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Diffstat (limited to 'Marlin/src/HAL/SAMD51/HAL.cpp')
| -rw-r--r-- | Marlin/src/HAL/SAMD51/HAL.cpp | 478 |
1 files changed, 478 insertions, 0 deletions
diff --git a/Marlin/src/HAL/SAMD51/HAL.cpp b/Marlin/src/HAL/SAMD51/HAL.cpp new file mode 100644 index 0000000..a413c4c --- /dev/null +++ b/Marlin/src/HAL/SAMD51/HAL.cpp @@ -0,0 +1,478 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * 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 __SAMD51__ + +#include "../../inc/MarlinConfig.h" +#include <Adafruit_ZeroDMA.h> +#include <wiring_private.h> + +#ifdef ADAFRUIT_GRAND_CENTRAL_M4 + DefaultSerial MSerial(false, Serial); + DefaultSerial1 MSerial1(false, Serial1); +#endif + +// ------------------------ +// Local defines +// ------------------------ + +#define GET_TEMP_0_ADC() TERN(HAS_TEMP_ADC_0, PIN_TO_ADC(TEMP_0_PIN), -1) +#define GET_TEMP_1_ADC() TERN(HAS_TEMP_ADC_1, PIN_TO_ADC(TEMP_1_PIN), -1) +#define GET_TEMP_2_ADC() TERN(HAS_TEMP_ADC_2, PIN_TO_ADC(TEMP_2_PIN), -1) +#define GET_TEMP_3_ADC() TERN(HAS_TEMP_ADC_3, PIN_TO_ADC(TEMP_3_PIN), -1) +#define GET_TEMP_4_ADC() TERN(HAS_TEMP_ADC_4, PIN_TO_ADC(TEMP_4_PIN), -1) +#define GET_TEMP_5_ADC() TERN(HAS_TEMP_ADC_5, PIN_TO_ADC(TEMP_5_PIN), -1) +#define GET_TEMP_6_ADC() TERN(HAS_TEMP_ADC_6, PIN_TO_ADC(TEMP_6_PIN), -1) +#define GET_TEMP_7_ADC() TERN(HAS_TEMP_ADC_7, PIN_TO_ADC(TEMP_7_PIN), -1) +#define GET_PROBE_ADC() TERN(HAS_TEMP_PROBE, PIN_TO_ADC(TEMP_PROBE_PIN), -1) +#define GET_BED_ADC() TERN(HAS_TEMP_ADC_BED, PIN_TO_ADC(TEMP_BED_PIN), -1) +#define GET_CHAMBER_ADC() TERN(HAS_TEMP_ADC_CHAMBER, PIN_TO_ADC(TEMP_CHAMBER_PIN), -1) +#define GET_FILAMENT_WIDTH_ADC() TERN(FILAMENT_WIDTH_SENSOR, PIN_TO_ADC(FILWIDTH_PIN), -1) +#define GET_BUTTONS_ADC() TERN(HAS_ADC_BUTTONS, PIN_TO_ADC(ADC_KEYPAD_PIN), -1) + +#define IS_ADC_REQUIRED(n) ( \ + GET_TEMP_0_ADC() == n || GET_TEMP_1_ADC() == n || GET_TEMP_2_ADC() == n || GET_TEMP_3_ADC() == n \ + || GET_TEMP_4_ADC() == n || GET_TEMP_5_ADC() == n || GET_TEMP_6_ADC() == n || GET_TEMP_7_ADC() == n \ + || GET_PROBE_ADC() == n \ + || GET_BED_ADC() == n \ + || GET_CHAMBER_ADC() == n \ + || GET_FILAMENT_WIDTH_ADC() == n \ + || GET_BUTTONS_ADC() == n \ +) + +#if IS_ADC_REQUIRED(0) + #define ADC0_IS_REQUIRED 1 + #define FIRST_ADC 0 +#else + #define FIRST_ADC 1 +#endif +#if IS_ADC_REQUIRED(1) + #define ADC1_IS_REQUIRED 1 + #define LAST_ADC 1 +#else + #define LAST_ADC 0 +#endif +#if ADC0_IS_REQUIRED || ADC1_IS_REQUIRED + #define ADC_IS_REQUIRED 1 + #define DMA_IS_REQUIRED 1 +#endif + +// ------------------------ +// Types +// ------------------------ + +#if DMA_IS_REQUIRED + + // Struct must be 32 bits aligned because of DMA accesses but fields needs to be 8 bits packed + typedef struct __attribute__((aligned(4), packed)) { + ADC_INPUTCTRL_Type INPUTCTRL; + } HAL_DMA_DAC_Registers; // DMA