Initial commit. Unusable Marlin 2.0.5.3 core without any custimization.
This commit is contained in:
Knutwurst
527
Marlin/src/HAL/SAMD51/HAL.cpp
Executable file
527
Marlin/src/HAL/SAMD51/HAL.cpp
Executable file
@@ -0,0 +1,527 @@
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/**
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* Marlin 3D Printer Firmware
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*
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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* SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#ifdef __SAMD51__
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#include "../../inc/MarlinConfig.h"
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#include <Adafruit_ZeroDMA.h>
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#include <wiring_private.h>
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// ------------------------
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// Local defines
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// ------------------------
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#if HAS_TEMP_ADC_0
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#define GET_TEMP_0_ADC() PIN_TO_ADC(TEMP_0_PIN)
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#else
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#define GET_TEMP_0_ADC() -1
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#endif
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#if HAS_TEMP_ADC_1
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#define GET_TEMP_1_ADC() PIN_TO_ADC(TEMP_1_PIN)
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#else
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#define GET_TEMP_1_ADC() -1
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#endif
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#if HAS_TEMP_ADC_2
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#define GET_TEMP_2_ADC() PIN_TO_ADC(TEMP_2_PIN)
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#else
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#define GET_TEMP_2_ADC() -1
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#endif
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#if HAS_TEMP_ADC_3
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#define GET_TEMP_3_ADC() PIN_TO_ADC(TEMP_3_PIN)
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#else
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#define GET_TEMP_3_ADC() -1
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#endif
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#if HAS_TEMP_ADC_4
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#define GET_TEMP_4_ADC() PIN_TO_ADC(TEMP_4_PIN)
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#else
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#define GET_TEMP_4_ADC() -1
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#endif
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#if HAS_TEMP_ADC_5
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#define GET_TEMP_5_ADC() PIN_TO_ADC(TEMP_5_PIN)
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#else
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#define GET_TEMP_5_ADC() -1
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#endif
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#if HAS_TEMP_ADC_6
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#define GET_TEMP_6_ADC() PIN_TO_ADC(TEMP_6_PIN)
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#else
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#define GET_TEMP_6_ADC() -1
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#endif
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#if HAS_TEMP_ADC_7
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#define GET_TEMP_7_ADC() PIN_TO_ADC(TEMP_7_PIN)
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#else
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#define GET_TEMP_7_ADC() -1
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#endif
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#if HAS_TEMP_PROBE
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#define GET_PROBE_ADC() PIN_TO_ADC(TEMP_PROBE_PIN)
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#else
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#define GET_PROBE_ADC() -1
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#endif
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#if HAS_TEMP_ADC_BED
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#define GET_BED_ADC() PIN_TO_ADC(TEMP_BED_PIN)
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#else
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#define GET_BED_ADC() -1
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#endif
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#if HAS_TEMP_ADC_CHAMBER
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#define GET_CHAMBER_ADC() PIN_TO_ADC(TEMP_CHAMBER_PIN)
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#else
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#define GET_CHAMBER_ADC() -1
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#endif
