Christopher Pepper
8 years ago
committed by
Scott Lahteine
parent
fb04dfcda8
commit
4b16fa3272
@ -0,0 +1,108 @@
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/***************************************************************
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*
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* External DAC for Alligator Board
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*
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****************************************************************/
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#include "Marlin.h"
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#if MB(ALLIGATOR)
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#include "stepper.h"
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#include "dac_dac084s085.h"
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dac084s085::dac084s085() {
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return ;
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}
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void dac084s085::begin() {
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uint8_t externalDac_buf[2] = {0x20,0x00};//all off
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// All SPI chip-select HIGH
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pinMode (DAC0_SYNC, OUTPUT);
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digitalWrite( DAC0_SYNC , HIGH );
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#if EXTRUDERS > 1
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pinMode (DAC1_SYNC, OUTPUT);
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digitalWrite( DAC1_SYNC , HIGH );
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#endif
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digitalWrite( SPI_EEPROM1_CS , HIGH );
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digitalWrite( SPI_EEPROM2_CS , HIGH );
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digitalWrite( SPI_FLASH_CS , HIGH );
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digitalWrite( SS_PIN , HIGH );
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spiBegin();
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//init onboard DAC
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delayMicroseconds(2U);
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digitalWrite( DAC0_SYNC , LOW );
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delayMicroseconds(2U);
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digitalWrite( DAC0_SYNC , HIGH );
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delayMicroseconds(2U);
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digitalWrite( DAC0_SYNC , LOW );
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spiSend(SPI_CHAN_DAC,externalDac_buf , 2);
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digitalWrite( DAC0_SYNC , HIGH );
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#if EXTRUDERS > 1
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//init Piggy DAC
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delayMicroseconds(2U);
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digitalWrite( DAC1_SYNC , LOW );
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delayMicroseconds(2U);
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digitalWrite( DAC1_SYNC , HIGH );
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delayMicroseconds(2U);
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digitalWrite( DAC1_SYNC , LOW );
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spiSend(SPI_CHAN_DAC,externalDac_buf , 2);
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digitalWrite( DAC1_SYNC , HIGH );
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#endif
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return;
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}
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void dac084s085::setValue(uint8_t channel, uint8_t value) {
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if(channel >= 7) // max channel (X,Y,Z,E0,E1,E2,E3)
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return;
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if(value > 255) value = 255;
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uint8_t externalDac_buf[2] = {0x10,0x00};
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if(channel > 3)
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externalDac_buf[0] |= (7 - channel << 6);
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else
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externalDac_buf[0] |= (3 - channel << 6);
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externalDac_buf[0] |= (value>>4);
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externalDac_buf[1] |= (value<<4);
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// All SPI chip-select HIGH
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digitalWrite( DAC0_SYNC , HIGH );
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#if EXTRUDERS > 1
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digitalWrite( DAC1_SYNC , HIGH );
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#endif
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digitalWrite( SPI_EEPROM1_CS , HIGH );
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digitalWrite( SPI_EEPROM2_CS , HIGH );
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digitalWrite( SPI_FLASH_CS , HIGH );
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digitalWrite( SS_PIN , HIGH );
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if(channel > 3) { // DAC Piggy E1,E2,E3
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digitalWrite(DAC1_SYNC , LOW);
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delayMicroseconds(2U);
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digitalWrite(DAC1_SYNC , HIGH);
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delayMicroseconds(2U);
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digitalWrite(DAC1_SYNC , LOW);
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}
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else { // DAC onboard X,Y,Z,E0
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digitalWrite(DAC0_SYNC , LOW);
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delayMicroseconds(2U);
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digitalWrite(DAC0_SYNC , HIGH);
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delayMicroseconds(2U);
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digitalWrite(DAC0_SYNC , LOW);
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}
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delayMicroseconds(2U);
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spiSend(SPI_CHAN_DAC,externalDac_buf , 2);
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return;
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}
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#endif
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@ -0,0 +1,11 @@
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#ifndef dac084s085_h
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#define dac084s085_h
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class dac084s085 {
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public:
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dac084s085();
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static void begin(void);
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static void setValue(uint8_t channel, uint8_t value);
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};
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#endif //dac084s085_h
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@ -0,0 +1,94 @@
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/* **************************************************************************
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Marlin 3D Printer Firmware
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Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
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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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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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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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* Description: HAL wrapper
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*
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* Supports platforms :
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* ARDUINO_ARCH_SAM : For Arduino Due and other boards based on Atmel SAM3X8E
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* ARDUINO_ARCH_AVR : For all Atmel AVR boards
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*/
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#ifndef _HAL_H
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#define _HAL_H
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#include <stdint.h>
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/**
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* SPI speed where 0 <= index <= 6
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*
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* Approximate rates :
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*
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* 0 : 8 - 10 MHz
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* 1 : 4 - 5 MHz
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* 2 : 2 - 2.5 MHz
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* 3 : 1 - 1.25 MHz
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* 4 : 500 - 625 kHz
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* 5 : 250 - 312 kHz
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* 6 : 125 - 156 kHz
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*
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* On AVR, actual speed is F_CPU/2^(1 + index).
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* On other platforms, speed should be in range given above where possible.
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*/
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/** Set SCK to max rate */
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uint8_t const SPI_FULL_SPEED = 0;
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/** Set SCK rate to half max rate. */
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uint8_t const SPI_HALF_SPEED = 1;
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/** Set SCK rate to quarter max rate. */
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uint8_t const SPI_QUARTER_SPEED = 2;
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/** Set SCK rate to 1/8 max rate. */
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uint8_t const SPI_EIGHTH_SPEED = 3;
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/** Set SCK rate to 1/16 of max rate. */
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uint8_t const SPI_SIXTEENTH_SPEED = 4;
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/** Set SCK rate to 1/32 of max rate. */
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uint8_t const SPI_SPEED_5 = 5;
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/** Set SCK rate to 1/64 of max rate. */
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uint8_t const SPI_SPEED_6 = 6;
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// Standard SPI functions
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/** Initialise SPI bus */
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void spiBegin(void);
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/** Configure SPI for specified SPI speed */
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void spiInit(uint8_t spiRate);
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/** Write single byte to SPI */
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void spiSend(uint8_t b);
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/** Read single byte from SPI */
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uint8_t spiRec(void);
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/** Read from SPI into buffer */
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void spiRead(uint8_t* buf, uint16_t nbyte);
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/** Write token and then write from 512 byte buffer to SPI (for SD card) */
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void spiSendBlock(uint8_t token, const uint8_t* buf);
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#ifdef ARDUINO_ARCH_AVR
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#include "HAL_AVR/HAL_AVR.h"
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#elif defined(ARDUINO_ARCH_SAM)
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#define CPU_32_BIT
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#include "HAL_DUE/HAL_Due.h"
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#include "math_32bit.h"
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#elif defined(__MK64FX512__) || defined(__MK66FX1M0__)
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#define CPU_32_BIT
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#include "HAL_TEENSY35_36/HAL_Teensy.h"
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#include "math_32bit.h"
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#else
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#error Unsupported Platform!