transfered registers + +#endif + +// ------------------------ +// Private Variables +// ------------------------ + +uint16_t HAL_adc_result; + +#if ADC_IS_REQUIRED + + // Pins used by ADC inputs. Order must be ADC0 inputs first then ADC1 + const uint8_t adc_pins[] = { + // ADC0 pins + #if GET_TEMP_0_ADC() == 0 + TEMP_0_PIN, + #endif + #if GET_TEMP_1_ADC() == 0 + TEMP_1_PIN, + #endif + #if GET_TEMP_2_ADC() == 0 + TEMP_2_PIN, + #endif + #if GET_TEMP_3_ADC() == 0 + TEMP_3_PIN, + #endif + #if GET_TEMP_4_ADC() == 0 + TEMP_4_PIN, + #endif + #if GET_TEMP_5_ADC() == 0 + TEMP_5_PIN, + #endif + #if GET_TEMP_6_ADC() == 0 + TEMP_6_PIN, + #endif + #if GET_TEMP_7_ADC() == 0 + TEMP_7_PIN, + #endif + #if GET_PROBE_ADC() == 0 + TEMP_PROBE_PIN, + #endif + #if GET_BED_ADC() == 0 + TEMP_BED_PIN, + #endif + #if GET_CHAMBER_ADC() == 0 + TEMP_CHAMBER_PIN, + #endif + #if GET_FILAMENT_WIDTH_ADC() == 0 + FILWIDTH_PIN, + #endif + #if GET_BUTTONS_ADC() == 0 + ADC_KEYPAD_PIN, + #endif + // ADC1 pins + #if GET_TEMP_0_ADC() == 1 + TEMP_0_PIN, + #endif + #if GET_TEMP_1_ADC() == 1 + TEMP_1_PIN, + #endif + #if GET_TEMP_2_ADC() == 1 + TEMP_2_PIN, + #endif + #if GET_TEMP_3_ADC() == 1 + TEMP_3_PIN, + #endif + #if GET_TEMP_4_ADC() == 1 + TEMP_4_PIN, + #endif + #if GET_TEMP_5_ADC() == 1 + TEMP_5_PIN, + #endif + #if GET_TEMP_6_ADC() == 1 + TEMP_6_PIN, + #endif + #if GET_TEMP_7_ADC() == 1 + TEMP_7_PIN, + #endif + #if GET_PROBE_ADC() == 1 + TEMP_PROBE_PIN, + #endif + #if GET_BED_ADC() == 1 + TEMP_BED_PIN, + #endif + #if GET_CHAMBER_ADC() == 1 + TEMP_CHAMBER_PIN, + #endif + #if GET_FILAMENT_WIDTH_ADC() == 1 + FILWIDTH_PIN, + #endif + #if GET_BUTTONS_ADC() == 1 + ADC_KEYPAD_PIN, + #endif + }; + + uint16_t HAL_adc_results[COUNT(adc_pins)]; + + #if ADC0_IS_REQUIRED + Adafruit_ZeroDMA adc0DMAProgram, + adc0DMARead; + + const HAL_DMA_DAC_Registers adc0_dma_regs_list[] = { + #if GET_TEMP_0_ADC() == 0 + { PIN_TO_INPUTCTRL(TEMP_0_PIN) }, + #endif + #if GET_TEMP_1_ADC() == 0 + { PIN_TO_INPUTCTRL(TEMP_1_PIN) }, + #endif + #if GET_TEMP_2_ADC() == 0 + { PIN_TO_INPUTCTRL(TEMP_2_PIN) }, + #endif + #if GET_TEMP_3_ADC() == 0 + { PIN_TO_INPUTCTRL(TEMP_3_PIN) }, + #endif + #if GET_TEMP_4_ADC() == 0 + { PIN_TO_INPUTCTRL(TEMP_4_PIN) }, + #endif + #if GET_TEMP_5_ADC() == 0 + { PIN_TO_INPUTCTRL(TEMP_5_PIN) }, + #endif + #if GET_TEMP_6_ADC() == 0 + { PIN_TO_INPUTCTRL(TEMP_6_PIN) }, + #endif + #if GET_TEMP_7_ADC() == 0 + { PIN_TO_INPUTCTRL(TEMP_7_PIN) }, + #endif + #if GET_PROBE_ADC() == 0 + { PIN_TO_INPUTCTRL(TEMP_PROBE_PIN) }, + #endif + #if GET_BED_ADC() == 0 + { PIN_TO_INPUTCTRL(TEMP_BED_PIN) }, + #endif + #if GET_CHAMBER_ADC() == 0 + { PIN_TO_INPUTCTRL(TEMP_CHAMBER_PIN) }, + #endif + #if GET_FILAMENT_WIDTH_ADC() == 0 + { PIN_TO_INPUTCTRL(FILWIDTH_PIN) }, + #endif + #if GET_BUTTONS_ADC() == 0 + { PIN_TO_INPUTCTRL(ADC_KEYPAD_PIN) }, + #endif + }; + + #define ADC0_AINCOUNT COUNT(adc0_dma_regs_list) + #endif // ADC0_IS_REQUIRED + + #if ADC1_IS_REQUIRED + Adafruit_ZeroDMA adc1DMAProgram, + adc1DMARead; + + const HAL_DMA_DAC_Registers adc1_dma_regs_list[] = { + #if GET_TEMP_0_ADC() == 1 + { PIN_TO_INPUTCTRL(TEMP_0_PIN) }, + #endif + #if GET_TEMP_1_ADC() == 1 + { PIN_TO_INPUTCTRL(TEMP_1_PIN) }, + #endif + #if GET_TEMP_2_ADC() == 1 + { PIN_TO_INPUTCTRL(TEMP_2_PIN) }, + #endif + #if GET_TEMP_3_ADC() == 1 + { PIN_TO_INPUTCTRL(TEMP_3_PIN) }, + #endif + #if GET_TEMP_4_ADC() == 1 + { PIN_TO_INPUTCTRL(TEMP_4_PIN) }, + #endif + #if GET_TEMP_5_ADC() == 1 + { PIN_TO_INPUTCTRL(TEMP_5_PIN) }, + #endif + #if GET_TEMP_6_ADC() == 1 + { PIN_TO_INPUTCTRL(TEMP_6_PIN) }, + #endif + #if GET_TEMP_7_ADC() == 1 + { PIN_TO_INPUTCTRL(TEMP_7_PIN) }, + #endif + #if GET_PROBE_ADC() == 1 + { PIN_TO_INPUTCTRL(TEMP_PROBE_PIN) }, + #endif + #if GET_BED_ADC() == 1 + { PIN_TO_INPUTCTRL(TEMP_BED_PIN) }, + #endif + #if GET_CHAMBER_ADC() == 1 + { PIN_TO_INPUTCTRL(TEMP_CHAMBER_PIN) }, + #endif + #if GET_FILAMENT_WIDTH_ADC() == 1 + { PIN_TO_INPUTCTRL(FILWIDTH_PIN) }, + #endif + #if GET_BUTTONS_ADC() == 1 + { PIN_TO_INPUTCTRL(ADC_KEYPAD_PIN) }, + #endif + }; + + #define ADC1_AINCOUNT COUNT(adc1_dma_regs_list) + #endif // ADC1_IS_REQUIRED + +#endif // ADC_IS_REQUIRED + +// ------------------------ +// Private functions +// ------------------------ + +#if DMA_IS_REQUIRED + + void dma_init() { + DmacDescriptor *descriptor; + + #if ADC0_IS_REQUIRED + adc0DMAProgram.setTrigger(ADC0_DMAC_ID_SEQ); + adc0DMAProgram.setAction(DMA_TRIGGER_ACTON_BEAT); + adc0DMAProgram.loop(true); + if (adc0DMAProgram.allocate() == DMA_STATUS_OK) { + descriptor = adc0DMAProgram.addDescriptor( + (void *)adc0_dma_regs_list, // SRC + (void *)&ADC0->DSEQDATA.reg, // DEST + sizeof(adc0_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) + descriptor->BTCTRL.bit.EVOSEL = DMA_EVENT_OUTPUT_BEAT; + adc0DMAProgram.startJob(); + } + + adc0DMARead.setTrigger(ADC0_DMAC_ID_RESRDY); + adc0DMARead.setAction(DMA_TRIGGER_ACTON_BEAT); + adc0DMARead.loop(true); + if (adc0DMARead.allocate() == DMA_STATUS_OK) { + adc0DMARead.addDescriptor( + (void *)&ADC0->RESULT.reg, // SRC + &HAL_adc_results, // DEST + ADC0_AINCOUNT, // CNT + DMA_BEAT_SIZE_HWORD, + false, // SRCINC + true, // DSTINC + DMA_ADDRESS_INCREMENT_STEP_SIZE_1, // STEPSIZE + DMA_STEPSEL_DST // STEPSEL + ); + adc0DMARead.startJob(); + } + #endif + #if ADC1_IS_REQUIRED + adc1DMAProgram.setTrigger(ADC1_DMAC_ID_SEQ); + adc1DMAProgram.setAction(DMA_TRIGGER_ACTON_BEAT); + adc1DMAProgram.loop(true); + if (adc1DMAProgram.allocate() == DMA_STATUS_OK) { + 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) + 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() { + TERN_(DMA_IS_REQUIRED, dma_init()); + #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__ |