Basic GPIO expander using the ESP32 I2S peripheral (#12959)

Marlin/src/HAL/HAL_ESP32/HAL.cpp

@@ -85,6 +85,8 @@ void HAL_init(void) {
   #if ENABLED(WIFISUPPORT)
     OTA_init();
   #endif
+
+  i2s_init();
 }
 
 void HAL_idletask(void) {

Marlin/src/HAL/HAL_ESP32/HAL.h

@@ -31,7 +31,7 @@
 #include <stdint.h>
 
 #undef DISABLED
-#undef _BV
+#undef M_PI
 
 #include <Arduino.h>
 
@@ -43,6 +43,7 @@
 
 #include "fastio_ESP32.h"
 #include "watchdog_ESP32.h"
+#include "i2s.h"
 
 #include "HAL_timers_ESP32.h"
 

Marlin/src/HAL/HAL_ESP32/HAL_timers_ESP32.cpp

@@ -113,7 +113,7 @@ void HAL_timer_start(const uint8_t timer_num, uint32_t frequency) {
   const tTimerConfig timer = TimerConfig[timer_num];
 
   timer_config_t config;
-  config.divider     = STEPPER_TIMER_PRESCALE;
+  config.divider     = timer.divider;
   config.counter_dir = TIMER_COUNT_UP;
   config.counter_en  = TIMER_PAUSE;
   config.alarm_en    = TIMER_ALARM_EN;

Marlin/src/HAL/HAL_ESP32/HAL_timers_ESP32.h

@@ -43,9 +43,15 @@ typedef uint64_t hal_timer_t;
 
 #define HAL_TIMER_RATE APB_CLK_FREQ // frequency of timer peripherals
 
-#define STEPPER_TIMER_PRESCALE     40
+#if ENABLED(I2S_STEPPER_STREAM)
-#define STEPPER_TIMER_RATE         (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer, 2MHz
+  #define STEPPER_TIMER_PRESCALE     1
-#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000)          // stepper timer ticks per µs
+  #define STEPPER_TIMER_RATE         250000                           // 250khz, 4us pulses of i2s word clock
+  #define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs // wrong would be 0.25
+#else
+  #define STEPPER_TIMER_PRESCALE     40
+  #define STEPPER_TIMER_RATE         (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer, 2MHz
+  #define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000)          // stepper timer ticks per µs
+#endif
 
 #define STEP_TIMER_MIN_INTERVAL   8 // minimum time in µs between stepper interrupts
 

Marlin/src/HAL/HAL_ESP32/fastio_ESP32.h

@@ -21,38 +21,40 @@
  */
 #pragma once
 
+#include "i2s.h"
+
 /**
  * Utility functions
  */
 
-// set pin as input
+// Set pin as input
-#define _SET_INPUT(IO)      pinMode(IO, INPUT)
+#define _SET_INPUT(IO)        pinMode(IO, INPUT)
 
-// set pin as output
+// Set pin as output
-#define _SET_OUTPUT(IO)     pinMode(IO, OUTPUT)
+#define _SET_OUTPUT(IO)       pinMode(IO, OUTPUT)
 
-// set pin as input with pullup mode
+// Set pin as input with pullup mode
-#define _PULLUP(IO, v)      pinMode(IO, v ? INPUT_PULLUP : INPUT)
+#define _PULLUP(IO, v)        pinMode(IO, v ? INPUT_PULLUP : INPUT)
 
 // Read a pin wrapper
-#define READ(IO)            digitalRead(IO)
+#define READ(IO)              digitalRead(IO)
 
 // Write to a pin wrapper
-#define WRITE(IO, v)        digitalWrite(IO, v)
+#define WRITE(IO, v)          (TEST(IO, 7) ? i2s_write(IO & 0x7F, v) : digitalWrite(IO, v))
 
-// set pin as input wrapper
+// Set pin as input wrapper
-#define SET_INPUT(IO)       _SET_INPUT(IO)
+#define SET_INPUT(IO)         _SET_INPUT(IO)
 
-// set pin as input with pullup wrapper
+// Set pin as input with pullup wrapper
-#define SET_INPUT_PULLUP(IO) do{ _SET_INPUT(IO); _PULLUP(IO, HIGH); }while(0)
+#define SET_INPUT_PULLUP(IO)  do{ _SET_INPUT(IO); _PULLUP(IO, HIGH); }while(0)
 
-// set pin as output wrapper
+// Set pin as output wrapper
-#define SET_OUTPUT(IO)  do{ _SET_OUTPUT(IO); WRITE(IO, LOW); }while(0)
+#define SET_OUTPUT(IO)        do{ _SET_OUTPUT(IO); WRITE(IO, LOW); }while(0)
 