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#if ENABLED(FILAMENT_WIDTH_SENSOR)
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#define GET_FILAMENT_WIDTH_ADC() PIN_TO_ADC(FILWIDTH_PIN)
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#else
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#define GET_FILAMENT_WIDTH_ADC() -1
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#endif
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#if HAS_ADC_BUTTONS
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#define GET_BUTTONS_ADC() PIN_TO_ADC(ADC_KEYPAD_PIN)
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#else
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#define GET_BUTTONS_ADC() -1
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#endif
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#define IS_ADC_REQUIRED(n) ( \
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GET_TEMP_0_ADC() == n || GET_TEMP_1_ADC() == n || GET_TEMP_2_ADC() == n || GET_TEMP_3_ADC() == n \
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|| GET_TEMP_4_ADC() == n || GET_TEMP_5_ADC() == n || GET_TEMP_6_ADC() == n || GET_TEMP_7_ADC() == n \
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|| GET_PROBE_ADC() == n \
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|| GET_BED_ADC() == n \
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|| GET_CHAMBER_ADC() == n \
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|| GET_FILAMENT_WIDTH_ADC() == n \
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|| GET_BUTTONS_ADC() == n \
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)
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#define ADC0_IS_REQUIRED IS_ADC_REQUIRED(0)
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#define ADC1_IS_REQUIRED IS_ADC_REQUIRED(1)
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#define ADC_IS_REQUIRED (ADC0_IS_REQUIRED || ADC1_IS_REQUIRED)
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#if ADC0_IS_REQUIRED
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#define FIRST_ADC 0
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#else
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#define FIRST_ADC 1
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#endif
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#if ADC1_IS_REQUIRED
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#define LAST_ADC 1
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#else
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#define LAST_ADC 0
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#endif
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#define DMA_IS_REQUIRED ADC_IS_REQUIRED
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// ------------------------
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// Types
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// ------------------------
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#if DMA_IS_REQUIRED
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// Struct must be 32 bits aligned because of DMA accesses but fields needs to be 8 bits packed
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typedef struct __attribute__((aligned(4), packed)) {
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ADC_INPUTCTRL_Type INPUTCTRL;
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} HAL_DMA_DAC_Registers; // DMA transfered registers
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#endif
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// ------------------------
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// Private Variables
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// ------------------------
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uint16_t HAL_adc_result;
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#if ADC_IS_REQUIRED
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// Pins used by ADC inputs. Order must be ADC0 inputs first then ADC1
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const uint8_t adc_pins[] = {
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// ADC0 pins
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#if GET_TEMP_0_ADC() == 0
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TEMP_0_PIN,
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#endif
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#if GET_TEMP_1_ADC() == 0
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TEMP_1_PIN,
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#endif
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#if GET_TEMP_2_ADC() == 0
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TEMP_2_PIN,
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#endif
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#if GET_TEMP_3_ADC() == 0
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TEMP_3_PIN,
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#endif
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#if GET_TEMP_4_ADC() == 0
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TEMP_4_PIN,
