SAMD21 HAL / Minitronics v2.0 (#24976)

This commit is contained in:
Bart Meijer 2022-12-12 22:36:50 +01:00 committed by Scott Lahteine
parent ec6349f2ac
commit ac05f0cb8b
46 changed files with 3602 additions and 8 deletions

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@ -2741,7 +2741,7 @@
//
// ReprapWorld Graphical LCD
// https://reprapworld.com/?products_details&products_id/1218
// https://reprapworld.com/electronics/3d-printer-modules/autonomous-printing/graphical-lcd-screen-v1-0/
//
//#define REPRAPWORLD_GRAPHICAL_LCD

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@ -168,4 +168,4 @@ uint8_t u8g_com_ST7920_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void
#endif
#endif // IS_U8GLIB_ST7920
#endif // TARGET_LPC1768
#endif // __PLAT_NATIVE_SIM__

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/**
* 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/>.
*
*/
/**
* SAMD21 HAL developed by Bart Meijer (brupje)
* Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
*/
#ifdef __SAMD21__
#include "../../inc/MarlinConfig.h"
#include <wiring_private.h>
#if USING_HW_SERIALUSB
DefaultSerial1 MSerialUSB(false, SerialUSB);
#endif
#if USING_HW_SERIAL0
DefaultSerial2 MSerial1(false, Serial1);
#endif
#if USING_HW_SERIAL1
DefaultSerial3 MSerial2(false, Serial2);
#endif
#define WDT_CONFIG_PER_7_Val 0x9u
#define WDT_CONFIG_PER_Pos 0
#define WDT_CONFIG_PER_7 (WDT_CONFIG_PER_7_Val << WDT_CONFIG_PER_Pos)
#if ENABLED(USE_WATCHDOG)
#define WDT_TIMEOUT_REG TERN(WATCHDOG_DURATION_8S, WDT_CONFIG_PER_CYC8192, WDT_CONFIG_PER_CYC4096) // 4 or 8 second timeout
void MarlinHAL::watchdog_init() {
// Set up the generic clock (GCLK2) used to clock the watchdog timer at 1.024kHz
GCLK->GENDIV.reg = GCLK_GENDIV_DIV(4) | // Divide the 32.768kHz clock source by divisor 32, where 2^(4 + 1): 32.768kHz/32=1.024kHz
GCLK_GENDIV_ID(2); // Select Generic Clock (GCLK) 2
while (GCLK->STATUS.bit.SYNCBUSY); // Wait for synchronization
REG_GCLK_GENCTRL = GCLK_GENCTRL_DIVSEL | // Set to divide by 2^(GCLK_GENDIV_DIV(4) + 1)
GCLK_GENCTRL_IDC | // Set the duty cycle to 50/50 HIGH/LOW
GCLK_GENCTRL_GENEN | // Enable GCLK2
GCLK_GENCTRL_SRC_OSCULP32K | // Set the clock source to the ultra low power oscillator (OSCULP32K)
GCLK_GENCTRL_ID(2); // Select GCLK2
while (GCLK->STATUS.bit.SYNCBUSY); // Wait for synchronization
// Feed GCLK2 to WDT (Watchdog Timer)
REG_GCLK_CLKCTRL = GCLK_CLKCTRL_CLKEN | // Enable GCLK2 to the WDT
GCLK_CLKCTRL_GEN_GCLK2 | // Select GCLK2
GCLK_CLKCTRL_ID_WDT; // Feed the GCLK2 to the WDT
while (GCLK->STATUS.bit.SYNCBUSY); // Wait for synchronization
WDT->CONFIG.bit.PER = WDT_CONFIG_PER_7; // Set the WDT reset timeout to 4 seconds
while (WDT->STATUS.bit.SYNCBUSY); // Wait for synchronization
REG_WDT_CTRL = WDT_CTRL_ENABLE; // Enable the WDT in normal mode
while (WDT->STATUS.bit.SYNCBUSY); // Wait for synchronization
}
// Reset watchdog. MUST be called at least every 4 seconds after the
// first watchdog_init or SAMD will go into emergency procedures.
void MarlinHAL::watchdog_refresh() {
WDT->CLEAR.reg = WDT_CLEAR_CLEAR_KEY;
while (WDT->STATUS.bit.SYNCBUSY);
}
#endif
// ------------------------
// Types
// ------------------------
// ------------------------
// Private Variables
// ------------------------
// ------------------------
// Private functions
// ------------------------
void MarlinHAL::dma_init() {}
// ------------------------
// Public functions
// ------------------------
// HAL initialization task
void MarlinHAL::init() {
TERN_(DMA_IS_REQUIRED, dma_init());
#if ENABLED(SDSUPPORT)
#if HAS_SD_DETECT && SD_CONNECTION_IS(ONBOARD)
SET_INPUT_PULLUP(SD_DETECT_PIN);
#endif
OUT_WRITE(SDSS, HIGH); // Try to set SDSS inactive before any other SPI users start up
#endif
}
#pragma push_macro("WDT")
#undef WDT // Required to be able to use '.bit.WDT'. Compiler wrongly replace struct field with WDT define
uint8_t MarlinHAL::get_reset_source() {
return 0;
}
#pragma pop_macro("WDT")
void MarlinHAL::reboot() { NVIC_SystemReset(); }
extern "C" {
void * _sbrk(int incr);
extern unsigned int __bss_end__; // end of bss section
}
// Return free memory between end of heap (or end bss) and whatever is current
int freeMemory() {
int free_memory, heap_end = (int)_sbrk(0);
return (int)&free_memory - (heap_end ?: (int)&__bss_end__);
}
// ------------------------
// ADC
// ------------------------
uint16_t MarlinHAL::adc_result;
void MarlinHAL::adc_init() {
/* thanks to https://www.eevblog.com/forum/microcontrollers/samd21g18-adc-with-resrdy-interrupts-only-reads-once-or-twice/ */
ADC->CTRLA.bit.ENABLE = false;
while(ADC->STATUS.bit.SYNCBUSY);
// load chip corrections
uint32_t bias = (*((uint32_t *) ADC_FUSES_BIASCAL_ADDR) & ADC_FUSES_BIASCAL_Msk) >> ADC_FUSES_BIASCAL_Pos;
uint32_t linearity = (*((uint32_t *) ADC_FUSES_LINEARITY_0_ADDR) & ADC_FUSES_LINEARITY_0_Msk) >> ADC_FUSES_LINEARITY_0_Pos;
linearity |= ((*((uint32_t *) ADC_FUSES_LINEARITY_1_ADDR) & ADC_FUSES_LINEARITY_1_Msk) >> ADC_FUSES_LINEARITY_1_Pos) << 5;
/* Wait for bus synchronization. */
while (ADC->STATUS.bit.SYNCBUSY) {};
ADC->CALIB.reg = ADC_CALIB_BIAS_CAL(bias) | ADC_CALIB_LINEARITY_CAL(linearity);
/* Wait for bus synchronization. */
while (ADC->STATUS.bit.SYNCBUSY) {};
ADC->CTRLA.bit.SWRST = true;
while(ADC->STATUS.bit.SYNCBUSY);
ADC->REFCTRL.reg = ADC_REFCTRL_REFSEL_INTVCC1;
ADC->AVGCTRL.reg = ADC_AVGCTRL_SAMPLENUM_32| ADC_AVGCTRL_ADJRES(4);;
ADC->CTRLB.reg = ADC_CTRLB_PRESCALER_DIV128 |
ADC_CTRLB_RESSEL_16BIT |
ADC_CTRLB_FREERUN;
while(ADC->STATUS.bit.SYNCBUSY);
ADC->SAMPCTRL.bit.SAMPLEN = 0x00;
while(ADC->STATUS.bit.SYNCBUSY);
ADC->INPUTCTRL.reg = ADC_INPUTCTRL_INPUTSCAN(HAL_ADC_AIN_LEN) // scan (INPUTSCAN + NUM_EXTUDERS - 1) pins
| ADC_INPUTCTRL_GAIN_DIV2 |ADC_INPUTCTRL_MUXNEG_GND| HAL_ADC_AIN_START ; /* set to first AIN */
while(ADC->STATUS.bit.SYNCBUSY);
ADC->INTENSET.reg |= ADC_INTENSET_RESRDY; // enable Result Ready ADC interrupts
while (ADC->STATUS.bit.SYNCBUSY);
NVIC_EnableIRQ(ADC_IRQn); // enable ADC interrupts
NVIC_SetPriority(ADC_IRQn, 3);
ADC->CTRLA.bit.ENABLE = true;
}
volatile uint32_t adc_results[HAL_ADC_AIN_NUM_SENSORS];
void ADC_Handler() {
while(ADC->STATUS.bit.SYNCBUSY == 1);
int pos = ADC->INPUTCTRL.bit.INPUTOFFSET;
adc_results[pos] = ADC->RESULT.reg; /* Read the value. */
ADC->INTFLAG.reg = ADC_INTENSET_RESRDY; /* Clear the data ready flag. */
}
void MarlinHAL::adc_start(const pin_t pin) {
/* due to the way INPUTOFFSET works, the last sensor is the first position in the array
and we want the ADC_handler interrupt to be as simple possible, so we do the calculation here.
*/
unsigned int pos = PIN_TO_INPUTCTRL(pin) - HAL_ADC_AIN_START + 1;
if (pos == HAL_ADC_AIN_NUM_SENSORS) pos = 0;
adc_result = adc_results[pos]; // 16-bit resolution
//adc_result = 0xFFFF;
}
#endif // __SAMD21__

223
Marlin/src/HAL/SAMD21/HAL.h Normal file
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/**
* 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/>.
*
*/
#pragma once
/**
* SAMD21 HAL developed by Bart Meijer (brupje)
* Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
*/
#define CPU_32_BIT
#include "../shared/Marduino.h"
#include "../shared/math_32bit.h"
#include "../shared/HAL_SPI.h"
#include "fastio.h"
// ------------------------
// Serial ports
// ------------------------
#include "../../core/serial_hook.h"
typedef ForwardSerial1Class< decltype(SerialUSB) > DefaultSerial1;
extern DefaultSerial1 MSerialUSB;
// Serial ports
typedef ForwardSerial1Class< decltype(Serial1) > DefaultSerial2;
typedef ForwardSerial1Class< decltype(Serial2) > DefaultSerial3;
extern DefaultSerial2 MSerial0;
extern DefaultSerial3 MSerial1;
#define __MSERIAL(X) MSerial##X
#define _MSERIAL(X) __MSERIAL(X)
#define MSERIAL(X) _MSERIAL(INCREMENT(X))
#if WITHIN(SERIAL_PORT, 0, 1)
#define MYSERIAL1 MSERIAL(SERIAL_PORT)
#elif SERIAL_PORT == -1
#define MYSERIAL1 MSerialUSB
#else
#error "SERIAL_PORT must be -1 (Native USB only)."
#endif
#ifdef SERIAL_PORT_2
#if WITHIN(SERIAL_PORT_2, 0, 1)
#define MYSERIAL2 MSERIAL(SERIAL_PORT)
#elif SERIAL_PORT_2 == -1
#define MYSERIAL2 MSerialUSB
#else
#error "SERIAL_PORT_2 must be -1 (Native USB only)."
#endif
#endif
#ifdef MMU2_SERIAL_PORT
#if WITHIN(MMU2_SERIAL_PORT, 0, 1)
#define MMU2_SERIAL MSERIAL(SERIAL_PORT)
#elif MMU2_SERIAL_PORT == -1
#define MMU2_SERIAL MSerialUSB
#else
#error "MMU2_SERIAL_PORT must be -1 (Native USB only)."
#endif
#endif
#ifdef LCD_SERIAL_PORT
#if WITHIN(LCD_SERIAL_PORT, 0, 1)
#define LCD_SERIAL MSERIAL(SERIAL_PORT)
#elif LCD_SERIAL_PORT == -1
#define LCD_SERIAL MSerialUSB
#else
#error "LCD_SERIAL_PORT must be -1 (Native USB only)."
#endif
#endif
typedef int8_t pin_t;
#define SHARED_SERVOS HAS_SERVOS // Use shared/servos.cpp
class Servo;
typedef Servo hal_servo_t;
//
// Interrupts
//
#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
//
// ADC
//
#define HAL_ADC_FILTERED 1 // Disable Marlin's oversampling. The HAL filters ADC values.
#define HAL_ADC_VREF 3.3
#define HAL_ADC_RESOLUTION 12
#define HAL_ADC_AIN_START ADC_INPUTCTRL_MUXPOS_PIN3
#define HAL_ADC_AIN_NUM_SENSORS 3
#define HAL_ADC_AIN_LEN HAL_ADC_AIN_NUM_SENSORS-1
//
// 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)
//
// Tone
//
void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration=0);
void noTone(const pin_t _pin);
// ------------------------
// Class Utilities
// ------------------------
#pragma GCC diagnostic push
#if GCC_VERSION <= 50000
#pragma GCC diagnostic ignored "-Wunused-function"
#endif
#ifdef __cplusplus
extern "C" {
#endif
char *dtostrf(double __val, signed char __width, unsigned char __prec, char *__s);
extern "C" int freeMemory();
#ifdef __cplusplus
}
#endif
#pragma GCC diagnostic pop
// ------------------------
// MarlinHAL Class
// ------------------------
class MarlinHAL {
public:
// Earliest possible init, before setup()
MarlinHAL() {}
// Watchdog
static void watchdog_init() IF_DISABLED(USE_WATCHDOG, {});
static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
static void init(); // Called early in setup()
static void init_board() {} // Called less early in setup()
static void reboot(); // Restart the firmware from 0x0
// Interrupts
static bool isr_state() { return !__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 pin. Called from Temperature::isr!
static void adc_start(const pin_t pin);
// Is the ADC ready for reading?
static bool adc_ready() { return true; }
// The current value of the ADC register
static uint16_t adc_value() { return adc_result; }
/**
* 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();
};