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#endif
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#endif /* HAL_H_ */
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@ -0,0 +1,100 @@
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/* **************************************************************************
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Marlin 3D Printer Firmware
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Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
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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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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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* Description: HAL for AVR
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*
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* For ARDUINO_ARCH_AVR
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*/
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#ifdef ARDUINO_ARCH_AVR
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// --------------------------------------------------------------------------
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// Includes
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// --------------------------------------------------------------------------
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#include "../HAL.h"
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#include "../../../macros.h"
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// --------------------------------------------------------------------------
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// Externals
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// --------------------------------------------------------------------------
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// --------------------------------------------------------------------------
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// Local defines
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// --------------------------------------------------------------------------
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// --------------------------------------------------------------------------
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// Types
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// --------------------------------------------------------------------------
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// --------------------------------------------------------------------------
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// Variables
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// --------------------------------------------------------------------------
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// --------------------------------------------------------------------------
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// Public Variables
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// --------------------------------------------------------------------------
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//uint8_t MCUSR;
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// --------------------------------------------------------------------------
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// Private Variables
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// --------------------------------------------------------------------------
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// --------------------------------------------------------------------------
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// Function prototypes
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// --------------------------------------------------------------------------
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// --------------------------------------------------------------------------
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// Private functions
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// --------------------------------------------------------------------------
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// --------------------------------------------------------------------------
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// Public functions
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// --------------------------------------------------------------------------
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#if ENABLED(SDSUPPORT)
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#include "../../../SdFatUtil.h"
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int freeMemory() { return SdFatUtil::FreeRam(); }
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#else
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extern "C" {
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extern char __bss_end;
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extern char __heap_start;
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extern void* __brkval;
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int freeMemory() {
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int free_memory;
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if ((int)__brkval == 0)
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free_memory = ((int)&free_memory) - ((int)&__bss_end);
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else
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free_memory = ((int)&free_memory) - ((int)__brkval);
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return free_memory;
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}
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}
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#endif //!SDSUPPORT
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#endif
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@ -0,0 +1,160 @@
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/* **************************************************************************
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||||||
|
|
||||||
|
Marlin 3D Printer Firmware
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||||||
|
Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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||||||
|
|
||||||
|
Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
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|
|
||||||
|
This program is free software: you can redistribute it and/or modify
|
||||||
|
it under the terms of the GNU General Public License as published by
|
||||||
|
the Free Software Foundation, either version 3 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
This program is distributed in the hope that it will be useful,
|
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
GNU General Public License for more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License
|
||||||
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
****************************************************************************/
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|
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||||||
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/**
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* Description: HAL for AVR
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*
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* For ARDUINO_ARCH_AVR
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*/
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#ifndef _HAL_AVR_H
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#define _HAL_AVR_H
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// --------------------------------------------------------------------------
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// Includes
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// --------------------------------------------------------------------------
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#include <stdint.h>
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#include "Arduino.h"
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#include <util/delay.h>
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#include <avr/eeprom.h>
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#include <avr/pgmspace.h>
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#include <avr/interrupt.h>
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#include <avr/io.h>
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#include "fastio_AVR.h"
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#include "watchdog_AVR.h"
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#include "math_AVR.h"
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||||||
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// --------------------------------------------------------------------------
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||||||
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// Defines
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||||||
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// --------------------------------------------------------------------------
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||||||
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//#define analogInputToDigitalPin(IO) IO
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||||||
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#ifndef CRITICAL_SECTION_START
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#define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli();
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#define CRITICAL_SECTION_END SREG = _sreg;
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#endif
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// On AVR this is in math.h?
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//#define square(x) ((x)*(x))
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// --------------------------------------------------------------------------
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||||||
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// Types
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||||||
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// --------------------------------------------------------------------------
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||||||
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||||||
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#define HAL_TIMER_TYPE uint16_t
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#define HAL_TIMER_TYPE_MAX 0xFFFF
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||||||
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||||||
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#define HAL_SERVO_LIB Servo
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||||||
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// --------------------------------------------------------------------------
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||||||
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// Public Variables
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||||||
|
// --------------------------------------------------------------------------
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||||||
|
|
||||||
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//extern uint8_t MCUSR;
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|
||||||
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// --------------------------------------------------------------------------
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||||||
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// Public functions
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||||||
|
// --------------------------------------------------------------------------
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||||||
|
|
||||||
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//void cli(void);
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|
||||||
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//void _delay_ms(int delay);
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||||||
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|
||||||
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inline void HAL_clear_reset_source(void) { MCUSR = 0; }
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inline uint8_t HAL_get_reset_source(void) { return MCUSR; }
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||||||
|
|
||||||
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extern "C" {
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||||||
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int freeMemory(void);
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||||||
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}
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||||||
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|
||||||
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// eeprom
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||||||
|
//void eeprom_write_byte(unsigned char *pos, unsigned char value);
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//unsigned char eeprom_read_byte(unsigned char *pos);
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||||||
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|
||||||
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|
||||||
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// timers
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||||||
|
#define STEP_TIMER_NUM OCR1A
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#define TEMP_TIMER_NUM 0
|
||||||
|
#define TEMP_TIMER_FREQUENCY (F_CPU / 64.0 / 256.0)
|
||||||
|
|
||||||
|
#define HAL_TIMER_RATE ((F_CPU) / 8.0)
|
||||||
|
#define HAL_STEPPER_TIMER_RATE HAL_TIMER_RATE
|
||||||
|
#define STEPPER_TIMER_PRESCALE INT0_PRESCALER
|
||||||
|
|
||||||
|
#define ENABLE_STEPPER_DRIVER_INTERRUPT() SBI(TIMSK1, OCIE1A)
|
||||||
|
#define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
|
||||||
|
|
||||||
|
#define ENABLE_TEMPERATURE_INTERRUPT() SBI(TIMSK0, OCIE0B)
|
||||||
|
#define DISABLE_TEMPERATURE_INTERRUPT() CBI(TIMSK0, OCIE0B)
|
||||||
|
|
||||||
|
//void HAL_timer_start (uint8_t timer_num, uint32_t frequency);
|
||||||
|
#define HAL_timer_start (timer_num,frequency)
|
||||||
|
|
||||||
|
//void HAL_timer_set_count (uint8_t timer_num, uint16_t count);
|
||||||
|
#define HAL_timer_set_count(timer,count) timer = (count)
|
||||||
|
|
||||||
|
#define HAL_timer_get_current_count(timer) timer
|
||||||
|
|
||||||
|
//void HAL_timer_isr_prologue (uint8_t timer_num);
|
||||||
|
#define HAL_timer_isr_prologue(timer_num)
|
||||||
|
|
||||||
|
#define HAL_STEP_TIMER_ISR ISR(TIMER1_COMPA_vect)
|
||||||
|
#define HAL_TEMP_TIMER_ISR ISR(TIMER0_COMPB_vect)
|
||||||
|
|
||||||
|
#define HAL_ENABLE_ISRs() do { cli(); if (thermalManager.in_temp_isr)DISABLE_TEMPERATURE_INTERRUPT(); else ENABLE_TEMPERATURE_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
|
||||||
|
|
||||||
|
// ADC
|
||||||
|
#ifdef DIDR2
|
||||||
|
#define HAL_ANALOG_SELECT(pin) do{ if (pin < 8) SBI(DIDR0, pin); else SBI(DIDR2, pin - 8); }while(0)
|
||||||
|
#else
|
||||||
|
#define HAL_ANALOG_SELECT(pin) do{ SBI(DIDR0, pin); }while(0)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
inline void HAL_adc_init(void) {
|
||||||
|
ADCSRA = _BV(ADEN) | _BV(ADSC) | _BV(ADIF) | 0x07;
|
||||||
|
DIDR0 = 0;
|
||||||
|
#ifdef DIDR2
|
||||||
|
DIDR2 = 0;
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
#define SET_ADMUX_ADCSRA(pin) ADMUX = _BV(REFS0) | (pin & 0x07); SBI(ADCSRA, ADSC)
|
||||||
|
#ifdef MUX5
|
||||||
|
#define HAL_START_ADC(pin) if (pin > 7) ADCSRB = _BV(MUX5); else ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
|
||||||
|
#else
|
||||||
|
#define HAL_START_ADC(pin) ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#define HAL_READ_ADC ADC
|
||||||
|
|
||||||
|
|
||||||
|
// --------------------------------------------------------------------------
|
||||||
|
//
|
||||||
|
// --------------------------------------------------------------------------
|
||||||
|
|
||||||
|
#endif // _HAL_AVR_H
|
||||||
@ -0,0 +1,213 @@
|
|||||||
|
/**
|
||||||
|
* Marlin 3D Printer Firmware
|
||||||
|
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||||
|
*
|
||||||
|
* Based on Sprinter and grbl.
