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This commit is contained in:
InsanityAutomation
2018-09-28 12:13:04 -04:00
parent 694620dd67
commit 7410d24f1f
36 changed files with 0 additions and 9256 deletions
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Marlin/src/HAL/Delay.h
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/**
* 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/>.
*
*/
/**
* Busy wait delay cycles routines:
*
* DELAY_CYCLES(count): Delay execution in cycles
* DELAY_NS(count): Delay execution in nanoseconds
* DELAY_US(count): Delay execution in microseconds
*/
#ifndef MARLIN_DELAY_H
#define MARLIN_DELAY_H
#include "../core/macros.h"
#if defined(__arm__) || defined(__thumb__)
// https://blueprints.launchpad.net/gcc-arm-embedded/+spec/delay-cycles
#define nop() __asm__ __volatile__("nop;\n\t":::)
FORCE_INLINE static void __delay_4cycles(uint32_t cy) { // +1 cycle
#if ARCH_PIPELINE_RELOAD_CYCLES < 2
#define EXTRA_NOP_CYCLES A("nop")
#else
#define EXTRA_NOP_CYCLES ""
#endif
__asm__ __volatile__(
A(".syntax unified") // is to prevent CM0,CM1 non-unified syntax
L("1")
A("subs %[cnt],#1")
EXTRA_NOP_CYCLES
A("bne 1b")
: [cnt]"+r"(cy) // output: +r means input+output
: // input:
: "cc" // clobbers:
);
}
// Delay in cycles
FORCE_INLINE static void DELAY_CYCLES(uint32_t x) {
if (__builtin_constant_p(x)) {
#define MAXNOPS 4
if (x <= (MAXNOPS)) {
switch (x) { case 4: nop(); case 3: nop(); case 2: nop(); case 1: nop(); }
}
else { // because of +1 cycle inside delay_4cycles
const uint32_t rem = (x - 1) % (MAXNOPS);
switch (rem) { case 3: nop(); case 2: nop(); case 1: nop(); }
if ((x = (x - 1) / (MAXNOPS)))
__delay_4cycles(x); // if need more then 4 nop loop is more optimal
}
#undef MAXNOPS
}
else
__delay_4cycles(x / 4);
}
#undef nop
#elif defined(__AVR__)
#define nop() __asm__ __volatile__("nop;\n\t":::)
FORCE_INLINE static void __delay_4cycles(uint8_t cy) {
__asm__ __volatile__(
L("1")
A("dec %[cnt]")
A("nop")
A("brne 1b")
: [cnt] "+r"(cy) // output: +r means input+output
: // input:
: "cc" // clobbers:
);
}
// Delay in cycles
FORCE_INLINE static void DELAY_CYCLES(uint16_t x) {
if (__builtin_constant_p(x)) {
#define MAXNOPS 4
if (x <= (MAXNOPS)) {
switch (x) { case 4: nop(); case 3: nop(); case 2: nop(); case 1: nop(); }
}
else {
const uint32_t rem = (x) % (MAXNOPS);
switch (rem) { case 3: nop(); case 2: nop(); case 1: nop(); }
if ((x = (x) / (MAXNOPS)))
__delay_4cycles(x); // if need more then 4 nop loop is more optimal
}
#undef MAXNOPS
}
else
__delay_4cycles(x / 4);
}
#undef nop
#elif defined(ESP32)
FORCE_INLINE static void DELAY_CYCLES(uint32_t x) {
unsigned long ccount, stop;
__asm__ __volatile__ ( "rsr %0, ccount" : "=a" (ccount) );
stop = ccount + x; // This can overflow
while (ccount < stop) { // This doesn't deal with overflows
__asm__ __volatile__ ( "rsr %0, ccount" : "=a" (ccount) );
}
}
#else
#error "Unsupported MCU architecture"
#endif
// Delay in nanoseconds
#define DELAY_NS(x) DELAY_CYCLES( (x) * (F_CPU/1000000L) / 1000L )
// Delay in microseconds
#define DELAY_US(x) DELAY_CYCLES( (x) * (F_CPU/1000000L) )
#endif // MARLIN_DELAY_H
Marlin/src/HAL/HAL_AVR/persistent_store_impl.cpp
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#ifdef __AVR__
#include "../persistent_store_api.h"
#include "../../inc/MarlinConfig.h"
#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 true;
}
}
crc16(crc, &v, 1);
pos++;
value++;
};
return false;
}
bool read_data(int &pos, uint8_t* value, uint16_t size, uint16_t *crc, const bool writing/*=true*/) {
do {
uint8_t c = eeprom_read_byte((unsigned char*)pos);
if (writing) *value = c;
crc16(crc, &c, 1);
pos++;
value++;
} while (--size);
return false; // always assume success for AVR's
}
}
}
#endif // EEPROM_SETTINGS
#endif // __AVR__
Marlin/src/HAL/HAL_DUE/persistent_store_impl.cpp
-59
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#ifdef ARDUINO_ARCH_SAM
#include "../persistent_store_api.h"
#include "../../inc/MarlinConfig.h"
#if ENABLED(EEPROM_SETTINGS)
extern void eeprom_flush(void);
namespace HAL {
namespace PersistentStore {
bool access_start() { return true; }
bool access_finish() {
#if DISABLED(I2C_EEPROM) && DISABLED(SPI_EEPROM)
eeprom_flush();
#endif
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 true;
}
}
crc16(crc, &v, 1);
pos++;
value++;
};
return false;
}
bool read_data(int &pos, uint8_t* value, uint16_t size, uint16_t *crc, const bool writing/*=true*/) {
do {
uint8_t c = eeprom_read_byte((unsigned char*)pos);
if (writing) *value = c;
crc16(crc, &c, 1);
pos++;
value++;
} while (--size);
return false;
}
}
}
#endif // EEPROM_SETTINGS
#endif // __AVR__
Marlin/src/HAL/HAL_LPC1768/HardwareSerial.cpp
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/**
* 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/>.
*
*/
#ifdef TARGET_LPC1768
#include "HardwareSerial.h"
#if SERIAL_PORT == 0 || SERIAL_PORT_2 == 0
HardwareSerial Serial = HardwareSerial(LPC_UART0);
#elif SERIAL_PORT == 1 || SERIAL_PORT_2 == 1
HardwareSerial Serial1 = HardwareSerial((LPC_UART_TypeDef *) LPC_UART1);
#elif SERIAL_PORT == 2 || SERIAL_PORT_2 == 2
HardwareSerial Serial2 = HardwareSerial(LPC_UART2);
#elif SERIAL_PORT == 3 || SERIAL_PORT_2 == 3
HardwareSerial Serial3 = HardwareSerial(LPC_UART3);
#endif
void HardwareSerial::begin(uint32_t baudrate) {
UART_CFG_Type UARTConfigStruct;
PINSEL_CFG_Type PinCfg;
UART_FIFO_CFG_Type FIFOConfig;
if (Baudrate == baudrate) return; // No need to re-initialize
if (UARTx == LPC_UART0) {
// Initialize UART0 pin connect
PinCfg.Funcnum = 1;
PinCfg.OpenDrain = 0;
PinCfg.Pinmode = 0;
PinCfg.Pinnum = 2;
PinCfg.Portnum = 0;
PINSEL_ConfigPin(&PinCfg);
PinCfg.Pinnum = 3;
PINSEL_ConfigPin(&PinCfg);
} else if ((LPC_UART1_TypeDef *) UARTx == LPC_UART1) {
// Initialize UART1 pin connect
PinCfg.Funcnum = 1;
PinCfg.OpenDrain = 0;
PinCfg.Pinmode = 0;
PinCfg.Pinnum = 15;
PinCfg.Portnum = 0;
PINSEL_ConfigPin(&PinCfg);
PinCfg.Pinnum = 16;
PINSEL_ConfigPin(&PinCfg);
} else if (UARTx == LPC_UART2) {
// Initialize UART2 pin connect
PinCfg.Funcnum = 1;
PinCfg.OpenDrain = 0;
PinCfg.Pinmode = 0;
PinCfg.Pinnum = 10;
PinCfg.Portnum = 0;
PINSEL_ConfigPin(&PinCfg);
PinCfg.Pinnum = 11;
PINSEL_ConfigPin(&PinCfg);
} else if (UARTx == LPC_UART3) {
// Initialize UART2 pin connect
PinCfg.Funcnum = 1;
PinCfg.OpenDrain = 0;
PinCfg.Pinmode = 0;
PinCfg.Pinnum = 0;
PinCfg.Portnum = 0;
PINSEL_ConfigPin(&PinCfg);
PinCfg.Pinnum = 1;
PINSEL_ConfigPin(&PinCfg);
}
/* Initialize UART Configuration parameter structure to default state:
* Baudrate = 9600bps
* 8 data bit
* 1 Stop bit
* None parity
*/
UART_ConfigStructInit(&UARTConfigStruct);
// Re-configure baudrate
UARTConfigStruct.Baud_rate = baudrate;
// Initialize eripheral with given to corresponding parameter
UART_Init(UARTx, &UARTConfigStruct);
// Enable and reset the TX and RX FIFOs
UART_FIFOConfigStructInit(&FIFOConfig);
UART_FIFOConfig(UARTx, &FIFOConfig);
// Enable UART Transmit
UART_TxCmd(UARTx, ENABLE);
// Configure Interrupts
UART_IntConfig(UARTx, UART_INTCFG_RBR, ENABLE);
UART_IntConfig(UARTx, UART_INTCFG_RLS, ENABLE);
if (UARTx == LPC_UART0) NVIC_EnableIRQ(UART0_IRQn);
else if ((LPC_UART1_TypeDef *) UARTx == LPC_UART1) NVIC_EnableIRQ(UART1_IRQn);
else if (UARTx == LPC_UART2) NVIC_EnableIRQ(UART2_IRQn);
else if (UARTx == LPC_UART3) NVIC_EnableIRQ(UART3_IRQn);
RxQueueWritePos = RxQueueReadPos = 0;
#if TX_BUFFER_SIZE > 0
TxQueueWritePos = TxQueueReadPos = 0;
#endif
// Save the configured baudrate
Baudrate = baudrate;
}
int HardwareSerial::peek() {
int byte = -1;
// Temporarily lock out UART receive interrupts during this read so the UART receive
// interrupt won't cause problems with the index values
UART_IntConfig(UARTx, UART_INTCFG_RBR, DISABLE);
if (RxQueueReadPos != RxQueueWritePos)
byte = RxBuffer[RxQueueReadPos];
// Re-enable UART interrupts
UART_IntConfig(UARTx, UART_INTCFG_RBR, ENABLE);
return byte;
}
int HardwareSerial::read() {
int byte = -1;
// Temporarily lock out UART receive interrupts during this read so the UART receive
// interrupt won't cause problems with the index values
UART_IntConfig(UARTx, UART_INTCFG_RBR, DISABLE);
if (RxQueueReadPos != RxQueueWritePos) {
byte = RxBuffer[RxQueueReadPos];
RxQueueReadPos = (RxQueueReadPos + 1) % RX_BUFFER_SIZE;
}
// Re-enable UART interrupts
UART_IntConfig(UARTx, UART_INTCFG_RBR, ENABLE);
return byte;
}
size_t HardwareSerial::write(uint8_t send) {
#if TX_BUFFER_SIZE > 0
size_t bytes = 0;
uint32_t fifolvl = 0;
// If the Tx Buffer is full, wait for space to clear
if ((TxQueueWritePos+1) % TX_BUFFER_SIZE == TxQueueReadPos) flushTX();
// Temporarily lock out UART transmit interrupts during this read so the UART transmit interrupt won't
// cause problems with the index values
UART_IntConfig(UARTx, UART_INTCFG_THRE, DISABLE);
// LPC17xx.h incorrectly defines FIFOLVL as a uint8_t, when it's actually a 32-bit register
if ((LPC_UART1_TypeDef *) UARTx == LPC_UART1) {
fifolvl = *(reinterpret_cast<volatile uint32_t *>(&((LPC_UART1_TypeDef *) UARTx)->FIFOLVL));
} else fifolvl = *(reinterpret_cast<volatile uint32_t *>(&UARTx->FIFOLVL));
// If the queue is empty and there's space in the FIFO, immediately send the byte
if (TxQueueWritePos == TxQueueReadPos && fifolvl < UART_TX_FIFO_SIZE) {
bytes = UART_Send(UARTx, &send, 1, BLOCKING);
}
// Otherwiise, write the byte to the transmit buffer
else if ((TxQueueWritePos+1) % TX_BUFFER_SIZE != TxQueueReadPos) {
TxBuffer[TxQueueWritePos] = send;
TxQueueWritePos = (TxQueueWritePos+1) % TX_BUFFER_SIZE;
bytes++;
}
// Re-enable the TX Interrupt
UART_IntConfig(UARTx, UART_INTCFG_THRE, ENABLE);
return bytes;
#else
return UART_Send(UARTx, &send, 1, BLOCKING);
#endif
}
#if TX_BUFFER_SIZE > 0
void HardwareSerial::flushTX() {
// Wait for the tx buffer and FIFO to drain
while (TxQueueWritePos != TxQueueReadPos && UART_CheckBusy(UARTx) == SET);
}
#endif
int HardwareSerial::available() {
return (RxQueueWritePos + RX_BUFFER_SIZE - RxQueueReadPos) % RX_BUFFER_SIZE;
}
void HardwareSerial::flush() {
RxQueueWritePos = 0;
RxQueueReadPos = 0;
}
void HardwareSerial::printf(const char *format, ...) {
char RxBuffer[256];
va_list vArgs;
va_start(vArgs, format);
int length = vsnprintf(RxBuffer, 256, format, vArgs);
va_end(vArgs);
if (length > 0 && length < 256) {
for (int i = 0; i < length; ++i)
write(RxBuffer[i]);
}
}
void HardwareSerial::IRQHandler() {
uint32_t IIRValue;
uint8_t LSRValue, byte;
IIRValue = UART_GetIntId(UARTx);
IIRValue &= UART_IIR_INTID_MASK; // check bit 1~3, interrupt identification
// Receive Line Status
if (IIRValue == UART_IIR_INTID_RLS) {
LSRValue = UART_GetLineStatus(UARTx);
// Receive Line Status
if (LSRValue & (UART_LSR_OE | UART_LSR_PE | UART_LSR_FE | UART_LSR_RXFE | UART_LSR_BI)) {
// There are errors or break interrupt
// Read LSR will clear the interrupt
Status = LSRValue;
byte = UART_ReceiveByte(UARTx); // Dummy read on RX to clear interrupt, then bail out
return;
}
}
// Receive Data Available
if (IIRValue == UART_IIR_INTID_RDA) {
// Clear the FIFO
while (UART_Receive(UARTx, &byte, 1, NONE_BLOCKING)) {
#if ENABLED(EMERGENCY_PARSER)
emergency_parser.update(emergency_state, byte);
#endif
if ((RxQueueWritePos + 1) % RX_BUFFER_SIZE != RxQueueReadPos) {
RxBuffer[RxQueueWritePos] = byte;
RxQueueWritePos = (RxQueueWritePos + 1) % RX_BUFFER_SIZE;
} else
break;
}
// Character timeout indicator
} else if (IIRValue == UART_IIR_INTID_CTI) {
// Character Time-out indicator
Status |= 0x100; // Bit 9 as the CTI error
}
#if TX_BUFFER_SIZE > 0
if (IIRValue == UART_IIR_INTID_THRE) {
// Disable THRE interrupt
UART_IntConfig(UARTx, UART_INTCFG_THRE, DISABLE);
// Wait for FIFO buffer empty
while (UART_CheckBusy(UARTx) == SET);
// Transfer up to UART_TX_FIFO_SIZE bytes of data
for (int i = 0; i < UART_TX_FIFO_SIZE && TxQueueWritePos != TxQueueReadPos; i++) {
// Move a piece of data into the transmit FIFO
if (UART_Send(UARTx, &TxBuffer[TxQueueReadPos], 1, NONE_BLOCKING)) {
TxQueueReadPos = (TxQueueReadPos+1) % TX_BUFFER_SIZE;
} else break;
}
// If there is no more data to send, disable the transmit interrupt - else enable it or keep it enabled
if (TxQueueWritePos == TxQueueReadPos) {
UART_IntConfig(UARTx, UART_INTCFG_THRE, DISABLE);
} else UART_IntConfig(UARTx, UART_INTCFG_THRE, ENABLE);
}
#endif
}
#ifdef __cplusplus
extern "C" {
#endif
void UART0_IRQHandler(void) {
#if SERIAL_PORT == 0 || SERIAL_PORT_2 == 0
Serial.IRQHandler();
#endif
}
void UART1_IRQHandler(void) {
#if SERIAL_PORT == 1 || SERIAL_PORT_2 == 1
Serial1.IRQHandler();
#endif
}
void UART2_IRQHandler(void) {
#if SERIAL_PORT == 2 || SERIAL_PORT_2 == 2
Serial2.IRQHandler();
#endif
}
void UART3_IRQHandler(void) {
#if SERIAL_PORT == 3 || SERIAL_PORT_2 == 3
Serial3.IRQHandler();
#endif
}
#ifdef __cplusplus
}
#endif
#endif // TARGET_LPC1768
Marlin/src/HAL/HAL_LPC1768/HardwareSerial.h
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@@ -1,191 +0,0 @@
/**