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/**
* 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/>.
*
*/
/**
* SAMD21 HAL developed by Bart Meijer (brupje)
* Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
*/
/**
* Hardware and software SPI implementations are included in this file.
*
* Control of the slave select pin(s) is handled by the calling routines and
* SAMD21 let hardware SPI handling to remove SS from its logic.
*/
#ifdef __SAMD21__
// --------------------------------------------------------------------------
// Includes
// --------------------------------------------------------------------------
#include "../../inc/MarlinConfig.h"
#include <SPI.h>
// --------------------------------------------------------------------------
// Public functions
// --------------------------------------------------------------------------
#if EITHER(SOFTWARE_SPI, FORCE_SOFT_SPI)
// ------------------------
// Software SPI
// ------------------------
#error "Software SPI not supported for SAMD21. Use Hardware SPI."
#else // !SOFTWARE_SPI
static SPISettings spiConfig;
// ------------------------
// Hardware SPI
// ------------------------
void spiBegin() {
spiInit(SPI_HALF_SPEED);
}
void spiInit(uint8_t spiRate) {
// Use datarates Marlin uses
uint32_t clock;
switch (spiRate) {
case SPI_FULL_SPEED: clock = 8000000; break;
case SPI_HALF_SPEED: clock = 4000000; break;
case SPI_QUARTER_SPEED: clock = 2000000; break;
case SPI_EIGHTH_SPEED: clock = 1000000; break;
case SPI_SIXTEENTH_SPEED: clock = 500000; break;
case SPI_SPEED_5: clock = 250000; break;
case SPI_SPEED_6: clock = 125000; break;
default: clock = 4000000; break; // Default from the SPI library
}
spiConfig = SPISettings(clock, MSBFIRST, SPI_MODE0);
SPI.begin();
}
/**
* @brief Receives a single byte from the SPI port.
*
* @return Byte received
*
* @details
*/
uint8_t spiRec() {
SPI.beginTransaction(spiConfig);
uint8_t returnByte = SPI.transfer(0xFF);
SPI.endTransaction();
return returnByte;
}
/**
* @brief Receives a number of bytes from the SPI port to a buffer
*
* @param buf Pointer to starting address of buffer to write to.
* @param nbyte Number of bytes to receive.
* @return Nothing
*/
void spiRead(uint8_t *buf, uint16_t nbyte) {
if (nbyte == 0) return;
memset(buf, 0xFF, nbyte);
SPI.beginTransaction(spiConfig);
SPI.transfer(buf, nbyte);
SPI.endTransaction();
}
/**
* @brief Sends a single byte on SPI port
*
* @param b Byte to send
*
* @details
*/
void spiSend(uint8_t b) {
SPI.beginTransaction(spiConfig);
SPI.transfer(b);
SPI.endTransaction();
}
/**
* @brief Write token and then write from 512 byte buffer to SPI (for SD card)
*
* @param buf Pointer with buffer start address
* @return Nothing
*
* @details Uses DMA
*/
void spiSendBlock(uint8_t token, const uint8_t *buf) {
SPI.beginTransaction(spiConfig);
SPI.transfer(token);
SPI.transfer((uint8_t*)buf, 512);
SPI.endTransaction();
}
void spiBeginTransaction(uint32_t spiClock, uint8_t bitOrder, uint8_t dataMode) {
spiConfig = SPISettings(spiClock, (BitOrder)bitOrder, dataMode);
SPI.beginTransaction(spiConfig);
}
#endif // !SOFTWARE_SPI
#endif // __SAMD21__

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/**
* 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/>.
*
*/
/**
* SAMD21 HAL developed by Bart Meijer (brupje)
* Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
*/
#pragma once
#include <SPI.h>
using MarlinSPI = SPIClass;

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/**
* 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/>.
*
*/
/**
* SAMD21 HAL developed by Bart Meijer (brupje)
* Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
*/
#include "../../inc/MarlinConfig.h"
#if ENABLED(QSPI_EEPROM)
#include "QSPIFlash.h"
#define INVALID_ADDR 0xFFFFFFFF
#define SECTOR_OF(a) (a & ~(SFLASH_SECTOR_SIZE - 1))
#define OFFSET_OF(a) (a & (SFLASH_SECTOR_SIZE - 1))
Adafruit_SPIFlashBase * QSPIFlash::_flashBase = nullptr;
uint8_t QSPIFlash::_buf[SFLASH_SECTOR_SIZE];
uint32_t QSPIFlash::_addr = INVALID_ADDR;
void QSPIFlash::begin() {
if (_flashBase) return;
_flashBase = new Adafruit_SPIFlashBase(new Adafruit_FlashTransport_QSPI());
_flashBase->begin(nullptr);
}
size_t QSPIFlash::size() {
return _flashBase->size();
}
uint8_t QSPIFlash::readByte(const uint32_t address) {
if (SECTOR_OF(address) == _addr) return _buf[OFFSET_OF(address)];
return _flashBase->read8(address);
}
void QSPIFlash::writeByte(const uint32_t address, const uint8_t value) {
uint32_t const sector_addr = SECTOR_OF(address);
// Page changes, flush old and update new cache
if (sector_addr != _addr) {
flush();
_addr = sector_addr;
// read a whole page from flash
_flashBase->readBuffer(sector_addr, _buf, SFLASH_SECTOR_SIZE);
}
_buf[OFFSET_OF(address)] = value;
}
void QSPIFlash::flush() {
if (_addr == INVALID_ADDR) return;
_flashBase->eraseSector(_addr / SFLASH_SECTOR_SIZE);
_flashBase->writeBuffer(_addr, _buf, SFLASH_SECTOR_SIZE);
_addr = INVALID_ADDR;
}
#endif // QSPI_EEPROM

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/**
* @file QSPIFlash.h
*
* The MIT License (MIT)
*
* Copyright (c) 2019 Ha Thach and Dean Miller for Adafruit Industries LLC
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*
* Derived from Adafruit_SPIFlash class with no SdFat references
*/
#pragma once
#include <Adafruit_SPIFlashBase.h>
// This class extends Adafruit_SPIFlashBase by adding caching support.
//
// This class will use 4096 Bytes of RAM as a block cache.
class QSPIFlash {
public:
static void begin();
static size_t size();
static uint8_t readByte(const uint32_t address);
static void writeByte(const uint32_t address, const uint8_t v);
static void flush();
private:
static Adafruit_SPIFlashBase * _flashBase;
static uint8_t _buf[SFLASH_SECTOR_SIZE];
static uint32_t _addr;
};
extern QSPIFlash qspi;

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/**
* 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/>.
*
*/
#pragma once
/**
* SAMD21 HAL developed by Bart Meijer (brupje)
* Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
*/
#define SYNC(sc) while (sc) { \
asm(""); \
}
// Get SAMD port/pin from specified arduino pin
#define GET_SAMD_PORT(P) _GET_SAMD_PORT(PIN_TO_SAMD_PIN(P))
#define GET_SAMD_PIN(P) _GET_SAMD_PIN(PIN_TO_SAMD_PIN(P))
// Get external interrupt line associated to specified arduino pin
#define PIN_TO_EILINE(P) _SAMDPORTPIN_TO_EILINE(GET_SAMD_PORT(P), GET_SAMD_PIN(P))
// Get adc/ain associated to specified arduino pin
#define PIN_TO_ADC(P) (ANAPIN_TO_ADCAIN(P) >> 8)
// Private defines
#define PIN_TO_SAMD_PIN(P) DIO##P##_PIN
#define _GET_SAMD_PORT(P) ((P) >> 5)
#define _GET_SAMD_PIN(P) ((P) & 0x1F)
// Get external interrupt line
#define _SAMDPORTPIN_TO_EILINE(P,B) ((P == 0 && WITHIN(B, 0, 31) && B != 26 && B != 28 && B != 29) ? (B) & 0xF \
: (P == 1 && (WITHIN(B, 0, 25) || WITHIN(B, 30, 31))) ? (B) & 0xF \
: (P == 1 && WITHIN(B, 26, 29)) ? 12 + (B) - 26 \
: (P == 2 && (WITHIN(B, 0, 6) || WITHIN(B, 10, 31)) && B != 29) ? (B) & 0xF \
: (P == 2 && B == 7) ? 9 \
: (P == 3 && WITHIN(B, 0, 1)) ? (B) \
: (P == 3 && WITHIN(B, 8, 12)) ? 3 + (B) - 8 \
: (P == 3 && WITHIN(B, 20, 21)) ? 10 + (B) - 20 \
: -1)
#define A2_AIN 3
#define A3_AIN 4
#define A4_AIN 5
#define PIN_TO_AIN(P) A##P##_AIN
#define AIN_TO_RESULT(P) ( (P - HAL_ADC_AIN_START == HAL_ADC_AIN_NUM_SENSORS-1) ? 0 : (P - HAL_ADC_AIN_START + 1) )

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/**
* 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/>.
*
*/
/**
* SAMD21 HAL developed by Bart Meijer (brupje)
* Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
*/
/**
* This comes from Arduino library which at the moment is buggy and uncompilable
*/
#ifdef __SAMD21__
#include "../../inc/MarlinConfig.h"
#if HAS_SERVOS
#include "../shared/servo.h"
#include "../shared/servo_private.h"
#include "SAMD21.h"
#define __TC_GCLK_ID(t) TC##t##_GCLK_ID
#define _TC_GCLK_ID(t) __TC_GCLK_ID(t)
#define TC_GCLK_ID _TC_GCLK_ID(SERVO_TC)
#define _TC_PRESCALER(d) TC_CTRLA_PRESCALER_DIV##d##_Val
#define TC_PRESCALER(d) _TC_PRESCALER(d)
#define __SERVO_IRQn(t) TC##t##_IRQn
#define _SERVO_IRQn(t) __SERVO_IRQn(t)
#define SERVO_IRQn _SERVO_IRQn(SERVO_TC)
#define HAL_SERVO_TIMER_ISR() TC_HANDLER(SERVO_TC)
#define TIMER_TCCHANNEL(t) ((t) & 1)
#define TC_COUNTER_START_VAL 0xFFFF
static volatile int8_t currentServoIndex[_Nbr_16timers]; // index for the servo being pulsed for each timer (or -1 if refresh interval)
FORCE_INLINE static uint16_t getTimerCount() {
Tcc * const tc = timer_config[SERVO_TC].pTcc;
tc->CTRLBSET.reg = TCC_CTRLBCLR_CMD_READSYNC;
SYNC(tc->STATUS.reg & TC_STATUS_SYNCBUSY);
return tc->COUNT.bit.COUNT;
}
// ----------------------------
// Interrupt handler for the TC
// ----------------------------
HAL_SERVO_TIMER_ISR() {
Tcc * const tc = timer_config[SERVO_TC].pTcc;
const timer16_Sequence_t timer =
#ifndef _useTimer1
_timer2
#elif !defined(_useTimer2)
_timer1
#else
(tc->INTFLAG.reg & tc->INTENSET.reg & TC_INTFLAG_MC0) ? _timer1 : _timer2
#endif
;
const uint8_t tcChannel = TIMER_TCCHANNEL(timer);
int8_t cho = currentServoIndex[timer]; // Handle the prior servo first
if (cho < 0) { // Servo -1 indicates the refresh interval completed...
#if defined(_useTimer1) && defined(_useTimer2)
if (currentServoIndex[timer ^ 1] >= 0) {
// Wait for both channels
// Clear the interrupt
tc->INTFLAG.reg = (tcChannel == 0) ? TC_INTFLAG_MC0 : TC_INTFLAG_MC1;
return;
}
#endif
tc->COUNT.reg = TC_COUNTER_START_VAL; // ...so reset the timer
SYNC(tc->STATUS.reg & TC_STATUS_SYNCBUSY);
}
else if (SERVO_INDEX(timer, cho) < ServoCount) // prior channel handled?
digitalWrite(SERVO(timer, cho).Pin.nbr, LOW); // pulse the prior channel LOW
currentServoIndex[timer] = ++cho; // go to the next channel (or 0)
if (cho < SERVOS_PER_TIMER && SERVO_INDEX(timer, cho) < ServoCount) {
if (SERVO(timer, cho).Pin.isActive) // activated?
digitalWrite(SERVO(timer, cho).Pin.nbr, HIGH); // yes: pulse HIGH
tc->CC[tcChannel].reg = getTimerCount() - (uint16_t)SERVO(timer, cho).ticks;
}
else {
// finished all channels so wait for the refresh period to expire before starting over
currentServoIndex[timer] = -1; // reset the timer COUNT.reg on the next call
const uint16_t cval = getTimerCount() - 256 / (SERVO_TIMER_PRESCALER), // allow 256 cycles to ensure the next CV not missed
ival = (TC_COUNTER_START_VAL) - (uint16_t)usToTicks(REFRESH_INTERVAL); // at least REFRESH_INTERVAL has elapsed
tc->CC[tcChannel].reg = min(cval, ival);
}
if (tcChannel == 0) {
SYNC(tc->SYNCBUSY.bit.CC0);
tc->INTFLAG.reg = TC_INTFLAG_MC0; // Clear the interrupt
}
else {
SYNC(tc->SYNCBUSY.bit.CC1);
tc->INTFLAG.reg = TC_INTFLAG_MC1; // Clear the interrupt
}
}
void initISR(const timer16_Sequence_t timer) {
Tcc * const tc = timer_config[SERVO_TC].pTcc;
const uint8_t tcChannel = TIMER_TCCHANNEL(timer);
static bool initialized = false; // Servo TC has been initialized
if (!initialized) {
NVIC_DisableIRQ(SERVO_IRQn);
// Disable the timer
tc->CTRLA.bit.ENABLE = false;
SYNC(tc->STATUS.reg & TC_STATUS_SYNCBUSY);
// Select GCLK0 as timer/counter input clock source
GCLK->CLKCTRL.reg =(GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID(TCC0_GCLK_ID));
SYNC (GCLK->STATUS.bit.SYNCBUSY);
// Reset the timer
tc->CTRLA.bit.SWRST = true;
SYNC(tc->CTRLA.bit.SWRST);
// Set timer counter mode to 16 bits
tc->CTRLA.reg = TC_CTRLA_MODE_COUNT16;
// Set timer counter mode as normal PWM
tc->WAVE.bit.WAVEGEN = TCC_WAVE_WAVEGEN_NPWM_Val;
// Set the prescaler factor
tc->CTRLA.bit.PRESCALER = TC_PRESCALER(SERVO_TIMER_PRESCALER);
// Count down
tc->CTRLBSET.reg = TCC_CTRLBCLR_DIR;
SYNC(tc->SYNCBUSY.bit.CTRLB);
// Reset all servo indexes
memset((void *)currentServoIndex, 0xFF, sizeof(currentServoIndex));
// Configure interrupt request
NVIC_ClearPendingIRQ(SERVO_IRQn);
NVIC_SetPriority(SERVO_IRQn, 5);
NVIC_EnableIRQ(SERVO_IRQn);
initialized = true;
}
if (!tc->CTRLA.bit.ENABLE) {
// Reset the timer counter
tc->COUNT.reg = TC_COUNTER_START_VAL;
SYNC(tc->STATUS.reg & TC_STATUS_SYNCBUSY);
// Enable the timer and start it
tc->CTRLA.bit.ENABLE = true;
SYNC(tc->STATUS.reg & TC_STATUS_SYNCBUSY);
}
// First interrupt request after 1 ms
tc->CC[tcChannel].reg = getTimerCount() - (uint16_t)usToTicks(1000UL);
if (tcChannel == 0 ) {
SYNC(tc->SYNCBUSY.bit.CC0);
// Clear pending match interrupt
tc->INTFLAG.reg = TC_INTENSET_MC0;
// Enable the match channel interrupt request
tc->INTENSET.reg = TC_INTENSET_MC0;
}
else {
SYNC(tc->SYNCBUSY.bit.CC1);
// Clear pending match interrupt
tc->INTFLAG.reg = TC_INTENSET_MC1;
// Enable the match channel interrupt request
tc->INTENSET.reg = TC_INTENSET_MC1;
}
}
void finISR(const timer16_Sequence_t timer_index) {
Tcc * const tc = timer_config[SERVO_TC].pTcc;
const uint8_t tcChannel = TIMER_TCCHANNEL(timer_index);
// Disable the match channel interrupt request
tc->INTENCLR.reg = (tcChannel == 0) ? TC_INTENCLR_MC0 : TC_INTENCLR_MC1;
if (true
#if defined(_useTimer1) && defined(_useTimer2)
&& (tc->INTENCLR.reg & (TC_INTENCLR_MC0|TC_INTENCLR_MC1)) == 0
#endif
) {
// Disable the timer if not used
tc->CTRLA.bit.ENABLE = false;
SYNC(tc->STATUS.reg & TC_STATUS_SYNCBUSY);
}
}
#endif // HAS_SERVOS
#endif // __SAMD21__