|
||||||
|
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
||||||
|
*
|
||||||
|
* This program is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* This program is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Originally from Arduino Sd2Card Library
|
||||||
|
* Copyright (C) 2009 by William Greiman
|
||||||
|
*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Description: HAL for AVR - SPI functions
|
||||||
|
*
|
||||||
|
* For ARDUINO_ARCH_AVR
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifdef ARDUINO_ARCH_AVR
|
||||||
|
|
||||||
|
// --------------------------------------------------------------------------
|
||||||
|
// Includes
|
||||||
|
// --------------------------------------------------------------------------
|
||||||
|
|
||||||
|
#include "../../../MarlinConfig.h"
|
||||||
|
|
||||||
|
// --------------------------------------------------------------------------
|
||||||
|
// Public Variables
|
||||||
|
// --------------------------------------------------------------------------
|
||||||
|
|
||||||
|
|
||||||
|
// --------------------------------------------------------------------------
|
||||||
|
// Public functions
|
||||||
|
// --------------------------------------------------------------------------
|
||||||
|
|
||||||
|
void spiBegin (void) {
|
||||||
|
SET_OUTPUT(SS_PIN);
|
||||||
|
WRITE(SS_PIN, HIGH);
|
||||||
|
SET_OUTPUT(SCK_PIN);
|
||||||
|
SET_INPUT(MISO_PIN);
|
||||||
|
SET_OUTPUT(MOSI_PIN);
|
||||||
|
|
||||||
|
#if DISABLED(SOFTWARE_SPI)
|
||||||
|
// SS must be in output mode even it is not chip select
|
||||||
|
SET_OUTPUT(SS_PIN);
|
||||||
|
// set SS high - may be chip select for another SPI device
|
||||||
|
#if SET_SPI_SS_HIGH
|
||||||
|
WRITE(SS_PIN, HIGH);
|
||||||
|
#endif // SET_SPI_SS_HIGH
|
||||||
|
// set a default rate
|
||||||
|
spiInit(1);
|
||||||
|
#endif // SOFTWARE_SPI
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
//------------------------------------------------------------------------------
|
||||||
|
#if DISABLED(SOFTWARE_SPI)
|
||||||
|
// functions for hardware SPI
|
||||||
|
//------------------------------------------------------------------------------
|
||||||
|
// make sure SPCR rate is in expected bits
|
||||||
|
#if (SPR0 != 0 || SPR1 != 1)
|
||||||
|
#error "unexpected SPCR bits"
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Initialize hardware SPI
|
||||||
|
* Set SCK rate to F_CPU/pow(2, 1 + spiRate) for spiRate [0,6]
|
||||||
|
*/
|
||||||
|
void spiInit(uint8_t spiRate) {
|
||||||
|
// See avr processor documentation
|
||||||
|
CBI(
|
||||||
|
#ifdef PRR
|
||||||
|
PRR
|
||||||
|
#elif defined(PRR0)
|
||||||
|
PRR0
|
||||||
|
#endif
|
||||||
|
, PRSPI);
|
||||||
|
|
||||||
|
SPCR = _BV(SPE) | _BV(MSTR) | (spiRate >> 1);
|
||||||
|
SPSR = spiRate & 1 || spiRate == 6 ? 0 : _BV(SPI2X);
|
||||||
|
}
|
||||||
|
//------------------------------------------------------------------------------
|
||||||
|
/** SPI receive a byte */
|
||||||
|
uint8_t spiRec(void) {
|
||||||
|
SPDR = 0XFF;
|
||||||
|
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
|
||||||
|
return SPDR;
|
||||||
|
}
|
||||||
|
//------------------------------------------------------------------------------
|
||||||
|
/** SPI read data */
|
||||||
|
void spiRead(uint8_t* buf, uint16_t nbyte) {
|
||||||
|
if (nbyte-- == 0) return;
|
||||||
|
SPDR = 0XFF;
|
||||||
|
for (uint16_t i = 0; i < nbyte; i++) {
|
||||||
|
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
|
||||||
|
buf[i] = SPDR;
|
||||||
|
SPDR = 0XFF;
|
||||||
|
}
|
||||||
|
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
|
||||||
|
buf[nbyte] = SPDR;
|
||||||
|
}
|
||||||
|
//------------------------------------------------------------------------------
|
||||||
|
/** SPI send a byte */
|
||||||
|
void spiSend(uint8_t b) {
|
||||||
|
SPDR = b;
|
||||||
|
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
|
||||||
|
}
|
||||||
|
//------------------------------------------------------------------------------
|
||||||
|
/** SPI send block */
|
||||||
|
void spiSendBlock(uint8_t token, const uint8_t* buf) {
|
||||||
|
SPDR = token;
|
||||||
|
for (uint16_t i = 0; i < 512; i += 2) {
|
||||||
|
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
|
||||||
|
SPDR = buf[i];
|
||||||
|
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
|
||||||
|
SPDR = buf[i + 1];
|
||||||
|
}
|
||||||
|
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
|
||||||
|
}
|
||||||
|
//------------------------------------------------------------------------------
|
||||||
|
#else // SOFTWARE_SPI
|
||||||
|
//------------------------------------------------------------------------------
|
||||||
|
/** nop to tune soft SPI timing */
|
||||||
|
#define nop asm volatile ("\tnop\n")
|
||||||
|
|
||||||
|
/** Set SPI rate */
|
||||||
|
void spiInit(uint8_t spiRate) {
|
||||||
|
// nothing to do
|
||||||
|
UNUSED(spiRate);
|
||||||
|
}
|
||||||
|
|
||||||
|
//------------------------------------------------------------------------------
|
||||||
|
/** Soft SPI receive byte */
|
||||||
|
uint8_t spiRec() {
|
||||||
|
uint8_t data = 0;
|
||||||
|
// no interrupts during byte receive - about 8 us
|
||||||
|
cli();
|
||||||
|
// output pin high - like sending 0XFF
|
||||||
|
WRITE(MOSI_PIN, HIGH);
|
||||||
|
|
||||||
|
for (uint8_t i = 0; i < 8; i++) {
|
||||||
|
WRITE(SCK_PIN, HIGH);
|
||||||
|
|
||||||
|
// adjust so SCK is nice
|
||||||
|
nop;
|
||||||
|
nop;
|
||||||
|
|
||||||
|
data <<= 1;
|
||||||
|
|
||||||
|
if (READ(MISO_PIN)) data |= 1;
|
||||||
|
|
||||||
|
WRITE(SCK_PIN, LOW);
|
||||||
|
}
|
||||||
|
// enable interrupts
|
||||||
|
sei();
|
||||||
|
return data;
|
||||||
|
}
|
||||||
|
//------------------------------------------------------------------------------
|
||||||
|
/** Soft SPI read data */
|
||||||
|
void spiRead(uint8_t* buf, uint16_t nbyte) {
|
||||||
|
for (uint16_t i = 0; i < nbyte; i++)
|
||||||
|
buf[i] = spiRec();
|
||||||
|
}
|
||||||
|
//------------------------------------------------------------------------------
|
||||||
|
/** Soft SPI send byte */
|
||||||
|
void spiSend(uint8_t data) {
|
||||||
|
// no interrupts during byte send - about 8 us
|
||||||
|
cli();
|
||||||
|
for (uint8_t i = 0; i < 8; i++) {
|
||||||
|
WRITE(SCK_PIN, LOW);
|
||||||
|
|
||||||
|
WRITE(MOSI_PIN, data & 0X80);
|
||||||
|
|
||||||
|
data <<= 1;
|
||||||
|
|
||||||
|
WRITE(SCK_PIN, HIGH);
|
||||||
|
}
|
||||||
|
// hold SCK high for a few ns
|
||||||
|
nop;
|
||||||
|
nop;
|
||||||
|
nop;
|
||||||
|
nop;
|
||||||
|
|
||||||
|
WRITE(SCK_PIN, LOW);
|
||||||
|
// enable interrupts
|
||||||
|
sei();
|
||||||
|
}
|
||||||
|
//------------------------------------------------------------------------------
|
||||||
|
/** Soft SPI send block */
|
||||||
|
void spiSendBlock(uint8_t token, const uint8_t* buf) {
|
||||||
|
spiSend(token);
|
||||||
|
for (uint16_t i = 0; i < 512; i++)
|
||||||
|
spiSend(buf[i]);
|
||||||
|
}
|
||||||
|
#endif // SOFTWARE_SPI
|
||||||
|
|
||||||
|
|
||||||
|
#endif // ARDUINO_ARCH_AVR
|
||||||
@ -0,0 +1,90 @@
|
|||||||
|
/**
|
||||||
|
* Marlin 3D Printer Firmware
|
||||||
|
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||||
|
*
|
||||||
|
* Based on Sprinter and grbl.
|
||||||
|
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
||||||
|
*
|
||||||
|
* This program is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* This program is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
/*
|
||||||
|
Servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
|
||||||
|
Copyright (c) 2009 Michael Margolis. All right reserved.
|
||||||
|
|
||||||
|
This library is free software; you can redistribute it and/or
|
||||||
|
modify it under the terms of the GNU Lesser General Public
|
||||||
|
License as published by the Free Software Foundation; either
|
||||||
|
version 2.1 of the License, or (at your option) any later version.
