asaril/marlin2_i2
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity

Implement HAL and apply macros across code-base

Browse source 
Implement AVR Platform
This commit is contained in:
Christopher Pepper 2017-06-18 00:36:10 +01:00 committed by Scott Lahteine
parent fb04dfcda8
commit 4b16fa3272
65 changed files with 2264 additions and 761 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

6
.gitignore vendored
View file

@ -118,7 +118,11 @@ tags
# PlatformIO files/dirs
.pio*
lib/readme.txt
.pioenvs
.piolibdeps
.clang_complete
.gcc-flags.json
lib/
#Visual Studio
*.sln

81
Marlin/Conditionals_post.h
View file

@ -203,6 +203,22 @@
#define DEFAULT_KEEPALIVE_INTERVAL 2
#endif
#ifdef CPU_32_BIT
/**
* Hidden options for developer
*/
// Double stepping start from STEP_DOUBLER_FREQUENCY + 1, quad stepping start from STEP_DOUBLER_FREQUENCY * 2 + 1
#ifndef STEP_DOUBLER_FREQUENCY
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
#define STEP_DOUBLER_FREQUENCY 60000 // Hz
#else
#define STEP_DOUBLER_FREQUENCY 80000 // Hz
#endif
#endif
// Disable double / quad stepping
//#define DISABLE_MULTI_STEPPING
#endif
/**
* Provide a MAX_AUTORETRACT for older configs
*/
@ -214,9 +230,17 @@
* MAX_STEP_FREQUENCY differs for TOSHIBA
*/
#if ENABLED(CONFIG_STEPPERS_TOSHIBA)
#define MAX_STEP_FREQUENCY 10000 // Max step frequency for Toshiba Stepper Controllers
#ifdef CPU_32_BIT
#define MAX_STEP_FREQUENCY STEP_DOUBLER_FREQUENCY // Max step frequency for Toshiba Stepper Controllers, 96kHz is close to maximum for an Arduino Due
#else
#define MAX_STEP_FREQUENCY 10000 // Max step frequency for Toshiba Stepper Controllers
#endif
#else
#define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step)
#ifdef CPU_32_BIT
#define MAX_STEP_FREQUENCY (STEP_DOUBLER_FREQUENCY * 4) // Max step frequency for the Due is approx. 330kHz
#else
#define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step)
#endif
#endif
// MS1 MS2 Stepper Driver Microstepping mode table
@ -224,7 +248,16 @@
#define MICROSTEP2 HIGH,LOW
#define MICROSTEP4 LOW,HIGH
#define MICROSTEP8 HIGH,HIGH
#ifdef __SAM3X8E__
#if MB(ALLIGATOR)
#define MICROSTEP16 LOW,LOW
#define MICROSTEP32 HIGH,HIGH
#else
#define MICROSTEP16 HIGH,HIGH
#endif
#else
#define MICROSTEP16 HIGH,HIGH
#endif
/**
* Advance calculated values
@ -350,6 +383,10 @@
#define BED_USES_THERMISTOR
#endif
#ifdef __SAM3X8E__
#define HEATER_USES_AD595 (ENABLED(HEATER_0_USES_AD595) || ENABLED(HEATER_1_USES_AD595) || ENABLED(HEATER_2_USES_AD595) || ENABLED(HEATER_3_USES_AD595))
#endif
/**
* Flags for PID handling
*/
@ -873,6 +910,18 @@
// Stepper pulse duration, in cycles
#define STEP_PULSE_CYCLES ((MINIMUM_STEPPER_PULSE) * CYCLES_PER_MICROSECOND)
#ifdef CPU_32_BIT
// Add additional delay for between direction signal and pulse signal of stepper
#ifndef STEPPER_DIRECTION_DELAY
#define STEPPER_DIRECTION_DELAY 0 // time in microseconds
#endif
#endif
#ifndef __SAM3X8E__ //todo: hal: broken hal encapsulation
#undef UI_VOLTAGE_LEVEL
#undef RADDS_DISPLAY
#undef MOTOR_CURRENT
#endif
#if ENABLED(SDCARD_SORT_ALPHA)
#define HAS_FOLDER_SORTING (FOLDER_SORTING || ENABLED(SDSORT_GCODE))
@ -928,4 +977,32 @@
#endif
#endif
// Use float instead of double. Needs profiling.
#if defined(ARDUINO_ARCH_SAM) && ENABLED(DELTA_FAST_SQRT)
#undef ATAN2
#undef FABS
#undef POW
#undef SQRT
#undef CEIL
#undef FLOOR
#undef LROUND
#undef FMOD
#define ATAN2(y, x) atan2f(y, x)
#define FABS(x) fabsf(x)
#define POW(x, y) powf(x, y)
#define SQRT(x) sqrtf(x)
#define CEIL(x) ceilf(x)
#define FLOOR(x) floorf(x)
#define LROUND(x) lroundf(x)
#define FMOD(x, y) fmodf(x, y)
#endif
#ifdef TEENSYDUINO
#undef max
#define max(a,b) ((a)>(b)?(a):(b))
#undef min
#define min(a,b) ((a)<(b)?(a):(b))
#define NOT_A_PIN 0 // For PINS_DEBUGGING
#endif
#endif // CONDITIONALS_POST_H

7
Marlin/Marlin.h
View file

@ -28,20 +28,15 @@
#include <string.h>
#include <inttypes.h>
#include <util/delay.h>
#include <avr/pgmspace.h>
#include <avr/eeprom.h>
#include <avr/interrupt.h>
#include "MarlinConfig.h"
#ifdef DEBUG_GCODE_PARSER
#include "gcode.h"
#endif
#include "src/HAL/HAL.h"
#include "enum.h"
#include "types.h"
#include "fastio.h"
#include "utility.h"
#include "serial.h"

5
Marlin/MarlinConfig.h
View file

@ -23,18 +23,17 @@
#ifndef MARLIN_CONFIG_H
#define MARLIN_CONFIG_H
#include "fastio.h"
#include "macros.h"
#include "src/HAL/HAL.h"
#include "boards.h"
#include "Version.h"
#include "Configuration.h"
#include "Conditionals_LCD.h"
#include "Configuration_adv.h"
#include "pins.h"
#ifndef USBCON
#if defined(ARDUINO_ARCH_AVR) && !defined(USBCON)
#define HardwareSerial_h // trick to disable the standard HWserial
#endif
#include "Arduino.h"
#include "Conditionals_post.h"
#include "SanityCheck.h"

50
Marlin/Marlin_main.cpp
View file

@ -251,7 +251,9 @@
#include "cardreader.h"
#include "configuration_store.h"
#include "language.h"
#include "pins_arduino.h"
#ifdef ARDUINO
#include "pins_arduino.h"
#endif
#include "math.h"
#include "nozzle.h"
#include "duration_t.h"
@ -275,10 +277,6 @@
#include "buzzer.h"
#endif
#if ENABLED(USE_WATCHDOG)
#include "watchdog.h"
#endif
#if ENABLED(MAX7219_DEBUG)
#include "Max7219_Debug_LEDs.h"
#endif
@ -297,7 +295,7 @@
#endif
#if HAS_SERVOS
#include "servo.h"
#include "src/HAL/servo.h"
#endif
#if HAS_DIGIPOTSS
@ -317,7 +315,7 @@
#endif
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
#include "endstop_interrupts.h"
#include "src/HAL/HAL_endstop_interrupts.h"
#endif
#if ENABLED(M100_FREE_MEMORY_WATCHER)
@ -653,7 +651,7 @@ float cartes[XYZ] = { 0 };
static bool send_ok[BUFSIZE];
#if HAS_SERVOS
Servo servo[NUM_SERVOS];
HAL_SERVO_LIB servo[NUM_SERVOS];
#define MOVE_SERVO(I, P) servo[I].move(P)
#if HAS_Z_SERVO_ENDSTOP
#define DEPLOY_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[0])
@ -789,26 +787,6 @@ inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[
#endif
#if ENABLED(SDSUPPORT)
#include "SdFatUtil.h"
int freeMemory() { return SdFatUtil::FreeRam(); }
#else
extern "C" {
extern char __bss_end;
extern char __heap_start;
extern void* __brkval;
int freeMemory() {
int free_memory;
if ((int)__brkval == 0)
free_memory = ((int)&free_memory) - ((int)&__bss_end);
else
free_memory = ((int)&free_memory) - ((int)__brkval);
return free_memory;
}
}
#endif // !SDSUPPORT
#if ENABLED(DIGIPOT_I2C)
extern void digipot_i2c_set_current(uint8_t channel, float current);
extern void digipot_i2c_init();
@ -11845,7 +11823,7 @@ void ok_to_send() {
delta_diagonal_rod_2_tower[C_AXIS] = sq(diagonal_rod + drt[C_AXIS]);
}
#if ENABLED(DELTA_FAST_SQRT)
#if ENABLED(DELTA_FAST_SQRT) && defined(ARDUINO_ARCH_AVR)
/**
* Fast inverse sqrt from Quake III Arena
* See: https://en.wikipedia.org/wiki/Fast_inverse_square_root
@ -13357,17 +13335,22 @@ void setup() {
#endif
MYSERIAL.begin(BAUDRATE);
while(!MYSERIAL);
SERIAL_PROTOCOLLNPGM("start");
SERIAL_ECHO_START();
// Check startup - does nothing if bootloader sets MCUSR to 0
byte mcu = MCUSR;
byte mcu = HAL_get_reset_source();
if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
if (mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
if (mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
if (mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
if (mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
MCUSR = 0;
HAL_clear_reset_source();
#if ENABLED(USE_WATCHDOG) //reinit watchdog after HAL_get_reset_source call
watchdog_init();
#endif
SERIAL_ECHOPGM(MSG_MARLIN);
SERIAL_CHAR(' ');
@ -13406,10 +13389,6 @@ void setup() {
thermalManager.init(); // Initialize temperature loop
#if ENABLED(USE_WATCHDOG)
watchdog_init();
#endif
stepper.init(); // Initialize stepper, this enables interrupts!
servo_init();
@ -13619,4 +13598,3 @@ void loop() {
endstops.report_state();
idle();
}

151
Marlin/Sd2Card.cpp
View file

@ -31,136 +31,6 @@
#if ENABLED(SDSUPPORT)
#include "Sd2Card.h"
#if ENABLED(USE_WATCHDOG)
#include "watchdog.h"
#endif
//------------------------------------------------------------------------------
#if DISABLED(SOFTWARE_SPI)
// functions for hardware SPI
//------------------------------------------------------------------------------
// make sure SPCR rate is in expected bits
#if (SPR0 != 0 || SPR1 != 1)
#error "unexpected SPCR bits"
#endif
/**
* Initialize hardware SPI
* Set SCK rate to F_CPU/pow(2, 1 + spiRate) for spiRate [0,6]
*/
static void spiInit(uint8_t spiRate) {
// See avr processor documentation
SPCR = _BV(SPE) | _BV(MSTR) | (spiRate >> 1);
SPSR = spiRate & 1 || spiRate == 6 ? 0 : _BV(SPI2X);
}
//------------------------------------------------------------------------------
/** SPI receive a byte */
static uint8_t spiRec() {
SPDR = 0xFF;
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
return SPDR;
}
//------------------------------------------------------------------------------
/** SPI read data - only one call so force inline */
static inline __attribute__((always_inline))
void spiRead(uint8_t* buf, uint16_t nbyte) {
if (nbyte-- == 0) return;
SPDR = 0xFF;
for (uint16_t i = 0; i < nbyte; i++) {
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
buf[i] = SPDR;
SPDR = 0xFF;
}
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
buf[nbyte] = SPDR;
}
//------------------------------------------------------------------------------
/** SPI send a byte */
static void spiSend(uint8_t b) {
SPDR = b;
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
}
//------------------------------------------------------------------------------
/** SPI send block - only one call so force inline */
static inline __attribute__((always_inline))
void spiSendBlock(uint8_t token, const uint8_t* buf) {
SPDR = token;
for (uint16_t i = 0; i < 512; i += 2) {
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
SPDR = buf[i];
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
SPDR = buf[i + 1];
}
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
}
//------------------------------------------------------------------------------
#else // SOFTWARE_SPI
//------------------------------------------------------------------------------
/** nop to tune soft SPI timing */
#define nop asm volatile ("nop\n\t")
//------------------------------------------------------------------------------
/** Soft SPI receive byte */
static uint8_t spiRec() {
uint8_t data = 0;
// no interrupts during byte receive - about 8 us
cli();
// output pin high - like sending 0xFF
WRITE(SPI_MOSI_PIN, HIGH);
for (uint8_t i = 0; i < 8; i++) {
WRITE(SPI_SCK_PIN, HIGH);
// adjust so SCK is nice
nop;
nop;
data <<= 1;
if (READ(SPI_MISO_PIN)) data |= 1;
WRITE(SPI_SCK_PIN, LOW);
}
// enable interrupts
sei();
return data;
}
//------------------------------------------------------------------------------
/** Soft SPI read data */
static void spiRead(uint8_t* buf, uint16_t nbyte) {
for (uint16_t i = 0; i < nbyte; i++)
buf[i] = spiRec();
}
//------------------------------------------------------------------------------
/** Soft SPI send byte */
static void spiSend(uint8_t data) {
// no interrupts during byte send - about 8 us
cli();
for (uint8_t i = 0; i < 8; i++) {
WRITE(SPI_SCK_PIN, LOW);
WRITE(SPI_MOSI_PIN, data & 0x80);
data <<= 1;
WRITE(SPI_SCK_PIN, HIGH);
}
// hold SCK high for a few ns
nop;
nop;
nop;
nop;
WRITE(SPI_SCK_PIN, LOW);
// enable interrupts
sei();
}
//------------------------------------------------------------------------------
/** Soft SPI send block */
void spiSendBlock(uint8_t token, const uint8_t* buf) {
spiSend(token);
for (uint16_t i = 0; i < 512; i++)
spiSend(buf[i]);
}
#endif // SOFTWARE_SPI
//------------------------------------------------------------------------------
// send command and return error code. Return zero for OK
uint8_t Sd2Card::cardCommand(uint8_t cmd, uint32_t arg) {
@ -310,23 +180,12 @@ bool Sd2Card::init(uint8_t sckRateID, uint8_t chipSelectPin) {
#endif
// set pin modes
pinMode(chipSelectPin_, OUTPUT);
chipSelectHigh();
SET_INPUT(SPI_MISO_PIN);
SET_OUTPUT(SPI_MOSI_PIN);
SET_OUTPUT(SPI_SCK_PIN);
//todo: should use chipSelectPin ?
spiBegin();
#if DISABLED(SOFTWARE_SPI)
// SS must be in output mode even it is not chip select
SET_OUTPUT(SS_PIN);
// set SS high - may be chip select for another SPI device
#if SET_SPI_SS_HIGH
WRITE(SS_PIN, HIGH);
#endif // SET_SPI_SS_HIGH
// set SCK rate for initialization commands
spiRate_ = SPI_SD_INIT_RATE;
spiInit(spiRate_);
#endif // SOFTWARE_SPI
// set SCK rate for initialization commands
spiRate_ = SPI_SD_INIT_RATE;
spiInit(spiRate_);
// must supply min of 74 clock cycles with CS high.
for (uint8_t i = 0; i < 10; i++) spiSend(0xFF);

18
Marlin/Sd2Card.h
View file

@ -39,18 +39,6 @@
#include "SdFatConfig.h"
#include "SdInfo.h"
//------------------------------------------------------------------------------
// SPI speed is F_CPU/2^(1 + index), 0 <= index <= 6
/** Set SCK to max rate of F_CPU/2. See Sd2Card::setSckRate(). */
uint8_t const SPI_FULL_SPEED = 0;
/** Set SCK rate to F_CPU/4. See Sd2Card::setSckRate(). */
uint8_t const SPI_HALF_SPEED = 1;
/** Set SCK rate to F_CPU/8. See Sd2Card::setSckRate(). */
uint8_t const SPI_QUARTER_SPEED = 2;
/** Set SCK rate to F_CPU/16. See Sd2Card::setSckRate(). */
uint8_t const SPI_EIGHTH_SPEED = 3;
/** Set SCK rate to F_CPU/32. See Sd2Card::setSckRate(). */
uint8_t const SPI_SIXTEENTH_SPEED = 4;
//------------------------------------------------------------------------------
/** init timeout ms */
uint16_t const SD_INIT_TIMEOUT = 2000;
/** erase timeout ms */
@ -133,6 +121,9 @@ uint8_t const SD_CARD_TYPE_SDHC = 3;
//------------------------------------------------------------------------------
// SPI pin definitions - do not edit here - change in SdFatConfig.h
//
#define SD_CHIP_SELECT_PIN SS_PIN
#if 0
#if DISABLED(SOFTWARE_SPI)
// hardware pin defs
/** The default chip select pin for the SD card is SS. */
@ -156,6 +147,9 @@ uint8_t const SD_CARD_TYPE_SDHC = 3;
/** SPI Clock pin */
#define SPI_SCK_PIN SOFT_SPI_SCK_PIN
#endif // SOFTWARE_SPI
#endif
//------------------------------------------------------------------------------
/**
* \class Sd2Card