* 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 HARDWARE_SERIAL_H_
#define HARDWARE_SERIAL_H_
#include "../../inc/MarlinConfigPre.h"
#if ENABLED(EMERGENCY_PARSER)
#include "../../feature/emergency_parser.h"
#endif
#include <stdarg.h>
#include <stdio.h>
#include <Stream.h>
extern "C" {
#include <lpc17xx_uart.h>
#include "lpc17xx_pinsel.h"
}
class HardwareSerial : public Stream {
private:
LPC_UART_TypeDef *UARTx;
uint32_t Baudrate;
uint32_t Status;
uint8_t RxBuffer[RX_BUFFER_SIZE];
uint32_t RxQueueWritePos;
uint32_t RxQueueReadPos;
#if TX_BUFFER_SIZE > 0
uint8_t TxBuffer[TX_BUFFER_SIZE];
uint32_t TxQueueWritePos;
uint32_t TxQueueReadPos;
#endif
#if ENABLED(EMERGENCY_PARSER)
EmergencyParser::State emergency_state;
#endif
public:
HardwareSerial(LPC_UART_TypeDef *UARTx)
: UARTx(UARTx)
, Baudrate(0)
, RxQueueWritePos(0)
, RxQueueReadPos(0)
#if TX_BUFFER_SIZE > 0
, TxQueueWritePos(0)
, TxQueueReadPos(0)
#endif
#if ENABLED(EMERGENCY_PARSER)
, emergency_state(EmergencyParser::State::EP_RESET)
#endif
{
}
void begin(uint32_t baudrate);
int peek();
int read();
size_t write(uint8_t send);
#if TX_BUFFER_SIZE > 0
void flushTX();
#endif
int available();
void flush();
void printf(const char *format, ...);
operator bool() { return true; }
void IRQHandler();
#define DEC 10
#define HEX 16
#define OCT 8
#define BIN 2
void print_bin(uint32_t value, uint8_t num_digits) {
uint32_t mask = 1 << (num_digits -1);
for (uint8_t i = 0; i < num_digits; i++) {
if (!(i % 4) && i) printf(" ");
if (!(i % 16) && i) printf(" ");
if (value & mask) printf("1");
else printf("0");
value <<= 1;
}
}
void print(const char value[]) {
printf("%s" , value);
}
void print(char value, int nbase = 0) {
if (nbase == BIN) print_bin(value,8);
else if (nbase == OCT) printf("%3o", value);
else if (nbase == HEX) printf("%2X", value);
else if (nbase == DEC ) printf("%d", value);
else printf("%c" , value);
}
void print(unsigned char value, int nbase = 0) {
if (nbase == BIN) print_bin(value,8);
else if (nbase == OCT) printf("%3o", value);
else if (nbase == HEX) printf("%2X", value);
else printf("%u" , value);
}
void print(int value, int nbase = 0) {
if (nbase == BIN) print_bin(value,16);
else if (nbase == OCT) printf("%6o", value);
else if (nbase == HEX) printf("%4X", value);
else printf("%d", value);
}
void print(unsigned int value, int nbase = 0) {
if (nbase == BIN) print_bin(value,16);
else if (nbase == OCT) printf("%6o", value);
else if (nbase == HEX) printf("%4X", value);
else printf("%u" , value);
}
void print(long value, int nbase = 0) {
if (nbase == BIN) print_bin(value,32);
else if (nbase == OCT) printf("%11o", value);
else if (nbase == HEX) printf("%8X", value);
else printf("%ld" , value);
}
void print(unsigned long value, int nbase = 0) {
if (nbase == BIN) print_bin(value,32);
else if (nbase == OCT) printf("%11o", value);
else if (nbase == HEX) printf("%8X", value);
else printf("%lu" , value);
}
void print(float value, int round = 6) {
printf("%f" , value);
}
void print(double value, int round = 6) {
printf("%f" , value );
}
void println(const char value[]) {
printf("%s\n" , value);
}
void println(char value, int nbase = 0) {
print(value, nbase);
println();
}
void println(unsigned char value, int nbase = 0) {
print(value, nbase);
println();
}
void println(int value, int nbase = 0) {
print(value, nbase);
println();
}
void println(unsigned int value, int nbase = 0) {
print(value, nbase);
println();
}
void println(long value, int nbase = 0) {
print(value, nbase);
println();
}
void println(unsigned long value, int nbase = 0) {
print(value, nbase);
println();
}
void println(float value, int round = 6) {
printf("%f\n" , value );
}
void println(double value, int round = 6) {
printf("%f\n" , value );
}
void println(void) {
print('\n');
}
};
#endif // MARLIN_SRC_HAL_HAL_SERIAL_H_
Marlin/src/HAL/HAL_LPC1768/SoftwareSerial.cpp
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@@ -1,329 +0,0 @@
/*
* SoftwareSerial.cpp (formerly NewSoftSerial.cpp)
*
* Multi-instance software serial library for Arduino/Wiring
* -- Interrupt-driven receive and other improvements by ladyada
* (http://ladyada.net)
* -- Tuning, circular buffer, derivation from class Print/Stream,
* multi-instance support, porting to 8MHz processors,
* various optimizations, PROGMEM delay tables, inverse logic and
* direct port writing by Mikal Hart (http://www.arduiniana.org)
* -- Pin change interrupt macros by Paul Stoffregen (http://www.pjrc.com)
* -- 20MHz processor support by Garrett Mace (http://www.macetech.com)
* -- ATmega1280/2560 support by Brett Hagman (http://www.roguerobotics.com/)
*
* 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
*
* The latest version of this library can always be found at
* http://arduiniana.org.
*/
#ifdef TARGET_LPC1768
//
// Includes
//
//#include <WInterrupts.h>
#include "../../inc/MarlinConfig.h"
#include "../Delay.h"
#include <stdint.h>
#include <stdarg.h>
#include <Arduino.h>
#include <pinmapping.h>
#include "fastio.h"
#include "SoftwareSerial.h"
void GpioEnableInt(uint32_t port, uint32_t pin, uint32_t mode);
void GpioDisableInt(uint32_t port, uint32_t pin);
//
// Statics
//
SoftwareSerial *SoftwareSerial::active_object = 0;
unsigned char SoftwareSerial::_receive_buffer[_SS_MAX_RX_BUFF];
volatile uint8_t SoftwareSerial::_receive_buffer_tail = 0;
volatile uint8_t SoftwareSerial::_receive_buffer_head = 0;
typedef struct _DELAY_TABLE {
long baud;
uint16_t rx_delay_centering;
uint16_t rx_delay_intrabit;
uint16_t rx_delay_stopbit;
uint16_t tx_delay;
} DELAY_TABLE;
// rough delay estimation
static const DELAY_TABLE table[] = {
//baud |rxcenter|rxintra |rxstop |tx { 250000, 2, 4, 4, 4, }, //Done but not good due to instruction cycle error { 115200, 4, 8, 8, 8, }, //Done but not good due to instruction cycle error
//{ 74880, 69, 139, 62, 162, }, // estimation
//{ 57600, 100, 185, 1, 208, }, // Done but not good due to instruction cycle error
//{ 38400, 13, 26, 26, 26, }, // Done
//{ 19200, 26, 52, 52, 52, }, // Done { 9600, 52, 104, 104, 104, }, // Done
//{ 4800, 104, 208, 208, 208, },
//{ 2400, 208, 417, 417, 417, },
//{ 1200, 416, 833, 833, 833,},
};
//
// Private methods
//
inline void SoftwareSerial::tunedDelay(const uint32_t count) {
DELAY_US(count);
}
// This function sets the current object as the "listening"
// one and returns true if it replaces another
bool SoftwareSerial::listen() {
if (!_rx_delay_stopbit)
return false;
if (active_object != this) {
if (active_object)
active_object->stopListening();
_buffer_overflow = false;
_receive_buffer_head = _receive_buffer_tail = 0;
active_object = this;
setRxIntMsk(true);
return true;
}
return false;
}
// Stop listening. Returns true if we were actually listening.
bool SoftwareSerial::stopListening() {
if (active_object == this) {
setRxIntMsk(false);
active_object = NULL;
return true;
}
return false;
}
//
// The receive routine called by the interrupt handler
//
void SoftwareSerial::recv() {
uint8_t d = 0;
// If RX line is high, then we don't see any start bit
// so interrupt is probably not for us
if (_inverse_logic ? rx_pin_read() : !rx_pin_read()) {
// Disable further interrupts during reception, this prevents
// triggering another interrupt directly after we return, which can
// cause problems at higher baudrates.
setRxIntMsk(false);//__disable_irq();//
// Wait approximately 1/2 of a bit width to "center" the sample
tunedDelay(_rx_delay_centering);
// Read each of the 8 bits
for (uint8_t i=8; i > 0; --i) {
tunedDelay(_rx_delay_intrabit);
d >>= 1;
if (rx_pin_read()) d |= 0x80;
}
if (_inverse_logic) d = ~d;
// if buffer full, set the overflow flag and return
uint8_t next = (_receive_buffer_tail + 1) % _SS_MAX_RX_BUFF;
if (next != _receive_buffer_head) {
// save new data in buffer: tail points to where byte goes
_receive_buffer[_receive_buffer_tail] = d; // save new byte
_receive_buffer_tail = next;
}
else {
_buffer_overflow = true;
}
tunedDelay(_rx_delay_stopbit);
// Re-enable interrupts when we're sure to be inside the stop bit
setRxIntMsk(true); //__enable_irq();//
}
}
uint32_t SoftwareSerial::rx_pin_read() {
return digitalRead(_receivePin);
}
//
// Interrupt handling
//
/* static */
inline void SoftwareSerial::handle_interrupt() {
if (active_object)
active_object->recv();
}
extern "C" void intWrapper() {
SoftwareSerial::handle_interrupt();
}
//
// Constructor
//
SoftwareSerial::SoftwareSerial(pin_t receivePin, pin_t transmitPin, bool inverse_logic /* = false */) :
_rx_delay_centering(0),
_rx_delay_intrabit(0),
_rx_delay_stopbit(0),
_tx_delay(0),
_buffer_overflow(false),
_inverse_logic(inverse_logic) {
setTX(transmitPin);
setRX(receivePin);
}
//
// Destructor
//
SoftwareSerial::~SoftwareSerial() {
end();
}
void SoftwareSerial::setTX(pin_t tx) {
// First write, then set output. If we do this the other way around,
// the pin would be output low for a short while before switching to
// output hihg. Now, it is input with pullup for a short while, which
// is fine. With inverse logic, either order is fine.
digitalWrite(tx, _inverse_logic ? LOW : HIGH);
pinMode(tx,OUTPUT);
_transmitPin = tx;
}
void SoftwareSerial::setRX(pin_t rx) {
pinMode(rx, INPUT_PULLUP); // pullup for normal logic!
//if (!_inverse_logic)
// digitalWrite(rx, HIGH);
_receivePin = rx;
_receivePort = LPC1768_PIN_PORT(rx);
_receivePortPin = LPC1768_PIN_PIN(rx);
/* GPIO_T * rxPort = digitalPinToPort(rx);
_receivePortRegister = portInputRegister(rxPort);
_receiveBitMask = digitalPinToBitMask(rx);*/
}
//
// Public methods
//
void SoftwareSerial::begin(long speed) {
_rx_delay_centering = _rx_delay_intrabit = _rx_delay_stopbit = _tx_delay = 0;
for(uint8_t i = 0; i < sizeof(table)/sizeof(table[0]); ++i) {
long baud = table[i].baud;
if (baud == speed) {
_rx_delay_centering = table[i].rx_delay_centering;
_rx_delay_intrabit = table[i].rx_delay_intrabit;
_rx_delay_stopbit = table[i].rx_delay_stopbit;
_tx_delay = table[i].tx_delay;
break;
}
}
attachInterrupt(_receivePin, intWrapper, CHANGE); //this->handle_interrupt, CHANGE);
listen();
tunedDelay(_tx_delay);
}
void SoftwareSerial::setRxIntMsk(bool enable) {
if (enable)
GpioEnableInt(_receivePort,_receivePin,CHANGE);
else
GpioDisableInt(_receivePort,_receivePin);
}
void SoftwareSerial::end() {
stopListening();
}
// Read data from buffer
int SoftwareSerial::read() {
if (!isListening()) return -1;
// Empty buffer?
if (_receive_buffer_head == _receive_buffer_tail) return -1;
// Read from "head"
uint8_t d = _receive_buffer[_receive_buffer_head]; // grab next byte
_receive_buffer_head = (_receive_buffer_head + 1) % _SS_MAX_RX_BUFF;
return d;
}
int SoftwareSerial::available() {
if (!isListening()) return 0;
return (_receive_buffer_tail + _SS_MAX_RX_BUFF - _receive_buffer_head) % _SS_MAX_RX_BUFF;
}
size_t SoftwareSerial::write(uint8_t b) {
// By declaring these as local variables, the compiler will put them
// in registers _before_ disabling interrupts and entering the
// critical timing sections below, which makes it a lot easier to
// verify the cycle timings
bool inv = _inverse_logic;
uint16_t delay = _tx_delay;
if (inv) b = ~b;
cli(); // turn off interrupts for a clean txmit
// Write the start bit
digitalWrite(_transmitPin, !!inv);
tunedDelay(delay);
// Write each of the 8 bits
for (uint8_t i = 8; i > 0; --i) {
digitalWrite(_transmitPin, b & 1); // send 1 //(GPIO_Desc[_transmitPin].P)->DOUT |= GPIO_Desc[_transmitPin].bit;
// send 0 //(GPIO_Desc[_transmitPin].P)->DOUT &= ~GPIO_Desc[_transmitPin].bit;
tunedDelay(delay);
b >>= 1;
}
// restore pin to natural state
digitalWrite(_transmitPin, !inv);
sei(); // turn interrupts back on
tunedDelay(delay);
return 1;
}
void SoftwareSerial::flush() {
if (!isListening()) return;
cli();
_receive_buffer_head = _receive_buffer_tail = 0;
sei();
}
int SoftwareSerial::peek() {
if (!isListening())
return -1;
// Empty buffer?
if (_receive_buffer_head == _receive_buffer_tail)
return -1;
// Read from "head"
return _receive_buffer[_receive_buffer_head];
}
#endif // TARGET_LPC1768
Marlin/src/HAL/HAL_LPC1768/SoftwareSerial.h
-120
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/*
* SoftwareSerial.h (formerly NewSoftSerial.h)
*
* Multi-instance software serial library for Arduino/Wiring
* -- Interrupt-driven receive and other improvements by ladyada
* (http://ladyada.net)
* -- Tuning, circular buffer, derivation from class Print/Stream,
* multi-instance support, porting to 8MHz processors,
* various optimizations, PROGMEM delay tables, inverse logic and
* direct port writing by Mikal Hart (http://www.arduiniana.org)
* -- Pin change interrupt macros by Paul Stoffregen (http://www.pjrc.com)
* -- 20MHz processor support by Garrett Mace (http://www.macetech.com)
* -- ATmega1280/2560 support by Brett Hagman (http://www.roguerobotics.com/)
*
* 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
*
* The latest version of this library can always be found at
* http://arduiniana.org.