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#endif
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#if GET_TEMP_5_ADC() == 0
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TEMP_5_PIN,
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#endif
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#if GET_TEMP_6_ADC() == 0
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TEMP_6_PIN,
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#endif
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#if GET_TEMP_7_ADC() == 0
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TEMP_7_PIN,
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#endif
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#if GET_PROBE_ADC() == 0
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TEMP_PROBE_PIN,
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#endif
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#if GET_BED_ADC() == 0
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TEMP_BED_PIN,
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#endif
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#if GET_CHAMBER_ADC() == 0
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TEMP_CHAMBER_PIN,
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#endif
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#if GET_FILAMENT_WIDTH_ADC() == 0
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FILWIDTH_PIN,
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#endif
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#if GET_BUTTONS_ADC() == 0
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ADC_KEYPAD_PIN,
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#endif
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// ADC1 pins
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#if GET_TEMP_0_ADC() == 1
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TEMP_0_PIN,
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#endif
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#if GET_TEMP_1_ADC() == 1
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TEMP_1_PIN,
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#endif
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#if GET_TEMP_2_ADC() == 1
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TEMP_2_PIN,
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#endif
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#if GET_TEMP_3_ADC() == 1
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TEMP_3_PIN,
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#endif
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#if GET_TEMP_4_ADC() == 1
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TEMP_4_PIN,
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#endif
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#if GET_TEMP_5_ADC() == 1
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TEMP_5_PIN,
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#endif
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#if GET_TEMP_6_ADC() == 1
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TEMP_6_PIN,
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#endif
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#if GET_TEMP_7_ADC() == 1
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TEMP_7_PIN,
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#endif
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#if GET_PROBE_ADC() == 1
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TEMP_PROBE_PIN,
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#endif
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#if GET_BED_ADC() == 1
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TEMP_BED_PIN,
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#endif
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#if GET_CHAMBER_ADC() == 1
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TEMP_CHAMBER_PIN,
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#endif
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#if GET_FILAMENT_WIDTH_ADC() == 1
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FILWIDTH_PIN,
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#endif
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#if GET_BUTTONS_ADC() == 1
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ADC_KEYPAD_PIN,
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#endif
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};
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uint16_t HAL_adc_results[COUNT(adc_pins)];
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#if ADC0_IS_REQUIRED
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Adafruit_ZeroDMA adc0DMAProgram,
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adc0DMARead;
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const HAL_DMA_DAC_Registers adc0_dma_regs_list[] = {
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#if GET_TEMP_0_ADC() == 0
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{ PIN_TO_INPUTCTRL(TEMP_0_PIN) },
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#endif
