP_4_PIN), ADC_ATTEN_11db));
TERN_(HAS_TEMP_ADC_5, adc1_set_attenuation(get_channel(TEMP_5_PIN), ADC_ATTEN_11db));
TERN_(HAS_TEMP_ADC_6, adc2_set_attenuation(get_channel(TEMP_6_PIN), ADC_ATTEN_11db));
TERN_(HAS_TEMP_ADC_7, adc3_set_attenuation(get_channel(TEMP_7_PIN), ADC_ATTEN_11db));
TERN_(HAS_HEATED_BED, adc1_set_attenuation(get_channel(TEMP_BED_PIN), ADC_ATTEN_11db));
TERN_(HAS_TEMP_CHAMBER, adc1_set_attenuation(get_channel(TEMP_CHAMBER_PIN), ADC_ATTEN_11db));
TERN_(HAS_TEMP_COOLER, adc1_set_attenuation(get_channel(TEMP_COOLER_PIN), ADC_ATTEN_11db));
TERN_(HAS_TEMP_ADC_0, adc1_set_attenuation(get_channel(TEMP_0_PIN), ADC_ATTEN_11db));
TERN_(HAS_TEMP_ADC_1, adc1_set_attenuation(get_channel(TEMP_1_PIN), ADC_ATTEN_11db));
TERN_(HAS_TEMP_ADC_2, adc1_set_attenuation(get_channel(TEMP_2_PIN), ADC_ATTEN_11db));
TERN_(HAS_TEMP_ADC_3, adc1_set_attenuation(get_channel(TEMP_3_PIN), ADC_ATTEN_11db));
TERN_(HAS_TEMP_ADC_4, adc1_set_attenuation(get_channel(TEMP_4_PIN), ADC_ATTEN_11db));
TERN_(HAS_TEMP_ADC_5, adc1_set_attenuation(get_channel(TEMP_5_PIN), ADC_ATTEN_11db));
TERN_(HAS_TEMP_ADC_6, adc2_set_attenuation(get_channel(TEMP_6_PIN), ADC_ATTEN_11db));
TERN_(HAS_TEMP_ADC_7, adc3_set_attenuation(get_channel(TEMP_7_PIN), ADC_ATTEN_11db));
TERN_(HAS_HEATED_BED, adc1_set_attenuation(get_channel(TEMP_BED_PIN), ADC_ATTEN_11db));
TERN_(HAS_TEMP_CHAMBER, adc1_set_attenuation(get_channel(TEMP_CHAMBER_PIN), ADC_ATTEN_11db));
TERN_(HAS_TEMP_PROBE, adc1_set_attenuation(get_channel(TEMP_PROBE_PIN), ADC_ATTEN_11db));
TERN_(HAS_TEMP_COOLER, adc1_set_attenuation(get_channel(TEMP_COOLER_PIN), ADC_ATTEN_11db));
TERN_(HAS_TEMP_BOARD, adc1_set_attenuation(get_channel(TEMP_BOARD_PIN), ADC_ATTEN_11db));
TERN_(FILAMENT_WIDTH_SENSOR, adc1_set_attenuation(get_channel(FILWIDTH_PIN), ADC_ATTEN_11db));
// Note that adc2 is shared with the WiFi module, which has higher priority, so the conversion may fail.
@@ -202,11 +262,16 @@ void HAL_adc_init() {
}
}
void HAL_adc_start_conversion(const uint8_t adc_pin) {
const adc1_channel_t chan = get_channel(adc_pin);
#ifndef ADC_REFERENCE_VOLTAGE
#define ADC_REFERENCE_VOLTAGE 3.3
#endif
void MarlinHAL::adc_start(const pin_t pin) {
const adc1_channel_t chan = get_channel(pin);
uint32_t mv;
esp_adc_cal_get_voltage((adc_channel_t)chan, &characteristics[attenuations[chan]], &mv);
HAL_adc_result = mv * 1023.0 / 3300.0;
adc_result = mv * isr_float_t(1023) / isr_float_t(ADC_REFERENCE_VOLTAGE) / isr_float_t(1000);
// Change the attenuation level based on the new reading
adc_atten_t atten;
@@ -223,25 +288,106 @@ void HAL_adc_start_conversion(const uint8_t adc_pin) {
adc1_set_attenuation(chan, atten);
}
void analogWrite(pin_t pin, int value) {
// Use ledc hardware for internal pins
if (pin < 34) {
static int cnt_channel = 1, pin_to_channel[40] = { 0 };
if (pin_to_channel[pin] == 0) {
ledcAttachPin(pin, cnt_channel);
ledcSetup(cnt_channel, 490, 8);
ledcWrite(cnt_channel, value);
pin_to_channel[pin] = cnt_channel++;
// ------------------------
// PWM
// ------------------------
int8_t channel_for_pin(const uint8_t pin) {
for (int i = 0; i <= CHANNEL_MAX_NUM; i++)
if (chan_pin[i] == pin) return i;
return -1;
}
// get PWM channel for pin - if none then attach a new one
// return -1 if fail or invalid pin#, channel # (0-15) if success
int8_t get_pwm_channel(const pin_t pin, const uint32_t freq, const uint16_t res) {
if (!WITHIN(pin, 1, MAX_PWM_IOPIN)) return -1; // Not a hardware PWM pin!
int8_t cid = channel_for_pin(pin);
if (cid >= 0) return cid;
// Find an empty adjacent channel (same timer & freq/res)
for (int i = 0; i <= CHANNEL_MAX_NUM; i++) {
if (chan_pin[i] == 0) {
if (chan_pin[i ^ 0x1] != 0) {
if (pwmInfo[i / 2].freq == freq && pwmInfo[i / 2].res == res) {
chan_pin[i] = pin; // Allocate PWM to this channel
ledcAttachPin(pin, i);
return i;
}
}
else if (cid == -1) // Pair of empty channels?
cid = i & 0xFE; // Save lower channel number
}
ledcWrite(pin_to_channel[pin], value);
}
// not attached, is an empty timer slot avail?
if (cid >= 0) {
chan_pin[cid] = pin;
pwmInfo[cid / 2].freq = freq;
pwmInfo[cid / 2].res = res;
ledcSetup(cid, freq, res);
ledcAttachPin(pin, cid);
}
return cid; // -1 if no channel avail
}
void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=_BV(PWM_RESOLUTION)-1*/, const bool invert/*=false*/) {
#if ENABLED(I2S_STEPPER_STREAM)
if (pin > 127) {
const uint8_t pinlo = pin & 0x7F;
pwm_pin_t &pindata = pwm_pin_data[pinlo];
const uint32_t duty = map(invert ? v_size - v : v, 0, v_size, 0, pindata.pwm_cycle_ticks);
if (duty == 0 || duty == pindata.pwm_cycle_ticks) { // max or min (i.e., on/off)
pindata.pwm_duty_ticks = 0; // turn off PWM for this pin
duty ? SBI32(i2s_port_data, pinlo) : CBI32(i2s_port_data, pinlo); // set pin level
}
else
pindata.pwm_duty_ticks = duty; // PWM duty count = # of 4µs ticks per full PWM cycle
}
else
#endif
{
const int8_t cid = get_pwm_channel(pin, PWM_FREQUENCY, PWM_RESOLUTION);
if (cid >= 0) {
const uint32_t duty = map(invert ? v_size - v : v, 0, v_size, 0, _BV(PWM_RESOLUTION)-1);
ledcWrite(cid, duty);
}
}
}
int8_t MarlinHAL::set_pwm_frequency(const pin_t pin, const uint32_t f_desired) {
#if ENABLED(I2S_STEPPER_STREAM)
if (pin > 127) {
pwm_pin_data[pin & 0x7F].pwm_cycle_ticks = 1000000UL / f_desired / 4; // # of 4µs ticks per full PWM cycle
return 0;
}
else
#endif
{
const int8_t cid = channel_for_pin(pin);
if (cid >= 0) {
if (f_desired == ledcReadFreq(cid)) return cid; // no freq change
ledcDetachPin(chan_pin[cid]);
chan_pin[cid] = 0; // remove old freq channel
}
return get_pwm_channel(pin, f_desired, PWM_RESOLUTION); // try for new one
}
}
// use hardware PWM if avail, if not then ISR
void analogWrite(const pin_t pin, const uint16_t value, const uint32_t freq/*=PWM_FREQUENCY*/, const uint16_t res/*=8*/) { // always 8 bit resolution!
// Use ledc hardware for internal pins
const int8_t cid = get_pwm_channel(pin, freq, res);
if (cid >= 0) {
ledcWrite(cid, value); // set duty value
return;
}
// not a hardware PWM pin OR no PWM channels available
int idx = -1;
// Search Pin
for (int i = 0; i < numPWMUsed; ++i)
if (pwmPins[i] == pin) { idx = i; break; }
if (pwmState[i].pin == pin) { idx = i; break; }
// not found ?
if (idx < 0) {
@@ -250,34 +396,34 @@ void analogWrite(pin_t pin, int value) {
// Take new slot for pin
idx = numPWMUsed;
pwmPins[idx] = pin;
pwmState[idx].pin = pin;
// Start timer on first use
if (idx == 0) HAL_timer_start(PWM_TIMER_NUM, PWM_TIMER_FREQUENCY);
if (idx == 0) HAL_timer_start(MF_TIMER_PWM, PWM_TIMER_FREQUENCY);
++numPWMUsed;
}
// Use 7bit internal value - add 1 to have 100% high at 255
pwmValues[idx] = (value + 1) / 2;
pwmState[idx].value = (value + 1) / 2;
}
// Handle PWM timer interrupt
HAL_PWM_TIMER_ISR() {
HAL_timer_isr_prologue(PWM_TIMER_NUM);
HAL_timer_isr_prologue(MF_TIMER_PWM);
static uint8_t count = 0;
for (int i = 0; i < numPWMUsed; ++i) {
if (count == 0) // Start of interval
WRITE(pwmPins[i], pwmValues[i] ? HIGH : LOW);
else if (pwmValues[i] == count) // End of duration
WRITE(pwmPins[i], LOW);
digitalWrite(pwmState[i].pin, pwmState[i].value ? HIGH : LOW);
else if (pwmState[i].value == count) // End of duration
digitalWrite(pwmState[i].pin, LOW);
}
// 128 for 7 Bit resolution
count = (count + 1) & 0x7F;
HAL_timer_isr_epilogue(PWM_TIMER_NUM);
HAL_timer_isr_epilogue(MF_TIMER_PWM);
}
#endif // ARDUINO_ARCH_ESP32