5
Marlin/SdFile.h
View file

@ -34,7 +34,8 @@
#if ENABLED(SDSUPPORT)
#include "SdBaseFile.h"
#include <Print.h>
//todo: HAL: create wrapper for Print?
//#include <Print.h>
#ifndef SdFile_h
#define SdFile_h
//------------------------------------------------------------------------------
@ -42,7 +43,7 @@
* \class SdFile
* \brief SdBaseFile with Print.
*/
class SdFile : public SdBaseFile, public Print {
class SdFile : public SdBaseFile/*, public Print*/ {
public:
SdFile() {}
SdFile(const char* name, uint8_t oflag);

23
Marlin/boards.h
View file

@ -76,6 +76,7 @@
#define BOARD_BRAINWAVE 82 // Brainwave (AT90USB646)
#define BOARD_SAV_MKI 83 // SAV Mk-I (AT90USB1286)
#define BOARD_TEENSY2 84 // Teensy++2.0 (AT90USB1286) - CLI compile: HARDWARE_MOTHERBOARD=84 make
#define BOARD_TEENSY35_36 841 // Teensy3.5 and Teensy3.6
#define BOARD_BRAINWAVE_PRO 85 // Brainwave Pro (AT90USB1286)
#define BOARD_GEN3_PLUS 9 // Gen3+
#define BOARD_GEN3_MONOLITHIC 22 // Gen3 Monolithic Electronics
@ -100,6 +101,28 @@
#define BOARD_BAM_DICE_DUE 402 // 2PrintBeta BAM&DICE Due with STK drivers
#define BOARD_BQ_ZUM_MEGA_3D 503 // bq ZUM Mega 3D
#define BOARD_ZRIB_V20 504 // zrib V2.0 control board (Chinese knock off RAMPS replica)
//ARM 32
#define BOARD_DUE3DOM 1411 // DUE3DOM for Arduino DUE
#define BOARD_DUE3DOM_MINI 1412 // DUE3DOM MINI for Arduino DUE
#define BOARD_RADDS 1502 // RADDS
#define BOARD_RAMPS_FD_V1 1503 // RAMPS-FD v1
#define BOARD_RAMPS_FD_V2 1504 // RAMPS-FD v2
#define BOARD_RAMPS_SMART_EFB 1523 // RAMPS-SMART (Power outputs: Hotend, Fan, Bed)
#define BOARD_RAMPS_SMART_EEB 1524 // RAMPS-SMART (Power outputs: Hotend0, Hotend1, Bed)
#define BOARD_RAMPS_SMART_EFF 1525 // RAMPS-SMART (Power outputs: Hotend, Fan0, Fan1)
#define BOARD_RAMPS_SMART_EEF 1526 // RAMPS-SMART (Power outputs: Hotend0, Hotend1, Fan)
#define BOARD_RAMPS_SMART_SF 1528 // RAMPS-SMART (Power outputs: Spindle, Controller Fan)
#define BOARD_RAMPS_DUO_EFB 1533 // RAMPS Duo (Power outputs: Hotend, Fan, Bed)
#define BOARD_RAMPS_DUO_EEB 1534 // RAMPS Duo (Power outputs: Hotend0, Hotend1, Bed)
#define BOARD_RAMPS_DUO_EFF 1535 // RAMPS Duo (Power outputs: Hotend, Fan0, Fan1)
#define BOARD_RAMPS_DUO_EEF 1536 // RAMPS Duo (Power outputs: Hotend0, Hotend1, Fan)
#define BOARD_RAMPS_DUO_SF 1538 // RAMPS Duo (Power outputs: Spindle, Controller Fan)
#define BOARD_RAMPS4DUE_EFB 1543 // RAMPS4DUE (Power outputs: Hotend, Fan, Bed)
#define BOARD_RAMPS4DUE_EEB 1544 // RAMPS4DUE (Power outputs: Hotend0, Hotend1, Bed)
#define BOARD_RAMPS4DUE_EFF 1545 // RAMPS4DUE (Power outputs: Hotend, Fan0, Fan1)
#define BOARD_RAMPS4DUE_EEF 1546 // RAMPS4DUE (Power outputs: Hotend0, Hotend1, Fan)
#define BOARD_RAMPS4DUE_SF 1548 // RAMPS4DUE (Power outputs: Spindle, Controller Fan)
#define BOARD_ALLIGATOR 1602 // Alligator Board R2
#define MB(board) (MOTHERBOARD==BOARD_##board)

1
Marlin/buzzer.h
View file

@ -24,7 +24,6 @@
#define __BUZZER_H__
#include "types.h"
#include "fastio.h"
#include "circularqueue.h"
#include "temperature.h"

2
Marlin/circularqueue.h
View file

@ -23,7 +23,7 @@
#ifndef __CIRCULARQUEUE_H__
#define __CIRCULARQUEUE_H__
#include <Arduino.h>
#include <stdint.h>
/**
* @brief Circular Queue class

48
Marlin/configuration_store.cpp
View file

@ -252,12 +252,14 @@ void MarlinSettings::postprocess() {
}
#if ENABLED(EEPROM_SETTINGS)
#include "src/HAL/persistent_store_api.h"
#define DUMMY_PID_VALUE 3000.0f
#define EEPROM_START() int eeprom_index = EEPROM_OFFSET
#define EEPROM_START() int eeprom_index = EEPROM_OFFSET; HAL::PersistentStore::access_start()
#define EEPROM_FINISH() HAL::PersistentStore::access_finish()
#define EEPROM_SKIP(VAR) eeprom_index += sizeof(VAR)
#define EEPROM_WRITE(VAR) write_data(eeprom_index, (uint8_t*)&VAR, sizeof(VAR), &working_crc)
#define EEPROM_READ(VAR) read_data(eeprom_index, (uint8_t*)&VAR, sizeof(VAR), &working_crc)
#define EEPROM_WRITE(VAR) HAL::PersistentStore::write_data(eeprom_index, (uint8_t*)&VAR, sizeof(VAR), &working_crc)
#define EEPROM_READ(VAR) HAL::PersistentStore::read_data(eeprom_index, (uint8_t*)&VAR, sizeof(VAR), &working_crc)
#define EEPROM_ASSERT(TST,ERR) if (!(TST)) do{ SERIAL_ERROR_START(); SERIAL_ERRORLNPGM(ERR); eeprom_read_error = true; }while(0)
const char version[4] = EEPROM_VERSION;
@ -268,39 +270,6 @@ void MarlinSettings::postprocess() {
int MarlinSettings::meshes_begin;
#endif
void MarlinSettings::write_data(int &pos, const uint8_t *value, uint16_t size, uint16_t *crc) {
if (eeprom_error) return;
while (size--) {
uint8_t * const p = (uint8_t * const)pos;
uint8_t v = *value;
// EEPROM has only ~100,000 write cycles,
// so only write bytes that have changed!
if (v != eeprom_read_byte(p)) {
eeprom_write_byte(p, v);
if (eeprom_read_byte(p) != v) {
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM(MSG_ERR_EEPROM_WRITE);
eeprom_error = true;
return;
}
}
crc16(crc, &v, 1);
pos++;
value++;
};
}
void MarlinSettings::read_data(int &pos, uint8_t* value, uint16_t size, uint16_t *crc) {
if (eeprom_error) return;
do {
uint8_t c = eeprom_read_byte((unsigned char*)pos);
*value = c;
crc16(crc, &c, 1);
pos++;
value++;
} while (--size);
}
/**
* M500 - Store Configuration
*/
@ -668,7 +637,7 @@ void MarlinSettings::postprocess() {
if (ubl.state.storage_slot >= 0)
store_mesh(ubl.state.storage_slot);
#endif
EEPROM_FINISH();
return !eeprom_error;
}
@ -1067,6 +1036,7 @@ void MarlinSettings::postprocess() {
#if ENABLED(EEPROM_CHITCHAT) && DISABLED(DISABLE_M503)
report();
#endif
EEPROM_FINISH();
return !eeprom_error;
}
@ -1107,7 +1077,7 @@ void MarlinSettings::postprocess() {
uint16_t crc = 0;
int pos = meshes_end - (slot + 1) * sizeof(ubl.z_values);
write_data(pos, (uint8_t *)&ubl.z_values, sizeof(ubl.z_values), &crc);
HAL::PersistentStore::write_data(pos, (uint8_t *)&ubl.z_values, sizeof(ubl.z_values), &crc);
// Write crc to MAT along with other data, or just tack on to the beginning or end
@ -1138,7 +1108,7 @@ void MarlinSettings::postprocess() {
uint16_t crc = 0;
int pos = meshes_end - (slot + 1) * sizeof(ubl.z_values);
uint8_t * const dest = into ? (uint8_t*)into : (uint8_t*)&ubl.z_values;
read_data(pos, dest, sizeof(ubl.z_values), &crc);
HAL::PersistentStore::read_data(pos, dest, sizeof(ubl.z_values), &crc);
// Compare crc with crc from MAT, or read from end

2
Marlin/configuration_store.h
View file

@ -72,8 +72,6 @@ class MarlinSettings {
#endif
static void write_data(int &pos, const uint8_t *value, uint16_t size, uint16_t *crc);
static void read_data(int &pos, uint8_t *value, uint16_t size, uint16_t *crc);
#endif
};

108
Marlin/dac_dac084s085.cpp Normal file
View file

@ -0,0 +1,108 @@
/***************************************************************
*
* External DAC for Alligator Board
*
****************************************************************/
#include "Marlin.h"
#if MB(ALLIGATOR)
#include "stepper.h"
#include "dac_dac084s085.h"
dac084s085::dac084s085() {
return ;
}
void dac084s085::begin() {
uint8_t externalDac_buf[2] = {0x20,0x00};//all off
// All SPI chip-select HIGH
pinMode (DAC0_SYNC, OUTPUT);
digitalWrite( DAC0_SYNC , HIGH );
#if EXTRUDERS > 1
pinMode (DAC1_SYNC, OUTPUT);
digitalWrite( DAC1_SYNC , HIGH );
#endif
digitalWrite( SPI_EEPROM1_CS , HIGH );
digitalWrite( SPI_EEPROM2_CS , HIGH );
digitalWrite( SPI_FLASH_CS , HIGH );
digitalWrite( SS_PIN , HIGH );
spiBegin();
//init onboard DAC
delayMicroseconds(2U);
digitalWrite( DAC0_SYNC , LOW );
delayMicroseconds(2U);
digitalWrite( DAC0_SYNC , HIGH );
delayMicroseconds(2U);
digitalWrite( DAC0_SYNC , LOW );
spiSend(SPI_CHAN_DAC,externalDac_buf , 2);
digitalWrite( DAC0_SYNC , HIGH );
#if EXTRUDERS > 1
//init Piggy DAC
delayMicroseconds(2U);
digitalWrite( DAC1_SYNC , LOW );
delayMicroseconds(2U);
digitalWrite( DAC1_SYNC , HIGH );
delayMicroseconds(2U);
digitalWrite( DAC1_SYNC , LOW );
spiSend(SPI_CHAN_DAC,externalDac_buf , 2);
digitalWrite( DAC1_SYNC , HIGH );
#endif
return;
}
void dac084s085::setValue(uint8_t channel, uint8_t value) {
if(channel >= 7) // max channel (X,Y,Z,E0,E1,E2,E3)
return;
if(value > 255) value = 255;
uint8_t externalDac_buf[2] = {0x10,0x00};
if(channel > 3)
externalDac_buf[0] |= (7 - channel << 6);
else
externalDac_buf[0] |= (3 - channel << 6);
externalDac_buf[0] |= (value>>4);
externalDac_buf[1] |= (value<<4);
// All SPI chip-select HIGH
digitalWrite( DAC0_SYNC , HIGH );
#if EXTRUDERS > 1
digitalWrite( DAC1_SYNC , HIGH );
#endif
digitalWrite( SPI_EEPROM1_CS , HIGH );
digitalWrite( SPI_EEPROM2_CS , HIGH );
digitalWrite( SPI_FLASH_CS , HIGH );
digitalWrite( SS_PIN , HIGH );
if(channel > 3) { // DAC Piggy E1,E2,E3
digitalWrite(DAC1_SYNC , LOW);
delayMicroseconds(2U);
digitalWrite(DAC1_SYNC , HIGH);
delayMicroseconds(2U);
digitalWrite(DAC1_SYNC , LOW);
}
else { // DAC onboard X,Y,Z,E0
digitalWrite(DAC0_SYNC , LOW);
delayMicroseconds(2U);
digitalWrite(DAC0_SYNC , HIGH);
delayMicroseconds(2U);
digitalWrite(DAC0_SYNC , LOW);
}
delayMicroseconds(2U);
spiSend(SPI_CHAN_DAC,externalDac_buf , 2);
return;
}
#endif

11
Marlin/dac_dac084s085.h Normal file
View file

@ -0,0 +1,11 @@
#ifndef dac084s085_h
#define dac084s085_h
class dac084s085 {
public:
dac084s085();
static void begin(void);
static void setValue(uint8_t channel, uint8_t value);
};
#endif //dac084s085_h

2
Marlin/hex_print_routines.cpp
View file

@ -43,7 +43,7 @@ char* hex_word(const uint16_t w) {
}
char* hex_address(const void * const w) {
(void)hex_word((uint16_t)w);
(void)hex_word((int)w);
return _hex;
}

5
Marlin/macros.h
View file

@ -36,11 +36,6 @@
#define _O2 __attribute__((optimize("O2")))
#define _O3 __attribute__((optimize("O3")))
// Bracket code that shouldn't be interrupted
#ifndef CRITICAL_SECTION_START
#define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli();
#define CRITICAL_SECTION_END SREG = _sreg;
#endif
// Clock speed factors
#define CYCLES_PER_MICROSECOND (F_CPU / 1000000L) // 16 or 20

110
Marlin/pins.h
View file

@ -231,6 +231,72 @@
#elif MB(5DPRINT)
#include "pins_5DPRINT.h" // AT90USB1286
//
// 32-bit Boards
//
#elif MB(TEENSY35_36)
#include "pins_TEENSY35_36.h"
#elif MB(DUE3DOM)
#include "pins_DUE3DOM.h"
#elif MB(DUE3DOM_MINI)
#include "pins_DUE3DOM_MINI.h"
#elif MB(RADDS)
#include "pins_RADDS.h"
#elif MB(RAMPS_FD_V1)
#include "pins_RAMPS_FD.h"
#elif MB(RAMPS_FD_V2)
#include "pins_RAMPS_FD_V2.h"
#elif MB(RAMPS_SMART_EFB)
#define IS_RAMPS_EFB
#include "pins_RAMPS_SMART.h"
#elif MB(RAMPS_SMART_EEB)
#define IS_RAMPS_EEB
#include "pins_RAMPS_SMART.h"
#elif MB(RAMPS_SMART_EFF)
#define IS_RAMPS_EFF
#include "pins_RAMPS_SMART.h"
#elif MB(RAMPS_SMART_EEF)
#define IS_RAMPS_EEF
#include "pins_RAMPS_SMART.h"
#elif MB(RAMPS_SMART_SF)
#define IS_RAMPS_SF
#include "pins_RAMPS_SMART.h"
#elif MB(RAMPS_DUO_EFB)
#define IS_RAMPS_EFB
#include "pins_RAMPS_DUO.h"
#elif MB(RAMPS_DUO_EEB)
#define IS_RAMPS_EEB
#include "pins_RAMPS_DUO.h"
#elif MB(RAMPS_DUO_EFF)
#define IS_RAMPS_EFF
#include "pins_RAMPS_DUO.h"
#elif MB(RAMPS_DUO_EEF)
#define IS_RAMPS_EEF
#include "pins_RAMPS_DUO.h"
#elif MB(RAMPS_DUO_SF)
#define IS_RAMPS_SF
#include "pins_RAMPS_DUO.h"
#elif MB(RAMPS4DUE_EFB)
#define IS_RAMPS_EFB
#include "pins_RAMPS4DUE.h"
#elif MB(RAMPS4DUE_EEB)
#define IS_RAMPS_EEB
#include "pins_RAMPS4DUE.h"
#elif MB(RAMPS4DUE_EFF)
#define IS_RAMPS_EFF
#include "pins_RAMPS4DUE.h"
#elif MB(RAMPS4DUE_EEF)
#define IS_RAMPS_EEF
#include "pins_RAMPS4DUE.h"
#elif MB(RAMPS4DUE_SF)
#define IS_RAMPS_SF
#include "pins_RAMPS4DUE.h"
#elif MB(ALLIGATOR)
#include "pins_ALLIGATOR_R2.h"
#elif MB(RAMPS_FD_V1) || MB(RAMPS_FD_V2)
#include "pins_RAMPS_FD_v1.h"
#else
#error "Unknown MOTHERBOARD value set in Configuration.h"
#endif
@ -606,47 +672,9 @@
#define HAS_DIGIPOTSS (PIN_EXISTS(DIGIPOTSS))
/**
* Define SPI Pins: SCK, MISO, MOSI, SS
*/
#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328__) || defined(__AVR_ATmega328P__)
#define AVR_SCK_PIN 13
#define AVR_MISO_PIN 12
#define AVR_MOSI_PIN 11
#define AVR_SS_PIN 10
#elif defined(__AVR_ATmega644__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__) || defined(__AVR_ATmega1284P__)
#define AVR_SCK_PIN 7
#define AVR_MISO_PIN 6
#define AVR_MOSI_PIN 5
#define AVR_SS_PIN 4
#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
#define AVR_SCK_PIN 52
#define AVR_MISO_PIN 50
#define AVR_MOSI_PIN 51
#define AVR_SS_PIN 53
#elif defined(__AVR_AT90USB1287__) || defined(__AVR_AT90USB1286__) || defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB647__)
#define AVR_SCK_PIN 21
#define AVR_MISO_PIN 23
#define AVR_MOSI_PIN 22
#define AVR_SS_PIN 20
#elif defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__)
#define AVR_SCK_PIN 10
#define AVR_MISO_PIN 12
#define AVR_MOSI_PIN 11
#define AVR_SS_PIN 16
#endif
// Note: default SPI pins are defined in the HAL
#include "src/HAL/HAL_spi_pins.h"
#ifndef SCK_PIN
#define SCK_PIN AVR_SCK_PIN
#endif
#ifndef MISO_PIN
#define MISO_PIN AVR_MISO_PIN
#endif
#ifndef MOSI_PIN
#define MOSI_PIN AVR_MOSI_PIN
#endif
#ifndef SS_PIN
#define SS_PIN AVR_SS_PIN
#endif
#endif // __PINS_H__

