Initial commit

1 files changed, 343 insertions, 0 deletions

diff --git a/Marlin/src/HAL/ESP32/i2s.cpp b/Marlin/src/HAL/ESP32/i2s.cpp
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+++ b/Marlin/src/HAL/ESP32/i2s.cpp
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+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#ifdef ARDUINO_ARCH_ESP32
+
+#include "../../inc/MarlinConfigPre.h"
+
+#include "i2s.h"
+
+#include "../shared/Marduino.h"
+#include <driver/periph_ctrl.h>
+#include <rom/lldesc.h>
+#include <soc/i2s_struct.h>
+#include <freertos/queue.h>
+#include "../../module/stepper.h"
+
+#define DMA_BUF_COUNT 8                                // number of DMA buffers to store data
+#define DMA_BUF_LEN   4092                             // maximum size in bytes
+#define I2S_SAMPLE_SIZE 4                              // 4 bytes, 32 bits per sample
+#define DMA_SAMPLE_COUNT DMA_BUF_LEN / I2S_SAMPLE_SIZE // number of samples per buffer
+
+typedef enum {
+  I2S_NUM_0 = 0x0,  /*!< I2S 0*/
+  I2S_NUM_1 = 0x1,  /*!< I2S 1*/
+  I2S_NUM_MAX,
+} i2s_port_t;
+
+typedef struct {
+  uint32_t     **buffers;
+  uint32_t     *current;
+  uint32_t     rw_pos;
+  lldesc_t     **desc;
+  xQueueHandle queue;
+} i2s_dma_t;
+
+static portMUX_TYPE i2s_spinlock[I2S_NUM_MAX] = {portMUX_INITIALIZER_UNLOCKED, portMUX_INITIALIZER_UNLOCKED};
+static i2s_dev_t* I2S[I2S_NUM_MAX] = {&I2S0, &I2S1};
+static i2s_dma_t dma;
+
+// output value
+uint32_t i2s_port_data = 0;
+
+#define I2S_ENTER_CRITICAL()  portENTER_CRITICAL(&i2s_spinlock[i2s_num])
+#define I2S_EXIT_CRITICAL()   portEXIT_CRITICAL(&i2s_spinlock[i2s_num])
+
+static inline void gpio_matrix_out_check(uint32_t gpio, uint32_t signal_idx, bool out_inv, bool oen_inv) {
+  //if pin = -1, do not need to configure
+  if (gpio != -1) {
+    PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[gpio], PIN_FUNC_GPIO);
+    gpio_set_direction((gpio_num_t)gpio, (gpio_mode_t)GPIO_MODE_DEF_OUTPUT);
+    gpio_matrix_out(gpio, signal_idx, out_inv, oen_inv);
+  }
+}
+
+static esp_err_t i2s_reset_fifo(i2s_port_t i2s_num) {
+  I2S_ENTER_CRITICAL();
+  I2S[i2s_num]->conf.rx_fifo_reset = 1;
+  I2S[i2s_num]->conf.rx_fifo_reset = 0;
+  I2S[i2s_num]->conf.tx_fifo_reset = 1;
+  I2S[i2s_num]->conf.tx_fifo_reset = 0;
+  I2S_EXIT_CRITICAL();
+
+  return ESP_OK;
+}
+
+esp_err_t i2s_start(i2s_port_t i2s_num) {
+  //start DMA link
+  I2S_ENTER_CRITICAL();
+  i2s_reset_fifo(i2s_num);
+
+  //reset dma
+  I2S[i2s_num]->lc_conf.in_rst = 1;
+  I2S[i2s_num]->lc_conf.in_rst = 0;
+  I2S[i2s_num]->lc_conf.out_rst = 1;
+  I2S[i2s_num]->lc_conf.out_rst = 0;
+
+  I2S[i2s_num]->conf.tx_reset = 1;
+  I2S[i2s_num]->conf.tx_reset = 0;
+  I2S[i2s_num]->conf.rx_reset = 1;
+  I2S[i2s_num]->conf.rx_reset = 0;
+
+  I2S[i2s_num]->int_clr.val = 0xFFFFFFFF;
+  I2S[i2s_num]->out_link.start = 1;
+  I2S[i2s_num]->conf.tx_start = 1;
+  I2S_EXIT_CRITICAL();
+
+  return ESP_OK;
+}
+
+esp_err_t i2s_stop(i2s_port_t i2s_num) {
+  I2S_ENTER_CRITICAL();
+  I2S[i2s_num]->out_link.stop = 1;
+  I2S[i2s_num]->conf.tx_start = 0;
+
+  I2S[i2s_num]->int_clr.val = I2S[i2s_num]->int_st.val; //clear pending interrupt
+  I2S_EXIT_CRITICAL();
+
+  return ESP_OK;
+}
+
+static void IRAM_ATTR i2s_intr_handler_default(void *arg) {
+  int dummy;
+  lldesc_t *finish_desc;
