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[HAL][LPC176x] Pull out framework into separate repository

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Framework and build platform now located at https://github.com/p3p/pio-framework-arduino-lpc176x and https://github.com/p3p/pio-nxplpc-arduino-lpc176x respectively

fix mkssbase leds

move hardware serial

remove hardware/software serial

Hardware Serial extraction

HardwareSerial ISRs

fix disabled serial2 causing Serial object to link

move usb devices out to framework

separate out adc/pwm peripheral function from hal.cpp

fix includes

remove unused pwm init

move adc

HAL header update

templated filtered adc

LPC1769 platform
This commit is contained in:
Christopher Pepper
2018-08-23 01:08:39 +01:00
parent 213e94bce2
commit 5ddf52d58e
139 changed files with 268 additions and 69800 deletions
Download Patch File Download Diff File Expand all files Collapse all files

233
Marlin/src/HAL/HAL_LPC1768/HAL.cpp
View File

@@ -22,8 +22,7 @@
#include "../../inc/MarlinConfig.h"
#include "../shared/Delay.h"
HalSerial usb_serial;
#include "../../../gcode/parser.h"
// U8glib required functions
extern "C" void u8g_xMicroDelay(uint16_t val) {
@@ -51,231 +50,11 @@ int freeMemory() {
return result;
}
// --------------------------------------------------------------------------
// ADC
// --------------------------------------------------------------------------
#define ADC_DONE 0x80000000
#define ADC_OVERRUN 0x40000000
void HAL_adc_init(void) {
LPC_SC->PCONP |= (1 << 12); // Enable CLOCK for internal ADC controller
LPC_SC->PCLKSEL0 &= ~(0x3 << 24);
LPC_SC->PCLKSEL0 |= (0x1 << 24); // 0: 25MHz, 1: 100MHz, 2: 50MHz, 3: 12.5MHZ to ADC clock divider
LPC_ADC->ADCR = (0 << 0) // SEL: 0 = no channels selected
| (0xFF << 8) // select slowest clock for A/D conversion 150 - 190 uS for a complete conversion
| (0 << 16) // BURST: 0 = software control
| (0 << 17) // CLKS: not applicable
| (1 << 21) // PDN: 1 = operational
| (0 << 24) // START: 0 = no start
| (0 << 27); // EDGE: not applicable
}
// externals need to make the call to KILL compile
#include "../../core/language.h"
extern void kill(PGM_P);
void HAL_adc_enable_channel(int ch) {
pin_t pin = analogInputToDigitalPin(ch);
if (pin == -1) {
serial_error_start();
SERIAL_PRINTF("INVALID ANALOG PORT:%d\n", ch);
kill(MSG_KILLED);
}
int8_t pin_port = LPC1768_PIN_PORT(pin),
pin_port_pin = LPC1768_PIN_PIN(pin),
pinsel_start_bit = pin_port_pin > 15 ? 2 * (pin_port_pin - 16) : 2 * pin_port_pin;
uint8_t pin_sel_register = (pin_port == 0 && pin_port_pin <= 15) ? 0 :
pin_port == 0 ? 1 :
pin_port == 1 ? 3 : 10;
switch (pin_sel_register) {
case 1:
LPC_PINCON->PINSEL1 &= ~(0x3 << pinsel_start_bit);
LPC_PINCON->PINSEL1 |= (0x1 << pinsel_start_bit);
break;
case 3:
LPC_PINCON->PINSEL3 &= ~(0x3 << pinsel_start_bit);
LPC_PINCON->PINSEL3 |= (0x3 << pinsel_start_bit);
break;
case 0:
LPC_PINCON->PINSEL0 &= ~(0x3 << pinsel_start_bit);
LPC_PINCON->PINSEL0 |= (0x2 << pinsel_start_bit);
break;
};
}
void HAL_adc_start_conversion(const uint8_t ch) {
if (analogInputToDigitalPin(ch) == -1) {
SERIAL_PRINTF("HAL: HAL_adc_start_conversion: invalid channel %d\n", ch);
return;
}
LPC_ADC->ADCR &= ~0xFF; // Reset
SBI(LPC_ADC->ADCR, ch); // Select Channel
SBI(LPC_ADC->ADCR, 24); // Start conversion
}
bool HAL_adc_finished(void) {
return LPC_ADC->ADGDR & ADC_DONE;
}
// possible config options if something similar is extended to more platforms.
#define ADC_USE_MEDIAN_FILTER // Filter out erroneous readings
#define ADC_MEDIAN_FILTER_SIZE 23 // Higher values increase step delay (phase shift),
// (ADC_MEDIAN_FILTER_SIZE + 1) / 2 sample step delay (12 samples @ 500Hz: 24ms phase shift)
// Memory usage per ADC channel (bytes): (6 * ADC_MEDIAN_FILTER_SIZE) + 16
// 8 * ((6 * 23) + 16 ) = 1232 Bytes for 8 channels
#define ADC_USE_LOWPASS_FILTER // Filter out high frequency noise
#define ADC_LOWPASS_K_VALUE 6 // Higher values increase rise time
// Rise time sample delays for 100% signal convergence on full range step
// (1 : 13, 2 : 32, 3 : 67, 4 : 139, 5 : 281, 6 : 565, 7 : 1135, 8 : 2273)
// K = 6, 565 samples, 500Hz sample rate, 1.13s convergence on full range step
// Memory usage per ADC channel (bytes): 4 (32 Bytes for 8 channels)
// Sourced from https://embeddedgurus.com/stack-overflow/tag/median-filter/
struct MedianFilter {