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/**
* 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/>.
*
*/
#pragma once
/**
* SAMD21 HAL developed by Bart Meijer (brupje)
* Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
*/
#define _useTimer1
#define _useTimer2
#define TRIM_DURATION 5 // compensation ticks to trim adjust for digitalWrite delays
#define SERVO_TIMER_PRESCALER 64 // timer prescaler factor to 64 (avoid overflowing 16-bit clock counter, at 120MHz this is 1831 ticks per millisecond
#define SERVO_TC 3
typedef enum {
#ifdef _useTimer1
_timer1,
#endif
#ifdef _useTimer2
_timer2,
#endif
_Nbr_16timers
} timer16_Sequence_t;

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/**
* 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/>.
*
*/
/**
* SAMD21 HAL developed by Bart Meijer (brupje)
* Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
*/
#ifdef __SAMD21__
#include "../../inc/MarlinConfig.h"
#if ENABLED(FLASH_EEPROM_EMULATION)
#define TOTAL_FLASH_SIZE (MARLIN_EEPROM_SIZE+255)/256*256
/* reserve flash memory */
static const uint8_t flashdata[TOTAL_FLASH_SIZE] __attribute__((__aligned__(256))) { }; \
#include "../shared/eeprom_api.h"
size_t PersistentStore::capacity() {
return MARLIN_EEPROM_SIZE;
/* const uint8_t psz = NVMCTRL->SEESTAT.bit.PSZ,
sblk = NVMCTRL->SEESTAT.bit.SBLK;
return (!psz && !sblk) ? 0
: (psz <= 2) ? (0x200 << psz)
: (sblk == 1 || psz == 3) ? 4096
: (sblk == 2 || psz == 4) ? 8192
: (sblk <= 4 || psz == 5) ? 16384
: (sblk >= 9 && psz == 7) ? 65536
: 32768;*/
}
uint32_t PAGE_SIZE;
uint32_t ROW_SIZE;
bool hasWritten = false;
uint8_t * buffer;
void _erase(const volatile void *flash_ptr) {
NVMCTRL->ADDR.reg = ((uint32_t)flash_ptr) / 2;
NVMCTRL->CTRLA.reg = NVMCTRL_CTRLA_CMDEX_KEY | NVMCTRL_CTRLA_CMD_ER;
while (!NVMCTRL->INTFLAG.bit.READY) { }
}
void erase(const volatile void *flash_ptr, uint32_t size) {
const uint8_t *ptr = (const uint8_t *)flash_ptr;
while (size > ROW_SIZE) {
_erase(ptr);
ptr += ROW_SIZE;
size -= ROW_SIZE;
}
_erase(ptr);
}
bool PersistentStore::access_start() {
/* clear page buffer*/
NVMCTRL->CTRLA.reg = NVMCTRL_CTRLA_CMDEX_KEY | NVMCTRL_CTRLA_CMD_PBC;
while (NVMCTRL->INTFLAG.bit.READY == 0) { }
PAGE_SIZE = pow(2,3 + NVMCTRL->PARAM.bit.PSZ);
ROW_SIZE= PAGE_SIZE * 4;
/*NVMCTRL->SEECFG.reg = NVMCTRL_SEECFG_WMODE_BUFFERED; // Buffered mode and segment reallocation active
if (NVMCTRL->SEESTAT.bit.RLOCK)
NVMCTRL_CMD(NVMCTRL_CTRLB_CMD_USEE); */ // Unlock E2P data write access
// erase(&flashdata[0], TOTAL_FLASH_SIZE);
return true;
}
bool PersistentStore::access_finish() {
if (hasWritten) {
erase(&flashdata[0], TOTAL_FLASH_SIZE);
NVMCTRL->CTRLA.reg = NVMCTRL_CTRLA_CMDEX_KEY | NVMCTRL_CTRLA_CMD_PBC;
while (NVMCTRL->INTFLAG.bit.READY == 0) { }
NVMCTRL->CTRLB.bit.MANW = 0;
volatile uint32_t *dst_addr = (volatile uint32_t *) &flashdata;
uint32_t *pointer = (uint32_t *) buffer;
for (uint32_t i = 0; i < TOTAL_FLASH_SIZE; i+=4) {
*dst_addr = (uint32_t) *pointer;
pointer++;
dst_addr ++;
}
// Execute "WP" Write Page
NVMCTRL->CTRLA.reg = NVMCTRL_CTRLA_CMDEX_KEY | NVMCTRL_CTRLA_CMD_WP;
while (NVMCTRL->INTFLAG.bit.READY == 0) { }
free(buffer);
hasWritten = false;
}
return true;
}
bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) {
if (!hasWritten) {
// init temp buffer
buffer = (uint8_t *) malloc(MARLIN_EEPROM_SIZE);
hasWritten=true;
}
memcpy(buffer+pos,value,size);
pos += size;
return false;
}
bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) {
volatile uint8_t *dst_addr = (volatile uint8_t *) &flashdata;
dst_addr += pos;
memcpy(value,(const void *) dst_addr,size);
pos += size;
return false;
}
#endif // FLASH_EEPROM_EMULATION
#endif // __SAMD21__

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/**
* 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/>.
*
*/
/**
* SAMD21 HAL developed by Bart Meijer (brupje)
* Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
*/
#ifdef __SAMD21__
#include "../../inc/MarlinConfig.h"
#if ENABLED(QSPI_EEPROM)
#error "QSPI_EEPROM emulation Not implemented on SAMD21"
#include "../shared/eeprom_api.h"
#include "QSPIFlash.h"
static bool initialized;
size_t PersistentStore::capacity() { return qspi.size(); }
bool PersistentStore::access_start() {
if (!initialized) {
qspi.begin();
initialized = true;
}
return true;
}
bool PersistentStore::access_finish() {
qspi.flush();
return true;
}
bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) {
while (size--) {
const uint8_t v = *value;
qspi.writeByte(pos, v);
crc16(crc, &v, 1);
pos++;
value++;
}
return false;
}
bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) {
while (size--) {
uint8_t c = qspi.readByte(pos);
if (writing) *value = c;
crc16(crc, &c, 1);
pos++;
value++;
}
return false;
}
#endif // QSPI_EEPROM
#endif // __SAMD21__

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/**
* 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/>.
*
*/
/**
* SAMD21 HAL developed by Bart Meijer (brupje)
* Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
*/
#ifdef __SAMD21__
#include "../../inc/MarlinConfig.h"
#if USE_WIRED_EEPROM
#error "USE_WIRED_EEPROM emulation Not implemented on SAMD21"
/**
* PersistentStore for Arduino-style EEPROM interface
* with simple implementations supplied by Marlin.
*/
#include "../shared/eeprom_if.h"
#include "../shared/eeprom_api.h"
#ifndef MARLIN_EEPROM_SIZE
#error "MARLIN_EEPROM_SIZE is required for I2C / SPI EEPROM."
#endif
size_t PersistentStore::capacity() { return MARLIN_EEPROM_SIZE; }
bool PersistentStore::access_start() { eeprom_init(); return true; }
bool PersistentStore::access_finish() { return true; }
bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) {
uint16_t written = 0;
while (size--) {
const uint8_t v = *value;
uint8_t * const p = (uint8_t * const)pos;
if (v != eeprom_read_byte(p)) { // EEPROM has only ~100,000 write cycles, so only write bytes that have changed!
eeprom_write_byte(p, v);
if (++written & 0x7F) delay(2); else safe_delay(2); // Avoid triggering watchdog during long EEPROM writes
if (eeprom_read_byte(p) != v) {
SERIAL_ECHO_MSG(STR_ERR_EEPROM_WRITE);
return true;
}
}
crc16(crc, &v, 1);
pos++;
value++;
}
return false;
}
bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) {
while (size--) {
uint8_t c = eeprom_read_byte((uint8_t*)pos);
if (writing) *value = c;
crc16(crc, &c, 1);
pos++;
value++;
}
return false;
}
#endif // USE_WIRED_EEPROM
#endif // __SAMD21__