*/
#ifndef SOFTWARESERIAL_H
#define SOFTWARESERIAL_H
#include <Arduino.h>
#include <stdint.h>
//#include "serial.h"
#include <Stream.h>
#include <Print.h>
/******************************************************************************
* Definitions
******************************************************************************/
#define _SS_MAX_RX_BUFF 64 // RX buffer size
class SoftwareSerial : public Stream
{
private:
// per object data
pin_t _receivePin;
pin_t _transmitPin;
// uint32_t _receiveBitMask; // for rx interrupts
uint32_t _receivePort;
uint32_t _receivePortPin;
// Expressed as 4-cycle delays (must never be 0!)
uint16_t _rx_delay_centering;
uint16_t _rx_delay_intrabit;
uint16_t _rx_delay_stopbit;
uint16_t _tx_delay;
uint16_t _buffer_overflow:1;
uint16_t _inverse_logic:1;
// static data
static unsigned char _receive_buffer[_SS_MAX_RX_BUFF];
static volatile uint8_t _receive_buffer_tail;
static volatile uint8_t _receive_buffer_head;
static SoftwareSerial *active_object;
// private methods
void recv();
uint32_t rx_pin_read();
void tx_pin_write(uint8_t pin_state);
void setTX(pin_t transmitPin);
void setRX(pin_t receivePin);
void setRxIntMsk(bool enable);
// private static method for timing
static inline void tunedDelay(uint32_t delay);
public:
// public methods
SoftwareSerial(pin_t receivePin, pin_t transmitPin, bool inverse_logic = false);
~SoftwareSerial();
void begin(long speed);
bool listen();
void end();
bool isListening() { return this == active_object; }
bool stopListening();
bool overflow() { bool ret = _buffer_overflow; if (ret) _buffer_overflow = false; return ret; }
int peek();
virtual size_t write(uint8_t byte);
virtual int read();
virtual int available();
virtual void flush();
operator bool() { return true; }
using Print::write;
//using HalSerial::write;
// public only for easy access by interrupt handlers
static inline void handle_interrupt() __attribute__((__always_inline__));
};
// Arduino 0012 workaround
#undef int
#undef char
#undef long
#undef byte
#undef float
#undef abs
#undef round
#endif // SOFTWARESERIAL_H
Marlin/src/HAL/HAL_LPC1768/persistent_store_impl.cpp
-170
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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016, 2017 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/>.
*
*/
#ifdef TARGET_LPC1768
#include "../../inc/MarlinConfig.h"
#if ENABLED(EEPROM_SETTINGS)
#include "../persistent_store_api.h"
#include "chanfs/diskio.h"
#include "chanfs/ff.h"
extern uint32_t MSC_Aquire_Lock();
extern uint32_t MSC_Release_Lock();
namespace HAL {
namespace PersistentStore {
FATFS fat_fs;
FIL eeprom_file;
bool access_start() {
const char eeprom_erase_value = 0xFF;
MSC_Aquire_Lock();
if (f_mount(&fat_fs, "", 1)) {
MSC_Release_Lock();
return false;
}
FRESULT res = f_open(&eeprom_file, "eeprom.dat", FA_OPEN_ALWAYS | FA_WRITE | FA_READ);
if (res) MSC_Release_Lock();
if (res == FR_OK) {
UINT bytes_written;
FSIZE_t file_size = f_size(&eeprom_file);
f_lseek(&eeprom_file, file_size);
while (file_size <= E2END && res == FR_OK) {
res = f_write(&eeprom_file, &eeprom_erase_value, 1, &bytes_written);
file_size++;
}
}
if (res == FR_OK) {
f_lseek(&eeprom_file, 0);
f_sync(&eeprom_file);
}
return res == FR_OK;
}
bool access_finish() {
f_close(&eeprom_file);
f_unmount("");
MSC_Release_Lock();
return true;
}
// File function return codes for type FRESULT This goes away soon. But it is helpful right now to see
// the different errors the read_data() and write_data() functions are seeing.
//
// typedef enum {
// FR_OK = 0, /* (0) Succeeded */
// FR_DISK_ERR, /* (1) A hard error occurred in the low level disk I/O layer */
// FR_INT_ERR, /* (2) Assertion failed */
// FR_NOT_READY, /* (3) The physical drive cannot work */
// FR_NO_FILE, /* (4) Could not find the file */
// FR_NO_PATH, /* (5) Could not find the path */
// FR_INVALID_NAME, /* (6) The path name format is invalid */
// FR_DENIED, /* (7) Access denied due to prohibited access or directory full */
// FR_EXIST, /* (8) Access denied due to prohibited access */
// FR_INVALID_OBJECT, /* (9) The file/directory object is invalid */
// FR_WRITE_PROTECTED, /* (10) The physical drive is write protected */
// FR_INVALID_DRIVE, /* (11) The logical drive number is invalid */
// FR_NOT_ENABLED, /* (12) The volume has no work area */
// FR_NO_FILESYSTEM, /* (13) There is no valid FAT volume */
// FR_MKFS_ABORTED, /* (14) The f_mkfs() aborted due to any problem */
// FR_TIMEOUT, /* (15) Could not get a grant to access the volume within defined period */
// FR_LOCKED, /* (16) The operation is rejected according to the file sharing policy */
// FR_NOT_ENOUGH_CORE, /* (17) LFN working buffer could not be allocated */
// FR_TOO_MANY_OPEN_FILES, /* (18) Number of open files > FF_FS_LOCK */
// FR_INVALID_PARAMETER /* (19) Given parameter is invalid */
// } FRESULT;
bool write_data(int &pos, const uint8_t *value, uint16_t size, uint16_t *crc) {
FRESULT s;
UINT bytes_written = 0;
s = f_lseek(&eeprom_file, pos);
if (s) {
SERIAL_PROTOCOLPAIR(" write_data(", pos); // This extra chit-chat goes away soon. But it is helpful
SERIAL_PROTOCOLPAIR(",", (int)value); // right now to see errors that are happening in the
SERIAL_PROTOCOLPAIR(",", (int)size); // read_data() and write_data() functions
SERIAL_PROTOCOLLNPGM("...)");
SERIAL_PROTOCOLLNPAIR(" f_lseek()=", (int)s);
return s;
}
s = f_write(&eeprom_file, (void *)value, size, &bytes_written);
if (s) {
SERIAL_PROTOCOLPAIR(" write_data(", pos); // This extra chit-chat goes away soon. But it is helpful
SERIAL_PROTOCOLPAIR(",", (int)value); // right now to see errors that are happening in the
SERIAL_PROTOCOLPAIR(",", size); // read_data() and write_data() functions
SERIAL_PROTOCOLLNPGM("...)");
SERIAL_PROTOCOLLNPAIR(" f_write()=", (int)s);
SERIAL_PROTOCOLPAIR(" size=", size);
SERIAL_PROTOCOLLNPAIR("\n bytes_written=", bytes_written);
return s;
}
crc16(crc, value, size);
pos = pos + size;
return (bytes_written != size); // return true for any error
}
bool read_data(int &pos, uint8_t* value, uint16_t size, uint16_t *crc, const bool writing/*=true*/) {
UINT bytes_read = 0;
FRESULT s;
s = f_lseek(&eeprom_file, pos);
if (s) {
SERIAL_PROTOCOLPAIR(" read_data(", pos); // This extra chit-chat goes away soon. But it is helpful
SERIAL_PROTOCOLPAIR(",", (int)value); // right now to see errors that are happening in the
SERIAL_PROTOCOLPAIR(",", size); // read_data() and write_data() functions
SERIAL_PROTOCOLLNPGM("...)");
SERIAL_PROTOCOLLNPAIR(" f_lseek()=", (int)s);
return true;
}
if (writing) {
s = f_read(&eeprom_file, (void *)value, size, &bytes_read);
crc16(crc, value, size);
}
else {
uint8_t temp[size];
s = f_read(&eeprom_file, (void *)temp, size, &bytes_read);
crc16(crc, temp, size);
}
if (s) {
SERIAL_PROTOCOLPAIR(" read_data(", pos); // This extra chit-chat goes away soon. But it is helpful
SERIAL_PROTOCOLPAIR(",", (int)value); // right now to see errors that are happening in the
SERIAL_PROTOCOLPAIR(",", size); // read_data() and write_data() functions
SERIAL_PROTOCOLLNPGM("...)");
SERIAL_PROTOCOLLNPAIR(" f_write()=", (int)s);
SERIAL_PROTOCOLPAIR(" size=", size);
SERIAL_PROTOCOLLNPAIR("\n bytes_read=", bytes_read);
return true;
}
pos = pos + size;
return bytes_read != size; // return true for any error
}
} // PersistentStore
} // HAL
#endif // EEPROM_SETTINGS
#endif // TARGET_LPC1768
Marlin/src/HAL/HAL_SPI.h
-82
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/**
* 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/>.
*
*/
/**
* HAL/HAL_SPI.h
* Core Marlin definitions for SPI, implemented in the HALs
*/
#ifndef _HAL_SPI_H_
#define _HAL_SPI_H_
#include <stdint.h>
/**
* SPI speed where 0 <= index <= 6
*
* Approximate rates :
*
* 0 : 8 - 10 MHz
* 1 : 4 - 5 MHz
* 2 : 2 - 2.5 MHz
* 3 : 1 - 1.25 MHz
* 4 : 500 - 625 kHz
* 5 : 250 - 312 kHz
* 6 : 125 - 156 kHz
*
* On AVR, actual speed is F_CPU/2^(1 + index).
* On other platforms, speed should be in range given above where possible.
*/
#define SPI_FULL_SPEED 0 // Set SCK to max rate
#define SPI_HALF_SPEED 1 // Set SCK rate to half of max rate
#define SPI_QUARTER_SPEED 2 // Set SCK rate to quarter of max rate
#define SPI_EIGHTH_SPEED 3 // Set SCK rate to 1/8 of max rate
#define SPI_SIXTEENTH_SPEED 4 // Set SCK rate to 1/16 of max rate
#define SPI_SPEED_5 5 // Set SCK rate to 1/32 of max rate
#define SPI_SPEED_6 6 // Set SCK rate to 1/64 of max rate
#define SPI_LSBFIRST 0
#define SPI_MSBFIRST 1
#define SPI_DATAMODE_0 0x00
#define SPI_DATAMODE_1 0x04
#define SPI_DATAMODE_2 0x08
#define SPI_DATAMODE_3 0x0C
// Standard SPI functions
/** Initialise SPI bus */
void spiBegin(void);
/** Configure SPI for specified SPI speed */
void spiInit(uint8_t spiRate);
/** Write single byte to SPI */
void spiSend(uint8_t b);
/** Read single byte from SPI */
uint8_t spiRec(void);
/** Read from SPI into buffer */
void spiRead(uint8_t* buf, uint16_t nbyte);
/** Write token and then write from 512 byte buffer to SPI (for SD card) */
void spiSendBlock(uint8_t token, const uint8_t* buf);
/** Begin SPI transaction, set clock, bit order, data mode */
void spiBeginTransaction(uint32_t spiClock, uint8_t bitOrder, uint8_t dataMode);
#endif // _HAL_SPI_H_
Marlin/src/HAL/HAL_STM32F1/persistent_store_impl.cpp
-97
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/**
* Marlin 3D Printer Firmware
*
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
* Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
* Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com
* Copyright (c) 2016 Victor Perez victor_pv@hotmail.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 <http://www.gnu.org/licenses/>.
*
*/
/**
* HAL for stm32duino.com based on Libmaple and compatible (STM32F1)
*/
#ifdef __STM32F1__
#include "../../inc/MarlinConfig.h"
#if ENABLED(EEPROM_SETTINGS) && DISABLED(FLASH_EEPROM_EMULATION)
#include "../persistent_store_api.h"
//#include "../../core/types.h"
//#include "../../core/language.h"
//#include "../../core/serial.h"
//#include "../../core/utility.h"
#include "../../sd/cardreader.h"
namespace HAL {
namespace PersistentStore {
#define HAL_STM32F1_EEPROM_SIZE 4096
char HAL_STM32F1_eeprom_content[HAL_STM32F1_EEPROM_SIZE];
char eeprom_filename[] = "eeprom.dat";
bool access_start() {
if (!card.cardOK) return false;
int16_t bytes_read = 0;
constexpr char eeprom_zero = 0xFF;
card.openFile(eeprom_filename, true);
bytes_read = card.read(HAL_STM32F1_eeprom_content, HAL_STM32F1_EEPROM_SIZE);
if (bytes_read < 0) return false;
for (; bytes_read < HAL_STM32F1_EEPROM_SIZE; bytes_read++)
HAL_STM32F1_eeprom_content[bytes_read] = eeprom_zero;
card.closefile();
return true;
}
bool access_finish() {
if (!card.cardOK) return false;
card.openFile(eeprom_filename, true);
int16_t bytes_written = card.write(HAL_STM32F1_eeprom_content, HAL_STM32F1_EEPROM_SIZE);
card.closefile();
return (bytes_written == HAL_STM32F1_EEPROM_SIZE);
}
bool write_data(int &pos, const uint8_t *value, uint16_t size, uint16_t *crc) {
for (int i = 0; i < size; i++)
HAL_STM32F1_eeprom_content[pos + i] = value[i];
crc16(crc, value, size);
pos += size;
return false;
}
bool read_data(int &pos, uint8_t* value, uint16_t size, uint16_t *crc, const bool writing/*=true*/) {
for (int i = 0; i < size; i++) {
uint8_t c = HAL_STM32F1_eeprom_content[pos + i];
if (writing) value[i] = c;
crc16(crc, &c, 1);
}
pos += size;
return false;
}
} // PersistentStore::
} // HAL::
#endif // EEPROM_SETTINGS
#endif // __STM32F1__
Marlin/src/HAL/HAL_STM32F4/persistent_store_impl.cpp
-74
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@@ -1,74 +0,0 @@
/**
* Marlin 3D Printer Firmware
*
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
* Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
* Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com
* Copyright (c) 2016 Victor Perez victor_pv@hotmail.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 <http://www.gnu.org/licenses/>.
*
*/
#if defined(STM32F4) || defined(STM32F4xx)
#include "../persistent_store_api.h"
#include "../../inc/MarlinConfig.h"
#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 true;
}
}
crc16(crc, &v, 1);
pos++;
value++;
};
return false;
}
bool read_data(int &pos, uint8_t* value, uint16_t size, uint16_t *crc, const bool writing) {
do {
uint8_t c = eeprom_read_byte((unsigned char*)pos);
if (writing) *value = c;
crc16(crc, &c, 1);
pos++;
value++;
} while (--size);
return false;
}
} // PersistentStore
} // HAL
#endif // EEPROM_SETTINGS
#endif // STM32F4 || STM32F4xx
Marlin/src/HAL/HAL_STM32F7/persistent_store_impl.cpp
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@@ -1,77 +0,0 @@
/**
* Marlin 3D Printer Firmware
*
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
* Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
* Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com
* Copyright (c) 2016 Victor Perez victor_pv@hotmail.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 <http://www.gnu.org/licenses/>.
*
*/
#ifdef STM32F7
#include "../persistent_store_api.h"
#include "../../inc/MarlinConfig.h"
#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 true;
}
}
crc16(crc, &v, 1);
pos++;
value++;
};
return false;
}
bool 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);
return false;
}
}
}
#endif // EEPROM_SETTINGS
#endif // STM32F7
Marlin/src/HAL/I2cEeprom.cpp
-160
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@@ -1,160 +0,0 @@
/**
* 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/>.
*
*/
/**
* Description: functions for I2C connected external EEPROM.
* Not platform dependent.