#define STOPPER 0 // Smaller than any datum
struct Pair {
Pair *point; // Pointers forming list linked in sorted order
uint16_t value; // Values to sort
};
Pair buffer[ADC_MEDIAN_FILTER_SIZE] = {}; // Buffer of nwidth pairs
Pair *datpoint = buffer; // Pointer into circular buffer of data
Pair small = {NULL, STOPPER}; // Chain stopper
Pair big = {&small, 0}; // Pointer to head (largest) of linked list.
uint16_t update(uint16_t datum) {
Pair *successor; // Pointer to successor of replaced data item
Pair *scan; // Pointer used to scan down the sorted list
Pair *scanold; // Previous value of scan
Pair *median; // Pointer to median
uint16_t i;
if (datum == STOPPER) {
datum = STOPPER + 1; // No stoppers allowed.
}
if ( (++datpoint - buffer) >= (ADC_MEDIAN_FILTER_SIZE)) {
datpoint = buffer; // Increment and wrap data in pointer.
}
datpoint->value = datum; // Copy in new datum
successor = datpoint->point; // Save pointer to old value's successor
median = &big; // Median initially to first in chain
scanold = NULL; // Scanold initially null.
scan = &big; // Points to pointer to first (largest) datum in chain
// Handle chain-out of first item in chain as special case
if (scan->point == datpoint) {
scan->point = successor;
}
scanold = scan; // Save this pointer and
scan = scan->point ; // step down chain
// Loop through the chain, normal loop exit via break.
for (i = 0 ; i < ADC_MEDIAN_FILTER_SIZE; ++i) {
// Handle odd-numbered item in chain
if (scan->point == datpoint) {
scan->point = successor; // Chain out the old datum
}
if (scan->value < datum) { // If datum is larger than scanned value
datpoint->point = scanold->point; // Chain it in here
scanold->point = datpoint; // Mark it chained in
datum = STOPPER;
}
// Step median pointer down chain after doing odd-numbered element
median = median->point; // Step median pointer
if (scan == &small) {
break; // Break at end of chain
}
scanold = scan; // Save this pointer and
scan = scan->point; // step down chain
// Handle even-numbered item in chain.
if (scan->point == datpoint) {
scan->point = successor;
}
if (scan->value < datum) {
datpoint->point = scanold->point;
scanold->point = datpoint;
datum = STOPPER;
}
if (scan == &small) {
break;
}
scanold = scan;
scan = scan->point;
}
return median->value;
}
};
struct LowpassFilter {
uint32_t data_delay = 0;
uint16_t update(const uint16_t value) {
data_delay -= (data_delay >> (ADC_LOWPASS_K_VALUE)) - value;
return (uint16_t)(data_delay >> (ADC_LOWPASS_K_VALUE));
}
};
uint16_t HAL_adc_get_result(void) {
uint32_t adgdr = LPC_ADC->ADGDR;
CBI(LPC_ADC->ADCR, 24); // Stop conversion
if (adgdr & ADC_OVERRUN) return 0;
uint16_t data = (adgdr >> 4) & 0xFFF; // copy the 12bit data value
uint8_t adc_channel = (adgdr >> 24) & 0x7; // copy the 3bit used channel
#ifdef ADC_USE_MEDIAN_FILTER
static MedianFilter median_filter[NUM_ANALOG_INPUTS];
data = median_filter[adc_channel].update(data);
#endif
#ifdef ADC_USE_LOWPASS_FILTER
static LowpassFilter lowpass_filter[NUM_ANALOG_INPUTS];
data = lowpass_filter[adc_channel].update(data);
#endif
return ((data >> 2) & 0x3FF); // return 10bit value as Marlin expects
}
#define SBIT_CNTEN 0
#define SBIT_PWMEN 2
#define SBIT_PWMMR0R 1
#define PWM_1 0 //P2_00 (0-1 Bits of PINSEL4)
#define PWM_2 2 //P2_01 (2-3 Bits of PINSEL4)
#define PWM_3 4 //P2_02 (4-5 Bits of PINSEL4)
#define PWM_4 6 //P2_03 (6-7 Bits of PINSEL4)
#define PWM_5 8 //P2_04 (8-9 Bits of PINSEL4)
#define PWM_6 10 //P2_05 (10-11 Bits of PINSEL4)
void HAL_pwm_init(void) {
LPC_PINCON->PINSEL4 = _BV(PWM_5) | _BV(PWM_6);
LPC_PWM1->TCR = _BV(SBIT_CNTEN) | _BV(SBIT_PWMEN);
LPC_PWM1->PR = 0x0; // No prescalar
LPC_PWM1->MCR = _BV(SBIT_PWMMR0R); // Reset on PWMMR0, reset TC if it matches MR0
LPC_PWM1->MR0 = 255; // set PWM cycle(Ton+Toff)=255)
LPC_PWM1->MR5 = 0; // Set 50% Duty Cycle for the channels
LPC_PWM1->MR6 = 0;
// Trigger the latch Enable Bits to load the new Match Values MR0, MR5, MR6
LPC_PWM1->LER = _BV(0) | _BV(5) | _BV(6);
// Enable the PWM output pins for PWM_5-PWM_6(P2_04 - P2_05)
LPC_PWM1->PCR = _BV(13) | _BV(14);
int16_t PARSED_PIN_INDEX(const char code, const int16_t dval) {
const uint16_t val = (uint16_t)parser.intval(code), port = val / 100, pin = val % 100;
const int16_t ind = (port < (NUM_DIGITAL_PINS >> 5) && (pin < 32))
? GET_PIN_MAP_INDEX(port << 5 | pin) : -2;
return ind > -2 ? ind : dval;
}
#endif // TARGET_LPC1768