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/**
* 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/>.
*
*/
#pragma once
/**
* SAMD21 HAL developed by Bart Meijer (brupje)
* Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
*/
/**
* Endstop interrupts for ATMEL SAMD21 based targets.
*
* On SAMD21, all pins support external interrupt capability.
* Any pin can be used for external interrupts, but there are some restrictions.
* At most 16 different external interrupts can be used at one time.
* Further, you cant just pick any 16 pins to use. This is because every pin on the SAMD21
* connects to what is called an EXTINT line, and only one pin per EXTINT line can be used for external
* interrupts at a time
*/
/**
* Endstop Interrupts
*
* Without endstop interrupts the endstop pins must be polled continually in
* the temperature-ISR via endstops.update(), most of the time finding no change.
* With this feature endstops.update() is called only when we know that at
* least one endstop has changed state, saving valuable CPU cycles.
*
* This feature only works when all used endstop pins can generate an 'external interrupt'.
*
* Test whether pins issue interrupts on your board by flashing 'pin_interrupt_test.ino'.
* (Located in Marlin/buildroot/share/pin_interrupt_test/pin_interrupt_test.ino)
*/
#include "../../module/endstops.h"
#define MATCH_EILINE(P1,P2) (P1 != P2 && PIN_TO_EILINE(P1) == PIN_TO_EILINE(P2))
#define MATCH_X_MAX_EILINE(P) TERN0(HAS_X_MAX, DEFER4(MATCH_EILINE)(P, X_MAX_PIN))
#define MATCH_X_MIN_EILINE(P) TERN0(HAS_X_MIN, DEFER4(MATCH_EILINE)(P, X_MIN_PIN))
#define MATCH_Y_MAX_EILINE(P) TERN0(HAS_Y_MAX, DEFER4(MATCH_EILINE)(P, Y_MAX_PIN))
#define MATCH_Y_MIN_EILINE(P) TERN0(HAS_Y_MIN, DEFER4(MATCH_EILINE)(P, Y_MIN_PIN))
#define MATCH_Z_MAX_EILINE(P) TERN0(HAS_Z_MAX, DEFER4(MATCH_EILINE)(P, Z_MAX_PIN))
#define MATCH_Z_MIN_EILINE(P) TERN0(HAS_Z_MIN, DEFER4(MATCH_EILINE)(P, Z_MIN_PIN))
#define MATCH_I_MAX_EILINE(P) TERN0(HAS_I_MAX, DEFER4(MATCH_EILINE)(P, I_MAX_PIN))
#define MATCH_I_MIN_EILINE(P) TERN0(HAS_I_MIN, DEFER4(MATCH_EILINE)(P, I_MIN_PIN))
#define MATCH_J_MAX_EILINE(P) TERN0(HAS_J_MAX, DEFER4(MATCH_EILINE)(P, J_MAX_PIN))
#define MATCH_J_MIN_EILINE(P) TERN0(HAS_J_MIN, DEFER4(MATCH_EILINE)(P, J_MIN_PIN))
#define MATCH_K_MAX_EILINE(P) TERN0(HAS_K_MAX, DEFER4(MATCH_EILINE)(P, K_MAX_PIN))
#define MATCH_K_MIN_EILINE(P) TERN0(HAS_K_MIN, DEFER4(MATCH_EILINE)(P, K_MIN_PIN))
#define MATCH_U_MAX_EILINE(P) TERN0(HAS_U_MAX, DEFER4(MATCH_EILINE)(P, U_MAX_PIN))
#define MATCH_U_MIN_EILINE(P) TERN0(HAS_U_MIN, DEFER4(MATCH_EILINE)(P, U_MIN_PIN))
#define MATCH_V_MAX_EILINE(P) TERN0(HAS_V_MAX, DEFER4(MATCH_EILINE)(P, V_MAX_PIN))
#define MATCH_V_MIN_EILINE(P) TERN0(HAS_V_MIN, DEFER4(MATCH_EILINE)(P, V_MIN_PIN))
#define MATCH_W_MAX_EILINE(P) TERN0(HAS_W_MAX, DEFER4(MATCH_EILINE)(P, W_MAX_PIN))
#define MATCH_W_MIN_EILINE(P) TERN0(HAS_W_MIN, DEFER4(MATCH_EILINE)(P, W_MIN_PIN))
#define MATCH_Z2_MAX_EILINE(P) TERN0(HAS_Z2_MAX, DEFER4(MATCH_EILINE)(P, Z2_MAX_PIN))
#define MATCH_Z2_MIN_EILINE(P) TERN0(HAS_Z2_MIN, DEFER4(MATCH_EILINE)(P, Z2_MIN_PIN))
#define MATCH_Z3_MAX_EILINE(P) TERN0(HAS_Z3_MAX, DEFER4(MATCH_EILINE)(P, Z3_MAX_PIN))
#define MATCH_Z3_MIN_EILINE(P) TERN0(HAS_Z3_MIN, DEFER4(MATCH_EILINE)(P, Z3_MIN_PIN))
#define MATCH_Z4_MAX_EILINE(P) TERN0(HAS_Z4_MAX, DEFER4(MATCH_EILINE)(P, Z4_MAX_PIN))
#define MATCH_Z4_MIN_EILINE(P) TERN0(HAS_Z4_MIN, DEFER4(MATCH_EILINE)(P, Z4_MIN_PIN))
#define MATCH_Z_MIN_PROBE_EILINE(P) TERN0(HAS_Z_MIN_PROBE_PIN, DEFER4(MATCH_EILINE)(P, Z_MIN_PROBE_PIN))
#define AVAILABLE_EILINE(P) ( PIN_TO_EILINE(P) != -1 \
&& !MATCH_X_MAX_EILINE(P) && !MATCH_X_MIN_EILINE(P) \
&& !MATCH_Y_MAX_EILINE(P) && !MATCH_Y_MIN_EILINE(P) \
&& !MATCH_Z_MAX_EILINE(P) && !MATCH_Z_MIN_EILINE(P) \
&& !MATCH_I_MAX_EILINE(P) && !MATCH_I_MIN_EILINE(P) \
&& !MATCH_J_MAX_EILINE(P) && !MATCH_J_MIN_EILINE(P) \
&& !MATCH_K_MAX_EILINE(P) && !MATCH_K_MIN_EILINE(P) \
&& !MATCH_U_MAX_EILINE(P) && !MATCH_U_MIN_EILINE(P) \
&& !MATCH_V_MAX_EILINE(P) && !MATCH_V_MIN_EILINE(P) \
&& !MATCH_W_MAX_EILINE(P) && !MATCH_W_MIN_EILINE(P) \
&& !MATCH_Z2_MAX_EILINE(P) && !MATCH_Z2_MIN_EILINE(P) \
&& !MATCH_Z3_MAX_EILINE(P) && !MATCH_Z3_MIN_EILINE(P) \
&& !MATCH_Z4_MAX_EILINE(P) && !MATCH_Z4_MIN_EILINE(P) \
&& !MATCH_Z_MIN_PROBE_EILINE(P) )
// One ISR for all EXT-Interrupts
void endstop_ISR() { endstops.update(); }
void setup_endstop_interrupts() {
#define _ATTACH(P) attachInterrupt(P, endstop_ISR, CHANGE)
#if HAS_X_MAX
#if !AVAILABLE_EILINE(X_MAX_PIN)
#error "X_MAX_PIN has no EXTINT line available."
#endif
_ATTACH(X_MAX_PIN);
#endif
#if HAS_X_MIN
#if !AVAILABLE_EILINE(X_MIN_PIN)
#error "X_MIN_PIN has no EXTINT line available."
#endif
_ATTACH(X_MIN_PIN);
#endif
#if HAS_Y_MAX
#if !AVAILABLE_EILINE(Y_MAX_PIN)
#error "Y_MAX_PIN has no EXTINT line available."
#endif
_ATTACH(Y_MAX_PIN);
#endif
#if HAS_Y_MIN
#if !AVAILABLE_EILINE(Y_MIN_PIN)
#error "Y_MIN_PIN has no EXTINT line available."
#endif
_ATTACH(Y_MIN_PIN);
#endif
#if HAS_Z_MAX
#if !AVAILABLE_EILINE(Z_MAX_PIN)
#error "Z_MAX_PIN has no EXTINT line available."
#endif
_ATTACH(Z_MAX_PIN);
#endif
#if HAS_Z_MIN
#if !AVAILABLE_EILINE(Z_MIN_PIN)
#error "Z_MIN_PIN has no EXTINT line available."
#endif
_ATTACH(Z_MIN_PIN);
#endif
#if HAS_Z2_MAX
#if !AVAILABLE_EILINE(Z2_MAX_PIN)
#error "Z2_MAX_PIN has no EXTINT line available."
#endif
_ATTACH(Z2_MAX_PIN);
#endif
#if HAS_Z2_MIN
#if !AVAILABLE_EILINE(Z2_MIN_PIN)
#error "Z2_MIN_PIN has no EXTINT line available."
#endif
_ATTACH(Z2_MIN_PIN);
#endif
#if HAS_Z3_MAX
#if !AVAILABLE_EILINE(Z3_MAX_PIN)
#error "Z3_MAX_PIN has no EXTINT line available."
#endif
_ATTACH(Z3_MAX_PIN);
#endif
#if HAS_Z3_MIN
#if !AVAILABLE_EILINE(Z3_MIN_PIN)
#error "Z3_MIN_PIN has no EXTINT line available."
#endif
_ATTACH(Z3_MIN_PIN);
#endif
#if HAS_Z4_MAX
#if !AVAILABLE_EILINE(Z4_MAX_PIN)
#error "Z4_MAX_PIN has no EXTINT line available."
#endif
_ATTACH(Z4_MAX_PIN);
#endif
#if HAS_Z4_MIN
#if !AVAILABLE_EILINE(Z4_MIN_PIN)
#error "Z4_MIN_PIN has no EXTINT line available."
#endif
_ATTACH(Z4_MIN_PIN);
#endif
#if HAS_Z_MIN_PROBE_PIN
#if !AVAILABLE_EILINE(Z_MIN_PROBE_PIN)
#error "Z_MIN_PROBE_PIN has no EXTINT line available."
#endif
_ATTACH(Z_MIN_PROBE_PIN);
#endif
#if HAS_I_MAX
#if !AVAILABLE_EILINE(I_MAX_PIN)
#error "I_MAX_PIN has no EXTINT line available."
#endif
attachInterrupt(I_MAX_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_I_MIN
#if !AVAILABLE_EILINE(I_MIN_PIN)
#error "I_MIN_PIN has no EXTINT line available."
#endif
attachInterrupt(I_MIN_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_J_MAX
#if !AVAILABLE_EILINE(J_MAX_PIN)
#error "J_MAX_PIN has no EXTINT line available."
#endif
attachInterrupt(J_MAX_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_J_MIN
#if !AVAILABLE_EILINE(J_MIN_PIN)
#error "J_MIN_PIN has no EXTINT line available."
#endif
attachInterrupt(J_MIN_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_K_MAX
#if !AVAILABLE_EILINE(K_MAX_PIN)
#error "K_MAX_PIN has no EXTINT line available."
#endif
attachInterrupt(K_MAX_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_K_MIN
#if !AVAILABLE_EILINE(K_MIN_PIN)
#error "K_MIN_PIN has no EXTINT line available."
#endif
attachInterrupt(K_MIN_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_U_MAX
#if !AVAILABLE_EILINE(U_MAX_PIN)
#error "U_MAX_PIN has no EXTINT line available."
#endif
attachInterrupt(U_MAX_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_U_MIN
#if !AVAILABLE_EILINE(U_MIN_PIN)
#error "U_MIN_PIN has no EXTINT line available."
#endif
attachInterrupt(U_MIN_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_V_MAX
#if !AVAILABLE_EILINE(V_MAX_PIN)
#error "V_MAX_PIN has no EXTINT line available."
#endif
attachInterrupt(V_MAX_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_V_MIN
#if !AVAILABLE_EILINE(V_MIN_PIN)
#error "V_MIN_PIN has no EXTINT line available."
#endif
attachInterrupt(V_MIN_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_W_MAX
#if !AVAILABLE_EILINE(W_MAX_PIN)
#error "W_MAX_PIN has no EXTINT line available."
#endif
attachInterrupt(W_MAX_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_W_MIN
#if !AVAILABLE_EILINE(W_MIN_PIN)
#error "W_MIN_PIN has no EXTINT line available."
#endif
attachInterrupt(W_MIN_PIN, endstop_ISR, CHANGE);
#endif
}

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/**
* 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/>.
*
*/
#pragma once
/**
* SAMD21 HAL developed by Bart Meijer (brupje)
* Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
*/
/**
* Fast IO functions for SAMD21
*/
#include "SAMD21.h"
/**
* Utility functions
*/
#ifndef MASK
#define MASK(PIN) _BV(PIN)
#endif
/**
* Magic I/O routines
*
* Now you can simply SET_OUTPUT(IO); WRITE(IO, HIGH); WRITE(IO, LOW);
*/
// Read a pin
#define READ(IO) ((PORT->Group[(EPortType)GET_SAMD_PORT(IO)].IN.reg & MASK(GET_SAMD_PIN(IO))) != 0)
// Write to a pin
#define WRITE(IO,V) do{ \
const EPortType port = (EPortType)GET_SAMD_PORT(IO); \
const uint32_t mask = MASK(GET_SAMD_PIN(IO)); \
\
if (V) PORT->Group[port].OUTSET.reg = mask; \
else PORT->Group[port].OUTCLR.reg = mask; \
}while(0)
// Toggle a pin
#define TOGGLE(IO) PORT->Group[(EPortType)GET_SAMD_PORT(IO)].OUTTGL.reg = MASK(GET_SAMD_PIN(IO));
// Set pin as input
#define SET_INPUT(IO) do{ \
const EPortType port = (EPortType)GET_SAMD_PORT(IO); \
const uint32_t pin = GET_SAMD_PIN(IO); \
\
PORT->Group[port].PINCFG[pin].reg = (uint8_t)(PORT_PINCFG_INEN); \
PORT->Group[port].DIRCLR.reg = MASK(pin); \
}while(0)
// Set pin as input with pullup
#define SET_INPUT_PULLUP(IO) do{ \
const EPortType port = (EPortType)GET_SAMD_PORT(IO); \
const uint32_t pin = GET_SAMD_PIN(IO); \
const uint32_t mask = MASK(pin); \
\
PORT->Group[port].PINCFG[pin].reg = (uint8_t)(PORT_PINCFG_INEN | PORT_PINCFG_PULLEN); \
PORT->Group[port].DIRCLR.reg = mask; \
PORT->Group[port].OUTSET.reg = mask; \
}while(0)
// Set pin as input with pulldown
#define SET_INPUT_PULLDOWN(IO) do{ \
const EPortType port = (EPortType)GET_SAMD_PORT(IO); \
const uint32_t pin = GET_SAMD_PIN(IO); \
const uint32_t mask = MASK(pin); \
\
PORT->Group[port].PINCFG[pin].reg = (uint8_t)(PORT_PINCFG_INEN | PORT_PINCFG_PULLEN); \
PORT->Group[port].DIRCLR.reg = mask; \
PORT->Group[port].OUTCLR.reg = mask; \
}while(0)
// Set pin as output (push pull)
#define SET_OUTPUT(IO) do{ \
const EPortType port = (EPortType)GET_SAMD_PORT(IO); \
const uint32_t pin = GET_SAMD_PIN(IO); \
\
PORT->Group[port].DIRSET.reg = MASK(pin); \
PORT->Group[port].PINCFG[pin].reg = 0; \
}while(0)
// Set pin as output (open drain)
#define SET_OUTPUT_OD(IO) do{ \
const EPortType port = (EPortType)GET_SAMD_PORT(IO); \
const uint32_t pin = GET_SAMD_PIN(IO); \
\
PORT->Group[port].PINCFG[pin].reg = (uint8_t)(PORT_PINCFG_PULLEN); \
PORT->Group[port].DIRCLR.reg = MASK(pin); \
}while(0)
// Set pin as PWM (push pull)
#define SET_PWM SET_OUTPUT
// Set pin as PWM (open drain)
#define SET_PWM_OD SET_OUTPUT_OD
// check if pin is an output
#define IS_OUTPUT(IO) ((PORT->Group[(EPortType)GET_SAMD_PORT(IO)].DIR.reg & MASK(GET_SAMD_PIN(IO))) \
|| (PORT->Group[(EPortType)GET_SAMD_PORT(IO)].PINCFG[GET_SAMD_PIN(IO)].reg & (PORT_PINCFG_INEN | PORT_PINCFG_PULLEN)) == PORT_PINCFG_PULLEN)
// check if pin is an input
#define IS_INPUT(IO) !IS_OUTPUT(IO)
// Shorthand
#define OUT_WRITE(IO,V) do{ SET_OUTPUT(IO); WRITE(IO,V); }while(0)
#define OUT_WRITE_OD(IO,V) do{ SET_OUTPUT_OD(IO); WRITE(IO,V); }while(0)
// digitalRead/Write wrappers
#define extDigitalRead(IO) digitalRead(IO)
#define extDigitalWrite(IO,V) digitalWrite(IO,V)
/**
* Ports and functions
* Added as necessary or if I feel like it- not a comprehensive list!
*/
/*
* Some of these share the same source and so can't be used in the same time
*/
#define PWM_PIN(P) (WITHIN(P, 2, 13) || WITHIN(P, 22, 23) || WITHIN(P, 44, 45) || P == 48)
// Return fulfilled ADCx->INPUTCTRL.reg
#define PIN_TO_INPUTCTRL(P) ( (P == 0) ? ADC_INPUTCTRL_MUXPOS_PIN0 \
: ((P) == 1) ? ADC_INPUTCTRL_MUXPOS_PIN1 \
: ((P) == 2) ? ADC_INPUTCTRL_MUXPOS_PIN3 \
: ((P) == 3) ? ADC_INPUTCTRL_MUXPOS_PIN4 \
: ((P) == 4) ? ADC_INPUTCTRL_MUXPOS_PIN5 \
: ((P) == 5) ? ADC_INPUTCTRL_MUXPOS_PIN5 \
: ((P) == 6) ? ADC_INPUTCTRL_MUXPOS_PIN6 \
: ((P) == 7) ? ADC_INPUTCTRL_MUXPOS_PIN7 \
: ((P) == 8) ? ADC_INPUTCTRL_MUXPOS_PIN8 \
: ((P) == 9) ? ADC_INPUTCTRL_MUXPOS_PIN9 \
: ((P) == 10) ? ADC_INPUTCTRL_MUXPOS_PIN10 \
: ((P) == 11) ? ADC_INPUTCTRL_MUXPOS_PIN11 \
: ((P) == 12) ? ADC_INPUTCTRL_MUXPOS_PIN12 \
: ((P) == 13) ? ADC_INPUTCTRL_MUXPOS_PIN13 \
: ((P) == 14) ? ADC_INPUTCTRL_MUXPOS_PIN14 \
: ADC_INPUTCTRL_MUXPOS_PIN15)
#define digitalPinToAnalogInput(P) (WITHIN(P, 67, 74) ? (P) - 67 : WITHIN(P, 54, 61) ? 8 + (P) - 54 : WITHIN(P, 12, 13) ? 16 + (P) - 12 : P == 9 ? 18 : -1)
/**
* pins
*/
// PORTA
#define DIO28_PIN PIN_PA02 // A0
#define DIO56_PIN PIN_PA03 // A13
#define DIO31_PIN PIN_PA04 // A13
#define DIO32_PIN PIN_PA05 // A1
#define DIO8_PIN PIN_PA06 // A14
#define DIO9_PIN PIN_PA07 // A15
#define DIO4_PIN PIN_PA08 // A15
#define DIO3_PIN PIN_PA09 // A15
#define DIO1_PIN PIN_PA10
#define DIO0_PIN PIN_PA11
#define DIO18_PIN PIN_PA12
#define DIO52_PIN PIN_PA13
#define DIO2_PIN PIN_PA14
#define DIO5_PIN PIN_PA15
#define DIO11_PIN PIN_PA16
#define DIO13_PIN PIN_PA17
#define DIO10_PIN PIN_PA18
#define DIO12_PIN PIN_PA19
#define DIO6_PIN PIN_PA20
#define DIO07_PIN PIN_PA21
#define DIO34_PIN PIN_PA22
#define DIO35_PIN PIN_PA23
#define DIO42_PIN PIN_PA24
#define DIO43_PIN PIN_PA25
#define DIO40_PIN PIN_PA27
#define DIO26_PIN PIN_PB00
#define DIO27_PIN PIN_PB01 // A0
#define DIO33_PIN PIN_PB02
#define DIO39_PIN PIN_PB03
#define DIO14_PIN PIN_PB04
#define DIO15_PIN PIN_PB05
#define DIO16_PIN PIN_PB06
#define DIO17_PIN PIN_PB07
#define DIO29_PIN PIN_PB08
#define DIO30_PIN PIN_PB09
#define DIO37_PIN PIN_PB10
#define DIO38_PIN PIN_PB11
#define DIO36_PIN PIN_PB12
#define DIO19_PIN PIN_PB13
#define DIO20_PIN PIN_PB14
#define DIO21_PIN PIN_PB15
#define DIO22_PIN PIN_PB16
#define DIO23_PIN PIN_PB17
#define DIO44_PIN PIN_PB22
#define DIO45_PIN PIN_PB23
#define DIO24_PIN PIN_PB30
#define DIO25_PIN PIN_PB31
#define DIO53_PIN PIN_PA21
#define DIO54_PIN PIN_PA06
#define DIO55_PIN PIN_PA07

