Bart Meijer
213 lines
7.2 KiB
C++
213 lines
7.2 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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/**
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* SAMD21 HAL developed by Bart Meijer (brupje)
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* Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
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*/
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#ifdef __SAMD21__
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#include "../../inc/MarlinConfig.h"
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#include <wiring_private.h>
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#if USING_HW_SERIALUSB
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DefaultSerial1 MSerialUSB(false, SerialUSB);
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#endif
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#if USING_HW_SERIAL0
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DefaultSerial2 MSerial1(false, Serial1);
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#endif
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#if USING_HW_SERIAL1
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DefaultSerial3 MSerial2(false, Serial2);
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#endif
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#define WDT_CONFIG_PER_7_Val 0x9u
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#define WDT_CONFIG_PER_Pos 0
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#define WDT_CONFIG_PER_7 (WDT_CONFIG_PER_7_Val << WDT_CONFIG_PER_Pos)
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#if ENABLED(USE_WATCHDOG)
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#define WDT_TIMEOUT_REG TERN(WATCHDOG_DURATION_8S, WDT_CONFIG_PER_CYC8192, WDT_CONFIG_PER_CYC4096) // 4 or 8 second timeout
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void MarlinHAL::watchdog_init() {
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// Set up the generic clock (GCLK2) used to clock the watchdog timer at 1.024kHz
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GCLK->GENDIV.reg = GCLK_GENDIV_DIV(4) | // Divide the 32.768kHz clock source by divisor 32, where 2^(4 + 1): 32.768kHz/32=1.024kHz
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GCLK_GENDIV_ID(2); // Select Generic Clock (GCLK) 2
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while (GCLK->STATUS.bit.SYNCBUSY); // Wait for synchronization
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REG_GCLK_GENCTRL = GCLK_GENCTRL_DIVSEL | // Set to divide by 2^(GCLK_GENDIV_DIV(4) + 1)
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GCLK_GENCTRL_IDC | // Set the duty cycle to 50/50 HIGH/LOW
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GCLK_GENCTRL_GENEN | // Enable GCLK2
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GCLK_GENCTRL_SRC_OSCULP32K | // Set the clock source to the ultra low power oscillator (OSCULP32K)
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GCLK_GENCTRL_ID(2); // Select GCLK2
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while (GCLK->STATUS.bit.SYNCBUSY); // Wait for synchronization
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// Feed GCLK2 to WDT (Watchdog Timer)
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REG_GCLK_CLKCTRL = GCLK_CLKCTRL_CLKEN | // Enable GCLK2 to the WDT
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GCLK_CLKCTRL_GEN_GCLK2 | // Select GCLK2
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GCLK_CLKCTRL_ID_WDT; // Feed the GCLK2 to the WDT
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while (GCLK->STATUS.bit.SYNCBUSY); // Wait for synchronization
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WDT->CONFIG.bit.PER = WDT_CONFIG_PER_7; // Set the WDT reset timeout to 4 seconds
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while (WDT->STATUS.bit.SYNCBUSY); // Wait for synchronization
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REG_WDT_CTRL = WDT_CTRL_ENABLE; // Enable the WDT in normal mode
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while (WDT->STATUS.bit.SYNCBUSY); // Wait for synchronization
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}
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// Reset watchdog. MUST be called at least every 4 seconds after the
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// first watchdog_init or SAMD will go into emergency procedures.