92
Marlin/src/HAL/HAL_LPC1768/HAL.h
View File

@@ -29,42 +29,27 @@
#define _HAL_LPC1768_H_
#define CPU_32_BIT
#define HAL_INIT
// --------------------------------------------------------------------------
// Includes
// --------------------------------------------------------------------------
void HAL_init();
#include <stdint.h>
#include <stdarg.h>
#undef min
#undef max
#include <algorithm>
void _printf (const char *format, ...);
void _putc(uint8_t c);
uint8_t _getc();
extern "C" volatile uint32_t _millis;
//arduino: Print.h
#define DEC 10
#define HEX 16
#define OCT 8
#define BIN 2
//arduino: binary.h (weird defines)
#define B01 1
#define B10 2
#include <Arduino.h>
#include <pinmapping.h>
#include <CDCSerial.h>
#include "../shared/math_32bit.h"
#include "../shared/HAL_SPI.h"
#include "fastio.h"
#include <adc.h>
#include "watchdog.h"
#include "HAL_timers.h"
#include "MarlinSerial.h"
//
// Default graphical display delays
@@ -79,32 +64,20 @@ extern "C" volatile uint32_t _millis;
#define ST7920_DELAY_3 DELAY_NS(750)
#endif
//
// Arduino-style serial ports
//
#include "serial.h"
#include "HardwareSerial.h"
extern HalSerial usb_serial;
#if !WITHIN(SERIAL_PORT, -1, 3)
#error "SERIAL_PORT must be from -1 to 3"
#endif
#if SERIAL_PORT == -1
#define MYSERIAL0 usb_serial
#define MYSERIAL0 UsbSerial
#elif SERIAL_PORT == 0
extern HardwareSerial Serial;
#define MYSERIAL0 Serial
#define MYSERIAL0 MSerial
#elif SERIAL_PORT == 1
extern HardwareSerial Serial1;
#define MYSERIAL0 Serial1
#define MYSERIAL0 MSerial1
#elif SERIAL_PORT == 2
extern HardwareSerial Serial2;
#define MYSERIAL0 Serial2
#define MYSERIAL0 MSerial2
#elif SERIAL_PORT == 3
#define MYSERIAL0 Serial3
extern HardwareSerial Serial3;
#define MYSERIAL0 MSerial3
#endif
#ifdef SERIAL_PORT_2
@@ -115,19 +88,15 @@ extern HalSerial usb_serial;
#endif
#define NUM_SERIAL 2
#if SERIAL_PORT_2 == -1
#define MYSERIAL1 usb_serial
#define MYSERIAL1 UsbSerial
#elif SERIAL_PORT_2 == 0
extern HardwareSerial Serial;
#define MYSERIAL1 Serial
#define MYSERIAL1 MSerial
#elif SERIAL_PORT_2 == 1
extern HardwareSerial Serial1;
#define MYSERIAL1 Serial1
#define MYSERIAL1 MSerial1
#elif SERIAL_PORT_2 == 2
extern HardwareSerial Serial2;
#define MYSERIAL1 Serial2
#define MYSERIAL1 MSerial2
#elif SERIAL_PORT_2 == 3
extern HardwareSerial Serial3;
#define MYSERIAL1 Serial3
#define MYSERIAL1 MSerial3
#endif
#else
#define NUM_SERIAL 1
@@ -159,17 +128,28 @@ void spiSend(uint32_t chan, const uint8_t* buf, size_t n);
uint8_t spiRec(uint32_t chan);
//
// ADC
// ADC API
//
#define HAL_ANALOG_SELECT(pin) HAL_adc_enable_channel(pin)
#define HAL_START_ADC(pin) HAL_adc_start_conversion(pin)
#define HAL_READ_ADC() HAL_adc_get_result()
#define HAL_ADC_READY() HAL_adc_finished()
void HAL_adc_init(void);
void HAL_adc_enable_channel(int pin);
void HAL_adc_start_conversion(const uint8_t adc_pin);
uint16_t HAL_adc_get_result(void);
bool HAL_adc_finished(void);
#define ADC_MEDIAN_FILTER_SIZE (23) // Higher values increase step delay (phase shift),
// (ADC_MEDIAN_FILTER_SIZE + 1) / 2 sample step delay (12 samples @ 500Hz: 24ms phase shift)
// Memory usage per ADC channel (bytes): (6 * ADC_MEDIAN_FILTER_SIZE) + 16
// 8 * ((6 * 23) + 16 ) = 1232 Bytes for 8 channels
#define ADC_LOWPASS_K_VALUE (6) // Higher values increase rise time
// Rise time sample delays for 100% signal convergence on full range step
// (1 : 13, 2 : 32, 3 : 67, 4 : 139, 5 : 281, 6 : 565, 7 : 1135, 8 : 2273)
// K = 6, 565 samples, 500Hz sample rate, 1.13s convergence on full range step
// Memory usage per ADC channel (bytes): 4 (32 Bytes for 8 channels)
using FilteredADC = LPC176x::ADC<ADC_LOWPASS_K_VALUE, ADC_MEDIAN_FILTER_SIZE>;
#define HAL_adc_init() FilteredADC::init()
#define HAL_ANALOG_SELECT(pin) FilteredADC::enable_channel(pin)
#define HAL_START_ADC(pin) FilteredADC::start_conversion(pin)
#define HAL_READ_ADC() FilteredADC::get_result()
#define HAL_ADC_READY() FilteredADC::finished_conversion()
// Parse a G-code word into a pin index
int16_t PARSED_PIN_INDEX(const char code, const int16_t dval);
#endif // _HAL_LPC1768_H_

1
Marlin/src/HAL/HAL_LPC1768/HAL_temp.h
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@@ -1 +0,0 @@
// blank file needed until I get platformio to update it's copy of U8Glib-HAL