6
Marlin/pins_RAMPS.h
View file

@ -44,8 +44,10 @@
* 7 | 11
*/
#if !defined(__AVR_ATmega1280__) && !defined(__AVR_ATmega2560__)
#error "Oops! Make sure you have 'Arduino Mega' selected from the 'Tools -> Boards' menu."
#if !defined(IS_RAMPS_SMART) && !defined(IS_RAMPS_DUO) && !defined(IS_RAMPS4DUE)
#if !defined(__AVR_ATmega1280__) && !defined(__AVR_ATmega2560__)
#error "Oops! Make sure you have 'Arduino Mega' selected from the 'Tools -> Boards' menu."
#endif
#endif
#ifndef BOARD_NAME

2
Marlin/planner.cpp
View file

@ -1222,7 +1222,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
}
block->acceleration_steps_per_s2 = accel;
block->acceleration = accel / steps_per_mm;
block->acceleration_rate = (long)(accel * 16777216.0 / ((F_CPU) * 0.125)); // * 8.388608
block->acceleration_rate = (long)(accel * 16777216.0 / (HAL_STEPPER_TIMER_RATE)); // 16777216 = <<24
// Initial limit on the segment entry velocity
float vmax_junction;

12
Marlin/printcounter.h
View file

@ -26,8 +26,6 @@
#include "macros.h"
#include "language.h"
#include "stopwatch.h"
#include <avr/eeprom.h>
// Print debug messages with M111 S2
//#define DEBUG_PRINTCOUNTER
@ -51,8 +49,14 @@ class PrintCounter: public Stopwatch {
* @brief EEPROM address
* @details Defines the start offset address where the data is stored.
*/
const uint16_t address = 0x32;
#if ENABLED(I2C_EEPROM) || ENABLED(SPI_EEPROM)
// round up address to next page boundary (assuming 32 byte pages)
const uint32_t address = 0x40;
#elif defined(CPU_32_BIT)
const uint32_t address = 0x32;
#else
const uint16_t address = 0x32;
#endif
/**
* @brief Interval in seconds between counter updates
* @details This const value defines what will be the time between each

6
Marlin/spi.h → Marlin/private_spi.h
View file

@ -20,8 +20,8 @@
*
*/
#ifndef __SPI_H__
#define __SPI_H__
#ifndef __PRIVATE_SPI_H__
#define __PRIVATE_SPI_H__
#include <stdint.h>
#include "softspi.h"
@ -54,4 +54,4 @@ class SPI<MISO_PIN, MOSI_PIN, SCK_PIN> {
};
#endif // __SPI_H__
#endif // __PRIVATE_SPI_H__

26
Marlin/serial.h
View file

@ -23,20 +23,26 @@
#ifndef __SERIAL_H__
#define __SERIAL_H__
#include "MarlinConfig.h"
#include "src/HAL/HAL.h"
#ifdef USBCON
#include "HardwareSerial.h"
#if ENABLED(BLUETOOTH)
#define MYSERIAL bluetoothSerial
//todo: HAL: breaks encapsulation
// For AVR only, define a serial interface based on configuration
#ifdef ARDUINO_ARCH_AVR
#ifdef USBCON
#include "HardwareSerial.h"
#if ENABLED(BLUETOOTH)
#define MYSERIAL bluetoothSerial
#else
#define MYSERIAL Serial
#endif // BLUETOOTH
#else
#define MYSERIAL Serial
#endif // BLUETOOTH
#else
#include "MarlinSerial.h"
#define MYSERIAL customizedSerial
#include "src/HAL/HAL_AVR/MarlinSerial.h"
#define MYSERIAL customizedSerial
#endif
#endif
#include "MarlinConfig.h"
extern const char echomagic[] PROGMEM;
extern const char errormagic[] PROGMEM;

94
Marlin/src/HAL/HAL.h Normal file
View file

@ -0,0 +1,94 @@
/* **************************************************************************
Marlin 3D Printer Firmware
Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
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 <http://www.gnu.org/licenses/>.
****************************************************************************/
/**
* Description: HAL wrapper
*
* Supports platforms :
* ARDUINO_ARCH_SAM : For Arduino Due and other boards based on Atmel SAM3X8E
* ARDUINO_ARCH_AVR : For all Atmel AVR boards
*/
#ifndef _HAL_H
#define _HAL_H
#include <stdint.h>
/**
* SPI speed where 0 <= index <= 6
*
* Approximate rates :
*
* 0 : 8 - 10 MHz
* 1 : 4 - 5 MHz
* 2 : 2 - 2.5 MHz
* 3 : 1 - 1.25 MHz
* 4 : 500 - 625 kHz
* 5 : 250 - 312 kHz
* 6 : 125 - 156 kHz
*
* On AVR, actual speed is F_CPU/2^(1 + index).
* On other platforms, speed should be in range given above where possible.
*/
/** Set SCK to max rate */
uint8_t const SPI_FULL_SPEED = 0;
/** Set SCK rate to half max rate. */
uint8_t const SPI_HALF_SPEED = 1;
/** Set SCK rate to quarter max rate. */
uint8_t const SPI_QUARTER_SPEED = 2;
/** Set SCK rate to 1/8 max rate. */
uint8_t const SPI_EIGHTH_SPEED = 3;
/** Set SCK rate to 1/16 of max rate. */
uint8_t const SPI_SIXTEENTH_SPEED = 4;
/** Set SCK rate to 1/32 of max rate. */
uint8_t const SPI_SPEED_5 = 5;
/** Set SCK rate to 1/64 of max rate. */
uint8_t const SPI_SPEED_6 = 6;
// Standard SPI functions
/** Initialise SPI bus */
void spiBegin(void);
/** Configure SPI for specified SPI speed */
void spiInit(uint8_t spiRate);
/** Write single byte to SPI */
void spiSend(uint8_t b);
/** Read single byte from SPI */
uint8_t spiRec(void);
/** Read from SPI into buffer */
void spiRead(uint8_t* buf, uint16_t nbyte);
/** Write token and then write from 512 byte buffer to SPI (for SD card) */
void spiSendBlock(uint8_t token, const uint8_t* buf);
#ifdef ARDUINO_ARCH_AVR
#include "HAL_AVR/HAL_AVR.h"
#elif defined(ARDUINO_ARCH_SAM)
#define CPU_32_BIT
#include "HAL_DUE/HAL_Due.h"
#include "math_32bit.h"
#elif defined(__MK64FX512__) || defined(__MK66FX1M0__)
#define CPU_32_BIT
#include "HAL_TEENSY35_36/HAL_Teensy.h"
#include "math_32bit.h"
#else
#error Unsupported Platform!
#endif
#endif /* HAL_H_ */

100
Marlin/src/HAL/HAL_AVR/HAL_AVR.cpp Normal file
View file

@ -0,0 +1,100 @@
/* **************************************************************************
Marlin 3D Printer Firmware
Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
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 <http://www.gnu.org/licenses/>.
****************************************************************************/
/**
* Description: HAL for AVR
*
* For ARDUINO_ARCH_AVR
*/
#ifdef ARDUINO_ARCH_AVR
// --------------------------------------------------------------------------
// Includes
// --------------------------------------------------------------------------
#include "../HAL.h"
#include "../../../macros.h"
// --------------------------------------------------------------------------
// Externals
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Local defines
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Types
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Variables
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Public Variables
// --------------------------------------------------------------------------
//uint8_t MCUSR;
// --------------------------------------------------------------------------
// Private Variables
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Function prototypes
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Private functions
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Public functions
// --------------------------------------------------------------------------
#if ENABLED(SDSUPPORT)
#include "../../../SdFatUtil.h"
int freeMemory() { return SdFatUtil::FreeRam(); }
#else
extern "C" {
extern char __bss_end;
extern char __heap_start;
extern void* __brkval;
int freeMemory() {
int free_memory;
if ((int)__brkval == 0)
free_memory = ((int)&free_memory) - ((int)&__bss_end);
else
free_memory = ((int)&free_memory) - ((int)__brkval);
return free_memory;
}
}
#endif //!SDSUPPORT
#endif

160
Marlin/src/HAL/HAL_AVR/HAL_AVR.h Normal file
View file

@ -0,0 +1,160 @@
/* **************************************************************************
Marlin 3D Printer Firmware
Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
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 <http://www.gnu.org/licenses/>.
****************************************************************************/
/**
* Description: HAL for AVR
*
* For ARDUINO_ARCH_AVR
*/
#ifndef _HAL_AVR_H
#define _HAL_AVR_H
// --------------------------------------------------------------------------
// Includes
// --------------------------------------------------------------------------
#include <stdint.h>
#include "Arduino.h"
#include <util/delay.h>
#include <avr/eeprom.h>
#include <avr/pgmspace.h>
#include <avr/interrupt.h>
#include <avr/io.h>
#include "fastio_AVR.h"
#include "watchdog_AVR.h"
#include "math_AVR.h"
// --------------------------------------------------------------------------
// Defines
// --------------------------------------------------------------------------
//#define analogInputToDigitalPin(IO) IO
#ifndef CRITICAL_SECTION_START
#define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli();
#define CRITICAL_SECTION_END SREG = _sreg;
#endif
// On AVR this is in math.h?
//#define square(x) ((x)*(x))
// --------------------------------------------------------------------------
// Types
// --------------------------------------------------------------------------
#define HAL_TIMER_TYPE uint16_t
#define HAL_TIMER_TYPE_MAX 0xFFFF
#define HAL_SERVO_LIB Servo
// --------------------------------------------------------------------------
// Public Variables
// --------------------------------------------------------------------------
//extern uint8_t MCUSR;
// --------------------------------------------------------------------------
// Public functions
// --------------------------------------------------------------------------
//void cli(void);
//void _delay_ms(int delay);
inline void HAL_clear_reset_source(void) { MCUSR = 0; }
inline uint8_t HAL_get_reset_source(void) { return MCUSR; }
extern "C" {
int freeMemory(void);
}
// eeprom
//void eeprom_write_byte(unsigned char *pos, unsigned char value);
//unsigned char eeprom_read_byte(unsigned char *pos);
// timers
#define STEP_TIMER_NUM OCR1A
#define TEMP_TIMER_NUM 0
#define TEMP_TIMER_FREQUENCY (F_CPU / 64.0 / 256.0)
#define HAL_TIMER_RATE ((F_CPU) / 8.0)
#define HAL_STEPPER_TIMER_RATE HAL_TIMER_RATE
#define STEPPER_TIMER_PRESCALE INT0_PRESCALER
#define ENABLE_STEPPER_DRIVER_INTERRUPT() SBI(TIMSK1, OCIE1A)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
#define ENABLE_TEMPERATURE_INTERRUPT() SBI(TIMSK0, OCIE0B)
#define DISABLE_TEMPERATURE_INTERRUPT() CBI(TIMSK0, OCIE0B)
//void HAL_timer_start (uint8_t timer_num, uint32_t frequency);
#define HAL_timer_start (timer_num,frequency)
//void HAL_timer_set_count (uint8_t timer_num, uint16_t count);
#define HAL_timer_set_count(timer,count) timer = (count)
#define HAL_timer_get_current_count(timer) timer
//void HAL_timer_isr_prologue (uint8_t timer_num);
#define HAL_timer_isr_prologue(timer_num)
#define HAL_STEP_TIMER_ISR ISR(TIMER1_COMPA_vect)
#define HAL_TEMP_TIMER_ISR ISR(TIMER0_COMPB_vect)
#define HAL_ENABLE_ISRs() do { cli(); if (thermalManager.in_temp_isr)DISABLE_TEMPERATURE_INTERRUPT(); else ENABLE_TEMPERATURE_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
// ADC
#ifdef DIDR2
#define HAL_ANALOG_SELECT(pin) do{ if (pin < 8) SBI(DIDR0, pin); else SBI(DIDR2, pin - 8); }while(0)
#else
#define HAL_ANALOG_SELECT(pin) do{ SBI(DIDR0, pin); }while(0)
#endif
inline void HAL_adc_init(void) {
ADCSRA = _BV(ADEN) | _BV(ADSC) | _BV(ADIF) | 0x07;
DIDR0 = 0;
#ifdef DIDR2
DIDR2 = 0;
#endif
}
#define SET_ADMUX_ADCSRA(pin) ADMUX = _BV(REFS0) | (pin & 0x07); SBI(ADCSRA, ADSC)
#ifdef MUX5
#define HAL_START_ADC(pin) if (pin > 7) ADCSRB = _BV(MUX5); else ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
#else
#define HAL_START_ADC(pin) ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
#endif
#define HAL_READ_ADC ADC
// --------------------------------------------------------------------------
//
// --------------------------------------------------------------------------
#endif // _HAL_AVR_H

24
Marlin/pinsDebug.h → Marlin/src/HAL/HAL_AVR/HAL_pinsDebug_AVR.h
View file

@ -20,6 +20,16 @@
*
*/
#ifndef HAL_PINSDEBUG_AVR_H
void HAL_print_analog_pin(char buffer[], int8_t pin) {
sprintf(buffer, "(A%2d) ", int(pin - analogInputToDigitalPin(0)));
}
void HAL_analog_pin_state(char buffer[], int8_t pin) {
sprintf(buffer, "Analog in =% 5d", analogRead(pin - analogInputToDigitalPin(0)));
}
bool endstop_monitor_flag = false;
#define NAME_FORMAT "%-35s" // one place to specify the format of all the sources of names
@ -46,7 +56,7 @@ bool endstop_monitor_flag = false;
#define REPORT_NAME_DIGITAL(NAME, COUNTER) _ADD_PIN(#NAME, COUNTER)
#define REPORT_NAME_ANALOG(NAME, COUNTER) _ADD_PIN(#NAME, COUNTER)
#include "pinsDebug_list.h"
#include "../../../pinsDebug_list.h"
#line 51
// manually add pins that have names that are macros which don't play well with these macros
@ -97,7 +107,7 @@ const PinInfo pin_array[] PROGMEM = {
#endif
#endif
#include "pinsDebug_list.h"
#include "../../../pinsDebug_list.h"
#line 102
};
@ -146,7 +156,7 @@ const PinInfo pin_array[] PROGMEM = {
* Print a pin's PWM status.
* Return true if it's currently a PWM pin.
*/
static bool pwm_status(uint8_t pin) {
static bool HAL_pwm_status(uint8_t pin) {
char buffer[20]; // for the sprintf statements
switch (digitalPinToTimer_DEBUG(pin)) {
@ -338,7 +348,7 @@ void timer_prefix(uint8_t T, char L, uint8_t N) { // T - timer L - pwm N -
if (TEST(*TMSK, TOIE)) err_prob_interrupt();
}
static void pwm_details(uint8_t pin) {
static void HAL_pwm_details(uint8_t pin) {
switch (digitalPinToTimer_DEBUG(pin)) {
#if defined(TCCR0A) && defined(COM0A1)
@ -514,7 +524,7 @@ inline void report_pin_state_extended(int8_t pin, bool ignore, bool extended = f
print_input_or_output(false);
SERIAL_PROTOCOL(digitalRead_mod(pin));
}
else if (pwm_status(pin)) {
else if (HAL_pwm_status(pin)) {
// do nothing
}
else {
@ -522,7 +532,7 @@ inline void report_pin_state_extended(int8_t pin, bool ignore, bool extended = f
SERIAL_PROTOCOL(digitalRead_mod(pin));
}
}
if (!multi_name_pin && extended) pwm_details(pin); // report PWM capabilities only on the first pass & only if doing an extended report
if (!multi_name_pin && extended) HAL_pwm_details(pin); // report PWM capabilities only on the first pass & only if doing an extended report
}
}
}
@ -581,3 +591,5 @@ inline void report_pin_state_extended(int8_t pin, bool ignore, bool extended = f
SERIAL_EOL();
}
}
#endif //HAL_PINSDEBUG_AVR_H