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void MarlinHAL::watchdog_refresh() {
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WDT->CLEAR.reg = WDT_CLEAR_CLEAR_KEY;
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while (WDT->STATUS.bit.SYNCBUSY);
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}
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#endif
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// ------------------------
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// Types
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// ------------------------
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// ------------------------
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// Private Variables
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// ------------------------
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// ------------------------
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// Private functions
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// ------------------------
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void MarlinHAL::dma_init() {}
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// ------------------------
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// Public functions
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// ------------------------
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// HAL initialization task
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void MarlinHAL::init() {
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TERN_(DMA_IS_REQUIRED, dma_init());
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#if ENABLED(SDSUPPORT)
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#if HAS_SD_DETECT && SD_CONNECTION_IS(ONBOARD)
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SET_INPUT_PULLUP(SD_DETECT_PIN);
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#endif
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OUT_WRITE(SDSS, HIGH); // Try to set SDSS inactive before any other SPI users start up
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#endif
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}
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#pragma push_macro("WDT")
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#undef WDT // Required to be able to use '.bit.WDT'. Compiler wrongly replace struct field with WDT define
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uint8_t MarlinHAL::get_reset_source() {
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return 0;
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}
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#pragma pop_macro("WDT")
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void MarlinHAL::reboot() { NVIC_SystemReset(); }
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extern "C" {
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void * _sbrk(int incr);
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extern unsigned int __bss_end__; // end of bss section
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}
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// Return free memory between end of heap (or end bss) and whatever is current
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int freeMemory() {
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int free_memory, heap_end = (int)_sbrk(0);
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return (int)&free_memory - (heap_end ?: (int)&__bss_end__);
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}
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// ------------------------
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// ADC
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// ------------------------
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uint16_t MarlinHAL::adc_result;
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void MarlinHAL::adc_init() {
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/* thanks to https://www.eevblog.com/forum/microcontrollers/samd21g18-adc-with-resrdy-interrupts-only-reads-once-or-twice/ */
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ADC->CTRLA.bit.ENABLE = false;
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while(ADC->STATUS.bit.SYNCBUSY);
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// load chip corrections
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uint32_t bias = (*((uint32_t *) ADC_FUSES_BIASCAL_ADDR) & ADC_FUSES_BIASCAL_Msk) >> ADC_FUSES_BIASCAL_Pos;
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uint32_t linearity = (*((uint32_t *) ADC_FUSES_LINEARITY_0_ADDR) & ADC_FUSES_LINEARITY_0_Msk) >> ADC_FUSES_LINEARITY_0_Pos;
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linearity |= ((*((uint32_t *) ADC_FUSES_LINEARITY_1_ADDR) & ADC_FUSES_LINEARITY_1_Msk) >> ADC_FUSES_LINEARITY_1_Pos) << 5;
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/* Wait for bus synchronization. */
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while (ADC->STATUS.bit.SYNCBUSY) {};
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ADC->CALIB.reg = ADC_CALIB_BIAS_CAL(bias) | ADC_CALIB_LINEARITY_CAL(linearity);
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/* Wait for bus synchronization. */
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while (ADC->STATUS.bit.SYNCBUSY) {};
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ADC->CTRLA.bit.SWRST = true;
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while(ADC->STATUS.bit.SYNCBUSY);
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ADC->REFCTRL.reg = ADC_REFCTRL_REFSEL_INTVCC1;
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ADC->AVGCTRL.reg = ADC_AVGCTRL_SAMPLENUM_32| ADC_AVGCTRL_ADJRES(4);;
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ADC->CTRLB.reg = ADC_CTRLB_PRESCALER_DIV128 |
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ADC_CTRLB_RESSEL_16BIT |
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ADC_CTRLB_FREERUN;
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while(ADC->STATUS.bit.SYNCBUSY);
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ADC->SAMPCTRL.bit.SAMPLEN = 0x00;
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while(ADC->STATUS.bit.SYNCBUSY);
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ADC->INPUTCTRL.reg = ADC_INPUTCTRL_INPUTSCAN(HAL_ADC_AIN_LEN) // scan (INPUTSCAN + NUM_EXTUDERS - 1) pins
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| ADC_INPUTCTRL_GAIN_DIV2 |ADC_INPUTCTRL_MUXNEG_GND| HAL_ADC_AIN_START ; /* set to first AIN */
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while(ADC->STATUS.bit.SYNCBUSY);
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ADC->INTENSET.reg |= ADC_INTENSET_RESRDY; // enable Result Ready ADC interrupts
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while (ADC->STATUS.bit.SYNCBUSY);
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NVIC_EnableIRQ(ADC_IRQn); // enable ADC interrupts
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NVIC_SetPriority(ADC_IRQn, 3);
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ADC->CTRLA.bit.ENABLE = true;
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}
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volatile uint32_t adc_results[HAL_ADC_AIN_NUM_SENSORS];
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void ADC_Handler() {
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while(ADC->STATUS.bit.SYNCBUSY == 1);
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int pos = ADC->INPUTCTRL.bit.INPUTOFFSET;
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adc_results[pos] = ADC->RESULT.reg; /* Read the value. */
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ADC->INTFLAG.reg = ADC_INTENSET_RESRDY; /* Clear the data ready flag. */
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}
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void MarlinHAL::adc_start(const pin_t pin) {
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/* due to the way INPUTOFFSET works, the last sensor is the first position in the array
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and we want the ADC_handler interrupt to be as simple possible, so we do the calculation here.
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*/
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unsigned int pos = PIN_TO_INPUTCTRL(pin) - HAL_ADC_AIN_START + 1;
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if (pos == HAL_ADC_AIN_NUM_SENSORS) pos = 0;
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adc_result = adc_results[pos]; // 16-bit resolution
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//adc_result = 0xFFFF;
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}
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#endif // __SAMD21__
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