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♻️ Refactor HAL as singleton (#23357, #23871, #23897)

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This commit is contained in:
Scott Lahteine 2022-02-17 18:50:31 -06:00 committed by Scott Lahteine
parent 428b67db31
commit 56cec9690a
81 changed files with 1976 additions and 1418 deletions
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38
Marlin/src/HAL/AVR/HAL.cpp
View File

@ -36,7 +36,7 @@
// ------------------------
// Don't initialize/override variable (which would happen in .init4)
uint8_t reset_reason __attribute__((section(".noinit")));
uint8_t MarlinHAL::reset_reason __attribute__((section(".noinit")));
// ------------------------
// Public functions
@ -45,22 +45,22 @@ uint8_t reset_reason __attribute__((section(".noinit")));
__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 HAL_save_reset_reason() {
void save_reset_reason() {
#if ENABLED(OPTIBOOT_RESET_REASON)
__asm__ __volatile__(
A("STS %0, r2")
: "=m"(reset_reason)
: "=m"(hal.reset_reason)
);
#else
reset_reason = MCUSR;
hal.reset_reason = MCUSR;
#endif
// Clear within 16ms since WDRF bit enables a 16ms watchdog timer -> Boot loop
MCUSR = 0;
hal.clear_reset_source();
wdt_disable();
}
void HAL_init() {
void MarlinHAL::init() {
// Init Servo Pins
#define INIT_SERVO(N) OUT_WRITE(SERVO##N##_PIN, LOW)
#if HAS_SERVO_0
@ -79,7 +79,7 @@ void HAL_init() {
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
@ -95,20 +95,20 @@ 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

198
Marlin/src/HAL/AVR/HAL.h
View File

@ -74,9 +74,9 @@
#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
@ -84,16 +84,15 @@
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 reset_reason;
// Serial ports
// ------------------------
#ifdef USBCON
#include "../../core/serial_hook.h"
typedef ForwardSerial1Class< decltype(Serial) > DefaultSerial1;
@ -142,57 +141,15 @@ extern uint8_t reset_reason;
#endif
#endif
// ------------------------
// Public functions
// ------------------------
void HAL_init();
//void cli();
//void _delay_ms(const int delay);
inline void HAL_clear_reset_source() { }
inline uint8_t HAL_get_reset_source() { return reset_reason; }
void HAL_reboot();
#pragma GCC diagnostic push
#if GCC_VERSION <= 50000
#pragma GCC diagnostic ignored "-Wunused-function"
#endif
extern "C" int freeMemory();
#pragma GCC diagnostic pop
//
// 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)
@ -206,30 +163,109 @@ inline void HAL_adc_init() {
// AVR compatibility
#define strtof strtod
#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()
// ------------------------
// Class Utilities
// ------------------------
/**
* 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, const uint16_t f_desired);
#pragma GCC diagnostic push
#if GCC_VERSION <= 50000
#pragma GCC diagnostic ignored "-Wunused-function"
#endif
/**
* 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);
extern "C" int freeMemory();
/*
* init_pwm_timers
* sets the default frequency for timers 2-5 to 1000HZ
*/
void init_pwm_timers();
#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 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
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);
};

4
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) {

6
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();

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

@ -107,7 +107,7 @@ const Timer get_pwm_timer(const pin_t pin) {
return Timer();
}
void set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
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
@ -176,7 +176,7 @@ void set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
_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)
if (v == 0)
@ -201,7 +201,7 @@ void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255
}
}
void init_pwm_timers() {
void MarlinHAL::init_pwm_timers() {
// Init some timer frequencies to a default 1KHz
const pin_t pwm_pin[] = {
#ifdef __AVR_ATmega2560__

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__ (

6
Marlin/src/HAL/AVR/timers.h
View File

@ -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(T)
#define HAL_timer_isr_epilogue(T)
#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)); \

43
Marlin/src/HAL/DUE/HAL.cpp
View File

@ -34,7 +34,7 @@
// Public Variables
// ------------------------
uint16_t HAL_adc_result;
uint16_t MarlinHAL::adc_result;
// ------------------------
// Public functions
@ -42,8 +42,7 @@ uint16_t HAL_adc_result;
TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial());
// HAL initialization task
void HAL_init() {
void MarlinHAL::init() {
// Initialize the USB stack
#if ENABLED(SDSUPPORT)
OUT_WRITE(SDSS, HIGH); // Try to set SDSS inactive before any other SPI users start up
@ -52,21 +51,15 @@ void HAL_init() {
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;
@ -77,12 +70,7 @@ uint8_t HAL_get_reset_source() {
}
}
void HAL_reboot() { rstc_start_software_reset(RSTC); }
void _delay_ms(const int delay_ms) {
// Todo: port for Due?
delay(delay_ms);
}
void MarlinHAL::reboot() { rstc_start_software_reset(RSTC); }
extern "C" {
extern unsigned int _ebss; // end of bss section
@ -94,19 +82,6 @@ int freeMemory() {
return (int)&free_memory - (heap_end ?: (int)&_ebss);
}
// ------------------------
// ADC
// ------------------------
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);

135
Marlin/src/HAL/DUE/HAL.h
View File

@ -38,6 +38,10 @@
#include "../../core/serial_hook.h"
// ------------------------
// Serial ports
// ------------------------
typedef ForwardSerial1Class< decltype(Serial) > DefaultSerial1;
typedef ForwardSerial1Class< decltype(Serial1) > DefaultSerial2;
typedef ForwardSerial1Class< decltype(Serial2) > DefaultSerial3;
@ -97,60 +101,38 @@ extern DefaultSerial4 MSerial3;
#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() noInterrupts()
#define cli() interrupts()
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();
//
// 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
// Pin Mapping for M42, M43, M226
//
#define GET_PIN_MAP_PIN(index) index
#define GET_PIN_MAP_INDEX(pin) pin
@ -159,27 +141,18 @@ inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255,
//
// 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 ignored "-Wunused-function"
#endif
int freeMemory();
#pragma GCC diagnostic pop
#ifdef __cplusplus
@ -189,3 +162,69 @@ 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() {}
static void init(); // Called early in setup()
static void init_board(); // Called less early in setup()
static void reboot(); // Software reset
// 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
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);
}
};

4
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)) {

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

@ -35,7 +35,7 @@
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(MF_TIMER_TONE, 2 * frequency);

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

@ -125,4 +125,4 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_SR;
}
#define HAL_timer_isr_epilogue(T)
#define HAL_timer_isr_epilogue(T) NOOP

35
Marlin/src/HAL/ESP32/HAL.cpp
View File

@ -52,7 +52,7 @@
// Externs
// ------------------------
portMUX_TYPE spinlock = portMUX_INITIALIZER_UNLOCKED;
portMUX_TYPE MarlinHAL::spinlock = portMUX_INITIALIZER_UNLOCKED;
// ------------------------
// Local defines
@ -64,7 +64,7 @@ portMUX_TYPE spinlock = portMUX_INITIALIZER_UNLOCKED;
// Public Variables
// ------------------------
uint16_t HAL_adc_result;
uint16_t MarlinHAL::adc_result;
// ------------------------
// Private Variables
@ -95,20 +95,22 @@ volatile int numPWMUsed = 0,
#endif
#if ENABLED(USE_ESP32_EXIO)
HardwareSerial YSerial2(2);
void Write_EXIO(uint8_t IO, uint8_t v) {
if (ISRS_ENABLED()) {
DISABLE_ISRS();
if (hal.isr_state()) {
hal.isr_off();
YSerial2.write(0x80 | (((char)v) << 5) | (IO - 100));
ENABLE_ISRS();
hal.isr_on();
}
else
YSerial2.write(0x80 | (((char)v) << 5) | (IO - 100));
}
#endif
void HAL_init_board() {
void MarlinHAL::init_board() {
#if ENABLED(USE_ESP32_TASK_WDT)
esp_task_wdt_init(10, true);
#endif
@ -154,27 +156,24 @@ void HAL_init_board() {
#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 _delay_ms(int delay_ms) { delay(delay_ms); }
void MarlinHAL::reboot() { ESP.restart(); }
// 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(); }
// ------------------------
// ADC
// ------------------------
#define ADC1_CHANNEL(pin) ADC1_GPIO ## pin ## _CHANNEL
adc1_channel_t get_channel(int pin) {
@ -196,7 +195,7 @@ 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);
@ -228,11 +227,11 @@ void HAL_adc_init() {
}
}
void HAL_adc_start_conversion(const uint8_t adc_pin) {
const adc1_channel_t chan = get_channel(adc_pin);
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 * 1023.0 / 3300.0;
// Change the attenuation level based on the new reading
adc_atten_t atten;

144
Marlin/src/HAL/ESP32/HAL.h
View File

@ -49,8 +49,6 @@
// Defines
// ------------------------
extern portMUX_TYPE spinlock;
#define MYSERIAL1 flushableSerial
#if EITHER(WIFISUPPORT, ESP3D_WIFISUPPORT)
@ -65,9 +63,6 @@ extern portMUX_TYPE spinlock;
#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)
// ------------------------
// Types
@ -75,14 +70,8 @@ extern portMUX_TYPE spinlock;
typedef int16_t pin_t;
#define HAL_SERVO_LIB Servo
// ------------------------
// Public Variables
// ------------------------
/** result of last ADC conversion */
extern uint16_t HAL_adc_result;
class Servo;
typedef Servo hal_servo_t;
// ------------------------
// Public functions
@ -91,59 +80,18 @@ 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);
// clear reset reason
void HAL_clear_reset_source();
// reset reason
uint8_t HAL_get_reset_source();
void HAL_reboot();
void _delay_ms(int delay);
#pragma GCC diagnostic push
#if GCC_VERSION <= 50000
#pragma GCC diagnostic ignored "-Wunused-function"
#endif
int freeMemory();
#pragma GCC diagnostic pop
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);
// 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
//
// 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
@ -188,3 +136,85 @@ 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() {}
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();
//
// 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 channel
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; }
/**
* 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);
}
};

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

@ -35,7 +35,7 @@
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(MF_TIMER_TONE, 2 * frequency);

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

@ -81,7 +81,7 @@ 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) {
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
const tTimerConfig timer = timer_config[timer_num];
timer_config_t config;

6
Marlin/src/HAL/ESP32/timers.h
View File

@ -127,7 +127,7 @@ 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(T)
#define HAL_timer_isr_epilogue(T)
#define HAL_timer_isr_prologue(T) NOOP
#define HAL_timer_isr_epilogue(T) NOOP

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__

145
Marlin/src/HAL/LINUX/HAL.h
View File

@ -21,34 +21,13 @@
*/
#pragma once
#define CPU_32_BIT
#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, ...);
void _putc(uint8_t c);
uint8_t _getc();
//extern "C" volatile uint32_t _millis;
//arduino: Print.h
#define DEC 10
#define HEX 16
#define OCT 8
#define BIN 2
//arduino: binary.h (weird defines)
#define B01 1
#define B10 2
#include "hardware/Clock.h"
#include "../shared/Marduino.h"
@ -58,27 +37,56 @@ uint8_t _getc();
#include "watchdog.h"
#include "serial.h"
#define SHARED_SERVOS HAS_SERVOS
// ------------------------
// Defines
// ------------------------
extern MSerialT usb_serial;
#define MYSERIAL1 usb_serial
#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();
//arduino: Print.h
#define DEC 10
#define HEX 16
#define OCT 8
#define BIN 2
//arduino: binary.h (weird defines)
#define B01 1
#define B10 2
// ------------------------
// Serial ports
// ------------------------
extern MSerialT usb_serial;
#define MYSERIAL1 usb_serial
//
// 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
// ------------------------
// Class Utilities
// ------------------------
// Utility functions
#pragma GCC diagnostic push
#if GCC_VERSION <= 50000
#pragma GCC diagnostic ignored "-Wunused-function"
@ -88,29 +96,66 @@ int freeMemory();
#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:
// PWM
inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { analogWrite(pin, v); }
// Earliest possible init, before setup()
MarlinHAL() {}
// Reset source
inline void HAL_clear_reset_source(void) {}
inline uint8_t HAL_get_reset_source(void) { return RST_POWER_ON; }
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
void HAL_reboot(); // Reset the application state and GPIO
// Interrupts
static bool isr_state() { return true; }
static void isr_on() {}
static void isr_off() {}
/* ---------------- Delay in cycles */
FORCE_INLINE static void DELAY_CYCLES(uint64_t x) {
Clock::delayCycles(x);
}
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) {}
};

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();

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();

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

@ -92,5 +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(T)
#define HAL_timer_isr_epilogue(T)
#define HAL_timer_isr_prologue(T) NOOP
#define HAL_timer_isr_epilogue(T) NOOP

46
Marlin/src/HAL/LPC1768/HAL.cpp
View File

@ -31,7 +31,7 @@
DefaultSerial1 USBSerial(false, UsbSerial);
uint32_t HAL_adc_reading = 0;
uint32_t MarlinHAL::adc_result = 0;
// U8glib required functions
extern "C" {
@ -41,8 +41,6 @@ extern "C" {
void u8g_Delay(uint16_t val) { delay(val); }
}
//************************//
// return free heap space
int freeMemory() {
char stack_end;
@ -54,7 +52,27 @@ 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() {
TERN_(USE_WATCHDOG, 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();
}
// 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 +81,4 @@ 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

159
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>
@ -47,12 +45,9 @@ extern "C" volatile uint32_t _millis;
#include <pinmapping.h>
#include <CDCSerial.h>
//
// Default graphical display delays
//
#define CPU_ST7920_DELAY_1 600
#define CPU_ST7920_DELAY_2 750
#define CPU_ST7920_DELAY_3 750
// ------------------------
// Serial ports
// ------------------------
typedef ForwardSerial1Class< decltype(UsbSerial) > DefaultSerial1;
extern DefaultSerial1 USBSerial;
@ -114,26 +109,12 @@ extern DefaultSerial1 USBSerial;
//
// 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
//
#pragma GCC diagnostic push
#if GCC_VERSION <= 50000
#pragma GCC diagnostic ignored "-Wunused-function"
#endif
int freeMemory();
#pragma GCC diagnostic pop
//
// ADC API
// ADC
//
#define ADC_MEDIAN_FILTER_SIZE (23) // Higher values increase step delay (phase shift),
@ -152,20 +133,9 @@ 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_adc_start_conversion(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_adc_get_result() {
return HAL_adc_reading;
}
#define HAL_adc_init()
#define HAL_ANALOG_SELECT(pin) FilteredADC::enable_channel(pin)
#define HAL_START_ADC(pin) HAL_adc_start_conversion(pin)
#define HAL_READ_ADC() HAL_adc_get_result()
#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) {
@ -192,32 +162,101 @@ 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_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, const uint16_t 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);
// ------------------------
// Class Utilities
// ------------------------
// 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); }
// 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
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);
};

3
Marlin/src/HAL/LPC1768/Servo.h
View File

@ -65,4 +65,5 @@ class libServo: public Servo {
}
};
#define HAL_SERVO_LIB libServo
class libServo;
typedef libServo hal_servo_t;

6
Marlin/src/HAL/LPC1768/fast_pwm.cpp
View File

@ -21,16 +21,16 @@
*/
#ifdef TARGET_LPC1768
#include "../../inc/MarlinConfigPre.h"
#include "../../inc/MarlinConfig.h"
#include <pwm.h>
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 (!LPC176x::pin_is_valid(pin)) return;
if (LPC176x::pwm_attach_pin(pin))
LPC176x::pwm_write_ratio(pin, invert ? 1.0f - (float)v / v_size : (float)v / v_size); // map 1-254 onto PWM range
}
void set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
LPC176x::pwm_set_frequency(pin, f_desired);
}

6
Marlin/src/HAL/LPC1768/main.cpp
View File

@ -48,7 +48,7 @@ void SysTick_Callback() { disk_timerproc(); }
TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial());
void HAL_init() {
void MarlinHAL::init() {
// Init LEDs
#if PIN_EXISTS(LED)
@ -130,7 +130,7 @@ void HAL_init() {
const millis_t usb_timeout = millis() + 2000;
while (!USB_Configuration && PENDING(millis(), usb_timeout)) {
delay(50);
HAL_idletask();
idletask();
#if PIN_EXISTS(LED)
TOGGLE(LED_PIN); // Flash quickly during USB initialization
#endif
@ -142,7 +142,7 @@ void HAL_init() {
}
// HAL idle task
void HAL_idletask() {
void MarlinHAL::idletask() {
#if HAS_SHARED_MEDIA
// If Marlin is using the SD card we need to lock it to prevent access from
// a PC via USB.

