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HAL for Linux (#13146)

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This commit is contained in:
Scott Lahteine
2019-02-22 19:09:10 -06:00
committed by GitHub
parent 5eb82ca6a8
commit 15aa932aa6
45 changed files with 3064 additions and 3 deletions
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125
Marlin/src/HAL/HAL_LINUX/include/Arduino.h Normal file
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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2019 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/>.
*
*/
#pragma once
#include <stddef.h>
#include <stdint.h>
#include <math.h>
#include <cstring>
#include <pinmapping.h>
#define HIGH 0x01
#define LOW 0x00
#define INPUT 0x00
#define OUTPUT 0x01
#define INPUT_PULLUP 0x02
#define INPUT_PULLDOWN 0x03
#define LSBFIRST 0
#define MSBFIRST 1
#define CHANGE 0x02
#define FALLING 0x03
#define RISING 0x04
#define E2END 0xFFF // EEPROM end address
typedef uint8_t byte;
#define PROGMEM
#define PSTR(v) (v)
#define PGM_P const char *
// Used for libraries, preprocessor, and constants
#define min(a,b) ((a)<(b)?(a):(b))
#define max(a,b) ((a)>(b)?(a):(b))
#define abs(x) ((x)>0?(x):-(x))
#ifndef isnan
#define isnan std::isnan
#endif
#ifndef isinf
#define isinf std::isinf
#endif
#define sq(v) ((v) * (v))
#define square(v) sq(v)
#define constrain(value, arg_min, arg_max) ((value) < (arg_min) ? (arg_min) :((value) > (arg_max) ? (arg_max) : (value)))
//Interrupts
void cli(void); // Disable
void sei(void); // Enable
void attachInterrupt(uint32_t pin, void (*callback)(void), uint32_t mode);
void detachInterrupt(uint32_t pin);
extern "C" void GpioEnableInt(uint32_t port, uint32_t pin, uint32_t mode);
extern "C" void GpioDisableInt(uint32_t port, uint32_t pin);
// Program Memory
#define pgm_read_ptr(addr) (*((void**)(addr)))
#define pgm_read_byte_near(addr) (*((uint8_t*)(addr)))
#define pgm_read_float_near(addr) (*((float*)(addr)))
#define pgm_read_word_near(addr) (*((uint16_t*)(addr)))
#define pgm_read_dword_near(addr) (*((uint32_t*)(addr)))
#define pgm_read_byte(addr) pgm_read_byte_near(addr)
#define pgm_read_float(addr) pgm_read_float_near(addr)
#define pgm_read_word(addr) pgm_read_word_near(addr)
#define pgm_read_dword(addr) pgm_read_dword_near(addr)
using std::memcpy;
#define memcpy_P memcpy
#define sprintf_P sprintf
#define strstr_P strstr
#define strncpy_P strncpy
#define vsnprintf_P vsnprintf
#define strcpy_P strcpy
#define snprintf_P snprintf
#define strlen_P strlen
// Time functions
extern "C" {
void delay(const int milis);
}
void _delay_ms(const int delay);
void delayMicroseconds(unsigned long);
uint32_t millis();
//IO functions
void pinMode(const pin_t, const uint8_t);
void digitalWrite(pin_t, uint8_t);
bool digitalRead(pin_t);
void analogWrite(pin_t, int);
uint16_t analogRead(pin_t);
// EEPROM
void eeprom_write_byte(unsigned char *pos, unsigned char value);
unsigned char eeprom_read_byte(unsigned char *pos);
void eeprom_read_block (void *__dst, const void *__src, size_t __n);
void eeprom_update_block (const void *__src, void *__dst, size_t __n);
int32_t random(int32_t);
int32_t random(int32_t, int32_t);
void randomSeed(uint32_t);
char *dtostrf (double __val, signed char __width, unsigned char __prec, char *__s);
int map(uint16_t x, uint16_t in_min, uint16_t in_max, uint16_t out_min, uint16_t out_max);

70
Marlin/src/HAL/HAL_LINUX/include/pinmapping.cpp Normal file
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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2019 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 __PLAT_LINUX__
#include <pinmapping.h>
#include "../../../gcode/parser.h"
uint8_t analog_offset = NUM_DIGITAL_PINS - NUM_ANALOG_INPUTS;
// Get the digital pin for an analog index
pin_t analogInputToDigitalPin(const int8_t p) {
return (WITHIN(p, 0, NUM_ANALOG_INPUTS) ? analog_offset + p : P_NC);
}
// Return the index of a pin number
int16_t GET_PIN_MAP_INDEX(const pin_t pin) {
return pin;
}
// Test whether the pin is valid
bool VALID_PIN(const pin_t p) {
return WITHIN(p, 0, NUM_DIGITAL_PINS);
}
// Get the analog index for a digital pin
int8_t DIGITAL_PIN_TO_ANALOG_PIN(const pin_t p) {
return (WITHIN(p, analog_offset, NUM_DIGITAL_PINS) ? p - analog_offset : P_NC);
}
// Test whether the pin is PWM
bool PWM_PIN(const pin_t p) {
return false;
}
// Test whether the pin is interruptable
bool INTERRUPT_PIN(const pin_t p) {
return false;
}
// Get the pin number at the given index
pin_t GET_PIN_MAP_PIN(const int16_t ind) {
return ind;
}
int16_t PARSED_PIN_INDEX(const char code, const int16_t dval) {
return parser.intval(code, dval);
}
#endif // __PLAT_LINUX__

