diff options
Diffstat (limited to 'Marlin/src/HAL/TEENSY31_32')
| -rw-r--r-- | Marlin/src/HAL/TEENSY31_32/HAL.cpp | 94 | ||||
| -rw-r--r-- | Marlin/src/HAL/TEENSY31_32/HAL.h | 123 | ||||
| -rw-r--r-- | Marlin/src/HAL/TEENSY31_32/HAL_SPI.cpp | 130 | ||||
| -rw-r--r-- | Marlin/src/HAL/TEENSY31_32/Servo.cpp | 54 | ||||
| -rw-r--r-- | Marlin/src/HAL/TEENSY31_32/Servo.h | 37 | ||||
| -rw-r--r-- | Marlin/src/HAL/TEENSY31_32/eeprom.cpp | 72 | ||||
| -rw-r--r-- | Marlin/src/HAL/TEENSY31_32/endstop_interrupts.h | 67 | ||||
| -rw-r--r-- | Marlin/src/HAL/TEENSY31_32/fastio.h | 98 | ||||
| -rw-r--r-- | Marlin/src/HAL/TEENSY31_32/inc/Conditionals_LCD.h | 26 | ||||
| -rw-r--r-- | Marlin/src/HAL/TEENSY31_32/inc/Conditionals_adv.h | 22 | ||||
| -rw-r--r-- | Marlin/src/HAL/TEENSY31_32/inc/Conditionals_post.h | 26 | ||||
| -rw-r--r-- | Marlin/src/HAL/TEENSY31_32/inc/SanityCheck.h | 38 | ||||
| -rw-r--r-- | Marlin/src/HAL/TEENSY31_32/pinsDebug.h | 1 | ||||
| -rw-r--r-- | Marlin/src/HAL/TEENSY31_32/spi_pins.h | 27 | ||||
| -rw-r--r-- | Marlin/src/HAL/TEENSY31_32/timers.cpp | 113 | ||||
| -rw-r--r-- | Marlin/src/HAL/TEENSY31_32/timers.h | 113 | ||||
| -rw-r--r-- | Marlin/src/HAL/TEENSY31_32/watchdog.cpp | 40 | ||||
| -rw-r--r-- | Marlin/src/HAL/TEENSY31_32/watchdog.h | 34 |
18 files changed, 1115 insertions, 0 deletions
diff --git a/Marlin/src/HAL/TEENSY31_32/HAL.cpp b/Marlin/src/HAL/TEENSY31_32/HAL.cpp new file mode 100644 index 0000000..51636d2 --- /dev/null +++ b/Marlin/src/HAL/TEENSY31_32/HAL.cpp @@ -0,0 +1,94 @@ +/** + * 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/>. + * + */ + +/** + * HAL for Teensy 3.2 (MK20DX256) + */ + +#ifdef __MK20DX256__ + +#include "HAL.h" +#include "../shared/Delay.h" + +#include <Wire.h> + +DefaultSerial MSerial(false); +USBSerialType USBSerial(false, SerialUSB); + +uint16_t HAL_adc_result; + +static const uint8_t pin2sc1a[] = { + 5, 14, 8, 9, 13, 12, 6, 7, 15, 4, 0, 19, 3, 31, // 0-13, we treat them as A0-A13 + 5, 14, 8, 9, 13, 12, 6, 7, 15, 4, // 14-23 (A0-A9) + 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, // 24-33 + 0+64, 19+64, 3+64, 31+64, // 34-37 (A10-A13) + 26, 22, 23, 27, 29, 30 // 38-43: temp. sensor, VREF_OUT, A14, bandgap, VREFH, VREFL. A14 isn't connected to anything in Teensy 3.0. +}; + +/* + // disable interrupts + void cli() { noInterrupts(); } + + // enable interrupts + void sei() { interrupts(); } +*/ + +void HAL_adc_init() { + analog_init(); + while (ADC0_SC3 & ADC_SC3_CAL) {}; // Wait for calibration to finish + NVIC_ENABLE_IRQ(IRQ_FTM1); +} + +void HAL_clear_reset_source() { } + +uint8_t HAL_get_reset_source() { + switch (RCM_SRS0) { + case 128: return RST_POWER_ON; break; + case 64: return RST_EXTERNAL; break; + case 32: return RST_WATCHDOG; break; + // case 8: return RST_LOSS_OF_LOCK; break; + // case 4: return RST_LOSS_OF_CLOCK; break; + // case 2: return RST_LOW_VOLTAGE; break; + } + return 0; +} + +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; + } +} + +void HAL_adc_start_conversion(const uint8_t adc_pin) { ADC0_SC1A = pin2sc1a[adc_pin]; } + +uint16_t HAL_adc_get_result() { return ADC0_RA; } + +#endif // __MK20DX256__ diff --git a/Marlin/src/HAL/TEENSY31_32/HAL.h b/Marlin/src/HAL/TEENSY31_32/HAL.h new file mode 100644 index 0000000..5273b38 --- /dev/null +++ b/Marlin/src/HAL/TEENSY31_32/HAL.h @@ -0,0 +1,123 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com + * Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.