2
Marlin/src/HAL/LPC1768/timers.h
View File

@ -170,4 +170,4 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
}
}
#define HAL_timer_isr_epilogue(T)
#define HAL_timer_isr_epilogue(T) NOOP

173
Marlin/src/HAL/NATIVE_SIM/HAL.h
View File

@ -21,18 +21,10 @@
*/
#pragma once
#define CPU_32_BIT
#define HAL_IDLETASK
void HAL_idletask();
#define F_CPU 100000000
#define SystemCoreClock F_CPU
#include <stdint.h>
#include <stdarg.h>
#undef min
#undef max
#include <algorithm>
#include "pinmapping.h"
@ -40,8 +32,6 @@ 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
@ -58,7 +48,23 @@ uint8_t _getc();
#include "watchdog.h"
#include "serial.h"
#define SHARED_SERVOS HAS_SERVOS
// ------------------------
// Defines
// ------------------------
#define CPU_32_BIT
#define SHARED_SERVOS HAS_SERVOS // Use shared/servos.cpp
#define F_CPU 100000000
#define SystemCoreClock F_CPU
#define CPU_ST7920_DELAY_1 600
#define CPU_ST7920_DELAY_2 750
#define CPU_ST7920_DELAY_3 750
// ------------------------
// Serial ports
// ------------------------
extern MSerialT serial_stream_0;
extern MSerialT serial_stream_1;
@ -98,49 +104,19 @@ extern MSerialT serial_stream_3;
#endif
#endif
#define CPU_ST7920_DELAY_1 600
#define CPU_ST7920_DELAY_2 750
#define CPU_ST7920_DELAY_3 750
//
// ------------------------
// Interrupts
//
// ------------------------
#define CRITICAL_SECTION_START()
#define CRITICAL_SECTION_END()
#define ISRS_ENABLED()
#define ENABLE_ISRS()
#define DISABLE_ISRS()
inline void HAL_init() {}
// Utility functions
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wunused-function"
int freeMemory();
#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
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();
// PWM
inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { analogWrite(pin, v); }
// Reset source
inline void HAL_clear_reset_source(void) {}
inline uint8_t HAL_get_reset_source(void) { return RST_POWER_ON; }
void HAL_reboot();
/* ---------------- Delay in cycles */
@ -159,29 +135,22 @@ constexpr inline std::size_t strlen_constexpr(const char* str) {
// https://github.com/gcc-mirror/gcc/blob/5c7634a0e5f202935aa6c11b6ea953b8bf80a00a/libstdc%2B%2B-v3/include/bits/char_traits.h#L329
if (str != nullptr) {
std::size_t i = 0;
while (str[i] != '\0') {
++i;
}
while (str[i] != '\0') ++i;
return i;
}
return 0;
}
constexpr inline int strncmp_constexpr(const char* lhs, const char* rhs, std::size_t count) {
// https://github.com/gcc-mirror/gcc/blob/13b9cbfc32fe3ac4c81c4dd9c42d141c8fb95db4/libstdc%2B%2B-v3/include/bits/char_traits.h#L655
if (lhs == nullptr || rhs == nullptr) {
if (lhs == nullptr || rhs == nullptr)
return rhs != nullptr ? -1 : 1;
}
for (std::size_t i = 0; i < count; ++i) {
if (lhs[i] != rhs[i]) {
for (std::size_t i = 0; i < count; ++i)
if (lhs[i] != rhs[i])
return lhs[i] < rhs[i] ? -1 : 1;
} else if (lhs[i] == '\0') {
else if (lhs[i] == '\0')
return 0;
}
}
return 0;
}
@ -193,14 +162,11 @@ constexpr inline const char* strstr_constexpr(const char* str, const char* targe
do {
char sc = {};
do {
if ((sc = *str++) == '\0') {
return nullptr;
}
if ((sc = *str++) == '\0') return nullptr;
} while (sc != c);
} while (strncmp_constexpr(str, target, len) != 0);
--str;
}
return str;
}
@ -211,12 +177,87 @@ constexpr inline char* strstr_constexpr(char* str, const char* target) {
do {
char sc = {};
do {
if ((sc = *str++) == '\0') {
return nullptr;
}
if ((sc = *str++) == '\0') return nullptr;
} while (sc != c);
} while (strncmp_constexpr(str, target, len) != 0);
--str;
}
return str;
}
// ------------------------
// Class Utilities
// ------------------------
#pragma GCC diagnostic push
#if GCC_VERSION <= 50000
#pragma GCC diagnostic ignored "-Wunused-function"
#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 void init_board() {} // Called less early in setup()
static void reboot(); // Restart the firmware from 0x0
// 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 ch);
// Begin ADC sampling on the given channel
static void adc_start(const uint8_t ch);
// Is the ADC ready for reading?
static bool adc_ready();
// 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 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 void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
analogWrite(pin, v);
}
};

4
Marlin/src/HAL/NATIVE_SIM/timers.h
View File

@ -87,5 +87,5 @@ 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(T)
#define HAL_timer_isr_epilogue(T)
#define HAL_timer_isr_prologue(T) NOOP
#define HAL_timer_isr_epilogue(T) NOOP

229
Marlin/src/HAL/SAMD51/HAL.cpp
View File

@ -42,10 +42,6 @@
#endif
#endif
// ------------------------
// Local defines
// ------------------------
#define GET_TEMP_0_ADC() TERN(HAS_TEMP_ADC_0, PIN_TO_ADC(TEMP_0_PIN), -1)
#define GET_TEMP_1_ADC() TERN(HAS_TEMP_ADC_1, PIN_TO_ADC(TEMP_1_PIN), -1)
#define GET_TEMP_2_ADC() TERN(HAS_TEMP_ADC_2, PIN_TO_ADC(TEMP_2_PIN), -1)
@ -61,17 +57,21 @@
#define GET_BOARD_ADC() TERN(HAS_TEMP_ADC_BOARD, PIN_TO_ADC(TEMP_BOARD_PIN), -1)
#define GET_FILAMENT_WIDTH_ADC() TERN(FILAMENT_WIDTH_SENSOR, PIN_TO_ADC(FILWIDTH_PIN), -1)
#define GET_BUTTONS_ADC() TERN(HAS_ADC_BUTTONS, PIN_TO_ADC(ADC_KEYPAD_PIN), -1)
#define GET_JOY_ADC_X() TERN(HAS_JOY_ADC_X, PIN_TO_ADC(JOY_X_PIN), -1)
#define GET_JOY_ADC_Y() TERN(HAS_JOY_ADC_Y, PIN_TO_ADC(JOY_Y_PIN), -1)
#define GET_JOY_ADC_Z() TERN(HAS_JOY_ADC_Z, PIN_TO_ADC(JOY_Z_PIN), -1)
#define IS_ADC_REQUIRED(n) ( \
GET_TEMP_0_ADC() == n || GET_TEMP_1_ADC() == n || GET_TEMP_2_ADC() == n || GET_TEMP_3_ADC() == n \
|| GET_TEMP_4_ADC() == n || GET_TEMP_5_ADC() == n || GET_TEMP_6_ADC() == n || GET_TEMP_7_ADC() == n \
|| GET_BED_ADC() == n \
|| GET_CHAMBER_ADC() == n \
|| GET_PROBE_ADC() == n \
|| GET_COOLER_ADC() == n \
|| GET_BOARD_ADC() == n \
|| GET_BED_ADC() == n \
|| GET_CHAMBER_ADC() == n \
|| GET_PROBE_ADC() == n \
|| GET_COOLER_ADC() == n \
|| GET_BOARD_ADC() == n \
|| GET_FILAMENT_WIDTH_ADC() == n \
|| GET_BUTTONS_ADC() == n \
|| GET_BUTTONS_ADC() == n \
|| GET_JOY_ADC_X() == n || GET_JOY_ADC_Y() == n || GET_JOY_ADC_Z() == n \
)
#if IS_ADC_REQUIRED(0)
@ -91,6 +91,118 @@
#define DMA_IS_REQUIRED 1
#endif
enum ADCIndex {
#if GET_TEMP_0_ADC() == 0
TEMP_0,
#endif
#if GET_TEMP_1_ADC() == 0
TEMP_1,
#endif
#if GET_TEMP_2_ADC() == 0
TEMP_2,
#endif
#if GET_TEMP_3_ADC() == 0
TEMP_3,
#endif
#if GET_TEMP_4_ADC() == 0
TEMP_4,
#endif
#if GET_TEMP_5_ADC() == 0
TEMP_5,
#endif
#if GET_TEMP_6_ADC() == 0
TEMP_6,
#endif
#if GET_TEMP_7_ADC() == 0
TEMP_7,
#endif
#if GET_BED_ADC() == 0
TEMP_BED,
#endif
#if GET_CHAMBER_ADC() == 0
TEMP_CHAMBER,
#endif
#if GET_PROBE_ADC() == 0
TEMP_PROBE,
#endif
#if GET_COOLER_ADC() == 0
TEMP_COOLER,
#endif
#if GET_BOARD_ADC() == 0
TEMP_BOARD,
#endif
#if GET_FILAMENT_WIDTH_ADC() == 0
FILWIDTH,
#endif
#if GET_BUTTONS_ADC() == 0
ADC_KEY,
#endif
#if GET_JOY_ADC_X() == 0
JOY_X,
#endif
#if GET_JOY_ADC_Y() == 0
JOY_Y,
#endif
#if GET_JOY_ADC_Z() == 0
JOY_Z,
#endif
#if GET_TEMP_0_ADC() == 1
TEMP_0,
#endif
#if GET_TEMP_1_ADC() == 1
TEMP_1,
#endif
#if GET_TEMP_2_ADC() == 1
TEMP_2,
#endif
#if GET_TEMP_3_ADC() == 1
TEMP_3,
#endif
#if GET_TEMP_4_ADC() == 1
TEMP_4,
#endif
#if GET_TEMP_5_ADC() == 1
TEMP_5,
#endif
#if GET_TEMP_6_ADC() == 1
TEMP_6,
#endif
#if GET_TEMP_7_ADC() == 1
TEMP_7,
#endif
#if GET_BED_ADC() == 1
TEMP_BED,
#endif
#if GET_CHAMBER_ADC() == 1
TEMP_CHAMBER,
#endif
#if GET_PROBE_ADC() == 1
TEMP_PROBE,
#endif
#if GET_COOLER_ADC() == 1
TEMP_COOLER,
#endif
#if GET_BOARD_ADC() == 1
TEMP_BOARD,
#endif
#if GET_FILAMENT_WIDTH_ADC() == 1
FILWIDTH,
#endif
#if GET_BUTTONS_ADC() == 1
ADC_KEY,
#endif
#if GET_JOY_ADC_X() == 1
JOY_X,
#endif
#if GET_JOY_ADC_Y() == 1
JOY_Y,
#endif
#if GET_JOY_ADC_Z() == 1
JOY_Z,
#endif
ADC_COUNT
};
// ------------------------
// Types
// ------------------------
@ -108,12 +220,10 @@
// Private Variables
// ------------------------
uint16_t HAL_adc_result;
#if ADC_IS_REQUIRED
// Pins used by ADC inputs. Order must be ADC0 inputs first then ADC1
const uint8_t adc_pins[] = {
static constexpr uint8_t adc_pins[ADC_COUNT] = {
// ADC0 pins
#if GET_TEMP_0_ADC() == 0
TEMP_0_PIN,
@ -160,6 +270,15 @@ uint16_t HAL_adc_result;
#if GET_BUTTONS_ADC() == 0
ADC_KEYPAD_PIN,
#endif
#if GET_JOY_ADC_X() == 0
JOY_X_PIN,
#endif
#if GET_JOY_ADC_Y() == 0
JOY_Y_PIN,
#endif
#if GET_JOY_ADC_Z() == 0
JOY_Z_PIN,
#endif
// ADC1 pins
#if GET_TEMP_0_ADC() == 1
TEMP_0_PIN,
@ -206,15 +325,23 @@ uint16_t HAL_adc_result;
#if GET_BUTTONS_ADC() == 1
ADC_KEYPAD_PIN,
#endif
#if GET_JOY_ADC_X() == 1
JOY_X_PIN,
#endif
#if GET_JOY_ADC_Y() == 1
JOY_Y_PIN,
#endif
#if GET_JOY_ADC_Z() == 1
JOY_Z_PIN,
#endif
};
uint16_t HAL_adc_results[COUNT(adc_pins)];
static uint16_t adc_results[ADC_COUNT];
#if ADC0_IS_REQUIRED
Adafruit_ZeroDMA adc0DMAProgram,
adc0DMARead;
Adafruit_ZeroDMA adc0DMAProgram, adc0DMARead;
const HAL_DMA_DAC_Registers adc0_dma_regs_list[] = {
static constexpr HAL_DMA_DAC_Registers adc0_dma_regs_list[ADC_COUNT] = {
#if GET_TEMP_0_ADC() == 0
{ PIN_TO_INPUTCTRL(TEMP_0_PIN) },
#endif
@ -260,16 +387,24 @@ uint16_t HAL_adc_result;
#if GET_BUTTONS_ADC() == 0
{ PIN_TO_INPUTCTRL(ADC_KEYPAD_PIN) },
#endif
#if GET_JOY_ADC_X() == 0
{ PIN_TO_INPUTCTRL(JOY_X_PIN) },
#endif
#if GET_JOY_ADC_Y() == 0
{ PIN_TO_INPUTCTRL(JOY_Y_PIN) },
#endif
#if GET_JOY_ADC_Z() == 0
{ PIN_TO_INPUTCTRL(JOY_Z_PIN) },
#endif
};
#define ADC0_AINCOUNT COUNT(adc0_dma_regs_list)
#endif // ADC0_IS_REQUIRED
#if ADC1_IS_REQUIRED
Adafruit_ZeroDMA adc1DMAProgram,
adc1DMARead;
Adafruit_ZeroDMA adc1DMAProgram, adc1DMARead;
const HAL_DMA_DAC_Registers adc1_dma_regs_list[] = {
static constexpr HAL_DMA_DAC_Registers adc1_dma_regs_list[ADC_COUNT] = {
#if GET_TEMP_0_ADC() == 1
{ PIN_TO_INPUTCTRL(TEMP_0_PIN) },
#endif
@ -315,6 +450,15 @@ uint16_t HAL_adc_result;
#if GET_BUTTONS_ADC() == 1
{ PIN_TO_INPUTCTRL(ADC_KEYPAD_PIN) },
#endif
#if GET_JOY_ADC_X() == 1
{ PIN_TO_INPUTCTRL(JOY_X_PIN) },
#endif
#if GET_JOY_ADC_Y() == 1
{ PIN_TO_INPUTCTRL(JOY_Y_PIN) },
#endif
#if GET_JOY_ADC_Z() == 1
{ PIN_TO_INPUTCTRL(JOY_Z_PIN) },
#endif
};
#define ADC1_AINCOUNT COUNT(adc1_dma_regs_list)
@ -326,9 +470,10 @@ uint16_t HAL_adc_result;
// Private functions
// ------------------------
#if DMA_IS_REQUIRED
void MarlinHAL::dma_init() {
#if DMA_IS_REQUIRED
void dma_init() {
DmacDescriptor *descriptor;
#if ADC0_IS_REQUIRED
@ -357,7 +502,7 @@ uint16_t HAL_adc_result;
if (adc0DMARead.allocate() == DMA_STATUS_OK) {
adc0DMARead.addDescriptor(
(void *)&ADC0->RESULT.reg, // SRC
&HAL_adc_results, // DEST
&adc_results, // DEST
ADC0_AINCOUNT, // CNT
DMA_BEAT_SIZE_HWORD,
false, // SRCINC
@ -394,7 +539,7 @@ uint16_t HAL_adc_result;
if (adc1DMARead.allocate() == DMA_STATUS_OK) {
adc1DMARead.addDescriptor(
(void *)&ADC1->RESULT.reg, // SRC
&HAL_adc_results[ADC0_AINCOUNT], // DEST
&adc_results[ADC0_AINCOUNT], // DEST
ADC1_AINCOUNT, // CNT
DMA_BEAT_SIZE_HWORD,
false, // SRCINC
@ -407,16 +552,16 @@ uint16_t HAL_adc_result;
#endif
DMAC->PRICTRL0.bit.RRLVLEN0 = true; // Activate round robin for DMA channels required by ADCs
}
#endif // DMA_IS_REQUIRED
#endif // DMA_IS_REQUIRED
}
// ------------------------
// Public functions
// ------------------------
// HAL initialization task
void HAL_init() {
void MarlinHAL::init() {
TERN_(DMA_IS_REQUIRED, dma_init());
#if ENABLED(SDSUPPORT)
#if SD_CONNECTION_IS(ONBOARD) && PIN_EXISTS(SD_DETECT)
@ -426,17 +571,9 @@ void HAL_init() {
#endif
}
// HAL idle task
/*
void HAL_idletask() {
}
*/
void HAL_clear_reset_source() { }
#pragma push_macro("WDT")
#undef WDT // Required to be able to use '.bit.WDT'. Compiler wrongly replace struct field with WDT define
uint8_t HAL_get_reset_source() {
uint8_t MarlinHAL::get_reset_source() {
RSTC_RCAUSE_Type resetCause;
resetCause.reg = REG_RSTC_RCAUSE;
@ -450,7 +587,7 @@ uint8_t HAL_get_reset_source() {
}
#pragma pop_macro("WDT")
void HAL_reboot() { NVIC_SystemReset(); }
void MarlinHAL::reboot() { NVIC_SystemReset(); }
extern "C" {
void * _sbrk(int incr);
@ -468,9 +605,11 @@ int freeMemory() {
// ADC
// ------------------------
void HAL_adc_init() {
uint16_t MarlinHAL::adc_result;
void MarlinHAL::adc_init() {
#if ADC_IS_REQUIRED
memset(HAL_adc_results, 0xFF, sizeof(HAL_adc_results)); // Fill result with invalid values
memset(adc_results, 0xFF, sizeof(adc_results)); // Fill result with invalid values
LOOP_L_N(pi, COUNT(adc_pins))
pinPeripheral(adc_pins[pi], PIO_ANALOG);
@ -505,17 +644,13 @@ void HAL_adc_init() {
#endif // ADC_IS_REQUIRED
}
void HAL_adc_start_conversion(const uint8_t adc_pin) {
void MarlinHAL::adc_start(const pin_t pin) {
#if ADC_IS_REQUIRED
LOOP_L_N(pi, COUNT(adc_pins)) {
if (adc_pin == adc_pins[pi]) {
HAL_adc_result = HAL_adc_results[pi];
return;
}
}
LOOP_L_N(pi, COUNT(adc_pins))
if (pin == adc_pins[pi]) { adc_result = adc_results[pi]; return; }
#endif
HAL_adc_result = 0xFFFF;
adc_result = 0xFFFF;
}
#endif // __SAMD51__