178
Marlin/src/HAL/ESP32/HAL.h
View File

@@ -32,7 +32,6 @@
#include "../shared/HAL_SPI.h"
#include "fastio.h"
#include "watchdog.h"
#include "i2s.h"
#if ENABLED(WIFISUPPORT)
@@ -49,8 +48,6 @@
// Defines
// ------------------------
extern portMUX_TYPE spinlock;
#define MYSERIAL1 flushableSerial
#if EITHER(WIFISUPPORT, ESP3D_WIFISUPPORT)
@@ -63,26 +60,33 @@ extern portMUX_TYPE spinlock;
#endif
#endif
#define CRITICAL_SECTION_START() portENTER_CRITICAL(&spinlock)
#define CRITICAL_SECTION_END() portEXIT_CRITICAL(&spinlock)
#define ISRS_ENABLED() (spinlock.owner == portMUX_FREE_VAL)
#define ENABLE_ISRS() if (spinlock.owner != portMUX_FREE_VAL) portEXIT_CRITICAL(&spinlock)
#define DISABLE_ISRS() portENTER_CRITICAL(&spinlock)
#define CRITICAL_SECTION_START() portENTER_CRITICAL(&hal.spinlock)
#define CRITICAL_SECTION_END() portEXIT_CRITICAL(&hal.spinlock)
#define HAL_CAN_SET_PWM_FREQ // This HAL supports PWM Frequency adjustment
#define PWM_FREQUENCY 1000u // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency()
#define PWM_RESOLUTION 10u // Default PWM bit resolution
#define CHANNEL_MAX_NUM 15u // max PWM channel # to allocate (7 to only use low speed, 15 to use low & high)
#define MAX_PWM_IOPIN 33u // hardware pwm pins < 34
#ifndef MAX_EXPANDER_BITS
#define MAX_EXPANDER_BITS 32 // I2S expander bit width (max 32)
#endif
// ------------------------
// Types
// ------------------------
typedef double isr_float_t; // FPU ops are used for single-precision, so use double for ISRs.
typedef int16_t pin_t;
#define HAL_SERVO_LIB Servo
typedef struct pwm_pin {
uint32_t pwm_cycle_ticks = 1000000UL / (PWM_FREQUENCY) / 4; // # ticks per pwm cycle
uint32_t pwm_tick_count = 0; // current tick count
uint32_t pwm_duty_ticks = 0; // # of ticks for current duty cycle
} pwm_pin_t;
// ------------------------
// Public Variables
// ------------------------
/** result of last ADC conversion */
extern uint16_t HAL_adc_result;
class Servo;
typedef Servo hal_servo_t;
// ------------------------
// Public functions
@@ -91,56 +95,21 @@ extern uint16_t HAL_adc_result;
//
// Tone
//
void toneInit();
void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration=0);
void noTone(const pin_t _pin);
int8_t get_pwm_channel(const pin_t pin, const uint32_t freq, const uint16_t res);
void analogWrite(const pin_t pin, const uint16_t value, const uint32_t freq=PWM_FREQUENCY, const uint16_t res=8);
// clear reset reason
void HAL_clear_reset_source();
// reset reason
uint8_t HAL_get_reset_source();
void HAL_reboot();
void _delay_ms(int delay);
#if GCC_VERSION <= 50000
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wunused-function"
#endif
int freeMemory();
#if GCC_VERSION <= 50000
#pragma GCC diagnostic pop
#endif
void analogWrite(pin_t pin, int value);
// ADC
#define HAL_ANALOG_SELECT(pin)
void HAL_adc_init();
#define HAL_ADC_VREF 3.3
#define HAL_ADC_RESOLUTION 10
#define HAL_START_ADC(pin) HAL_adc_start_conversion(pin)
#define HAL_READ_ADC() HAL_adc_result
#define HAL_ADC_READY() true
void HAL_adc_start_conversion(const uint8_t adc_pin);
//
// Pin Mapping for M42, M43, M226
//
#define GET_PIN_MAP_PIN(index) index
#define GET_PIN_MAP_INDEX(pin) pin
#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
// Enable hooks into idle and setup for HAL
#define HAL_IDLETASK 1
#define BOARD_INIT() HAL_init_board();
void HAL_idletask();
inline void HAL_init() {}
void HAL_init_board();
#if ENABLED(USE_ESP32_EXIO)
void Write_EXIO(uint8_t IO, uint8_t v);
#endif
//
// Delay in cycles (used by DELAY_NS / DELAY_US)
@@ -182,3 +151,96 @@ FORCE_INLINE static void DELAY_CYCLES(uint32_t x) {
}
}
// ------------------------
// Class Utilities
// ------------------------
#pragma GCC diagnostic push
#if GCC_VERSION <= 50000
#pragma GCC diagnostic ignored "-Wunused-function"
#endif
int freeMemory();
#pragma GCC diagnostic pop
void _delay_ms(const int ms);
// ------------------------
// MarlinHAL Class
// ------------------------
#define HAL_ADC_VREF 3.3
#define HAL_ADC_RESOLUTION 10
class MarlinHAL {
public:
// Earliest possible init, before setup()
MarlinHAL() {}
// Watchdog
static void watchdog_init() IF_DISABLED(USE_WATCHDOG, {});
static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
static void init() {} // Called early in setup()
static void init_board(); // Called less early in setup()
static void reboot(); // Restart the firmware
// Interrupts
static portMUX_TYPE spinlock;
static bool isr_state() { return spinlock.owner == portMUX_FREE_VAL; }
static void isr_on() { if (spinlock.owner != portMUX_FREE_VAL) portEXIT_CRITICAL(&spinlock); }
static void isr_off() { portENTER_CRITICAL(&spinlock); }
static void delay_ms(const int ms) { _delay_ms(ms); }
// Tasks, called from idle()
static void idletask();
// Reset
static uint8_t get_reset_source();
static void clear_reset_source() {}
// Free SRAM
static int freeMemory();
static pwm_pin_t pwm_pin_data[MAX_EXPANDER_BITS];
//
// ADC Methods
//
static uint16_t adc_result;
// Called by Temperature::init once at startup
static void adc_init();
// Called by Temperature::init for each sensor at startup
static void adc_enable(const pin_t pin) {}
// Begin ADC sampling on the given pin. Called from Temperature::isr!
static void adc_start(const pin_t pin);
// Is the ADC ready for reading?
static bool adc_ready() { return true; }
// The current value of the ADC register
static uint16_t adc_value() { return adc_result; }
/**
* If not already allocated, allocate a hardware PWM channel
* to the pin and set the duty cycle..
* Optionally invert the duty cycle [default = false]
* Optionally change the scale of the provided value to enable finer PWM duty control [default = 255]
*/
static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
/**
* Allocate and set the frequency of a hardware PWM pin
* Returns -1 if no pin available.
*/
static int8_t set_pwm_frequency(const pin_t pin, const uint32_t f_desired);
};

6
Marlin/src/HAL/ESP32/HAL_SPI.cpp
View File

@@ -53,11 +53,9 @@ static SPISettings spiConfig;
// ------------------------
void spiBegin() {
#if !PIN_EXISTS(SD_SS)
#error "SD_SS_PIN not defined!"
#if ENABLED(SDSUPPORT) && PIN_EXISTS(SD_SS)
OUT_WRITE(SD_SS_PIN, HIGH);
#endif
OUT_WRITE(SD_SS_PIN, HIGH);
}
void spiInit(uint8_t spiRate) {

8
Marlin/src/HAL/LPC1768/watchdog.h → Marlin/src/HAL/ESP32/MarlinSPI.h
View File

@@ -1,6 +1,6 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
* Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
@@ -21,8 +21,6 @@
*/
#pragma once
void watchdog_init();
void HAL_watchdog_refresh();
#include <SPI.h>
bool watchdog_timed_out();
void watchdog_clear_timeout_flag();
using MarlinSPI = SPIClass;

18
Marlin/src/HAL/ESP32/Servo.cpp
View File

@@ -31,20 +31,18 @@
// so we only allocate servo channels up high to avoid side effects with regards to analogWrite (fans, leds, laser pwm etc.)
int Servo::channel_next_free = 12;
Servo::Servo() {
channel = channel_next_free++;
}
Servo::Servo() {}
int8_t Servo::attach(const int inPin) {
if (channel >= CHANNEL_MAX_NUM) return -1;
if (inPin > 0) pin = inPin;
ledcSetup(channel, 50, 16); // channel X, 50 Hz, 16-bit depth
ledcAttachPin(pin, channel);
return true;
channel = get_pwm_channel(pin, 50u, 16u);
return channel; // -1 if no PWM avail.
}
void Servo::detach() { ledcDetachPin(pin); }
// leave channel connected to servo - set duty to zero
void Servo::detach() {
if (channel >= 0) ledcWrite(channel, 0);
}
int Servo::read() { return degrees; }
@@ -52,7 +50,7 @@ void Servo::write(int inDegrees) {
degrees = constrain(inDegrees, MIN_ANGLE, MAX_ANGLE);
int us = map(degrees, MIN_ANGLE, MAX_ANGLE, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
int duty = map(us, 0, TAU_USEC, 0, MAX_COMPARE);
ledcWrite(channel, duty);
if (channel >= 0) ledcWrite(channel, duty); // don't save duty for servos!
}
void Servo::move(const int value) {

3
Marlin/src/HAL/ESP32/Servo.h
View File

@@ -30,8 +30,7 @@ class Servo {
MAX_PULSE_WIDTH = 2400, // Longest pulse sent to a servo
TAU_MSEC = 20,
TAU_USEC = (TAU_MSEC * 1000),
MAX_COMPARE = _BV(16) - 1, // 65535
CHANNEL_MAX_NUM = 16;
MAX_COMPARE = _BV(16) - 1; // 65535
public:
Servo();