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 <https://www.gnu.org/licenses/>. + * + */ +#pragma once + +/** + * HAL for Teensy 3.2 (MK20DX256) + */ + +#define CPU_32_BIT + +#include "../shared/Marduino.h" +#include "../shared/math_32bit.h" +#include "../shared/HAL_SPI.h" + +#include "fastio.h" +#include "watchdog.h" + + +#include <stdint.h> + +#define ST7920_DELAY_1 DELAY_NS(600) +#define ST7920_DELAY_2 DELAY_NS(750) +#define ST7920_DELAY_3 DELAY_NS(750) + +//#undef MOTHERBOARD +//#define MOTHERBOARD BOARD_TEENSY31_32 + +#define IS_32BIT_TEENSY 1 +#define IS_TEENSY_31_32 1 +#ifndef IS_TEENSY31 + #define IS_TEENSY32 1 +#endif + +#include "../../core/serial_hook.h" +typedef Serial0Type<decltype(Serial)> DefaultSerial; +extern DefaultSerial MSerial; +typedef ForwardSerial0Type<decltype(SerialUSB)> USBSerialType; +extern USBSerialType USBSerial; + +#define _MSERIAL(X) MSerial##X +#define MSERIAL(X) _MSERIAL(X) +#define MSerial0 MSerial + +#if SERIAL_PORT == -1 + #define MYSERIAL0 USBSerial +#elif WITHIN(SERIAL_PORT, 0, 3) + #define MYSERIAL0 MSERIAL(SERIAL_PORT) +#endif + +#define HAL_SERVO_LIB libServo + +typedef int8_t pin_t; + +#ifndef analogInputToDigitalPin + #define analogInputToDigitalPin(p) ((p < 12U) ? (p) + 54U : -1) +#endif + +#define CRITICAL_SECTION_START() uint32_t primask = __get_PRIMASK(); __disable_irq() +#define CRITICAL_SECTION_END() if (!primask) __enable_irq() +#define ISRS_ENABLED() (!__get_PRIMASK()) +#define ENABLE_ISRS() __enable_irq() +#define DISABLE_ISRS() __disable_irq() + +inline void HAL_init() {} + +// Clear the reset reason +void HAL_clear_reset_source(); + +// Get the reason for the reset +uint8_t HAL_get_reset_source(); + +inline void HAL_reboot() {} // reboot the board or restart the bootloader + +FORCE_INLINE void _delay_ms(const int delay_ms) { delay(delay_ms); } + +#if GCC_VERSION <= 50000 + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wunused-function" +#endif + +extern "C" int freeMemory(); + +#if GCC_VERSION <= 50000 + #pragma GCC diagnostic pop +#endif + +// ADC + +void HAL_adc_init(); + +#define HAL_ADC_VREF 3.3 +#define HAL_ADC_RESOLUTION 10 +#define HAL_START_ADC(pin) HAL_adc_start_conversion(pin) +#define HAL_READ_ADC() HAL_adc_get_result() +#define HAL_ADC_READY() true + +#define HAL_ANALOG_SELECT(pin) + +void HAL_adc_start_conversion(const uint8_t adc_pin); +uint16_t HAL_adc_get_result(); + +#define GET_PIN_MAP_PIN(index) index +#define GET_PIN_MAP_INDEX(pin) pin +#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval) diff --git a/Marlin/src/HAL/TEENSY31_32/HAL_SPI.cpp b/Marlin/src/HAL/TEENSY31_32/HAL_SPI.cpp new file mode 100644 index 0000000..dce236e --- /dev/null +++ b/Marlin/src/HAL/TEENSY31_32/HAL_SPI.cpp @@ -0,0 +1,130 @@ +/** + * 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 __MK20DX256__ + +#include "HAL.h" +#include <SPI.h> +#include <pins_arduino.h> +#include "spi_pins.h" +#include "../../core/macros.h" + +static SPISettings spiConfig; + +/** + * Standard SPI functions + */ + +// Initialize SPI bus +void spiBegin() { + #if !PIN_EXISTS(SD_SS) + #error "SD_SS_PIN not defined!" + #endif + OUT_WRITE(SD_SS_PIN, HIGH); + SET_OUTPUT(SD_SCK_PIN); + SET_INPUT(SD_MISO_PIN); + SET_OUTPUT(SD_MOSI_PIN); + + #if 