129
Marlin/src/HAL/SAMD51/HAL.h
View File

@ -89,51 +89,30 @@
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 CRITICAL_SECTION_START() const bool irqon = !__get_PRIMASK(); __disable_irq()
#define CRITICAL_SECTION_END() if (irqon) __enable_irq()
#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();
#define cli() __disable_irq() // Disable interrupts
#define sei() __enable_irq() // Enable interrupts
//
// 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);
//
// 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
// Pin Mapping for M42, M43, M226
//
#define GET_PIN_MAP_PIN(index) index
#define GET_PIN_MAP_INDEX(pin) pin
@ -142,35 +121,93 @@ inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255,
//
// 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
void HAL_init();
/*
#define HAL_IDLETASK 1
void HAL_idletask();
*/
//
// Utility functions
//
FORCE_INLINE void _delay_ms(const int delay_ms) { delay(delay_ms); }
// ------------------------
// Class Utilities
// ------------------------
#pragma GCC diagnostic push
#if GCC_VERSION <= 50000
#pragma GCC diagnostic ignored "-Wunused-function"
#endif
int freeMemory();
#pragma GCC diagnostic pop
#ifdef __cplusplus
extern "C" {
#endif
char *dtostrf(double __val, signed char __width, unsigned char __prec, char *__s);
extern "C" int freeMemory();
#ifdef __cplusplus
}
#endif
#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() { sei(); }
static void isr_off() { cli(); }
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
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; }
/**
* 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 void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
analogWrite(pin, v);
}
private:
static void dma_init();
};

28
Marlin/src/HAL/STM32/HAL.cpp
View File

@ -53,16 +53,18 @@
// 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() {
void MarlinHAL::init() {
// Ensure F_CPU is a constant expression.
// If the compiler breaks here, it means that delay code that should compute at compile time will not work.
// So better safe than sorry here.
@ -103,7 +105,7 @@ void HAL_init() {
}
// HAL idle task
void HAL_idletask() {
void MarlinHAL::idletask() {
#if HAS_SHARED_MEDIA
// Stm32duino currently doesn't have a "loop/idle" method
CDC_resume_receive();
@ -111,9 +113,9 @@ void HAL_idletask() {
#endif
}
void HAL_clear_reset_source() { __HAL_RCC_CLEAR_RESET_FLAGS(); }
void MarlinHAL::reboot() { NVIC_SystemReset(); }
uint8_t HAL_get_reset_source() {
uint8_t MarlinHAL::get_reset_source() {
return
#ifdef RCC_FLAG_IWDGRST // Some sources may not exist...
RESET != __HAL_RCC_GET_FLAG(RCC_FLAG_IWDGRST) ? RST_WATCHDOG :
@ -137,24 +139,14 @@ uint8_t HAL_get_reset_source() {
;
}
void HAL_reboot() { NVIC_SystemReset(); }
void _delay_ms(const int delay_ms) { delay(delay_ms); }
void MarlinHAL::clear_reset_source() { __HAL_RCC_CLEAR_RESET_FLAGS(); }
extern "C" {
extern unsigned int _ebss; // end of bss section
}
// ------------------------
// ADC
// ------------------------
// TODO: Make sure this doesn't cause any delay
void HAL_adc_start_conversion(const uint8_t adc_pin) { HAL_adc_result = analogRead(adc_pin); }
uint16_t HAL_adc_get_result() { return HAL_adc_result; }
// Reset the system to initiate a firmware flash
WEAK void flashFirmware(const int16_t) { HAL_reboot(); }
WEAK void flashFirmware(const int16_t) { hal.reboot(); }
// Maple Compatibility
volatile uint32_t systick_uptime_millis = 0;

180
Marlin/src/HAL/STM32/HAL.h
View File

@ -44,9 +44,9 @@
#define CPU_ST7920_DELAY_2 40
#define CPU_ST7920_DELAY_3 340
//
// Serial Ports
//
// ------------------------
// Serial ports
// ------------------------
#ifdef USBCON
#include <USBSerial.h>
#include "../../core/serial_hook.h"
@ -115,17 +115,14 @@
#define analogInputToDigitalPin(p) (p)
#endif
#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()
//
// Interrupts
//
#define CRITICAL_SECTION_START() const bool irqon = !__get_PRIMASK(); __disable_irq()
#define CRITICAL_SECTION_END() if (irqon) __enable_irq()
#define cli() __disable_irq()
#define sei() __enable_irq()
// On AVR this is in math.h?
#define square(x) ((x)*(x))
// ------------------------
// Types
// ------------------------
@ -136,56 +133,14 @@
typedef int16_t pin_t;
#endif
#define HAL_SERVO_LIB libServo
class libServo;
typedef libServo hal_servo_t;
#define PAUSE_SERVO_OUTPUT() libServo::pause_all_servos()
#define RESUME_SERVO_OUTPUT() libServo::resume_all_servos()
// ------------------------
// Public Variables
// ------------------------
// result of last ADC conversion
extern uint16_t HAL_adc_result;
// ------------------------
// Public functions
// ------------------------
// Memory related
#define __bss_end __bss_end__
// Enable hooks into setup for HAL
void HAL_init();
#define HAL_IDLETASK 1
void HAL_idletask();
// Clear reset reason
void HAL_clear_reset_source();
// Reset reason
uint8_t HAL_get_reset_source();
void HAL_reboot();
void _delay_ms(const int delay);
extern "C" char* _sbrk(int incr);
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wunused-function"
static inline int freeMemory() {
volatile char top;
return &top - reinterpret_cast<char*>(_sbrk(0));
}
#pragma GCC diagnostic pop
//
// ADC
//
#define HAL_ANALOG_SELECT(pin) pinMode(pin, INPUT)
// ------------------------
#ifdef ADC_RESOLUTION
#define HAL_ADC_RESOLUTION ADC_RESOLUTION
@ -194,16 +149,10 @@ static inline int freeMemory() {
#endif
#define HAL_ADC_VREF 3.3
#define HAL_START_ADC(pin) HAL_adc_start_conversion(pin)
#define HAL_READ_ADC() HAL_adc_result
#define HAL_ADC_READY() true
inline void HAL_adc_init() { analogReadResolution(HAL_ADC_RESOLUTION); }
void HAL_adc_start_conversion(const uint8_t adc_pin);
uint16_t HAL_adc_get_result();
//
// 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)
@ -226,17 +175,92 @@ extern volatile uint32_t systick_uptime_millis;
#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 Timer PWM pins run at the same frequency
*/
void set_pwm_frequency(const pin_t pin, const uint16_t f_desired);
// ------------------------
// Class Utilities
// ------------------------
/**
* 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);
// Memory related
#define __bss_end __bss_end__
extern "C" char* _sbrk(int incr);
#pragma GCC diagnostic push
#if GCC_VERSION <= 50000
#pragma GCC diagnostic ignored "-Wunused-function"
#endif
static inline int freeMemory() {
volatile char top;
return &top - reinterpret_cast<char*>(_sbrk(0));
}
#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() { sei(); }
static void isr_off() { cli(); }
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() {
analogReadResolution(HAL_ADC_RESOLUTION);
}
// Called by Temperature::init for each sensor at startup
static void adc_enable(const pin_t pin) { pinMode(pin, INPUT); }
// Begin ADC sampling on the given channel
static void adc_start(const pin_t pin) { adc_result = analogRead(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; }
/**
* Set the PWM duty cycle for the pin to the given value.
* Optionally invert the duty cycle [default = false]
* Optionally change the maximum size 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.
* All Timer PWM pins run at the same frequency.
*/
static void set_pwm_frequency(const pin_t pin, const uint16_t f_desired);
};

8
Marlin/src/HAL/STM32/HAL_SPI.cpp
View File

@ -102,9 +102,9 @@ static SPISettings spiConfig;
// Soft SPI receive byte
uint8_t spiRec() {
DISABLE_ISRS(); // No interrupts during byte receive
hal.isr_off(); // No interrupts during byte receive
const uint8_t data = HAL_SPI_STM32_SpiTransfer_Mode_3(0xFF);
ENABLE_ISRS(); // Enable interrupts
hal.isr_on(); // Enable interrupts
return data;
}
@ -116,9 +116,9 @@ static SPISettings spiConfig;
// Soft SPI send byte
void spiSend(uint8_t data) {
DISABLE_ISRS(); // No interrupts during byte send
hal.isr_off(); // No interrupts during byte send
HAL_SPI_STM32_SpiTransfer_Mode_3(data); // Don't care what is received
ENABLE_ISRS(); // Enable interrupts
hal.isr_on(); // Enable interrupts
}
// Soft SPI send block

8
Marlin/src/HAL/STM32/eeprom_flash.cpp
View File

@ -174,9 +174,9 @@ bool PersistentStore::access_finish() {
UNLOCK_FLASH();
TERN_(HAS_PAUSE_SERVO_OUTPUT, PAUSE_SERVO_OUTPUT());
DISABLE_ISRS();
hal.isr_off();
status = HAL_FLASHEx_Erase(&EraseInitStruct, &SectorError);
ENABLE_ISRS();
hal.isr_on();
TERN_(HAS_PAUSE_SERVO_OUTPUT, RESUME_SERVO_OUTPUT());
if (status != HAL_OK) {
DEBUG_ECHOLNPGM("HAL_FLASHEx_Erase=", status);
@ -229,9 +229,9 @@ bool PersistentStore::access_finish() {
// output. Servo output still glitches with interrupts disabled, but recovers after the
// erase.
TERN_(HAS_PAUSE_SERVO_OUTPUT, PAUSE_SERVO_OUTPUT());
DISABLE_ISRS();
hal.isr_off();
eeprom_buffer_flush();
ENABLE_ISRS();
hal.isr_on();
TERN_(HAS_PAUSE_SERVO_OUTPUT, RESUME_SERVO_OUTPUT());
eeprom_data_written = false;

4
Marlin/src/HAL/STM32/fast_pwm.cpp
View File

@ -29,7 +29,7 @@
// Array to support sticky frequency sets per timer
static uint16_t timer_freq[TIMER_NUM];
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*/) {
const uint16_t duty = invert ? v_size - v : v;
if (PWM_PIN(pin)) {
const PinName pin_name = digitalPinToPinName(pin);
@ -61,7 +61,7 @@ void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255
}
}
void set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
if (!PWM_PIN(pin)) return; // Don't proceed if no hardware timer
const PinName pin_name = digitalPinToPinName(pin);
TIM_TypeDef * const Instance = (TIM_TypeDef *)pinmap_peripheral(pin_name, PinMap_PWM); // Get HAL timer instance

6
Marlin/src/HAL/STM32/pinsDebug.h
View File

@ -115,7 +115,6 @@ const XrefInfo pin_xref[] PROGMEM = {
#define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d) "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
#define PRINT_PORT(ANUM) port_print(ANUM)
#define DIGITAL_PIN_TO_ANALOG_PIN(ANUM) -1 // will report analog pin number in the print port routine
#define GET_PIN_MAP_PIN_M43(Index) pin_xref[Index].Ard_num
// x is a variable used to search pin_array
#define GET_ARRAY_IS_DIGITAL(x) ((bool) pin_array[x].is_digital)
@ -123,6 +122,11 @@ const XrefInfo pin_xref[] PROGMEM = {
#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 MULTI_NAME_PAD 33 // space needed to be pretty if not first name assigned to a pin
//
// Pin Mapping for M43
//
#define GET_PIN_MAP_PIN_M43(Index) pin_xref[Index].Ard_num
#ifndef M43_NEVER_TOUCH
#define _M43_NEVER_TOUCH(Index) (Index >= 9 && Index <= 12) // SERIAL/USB pins: PA9(TX) PA10(RX) PA11(USB_DM) PA12(USB_DP)
#ifdef KILL_PIN

4
Marlin/src/HAL/STM32/timers.h
View File

@ -116,5 +116,5 @@ FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const ha
}
}
#define HAL_timer_isr_prologue(T)
#define HAL_timer_isr_epilogue(T)
#define HAL_timer_isr_prologue(T) NOOP
#define HAL_timer_isr_epilogue(T) NOOP