8
Marlin/src/HAL/ESP32/Tone.cpp
View File

@@ -35,19 +35,19 @@
static pin_t tone_pin;
volatile static int32_t toggles;
void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration) {
void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration/*=0*/) {
tone_pin = _pin;
toggles = 2 * frequency * duration / 1000;
HAL_timer_start(TONE_TIMER_NUM, 2 * frequency);
HAL_timer_start(MF_TIMER_TONE, 2 * frequency);
}
void noTone(const pin_t _pin) {
HAL_timer_disable_interrupt(TONE_TIMER_NUM);
HAL_timer_disable_interrupt(MF_TIMER_TONE);
WRITE(_pin, LOW);
}
HAL_TONE_TIMER_ISR() {
HAL_timer_isr_prologue(TONE_TIMER_NUM);
HAL_timer_isr_prologue(MF_TIMER_TONE);
if (toggles) {
toggles--;

2
Marlin/src/HAL/ESP32/WebSocketSerial.cpp
View File

@@ -29,7 +29,7 @@
#include "wifi.h"
#include <ESPAsyncWebServer.h>
MSerialT webSocketSerial(false);
MSerialWebSocketT webSocketSerial(false);
AsyncWebSocket ws("/ws"); // TODO Move inside the class.
// RingBuffer impl

4
Marlin/src/HAL/ESP32/WebSocketSerial.h
View File

@@ -81,5 +81,5 @@ public:
#endif
};
typedef Serial1Class<WebSocketSerial> MSerialT;
extern MSerialT webSocketSerial;
typedef Serial1Class<WebSocketSerial> MSerialWebSocketT;
extern MSerialWebSocketT webSocketSerial;

12
Marlin/src/HAL/ESP32/endstop_interrupts.h
View File

@@ -59,4 +59,16 @@ void setup_endstop_interrupts() {
TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN));
TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN));
TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN));
TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN));
TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN));
TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN));
TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN));
TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN));
TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN));
TERN_(HAS_U_MAX, _ATTACH(U_MAX_PIN));
TERN_(HAS_U_MIN, _ATTACH(U_MIN_PIN));
TERN_(HAS_V_MAX, _ATTACH(V_MAX_PIN));
TERN_(HAS_V_MIN, _ATTACH(V_MIN_PIN));
TERN_(HAS_W_MAX, _ATTACH(W_MAX_PIN));
TERN_(HAS_W_MIN, _ATTACH(W_MIN_PIN));
}

6
Marlin/src/HAL/ESP32/esp32.csv Normal file
View File

@@ -0,0 +1,6 @@
# Name, Type, SubType, Offset, Size, Flags
nvs, data, nvs, 0x9000, 0x5000,
otadata, data, ota, 0xe000, 0x2000,
app0, app, ota_0, 0x10000, 0x180000,
app1, app, ota_1, 0x190000, 0x180000,
spiffs, data, spiffs, 0x310000, 0xF0000,
1 # Name Type SubType Offset Size Flags
2 nvs data nvs 0x9000 0x5000
3 otadata data ota 0xe000 0x2000
4 app0 app ota_0 0x10000 0x180000
5 app1 app ota_1 0x190000 0x180000
6 spiffs data spiffs 0x310000 0xF0000

18
Marlin/src/HAL/ESP32/fastio.h
View File

@@ -40,13 +40,19 @@
// Set pin as input with pullup mode
#define _PULLUP(IO, v) pinMode(IO, v ? INPUT_PULLUP : INPUT)
// Read a pin wrapper
#define READ(IO) (IS_I2S_EXPANDER_PIN(IO) ? i2s_state(I2S_EXPANDER_PIN_INDEX(IO)) : digitalRead(IO))
#if ENABLED(USE_ESP32_EXIO)
// Read a pin wrapper
#define READ(IO) digitalRead(IO)
// Write to a pin wrapper
#define WRITE(IO, v) (IO >= 100 ? Write_EXIO(IO, v) : digitalWrite(IO, v))
#else
// Read a pin wrapper
#define READ(IO) (IS_I2S_EXPANDER_PIN(IO) ? i2s_state(I2S_EXPANDER_PIN_INDEX(IO)) : digitalRead(IO))
// Write to a pin wrapper
#define WRITE(IO, v) (IS_I2S_EXPANDER_PIN(IO) ? i2s_write(I2S_EXPANDER_PIN_INDEX(IO), v) : digitalWrite(IO, v))
#endif
// Write to a pin wrapper
#define WRITE(IO, v) (IS_I2S_EXPANDER_PIN(IO) ? i2s_write(I2S_EXPANDER_PIN_INDEX(IO), v) : digitalWrite(IO, v))
// Set pin as input wrapper
// Set pin as input wrapper (0x80 | (v << 5) | (IO - 100))
#define SET_INPUT(IO) _SET_INPUT(IO)
// Set pin as input with pullup wrapper

85
Marlin/src/HAL/ESP32/i2s.cpp
View File

@@ -23,6 +23,8 @@
#include "../../inc/MarlinConfigPre.h"
#if DISABLED(USE_ESP32_EXIO)
#include "i2s.h"
#include "../shared/Marduino.h"
@@ -62,12 +64,9 @@ uint32_t i2s_port_data = 0;
#define I2S_EXIT_CRITICAL() portEXIT_CRITICAL(&i2s_spinlock[i2s_num])
static inline void gpio_matrix_out_check(uint32_t gpio, uint32_t signal_idx, bool out_inv, bool oen_inv) {
//if pin = -1, do not need to configure
if (gpio != -1) {
PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[gpio], PIN_FUNC_GPIO);
gpio_set_direction((gpio_num_t)gpio, (gpio_mode_t)GPIO_MODE_DEF_OUTPUT);
gpio_matrix_out(gpio, signal_idx, out_inv, oen_inv);
}
PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[gpio], PIN_FUNC_GPIO);
gpio_set_direction((gpio_num_t)gpio, (gpio_mode_t)GPIO_MODE_DEF_OUTPUT);
gpio_matrix_out(gpio, signal_idx, out_inv, oen_inv);
}
static esp_err_t i2s_reset_fifo(i2s_port_t i2s_num) {
@@ -140,22 +139,40 @@ static void IRAM_ATTR i2s_intr_handler_default(void *arg) {
}
void stepperTask(void *parameter) {
uint32_t remaining = 0;
uint32_t nextMainISR = 0;
#if ENABLED(LIN_ADVANCE)
uint32_t nextAdvanceISR = Stepper::LA_ADV_NEVER;
#endif
while (1) {
for (;;) {
xQueueReceive(dma.queue, &dma.current, portMAX_DELAY);
dma.rw_pos = 0;
while (dma.rw_pos < DMA_SAMPLE_COUNT) {
// Fill with the port data post pulse_phase until the next step
if (remaining) {
if (nextMainISR && TERN1(LIN_ADVANCE, nextAdvanceISR))
i2s_push_sample();
remaining--;
}
else {
// i2s_push_sample() is also called from Stepper::pulse_phase_isr() and Stepper::advance_isr()
// in a rare case where both are called, we need to double decrement the counters
const uint8_t push_count = 1 + (!nextMainISR && TERN0(LIN_ADVANCE, !nextAdvanceISR));
#if ENABLED(LIN_ADVANCE)
if (!nextAdvanceISR) {
Stepper::advance_isr();
nextAdvanceISR = Stepper::la_interval;
}
else if (nextAdvanceISR == Stepper::LA_ADV_NEVER)
nextAdvanceISR = Stepper::la_interval;
#endif
if (!nextMainISR) {
Stepper::pulse_phase_isr();
remaining = Stepper::block_phase_isr();
nextMainISR = Stepper::block_phase_isr();
}
nextMainISR -= push_count;
TERN_(LIN_ADVANCE, nextAdvanceISR -= push_count);
}
}
}
@@ -254,13 +271,7 @@ int i2s_init() {
I2S0.fifo_conf.dscr_en = 0;
I2S0.conf_chan.tx_chan_mod = (
#if ENABLED(I2S_STEPPER_SPLIT_STREAM)
4
#else
0
#endif
);
I2S0.conf_chan.tx_chan_mod = TERN(I2S_STEPPER_SPLIT_STREAM, 4, 0);
I2S0.fifo_conf.tx_fifo_mod = 0;
I2S0.conf.tx_mono = 0;
@@ -311,9 +322,16 @@ int i2s_init() {
xTaskCreatePinnedToCore(stepperTask, "StepperTask", 10000, nullptr, 1, nullptr, CONFIG_ARDUINO_RUNNING_CORE); // run I2S stepper task on same core as rest of Marlin
// Route the i2s pins to the appropriate GPIO
gpio_matrix_out_check(I2S_DATA, I2S0O_DATA_OUT23_IDX, 0, 0);
gpio_matrix_out_check(I2S_BCK, I2S0O_BCK_OUT_IDX, 0, 0);
gpio_matrix_out_check(I2S_WS, I2S0O_WS_OUT_IDX, 0, 0);
// If a pin is not defined, no need to configure
#if defined(I2S_DATA) && I2S_DATA >= 0
gpio_matrix_out_check(I2S_DATA, I2S0O_DATA_OUT23_IDX, 0, 0);
#endif
#if defined(I2S_BCK) && I2S_BCK >= 0
gpio_matrix_out_check(I2S_BCK, I2S0O_BCK_OUT_IDX, 0, 0);
#endif
#if defined(I2S_WS) && I2S_WS >= 0
gpio_matrix_out_check(I2S_WS, I2S0O_WS_OUT_IDX, 0, 0);
#endif
// Start the I2S peripheral
return i2s_start(I2S_NUM_0);
@@ -337,7 +355,28 @@ uint8_t i2s_state(uint8_t pin) {
}
void i2s_push_sample() {
// Every 4µs (when space in DMA buffer) toggle each expander PWM output using
// the current duty cycle/frequency so they sync with any steps (once
// through the DMA/FIFO buffers). PWM signal inversion handled by other functions
LOOP_L_N(p, MAX_EXPANDER_BITS) {
if (hal.pwm_pin_data[p].pwm_duty_ticks > 0) { // pin has active pwm?
if (hal.pwm_pin_data[p].pwm_tick_count == 0) {
if (TEST32(i2s_port_data, p)) { // hi->lo
CBI32(i2s_port_data, p);
hal.pwm_pin_data[p].pwm_tick_count = hal.pwm_pin_data[p].pwm_cycle_ticks - hal.pwm_pin_data[p].pwm_duty_ticks;
}
else { // lo->hi
SBI32(i2s_port_data, p);
hal.pwm_pin_data[p].pwm_tick_count = hal.pwm_pin_data[p].pwm_duty_ticks;
}
}
else
hal.pwm_pin_data[p].pwm_tick_count--;
}
}
dma.current[dma.rw_pos++] = i2s_port_data;
}
#endif // !USE_ESP32_EXIO
#endif // ARDUINO_ARCH_ESP32

