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

2022-02-17 18:50:31 -06:00
parent 428b67db31
commit 56cec9690a
81 changed files with 1976 additions and 1418 deletions
--- a/Marlin/src/HAL/TEENSY35_36/HAL.cpp
+++ b/Marlin/src/HAL/TEENSY35_36/HAL.cpp
@@ -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)
@@ -39,54 +43,9 @@

 USBSerialType USBSerial(false, SerialUSB);

-uint16_t HAL_adc_result, HAL_adc_select;
-
-static const uint8_t pin2sc1a[] = {
-  5, 14, 8, 9, 13, 12, 6, 7, 15, 4, 3, 19+128, 14+128, 15+128, // 0-13 -> A0-A13
-  5, 14, 8, 9, 13, 12, 6, 7, 15, 4, // 14-23 are A0-A9
-  255, 255, 255, 255, 255, 255, 255, // 24-30 are digital only
-  14+128, 15+128, 17, 18, 4+128, 5+128, 6+128, 7+128, 17+128,  // 31-39 are A12-A20
-  255, 255, 255, 255, 255, 255, 255, 255, 255,  // 40-48 are digital only
-  10+128, 11+128, // 49-50 are A23-A24
-  255, 255, 255, 255, 255, 255, 255, // 51-57 are digital only
-  255, 255, 255, 255, 255, 255, // 58-63 (sd card pins) are digital only
-  3, 19+128, // 64-65 are A10-A11
-  23, 23+128,// 66-67 are A21-A22 (DAC pins)
-  1, 1+128,  // 68-69 are A25-A26 (unused USB host port on Teensy 3.5)
-  26,        // 70 is Temperature Sensor
-  18+128     // 71 is Vref
-};
-
-/*
-  // 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
-  while (ADC1_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;
@@ -103,24 +62,69 @@ extern "C" {
  }
 }

-void HAL_adc_start_conversion(const uint8_t adc_pin) {
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+void MarlinHAL::reboot() { _reboot_Teensyduino_(); }
+
+// Reset
+
+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
+
+int8_t MarlinHAL::adc_select;
+
+void MarlinHAL::adc_init() {
+  analog_init();
+  while (ADC0_SC3 & ADC_SC3_CAL) { /* Wait for calibration to finish */ }
+  while (ADC1_SC3 & ADC_SC3_CAL) { /* Wait for calibration to finish */ }
+  NVIC_ENABLE_IRQ(IRQ_FTM1);
+}
+
+void MarlinHAL::adc_start(const pin_t adc_pin) {
+  static const uint8_t pin2sc1a[] = {
+    5, 14, 8, 9, 13, 12, 6, 7, 15, 4, 3, 19+128, 14+128, 15+128, // 0-13 -> A0-A13
+    5, 14, 8, 9, 13, 12, 6, 7, 15, 4, // 14-23 are A0-A9
+    255, 255, 255, 255, 255, 255, 255, // 24-30 are digital only
+    14+128, 15+128, 17, 18, 4+128, 5+128, 6+128, 7+128, 17+128,  // 31-39 are A12-A20
+    255, 255, 255, 255, 255, 255, 255, 255, 255,  // 40-48 are digital only
+    10+128, 11+128, // 49-50 are A23-A24
+    255, 255, 255, 255, 255, 255, 255, // 51-57 are digital only
+    255, 255, 255, 255, 255, 255, // 58-63 (sd card pins) are digital only
+    3, 19+128, // 64-65 are A10-A11
+    23, 23+128,// 66-67 are A21-A22 (DAC pins)
+    1, 1+128,  // 68-69 are A25-A26 (unused USB host port on Teensy 3.5)
+    26,        // 70 is Temperature Sensor
+    18+128     // 71 is Vref
+  };
  const uint16_t pin = pin2sc1a[adc_pin];
  if (pin == 0xFF) {
-    // Digital only
-    HAL_adc_select = -1;
+    adc_select = -1;    // Digital only
  }
  else if (pin & 0x80) {
-    HAL_adc_select = 1;
+    adc_select = 1;
    ADC1_SC1A = pin & 0x7F;
  }
  else {
-    HAL_adc_select = 0;
+    adc_select = 0;
    ADC0_SC1A = pin;
  }
 }

-uint16_t HAL_adc_get_result() {
-  switch (HAL_adc_select) {
+uint16_t MarlinHAL::adc_value() {
+  switch (adc_select) {
    case 0: return ADC0_RA;
    case 1: return ADC1_RA;
  }
--- a/Marlin/src/HAL/TEENSY35_36/HAL.h
+++ b/Marlin/src/HAL/TEENSY35_36/HAL.h
@@ -37,10 +37,6 @@
 #include <stdint.h>
 #include <util/atomic.h>

-#define CPU_ST7920_DELAY_1 600
-#define CPU_ST7920_DELAY_2 750
-#define CPU_ST7920_DELAY_3 750
-
 // ------------------------
 // Defines
 // ------------------------
@@ -53,6 +49,17 @@
  #define IS_TEENSY35 1
 #endif

+#define CPU_ST7920_DELAY_1 600
+#define CPU_ST7920_DELAY_2 750
+#define CPU_ST7920_DELAY_3 750
+
+#undef sq
+#define sq(x) ((x)*(x))
+
+// ------------------------
+// Serial ports
+// ------------------------
+
 #include "../../core/serial_hook.h"

 #define Serial0 Serial
@@ -76,34 +83,43 @@ extern USBSerialType USBSerial;
  #error "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
+// ------------------------
+
+#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

-#undef sq
-#define sq(x) ((x)*(x))
+//
+// 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)

-inline void HAL_init() {}
-
-// Clear reset reason
-void HAL_clear_reset_source();
-
-// Reset reason
-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
@@ -114,27 +130,65 @@ 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 true; }
+  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
+  //
+
+  static int8_t adc_select;
+
+  // 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) {}
+
+  // Begin ADC sampling on the given channel
+  static void adc_start(const pin_t pin);
+
+  // 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);
+  }
+
+};
--- a/Marlin/src/HAL/TEENSY35_36/timers.h
+++ b/Marlin/src/HAL/TEENSY35_36/timers.h
@@ -109,4 +109,4 @@ 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