213
Marlin/src/HAL/HAL_AVR/HAL_spi_AVR.cpp Normal file
View file

@ -0,0 +1,213 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
*
*/
/**
* Originally from Arduino Sd2Card Library
* Copyright (C) 2009 by William Greiman
*/
/**
* Description: HAL for AVR - SPI functions
*
* For ARDUINO_ARCH_AVR
*/
#ifdef ARDUINO_ARCH_AVR
// --------------------------------------------------------------------------
// Includes
// --------------------------------------------------------------------------
#include "../../../MarlinConfig.h"
// --------------------------------------------------------------------------
// Public Variables
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Public functions
// --------------------------------------------------------------------------
void spiBegin (void) {
SET_OUTPUT(SS_PIN);
WRITE(SS_PIN, HIGH);
SET_OUTPUT(SCK_PIN);
SET_INPUT(MISO_PIN);
SET_OUTPUT(MOSI_PIN);
#if DISABLED(SOFTWARE_SPI)
// SS must be in output mode even it is not chip select
SET_OUTPUT(SS_PIN);
// set SS high - may be chip select for another SPI device
#if SET_SPI_SS_HIGH
WRITE(SS_PIN, HIGH);
#endif // SET_SPI_SS_HIGH
// set a default rate
spiInit(1);
#endif // SOFTWARE_SPI
}
//------------------------------------------------------------------------------
#if DISABLED(SOFTWARE_SPI)
// functions for hardware SPI
//------------------------------------------------------------------------------
// make sure SPCR rate is in expected bits
#if (SPR0 != 0 || SPR1 != 1)
#error "unexpected SPCR bits"
#endif
/**
* Initialize hardware SPI
* Set SCK rate to F_CPU/pow(2, 1 + spiRate) for spiRate [0,6]
*/
void spiInit(uint8_t spiRate) {
// See avr processor documentation
CBI(
#ifdef PRR
PRR
#elif defined(PRR0)
PRR0
#endif
, PRSPI);
SPCR = _BV(SPE) | _BV(MSTR) | (spiRate >> 1);
SPSR = spiRate & 1 || spiRate == 6 ? 0 : _BV(SPI2X);
}
//------------------------------------------------------------------------------
/** SPI receive a byte */
uint8_t spiRec(void) {
SPDR = 0XFF;
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
return SPDR;
}
//------------------------------------------------------------------------------
/** SPI read data */
void spiRead(uint8_t* buf, uint16_t nbyte) {
if (nbyte-- == 0) return;
SPDR = 0XFF;
for (uint16_t i = 0; i < nbyte; i++) {
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
buf[i] = SPDR;
SPDR = 0XFF;
}
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
buf[nbyte] = SPDR;
}
//------------------------------------------------------------------------------
/** SPI send a byte */
void spiSend(uint8_t b) {
SPDR = b;
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
}
//------------------------------------------------------------------------------
/** SPI send block */
void spiSendBlock(uint8_t token, const uint8_t* buf) {
SPDR = token;
for (uint16_t i = 0; i < 512; i += 2) {
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
SPDR = buf[i];
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
SPDR = buf[i + 1];
}
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
}
//------------------------------------------------------------------------------
#else // SOFTWARE_SPI
//------------------------------------------------------------------------------
/** nop to tune soft SPI timing */
#define nop asm volatile ("\tnop\n")
/** Set SPI rate */
void spiInit(uint8_t spiRate) {
// nothing to do
UNUSED(spiRate);
}
//------------------------------------------------------------------------------
/** Soft SPI receive byte */
uint8_t spiRec() {
uint8_t data = 0;
// no interrupts during byte receive - about 8 us
cli();
// output pin high - like sending 0XFF
WRITE(MOSI_PIN, HIGH);
for (uint8_t i = 0; i < 8; i++) {
WRITE(SCK_PIN, HIGH);
// adjust so SCK is nice
nop;
nop;
data <<= 1;
if (READ(MISO_PIN)) data |= 1;
WRITE(SCK_PIN, LOW);
}
// enable interrupts
sei();
return data;
}
//------------------------------------------------------------------------------
/** Soft SPI read data */
void spiRead(uint8_t* buf, uint16_t nbyte) {
for (uint16_t i = 0; i < nbyte; i++)
buf[i] = spiRec();
}
//------------------------------------------------------------------------------
/** Soft SPI send byte */
void spiSend(uint8_t data) {
// no interrupts during byte send - about 8 us
cli();
for (uint8_t i = 0; i < 8; i++) {
WRITE(SCK_PIN, LOW);
WRITE(MOSI_PIN, data & 0X80);
data <<= 1;
WRITE(SCK_PIN, HIGH);
}
// hold SCK high for a few ns
nop;
nop;
nop;
nop;
WRITE(SCK_PIN, LOW);
// enable interrupts
sei();
}
//------------------------------------------------------------------------------
/** Soft SPI send block */
void spiSendBlock(uint8_t token, const uint8_t* buf) {
spiSend(token);
for (uint16_t i = 0; i < 512; i++)
spiSend(buf[i]);
}
#endif // SOFTWARE_SPI
#endif // ARDUINO_ARCH_AVR

9
Marlin/MarlinSerial.cpp → Marlin/src/HAL/HAL_AVR/MarlinSerial.cpp
View file

@ -28,9 +28,10 @@
* Modified 28 September 2010 by Mark Sproul
* Modified 14 February 2016 by Andreas Hardtung (added tx buffer)
*/
#ifdef ARDUINO_ARCH_AVR
#include "MarlinSerial.h"
#include "Marlin.h"
#include "../../../Marlin.h"
// Disable HardwareSerial.cpp to support chips without a UART (Attiny, etc.)
@ -46,8 +47,8 @@
#if ENABLED(EMERGENCY_PARSER)
#include "stepper.h"
#include "language.h"
#include "../../../stepper.h"
#include "../../../language.h"
// Currently looking for: M108, M112, M410
// If you alter the parser please don't forget to update the capabilities in Conditionals_post.h
@ -515,3 +516,5 @@
#if defined(USBCON) && ENABLED(BLUETOOTH)
HardwareSerial bluetoothSerial;
#endif
#endif

5
Marlin/MarlinSerial.h → Marlin/src/HAL/HAL_AVR/MarlinSerial.h
View file

@ -32,7 +32,9 @@
#ifndef MARLINSERIAL_H
#define MARLINSERIAL_H
#include "MarlinConfig.h"
#include "../../../MarlinConfig.h"
#include <WString.h>
#ifndef SERIAL_PORT
#define SERIAL_PORT 0
@ -160,6 +162,7 @@
static void println(unsigned long, int = DEC);
static void println(double, int = 2);
static void println(void);
operator bool() { return true; }
};
extern MarlinSerial customizedSerial;

90
Marlin/src/HAL/HAL_AVR/ServoTimers.h Normal file
View file

@ -0,0 +1,90 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
*
*/
/*
Servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
Copyright (c) 2009 Michael Margolis. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library 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
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
/*
* Defines for 16 bit timers used with Servo library
*
* If _useTimerX is defined then TimerX is a 16 bit timer on the current board
* timer16_Sequence_t enumerates the sequence that the timers should be allocated
* _Nbr_16timers indicates how many 16 bit timers are available.
*/
/**
* AVR Only definitions
* --------------------
*/
#define TRIM_DURATION 2 // compensation ticks to trim adjust for digitalWrite delays
#define PRESCALER 8 // timer prescaler
// Say which 16 bit timers can be used and in what order
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
//#define _useTimer1
#define _useTimer3
#define _useTimer4
#if !HAS_MOTOR_CURRENT_PWM
#define _useTimer5 // Timer 5 is used for motor current PWM and can't be used for servos.
#endif
#elif defined(__AVR_ATmega32U4__)
#define _useTimer3
#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
#define _useTimer3
#elif defined(__AVR_ATmega128__) || defined(__AVR_ATmega1281__) || defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega2561__)
#define _useTimer3
#else
// everything else
#endif
typedef enum {
#if ENABLED(_useTimer1)
_timer1,
#endif
#if ENABLED(_useTimer3)
_timer3,
#endif
#if ENABLED(_useTimer4)
_timer4,
#endif
#if ENABLED(_useTimer5)
_timer5,
#endif
_Nbr_16timers
} timer16_Sequence_t;

12
Marlin/endstop_interrupts.h → Marlin/src/HAL/HAL_AVR/endstop_interrupts.h
View file

@ -38,7 +38,7 @@
#ifndef _ENDSTOP_INTERRUPTS_H_
#define _ENDSTOP_INTERRUPTS_H_
#include "macros.h"
#include "../../../macros.h"
/**
* Patch for pins_arduino.h (...\Arduino\hardware\arduino\avr\variants\mega\pins_arduino.h)
@ -72,8 +72,6 @@
0 )
#endif
volatile uint8_t e_hit = 0; // Different from 0 when the endstops should be tested in detail.
// Must be reset to 0 by the test function when finished.
// Install Pin change interrupt for a pin. Can be called multiple times.
void pciSetup(byte pin) {
@ -82,14 +80,6 @@ void pciSetup(byte pin) {
SBI(PCICR, digitalPinToPCICRbit(pin)); // enable interrupt for the group
}
// This is what is really done inside the interrupts.
FORCE_INLINE void endstop_ISR_worker( void ) {
e_hit = 2; // Because the detection of a e-stop hit has a 1 step debouncer it has to be called at least twice.
}
// Use one Routine to handle each group
// One ISR for all EXT-Interrupts
void endstop_ISR(void) { endstop_ISR_worker(); }
// Handlers for pin change interrupts
#ifdef PCINT0_vect

2
Marlin/fastio_1280.h → Marlin/src/HAL/HAL_AVR/fastio_1280.h
View file

@ -31,7 +31,7 @@
#ifndef _FASTIO_1280
#define _FASTIO_1280
#include "fastio.h"
#include "fastio_AVR.h"
// change for your board
#define DEBUG_LED DIO21

2
Marlin/fastio_1281.h → Marlin/src/HAL/HAL_AVR/fastio_1281.h
View file

@ -31,7 +31,7 @@
#ifndef _FASTIO_1281
#define _FASTIO_1281
#include "fastio.h"
#include "fastio_AVR.h"
// change for your board
#define DEBUG_LED DIO46

2
Marlin/fastio_168.h → Marlin/src/HAL/HAL_AVR/fastio_168.h
View file

@ -31,7 +31,7 @@
#ifndef _FASTIO_168
#define _FASTIO_168
#include "fastio.h"
#include "fastio_AVR.h"
#define DEBUG_LED AIO5

2
Marlin/fastio_644.h → Marlin/src/HAL/HAL_AVR/fastio_644.h
View file

@ -31,7 +31,7 @@
#ifndef _FASTIO_644
#define _FASTIO_644
#include "fastio.h"
#include "fastio_AVR.h"
#define DEBUG_LED DIO0

2
Marlin/fastio_AT90USB.h → Marlin/src/HAL/HAL_AVR/fastio_AT90USB.h
View file

@ -32,7 +32,7 @@
#ifndef _FASTIO_AT90USB
#define _FASTIO_AT90USB
#include "fastio.h"
#include "fastio_AVR.h"
// change for your board
#define DEBUG_LED DIO31 /* led D5 red */

7
Marlin/fastio.h → Marlin/src/HAL/HAL_AVR/fastio_AVR.h
View file

@ -30,7 +30,7 @@
#define _FASTIO_ARDUINO_H
#include <avr/io.h>
#include "macros.h"
#include "../../../macros.h"
#define AVR_AT90USB1286_FAMILY (defined(__AVR_AT90USB1287__) || defined(__AVR_AT90USB1286__) || defined(__AVR_AT90USB1286P__) || defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB646P__) || defined(__AVR_AT90USB647__))
#define AVR_ATmega1284_FAMILY (defined(__AVR_ATmega644__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__) || defined(__AVR_ATmega1284P__))
@ -38,7 +38,6 @@
#define AVR_ATmega2561_FAMILY (defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__))
#define AVR_ATmega328_FAMILY (defined(__AVR_ATmega168__) || defined(__AVR_ATmega328__) || defined(__AVR_ATmega328p__))
/**
* Include Ports and Functions
*/
@ -57,7 +56,7 @@
#endif
#ifndef _BV
#define _BV(PIN) (1UL << PIN)
#define _BV(bit) (1UL << (bit))
#endif
/**
@ -269,7 +268,7 @@ typedef enum {
#define PWM_CHK_MOTOR_CURRENT(p) false
#endif
#if defined(NUM_SERVOS)
#ifdef NUM_SERVOS
#if AVR_ATmega2560_FAMILY
#define PWM_CHK_SERVO(p) ( p == 5 || NUM_SERVOS > 12 && p == 6 || NUM_SERVOS > 24 && p == 46) //PWMS 3A, 4A & 5A
#elif AVR_ATmega2561_FAMILY

112
Marlin/src/HAL/HAL_AVR/math_AVR.h Normal file
View file

@ -0,0 +1,112 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
*
*/
#ifndef MATH_AVR_H
#define MATH_AVR_H
/**
* Optimized math functions for AVR
*/
// intRes = longIn1 * longIn2 >> 24
// uses:
// r26 to store 0
// r27 to store bits 16-23 of the 48bit result. The top bit is used to round the two byte result.
// note that the lower two bytes and the upper byte of the 48bit result are not calculated.
// this can cause the result to be out by one as the lower bytes may cause carries into the upper ones.
// B0 A0 are bits 24-39 and are the returned value
// C1 B1 A1 is longIn1
// D2 C2 B2 A2 is longIn2
//
#define MultiU24X32toH16(intRes, longIn1, longIn2) \
asm volatile ( \
"clr r26 \n\t" \
"mul %A1, %B2 \n\t" \
"mov r27, r1 \n\t" \
"mul %B1, %C2 \n\t" \
"movw %A0, r0 \n\t" \
"mul %C1, %C2 \n\t" \
"add %B0, r0 \n\t" \
"mul %C1, %B2 \n\t" \
"add %A0, r0 \n\t" \
"adc %B0, r1 \n\t" \
"mul %A1, %C2 \n\t" \
"add r27, r0 \n\t" \
"adc %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"mul %B1, %B2 \n\t" \
"add r27, r0 \n\t" \
"adc %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"mul %C1, %A2 \n\t" \
"add r27, r0 \n\t" \
"adc %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"mul %B1, %A2 \n\t" \
"add r27, r1 \n\t" \
"adc %A0, r26 \n\t" \
"adc %B0, r26 \n\t" \
"lsr r27 \n\t" \
"adc %A0, r26 \n\t" \
"adc %B0, r26 \n\t" \
"mul %D2, %A1 \n\t" \
"add %A0, r0 \n\t" \
"adc %B0, r1 \n\t" \
"mul %D2, %B1 \n\t" \
"add %B0, r0 \n\t" \
"clr r1 \n\t" \
: \
"=&r" (intRes) \
: \
"d" (longIn1), \
"d" (longIn2) \
: \
"r26" , "r27" \
)
// intRes = intIn1 * intIn2 >> 16
// uses:
// r26 to store 0
// r27 to store the byte 1 of the 24 bit result
#define MultiU16X8toH16(intRes, charIn1, intIn2) \
asm volatile ( \
"clr r26 \n\t" \
"mul %A1, %B2 \n\t" \
"movw %A0, r0 \n\t" \
"mul %A1, %A2 \n\t" \
"add %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"lsr r0 \n\t" \
"adc %A0, r26 \n\t" \
"adc %B0, r26 \n\t" \
"clr r1 \n\t" \
: \
"=&r" (intRes) \
: \
"d" (charIn1), \
"d" (intIn2) \
: \
"r26" \
)
#endif

57
Marlin/src/HAL/HAL_AVR/persistent_store.cpp Normal file
View file

@ -0,0 +1,57 @@
#include "../persistent_store_api.h"
#include "../../../types.h"
#include "../../../language.h"
#include "../../../serial.h"
#include "../../../utility.h"
#ifdef ARDUINO_ARCH_AVR
#if ENABLED(EEPROM_SETTINGS)
namespace HAL {
namespace PersistentStore {
bool access_start() {
return true;
}
bool access_finish(){
return true;
}
bool write_data(int &pos, const uint8_t *value, uint16_t size, uint16_t *crc) {
while (size--) {
uint8_t * const p = (uint8_t * const)pos;
uint8_t v = *value;
// EEPROM has only ~100,000 write cycles,
// so only write bytes that have changed!
if (v != eeprom_read_byte(p)) {
eeprom_write_byte(p, v);
if (eeprom_read_byte(p) != v) {
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM(MSG_ERR_EEPROM_WRITE);
return false;
}
}
crc16(crc, &v, 1);
pos++;
value++;
};
return true;
}
void read_data(int &pos, uint8_t* value, uint16_t size, uint16_t *crc) {
do {
uint8_t c = eeprom_read_byte((unsigned char*)pos);
*value = c;
crc16(crc, &c, 1);
pos++;
value++;
} while (--size);
}
}
}
#endif // EEPROM_SETTINGS
#endif // ARDUINO_ARCH_AVR