+  portBASE_TYPE high_priority_task_awoken = pdFALSE;
+
+  if (I2S0.int_st.out_eof) {
+    // Get the descriptor of the last item in the linkedlist
+    finish_desc = (lldesc_t*) I2S0.out_eof_des_addr;
+
+    // If the queue is full it's because we have an underflow,
+    // more than buf_count isr without new data, remove the front buffer
+    if (xQueueIsQueueFullFromISR(dma.queue))
+      xQueueReceiveFromISR(dma.queue, &dummy, &high_priority_task_awoken);
+
+    xQueueSendFromISR(dma.queue, (void *)(&finish_desc->buf), &high_priority_task_awoken);
+  }
+
+  if (high_priority_task_awoken == pdTRUE) portYIELD_FROM_ISR();
+
+  // clear interrupt
+  I2S0.int_clr.val = I2S0.int_st.val; //clear pending interrupt
+}
+
+void stepperTask(void* parameter) {
+  uint32_t remaining = 0;
+
+  while (1) {
+    xQueueReceive(dma.queue, &dma.current, portMAX_DELAY);
+    dma.rw_pos = 0;
+
+    while (dma.rw_pos < DMA_SAMPLE_COUNT) {
+      // Fill with the port data post pulse_phase until the next step
+      if (remaining) {
+        i2s_push_sample();
+        remaining--;
+      }
+      else {
+        Stepper::pulse_phase_isr();
+        remaining = Stepper::block_phase_isr();
+      }
+    }
+  }
+}
+
+int i2s_init() {
+  periph_module_enable(PERIPH_I2S0_MODULE);
+
+  /**
+   * Each i2s transfer will take
+   *   fpll = PLL_D2_CLK      -- clka_en = 0
+   *
+   *   fi2s = fpll / N + b/a  -- N = clkm_div_num
+   *   fi2s = 160MHz / 2
+   *   fi2s = 80MHz
+   *
+   *   fbclk = fi2s / M   -- M = tx_bck_div_num
+   *   fbclk = 80MHz / 2
+   *   fbclk = 40MHz
+   *
+   *   fwclk = fbclk / 32
+   *
+   *   for fwclk = 250kHz (4µS pulse time)
+   *      N = 10
+   *      M = 20
+   */
+
+  // Allocate the array of pointers to the buffers
+  dma.buffers = (uint32_t **)malloc(sizeof(uint32_t*) * DMA_BUF_COUNT);
+  if (!dma.buffers) return -1;
+
+  // Allocate each buffer that can be used by the DMA controller
+  for (int buf_idx = 0; buf_idx < DMA_BUF_COUNT; buf_idx++) {
+    dma.buffers[buf_idx] = (uint32_t*) heap_caps_calloc(1, DMA_BUF_LEN, MALLOC_CAP_DMA);
+    if (dma.buffers[buf_idx] == nullptr) return -1;
+  }
+
+  // Allocate the array of DMA descriptors
+  dma.desc = (lldesc_t**) malloc(sizeof(lldesc_t*) * DMA_BUF_COUNT);
+  if (!dma.desc) return -1;
+
+  // Allocate each DMA descriptor that will be used by the DMA controller
+  for (int buf_idx = 0; buf_idx < DMA_BUF_COUNT; buf_idx++) {
+    dma.desc[buf_idx] = (lldesc_t*) heap_caps_malloc(sizeof(lldesc_t), MALLOC_CAP_DMA);
+    if (dma.desc[buf_idx] == nullptr) return -1;
+  }
+
+  // Initialize
+  for (int buf_idx = 0; buf_idx < DMA_BUF_COUNT; buf_idx++) {
+    dma.desc[buf_idx]->owner = 1;
+    dma.desc[buf_idx]->eof = 1; // set to 1 will trigger the interrupt
+    dma.desc[buf_idx]->sosf = 0;
+    dma.desc[buf_idx]->length = DMA_BUF_LEN;
+    dma.desc[buf_idx]->size = DMA_BUF_LEN;
+    dma.desc[buf_idx]->buf = (uint8_t *) dma.buffers[buf_idx];
+    dma.desc[buf_idx]->offset = 0;
+    dma.desc[buf_idx]->empty = (uint32_t)((buf_idx < (DMA_BUF_COUNT - 1)) ? (dma.desc[buf_idx + 1]) : dma.desc[0]);
+  }
+
+  dma.queue = xQueueCreate(DMA_BUF_COUNT, sizeof(uint32_t *));
+
+  // Set the first DMA descriptor
+  I2S0.out_link.addr = (uint32_t)dma.desc[0];
+
+  // stop i2s
+  i2s_stop(I2S_NUM_0);
+
+  // configure I2S data port interface.