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/**
* 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/>.
*
*/
/**
* SAMD21 HAL developed by Bart Meijer (brupje)
* Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
*/
#pragma once
#if HAS_SPI_TFT || HAS_FSMC_TFT
#error "Sorry! TFT displays are not available for HAL/SAMD21."
#endif

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/**
* 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/>.
*
*/
/**
* SAMD21 HAL developed by Bart Meijer (brupje)
* Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
*/
#pragma once

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/**
* 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/>.
*
*/
/**
* SAMD21 HAL developed by Bart Meijer (brupje)
* Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
*/
#pragma once
#if USE_FALLBACK_EEPROM
#define FLASH_EEPROM_EMULATION
#elif EITHER(I2C_EEPROM, SPI_EEPROM)
#define USE_SHARED_EEPROM 1
#endif

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/**
* 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/>.
*
*/
/**
* SAMD21 HAL developed by Bart Meijer (brupje)
* Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
*/
/**
* Test SAMD21 specific configuration values for errors at compile-time.
*/
#if SERVO_TC == MF_TIMER_RTC
#error "Servos can't use RTC timer"
#endif
#if ENABLED(EMERGENCY_PARSER)
#error "EMERGENCY_PARSER is not yet implemented for SAMD21. Disable EMERGENCY_PARSER to continue."
#endif
#if ENABLED(SDIO_SUPPORT)
#error "SDIO_SUPPORT is not supported on SAMD21."
#endif
#if ENABLED(FAST_PWM_FAN)
#error "Features requiring Hardware PWM (FAST_PWM_FAN) are not yet supported on SAMD21."
#endif
#if ENABLED(POSTMORTEM_DEBUGGING)
#error "POSTMORTEM_DEBUGGING is not yet supported on SAMD21."
#endif

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/**
* 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/>.
*
*/
#pragma once
/**
* SAMD21 HAL developed by Bart Meijer (brupje)
* Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
*/
#define NUMBER_PINS_TOTAL PINS_COUNT
#define digitalRead_mod(p) extDigitalRead(p)
#define PRINT_PORT(p) do{ SERIAL_ECHOPGM(" Port: "); sprintf_P(buffer, PSTR("%c%02ld"), 'A' + g_APinDescription[p].ulPort, g_APinDescription[p].ulPin); SERIAL_ECHO(buffer); }while (0)
#define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
#define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%3d "), p); SERIAL_ECHO(buffer); }while(0)
#define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d) "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
#define GET_ARRAY_PIN(p) pin_array[p].pin
#define GET_ARRAY_IS_DIGITAL(p) pin_array[p].is_digital
#define VALID_PIN(pin) (pin >= 0 && pin < (int8_t)NUMBER_PINS_TOTAL)
#define DIGITAL_PIN_TO_ANALOG_PIN(p) digitalPinToAnalogInput(p)
#define IS_ANALOG(P) (DIGITAL_PIN_TO_ANALOG_PIN(P)!=-1)
#define pwm_status(pin) digitalPinHasPWM(pin)
#define MULTI_NAME_PAD 27 // space needed to be pretty if not first name assigned to a pin
// pins that will cause hang/reset/disconnect in M43 Toggle and Watch utilities
// uses pin index
#define M43_NEVER_TOUCH(Q) ((Q) >= 75)
bool GET_PINMODE(int8_t pin) { // 1: output, 0: input
const EPortType samdport = g_APinDescription[pin].ulPort;
const uint32_t samdpin = g_APinDescription[pin].ulPin;
return PORT->Group[samdport].DIR.reg & MASK(samdpin) || (PORT->Group[samdport].PINCFG[samdpin].reg & (PORT_PINCFG_INEN | PORT_PINCFG_PULLEN)) == PORT_PINCFG_PULLEN;
}
void pwm_details(int32_t pin) {
if (pwm_status(pin)) {
//uint32_t chan = g_APinDescription[pin].ulPWMChannel TODO when fast pwm is operative;
//SERIAL_ECHOPGM("PWM = ", duty);
}
}
/**
* SAMD21 Board pin| PORT | Label
* ----------------+--------+-------
* 0 | PB25 | "RX0"
* 1 | PB24 | "TX0"
* 2 | PC18 |
* 3 | PC19 |
* 4 | PC20 |
* 5 | PC21 |
* 6 | PD20 |
* 7 | PD21 |
* 8 | PB18 |
* 9 | PB2 |
* 10 | PB22 |
* 11 | PB23 |
* 12 | PB0 | "A16"
* 13 | PB1 | LED AMBER "L" / "A17"
* 14 | PB16 | "TX3"
* 15 | PB17 | "RX3"
* 16 | PC22 | "TX2"
* 17 | PC23 | "RX2"
* 18 | PB12 | "TX1" / "A18"
* 19 | PB13 | "RX1"
* 20 | PB20 | "SDA"
* 21 | PB21 | "SCL"
* 22 | PD12 |
* 23 | PA15 |
* 24 | PC17 |
* 25 | PC16 |
* 26 | PA12 |
* 27 | PA13 |
* 28 | PA14 |
* 29 | PB19 |
* 30 | PA23 |
* 31 | PA22 |
* 32 | PA21 |
* 33 | PA20 |
* 34 | PA19 |
* 35 | PA18 |
* 36 | PA17 |
* 37 | PA16 |
* 38 | PB15 |
* 39 | PB14 |
* 40 | PC13 |
* 41 | PC12 |
* 42 | PC15 |
* 43 | PC14 |
* 44 | PC11 |
* 45 | PC10 |
* 46 | PC6 |
* 47 | PC7 |
* 48 | PC4 |
* 49 | PC5 |
* 50 | PD11 |
* 51 | PD8 |
* 52 | PD9 |
* 53 | PD10 |
* 54 | PB5 | "A8"
* 55 | PB6 | "A9"
* 56 | PB7 | "A10"
* 57 | PB8 | "A11"
* 58 | PB9 | "A12"
* 69 | PA4 | "A13"
* 60 | PA6 | "A14"
* 61 | PA7 | "A15"
* 62 | PB17 |
* 63 | PB20 |
* 64 | PD11 |
* 65 | PD8 |
* 66 | PD9 |
* 67 | PA2 | "A0" / "DAC0"
* 68 | PA5 | "A1" / "DAC1"
* 69 | PB3 | "A2"
* 70 | PC0 | "A3"
* 71 | PC1 | "A4"
* 72 | PC2 | "A5"
* 73 | PC3 | "A6"
* 74 | PB4 | "A7"
* 75 | PC31 | LED GREEN "RX"
* 76 | PC30 | LED GREEN "TX"
* 77 | PA27 | USB: Host enable
* 78 | PA24 | USB: D-
* 79 | PA25 | USB: D+
* 80 | PB29 | SD: MISO
* 81 | PB27 | SD: SCK
* 82 | PB26 | SD: MOSI
* 83 | PB28 | SD: CS
* 84 | PA3 | AREF
* 85 | PA2 | DAC0 (Duplicate)
* 86 | PA5 | DAC1 (Duplicate)
* 87 | PB1 | LED AMBER "L" (Duplicate)
* 88 | PC24 | NeoPixel
* 89 | PB10 | QSPI: SCK
* 90 | PB11 | QSPI: CS
* 91 | PA8 | QSPI: IO0
* 92 | PA9 | QSPI: IO1
* 93 | PA10 | QSPI: IO2
* 94 | PA11 | QSPI: IO3
* 95 | PB31 | SD: DETECT
*/

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/**
* 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/>.
*
*/
#pragma once
/**
* SAMD21 HAL developed by Bart Meijer (brupje)
* Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
*/
/**
* SAMD21 Default SPI Pins
*
* SS SCK MISO MOSI
* +-------------------------+
* SPI | 53 52 50 51 |
* SPI1 | 83 81 80 82 |
* +-------------------------+
* Any pin can be used for Chip Select (SD_SS_PIN)
*/
#ifndef SD_SCK_PIN
#define SD_SCK_PIN 38
#endif
#ifndef SD_MISO_PIN
#define SD_MISO_PIN 36
#endif
#ifndef SD_MOSI_PIN
#define SD_MOSI_PIN 37
#endif
#ifndef SDSS
#define SDSS 18
#endif
#ifndef SD_SS_PIN
#define SD_SS_PIN SDSS
#endif