-#define OUT_WRITE(IO,V)         do{ _SET_OUTPUT(IO); WRITE(IO,V); }while(0)
+#define OUT_WRITE(IO,V)       do{ _SET_OUTPUT(IO); WRITE(IO,V); }while(0)
 
 //
-// ports and functions
+// Ports and functions
 //
 
 // UART

Marlin/src/HAL/HAL_ESP32/i2s.cpp

@@ -0,0 +1,322 @@
+/**
+ * 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 ARDUINO_ARCH_ESP32
+
+#include <Arduino.h> // replace that with the proper imports
+#include "i2s.h"
+#include "../../core/macros.h"
+#include "driver/periph_ctrl.h"
+#include "rom/lldesc.h"
+#include "soc/i2s_struct.h"
+#include "freertos/queue.h"
+#include "../../module/stepper.h"
+
+#define DMA_BUF_COUNT 8                                // number of DMA buffers to store data
+#define DMA_BUF_LEN   4092                             // maximum size in bytes
+#define I2S_SAMPLE_SIZE 4                              // 4 bytes, 32 bits per sample
+#define DMA_SAMPLE_COUNT DMA_BUF_LEN / I2S_SAMPLE_SIZE // number of samples per buffer
+
+typedef enum {
+  I2S_NUM_0 = 0x0,  /*!< I2S 0*/
+  I2S_NUM_1 = 0x1,  /*!< I2S 1*/
+  I2S_NUM_MAX,
+} i2s_port_t;
+
+typedef struct {
+  uint32_t     **buffers;
+  uint32_t     *current;
+  uint32_t     rw_pos;
+  lldesc_t     **desc;
+  xQueueHandle queue;
+} i2s_dma_t;
+
+static portMUX_TYPE i2s_spinlock[I2S_NUM_MAX] = {portMUX_INITIALIZER_UNLOCKED, portMUX_INITIALIZER_UNLOCKED};
+static i2s_dev_t* I2S[I2S_NUM_MAX] = {&I2S0, &I2S1};
+static i2s_dma_t dma;
+
+// output value
+uint32_t i2s_port_data;
+
+#define I2S_ENTER_CRITICAL()  portENTER_CRITICAL(&i2s_spinlock[i2s_num])
+#define I2S_EXIT_CRITICAL()   portEXIT_CRITICAL(&i2s_spinlock[i2s_num])
+
+static inline void gpio_matrix_out_check(uint32_t gpio, uint32_t signal_idx, bool out_inv, bool oen_inv) {
+  //if pin = -1, do not need to configure
+  if (gpio != -1) {
+    PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[gpio], PIN_FUNC_GPIO);
+    gpio_set_direction((gpio_num_t)gpio, (gpio_mode_t)GPIO_MODE_DEF_OUTPUT);
+    gpio_matrix_out(gpio, signal_idx, out_inv, oen_inv);
+  }
+}
+
+static esp_err_t i2s_reset_fifo(i2s_port_t i2s_num) {
+  I2S_ENTER_CRITICAL();
+  I2S[i2s_num]->conf.rx_fifo_reset = 1;
+  I2S[i2s_num]->conf.rx_fifo_reset = 0;
+  I2S[i2s_num]->conf.tx_fifo_reset = 1;
+  I2S[i2s_num]->conf.tx_fifo_reset = 0;
+  I2S_EXIT_CRITICAL();
+
+  return ESP_OK;
+}
+
+esp_err_t i2s_start(i2s_port_t i2s_num) {
+  //start DMA link
+  I2S_ENTER_CRITICAL();
+  i2s_reset_fifo(i2s_num);
+
+  //reset dma
+  I2S[i2s_num]->lc_conf.in_rst = 1;
+  I2S[i2s_num]->lc_conf.in_rst = 0;
+  I2S[i2s_num]->lc_conf.out_rst = 1;
+  I2S[i2s_num]->lc_conf.out_rst = 0;
+
+  I2S[i2s_num]->conf.tx_reset = 1;
+  I2S[i2s_num]->conf.tx_reset = 0;
+  I2S[i2s_num]->conf.rx_reset = 1;
+  I2S[i2s_num]->conf.rx_reset = 0;
+
+  I2S[i2s_num]->int_clr.val = 0xFFFFFFFF;
+  I2S[i2s_num]->out_link.start = 1;
+  I2S[i2s_num]->conf.tx_start = 1;
+  I2S_EXIT_CRITICAL();
+
+  return ESP_OK;
+}
+
+esp_err_t i2s_stop(i2s_port_t i2s_num) {
+  I2S_ENTER_CRITICAL();
+  I2S[i2s_num]->out_link.stop = 1;
+  I2S[i2s_num]->conf.tx_start = 0;
+
+  I2S[i2s_num]->int_clr.val = I2S[i2s_num]->int_st.val; //clear pending interrupt
+  I2S_EXIT_CRITICAL();
