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♻️ Refactor HAL as singleton (#23357, #23871, #23897)

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This commit is contained in:
Scott Lahteine
2022-02-17 18:50:31 -06:00
committed by Scott Lahteine
parent 428b67db31
commit 56cec9690a
81 changed files with 1976 additions and 1418 deletions
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85
Marlin/src/HAL/TEENSY31_32/HAL.cpp
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@@ -31,6 +31,10 @@
#include <Wire.h>
// ------------------------
// Serial ports
// ------------------------
#define _IMPLEMENT_SERIAL(X) DefaultSerial##X MSerial##X(false, Serial##X)
#define IMPLEMENT_SERIAL(X) _IMPLEMENT_SERIAL(X)
#if WITHIN(SERIAL_PORT, 0, 3)
@@ -40,45 +44,9 @@
#endif
USBSerialType USBSerial(false, SerialUSB);
uint16_t HAL_adc_result;
static const uint8_t pin2sc1a[] = {
5, 14, 8, 9, 13, 12, 6, 7, 15, 4, 0, 19, 3, 31, // 0-13, we treat them as A0-A13
5, 14, 8, 9, 13, 12, 6, 7, 15, 4, // 14-23 (A0-A9)
31, 31, 31, 31, 31, 31, 31, 31, 31, 31, // 24-33
0+64, 19+64, 3+64, 31+64, // 34-37 (A10-A13)
26, 22, 23, 27, 29, 30 // 38-43: temp. sensor, VREF_OUT, A14, bandgap, VREFH, VREFL. A14 isn't connected to anything in Teensy 3.0.
};
/*
// disable interrupts
void cli() { noInterrupts(); }
// enable interrupts
void sei() { interrupts(); }
*/
void HAL_adc_init() {
analog_init();
while (ADC0_SC3 & ADC_SC3_CAL) {}; // Wait for calibration to finish
NVIC_ENABLE_IRQ(IRQ_FTM1);
}
void HAL_clear_reset_source() { }
uint8_t HAL_get_reset_source() {
switch (RCM_SRS0) {
case 128: return RST_POWER_ON; break;
case 64: return RST_EXTERNAL; break;
case 32: return RST_WATCHDOG; break;
// case 8: return RST_LOSS_OF_LOCK; break;
// case 4: return RST_LOSS_OF_CLOCK; break;
// case 2: return RST_LOW_VOLTAGE; break;
}
return 0;
}
void HAL_reboot() { _reboot_Teensyduino_(); }
// ------------------------
// Class Utilities
// ------------------------
extern "C" {
extern char __bss_end;
@@ -95,8 +63,43 @@ extern "C" {
}
}
void HAL_adc_start_conversion(const uint8_t adc_pin) { ADC0_SC1A = pin2sc1a[adc_pin]; }
// ------------------------
// MarlinHAL Class
// ------------------------
uint16_t HAL_adc_get_result() { return ADC0_RA; }
void MarlinHAL::reboot() { _reboot_Teensyduino_(); }
uint8_t MarlinHAL::get_reset_source() {
switch (RCM_SRS0) {
case 128: return RST_POWER_ON; break;
case 64: return RST_EXTERNAL; break;
case 32: return RST_WATCHDOG; break;
// case 8: return RST_LOSS_OF_LOCK; break;
// case 4: return RST_LOSS_OF_CLOCK; break;
// case 2: return RST_LOW_VOLTAGE; break;
}
return 0;
}
// ADC
void MarlinHAL::adc_init() {
analog_init();
while (ADC0_SC3 & ADC_SC3_CAL) {}; // Wait for calibration to finish
NVIC_ENABLE_IRQ(IRQ_FTM1);
}
void MarlinHAL::adc_start(const pin_t pin) {
static const uint8_t pin2sc1a[] = {
5, 14, 8, 9, 13, 12, 6, 7, 15, 4, 0, 19, 3, 31, // 0-13, we treat them as A0-A13
5, 14, 8, 9, 13, 12, 6, 7, 15, 4, // 14-23 (A0-A9)
31, 31, 31, 31, 31, 31, 31, 31, 31, 31, // 24-33
0+64, 19+64, 3+64, 31+64, // 34-37 (A10-A13)
26, 22, 23, 27, 29, 30 // 38-43: temp. sensor, VREF_OUT, A14, bandgap, VREFH, VREFL. A14 isn't connected to anything in Teensy 3.0.
};
ADC0_SC1A = pin2sc1a[pin];
}
uint16_t MarlinHAL::adc_value() { return ADC0_RA; }
#endif // __MK20DX256__