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/**
* 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/>.
*
*/
/**
* SAMD21 HAL developed by Bart Meijer (brupje)
* Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
*/
#ifdef __SAMD21__
// --------------------------------------------------------------------------
// Includes
// --------------------------------------------------------------------------
#include "../../inc/MarlinConfig.h"
#include "ServoTimers.h" // for SERVO_TC
// --------------------------------------------------------------------------
// Local defines
// --------------------------------------------------------------------------
#define NUM_HARDWARE_TIMERS 9
// --------------------------------------------------------------------------
// Private Variables
// --------------------------------------------------------------------------
const tTimerConfig timer_config[NUM_HARDWARE_TIMERS] = {
{ {.pTcc=TCC0}, TimerType::tcc, TCC0_IRQn, TC_PRIORITY(0) }, // 0 - stepper (assigned priority 2)
{ {.pTcc=TCC1}, TimerType::tcc, TCC1_IRQn, TC_PRIORITY(1) }, // 1 - stepper (needed by 32 bit timers)
{ {.pTcc=TCC2}, TimerType::tcc, TCC2_IRQn, 5 }, // 2 - tone (reserved by framework and fixed assigned priority 5)
{ {.pTc=TC3}, TimerType::tc, TC3_IRQn, TC_PRIORITY(3) }, // 3 - servo (assigned priority 1)
{ {.pTc=TC4}, TimerType::tc, TC4_IRQn, TC_PRIORITY(4) }, // 4 - software serial (no interrupts used)
{ {.pTc=TC5}, TimerType::tc, TC5_IRQn, TC_PRIORITY(5) },
{ {.pTc=TC6}, TimerType::tc, TC6_IRQn, TC_PRIORITY(6) },
{ {.pTc=TC7}, TimerType::tc, TC7_IRQn, TC_PRIORITY(7) },
{ {.pRtc=RTC}, TimerType::rtc, RTC_IRQn, TC_PRIORITY(8) } // 8 - temperature (assigned priority 6)
};
// --------------------------------------------------------------------------
// Private functions
// --------------------------------------------------------------------------
FORCE_INLINE void Disable_Irq(IRQn_Type irq) {
NVIC_DisableIRQ(irq);
// We NEED memory barriers to ensure Interrupts are actually disabled!
// ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
__DSB();
__ISB();
}
static bool tcIsSyncing(Tc * tc) {
return tc->COUNT32.STATUS.reg & TC_STATUS_SYNCBUSY;
}
static void tcReset( Tc * tc) {
tc->COUNT32.CTRLA.reg = TC_CTRLA_SWRST;
while (tcIsSyncing(tc)) {}
while (tc->COUNT32.CTRLA.bit.SWRST) {}
}
// --------------------------------------------------------------------------
// Public functions
// --------------------------------------------------------------------------
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
IRQn_Type irq = timer_config[timer_num].IRQ_Id;
// Disable interrupt, just in case it was already enabled
NVIC_DisableIRQ(irq);
NVIC_ClearPendingIRQ(irq);
if (timer_num == MF_TIMER_RTC) {
// https://github.com/arduino-libraries/RTCZero
Rtc * const rtc = timer_config[timer_num].pRtc;
PM->APBAMASK.reg |= PM_APBAMASK_RTC;
GCLK->CLKCTRL.reg = (uint32_t)((GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK4 | (RTC_GCLK_ID << GCLK_CLKCTRL_ID_Pos)));
while (GCLK->STATUS.bit.SYNCBUSY) {}
GCLK->GENCTRL.reg = (GCLK_GENCTRL_GENEN | GCLK_GENCTRL_SRC_OSCULP32K | GCLK_GENCTRL_ID(4) | GCLK_GENCTRL_DIVSEL );
while (GCLK->STATUS.reg & GCLK_STATUS_SYNCBUSY) {}
GCLK->GENDIV.reg = GCLK_GENDIV_ID(4);
GCLK->GENDIV.bit.DIV=4;
while (GCLK->STATUS.reg & GCLK_STATUS_SYNCBUSY) {}
// Disable timer interrupt
rtc->MODE0.INTENCLR.reg = RTC_MODE0_INTENCLR_CMP0;
SYNC(rtc->MODE0.STATUS.bit.SYNCBUSY);
while(rtc->MODE0.STATUS.bit.SYNCBUSY) {}
// Stop timer, just in case, to be able to reconfigure it
rtc->MODE0.CTRL.reg =
RTC_MODE0_CTRL_MODE_COUNT32 | // Mode 0 = 32-bits counter
RTC_MODE0_CTRL_PRESCALER_DIV1024; // Divisor = 1024
while(rtc->MODE0.STATUS.bit.SYNCBUSY) {}
// Mode, reset counter on match
rtc->MODE0.CTRL.reg = RTC_MODE0_CTRL_MODE_COUNT32 | RTC_MODE0_CTRL_MATCHCLR;
// Set compare value
rtc->MODE0.COMP[0].reg = (32768 + frequency / 2) / frequency;
SYNC(rtc->MODE0.STATUS.bit.SYNCBUSY);
// Enable interrupt on compare
rtc->MODE0.INTFLAG.reg = RTC_MODE0_INTFLAG_CMP0; // reset pending interrupt
rtc->MODE0.INTENSET.reg = RTC_MODE0_INTENSET_CMP0; // enable compare 0 interrupt
// And start timer
rtc->MODE0.CTRL.bit.ENABLE = true;
SYNC(rtc->MODE0.STATUS.bit.SYNCBUSY);
}
else if (timer_config[timer_num].type==TimerType::tcc) {
Tcc * const tc = timer_config[timer_num].pTcc;
PM->APBCMASK.reg |= PM_APBCMASK_TCC0;
GCLK->CLKCTRL.reg =(GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID(TCC0_GCLK_ID));
SYNC (GCLK->STATUS.bit.SYNCBUSY);
tc->CTRLA.reg = TCC_CTRLA_SWRST;
SYNC (tc->SYNCBUSY.reg & TCC_SYNCBUSY_SWRST) {}
SYNC (tc->CTRLA.bit.SWRST);
tc->CTRLA.reg &= ~(TCC_CTRLA_ENABLE); // disable TC module
tc->CTRLA.reg |= TCC_WAVE_WAVEGEN_MFRQ;
tc->CTRLA.reg |= TCC_CTRLA_PRESCALER_DIV2;
tc->CC[0].reg = (HAL_TIMER_RATE) / frequency;
tc->INTENSET.reg = TCC_INTFLAG_MC0;
tc->CTRLA.reg |= TCC_CTRLA_ENABLE;
tc->INTFLAG.reg = 0xFF;
SYNC ( tc->STATUS.reg & TC_STATUS_SYNCBUSY);
}
else {
Tc * const tc = timer_config[timer_num].pTc;
// Disable timer interrupt
tc->COUNT32.INTENCLR.reg = TC_INTENCLR_OVF; // disable overflow interrupt
// TCn clock setup
GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID(GCM_TC4_TC5)) ;
SYNC (GCLK->STATUS.bit.SYNCBUSY);
tcReset(tc); // reset TC
// Set Timer counter 5 Mode to 16 bits, it will become a 16bit counter ('mode1' in the datasheet)
tc->COUNT32.CTRLA.reg |= TC_CTRLA_MODE_COUNT32;
// Set TC waveform generation mode to 'match frequency'
tc->COUNT32.CTRLA.reg |= TC_CTRLA_WAVEGEN_MFRQ;
//set prescaler
//the clock normally counts at the GCLK_TC frequency, but we can set it to divide that frequency to slow it down
//you can use different prescaler divisons here like TC_CTRLA_PRESCALER_DIV1 to get a different range
tc->COUNT32.CTRLA.reg |= TC_CTRLA_PRESCALER_DIV1 | TC_CTRLA_ENABLE; //it will divide GCLK_TC frequency by 1024
//set the compare-capture register.
//The counter will count up to this value (it's a 16bit counter so we use uint16_t)
//this is how we fine-tune the frequency, make it count to a lower or higher value
//system clock should be 1MHz (8MHz/8) at Reset by default
tc->COUNT32.CC[0].reg = (uint16_t) (HAL_TIMER_RATE / frequency);
while (tcIsSyncing(tc)) {}
// Enable the TC interrupt request
tc->COUNT32.INTENSET.bit.MC0 = 1;
while (tcIsSyncing(tc)) {}
}
NVIC_SetPriority(irq, timer_config[timer_num].priority);
NVIC_EnableIRQ(irq);
}
void HAL_timer_enable_interrupt(const uint8_t timer_num) {
const IRQn_Type irq = timer_config[timer_num].IRQ_Id;
NVIC_EnableIRQ(irq);
}
void HAL_timer_disable_interrupt(const uint8_t timer_num) {
const IRQn_Type irq = timer_config[timer_num].IRQ_Id;
Disable_Irq(irq);
}
// missing from CMSIS: Check if interrupt is enabled or not
static bool NVIC_GetEnabledIRQ(IRQn_Type IRQn) {
return TEST(NVIC->ISER[uint32_t(IRQn) >> 5], uint32_t(IRQn) & 0x1F);
}
bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
const IRQn_Type irq = timer_config[timer_num].IRQ_Id;
return NVIC_GetEnabledIRQ(irq);
}
#endif // __SAMD21__

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/**
* 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/>.
*
*/
#pragma once
/**
* SAMD21 HAL developed by Bart Meijer (brupje)
* Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
*/
#include <stdint.h>
// --------------------------------------------------------------------------
// Defines
// --------------------------------------------------------------------------
typedef uint32_t hal_timer_t;
#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
#define HAL_TIMER_RATE F_CPU // frequency of timers peripherals
#define MF_TIMER_RTC 8 // This is not a TC but a RTC
#ifndef MF_TIMER_STEP
#define MF_TIMER_STEP 4 // Timer Index for Stepper
#endif
#ifndef MF_TIMER_PULSE
#define MF_TIMER_PULSE MF_TIMER_STEP
#endif
#ifndef MF_TIMER_TEMP
#define MF_TIMER_TEMP MF_TIMER_RTC // Timer Index for Temperature
#endif
#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
#define STEPPER_TIMER_RATE HAL_TIMER_RATE // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
#define STEPPER_TIMER_TICKS_PER_US (STEPPER_TIMER_RATE / 1000000) // stepper timer ticks per µs
#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
#define PULSE_TIMER_RATE STEPPER_TIMER_RATE
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_STEP)
#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP)
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)
#define TC_PRIORITY(t) ( t == SERVO_TC ? 1 \
: (t == MF_TIMER_STEP || t == MF_TIMER_PULSE) ? 2 \
: (t == MF_TIMER_TEMP) ? 6 : 7 )
#define _TC_HANDLER(t) void TC##t##_Handler()
#define TC_HANDLER(t) _TC_HANDLER(t)
#ifndef HAL_STEP_TIMER_ISR
#define HAL_STEP_TIMER_ISR() TC_HANDLER(MF_TIMER_STEP)
#endif
#if MF_TIMER_STEP != MF_TIMER_PULSE
#define HAL_PULSE_TIMER_ISR() TC_HANDLER(MF_TIMER_PULSE)
#endif
#if MF_TIMER_TEMP == MF_TIMER_RTC
#define HAL_TEMP_TIMER_ISR() void RTC_Handler()
#else
#define HAL_TEMP_TIMER_ISR() TC_HANDLER(MF_TIMER_TEMP)
#endif
// --------------------------------------------------------------------------
// Types
// --------------------------------------------------------------------------
typedef enum { tcc, tc, rtc } TimerType;
typedef struct {
union {
Tc *pTc;
Tcc *pTcc;
Rtc *pRtc;
};
TimerType type;
IRQn_Type IRQ_Id;
uint8_t priority;
} tTimerConfig;
// --------------------------------------------------------------------------
// Public Variables
// --------------------------------------------------------------------------
extern const tTimerConfig timer_config[];
// --------------------------------------------------------------------------
// Public functions
// --------------------------------------------------------------------------
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
// Should never be called with timer MF_TIMER_RTC
Tc * const tc = timer_config[timer_num].pTc;
tc->COUNT32.CC[0].reg = compare;
}
FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
// Should never be called with timer MF_TIMER_RTC
Tc * const tc = timer_config[timer_num].pTc;
return (hal_timer_t)tc->COUNT32.CC[0].reg;
}
FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
// Should never be called with timer MF_TIMER_RTC
Tc * const tc = timer_config[timer_num].pTc;
tc->COUNT32.READREQ.reg = TC_READREQ_RREQ;
// Request a read synchronization
SYNC (tc->COUNT32.STATUS.bit.SYNCBUSY);
//SYNC(tc->COUNT32.STATUS.bit.SYNCBUSY );
return tc->COUNT32.COUNT.reg;
}
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);
FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
if (timer_num == MF_TIMER_RTC) {
Rtc * const rtc = timer_config[timer_num].pRtc;
// Clear interrupt flag
rtc->MODE0.INTFLAG.reg = RTC_MODE0_INTFLAG_CMP0| RTC_MODE0_INTFLAG_OVF;
}
else if (timer_config[timer_num].type == TimerType::tcc){
Tcc * const tc = timer_config[timer_num].pTcc;
// Clear interrupt flag
tc->INTFLAG.reg = TCC_INTFLAG_OVF;
}
else {
Tc * const tc = timer_config[timer_num].pTc;
// Clear interrupt flag
tc->COUNT32.INTFLAG.bit.MC0 = 1;
}
}
#define HAL_timer_isr_epilogue(timer_num)

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/**
* 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/>.
*
*/
/**
* SAMD21 HAL developed by Bart Meijer (brupje)
* Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
*/
// adapted from I2C/master/master.c example
// https://www-users.cs.york.ac.uk/~pcc/MCP/HAPR-Course-web/CMSIS/examples/html/master_8c_source.html
#ifdef __SAMD21__
#endif // __SAMD21__

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/**
* 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/>.
*
*/
/**
* SAMD21 HAL developed by Bart Meijer (brupje)
* Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
*/
#pragma once

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/**
* 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/>.
*
*/
/**
* SAMD21 HAL developed by Bart Meijer (brupje)
* Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
*/
#pragma once
/**
* SAMD21 LCD-specific defines
*/
// The following are optional depending on the platform.
// definitions of HAL specific com and device drivers.
uint8_t u8g_com_samd21_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr);
uint8_t u8g_com_samd21_st7920_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr);
// connect U8g com generic com names to the desired driver
#define U8G_COM_HW_SPI u8g_com_samd21_st7920_hw_spi_fn // use SAMD21 specific hardware SPI routine
#define U8G_COM_ST7920_HW_SPI u8g_com_samd21_st7920_hw_spi_fn

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/**
* 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/>.
*
*/
/**
* SAMD21 HAL developed by Bart Meijer (brupje)
* Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
*/
/**
* Low level pin manipulation routines - used by all the drivers.
*
* These are based on the SAMD51 pinMode, digitalRead & digitalWrite routines.
*
* Couldn't just call exact copies because the overhead killed the LCD update speed
* With an intermediate level the softspi was running in the 10-20kHz range which
* resulted in using about about 25% of the CPU's time.
*/
#ifdef __SAMD21__
#include <Arduino.h>
#endif // __SAMD21__

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@ -0,0 +1,42 @@
/**
* 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/>.
*
*/
/**
* SAMD21 HAL developed by Bart Meijer (brupje)
* Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
*/
#pragma once
/**
* Low level pin manipulation routines - used by all the drivers.
*
* These are based on the SAMD51 pinMode, digitalRead & digitalWrite routines.
*
* Couldn't just call exact copies because the overhead killed the LCD update speed
* With an intermediate level the softspi was running in the 10-20kHz range which
* resulted in using about about 25% of the CPU's time.
*/
void u8g_SetPinOutput(uint8_t internal_pin_number);
void u8g_SetPinInput(uint8_t internal_pin_number);
void u8g_SetPinLevel(uint8_t pin, uint8_t pin_status);
uint8_t u8g_GetPinLevel(uint8_t pin);

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@ -0,0 +1,154 @@
/**
* 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/>.
*
*/
/**
* SAMD21 HAL developed by Bart Meijer (brupje)
* Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
*/
/**
* Based on u8g_com_msp430_hw_spi.c
*
* Universal 8bit Graphics Library
*
* Copyright (c) 2012, olikraus@gmail.com
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* * Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or other
* materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
* NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
* ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifdef __SAMD21__
#include <U8glib-HAL.h>
#include "SPI.h"
#include "../../shared/HAL_SPI.h"
#ifndef LCD_SPI_SPEED
#define LCD_SPI_SPEED SPI_QUARTER_SPEED
#endif
void u8g_SetPIOutput(u8g_t *u8g, uint8_t pin_index) {
if (u8g->pin_list[pin_index]!= U8G_PIN_NONE)
pinMode(u8g->pin_list[pin_index],OUTPUT);
}
void u8g_SetPILevel(u8g_t *u8g, uint8_t pin_index, uint8_t level) {
if (u8g->pin_list[pin_index]!= U8G_PIN_NONE)
digitalWrite(u8g->pin_list[pin_index],level);
}
uint8_t u8g_com_samd21_st7920_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr) {
static SPISettings lcdSPIConfig;
switch (msg) {
case U8G_COM_MSG_STOP:
break;
case U8G_COM_MSG_INIT:
u8g_SetPIOutput(u8g, U8G_PI_CS);
u8g_SetPIOutput(u8g, U8G_PI_A0);
u8g_SetPIOutput(u8g, U8G_PI_RESET);
u8g_SetPILevel(u8g, U8G_PI_CS, LOW);
spiBegin();
lcdSPIConfig = SPISettings(900000, MSBFIRST, SPI_MODE0);
u8g->pin_list[U8G_PI_A0_STATE] = 0;
break;
case U8G_COM_MSG_ADDRESS: // define cmd (arg_val = 0) or data mode (arg_val = 1)
u8g_SetPILevel(u8g, U8G_PI_A0, arg_val);
u8g->pin_list[U8G_PI_A0_STATE] = arg_val;
break;
case U8G_COM_MSG_CHIP_SELECT: // arg_val == 1 means chip selected, but ST7920 is active high, so needs inverting
u8g_SetPILevel(u8g, U8G_PI_CS, arg_val ? HIGH : LOW);
break;
case U8G_COM_MSG_RESET:
u8g_SetPILevel(u8g, U8G_PI_RESET, arg_val);
break;
case U8G_COM_MSG_WRITE_BYTE:
SPI.beginTransaction(lcdSPIConfig);
if (u8g->pin_list[U8G_PI_A0_STATE] == 0) { // command
SPI.transfer(0x0f8); u8g->pin_list[U8G_PI_A0_STATE] = 2;
}
else if (u8g->pin_list[U8G_PI_A0_STATE] == 1) { // data
SPI.transfer(0x0fa); u8g->pin_list[U8G_PI_A0_STATE] = 2;
}
SPI.transfer(arg_val & 0x0f0);
SPI.transfer(arg_val << 4);
SPI.endTransaction();
break;
case U8G_COM_MSG_WRITE_SEQ:
SPI.beginTransaction(lcdSPIConfig);
if (u8g->pin_list[U8G_PI_A0_STATE] == 0 ) { // command
SPI.transfer(0x0f8); u8g->pin_list[U8G_PI_A0_STATE] = 2;
}
else if (u8g->pin_list[U8G_PI_A0_STATE] == 1) { // data
SPI.transfer(0x0fa); u8g->pin_list[U8G_PI_A0_STATE] = 2;
}
uint8_t *ptr = (uint8_t*)arg_ptr;
while (arg_val > 0) {
SPI.transfer((*ptr) & 0x0f0);
SPI.transfer((*ptr) << 4);
ptr++;
arg_val--;
}
SPI.endTransaction();
break;
}
return 1;
}
#endif // __SAMD21__