+  i2s_reset_fifo(I2S_NUM_0);
+
+  //reset i2s
+  I2S0.conf.tx_reset = 1;
+  I2S0.conf.tx_reset = 0;
+  I2S0.conf.rx_reset = 1;
+  I2S0.conf.rx_reset = 0;
+
+  //reset dma
+  I2S0.lc_conf.in_rst = 1;
+  I2S0.lc_conf.in_rst = 0;
+  I2S0.lc_conf.out_rst = 1;
+  I2S0.lc_conf.out_rst = 0;
+
+  //Enable and configure DMA
+  I2S0.lc_conf.check_owner = 0;
+  I2S0.lc_conf.out_loop_test = 0;
+  I2S0.lc_conf.out_auto_wrback = 0;
+  I2S0.lc_conf.out_data_burst_en = 0;
+  I2S0.lc_conf.outdscr_burst_en = 0;
+  I2S0.lc_conf.out_no_restart_clr = 0;
+  I2S0.lc_conf.indscr_burst_en = 0;
+  I2S0.lc_conf.out_eof_mode = 1;
+
+  I2S0.conf2.lcd_en = 0;
+  I2S0.conf2.camera_en = 0;
+  I2S0.pdm_conf.pcm2pdm_conv_en = 0;
+  I2S0.pdm_conf.pdm2pcm_conv_en = 0;
+
+  I2S0.fifo_conf.dscr_en = 0;
+
+  I2S0.conf_chan.tx_chan_mod = (
+    #if ENABLED(I2S_STEPPER_SPLIT_STREAM)
+      4
+    #else
+      0
+    #endif
+  );
+  I2S0.fifo_conf.tx_fifo_mod = 0;
+  I2S0.conf.tx_mono = 0;
+
+  I2S0.conf_chan.rx_chan_mod = 0;
+  I2S0.fifo_conf.rx_fifo_mod = 0;
+  I2S0.conf.rx_mono = 0;
+
+  I2S0.fifo_conf.dscr_en = 1; //connect dma to fifo
+
+  I2S0.conf.tx_start = 0;
+  I2S0.conf.rx_start = 0;
+
+  I2S0.conf.tx_msb_right = 1;
+  I2S0.conf.tx_right_first = 1;
+
+  I2S0.conf.tx_slave_mod = 0; // Master
+  I2S0.fifo_conf.tx_fifo_mod_force_en = 1;
+
+  I2S0.pdm_conf.rx_pdm_en = 0;
+  I2S0.pdm_conf.tx_pdm_en = 0;
+
+  I2S0.conf.tx_short_sync = 0;
+  I2S0.conf.rx_short_sync = 0;
+  I2S0.conf.tx_msb_shift = 0;
+  I2S0.conf.rx_msb_shift = 0;
+
+  // set clock
+  I2S0.clkm_conf.clka_en = 0;       // Use PLL/2 as reference
+  I2S0.clkm_conf.clkm_div_num = 10; // minimum value of 2, reset value of 4, max 256
+  I2S0.clkm_conf.clkm_div_a = 0;    // 0 at reset, what about divide by 0? (not an issue)
+  I2S0.clkm_conf.clkm_div_b = 0;    // 0 at reset
+
+  // fbck = fi2s / tx_bck_div_num
+  I2S0.sample_rate_conf.tx_bck_div_num = 2; // minimum value of 2 defaults to 6
+
+  // Enable TX interrupts
+  I2S0.int_ena.out_eof = 1;
+  I2S0.int_ena.out_dscr_err = 0;
+  I2S0.int_ena.out_total_eof = 0;
+  I2S0.int_ena.out_done = 0;
+
+  // Allocate and Enable the I2S interrupt
+  intr_handle_t i2s_isr_handle;
+  esp_intr_alloc(ETS_I2S0_INTR_SOURCE, 0, i2s_intr_handler_default, nullptr, &i2s_isr_handle);
+  esp_intr_enable(i2s_isr_handle);
+
+  // Create the task that will feed the buffer
+  xTaskCreatePinnedToCore(stepperTask, "StepperTask", 10000, nullptr, 1, nullptr, CONFIG_ARDUINO_RUNNING_CORE); // run I2S stepper task on same core as rest of Marlin
+
+  // Route the i2s pins to the appropriate GPIO
+  gpio_matrix_out_check(I2S_DATA, I2S0O_DATA_OUT23_IDX, 0, 0);
+  gpio_matrix_out_check(I2S_BCK, I2S0O_BCK_OUT_IDX, 0, 0);
+  gpio_matrix_out_check(I2S_WS, I2S0O_WS_OUT_IDX, 0, 0);
+
+  // Start the I2S peripheral
+  return i2s_start(I2S_NUM_0);
+}
+
+void i2s_write(uint8_t pin, uint8_t val) {
+  #if ENABLED(I2S_STEPPER_SPLIT_STREAM)
+    if (pin >= 16) {
+      SET_BIT_TO(I2S0.conf_single_data, pin, val);
+      return;
+    }
+  #endif
+  SET_BIT_TO(i2s_port_data, pin, val);
+}
+
+uint8_t i2s_state(uint8_t pin) {
+  #if ENABLED(I2S_STEPPER_SPLIT_STREAM)
+    if (pin >= 16) return TEST(I2S0.conf_single_data, pin);
+  #endif
+  return TEST(i2s_port_data, pin);
+}
+
+void i2s_push_sample() {
+  dma.current[dma.rw_pos++] = i2s_port_data;
+}
+
+#endif // ARDUINO_ARCH_ESP32