183
Marlin/src/HAL/STM32F1/HAL.cpp
View File

@ -79,7 +79,7 @@
#define SCB_AIRCR_PRIGROUP_Msk (7UL << SCB_AIRCR_PRIGROUP_Pos) /*!< SCB AIRCR: PRIGROUP Mask */
// ------------------------
// Public Variables
// Serial ports
// ------------------------
#if defined(SERIAL_USB) && !HAS_SD_HOST_DRIVE
@ -112,74 +112,37 @@
#endif
#endif
uint16_t HAL_adc_result;
// ------------------------
// Private Variables
// ADC
// ------------------------
STM32ADC adc(ADC1);
const uint8_t adc_pins[] = {
OPTITEM(HAS_TEMP_ADC_0, TEMP_0_PIN)
OPTITEM(HAS_TEMP_ADC_1, TEMP_1_PIN)
OPTITEM(HAS_TEMP_ADC_2, TEMP_2_PIN)
OPTITEM(HAS_TEMP_ADC_3, TEMP_3_PIN)
OPTITEM(HAS_TEMP_ADC_4, TEMP_4_PIN)
OPTITEM(HAS_TEMP_ADC_5, TEMP_5_PIN)
OPTITEM(HAS_TEMP_ADC_6, TEMP_6_PIN)
OPTITEM(HAS_TEMP_ADC_7, TEMP_7_PIN)
OPTITEM(HAS_HEATED_BED, TEMP_BED_PIN)
OPTITEM(HAS_TEMP_CHAMBER, TEMP_CHAMBER_PIN)
OPTITEM(HAS_TEMP_ADC_PROBE, TEMP_PROBE_PIN)
OPTITEM(HAS_TEMP_COOLER, TEMP_COOLER_PIN)
OPTITEM(HAS_TEMP_BOARD, TEMP_BOARD_PIN)
OPTITEM(FILAMENT_WIDTH_SENSOR, FILWIDTH_PIN)
OPTITEM(HAS_ADC_BUTTONS, ADC_KEYPAD_PIN)
OPTITEM(HAS_JOY_ADC_X, JOY_X_PIN)
OPTITEM(HAS_JOY_ADC_Y, JOY_Y_PIN)
OPTITEM(HAS_JOY_ADC_Z, JOY_Z_PIN)
OPTITEM(POWER_MONITOR_CURRENT, POWER_MONITOR_CURRENT_PIN)
OPTITEM(POWER_MONITOR_VOLTAGE, POWER_MONITOR_VOLTAGE_PIN)
};
// Watch out for recursion here! Our pin_t is signed, so pass through to Arduino -> analogRead(uint8_t)
enum TempPinIndex : char {
OPTITEM(HAS_TEMP_ADC_0, TEMP_0)
OPTITEM(HAS_TEMP_ADC_1, TEMP_1)
OPTITEM(HAS_TEMP_ADC_2, TEMP_2)
OPTITEM(HAS_TEMP_ADC_3, TEMP_3)
OPTITEM(HAS_TEMP_ADC_4, TEMP_4)
OPTITEM(HAS_TEMP_ADC_5, TEMP_5)
OPTITEM(HAS_TEMP_ADC_6, TEMP_6)
OPTITEM(HAS_TEMP_ADC_7, TEMP_7)
OPTITEM(HAS_HEATED_BED, TEMP_BED)
OPTITEM(HAS_TEMP_CHAMBER, TEMP_CHAMBER)
OPTITEM(HAS_TEMP_ADC_PROBE, TEMP_PROBE)
OPTITEM(HAS_TEMP_COOLER, TEMP_COOLER)
OPTITEM(HAS_TEMP_BOARD, TEMP_BOARD)
OPTITEM(FILAMENT_WIDTH_SENSOR, FILWIDTH)
OPTITEM(HAS_ADC_BUTTONS, ADC_KEY)
OPTITEM(HAS_JOY_ADC_X, JOY_X)
OPTITEM(HAS_JOY_ADC_Y, JOY_Y)
OPTITEM(HAS_JOY_ADC_Z, JOY_Z)
OPTITEM(POWER_MONITOR_CURRENT, POWERMON_CURRENT)
OPTITEM(POWER_MONITOR_VOLTAGE, POWERMON_VOLTS)
ADC_PIN_COUNT
};
uint16_t analogRead(const pin_t pin) {
const bool is_analog = _GET_MODE(pin) == GPIO_INPUT_ANALOG;
return is_analog ? analogRead(uint8_t(pin)) : 0;
}
uint16_t HAL_adc_results[ADC_PIN_COUNT];
// Wrapper to maple unprotected analogWrite
void analogWrite(const pin_t pin, int pwm_val8) {
if (PWM_PIN(pin)) analogWrite(uint8_t(pin), pwm_val8);
}
uint16_t MarlinHAL::adc_result;
// ------------------------
// Private functions
// ------------------------
static void NVIC_SetPriorityGrouping(uint32_t PriorityGroup) {
uint32_t reg_value;
uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07); /* only values 0..7 are used */
uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07); // only values 0..7 are used
reg_value = SCB->AIRCR; /* read old register configuration */
reg_value &= ~(SCB_AIRCR_VECTKEY_Msk | SCB_AIRCR_PRIGROUP_Msk); /* clear bits to change */
reg_value = SCB->AIRCR; // read old register configuration
reg_value &= ~(SCB_AIRCR_VECTKEY_Msk | SCB_AIRCR_PRIGROUP_Msk); // clear bits to change
reg_value = (reg_value |
((uint32_t)0x5FA << SCB_AIRCR_VECTKEY_Pos) |
(PriorityGroupTmp << 8)); /* Insert write key & priority group */
(PriorityGroupTmp << 8)); // Insert write key & priority group
SCB->AIRCR = reg_value;
}
@ -187,6 +150,8 @@ static void NVIC_SetPriorityGrouping(uint32_t PriorityGroup) {
// Public functions
// ------------------------
void flashFirmware(const int16_t) { hal.reboot(); }
//
// Leave PA11/PA12 intact if USBSerial is not used
//
@ -206,7 +171,11 @@ static void NVIC_SetPriorityGrouping(uint32_t PriorityGroup) {
TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial());
void HAL_init() {
// ------------------------
// MarlinHAL class
// ------------------------
void MarlinHAL::init() {
NVIC_SetPriorityGrouping(0x3);
#if PIN_EXISTS(LED)
OUT_WRITE(LED_PIN, LOW);
@ -225,7 +194,7 @@ void HAL_init() {
}
// HAL idle task
void HAL_idletask() {
void MarlinHAL::idletask() {
#if HAS_SHARED_MEDIA
// If Marlin is using the SD card we need to lock it to prevent access from
// a PC via USB.
@ -240,14 +209,7 @@ void HAL_idletask() {
#endif
}
void HAL_clear_reset_source() { }
/**
* TODO: Check this and change or remove.
*/
uint8_t HAL_get_reset_source() { return RST_POWER_ON; }
void _delay_ms(const int delay_ms) { delay(delay_ms); }
void MarlinHAL::reboot() { nvic_sys_reset(); }
extern "C" {
extern unsigned int _ebss; // end of bss section
@ -281,31 +243,76 @@ extern "C" {
}
*/
// ------------------------
//
// ADC
// ------------------------
//
enum ADCIndex : uint8_t {
OPTITEM(HAS_TEMP_ADC_0, TEMP_0)
OPTITEM(HAS_TEMP_ADC_1, TEMP_1)
OPTITEM(HAS_TEMP_ADC_2, TEMP_2)
OPTITEM(HAS_TEMP_ADC_3, TEMP_3)
OPTITEM(HAS_TEMP_ADC_4, TEMP_4)
OPTITEM(HAS_TEMP_ADC_5, TEMP_5)
OPTITEM(HAS_TEMP_ADC_6, TEMP_6)
OPTITEM(HAS_TEMP_ADC_7, TEMP_7)
OPTITEM(HAS_HEATED_BED, TEMP_BED)
OPTITEM(HAS_TEMP_CHAMBER, TEMP_CHAMBER)
OPTITEM(HAS_TEMP_ADC_PROBE, TEMP_PROBE)
OPTITEM(HAS_TEMP_COOLER, TEMP_COOLER)
OPTITEM(HAS_TEMP_BOARD, TEMP_BOARD)
OPTITEM(FILAMENT_WIDTH_SENSOR, FILWIDTH)
OPTITEM(HAS_ADC_BUTTONS, ADC_KEY)
OPTITEM(HAS_JOY_ADC_X, JOY_X)
OPTITEM(HAS_JOY_ADC_Y, JOY_Y)
OPTITEM(HAS_JOY_ADC_Z, JOY_Z)
OPTITEM(POWER_MONITOR_CURRENT, POWERMON_CURRENT)
OPTITEM(POWER_MONITOR_VOLTAGE, POWERMON_VOLTS)
ADC_COUNT
};
static uint16_t adc_results[ADC_COUNT];
// Init the AD in continuous capture mode
void HAL_adc_init() {
void MarlinHAL::adc_init() {
static const uint8_t adc_pins[] = {
OPTITEM(HAS_TEMP_ADC_0, TEMP_0_PIN)
OPTITEM(HAS_TEMP_ADC_1, TEMP_1_PIN)
OPTITEM(HAS_TEMP_ADC_2, TEMP_2_PIN)
OPTITEM(HAS_TEMP_ADC_3, TEMP_3_PIN)
OPTITEM(HAS_TEMP_ADC_4, TEMP_4_PIN)
OPTITEM(HAS_TEMP_ADC_5, TEMP_5_PIN)
OPTITEM(HAS_TEMP_ADC_6, TEMP_6_PIN)
OPTITEM(HAS_TEMP_ADC_7, TEMP_7_PIN)
OPTITEM(HAS_HEATED_BED, TEMP_BED_PIN)
OPTITEM(HAS_TEMP_CHAMBER, TEMP_CHAMBER_PIN)
OPTITEM(HAS_TEMP_ADC_PROBE, TEMP_PROBE_PIN)
OPTITEM(HAS_TEMP_COOLER, TEMP_COOLER_PIN)
OPTITEM(HAS_TEMP_BOARD, TEMP_BOARD_PIN)
OPTITEM(FILAMENT_WIDTH_SENSOR, FILWIDTH_PIN)
OPTITEM(HAS_ADC_BUTTONS, ADC_KEYPAD_PIN)
OPTITEM(HAS_JOY_ADC_X, JOY_X_PIN)
OPTITEM(HAS_JOY_ADC_Y, JOY_Y_PIN)
OPTITEM(HAS_JOY_ADC_Z, JOY_Z_PIN)
OPTITEM(POWER_MONITOR_CURRENT, POWER_MONITOR_CURRENT_PIN)
OPTITEM(POWER_MONITOR_VOLTAGE, POWER_MONITOR_VOLTAGE_PIN)
};
static STM32ADC adc(ADC1);
// configure the ADC
adc.calibrate();
#if F_CPU > 72000000
adc.setSampleRate(ADC_SMPR_71_5); // 71.5 ADC cycles
#else
adc.setSampleRate(ADC_SMPR_41_5); // 41.5 ADC cycles
#endif
adc.setPins((uint8_t *)adc_pins, ADC_PIN_COUNT);
adc.setDMA(HAL_adc_results, (uint16_t)ADC_PIN_COUNT, (uint32_t)(DMA_MINC_MODE | DMA_CIRC_MODE), nullptr);
adc.setSampleRate((F_CPU > 72000000) ? ADC_SMPR_71_5 : ADC_SMPR_41_5); // 71.5 or 41.5 ADC cycles
adc.setPins((uint8_t *)adc_pins, ADC_COUNT);
adc.setDMA(adc_results, uint16_t(ADC_COUNT), uint32_t(DMA_MINC_MODE | DMA_CIRC_MODE), nullptr);
adc.setScanMode();
adc.setContinuous();
adc.startConversion();
}
void HAL_adc_start_conversion(const uint8_t adc_pin) {
void MarlinHAL::adc_start(const pin_t pin) {
#define __TCASE(N,I) case N: pin_index = I; break;
#define _TCASE(C,N,I) TERN_(C, __TCASE(N, I))
//TEMP_PINS pin_index;
TempPinIndex pin_index;
switch (adc_pin) {
ADCIndex pin_index;
switch (pin) {
default: return;
_TCASE(HAS_TEMP_ADC_0, TEMP_0_PIN, TEMP_0)
_TCASE(HAS_TEMP_ADC_1, TEMP_1_PIN, TEMP_1)
@ -328,23 +335,7 @@ void HAL_adc_start_conversion(const uint8_t adc_pin) {
_TCASE(POWER_MONITOR_CURRENT, POWER_MONITOR_CURRENT_PIN, POWERMON_CURRENT)
_TCASE(POWER_MONITOR_VOLTAGE, POWER_MONITOR_VOLTAGE_PIN, POWERMON_VOLTS)
}
HAL_adc_result = HAL_adc_results[(int)pin_index] >> (12 - HAL_ADC_RESOLUTION); // shift out unused bits
adc_result = (adc_results[(int)pin_index] & 0xFFF) >> (12 - HAL_ADC_RESOLUTION); // shift out unused bits
}
uint16_t HAL_adc_get_result() { return HAL_adc_result; }
uint16_t analogRead(pin_t pin) {
const bool is_analog = _GET_MODE(pin) == GPIO_INPUT_ANALOG;
return is_analog ? analogRead(uint8_t(pin)) : 0;
}
// Wrapper to maple unprotected analogWrite
void analogWrite(pin_t pin, int pwm_val8) {
if (PWM_PIN(pin)) analogWrite(uint8_t(pin), pwm_val8);
}
void HAL_reboot() { nvic_sys_reset(); }
void flashFirmware(const int16_t) { HAL_reboot(); }
#endif // __STM32F1__

192
Marlin/src/HAL/STM32F1/HAL.h
View File

@ -66,6 +66,10 @@
#endif
#endif
// ------------------------
// Serial ports
// ------------------------
#ifdef SERIAL_USB
typedef ForwardSerial1Class< USBSerial > DefaultSerial1;
extern DefaultSerial1 MSerial0;
@ -141,11 +145,6 @@
#endif
#endif
// Set interrupt grouping for this MCU
void HAL_init();
#define HAL_IDLETASK 1
void HAL_idletask();
/**
* TODO: review this to return 1 for pins that are not analog input
*/
@ -158,15 +157,7 @@ void HAL_idletask();
#define NO_COMPILE_TIME_PWM
#endif
#define CRITICAL_SECTION_START() uint32_t primask = __get_primask(); (void)__iCliRetVal()
#define CRITICAL_SECTION_END() if (!primask) (void)__iSeiRetVal()
#define ISRS_ENABLED() (!__get_primask())
#define ENABLE_ISRS() ((void)__iSeiRetVal())
#define DISABLE_ISRS() ((void)__iCliRetVal())
// On AVR this is in math.h?
#define square(x) ((x)*(x))
// Reset Reason
#define RST_POWER_ON 1
#define RST_EXTERNAL 2
#define RST_BROWN_OUT 4
@ -182,60 +173,17 @@ void HAL_idletask();
typedef int8_t pin_t;
// ------------------------
// Public Variables
// Interrupts
// ------------------------
// Result of last ADC conversion
extern uint16_t HAL_adc_result;
// ------------------------
// Public functions
// ------------------------
// Disable interrupts
#define CRITICAL_SECTION_START() const bool irqon = !__get_primask(); (void)__iCliRetVal()
#define CRITICAL_SECTION_END() if (!irqon) (void)__iSeiRetVal()
#define cli() noInterrupts()
// Enable interrupts
#define sei() interrupts()
// Memory related
#define __bss_end __bss_end__
// Clear reset reason
void HAL_clear_reset_source();
// Reset reason
uint8_t HAL_get_reset_source();
void HAL_reboot();
void _delay_ms(const int delay);
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wunused-function"
/*
extern "C" {
int freeMemory();
}
*/
extern "C" char* _sbrk(int incr);
static inline int freeMemory() {
volatile char top;
return &top - _sbrk(0);
}
#pragma GCC diagnostic pop
//
// ------------------------
// ADC
//
#define HAL_ANALOG_SELECT(pin) pinMode(pin, INPUT_ANALOG);
void HAL_adc_init();
// ------------------------
#ifdef ADC_RESOLUTION
#define HAL_ADC_RESOLUTION ADC_RESOLUTION
@ -244,43 +192,115 @@ void HAL_adc_init();
#endif
#define HAL_ADC_VREF 3.3
#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);
uint16_t HAL_adc_get_result();
uint16_t analogRead(pin_t pin); // need HAL_ANALOG_SELECT() first
void analogWrite(pin_t pin, int pwm_val8); // PWM only! mul by 257 in maple!?
uint16_t analogRead(const pin_t pin); // need hal.adc_enable() first
void analogWrite(const pin_t pin, int pwm_val8); // PWM only! mul by 257 in maple!?
//
// 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 JTAG_DISABLE() afio_cfg_debug_ports(AFIO_DEBUG_SW_ONLY)
#define JTAG_DISABLE() afio_cfg_debug_ports(AFIO_DEBUG_SW_ONLY)
#define JTAGSWD_DISABLE() afio_cfg_debug_ports(AFIO_DEBUG_NONE)
#define PLATFORM_M997_SUPPORT
void flashFirmware(const int16_t);
#define HAL_CAN_SET_PWM_FREQ // This HAL supports PWM Frequency adjustment
#ifndef PWM_FREQUENCY
#define PWM_FREQUENCY 1000 // Default PWM Frequency
#endif
#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 Timer PWM pins run at the same frequency
*/
void set_pwm_frequency(const pin_t pin, const uint16_t f_desired);
// ------------------------
// Class Utilities
// ------------------------
/**
* 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]
* The timer must be pre-configured with set_pwm_frequency() if the default frequency is not desired.
*/
void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
// Memory related
#define __bss_end __bss_end__
void _delay_ms(const int ms);
extern "C" char* _sbrk(int incr);
#pragma GCC diagnostic push
#if GCC_VERSION <= 50000
#pragma GCC diagnostic ignored "-Wunused-function"
#endif
static inline int freeMemory() {
volatile char top;
return &top - _sbrk(0);
}
#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() { ((void)__iSeiRetVal()); }
static void isr_off() { ((void)__iCliRetVal()); }
static void delay_ms(const int ms) { delay(ms); }
// Tasks, called from idle()
static void idletask();
// Reset
static uint8_t get_reset_source() { return RST_POWER_ON; }
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 pin_t pin) { pinMode(pin, INPUT_ANALOG); }
// Begin ADC sampling on the given channel
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; }
/**
* Set the PWM duty cycle for the pin to the given value.
* Optionally invert the duty cycle [default = false]
* Optionally change the maximum size of the provided value to enable finer PWM duty control [default = 255]
* The timer must be pre-configured with set_pwm_frequency() if the default frequency is not desired.
*/
static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false);
/**
* Set the frequency of the timer for the given pin.
* All Timer PWM pins run at the same frequency.
*/
static void set_pwm_frequency(const pin_t pin, const uint16_t f_desired);
};

8
Marlin/src/HAL/STM32F1/SPI.cpp
View File

@ -91,6 +91,14 @@ static const spi_pins board_spi_pins[] __FLASH__ = {
static void *_spi3_this;
#endif
/**
* @brief Wait until TXE (tx empty) flag is set and BSY (busy) flag unset.
*/
static inline void waitSpiTxEnd(spi_dev *spi_d) {
while (spi_is_tx_empty(spi_d) == 0) { /* nada */ } // wait until TXE=1
while (spi_is_busy(spi_d) != 0) { /* nada */ } // wait until BSY=0
}
/**
* Constructor
*/

8
Marlin/src/HAL/STM32F1/SPI.h
View File

@ -414,12 +414,4 @@ private:
*/
};
/**
* @brief Wait until TXE (tx empty) flag is set and BSY (busy) flag unset.
*/
static void waitSpiTxEnd(spi_dev *spi_d) {
while (spi_is_tx_empty(spi_d) == 0) { /* nada */ } // wait until TXE=1
while (spi_is_busy(spi_d) != 0) { /* nada */ } // wait until BSY=0
}
extern SPIClass SPI;

3
Marlin/src/HAL/STM32F1/Servo.h
View File

@ -35,7 +35,8 @@
#define SERVO_DEFAULT_MIN_ANGLE 0
#define SERVO_DEFAULT_MAX_ANGLE 180
#define HAL_SERVO_LIB libServo
class libServo;
typedef libServo hal_servo_t;
class libServo {
public:

8
Marlin/src/HAL/STM32F1/fast_pwm.cpp
View File

@ -21,11 +21,9 @@
*/
#ifdef __STM32F1__
#include "../../inc/MarlinConfigPre.h"
#include "../../inc/MarlinConfig.h"
#include <pwm.h>
#include "HAL.h"
#include "timers.h"
#define NR_TIMERS TERN(STM32_XL_DENSITY, 14, 8) // Maple timers, 14 for STM32_XL_DENSITY (F/G chips), 8 for HIGH density (C D E)
@ -38,7 +36,7 @@ inline uint8_t timer_and_index_for_pin(const pin_t pin, timer_dev **timer_ptr) {
return 0;
}
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*/) {
const uint16_t duty = invert ? v_size - v : v;
if (PWM_PIN(pin)) {
timer_dev *timer; UNUSED(timer);
@ -54,7 +52,7 @@ void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255
}
}
void set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
if (!PWM_PIN(pin)) return; // Don't proceed if no hardware timer
timer_dev *timer; UNUSED(timer);

2
Marlin/src/HAL/STM32F1/timers.h
View File

@ -188,7 +188,7 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
}
}
#define HAL_timer_isr_epilogue(T)
#define HAL_timer_isr_epilogue(T) NOOP
// No command is available in framework to turn off ARPE bit, which is turned on by default in libmaple.
// Needed here to reset ARPE=0 for stepper timer