+
+  return ESP_OK;
+}
+
+static void IRAM_ATTR i2s_intr_handler_default(void *arg) {
+  int dummy;
+  lldesc_t *finish_desc;
+  portBASE_TYPE high_priority_task_awoken = pdFALSE;
+
+  if (I2S0.int_st.out_eof) {
+    // Get the descriptor of the last item in the linkedlist
+    finish_desc = (lldesc_t*) I2S0.out_eof_des_addr;
+
+    // If the queue is full it's because we have an underflow,
+    // more than buf_count isr without new data, remove the front buffer
+    if (xQueueIsQueueFullFromISR(dma.queue))
+      xQueueReceiveFromISR(dma.queue, &dummy, &high_priority_task_awoken);
+
+    xQueueSendFromISR(dma.queue, (void *)(&finish_desc->buf), &high_priority_task_awoken);
+  }
+
+  if (high_priority_task_awoken == pdTRUE) portYIELD_FROM_ISR();
+
+  // clear interrupt
+  I2S0.int_clr.val = I2S0.int_st.val; //clear pending interrupt
+}
+
+void stepperTask(void* parameter) {
+  uint32_t i, remaining = 0;
+
+  while (1) {
+    xQueueReceive(dma.queue, &dma.current, portMAX_DELAY);
+    dma.rw_pos = 0;
+
+    for (i = 0; i < DMA_SAMPLE_COUNT; i++) {
+      // Fill with the port data post pulse_phase until the next step
+      if (remaining) {
+        i2s_push_sample();
+        remaining--;
+      }
+      else {
+        Stepper::stepper_pulse_phase_isr();
+        remaining = Stepper::stepper_block_phase_isr();
+      }
+    }
+  }
+}
+
+int i2s_init() {
+  periph_module_enable(PERIPH_I2S0_MODULE);
+
+  /**
+   * Each i2s transfer will take 
+   *   fpll = PLL_D2_CLK      -- clka_en = 0
+   * 
+   *   fi2s = fpll / N + b/a  -- N = clkm_div_num
+   *   fi2s = 160MHz / 2
+   *   fi2s = 80MHz
+   *   
+   *   fbclk = fi2s / M   -- M = tx_bck_div_num
+   *   fbclk = 80MHz / 2
+   *   fbclk = 40MHz
+   * 
+   *   fwclk = fbclk / 32
+   * 
+   *   for fwclk = 250kHz (4uS pulse time)
+   *      N = 10
+   *      M = 20
+   */
+
+  // Allocate the array of pointers to the buffers
+  dma.buffers = (uint32_t **)malloc(sizeof(uint32_t*) * DMA_BUF_COUNT);
+  if (dma.buffers == NULL) return -1;
+
+  // Allocate each buffer that can be used by the DMA controller
+  for (int buf_idx = 0; buf_idx < DMA_BUF_COUNT; buf_idx++) {
+    dma.buffers[buf_idx] = (uint32_t*) heap_caps_calloc(1, DMA_BUF_LEN, MALLOC_CAP_DMA);
+    if (dma.buffers[buf_idx] == NULL) return -1;
+  }
+
+  // Allocate the array of DMA descriptors
+  dma.desc = (lldesc_t**) malloc(sizeof(lldesc_t*) * DMA_BUF_COUNT);
+  if (dma.desc == NULL) return -1;
+
+  // Allocate each DMA descriptor that will be used by the DMA controller
+  for (int buf_idx = 0; buf_idx < DMA_BUF_COUNT; buf_idx++) {
+    dma.desc[buf_idx] = (lldesc_t*) heap_caps_malloc(sizeof(lldesc_t), MALLOC_CAP_DMA);
+    if (dma.desc[buf_idx] == NULL) return -1;
+  }
+
+  // Initialize
+  for (int buf_idx = 0; buf_idx < DMA_BUF_COUNT; buf_idx++) {
+    dma.desc[buf_idx]->owner = 1;
+    dma.desc[buf_idx]->eof = 1; // set to 1 will trigger the interrupt
+    dma.desc[buf_idx]->sosf = 0;
+    dma.desc[buf_idx]->length = DMA_BUF_LEN;
+    dma.desc[buf_idx]->size = DMA_BUF_LEN;
+    dma.desc[buf_idx]->buf = (uint8_t *) dma.buffers[buf_idx];
+    dma.desc[buf_idx]->offset = 0;