*/
#include "../inc/MarlinConfig.h"
#if ENABLED(I2C_EEPROM)
// --------------------------------------------------------------------------
// Includes
// --------------------------------------------------------------------------
#include HAL_PATH(., HAL.h)
#include <Wire.h>
// --------------------------------------------------------------------------
// Externals
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Local defines
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Types
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Variables
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Public Variables
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Private Variables
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Function prototypes
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Private functions
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Public functions
// --------------------------------------------------------------------------
static uint8_t eeprom_device_address = 0x50;
static void eeprom_init(void) {
static bool eeprom_initialised = false;
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) {
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();
uint8_t *ptr = (uint8_t*)pos;
uint8_t flag = 0;
Wire.requestFrom(eeprom_device_address, (byte)n);
for (byte c = 0; c < n && Wire.available(); c++)
flag |= Wire.read() ^ ptr[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);
return Wire.available() ? Wire.read() : 0xFF;
}
// 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)
Marlin/src/HAL/SpiEeprom.cpp
-119
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@@ -1,119 +0,0 @@
/**
* 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/>.
*
*/
/**
* Description: functions for SPI connected external EEPROM.
* Not platform dependent.
*/
#include "../inc/MarlinConfig.h"
#if ENABLED(SPI_EEPROM)
#include HAL_PATH(., 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
WRITE(SPI_EEPROM1_CS, HIGH);
WRITE(SPI_EEPROM1_CS, LOW);
spiSend(SPI_CHAN_EEPROM1, eeprom_temp, 3);
v = spiRec(SPI_CHAN_EEPROM1);
WRITE(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
WRITE(SPI_EEPROM1_CS, HIGH);
WRITE(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);
WRITE(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;
WRITE(SPI_EEPROM1_CS, LOW);
spiSend(SPI_CHAN_EEPROM1, eeprom_temp, 1);
WRITE(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
WRITE(SPI_EEPROM1_CS, LOW);
spiSend(SPI_CHAN_EEPROM1, eeprom_temp, 3);
spiSend(SPI_CHAN_EEPROM1, value);
WRITE(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;
WRITE(SPI_EEPROM1_CS, LOW);
spiSend(SPI_CHAN_EEPROM1, eeprom_temp, 1);
WRITE(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
WRITE(SPI_EEPROM1_CS, LOW);
spiSend(SPI_CHAN_EEPROM1, eeprom_temp, 3);
spiSend(SPI_CHAN_EEPROM1, (const uint8_t*)src, n);
WRITE(SPI_EEPROM1_CS, HIGH);
delay(7); // wait for page write to complete
}
#endif // ENABLED(SPI_EEPROM)
Marlin/src/HAL/backtrace/backtrace.cpp
-101
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@@ -1,101 +0,0 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016, 2017 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/>.
*
*/
#include "backtrace.h"
#if defined(__arm__) || defined(__thumb__)
#include "unwinder.h"
#include "unwmemaccess.h"
#include "../../core/serial.h"
#include <stdarg.h>
// Dump a backtrace entry
static bool UnwReportOut(void* ctx, const UnwReport* bte) {
int *p = (int*)ctx;
(*p)++;
SERIAL_CHAR('#'); SERIAL_PRINT(*p,DEC); SERIAL_ECHOPGM(" : ");
SERIAL_ECHOPGM(bte->name ? bte->name : "unknown"); SERIAL_ECHOPGM("@0x"); SERIAL_PRINT(bte->function, HEX);
SERIAL_CHAR('+'); SERIAL_PRINT(bte->address - bte->function,DEC);
SERIAL_ECHOPGM(" PC:"); SERIAL_PRINT(bte->address,HEX); SERIAL_CHAR('\n');
return true;
}
#ifdef UNW_DEBUG
void UnwPrintf(const char* format, ...) {
char dest[256];
va_list argptr;
va_start(argptr, format);
vsprintf(dest, format, argptr);
va_end(argptr);
TX(&dest[0]);
}
#endif
/* Table of function pointers for passing to the unwinder */
static const UnwindCallbacks UnwCallbacks = {
UnwReportOut,
UnwReadW,
UnwReadH,
UnwReadB
#ifdef UNW_DEBUG
, UnwPrintf
#endif
};
void backtrace(void) {
UnwindFrame btf;
uint32_t sp = 0, lr = 0, pc = 0;
// Capture the values of the registers to perform the traceback
__asm__ __volatile__ (
" mov %[lrv],lr\n"
" mov %[spv],sp\n"
" mov %[pcv],pc\n"
: [spv]"+r"( sp ),
[lrv]"+r"( lr ),
[pcv]"+r"( pc )
::
);
// Fill the traceback structure
btf.sp = sp;
btf.fp = btf.sp;
btf.lr = lr;
btf.pc = pc | 1; // Force Thumb, as CORTEX only support it
// Perform a backtrace
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM("Backtrace:");
int ctr = 0;
UnwindStart(&btf, &UnwCallbacks, &ctr);
}
#else // !__arm__ && !__thumb__
void backtrace(void) {}
#endif
Marlin/src/HAL/backtrace/backtrace.h
-29
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@@ -1,29 +0,0 @@
/**
* 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 _BACKTRACE_H_
#define _BACKTRACE_H_
// Perform a backtrace to the serial port
void backtrace(void);
#endif
Marlin/src/HAL/backtrace/unwarm.cpp
-175
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@@ -1,175 +0,0 @@
/***************************************************************************
* ARM Stack Unwinder, Michael.McTernan.2001@cs.bris.ac.uk
* Updated, adapted and several bug fixes on 2018 by Eduardo José Tagle
*
* This program is PUBLIC DOMAIN.
* This means that there is no copyright and anyone is able to take a copy
* for free and use it as they wish, with or without modifications, and in
* any context, commercially or otherwise. The only limitation is that I
* don't guarantee that the software is fit for any purpose or accept any
* liability for it's use or misuse - this software is without warranty.
***************************************************************************
* File Description: Utility functions and glue for ARM unwinding sub-modules.
**************************************************************************/
#if defined(__arm__) || defined(__thumb__)
#define MODULE_NAME "UNWARM"
#include <stdint.h>
#include <stdio.h>
#include <stdarg.h>
#include <string.h>
#include "unwarm.h"
#include "unwarmmem.h"
#if defined(UNW_DEBUG)
/**
* Printf wrapper.
* This is used such that alternative outputs for any output can be selected
* by modification of this wrapper function.
*/
void UnwPrintf(const char *format, ...) {
va_list args;
va_start( args, format );
vprintf(format, args );
}
#endif
/**
* Invalidate all general purpose registers.
*/
void UnwInvalidateRegisterFile(RegData *regFile) {
uint8_t t = 0;
do {
regFile[t].o = REG_VAL_INVALID;
t++;
} while (t < 13);
}
/**
* Initialise the data used for unwinding.
*/
void UnwInitState(UnwState * const state, /**< Pointer to structure to fill. */
const UnwindCallbacks *cb, /**< Callbacks. */
void *rptData, /**< Data to pass to report function. */
uint32_t pcValue, /**< PC at which to start unwinding. */
uint32_t spValue) { /**< SP at which to start unwinding. */
UnwInvalidateRegisterFile(state->regData);
/* Store the pointer to the callbacks */
state->cb = cb;
state->reportData = rptData;
/* Setup the SP and PC */
state->regData[13].v = spValue;
state->regData[13].o = REG_VAL_FROM_CONST;
state->regData[15].v = pcValue;
state->regData[15].o = REG_VAL_FROM_CONST;
UnwPrintd3("\nInitial: PC=0x%08x SP=0x%08x\n", pcValue, spValue);
/* Invalidate all memory addresses */
memset(state->memData.used, 0, sizeof(state->memData.used));
}
// Detect if function names are available
static int __attribute__ ((noinline)) has_function_names(void) {
uint32_t flag_word = ((uint32_t*)(((uint32_t)(&has_function_names)) & (-4))) [-1];
return ((flag_word & 0xFF000000) == 0xFF000000) ? 1 : 0;
}
/**
* Call the report function to indicate some return address.
* This returns the value of the report function, which if true
* indicates that unwinding may continue.
*/
bool UnwReportRetAddr(UnwState * const state, uint32_t addr) {
UnwReport entry;
// We found two acceptable values.
entry.name = NULL;
entry.address = addr & 0xFFFFFFFE; // Remove Thumb bit
entry.function = 0;
// If there are function names, try to solve name
if (has_function_names()) {
// Lets find the function name, if possible
// Align address to 4 bytes
uint32_t pf = addr & (-4);
// Scan backwards until we find the function name
uint32_t v;
while (state->cb->readW(pf-4,&v)) {
// Check if name descriptor is valid
if ((v & 0xFFFFFF00) == 0xFF000000 && (v & 0xFF) > 1) {
// Assume the name was found!
entry.name = ((const char*)pf) - 4 - (v & 0xFF);
entry.function = pf;
break;
}
// Go backwards to the previous word
pf -= 4;
}
}
/* Cast away const from reportData.
* The const is only to prevent the unw module modifying the data.
*/
return state->cb->report((void *)state->reportData, &entry);
}
/**
* Write some register to memory.
* This will store some register and meta data onto the virtual stack.
* The address for the write
* \param state [in/out] The unwinding state.
* \param wAddr [in] The address at which to write the data.
* \param reg [in] The register to store.
* \return true if the write was successful, false otherwise.
*/
bool UnwMemWriteRegister(UnwState * const state, const uint32_t addr, const RegData * const reg) {
return UnwMemHashWrite(&state->memData, addr, reg->v, M_IsOriginValid(reg->o));
}
/**
* Read a register from memory.
* This will read a register from memory, and setup the meta data.
* If the register has been previously written to memory using
* UnwMemWriteRegister, the local hash will be used to return the
* value while respecting whether the data was valid or not. If the
* register was previously written and was invalid at that point,
* REG_VAL_INVALID will be returned in *reg.
* \param state [in] The unwinding state.
* \param addr [in] The address to read.
* \param reg [out] The result, containing the data value and the origin
* which will be REG_VAL_FROM_MEMORY, or REG_VAL_INVALID.
* \return true if the address could be read and *reg has been filled in.
* false is the data could not be read.
*/
bool UnwMemReadRegister(UnwState * const state, const uint32_t addr, RegData * const reg) {
bool tracked;
// Check if the value can be found in the hash
if (UnwMemHashRead(&state->memData, addr, &reg->v, &tracked)) {
reg->o = tracked ? REG_VAL_FROM_MEMORY : REG_VAL_INVALID;
return true;
}
else if (state->cb->readW(addr, &reg->v)) { // Not in the hash, so read from real memory
reg->o = REG_VAL_FROM_MEMORY;
return true;
}
else return false; // Not in the hash, and failed to read from memory
}
#endif // __arm__ || __thumb__
Marlin/src/HAL/backtrace/unwarm.h
-143
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@@ -1,143 +0,0 @@
/***************************************************************************
* ARM Stack Unwinder, Michael.McTernan.2001@cs.bris.ac.uk
*
* This program is PUBLIC DOMAIN.
* This means that there is no copyright and anyone is able to take a copy
* for free and use it as they wish, with or without modifications, and in
* any context, commerically or otherwise. The only limitation is that I
* don't guarantee that the software is fit for any purpose or accept any
* liablity for it's use or misuse - this software is without warranty.
***************************************************************************
* File Description: Internal interface between the ARM unwinding sub-modules.
**************************************************************************/
#ifndef UNWARM_H
#define UNWARM_H
#include "unwinder.h"
/** The maximum number of instructions to interpet in a function.
* Unwinding will be unconditionally stopped and UNWIND_EXHAUSTED returned
* if more than this number of instructions are interpreted in a single
* function without unwinding a stack frame. This prevents infinite loops
* or corrupted program memory from preventing unwinding from progressing.
*/
#define UNW_MAX_INSTR_COUNT 500
/** The size of the hash used to track reads and writes to memory.
* This should be a prime value for efficiency.
*/
#define MEM_HASH_SIZE 31
/***************************************************************************
* Type Definitions
**************************************************************************/
typedef enum {
/** Invalid value. */
REG_VAL_INVALID = 0x00,
REG_VAL_FROM_STACK = 0x01,
REG_VAL_FROM_MEMORY = 0x02,
REG_VAL_FROM_CONST = 0x04,
REG_VAL_ARITHMETIC = 0x80
} RegValOrigin;
/** Type for tracking information about a register.
* This stores the register value, as well as other data that helps unwinding.
*/
typedef struct {
/** The value held in the register. */
uint32_t v;
/** The origin of the register value.
* This is used to track how the value in the register was loaded.
*/
int o; /* (RegValOrigin) */
} RegData;
/** Structure used to track reads and writes to memory.
* This structure is used as a hash to store a small number of writes
* to memory.
*/
typedef struct {
/** Memory contents. */
uint32_t v[MEM_HASH_SIZE];
/** Address at which v[n] represents. */
uint32_t a[MEM_HASH_SIZE];
/** Indicates whether the data in v[n] and a[n] is occupied.
* Each bit represents one hash value.
*/
uint8_t used[(MEM_HASH_SIZE + 7) / 8];
/** Indicates whether the data in v[n] is valid.
* This allows a[n] to be set, but for v[n] to be marked as invalid.
* Specifically this is needed for when an untracked register value
* is written to memory.
*/
uint8_t tracked[(MEM_HASH_SIZE + 7) / 8];
} MemData;
/** Structure that is used to keep track of unwinding meta-data.
* This data is passed between all the unwinding functions.
*/
typedef struct {
/** The register values and meta-data. */
RegData regData[16];
/** Memory tracking data. */
MemData memData;
/** Pointer to the callback functions */
const UnwindCallbacks *cb;
/** Pointer to pass to the report function. */
const void *reportData;
} UnwState;
/***************************************************************************
* Macros
**************************************************************************/
#define M_IsOriginValid(v) (((v) & 0x7F) ? true : false)
#define M_Origin2Str(v) ((v) ? "VALID" : "INVALID")
#if defined(UNW_DEBUG)
#define UnwPrintd1(a) state->cb->printf(a)
#define UnwPrintd2(a,b) state->cb->printf(a,b)
#define UnwPrintd3(a,b,c) state->cb->printf(a,b,c)
#define UnwPrintd4(a,b,c,d) state->cb->printf(a,b,c,d)
#define UnwPrintd5(a,b,c,d,e) state->cb->printf(a,b,c,d,e)
#define UnwPrintd6(a,b,c,d,e,f) state->cb->printf(a,b,c,d,e,f)
#define UnwPrintd7(a,b,c,d,e,f,g) state->cb->printf(a,b,c,d,e,f,g)
#define UnwPrintd8(a,b,c,d,e,f,g,h) state->cb->printf(a,b,c,d,e,f,g,h)
#else
#define UnwPrintd1(a)
#define UnwPrintd2(a,b)
#define UnwPrintd3(a,b,c)
#define UnwPrintd4(a,b,c,d)
#define UnwPrintd5(a,b,c,d,e)
#define UnwPrintd6(a,b,c,d,e,f)
#define UnwPrintd7(a,b,c,d,e,f,g)
#define UnwPrintd8(a,b,c,d,e,f,g,h)
#endif
/***************************************************************************
* Function Prototypes
**************************************************************************/
UnwResult UnwStartArm(UnwState * const state);
UnwResult UnwStartThumb(UnwState * const state);
void UnwInvalidateRegisterFile(RegData *regFile);
void UnwInitState(UnwState * const state, const UnwindCallbacks *cb, void *rptData, uint32_t pcValue, uint32_t spValue);
bool UnwReportRetAddr(UnwState * const state, uint32_t addr);
bool UnwMemWriteRegister(UnwState * const state, const uint32_t addr, const RegData * const reg);
bool UnwMemReadRegister(UnwState * const state, const uint32_t addr, RegData * const reg);
void UnwMemHashGC(UnwState * const state);
#endif // UNWARM_H
Marlin/src/HAL/backtrace/unwarm_arm.cpp
-597
View File
@@ -1,597 +0,0 @@
/***************************************************************************
* ARM Stack Unwinder, Michael.McTernan.2001@cs.bris.ac.uk
* Updated, adapted and several bug fixes on 2018 by Eduardo José Tagle
*
* This program is PUBLIC DOMAIN.