85
Marlin/src/HAL/TEENSY31_32/HAL.cpp
View File

@ -31,6 +31,10 @@
#include <Wire.h>
// ------------------------
// Serial ports
// ------------------------
#define _IMPLEMENT_SERIAL(X) DefaultSerial##X MSerial##X(false, Serial##X)
#define IMPLEMENT_SERIAL(X) _IMPLEMENT_SERIAL(X)
#if WITHIN(SERIAL_PORT, 0, 3)
@ -40,45 +44,9 @@
#endif
USBSerialType USBSerial(false, SerialUSB);
uint16_t HAL_adc_result;
static const uint8_t pin2sc1a[] = {
5, 14, 8, 9, 13, 12, 6, 7, 15, 4, 0, 19, 3, 31, // 0-13, we treat them as A0-A13
5, 14, 8, 9, 13, 12, 6, 7, 15, 4, // 14-23 (A0-A9)
31, 31, 31, 31, 31, 31, 31, 31, 31, 31, // 24-33
0+64, 19+64, 3+64, 31+64, // 34-37 (A10-A13)
26, 22, 23, 27, 29, 30 // 38-43: temp. sensor, VREF_OUT, A14, bandgap, VREFH, VREFL. A14 isn't connected to anything in Teensy 3.0.
};
/*
// disable interrupts
void cli() { noInterrupts(); }
// enable interrupts
void sei() { interrupts(); }
*/
void HAL_adc_init() {
analog_init();
while (ADC0_SC3 & ADC_SC3_CAL) {}; // Wait for calibration to finish
NVIC_ENABLE_IRQ(IRQ_FTM1);
}
void HAL_clear_reset_source() { }
uint8_t HAL_get_reset_source() {
switch (RCM_SRS0) {
case 128: return RST_POWER_ON; break;
case 64: return RST_EXTERNAL; break;
case 32: return RST_WATCHDOG; break;
// case 8: return RST_LOSS_OF_LOCK; break;
// case 4: return RST_LOSS_OF_CLOCK; break;
// case 2: return RST_LOW_VOLTAGE; break;
}
return 0;
}
void HAL_reboot() { _reboot_Teensyduino_(); }
// ------------------------
// Class Utilities
// ------------------------
extern "C" {
extern char __bss_end;
@ -95,8 +63,43 @@ extern "C" {
}
}
void HAL_adc_start_conversion(const uint8_t adc_pin) { ADC0_SC1A = pin2sc1a[adc_pin]; }
// ------------------------
// MarlinHAL Class
// ------------------------
uint16_t HAL_adc_get_result() { return ADC0_RA; }
void MarlinHAL::reboot() { _reboot_Teensyduino_(); }
uint8_t MarlinHAL::get_reset_source() {
switch (RCM_SRS0) {
case 128: return RST_POWER_ON; break;
case 64: return RST_EXTERNAL; break;
case 32: return RST_WATCHDOG; break;
// case 8: return RST_LOSS_OF_LOCK; break;
// case 4: return RST_LOSS_OF_CLOCK; break;
// case 2: return RST_LOW_VOLTAGE; break;
}
return 0;
}
// ADC
void MarlinHAL::adc_init() {
analog_init();
while (ADC0_SC3 & ADC_SC3_CAL) {}; // Wait for calibration to finish
NVIC_ENABLE_IRQ(IRQ_FTM1);
}
void MarlinHAL::adc_start(const pin_t pin) {
static const uint8_t pin2sc1a[] = {
5, 14, 8, 9, 13, 12, 6, 7, 15, 4, 0, 19, 3, 31, // 0-13, we treat them as A0-A13
5, 14, 8, 9, 13, 12, 6, 7, 15, 4, // 14-23 (A0-A9)
31, 31, 31, 31, 31, 31, 31, 31, 31, 31, // 24-33
0+64, 19+64, 3+64, 31+64, // 34-37 (A10-A13)
26, 22, 23, 27, 29, 30 // 38-43: temp. sensor, VREF_OUT, A14, bandgap, VREFH, VREFL. A14 isn't connected to anything in Teensy 3.0.
};
ADC0_SC1A = pin2sc1a[pin];
}
uint16_t MarlinHAL::adc_value() { return ADC0_RA; }
#endif // __MK20DX256__

130
Marlin/src/HAL/TEENSY31_32/HAL.h
View File

@ -36,12 +36,9 @@
#include <stdint.h>
#define CPU_ST7920_DELAY_1 600
#define CPU_ST7920_DELAY_2 750
#define CPU_ST7920_DELAY_3 750
//#undef MOTHERBOARD
//#define MOTHERBOARD BOARD_TEENSY31_32
// ------------------------
// Defines
// ------------------------
#define IS_32BIT_TEENSY 1
#define IS_TEENSY_31_32 1
@ -49,6 +46,14 @@
#define IS_TEENSY32 1
#endif
#define CPU_ST7920_DELAY_1 600
#define CPU_ST7920_DELAY_2 750
#define CPU_ST7920_DELAY_3 750
// ------------------------
// Serial ports
// ------------------------
#include "../../core/serial_hook.h"
#define Serial0 Serial
@ -72,31 +77,44 @@ extern USBSerialType USBSerial;
#error "The required SERIAL_PORT must be from 0 to 3, or -1 for Native USB."
#endif
#define HAL_SERVO_LIB libServo
// ------------------------
// Types
// ------------------------
class libServo;
typedef libServo hal_servo_t;
typedef int8_t pin_t;
// ------------------------
// Interrupts
// ------------------------
uint32_t __get_PRIMASK(void); // CMSIS
#define CRITICAL_SECTION_START() const bool irqon = !__get_PRIMASK(); __disable_irq()
#define CRITICAL_SECTION_END() if (irqon) __enable_irq()
// ------------------------
// ADC
// ------------------------
#ifndef analogInputToDigitalPin
#define analogInputToDigitalPin(p) ((p < 12U) ? (p) + 54U : -1)
#endif
#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 HAL_ADC_VREF 3.3
#define HAL_ADC_RESOLUTION 10
inline void HAL_init() {}
//
// 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)
// Clear the reset reason
void HAL_clear_reset_source();
// Get the reason for the reset
uint8_t HAL_get_reset_source();
void HAL_reboot();
FORCE_INLINE void _delay_ms(const int delay_ms) { delay(delay_ms); }
// ------------------------
// Class Utilities
// ------------------------
#pragma GCC diagnostic push
#if GCC_VERSION <= 50000
@ -107,27 +125,63 @@ extern "C" int freeMemory();
#pragma GCC diagnostic pop
// ADC
// ------------------------
// MarlinHAL Class
// ------------------------
void HAL_adc_init();
class MarlinHAL {
public:
#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_get_result()
#define HAL_ADC_READY() true
// Earliest possible init, before setup()
MarlinHAL() {}
#define HAL_ANALOG_SELECT(pin)
static void init() {} // Called early in setup()
static void init_board() {} // Called less early in setup()
static void reboot(); // Restart the firmware from 0x0
void HAL_adc_start_conversion(const uint8_t adc_pin);
uint16_t HAL_adc_get_result();
// Interrupts
static bool isr_state() { return !__get_PRIMASK(); }
static void isr_on() { __enable_irq(); }
static void isr_off() { __disable_irq(); }
// PWM
static void delay_ms(const int ms) { delay(ms); }
inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { analogWrite(pin, v); }
// Tasks, called from idle()
static void idletask() {}
// Pin Map
// Reset
static uint8_t get_reset_source();
static void clear_reset_source() {}
#define GET_PIN_MAP_PIN(index) index
#define GET_PIN_MAP_INDEX(pin) pin
#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
// Free SRAM
static int freeMemory() { return ::freeMemory(); }
//
// ADC Methods
//
// 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 ch) {}
// Begin ADC sampling on the given channel
static void adc_start(const pin_t 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 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 void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
analogWrite(pin, v);
}
};

2
Marlin/src/HAL/TEENSY31_32/timers.h
View File

@ -110,4 +110,4 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num);
bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
void HAL_timer_isr_prologue(const uint8_t timer_num);
#define HAL_timer_isr_epilogue(T)
#define HAL_timer_isr_epilogue(T) NOOP

114
Marlin/src/HAL/TEENSY35_36/HAL.cpp
View File

@ -31,6 +31,10 @@
#include <Wire.h>
// ------------------------
// Serial ports
// ------------------------
#define _IMPLEMENT_SERIAL(X) DefaultSerial##X MSerial##X(false, Serial##X)
#define IMPLEMENT_SERIAL(X) _IMPLEMENT_SERIAL(X)
#if WITHIN(SERIAL_PORT, 0, 3)
@ -39,54 +43,9 @@
USBSerialType USBSerial(false, SerialUSB);
uint16_t HAL_adc_result, HAL_adc_select;
static const uint8_t pin2sc1a[] = {
5, 14, 8, 9, 13, 12, 6, 7, 15, 4, 3, 19+128, 14+128, 15+128, // 0-13 -> A0-A13
5, 14, 8, 9, 13, 12, 6, 7, 15, 4, // 14-23 are A0-A9
255, 255, 255, 255, 255, 255, 255, // 24-30 are digital only
14+128, 15+128, 17, 18, 4+128, 5+128, 6+128, 7+128, 17+128, // 31-39 are A12-A20
255, 255, 255, 255, 255, 255, 255, 255, 255, // 40-48 are digital only
10+128, 11+128, // 49-50 are A23-A24
255, 255, 255, 255, 255, 255, 255, // 51-57 are digital only
255, 255, 255, 255, 255, 255, // 58-63 (sd card pins) are digital only
3, 19+128, // 64-65 are A10-A11
23, 23+128,// 66-67 are A21-A22 (DAC pins)
1, 1+128, // 68-69 are A25-A26 (unused USB host port on Teensy 3.5)
26, // 70 is Temperature Sensor
18+128 // 71 is Vref
};
/*
// disable interrupts
void cli() { noInterrupts(); }
// enable interrupts
void sei() { interrupts(); }
*/
void HAL_adc_init() {
analog_init();
while (ADC0_SC3 & ADC_SC3_CAL) {}; // Wait for calibration to finish
while (ADC1_SC3 & ADC_SC3_CAL) {}; // Wait for calibration to finish
NVIC_ENABLE_IRQ(IRQ_FTM1);
}
void HAL_clear_reset_source() { }
uint8_t HAL_get_reset_source() {
switch (RCM_SRS0) {
case 128: return RST_POWER_ON; break;
case 64: return RST_EXTERNAL; break;
case 32: return RST_WATCHDOG; break;
// case 8: return RST_LOSS_OF_LOCK; break;
// case 4: return RST_LOSS_OF_CLOCK; break;
// case 2: return RST_LOW_VOLTAGE; break;
}
return 0;
}
void HAL_reboot() { _reboot_Teensyduino_(); }
// ------------------------
// Class Utilities
// ------------------------
extern "C" {
extern char __bss_end;
@ -103,24 +62,69 @@ extern "C" {
}
}
void HAL_adc_start_conversion(const uint8_t adc_pin) {
// ------------------------
// MarlinHAL Class
// ------------------------
void MarlinHAL::reboot() { _reboot_Teensyduino_(); }
// Reset
uint8_t MarlinHAL::get_reset_source() {
switch (RCM_SRS0) {
case 128: return RST_POWER_ON; break;
case 64: return RST_EXTERNAL; break;
case 32: return RST_WATCHDOG; break;
// case 8: return RST_LOSS_OF_LOCK; break;
// case 4: return RST_LOSS_OF_CLOCK; break;
// case 2: return RST_LOW_VOLTAGE; break;
}
return 0;
}
// ADC
int8_t MarlinHAL::adc_select;
void MarlinHAL::adc_init() {
analog_init();
while (ADC0_SC3 & ADC_SC3_CAL) { /* Wait for calibration to finish */ }
while (ADC1_SC3 & ADC_SC3_CAL) { /* Wait for calibration to finish */ }
NVIC_ENABLE_IRQ(IRQ_FTM1);
}
void MarlinHAL::adc_start(const pin_t adc_pin) {
static const uint8_t pin2sc1a[] = {
5, 14, 8, 9, 13, 12, 6, 7, 15, 4, 3, 19+128, 14+128, 15+128, // 0-13 -> A0-A13
5, 14, 8, 9, 13, 12, 6, 7, 15, 4, // 14-23 are A0-A9
255, 255, 255, 255, 255, 255, 255, // 24-30 are digital only
14+128, 15+128, 17, 18, 4+128, 5+128, 6+128, 7+128, 17+128, // 31-39 are A12-A20
255, 255, 255, 255, 255, 255, 255, 255, 255, // 40-48 are digital only
10+128, 11+128, // 49-50 are A23-A24
255, 255, 255, 255, 255, 255, 255, // 51-57 are digital only
255, 255, 255, 255, 255, 255, // 58-63 (sd card pins) are digital only
3, 19+128, // 64-65 are A10-A11
23, 23+128,// 66-67 are A21-A22 (DAC pins)
1, 1+128, // 68-69 are A25-A26 (unused USB host port on Teensy 3.5)
26, // 70 is Temperature Sensor
18+128 // 71 is Vref
};
const uint16_t pin = pin2sc1a[adc_pin];
if (pin == 0xFF) {
// Digital only
HAL_adc_select = -1;
adc_select = -1; // Digital only
}
else if (pin & 0x80) {
HAL_adc_select = 1;
adc_select = 1;
ADC1_SC1A = pin & 0x7F;
}
else {
HAL_adc_select = 0;
adc_select = 0;
ADC0_SC1A = pin;
}
}
uint16_t HAL_adc_get_result() {
switch (HAL_adc_select) {
uint16_t MarlinHAL::adc_value() {
switch (adc_select) {
case 0: return ADC0_RA;
case 1: return ADC1_RA;
}

132
Marlin/src/HAL/TEENSY35_36/HAL.h
View File

@ -37,10 +37,6 @@
#include <stdint.h>
#include <util/atomic.h>
#define CPU_ST7920_DELAY_1 600
#define CPU_ST7920_DELAY_2 750
#define CPU_ST7920_DELAY_3 750
// ------------------------
// Defines
// ------------------------
@ -53,6 +49,17 @@
#define IS_TEENSY35 1
#endif
#define CPU_ST7920_DELAY_1 600
#define CPU_ST7920_DELAY_2 750
#define CPU_ST7920_DELAY_3 750
#undef sq
#define sq(x) ((x)*(x))
// ------------------------
// Serial ports
// ------------------------
#include "../../core/serial_hook.h"
#define Serial0 Serial
@ -76,34 +83,43 @@ extern USBSerialType USBSerial;
#error "SERIAL_PORT must be from 0 to 3, or -1 for Native USB."
#endif
#define HAL_SERVO_LIB libServo
// ------------------------
// Types
// ------------------------
class libServo;
typedef libServo hal_servo_t;
typedef int8_t pin_t;
// ------------------------
// Interrupts
// ------------------------
#define CRITICAL_SECTION_START() const bool irqon = !__get_primask(); __disable_irq()
#define CRITICAL_SECTION_END() if (irqon) __enable_irq()
// ------------------------
// ADC
// ------------------------
#ifndef analogInputToDigitalPin
#define analogInputToDigitalPin(p) ((p < 12U) ? (p) + 54U : -1)
#endif
#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 HAL_ADC_VREF 3.3
#define HAL_ADC_RESOLUTION 10
#undef sq
#define sq(x) ((x)*(x))
//
// 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)
inline void HAL_init() {}
// Clear reset reason
void HAL_clear_reset_source();
// Reset reason
uint8_t HAL_get_reset_source();
void HAL_reboot();
FORCE_INLINE void _delay_ms(const int delay_ms) { delay(delay_ms); }
// ------------------------
// Class Utilities
// ------------------------
#pragma GCC diagnostic push
#if GCC_VERSION <= 50000
@ -114,27 +130,65 @@ extern "C" int freeMemory();
#pragma GCC diagnostic pop
// ADC
// ------------------------
// MarlinHAL Class
// ------------------------
void HAL_adc_init();
class MarlinHAL {
public:
#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_get_result()
#define HAL_ADC_READY() true
// Earliest possible init, before setup()
MarlinHAL() {}
#define HAL_ANALOG_SELECT(pin)
static void init() {} // Called early in setup()
static void init_board() {} // Called less early in setup()
static void reboot(); // Restart the firmware from 0x0
void HAL_adc_start_conversion(const uint8_t adc_pin);
uint16_t HAL_adc_get_result();
// Interrupts
static bool isr_state() { return true; }
static void isr_on() { __enable_irq(); }
static void isr_off() { __disable_irq(); }
// PWM
static void delay_ms(const int ms) { delay(ms); }
inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { analogWrite(pin, v); }
// Tasks, called from idle()
static void idletask() {}
// Pin Map
// Reset
static uint8_t get_reset_source();
static void clear_reset_source() {}
#define GET_PIN_MAP_PIN(index) index
#define GET_PIN_MAP_INDEX(pin) pin
#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
// Free SRAM
static int freeMemory() { return ::freeMemory(); }
//
// ADC Methods
//
static int8_t adc_select;
// 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) {}
// Begin ADC sampling on the given channel
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();
/**
* 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 void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
analogWrite(pin, v);
}
};

2
Marlin/src/HAL/TEENSY35_36/timers.h
View File

@ -109,4 +109,4 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num);
bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
void HAL_timer_isr_prologue(const uint8_t timer_num);
#define HAL_timer_isr_epilogue(T)
#define HAL_timer_isr_epilogue(T) NOOP