7
Marlin/src/HAL/ESP32/inc/Conditionals_adv.h
View File

@@ -20,3 +20,10 @@
*
*/
#pragma once
//
// Board-specific options need to be defined before HAL.h
//
#if MB(MKS_TINYBEE)
#define MAX_EXPANDER_BITS 24 // TinyBee has 3 x HC595
#endif

20
Marlin/src/HAL/ESP32/inc/SanityCheck.h
View File

@@ -25,8 +25,8 @@
#error "EMERGENCY_PARSER is not yet implemented for ESP32. Disable EMERGENCY_PARSER to continue."
#endif
#if ENABLED(FAST_PWM_FAN) || SPINDLE_LASER_FREQUENCY
#error "Features requiring Hardware PWM (FAST_PWM_FAN, SPINDLE_LASER_FREQUENCY) are not yet supported on ESP32."
#if (ENABLED(SPINDLE_LASER_USE_PWM) && SPINDLE_LASER_FREQUENCY > 78125) || (ENABLED(FAST_PWM_FAN_FREQUENCY) && FAST_PWM_FAN_FREQUENCY > 78125)
#error "SPINDLE_LASER_FREQUENCY and FAST_PWM_FREQUENCY maximum value is 78125Hz for ESP32."
#endif
#if HAS_TMC_SW_SERIAL
@@ -40,3 +40,19 @@
#if ENABLED(POSTMORTEM_DEBUGGING)
#error "POSTMORTEM_DEBUGGING is not yet supported on ESP32."
#endif
#if MB(MKS_TINYBEE) && ENABLED(FAST_PWM_FAN)
#error "FAST_PWM_FAN is not available on TinyBee."
#endif
#if BOTH(I2S_STEPPER_STREAM, BABYSTEPPING) && DISABLED(INTEGRATED_BABYSTEPPING)
#error "BABYSTEPPING on I2S stream requires INTEGRATED_BABYSTEPPING."
#endif
#if USING_PULLDOWNS
#error "PULLDOWN pin mode is not available on ESP32 boards."
#endif
#if BOTH(I2S_STEPPER_STREAM, LIN_ADVANCE) && DISABLED(EXPERIMENTAL_I2S_LA)
#error "I2S stream is currently incompatible with LIN_ADVANCE."
#endif

3
Marlin/src/HAL/ESP32/spi_pins.h
View File

@@ -2,6 +2,9 @@
* Marlin 3D Printer Firmware
* Copyright (c) 2020 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

20
Marlin/src/HAL/ESP32/timers.cpp
View File

@@ -41,7 +41,7 @@
static timg_dev_t *TG[2] = {&TIMERG0, &TIMERG1};
const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = {
const tTimerConfig timer_config[NUM_HARDWARE_TIMERS] = {
{ TIMER_GROUP_0, TIMER_0, STEPPER_TIMER_PRESCALE, stepTC_Handler }, // 0 - Stepper
{ TIMER_GROUP_0, TIMER_1, TEMP_TIMER_PRESCALE, tempTC_Handler }, // 1 - Temperature
{ TIMER_GROUP_1, TIMER_0, PWM_TIMER_PRESCALE, pwmTC_Handler }, // 2 - PWM
@@ -53,7 +53,7 @@ const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = {
// ------------------------
void IRAM_ATTR timer_isr(void *para) {
const tTimerConfig& timer = TimerConfig[(int)para];
const tTimerConfig& timer = timer_config[(int)para];
// Retrieve the interrupt status and the counter value
// from the timer that reported the interrupt
@@ -81,8 +81,8 @@ void IRAM_ATTR timer_isr(void *para) {
* @param timer_num timer number to initialize
* @param frequency frequency of the timer
*/
void HAL_timer_start(const uint8_t timer_num, uint32_t frequency) {
const tTimerConfig timer = TimerConfig[timer_num];
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
const tTimerConfig timer = timer_config[timer_num];
timer_config_t config;
config.divider = timer.divider;
@@ -115,7 +115,7 @@ void HAL_timer_start(const uint8_t timer_num, uint32_t frequency) {
* @param count threshold at which the interrupt is triggered
*/
void HAL_timer_set_compare(const uint8_t timer_num, hal_timer_t count) {
const tTimerConfig timer = TimerConfig[timer_num];
const tTimerConfig timer = timer_config[timer_num];
timer_set_alarm_value(timer.group, timer.idx, count);
}
@@ -125,7 +125,7 @@ void HAL_timer_set_compare(const uint8_t timer_num, hal_timer_t count) {
* @return the timer current threshold for the alarm to be triggered
*/
hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
const tTimerConfig timer = TimerConfig[timer_num];
const tTimerConfig timer = timer_config[timer_num];
uint64_t alarm_value;
timer_get_alarm_value(timer.group, timer.idx, &alarm_value);
@@ -139,7 +139,7 @@ hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
* @return the current counter of the alarm
*/
hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
const tTimerConfig timer = TimerConfig[timer_num];
const tTimerConfig timer = timer_config[timer_num];
uint64_t counter_value;
timer_get_counter_value(timer.group, timer.idx, &counter_value);
return counter_value;
@@ -150,7 +150,7 @@ hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
* @param timer_num timer number to enable interrupts on
*/
void HAL_timer_enable_interrupt(const uint8_t timer_num) {
//const tTimerConfig timer = TimerConfig[timer_num];
//const tTimerConfig timer = timer_config[timer_num];
//timer_enable_intr(timer.group, timer.idx);
}
@@ -159,12 +159,12 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num) {
* @param timer_num timer number to disable interrupts on
*/
void HAL_timer_disable_interrupt(const uint8_t timer_num) {
//const tTimerConfig timer = TimerConfig[timer_num];
//const tTimerConfig timer = timer_config[timer_num];
//timer_disable_intr(timer.group, timer.idx);
}
bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
const tTimerConfig timer = TimerConfig[timer_num];
const tTimerConfig timer = timer_config[timer_num];
return TG[timer.group]->int_ena.val | BIT(timer_num);
}

38
Marlin/src/HAL/ESP32/timers.h
View File

@@ -32,20 +32,20 @@
typedef uint64_t hal_timer_t;
#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFFFFFFFFFULL
#ifndef STEP_TIMER_NUM
#define STEP_TIMER_NUM 0 // Timer Index for Stepper
#ifndef MF_TIMER_STEP
#define MF_TIMER_STEP 0 // Timer Index for Stepper
#endif
#ifndef PULSE_TIMER_NUM
#define PULSE_TIMER_NUM STEP_TIMER_NUM
#ifndef MF_TIMER_PULSE
#define MF_TIMER_PULSE MF_TIMER_STEP
#endif
#ifndef TEMP_TIMER_NUM
#define TEMP_TIMER_NUM 1 // Timer Index for Temperature
#ifndef MF_TIMER_TEMP
#define MF_TIMER_TEMP 1 // Timer Index for Temperature
#endif
#ifndef PWM_TIMER_NUM
#define PWM_TIMER_NUM 2 // index of timer to use for PWM outputs
#ifndef MF_TIMER_PWM
#define MF_TIMER_PWM 2 // index of timer to use for PWM outputs
#endif
#ifndef TONE_TIMER_NUM
#define TONE_TIMER_NUM 3 // index of timer for beeper tones
#ifndef MF_TIMER_TONE
#define MF_TIMER_TONE 3 // index of timer for beeper tones
#endif
#define HAL_TIMER_RATE APB_CLK_FREQ // frequency of timer peripherals
@@ -79,12 +79,12 @@ typedef uint64_t hal_timer_t;
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM)
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_STEP)
#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP)
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)
#ifndef HAL_TEMP_TIMER_ISR
#define HAL_TEMP_TIMER_ISR() extern "C" void tempTC_Handler()
@@ -121,13 +121,13 @@ typedef struct {
// Public Variables
// ------------------------
extern const tTimerConfig TimerConfig[];
extern const tTimerConfig timer_config[];
// ------------------------
// Public functions
// ------------------------
void HAL_timer_start (const uint8_t timer_num, uint32_t frequency);
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t count);
hal_timer_t HAL_timer_get_compare(const uint8_t timer_num);
hal_timer_t HAL_timer_get_count(const uint8_t timer_num);
@@ -136,5 +136,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
void HAL_timer_disable_interrupt(const uint8_t timer_num);
bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
#define HAL_timer_isr_prologue(TIMER_NUM)
#define HAL_timer_isr_epilogue(TIMER_NUM)
#define HAL_timer_isr_prologue(T) NOOP
#define HAL_timer_isr_epilogue(T) NOOP