* This means that there is no copyright and anyone is able to take a copy
* for free and use it as they wish, with or without modifications, and in
* any context, commercially or otherwise. The only limitation is that I
* don't guarantee that the software is fit for any purpose or accept any
* liability for it's use or misuse - this software is without warranty.
***************************************************************************
* File Description: Abstract interpreter for ARM mode.
**************************************************************************/
#if defined(__arm__) || defined(__thumb__)
#define MODULE_NAME "UNWARM_ARM"
#include <stdio.h>
#include "unwarm.h"
/** Check if some instruction is a data-processing instruction.
* Decodes the passed instruction, checks if it is a data-processing and
* verifies that the parameters and operation really indicate a data-
* processing instruction. This is needed because some parts of the
* instruction space under this instruction can be extended or represent
* other operations such as MRS, MSR.
*
* \param[in] inst The instruction word.
* \retval true Further decoding of the instruction indicates that this is
* a valid data-processing instruction.
* \retval false This is not a data-processing instruction,
*/
static bool isDataProc(uint32_t instr) {
uint8_t opcode = (instr & 0x01E00000) >> 21;
bool S = (instr & 0x00100000) ? true : false;
if ((instr & 0xFC000000) != 0xE0000000) {
return false;
}
else if (!S && opcode >= 8 && opcode <= 11) {
/* TST, TEQ, CMP and CMN all require S to be set */
return false;
}
else
return true;
}
UnwResult UnwStartArm(UnwState * const state) {
bool found = false;
uint16_t t = UNW_MAX_INSTR_COUNT;
do {
uint32_t instr;
/* Attempt to read the instruction */
if (!state->cb->readW(state->regData[15].v, &instr)) {
return UNWIND_IREAD_W_FAIL;
}
UnwPrintd4("A %x %x %08x:", state->regData[13].v, state->regData[15].v, instr);
/* Check that the PC is still on Arm alignment */
if (state->regData[15].v & 0x3) {
UnwPrintd1("\nError: PC misalignment\n");
return UNWIND_INCONSISTENT;
}
/* Check that the SP and PC have not been invalidated */
if (!M_IsOriginValid(state->regData[13].o) || !M_IsOriginValid(state->regData[15].o)) {
UnwPrintd1("\nError: PC or SP invalidated\n");
return UNWIND_INCONSISTENT;
}
/* Branch and Exchange (BX)
* This is tested prior to data processing to prevent
* mis-interpretation as an invalid TEQ instruction.
*/
if ((instr & 0xFFFFFFF0) == 0xE12FFF10) {
uint8_t rn = instr & 0xF;
UnwPrintd4("BX r%d\t ; r%d %s\n", rn, rn, M_Origin2Str(state->regData[rn].o));
if (!M_IsOriginValid(state->regData[rn].o)) {
UnwPrintd1("\nUnwind failure: BX to untracked register\n");
return UNWIND_FAILURE;
}
/* Set the new PC value */
state->regData[15].v = state->regData[rn].v;
/* Check if the return value is from the stack */
if (state->regData[rn].o == REG_VAL_FROM_STACK) {
/* Now have the return address */
UnwPrintd2(" Return PC=%x\n", state->regData[15].v & (~0x1));
/* Report the return address */
if (!UnwReportRetAddr(state, state->regData[rn].v))
return UNWIND_TRUNCATED;
}
/* Determine the return mode */
if (state->regData[rn].v & 0x1) {
/* Branching to THUMB */
return UnwStartThumb(state);
}
else {
/* Branch to ARM */
/* Account for the auto-increment which isn't needed */
state->regData[15].v -= 4;
}
}
/* Branch */
else if ((instr & 0xFF000000) == 0xEA000000) {
int32_t offset = (instr & 0x00FFFFFF);
/* Shift value */
offset = offset << 2;
/* Sign extend if needed */
if (offset & 0x02000000) {
offset |= 0xFC000000;
}
UnwPrintd2("B %d\n", offset);
/* Adjust PC */
state->regData[15].v += offset;
/* Account for pre-fetch, where normally the PC is 8 bytes
* ahead of the instruction just executed.
*/
state->regData[15].v += 4;
}
/* MRS */
else if ((instr & 0xFFBF0FFF) == 0xE10F0000) {
#if defined(UNW_DEBUG)
bool R = (instr & 0x00400000) ? true : false;
#endif
uint8_t rd = (instr & 0x0000F000) >> 12;
UnwPrintd4("MRS r%d,%s\t; r%d invalidated", rd, R ? "SPSR" : "CPSR", rd);
/* Status registers untracked */
state->regData[rd].o = REG_VAL_INVALID;
}
/* MSR */
else if ((instr & 0xFFB0F000) == 0xE120F000) {
#if defined(UNW_DEBUG)
bool R = (instr & 0x00400000) ? true : false;
UnwPrintd2("MSR %s_?, ???", R ? "SPSR" : "CPSR");
#endif
/* Status registers untracked.
* Potentially this could change processor mode and switch
* banked registers r8-r14. Most likely is that r13 (sp) will
* be banked. However, invalidating r13 will stop unwinding
* when potentially this write is being used to disable/enable
* interrupts (a common case). Therefore no invalidation is
* performed.
*/
}
/* Data processing */
else if (isDataProc(instr)) {
bool I = (instr & 0x02000000) ? true : false;
uint8_t opcode = (instr & 0x01E00000) >> 21;
#if defined(UNW_DEBUG)
bool S = (instr & 0x00100000) ? true : false;
#endif
uint8_t rn = (instr & 0x000F0000) >> 16;
uint8_t rd = (instr & 0x0000F000) >> 12;
uint16_t operand2 = (instr & 0x00000FFF);
uint32_t op2val;
int op2origin;
switch(opcode) {
case 0: UnwPrintd4("AND%s r%d,r%d,", S ? "S" : "", rd, rn); break;
case 1: UnwPrintd4("EOR%s r%d,r%d,", S ? "S" : "", rd, rn); break;
case 2: UnwPrintd4("SUB%s r%d,r%d,", S ? "S" : "", rd, rn); break;
case 3: UnwPrintd4("RSB%s r%d,r%d,", S ? "S" : "", rd, rn); break;
case 4: UnwPrintd4("ADD%s r%d,r%d,", S ? "S" : "", rd, rn); break;
case 5: UnwPrintd4("ADC%s r%d,r%d,", S ? "S" : "", rd, rn); break;
case 6: UnwPrintd4("SBC%s r%d,r%d,", S ? "S" : "", rd, rn); break;
case 7: UnwPrintd4("RSC%s r%d,r%d,", S ? "S" : "", rd, rn); break;
case 8: UnwPrintd3("TST%s r%d,", S ? "S" : "", rn); break;
case 9: UnwPrintd3("TEQ%s r%d,", S ? "S" : "", rn); break;
case 10: UnwPrintd3("CMP%s r%d,", S ? "S" : "", rn); break;
case 11: UnwPrintd3("CMN%s r%d,", S ? "S" : "", rn); break;
case 12: UnwPrintd3("ORR%s r%d,", S ? "S" : "", rn); break;
case 13: UnwPrintd3("MOV%s r%d,", S ? "S" : "", rd); break;
case 14: UnwPrintd4("BIC%s r%d,r%d", S ? "S" : "", rd, rn); break;
case 15: UnwPrintd3("MVN%s r%d,", S ? "S" : "", rd); break;
}
/* Decode operand 2 */
if (I) {
uint8_t shiftDist = (operand2 & 0x0F00) >> 8;
uint8_t shiftConst = (operand2 & 0x00FF);
/* rotate const right by 2 * shiftDist */
shiftDist *= 2;
op2val = (shiftConst >> shiftDist) |
(shiftConst << (32 - shiftDist));
op2origin = REG_VAL_FROM_CONST;
UnwPrintd2("#0x%x", op2val);
}
else {
/* Register and shift */
uint8_t rm = (operand2 & 0x000F);
uint8_t regShift = (operand2 & 0x0010) ? true : false;
uint8_t shiftType = (operand2 & 0x0060) >> 5;
uint32_t shiftDist;
#if defined(UNW_DEBUG)
const char * const shiftMnu[4] = { "LSL", "LSR", "ASR", "ROR" };
#endif
UnwPrintd2("r%d ", rm);
/* Get the shift distance */
if (regShift) {
uint8_t rs = (operand2 & 0x0F00) >> 8;
if (operand2 & 0x00800) {
UnwPrintd1("\nError: Bit should be zero\n");
return UNWIND_ILLEGAL_INSTR;
}
else if (rs == 15) {
UnwPrintd1("\nError: Cannot use R15 with register shift\n");
return UNWIND_ILLEGAL_INSTR;
}
/* Get shift distance */
shiftDist = state->regData[rs].v;
op2origin = state->regData[rs].o;
UnwPrintd7("%s r%d\t; r%d %s r%d %s", shiftMnu[shiftType], rs, rm, M_Origin2Str(state->regData[rm].o), rs, M_Origin2Str(state->regData[rs].o));
}
else {
shiftDist = (operand2 & 0x0F80) >> 7;
op2origin = REG_VAL_FROM_CONST;
if (shiftDist) {
UnwPrintd3("%s #%d", shiftMnu[shiftType], shiftDist);
}
UnwPrintd3("\t; r%d %s", rm, M_Origin2Str(state->regData[rm].o));
}
/* Apply the shift type to the source register */
switch(shiftType) {
case 0: /* logical left */
op2val = state->regData[rm].v << shiftDist;
break;
case 1: /* logical right */
if (!regShift && shiftDist == 0) {
shiftDist = 32;
}
op2val = state->regData[rm].v >> shiftDist;
break;
case 2: /* arithmetic right */
if (!regShift && shiftDist == 0) {
shiftDist = 32;
}
if (state->regData[rm].v & 0x80000000) {
/* Register shifts maybe greater than 32 */
if (shiftDist >= 32) {
op2val = 0xFFFFFFFF;
}
else {
op2val = state->regData[rm].v >> shiftDist;
op2val |= 0xFFFFFFFF << (32 - shiftDist);
}
}
else {
op2val = state->regData[rm].v >> shiftDist;
}
break;
case 3: /* rotate right */
if (!regShift && shiftDist == 0) {
/* Rotate right with extend.
* This uses the carry bit and so always has an
* untracked result.
*/
op2origin = REG_VAL_INVALID;
op2val = 0;
}
else {
/* Limit shift distance to 0-31 incase of register shift */
shiftDist &= 0x1F;
op2val = (state->regData[rm].v >> shiftDist) |
(state->regData[rm].v << (32 - shiftDist));
}
break;
default:
UnwPrintd2("\nError: Invalid shift type: %d\n", shiftType);
return UNWIND_FAILURE;
}
/* Decide the data origin */
if (M_IsOriginValid(op2origin) &&
M_IsOriginValid(state->regData[rm].o)) {
op2origin = state->regData[rm].o;
op2origin |= REG_VAL_ARITHMETIC;
}
else {
op2origin = REG_VAL_INVALID;
}
}
/* Propagate register validity */
switch(opcode) {
case 0: /* AND: Rd := Op1 AND Op2 */
case 1: /* EOR: Rd := Op1 EOR Op2 */
case 2: /* SUB: Rd:= Op1 - Op2 */
case 3: /* RSB: Rd:= Op2 - Op1 */
case 4: /* ADD: Rd:= Op1 + Op2 */
case 12: /* ORR: Rd:= Op1 OR Op2 */
case 14: /* BIC: Rd:= Op1 AND NOT Op2 */
if (!M_IsOriginValid(state->regData[rn].o) ||
!M_IsOriginValid(op2origin)) {
state->regData[rd].o = REG_VAL_INVALID;
}
else {
state->regData[rd].o = state->regData[rn].o;
state->regData[rd].o = (RegValOrigin)(state->regData[rd].o | op2origin);
}
break;
case 5: /* ADC: Rd:= Op1 + Op2 + C */
case 6: /* SBC: Rd:= Op1 - Op2 + C */
case 7: /* RSC: Rd:= Op2 - Op1 + C */
/* CPSR is not tracked */
state->regData[rd].o = REG_VAL_INVALID;
break;
case 8: /* TST: set condition codes on Op1 AND Op2 */
case 9: /* TEQ: set condition codes on Op1 EOR Op2 */
case 10: /* CMP: set condition codes on Op1 - Op2 */
case 11: /* CMN: set condition codes on Op1 + Op2 */
break;
case 13: /* MOV: Rd:= Op2 */
case 15: /* MVN: Rd:= NOT Op2 */
state->regData[rd].o = (RegValOrigin) op2origin;
break;
}
/* Account for pre-fetch by temporarily adjusting PC */
if (rn == 15) {
/* If the shift amount is specified in the instruction,
* the PC will be 8 bytes ahead. If a register is used
* to specify the shift amount the PC will be 12 bytes
* ahead.
*/
if (!I && (operand2 & 0x0010))
state->regData[rn].v += 12;
else
state->regData[rn].v += 8;
}
/* Compute values */
switch(opcode) {
case 0: /* AND: Rd := Op1 AND Op2 */
state->regData[rd].v = state->regData[rn].v & op2val;
break;
case 1: /* EOR: Rd := Op1 EOR Op2 */
state->regData[rd].v = state->regData[rn].v ^ op2val;
break;
case 2: /* SUB: Rd:= Op1 - Op2 */
state->regData[rd].v = state->regData[rn].v - op2val;
break;
case 3: /* RSB: Rd:= Op2 - Op1 */
state->regData[rd].v = op2val - state->regData[rn].v;
break;
case 4: /* ADD: Rd:= Op1 + Op2 */
state->regData[rd].v = state->regData[rn].v + op2val;
break;
case 5: /* ADC: Rd:= Op1 + Op2 + C */
case 6: /* SBC: Rd:= Op1 - Op2 + C */
case 7: /* RSC: Rd:= Op2 - Op1 + C */
case 8: /* TST: set condition codes on Op1 AND Op2 */
case 9: /* TEQ: set condition codes on Op1 EOR Op2 */
case 10: /* CMP: set condition codes on Op1 - Op2 */
case 11: /* CMN: set condition codes on Op1 + Op2 */
UnwPrintd1("\t; ????");
break;
case 12: /* ORR: Rd:= Op1 OR Op2 */
state->regData[rd].v = state->regData[rn].v | op2val;
break;
case 13: /* MOV: Rd:= Op2 */
state->regData[rd].v = op2val;
break;
case 14: /* BIC: Rd:= Op1 AND NOT Op2 */
state->regData[rd].v = state->regData[rn].v & (~op2val);
break;
case 15: /* MVN: Rd:= NOT Op2 */
state->regData[rd].v = ~op2val;
break;
}
/* Remove the prefetch offset from the PC */
if (rd != 15 && rn == 15) {
if (!I && (operand2 & 0x0010))
state->regData[rn].v -= 12;
else
state->regData[rn].v -= 8;
}
}
/* Block Data Transfer
* LDM, STM
*/
else if ((instr & 0xFE000000) == 0xE8000000) {
bool P = (instr & 0x01000000) ? true : false;
bool U = (instr & 0x00800000) ? true : false;
bool S = (instr & 0x00400000) ? true : false;
bool W = (instr & 0x00200000) ? true : false;
bool L = (instr & 0x00100000) ? true : false;
uint16_t baseReg = (instr & 0x000F0000) >> 16;
uint16_t regList = (instr & 0x0000FFFF);
uint32_t addr = state->regData[baseReg].v;
bool addrValid = M_IsOriginValid(state->regData[baseReg].o);
int8_t r;
#if defined(UNW_DEBUG)
/* Display the instruction */
if (L) {
UnwPrintd6("LDM%c%c r%d%s, {reglist}%s\n", P ? 'E' : 'F', U ? 'D' : 'A', baseReg, W ? "!" : "", S ? "^" : "");
}
else {
UnwPrintd6("STM%c%c r%d%s, {reglist}%s\n", !P ? 'E' : 'F', !U ? 'D' : 'A', baseReg, W ? "!" : "", S ? "^" : "");
}
#endif
/* S indicates that banked registers (untracked) are used, unless
* this is a load including the PC when the S-bit indicates that
* that CPSR is loaded from SPSR (also untracked, but ignored).