|
||||||
|
|
||||||
|
This library is distributed in the hope that it will be useful,
|
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||||
|
Lesser General Public License for more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU Lesser General Public
|
||||||
|
License along with this library; if not, write to the Free Software
|
||||||
|
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||||
|
*/
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Defines for 16 bit timers used with Servo library
|
||||||
|
*
|
||||||
|
* If _useTimerX is defined then TimerX is a 16 bit timer on the current board
|
||||||
|
* timer16_Sequence_t enumerates the sequence that the timers should be allocated
|
||||||
|
* _Nbr_16timers indicates how many 16 bit timers are available.
|
||||||
|
*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* AVR Only definitions
|
||||||
|
* --------------------
|
||||||
|
*/
|
||||||
|
|
||||||
|
#define TRIM_DURATION 2 // compensation ticks to trim adjust for digitalWrite delays
|
||||||
|
#define PRESCALER 8 // timer prescaler
|
||||||
|
|
||||||
|
// Say which 16 bit timers can be used and in what order
|
||||||
|
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
|
||||||
|
//#define _useTimer1
|
||||||
|
#define _useTimer3
|
||||||
|
#define _useTimer4
|
||||||
|
#if !HAS_MOTOR_CURRENT_PWM
|
||||||
|
#define _useTimer5 // Timer 5 is used for motor current PWM and can't be used for servos.
|
||||||
|
#endif
|
||||||
|
#elif defined(__AVR_ATmega32U4__)
|
||||||
|
#define _useTimer3
|
||||||
|
#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
|
||||||
|
#define _useTimer3
|
||||||
|
#elif defined(__AVR_ATmega128__) || defined(__AVR_ATmega1281__) || defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega2561__)
|
||||||
|
#define _useTimer3
|
||||||
|
#else
|
||||||
|
// everything else
|
||||||
|
#endif
|
||||||
|
|
||||||
|
typedef enum {
|
||||||
|
#if ENABLED(_useTimer1)
|
||||||
|
_timer1,
|
||||||
|
#endif
|
||||||
|
#if ENABLED(_useTimer3)
|
||||||
|
_timer3,
|
||||||
|
#endif
|
||||||
|
#if ENABLED(_useTimer4)
|
||||||
|
_timer4,
|
||||||
|
#endif
|
||||||
|
#if ENABLED(_useTimer5)
|
||||||
|
_timer5,
|
||||||
|
#endif
|
||||||
|
_Nbr_16timers
|
||||||
|
} timer16_Sequence_t;
|
||||||
@ -0,0 +1,112 @@
|
|||||||
|
/**
|
||||||
|
* Marlin 3D Printer Firmware
|
||||||
|
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||||
|
*
|
||||||
|
* Based on Sprinter and grbl.
|
||||||
|
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
||||||
|
*
|
||||||
|
* This program is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* This program is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef MATH_AVR_H
|
||||||
|
#define MATH_AVR_H
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Optimized math functions for AVR
|
||||||
|
*/
|
||||||
|
|
||||||
|
// intRes = longIn1 * longIn2 >> 24
|
||||||
|
// uses:
|
||||||
|
// r26 to store 0
|
||||||
|
// r27 to store bits 16-23 of the 48bit result. The top bit is used to round the two byte result.
|
||||||
|
// note that the lower two bytes and the upper byte of the 48bit result are not calculated.
|
||||||
|
// this can cause the result to be out by one as the lower bytes may cause carries into the upper ones.
|
||||||
|
// B0 A0 are bits 24-39 and are the returned value
|
||||||
|
// C1 B1 A1 is longIn1
|
||||||
|
// D2 C2 B2 A2 is longIn2
|
||||||
|
//
|
||||||
|
#define MultiU24X32toH16(intRes, longIn1, longIn2) \
|
||||||
|
asm volatile ( \
|
||||||
|
"clr r26 \n\t" \
|
||||||
|
"mul %A1, %B2 \n\t" \
|
||||||
|
"mov r27, r1 \n\t" \
|
||||||
|
"mul %B1, %C2 \n\t" \
|
||||||
|
"movw %A0, r0 \n\t" \
|
||||||
|
"mul %C1, %C2 \n\t" \
|
||||||
|
"add %B0, r0 \n\t" \
|
||||||
|
"mul %C1, %B2 \n\t" \
|
||||||
|
"add %A0, r0 \n\t" \
|
||||||
|
"adc %B0, r1 \n\t" \
|
||||||
|
"mul %A1, %C2 \n\t" \
|
||||||
|
"add r27, r0 \n\t" \
|
||||||
|
"adc %A0, r1 \n\t" \
|
||||||
|
"adc %B0, r26 \n\t" \
|
||||||
|
"mul %B1, %B2 \n\t" \
|
||||||
|
"add r27, r0 \n\t" \
|
||||||
|
"adc %A0, r1 \n\t" \
|
||||||
|
"adc %B0, r26 \n\t" \
|
||||||
|
"mul %C1, %A2 \n\t" \
|
||||||
|
"add r27, r0 \n\t" \
|
||||||
|
"adc %A0, r1 \n\t" \
|
||||||
|
"adc %B0, r26 \n\t" \
|
||||||
|
"mul %B1, %A2 \n\t" \
|
||||||
|
"add r27, r1 \n\t" \
|
||||||
|
"adc %A0, r26 \n\t" \
|
||||||
|
"adc %B0, r26 \n\t" \
|
||||||
|
"lsr r27 \n\t" \
|
||||||
|
"adc %A0, r26 \n\t" \
|
||||||
|
"adc %B0, r26 \n\t" \
|
||||||
|
"mul %D2, %A1 \n\t" \
|
||||||
|
"add %A0, r0 \n\t" \
|
||||||
|
"adc %B0, r1 \n\t" \
|
||||||
|
"mul %D2, %B1 \n\t" \
|
||||||
|
"add %B0, r0 \n\t" \
|
||||||
|
"clr r1 \n\t" \
|
||||||
|
: \
|
||||||
|
"=&r" (intRes) \
|
||||||
|
: \
|
||||||
|
"d" (longIn1), \
|
||||||
|
"d" (longIn2) \
|
||||||
|
: \
|
||||||
|
"r26" , "r27" \
|
||||||
|
)
|
||||||
|
|
||||||
|
// intRes = intIn1 * intIn2 >> 16
|
||||||
|
// uses:
|
||||||
|
// r26 to store 0
|
||||||
|
// r27 to store the byte 1 of the 24 bit result
|
||||||
|
#define MultiU16X8toH16(intRes, charIn1, intIn2) \
|
||||||
|
asm volatile ( \
|
||||||
|
"clr r26 \n\t" \
|
||||||
|
"mul %A1, %B2 \n\t" \
|
||||||
|
"movw %A0, r0 \n\t" \
|
||||||
|
"mul %A1, %A2 \n\t" \
|
||||||
|
"add %A0, r1 \n\t" \
|
||||||
|
"adc %B0, r26 \n\t" \
|
||||||
|
"lsr r0 \n\t" \
|
||||||
|
"adc %A0, r26 \n\t" \
|
||||||
|
"adc %B0, r26 \n\t" \
|
||||||
|
"clr r1 \n\t" \
|
||||||
|
: \
|
||||||
|
"=&r" (intRes) \
|
||||||
|
: \
|
||||||
|
"d" (charIn1), \
|
||||||
|
"d" (intIn2) \
|
||||||
|
: \
|
||||||
|
"r26" \
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
|
#endif
|
||||||
@ -0,0 +1,57 @@
|
|||||||
|
#include "../persistent_store_api.h"
|
||||||
|
|
||||||
|
#include "../../../types.h"
|
||||||
|
#include "../../../language.h"
|
||||||
|
#include "../../../serial.h"
|
||||||
|
#include "../../../utility.h"
|
||||||
|
|
||||||
|
#ifdef ARDUINO_ARCH_AVR
|
||||||
|
#if ENABLED(EEPROM_SETTINGS)
|
||||||
|
|
||||||
|
namespace HAL {
|
||||||
|
namespace PersistentStore {
|
||||||
|
|
||||||
|
bool access_start() {
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool access_finish(){
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool write_data(int &pos, const uint8_t *value, uint16_t size, uint16_t *crc) {
|
||||||
|
while (size--) {
|
||||||
|
uint8_t * const p = (uint8_t * const)pos;
|
||||||
|
uint8_t v = *value;
|
||||||
|
// EEPROM has only ~100,000 write cycles,
|
||||||
|
// so only write bytes that have changed!