+    dma.desc[buf_idx]->empty = (uint32_t)((buf_idx < (DMA_BUF_COUNT - 1)) ? (dma.desc[buf_idx + 1]) : dma.desc[0]);
+  }
+
+  dma.queue = xQueueCreate(DMA_BUF_COUNT, sizeof(uint32_t *));
+
+  // Set the first DMA descriptor
+  I2S0.out_link.addr = (uint32_t)dma.desc[0];
+
+  // stop i2s
+  i2s_stop(I2S_NUM_0);
+
+  // configure I2S data port interface.
+  i2s_reset_fifo(I2S_NUM_0);
+
+  //reset i2s
+  I2S0.conf.tx_reset = 1;
+  I2S0.conf.tx_reset = 0;
+  I2S0.conf.rx_reset = 1;
+  I2S0.conf.rx_reset = 0;
+
+  //reset dma
+  I2S0.lc_conf.in_rst = 1;
+  I2S0.lc_conf.in_rst = 0;
+  I2S0.lc_conf.out_rst = 1;
+  I2S0.lc_conf.out_rst = 0;
+
+  //Enable and configure DMA
+  I2S0.lc_conf.check_owner = 0;
+  I2S0.lc_conf.out_loop_test = 0;
+  I2S0.lc_conf.out_auto_wrback = 0;
+  I2S0.lc_conf.out_data_burst_en = 0;
+  I2S0.lc_conf.outdscr_burst_en = 0;
+  I2S0.lc_conf.out_no_restart_clr = 0;
+  I2S0.lc_conf.indscr_burst_en = 0;
+  I2S0.lc_conf.out_eof_mode = 1;
+
+  I2S0.conf2.lcd_en = 0;
+  I2S0.conf2.camera_en = 0;
+  I2S0.pdm_conf.pcm2pdm_conv_en = 0;
+  I2S0.pdm_conf.pdm2pcm_conv_en = 0;
+
+  I2S0.fifo_conf.dscr_en = 0;
+
+  I2S0.conf_chan.tx_chan_mod = 0;
+  I2S0.fifo_conf.tx_fifo_mod = 0;
+  I2S0.conf.tx_mono = 0;
+
+  I2S0.conf_chan.rx_chan_mod = 0;
+  I2S0.fifo_conf.rx_fifo_mod = 0;
+  I2S0.conf.rx_mono = 0;
+
+  I2S0.fifo_conf.dscr_en = 1; //connect dma to fifo
+
+  I2S0.conf.tx_start = 0;
+  I2S0.conf.rx_start = 0;
+
+  I2S0.conf.tx_msb_right = 1;
+  I2S0.conf.tx_right_first = 1;
+
+  I2S0.conf.tx_slave_mod = 0; // Master
+  I2S0.fifo_conf.tx_fifo_mod_force_en = 1;
+
+  I2S0.pdm_conf.rx_pdm_en = 0;
+  I2S0.pdm_conf.tx_pdm_en = 0;
+
+  I2S0.conf.tx_short_sync = 0;
+  I2S0.conf.rx_short_sync = 0;
+  I2S0.conf.tx_msb_shift = 0;
+  I2S0.conf.rx_msb_shift = 0;
+
+  // set clock
+  I2S0.clkm_conf.clka_en = 0;       // Use PLL/2 as reference
+  I2S0.clkm_conf.clkm_div_num = 10; // minimum value of 2, reset value of 4, max 256
+  I2S0.clkm_conf.clkm_div_a = 0;    // 0 at reset, what about divide by 0? (not an issue)
+  I2S0.clkm_conf.clkm_div_b = 0;    // 0 at reset
+
+  // fbck = fi2s / tx_bck_div_num
+  I2S0.sample_rate_conf.tx_bck_div_num = 2; // minimum value of 2 defaults to 6
+
+  // Enable TX interrupts
+  I2S0.int_ena.out_eof = 1;
+  I2S0.int_ena.out_dscr_err = 0;
+  I2S0.int_ena.out_total_eof = 0;
+  I2S0.int_ena.out_done = 0;
+
+  // Allocate and Enable the I2S interrupt
+  intr_handle_t i2s_isr_handle;
+  esp_intr_alloc(ETS_I2S0_INTR_SOURCE, 0, i2s_intr_handler_default, NULL, &i2s_isr_handle);
+  esp_intr_enable(i2s_isr_handle);
+
+  // Create the task that will feed the buffer
+  xTaskCreate(stepperTask, "StepperTask", 10000, NULL, 1, NULL);
+
+  // Route the i2s pins to the appropriate GPIO
+  gpio_matrix_out_check(22, I2S0O_DATA_OUT23_IDX, 0, 0);
+  gpio_matrix_out_check(25, I2S0O_WS_OUT_IDX, 0, 0);
+  gpio_matrix_out_check(26, I2S0O_BCK_OUT_IDX, 0, 0);
+
+  // Start the I2S peripheral
+  return i2s_start(I2S_NUM_0);
+}
+
+void i2s_write(uint8_t pin, uint8_t val) {
+  SET_BIT_TO(i2s_port_data, pin, val);
+}
+
+void i2s_push_sample() {
+  dma.current[dma.rw_pos++] = i2s_port_data;
+}
+
+#endif // ARDUINO_ARCH_ESP32