106
Marlin/src/HAL/ESP32/u8g_esp32_spi.cpp Normal file
View File

@@ -0,0 +1,106 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* Copypaste of SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
*
* 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 <https://www.gnu.org/licenses/>.
*
*/
#ifdef ARDUINO_ARCH_ESP32
#include "../../inc/MarlinConfig.h"
#if EITHER(MKS_MINI_12864, FYSETC_MINI_12864_2_1)
#include <U8glib-HAL.h>
#include "../shared/HAL_SPI.h"
#include "HAL.h"
#include "SPI.h"
#if ENABLED(SDSUPPORT)
#include "../../sd/cardreader.h"
#if ENABLED(ESP3D_WIFISUPPORT)
#include "sd_ESP32.h"
#endif
#endif
static SPISettings spiConfig;
#ifndef LCD_SPI_SPEED
#ifdef SD_SPI_SPEED
#define LCD_SPI_SPEED SD_SPI_SPEED // Assume SPI speed shared with SD
#else
#define LCD_SPI_SPEED SPI_FULL_SPEED // Use full speed if SD speed is not supplied
#endif
#endif
uint8_t u8g_eps_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr) {
static uint8_t msgInitCount = 2; // Ignore all messages until 2nd U8G_COM_MSG_INIT
#if ENABLED(PAUSE_LCD_FOR_BUSY_SD)
if (card.flag.saving || card.flag.logging || TERN0(ESP3D_WIFISUPPORT, sd_busy_lock == true)) return 0;
#endif
if (msgInitCount) {
if (msg == U8G_COM_MSG_INIT) msgInitCount--;
if (msgInitCount) return -1;
}
switch (msg) {
case U8G_COM_MSG_STOP: break;
case U8G_COM_MSG_INIT:
OUT_WRITE(DOGLCD_CS, HIGH);
OUT_WRITE(DOGLCD_A0, HIGH);
OUT_WRITE(LCD_RESET_PIN, HIGH);
u8g_Delay(5);
spiBegin();
spiInit(LCD_SPI_SPEED);
break;
case U8G_COM_MSG_ADDRESS: /* define cmd (arg_val = 0) or data mode (arg_val = 1) */
WRITE(DOGLCD_A0, arg_val ? HIGH : LOW);
break;
case U8G_COM_MSG_CHIP_SELECT: /* arg_val == 0 means HIGH level of U8G_PI_CS */
WRITE(DOGLCD_CS, arg_val ? LOW : HIGH);
break;
case U8G_COM_MSG_RESET:
WRITE(LCD_RESET_PIN, arg_val);
break;
case U8G_COM_MSG_WRITE_BYTE:
spiSend((uint8_t)arg_val);
break;
case U8G_COM_MSG_WRITE_SEQ:
uint8_t *ptr = (uint8_t*) arg_ptr;
while (arg_val > 0) {
spiSend(*ptr++);
arg_val--;
}
break;
}
return 1;
}
#endif // EITHER(MKS_MINI_12864, FYSETC_MINI_12864_2_1)
#endif // ARDUINO_ARCH_ESP32

2
Marlin/src/HAL/ESP32/wifi.cpp
View File

@@ -59,7 +59,7 @@ void wifi_init() {
MDNS.addService("http", "tcp", 80);
SERIAL_ECHOLNPAIR("Successfully connected to WiFi with SSID '" WIFI_SSID "', hostname: '" WIFI_HOSTNAME "', IP address: ", WiFi.localIP().toString().c_str());
SERIAL_ECHOLNPGM("Successfully connected to WiFi with SSID '" WIFI_SSID "', hostname: '" WIFI_HOSTNAME "', IP address: ", WiFi.localIP().toString().c_str());
}
#endif // WIFISUPPORT

5
Marlin/src/HAL/HAL.h
View File

@@ -28,6 +28,7 @@
#endif
#include HAL_PATH(.,HAL.h)
extern MarlinHAL hal;
#define HAL_ADC_RANGE _BV(HAL_ADC_RESOLUTION)
@@ -44,7 +45,3 @@
#ifndef PGMSTR
#define PGMSTR(NAM,STR) const char NAM[] = STR
#endif
inline void watchdog_refresh() {
TERN_(USE_WATCHDOG, HAL_watchdog_refresh());
}

37
Marlin/src/HAL/LINUX/HAL.cpp
View File

@@ -24,6 +24,10 @@
#include "../../inc/MarlinConfig.h"
#include "../shared/Delay.h"
// ------------------------
// Serial ports
// ------------------------
MSerialT usb_serial(TERN0(EMERGENCY_PARSER, true));
// U8glib required functions
@@ -37,42 +41,21 @@ extern "C" {
//************************//
// return free heap space
int freeMemory() {
return 0;
}
int freeMemory() { return 0; }
// ------------------------
// ADC
// ------------------------
void HAL_adc_init() {
uint8_t MarlinHAL::active_ch = 0;
}
void HAL_adc_enable_channel(const uint8_t ch) {
}
uint8_t active_ch = 0;
void HAL_adc_start_conversion(const uint8_t ch) {
active_ch = ch;
}
bool HAL_adc_finished() {
return true;
}
uint16_t HAL_adc_get_result() {
pin_t pin = analogInputToDigitalPin(active_ch);
uint16_t MarlinHAL::adc_value() {
const pin_t pin = analogInputToDigitalPin(active_ch);
if (!VALID_PIN(pin)) return 0;
uint16_t data = ((Gpio::get(pin) >> 2) & 0x3FF);
const uint16_t data = ((Gpio::get(pin) >> 2) & 0x3FF);
return data; // return 10bit value as Marlin expects
}
void HAL_pwm_init() {
}
void HAL_reboot() { /* Reset the application state and GPIO */ }
void MarlinHAL::reboot() { /* Reset the application state and GPIO */ }
#endif // __PLAT_LINUX__

150
Marlin/src/HAL/LINUX/HAL.h
View File

@@ -21,25 +21,42 @@
*/
#pragma once
#define CPU_32_BIT
#include "../../inc/MarlinConfigPre.h"
#define F_CPU 100000000UL
#define SystemCoreClock F_CPU
#include <iostream>
#include <stdint.h>
#include <stdarg.h>
#undef min
#undef max
#include <algorithm>
void _printf (const char *format, ...);
#include "hardware/Clock.h"
#include "../shared/Marduino.h"
#include "../shared/math_32bit.h"
#include "../shared/HAL_SPI.h"
#include "fastio.h"
#include "serial.h"
// ------------------------
// Defines
// ------------------------
#define CPU_32_BIT
#define SHARED_SERVOS HAS_SERVOS // Use shared/servos.cpp
#define F_CPU 100000000UL
#define SystemCoreClock F_CPU
#define DELAY_CYCLES(x) Clock::delayCycles(x)
#define CPU_ST7920_DELAY_1 600
#define CPU_ST7920_DELAY_2 750
#define CPU_ST7920_DELAY_3 750
void _printf(const char *format, ...);
void _putc(uint8_t c);
uint8_t _getc();
//extern "C" volatile uint32_t _millis;
//arduino: Print.h
#define DEC 10
#define HEX 16
@@ -49,67 +66,100 @@ uint8_t _getc();
#define B01 1
#define B10 2
#include "hardware/Clock.h"
#include "../shared/Marduino.h"
#include "../shared/math_32bit.h"
#include "../shared/HAL_SPI.h"
#include "fastio.h"
#include "watchdog.h"
#include "serial.h"
#define SHARED_SERVOS HAS_SERVOS
// ------------------------
// Serial ports
// ------------------------
extern MSerialT usb_serial;
#define MYSERIAL1 usb_serial
#define ST7920_DELAY_1 DELAY_NS(600)
#define ST7920_DELAY_2 DELAY_NS(750)
#define ST7920_DELAY_3 DELAY_NS(750)
//
// Interrupts
//
#define CRITICAL_SECTION_START()
#define CRITICAL_SECTION_END()
#define ISRS_ENABLED()
#define ENABLE_ISRS()
#define DISABLE_ISRS()
inline void HAL_init() {}
// ADC
#define HAL_ADC_VREF 5.0
#define HAL_ADC_RESOLUTION 10
// Utility functions
// ------------------------
// Class Utilities
// ------------------------
#pragma GCC diagnostic push
#if GCC_VERSION <= 50000
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wunused-function"
#endif
int freeMemory();
#if GCC_VERSION <= 50000
#pragma GCC diagnostic pop
#endif
#pragma GCC diagnostic pop
// ADC
#define HAL_ADC_VREF 5.0
#define HAL_ADC_RESOLUTION 10
#define HAL_ANALOG_SELECT(ch) HAL_adc_enable_channel(ch)
#define HAL_START_ADC(ch) HAL_adc_start_conversion(ch)
#define HAL_READ_ADC() HAL_adc_get_result()
#define HAL_ADC_READY() true
// ------------------------
// MarlinHAL Class
// ------------------------
void HAL_adc_init();
void HAL_adc_enable_channel(const uint8_t ch);
void HAL_adc_start_conversion(const uint8_t ch);
uint16_t HAL_adc_get_result();
class MarlinHAL {
public:
// Reset source
inline void HAL_clear_reset_source(void) {}
inline uint8_t HAL_get_reset_source(void) { return RST_POWER_ON; }
// Earliest possible init, before setup()
MarlinHAL() {}
void HAL_reboot(); // Reset the application state and GPIO
// Watchdog
static void watchdog_init() {}
static void watchdog_refresh() {}
/* ---------------- Delay in cycles */
FORCE_INLINE static void DELAY_CYCLES(uint64_t x) {
Clock::delayCycles(x);
}
static void init() {} // Called early in setup()
static void init_board() {} // Called less early in setup()
static void reboot(); // Reset the application state and GPIO
// Interrupts
static bool isr_state() { return true; }
static void isr_on() {}
static void isr_off() {}
static void delay_ms(const int ms) { _delay_ms(ms); }
// Tasks, called from idle()
static void idletask() {}
// Reset
static constexpr uint8_t reset_reason = RST_POWER_ON;
static uint8_t get_reset_source() { return reset_reason; }
static void clear_reset_source() {}
// Free SRAM
static int freeMemory() { return ::freeMemory(); }
//
// ADC Methods
//
static uint8_t active_ch;
// Called by Temperature::init once at startup
static void adc_init() {}
// Called by Temperature::init for each sensor at startup
static void adc_enable(const uint8_t) {}
// Begin ADC sampling on the given channel
static void adc_start(const uint8_t ch) { active_ch = ch; }
// Is the ADC ready for reading?
static bool adc_ready() { return true; }
// The current value of the ADC register
static uint16_t adc_value();
/**
* Set the PWM duty cycle for the pin to the given value.
* No option to change the resolution or invert the duty cycle.
*/
static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
analogWrite(pin, v);
}
static void set_pwm_frequency(const pin_t, int) {}
};