0 && DISABLED(SOFTWARE_SPI) + // set SS high - may be chip select for another SPI device + #if SET_SPI_SS_HIGH + WRITE(SD_SS_PIN, HIGH); + #endif + // set a default rate + spiInit(SPI_HALF_SPEED); // 1 + #endif +} + +// Configure SPI for specified SPI speed +void spiInit(uint8_t spiRate) { + // Use data rates Marlin uses + uint32_t clock; + switch (spiRate) { + case SPI_FULL_SPEED: clock = 10000000; break; + case SPI_HALF_SPEED: clock = 5000000; break; + case SPI_QUARTER_SPEED: clock = 2500000; break; + case SPI_EIGHTH_SPEED: clock = 1250000; break; + case SPI_SPEED_5: clock = 625000; break; + case SPI_SPEED_6: clock = 312500; break; + default: clock = 4000000; // Default from the SPI libarary + } + spiConfig = SPISettings(clock, MSBFIRST, SPI_MODE0); + SPI.begin(); +} + +// SPI receive a byte +uint8_t spiRec() { + SPI.beginTransaction(spiConfig); + const uint8_t returnByte = SPI.transfer(0xFF); + SPI.endTransaction(); + return returnByte; + //SPDR = 0xFF; + //while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ } + //return SPDR; +} + +// SPI read data +void spiRead(uint8_t* buf, uint16_t nbyte) { + SPI.beginTransaction(spiConfig); + SPI.transfer(buf, nbyte); + SPI.endTransaction(); + //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) { + SPI.beginTransaction(spiConfig); + SPI.transfer(b); + SPI.endTransaction(); + //SPDR = b; + //while (!TEST(SPSR, SPIF)) { /* nada */ } +} + +// SPI send block +void spiSendBlock(uint8_t token, const uint8_t* buf) { + SPI.beginTransaction(spiConfig); + SPDR = token; + for (uint16_t i = 0; i < 512; i += 2) { + while (!TEST(SPSR, SPIF)) { /* nada */ }; + SPDR = buf[i]; + while (!TEST(SPSR, SPIF)) { /* nada */ }; + SPDR = buf[i + 1]; + } + while (!TEST(SPSR, SPIF)) { /* nada */ }; + SPI.endTransaction(); +} + + +// Begin SPI transaction, set clock, bit order, data mode +void spiBeginTransaction(uint32_t spiClock, uint8_t bitOrder, uint8_t dataMode) { + spiConfig = SPISettings(spiClock, bitOrder, dataMode); + SPI.beginTransaction(spiConfig); +} + +#endif // __MK20DX256__ diff --git a/Marlin/src/HAL/TEENSY31_32/Servo.cpp b/Marlin/src/HAL/TEENSY31_32/Servo.cpp new file mode 100644 index 0000000..19d57cf --- /dev/null +++ b/Marlin/src/HAL/TEENSY31_32/Servo.cpp @@ -0,0 +1,54 @@ +/** + * 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 __MK20DX256__ + +#include "../../inc/MarlinConfig.h" + +#if HAS_SERVOS + +#include "Servo.h" + +uint8_t servoPin[MAX_SERVOS] = { 0 }; + +int8_t libServo::attach(const int inPin) { + if (servoIndex >= MAX_SERVOS) return -1; + if (inPin > 0) servoPin[servoIndex] = inPin; + return super::attach(servoPin[servoIndex]); +} + +int8_t libServo::attach(const int inPin, const int inMin, const int inMax) { + if (inPin > 0) servoPin[servoIndex] = inPin; + return super::attach(servoPin[servoIndex], inMin, inMax); +} + +void libServo::move(const 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 (attach(0) >= 0) { + write(value); + safe_delay(servo_delay[servoIndex]); + TERN_(DEACTIVATE_SERVOS_AFTER_MOVE, detach()); + } +} + +#endif // HAS_SERVOS +#endif // __MK20DX256__ diff --git a/Marlin/src/HAL/TEENSY31_32/Servo.h b/Marlin/src/HAL/TEENSY31_32/Servo.h new file mode 100644 index 0000000..82b601d --- /dev/null +++ b/Marlin/src/HAL/TEENSY31_32/Servo.h @@ -0,0 +1,37 @@ +/** + * 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/>. + * + */ +#pragma once + +#include <Servo.h> + +// Inherit and expand on the official library +class libServo : public Servo { + public: + int8_t attach(const int pin); + int8_t attach(const int pin, const int min, const int max); + void move(const int value); + private: + typedef Servo super; + uint16_t min_ticks; + uint16_t max_ticks; + uint8_t servoIndex; // index into the channel data for this servo +}; diff --git a/Marlin/src/HAL/TEENSY31_32/eeprom.cpp b/Marlin/src/HAL/TEENSY31_32/eeprom.cpp new file mode 100644 index 0000000..f2ae5dd --- /dev/null +++ b/Marlin/src/HAL/TEENSY31_32/eeprom.cpp @@ -0,0 +1,72 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 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 <https://www.gnu.org/licenses/>. + * + */ +#ifdef __MK20DX256__ + +#include "../../inc/MarlinConfig.h" + +#if USE_WIRED_EEPROM + +/** + * HAL PersistentStore for Teensy 3.2 (MK20DX256) + */ + +#include "../shared/eeprom_api.h" +#include <avr/eeprom.h> + +#ifndef MARLIN_EEPROM_SIZE + #define MARLIN_EEPROM_SIZE size_t(E2END + 1) +#endif +size_t PersistentStore::capacity() { return MARLIN_EEPROM_SIZE; } + +bool PersistentStore::access_start() { return true; } +bool PersistentStore::access_finish() { return true; } + +bool PersistentStore::write_data(int &pos, const uint8_t *value, size_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_MSG(STR_ERR_EEPROM_WRITE); + return true; + } + } + crc16(crc, &v, 1); + pos++; + value++; + } + return false; +} + +bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) { + do { + uint8_t c = eeprom_read_byte((uint8_t*)pos); + if (writing) *value = c; + crc16(crc, &c, 1); + pos++; + value++; + } while (--size); + return false; +} + +#endif // USE_WIRED_EEPROM +#endif // __MK20DX256__ diff --git a/Marlin/src/HAL/TEENSY31_32/endstop_interrupts.h b/Marlin/src/HAL/TEENSY31_32/endstop_interrupts.h new file mode 100644 index 0000000..999ada5 --- /dev/null +++ b/Marlin/src/HAL/TEENSY31_32/endstop_interrupts.h @@ -0,0 +1,67 @@ +/** + * 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/>. + * + */ +#pragma once + +/** + * Endstop Interrupts + * + * Without endstop interrupts the endstop pins must be polled continually in + * the temperature-ISR via endstops.update(), most of the time finding no change. + * With this feature endstops.update() is called only when we know that at + * least one endstop has changed state, saving valuable CPU cycles. + * + * This feature only works when all used endstop pins can generate an 'external interrupt'. + * + * Test whether pins issue interrupts on your board by flashing 'pin_interrupt_test.ino'. + * (Located in Marlin/buildroot/share/pin_interrupt_test/pin_interrupt_test.ino) + */ + +#include "../../module/endstops.h" + +// One ISR for all EXT-Interrupts +void endstop_ISR() { endstops.update(); } + +/** + * Endstop interrupts for Due based targets. + * On Due, all pins support external interrupt capability. + */ + +void setup_endstop_interrupts() { + #define _ATTACH(P) attachInterrupt(digitalPinToInterrupt(P), endstop_ISR, CHANGE) + TERN_(HAS_X_MAX, _ATTACH(X_MAX_PIN)); + TERN_(HAS_X_MIN, _ATTACH(X_MIN_PIN)); + TERN_(HAS_Y_MAX, _ATTACH(Y_MAX_PIN)); + TERN_(HAS_Y_MIN, _ATTACH(Y_MIN_PIN)); + TERN_(HAS_Z_MAX, _ATTACH(Z_MAX_PIN)); + TERN_(HAS_Z_MIN, _ATTACH(Z_MIN_PIN)); + TERN_(HAS_X2_MAX, _ATTACH(X2_MAX_PIN)); + TERN_(HAS_X2_MIN, _ATTACH(X2_MIN_PIN)); + TERN_(HAS_Y2_MAX, _ATTACH(Y2_MAX_PIN)); + TERN_(HAS_Y2_MIN, _ATTACH(Y2_MIN_PIN)); + TERN_(HAS_Z2_MAX, _ATTACH(Z2_MAX_PIN)); + TERN_(HAS_Z2_MIN, _ATTACH(Z2_MIN_PIN)); + TERN_(HAS_Z3_MAX, _ATTACH(Z3_MAX_PIN)); + TERN_(HAS_Z3_MIN, _ATTACH(Z3_MIN_PIN)); + TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN)); + TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN)); + TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN)); +} diff --git a/Marlin/src/HAL/TEENSY31_32/fastio.h b/Marlin/src/HAL/TEENSY31_32/fastio.h new file mode 100644 index 0000000..622799e --- /dev/null +++ b/Marlin/src/HAL/TEENSY31_32/fastio.h @@ -0,0 +1,98 @@ +/** + * 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/>. + * + */ +#pragma once + +/** + * Fast I/O Routines for Teensy 3.5 and Teensy 3.6 + * Use direct port manipulation to save scads of processor time. + * Contributed by Triffid_Hunter and modified by Kliment, thinkyhead, Bob-the-Kuhn, et.al. + */ + +#ifndef MASK + #define MASK(PIN) _BV(PIN) +#endif + +#define GPIO_BITBAND_ADDR(reg, bit) (((uint32_t)&(reg) - 0x40000000) * 32 + (bit) * 4 + 0x42000000) +#define GPIO_BITBAND(reg, bit) (*(uint32_t *)GPIO_BITBAND_ADDR((reg), (bit))) + +/** + * Magic I/O routines + * + * Now you can simply SET_OUTPUT(PIN); WRITE(PIN, HIGH); WRITE(PIN, LOW); + * + * Why double up on these macros? see https://gcc.gnu.org/onlinedocs/gcc-4.8.5/cpp/Stringification.html + */ + +#define _READ(P) bool(CORE_PIN ## P ## _PINREG & CORE_PIN ## P ## _BITMASK) + +#define _WRITE(P,V) do{ \ + if (V) CORE_PIN ## P ## _PORTSET = CORE_PIN ## P ## _BITMASK; \ + else CORE_PIN ## P ## _PORTCLEAR = CORE_PIN ## P ## _BITMASK; \ +}while(0) + +#define _TOGGLE(P) (*(&(CORE_PIN ## P ## _PORTCLEAR)+1) = CORE_PIN ## P ## _BITMASK) + +#define _SET_INPUT(P) do{ \ + CORE_PIN ## P ## _CONFIG = PORT_PCR_MUX(1); \ + GPIO_BITBAND(CORE_PIN ## P ## _DDRREG , CORE_PIN ## P ## _BIT) = 0; \ +}while(0) + +#define _SET_OUTPUT(P) do{ \ + CORE_PIN ## P ## _CONFIG = PORT_PCR_MUX(1)|PORT_PCR_SRE|PORT_PCR_DSE; \ + GPIO_BITBAND(CORE_PIN ## P ## _DDRREG , CORE_PIN ## P ## _BIT) = 1; \ +}while(0) + +#define _SET_INPUT_PULLUP(P) do{ \ + CORE_PIN ## P ## _CONFIG = PORT_PCR_MUX(1) | PORT_PCR_PE | PORT_PCR_PS; \ + GPIO_BITBAND(CORE_PIN ## P ## _DDRREG , CORE_PIN ## P ## _BIT) = 0; \ +}while(0) + +#define _IS_INPUT(P) ((CORE_PIN ## P ## _DDRREG & CORE_PIN ## P ## _BITMASK) == 0) +#define _IS_OUTPUT(P) ((CORE_PIN ## P ## _DDRREG & CORE_PIN ## P ## _BITMASK) == 0) + +#define READ(IO) _READ(IO) + +#define WRITE(IO,V) _WRITE(IO,V) +#define TOGGLE(IO) _TOGGLE(IO) + +#define SET_INPUT(IO) _SET_INPUT(IO) +#define SET_INPUT_PULLUP(IO) _SET_INPUT_PULLUP(IO) +#define SET_INPUT_PULLDOWN SET_INPUT +#define SET_OUTPUT(IO) _SET_OUTPUT(IO) +#define SET_PWM SET_OUTPUT + +#define IS_INPUT(IO) _IS_INPUT(IO) +#define IS_OUTPUT(IO) _IS_OUTPUT(IO) + +#define OUT_WRITE(IO,V) do{ SET_OUTPUT(IO); WRITE(IO,V); }while(0) + +// digitalRead/Write wrappers +#define extDigitalRead(IO) digitalRead(IO) +#define extDigitalWrite(IO,V) digitalWrite(IO,V) + +#define PWM_PIN(P) digitalPinHasPWM(P) + +/** + * Ports, functions, and pins + */ + +#define DIO0_PIN 8 diff --git a/Marlin/src/HAL/TEENSY31_32/inc/Conditionals_LCD.h b/Marlin/src/HAL/TEENSY31_32/inc/Conditionals_LCD.h new file mode 100644 