|
||||||
|
if (v != eeprom_read_byte(p)) {
|
||||||
|
eeprom_write_byte(p, v);
|
||||||
|
if (eeprom_read_byte(p) != v) {
|
||||||
|
SERIAL_ECHO_START();
|
||||||
|
SERIAL_ECHOLNPGM(MSG_ERR_EEPROM_WRITE);
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
crc16(crc, &v, 1);
|
||||||
|
pos++;
|
||||||
|
value++;
|
||||||
|
};
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
void read_data(int &pos, uint8_t* value, uint16_t size, uint16_t *crc) {
|
||||||
|
do {
|
||||||
|
uint8_t c = eeprom_read_byte((unsigned char*)pos);
|
||||||
|
*value = c;
|
||||||
|
crc16(crc, &c, 1);
|
||||||
|
pos++;
|
||||||
|
value++;
|
||||||
|
} while (--size);
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif // EEPROM_SETTINGS
|
||||||
|
#endif // ARDUINO_ARCH_AVR
|
||||||
@ -0,0 +1,67 @@
|
|||||||
|
/**
|
||||||
|
* Marlin 3D Printer Firmware
|
||||||
|
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||||
|
*
|
||||||
|
* This program is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* This program is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef SPI_PINS_H_
|
||||||
|
#define SPI_PINS_H_
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Define SPI Pins: SCK, MISO, MOSI, SS
|
||||||
|
*/
|
||||||
|
#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328__) || defined(__AVR_ATmega328P__)
|
||||||
|
#define AVR_SCK_PIN 13
|
||||||
|
#define AVR_MISO_PIN 12
|
||||||
|
#define AVR_MOSI_PIN 11
|
||||||
|
#define AVR_SS_PIN 10
|
||||||
|
#elif defined(__AVR_ATmega644__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__) || defined(__AVR_ATmega1284P__)
|
||||||
|
#define AVR_SCK_PIN 7
|
||||||
|
#define AVR_MISO_PIN 6
|
||||||
|
#define AVR_MOSI_PIN 5
|
||||||
|
#define AVR_SS_PIN 4
|
||||||
|
#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
|
||||||
|
#define AVR_SCK_PIN 52
|
||||||
|
#define AVR_MISO_PIN 50
|
||||||
|
#define AVR_MOSI_PIN 51
|
||||||
|
#define AVR_SS_PIN 53
|
||||||
|
#elif defined(__AVR_AT90USB1287__) || defined(__AVR_AT90USB1286__) || defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB647__)
|
||||||
|
#define AVR_SCK_PIN 21
|
||||||
|
#define AVR_MISO_PIN 23
|
||||||
|
#define AVR_MOSI_PIN 22
|
||||||
|
#define AVR_SS_PIN 20
|
||||||
|
#elif defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__)
|
||||||
|
#define AVR_SCK_PIN 10
|
||||||
|
#define AVR_MISO_PIN 12
|
||||||
|
#define AVR_MOSI_PIN 11
|
||||||
|
#define AVR_SS_PIN 16
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef SCK_PIN
|
||||||
|
#define SCK_PIN AVR_SCK_PIN
|
||||||
|
#endif
|
||||||
|
#ifndef MISO_PIN
|
||||||
|
#define MISO_PIN AVR_MISO_PIN
|
||||||
|
#endif
|
||||||
|
#ifndef MOSI_PIN
|
||||||
|
#define MOSI_PIN AVR_MOSI_PIN
|
||||||
|
#endif
|
||||||
|
#ifndef SS_PIN
|
||||||
|
#define SS_PIN AVR_SS_PIN
|
||||||
|
#endif
|
||||||
|
|
||||||
|
|
||||||
|
#endif /* SPI_PINS_H_ */
|
||||||
@ -0,0 +1,53 @@
|
|||||||
|
/**
|
||||||
|
* Marlin 3D Printer Firmware
|
||||||
|
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||||
|
*
|
||||||
|
* This program is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* This program is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
#ifndef HAL_ENDSTOP_INTERRUPTS_H_
|
||||||
|
#define HAL_ENDSTOP_INTERRUPTS_H_
|
||||||
|
|
||||||
|
volatile uint8_t e_hit = 0; // Different from 0 when the endstops should be tested in detail.
|
||||||
|
// Must be reset to 0 by the test function when finished.
|
||||||
|
|
||||||
|
// This is what is really done inside the interrupts.
|
||||||
|
FORCE_INLINE void endstop_ISR_worker( void ) {
|
||||||
|
e_hit = 2; // Because the detection of a e-stop hit has a 1 step debouncer it has to be called at least twice.
|
||||||
|
}
|
||||||
|
|
||||||
|
// One ISR for all EXT-Interrupts
|
||||||
|
void endstop_ISR(void) { endstop_ISR_worker(); }
|
||||||
|
|
||||||
|
#ifdef ARDUINO_ARCH_AVR
|
||||||
|
|
||||||
|
#include "HAL_AVR/endstop_interrupts.h"
|
||||||
|
|
||||||
|
#elif defined(ARDUINO_ARCH_SAM)
|
||||||
|
|
||||||
|
#include "HAL_DUE/endstop_interrupts.h"
|
||||||
|
|
||||||
|
#elif IS_32BIT_TEENSY
|
||||||
|
|
||||||
|
#include "HAL_TEENSY35_36/endstop_interrupts.h"
|
||||||
|
|
||||||
|
#else
|
||||||
|
|
||||||
|
#error Unsupported Platform!
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif /* HAL_ENDSTOP_INTERRUPTS_H_ */
|
||||||
@ -0,0 +1,35 @@
|
|||||||
|
/**
|
||||||
|
* Marlin 3D Printer Firmware
|
||||||
|
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||||
|
*
|
||||||
|
* Based on Sprinter and grbl.
|
||||||
|
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
||||||
|
*
|
||||||
|
* This program is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* This program is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef HAL_PINSDEBUG_H
|
||||||
|
|
||||||
|
#ifdef ARDUINO_ARCH_AVR
|
||||||
|
#include "HAL_AVR/HAL_pinsDebug_AVR.h"
|
||||||
|
#elif defined(ARDUINO_ARCH_SAM)
|
||||||
|
#include "HAL_DUE/HAL_pinsDebug_Due.h"
|
||||||
|
#elif IS_32BIT_TEENSY
|
||||||
|
#include "HAL_TEENSY35_36/HAL_pinsDebug_Teensy.h"
|
||||||
|
#else
|
||||||
|
#error Unsupported Platform!
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif
|
||||||
@ -0,0 +1,39 @@
|
|||||||
|
/**
|
||||||
|
* Marlin 3D Printer Firmware
|
||||||
|
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||||
|
*
|
||||||
|
* This program is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* This program is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
#ifndef HAL_SPI_PINS_H_
|
||||||
|
#define HAL_SPI_PINS_H_
|
||||||
|
|
||||||
|
#include "MarlinConfig.h"
|
||||||
|
|
||||||
|
#ifdef ARDUINO_ARCH_SAM
|
||||||
|
#include "HAL_DUE/spi_pins.h"
|
||||||
|
|
||||||
|
#elif defined(IS_32BIT_TEENSY)
|
||||||
|
#include "HAL_TEENSY35_36/spi_pins.h"
|
||||||
|
|
||||||
|
#elif defined(ARDUINO_ARCH_AVR)
|
||||||
|
#include "HAL_AVR/spi_pins.h"
|
||||||
|
|
||||||
|
#else
|
||||||
|
#error "Unsupported Platform!"