26
Marlin/src/HAL/LINUX/MarlinSPI.h Normal file
View File

@@ -0,0 +1,26 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2021 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 <https://www.gnu.org/licenses/>.
*
*/
#pragma once
#include <SPI.h>
using MarlinSPI = SPIClass;

4
Marlin/src/HAL/LINUX/arduino.cpp
View File

@@ -31,9 +31,7 @@ void cli() { } // Disable
void sei() { } // Enable
// Time functions
void _delay_ms(const int delay_ms) {
delay(delay_ms);
}
void _delay_ms(const int ms) { delay(ms); }
uint32_t millis() {
return (uint32_t)Clock::millis();

16
Marlin/src/HAL/LINUX/eeprom.cpp
View File

@@ -69,12 +69,12 @@ bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, ui
std::size_t bytes_written = 0;
for (std::size_t i = 0; i < size; i++) {
buffer[pos+i] = value[i];
bytes_written ++;
buffer[pos + i] = value[i];
bytes_written++;
}
crc16(crc, value, size);
pos = pos + size;
pos += size;
return (bytes_written != size); // return true for any error
}
@@ -82,21 +82,21 @@ bool PersistentStore::read_data(int &pos, uint8_t *value, const size_t size, uin
std::size_t bytes_read = 0;
if (writing) {
for (std::size_t i = 0; i < size; i++) {
value[i] = buffer[pos+i];
bytes_read ++;
value[i] = buffer[pos + i];
bytes_read++;
}
crc16(crc, value, size);
}
else {
uint8_t temp[size];
for (std::size_t i = 0; i < size; i++) {
temp[i] = buffer[pos+i];
bytes_read ++;
temp[i] = buffer[pos + i];
bytes_read++;
}
crc16(crc, temp, size);
}
pos = pos + size;
pos += size;
return bytes_read != size; // return true for any error
}

2
Marlin/src/HAL/LINUX/hardware/Gpio.h
View File

@@ -40,7 +40,7 @@ struct GpioEvent {
pin_type pin_id;
GpioEvent::Type event;
GpioEvent(uint64_t timestamp, pin_type pin_id, GpioEvent::Type event){
GpioEvent(uint64_t timestamp, pin_type pin_id, GpioEvent::Type event) {
this->timestamp = timestamp;
this->pin_id = pin_id;
this->event = event;

2
Marlin/src/HAL/LINUX/hardware/Heater.cpp
View File

@@ -54,7 +54,7 @@ void Heater::update() {
}
void Heater::interrupt(GpioEvent ev) {
// ununsed
// unused
}
#endif // __PLAT_LINUX__

4
Marlin/src/HAL/LINUX/hardware/Heater.h
View File

@@ -26,8 +26,8 @@
struct LowpassFilter {
uint64_t data_delay = 0;
uint16_t update(uint16_t value) {
data_delay = data_delay - (data_delay >> 6) + value;
return (uint16_t)(data_delay >> 6);
data_delay += value - (data_delay >> 6);
return uint16_t(data_delay >> 6);
}
};

2
Marlin/src/HAL/LINUX/hardware/LinearAxis.cpp
View File

@@ -51,7 +51,7 @@ void LinearAxis::update() {
}
void LinearAxis::interrupt(GpioEvent ev) {
if (ev.pin_id == step_pin && !Gpio::pin_map[enable_pin].value){
if (ev.pin_id == step_pin && !Gpio::pin_map[enable_pin].value) {
if (ev.event == GpioEvent::RISE) {
last_update = ev.timestamp;
position += -1 + 2 * Gpio::pin_map[dir_pin].value;

2
Marlin/src/HAL/LINUX/hardware/Timer.h
View File

@@ -52,7 +52,7 @@ public:
return (*(intptr_t*)timerid);
}
static void handler(int sig, siginfo_t *si, void *uc){
static void handler(int sig, siginfo_t *si, void *uc) {
Timer* _this = (Timer*)si->si_value.sival_ptr;
_this->avg_error += (Clock::nanos() - _this->start_time) - _this->period; //high_resolution_clock is also limited in precision, but best we have
_this->avg_error /= 2; //very crude precision analysis (actually within +-500ns usually)

2
Marlin/src/HAL/LINUX/inc/SanityCheck.h
View File

@@ -26,7 +26,7 @@
*/
// Emulating RAMPS
#if ENABLED(SPINDLE_LASER_PWM) && !(SPINDLE_LASER_PWM_PIN == 4 || SPINDLE_LASER_PWM_PIN == 6 || SPINDLE_LASER_PWM_PIN == 11)
#if ENABLED(SPINDLE_LASER_USE_PWM) && !(SPINDLE_LASER_PWM_PIN == 4 || SPINDLE_LASER_PWM_PIN == 6 || SPINDLE_LASER_PWM_PIN == 11)
#error "SPINDLE_LASER_PWM_PIN must use SERVO0, SERVO1 or SERVO3 connector"
#endif

7
Marlin/src/HAL/LINUX/include/Arduino.h
View File

@@ -59,10 +59,9 @@ typedef uint8_t byte;
#endif
#define sq(v) ((v) * (v))
#define square(v) sq(v)
#define constrain(value, arg_min, arg_max) ((value) < (arg_min) ? (arg_min) :((value) > (arg_max) ? (arg_max) : (value)))
//Interrupts
// Interrupts
void cli(); // Disable
void sei(); // Enable
void attachInterrupt(uint32_t pin, void (*callback)(), uint32_t mode);
@@ -74,8 +73,8 @@ extern "C" {
}
// Time functions
extern "C" void delay(const int milis);
void _delay_ms(const int delay);
extern "C" void delay(const int ms);
void _delay_ms(const int ms);
void delayMicroseconds(unsigned long);
uint32_t millis();

37
Marlin/src/HAL/LINUX/include/pinmapping.cpp
View File

@@ -25,43 +25,6 @@
#include "../../../gcode/parser.h"
uint8_t analog_offset = NUM_DIGITAL_PINS - NUM_ANALOG_INPUTS;
// Get the digital pin for an analog index
pin_t analogInputToDigitalPin(const int8_t p) {
return (WITHIN(p, 0, NUM_ANALOG_INPUTS) ? analog_offset + p : P_NC);
}
// Return the index of a pin number
int16_t GET_PIN_MAP_INDEX(const pin_t pin) {
return pin;
}
// Test whether the pin is valid
bool VALID_PIN(const pin_t p) {
return WITHIN(p, 0, NUM_DIGITAL_PINS);
}
// Get the analog index for a digital pin
int8_t DIGITAL_PIN_TO_ANALOG_PIN(const pin_t p) {
return (WITHIN(p, analog_offset, NUM_DIGITAL_PINS) ? p - analog_offset : P_NC);
}
// Test whether the pin is PWM
bool PWM_PIN(const pin_t p) {
return false;
}
// Test whether the pin is interruptable
bool INTERRUPT_PIN(const pin_t p) {
return false;
}
// Get the pin number at the given index
pin_t GET_PIN_MAP_PIN(const int16_t ind) {
return ind;
}
int16_t PARSED_PIN_INDEX(const char code, const int16_t dval) {
return parser.intval(code, dval);
}

30
Marlin/src/HAL/LINUX/include/pinmapping.h
View File

@@ -34,26 +34,32 @@ constexpr uint8_t NUM_ANALOG_INPUTS = 16;
#define HAL_SENSITIVE_PINS
constexpr uint8_t analog_offset = NUM_DIGITAL_PINS - NUM_ANALOG_INPUTS;
// Get the digital pin for an analog index
pin_t analogInputToDigitalPin(const int8_t p);
// Return the index of a pin number
int16_t GET_PIN_MAP_INDEX(const pin_t pin);
// Test whether the pin is valid
bool VALID_PIN(const pin_t p);
constexpr pin_t analogInputToDigitalPin(const int8_t p) {
return (WITHIN(p, 0, NUM_ANALOG_INPUTS) ? analog_offset + p : P_NC);
}
// Get the analog index for a digital pin
int8_t DIGITAL_PIN_TO_ANALOG_PIN(const pin_t p);
constexpr int8_t DIGITAL_PIN_TO_ANALOG_PIN(const pin_t p) {
return (WITHIN(p, analog_offset, NUM_DIGITAL_PINS) ? p - analog_offset : P_NC);
}
// Return the index of a pin number
constexpr int16_t GET_PIN_MAP_INDEX(const pin_t pin) { return pin; }
// Test whether the pin is valid
constexpr bool VALID_PIN(const pin_t p) { return WITHIN(p, 0, NUM_DIGITAL_PINS); }
// Test whether the pin is PWM
bool PWM_PIN(const pin_t p);
constexpr bool PWM_PIN(const pin_t p) { return false; }
// Test whether the pin is interruptable
bool INTERRUPT_PIN(const pin_t p);
// Test whether the pin is interruptible
constexpr bool INTERRUPT_PIN(const pin_t p) { return false; }
// Get the pin number at the given index
pin_t GET_PIN_MAP_PIN(const int16_t ind);
constexpr pin_t GET_PIN_MAP_PIN(const int16_t ind) { return ind; }
// Parse a G-code word into a pin index
int16_t PARSED_PIN_INDEX(const char code, const int16_t dval);

4
Marlin/src/HAL/LINUX/main.cpp
View File

@@ -2,6 +2,9 @@
* Marlin 3D Printer Firmware
* Copyright (c) 2020 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
@@ -16,6 +19,7 @@
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#ifdef __PLAT_LINUX__
//#define GPIO_LOGGING // Full GPIO and Positional Logging

4
Marlin/src/HAL/LINUX/pinsDebug.h
View File

@@ -2,6 +2,9 @@
* Marlin 3D Printer Firmware
* Copyright (c) 2020 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
@@ -34,6 +37,7 @@
#define GET_ARRAY_PIN(p) pin_array[p].pin
#define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
#define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%3d "), p); SERIAL_ECHO(buffer); }while(0)
#define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d) "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
#define MULTI_NAME_PAD 16 // space needed to be pretty if not first name assigned to a pin
// active ADC function/mode/code values for PINSEL registers