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@ -50,6 +50,8 @@
#define HAL_PATH(PATH, NAME) XSTR(PATH/NATIVE_SIM/NAME)
#elif defined(__SAMD51__)
#define HAL_PATH(PATH, NAME) XSTR(PATH/SAMD51/NAME)
#elif defined(__SAMD21__)
#define HAL_PATH(PATH, NAME) XSTR(PATH/SAMD21/NAME)
#else
#error "Unsupported Platform!"
#endif

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@ -83,10 +83,10 @@
#else
#include <stdint.h>
#if defined(__AVR__) || defined(ARDUINO_ARCH_SAM) || defined(__SAMD51__)
#if defined(__AVR__) || defined(ARDUINO_ARCH_SAM) || defined(__SAMD51__) || defined(__SAMD21__)
// we're good to go
#else
#error "This library only supports boards with an AVR, SAM3X or SAMD51 processor."
#error "This library only supports boards with an AVR, SAM3X, SAMD21 or SAMD51 processor."
#endif
#define Servo_VERSION 2 // software version of this library

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@ -49,8 +49,10 @@
#include "../DUE/ServoTimers.h"
#elif defined(__SAMD51__)
#include "../SAMD51/ServoTimers.h"
#elif defined(__SAMD21__)
#include "../SAMD21/ServoTimers.h"
#else
#error "This library only supports boards with an AVR, SAM3X or SAMD51 processor."
#error "This library only supports boards with an AVR, SAM3X, SAMD21 or SAMD51 processor."
#endif
// Macros

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@ -465,6 +465,12 @@
#define BOARD_BRICOLEMON_V1_0 6101 // Bricolemon
#define BOARD_BRICOLEMON_LITE_V1_0 6102 // Bricolemon Lite
//
// SAMD21 ARM Cortex M4
//
#define BOARD_MINITRONICS20 6103 // Minitronics v2.0
//
// Custom board
//

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@ -137,6 +137,7 @@
#define DOGLCD
#define IS_U8GLIB_ST7920 1
#define IS_ULTIPANEL 1
#define ENCODER_PULSES_PER_STEP 2
#elif ENABLED(MKS_12864OLED)

View File

@ -41,6 +41,13 @@
#define U8G_COM_HAL_HW_SPI_FN u8g_com_samd51_hw_spi_fn
#define U8G_COM_ST7920_HAL_HW_SPI u8g_com_samd51_st7920_hw_spi_fn
#elif defined(__SAMD21__)
uint8_t u8g_com_samd21_st7920_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr);
#define U8G_COM_ST7920_HAL_HW_SPI u8g_com_samd21_st7920_hw_spi_fn
#elif defined(__STM32F1__)
uint8_t u8g_com_HAL_STM32F1_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr);

View File

@ -36,10 +36,16 @@
// RepRapWorld Graphical LCD
#define U8G_CLASS U8GLIB_ST7920_128X64_4X
#if DISABLED(SDSUPPORT) && (LCD_PINS_D4 == SD_SCK_PIN) && (LCD_PINS_ENABLE == SD_MOSI_PIN)
#define U8G_CLASS U8GLIB_ST7920_128X64_4X_HAL
#define U8G_PARAM LCD_PINS_RS
#elif ENABLED(SDSUPPORT) && __SAMD21__
#define U8G_CLASS U8GLIB_ST7920_128X64_4X
#define U8G_PARAM LCD_PINS_RS
#else
#define U8G_CLASS U8GLIB_ST7920_128X64_4X
#define U8G_PARAM LCD_PINS_D4, LCD_PINS_ENABLE, LCD_PINS_RS
#endif

View File

@ -72,6 +72,17 @@ void ChironTFT::Startup() {
live_Zoffset = 0.0;
file_menu = AC_menu_file;
// Setup pins for powerloss detection
// Two IO pins are connected on the Trigorilla Board
// On a power interruption the OUTAGECON_PIN goes low.
#if ENABLED(POWER_LOSS_RECOVERY)
OUT_WRITE(OUTAGECON_PIN, HIGH);
#endif
// Filament runout is handled by Marlin settings in Configuration.h
// opt_set FIL_RUNOUT_STATE HIGH // Pin state indicating that filament is NOT present.
// opt_enable FIL_RUNOUT_PULLUP
TFTSer.begin(115200);
// Wait for the TFT panel to initialize and finish the animation

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@ -773,6 +773,13 @@
#elif MB(BRICOLEMON_LITE_V1_0)
#include "samd/pins_BRICOLEMON_LITE_V1_0.h" // SAMD51 env:SAMD51_grandcentral_m4
//
// ReprapWorld Minitronics (SAMD21)
//
#elif MB(MINITRONICS20)
#include "samd/pins_MINITRONICS20.h" // SAMD21 env:SAMD21_minitronics20
//
// Custom board (with custom PIO env)
//