*/
if (S && (!L || (regList & (0x01 << 15)) == 0)) {
UnwPrintd1("\nError:S-bit set requiring banked registers\n");
return UNWIND_FAILURE;
}
else if (baseReg == 15) {
UnwPrintd1("\nError: r15 used as base register\n");
return UNWIND_FAILURE;
}
else if (regList == 0) {
UnwPrintd1("\nError: Register list empty\n");
return UNWIND_FAILURE;
}
/* Check if ascending or descending.
* Registers are loaded/stored in order of address.
* i.e. r0 is at the lowest address, r15 at the highest.
*/
r = U ? 0 : 15;
do {
/* Check if the register is to be transferred */
if (regList & (0x01 << r)) {
if (P)
addr += U ? 4 : -4;
if (L) {
if (addrValid) {
if (!UnwMemReadRegister(state, addr, &state->regData[r])) {
return UNWIND_DREAD_W_FAIL;
}
/* Update the origin if read via the stack pointer */
if (M_IsOriginValid(state->regData[r].o) && baseReg == 13) {
state->regData[r].o = REG_VAL_FROM_STACK;
}
UnwPrintd5(" R%d = 0x%08x\t; r%d %s\n",r,state->regData[r].v,r, M_Origin2Str(state->regData[r].o));
}
else {
/* Invalidate the register as the base reg was invalid */
state->regData[r].o = REG_VAL_INVALID;
UnwPrintd2(" R%d = ???\n", r);
}
}
else {
if (addrValid) {
if (!UnwMemWriteRegister(state, state->regData[13].v, &state->regData[r])) {
return UNWIND_DWRITE_W_FAIL;
}
}
UnwPrintd2(" R%d = 0x%08x\n", r);
}
if (!P)
addr += U ? 4 : -4;
}
/* Check the next register */
r += U ? 1 : -1;
} while (r >= 0 && r <= 15);
/* Check the writeback bit */
if (W)
state->regData[baseReg].v = addr;
/* Check if the PC was loaded */
if (L && (regList & (0x01 << 15))) {
if (!M_IsOriginValid(state->regData[15].o)) {
/* Return address is not valid */
UnwPrintd1("PC popped with invalid address\n");
return UNWIND_FAILURE;
}
else {
/* Store the return address */
if (!UnwReportRetAddr(state, state->regData[15].v)) {
return UNWIND_TRUNCATED;
}
UnwPrintd2(" Return PC=0x%x", state->regData[15].v);
/* Determine the return mode */
if (state->regData[15].v & 0x1) {
/* Branching to THUMB */
return UnwStartThumb(state);
}
else {
/* Branch to ARM */
/* Account for the auto-increment which isn't needed */
state->regData[15].v -= 4;
}
}
}
}
else {
UnwPrintd1("????");
/* Unknown/undecoded. May alter some register, so invalidate file */
UnwInvalidateRegisterFile(state->regData);
}
UnwPrintd1("\n");
/* Should never hit the reset vector */
if (state->regData[15].v == 0) return UNWIND_RESET;
/* Check next address */
state->regData[15].v += 4;
/* Garbage collect the memory hash (used only for the stack) */
UnwMemHashGC(state);
t--;
if (t == 0)
return UNWIND_EXHAUSTED;
} while (!found);
return UNWIND_UNSUPPORTED;
}
#endif // __arm__ || __thumb__
Marlin/src/HAL/backtrace/unwarm_thumb.cpp
-1127
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File diff suppressed because it is too large Load Diff
Marlin/src/HAL/backtrace/unwarmbytab.cpp
-441
View File
@@ -1,441 +0,0 @@
/*
* Libbacktrace
* Copyright 2015 Stephen Street <stephen@redrocketcomputing.com>
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License, v. 2.0. If a copy of the MPL was not distributed with this
* file, You can obtain one at http://mozilla.org/MPL/2.0/.
*
* This library was modified, some bugs fixed, stack address validated
* and adapted to be used in Marlin 3D printer firmware as backtracer
* for exceptions for debugging purposes in 2018 by Eduardo José Tagle.
*/
#if defined(__arm__) || defined(__thumb__)
#include "unwarmbytab.h"
#include <stdint.h>
#include <string.h>
/* These symbols point to the unwind index and should be provide by the linker script */
extern "C" const UnwTabEntry __exidx_start[];
extern "C" const UnwTabEntry __exidx_end[];
/* This prevents the linking of libgcc unwinder code */
void __aeabi_unwind_cpp_pr0(void) {};
void __aeabi_unwind_cpp_pr1(void) {};
void __aeabi_unwind_cpp_pr2(void) {};
static inline __attribute__((always_inline)) uint32_t prel31_to_addr(const uint32_t *prel31) {
uint32_t offset = (((uint32_t)(*prel31)) << 1) >> 1;
return ((uint32_t)prel31 + offset) & 0x7FFFFFFF;
}
static const UnwTabEntry *UnwTabSearchIndex(const UnwTabEntry *start, const UnwTabEntry *end, uint32_t ip) {
const UnwTabEntry *middle;
/* Perform a binary search of the unwind index */
while (start < end - 1) {
middle = start + ((end - start + 1) >> 1);
if (ip < prel31_to_addr(&middle->addr_offset))
end = middle;
else
start = middle;
}
return start;
}
/*
* Get the function name or NULL if not found
*/
static const char *UnwTabGetFunctionName(const UnwindCallbacks *cb, uint32_t address) {
uint32_t flag_word = 0;
if (!cb->readW(address-4,&flag_word))
return NULL;
if ((flag_word & 0xFF000000) == 0xFF000000) {
return (const char *)(address - 4 - (flag_word & 0x00FFFFFF));
}
return NULL;
}
/**
* Get the next frame unwinding instruction
*
* Return either the instruction or -1 to signal no more instructions
* are available
*/
static int UnwTabGetNextInstruction(const UnwindCallbacks *cb, UnwTabState *ucb) {
int instruction;
/* Are there more instructions */
if (ucb->remaining == 0)
return -1;
/* Extract the current instruction */
uint32_t v = 0;
if (!cb->readW(ucb->current, &v))
return -1;
instruction = (v >> (ucb->byte << 3)) & 0xFF;
/* Move the next byte */
--ucb->byte;
if (ucb->byte < 0) {
ucb->current += 4;
ucb->byte = 3;
}
--ucb->remaining;
return instruction;
}
/**
* Initialize the frame unwinding state
*/
static UnwResult UnwTabStateInit(const UnwindCallbacks *cb, UnwTabState *ucb, uint32_t instructions, const UnwindFrame *frame) {
/* Initialize control block */
memset(ucb, 0, sizeof(UnwTabState));
ucb->current = instructions;
/* Is a short unwind description */
uint32_t v = 0;
if (!cb->readW(instructions, &v))
return UNWIND_DREAD_W_FAIL;
if ((v & 0xFF000000) == 0x80000000) {
ucb->remaining = 3;
ucb->byte = 2;
/* Is a long unwind description */
} else if ((v & 0xFF000000) == 0x81000000) {
ucb->remaining = ((v & 0x00FF0000) >> 14) + 2;
ucb->byte = 1;
} else
return UNWIND_UNSUPPORTED_DWARF_PERSONALITY;
/* Initialize the virtual register set */
ucb->vrs[7] = frame->fp;
ucb->vrs[13] = frame->sp;
ucb->vrs[14] = frame->lr;
ucb->vrs[15] = 0;
/* All good */
return UNWIND_SUCCESS;
}
/*
* Execute unwinding instructions
*/
static UnwResult UnwTabExecuteInstructions(const UnwindCallbacks *cb, UnwTabState *ucb) {
int instruction;
uint32_t mask;
uint32_t reg;
uint32_t vsp;
/* Consume all instruction byte */
while ((instruction = UnwTabGetNextInstruction(cb, ucb)) != -1) {
if ((instruction & 0xC0) == 0x00) { // ARM_EXIDX_CMD_DATA_POP
/* vsp = vsp + (xxxxxx << 2) + 4 */
ucb->vrs[13] += ((instruction & 0x3F) << 2) + 4;
} else
if ((instruction & 0xC0) == 0x40) { // ARM_EXIDX_CMD_DATA_PUSH
/* vsp = vsp - (xxxxxx << 2) - 4 */
ucb->vrs[13] -= ((instruction & 0x3F) << 2) - 4;
} else
if ((instruction & 0xF0) == 0x80) {
/* pop under mask {r15-r12},{r11-r4} or refuse to unwind */
instruction = instruction << 8 | UnwTabGetNextInstruction(cb, ucb);
/* Check for refuse to unwind */
if (instruction == 0x8000) // ARM_EXIDX_CMD_REFUSED
return UNWIND_REFUSED;
/* Pop registers using mask */ // ARM_EXIDX_CMD_REG_POP
vsp = ucb->vrs[13];
mask = instruction & 0xFFF;
reg = 4;
while (mask) {
if ((mask & 1) != 0) {
uint32_t v;
if (!cb->readW(vsp,&v))
return UNWIND_DREAD_W_FAIL;
ucb->vrs[reg] = v;
v += 4;
}
mask >>= 1;
++reg;
}
/* Patch up the vrs sp if it was in the mask */
if ((instruction & (1 << (13 - 4))) != 0)
ucb->vrs[13] = vsp;
} else
if ((instruction & 0xF0) == 0x90 && // ARM_EXIDX_CMD_REG_TO_SP
instruction != 0x9D &&
instruction != 0x9F) {
/* vsp = r[nnnn] */
ucb->vrs[13] = ucb->vrs[instruction & 0x0F];
} else
if ((instruction & 0xF0) == 0xA0) { // ARM_EXIDX_CMD_REG_POP
/* pop r4-r[4+nnn] or pop r4-r[4+nnn], r14*/
vsp = ucb->vrs[13];
for (reg = 4; reg <= uint32_t((instruction & 0x07) + 4); ++reg) {
uint32_t v;
if (!cb->readW(vsp,&v))
return UNWIND_DREAD_W_FAIL;
ucb->vrs[reg] = v;
vsp += 4;
}
if (instruction & 0x08) { // ARM_EXIDX_CMD_REG_POP
uint32_t v;
if (!cb->readW(vsp,&v))
return UNWIND_DREAD_W_FAIL;
ucb->vrs[14] = v;
vsp += 4;
}
ucb->vrs[13] = vsp;
} else
if (instruction == 0xB0) { // ARM_EXIDX_CMD_FINISH
/* finished */
if (ucb->vrs[15] == 0)
ucb->vrs[15] = ucb->vrs[14];
/* All done unwinding */
return UNWIND_SUCCESS;
} else
if (instruction == 0xB1) { // ARM_EXIDX_CMD_REG_POP
/* pop register under mask {r3,r2,r1,r0} */
vsp = ucb->vrs[13];
mask = UnwTabGetNextInstruction(cb, ucb);
reg = 0;
while (mask) {
if ((mask & 1) != 0) {
uint32_t v;
if (!cb->readW(vsp,&v))
return UNWIND_DREAD_W_FAIL;
ucb->vrs[reg] = v;
vsp += 4;
}
mask >>= 1;
++reg;
}
ucb->vrs[13] = (uint32_t)vsp;
} else
if (instruction == 0xB2) { // ARM_EXIDX_CMD_DATA_POP
/* vps = vsp + 0x204 + (uleb128 << 2) */
ucb->vrs[13] += 0x204 + (UnwTabGetNextInstruction(cb, ucb) << 2);
} else
if (instruction == 0xB3 || // ARM_EXIDX_CMD_VFP_POP
instruction == 0xC8 ||
instruction == 0xC9) {
/* pop VFP double-precision registers */
vsp = ucb->vrs[13];
/* D[ssss]-D[ssss+cccc] */
uint32_t v;
if (!cb->readW(vsp,&v))
return UNWIND_DREAD_W_FAIL;
ucb->vrs[14] = v;
vsp += 4;
if (instruction == 0xC8) {
/* D[16+sssss]-D[16+ssss+cccc] */
ucb->vrs[14] |= 1 << 16;
}
if (instruction != 0xB3) {
/* D[sssss]-D[ssss+cccc] */
ucb->vrs[14] |= 1 << 17;
}
ucb->vrs[13] = vsp;
} else
if ((instruction & 0xF8) == 0xB8 ||
(instruction & 0xF8) == 0xD0) {
/* Pop VFP double precision registers D[8]-D[8+nnn] */
ucb->vrs[14] = 0x80 | (instruction & 0x07);
if ((instruction & 0xF8) == 0xD0) {
ucb->vrs[14] = 1 << 17;
}
} else
return UNWIND_UNSUPPORTED_DWARF_INSTR;
}
return UNWIND_SUCCESS;
}
static inline __attribute__((always_inline)) uint32_t read_psp(void) {
/* Read the current PSP and return its value as a pointer */
uint32_t psp;
__asm__ volatile (
" mrs %0, psp \n"
: "=r" (psp) : :
);
return psp;
}
/*
* Unwind the specified frame and goto the previous one
*/
static UnwResult UnwTabUnwindFrame(const UnwindCallbacks *cb, UnwindFrame *frame) {
UnwResult err;
UnwTabState ucb;
const UnwTabEntry *index;
uint32_t instructions;
/* Search the unwind index for the matching unwind table */
index = UnwTabSearchIndex(__exidx_start, __exidx_end, frame->pc);
/* Make sure we can unwind this frame */
if (index->insn == 0x00000001)
return UNWIND_SUCCESS;
/* Get the pointer to the first unwind instruction */
if (index->insn & 0x80000000)
instructions = (uint32_t)&index->insn;
else
instructions = prel31_to_addr(&index->insn);
/* Initialize the unwind control block */
if ((err = UnwTabStateInit(cb, &ucb, instructions, frame)) < 0)
return err;
/* Execute the unwind instructions */
err = UnwTabExecuteInstructions(cb, &ucb);
if (err < 0)
return err;
/* Set the virtual pc to the virtual lr if this is the first unwind */
if (ucb.vrs[15] == 0)
ucb.vrs[15] = ucb.vrs[14];
/* Check for exception return */
/* TODO Test with other ARM processors to verify this method. */
if ((ucb.vrs[15] & 0xF0000000) == 0xF0000000) {
/* According to the Cortex Programming Manual (p.44), the stack address is always 8-byte aligned (Cortex-M7).
Depending on where the exception came from (MSP or PSP), we need the right SP value to work with.
ucb.vrs[7] contains the right value, so take it and align it by 8 bytes, store it as the current
SP to work with (ucb.vrs[13]) which is then saved as the current (virtual) frame's SP.
*/
uint32_t stack;
ucb.vrs[13] = (ucb.vrs[7] & ~7);
/* If we need to start from the MSP, we need to go down X words to find the PC, where:
X=2 if it was a non-floating-point exception
X=20 if it was a floating-point (VFP) exception
If we need to start from the PSP, we need to go up exactly 6 words to find the PC.
See the ARMv7-M Architecture Reference Manual p.594 and Cortex-M7 Processor Programming Manual p.44/p.45 for details.