130
Marlin/src/HAL/TEENSY31_32/HAL.h
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@@ -36,12 +36,9 @@
#include <stdint.h>
#define CPU_ST7920_DELAY_1 600
#define CPU_ST7920_DELAY_2 750
#define CPU_ST7920_DELAY_3 750
//#undef MOTHERBOARD
//#define MOTHERBOARD BOARD_TEENSY31_32
// ------------------------
// Defines
// ------------------------
#define IS_32BIT_TEENSY 1
#define IS_TEENSY_31_32 1
@@ -49,6 +46,14 @@
#define IS_TEENSY32 1
#endif
#define CPU_ST7920_DELAY_1 600
#define CPU_ST7920_DELAY_2 750
#define CPU_ST7920_DELAY_3 750
// ------------------------
// Serial ports
// ------------------------
#include "../../core/serial_hook.h"
#define Serial0 Serial
@@ -72,31 +77,44 @@ extern USBSerialType USBSerial;
#error "The required SERIAL_PORT must be from 0 to 3, or -1 for Native USB."
#endif
#define HAL_SERVO_LIB libServo
// ------------------------
// Types
// ------------------------
class libServo;
typedef libServo hal_servo_t;
typedef int8_t pin_t;
// ------------------------
// Interrupts
// ------------------------
uint32_t __get_PRIMASK(void); // CMSIS
#define CRITICAL_SECTION_START() const bool irqon = !__get_PRIMASK(); __disable_irq()
#define CRITICAL_SECTION_END() if (irqon) __enable_irq()
// ------------------------
// ADC
// ------------------------
#ifndef analogInputToDigitalPin
#define analogInputToDigitalPin(p) ((p < 12U) ? (p) + 54U : -1)
#endif
#define CRITICAL_SECTION_START() uint32_t primask = __get_PRIMASK(); __disable_irq()
#define CRITICAL_SECTION_END() if (!primask) __enable_irq()
#define ISRS_ENABLED() (!__get_PRIMASK())
#define ENABLE_ISRS() __enable_irq()
#define DISABLE_ISRS() __disable_irq()
#define HAL_ADC_VREF 3.3
#define HAL_ADC_RESOLUTION 10
inline void HAL_init() {}
//
// Pin Mapping for M42, M43, M226
//
#define GET_PIN_MAP_PIN(index) index
#define GET_PIN_MAP_INDEX(pin) pin
#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
// Clear the reset reason
void HAL_clear_reset_source();
// Get the reason for the reset
uint8_t HAL_get_reset_source();
void HAL_reboot();
FORCE_INLINE void _delay_ms(const int delay_ms) { delay(delay_ms); }
// ------------------------
// Class Utilities
// ------------------------
#pragma GCC diagnostic push
#if GCC_VERSION <= 50000
@@ -107,27 +125,63 @@ extern "C" int freeMemory();
#pragma GCC diagnostic pop
// ADC
// ------------------------
// MarlinHAL Class
// ------------------------
void HAL_adc_init();
class MarlinHAL {
public:
#define HAL_ADC_VREF 3.3
#define HAL_ADC_RESOLUTION 10
#define HAL_START_ADC(pin) HAL_adc_start_conversion(pin)
#define HAL_READ_ADC() HAL_adc_get_result()
#define HAL_ADC_READY() true
// Earliest possible init, before setup()
MarlinHAL() {}
#define HAL_ANALOG_SELECT(pin)
static void init() {} // Called early in setup()
static void init_board() {} // Called less early in setup()
static void reboot(); // Restart the firmware from 0x0
void HAL_adc_start_conversion(const uint8_t adc_pin);
uint16_t HAL_adc_get_result();
// Interrupts
static bool isr_state() { return !__get_PRIMASK(); }
static void isr_on() { __enable_irq(); }
static void isr_off() { __disable_irq(); }
// PWM
static void delay_ms(const int ms) { delay(ms); }
inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { analogWrite(pin, v); }
// Tasks, called from idle()
static void idletask() {}
// Pin Map
// Reset
static uint8_t get_reset_source();
static void clear_reset_source() {}
#define GET_PIN_MAP_PIN(index) index
#define GET_PIN_MAP_INDEX(pin) pin
#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
// Free SRAM
static int freeMemory() { return ::freeMemory(); }
//
// ADC Methods
//
// Called by Temperature::init once at startup
static void adc_init();
// Called by Temperature::init for each sensor at startup
static void adc_enable(const pin_t ch) {}
// Begin ADC sampling on the given channel
static void adc_start(const pin_t ch);
// Is the ADC ready for reading?
static bool adc_ready() { return true; }
// The current value of the ADC register
static uint16_t adc_value();
/**
* Set the PWM duty cycle for the pin to the given value.
* No option to invert the duty cycle [default = false]
* No option to change the scale of the provided value to enable finer PWM duty control [default = 255]
*/
static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
analogWrite(pin, v);
}
};

2
Marlin/src/HAL/TEENSY31_32/timers.h
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@@ -110,4 +110,4 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num);
bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
void HAL_timer_isr_prologue(const uint8_t timer_num);
#define HAL_timer_isr_epilogue(T)
#define HAL_timer_isr_epilogue(T) NOOP