0
Marlin/pinsDebug_Teensyduino.h → Marlin/src/HAL/HAL_AVR/pinsDebug_Teensyduino.h
View file

0
Marlin/pinsDebug_plus_70.h → Marlin/src/HAL/HAL_AVR/pinsDebug_plus_70.h
View file

127
Marlin/servo.cpp → Marlin/src/HAL/HAL_AVR/servo_AVR.cpp
View file

@ -20,6 +20,7 @@
*
*/
/**
* servo.cpp - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
* Copyright (c) 2009 Michael Margolis. All right reserved.
@ -50,36 +51,21 @@
* detach() - Stop an attached servo from pulsing its i/o pin.
*
*/
#include "MarlinConfig.h"
#ifdef ARDUINO_ARCH_AVR
#include "../../../MarlinConfig.h"
#if HAS_SERVOS
#include <avr/interrupt.h>
#include <Arduino.h>
#include "servo.h"
#include "../servo.h"
#include "../servo_private.h"
#define usToTicks(_us) (( clockCyclesPerMicrosecond()* _us) / 8) // converts microseconds to tick (assumes prescale of 8) // 12 Aug 2009
#define ticksToUs(_ticks) (( (unsigned)_ticks * 8)/ clockCyclesPerMicrosecond() ) // converts from ticks back to microseconds
#define TRIM_DURATION 2 // compensation ticks to trim adjust for digitalWrite delays // 12 August 2009
//#define NBR_TIMERS ((MAX_SERVOS) / (SERVOS_PER_TIMER))
static ServoInfo_t servo_info[MAX_SERVOS]; // static array of servo info structures
static volatile int8_t Channel[_Nbr_16timers ]; // counter for the servo being pulsed for each timer (or -1 if refresh interval)
uint8_t ServoCount = 0; // the total number of attached servos
// convenience macros
#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / (SERVOS_PER_TIMER))) // returns the timer controlling this servo
#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % (SERVOS_PER_TIMER)) // returns the index of the servo on this timer
#define SERVO_INDEX(_timer,_channel) ((_timer*(SERVOS_PER_TIMER)) + _channel) // macro to access servo index by timer and channel
#define SERVO(_timer,_channel) (servo_info[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel
#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in uS for this servo
#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in uS for this servo
/************ static functions common to all instances ***********************/
@ -138,8 +124,9 @@ static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t
#endif // WIRING
/****************** end of static functions ******************************/
static void initISR(timer16_Sequence_t timer) {
void initISR(timer16_Sequence_t timer) {
#if ENABLED(_useTimer1)
if (timer == _timer1) {
TCCR1A = 0; // normal counting mode
@ -198,7 +185,7 @@ static void initISR(timer16_Sequence_t timer) {
#endif
}
static void finISR(timer16_Sequence_t timer) {
void finISR(timer16_Sequence_t timer) {
// Disable use of the given timer
#ifdef WIRING
if (timer == _timer1) {
@ -227,96 +214,6 @@ static void finISR(timer16_Sequence_t timer) {
#endif
}
static bool isTimerActive(timer16_Sequence_t timer) {
// returns true if any servo is active on this timer
for (uint8_t channel = 0; channel < SERVOS_PER_TIMER; channel++) {
if (SERVO(timer, channel).Pin.isActive)
return true;
}
return false;
}
#endif // HAS_SERVOS
/****************** end of static functions ******************************/
Servo::Servo() {
if (ServoCount < MAX_SERVOS) {
this->servoIndex = ServoCount++; // assign a servo index to this instance
servo_info[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values - 12 Aug 2009
}
else
this->servoIndex = INVALID_SERVO; // too many servos
}
int8_t Servo::attach(int pin) {
return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
}
int8_t Servo::attach(int pin, int min, int max) {
if (this->servoIndex >= MAX_SERVOS) return -1;
if (pin > 0) servo_info[this->servoIndex].Pin.nbr = pin;
pinMode(servo_info[this->servoIndex].Pin.nbr, OUTPUT); // set servo pin to output
// todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
this->min = (MIN_PULSE_WIDTH - min) / 4; //resolution of min/max is 4 uS
this->max = (MAX_PULSE_WIDTH - max) / 4;
// initialize the timer if it has not already been initialized
timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
if (!isTimerActive(timer)) initISR(timer);
servo_info[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
return this->servoIndex;
}
void Servo::detach() {
servo_info[this->servoIndex].Pin.isActive = false;
timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
if (!isTimerActive(timer)) finISR(timer);
}
void Servo::write(int value) {
if (value < MIN_PULSE_WIDTH) { // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
value = map(constrain(value, 0, 180), 0, 180, SERVO_MIN(), SERVO_MAX());
}
this->writeMicroseconds(value);
}
void Servo::writeMicroseconds(int value) {
// calculate and store the values for the given channel
byte channel = this->servoIndex;
if (channel < MAX_SERVOS) { // ensure channel is valid
// ensure pulse width is valid
value = constrain(value, SERVO_MIN(), SERVO_MAX()) - (TRIM_DURATION);
value = usToTicks(value); // convert to ticks after compensating for interrupt overhead - 12 Aug 2009
CRITICAL_SECTION_START;
servo_info[channel].ticks = value;
CRITICAL_SECTION_END;
}
}
// return the value as degrees
int Servo::read() { return map(this->readMicroseconds() + 1, SERVO_MIN(), SERVO_MAX(), 0, 180); }
int Servo::readMicroseconds() {
return (this->servoIndex == INVALID_SERVO) ? 0 : ticksToUs(servo_info[this->servoIndex].ticks) + TRIM_DURATION;
}
bool Servo::attached() { return servo_info[this->servoIndex].Pin.isActive; }
void Servo::move(int value) {
constexpr uint16_t servo_delay[] = SERVO_DELAY;
static_assert(COUNT(servo_delay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
if (this->attach(0) >= 0) {
this->write(value);
delay(servo_delay[this->servoIndex]);
#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
this->detach();
#endif
}
}
#endif
#endif // ARDUINO_ARCH_AVR

67
Marlin/src/HAL/HAL_AVR/spi_pins.h Normal file
View file

@ -0,0 +1,67 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* 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 <http://www.gnu.org/licenses/>.
*
*/
#ifndef SPI_PINS_H_
#define SPI_PINS_H_
/**
* Define SPI Pins: SCK, MISO, MOSI, SS
*/
#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328__) || defined(__AVR_ATmega328P__)
#define AVR_SCK_PIN 13
#define AVR_MISO_PIN 12
#define AVR_MOSI_PIN 11
#define AVR_SS_PIN 10
#elif defined(__AVR_ATmega644__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__) || defined(__AVR_ATmega1284P__)
#define AVR_SCK_PIN 7
#define AVR_MISO_PIN 6
#define AVR_MOSI_PIN 5
#define AVR_SS_PIN 4
#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
#define AVR_SCK_PIN 52
#define AVR_MISO_PIN 50
#define AVR_MOSI_PIN 51
#define AVR_SS_PIN 53
#elif defined(__AVR_AT90USB1287__) || defined(__AVR_AT90USB1286__) || defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB647__)
#define AVR_SCK_PIN 21
#define AVR_MISO_PIN 23
#define AVR_MOSI_PIN 22
#define AVR_SS_PIN 20
#elif defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__)
#define AVR_SCK_PIN 10
#define AVR_MISO_PIN 12
#define AVR_MOSI_PIN 11
#define AVR_SS_PIN 16
#endif
#ifndef SCK_PIN
#define SCK_PIN AVR_SCK_PIN
#endif
#ifndef MISO_PIN
#define MISO_PIN AVR_MISO_PIN
#endif
#ifndef MOSI_PIN
#define MOSI_PIN AVR_MOSI_PIN
#endif
#ifndef SS_PIN
#define SS_PIN AVR_SS_PIN
#endif
#endif /* SPI_PINS_H_ */

7
Marlin/watchdog.cpp → Marlin/src/HAL/HAL_AVR/watchdog_AVR.cpp
View file

@ -20,11 +20,13 @@
*
*/
#include "Marlin.h"
#ifdef ARDUINO_ARCH_AVR
#include "../../../Marlin.h"
#if ENABLED(USE_WATCHDOG)
#include "watchdog.h"
#include "watchdog_AVR.h"
// Initialize watchdog with a 4 sec interrupt time
void watchdog_init() {
@ -54,3 +56,4 @@ void watchdog_init() {
#endif // WATCHDOG_RESET_MANUAL
#endif // USE_WATCHDOG
#endif // ARDUINO_ARCH_AVR

7
Marlin/watchdog.h → Marlin/src/HAL/HAL_AVR/watchdog_AVR.h
View file

@ -20,10 +20,11 @@
*
*/
#ifndef WATCHDOG_H
#define WATCHDOG_H
#ifndef WATCHDOG_AVR_H
#define WATCHDOG_AVR_H
//#include "../../../Marlin.h"
#include "Marlin.h"
#include <avr/wdt.h>
// Initialize watchdog with a 4 second interrupt time

53
Marlin/src/HAL/HAL_endstop_interrupts.h Normal file
View file

@ -0,0 +1,53 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* 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 <http://www.gnu.org/licenses/>.
*
*/
#ifndef HAL_ENDSTOP_INTERRUPTS_H_
#define HAL_ENDSTOP_INTERRUPTS_H_
volatile uint8_t e_hit = 0; // Different from 0 when the endstops should be tested in detail.
// Must be reset to 0 by the test function when finished.
// This is what is really done inside the interrupts.
FORCE_INLINE void endstop_ISR_worker( void ) {
e_hit = 2; // Because the detection of a e-stop hit has a 1 step debouncer it has to be called at least twice.
}
// One ISR for all EXT-Interrupts
void endstop_ISR(void) { endstop_ISR_worker(); }
#ifdef ARDUINO_ARCH_AVR
#include "HAL_AVR/endstop_interrupts.h"
#elif defined(ARDUINO_ARCH_SAM)
#include "HAL_DUE/endstop_interrupts.h"
#elif IS_32BIT_TEENSY
#include "HAL_TEENSY35_36/endstop_interrupts.h"
#else
#error Unsupported Platform!
#endif
#endif /* HAL_ENDSTOP_INTERRUPTS_H_ */

35
Marlin/src/HAL/HAL_pinsDebug.h Normal file
View file

@ -0,0 +1,35 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
*
*/
#ifndef HAL_PINSDEBUG_H
#ifdef ARDUINO_ARCH_AVR
#include "HAL_AVR/HAL_pinsDebug_AVR.h"
#elif defined(ARDUINO_ARCH_SAM)
#include "HAL_DUE/HAL_pinsDebug_Due.h"
#elif IS_32BIT_TEENSY
#include "HAL_TEENSY35_36/HAL_pinsDebug_Teensy.h"
#else
#error Unsupported Platform!
#endif
#endif

39
Marlin/src/HAL/HAL_spi_pins.h Normal file
View file

@ -0,0 +1,39 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* 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 <http://www.gnu.org/licenses/>.
*
*/
#ifndef HAL_SPI_PINS_H_
#define HAL_SPI_PINS_H_
#include "MarlinConfig.h"
#ifdef ARDUINO_ARCH_SAM
#include "HAL_DUE/spi_pins.h"
#elif defined(IS_32BIT_TEENSY)
#include "HAL_TEENSY35_36/spi_pins.h"
#elif defined(ARDUINO_ARCH_AVR)
#include "HAL_AVR/spi_pins.h"
#else
#error "Unsupported Platform!"
#endif
#endif /* HAL_SPI_PINS_H_ */

162
Marlin/src/HAL/I2cEeprom.cpp Normal file
View file

@ -0,0 +1,162 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* 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 <http://www.gnu.org/licenses/>.
*
*/
/**
* Description: functions for I2C connected external EEPROM.
* Not platform dependent.
*/
#include "../../MarlinConfig.h"
#if ENABLED(I2C_EEPROM)
// --------------------------------------------------------------------------
// Includes
// --------------------------------------------------------------------------
#include "HAL.h"
#include <Wire.h>
// --------------------------------------------------------------------------
// Externals
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Local defines
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Types
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Variables
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Public Variables
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Private Variables
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Function prototypes
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Private functions
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Public functions
// --------------------------------------------------------------------------
static bool eeprom_initialised = false;
static uint8_t eeprom_device_address = 0x50;
static void eeprom_init(void) {
if (!eeprom_initialised) {
Wire.begin();
eeprom_initialised = true;
}
}
void eeprom_write_byte(unsigned char *pos, unsigned char value) {
unsigned eeprom_address = (unsigned) pos;
eeprom_init();
Wire.beginTransmission(eeprom_device_address);
Wire.write((int)(eeprom_address >> 8)); // MSB
Wire.write((int)(eeprom_address & 0xFF)); // LSB
Wire.write(value);
Wire.endTransmission();
// wait for write cycle to complete
// this could be done more efficiently with "acknowledge polling"
delay(5);
}
// WARNING: address is a page address, 6-bit end will wrap around
// also, data can be maximum of about 30 bytes, because the Wire library has a buffer of 32 bytes
void eeprom_update_block(const void* pos, void* eeprom_address, size_t n) {
uint8_t eeprom_temp[32] = {0};
uint8_t flag = 0;
eeprom_init();
Wire.beginTransmission(eeprom_device_address);
Wire.write((int)((unsigned)eeprom_address >> 8)); // MSB
Wire.write((int)((unsigned)eeprom_address & 0xFF)); // LSB
Wire.endTransmission();
Wire.requestFrom(eeprom_device_address, (byte)n);
for (byte c = 0; c < n; c++) {
if (Wire.available()) eeprom_temp[c] = Wire.read();
flag |= (eeprom_temp[c] ^ *((uint8_t*)pos + c));
}
if (flag) {
Wire.beginTransmission(eeprom_device_address);
Wire.write((int)((unsigned)eeprom_address >> 8)); // MSB
Wire.write((int)((unsigned)eeprom_address & 0xFF)); // LSB
Wire.write((uint8_t*)(pos), n);
Wire.endTransmission();
// wait for write cycle to complete
// this could be done more efficiently with "acknowledge polling"
delay(5);
}
}
unsigned char eeprom_read_byte(unsigned char *pos) {
byte data = 0xFF;
unsigned eeprom_address = (unsigned) pos;
eeprom_init ();
Wire.beginTransmission(eeprom_device_address);
Wire.write((int)(eeprom_address >> 8)); // MSB
Wire.write((int)(eeprom_address & 0xFF)); // LSB
Wire.endTransmission();
Wire.requestFrom(eeprom_device_address, (byte)1);
if (Wire.available())
data = Wire.read();
return data;
}
// maybe let's not read more than 30 or 32 bytes at a time!
void eeprom_read_block(void* pos, const void* eeprom_address, size_t n) {
eeprom_init();
Wire.beginTransmission(eeprom_device_address);
Wire.write((int)((unsigned)eeprom_address >> 8)); // MSB
Wire.write((int)((unsigned)eeprom_address & 0xFF)); // LSB
Wire.endTransmission();
Wire.requestFrom(eeprom_device_address, (byte)n);
for (byte c = 0; c < n; c++ )
if (Wire.available()) *((uint8_t*)pos + c) = Wire.read();
}
#endif // ENABLED(I2C_EEPROM)