3
Marlin/src/HAL/HAL_LPC1768/HAL_timers.h
View File

@@ -20,9 +20,8 @@
*/
/**
* HAL for Arduino Due and compatible (SAM3X8E)
*
* For ARDUINO_ARCH_SAM
* HAL For LPC1768
*/
#ifndef _HAL_TIMERS_H

576
Marlin/src/HAL/HAL_LPC1768/LPC1768_PWM.cpp
View File

@@ -1,576 +0,0 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2017 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/>.
*
*/
/**
* The class Servo uses the PWM class to implement its functions
*
* All PWMs use the same repetition rate - 20mS because that's the normal servo rate
*/
/**
* This is a hybrid system.
*
* The PWM1 module is used to directly control the Servo 0, 1 & 3 pins and D9 & D10 pins. This keeps
* the pulse width jitter to under a microsecond.
*
* For all other pins a timer is used to generate interrupts. The ISR
* routine does the actual setting/clearing of pins. The upside is that any pin can
* have a PWM channel assigned to it. The downside is that there is more pulse width
* jitter. The jitter depends on what else is happening in the system and what ISRs
* pre-empt the PWM ISR.
*/
/**
* The data structures are set up to minimize the computation done by the ISR which
* minimizes ISR execution time. Execution times are 5-14µs depending on how full the
* ISR table is. 14uS is for a 20 element ISR table.
*
* Two tables are used. One table contains the data used by the ISR to update/control
* the PWM pins. The other is used as an aid when updating the ISR table.
*
* See the end of this file for details on the hardware/firmware interaction
*/
/**
* Directly controlled PWM pins (
* NA means not being used as a directly controlled PWM pin
*
* Re-ARM MKS Sbase
* PWM1.1 P1_18 SERVO3_PIN NA(no connection)
* PWM1.1 P2_00 NA(E0_STEP_PIN) NA(X stepper)
* PWM1.2 P1_20 SERVO0_PIN NA(no connection)
* PWM1.2 P2_01 NA(X_STEP_PIN) NA(Y stepper)
* PWM1.3 P1_21 SERVO1_PIN NA(no connection)
* PWM1.3 P2_02 NA(Y_STEP_PIN) NA(Z stepper)
* PWM1.4 P1_23 NA(SDSS(SSEL0)) SERVO0_PIN
* PWM1.4 P2_03 NA(Z_STEP_PIN) NA(E0 stepper)
* PWM1.5 P1_24 NA(X_MIN_PIN) NA(X_MIN_pin)
* PWM1.5 P2_04 RAMPS_D9_PIN FAN_PIN
* PWM1.6 P1_26 NA(Y_MIN_PIN) NA(Y_MIN_pin)
* PWM1.6 P2_05 RAMPS_D10_PIN HEATER_BED_PIN
*/
#ifdef TARGET_LPC1768
#include "../../inc/MarlinConfig.h"
#include <lpc17xx_pinsel.h>
#include "LPC1768_PWM.h"
#include <Arduino.h>
#define NUM_ISR_PWMS 20
#define HAL_PWM_TIMER LPC_TIM3
#define HAL_PWM_TIMER_ISR extern "C" void TIMER3_IRQHandler(void)
#define HAL_PWM_TIMER_IRQn TIMER3_IRQn
#define LPC_PORT_OFFSET (0x0020)
#define LPC_PIN(pin) (1UL << pin)
#define LPC_GPIO(port) ((volatile LPC_GPIO_TypeDef *)(LPC_GPIO0_BASE + LPC_PORT_OFFSET * port))
typedef struct { // holds all data needed to control/init one of the PWM channels
bool active_flag; // THIS TABLE ENTRY IS ACTIVELY TOGGLING A PIN
pin_t pin;
volatile uint32_t* set_register;
volatile uint32_t* clr_register;
uint32_t write_mask; // USED BY SET/CLEAR COMMANDS
uint32_t microseconds; // value written to MR register
uint32_t min; // lower value limit checked by WRITE routine before writing to the MR register
uint32_t max; // upper value limit checked by WRITE routine before writing to the MR register
uint8_t servo_index; // 0 - MAX_SERVO -1 : servo index, 0xFF : PWM channel
} PWM_map;
PWM_map PWM1_map_A[NUM_ISR_PWMS]; // compiler will initialize to all zeros
PWM_map PWM1_map_B[NUM_ISR_PWMS]; // compiler will initialize to all zeros
PWM_map *active_table = PWM1_map_A;
PWM_map *work_table = PWM1_map_B;
PWM_map *temp_table;
#define P1_18_PWM_channel 1 // servo 3
#define P1_20_PWM_channel 2 // servo 0
#define P1_21_PWM_channel 3 // servo 1
#define P1_23_PWM_channel 4 // servo 0 for MKS Sbase
#define P2_04_PWM_channel 5 // D9
#define P2_05_PWM_channel 6 // D10
typedef struct {
uint32_t min;
uint32_t max;
bool assigned;
} table_direct;
table_direct direct_table[6]; // compiler will initialize to all zeros
/**
* Prescale register and MR0 register values
*
* 100MHz PCLK 50MHz PCLK 25MHz PCLK 12.5MHz PCLK
* ----------------- ----------------- ----------------- -----------------
* desired prescale MR0 prescale MR0 prescale MR0 prescale MR0 resolution
* prescale register register register register register register register register in degrees
* freq value value value value value value value value
*
* 8 11.5 159,999 5.25 159,999 2.13 159,999 0.5625 159,999 0.023
* 4 24 79,999 11.5 79,999 5.25 79,999 2.125 79,999 0.045