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif /* HAL_SPI_PINS_H_ */
|
||||||
@ -0,0 +1,162 @@
|
|||||||
|
/**
|
||||||
|
* Marlin 3D Printer Firmware
|
||||||
|
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||||
|
*
|
||||||
|
* This program is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* This program is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Description: functions for I2C connected external EEPROM.
|
||||||
|
* Not platform dependent.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "../../MarlinConfig.h"
|
||||||
|
|
||||||
|
#if ENABLED(I2C_EEPROM)
|
||||||
|
|
||||||
|
// --------------------------------------------------------------------------
|
||||||
|
// Includes
|
||||||
|
// --------------------------------------------------------------------------
|
||||||
|
|
||||||
|
#include "HAL.h"
|
||||||
|
#include <Wire.h>
|
||||||
|
|
||||||
|
// --------------------------------------------------------------------------
|
||||||
|
// Externals
|
||||||
|
// --------------------------------------------------------------------------
|
||||||
|
|
||||||
|
// --------------------------------------------------------------------------
|
||||||
|
// Local defines
|
||||||
|
// --------------------------------------------------------------------------
|
||||||
|
|
||||||
|
// --------------------------------------------------------------------------
|
||||||
|
// Types
|
||||||
|
// --------------------------------------------------------------------------
|
||||||
|
|
||||||
|
// --------------------------------------------------------------------------
|
||||||
|
// Variables
|
||||||
|
// --------------------------------------------------------------------------
|
||||||
|
|
||||||
|
// --------------------------------------------------------------------------
|
||||||
|
// Public Variables
|
||||||
|
// --------------------------------------------------------------------------
|
||||||
|
|
||||||
|
// --------------------------------------------------------------------------
|
||||||
|
// Private Variables
|
||||||
|
// --------------------------------------------------------------------------
|
||||||
|
|
||||||
|
// --------------------------------------------------------------------------
|
||||||
|
// Function prototypes
|
||||||
|
// --------------------------------------------------------------------------
|
||||||
|
|
||||||
|
// --------------------------------------------------------------------------
|
||||||
|
// Private functions
|
||||||
|
// --------------------------------------------------------------------------
|
||||||
|
|
||||||
|
// --------------------------------------------------------------------------
|
||||||
|
// Public functions
|
||||||
|
// --------------------------------------------------------------------------
|
||||||
|
|
||||||
|
static bool eeprom_initialised = false;
|
||||||
|
static uint8_t eeprom_device_address = 0x50;
|
||||||
|
|
||||||
|
static void eeprom_init(void) {
|
||||||
|
if (!eeprom_initialised) {
|
||||||
|
Wire.begin();
|
||||||
|
eeprom_initialised = true;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void eeprom_write_byte(unsigned char *pos, unsigned char value) {
|
||||||
|
unsigned eeprom_address = (unsigned) pos;
|
||||||
|
|
||||||
|
eeprom_init();
|
||||||
|
|
||||||
|
Wire.beginTransmission(eeprom_device_address);
|
||||||
|
Wire.write((int)(eeprom_address >> 8)); // MSB
|
||||||
|
Wire.write((int)(eeprom_address & 0xFF)); // LSB
|
||||||
|
Wire.write(value);
|
||||||
|
Wire.endTransmission();
|
||||||
|
|
||||||
|
// wait for write cycle to complete
|
||||||
|
// this could be done more efficiently with "acknowledge polling"
|
||||||
|
delay(5);
|
||||||
|
}
|
||||||
|
|
||||||
|
// WARNING: address is a page address, 6-bit end will wrap around
|
||||||
|
// also, data can be maximum of about 30 bytes, because the Wire library has a buffer of 32 bytes
|
||||||
|
void eeprom_update_block(const void* pos, void* eeprom_address, size_t n) {
|
||||||
|
uint8_t eeprom_temp[32] = {0};
|
||||||
|
uint8_t flag = 0;
|
||||||
|
|
||||||
|
eeprom_init();
|
||||||
|
|
||||||
|
Wire.beginTransmission(eeprom_device_address);
|
||||||
|
Wire.write((int)((unsigned)eeprom_address >> 8)); // MSB
|
||||||
|
Wire.write((int)((unsigned)eeprom_address & 0xFF)); // LSB
|
||||||
|
Wire.endTransmission();
|
||||||
|
Wire.requestFrom(eeprom_device_address, (byte)n);
|
||||||
|
for (byte c = 0; c < n; c++) {
|
||||||
|
if (Wire.available()) eeprom_temp[c] = Wire.read();
|
||||||
|
flag |= (eeprom_temp[c] ^ *((uint8_t*)pos + c));
|
||||||
|
}
|
||||||
|
|
||||||
|
if (flag) {
|
||||||
|
Wire.beginTransmission(eeprom_device_address);
|
||||||
|
Wire.write((int)((unsigned)eeprom_address >> 8)); // MSB
|
||||||
|
Wire.write((int)((unsigned)eeprom_address & 0xFF)); // LSB
|
||||||
|
Wire.write((uint8_t*)(pos), n);
|
||||||
|
Wire.endTransmission();
|
||||||
|
|
||||||
|
// wait for write cycle to complete
|
||||||
|
// this could be done more efficiently with "acknowledge polling"
|
||||||
|
delay(5);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
unsigned char eeprom_read_byte(unsigned char *pos) {
|
||||||
|
byte data = 0xFF;
|
||||||
|
unsigned eeprom_address = (unsigned) pos;
|
||||||
|
|
||||||
|
eeprom_init ();
|
||||||
|
|
||||||
|
Wire.beginTransmission(eeprom_device_address);
|
||||||
|
Wire.write((int)(eeprom_address >> 8)); // MSB
|
||||||
|
Wire.write((int)(eeprom_address & 0xFF)); // LSB
|
||||||
|
Wire.endTransmission();
|
||||||
|
Wire.requestFrom(eeprom_device_address, (byte)1);
|
||||||
|
if (Wire.available())
|
||||||
|
data = Wire.read();
|
||||||
|
return data;
|
||||||
|
}
|
||||||
|
|
||||||
|
// maybe let's not read more than 30 or 32 bytes at a time!
|
||||||
|
void eeprom_read_block(void* pos, const void* eeprom_address, size_t n) {
|
||||||
|
eeprom_init();
|
||||||
|
|
||||||
|
Wire.beginTransmission(eeprom_device_address);
|
||||||
|
Wire.write((int)((unsigned)eeprom_address >> 8)); // MSB
|
||||||
|
Wire.write((int)((unsigned)eeprom_address & 0xFF)); // LSB
|
||||||
|
Wire.endTransmission();
|
||||||
|
Wire.requestFrom(eeprom_device_address, (byte)n);
|
||||||
|
for (byte c = 0; c < n; c++ )
|
||||||
|
if (Wire.available()) *((uint8_t*)pos + c) = Wire.read();
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
#endif // ENABLED(I2C_EEPROM)
|
||||||
|
|
||||||
@ -0,0 +1,117 @@
|
|||||||
|
/**
|
||||||
|
* Marlin 3D Printer Firmware
|
||||||
|
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||||
|
*
|
||||||
|
* This program is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* This program is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Description: functions for SPI connected external EEPROM.