*/
if ((ucb.vrs[15] & 0xC) == 0) {
/* Return to Handler Mode: MSP (0xFFFFFF-1) */
stack = ucb.vrs[13];
/* The PC is always 2 words down from the MSP, if it was a non-floating-point exception */
stack -= 2*4;
/* If there was a VFP exception (0xFFFFFFE1), the PC is located another 18 words down */
if ((ucb.vrs[15] & 0xF0) == 0xE0) {
stack -= 18*4;
}
}
else {
/* Return to Thread Mode: PSP (0xFFFFFF-d) */
stack = read_psp();
/* The PC is always 6 words up from the PSP */
stack += 6*4;
}
/* Store the PC */
uint32_t v;
if (!cb->readW(stack,&v))
return UNWIND_DREAD_W_FAIL;
ucb.vrs[15] = v;
stack -= 4;
/* Store the LR */
if (!cb->readW(stack,&v))
return UNWIND_DREAD_W_FAIL;
ucb.vrs[14] = v;
stack -= 4;
}
/* We are done if current frame pc is equal to the virtual pc, prevent infinite loop */
if (frame->pc == ucb.vrs[15])
return UNWIND_SUCCESS;
/* Update the frame */
frame->fp = ucb.vrs[7];
frame->sp = ucb.vrs[13];
frame->lr = ucb.vrs[14];
frame->pc = ucb.vrs[15];
/* All good - Continue unwinding */
return UNWIND_MORE_AVAILABLE;
}
UnwResult UnwindByTableStart(UnwindFrame* frame, const UnwindCallbacks *cb, void *data) {
UnwResult err = UNWIND_SUCCESS;
UnwReport entry;
/* Use DWARF unwind information to unwind frames */
do {
if (frame->pc == 0) {
/* Reached __exidx_end. */
break;
}
if (frame->pc == 0x00000001) {
/* Reached .cantunwind instruction. */
break;
}
/* Find the unwind index of the current frame pc */
const UnwTabEntry *index = UnwTabSearchIndex(__exidx_start, __exidx_end, frame->pc);
/* Clear last bit (Thumb indicator) */
frame->pc &= 0xFFFFFFFEU;
/* Generate the backtrace information */
entry.address = frame->pc;
entry.function = prel31_to_addr(&index->addr_offset);
entry.name = UnwTabGetFunctionName(cb, entry.function);
if (!cb->report(data,&entry))
break;
/* Unwind frame and repeat */
} while ((err = UnwTabUnwindFrame(cb, frame)) == UNWIND_MORE_AVAILABLE);
/* All done */
return err;
}
#endif // __arm__ || __thumb__
Marlin/src/HAL/backtrace/unwarmbytab.h
-34
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@@ -1,34 +0,0 @@
/***************************************************************************
* ARM Stack Unwinder, Michael.McTernan.2001@cs.bris.ac.uk
* Updated, adapted and several bug fixes on 2018 by Eduardo José Tagle
*
* This program is PUBLIC DOMAIN.
* This means that there is no copyright and anyone is able to take a copy
* for free and use it as they wish, with or without modifications, and in
* any context, commerically or otherwise. The only limitation is that I
* don't guarantee that the software is fit for any purpose or accept any
* liablity for it's use or misuse - this software is without warranty.
***************************************************************************
* File Description: Interface to the memory tracking sub-system.
**************************************************************************/
#ifndef UNWARMBYTAB_H
#define UNWARMBYTAB_H
#include "unwarm.h"
typedef struct {
uint32_t vrs[16];
uint32_t current; /* Address of current byte */
int remaining;
int byte;
} UnwTabState;
typedef struct {
uint32_t addr_offset;
uint32_t insn;
} UnwTabEntry;
UnwResult UnwindByTableStart(UnwindFrame* frame, const UnwindCallbacks *cb, void *data);
#endif // UNWARMBYTAB_H
Marlin/src/HAL/backtrace/unwarmmem.cpp
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@@ -1,118 +0,0 @@
/***************************************************************************
* ARM Stack Unwinder, Michael.McTernan.2001@cs.bris.ac.uk
* Updated, adapted and several bug fixes on 2018 by Eduardo José Tagle
*
* This program is PUBLIC DOMAIN.
* This means that there is no copyright and anyone is able to take a copy
* for free and use it as they wish, with or without modifications, and in
* any context, commerically or otherwise. The only limitation is that I
* don't guarantee that the software is fit for any purpose or accept any
* liablity for it's use or misuse - this software is without warranty.
***************************************************************************
* File Description: Implementation of the memory tracking sub-system.
**************************************************************************/
#if defined(__arm__) || defined(__thumb__)
#define MODULE_NAME "UNWARMMEM"
#include <stdio.h>
#include "unwarmmem.h"
#include "unwarm.h"
#define M_IsIdxUsed(a, v) (((a)[v >> 3] & (1 << (v & 0x7))) ? true : false)
#define M_SetIdxUsed(a, v) ((a)[v >> 3] |= (1 << (v & 0x7)))
#define M_ClrIdxUsed(a, v) ((a)[v >> 3] &= ~(1 << (v & 0x7)))
/** Search the memory hash to see if an entry is stored in the hash already.
* This will search the hash and either return the index where the item is
* stored, or -1 if the item was not found.
*/
static int16_t memHashIndex(MemData * const memData, const uint32_t addr) {
const uint16_t v = addr % MEM_HASH_SIZE;
uint16_t s = v;
do {
/* Check if the element is occupied */
if(M_IsIdxUsed(memData->used, s)) {
/* Check if it is occupied with the sought data */
if(memData->a[s] == addr) {
return s;
}
}
else {
/* Item is free, this is where the item should be stored */
return s;
}
/* Search the next entry */
s++;
if(s > MEM_HASH_SIZE) {
s = 0;
}
} while(s != v);
/* Search failed, hash is full and the address not stored */
return -1;
}
bool UnwMemHashRead(MemData * const memData, uint32_t addr,uint32_t * const data, bool * const tracked) {
int16_t i = memHashIndex(memData, addr);
if(i >= 0 && M_IsIdxUsed(memData->used, i) && memData->a[i] == addr) {
*data = memData->v[i];
*tracked = M_IsIdxUsed(memData->tracked, i);
return true;
}
else {
/* Address not found in the hash */
return false;
}
}
bool UnwMemHashWrite(MemData * const memData, uint32_t addr, uint32_t val, bool valValid) {
int16_t i = memHashIndex(memData, addr);
if(i < 0){
/* Hash full */
return false;
}
else {
/* Store the item */
memData->a[i] = addr;
M_SetIdxUsed(memData->used, i);
if(valValid)
{
memData->v[i] = val;
M_SetIdxUsed(memData->tracked, i);
}
else {
#if defined(UNW_DEBUG)
memData->v[i] = 0xDEADBEEF;
#endif
M_ClrIdxUsed(memData->tracked, i);
}
return true;
}
}
void UnwMemHashGC(UnwState * const state) {
const uint32_t minValidAddr = state->regData[13].v;
MemData * const memData = &state->memData;
uint16_t t;
for(t = 0; t < MEM_HASH_SIZE; t++) {
if(M_IsIdxUsed(memData->used, t) && (memData->a[t] < minValidAddr)) {
UnwPrintd3("MemHashGC: Free elem %d, addr 0x%08x\n", t, memData->a[t]);
M_ClrIdxUsed(memData->used, t);
}
}
}
#endif // __arm__ || __thumb__
Marlin/src/HAL/backtrace/unwarmmem.h
-25
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@@ -1,25 +0,0 @@
/***************************************************************************
* ARM Stack Unwinder, Michael.McTernan.2001@cs.bris.ac.uk
* Updated, adapted and several bug fixes on 2018 by Eduardo José Tagle
*
* This program is PUBLIC DOMAIN.
* This means that there is no copyright and anyone is able to take a copy
* for free and use it as they wish, with or without modifications, and in
* any context, commerically or otherwise. The only limitation is that I
* don't guarantee that the software is fit for any purpose or accept any
* liablity for it's use or misuse - this software is without warranty.
***************************************************************************
* File Description: Interface to the memory tracking sub-system.
**************************************************************************/
#ifndef UNWARMMEM_H
#define UNWARMMEM_H
#include "unwarm.h"
bool UnwMemHashRead(MemData * const memData, uint32_t addr, uint32_t * const data, bool * const tracked);
bool UnwMemHashWrite(MemData * const memData, uint32_t addr, uint32_t val, bool valValid);
void UnwMemHashGC(UnwState * const state);
#endif
Marlin/src/HAL/backtrace/unwinder.cpp
-61
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@@ -1,61 +0,0 @@
/***************************************************************************
* ARM Stack Unwinder, Michael.McTernan.2001@cs.bris.ac.uk
* Updated, adapted and several bug fixes on 2018 by Eduardo José Tagle
*
* This program is PUBLIC DOMAIN.
* This means that there is no copyright and anyone is able to take a copy
* for free and use it as they wish, with or without modifications, and in
* any context, commercially or otherwise. The only limitation is that I
* don't guarantee that the software is fit for any purpose or accept any
* liability for it's use or misuse - this software is without warranty.
***************************************************************************
* File Description: Implementation of the interface into the ARM unwinder.
**************************************************************************/
#if defined(__arm__) || defined(__thumb__)
#define MODULE_NAME "UNWINDER"
#include <stdio.h>
#include <string.h>
#include "unwinder.h"
#include "unwarm.h"
#include "unwarmbytab.h"
/* These symbols point to the unwind index and should be provide by the linker script */
extern "C" const UnwTabEntry __exidx_start[];
extern "C" const UnwTabEntry __exidx_end[];
// Detect if unwind information is present or not
static int HasUnwindTableInfo(void) {
// > 16 because there are default entries we can't supress
return ((char*)(&__exidx_end) - (char*)(&__exidx_start)) > 16 ? 1 : 0;
}
UnwResult UnwindStart(UnwindFrame* frame, const UnwindCallbacks *cb, void *data) {
if (HasUnwindTableInfo()) {
/* We have unwind information tables */
return UnwindByTableStart(frame, cb, data);
} else {
/* We don't have unwind information tables */
UnwState state;
/* Initialise the unwinding state */
UnwInitState(&state, cb, data, frame->pc, frame->sp);
/* Check the Thumb bit */
if(frame->pc & 0x1) {
return UnwStartThumb(&state);
}
else {
return UnwStartArm(&state);
}
}
}
#endif
Marlin/src/HAL/backtrace/unwinder.h
-175
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@@ -1,175 +0,0 @@
/***************************************************************************
* ARM Stack Unwinder, Michael.McTernan.2001@cs.bris.ac.uk
* Updated, adapted and several bug fixes on 2018 by Eduardo José Tagle
*
* This program is PUBLIC DOMAIN.
* This means that there is no copyright and anyone is able to take a copy
* for free and use it as they wish, with or without modifications, and in
* any context, commerically or otherwise. The only limitation is that I
* don't guarantee that the software is fit for any purpose or accept any
* liablity for it's use or misuse - this software is without warranty.
**************************************************************************/
/** \file
* Interface to the ARM stack unwinding module.
**************************************************************************/
#ifndef UNWINDER_H
#define UNWINDER_H
#include <stdint.h>
/** \def UNW_DEBUG
* If this define is set, additional information will be produced while
* unwinding the stack to allow debug of the unwind module itself.
*/
/* #define UNW_DEBUG 1 */
/***************************************************************************
* Type Definitions
**************************************************************************/
/** Possible results for UnwindStart to return.
*/
typedef enum {
/** Unwinding was successful and complete. */
UNWIND_SUCCESS = 0,
/** Not an error: More frames are available. */
UNWIND_MORE_AVAILABLE = 1,
/** Unsupported DWARF unwind personality. */
UNWIND_UNSUPPORTED_DWARF_PERSONALITY = -1,
/** Refused to perform unwind. */
UNWIND_REFUSED = -2,
/** Reached an invalid SP. */
UNWIND_INVALID_SP = -3,
/** Reached an invalid PC */
UNWIND_INVALID_PC = -4,
/** Unsupported DWARF instruction */
UNWIND_UNSUPPORTED_DWARF_INSTR = -5,
/** More than UNW_MAX_INSTR_COUNT instructions were interpreted. */
UNWIND_EXHAUSTED = -6,
/** Unwinding stopped because the reporting func returned false. */
UNWIND_TRUNCATED = -7,
/** Read data was found to be inconsistent. */
UNWIND_INCONSISTENT = -8,
/** Unsupported instruction or data found. */
UNWIND_UNSUPPORTED = -9,
/** General failure. */
UNWIND_FAILURE = -10,
/** Illegal instruction. */
UNWIND_ILLEGAL_INSTR = -11,
/** Unwinding hit the reset vector. */
UNWIND_RESET = -12,
/** Failed read for an instruction word. */
UNWIND_IREAD_W_FAIL = -13,
/** Failed read for an instruction half-word. */
UNWIND_IREAD_H_FAIL = -14,
/** Failed read for an instruction byte. */
UNWIND_IREAD_B_FAIL = -15,
/** Failed read for a data word. */
UNWIND_DREAD_W_FAIL = -16,
/** Failed read for a data half-word. */
UNWIND_DREAD_H_FAIL = -17,
/** Failed read for a data byte. */
UNWIND_DREAD_B_FAIL = -18,
/** Failed write for a data word. */
UNWIND_DWRITE_W_FAIL = -19
} UnwResult;
/** A backtrace report */
typedef struct {
uint32_t function; /** Starts address of function */
const char *name; /** Function name, or null if not available */
uint32_t address; /** PC on that function */
} UnwReport;
/** Type for function pointer for result callback.
* The function is passed two parameters, the first is a void * pointer,
* and the second is the return address of the function. The bottom bit
* of the passed address indicates the execution mode; if it is set,
* the execution mode at the return address is Thumb, otherwise it is
* ARM.
*
* The return value of this function determines whether unwinding should
* continue or not. If true is returned, unwinding will continue and the
* report function maybe called again in future. If false is returned,
* unwinding will stop with UnwindStart() returning UNWIND_TRUNCATED.
*/
typedef bool (*UnwindReportFunc)(void* data, const UnwReport* bte);
/** Structure that holds memory callback function pointers.
*/
typedef struct {
/** Report an unwind result. */
UnwindReportFunc report;
/** Read a 32 bit word from memory.
* The memory address to be read is passed as \a address, and
* \a *val is expected to be populated with the read value.
* If the address cannot or should not be read, false can be
* returned to indicate that unwinding should stop. If true
* is returned, \a *val is assumed to be valid and unwinding
* will continue.
*/
bool (*readW)(const uint32_t address, uint32_t *val);
/** Read a 16 bit half-word from memory.
* This function has the same usage as for readW, but is expected
* to read only a 16 bit value.
*/
bool (*readH)(const uint32_t address, uint16_t *val);
/** Read a byte from memory.
* This function has the same usage as for readW, but is expected
* to read only an 8 bit value.
*/
bool (*readB)(const uint32_t address, uint8_t *val);
#ifdef UNW_DEBUG
/** Print a formatted line for debug. */
void (*printf)(const char *format, ...);
#endif
} UnwindCallbacks;
/* A frame */
typedef struct {
uint32_t fp;
uint32_t sp;
uint32_t lr;
uint32_t pc;
} UnwindFrame;
/** Start unwinding the current stack.
* This will unwind the stack starting at the PC value supplied to in the
* link register (i.e. not a normal register) and the stack pointer value
* supplied.
*
* -If the program was compiled with -funwind-tables , it will use them to
* perform the traceback. Otherwise, brute force will be employed
* -If the program was compiled with -mpoke-function-name, then you will
* get function names in the traceback. Otherwise, you will not.
*/
UnwResult UnwindStart(UnwindFrame* frame, const UnwindCallbacks *cb, void *data);
#endif /* UNWINDER_H */
Marlin/src/HAL/backtrace/unwmemaccess.cpp
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/***************************************************************************
* ARM Stack Unwinder, Michael.McTernan.2001@cs.bris.ac.uk
* Updated, adapted and several bug fixes on 2018 by Eduardo José Tagle
*
* This program is PUBLIC DOMAIN.
* This means that there is no copyright and anyone is able to take a copy
* for free and use it as they wish, with or without modifications, and in
* any context, commercially or otherwise. The only limitation is that I
* don't guarantee that the software is fit for any purpose or accept any
* liability for it's use or misuse - this software is without warranty.