Marlin/src/HAL/HAL_ESP32/i2s.h

@@ -0,0 +1,31 @@
+/**
+ * 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/>.
+ *
+ */
+#pragma once
+
+// current value of the outputs provided over i2s
+extern uint32_t i2s_port_data;
+
+int i2s_init();
+
+void i2s_write(uint8_t pin, uint8_t val);
+
+void i2s_push_sample();

Marlin/src/module/stepper.cpp

@@ -1474,7 +1474,12 @@ void Stepper::stepper_pulse_phase_isr() {
       #endif
     #endif
 
-    #if MINIMUM_STEPPER_PULSE
+    #if ENABLED(I2S_STEPPER_STREAM)
+      i2s_push_sample();
+    #endif
+
+    // TODO: need to deal with MINIMUM_STEPPER_PULSE over i2s
+    #if MINIMUM_STEPPER_PULSE && DISABLED(I2S_STEPPER_STREAM)
       // Just wait for the requested pulse duration
       while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
     #endif
@@ -2143,12 +2148,11 @@ void Stepper::init() {
     E_AXIS_INIT(5);
   #endif
 
-  // Init Stepper ISR to 122 Hz for quick starting
+  #if DISABLED(I2S_STEPPER_STREAM)
-  HAL_timer_start(STEP_TIMER_NUM, 122);
+    HAL_timer_start(STEP_TIMER_NUM, 122); // Init Stepper ISR to 122 Hz for quick starting
-
+    ENABLE_STEPPER_DRIVER_INTERRUPT();
-  ENABLE_STEPPER_DRIVER_INTERRUPT();
+    sei();
-
+  #endif
-  sei();
 
   // Init direction bits for first moves
   last_direction_bits = 0

Marlin/src/pins/pins_ESP32.h

@@ -36,24 +36,24 @@
 //
 // Steppers
 //
-#define X_STEP_PIN         27
+#define X_STEP_PIN         128
-#define X_DIR_PIN          26
+#define X_DIR_PIN          129
-#define X_ENABLE_PIN       25
+#define X_ENABLE_PIN       130
 //#define X_CS_PIN            0
 
-#define Y_STEP_PIN         33
+#define Y_STEP_PIN         131
-#define Y_DIR_PIN          32
+#define Y_DIR_PIN          132
-#define Y_ENABLE_PIN       X_ENABLE_PIN
+#define Y_ENABLE_PIN       133
 //#define Y_CS_PIN           13
 
-#define Z_STEP_PIN         14
+#define Z_STEP_PIN         134
-#define Z_DIR_PIN          12
+#define Z_DIR_PIN          135
-#define Z_ENABLE_PIN       X_ENABLE_PIN
+#define Z_ENABLE_PIN       136
 //#define Z_CS_PIN            5 // SS_PIN
 
-#define E0_STEP_PIN        16
+#define E0_STEP_PIN        137
-#define E0_DIR_PIN         17
+#define E0_DIR_PIN         138
-#define E0_ENABLE_PIN      X_ENABLE_PIN
+#define E0_ENABLE_PIN      139
 //#define E0_CS_PIN          21
 
 //

platformio.ini

@@ -356,7 +356,8 @@ lib_ignore  =
 platform    = https://github.com/platformio/platform-espressif32.git#feature/stage
 board       = esp32dev
 framework   = arduino
-upload_port = COM3
+upload_speed = 115200
+monitor_speed = 115200
 lib_ignore  =
   LiquidCrystal_I2C
   LiquidCrystal
@@ -364,6 +365,8 @@ lib_ignore  =
   LiquidTWI2
   TMC26XStepper
   c1921b4
+  SailfishLCD
+  SailfishRGB_LED
 src_filter  = ${common.default_src_filter} +<src/HAL/HAL_ESP32>
 
 #