|
||||||
|
* Not platform dependent.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "../../MarlinConfig.h"
|
||||||
|
|
||||||
|
#if ENABLED(SPI_EEPROM)
|
||||||
|
|
||||||
|
#include "HAL.h"
|
||||||
|
|
||||||
|
#define CMD_WREN 6 // WREN
|
||||||
|
#define CMD_READ 2 // WRITE
|
||||||
|
#define CMD_WRITE 2 // WRITE
|
||||||
|
|
||||||
|
uint8_t eeprom_read_byte(uint8_t* pos) {
|
||||||
|
uint8_t v;
|
||||||
|
uint8_t eeprom_temp[3];
|
||||||
|
|
||||||
|
// set read location
|
||||||
|
// begin transmission from device
|
||||||
|
eeprom_temp[0] = CMD_READ;
|
||||||
|
eeprom_temp[1] = ((unsigned)pos>>8) & 0xFF; // addr High
|
||||||
|
eeprom_temp[2] = (unsigned)pos& 0xFF; // addr Low
|
||||||
|
digitalWrite(SPI_EEPROM1_CS, HIGH);
|
||||||
|
digitalWrite(SPI_EEPROM1_CS, LOW);
|
||||||
|
spiSend(SPI_CHAN_EEPROM1, eeprom_temp, 3);
|
||||||
|
|
||||||
|
v = spiRec(SPI_CHAN_EEPROM1);
|
||||||
|
digitalWrite(SPI_EEPROM1_CS, HIGH);
|
||||||
|
return v;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
void eeprom_read_block(void* dest, const void* eeprom_address, size_t n) {
|
||||||
|
uint8_t eeprom_temp[3];
|
||||||
|
|
||||||
|
// set read location
|
||||||
|
// begin transmission from device
|
||||||
|
eeprom_temp[0] = CMD_READ;
|
||||||
|
eeprom_temp[1] = ((unsigned)eeprom_address>>8) & 0xFF; // addr High
|
||||||
|
eeprom_temp[2] = (unsigned)eeprom_address& 0xFF; // addr Low
|
||||||
|
digitalWrite(SPI_EEPROM1_CS, HIGH);
|
||||||
|
digitalWrite(SPI_EEPROM1_CS, LOW);
|
||||||
|
spiSend(SPI_CHAN_EEPROM1, eeprom_temp, 3);
|
||||||
|
|
||||||
|
uint8_t *p_dest = (uint8_t *)dest;
|
||||||
|
while (n--)
|
||||||
|
*p_dest++ = spiRec(SPI_CHAN_EEPROM1);
|
||||||
|
digitalWrite(SPI_EEPROM1_CS, HIGH);
|
||||||
|
}
|
||||||
|
|
||||||
|
void eeprom_write_byte(uint8_t* pos, uint8_t value) {
|
||||||
|
uint8_t eeprom_temp[3];
|
||||||
|
|
||||||
|
/*write enable*/
|
||||||
|
eeprom_temp[0] = CMD_WREN;
|
||||||
|
digitalWrite(SPI_EEPROM1_CS, LOW);
|
||||||
|
spiSend(SPI_CHAN_EEPROM1, eeprom_temp, 1);
|
||||||
|
digitalWrite(SPI_EEPROM1_CS, HIGH);
|
||||||
|
delay(1);
|
||||||
|
|
||||||
|
/*write addr*/
|
||||||
|
eeprom_temp[0] = CMD_WRITE;
|
||||||
|
eeprom_temp[1] = ((unsigned)pos>>8) & 0xFF; //addr High
|
||||||
|
eeprom_temp[2] = (unsigned)pos & 0xFF; //addr Low
|
||||||
|
digitalWrite(SPI_EEPROM1_CS, LOW);
|
||||||
|
spiSend(SPI_CHAN_EEPROM1, eeprom_temp, 3);
|
||||||
|
|
||||||
|
spiSend(SPI_CHAN_EEPROM1, value);
|
||||||
|
digitalWrite(SPI_EEPROM1_CS, HIGH);
|
||||||
|
delay(7); // wait for page write to complete
|
||||||
|
}
|
||||||
|
|
||||||
|
void eeprom_update_block(const void* src, void* eeprom_address, size_t n) {
|
||||||
|
uint8_t eeprom_temp[3];
|
||||||
|
|
||||||
|
/*write enable*/
|
||||||
|
eeprom_temp[0] = CMD_WREN;
|
||||||
|
digitalWrite(SPI_EEPROM1_CS, LOW);
|
||||||
|
spiSend(SPI_CHAN_EEPROM1, eeprom_temp, 1);
|
||||||
|
digitalWrite(SPI_EEPROM1_CS, HIGH);
|
||||||
|
delay(1);
|
||||||
|
|
||||||
|
/*write addr*/
|
||||||
|
eeprom_temp[0] = CMD_WRITE;
|
||||||
|
eeprom_temp[1] = ((unsigned)eeprom_address>>8) & 0xFF; //addr High
|
||||||
|
eeprom_temp[2] = (unsigned)eeprom_address & 0xFF; //addr Low
|
||||||
|
digitalWrite(SPI_EEPROM1_CS, LOW);
|
||||||
|
spiSend(SPI_CHAN_EEPROM1, eeprom_temp, 3);
|
||||||
|
|
||||||
|
spiSend(SPI_CHAN_EEPROM1, (const uint8_t*)src, n);
|
||||||
|
digitalWrite(SPI_EEPROM1_CS, HIGH);
|
||||||
|
delay(7); // wait for page write to complete
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
#endif // ENABLED(SPI_EEPROM)
|
||||||
@ -0,0 +1,33 @@
|
|||||||
|
/**
|
||||||
|
* Marlin 3D Printer Firmware
|
||||||
|
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||||
|
*
|
||||||
|
* Based on Sprinter and grbl.
|
||||||
|
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
||||||
|
*
|
||||||
|
* This program is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* This program is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef MATH_32BIT_H
|
||||||
|
#define MATH_32BIT_H
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Math helper functions for 32 bit CPUs
|
||||||
|
*/
|
||||||
|
|
||||||
|
#define MultiU32X32toH32(intRes, longIn1, longIn2) intRes = ((uint64_t)longIn1 * longIn2 + 0x80000000) >> 32
|
||||||
|
#define MultiU32X24toH32(intRes, longIn1, longIn2) intRes = ((uint64_t)longIn1 * longIn2 + 0x00800000) >> 24
|
||||||
|
|
||||||
|
#endif
|
||||||
@ -0,0 +1,19 @@
|
|||||||
|
#ifndef _PERSISTENT_STORE_H_
|
||||||
|
#define _PERSISTENT_STORE_H_
|
||||||
|
|
||||||
|
#include <stddef.h>
|
||||||
|
#include <stdint.h>
|
||||||
|
|
||||||
|
namespace HAL {
|
||||||
|
namespace PersistentStore {
|
||||||
|
|
||||||
|
bool access_start();
|
||||||
|
bool access_finish();
|
||||||
|
bool write_data(int &pos, const uint8_t *value, uint16_t size, uint16_t *crc);
|
||||||
|
void read_data(int &pos, uint8_t* value, uint16_t size, uint16_t *crc) ;
|
||||||
|
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
#endif /* _PERSISTANT_STORE_H_ */
|
||||||
@ -0,0 +1,168 @@
|
|||||||
|
/**
|
||||||
|
* Marlin 3D Printer Firmware
|
||||||
|
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||||
|
*
|
||||||
|
* Based on Sprinter and grbl.
|
||||||
|
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
||||||
|
*
|
||||||
|
* This program is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* This program is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* servo.cpp - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
|
||||||
|
* Copyright (c) 2009 Michael Margolis. All right reserved.
|
||||||
|
*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
|
||||||
|
* The servos are pulsed in the background using the value most recently written using the write() method
|
||||||
|
*
|
||||||
|
* Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
|
||||||
|
* Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
|
||||||
|
*
|
||||||
|
* The methods are:
|
||||||
|
*
|
||||||
|
* Servo - Class for manipulating servo motors connected to Arduino pins.
|
||||||
|
*
|
||||||
|
* attach(pin) - Attach a servo motor to an i/o pin.
|
||||||
|
* attach(pin, min, max) - Attach to a pin, setting min and max values in microseconds
|
||||||
|
* Default min is 544, max is 2400
|
||||||
|
*
|
||||||
|
* write() - Set the servo angle in degrees. (Invalid angles —over MIN_PULSE_WIDTH— are treated as µs.)
|
||||||
|
* writeMicroseconds() - Set the servo pulse width in microseconds.
|
||||||
|
* move(pin, angle) - Sequence of attach(pin), write(angle), delay(SERVO_DELAY).
|
||||||
|
* With DEACTIVATE_SERVOS_AFTER_MOVE it detaches after SERVO_DELAY.
|
||||||
|
* read() - Get the last-written servo pulse width as an angle between 0 and 180.
|
||||||
|
* readMicroseconds() - Get the last-written servo pulse width in microseconds.
|
||||||
|
* attached() - Return true if a servo is attached.