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#if GET_TEMP_1_ADC() == 0
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{ PIN_TO_INPUTCTRL(TEMP_1_PIN) },
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#endif
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#if GET_TEMP_2_ADC() == 0
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{ PIN_TO_INPUTCTRL(TEMP_2_PIN) },
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#endif
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#if GET_TEMP_3_ADC() == 0
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{ PIN_TO_INPUTCTRL(TEMP_3_PIN) },
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#endif
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#if GET_TEMP_4_ADC() == 0
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{ PIN_TO_INPUTCTRL(TEMP_4_PIN) },
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#endif
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#if GET_TEMP_5_ADC() == 0
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{ PIN_TO_INPUTCTRL(TEMP_5_PIN) },
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#endif
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#if GET_TEMP_6_ADC() == 0
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{ PIN_TO_INPUTCTRL(TEMP_6_PIN) },
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#endif
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#if GET_TEMP_7_ADC() == 0
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{ PIN_TO_INPUTCTRL(TEMP_7_PIN) },
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#endif
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#if GET_PROBE_ADC() == 0
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{ PIN_TO_INPUTCTRL(TEMP_PROBE_PIN) },
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#endif
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#if GET_BED_ADC() == 0
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{ PIN_TO_INPUTCTRL(TEMP_BED_PIN) },
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#endif
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#if GET_CHAMBER_ADC() == 0
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{ PIN_TO_INPUTCTRL(TEMP_CHAMBER_PIN) },
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#endif
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#if GET_FILAMENT_WIDTH_ADC() == 0
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{ PIN_TO_INPUTCTRL(FILWIDTH_PIN) },
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#endif
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#if GET_BUTTONS_ADC() == 0
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{ PIN_TO_INPUTCTRL(ADC_KEYPAD_PIN) },
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#endif
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};
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#define ADC0_AINCOUNT COUNT(adc0_dma_regs_list)
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#endif // ADC0_IS_REQUIRED
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#if ADC1_IS_REQUIRED
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Adafruit_ZeroDMA adc1DMAProgram,
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adc1DMARead;
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const HAL_DMA_DAC_Registers adc1_dma_regs_list[] = {
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#if GET_TEMP_0_ADC() == 1
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{ PIN_TO_INPUTCTRL(TEMP_0_PIN) },
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#endif
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#if GET_TEMP_1_ADC() == 1
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{ PIN_TO_INPUTCTRL(TEMP_1_PIN) },
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#endif
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#if GET_TEMP_2_ADC() == 1
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{ PIN_TO_INPUTCTRL(TEMP_2_PIN) },
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#endif
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#if GET_TEMP_3_ADC() == 1
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{ PIN_TO_INPUTCTRL(TEMP_3_PIN) },
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#endif
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#if GET_TEMP_4_ADC() == 1
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{ PIN_TO_INPUTCTRL(TEMP_4_PIN) },
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#endif
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#if GET_TEMP_5_ADC() == 1
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{ PIN_TO_INPUTCTRL(TEMP_5_PIN) },
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#endif
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#if GET_TEMP_6_ADC() == 1
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{ PIN_TO_INPUTCTRL(TEMP_6_PIN) },
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#endif
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#if GET_TEMP_7_ADC() == 1
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{ PIN_TO_INPUTCTRL(TEMP_7_PIN) },
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#endif
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#if GET_PROBE_ADC() == 1