194
Marlin/src/HAL/TEENSY40_41/HAL.cpp
View File

@ -33,6 +33,10 @@
#include "timers.h"
#include <Wire.h>
// ------------------------
// Serial ports
// ------------------------
#define _IMPLEMENT_SERIAL(X) DefaultSerial##X MSerial##X(false, Serial##X)
#define IMPLEMENT_SERIAL(X) _IMPLEMENT_SERIAL(X)
#if WITHIN(SERIAL_PORT, 0, 3)
@ -40,75 +44,42 @@
#endif
USBSerialType USBSerial(false, SerialUSB);
uint16_t HAL_adc_result, HAL_adc_select;
// ------------------------
// Class Utilities
// ------------------------
static const uint8_t pin2sc1a[] = {
0x07, // 0/A0 AD_B1_02
0x08, // 1/A1 AD_B1_03
0x0C, // 2/A2 AD_B1_07
0x0B, // 3/A3 AD_B1_06
0x06, // 4/A4 AD_B1_01
0x05, // 5/A5 AD_B1_00
0x0F, // 6/A6 AD_B1_10
0x00, // 7/A7 AD_B1_11
0x0D, // 8/A8 AD_B1_08
0x0E, // 9/A9 AD_B1_09
0x01, // 24/A10 AD_B0_12
0x02, // 25/A11 AD_B0_13
0x83, // 26/A12 AD_B1_14 - only on ADC2, 3
0x84, // 27/A13 AD_B1_15 - only on ADC2, 4
0x07, // 14/A0 AD_B1_02
0x08, // 15/A1 AD_B1_03
0x0C, // 16/A2 AD_B1_07
0x0B, // 17/A3 AD_B1_06
0x06, // 18/A4 AD_B1_01
0x05, // 19/A5 AD_B1_00
0x0F, // 20/A6 AD_B1_10
0x00, // 21/A7 AD_B1_11
0x0D, // 22/A8 AD_B1_08
0x0E, // 23/A9 AD_B1_09
0x01, // 24/A10 AD_B0_12
0x02, // 25/A11 AD_B0_13
0x83, // 26/A12 AD_B1_14 - only on ADC2, 3
0x84, // 27/A13 AD_B1_15 - only on ADC2, 4
#ifdef ARDUINO_TEENSY41
0xFF, // 28
0xFF, // 29
0xFF, // 30
0xFF, // 31
0xFF, // 32
0xFF, // 33
0xFF, // 34
0xFF, // 35
0xFF, // 36
0xFF, // 37
0x81, // 38/A14 AD_B1_12 - only on ADC2, 1
0x82, // 39/A15 AD_B1_13 - only on ADC2, 2
0x09, // 40/A16 AD_B1_04
0x0A, // 41/A17 AD_B1_05
#endif
};
#define __bss_end _ebss
/*
// disable interrupts
void cli() { noInterrupts(); }
extern "C" {
extern char __bss_end;
extern char __heap_start;
extern void* __brkval;
// enable interrupts
void sei() { interrupts(); }
*/
void HAL_adc_init() {
analog_init();
while (ADC1_GC & ADC_GC_CAL) ;
while (ADC2_GC & ADC_GC_CAL) ;
// Doesn't work on Teensy 4.x
uint32_t freeMemory() {
uint32_t free_memory;
free_memory = ((uint32_t)&free_memory) - (((uint32_t)__brkval) ?: ((uint32_t)&__bss_end));
return free_memory;
}
}
void HAL_clear_reset_source() {
uint32_t reset_source = SRC_SRSR;
SRC_SRSR = reset_source;
// ------------------------
// FastIO
// ------------------------
bool is_output(pin_t pin) {
const struct digital_pin_bitband_and_config_table_struct *p;
p = digital_pin_to_info_PGM + pin;
return (*(p->reg + 1) & p->mask);
}
uint8_t HAL_get_reset_source() {
// ------------------------
// MarlinHAL Class
// ------------------------
void MarlinHAL::reboot() { _reboot_Teensyduino_(); }
uint8_t MarlinHAL::get_reset_source() {
switch (SRC_SRSR & 0xFF) {
case 1: return RST_POWER_ON; break;
case 2: return RST_SOFTWARE; break;
@ -121,57 +92,92 @@ uint8_t HAL_get_reset_source() {
return 0;
}
void HAL_reboot() { _reboot_Teensyduino_(); }
#define __bss_end _ebss
extern "C" {
extern char __bss_end;
extern char __heap_start;
extern void* __brkval;
// Doesn't work on Teensy 4.x
uint32_t freeMemory() {
uint32_t free_memory;
if ((uint32_t)__brkval == 0)
free_memory = ((uint32_t)&free_memory) - ((uint32_t)&__bss_end);
else
free_memory = ((uint32_t)&free_memory) - ((uint32_t)__brkval);
return free_memory;
}
void MarlinHAL::clear_reset_source() {
uint32_t reset_source = SRC_SRSR;
SRC_SRSR = reset_source;
}
void HAL_adc_start_conversion(const uint8_t adc_pin) {
// ADC
int8_t MarlinHAL::adc_select;
void MarlinHAL::adc_init() {
analog_init();
while (ADC1_GC & ADC_GC_CAL) { /* wait */ }
while (ADC2_GC & ADC_GC_CAL) { /* wait */ }
}
void MarlinHAL::adc_start(const pin_t adc_pin) {
static const uint8_t pin2sc1a[] = {
0x07, // 0/A0 AD_B1_02
0x08, // 1/A1 AD_B1_03
0x0C, // 2/A2 AD_B1_07
0x0B, // 3/A3 AD_B1_06
0x06, // 4/A4 AD_B1_01
0x05, // 5/A5 AD_B1_00
0x0F, // 6/A6 AD_B1_10
0x00, // 7/A7 AD_B1_11
0x0D, // 8/A8 AD_B1_08
0x0E, // 9/A9 AD_B1_09
0x01, // 24/A10 AD_B0_12
0x02, // 25/A11 AD_B0_13
0x83, // 26/A12 AD_B1_14 - only on ADC2, 3
0x84, // 27/A13 AD_B1_15 - only on ADC2, 4
0x07, // 14/A0 AD_B1_02
0x08, // 15/A1 AD_B1_03
0x0C, // 16/A2 AD_B1_07
0x0B, // 17/A3 AD_B1_06
0x06, // 18/A4 AD_B1_01
0x05, // 19/A5 AD_B1_00
0x0F, // 20/A6 AD_B1_10
0x00, // 21/A7 AD_B1_11
0x0D, // 22/A8 AD_B1_08
0x0E, // 23/A9 AD_B1_09
0x01, // 24/A10 AD_B0_12
0x02, // 25/A11 AD_B0_13
0x83, // 26/A12 AD_B1_14 - only on ADC2, 3
0x84, // 27/A13 AD_B1_15 - only on ADC2, 4
#ifdef ARDUINO_TEENSY41
0xFF, // 28
0xFF, // 29
0xFF, // 30
0xFF, // 31
0xFF, // 32
0xFF, // 33
0xFF, // 34
0xFF, // 35
0xFF, // 36
0xFF, // 37
0x81, // 38/A14 AD_B1_12 - only on ADC2, 1
0x82, // 39/A15 AD_B1_13 - only on ADC2, 2
0x09, // 40/A16 AD_B1_04
0x0A, // 41/A17 AD_B1_05
#endif
};
const uint16_t pin = pin2sc1a[adc_pin];
if (pin == 0xFF) {
HAL_adc_select = -1; // Digital only
adc_select = -1; // Digital only
}
else if (pin & 0x80) {
HAL_adc_select = 1;
adc_select = 1;
ADC2_HC0 = pin & 0x7F;
}
else {
HAL_adc_select = 0;
adc_select = 0;
ADC1_HC0 = pin;
}
}
uint16_t HAL_adc_get_result() {
switch (HAL_adc_select) {
uint16_t MarlinHAL::adc_value() {
switch (adc_select) {
case 0:
while (!(ADC1_HS & ADC_HS_COCO0)) ; // wait
while (!(ADC1_HS & ADC_HS_COCO0)) { /* wait */ }
return ADC1_R0;
case 1:
while (!(ADC2_HS & ADC_HS_COCO0)) ; // wait
while (!(ADC2_HS & ADC_HS_COCO0)) { /* wait */ }
return ADC2_R0;
}
return 0;
}
bool is_output(pin_t pin) {
const struct digital_pin_bitband_and_config_table_struct *p;
p = digital_pin_to_info_PGM + pin;
return (*(p->reg + 1) & p->mask);
}
#endif // __IMXRT1062__

147
Marlin/src/HAL/TEENSY40_41/HAL.h
View File

@ -41,10 +41,6 @@
#include "../../feature/ethernet.h"
#endif
#define CPU_ST7920_DELAY_1 600
#define CPU_ST7920_DELAY_2 750
#define CPU_ST7920_DELAY_3 750
// ------------------------
// Defines
// ------------------------
@ -55,7 +51,23 @@
#define IS_TEENSY41 1
#endif
#define CPU_ST7920_DELAY_1 600
#define CPU_ST7920_DELAY_2 750
#define CPU_ST7920_DELAY_3 750
#undef sq
#define sq(x) ((x)*(x))
// Don't place string constants in PROGMEM
#undef PSTR
#define PSTR(str) ({static const char *data = (str); &data[0];})
// ------------------------
// Serial ports
// ------------------------
#include "../../core/serial_hook.h"
#define Serial0 Serial
#define _DECLARE_SERIAL(X) \
typedef ForwardSerial1Class<decltype(Serial##X)> DefaultSerial##X; \
@ -89,41 +101,47 @@ extern USBSerialType USBSerial;
#endif
#endif
#define HAL_SERVO_LIB libServo
// ------------------------
// Types
// ------------------------
class libServo;
typedef libServo hal_servo_t;
typedef int8_t pin_t;
// ------------------------
// Interrupts
// ------------------------
#define CRITICAL_SECTION_START() const bool irqon = !__get_primask(); __disable_irq()
#define CRITICAL_SECTION_END() if (irqon) __enable_irq()
// ------------------------
// ADC
// ------------------------
#ifndef analogInputToDigitalPin
#define analogInputToDigitalPin(p) ((p < 12U) ? (p) + 54U : -1)
#endif
#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 HAL_ADC_VREF 3.3
#define HAL_ADC_RESOLUTION 10
#define HAL_ADC_FILTERED // turn off ADC oversampling
#undef sq
#define sq(x) ((x)*(x))
//
// 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)
// Don't place string constants in PROGMEM
#undef PSTR
#define PSTR(str) ({static const char *data = (str); &data[0];})
// FastIO
bool is_output(pin_t pin);
// Enable hooks into idle and setup for HAL
#define HAL_IDLETASK 1
FORCE_INLINE void HAL_idletask() {}
FORCE_INLINE void HAL_init() {}
// Clear reset reason
void HAL_clear_reset_source();
// Reset reason
uint8_t HAL_get_reset_source();
void HAL_reboot();
FORCE_INLINE void _delay_ms(const int delay_ms) { delay(delay_ms); }
// ------------------------
// Class Utilities
// ------------------------
#pragma GCC diagnostic push
#if GCC_VERSION <= 50000
@ -134,30 +152,65 @@ extern "C" uint32_t freeMemory();
#pragma GCC diagnostic pop
// ADC
// ------------------------
// MarlinHAL Class
// ------------------------
void HAL_adc_init();
class MarlinHAL {
public:
#define HAL_ADC_VREF 3.3
#define HAL_ADC_RESOLUTION 10
#define HAL_ADC_FILTERED // turn off ADC oversampling
#define HAL_START_ADC(pin) HAL_adc_start_conversion(pin)
#define HAL_READ_ADC() HAL_adc_get_result()
#define HAL_ADC_READY() true
// Earliest possible init, before setup()
MarlinHAL() {}
#define HAL_ANALOG_SELECT(pin)
static void init() {} // Called early in setup()
static void init_board() {} // Called less early in setup()
static void reboot(); // Restart the firmware from 0x0
void HAL_adc_start_conversion(const uint8_t adc_pin);
uint16_t HAL_adc_get_result();
// Interrupts
static bool isr_state() { return !__get_primask(); }
static void isr_on() { __enable_irq(); }
static void isr_off() { __disable_irq(); }
// PWM
static void delay_ms(const int ms) { delay(ms); }
inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { analogWrite(pin, v); }
// Tasks, called from idle()
static void idletask() {}
// Pin Map
// Reset
static uint8_t get_reset_source();
static void clear_reset_source();
#define GET_PIN_MAP_PIN(index) index
#define GET_PIN_MAP_INDEX(pin) pin
#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
// Free SRAM
static int freeMemory() { return ::freeMemory(); }
bool is_output(pin_t pin);
//
// ADC Methods
//
static int8_t adc_select;
// 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 channel
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();
/**
* 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 void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
analogWrite(pin, v);
}
};

2
Marlin/src/HAL/TEENSY40_41/timers.h
View File

@ -114,4 +114,4 @@ bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
void HAL_timer_isr_prologue(const uint8_t timer_num);
//void HAL_timer_isr_epilogue(const uint8_t timer_num) {}
#define HAL_timer_isr_epilogue(T)
#define HAL_timer_isr_epilogue(T) NOOP

36
Marlin/src/HAL/shared/HAL.cpp Normal file
View File

@ -0,0 +1,36 @@
/**
* 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
*
* 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/>.
*
*/
/**
* HAL/shared/HAL.cpp
*/
#include "../../inc/MarlinConfig.h"
MarlinHAL hal;
#if ENABLED(SOFT_RESET_VIA_SERIAL)
// Global for use by e_parser.h
void HAL_reboot() { hal.reboot(); }
#endif

8
Marlin/src/HAL/shared/HAL_spi_L6470.cpp
View File

@ -92,9 +92,9 @@ uint8_t L64XX_Marlin::transfer_single(uint8_t data, int16_t ss_pin) {
// First device in chain has data sent last
extDigitalWrite(ss_pin, LOW);
DISABLE_ISRS(); // Disable interrupts during SPI transfer (can't allow partial command to chips)
hal.isr_off(); // Disable interrupts during SPI transfer (can't allow partial command to chips)
const uint8_t data_out = L6470_SpiTransfer_Mode_3(data);
ENABLE_ISRS(); // Enable interrupts
hal.isr_on(); // Enable interrupts
extDigitalWrite(ss_pin, HIGH);
return data_out;
@ -107,9 +107,9 @@ uint8_t L64XX_Marlin::transfer_chain(uint8_t data, int16_t ss_pin, uint8_t chain
extDigitalWrite(ss_pin, LOW);
for (uint8_t i = L64XX::chain[0]; !L64xxManager.spi_abort && i >= 1; i--) { // Send data unless aborted
DISABLE_ISRS(); // Disable interrupts during SPI transfer (can't allow partial command to chips)
hal.isr_off(); // Disable interrupts during SPI transfer (can't allow partial command to chips)
const uint8_t temp = L6470_SpiTransfer_Mode_3(uint8_t(i == chain_position ? data : dSPIN_NOP));
ENABLE_ISRS(); // Enable interrupts
hal.isr_on(); // Enable interrupts
if (i == chain_position) data_out = temp;
}

2
Marlin/src/HAL/shared/math_32bit.h
View File

@ -26,6 +26,6 @@
/**
* Math helper functions for 32 bit CPUs
*/
static FORCE_INLINE uint32_t MultiU32X24toH32(uint32_t longIn1, uint32_t longIn2) {
FORCE_INLINE static uint32_t MultiU32X24toH32(uint32_t longIn1, uint32_t longIn2) {
return ((uint64_t)longIn1 * longIn2 + 0x00800000) >> 24;
}

48
Marlin/src/MarlinCore.cpp
View File

@ -790,7 +790,7 @@ void idle(bool no_stepper_sleep/*=false*/) {
#endif
// Run HAL idle tasks
TERN_(HAL_IDLETASK, HAL_idletask());
hal.idletask();
// Check network connection
TERN_(HAS_ETHERNET, ethernet.check());
@ -929,7 +929,7 @@ void minkill(const bool steppers_off/*=false*/) {
watchdog_refresh();
// Reboot the board
HAL_reboot();
hal.reboot();
#else
@ -1041,7 +1041,7 @@ inline void tmc_standby_setup() {
* • L64XX Stepper Drivers (SPI)
* • Stepper Driver Reset: DISABLE
* • TMC Stepper Drivers (SPI)
* • Run BOARD_INIT if defined
* • Run hal.init_board() for additional pins setup
* • ESP WiFi
* - Get the Reset Reason and report it
* - Print startup messages and diagnostics
@ -1119,8 +1119,8 @@ void setup() {
tmc_standby_setup(); // TMC Low Power Standby pins must be set early or they're not usable
// Check startup - does nothing if bootloader sets MCUSR to 0
const byte mcu = HAL_get_reset_source();
HAL_clear_reset_source();
const byte mcu = hal.get_reset_source();
hal.clear_reset_source();
#if ENABLED(MARLIN_DEV_MODE)
auto log_current_ms = [&](PGM_P const msg) {
@ -1181,23 +1181,20 @@ void setup() {
JTAGSWD_RESET();
#endif
#if EITHER(DISABLE_DEBUG, DISABLE_JTAG)
// Disable any hardware debug to free up pins for IO
#if ENABLED(DISABLE_DEBUG) && defined(JTAGSWD_DISABLE)
delay(10);
// Disable any hardware debug to free up pins for IO
#if ENABLED(DISABLE_DEBUG) && defined(JTAGSWD_DISABLE)
SETUP_LOG("JTAGSWD_DISABLE");
JTAGSWD_DISABLE();
#elif defined(JTAG_DISABLE)
SETUP_LOG("JTAG_DISABLE");
JTAG_DISABLE();
#else
#error "DISABLE_(DEBUG|JTAG) is not supported for the selected MCU/Board."
#endif
SETUP_LOG("JTAGSWD_DISABLE");
JTAGSWD_DISABLE();
#elif ENABLED(DISABLE_JTAG) && defined(JTAG_DISABLE)
delay(10);
SETUP_LOG("JTAG_DISABLE");
JTAG_DISABLE();
#endif
TERN_(DYNAMIC_VECTORTABLE, hook_cpu_exceptions()); // If supported, install Marlin exception handlers at runtime
SETUP_RUN(HAL_init());
SETUP_RUN(hal.init());
// Init and disable SPI thermocouples; this is still needed
#if TEMP_SENSOR_0_IS_MAX_TC || (TEMP_SENSOR_REDUNDANT_IS_MAX_TC && REDUNDANT_TEMP_MATCH(SOURCE, E0))
@ -1243,19 +1240,16 @@ void setup() {
SETUP_RUN(tmc_init_cs_pins());
#endif
#ifdef BOARD_INIT
SETUP_LOG("BOARD_INIT");
BOARD_INIT();
#endif
SETUP_RUN(hal.init_board());
SETUP_RUN(esp_wifi_init());
// Report Reset Reason
if (mcu & RST_POWER_ON) SERIAL_ECHOLNPGM(STR_POWERUP);
if (mcu & RST_EXTERNAL) SERIAL_ECHOLNPGM(STR_EXTERNAL_RESET);
if (mcu & RST_POWER_ON) SERIAL_ECHOLNPGM(STR_POWERUP);
if (mcu & RST_EXTERNAL) SERIAL_ECHOLNPGM(STR_EXTERNAL_RESET);
if (mcu & RST_BROWN_OUT) SERIAL_ECHOLNPGM(STR_BROWNOUT_RESET);
if (mcu & RST_WATCHDOG) SERIAL_ECHOLNPGM(STR_WATCHDOG_RESET);
if (mcu & RST_SOFTWARE) SERIAL_ECHOLNPGM(STR_SOFTWARE_RESET);
if (mcu & RST_WATCHDOG) SERIAL_ECHOLNPGM(STR_WATCHDOG_RESET);
if (mcu & RST_SOFTWARE) SERIAL_ECHOLNPGM(STR_SOFTWARE_RESET);
// Identify myself as Marlin x.x.x
SERIAL_ECHOLNPGM("Marlin " SHORT_BUILD_VERSION);
@ -1266,7 +1260,7 @@ void setup() {
);
#endif
SERIAL_ECHO_MSG(" Compiled: " __DATE__);
SERIAL_ECHO_MSG(STR_FREE_MEMORY, freeMemory(), STR_PLANNER_BUFFER_BYTES, sizeof(block_t) * (BLOCK_BUFFER_SIZE));
SERIAL_ECHO_MSG(STR_FREE_MEMORY, hal.freeMemory(), STR_PLANNER_BUFFER_BYTES, sizeof(block_t) * (BLOCK_BUFFER_SIZE));
// Some HAL need precise delay adjustment
calibrate_delay_loop();
@ -1542,7 +1536,7 @@ void setup() {
#endif
#if ENABLED(USE_WATCHDOG)
SETUP_RUN(watchdog_init()); // Reinit watchdog after HAL_get_reset_source call
SETUP_RUN(watchdog_init()); // Reinit watchdog after hal.get_reset_source call
#endif
#if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER)