|
||||||
|
* detach() - Stop an attached servo from pulsing its i/o pin.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
#include "../../MarlinConfig.h"
|
||||||
|
|
||||||
|
#include "HAL.h"
|
||||||
|
|
||||||
|
#if HAS_SERVOS && !IS_32BIT_TEENSY
|
||||||
|
|
||||||
|
//#include <Arduino.h>
|
||||||
|
|
||||||
|
#include "servo.h"
|
||||||
|
#include "servo_private.h"
|
||||||
|
|
||||||
|
ServoInfo_t servo_info[MAX_SERVOS]; // static array of servo info structures
|
||||||
|
uint8_t ServoCount = 0; // the total number of attached servos
|
||||||
|
|
||||||
|
|
||||||
|
#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in uS for this servo
|
||||||
|
#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in uS for this servo
|
||||||
|
|
||||||
|
/************ static functions common to all instances ***********************/
|
||||||
|
|
||||||
|
static boolean isTimerActive(timer16_Sequence_t timer) {
|
||||||
|
// returns true if any servo is active on this timer
|
||||||
|
for (uint8_t channel = 0; channel < SERVOS_PER_TIMER; channel++) {
|
||||||
|
if (SERVO(timer, channel).Pin.isActive)
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
/****************** end of static functions ******************************/
|
||||||
|
|
||||||
|
Servo::Servo() {
|
||||||
|
if (ServoCount < MAX_SERVOS) {
|
||||||
|
this->servoIndex = ServoCount++; // assign a servo index to this instance
|
||||||
|
servo_info[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values - 12 Aug 2009
|
||||||
|
}
|
||||||
|
else
|
||||||
|
this->servoIndex = INVALID_SERVO; // too many servos
|
||||||
|
}
|
||||||
|
|
||||||
|
int8_t Servo::attach(int pin) {
|
||||||
|
return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
|
||||||
|
}
|
||||||
|
|
||||||
|
int8_t Servo::attach(int pin, int min, int max) {
|
||||||
|
|
||||||
|
if (this->servoIndex >= MAX_SERVOS) return -1;
|
||||||
|
|
||||||
|
if (pin > 0) servo_info[this->servoIndex].Pin.nbr = pin;
|
||||||
|
pinMode(servo_info[this->servoIndex].Pin.nbr, OUTPUT); // set servo pin to output
|
||||||
|
|
||||||
|
// todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
|
||||||
|
this->min = (MIN_PULSE_WIDTH - min) / 4; //resolution of min/max is 4 uS
|
||||||
|
this->max = (MAX_PULSE_WIDTH - max) / 4;
|
||||||
|
|
||||||
|
// initialize the timer if it has not already been initialized
|
||||||
|
timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
|
||||||
|
if (!isTimerActive(timer)) initISR(timer);
|
||||||
|
servo_info[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
|
||||||
|
|
||||||
|
return this->servoIndex;
|
||||||
|
}
|
||||||
|
|
||||||
|
void Servo::detach() {
|
||||||
|
servo_info[this->servoIndex].Pin.isActive = false;
|
||||||
|
timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
|
||||||
|
if (!isTimerActive(timer)) finISR(timer);
|
||||||
|
}
|
||||||
|
|
||||||
|
void Servo::write(int value) {
|
||||||
|
if (value < MIN_PULSE_WIDTH) { // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
|
||||||
|
value = map(constrain(value, 0, 180), 0, 180, SERVO_MIN(), SERVO_MAX());
|
||||||
|
}
|
||||||
|
this->writeMicroseconds(value);
|
||||||
|
}
|
||||||
|
|
||||||
|
void Servo::writeMicroseconds(int value) {
|
||||||
|
// calculate and store the values for the given channel
|
||||||
|
byte channel = this->servoIndex;
|
||||||
|
if (channel < MAX_SERVOS) { // ensure channel is valid
|
||||||
|
// ensure pulse width is valid
|
||||||
|
value = constrain(value, SERVO_MIN(), SERVO_MAX()) - (TRIM_DURATION);
|
||||||
|
value = usToTicks(value); // convert to ticks after compensating for interrupt overhead - 12 Aug 2009
|
||||||
|
|
||||||
|
CRITICAL_SECTION_START;
|
||||||
|
servo_info[channel].ticks = value;
|
||||||
|
CRITICAL_SECTION_END;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// return the value as degrees
|
||||||
|
int Servo::read() { return map(this->readMicroseconds() + 1, SERVO_MIN(), SERVO_MAX(), 0, 180); }
|
||||||
|
|
||||||
|
int Servo::readMicroseconds() {
|
||||||
|
return (this->servoIndex == INVALID_SERVO) ? 0 : ticksToUs(servo_info[this->servoIndex].ticks) + TRIM_DURATION;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool Servo::attached() { return servo_info[this->servoIndex].Pin.isActive; }
|
||||||
|
|
||||||
|
void Servo::move(int value) {
|
||||||
|
constexpr uint16_t servo_delay[] = SERVO_DELAY;
|
||||||
|
static_assert(COUNT(servo_delay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
|
||||||
|
if (this->attach(0) >= 0) {
|
||||||
|
this->write(value);
|
||||||
|
delay(servo_delay[this->servoIndex]);
|
||||||
|
#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
|
||||||
|
this->detach();
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif // HAS_SERVOS
|
||||||
|
|
||||||
@ -0,0 +1,103 @@
|
|||||||
|
/**
|
||||||
|
* Marlin 3D Printer Firmware
|
||||||
|
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||||
|
*
|
||||||
|
* Based on Sprinter and grbl.
|
||||||
|
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
||||||
|
*
|
||||||
|
* This program is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* This program is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
|
||||||
|
Copyright (c) 2009 Michael Margolis. All right reserved.
|
||||||
|
|
||||||
|
This library is free software; you can redistribute it and/or
|
||||||
|
modify it under the terms of the GNU Lesser General Public
|
||||||
|
License as published by the Free Software Foundation; either
|
||||||
|
version 2.1 of the License, or (at your option) any later version.
|
||||||
|
|
||||||
|
This library is distributed in the hope that it will be useful,
|
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||||
|
Lesser General Public License for more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU Lesser General Public
|
||||||
|
License along with this library; if not, write to the Free Software
|
||||||
|
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef servo_private_h
|
||||||
|
#define servo_private_h
|
||||||
|
|
||||||
|
#include <inttypes.h>
|
||||||
|
|
||||||
|
// Architecture specific include
|
||||||
|
#ifdef ARDUINO_ARCH_AVR
|
||||||
|
#include "HAL_AVR/ServoTimers.h"
|
||||||
|
#elif defined(ARDUINO_ARCH_SAM)
|
||||||
|
#include "HAL_DUE/ServoTimers.h"
|
||||||
|
#else
|
||||||
|
#error "This library only supports boards with an AVR or SAM3X processor."
|
||||||
|
#endif
|
||||||
|
|
||||||
|
// Macros
|
||||||
|
|
||||||
|
#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo
|
||||||
|
#define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo
|
||||||
|
#define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached
|
||||||
|
#define REFRESH_INTERVAL 20000 // minimum time to refresh servos in microseconds
|
||||||
|
|
||||||
|
#define SERVOS_PER_TIMER 12 // the maximum number of servos controlled by one timer
|
||||||
|
#define MAX_SERVOS (_Nbr_16timers * SERVOS_PER_TIMER)
|
||||||
|
|
||||||
|
#define INVALID_SERVO 255 // flag indicating an invalid servo index
|
||||||
|
|
||||||
|
//
|
||||||
|
#define usToTicks(_us) (( clockCyclesPerMicrosecond()* _us) / PRESCALER) // converts microseconds to tick (PRESCALER depends on architecture)
|
||||||
|
#define ticksToUs(_ticks) (( (unsigned)_ticks * PRESCALER)/ clockCyclesPerMicrosecond() ) // converts from ticks back to microseconds
|
||||||
|
|
||||||
|
//#define NBR_TIMERS ((MAX_SERVOS) / (SERVOS_PER_TIMER))
|
||||||
|
|
||||||
|
// convenience macros
|
||||||
|
#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / (SERVOS_PER_TIMER))) // returns the timer controlling this servo
|
||||||
|
#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % (SERVOS_PER_TIMER)) // returns the index of the servo on this timer
|
||||||
|
#define SERVO_INDEX(_timer,_channel) ((_timer*(SERVOS_PER_TIMER)) + _channel) // macro to access servo index by timer and channel
|
||||||
|
#define SERVO(_timer,_channel) (servo_info[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel
|
||||||
|
|
||||||
|
// Types
|
||||||
|
|
||||||
|
typedef struct {
|
||||||
|
uint8_t nbr : 6 ; // a pin number from 0 to 63
|
||||||
|
uint8_t isActive : 1 ; // true if this channel is enabled, pin not pulsed if false
|
||||||
|
} ServoPin_t;
|
||||||
|
|
||||||
|
typedef struct {
|
||||||
|
ServoPin_t Pin;
|
||||||
|
unsigned int ticks;
|
||||||
|
} ServoInfo_t;
|
||||||
|
|
||||||
|
// Global variables
|
||||||
|
|
||||||
|
extern uint8_t ServoCount;
|
||||||
|
extern ServoInfo_t servo_info[MAX_SERVOS];
|
||||||
|
|
||||||
|
// Public functions
|
||||||
|
|
||||||
|
extern void initISR(timer16_Sequence_t timer);
|
||||||
|
extern void finISR(timer16_Sequence_t timer);
|
||||||
|
|
||||||
|
|
||||||
|
#endif
|
||||||
Loading…
Reference in New Issue