index 0000000..54ec166 --- /dev/null +++ b/Marlin/src/HAL/TEENSY31_32/inc/Conditionals_LCD.h @@ -0,0 +1,26 @@ +/** + * 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/>. + * + */ +#pragma once + +#if HAS_SPI_TFT || HAS_FSMC_TFT + #error "Sorry! TFT displays are not available for HAL/TEENSY31_32." +#endif diff --git a/Marlin/src/HAL/TEENSY31_32/inc/Conditionals_adv.h b/Marlin/src/HAL/TEENSY31_32/inc/Conditionals_adv.h new file mode 100644 index 0000000..5f1c4b1 --- /dev/null +++ b/Marlin/src/HAL/TEENSY31_32/inc/Conditionals_adv.h @@ -0,0 +1,22 @@ +/** + * 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/>. + * + */ +#pragma once diff --git a/Marlin/src/HAL/TEENSY31_32/inc/Conditionals_post.h b/Marlin/src/HAL/TEENSY31_32/inc/Conditionals_post.h new file mode 100644 index 0000000..998f1dc --- /dev/null +++ b/Marlin/src/HAL/TEENSY31_32/inc/Conditionals_post.h @@ -0,0 +1,26 @@ +/** + * 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/>. + * + */ +#pragma once + +#if USE_FALLBACK_EEPROM + #define USE_WIRED_EEPROM 1 +#endif diff --git a/Marlin/src/HAL/TEENSY31_32/inc/SanityCheck.h b/Marlin/src/HAL/TEENSY31_32/inc/SanityCheck.h new file mode 100644 index 0000000..3932ee6 --- /dev/null +++ b/Marlin/src/HAL/TEENSY31_32/inc/SanityCheck.h @@ -0,0 +1,38 @@ +/** + * 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/>. + * + */ +#pragma once + +/** + * Test TEENSY35_36 specific configuration values for errors at compile-time. + */ + +#if ENABLED(EMERGENCY_PARSER) + #error "EMERGENCY_PARSER is not yet implemented for Teensy 3.1/3.2. Disable EMERGENCY_PARSER to continue." +#endif + +#if ENABLED(FAST_PWM_FAN) || SPINDLE_LASER_FREQUENCY + #error "Features requiring Hardware PWM (FAST_PWM_FAN, SPINDLE_LASER_FREQUENCY) are not yet supported on Teensy 3.1/3.2." +#endif + +#if HAS_TMC_SW_SERIAL + #error "TMC220x Software Serial is not supported on this platform." +#endif diff --git a/Marlin/src/HAL/TEENSY31_32/pinsDebug.h b/Marlin/src/HAL/TEENSY31_32/pinsDebug.h new file mode 100644 index 0000000..d4a91ce --- /dev/null +++ b/Marlin/src/HAL/TEENSY31_32/pinsDebug.h @@ -0,0 +1 @@ +#error "PINS_DEBUGGING is not yet supported for Teensy 3.1 / 3.2!" diff --git a/Marlin/src/HAL/TEENSY31_32/spi_pins.h b/Marlin/src/HAL/TEENSY31_32/spi_pins.h new file mode 100644 index 0000000..6d0d05f --- /dev/null +++ b/Marlin/src/HAL/TEENSY31_32/spi_pins.h @@ -0,0 +1,27 @@ +/** + * 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/>. + * + */ +#pragma once + +#define SD_SCK_PIN 13 +#define SD_MISO_PIN 12 +#define SD_MOSI_PIN 11 +#define SD_SS_PIN 20 // SDSS // A.28, A.29, B.21, C.26, C.29 diff --git a/Marlin/src/HAL/TEENSY31_32/timers.cpp b/Marlin/src/HAL/TEENSY31_32/timers.cpp new file mode 100644 index 0000000..7e01a38 --- /dev/null +++ b/Marlin/src/HAL/TEENSY31_32/timers.cpp @@ -0,0 +1,113 @@ +/** + * 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/>. + * + */ + +/** + * HAL Timers for Teensy 3.2 (MK20DX256) + */ + +#ifdef __MK20DX256__ + +#include "../../inc/MarlinConfig.h" + +/** \brief Instruction Synchronization Barrier + Instruction Synchronization Barrier flushes the pipeline in the processor, + so that all instructions following the ISB are fetched from cache or + memory, after the instruction has been completed. +*/ +FORCE_INLINE static void __ISB() { + __asm__ __volatile__("isb 