⏪️ Refactor still needs work

Reverting #23295

Marlin/src/HAL/SAMD51/HAL.h

@@ -89,29 +89,51 @@
 
 typedef int8_t pin_t;
 
-#define SHARED_SERVOS HAS_SERVOS  // Use shared/servos.cpp
-class Servo;
-typedef Servo hal_servo_t;
+#define SHARED_SERVOS HAS_SERVOS
+#define HAL_SERVO_LIB Servo
 
 //
 // Interrupts
 //
-#define CRITICAL_SECTION_START()  const bool irqon = !__get_PRIMASK(); __disable_irq()
-#define CRITICAL_SECTION_END()    if (irqon) __enable_irq()
+#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 cli() __disable_irq() // Disable interrupts
-#define sei() __enable_irq()  // Enable interrupts
+#define cli() __disable_irq()       // Disable interrupts
+#define sei() __enable_irq()        // Enable interrupts
+
+void HAL_clear_reset_source();  // clear reset reason
+uint8_t HAL_get_reset_source(); // get reset reason
+
+void HAL_reboot();
 
 //
 // ADC
 //
+extern uint16_t HAL_adc_result;     // Most recent ADC conversion
+
+#define HAL_ANALOG_SELECT(pin)
+
+void HAL_adc_init();
 
 //#define HAL_ADC_FILTERED          // Disable Marlin's oversampling. The HAL filters ADC values.
 #define HAL_ADC_VREF         3.3
 #define HAL_ADC_RESOLUTION  10      // ... 12
+#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
+// PWM
+//
+inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { analogWrite(pin, v); }
+
+//
+// Pin Map
 //
 #define GET_PIN_MAP_PIN(index) index
 #define GET_PIN_MAP_INDEX(pin) pin
@@ -120,92 +142,35 @@ typedef Servo hal_servo_t;
 //
 // Tone
 //
+void toneInit();
 void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration=0);
 void noTone(const pin_t _pin);
 
-// ------------------------
-// Class Utilities
-// ------------------------
+// Enable hooks into idle and setup for HAL
+void HAL_init();
+/*
+#define HAL_IDLETASK 1
+void HAL_idletask();
+*/
+
+//
+// Utility functions
+//
+FORCE_INLINE void _delay_ms(const int delay_ms) { delay(delay_ms); }
 
 #pragma GCC diagnostic push
 #if GCC_VERSION <= 50000
   #pragma GCC diagnostic ignored "-Wunused-function"
 #endif
 
-#ifdef __cplusplus
-  extern "C" {
-#endif
-
-char *dtostrf(double __val, signed char __width, unsigned char __prec, char *__s);
-
-extern "C" int freeMemory();
-
-#ifdef __cplusplus
-  }
-#endif
+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 inline void init_board() {}  // Called less early in setup()
-  static void reboot();               // Restart the firmware from 0x0
-
-  static inline bool isr_state() { return !__get_PRIMASK(); }
-  static inline void isr_on()  { sei(); }
-  static inline void isr_off() { cli(); }
-
-  static inline void delay_ms(const int ms) { delay(ms); }
-
-  // Tasks, called from idle()
-  static inline void idletask() {}
-
-  // Reset
-  static uint8_t get_reset_source();
-  static inline void clear_reset_source() {}
-
-  // Free SRAM
-  static inline 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 inline void adc_enable(const uint8_t ch) {}
-
-  // Begin ADC sampling on the given channel
-  static void adc_start(const pin_t pin);
-
-  // Is the ADC ready for reading?
-  static inline 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 option to invert the duty cycle [default = false]
-   * No option to change the scale of the provided value to enable finer PWM duty control [default = 255]
-   */
-  static inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false) {
-    analogWrite(pin, v);
+#ifdef __cplusplus
+  extern "C" {
+#endif
+char *dtostrf(double __val, signed char __width, unsigned char __prec, char *__s);
+#ifdef __cplusplus
   }
-
-};
-
-extern MarlinHAL hal;
+#endif