d3c02410a8
* Misc fixes and improvements - Get rid of most critical sections on the Serial port drivers for AVR and DUE. Proper usage of FIFOs should allow interrupts to stay enabled without harm to queuing and dequeuing. Also, with 8-bit indices (for AVR) and up to 32-bit indices (for ARM), there is no need to protect reads and writes to those indices. - Simplify the XON/XOFF logic quite a bit. Much cleaner now (both for AVR and ARM) - Prevent a race condition (edge case) that could happen when estimating the proper value for the stepper timer (by reading it) and writing the calculated value for the time to the next ISR by disabling interrupts in those critical and small sections of the code - The problem could lead to lost steps. - Fix dual endstops not properly homing bug (maybe). * Set position immediately when possible
185 lines
4.9 KiB
C
185 lines
4.9 KiB
C
/**
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* Marlin 3D Printer Firmware
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*
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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* Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
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* Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* Description: HAL for Arduino Due and compatible (SAM3X8E)
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*
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* For ARDUINO_ARCH_SAM
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*/
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#ifndef _HAL_DUE_H
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#define _HAL_DUE_H
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#define CPU_32_BIT
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#include <stdint.h>
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#include <Arduino.h>
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#include "../math_32bit.h"
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#include "../HAL_SPI.h"
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#include "fastio_Due.h"
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#include "watchdog_Due.h"
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#include "HAL_timers_Due.h"
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//
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// Defines
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//
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#define NUM_SERIAL 1
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#define MYSERIAL0 customizedSerial
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// We need the previous define before the include, or compilation bombs...
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#include "MarlinSerial_Due.h"
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#include "MarlinSerialUSB_Due.h"
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#ifndef analogInputToDigitalPin
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#define analogInputToDigitalPin(p) ((p < 12u) ? (p) + 54u : -1)
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#endif
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#define CRITICAL_SECTION_START uint32_t primask = __get_PRIMASK(); __disable_irq()
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#define CRITICAL_SECTION_END if (!primask) __enable_irq()
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#define ISRS_ENABLED() (!__get_PRIMASK())
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#define ENABLE_ISRS() __enable_irq()
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#define DISABLE_ISRS() __disable_irq()
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// On AVR this is in math.h?
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#define square(x) ((x)*(x))
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#ifndef strncpy_P
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#define strncpy_P(dest, src, num) strncpy((dest), (src), (num))
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#endif
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#ifndef vsnprintf_P
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#define vsnprintf_P vsnprintf
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#endif
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// Fix bug in pgm_read_ptr
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#undef pgm_read_ptr
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#define pgm_read_ptr(addr) (*((void**)(addr)))
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#undef pgm_read_word
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#define pgm_read_word(addr) (*((uint16_t*)(addr)))
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#define RST_POWER_ON 1
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#define RST_EXTERNAL 2
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#define RST_BROWN_OUT 4
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#define RST_WATCHDOG 8
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#define RST_JTAG 16
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#define RST_SOFTWARE 32
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#define RST_BACKUP 64
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// --------------------------------------------------------------------------
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// Types
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// --------------------------------------------------------------------------
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typedef int8_t pin_t;
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#define HAL_SERVO_LIB Servo
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// --------------------------------------------------------------------------
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// Public Variables
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// --------------------------------------------------------------------------
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extern uint16_t HAL_adc_result; // result of last ADC conversion
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void cli(void); // Disable interrupts
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void sei(void); // Enable interrupts
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void HAL_clear_reset_source(void); // clear reset reason
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uint8_t HAL_get_reset_source(void); // get reset reason
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void _delay_ms(const int delay);
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int freeMemory(void);
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/**
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* SPI: Extended functions taking a channel number (hardware SPI only)
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*/
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// Write single byte to specified SPI channel
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void spiSend(uint32_t chan, byte b);
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// Write buffer to specified SPI channel
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void spiSend(uint32_t chan, const uint8_t* buf, size_t n);
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// Read single byte from specified SPI channel
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uint8_t spiRec(uint32_t chan);
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/**
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* EEPROM
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*/
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void eeprom_write_byte(unsigned char *pos, unsigned char value);
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unsigned char eeprom_read_byte(unsigned char *pos);
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void eeprom_read_block (void *__dst, const void *__src, size_t __n);
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void eeprom_update_block (const void *__src, void *__dst, size_t __n);
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/**
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* ADC
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*/
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#define HAL_ANALOG_SELECT(pin)
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inline void HAL_adc_init(void) {}//todo
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#define HAL_START_ADC(pin) HAL_adc_start_conversion(pin)
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#define HAL_READ_ADC HAL_adc_result
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void HAL_adc_start_conversion(const uint8_t adc_pin);
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uint16_t HAL_adc_get_result(void);
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uint16_t HAL_getAdcReading(uint8_t chan);
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void HAL_startAdcConversion(uint8_t chan);
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uint8_t HAL_pinToAdcChannel(int pin);
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uint16_t HAL_getAdcFreerun(uint8_t chan, bool wait_for_conversion = false);
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//uint16_t HAL_getAdcSuperSample(uint8_t chan);
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void HAL_enable_AdcFreerun(void);
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//void HAL_disable_AdcFreerun(uint8_t chan);
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/**
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* Pin Map
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*/
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#define GET_PIN_MAP_PIN(index) index
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#define GET_PIN_MAP_INDEX(pin) pin
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#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
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/**
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* Tone
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*/
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void toneInit();
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void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration=0);
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void noTone(const pin_t _pin);
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// Enable hooks into idle and setup for HAL
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#define HAL_IDLETASK 1
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#define HAL_INIT 1
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void HAL_idletask(void);
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void HAL_init(void);
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#ifdef __cplusplus
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extern "C" {
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#endif
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char *dtostrf (double __val, signed char __width, unsigned char __prec, char *__s);
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#ifdef __cplusplus
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}
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#endif
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#endif // _HAL_DUE_H
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