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Marlin/src/HAL/HAL_LINUX/include/pinmapping.h Normal file
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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2019 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/>.
*
*/
#pragma once
#include "../../../inc/MarlinConfigPre.h"
#include <stdint.h>
#include "../hardware/Gpio.h"
typedef pin_type pin_t;
#define P_NC -1
constexpr uint16_t NUM_DIGITAL_PINS = Gpio::pin_count;
constexpr uint8_t NUM_ANALOG_INPUTS = 16;
#define HAL_SENSITIVE_PINS
// Get the digital pin for an analog index
pin_t analogInputToDigitalPin(const int8_t p);
// Return the index of a pin number
int16_t GET_PIN_MAP_INDEX(const pin_t pin);
// Test whether the pin is valid
bool VALID_PIN(const pin_t p);
// Get the analog index for a digital pin
int8_t DIGITAL_PIN_TO_ANALOG_PIN(const pin_t p);
// Test whether the pin is PWM
bool PWM_PIN(const pin_t p);
// Test whether the pin is interruptable
bool INTERRUPT_PIN(const pin_t p);
// Get the pin number at the given index
pin_t GET_PIN_MAP_PIN(const int16_t ind);
// Parse a G-code word into a pin index
int16_t PARSED_PIN_INDEX(const char code, const int16_t dval);

207
Marlin/src/HAL/HAL_LINUX/include/serial.h Normal file
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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2019 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/>.
*
*/
#pragma once
#include "../../../inc/MarlinConfigPre.h"
#if ENABLED(EMERGENCY_PARSER)
#include "../../../feature/emergency_parser.h"
#endif
#include <stdarg.h>
#include <stdio.h>
/**
* Generic RingBuffer
* T type of the buffer array
* S size of the buffer (must be power of 2)
*
*/
template <typename T, uint32_t S> class RingBuffer {
public:
RingBuffer() { index_read = index_write = 0; }
uint32_t available() volatile { return index_write - index_read; }
uint32_t free() volatile { return buffer_size - available(); }
bool empty() volatile { return index_read == index_write; }
bool full() volatile { return available() == buffer_size; }
void clear() volatile { index_read = index_write = 0; }
bool peek(T *value) volatile {
if (value == 0 || available() == 0)
return false;
*value = buffer[mask(index_read)];
return true;
}
int read() volatile {
if (empty()) return -1;
return buffer[mask(index_read++)];
}
bool write(T value) volatile {
if (full()) return false;
buffer[mask(index_write++)] = value;
return true;
}
private:
uint32_t mask(uint32_t val) volatile {
return buffer_mask & val;
}
static const uint32_t buffer_size = S;
static const uint32_t buffer_mask = buffer_size - 1;
volatile T buffer[buffer_size];
volatile uint32_t index_write;
volatile uint32_t index_read;
};
class HalSerial {
public:
#if ENABLED(EMERGENCY_PARSER)
EmergencyParser::State emergency_state;
#endif
HalSerial() { host_connected = true; }
void begin(int32_t baud) {
}
int peek() {
uint8_t value;
return receive_buffer.peek(&value) ? value : -1;
}
int read() { return receive_buffer.read(); }
size_t write(char c) {
if (!host_connected) return 0;
while (!transmit_buffer.free());
return transmit_buffer.write(c);
}
operator bool() { return host_connected; }
uint16_t available() {
return (uint16_t)receive_buffer.available();
}
void flush() { receive_buffer.clear(); }
uint8_t availableForWrite(void){
return transmit_buffer.free() > 255 ? 255 : (uint8_t)transmit_buffer.free();
}
void flushTX(void){
if (host_connected)
while (transmit_buffer.available()) { /* nada */ }
}
void printf(const char *format, ...) {
static char buffer[256];
va_list vArgs;
va_start(vArgs, format);
int length = vsnprintf((char *) buffer, 256, (char const *) format, vArgs);
va_end(vArgs);
if (length > 0 && length < 256) {
if (host_connected) {
for (int i = 0; i < length;) {
if (transmit_buffer.write(buffer[i])) {
++i;
}
}
}
}
}
#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) write(' ');
if (!(i % 16) && i) write(' ');
if (value & mask) write('1');
else write('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'); }
volatile RingBuffer<uint8_t, 128> receive_buffer;
volatile RingBuffer<uint8_t, 128> transmit_buffer;
volatile bool host_connected;
};