* 2 49 39,999 24 39,999 11.5 39,999 5.25 39,999 0.090
* 1 99 19,999 49 19,999 24 19,999 11.5 19,999 0.180
* 0.5 199 9,999 99 9,999 49 9,999 24 9,999 0.360
* 0.25 399 4,999 199 4,999 99 4,999 49 4,999 0.720
* 0.125 799 2,499 399 2,499 199 2,499 99 2,499 1.440
*
* The desired prescale frequency column comes from an input in the range of 544 - 2400 microseconds
* and the desire to just shift the input left or right as needed.
*
* A resolution of 0.2 degrees seems reasonable so a prescale frequency output of 1MHz is being used.
* It also means we don't need to scale the input.
*
* The PCLK is set to 25MHz because that's the slowest one that gives whole numbers for prescale and
* MR0 registers.
*
* Final settings:
* PCLKSEL0: 0x0
* PWM1PR: 0x018 (24)
* PWM1MR0: 0x04E1F (19,999)
*
*/
void LPC1768_PWM_init(void) {
///// directly controlled PWM pins (interrupts not used for these)
#define SBIT_CNTEN 0 // PWM1 counter & pre-scaler enable/disable
#define SBIT_CNTRST 1 // reset counters to known state
#define SBIT_PWMEN 3 // 1 - PWM, 0 - timer
#define SBIT_PWMMR0R 1
#define PCPWM1 6
#define PCLK_PWM1 12
SBI(LPC_SC->PCONP, PCPWM1); // Enable PWM1 controller (enabled on power up)
LPC_SC->PCLKSEL0 &= ~(0x3 << PCLK_PWM1);
LPC_SC->PCLKSEL0 |= (LPC_PWM1_PCLKSEL0 << PCLK_PWM1);
uint32_t PR = (CLKPWR_GetPCLK(CLKPWR_PCLKSEL_PWM1) / 1000000) - 1; // Prescalar to create 1 MHz output
LPC_PWM1->MR0 = LPC_PWM1_MR0; // TC resets every 19,999 + 1 cycles - sets PWM cycle(Ton+Toff) to 20 mS
// MR0 must be set before TCR enables the PWM
LPC_PWM1->TCR = _BV(SBIT_CNTEN) | _BV(SBIT_CNTRST) | _BV(SBIT_PWMEN); // Enable counters, reset counters, set mode to PWM
CBI(LPC_PWM1->TCR, SBIT_CNTRST); // Take counters out of reset
LPC_PWM1->PR = PR;
LPC_PWM1->MCR = _BV(SBIT_PWMMR0R) | _BV(0); // Reset TC if it matches MR0, disable all interrupts except for MR0
LPC_PWM1->CTCR = 0; // Disable counter mode (enable PWM mode)
LPC_PWM1->LER = 0x07F; // Set the latch Enable Bits to load the new Match Values for MR0 - MR6
LPC_PWM1->PCR = 0; // Single edge mode for all channels, PWM1 control of outputs off
//// interrupt controlled PWM setup
LPC_SC->PCONP |= 1 << 23; // power on timer3
HAL_PWM_TIMER->PR = PR;
HAL_PWM_TIMER->MCR = 0x0B; // Interrupt on MR0 & MR1, reset on MR0
HAL_PWM_TIMER->MR0 = LPC_PWM1_MR0;
HAL_PWM_TIMER->MR1 = 0;
HAL_PWM_TIMER->TCR = _BV(0); // enable
NVIC_EnableIRQ(HAL_PWM_TIMER_IRQn);
NVIC_SetPriority(HAL_PWM_TIMER_IRQn, NVIC_EncodePriority(0, 4, 0));
}
bool ISR_table_update = false; // flag to tell the ISR that the tables need to be updated & swapped
uint8_t ISR_index = 0; // index used by ISR to skip already actioned entries
#define COPY_ACTIVE_TABLE for (uint8_t i = 0; i < NUM_ISR_PWMS ; i++) work_table[i] = active_table[i]
uint32_t first_MR1_value = LPC_PWM1_MR0 + 1;
void LPC1768_PWM_sort(void) {
for (uint8_t i = NUM_ISR_PWMS; --i;) { // (bubble) sort table by microseconds
bool didSwap = false;
PWM_map temp;
for (uint16_t j = 0; j < i; ++j) {
if (work_table[j].microseconds > work_table[j + 1].microseconds) {
temp = work_table[j + 1];
work_table[j + 1] = work_table[j];
work_table[j] = temp;
didSwap = true;
}
}
if (!didSwap) break;
}
}
bool LPC1768_PWM_attach_pin(pin_t pin, uint32_t min /* = 1 */, uint32_t max /* = (LPC_PWM1_MR0 - 1) */, uint8_t servo_index /* = 0xFF */) {
pin = GET_PIN_MAP_PIN(GET_PIN_MAP_INDEX(pin & 0xFF)); // Sometimes the upper byte is garbled
//// direct control PWM code
switch (pin) {
case P1_23: // MKS Sbase Servo 0, PWM1 channel 4 (J3-8 PWM1.4)
direct_table[P1_23_PWM_channel - 1].min = min;
direct_table[P1_23_PWM_channel - 1].max = MIN(max, LPC_PWM1_MR0 - MR0_MARGIN);
direct_table[P1_23_PWM_channel - 1].assigned = true;
return true;
case P1_20: // Servo 0, PWM1 channel 2 (Pin 11 P1.20 PWM1.2)
direct_table[P1_20_PWM_channel - 1].min = min;
direct_table[P1_20_PWM_channel - 1].max = MIN(max, LPC_PWM1_MR0 - MR0_MARGIN);
direct_table[P1_20_PWM_channel - 1].assigned = true;
return true;
case P1_21: // Servo 1, PWM1 channel 3 (Pin 6 P1.21 PWM1.3)
direct_table[P1_21_PWM_channel - 1].min = min;
direct_table[P1_21_PWM_channel - 1].max = MIN(max, LPC_PWM1_MR0 - MR0_MARGIN);
direct_table[P1_21_PWM_channel - 1].assigned = true;
return true;
case P1_18: // Servo 3, PWM1 channel 1 (Pin 4 P1.18 PWM1.1)
direct_table[P1_18_PWM_channel - 1].min = min;
direct_table[P1_18_PWM_channel - 1].max = MIN(max, LPC_PWM1_MR0 - MR0_MARGIN);