2
Marlin/src/feature/caselight.cpp
View File

@ -79,7 +79,7 @@ void CaseLight::update(const bool sflag) {
#if CASELIGHT_USES_BRIGHTNESS
if (pin_is_pwm())
set_pwm_duty(pin_t(CASE_LIGHT_PIN), (
hal.set_pwm_duty(pin_t(CASE_LIGHT_PIN), (
#if CASE_LIGHT_MAX_PWM == 255
n10ct
#else

2
Marlin/src/feature/controllerfan.cpp
View File

@ -76,7 +76,7 @@ void ControllerFan::update() {
thermalManager.soft_pwm_controller_speed = speed;
#else
if (PWM_PIN(CONTROLLER_FAN_PIN))
set_pwm_duty(pin_t(CONTROLLER_FAN_PIN), speed);
hal.set_pwm_duty(pin_t(CONTROLLER_FAN_PIN), speed);
else
WRITE(CONTROLLER_FAN_PIN, speed > 0);
#endif

4
Marlin/src/feature/e_parser.h
View File

@ -41,7 +41,9 @@ extern bool wait_for_user, wait_for_heatup;
void quickresume_stepper();
#endif
void HAL_reboot();
#if ENABLED(SOFT_RESET_VIA_SERIAL)
void HAL_reboot();
#endif
class EmergencyParser {

10
Marlin/src/feature/leds/leds.cpp
View File

@ -129,11 +129,11 @@ void LEDLights::set_color(const LEDColor &incol
// This variant uses 3-4 separate pins for the RGB(W) components.
// If the pins can do PWM then their intensity will be set.
#define _UPDATE_RGBW(C,c) do { \
if (PWM_PIN(RGB_LED_##C##_PIN)) \
set_pwm_duty(pin_t(RGB_LED_##C##_PIN), c); \
else \
WRITE(RGB_LED_##C##_PIN, c ? HIGH : LOW); \
#define _UPDATE_RGBW(C,c) do { \
if (PWM_PIN(RGB_LED_##C##_PIN)) \
hal.set_pwm_duty(pin_t(RGB_LED_##C##_PIN), c); \
else \
WRITE(RGB_LED_##C##_PIN, c ? HIGH : LOW); \
}while(0)
#define UPDATE_RGBW(C,c) _UPDATE_RGBW(C, TERN1(CASE_LIGHT_USE_RGB_LED, caselight.on) ? incol.c : 0)
UPDATE_RGBW(R,r); UPDATE_RGBW(G,g); UPDATE_RGBW(B,b);

8
Marlin/src/feature/spindle_laser.cpp
View File

@ -66,10 +66,10 @@ void SpindleLaser::init() {
#endif
#if ENABLED(SPINDLE_LASER_USE_PWM)
SET_PWM(SPINDLE_LASER_PWM_PIN);
set_pwm_duty(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_PWM_OFF); // Set to lowest speed
hal.set_pwm_duty(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_PWM_OFF); // Set to lowest speed
#endif
#if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY
set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_FREQUENCY);
hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_FREQUENCY);
TERN_(MARLIN_DEV_MODE, frequency = SPINDLE_LASER_FREQUENCY);
#endif
#if ENABLED(AIR_EVACUATION)
@ -89,9 +89,9 @@ void SpindleLaser::init() {
*/
void SpindleLaser::_set_ocr(const uint8_t ocr) {
#if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY
set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), TERN(MARLIN_DEV_MODE, frequency, SPINDLE_LASER_FREQUENCY));
hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), TERN(MARLIN_DEV_MODE, frequency, SPINDLE_LASER_FREQUENCY));
#endif
set_pwm_duty(pin_t(SPINDLE_LASER_PWM_PIN), ocr ^ SPINDLE_LASER_PWM_OFF);
hal.set_pwm_duty(pin_t(SPINDLE_LASER_PWM_PIN), ocr ^ SPINDLE_LASER_PWM_OFF);
}
void SpindleLaser::set_ocr(const uint8_t ocr) {

2
Marlin/src/feature/spindle_laser.h
View File

@ -103,7 +103,7 @@ public:
static void init();
#if ENABLED(MARLIN_DEV_MODE)
static void refresh_frequency() { set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), frequency); }
static void refresh_frequency() { hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), frequency); }
#endif
// Modifying this function should update everywhere

4
Marlin/src/gcode/control/M42.cpp
View File

@ -126,10 +126,10 @@ void GcodeSuite::M42() {
extDigitalWrite(pin, pin_status);
#ifdef ARDUINO_ARCH_STM32
// A simple I/O will be set to 0 by set_pwm_duty()
// A simple I/O will be set to 0 by hal.set_pwm_duty()
if (pin_status <= 1 && !PWM_PIN(pin)) return;
#endif
set_pwm_duty(pin, pin_status);
hal.set_pwm_duty(pin, pin_status);
}
#endif // DIRECT_PIN_CONTROL

10
Marlin/src/gcode/gcode_d.cpp
View File

@ -38,7 +38,7 @@
#include "../sd/cardreader.h"
#include "../MarlinCore.h" // for kill
extern void dump_delay_accuracy_check();
void dump_delay_accuracy_check();
/**
* Dn: G-code for development and testing
@ -54,7 +54,7 @@ void GcodeSuite::D(const int16_t dcode) {
for (;;) { /* loop forever (watchdog reset) */ }
case 0:
HAL_reboot();
hal.reboot();
break;
case 10:
@ -74,7 +74,7 @@ void GcodeSuite::D(const int16_t dcode) {
settings.reset();
settings.save();
#endif
HAL_reboot();
hal.reboot();
} break;
case 2: { // D2 Read / Write SRAM
@ -189,12 +189,12 @@ void GcodeSuite::D(const int16_t dcode) {
SERIAL_ECHOLNPGM("(USE_WATCHDOG " TERN(USE_WATCHDOG, "ENABLED", "DISABLED") ")");
thermalManager.disable_all_heaters();
delay(1000); // Allow time to print
DISABLE_ISRS();
hal.isr_off();
// Use a low-level delay that does not rely on interrupts to function
// Do not spin forever, to avoid thermal risks if heaters are enabled and
// watchdog does not work.
for (int i = 10000; i--;) DELAY_US(1000UL);
ENABLE_ISRS();
hal.isr_on();
SERIAL_ECHOLNPGM("FAILURE: Watchdog did not trigger board reset.");
} break;

1
Marlin/src/inc/MarlinConfig.h
View File

@ -29,6 +29,7 @@
#ifndef __MARLIN_DEPS__
#include "../HAL/HAL.h"
extern MarlinHAL hal;
#endif
#include "../pins/pins.h"

7
Marlin/src/inc/SanityCheck.h
View File

@ -3891,3 +3891,10 @@ static_assert(_PLUS_TEST(4), "HOMING_FEEDRATE_MM_M values must be positive.");
#undef _TEST_PWM
#undef _LINEAR_AXES_STR
#undef _LOGICAL_AXES_STR
// JTAG support in the HAL
#if ENABLED(DISABLE_DEBUG) && !defined(JTAGSWD_DISABLE)
#error "DISABLE_DEBUG is not supported for the selected MCU/Board."
#elif ENABLED(DISABLE_JTAG) && !defined(JTAG_DISABLE)
#error "DISABLE_JTAG is not supported for the selected MCU/Board."
#endif

4
Marlin/src/lcd/dogm/marlinui_DOGM.cpp
View File

@ -282,9 +282,9 @@ void MarlinUI::init_lcd() {
#if PIN_EXISTS(LCD_RESET)
// Perform a clean hardware reset with needed delays
OUT_WRITE(LCD_RESET_PIN, LOW);
_delay_ms(5);
hal.delay_ms(5);
WRITE(LCD_RESET_PIN, HIGH);
_delay_ms(5);
hal.delay_ms(5);
u8g.begin();
#endif

2
Marlin/src/lcd/e3v2/proui/dwin.cpp
View File

@ -2206,7 +2206,7 @@ void RebootPrinter() {
thermalManager.disable_all_heaters();
planner.finish_and_disable();
DWIN_RebootScreen();
HAL_reboot();
hal.reboot();
}
void Goto_Info_Menu(){

2
Marlin/src/module/endstops.cpp
View File

@ -1348,7 +1348,7 @@ void Endstops::update() {
ES_REPORT_CHANGE(K_MAX);
#endif
SERIAL_ECHOLNPGM("\n");
set_pwm_duty(pin_t(LED_PIN), local_LED_status);
hal.set_pwm_duty(pin_t(LED_PIN), local_LED_status);
local_LED_status ^= 255;
old_live_state_local = live_state_local;
}

8
Marlin/src/module/planner.cpp
View File

@ -703,7 +703,7 @@ void Planner::init() {
// All other 32-bit MPUs can easily do inverse using hardware division,
// so we don't need to reduce precision or to use assembly language at all.
// This routine, for all other archs, returns 0x100000000 / d ~= 0xFFFFFFFF / d
static FORCE_INLINE uint32_t get_period_inverse(const uint32_t d) {
FORCE_INLINE static uint32_t get_period_inverse(const uint32_t d) {
return d ? 0xFFFFFFFF / d : 0xFFFFFFFF;
}
#endif
@ -1260,7 +1260,7 @@ void Planner::recalculate() {
#if ENABLED(FAN_SOFT_PWM)
#define _FAN_SET(F) thermalManager.soft_pwm_amount_fan[F] = CALC_FAN_SPEED(F);
#else
#define _FAN_SET(F) set_pwm_duty(pin_t(FAN##F##_PIN), CALC_FAN_SPEED(F));
#define _FAN_SET(F) hal.set_pwm_duty(pin_t(FAN##F##_PIN), CALC_FAN_SPEED(F));
#endif
#define FAN_SET(F) do{ kickstart_fan(fan_speed, ms, F); _FAN_SET(F); }while(0)
@ -1397,8 +1397,8 @@ void Planner::check_axes_activity() {
TERN_(AUTOTEMP, autotemp_task());
#if ENABLED(BARICUDA)
TERN_(HAS_HEATER_1, set_pwm_duty(pin_t(HEATER_1_PIN), tail_valve_pressure));
TERN_(HAS_HEATER_2, set_pwm_duty(pin_t(HEATER_2_PIN), tail_e_to_p_pressure));
TERN_(HAS_HEATER_1, hal.set_pwm_duty(pin_t(HEATER_1_PIN), tail_valve_pressure));
TERN_(HAS_HEATER_2, hal.set_pwm_duty(pin_t(HEATER_2_PIN), tail_e_to_p_pressure));
#endif
}

2
Marlin/src/module/servo.cpp
View File

@ -30,7 +30,7 @@
#include "servo.h"
HAL_SERVO_LIB servo[NUM_SERVOS];
hal_servo_t servo[NUM_SERVOS];
#if ENABLED(EDITABLE_SERVO_ANGLES)
uint16_t servo_angles[NUM_SERVOS][2];

2
Marlin/src/module/servo.h
View File

@ -112,5 +112,5 @@
#define MOVE_SERVO(I, P) servo[I].move(P)
#define DETACH_SERVO(I) servo[I].detach()
extern HAL_SERVO_LIB servo[NUM_SERVOS];
extern hal_servo_t servo[NUM_SERVOS];
void servo_init();

26
Marlin/src/module/stepper.cpp
View File

@ -1474,7 +1474,7 @@ void Stepper::isr() {
#ifndef __AVR__
// Disable interrupts, to avoid ISR preemption while we reprogram the period
// (AVR enters the ISR with global interrupts disabled, so no need to do it here)
DISABLE_ISRS();
hal.isr_off();
#endif
// Program timer compare for the maximum period, so it does NOT
@ -1492,7 +1492,7 @@ void Stepper::isr() {
hal_timer_t min_ticks;
do {
// Enable ISRs to reduce USART processing latency
ENABLE_ISRS();
hal.isr_on();
if (!nextMainISR) pulse_phase_isr(); // 0 = Do coordinated axes Stepper pulses
@ -1576,7 +1576,7 @@ void Stepper::isr() {
* is less than the current count due to something preempting between the
* read and the write of the new period value).
*/
DISABLE_ISRS();
hal.isr_off();
/**
* Get the current tick value + margin
@ -1611,7 +1611,7 @@ void Stepper::isr() {
HAL_timer_set_compare(MF_TIMER_STEP, hal_timer_t(next_isr_ticks));
// Don't forget to finally reenable interrupts
ENABLE_ISRS();
hal.isr_on();
}
#if MINIMUM_STEPPER_PULSE || MAXIMUM_STEPPER_RATE
@ -3260,33 +3260,33 @@ void Stepper::report_positions() {
#elif HAS_MOTOR_CURRENT_PWM
#define _WRITE_CURRENT_PWM_DUTY(P) set_pwm_duty(pin_t(MOTOR_CURRENT_PWM_## P ##_PIN), 255L * current / (MOTOR_CURRENT_PWM_RANGE))
#define _WRITE_CURRENT_PWM(P) hal.set_pwm_duty(pin_t(MOTOR_CURRENT_PWM_## P ##_PIN), 255L * current / (MOTOR_CURRENT_PWM_RANGE))
switch (driver) {
case 0:
#if PIN_EXISTS(MOTOR_CURRENT_PWM_X)
_WRITE_CURRENT_PWM_DUTY(X);
_WRITE_CURRENT_PWM(X);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_Y)
_WRITE_CURRENT_PWM_DUTY(Y);
_WRITE_CURRENT_PWM(Y);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
_WRITE_CURRENT_PWM_DUTY(XY);
_WRITE_CURRENT_PWM(XY);
#endif
break;
case 1:
#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
_WRITE_CURRENT_PWM_DUTY(Z);
_WRITE_CURRENT_PWM(Z);
#endif
break;
case 2:
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
_WRITE_CURRENT_PWM_DUTY(E);
_WRITE_CURRENT_PWM(E);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E0)
_WRITE_CURRENT_PWM_DUTY(E0);
_WRITE_CURRENT_PWM(E0);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E1)
_WRITE_CURRENT_PWM_DUTY(E1);
_WRITE_CURRENT_PWM(E1);
#endif
break;
}
@ -3308,7 +3308,7 @@ void Stepper::report_positions() {
#ifdef __SAM3X8E__
#define _RESET_CURRENT_PWM_FREQ(P) NOOP
#else
#define _RESET_CURRENT_PWM_FREQ(P) set_pwm_frequency(pin_t(P), MOTOR_CURRENT_PWM_FREQUENCY)
#define _RESET_CURRENT_PWM_FREQ(P) hal.set_pwm_frequency(pin_t(P), MOTOR_CURRENT_PWM_FREQUENCY)
#endif
#define INIT_CURRENT_PWM(P) do{ SET_PWM(MOTOR_CURRENT_PWM_## P ##_PIN); _RESET_CURRENT_PWM_FREQ(MOTOR_CURRENT_PWM_## P ##_PIN); }while(0)