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{ PIN_TO_INPUTCTRL(TEMP_PROBE_PIN) },
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#endif
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#if GET_BED_ADC() == 1
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{ PIN_TO_INPUTCTRL(TEMP_BED_PIN) },
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#endif
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#if GET_CHAMBER_ADC() == 1
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{ PIN_TO_INPUTCTRL(TEMP_CHAMBER_PIN) },
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#endif
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#if GET_FILAMENT_WIDTH_ADC() == 1
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{ PIN_TO_INPUTCTRL(FILWIDTH_PIN) },
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#endif
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#if GET_BUTTONS_ADC() == 1
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{ PIN_TO_INPUTCTRL(ADC_KEYPAD_PIN) },
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#endif
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};
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#define ADC1_AINCOUNT COUNT(adc1_dma_regs_list)
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#endif // ADC1_IS_REQUIRED
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#endif // ADC_IS_REQUIRED
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// ------------------------
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// Private functions
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// ------------------------
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#if DMA_IS_REQUIRED
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void dma_init() {
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DmacDescriptor *descriptor;
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#if ADC0_IS_REQUIRED
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adc0DMAProgram.setTrigger(ADC0_DMAC_ID_SEQ);
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adc0DMAProgram.setAction(DMA_TRIGGER_ACTON_BEAT);
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adc0DMAProgram.loop(true);
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if (adc0DMAProgram.allocate() == DMA_STATUS_OK) {
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descriptor = adc0DMAProgram.addDescriptor(
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(void *)adc0_dma_regs_list, // SRC
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(void *)&ADC0->DSEQDATA.reg, // DEST
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sizeof(adc0_dma_regs_list) / 4, // CNT
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DMA_BEAT_SIZE_WORD,
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true, // SRCINC
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false, // DSTINC
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DMA_ADDRESS_INCREMENT_STEP_SIZE_1, // STEPSIZE
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DMA_STEPSEL_SRC // STEPSEL
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);
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if (descriptor != nullptr)
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descriptor->BTCTRL.bit.EVOSEL = DMA_EVENT_OUTPUT_BEAT;
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adc0DMAProgram.startJob();
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}
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adc0DMARead.setTrigger(ADC0_DMAC_ID_RESRDY);
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adc0DMARead.setAction(DMA_TRIGGER_ACTON_BEAT);
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adc0DMARead.loop(true);
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if (adc0DMARead.allocate() == DMA_STATUS_OK) {
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adc0DMARead.addDescriptor(
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(void *)&ADC0->RESULT.reg, // SRC
|
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&HAL_adc_results, // DEST
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ADC0_AINCOUNT, // CNT
|
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DMA_BEAT_SIZE_HWORD,
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false, // SRCINC
|
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true, // DSTINC
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DMA_ADDRESS_INCREMENT_STEP_SIZE_1, // STEPSIZE
|
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DMA_STEPSEL_DST // STEPSEL
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);
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adc0DMARead.startJob();
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||||
}
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#endif
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#if ADC1_IS_REQUIRED
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||||
adc1DMAProgram.setTrigger(ADC1_DMAC_ID_SEQ);
|
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adc1DMAProgram.setAction(DMA_TRIGGER_ACTON_BEAT);
|
||||
adc1DMAProgram.loop(true);
|
||||
if (adc1DMAProgram.allocate() == DMA_STATUS_OK) {
|