direct_table[P1_18_PWM_channel - 1].assigned = true;
return true;
case P2_04: // D9 FET, PWM1 channel 5 (Pin 9 P2_04 PWM1.5)
direct_table[P2_04_PWM_channel - 1].min = min;
direct_table[P2_04_PWM_channel - 1].max = MIN(max, LPC_PWM1_MR0 - MR0_MARGIN);
direct_table[P2_04_PWM_channel - 1].assigned = true;
return true;
case P2_05: // D10 FET, PWM1 channel 6 (Pin 10 P2_05 PWM1.6)
direct_table[P2_05_PWM_channel - 1].min = min;
direct_table[P2_05_PWM_channel - 1].max = MIN(max, LPC_PWM1_MR0 - MR0_MARGIN);
direct_table[P2_05_PWM_channel - 1].assigned = true;
return true;
}
//// interrupt controlled PWM code
NVIC_DisableIRQ(HAL_PWM_TIMER_IRQn); // make it safe to update the active table
// OK to update the active table because the
// ISR doesn't use any of the changed items
// We NEED memory barriers to ensure Interrupts are actually disabled!
// ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
__DSB();
__ISB();
if (ISR_table_update) //use work table if that's the newest
temp_table = work_table;
else
temp_table = active_table;
uint8_t slot = 0;
for (uint8_t i = 0; i < NUM_ISR_PWMS; i++) // see if already in table
if (temp_table[i].pin == pin) {
NVIC_EnableIRQ(HAL_PWM_TIMER_IRQn); // re-enable PWM interrupts
return 1;
}
for (uint8_t i = 1; (i < NUM_ISR_PWMS + 1) && !slot; i++) // find empty slot
if ( !(temp_table[i - 1].set_register)) { slot = i; break; } // any item that can't be zero when active or just attached is OK
if (!slot) {
NVIC_EnableIRQ(HAL_PWM_TIMER_IRQn); // re-enable PWM interrupts
return 0;
}
slot--; // turn it into array index
temp_table[slot].pin = pin; // init slot
temp_table[slot].set_register = &LPC_GPIO(LPC1768_PIN_PORT(pin))->FIOSET;
temp_table[slot].clr_register = &LPC_GPIO(LPC1768_PIN_PORT(pin))->FIOCLR;
temp_table[slot].write_mask = LPC_PIN(LPC1768_PIN_PIN(pin));
temp_table[slot].min = min;
temp_table[slot].max = max; // different max for ISR PWMs than for direct PWMs
temp_table[slot].servo_index = servo_index;
temp_table[slot].active_flag = false;
NVIC_EnableIRQ(HAL_PWM_TIMER_IRQn); // re-enable PWM interrupts
return 1;
}
bool LPC1768_PWM_detach_pin(pin_t pin) {
pin = GET_PIN_MAP_PIN(GET_PIN_MAP_INDEX(pin & 0xFF));
//// direct control PWM code
switch (pin) {
case P1_23: // MKS Sbase Servo 0, PWM1 channel 4 (J3-8 PWM1.4)
if (!direct_table[P1_23_PWM_channel - 1].assigned) return false;
CBI(LPC_PWM1->PCR, 8 + P1_23_PWM_channel); // disable PWM1 module control of this pin
LPC_PINCON->PINSEL3 &= ~(0x3 << 14); // return pin to general purpose I/O
direct_table[P1_23_PWM_channel - 1].assigned = false;
return true;
case P1_20: // Servo 0, PWM1 channel 2 (Pin 11 P1.20 PWM1.2)
if (!direct_table[P1_20_PWM_channel - 1].assigned) return false;
CBI(LPC_PWM1->PCR, 8 + P1_20_PWM_channel); // disable PWM1 module control of this pin
LPC_PINCON->PINSEL3 &= ~(0x3 << 8); // return pin to general purpose I/O
direct_table[P1_20_PWM_channel - 1].assigned = false;
return true;
case P1_21: // Servo 1, PWM1 channel 3 (Pin 6 P1.21 PWM1.3)
if (!direct_table[P1_21_PWM_channel - 1].assigned) return false;
CBI(LPC_PWM1->PCR, 8 + P1_21_PWM_channel); // disable PWM1 module control of this pin
LPC_PINCON->PINSEL3 &= ~(0x3 << 10); // return pin to general purpose I/O
direct_table[P1_21_PWM_channel - 1].assigned = false;
return true;
case P1_18: // Servo 3, PWM1 channel 1 (Pin 4 P1.18 PWM1.1)
if (!direct_table[P1_18_PWM_channel - 1].assigned) return false;
CBI(LPC_PWM1->PCR, 8 + P1_18_PWM_channel); // disable PWM1 module control of this pin
LPC_PINCON->PINSEL3 &= ~(0x3 << 4); // return pin to general purpose I/O
direct_table[P1_18_PWM_channel - 1].assigned = false;
return true;
case P2_04: // D9 FET, PWM1 channel 5 (Pin 9 P2_04 PWM1.5)
if (!direct_table[P2_04_PWM_channel - 1].assigned) return false;
CBI(LPC_PWM1->PCR, 8 + P2_04_PWM_channel); // disable PWM1 module control of this pin
LPC_PINCON->PINSEL4 &= ~(0x3 << 10); // return pin to general purpose I/O
direct_table[P2_04_PWM_channel - 1].assigned = false;
return true;
case P2_05: // D10 FET, PWM1 channel 6 (Pin 10 P2_05 PWM1.6)
if (!direct_table[P2_05_PWM_channel - 1].assigned) return false;
CBI(LPC_PWM1->PCR, 8 + P2_05_PWM_channel); // disable PWM1 module control of this pin
LPC_PINCON->PINSEL4 &= ~(0x3 << 4); // return pin to general purpose I/O
direct_table[P2_05_PWM_channel - 1].assigned = false;
return true;
}