117
Marlin/src/HAL/SpiEeprom.cpp Normal file
View file

@ -0,0 +1,117 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* 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 <http://www.gnu.org/licenses/>.
*
*/
/**
* Description: functions for SPI connected external EEPROM.
* Not platform dependent.
*/
#include "../../MarlinConfig.h"
#if ENABLED(SPI_EEPROM)
#include "HAL.h"
#define CMD_WREN 6 // WREN
#define CMD_READ 2 // WRITE
#define CMD_WRITE 2 // WRITE
uint8_t eeprom_read_byte(uint8_t* pos) {
uint8_t v;
uint8_t eeprom_temp[3];
// set read location
// begin transmission from device
eeprom_temp[0] = CMD_READ;
eeprom_temp[1] = ((unsigned)pos>>8) & 0xFF; // addr High
eeprom_temp[2] = (unsigned)pos& 0xFF; // addr Low
digitalWrite(SPI_EEPROM1_CS, HIGH);
digitalWrite(SPI_EEPROM1_CS, LOW);
spiSend(SPI_CHAN_EEPROM1, eeprom_temp, 3);
v = spiRec(SPI_CHAN_EEPROM1);
digitalWrite(SPI_EEPROM1_CS, HIGH);
return v;
}
void eeprom_read_block(void* dest, const void* eeprom_address, size_t n) {
uint8_t eeprom_temp[3];
// set read location
// begin transmission from device
eeprom_temp[0] = CMD_READ;
eeprom_temp[1] = ((unsigned)eeprom_address>>8) & 0xFF; // addr High
eeprom_temp[2] = (unsigned)eeprom_address& 0xFF; // addr Low
digitalWrite(SPI_EEPROM1_CS, HIGH);
digitalWrite(SPI_EEPROM1_CS, LOW);
spiSend(SPI_CHAN_EEPROM1, eeprom_temp, 3);
uint8_t *p_dest = (uint8_t *)dest;
while (n--)
*p_dest++ = spiRec(SPI_CHAN_EEPROM1);
digitalWrite(SPI_EEPROM1_CS, HIGH);
}
void eeprom_write_byte(uint8_t* pos, uint8_t value) {
uint8_t eeprom_temp[3];
/*write enable*/
eeprom_temp[0] = CMD_WREN;
digitalWrite(SPI_EEPROM1_CS, LOW);
spiSend(SPI_CHAN_EEPROM1, eeprom_temp, 1);
digitalWrite(SPI_EEPROM1_CS, HIGH);
delay(1);
/*write addr*/
eeprom_temp[0] = CMD_WRITE;
eeprom_temp[1] = ((unsigned)pos>>8) & 0xFF; //addr High
eeprom_temp[2] = (unsigned)pos & 0xFF; //addr Low
digitalWrite(SPI_EEPROM1_CS, LOW);
spiSend(SPI_CHAN_EEPROM1, eeprom_temp, 3);
spiSend(SPI_CHAN_EEPROM1, value);
digitalWrite(SPI_EEPROM1_CS, HIGH);
delay(7); // wait for page write to complete
}
void eeprom_update_block(const void* src, void* eeprom_address, size_t n) {
uint8_t eeprom_temp[3];
/*write enable*/
eeprom_temp[0] = CMD_WREN;
digitalWrite(SPI_EEPROM1_CS, LOW);
spiSend(SPI_CHAN_EEPROM1, eeprom_temp, 1);
digitalWrite(SPI_EEPROM1_CS, HIGH);
delay(1);
/*write addr*/
eeprom_temp[0] = CMD_WRITE;
eeprom_temp[1] = ((unsigned)eeprom_address>>8) & 0xFF; //addr High
eeprom_temp[2] = (unsigned)eeprom_address & 0xFF; //addr Low
digitalWrite(SPI_EEPROM1_CS, LOW);
spiSend(SPI_CHAN_EEPROM1, eeprom_temp, 3);
spiSend(SPI_CHAN_EEPROM1, (const uint8_t*)src, n);
digitalWrite(SPI_EEPROM1_CS, HIGH);
delay(7); // wait for page write to complete
}
#endif // ENABLED(SPI_EEPROM)

33
Marlin/src/HAL/math_32bit.h Normal file
View file

@ -0,0 +1,33 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
*
*/
#ifndef MATH_32BIT_H
#define MATH_32BIT_H
/**
* Math helper functions for 32 bit CPUs
*/
#define MultiU32X32toH32(intRes, longIn1, longIn2) intRes = ((uint64_t)longIn1 * longIn2 + 0x80000000) >> 32
#define MultiU32X24toH32(intRes, longIn1, longIn2) intRes = ((uint64_t)longIn1 * longIn2 + 0x00800000) >> 24
#endif

19
Marlin/src/HAL/persistent_store_api.h Normal file
View file

@ -0,0 +1,19 @@
#ifndef _PERSISTENT_STORE_H_
#define _PERSISTENT_STORE_H_
#include <stddef.h>
#include <stdint.h>
namespace HAL {
namespace PersistentStore {
bool access_start();
bool access_finish();
bool write_data(int &pos, const uint8_t *value, uint16_t size, uint16_t *crc);
void read_data(int &pos, uint8_t* value, uint16_t size, uint16_t *crc) ;
}
}
#endif /* _PERSISTANT_STORE_H_ */

168
Marlin/src/HAL/servo.cpp Normal file
View file

@ -0,0 +1,168 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
*
*/
/**
* servo.cpp - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
* Copyright (c) 2009 Michael Margolis. All right reserved.
*/
/**
* A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
* The servos are pulsed in the background using the value most recently written using the write() method
*
* Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
* Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
*
* The methods are:
*
* Servo - Class for manipulating servo motors connected to Arduino pins.
*
* attach(pin) - Attach a servo motor to an i/o pin.
* attach(pin, min, max) - Attach to a pin, setting min and max values in microseconds
* Default min is 544, max is 2400
*
* write() - Set the servo angle in degrees. (Invalid angles —over MIN_PULSE_WIDTH— are treated as µs.)
* writeMicroseconds() - Set the servo pulse width in microseconds.
* move(pin, angle) - Sequence of attach(pin), write(angle), delay(SERVO_DELAY).
* With DEACTIVATE_SERVOS_AFTER_MOVE it detaches after SERVO_DELAY.
* read() - Get the last-written servo pulse width as an angle between 0 and 180.
* readMicroseconds() - Get the last-written servo pulse width in microseconds.
* attached() - Return true if a servo is attached.
* detach() - Stop an attached servo from pulsing its i/o pin.
*
*/
#include "../../MarlinConfig.h"
#include "HAL.h"
#if HAS_SERVOS && !IS_32BIT_TEENSY
//#include <Arduino.h>
#include "servo.h"
#include "servo_private.h"
ServoInfo_t servo_info[MAX_SERVOS]; // static array of servo info structures
uint8_t ServoCount = 0; // the total number of attached servos
#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in uS for this servo
#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in uS for this servo
/************ static functions common to all instances ***********************/
static boolean isTimerActive(timer16_Sequence_t timer) {
// returns true if any servo is active on this timer
for (uint8_t channel = 0; channel < SERVOS_PER_TIMER; channel++) {
if (SERVO(timer, channel).Pin.isActive)
return true;
}
return false;
}
/****************** end of static functions ******************************/
Servo::Servo() {
if (ServoCount < MAX_SERVOS) {
this->servoIndex = ServoCount++; // assign a servo index to this instance
servo_info[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values - 12 Aug 2009
}
else
this->servoIndex = INVALID_SERVO; // too many servos
}
int8_t Servo::attach(int pin) {
return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
}
int8_t Servo::attach(int pin, int min, int max) {
if (this->servoIndex >= MAX_SERVOS) return -1;
if (pin > 0) servo_info[this->servoIndex].Pin.nbr = pin;
pinMode(servo_info[this->servoIndex].Pin.nbr, OUTPUT); // set servo pin to output
// todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
this->min = (MIN_PULSE_WIDTH - min) / 4; //resolution of min/max is 4 uS
this->max = (MAX_PULSE_WIDTH - max) / 4;
// initialize the timer if it has not already been initialized
timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
if (!isTimerActive(timer)) initISR(timer);
servo_info[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
return this->servoIndex;
}
void Servo::detach() {
servo_info[this->servoIndex].Pin.isActive = false;
timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
if (!isTimerActive(timer)) finISR(timer);
}
void Servo::write(int value) {
if (value < MIN_PULSE_WIDTH) { // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
value = map(constrain(value, 0, 180), 0, 180, SERVO_MIN(), SERVO_MAX());
}
this->writeMicroseconds(value);
}
void Servo::writeMicroseconds(int value) {
// calculate and store the values for the given channel
byte channel = this->servoIndex;
if (channel < MAX_SERVOS) { // ensure channel is valid
// ensure pulse width is valid
value = constrain(value, SERVO_MIN(), SERVO_MAX()) - (TRIM_DURATION);
value = usToTicks(value); // convert to ticks after compensating for interrupt overhead - 12 Aug 2009
CRITICAL_SECTION_START;
servo_info[channel].ticks = value;
CRITICAL_SECTION_END;
}
}
// return the value as degrees
int Servo::read() { return map(this->readMicroseconds() + 1, SERVO_MIN(), SERVO_MAX(), 0, 180); }
int Servo::readMicroseconds() {
return (this->servoIndex == INVALID_SERVO) ? 0 : ticksToUs(servo_info[this->servoIndex].ticks) + TRIM_DURATION;
}
bool Servo::attached() { return servo_info[this->servoIndex].Pin.isActive; }
void Servo::move(int value) {
constexpr uint16_t servo_delay[] = SERVO_DELAY;
static_assert(COUNT(servo_delay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
if (this->attach(0) >= 0) {
this->write(value);
delay(servo_delay[this->servoIndex]);
#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
this->detach();
#endif
}
}
#endif // HAS_SERVOS

70
Marlin/servo.h → Marlin/src/HAL/servo.h
View file

@ -69,74 +69,20 @@
#ifndef servo_h
#define servo_h
#if IS_32BIT_TEENSY
#include "HAL_TEENSY35_36/HAL_Servo_Teensy.h" // Teensy HAL uses an inherited library
#else
#include <inttypes.h>
/**
* Defines for 16 bit timers used with Servo library
*
* If _useTimerX is defined then TimerX is a 16 bit timer on the current board
* timer16_Sequence_t enumerates the sequence that the timers should be allocated
* _Nbr_16timers indicates how many 16 bit timers are available.
*
*/
// Say which 16 bit timers can be used and in what order
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
//#define _useTimer1 // Timer 1 is used by the stepper ISR
#define _useTimer3
#define _useTimer4
#if !HAS_MOTOR_CURRENT_PWM
#define _useTimer5 // Timer 5 is used for motor current PWM and can't be used for servos.
#endif
#elif defined(__AVR_ATmega32U4__)
#define _useTimer3
#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
#define _useTimer3
#elif defined(__AVR_ATmega128__) || defined(__AVR_ATmega1281__) || defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega2561__)
#define _useTimer3
#if defined(ARDUINO_ARCH_AVR) || defined(ARDUINO_ARCH_SAM)
// we're good to go
#else
// everything else
#error "This library only supports boards with an AVR or SAM3X processor."
#endif
typedef enum {
#if ENABLED(_useTimer1)
_timer1,
#endif
#if ENABLED(_useTimer3)
_timer3,
#endif
#if ENABLED(_useTimer4)
_timer4,
#endif
#if ENABLED(_useTimer5)
_timer5,
#endif
_Nbr_16timers
} timer16_Sequence_t;
#define Servo_VERSION 2 // software version of this library
#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo
#define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo
#define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached
#define REFRESH_INTERVAL 20000 // minimum time to refresh servos in microseconds
#define SERVOS_PER_TIMER 12 // the maximum number of servos controlled by one timer
#define MAX_SERVOS (_Nbr_16timers * SERVOS_PER_TIMER)
#define INVALID_SERVO 255 // flag indicating an invalid servo index
typedef struct {
uint8_t nbr : 6 ; // a pin number from 0 to 63
uint8_t isActive : 1 ; // true if this channel is enabled, pin not pulsed if false
} ServoPin_t;
typedef struct {
ServoPin_t Pin;
unsigned int ticks;
} ServoInfo_t;
class Servo {
public:
Servo();
@ -158,4 +104,6 @@ class Servo {
int8_t max; // maximum is this value times 4 added to MAX_PULSE_WIDTH
};
#endif // !TEENSY
#endif

103
Marlin/src/HAL/servo_private.h Normal file
View file

@ -0,0 +1,103 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
*
*/
/**
servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
Copyright (c) 2009 Michael Margolis. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library 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
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#ifndef servo_private_h
#define servo_private_h
#include <inttypes.h>
// Architecture specific include
#ifdef ARDUINO_ARCH_AVR
#include "HAL_AVR/ServoTimers.h"
#elif defined(ARDUINO_ARCH_SAM)
#include "HAL_DUE/ServoTimers.h"
#else
#error "This library only supports boards with an AVR or SAM3X processor."
#endif
// Macros
#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo
#define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo
#define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached
#define REFRESH_INTERVAL 20000 // minimum time to refresh servos in microseconds
#define SERVOS_PER_TIMER 12 // the maximum number of servos controlled by one timer
#define MAX_SERVOS (_Nbr_16timers * SERVOS_PER_TIMER)
#define INVALID_SERVO 255 // flag indicating an invalid servo index
//
#define usToTicks(_us) (( clockCyclesPerMicrosecond()* _us) / PRESCALER) // converts microseconds to tick (PRESCALER depends on architecture)
#define ticksToUs(_ticks) (( (unsigned)_ticks * PRESCALER)/ clockCyclesPerMicrosecond() ) // converts from ticks back to microseconds
//#define NBR_TIMERS ((MAX_SERVOS) / (SERVOS_PER_TIMER))
// convenience macros
#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / (SERVOS_PER_TIMER))) // returns the timer controlling this servo
#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % (SERVOS_PER_TIMER)) // returns the index of the servo on this timer
#define SERVO_INDEX(_timer,_channel) ((_timer*(SERVOS_PER_TIMER)) + _channel) // macro to access servo index by timer and channel
#define SERVO(_timer,_channel) (servo_info[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel
// Types
typedef struct {
uint8_t nbr : 6 ; // a pin number from 0 to 63
uint8_t isActive : 1 ; // true if this channel is enabled, pin not pulsed if false
} ServoPin_t;
typedef struct {
ServoPin_t Pin;
unsigned int ticks;
} ServoInfo_t;
// Global variables
extern uint8_t ServoCount;
extern ServoInfo_t servo_info[MAX_SERVOS];
// Public functions
extern void initISR(timer16_Sequence_t timer);
extern void finISR(timer16_Sequence_t timer);
#endif