155
Marlin/src/module/temperature.cpp
View File

@ -327,7 +327,7 @@ PGMSTR(str_t_heating_failed, STR_T_HEATING_FAILED);
#define _INIT_FAN_PIN(P) do{ if (PWM_PIN(P)) SET_PWM(P); else _INIT_SOFT_FAN(P); }while(0)
#endif
#if ENABLED(FAST_PWM_FAN)
#define SET_FAST_PWM_FREQ(P) set_pwm_frequency(P, FAST_PWM_FAN_FREQUENCY)
#define SET_FAST_PWM_FREQ(P) hal.set_pwm_frequency(pin_t(P), FAST_PWM_FAN_FREQUENCY)
#else
#define SET_FAST_PWM_FREQ(P) NOOP
#endif
@ -818,7 +818,7 @@ volatile bool Temperature::raw_temps_ready = false;
}
// Run HAL idle tasks
TERN_(HAL_IDLETASK, HAL_idletask());
hal.idletask();
// Run UI update
TERN(HAS_DWIN_E3V2_BASIC, DWIN_Update(), ui.update());
@ -907,7 +907,7 @@ int16_t Temperature::getHeaterPower(const heater_id_t heater_id) {
#define _UPDATE_AUTO_FAN(P,D,A) do{ \
if (PWM_PIN(P##_AUTO_FAN_PIN) && A < 255) \
set_pwm_duty(pin_t(P##_AUTO_FAN_PIN), D ? A : 0); \
hal.set_pwm_duty(pin_t(P##_AUTO_FAN_PIN), D ? A : 0); \
else \
WRITE(P##_AUTO_FAN_PIN, D); \
}while(0)
@ -2321,74 +2321,33 @@ void Temperature::init() {
TERN_(HAS_MAXTC_SW_SPI, max_tc_spi.init());
HAL_adc_init();
hal.adc_init();
TERN_(HAS_TEMP_ADC_0, hal.adc_enable(TEMP_0_PIN));
TERN_(HAS_TEMP_ADC_1, hal.adc_enable(TEMP_1_PIN));
TERN_(HAS_TEMP_ADC_2, hal.adc_enable(TEMP_2_PIN));
TERN_(HAS_TEMP_ADC_3, hal.adc_enable(TEMP_3_PIN));
TERN_(HAS_TEMP_ADC_4, hal.adc_enable(TEMP_4_PIN));
TERN_(HAS_TEMP_ADC_5, hal.adc_enable(TEMP_5_PIN));
TERN_(HAS_TEMP_ADC_6, hal.adc_enable(TEMP_6_PIN));
TERN_(HAS_TEMP_ADC_7, hal.adc_enable(TEMP_7_PIN));
TERN_(HAS_JOY_ADC_X, hal.adc_enable(JOY_X_PIN));
TERN_(HAS_JOY_ADC_Y, hal.adc_enable(JOY_Y_PIN));
TERN_(HAS_JOY_ADC_Z, hal.adc_enable(JOY_Z_PIN));
TERN_(HAS_TEMP_ADC_BED, hal.adc_enable(TEMP_BED_PIN));
TERN_(HAS_TEMP_ADC_CHAMBER, hal.adc_enable(TEMP_CHAMBER_PIN));
TERN_(HAS_TEMP_ADC_PROBE, hal.adc_enable(TEMP_PROBE_PIN));
TERN_(HAS_TEMP_ADC_COOLER, hal.adc_enable(TEMP_COOLER_PIN));
TERN_(HAS_TEMP_ADC_BOARD, hal.adc_enable(TEMP_BOARD_PIN));
TERN_(HAS_TEMP_ADC_REDUNDANT, hal.adc_enable(TEMP_REDUNDANT_PIN));
TERN_(FILAMENT_WIDTH_SENSOR, hal.adc_enable(FILWIDTH_PIN));
TERN_(HAS_ADC_BUTTONS, hal.adc_enable(ADC_KEYPAD_PIN));
TERN_(POWER_MONITOR_CURRENT, hal.adc_enable(POWER_MONITOR_CURRENT_PIN));
TERN_(POWER_MONITOR_VOLTAGE, hal.adc_enable(POWER_MONITOR_VOLTAGE_PIN));
#if HAS_TEMP_ADC_0
HAL_ANALOG_SELECT(TEMP_0_PIN);
#endif
#if HAS_TEMP_ADC_1
HAL_ANALOG_SELECT(TEMP_1_PIN);
#endif
#if HAS_TEMP_ADC_2
HAL_ANALOG_SELECT(TEMP_2_PIN);
#endif
#if HAS_TEMP_ADC_3
HAL_ANALOG_SELECT(TEMP_3_PIN);
#endif
#if HAS_TEMP_ADC_4
HAL_ANALOG_SELECT(TEMP_4_PIN);
#endif
#if HAS_TEMP_ADC_5
HAL_ANALOG_SELECT(TEMP_5_PIN);
#endif
#if HAS_TEMP_ADC_6
HAL_ANALOG_SELECT(TEMP_6_PIN);
#endif
#if HAS_TEMP_ADC_7
HAL_ANALOG_SELECT(TEMP_7_PIN);
#endif
#if HAS_JOY_ADC_X
HAL_ANALOG_SELECT(JOY_X_PIN);
#endif
#if HAS_JOY_ADC_Y
HAL_ANALOG_SELECT(JOY_Y_PIN);
#endif
#if HAS_JOY_ADC_Z
HAL_ANALOG_SELECT(JOY_Z_PIN);
#endif
#if HAS_JOY_ADC_EN
SET_INPUT_PULLUP(JOY_EN_PIN);
#endif
#if HAS_TEMP_ADC_BED
HAL_ANALOG_SELECT(TEMP_BED_PIN);
#endif
#if HAS_TEMP_ADC_CHAMBER
HAL_ANALOG_SELECT(TEMP_CHAMBER_PIN);
#endif
#if HAS_TEMP_ADC_PROBE
HAL_ANALOG_SELECT(TEMP_PROBE_PIN);
#endif
#if HAS_TEMP_ADC_COOLER
HAL_ANALOG_SELECT(TEMP_COOLER_PIN);
#endif
#if HAS_TEMP_ADC_BOARD
HAL_ANALOG_SELECT(TEMP_BOARD_PIN);
#endif
#if HAS_TEMP_ADC_REDUNDANT
HAL_ANALOG_SELECT(TEMP_REDUNDANT_PIN);
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
HAL_ANALOG_SELECT(FILWIDTH_PIN);
#endif
#if HAS_ADC_BUTTONS
HAL_ANALOG_SELECT(ADC_KEYPAD_PIN);
#endif
#if ENABLED(POWER_MONITOR_CURRENT)
HAL_ANALOG_SELECT(POWER_MONITOR_CURRENT_PIN);
#endif
#if ENABLED(POWER_MONITOR_VOLTAGE)
HAL_ANALOG_SELECT(POWER_MONITOR_VOLTAGE_PIN);
#endif
HAL_timer_start(MF_TIMER_TEMP, TEMP_TIMER_FREQUENCY);
ENABLE_TEMPERATURE_INTERRUPT();
@ -3364,8 +3323,8 @@ void Temperature::isr() {
* This gives each ADC 0.9765ms to charge up.
*/
#define ACCUMULATE_ADC(obj) do{ \
if (!HAL_ADC_READY()) next_sensor_state = adc_sensor_state; \
else obj.sample(HAL_READ_ADC()); \
if (!hal.adc_ready()) next_sensor_state = adc_sensor_state; \
else obj.sample(hal.adc_value()); \
}while(0)
ADCSensorState next_sensor_state = adc_sensor_state < SensorsReady ? (ADCSensorState)(int(adc_sensor_state) + 1) : StartSampling;
@ -3397,115 +3356,115 @@ void Temperature::isr() {
break;
#if HAS_TEMP_ADC_0
case PrepareTemp_0: HAL_START_ADC(TEMP_0_PIN); break;
case PrepareTemp_0: hal.adc_start(TEMP_0_PIN); break;
case MeasureTemp_0: ACCUMULATE_ADC(temp_hotend[0]); break;
#endif
#if HAS_TEMP_ADC_BED
case PrepareTemp_BED: HAL_START_ADC(TEMP_BED_PIN); break;
case PrepareTemp_BED: hal.adc_start(TEMP_BED_PIN); break;
case MeasureTemp_BED: ACCUMULATE_ADC(temp_bed); break;
#endif
#if HAS_TEMP_ADC_CHAMBER
case PrepareTemp_CHAMBER: HAL_START_ADC(TEMP_CHAMBER_PIN); break;
case PrepareTemp_CHAMBER: hal.adc_start(TEMP_CHAMBER_PIN); break;
case MeasureTemp_CHAMBER: ACCUMULATE_ADC(temp_chamber); break;
#endif
#if HAS_TEMP_ADC_COOLER
case PrepareTemp_COOLER: HAL_START_ADC(TEMP_COOLER_PIN); break;
case PrepareTemp_COOLER: hal.adc_start(TEMP_COOLER_PIN); break;
case MeasureTemp_COOLER: ACCUMULATE_ADC(temp_cooler); break;
#endif
#if HAS_TEMP_ADC_PROBE
case PrepareTemp_PROBE: HAL_START_ADC(TEMP_PROBE_PIN); break;
case PrepareTemp_PROBE: hal.adc_start(TEMP_PROBE_PIN); break;
case MeasureTemp_PROBE: ACCUMULATE_ADC(temp_probe); break;
#endif
#if HAS_TEMP_ADC_BOARD
case PrepareTemp_BOARD: HAL_START_ADC(TEMP_BOARD_PIN); break;
case PrepareTemp_BOARD: hal.adc_start(TEMP_BOARD_PIN); break;
case MeasureTemp_BOARD: ACCUMULATE_ADC(temp_board); break;
#endif
#if HAS_TEMP_ADC_REDUNDANT
case PrepareTemp_REDUNDANT: HAL_START_ADC(TEMP_REDUNDANT_PIN); break;
case PrepareTemp_REDUNDANT: hal.adc_start(TEMP_REDUNDANT_PIN); break;
case MeasureTemp_REDUNDANT: ACCUMULATE_ADC(temp_redundant); break;
#endif
#if HAS_TEMP_ADC_1
case PrepareTemp_1: HAL_START_ADC(TEMP_1_PIN); break;
case PrepareTemp_1: hal.adc_start(TEMP_1_PIN); break;
case MeasureTemp_1: ACCUMULATE_ADC(temp_hotend[1]); break;
#endif
#if HAS_TEMP_ADC_2
case PrepareTemp_2: HAL_START_ADC(TEMP_2_PIN); break;
case PrepareTemp_2: hal.adc_start(TEMP_2_PIN); break;
case MeasureTemp_2: ACCUMULATE_ADC(temp_hotend[2]); break;
#endif
#if HAS_TEMP_ADC_3
case PrepareTemp_3: HAL_START_ADC(TEMP_3_PIN); break;
case PrepareTemp_3: hal.adc_start(TEMP_3_PIN); break;
case MeasureTemp_3: ACCUMULATE_ADC(temp_hotend[3]); break;
#endif
#if HAS_TEMP_ADC_4
case PrepareTemp_4: HAL_START_ADC(TEMP_4_PIN); break;
case PrepareTemp_4: hal.adc_start(TEMP_4_PIN); break;
case MeasureTemp_4: ACCUMULATE_ADC(temp_hotend[4]); break;
#endif
#if HAS_TEMP_ADC_5
case PrepareTemp_5: HAL_START_ADC(TEMP_5_PIN); break;
case PrepareTemp_5: hal.adc_start(TEMP_5_PIN); break;
case MeasureTemp_5: ACCUMULATE_ADC(temp_hotend[5]); break;
#endif
#if HAS_TEMP_ADC_6
case PrepareTemp_6: HAL_START_ADC(TEMP_6_PIN); break;
case PrepareTemp_6: hal.adc_start(TEMP_6_PIN); break;
case MeasureTemp_6: ACCUMULATE_ADC(temp_hotend[6]); break;
#endif
#if HAS_TEMP_ADC_7
case PrepareTemp_7: HAL_START_ADC(TEMP_7_PIN); break;
case PrepareTemp_7: hal.adc_start(TEMP_7_PIN); break;
case MeasureTemp_7: ACCUMULATE_ADC(temp_hotend[7]); break;
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
case Prepare_FILWIDTH: HAL_START_ADC(FILWIDTH_PIN); break;
case Prepare_FILWIDTH: hal.adc_start(FILWIDTH_PIN); break;
case Measure_FILWIDTH:
if (!HAL_ADC_READY()) next_sensor_state = adc_sensor_state; // Redo this state
else filwidth.accumulate(HAL_READ_ADC());
if (!hal.adc_ready()) next_sensor_state = adc_sensor_state; // Redo this state
else filwidth.accumulate(hal.adc_value());
break;
#endif
#if ENABLED(POWER_MONITOR_CURRENT)
case Prepare_POWER_MONITOR_CURRENT:
HAL_START_ADC(POWER_MONITOR_CURRENT_PIN);
hal.adc_start(POWER_MONITOR_CURRENT_PIN);
break;
case Measure_POWER_MONITOR_CURRENT:
if (!HAL_ADC_READY()) next_sensor_state = adc_sensor_state; // Redo this state
else power_monitor.add_current_sample(HAL_READ_ADC());
if (!hal.adc_ready()) next_sensor_state = adc_sensor_state; // Redo this state
else power_monitor.add_current_sample(hal.adc_value());
break;
#endif
#if ENABLED(POWER_MONITOR_VOLTAGE)
case Prepare_POWER_MONITOR_VOLTAGE:
HAL_START_ADC(POWER_MONITOR_VOLTAGE_PIN);
hal.adc_start(POWER_MONITOR_VOLTAGE_PIN);
break;
case Measure_POWER_MONITOR_VOLTAGE:
if (!HAL_ADC_READY()) next_sensor_state = adc_sensor_state; // Redo this state
else power_monitor.add_voltage_sample(HAL_READ_ADC());
if (!hal.adc_ready()) next_sensor_state = adc_sensor_state; // Redo this state
else power_monitor.add_voltage_sample(hal.adc_value());
break;
#endif
#if HAS_JOY_ADC_X
case PrepareJoy_X: HAL_START_ADC(JOY_X_PIN); break;
case PrepareJoy_X: hal.adc_start(JOY_X_PIN); break;
case MeasureJoy_X: ACCUMULATE_ADC(joystick.x); break;
#endif
#if HAS_JOY_ADC_Y
case PrepareJoy_Y: HAL_START_ADC(JOY_Y_PIN); break;
case PrepareJoy_Y: hal.adc_start(JOY_Y_PIN); break;
case MeasureJoy_Y: ACCUMULATE_ADC(joystick.y); break;
#endif
#if HAS_JOY_ADC_Z
case PrepareJoy_Z: HAL_START_ADC(JOY_Z_PIN); break;
case PrepareJoy_Z: hal.adc_start(JOY_Z_PIN); break;
case MeasureJoy_Z: ACCUMULATE_ADC(joystick.z); break;
#endif
@ -3513,12 +3472,12 @@ void Temperature::isr() {
#ifndef ADC_BUTTON_DEBOUNCE_DELAY
#define ADC_BUTTON_DEBOUNCE_DELAY 16
#endif
case Prepare_ADC_KEY: HAL_START_ADC(ADC_KEYPAD_PIN); break;
case Prepare_ADC_KEY: hal.adc_start(ADC_KEYPAD_PIN); break;
case Measure_ADC_KEY:
if (!HAL_ADC_READY())
if (!hal.adc_ready())
next_sensor_state = adc_sensor_state; // redo this state
else if (ADCKey_count < ADC_BUTTON_DEBOUNCE_DELAY) {
raw_ADCKey_value = HAL_READ_ADC();
raw_ADCKey_value = hal.adc_value();
if (raw_ADCKey_value <= 900UL * HAL_ADC_RANGE / 1024UL) {
NOMORE(current_ADCKey_raw, raw_ADCKey_value);
ADCKey_count++;

2
ini/features.ini
View File

@ -233,7 +233,7 @@ HAS_SERVOS = src_filter=+<src/module/servo.cpp> +<sr
MORGAN_SCARA = src_filter=+<src/gcode/scara>
HAS_MICROSTEPS = src_filter=+<src/gcode/control/M350_M351.cpp>
(ESP3D_)?WIFISUPPORT = AsyncTCP, ESP Async WebServer
ESP3DLib=https://github.com/luc-github/ESP3DLib/archive/master.zip
ESP3DLib=https://github.com/luc-github/ESP3DLib/archive/master-2.0.7.zip
arduinoWebSockets=links2004/WebSockets@2.3.4
luc-github/ESP32SSDP@^1.1.1
lib_ignore=ESPAsyncTCP

4
ini/native.ini
View File

@ -34,14 +34,14 @@ src_filter = ${common.default_src_filter} +<src/HAL/LINUX>
[simulator_common]
platform = native
framework =
build_flags = ${common.build_flags} -std=gnu++17 -D__PLAT_NATIVE_SIM__ -DU8G_HAL_LINKS -I/usr/include/SDL2 -IMarlin -IMarlin/src/HAL/NATIVE_SIM/include -IMarlin/src/HAL/NATIVE_SIM/u8g
build_flags = ${common.build_flags} -std=gnu++17 -D__PLAT_NATIVE_SIM__ -DU8G_HAL_LINKS -I/usr/include/SDL2 -IMarlin -IMarlin/src/HAL/NATIVE_SIM/u8g
src_build_flags = -Wall -Wno-expansion-to-defined -Wcast-align
release_flags = -g0 -O3 -flto
debug_build_flags = -fstack-protector-strong -g -g3 -ggdb
lib_compat_mode = off
src_filter = ${common.default_src_filter} +<src/HAL/NATIVE_SIM>
lib_deps = ${common.lib_deps}
MarlinSimUI=https://github.com/p3p/MarlinSimUI/archive/master.zip
MarlinSimUI=https://github.com/p3p/MarlinSimUI/archive/0.0.2.zip
Adafruit NeoPixel=https://github.com/p3p/Adafruit_NeoPixel/archive/marlin_sim_native.zip
LiquidCrystal=https://github.com/p3p/LiquidCrystal/archive/master.zip
extra_scripts = ${common.extra_scripts}

1
ini/stm32-common.ini
View File

@ -16,6 +16,7 @@ build_flags = ${common.build_flags}
-std=gnu++14 -DHAL_STM32
-DUSBCON -DUSBD_USE_CDC
-DTIM_IRQ_PRIO=13
-DADC_RESOLUTION=12
build_unflags = -std=gnu++11
src_filter = ${common.default_src_filter} +<src/HAL/STM32> +<src/HAL/shared/backtrace>
extra_scripts = ${common.extra_scripts}

1
ini/stm32g0.ini
View File

@ -30,7 +30,6 @@ board = marlin_STM32G0B1RE
board_build.offset = 0x2000
board_upload.offset_address = 0x08002000
build_flags = ${stm32_variant.build_flags}
-DADC_RESOLUTION=12
-DPIN_SERIAL4_RX=PC_11 -DPIN_SERIAL4_TX=PC_10
-DSERIAL_RX_BUFFER_SIZE=1024 -DSERIAL_TX_BUFFER_SIZE=1024
-DTIMER_SERVO=TIM3 -DTIMER_TONE=TIM4