//// interrupt controlled PWM code
NVIC_DisableIRQ(HAL_PWM_TIMER_IRQn);
// We NEED memory barriers to ensure Interrupts are actually disabled!
// ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
__DSB();
__ISB();
if (ISR_table_update) {
ISR_table_update = false; // don't update yet - have another update to do
NVIC_EnableIRQ(HAL_PWM_TIMER_IRQn); // re-enable PWM interrupts
}
else {
NVIC_EnableIRQ(HAL_PWM_TIMER_IRQn); // re-enable PWM interrupts
COPY_ACTIVE_TABLE; // copy active table into work table
}
uint8_t slot = 0xFF;
for (uint8_t i = 0; i < NUM_ISR_PWMS; i++) { // find slot
if (work_table[i].pin == pin) {
slot = i;
break;
}
}
if (slot == 0xFF) // return error if pin not found
return false;
work_table[slot] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
LPC1768_PWM_sort(); // sort table by microseconds
ISR_table_update = true;
return true;
}
// value is 0-20,000 microseconds (0% to 100% duty cycle)
// servo routine provides values in the 544 - 2400 range
bool LPC1768_PWM_write(pin_t pin, uint32_t value) {
pin = GET_PIN_MAP_PIN(GET_PIN_MAP_INDEX(pin & 0xFF));
//// direct control PWM code
switch (pin) {
case P1_23: // MKS Sbase Servo 0, PWM1 channel 4 (J3-8 PWM1.4)
if (!direct_table[P1_23_PWM_channel - 1].assigned) return false;
LPC_PWM1->PCR |= _BV(8 + P1_23_PWM_channel); // enable PWM1 module control of this pin
LPC_PINCON->PINSEL3 = 0x2 << 14; // must set pin function AFTER setting PCR
// load the new time value
LPC_PWM1->MR4 = MAX(MIN(value, direct_table[P1_23_PWM_channel - 1].max), direct_table[P1_23_PWM_channel - 1].min);
LPC_PWM1->LER = 0x1 << P1_23_PWM_channel; // Set the latch Enable Bit to load the new Match Value on the next MR0
return true;
case P1_20: // Servo 0, PWM1 channel 2 (Pin 11 P1.20 PWM1.2)
if (!direct_table[P1_20_PWM_channel - 1].assigned) return false;
LPC_PWM1->PCR |= _BV(8 + P1_20_PWM_channel); // enable PWM1 module control of this pin
LPC_PINCON->PINSEL3 |= 0x2 << 8; // must set pin function AFTER setting PCR
// load the new time value
LPC_PWM1->MR2 = MAX(MIN(value, direct_table[P1_20_PWM_channel - 1].max), direct_table[P1_20_PWM_channel - 1].min);
LPC_PWM1->LER = 0x1 << P1_20_PWM_channel; // Set the latch Enable Bit to load the new Match Value on the next MR0
return true;
case P1_21: // Servo 1, PWM1 channel 3 (Pin 6 P1.21 PWM1.3)
if (!direct_table[P1_21_PWM_channel - 1].assigned) return false;
LPC_PWM1->PCR |= _BV(8 + P1_21_PWM_channel); // enable PWM1 module control of this pin
LPC_PINCON->PINSEL3 |= 0x2 << 10; // must set pin function AFTER setting PCR
// load the new time value
LPC_PWM1->MR3 = MAX(MIN(value, direct_table[P1_21_PWM_channel - 1].max), direct_table[P1_21_PWM_channel - 1].min);
LPC_PWM1->LER = 0x1 << P1_21_PWM_channel; // Set the latch Enable Bit to load the new Match Value on the next MR0
return true;
case P1_18: // Servo 3, PWM1 channel 1 (Pin 4 P1.18 PWM1.1)
if (!direct_table[P1_18_PWM_channel - 1].assigned) return false;
LPC_PWM1->PCR |= _BV(8 + P1_18_PWM_channel); // enable PWM1 module control of this pin
LPC_PINCON->PINSEL3 |= 0x2 << 4; // must set pin function AFTER setting PCR
// load the new time value
LPC_PWM1->MR1 = MAX(MIN(value, direct_table[P1_18_PWM_channel - 1].max), direct_table[P1_18_PWM_channel - 1].min);
LPC_PWM1->LER = 0x1 << P1_18_PWM_channel; // Set the latch Enable Bit to load the new Match Value on the next MR0
return true;
case P2_04: // D9 FET, PWM1 channel 5 (Pin 9 P2_04 PWM1.5)
if (!direct_table[P2_04_PWM_channel - 1].assigned) return false;
LPC_PWM1->PCR |= _BV(8 + P2_04_PWM_channel); // enable PWM1 module control of this pin
LPC_PINCON->PINSEL4 |= 0x1 << 8; // must set pin function AFTER setting PCR
// load the new time value
LPC_PWM1->MR5 = MAX(MIN(value, direct_table[P2_04_PWM_channel - 1].max), direct_table[P2_04_PWM_channel - 1].min);
LPC_PWM1->LER = 0x1 << P2_04_PWM_channel; // Set the latch Enable Bit to load the new Match Value on the next MR0
return true;
case P2_05: // D10 FET, PWM1 channel 6 (Pin 10 P2_05 PWM1.6)
if (!direct_table[P2_05_PWM_channel - 1].assigned) return false;
LPC_PWM1->PCR |= _BV(8 + P2_05_PWM_channel); // enable PWM1 module control of this pin
LPC_PINCON->PINSEL4 |= 0x1 << 10; // must set pin function AFTER setting PCR
// load the new time value
LPC_PWM1->MR6 = MAX(MIN(value, direct_table[P2_05_PWM_channel - 1].max), direct_table[P2_05_PWM_channel - 1].min);