178
Marlin/stepper.cpp
View file

@ -48,11 +48,16 @@
#include "stepper.h"
#include "endstops.h"
#include "planner.h"
#if MB(ALLIGATOR)
#include "dac_dac084s085.h"
#endif
#include "temperature.h"
#include "ultralcd.h"
#include "language.h"
#include "cardreader.h"
#include "speed_lookuptable.h"
#ifdef ARDUINO_ARCH_AVR
#include "speed_lookuptable.h"
#endif
#if HAS_DIGIPOTSS
#include <SPI.h>
@ -99,11 +104,11 @@ volatile uint32_t Stepper::step_events_completed = 0; // The number of step even
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
constexpr uint16_t ADV_NEVER = 65535;
constexpr HAL_TIMER_TYPE ADV_NEVER = HAL_TIMER_TYPE_MAX;
uint16_t Stepper::nextMainISR = 0,
Stepper::nextAdvanceISR = ADV_NEVER,
Stepper::eISR_Rate = ADV_NEVER;
HAL_TIMER_TYPE Stepper::nextMainISR = 0,
Stepper::nextAdvanceISR = ADV_NEVER,
Stepper::eISR_Rate = ADV_NEVER;
#if ENABLED(LIN_ADVANCE)
volatile int Stepper::e_steps[E_STEPPERS];
@ -144,9 +149,9 @@ volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
long Stepper::counter_m[MIXING_STEPPERS];
#endif
unsigned short Stepper::acc_step_rate; // needed for deceleration start point
HAL_TIMER_TYPE Stepper::acc_step_rate; // needed for deceleration start point
uint8_t Stepper::step_loops, Stepper::step_loops_nominal;
unsigned short Stepper::OCR1A_nominal;
HAL_TIMER_TYPE Stepper::OCR1A_nominal;
volatile long Stepper::endstops_trigsteps[XYZ];
@ -213,66 +218,7 @@ volatile long Stepper::endstops_trigsteps[XYZ];
#define E_APPLY_STEP(v,Q) E_STEP_WRITE(v)
#endif
// intRes = longIn1 * longIn2 >> 24
// uses:
// r26 to store 0
// r27 to store bits 16-23 of the 48bit result. The top bit is used to round the two byte result.
// note that the lower two bytes and the upper byte of the 48bit result are not calculated.
// this can cause the result to be out by one as the lower bytes may cause carries into the upper ones.
// B0 A0 are bits 24-39 and are the returned value
// C1 B1 A1 is longIn1
// D2 C2 B2 A2 is longIn2
//
#define MultiU24X32toH16(intRes, longIn1, longIn2) \
asm volatile ( \
"clr r26 \n\t" \
"mul %A1, %B2 \n\t" \
"mov r27, r1 \n\t" \
"mul %B1, %C2 \n\t" \
"movw %A0, r0 \n\t" \
"mul %C1, %C2 \n\t" \
"add %B0, r0 \n\t" \
"mul %C1, %B2 \n\t" \
"add %A0, r0 \n\t" \
"adc %B0, r1 \n\t" \
"mul %A1, %C2 \n\t" \
"add r27, r0 \n\t" \
"adc %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"mul %B1, %B2 \n\t" \
"add r27, r0 \n\t" \
"adc %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"mul %C1, %A2 \n\t" \
"add r27, r0 \n\t" \
"adc %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"mul %B1, %A2 \n\t" \
"add r27, r1 \n\t" \
"adc %A0, r26 \n\t" \
"adc %B0, r26 \n\t" \
"lsr r27 \n\t" \
"adc %A0, r26 \n\t" \
"adc %B0, r26 \n\t" \
"mul %D2, %A1 \n\t" \
"add %A0, r0 \n\t" \
"adc %B0, r1 \n\t" \
"mul %D2, %B1 \n\t" \
"add %B0, r0 \n\t" \
"clr r1 \n\t" \
: \
"=&r" (intRes) \
: \
"d" (longIn1), \
"d" (longIn2) \
: \
"r26" , "r27" \
)
// Some useful constants
#define ENABLE_STEPPER_DRIVER_INTERRUPT() SBI(TIMSK1, OCIE1A)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
/**
* __________________________
@ -345,6 +291,8 @@ void Stepper::set_directions() {
* Stepper Driver Interrupt
*
* Directly pulses the stepper motors at high frequency.
*
* AVR :
* Timer 1 runs at a base frequency of 2MHz, with this ISR using OCR1A compare mode.
*
* OCR1A Frequency
@ -355,7 +303,9 @@ void Stepper::set_directions() {
* 2000 1 KHz - sleep rate
* 4000 500 Hz - init rate
*/
ISR(TIMER1_COMPA_vect) {
HAL_STEP_TIMER_ISR {
HAL_timer_isr_prologue(STEP_TIMER_NUM);
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
Stepper::advance_isr_scheduler();
#else
@ -363,23 +313,23 @@ ISR(TIMER1_COMPA_vect) {
#endif
}
#define _ENABLE_ISRs() do { cli(); if (thermalManager.in_temp_isr) CBI(TIMSK0, OCIE0B); else SBI(TIMSK0, OCIE0B); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
void Stepper::isr() {
uint16_t ocr_val;
HAL_TIMER_TYPE ocr_val;
#define ENDSTOP_NOMINAL_OCR_VAL 3000 // check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch
#define OCR_VAL_TOLERANCE 1000 // First max delay is 2.0ms, last min delay is 0.5ms, all others 1.5ms
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
// Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
CBI(TIMSK0, OCIE0B); // Temperature ISR
DISABLE_TEMPERATURE_INTERRUPT(); // Temperature ISR
DISABLE_STEPPER_DRIVER_INTERRUPT();
sei();
#if !defined(CPU_32_BIT)
sei();
#endif
#endif
#define _SPLIT(L) (ocr_val = (uint16_t)L)
#define _SPLIT(L) (ocr_val = (HAL_TIMER_TYPE)L)
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
#define SPLIT(L) _SPLIT(L)
#else // sample endstops in between step pulses
@ -405,10 +355,13 @@ void Stepper::isr() {
}
_NEXT_ISR(ocr_val);
#ifdef CPU_32_BIT
//todo: HAL?
#else
NOLESS(OCR1A, TCNT1 + 16);
#endif
NOLESS(OCR1A, TCNT1 + 16);
_ENABLE_ISRs(); // re-enable ISRs
HAL_ENABLE_ISRs(); // re-enable ISRs
return;
}
#endif
@ -420,8 +373,8 @@ void Stepper::isr() {
#ifdef SD_FINISHED_RELEASECOMMAND
if (!cleaning_buffer_counter && (SD_FINISHED_STEPPERRELEASE)) enqueue_and_echo_commands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
#endif
_NEXT_ISR(200); // Run at max speed - 10 KHz
_ENABLE_ISRs(); // re-enable ISRs
_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 10000); // Run at max speed - 10 KHz
HAL_ENABLE_ISRs(); // re-enable ISRs
return;
}
@ -450,8 +403,8 @@ void Stepper::isr() {
#if ENABLED(Z_LATE_ENABLE)
if (current_block->steps[Z_AXIS] > 0) {
enable_Z();
_NEXT_ISR(2000); // Run at slow speed - 1 KHz
_ENABLE_ISRs(); // re-enable ISRs
_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 1000); // Run at slow speed - 1 KHz
HAL_ENABLE_ISRs(); // re-enable ISRs
return;
}
#endif
@ -461,8 +414,8 @@ void Stepper::isr() {
// #endif
}
else {
_NEXT_ISR(2000); // Run at slow speed - 1 KHz
_ENABLE_ISRs(); // re-enable ISRs
_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 1000); // Run at slow speed - 1 KHz
HAL_ENABLE_ISRs(); // re-enable ISRs
return;
}
}
@ -613,7 +566,7 @@ void Stepper::isr() {
* 10µs = 160 or 200 cycles.
*/
#if EXTRA_CYCLES_XYZE > 20
uint32_t pulse_start = TCNT0;
uint32_t pulse_start = HAL_timer_get_current_count(STEP_TIMER_NUM);
#endif
#if HAS_X_STEP
@ -645,8 +598,8 @@ void Stepper::isr() {
// For minimum pulse time wait before stopping pulses
#if EXTRA_CYCLES_XYZE > 20
while (EXTRA_CYCLES_XYZE > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
pulse_start = TCNT0;
while (EXTRA_CYCLES_XYZE > (uint32_t)(HAL_timer_get_current_count(STEP_TIMER_NUM) - pulse_start) * (STEPPER_TIMER_PRESCALE)) { /* nada */ }
pulse_start = HAL_timer_get_current_count(STEP_TIMER_NUM);
#elif EXTRA_CYCLES_XYZE > 0
DELAY_NOPS(EXTRA_CYCLES_XYZE);
#endif
@ -686,7 +639,7 @@ void Stepper::isr() {
// For minimum pulse time wait after stopping pulses also
#if EXTRA_CYCLES_XYZE > 20
if (i) while (EXTRA_CYCLES_XYZE > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
if (i) while (EXTRA_CYCLES_XYZE > (uint32_t)(HAL_timer_get_current_count(STEP_TIMER_NUM) - pulse_start) * (STEPPER_TIMER_PRESCALE)) { /* nada */ }
#elif EXTRA_CYCLES_XYZE > 0
if (i) DELAY_NOPS(EXTRA_CYCLES_XYZE);
#endif
@ -716,14 +669,18 @@ void Stepper::isr() {
// Calculate new timer value
if (step_events_completed <= (uint32_t)current_block->accelerate_until) {
MultiU24X32toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
#ifdef CPU_32_BIT
MultiU32X24toH32(acc_step_rate, acceleration_time, current_block->acceleration_rate);
#else
MultiU24X32toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
#endif
acc_step_rate += current_block->initial_rate;
// upper limit
NOMORE(acc_step_rate, current_block->nominal_rate);
// step_rate to timer interval
const uint16_t timer = calc_timer(acc_step_rate);
const HAL_TIMER_TYPE timer = calc_timer(acc_step_rate);
SPLIT(timer); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
_NEXT_ISR(ocr_val);
@ -764,12 +721,17 @@ void Stepper::isr() {
#endif // ADVANCE or LIN_ADVANCE
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
// TODO: HAL
eISR_Rate = adv_rate(e_steps[TOOL_E_INDEX], timer, step_loops);
#endif
}
else if (step_events_completed > (uint32_t)current_block->decelerate_after) {
uint16_t step_rate;
MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate);
HAL_TIMER_TYPE step_rate;
#ifdef CPU_32_BIT
MultiU32X24toH32(step_rate, deceleration_time, current_block->acceleration_rate);
#else
MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate);
#endif
if (step_rate < acc_step_rate) { // Still decelerating?
step_rate = acc_step_rate - step_rate;
@ -779,7 +741,7 @@ void Stepper::isr() {
step_rate = current_block->final_rate;
// step_rate to timer interval
const uint16_t timer = calc_timer(step_rate);
const HAL_TIMER_TYPE timer = calc_timer(step_rate);
SPLIT(timer); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
_NEXT_ISR(ocr_val);
@ -834,13 +796,19 @@ void Stepper::isr() {
SPLIT(OCR1A_nominal); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
_NEXT_ISR(ocr_val);
// ensure we're running at the correct step rate, even if we just came off an acceleration
step_loops = step_loops_nominal;
}
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
NOLESS(OCR1A, TCNT1 + 16);
#ifdef CPU_32_BIT
// Make sure stepper interrupt does not monopolise CPU by adjusting count to give about 8 us room
uint32_t stepper_timer_count = HAL_timer_get_count(STEP_TIMER_NUM);
uint32_t stepper_timer_current_count = HAL_timer_get_current_count(STEP_TIMER_NUM) + 8 * HAL_TICKS_PER_US;
HAL_timer_set_count(STEP_TIMER_NUM, stepper_timer_count < stepper_timer_current_count ? stepper_timer_current_count : stepper_timer_count);
#else
NOLESS(OCR1A, TCNT1 + 16);
#endif
#endif
// If current block is finished, reset pointer
@ -849,7 +817,7 @@ void Stepper::isr() {
planner.discard_current_block();
}
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
_ENABLE_ISRs(); // re-enable ISRs
HAL_ENABLE_ISRs(); // re-enable ISRs
#endif
}
@ -951,7 +919,7 @@ void Stepper::isr() {
void Stepper::advance_isr_scheduler() {
// Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
CBI(TIMSK0, OCIE0B); // Temperature ISR
DISABLE_TEMPERATURE_INTERRUPT(); // Temperature ISR
DISABLE_STEPPER_DRIVER_INTERRUPT();
sei();
@ -984,7 +952,7 @@ void Stepper::isr() {
NOLESS(OCR1A, TCNT1 + 16);
// Restore original ISR settings
_ENABLE_ISRs();
HAL_ENABLE_ISRs();
}
#endif // ADVANCE or LIN_ADVANCE
@ -996,6 +964,15 @@ void Stepper::init() {
digipot_init();
#endif
#if MB(ALLIGATOR)
const float motor_current[] = MOTOR_CURRENT;
unsigned int digipot_motor = 0;
for (uint8_t i = 0; i < 3 + EXTRUDERS; i++) {
digipot_motor = 255 * (motor_current[i] / 2.5);
dac084s085::setValue(i, digipot_motor);
}
#endif//MB(ALLIGATOR)
// Init Microstepping Pins
#if HAS_MICROSTEPS
microstep_init();
@ -1152,6 +1129,7 @@ void Stepper::init() {
E_AXIS_INIT(4);
#endif
#ifdef ARDUINO_ARCH_AVR
// waveform generation = 0100 = CTC
SET_WGM(1, CTC_OCRnA);
@ -1168,6 +1146,11 @@ void Stepper::init() {
// Init Stepper ISR to 122 Hz for quick starting
OCR1A = 0x4000;
TCNT1 = 0;
#else
// Init Stepper ISR to 122 Hz for quick starting
HAL_timer_start (STEP_TIMER_NUM, 122);
#endif
ENABLE_STEPPER_DRIVER_INTERRUPT();
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
@ -1663,6 +1646,9 @@ void Stepper::report_positions() {
case 4: microstep_ms(driver, MICROSTEP4); break;
case 8: microstep_ms(driver, MICROSTEP8); break;
case 16: microstep_ms(driver, MICROSTEP16); break;
#if MB(ALLIGATOR)
case 32: microstep_ms(driver, MICROSTEP32); break;
#endif
}
}

128
Marlin/stepper.h
View file

@ -52,31 +52,6 @@
class Stepper;
extern Stepper stepper;
// intRes = intIn1 * intIn2 >> 16
// uses:
// r26 to store 0
// r27 to store the byte 1 of the 24 bit result
#define MultiU16X8toH16(intRes, charIn1, intIn2) \
asm volatile ( \
"clr r26 \n\t" \
"mul %A1, %B2 \n\t" \
"movw %A0, r0 \n\t" \
"mul %A1, %A2 \n\t" \
"add %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"lsr r0 \n\t" \
"adc %A0, r26 \n\t" \
"adc %B0, r26 \n\t" \
"clr r1 \n\t" \
: \
"=&r" (intRes) \
: \
"d" (charIn1), \
"d" (intIn2) \
: \
"r26" \
)
class Stepper {
public:
@ -112,8 +87,9 @@ class Stepper {
static volatile uint32_t step_events_completed; // The number of step events executed in the current block
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
static uint16_t nextMainISR, nextAdvanceISR, eISR_Rate;
static HAL_TIMER_TYPE nextMainISR, nextAdvanceISR, eISR_Rate;
#define _NEXT_ISR(T) nextMainISR = T
#if ENABLED(LIN_ADVANCE)
static volatile int e_steps[E_STEPPERS];
static int final_estep_rate;
@ -127,14 +103,14 @@ class Stepper {
static long old_advance;
#endif
#else
#define _NEXT_ISR(T) OCR1A = T
#define _NEXT_ISR(T) HAL_timer_set_count(STEP_TIMER_NUM, T);
#endif // ADVANCE or LIN_ADVANCE
static long acceleration_time, deceleration_time;
//unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
static unsigned short acc_step_rate; // needed for deceleration start point
static HAL_TIMER_TYPE acc_step_rate; // needed for deceleration start point
static uint8_t step_loops, step_loops_nominal;
static unsigned short OCR1A_nominal;
static HAL_TIMER_TYPE OCR1A_nominal;
static volatile long endstops_trigsteps[XYZ];
static volatile long endstops_stepsTotal, endstops_stepsDone;
@ -285,43 +261,71 @@ class Stepper {
private:
static FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
unsigned short timer;
static FORCE_INLINE HAL_TIMER_TYPE calc_timer(HAL_TIMER_TYPE step_rate) {
HAL_TIMER_TYPE timer;
NOMORE(step_rate, MAX_STEP_FREQUENCY);
if (step_rate > 20000) { // If steprate > 20kHz >> step 4 times
step_rate >>= 2;
step_loops = 4;
}
else if (step_rate > 10000) { // If steprate > 10kHz >> step 2 times
step_rate >>= 1;
step_loops = 2;
}
else {
step_loops = 1;
}
// TODO: HAL: tidy this up, use condtionals_post.h
#ifdef CPU_32_BIT
#if ENABLED(DISABLE_MULTI_STEPPING)
step_loops = 1;
#else
if (step_rate > STEP_DOUBLER_FREQUENCY * 2) { // If steprate > (STEP_DOUBLER_FREQUENCY * 2) kHz >> step 4 times
step_rate >>= 2;
step_loops = 4;
}
else if (step_rate > STEP_DOUBLER_FREQUENCY) { // If steprate > STEP_DOUBLER_FREQUENCY kHz >> step 2 times
step_rate >>= 1;
step_loops = 2;
}
else {
step_loops = 1;
}
#endif
#else
if (step_rate > 20000) { // If steprate > 20kHz >> step 4 times
step_rate >>= 2;
step_loops = 4;
}
else if (step_rate > 10000) { // If steprate > 10kHz >> step 2 times
step_rate >>= 1;
step_loops = 2;
}
else {
step_loops = 1;
}
#endif
#ifdef CPU_32_BIT
// In case of high-performance processor, it is able to calculate in real-time
timer = (uint32_t)(HAL_STEPPER_TIMER_RATE) / step_rate;
if (timer < (HAL_STEPPER_TIMER_RATE / (STEP_DOUBLER_FREQUENCY * 2))) { // (STEP_DOUBLER_FREQUENCY * 2 kHz - this should never happen)
timer = (HAL_STEPPER_TIMER_RATE / (STEP_DOUBLER_FREQUENCY * 2));
}
#else
NOLESS(step_rate, F_CPU / 500000);
step_rate -= F_CPU / 500000; // Correct for minimal speed
if (step_rate >= (8 * 256)) { // higher step rate
unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate >> 8)][0];
unsigned char tmp_step_rate = (step_rate & 0x00ff);
unsigned short gain = (unsigned short)pgm_read_word_near(table_address + 2);
MultiU16X8toH16(timer, tmp_step_rate, gain);
timer = (unsigned short)pgm_read_word_near(table_address) - timer;
}
else { // lower step rates
unsigned short table_address = (unsigned short)&speed_lookuptable_slow[0][0];
table_address += ((step_rate) >> 1) & 0xfffc;
timer = (unsigned short)pgm_read_word_near(table_address);
timer -= (((unsigned short)pgm_read_word_near(table_address + 2) * (unsigned char)(step_rate & 0x0007)) >> 3);
}
if (timer < 100) { // (20kHz - this should never happen)
timer = 100;
MYSERIAL.print(MSG_STEPPER_TOO_HIGH);
MYSERIAL.println(step_rate);
}
#endif
NOLESS(step_rate, F_CPU / 500000);
step_rate -= F_CPU / 500000; // Correct for minimal speed
if (step_rate >= (8 * 256)) { // higher step rate
unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate >> 8)][0];
unsigned char tmp_step_rate = (step_rate & 0x00FF);
unsigned short gain = (unsigned short)pgm_read_word_near(table_address + 2);
MultiU16X8toH16(timer, tmp_step_rate, gain);
timer = (unsigned short)pgm_read_word_near(table_address) - timer;
}
else { // lower step rates
unsigned short table_address = (unsigned short)&speed_lookuptable_slow[0][0];
table_address += ((step_rate) >> 1) & 0xFFFC;
timer = (unsigned short)pgm_read_word_near(table_address);
timer -= (((unsigned short)pgm_read_word_near(table_address + 2) * (unsigned char)(step_rate & 0x0007)) >> 3);
}
if (timer < 100) { // (20kHz - this should never happen)
timer = 100;
MYSERIAL.print(MSG_STEPPER_TOO_HIGH);
MYSERIAL.println(step_rate);
}
return timer;
}