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descriptor = adc1DMAProgram.addDescriptor(
|
||||
(void *)adc1_dma_regs_list, // SRC
|
||||
(void *)&ADC1->DSEQDATA.reg, // DEST
|
||||
sizeof(adc1_dma_regs_list) / 4, // CNT
|
||||
DMA_BEAT_SIZE_WORD,
|
||||
true, // SRCINC
|
||||
false, // DSTINC
|
||||
DMA_ADDRESS_INCREMENT_STEP_SIZE_1, // STEPSIZE
|
||||
DMA_STEPSEL_SRC // STEPSEL
|
||||
);
|
||||
if (descriptor != nullptr)
|
||||
descriptor->BTCTRL.bit.EVOSEL = DMA_EVENT_OUTPUT_BEAT;
|
||||
adc1DMAProgram.startJob();
|
||||
}
|
||||
|
||||
adc1DMARead.setTrigger(ADC1_DMAC_ID_RESRDY);
|
||||
adc1DMARead.setAction(DMA_TRIGGER_ACTON_BEAT);
|
||||
adc1DMARead.loop(true);
|
||||
if (adc1DMARead.allocate() == DMA_STATUS_OK) {
|
||||
adc1DMARead.addDescriptor(
|
||||
(void *)&ADC1->RESULT.reg, // SRC
|
||||
&HAL_adc_results[ADC0_AINCOUNT], // DEST
|
||||
ADC1_AINCOUNT, // CNT
|
||||
DMA_BEAT_SIZE_HWORD,
|
||||
false, // SRCINC
|
||||
true, // DSTINC
|
||||
DMA_ADDRESS_INCREMENT_STEP_SIZE_1, // STEPSIZE
|
||||
DMA_STEPSEL_DST // STEPSEL
|
||||
);
|
||||
adc1DMARead.startJob();
|
||||
}
|
||||
#endif
|
||||
|
||||
DMAC->PRICTRL0.bit.RRLVLEN0 = true; // Activate round robin for DMA channels required by ADCs
|
||||
}
|
||||
|
||||
#endif // DMA_IS_REQUIRED
|
||||
|
||||
// ------------------------
|
||||
// Public functions
|
||||
// ------------------------
|
||||
|
||||
// HAL initialization task
|
||||
void HAL_init() {
|
||||
#if DMA_IS_REQUIRED
|
||||
dma_init();
|
||||
#endif
|
||||
#if ENABLED(SDSUPPORT)
|
||||
#if SD_CONNECTION_IS(ONBOARD) && PIN_EXISTS(SD_DETECT)
|
||||
SET_INPUT_PULLUP(SD_DETECT_PIN);
|
||||
#endif
|
||||
OUT_WRITE(SDSS, HIGH); // Try to set SDSS inactive before any other SPI users start up
|
||||
#endif
|
||||
}
|
||||
|
||||
// HAL idle task
|
||||
/*
|
||||
void HAL_idletask() {
|
||||
}
|
||||
*/
|
||||
|
||||
void HAL_clear_reset_source() { }
|
||||
|
||||
#pragma push_macro("WDT")
|
||||
#undef WDT // Required to be able to use '.bit.WDT'. Compiler wrongly replace struct field with WDT define
|
||||
uint8_t HAL_get_reset_source() {
|
||||
RSTC_RCAUSE_Type resetCause;
|
||||
|
||||
resetCause.reg = REG_RSTC_RCAUSE;
|
||||
if (resetCause.bit.POR) return RST_POWER_ON;
|
||||
else if (resetCause.bit.EXT) return RST_EXTERNAL;
|
||||
else if (resetCause.bit.BODCORE || resetCause.bit.BODVDD) return RST_BROWN_OUT;
|
||||
else if (resetCause.bit.WDT) return RST_WATCHDOG;
|
||||
else if (resetCause.bit.SYST || resetCause.bit.NVM) return RST_SOFTWARE;
|
||||
else if (resetCause.bit.BACKUP) return RST_BACKUP;
|
||||
return 0;
|
||||
}
|
||||
#pragma pop_macro("WDT")
|
||||
|
||||
extern "C" {
|
||||
void * _sbrk(int incr);
|
||||
|
||||
extern unsigned int __bss_end__; // end of bss section
|
||||
}
|
||||
|
||||
// Return free memory between end of heap (or end bss) and whatever is current
|
||||
int freeMemory() {
|
||||
int free_memory, heap_end = (int)_sbrk(0);
|
||||
return (int)&free_memory - (heap_end ?: (int)&__bss_end__);
|
||||
}
|
||||
|
||||
// ------------------------
|
||||
// ADC
|
||||
// ------------------------
|
||||
|
||||
void HAL_adc_init() {
|
||||
#if ADC_IS_REQUIRED
|
||||
memset(HAL_adc_results, 0xFF, sizeof(HAL_adc_results)); // Fill result with invalid values
|
||||
|
||||
LOOP_L_N(pi, COUNT(adc_pins))
|
||||
pinPeripheral(adc_pins[pi], PIO_ANALOG);
|
||||
|
||||
LOOP_S_LE_N(ai, FIRST_ADC, LAST_ADC) {
|
||||
Adc* adc = ((Adc*[])ADC_INSTS)[ai];
|
||||
|
||||
// ADC clock setup
|
||||
GCLK->PCHCTRL[ADC0_GCLK_ID + ai].bit.CHEN = false;
|
||||
SYNC(GCLK->PCHCTRL[ADC0_GCLK_ID + ai].bit.CHEN);
|
||||
GCLK->PCHCTRL[ADC0_GCLK_ID + ai].reg = GCLK_PCHCTRL_GEN_GCLK1 | GCLK_PCHCTRL_CHEN; // 48MHz startup code programmed
|
||||
SYNC(!GCLK->PCHCTRL[ADC0_GCLK_ID + ai].bit.CHEN);
|
||||
adc->CTRLA.bit.PRESCALER = ADC_CTRLA_PRESCALER_DIV32_Val; // 1.5MHZ adc clock
|
||||
|
||||
// ADC setup
|
||||
// Preloaded data (fixed for all ADC instances hence not loaded by DMA)
|
||||
adc->REFCTRL.bit.REFSEL = ADC_REFCTRL_REFSEL_AREFA_Val; // VRefA pin
|
||||
SYNC(adc->SYNCBUSY.bit.REFCTRL);
|
||||
adc->CTRLB.bit.RESSEL = ADC_CTRLB_RESSEL_10BIT_Val; // ... ADC_CTRLB_RESSEL_16BIT_Val
|
||||
SYNC(adc->SYNCBUSY.bit.CTRLB);
|
||||
adc->SAMPCTRL.bit.SAMPLEN = (6 - 1); // Sampling clocks
|
||||
//adc->AVGCTRL.reg = ADC_AVGCTRL_SAMPLENUM_16 | ADC_AVGCTRL_ADJRES(4); // 16 Accumulated conversions and shift 4 to get oversampled 12 bits result
|
||||
//SYNC(adc->SYNCBUSY.bit.AVGCTRL);
|
||||
|
||||
// Registers loaded by DMA
|
||||
adc->DSEQCTRL.bit.INPUTCTRL = true;
|
||||
adc->DSEQCTRL.bit.AUTOSTART = true; // Start conversion after DMA sequence
|
||||
|
||||
adc->CTRLA.bit.ENABLE = true; // Enable ADC
|
||||
SYNC(adc->SYNCBUSY.bit.ENABLE);
|
||||
}
|
||||
#endif // ADC_IS_REQUIRED
|
||||
}
|
||||
|
||||
void HAL_adc_start_conversion(const uint8_t adc_pin) {
|
||||
#if ADC_IS_REQUIRED
|
||||
LOOP_L_N(pi, COUNT(adc_pins)) {
|
||||
if (adc_pin == adc_pins[pi]) {
|
||||
HAL_adc_result = HAL_adc_results[pi];
|
||||
return;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
HAL_adc_result = 0xFFFF;
|
||||
}
|
||||
|
||||
#endif // __SAMD51__
|
||||
Reference in New Issue
Block a user