bissen21/Marlin_Firmware
1
0
Fork 0
Code Issues Pull Requests Projects Releases 4 Wiki Activity

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

Browse Source
This commit is contained in:
Simon Jouet 2019-02-10 11:40:31 +00:00 committed by Scott Lahteine
parent 3983cacbcf
commit 5cd0fa3ce1
10 changed files with 412 additions and 41 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Marlin/src/HAL/HAL_ESP32/HAL.cpp
View File

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

3
Marlin/src/HAL/HAL_ESP32/HAL.h
View File

@ -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"

2
Marlin/src/HAL/HAL_ESP32/HAL_timers_ESP32.cpp
View File

@ -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;

12
Marlin/src/HAL/HAL_ESP32/HAL_timers_ESP32.h
View File

@ -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
#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
#if ENABLED(I2S_STEPPER_STREAM)
#define STEPPER_TIMER_PRESCALE 1
#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

18
Marlin/src/HAL/HAL_ESP32/fastio_ESP32.h
View File

@ -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)
// set pin as output
// Set pin as 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)
// Read a pin wrapper
#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)
// 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)
// set pin as output wrapper
// Set pin as output wrapper
#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)
//
// ports and functions
// Ports and functions
//
// UART

322
Marlin/src/HAL/HAL_ESP32/i2s.cpp Normal file
View File

@ -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

31
Marlin/src/HAL/HAL_ESP32/i2s.h Normal file
View File

@ -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();

14
Marlin/src/module/stepper.cpp
View File

@ -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
HAL_timer_start(STEP_TIMER_NUM, 122);
#if DISABLED(I2S_STEPPER_STREAM)
HAL_timer_start(STEP_TIMER_NUM, 122); // Init Stepper ISR to 122 Hz for quick starting
ENABLE_STEPPER_DRIVER_INTERRUPT();
sei();
#endif
// Init direction bits for first moves
last_direction_bits = 0

24
Marlin/src/pins/pins_ESP32.h
View File

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

5
platformio.ini
View File

@ -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>
#