118
Marlin/temperature.cpp
View file

@ -32,7 +32,7 @@
#include "language.h"
#if ENABLED(HEATER_0_USES_MAX6675)
#include "spi.h"
#include "private_spi.h"
#endif
#if ENABLED(BABYSTEPPING)
@ -43,10 +43,6 @@
#include "endstops.h"
#endif
#if ENABLED(USE_WATCHDOG)
#include "watchdog.h"
#endif
#ifdef K1 // Defined in Configuration.h in the PID settings
#define K2 (1.0-K1)
#endif
@ -1054,38 +1050,39 @@ void Temperature::init() {
#endif // HEATER_0_USES_MAX6675
#ifdef DIDR2
#define ANALOG_SELECT(pin) do{ if (pin < 8) SBI(DIDR0, pin); else SBI(DIDR2, pin - 8); }while(0)
#else
#define ANALOG_SELECT(pin) do{ SBI(DIDR0, pin); }while(0)
#endif
HAL_adc_init();
// Set analog inputs
ADCSRA = _BV(ADEN) | _BV(ADSC) | _BV(ADIF) | 0x07;
DIDR0 = 0;
#ifdef DIDR2
DIDR2 = 0;
#endif
#if HAS_TEMP_0
ANALOG_SELECT(TEMP_0_PIN);
HAL_ANALOG_SELECT(TEMP_0_PIN);
#endif
#if HAS_TEMP_1
ANALOG_SELECT(TEMP_1_PIN);
HAL_ANALOG_SELECT(TEMP_1_PIN);
#endif
#if HAS_TEMP_2
ANALOG_SELECT(TEMP_2_PIN);
HAL_ANALOG_SELECT(TEMP_2_PIN);
#endif
#if HAS_TEMP_3
ANALOG_SELECT(TEMP_3_PIN);
HAL_ANALOG_SELECT(TEMP_3_PIN);
#endif
#if HAS_TEMP_4
ANALOG_SELECT(TEMP_4_PIN);
HAL_ANALOG_SELECT(TEMP_4_PIN);
#endif
#if HAS_TEMP_BED
ANALOG_SELECT(TEMP_BED_PIN);
HAL_ANALOG_SELECT(TEMP_BED_PIN);
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
ANALOG_SELECT(FILWIDTH_PIN);
HAL_ANALOG_SELECT(FILWIDTH_PIN);
#endif
// todo: HAL: fix abstraction
#ifdef ARDUINO_ARCH_AVR
// Use timer0 for temperature measurement
// Interleave temperature interrupt with millies interrupt
OCR0B = 128;
SBI(TIMSK0, OCIE0B);
#else
HAL_timer_start (TEMP_TIMER_NUM, TEMP_TIMER_FREQUENCY);
HAL_timer_enable_interrupt (TEMP_TIMER_NUM);
#endif
#if HAS_AUTO_FAN_0
@ -1139,11 +1136,6 @@ void Temperature::init() {
#endif
#endif
// Use timer0 for temperature measurement
// Interleave temperature interrupt with millies interrupt
OCR0B = 128;
SBI(TIMSK0, OCIE0B);
// Wait for temperature measurement to settle
delay(250);
@ -1415,12 +1407,12 @@ void Temperature::disable_all_heaters() {
uint32_t max6675_temp = 2000;
#define MAX6675_ERROR_MASK 7
#define MAX6675_DISCARD_BITS 18
#define MAX6675_SPEED_BITS (_BV(SPR1)) // clock ÷ 64
#define MAX6675_SPEED_BITS 3 // (_BV(SPR1)) // clock ÷ 64
#else
uint16_t max6675_temp = 2000;
#define MAX6675_ERROR_MASK 4
#define MAX6675_DISCARD_BITS 3
#define MAX6675_SPEED_BITS (_BV(SPR0)) // clock ÷ 16
#define MAX6675_SPEED_BITS 2 // (_BV(SPR0)) // clock ÷ 16
#endif
int Temperature::read_max6675() {
@ -1433,14 +1425,8 @@ void Temperature::disable_all_heaters() {
next_max6675_ms = ms + MAX6675_HEAT_INTERVAL;
CBI(
#ifdef PRR
PRR
#elif defined(PRR0)
PRR0
#endif
, PRSPI);
SPCR = _BV(MSTR) | _BV(SPE) | MAX6675_SPEED_BITS;
spiBegin();
spiInit(MAX6675_SPEED_BITS);
WRITE(MAX6675_SS, 0); // enable TT_MAX6675
@ -1451,7 +1437,7 @@ void Temperature::disable_all_heaters() {
// Read a big-endian temperature value
max6675_temp = 0;
for (uint8_t i = sizeof(max6675_temp); i--;) {
max6675_temp |= max6675_spi.receive();
max6675_temp |= spiRec();
if (i > 0) max6675_temp <<= 8; // shift left if not the last byte
}
@ -1607,7 +1593,10 @@ void Temperature::set_current_temp_raw() {
* - For PINS_DEBUGGING, monitor and report endstop pins
* - For ENDSTOP_INTERRUPTS_FEATURE check endstops if flagged
*/
ISR(TIMER0_COMPB_vect) { Temperature::isr(); }
HAL_TEMP_TIMER_ISR {
HAL_timer_isr_prologue (TEMP_TIMER_NUM);
Temperature::isr();
}
volatile bool Temperature::in_temp_isr = false;
@ -1618,8 +1607,10 @@ void Temperature::isr() {
in_temp_isr = true;
// Allow UART and stepper ISRs
CBI(TIMSK0, OCIE0B); //Disable Temperature ISR
sei();
DISABLE_TEMPERATURE_INTERRUPT(); //Disable Temperature ISR
#if !defined(CPU_32_BIT)
sei();
#endif
static int8_t temp_count = -1;
static ADCSensorState adc_sensor_state = StartupDelay;
@ -1914,13 +1905,6 @@ void Temperature::isr() {
* This gives each ADC 0.9765ms to charge up.
*/
#define SET_ADMUX_ADCSRA(pin) ADMUX = _BV(REFS0) | (pin & 0x07); SBI(ADCSRA, ADSC)
#ifdef MUX5
#define START_ADC(pin) if (pin > 7) ADCSRB = _BV(MUX5); else ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
#else
#define START_ADC(pin) ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
#endif
switch (adc_sensor_state) {
case SensorsReady: {
@ -1940,66 +1924,66 @@ void Temperature::isr() {
#if HAS_TEMP_0
case PrepareTemp_0:
START_ADC(TEMP_0_PIN);
HAL_START_ADC(TEMP_0_PIN);
break;
case MeasureTemp_0:
raw_temp_value[0] += ADC;
raw_temp_value[0] += HAL_READ_ADC;
break;
#endif
#if HAS_TEMP_BED
case PrepareTemp_BED:
START_ADC(TEMP_BED_PIN);
HAL_START_ADC(TEMP_BED_PIN);
break;
case MeasureTemp_BED:
raw_temp_bed_value += ADC;
raw_temp_bed_value += HAL_READ_ADC;
break;
#endif
#if HAS_TEMP_1
case PrepareTemp_1:
START_ADC(TEMP_1_PIN);
HAL_START_ADC(TEMP_1_PIN);
break;
case MeasureTemp_1:
raw_temp_value[1] += ADC;
raw_temp_value[1] += HAL_READ_ADC;
break;
#endif
#if HAS_TEMP_2
case PrepareTemp_2:
START_ADC(TEMP_2_PIN);
HAL_START_ADC(TEMP_2_PIN);
break;
case MeasureTemp_2:
raw_temp_value[2] += ADC;
raw_temp_value[2] += HAL_READ_ADC;
break;
#endif
#if HAS_TEMP_3
case PrepareTemp_3:
START_ADC(TEMP_3_PIN);
HAL_START_ADC(TEMP_3_PIN);
break;
case MeasureTemp_3:
raw_temp_value[3] += ADC;
raw_temp_value[3] += HAL_READ_ADC;
break;
#endif
#if HAS_TEMP_4
case PrepareTemp_4:
START_ADC(TEMP_4_PIN);
HAL_START_ADC(TEMP_4_PIN);
break;
case MeasureTemp_4:
raw_temp_value[4] += ADC;
raw_temp_value[4] += HAL_READ_ADC;
break;
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
case Prepare_FILWIDTH:
START_ADC(FILWIDTH_PIN);
HAL_START_ADC(FILWIDTH_PIN);
break;
case Measure_FILWIDTH:
if (ADC > 102) { // Make sure ADC is reading > 0.5 volts, otherwise don't read.
if (HAL_READ_ADC > 102) { // Make sure ADC is reading > 0.5 volts, otherwise don't read.
raw_filwidth_value -= (raw_filwidth_value >> 7); // Subtract 1/128th of the raw_filwidth_value
raw_filwidth_value += ((unsigned long)ADC << 7); // Add new ADC reading, scaled by 128
raw_filwidth_value += ((unsigned long)HAL_READ_ADC << 7); // Add new ADC reading, scaled by 128
}
break;
#endif
@ -2130,7 +2114,9 @@ void Temperature::isr() {
}
#endif
cli();
#if !defined(CPU_32_BIT)
cli();
#endif
in_temp_isr = false;
SBI(TIMSK0, OCIE0B); //re-enable Temperature ISR
ENABLE_TEMPERATURE_INTERRUPT(); //re-enable Temperature ISR
}

2
Marlin/temperature.h
View file

@ -125,7 +125,7 @@ class Temperature {
#endif
#if ENABLED(PIDTEMP) || ENABLED(PIDTEMPBED)
#define PID_dT ((OVERSAMPLENR * float(ACTUAL_ADC_SAMPLES)) / (F_CPU / 64.0 / 256.0))
#define PID_dT ((OVERSAMPLENR * float(ACTUAL_ADC_SAMPLES)) / TEMP_TIMER_FREQUENCY)
#endif
#if ENABLED(PIDTEMP)

2
Marlin/ubl_G29.cpp
View file

@ -1371,7 +1371,7 @@
z_values[x][y] -= tmp_z_values[x][y];
}
mesh_index_pair unified_bed_leveling::find_closest_mesh_point_of_type(const MeshPointType type, const float &lx, const float &ly, const bool probe_as_reference, unsigned int bits[16], const bool far_flag) {
mesh_index_pair unified_bed_leveling::find_closest_mesh_point_of_type(const MeshPointType type, const float &lx, const float &ly, const bool probe_as_reference, uint16_t bits[16], const bool far_flag) {
mesh_index_pair out_mesh;
out_mesh.x_index = out_mesh.y_index = -1;

2
Marlin/ubl_motion.cpp
View file

@ -27,7 +27,6 @@
#include "ubl.h"
#include "planner.h"
#include "stepper.h"
#include <avr/io.h>
#include <math.h>
extern float destination[XYZE];
@ -737,4 +736,3 @@
#endif // UBL_DELTA
#endif // AUTO_BED_LEVELING_UBL

4
Marlin/ultralcd.cpp
View file

@ -184,6 +184,7 @@ uint16_t max_display_update_time = 0;
void menu_action_setting_edit_callback_ ## _name(const char * const pstr, _type * const ptr, const _type minValue, const _type maxValue, const screenFunc_t callback, const bool live=false); \
typedef void _name##_void
DECLARE_MENU_EDIT_TYPE(uint32_t, long5);
DECLARE_MENU_EDIT_TYPE(int16_t, int3);
DECLARE_MENU_EDIT_TYPE(uint8_t, int8);
DECLARE_MENU_EDIT_TYPE(float, float3);
@ -193,7 +194,6 @@ uint16_t max_display_update_time = 0;
DECLARE_MENU_EDIT_TYPE(float, float51);
DECLARE_MENU_EDIT_TYPE(float, float52);
DECLARE_MENU_EDIT_TYPE(float, float62);
DECLARE_MENU_EDIT_TYPE(uint32_t, long5);
void menu_action_setting_edit_bool(const char* pstr, bool* ptr);
void menu_action_setting_edit_callback_bool(const char* pstr, bool* ptr, screenFunc_t callbackFunc);
@ -4039,6 +4039,7 @@ void kill_screen(const char* lcd_msg) {
} \
typedef void _name
DEFINE_MENU_EDIT_TYPE(uint32_t, long5, ftostr5rj, 0.01);
DEFINE_MENU_EDIT_TYPE(int16_t, int3, itostr3, 1);
DEFINE_MENU_EDIT_TYPE(uint8_t, int8, i8tostr3, 1);
DEFINE_MENU_EDIT_TYPE(float, float3, ftostr3, 1.0);
@ -4048,7 +4049,6 @@ void kill_screen(const char* lcd_msg) {
DEFINE_MENU_EDIT_TYPE(float, float51, ftostr51sign, 10.0);
DEFINE_MENU_EDIT_TYPE(float, float52, ftostr52sign, 100.0);
DEFINE_MENU_EDIT_TYPE(float, float62, ftostr62rj, 100.0);
DEFINE_MENU_EDIT_TYPE(uint32_t, long5, ftostr5rj, 0.01);
/**
*

2
Marlin/ultralcd_impl_DOGM.h
View file

@ -869,6 +869,7 @@ static void lcd_implementation_status_screen() {
} \
typedef void _name##_void
DEFINE_LCD_IMPLEMENTATION_DRAWMENU_SETTING_EDIT_TYPE(uint32_t, long5, ftostr5rj);
DEFINE_LCD_IMPLEMENTATION_DRAWMENU_SETTING_EDIT_TYPE(int16_t, int3, itostr3);
DEFINE_LCD_IMPLEMENTATION_DRAWMENU_SETTING_EDIT_TYPE(uint8_t, int8, i8tostr3);
DEFINE_LCD_IMPLEMENTATION_DRAWMENU_SETTING_EDIT_TYPE(float, float3, ftostr3);
@ -878,7 +879,6 @@ static void lcd_implementation_status_screen() {
DEFINE_LCD_IMPLEMENTATION_DRAWMENU_SETTING_EDIT_TYPE(float, float51, ftostr51sign);
DEFINE_LCD_IMPLEMENTATION_DRAWMENU_SETTING_EDIT_TYPE(float, float52, ftostr52sign);
DEFINE_LCD_IMPLEMENTATION_DRAWMENU_SETTING_EDIT_TYPE(float, float62, ftostr62rj);
DEFINE_LCD_IMPLEMENTATION_DRAWMENU_SETTING_EDIT_TYPE(uint32_t, long5, ftostr5rj);
#define lcd_implementation_drawmenu_setting_edit_bool(sel, row, pstr, pstr2, data) lcd_implementation_drawmenu_setting_edit_generic_P(sel, row, pstr, (*(data))?PSTR(MSG_ON):PSTR(MSG_OFF))
#define lcd_implementation_drawmenu_setting_edit_callback_bool(sel, row, pstr, pstr2, data, callback) lcd_implementation_drawmenu_setting_edit_generic_P(sel, row, pstr, (*(data))?PSTR(MSG_ON):PSTR(MSG_OFF))

2
Marlin/ultralcd_impl_HD44780.h
View file

@ -976,6 +976,7 @@ static void lcd_implementation_status_screen() {
} \
typedef void _name##_void
DEFINE_LCD_IMPLEMENTATION_DRAWMENU_SETTING_EDIT_TYPE(uint32_t, long5, ftostr5rj);
DEFINE_LCD_IMPLEMENTATION_DRAWMENU_SETTING_EDIT_TYPE(int16_t, int3, itostr3);
DEFINE_LCD_IMPLEMENTATION_DRAWMENU_SETTING_EDIT_TYPE(uint8_t, int8, i8tostr3);
DEFINE_LCD_IMPLEMENTATION_DRAWMENU_SETTING_EDIT_TYPE(float, float3, ftostr3);
@ -985,7 +986,6 @@ static void lcd_implementation_status_screen() {
DEFINE_LCD_IMPLEMENTATION_DRAWMENU_SETTING_EDIT_TYPE(float, float51, ftostr51sign);
DEFINE_LCD_IMPLEMENTATION_DRAWMENU_SETTING_EDIT_TYPE(float, float52, ftostr52sign);
DEFINE_LCD_IMPLEMENTATION_DRAWMENU_SETTING_EDIT_TYPE(float, float62, ftostr62rj);
DEFINE_LCD_IMPLEMENTATION_DRAWMENU_SETTING_EDIT_TYPE(uint32_t, long5, ftostr5rj);
#define lcd_implementation_drawmenu_setting_edit_bool(sel, row, pstr, pstr2, data) lcd_implementation_drawmenu_setting_edit_generic_P(sel, row, pstr, '>', (*(data))?PSTR(MSG_ON):PSTR(MSG_OFF))
#define lcd_implementation_drawmenu_setting_edit_callback_bool(sel, row, pstr, pstr2, data, callback) lcd_implementation_drawmenu_setting_edit_generic_P(sel, row, pstr, '>', (*(data))?PSTR(MSG_ON):PSTR(MSG_OFF))