0xF":::"memory"); +} + +/** \brief Data Synchronization Barrier + This function acts as a special kind of Data Memory Barrier. + It completes when all explicit memory accesses before this instruction complete. +*/ +FORCE_INLINE static void __DSB() { + __asm__ __volatile__("dsb 0xF":::"memory"); +} + +void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { + switch (timer_num) { + case 0: + FTM0_MODE = FTM_MODE_WPDIS | FTM_MODE_FTMEN; + FTM0_SC = 0x00; // Set this to zero before changing the modulus + FTM0_CNT = 0x0000; // Reset the count to zero + FTM0_MOD = 0xFFFF; // max modulus = 65535 + FTM0_C0V = (FTM0_TIMER_RATE) / frequency; // Initial FTM Channel 0 compare value + FTM0_SC = (FTM_SC_CLKS(0b1) & FTM_SC_CLKS_MASK) | (FTM_SC_PS(FTM0_TIMER_PRESCALE_BITS) & FTM_SC_PS_MASK); // Bus clock 60MHz divided by prescaler 8 + FTM0_C0SC = FTM_CSC_CHIE | FTM_CSC_MSA | FTM_CSC_ELSA; + break; + case 1: + FTM1_MODE = FTM_MODE_WPDIS | FTM_MODE_FTMEN; // Disable write protection, Enable FTM1 + FTM1_SC = 0x00; // Set this to zero before changing the modulus + FTM1_CNT = 0x0000; // Reset the count to zero + FTM1_MOD = 0xFFFF; // max modulus = 65535 + FTM1_C0V = (FTM1_TIMER_RATE) / frequency; // Initial FTM Channel 0 compare value 65535 + FTM1_SC = (FTM_SC_CLKS(0b1) & FTM_SC_CLKS_MASK) | (FTM_SC_PS(FTM1_TIMER_PRESCALE_BITS) & FTM_SC_PS_MASK); // Bus clock 60MHz divided by prescaler 4 + FTM1_C0SC = FTM_CSC_CHIE | FTM_CSC_MSA | FTM_CSC_ELSA; + break; + } +} + +void HAL_timer_enable_interrupt(const uint8_t timer_num) { + switch (timer_num) { + case 0: NVIC_ENABLE_IRQ(IRQ_FTM0); break; + case 1: NVIC_ENABLE_IRQ(IRQ_FTM1); break; + } +} + +void HAL_timer_disable_interrupt(const uint8_t timer_num) { + switch (timer_num) { + case 0: NVIC_DISABLE_IRQ(IRQ_FTM0); break; + case 1: NVIC_DISABLE_IRQ(IRQ_FTM1); break; + } + + // We NEED memory barriers to ensure Interrupts are actually disabled! + // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the ) + __DSB(); + __ISB(); +} + +bool HAL_timer_interrupt_enabled(const uint8_t timer_num) { + switch (timer_num) { + case 0: return NVIC_IS_ENABLED(IRQ_FTM0); + case 1: return NVIC_IS_ENABLED(IRQ_FTM1); + } + return false; +} + +void HAL_timer_isr_prologue(const uint8_t timer_num) { + switch (timer_num) { + case 0: + FTM0_CNT = 0x0000; + FTM0_SC &= ~FTM_SC_TOF; // Clear FTM Overflow flag + FTM0_C0SC &= ~FTM_CSC_CHF; // Clear FTM Channel Compare flag + break; + case 1: + FTM1_CNT = 0x0000; + FTM1_SC &= ~FTM_SC_TOF; // Clear FTM Overflow flag + FTM1_C0SC &= ~FTM_CSC_CHF; // Clear FTM Channel Compare flag + break; + } +} + +#endif // __MK20DX256__ diff --git a/Marlin/src/HAL/TEENSY31_32/timers.h b/Marlin/src/HAL/TEENSY31_32/timers.h new file mode 100644 index 0000000..61b8673 --- /dev/null +++ b/Marlin/src/HAL/TEENSY31_32/timers.h @@ -0,0 +1,113 @@ +/** + * 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/>. + * + */ +#pragma once + +/** + * HAL Timers for Teensy 3.2 (MK20DX256) + */ + +#include <stdint.h> + +// ------------------------ +// Defines +// ------------------------ + +#define FORCE_INLINE __attribute__((always_inline)) inline + +typedef uint32_t hal_timer_t; +#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF + +#define FTM0_TIMER_PRESCALE 8 +#define FTM1_TIMER_PRESCALE 4 +#define FTM0_TIMER_PRESCALE_BITS 0b011 +#define FTM1_TIMER_PRESCALE_BITS 0b010 + +#define FTM0_TIMER_RATE (F_BUS / (FTM0_TIMER_PRESCALE)) // 60MHz / 8 = 7500kHz +#define FTM1_TIMER_RATE (F_BUS / (FTM1_TIMER_PRESCALE)) // 60MHz / 4 = 15MHz + +#define HAL_TIMER_RATE (FTM0_TIMER_RATE) + +#ifndef STEP_TIMER_NUM + #define STEP_TIMER_NUM 0 // Timer Index for Stepper +#endif +#ifndef PULSE_TIMER_NUM + #define PULSE_TIMER_NUM STEP_TIMER_NUM +#endif +#ifndef TEMP_TIMER_NUM + #define TEMP_TIMER_NUM 1 // Timer Index for Temperature +#endif + +#define TEMP_TIMER_FREQUENCY 1000 + +#define STEPPER_TIMER_RATE HAL_TIMER_RATE +#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) +#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US) + +#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer +#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE +#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US + +#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM) +#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM) +#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM) + +#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM) +#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM) + +#ifndef HAL_STEP_TIMER_ISR + #define HAL_STEP_TIMER_ISR() extern "C" void ftm0_isr() //void TC3_Handler() +#endif +#ifndef HAL_TEMP_TIMER_ISR + #define HAL_TEMP_TIMER_ISR() extern "C" void ftm1_isr() //void TC4_Handler() +#endif + +void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency); + +FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) { + switch (timer_num) { + case 0: FTM0_C0V = compare; break; + case 1: FTM1_C0V = compare; break; + } +} + +FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) { + switch (timer_num) { + case 0: return FTM0_C0V; + case 1: return FTM1_C0V; + } + return 0; +} + +FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) { + switch (timer_num) { + case 0: return FTM0_CNT; + case 1: return FTM1_CNT; + } + return 0; +} + +void HAL_timer_enable_interrupt(const uint8_t timer_num); +void HAL_timer_disable_interrupt(const uint8_t timer_num); +bool HAL_timer_interrupt_enabled(const uint8_t timer_num); + +void HAL_timer_isr_prologue(const uint8_t timer_num); +#define HAL_timer_isr_epilogue(TIMER_NUM) diff --git a/Marlin/src/HAL/TEENSY31_32/watchdog.cpp b/Marlin/src/HAL/TEENSY31_32/watchdog.cpp new file mode 100644 index 0000000..5e21236 --- /dev/null +++ b/Marlin/src/HAL/TEENSY31_32/watchdog.cpp @@ -0,0 +1,40 @@ +/** + * 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 __MK20DX256__ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(USE_WATCHDOG) + +#include "watchdog.h" + +#define WDT_TIMEOUT_MS TERN(WATCHDOG_DURATION_8S, 8000, 4000) // 4 or 8 second timeout + +void watchdog_init() { + WDOG_TOVALH = 0; + WDOG_TOVALL = WDT_TIMEOUT_MS; + WDOG_STCTRLH = WDOG_STCTRLH_WDOGEN; +} + +#endif // USE_WATCHDOG + +#endif // __MK20DX256__ diff --git a/Marlin/src/HAL/TEENSY31_32/watchdog.h b/Marlin/src/HAL/TEENSY31_32/watchdog.h new file mode 100644 index 0000000..b8b46a4 --- /dev/null +++ b/Marlin/src/HAL/TEENSY31_32/watchdog.h @@ -0,0 +1,34 @@ +/** + * 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/>. + * + */ +#pragma once + +#include "HAL.h" + +// Arduino Due core now has watchdog support + +void watchdog_init(); + +inline void HAL_watchdog_refresh() { + // Watchdog refresh sequence + WDOG_REFRESH = 0xA602; + WDOG_REFRESH = 0xB480; +} |