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@ -0,0 +1,556 @@
/**
* 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/>.
*
*/
#pragma once
/**
* ReprapWorld's Minitronics v2.0
*/
#if NOT_TARGET(__SAMD21__)
#error "Oops! Select 'Minitronics v2.0' in 'Tools > Board.'"
#endif
#ifndef BOARD_INFO_NAME
#define BOARD_INFO_NAME "Minitronics V2.0"
#endif
/**
* NOTE: We need the Serial port on the -1 to make it work!!. Remember to change it on configuration.h #define SERIAL_PORT -1
*/
/**
* EEPROM EMULATION: Works with some bugs already, but the board needs an I2C EEPROM memory soldered on.
*/
//#define FLASH_EEPROM_EMULATION
//#define I2C_EEPROM // EEPROM on I2C-0
#define MARLIN_EEPROM_SIZE 500 // 4000 bytes
//This its another option to emulate an EEPROM, but its more efficient to dont loose the data the first One.
//#define SDCARD_EEPROM_EMULATION
//
// BLTouch
//
#define SERVO0_PIN 33 // BLTouch PWM
//
// Limit Switches
//
#define X_STOP_PIN 54
#define Y_STOP_PIN 55
#define Z_STOP_PIN 4
/**
* NOTE: Useful if extra TMC2209 are to be used as independent axes.
* We need to configure the new digital PIN, for this we could configure on the board the extra pin of this stepper, for example as a MIN_PIN/MAX_PIN. This pin is the D14.
*/
//#define Z2_STOP_PIN 14
//#define X2_STOP_PIN 14
//#define Y2_STOP_PIN 14
//
// Z Probe (when not Z_MIN_PIN)
//
#ifndef Z_MIN_PROBE_PIN
#define Z_MIN_PROBE_PIN 12
#endif
//
// Steppers
//
#define X_STEP_PIN 1
#define X_DIR_PIN 3
#define X_ENABLE_PIN 0
#define Y_STEP_PIN 29
#define Y_DIR_PIN 28
#define Y_ENABLE_PIN 0
#define Z_STEP_PIN 16
#define Z_DIR_PIN 17
#define Z_ENABLE_PIN 0
#define E0_STEP_PIN 14
#define E0_DIR_PIN 15
#define E0_ENABLE_PIN 0
#define E1_STEP_PIN 20
#define E1_DIR_PIN 13
#define E1_ENABLE_PIN 21
// Filament runout. You may choose to use this pin for some other purpose. It's a normal GPIO that can be configured as I/O.
// For example, a switch to detect any kind of behavior, Power supply pin .... etc.
#ifndef FIL_RUNOUT_PIN
#define FIL_RUNOUT_PIN 44
#endif
// This board have the option to use an extra TMC2209 stepper, one of the use could be as a second extruder.
#if EXTRUDERS < 2
// TODO: Corregir aquí que cuando tenemos dos extrusores o lo que sea, utiliza los endstop que le sobran, osea los max, no hay Z2_endstop
#if NUM_Z_STEPPERS > 1
#define Z2_STOP_PIN 14
#endif
#else
// If we want to configure the extra stepper as a Extruder, we should have undef all of the extra motors.
#undef X2_DRIVER_TYPE
#undef Y2_DRIVER_TYPE
#undef Z2_DRIVER_TYPE
#undef Z3_DRIVER_TYPE
#undef Z4_DRIVER_TYPE
// Si tenemos más de un extrusor lo que hacemos es definir el nuevo extrusor así como sus pines
// Acordarse de definir el #define TEMP_SENSOR_1, ya que este contiene el tipo de sonda del extrusor E1
#define FIL_RUNOUT2_PIN 14
#endif
//
// Extruder / Bed
//
// Temperature Sensors
#define TEMP_0_PIN 4 // T1
// You could use one of the ADC for a temp chamber if you don't use the second extruder, for example.
#if TEMP_SENSOR_CHAMBER > 0
#define TEMP_CHAMBER_PIN 3
#else
#define TEMP_1_PIN 2 // T3
#endif
#define TEMP_BED_PIN 3 // T2
//
// Heaters / Fans
//
#define HEATER_0_PIN 10
#define HEATER_1_PIN 11
#define HEATER_BED_PIN 6
#define SPINDLE_LASER_PWM_PIN 6
// The board has 4 PWM fans, use and configure as desired
#define FAN_PIN 24
//
// LCD / Controller
//
#if ENABLED(CR10_STOCKDISPLAY)
#define EXP3_01_PIN EXP1_01_PIN
#define EXP3_02_PIN EXP1_02_PIN
#define EXP3_03_PIN EXP1_03_PIN
#define EXP3_04_PIN EXP1_04_PIN
#define EXP3_05_PIN EXP1_05_PIN
#define EXP3_06_PIN EXP1_06_PIN
#define EXP3_07_PIN EXP1_07_PIN
#define EXP3_08_PIN EXP1_08_PIN
#endif
/************************************/
/***** Configurations Section ******/
/************************************/
/**
* This sections starts with the pins_RAMPS_144.h as example, after if you need any new
* display, you could use normal duponts and connect it with with the scheme showed before.
* Tested:
* - Ender 3 Old display (Character LCD)
* - Ender 3 New Serial DWING Display
* - Reprap Display
* - Ender 5 New Serial Display
* - Any Reprap character display like
*/
#if HAS_WIRED_LCD
//
// LCD Display output pins
//
#if ENABLED(REPRAPWORLD_GRAPHICAL_LCD)
#define LCD_PINS_RS 18 // CS chip select /SS chip slave select
#define LCD_PINS_ENABLE MOSI // SID (MOSI)
#define LCD_PINS_D4 SCK // SCK (CLK) clock
#define BTN_ENC 23
#define BTN_EN1 27
#define BTN_EN2 33
#elif BOTH(IS_NEWPANEL, PANEL_ONE)
// TO TEST
//#define LCD_PINS_RS EXP1_02_PIN
//#define LCD_PINS_ENABLE EXP2_05_PIN
//#define LCD_PINS_D4 57 // Mega/Due:65 - AGCM4:57
//#define LCD_PINS_D5 58 // Mega/Due:66 - AGCM4:58
//#define LCD_PINS_D6 EXP2_07_PIN
//#define LCD_PINS_D7 56 // Mega/Due:64 - AGCM4:56
#else
#if ENABLED(CR10_STOCKDISPLAY)
// TO TEST
//#define LCD_PINS_RS EXP3_04_PIN
//#define LCD_PINS_ENABLE EXP3_03_PIN
//#define LCD_PINS_D4 EXP3_05_PIN
#if !IS_NEWPANEL
// TO TEST
//#define BEEPER_PIN EXP3_05_PIN
#endif
#elif ENABLED(ZONESTAR_LCD)
// TO TEST
//#define LCD_PINS_RS 56 // Mega/Due:64 - AGCM4:56
//#define LCD_PINS_ENABLE EXP2_07_PIN
//#define LCD_PINS_D4 55 // Mega/Due:63 - AGCM4:55
//#define LCD_PINS_D5 EXP1_02_PIN
//#define LCD_PINS_D6 EXP2_05_PIN
//#define LCD_PINS_D7 57 // Mega/Due:65 - AGCM4:57
#else
#if EITHER(MKS_12864OLED, MKS_12864OLED_SSD1306)
// TO TEST
//#define LCD_PINS_DC 25 // Set as output on init
//#define LCD_PINS_RS 27 // Pull low for 1s to init
// DOGM SPI LCD Support
//#define DOGLCD_CS 16
//#define DOGLCD_MOSI 17
//#define DOGLCD_SCK 23
//#define DOGLCD_A0 LCD_PINS_DC
#else
// Definitions for any standard Display
#define LCD_PINS_RS EXP1_04_PIN
#define LCD_PINS_ENABLE EXP1_03_PIN
#define LCD_PINS_D4 EXP1_05_PIN
#define LCD_PINS_D5 EXP1_06_PIN
#define LCD_PINS_D6 EXP1_07_PIN
#endif
#define LCD_PINS_D7 EXP1_08_PIN
#if !IS_NEWPANEL
#define BEEPER_PIN EXP1_01_PIN
#endif
#endif
#if !IS_NEWPANEL
// Buttons attached to a shift register
// Not wired yet
//#define SHIFT_CLK_PIN EXP1_07_PIN
//#define SHIFT_LD_PIN EXP2_05_PIN
//#define SHIFT_OUT_PIN EXP1_02_PIN
//#define SHIFT_EN_PIN 17
#endif
#endif
//
// LCD Display input pins
//
#if IS_NEWPANEL
#if IS_RRD_SC
//#define BEEPER_PIN EXP1_01_PIN
#if ENABLED(CR10_STOCKDISPLAY)
// TO TEST
#define BTN_EN1 EXP1_03_PIN
#define BTN_EN2 EXP1_05_PIN
#else
// Definitions fpr any standard Display
#define BTN_EN1 EXP2_05_PIN
#define BTN_EN2 EXP2_03_PIN
#if ENABLED(REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER)
#define BTN_ENC_EN LCD_PINS_D7 // Detect the presence of the encoder
#endif
#endif
#define BTN_ENC EXP1_02_PIN
#ifndef SD_DETECT_PIN
#define SD_DETECT_PIN EXP2_07_PIN
#endif
//#define KILL_PIN EXP2_10_PIN
#if ENABLED(BQ_LCD_SMART_CONTROLLER)
//#define LCD_BACKLIGHT_PIN EXP1_08_PIN // TO TEST
#endif
#elif ENABLED(LCD_I2C_PANELOLU2)
// TO TEST
//#define BTN_EN1 47
//#define BTN_EN2 EXP2_03_PIN
//#define BTN_ENC 32
//#define LCD_SDSS SDSS
//#define KILL_PIN EXP1_01_PIN
#elif ENABLED(LCD_I2C_VIKI)
// TO TEST
//#define BTN_EN1 EXP1_02_PIN // https://files.panucatt.com/datasheets/viki_wiring_diagram.pdf explains 40/42.
//#define BTN_EN2 EXP2_05_PIN
//#define BTN_ENC -1
//#define LCD_SDSS SDSS
//#define SD_DETECT_PIN EXP2_10_PIN
#elif EITHER(VIKI2, miniVIKI)
// TO TEST
//#define DOGLCD_CS 45
//#define DOGLCD_A0 EXP2_07_PIN
//#define LCD_SCREEN_ROT_180
//#define BEEPER_PIN 33
//#define STAT_LED_RED_PIN 32
//#define STAT_LED_BLUE_PIN EXP1_03_PIN
//#define BTN_EN1 22
//#define BTN_EN2 7
//#define BTN_ENC EXP1_08_PIN
//#define SD_DETECT_PIN -1 // Pin 49 for display SD interface, 72 for easy adapter board
//#define KILL_PIN 31
#elif ENABLED(ELB_FULL_GRAPHIC_CONTROLLER)
// TO TEST
//#define DOGLCD_CS 29
//#define DOGLCD_A0 27
//#define BEEPER_PIN 23
//#define LCD_BACKLIGHT_PIN 33
//#define BTN_EN1 EXP1_03_PIN
//#define BTN_EN2 EXP1_06_PIN
//#define BTN_ENC 31
//#define LCD_SDSS SDSS
//#define SD_DETECT_PIN EXP2_10_PIN
//#define KILL_PIN EXP1_01_PIN
#elif EITHER(MKS_MINI_12864, FYSETC_MINI_12864)
// TO TEST
//#define BEEPER_PIN EXP1_06_PIN
//#define BTN_ENC EXP1_03_PIN
//#define SD_DETECT_PIN EXP2_10_PIN
//#ifndef KILL_PIN
// #define KILL_PIN EXP1_01_PIN
//#endif
#if ENABLED(MKS_MINI_12864)
// TO TEST
//#define DOGLCD_A0 27
//#define DOGLCD_CS 25
// GLCD features
// Uncomment screen orientation
//#define LCD_SCREEN_ROT_90
//#define LCD_SCREEN_ROT_180
//#define LCD_SCREEN_ROT_270
// not connected to a pin
//#define LCD_BACKLIGHT_PIN 57 // backlight LED on A11/D? (Mega/Due:65 - AGCM4:57)
//#define BTN_EN1 31
//#define BTN_EN2 33
#elif ENABLED(FYSETC_MINI_12864)
// From https://wiki.fysetc.com/Mini12864_Panel/
// TO TEST
//#define DOGLCD_A0 16
//#define DOGLCD_CS 17
//#define BTN_EN1 33
//#define BTN_EN2 31
//#define FORCE_SOFT_SPI // Use this if default of hardware SPI causes display problems
// results in LCD soft SPI mode 3, SD soft SPI mode 0
//#define LCD_RESET_PIN 23 // Must be high or open for LCD to operate normally.
#if EITHER(FYSETC_MINI_12864_1_2, FYSETC_MINI_12864_2_0)
#ifndef RGB_LED_R_PIN
// TO TEST
//#define RGB_LED_R_PIN 25
#endif
#ifndef RGB_LED_G_PIN
// TO TEST
//#define RGB_LED_G_PIN 27
#endif
#ifndef RGB_LED_B_PIN
// TO TEST
//#define RGB_LED_B_PIN 29
#endif
#elif ENABLED(FYSETC_MINI_12864_2_1)
// TO TEST
//#define NEOPIXEL_PIN 25
#endif
#endif
#elif ENABLED(MINIPANEL)
// TO TEST
//#define BEEPER_PIN EXP2_05_PIN
// not connected to a pin
//#define LCD_BACKLIGHT_PIN 57 // backlight LED on A11/D? (Mega/Due:65 - AGCM4:57)
//#define DOGLCD_A0 EXP2_07_PIN
//#define DOGLCD_CS 58 // Mega/Due:66 - AGCM4:58
// GLCD features
// Uncomment screen orientation
//#define LCD_SCREEN_ROT_90
//#define LCD_SCREEN_ROT_180
//#define LCD_SCREEN_ROT_270
//#define BTN_EN1 EXP1_02_PIN
//#define BTN_EN2 55 // Mega/Due:63 - AGCM4:55
//#define BTN_ENC 72 // Mega/Due:59 - AGCM4:72
//#define SD_DETECT_PIN EXP2_10_PIN
//#define KILL_PIN 56 // Mega/Due:64 - AGCM4:56
#elif ENABLED(ZONESTAR_LCD)
// TO TEST
//#define ADC_KEYPAD_PIN 12
#elif ENABLED(AZSMZ_12864)
// TO TEST
#else
// Beeper on AUX-4
//#define BEEPER_PIN 33
// Buttons are directly attached to AUX-2
#if IS_RRW_KEYPAD
// TO TEST
//#define SHIFT_OUT_PIN EXP1_02_PIN
//#define SHIFT_CLK_PIN EXP2_07_PIN
//#define SHIFT_LD_PIN EXP2_05_PIN
//#define BTN_EN1 56 // Mega/Due:64 - AGCM4:56
//#define BTN_EN2 72 // Mega/Due:59 - AGCM4:72
//#define BTN_ENC 55 // Mega/Due:63 - AGCM4:55
#elif ENABLED(PANEL_ONE)
// TO TEST
//#define BTN_EN1 72 // AUX2 PIN 3 (Mega/Due:59 - AGCM4:72)
//#define BTN_EN2 55 // AUX2 PIN 4 (Mega/Due:63 - AGCM4:55)
//#define BTN_ENC EXP2_10_PIN // AUX3 PIN 7
#else
// TO TEST
//#define BTN_EN1 EXP1_06_PIN
//#define BTN_EN2 EXP1_03_PIN
//#define BTN_ENC 31
#endif
#if ENABLED(G3D_PANEL)
// TO TEST
//#define SD_DETECT_PIN EXP2_10_PIN
//#define KILL_PIN EXP1_01_PIN
#endif
#endif
#endif // IS_NEWPANEL
#endif // HAS_WIRED_LCD
//
// SD Support
//
#define SDSS 2
#undef SD_DETECT_PIN
#define SD_DETECT_PIN 22
#if HAS_TMC_UART
/**
* Address for the UART Configuration of the TMC2209. Override in Configuration files.
* To test TMC2209 Steppers enable TMC_DEBUG in Configuration_adv.h and test the M122 command with voltage on the steppers.
*/
#ifndef X_SLAVE_ADDRESS
#define X_SLAVE_ADDRESS 0b00
#endif
#ifndef Y_SLAVE_ADDRESS
#define Y_SLAVE_ADDRESS 0b01
#endif
#ifndef Z_SLAVE_ADDRESS
#define Z_SLAVE_ADDRESS 0b10
#endif
#ifndef E0_SLAVE_ADDRESS
#define E0_SLAVE_ADDRESS 0b11
#endif
#ifndef E1_SLAVE_ADDRESS
#define E1_SLAVE_ADDRESS 0b00
#endif
/**
* TMC2208/TMC2209 stepper drivers
* It seems to work perfectly fine on Software Serial, if an advanced user wants to test, you could use the SAMD51 Serial1 and Serial 2. Be careful with the Sercom configurations.
* Steppers 1,2,3,4 (X,Y,Z,E0) are on the Serial1, Sercom (RX = 0, TX = 1), extra stepper 5 (E1 or any axis you want) is on Serial2, Sercom (RX = 17, TX = 16)
*/
//#define X_HARDWARE_SERIAL Serial1
//#define Y_HARDWARE_SERIAL Serial1
//#define Z_HARDWARE_SERIAL Serial1
//#define E0_HARDWARE_SERIAL Serial1
//#define E1_HARDWARE_SERIAL Serial2
#define TMC_BAUD_RATE 250000
//
// Software serial
//
#define X_SERIAL_TX_PIN 0
#define X_SERIAL_RX_PIN 1
#define Y_SERIAL_TX_PIN X_SERIAL_TX_PIN
#define Y_SERIAL_RX_PIN X_SERIAL_RX_PIN
#define Z_SERIAL_TX_PIN X_SERIAL_TX_PIN
#define Z_SERIAL_RX_PIN X_SERIAL_RX_PIN
#define E0_SERIAL_TX_PIN X_SERIAL_TX_PIN
#define E0_SERIAL_RX_PIN X_SERIAL_RX_PIN
#define E1_SERIAL_TX_PIN 17
#define E1_SERIAL_RX_PIN 16
#endif

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@ -0,0 +1,19 @@
#
# SAMD21_minitronics20.py
# Customizations for env:SAMD21_minitronics20
#
import pioutil
if pioutil.is_pio_build():
from os.path import join, isfile
import shutil
Import("env")
mf = env["MARLIN_FEATURES"]
rxBuf = mf["RX_BUFFER_SIZE"] if "RX_BUFFER_SIZE" in mf else "0"
txBuf = mf["TX_BUFFER_SIZE"] if "TX_BUFFER_SIZE" in mf else "0"
serialBuf = str(max(int(rxBuf), int(txBuf), 350))
build_flags = env.get('BUILD_FLAGS')
env.Replace(BUILD_FLAGS=build_flags)

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@ -0,0 +1,33 @@
#!/usr/bin/env bash
#
# Build tests for SAMD21 (Minitronics 2.0)
#
# exit on first failure
set -e
#
# Build with the default configurations
#
restore_configs
opt_set MOTHERBOARD BOARD_MINITRONICS20 SERIAL_PORT -1 \
TEMP_SENSOR_0 11 TEMP_SENSOR_BED 11 \
X_DRIVER_TYPE DRV8825 Y_DRIVER_TYPE DRV8825 Z_DRIVER_TYPE DRV8825 E0_DRIVER_TYPE DRV8825 \
RESTORE_LEVELING_AFTER_G28 false \
LCD_LANGUAGE it \
SDCARD_CONNECTION LCD \
HOMING_BUMP_MM '{ 0, 0, 0 }'
opt_enable ENDSTOP_INTERRUPTS_FEATURE BLTOUCH Z_MIN_PROBE_REPEATABILITY_TEST \
FILAMENT_RUNOUT_SENSOR G26_MESH_VALIDATION MESH_EDIT_GFX_OVERLAY Z_SAFE_HOMING \
EEPROM_SETTINGS NOZZLE_PARK_FEATURE SDSUPPORT SD_CHECK_AND_RETRY \
REPRAPWORLD_GRAPHICAL_LCD ADAPTIVE_STEP_SMOOTHING \
STATUS_MESSAGE_SCROLLING SET_PROGRESS_MANUALLY SHOW_REMAINING_TIME SET_REMAINING_TIME \
LONG_FILENAME_HOST_SUPPORT CUSTOM_FIRMWARE_UPLOAD M20_TIMESTAMP_SUPPORT \
SCROLL_LONG_FILENAMES BABYSTEPPING DOUBLECLICK_FOR_Z_BABYSTEPPING \
MOVE_Z_WHEN_IDLE BABYSTEP_ZPROBE_OFFSET BABYSTEP_ZPROBE_GFX_OVERLAY \
LIN_ADVANCE ADVANCED_PAUSE_FEATURE PARK_HEAD_ON_PAUSE MONITOR_DRIVER_STATUS SENSORLESS_HOMING \
SQUARE_WAVE_STEPPING EXPERIMENTAL_SCURVE
exec_test $1 $2 "Minitronics 2.0 with assorted features" "$3"
# clean up
restore_configs

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@ -27,7 +27,7 @@ opt_enable ENDSTOP_INTERRUPTS_FEATURE S_CURVE_ACCELERATION BLTOUCH Z_MIN_PROBE_R
MOVE_Z_WHEN_IDLE BABYSTEP_ZPROBE_OFFSET BABYSTEP_ZPROBE_GFX_OVERLAY \
LIN_ADVANCE ADVANCED_PAUSE_FEATURE PARK_HEAD_ON_PAUSE MONITOR_DRIVER_STATUS SENSORLESS_HOMING \
SQUARE_WAVE_STEPPING TMC_DEBUG EXPERIMENTAL_SCURVE
exec_test $1 $2 "Build Grand Central M4 Default Configuration" "$3"
exec_test $1 $2 "Grand Central M4 with assorted features" "$3"
# clean up
restore_configs

26
ini/samd21.ini Normal file
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@ -0,0 +1,26 @@
#
# Marlin Firmware
# PlatformIO Configuration File
#
#################################
# #
# SAMD21 Architecture #
# #
#################################
#
# Adafruit Grand Central M4 (Atmel SAMD51P20A ARM Cortex-M4)
#
[env:SAMD21_minitronics20]
platform = atmelsam
board = minitronics20
build_flags = ${common.build_flags} -std=gnu++17
-DUSBCON -DUSBD_USE_CDC -D__SAMD21__ -DARDUINO_SAMD_MINITRONICS20 -Wno-deprecated-declarations -DU8G_HAL_LINKS -DDEBUG
-IMarlin/src/HAL/SAMD21/u8g
build_unflags = -std=gnu++11
build_src_filter = ${common.default_src_filter} +<src/HAL/SAMD21>
lib_deps = ${common.lib_deps}
extra_scripts = ${common.extra_scripts}
pre:buildroot/share/PlatformIO/scripts/SAMD21_minitronics20.py
debug_tool = atmel-ice

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@ -23,6 +23,7 @@ extra_configs =
ini/features.ini
ini/lpc176x.ini
ini/native.ini
ini/samd21.ini
ini/samd51.ini
ini/stm32-common.ini
ini/stm32f0.ini