27
Marlin/src/HAL/LINUX/timers.h
View File

@@ -37,14 +37,14 @@ typedef uint32_t hal_timer_t;
#define HAL_TIMER_RATE ((SystemCoreClock) / 4) // frequency of timers peripherals
#ifndef STEP_TIMER_NUM
#define STEP_TIMER_NUM 0 // Timer Index for Stepper
#ifndef MF_TIMER_STEP
#define MF_TIMER_STEP 0 // Timer Index for Stepper
#endif
#ifndef PULSE_TIMER_NUM
#define PULSE_TIMER_NUM STEP_TIMER_NUM
#ifndef MF_TIMER_PULSE
#define MF_TIMER_PULSE MF_TIMER_STEP
#endif
#ifndef TEMP_TIMER_NUM
#define TEMP_TIMER_NUM 1 // Timer Index for Temperature
#ifndef MF_TIMER_TEMP
#define MF_TIMER_TEMP 1 // Timer Index for Temperature
#endif
#define TEMP_TIMER_RATE 1000000
@@ -58,12 +58,12 @@ typedef uint32_t hal_timer_t;
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM)
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_STEP)
#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP)
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)
#ifndef HAL_STEP_TIMER_ISR
#define HAL_STEP_TIMER_ISR() extern "C" void TIMER0_IRQHandler()
@@ -77,7 +77,6 @@ typedef uint32_t hal_timer_t;
#define HAL_PWM_TIMER_ISR() extern "C" void TIMER3_IRQHandler()
#define HAL_PWM_TIMER_IRQn
void HAL_timer_init();
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
@@ -93,5 +92,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
void HAL_timer_disable_interrupt(const uint8_t timer_num);
bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
#define HAL_timer_isr_prologue(TIMER_NUM)
#define HAL_timer_isr_epilogue(TIMER_NUM)
#define HAL_timer_isr_prologue(T) NOOP
#define HAL_timer_isr_epilogue(T) NOOP

94
Marlin/src/HAL/LPC1768/HAL.cpp
View File

@@ -25,13 +25,9 @@
#include "../shared/Delay.h"
#include "../../../gcode/parser.h"
#if ENABLED(USE_WATCHDOG)
#include "watchdog.h"
#endif
DefaultSerial1 USBSerial(false, UsbSerial);
uint32_t HAL_adc_reading = 0;
uint32_t MarlinHAL::adc_result = 0;
// U8glib required functions
extern "C" {
@@ -41,8 +37,6 @@ extern "C" {
void u8g_Delay(uint16_t val) { delay(val); }
}
//************************//
// return free heap space
int freeMemory() {
char stack_end;
@@ -54,7 +48,71 @@ int freeMemory() {
return result;
}
// scan command line for code
void MarlinHAL::reboot() { NVIC_SystemReset(); }
uint8_t MarlinHAL::get_reset_source() {
#if ENABLED(USE_WATCHDOG)
if (watchdog_timed_out()) return RST_WATCHDOG;
#endif
return RST_POWER_ON;
}
void MarlinHAL::clear_reset_source() { watchdog_clear_timeout_flag(); }
void flashFirmware(const int16_t) {
delay(500); // Give OS time to disconnect
USB_Connect(false); // USB clear connection
delay(1000); // Give OS time to notice
hal.reboot();
}
#if ENABLED(USE_WATCHDOG)
#include <lpc17xx_wdt.h>
#define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout
void MarlinHAL::watchdog_init() {
#if ENABLED(WATCHDOG_RESET_MANUAL)
// We enable the watchdog timer, but only for the interrupt.
// Configure WDT to only trigger an interrupt
// Disable WDT interrupt (just in case, to avoid triggering it!)
NVIC_DisableIRQ(WDT_IRQn);
// We NEED memory barriers to ensure Interrupts are actually disabled!
// ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
__DSB();
__ISB();
// Configure WDT to only trigger an interrupt
// Initialize WDT with the given parameters
WDT_Init(WDT_CLKSRC_IRC, WDT_MODE_INT_ONLY);
// Configure and enable WDT interrupt.
NVIC_ClearPendingIRQ(WDT_IRQn);
NVIC_SetPriority(WDT_IRQn, 0); // Use highest priority, so we detect all kinds of lockups
NVIC_EnableIRQ(WDT_IRQn);
#else
WDT_Init(WDT_CLKSRC_IRC, WDT_MODE_RESET);
#endif
WDT_Start(WDT_TIMEOUT_US);
}
void MarlinHAL::watchdog_refresh() {
WDT_Feed();
#if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED)
TOGGLE(LED_PIN); // heartbeat indicator
#endif
}
// Timeout state
bool MarlinHAL::watchdog_timed_out() { return TEST(WDT_ReadTimeOutFlag(), 0); }
void MarlinHAL::watchdog_clear_timeout_flag() { WDT_ClrTimeOutFlag(); }
#endif // USE_WATCHDOG
// For M42/M43, scan command line for pin code
// return index into pin map array if found and the pin is valid.
// return dval if not found or not a valid pin.
int16_t PARSED_PIN_INDEX(const char code, const int16_t dval) {
@@ -63,24 +121,4 @@ int16_t PARSED_PIN_INDEX(const char code, const int16_t dval) {
return ind > -1 ? ind : dval;
}
void flashFirmware(const int16_t) {
delay(500); // Give OS time to disconnect
USB_Connect(false); // USB clear connection
delay(1000); // Give OS time to notice
HAL_reboot();
}
void HAL_clear_reset_source(void) {
TERN_(USE_WATCHDOG, watchdog_clear_timeout_flag());
}
uint8_t HAL_get_reset_source(void) {
#if ENABLED(USE_WATCHDOG)
if (watchdog_timed_out()) return RST_WATCHDOG;
#endif
return RST_POWER_ON;
}
void HAL_reboot() { NVIC_SystemReset(); }
#endif // TARGET_LPC1768