***************************************************************************
* File Description: Utility functions to access memory
**************************************************************************/
#if defined(__arm__) || defined(__thumb__)
#include "unwmemaccess.h"
/* Validate address */
#ifdef ARDUINO_ARCH_SAM
// For DUE, valid address ranges are
// SRAM (0x20070000 - 0x20088000) (96kb)
// FLASH (0x00080000 - 0x00100000) (512kb)
//
#define START_SRAM_ADDR 0x20070000
#define END_SRAM_ADDR 0x20088000
#define START_FLASH_ADDR 0x00080000
#define END_FLASH_ADDR 0x00100000
#endif
#ifdef TARGET_LPC1768
// For LPC1769:
// SRAM (0x10000000 - 0x10008000) (32kb)
// FLASH (0x00000000 - 0x00080000) (512kb)
//
#define START_SRAM_ADDR 0x10000000
#define END_SRAM_ADDR 0x10008000
#define START_FLASH_ADDR 0x00000000
#define END_FLASH_ADDR 0x00080000
#endif
#if 0
// For STM32F103CBT6
// SRAM (0x20000000 - 0x20005000) (20kb)
// FLASH (0x00000000 - 0x00020000) (128kb)
//
#define START_SRAM_ADDR 0x20000000
#define END_SRAM_ADDR 0x20005000
#define START_FLASH_ADDR 0x00000000
#define END_FLASH_ADDR 0x00020000
#endif
#ifdef __STM32F1__
// For STM32F103ZET6/STM32F103VET6
// SRAM (0x20000000 - 0x20010000) (64kb)
// FLASH (0x00000000 - 0x00080000) (512kb)
//
#define START_SRAM_ADDR 0x20000000
#define END_SRAM_ADDR 0x20010000
#define START_FLASH_ADDR 0x00000000
#define END_FLASH_ADDR 0x00080000
#endif
#if defined(STM32F4) || defined(STM32F4xx)
// For STM32F407VET
// SRAM (0x20000000 - 0x20030000) (192kb)
// FLASH (0x08000000 - 0x08080000) (512kb)
//
#define START_SRAM_ADDR 0x20000000
#define END_SRAM_ADDR 0x20030000
#define START_FLASH_ADDR 0x08000000
#define END_FLASH_ADDR 0x08080000
#endif
#ifdef STM32F7
// For STM32F765 in BORG
// SRAM (0x20000000 - 0x20080000) (512kb)
// FLASH (0x08000000 - 0x08100000) (1024kb)
//
#define START_SRAM_ADDR 0x20000000
#define END_SRAM_ADDR 0x20080000
#define START_FLASH_ADDR 0x08000000
#define END_FLASH_ADDR 0x08100000
#endif
#ifdef __MK64FX512__
// For MK64FX512 in TEENSY 3.5
// SRAM (0x1FFF0000 - 0x20020000) (192kb)
// FLASH (0x00000000 - 0x00080000) (512kb)
//
#define START_SRAM_ADDR 0x1FFF0000
#define END_SRAM_ADDR 0x20020000
#define START_FLASH_ADDR 0x00000000
#define END_FLASH_ADDR 0x00080000
#endif
#ifdef __MK66FX1M0__
// For MK66FX1M0 in TEENSY 3.6
// SRAM (0x1FFF0000 - 0x20030000) (256kb)
// FLASH (0x00000000 - 0x00140000) (1.25Mb)
//
#define START_SRAM_ADDR 0x1FFF0000
#define END_SRAM_ADDR 0x20030000
#define START_FLASH_ADDR 0x00000000
#define END_FLASH_ADDR 0x00140000
#endif
static bool validate_addr(uint32_t addr) {
// Address must be in SRAM range
if (addr >= START_SRAM_ADDR && addr < END_SRAM_ADDR)
return true;
// Or in FLASH range
if (addr >= START_FLASH_ADDR && addr < END_FLASH_ADDR)
return true;
return false;
}
bool UnwReadW(const uint32_t a, uint32_t *v) {
if (!validate_addr(a))
return false;
*v = *(uint32_t *)a;
return true;
}
bool UnwReadH(const uint32_t a, uint16_t *v) {
if (!validate_addr(a))
return false;
*v = *(uint16_t *)a;
return true;
}
bool UnwReadB(const uint32_t a, uint8_t *v) {
if (!validate_addr(a))
return false;
*v = *(uint8_t *)a;
return true;
}
#endif
Marlin/src/HAL/backtrace/unwmemaccess.h
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@@ -1,26 +0,0 @@
/***************************************************************************
* ARM Stack Unwinder, Michael.McTernan.2001@cs.bris.ac.uk
* Updated, adapted and several bug fixes on 2018 by Eduardo José Tagle
*
* This program is PUBLIC DOMAIN.
* This means that there is no copyright and anyone is able to take a copy
* for free and use it as they wish, with or without modifications, and in
* any context, commerically or otherwise. The only limitation is that I
* don't guarantee that the software is fit for any purpose or accept any
* liablity for it's use or misuse - this software is without warranty.
***************************************************************************
* File Description: Utility functions to access memory
**************************************************************************/
#ifndef UNWMEMACCESS_H
#define UNWMEMACCESS_H
#include "unwarm.h"
#include <stdint.h>
bool UnwReadW(const uint32_t a, uint32_t *v);
bool UnwReadH(const uint32_t a, uint16_t *v);
bool UnwReadB(const uint32_t a, uint8_t *v);
#endif
Marlin/src/HAL/math_32bit.h
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@@ -1,35 +0,0 @@
/**
* 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
#include "../core/macros.h"
/**
* Math helper functions for 32 bit CPUs
*/
static FORCE_INLINE uint32_t MultiU32X24toH32(uint32_t longIn1, uint32_t longIn2) {
return ((uint64_t)longIn1 * longIn2 + 0x00800000) >> 24;
}
#endif // MATH_32BIT_H
Marlin/src/HAL/persistent_store_api.h
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#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);
bool read_data(int &pos, uint8_t* value, uint16_t size, uint16_t *crc, const bool writing=true);
} // PersistentStore
} // HAL
#endif // _PERSISTENT_STORE_H_
Marlin/src/HAL/servo.cpp
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/**
* 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), safe_delay(servo_delay[servoIndex]).
* With DEACTIVATE_SERVOS_AFTER_MOVE it detaches after servo_delay[servoIndex].
* 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 "../inc/MarlinConfig.h"
#if HAS_SERVOS && !(IS_32BIT_TEENSY || defined(TARGET_LPC1768) || defined(STM32F4) || defined(STM32F4xx))
//#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(const int pin) {
return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
}
int8_t Servo::attach(const int pin, const int min, const 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(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 (this->attach(0) >= 0) {
this->write(value);
safe_delay(servo_delay[this->servoIndex]);
#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
this->detach();
#endif
}
}
#endif // HAS_SERVOS
Marlin/src/HAL/servo.h
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/**
* 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
*/
/**
*
* 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 sequence used to seize timers is defined in timers.h
*
* The methods are:
*
* Servo - Class for manipulating servo motors connected to Arduino pins.
*
* attach(pin ) - Attaches a servo motor to an i/o pin.
* attach(pin, min, max ) - Attaches to a pin setting min and max values in microseconds
* default min is 544, max is 2400
*
* write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds)
* writeMicroseconds() - Sets the servo pulse width in microseconds
* read() - Gets the last written servo pulse width as an angle between 0 and 180.
* readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
* attached() - Returns true if there is a servo attached.
* detach() - Stops an attached servos from pulsing its i/o pin.
* move(angle) - Sequence of attach(0), write(angle),
* With DEACTIVATE_SERVOS_AFTER_MOVE wait SERVO_DELAY and detach.
*/
#ifndef SERVO_H
#define SERVO_H
#if IS_32BIT_TEENSY
#include "HAL_TEENSY35_36/HAL_Servo_Teensy.h" // Teensy HAL uses an inherited library
#elif defined(TARGET_LPC1768)
#include "HAL_LPC1768/LPC1768_Servo.h"
#elif defined(STM32F4) || defined(STM32F4xx)
#include "HAL_STM32F4/HAL_Servo_STM32F4.h"
#else
#include <stdint.h>
#if defined(__AVR__) || defined(ARDUINO_ARCH_SAM)
// we're good to go
#else
#error "This library only supports boards with an AVR or SAM3X processor."
#endif
#define Servo_VERSION 2 // software version of this library
class Servo {
public:
Servo();
int8_t attach(const int pin); // attach the given pin to the next free channel, set pinMode, return channel number (-1 on fail)
int8_t attach(const int pin, const int min, const int max); // as above but also sets min and max values for writes.
void detach();
void write(int value); // if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds
void writeMicroseconds(int value); // write pulse width in microseconds
void move(const int value); // attach the servo, then move to value
// if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds
// if DEACTIVATE_SERVOS_AFTER_MOVE wait SERVO_DELAY, then detach
int read(); // returns current pulse width as an angle between 0 and 180 degrees
int readMicroseconds(); // returns current pulse width in microseconds for this servo (was read_us() in first release)
bool attached(); // return true if this servo is attached, otherwise false
private:
uint8_t servoIndex; // index into the channel data for this servo
int8_t min; // minimum is this value times 4 added to MIN_PULSE_WIDTH
int8_t max; // maximum is this value times 4 added to MAX_PULSE_WIDTH
};
#endif
#endif // SERVO_H
Marlin/src/HAL/servo_private.h
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/**
* 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_private.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 <stdint.h>
// Architecture specific include
#ifdef __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 // SERVO_PRIVATE_H
Marlin/src/config/examples/Azteeg/X5GT/Configuration_adv.h
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Marlin/src/config/examples/delta/kossel_pro/Configuration_adv.h
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Marlin/src/pins/pins_RURAMPS4D.h
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/**
* 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/>.
*
* Ported sys0724 & Vynt
*/
/**
* Arduino Mega? or Due with RuRAMPS4DUE pin assignments
*
* Applies to the following boards:
* RURAMPS4DUE (Hotend0, Hotend1, Hotend2, Fan0, Fan1, Bed)
*
* Differences between
* RADDS | RuRAMPS4DUE
* |
*/
#ifndef __SAM3X8E__
#error "Oops! Make sure you have 'Arduino Due' selected from the 'Tools -> Boards' menu."
#endif
#ifndef BOARD_NAME
#define BOARD_NAME "RuRAMPS4Due"
#endif
//
// Limit Switches
//
#define X_MIN_PIN 45
#define X_MAX_PIN 39
#define Y_MIN_PIN 46
#define Y_MAX_PIN 41
#define Z_MIN_PIN 47
#define Z_MAX_PIN 43
//
// Z Probe (when not Z_MIN_PIN)
//
#ifndef Z_MIN_PROBE_PIN
#define Z_MIN_PROBE_PIN 43
#endif
//
// Steppers
//
#define X_STEP_PIN 37 // Support Extension Board
#define X_DIR_PIN 36
#define X_ENABLE_PIN 38
#define Y_STEP_PIN 32 // Support Extension Board
#define Y_DIR_PIN 35
#define Y_ENABLE_PIN 34
#define Z_STEP_PIN 30 // Support Extension Board
#define Z_DIR_PIN 2
#define Z_ENABLE_PIN 33
#define E0_STEP_PIN 29
#define E0_DIR_PIN 28
#define E0_ENABLE_PIN 31
#define E1_STEP_PIN 22
#define E1_DIR_PIN 24
#define E1_ENABLE_PIN 26
#define E2_STEP_PIN 25
#define E2_DIR_PIN 23
#define E2_ENABLE_PIN 27
#define E3_STEP_PIN 15 // Only For Extension Board
#define E3_DIR_PIN 14
#define E3_ENABLE_PIN 61
//#define X_CS_PIN -1
//#define Y_CS_PIN -1
//#define Z_CS_PIN -1
//#define E0_CS_PIN -1
//#define E1_CS_PIN -1
//#define E2_CS_PIN -1
//#define E3_CS_PIN -1
// For Future: Microstepping pins - Mapping not from fastio.h (?)
//#define E3_MS1_PIN ?
//#define E3_MS2_PIN ?
//#define E3_MS3_PIN ?
//#define Z2_MS1_PIN ? // shared with E3_MS1_PIN
//#define Z2_MS2_PIN ? // shared with E3_MS2_PIN
//#define Z2_MS3_PIN ? // shared with E3_MS3_PIN
#if DISABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
#define Z_MIN_PROBE_PIN 49
#endif
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
#ifndef FIL_RUNOUT_PIN
#define FIL_RUNOUT_PIN Y_MIN_PIN
#endif
#endif
//
// Heaters / Fans
//
#define HEATER_0_PIN 13
#define HEATER_1_PIN 12
#define HEATER_2_PIN 11
#define HEATER_BED_PIN 7 // BED H1
#ifndef FAN_PIN
#define FAN_PIN 9
#endif
#define FAN1_PIN 8
#define CONTROLLER_FAN_PIN -1
//
// Temperature Sensors
//
#define TEMP_0_PIN 0 // ANALOG A0
#define TEMP_1_PIN 1 // ANALOG A1
#define TEMP_2_PIN 2 // ANALOG A2
#define TEMP_3_PIN 3 // ANALOG A2
#define TEMP_BED_PIN 4 // ANALOG A3
//Thermocouple Use Analog Pins
#if ENABLED(VER_WITH_THERMOCOUPLE) // If Nead, define is in Configuration.h
#define TEMP_4_PIN 5 // A5
#define TEMP_5_PIN 6 // A6 (Marlin 2.0 not support)
#endif
// SPI for Max6675 or Max31855 Thermocouple
//#if DISABLED(SDSUPPORT)
// #define MAX6675_SS 53
//#else
// #define MAX6675_SS 49
//#endif
//
// Servos
//
#define SERVO0_PIN 5
#define SERVO1_PIN 3
#define SERVO2_PIN -1
#define SERVO3_PIN -1
//
// Misc. Functions
//
#define SDSS 4 // 4,10,52 if using HW SPI.
#define LED_PIN -1 // 13 - HEATER_0_PIN
#define PS_ON_PIN -1 // 65
// MKS TFT / Nextion Use internal USART-1
#define TFT_LCD_MODULE_COM 1
#define TFT_LCD_MODULE_BAUDRATE 115600
// ESP WiFi Use internal USART-2
#define ESP_WIFI_MODULE_COM 2
#define ESP_WIFI_MODULE_BAUDRATE 115600
#define ESP_WIFI_MODULE_RESET_PIN -1
#define PIGGY_GPIO_PIN -1
//
// EEPROM
//
#define E2END 0x7FFF // 32Kb (24lc256)
#define I2C_EEPROM // EEPROM on I2C-0
//#define EEPROM_SD // EEPROM on SDCARD
//#define SPI_EEPROM // EEPROM on SPI-0
//#define SPI_CHAN_EEPROM1 ?
//#define SPI_EEPROM1_CS ?
// 2K EEPROM
//#define SPI_EEPROM2_CS ?
// 32Mb FLASH
//#define SPI_FLASH_CS ?
//
// LCD / Controller
//
#if ENABLED(ULTRA_LCD)
#if ENABLED(RADDS_DISPLAY) || ENABLED(REPRAP_DISCOUNT_SMART_CONTROLLER)
#define LCD_PINS_RS 63
#define LCD_PINS_ENABLE 64
#define LCD_PINS_D4 48
#define LCD_PINS_D5 50
#define LCD_PINS_D6 52
#define LCD_PINS_D7 53
#define BEEPER_PIN 62
#define BTN_EN1 44
#define BTN_EN2 42
#define BTN_ENC 40
#define SD_DETECT_PIN 51
#elif ENABLED(REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER)
#define LCD_PINS_RS 52
#define LCD_PINS_ENABLE 53
#define LCD_PINS_D4 48
#define LCD_PINS_D5 50
#define LCD_PINS_D6 52
#define LCD_PINS_D7 53
#define BEEPER_PIN 62
#if ENABLED(REPRAP_DISCOUNT_SMART_CONTROLLER)
#define BTN_EN1 44
#define BTN_EN2 42
#define BTN_ENC 40
#define SD_DETECT_PIN 51
#endif
#elif ENABLED(SSD1306_OLED_I2C_CONTROLLER)
#define BTN_EN1 44
#define BTN_EN2 42
#define BTN_ENC 40
#define BEEPER_PIN 62
#define LCD_SDSS 10
#define SD_DETECT_PIN 51
#elif ENABLED(SPARK_FULL_GRAPHICS)
//http://doku.radds.org/dokumentation/other-electronics/sparklcd/
#error "Oops! SPARK_FULL_GRAPHICS not supported with RURAMPS4D."
//#define LCD_PINS_D4 29//?
//#define LCD_PINS_ENABLE 27//?
//#define LCD_PINS_RS 25//?
//#define BTN_EN1 35//?
//#define BTN_EN2 33//?
//#define BTN_ENC 37//?
#endif // SPARK_FULL_GRAPHICS
#endif // ULTRA_LCD