188
Marlin/src/HAL/LPC1768/HAL.h
View File

@@ -28,8 +28,6 @@
#define CPU_32_BIT
void HAL_init();
#include <stdint.h>
#include <stdarg.h>
#include <algorithm>
@@ -40,25 +38,15 @@ extern "C" volatile uint32_t _millis;
#include "../shared/math_32bit.h"
#include "../shared/HAL_SPI.h"
#include "fastio.h"
#include "watchdog.h"
#include "MarlinSerial.h"
#include <adc.h>
#include <pinmapping.h>
#include <CDCSerial.h>
//
// Default graphical display delays
//
#ifndef ST7920_DELAY_1
#define ST7920_DELAY_1 DELAY_NS(600)
#endif
#ifndef ST7920_DELAY_2
#define ST7920_DELAY_2 DELAY_NS(750)
#endif
#ifndef ST7920_DELAY_3
#define ST7920_DELAY_3 DELAY_NS(750)
#endif
// ------------------------
// Serial ports
// ------------------------
typedef ForwardSerial1Class< decltype(UsbSerial) > DefaultSerial1;
extern DefaultSerial1 USBSerial;
@@ -84,6 +72,16 @@ extern DefaultSerial1 USBSerial;
#endif
#endif
#ifdef SERIAL_PORT_3
#if SERIAL_PORT_3 == -1
#define MYSERIAL3 USBSerial
#elif WITHIN(SERIAL_PORT_3, 0, 3)
#define MYSERIAL3 MSERIAL(SERIAL_PORT_3)
#else
#error "SERIAL_PORT_3 must be from 0 to 3. You can also use -1 if the board supports Native USB."
#endif
#endif
#ifdef MMU2_SERIAL_PORT
#if MMU2_SERIAL_PORT == -1
#define MMU2_SERIAL USBSerial
@@ -103,35 +101,19 @@ extern DefaultSerial1 USBSerial;
#error "LCD_SERIAL_PORT must be from 0 to 3. You can also use -1 if the board supports Native USB."
#endif
#if HAS_DGUS_LCD
#define SERIAL_GET_TX_BUFFER_FREE() MSerial0.available()
#define SERIAL_GET_TX_BUFFER_FREE() LCD_SERIAL.available()
#endif
#endif
//
// Interrupts
//
#define CRITICAL_SECTION_START() uint32_t primask = __get_PRIMASK(); __disable_irq()
#define CRITICAL_SECTION_END() if (!primask) __enable_irq()
#define ISRS_ENABLED() (!__get_PRIMASK())
#define ENABLE_ISRS() __enable_irq()
#define DISABLE_ISRS() __disable_irq()
#define CRITICAL_SECTION_START() const bool irqon = !__get_PRIMASK(); __disable_irq()
#define CRITICAL_SECTION_END() if (irqon) __enable_irq()
//
// Utility functions
//
#if GCC_VERSION <= 50000
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wunused-function"
#endif
int freeMemory();
#if GCC_VERSION <= 50000
#pragma GCC diagnostic pop
#endif
//
// ADC API
// ADC
//
#define ADC_MEDIAN_FILTER_SIZE (23) // Higher values increase step delay (phase shift),
@@ -150,20 +132,9 @@ int freeMemory();
#define HAL_ADC_RESOLUTION 12 // 15 bit maximum, raw temperature is stored as int16_t
#define HAL_ADC_FILTERED // Disable oversampling done in Marlin as ADC values already filtered in HAL
using FilteredADC = LPC176x::ADC<ADC_LOWPASS_K_VALUE, ADC_MEDIAN_FILTER_SIZE>;
extern uint32_t HAL_adc_reading;
[[gnu::always_inline]] inline void HAL_start_adc(const pin_t pin) {
HAL_adc_reading = FilteredADC::read(pin) >> (16 - HAL_ADC_RESOLUTION); // returns 16bit value, reduce to required bits
}
[[gnu::always_inline]] inline uint16_t HAL_read_adc() {
return HAL_adc_reading;
}
#define HAL_adc_init()
#define HAL_ANALOG_SELECT(pin) FilteredADC::enable_channel(pin)
#define HAL_START_ADC(pin) HAL_start_adc(pin)
#define HAL_READ_ADC() HAL_read_adc()
#define HAL_ADC_READY() (true)
//
// Pin Mapping for M42, M43, M226
//
// Test whether the pin is valid
constexpr bool VALID_PIN(const pin_t pin) {
@@ -188,34 +159,109 @@ constexpr pin_t GET_PIN_MAP_PIN(const int16_t index) {
// Parse a G-code word into a pin index
int16_t PARSED_PIN_INDEX(const char code, const int16_t dval);
// P0.6 thru P0.9 are for the onboard SD card
#define HAL_SENSITIVE_PINS P0_06, P0_07, P0_08, P0_09
#define HAL_SENSITIVE_PINS P0_06, P0_07, P0_08, P0_09,
#define HAL_IDLETASK 1
void HAL_idletask();
// ------------------------
// Defines
// ------------------------
#define PLATFORM_M997_SUPPORT
void flashFirmware(const int16_t);
#define HAL_CAN_SET_PWM_FREQ // This HAL supports PWM Frequency adjustment
/**
* set_pwm_frequency
* Set the frequency of the timer corresponding to the provided pin
* All Hardware PWM pins run at the same frequency and all
* Software PWM pins run at the same frequency
*/
void set_pwm_frequency(const pin_t pin, int f_desired);
// Default graphical display delays
#define CPU_ST7920_DELAY_1 600
#define CPU_ST7920_DELAY_2 750
#define CPU_ST7920_DELAY_3 750
/**
* set_pwm_duty
* Set the PWM duty cycle of the provided pin to the provided value
* Optionally allows inverting the duty cycle [default = false]
* Optionally allows changing the maximum size of the provided value to enable finer PWM duty control [default = 255]
*/
void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
// ------------------------
// Free Memory Accessor
// ------------------------
// Reset source
void HAL_clear_reset_source(void);
uint8_t HAL_get_reset_source(void);
#pragma GCC diagnostic push
#if GCC_VERSION <= 50000
#pragma GCC diagnostic ignored "-Wunused-function"
#endif
void HAL_reboot();
int freeMemory();
#pragma GCC diagnostic pop
// ------------------------
// MarlinHAL Class
// ------------------------
class MarlinHAL {
public:
// Earliest possible init, before setup()
MarlinHAL() {}
static void init(); // Called early in setup()
static void init_board() {} // Called less early in setup()
static void reboot(); // Restart the firmware from 0x0
// Interrupts
static bool isr_state() { return !__get_PRIMASK(); }
static void isr_on() { __enable_irq(); }
static void isr_off() { __disable_irq(); }
static void delay_ms(const int ms) { _delay_ms(ms); }
// Watchdog
static void watchdog_init() IF_DISABLED(USE_WATCHDOG, {});
static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
static bool watchdog_timed_out() IF_DISABLED(USE_WATCHDOG, { return false; });
static void watchdog_clear_timeout_flag() IF_DISABLED(USE_WATCHDOG, {});
// Tasks, called from idle()
static void idletask();
// Reset
static uint8_t get_reset_source();
static void clear_reset_source();
// Free SRAM
static int freeMemory() { return ::freeMemory(); }
//
// ADC Methods
//
using FilteredADC = LPC176x::ADC<ADC_LOWPASS_K_VALUE, ADC_MEDIAN_FILTER_SIZE>;
// Called by Temperature::init once at startup
static void adc_init() {}
// Called by Temperature::init for each sensor at startup
static void adc_enable(const pin_t pin) {
FilteredADC::enable_channel(pin);
}
// Begin ADC sampling on the given pin. Called from Temperature::isr!
static uint32_t adc_result;
static void adc_start(const pin_t pin) {
adc_result = FilteredADC::read(pin) >> (16 - HAL_ADC_RESOLUTION); // returns 16bit value, reduce to required bits
}
// Is the ADC ready for reading?
static bool adc_ready() { return true; }
// The current value of the ADC register
static uint16_t adc_value() { return uint16_t(adc_result); }
/**
* Set the PWM duty cycle for the pin to the given value.
* Optionally invert the duty cycle [default = false]
* Optionally change the scale of the provided value to enable finer PWM duty control [default = 255]
*/
static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
/**
* Set the frequency of the timer corresponding to the provided pin
* All Hardware PWM pins will run at the same frequency and
* All Software PWM pins will run at the same frequency
*/
static void set_pwm_frequency(const pin_t pin, const uint16_t f_desired);
};

65
Marlin/src/HAL/LPC1768/HAL_SPI.cpp
View File

@@ -66,11 +66,7 @@
#include <SoftwareSPI.h>
#ifndef HAL_SPI_SPEED
#define HAL_SPI_SPEED SPI_FULL_SPEED
#endif
static uint8_t SPI_speed = HAL_SPI_SPEED;
static uint8_t SPI_speed = SPI_FULL_SPEED;
static uint8_t spiTransfer(uint8_t b) {
return swSpiTransfer(b, SPI_speed, SD_SCK_PIN, SD_MISO_PIN, SD_MOSI_PIN);
@@ -106,15 +102,13 @@
#else
#ifndef HAL_SPI_SPEED
#ifdef SD_SPI_SPEED
#define HAL_SPI_SPEED SD_SPI_SPEED
#else
#define HAL_SPI_SPEED SPI_FULL_SPEED
#endif
#ifdef SD_SPI_SPEED
#define INIT_SPI_SPEED SD_SPI_SPEED
#else
#define INIT_SPI_SPEED SPI_FULL_SPEED
#endif
void spiBegin() { spiInit(HAL_SPI_SPEED); } // Set up SCK, MOSI & MISO pins for SSP0
void spiBegin() { spiInit(INIT_SPI_SPEED); } // Set up SCK, MOSI & MISO pins for SSP0
void spiInit(uint8_t spiRate) {
#if SD_MISO_PIN == BOARD_SPI1_MISO_PIN
@@ -324,8 +318,16 @@ void SPIClass::dmaSend(void *buf, uint16_t length, bool minc) {
// Enable DMA
GPDMA_ChannelCmd(0, ENABLE);
/*
* Observed behaviour on normal data transfer completion (SKR 1.3 board / LPC1768 MCU)
* GPDMA_STAT_INTTC flag is SET
* GPDMA_STAT_INTERR flag is NOT SET
* GPDMA_STAT_RAWINTTC flag is NOT SET
* GPDMA_STAT_RAWINTERR flag is SET
*/
// Wait for data transfer
while (!GPDMA_IntGetStatus(GPDMA_STAT_RAWINTTC, 0) && !GPDMA_IntGetStatus(GPDMA_STAT_RAWINTERR, 0)) { }
while (!GPDMA_IntGetStatus(GPDMA_STAT_INTTC, 0) && !GPDMA_IntGetStatus(GPDMA_STAT_INTERR, 0)) {}
// Clear err and int
GPDMA_ClearIntPending (GPDMA_STATCLR_INTTC, 0);
@@ -339,6 +341,43 @@ void SPIClass::dmaSend(void *buf, uint16_t length, bool minc) {
SSP_DMACmd(_currentSetting->spi_d, SSP_DMA_TX, DISABLE);
}
void SPIClass::dmaSendAsync(void *buf, uint16_t length, bool minc) {
//TODO: LPC dma can only write 0xFFF bytes at once.
GPDMA_Channel_CFG_Type GPDMACfg;
/* Configure GPDMA channel 0 -------------------------------------------------------------*/
/* DMA Channel 0 */
GPDMACfg.ChannelNum = 0;
// Source memory
GPDMACfg.SrcMemAddr = (uint32_t)buf;
// Destination memory - Not used
GPDMACfg.DstMemAddr = 0;
// Transfer size
GPDMACfg.TransferSize = length;
// Transfer width
GPDMACfg.TransferWidth = (_currentSetting->dataSize == DATA_SIZE_16BIT) ? GPDMA_WIDTH_HALFWORD : GPDMA_WIDTH_BYTE;
// Transfer type
GPDMACfg.TransferType = GPDMA_TRANSFERTYPE_M2P;
// Source connection - unused
GPDMACfg.SrcConn = 0;
// Destination connection
GPDMACfg.DstConn = (_currentSetting->spi_d == LPC_SSP0) ? GPDMA_CONN_SSP0_Tx : GPDMA_CONN_SSP1_Tx;
GPDMACfg.DMALLI = 0;
// Enable dma on SPI
SSP_DMACmd(_currentSetting->spi_d, SSP_DMA_TX, ENABLE);
// Only increase memory if minc is true
GPDMACfg.MemoryIncrease = (minc ? GPDMA_DMACCxControl_SI : 0);
// Setup channel with given parameter
GPDMA_Setup(&GPDMACfg);
// Enable DMA
GPDMA_ChannelCmd(0, ENABLE);
}
uint16_t SPIClass::read() {
return SSP_ReceiveData(_currentSetting->spi_d);
}

8
Marlin/src/HAL/LPC1768/MarlinSerial.cpp
View File

@@ -26,9 +26,9 @@
#include "../../inc/MarlinConfig.h"
#if USING_HW_SERIAL0
MarlinSerial _MSerial(LPC_UART0);
MSerialT MSerial0(true, _MSerial);
extern "C" void UART0_IRQHandler() { _MSerial.IRQHandler(); }
MarlinSerial _MSerial0(LPC_UART0);
MSerialT MSerial0(true, _MSerial0);
extern "C" void UART0_IRQHandler() { _MSerial0.IRQHandler(); }
#endif
#if USING_HW_SERIAL1
MarlinSerial _MSerial1((LPC_UART_TypeDef *) LPC_UART1);
@@ -52,7 +52,7 @@
// Need to figure out which serial port we are and react in consequence (Marlin does not have CONTAINER_OF macro)
if (false) {}
#if USING_HW_SERIAL0
else if (this == &_MSerial) emergency_parser.update(MSerial0.emergency_state, c);
else if (this == &_MSerial0) emergency_parser.update(MSerial0.emergency_state, c);
#endif
#if USING_HW_SERIAL1
else if (this == &_MSerial1) emergency_parser.update(MSerial1.emergency_state, c);

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