LPC_PWM1->LER = 0x1 << P2_05_PWM_channel; // Set the latch Enable Bit to load the new Match Value on the next MR0
return true;
}
//// interrupt controlled PWM code
NVIC_DisableIRQ(HAL_PWM_TIMER_IRQn);
// We NEED memory barriers to ensure Interrupts are actually disabled!
// ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
__DSB();
__ISB();
if (!ISR_table_update) // use the most up to date table
COPY_ACTIVE_TABLE; // copy active table into work table
uint8_t slot = 0xFF;
for (uint8_t i = 0; i < NUM_ISR_PWMS; i++) // find slot
if (work_table[i].pin == pin) { slot = i; break; }
if (slot == 0xFF) { // return error if pin not found
NVIC_EnableIRQ(HAL_PWM_TIMER_IRQn);
return false;
}
work_table[slot].microseconds = MAX(MIN(value, work_table[slot].max), work_table[slot].min);;
work_table[slot].active_flag = true;
LPC1768_PWM_sort(); // sort table by microseconds
ISR_table_update = true;
NVIC_EnableIRQ(HAL_PWM_TIMER_IRQn); // re-enable PWM interrupts
return 1;
}
bool useable_hardware_PWM(pin_t pin) {
pin = GET_PIN_MAP_PIN(GET_PIN_MAP_INDEX(pin & 0xFF));
NVIC_DisableIRQ(HAL_PWM_TIMER_IRQn);
// We NEED memory barriers to ensure Interrupts are actually disabled!
// ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
__DSB();
__ISB();
bool return_flag = false;
for (uint8_t i = 0; i < NUM_ISR_PWMS; i++) // see if it's already setup
if (active_table[i].pin == pin) return_flag = true;
for (uint8_t i = 0; i < NUM_ISR_PWMS; i++) // see if there is an empty slot
if (!active_table[i].set_register) return_flag = true;
NVIC_EnableIRQ(HAL_PWM_TIMER_IRQn); // re-enable PWM interrupts
return return_flag;
}
////////////////////////////////////////////////////////////////////////////////
#define PWM_LPC1768_ISR_SAFETY_FACTOR 5 // amount of time needed to guarantee MR1 count will be above TC
volatile bool in_PWM_isr = false;
HAL_PWM_TIMER_ISR {
bool first_active_entry = true;
uint32_t next_MR1_val;
if (in_PWM_isr) goto exit_PWM_ISR; // prevent re-entering this ISR
in_PWM_isr = true;
if (HAL_PWM_TIMER->IR & 0x01) { // MR0 interrupt
next_MR1_val = first_MR1_value; // only used if have a blank ISR table
if (ISR_table_update) { // new values have been loaded so swap tables
temp_table = active_table;
active_table = work_table;
work_table = temp_table;
ISR_table_update = false;
}
}
HAL_PWM_TIMER->IR = 0x3F; // clear all interrupts
for (uint8_t i = 0; i < NUM_ISR_PWMS; i++) {
if (active_table[i].active_flag) {
if (first_active_entry) {
first_active_entry = false;
next_MR1_val = active_table[i].microseconds;
}
if (HAL_PWM_TIMER->TC < active_table[i].microseconds) {
*active_table[i].set_register = active_table[i].write_mask; // set pin high
}
else {
*active_table[i].clr_register = active_table[i].write_mask; // set pin low
next_MR1_val = (i == NUM_ISR_PWMS -1)
? LPC_PWM1_MR0 + 1 // done with table, wait for MR0
: active_table[i + 1].microseconds; // set next MR1 interrupt?
}
}
}
if (first_active_entry) next_MR1_val = LPC_PWM1_MR0 + 1; // empty table so disable MR1 interrupt
HAL_PWM_TIMER->MR1 = MAX(next_MR1_val, HAL_PWM_TIMER->TC + PWM_LPC1768_ISR_SAFETY_FACTOR); // set next
in_PWM_isr = false;
exit_PWM_ISR:
return;
}
#endif
/////////////////////////////////////////////////////////////////
///////////////// HARDWARE FIRMWARE INTERACTION ////////////////
/////////////////////////////////////////////////////////////////
/**
* There are two distinct systems used for PWMs:
* directly controlled pins
* ISR controlled pins.
*
* The two systems are independent of each other. The use the same counter frequency so there's no
* translation needed when setting the time values. The init, attach, detach and write routines all
* start with the direct pin code which is followed by the ISR pin code.
*
* The PMW1 module handles the directly controlled pins. Each directly controlled pin is associated
* with a match register (MR1 - MR6). When the associated MR equals the module's TIMER/COUNTER (TC)
* then the pins is set to low. The MR0 register controls the repetition rate. When the TC equals
* MR0 then the TC is reset and ALL directly controlled pins are set high. The resulting pulse widths
* are almost immune to system loading and ISRs. No PWM1 interrupts are used.
*
* The ISR controlled pins use the TIMER/COUNTER, MR0 and MR1 registers from one timer. MR0 controls
* period of the controls the repetition rate. When the TC equals MR0 then the TC is reset and an
* interrupt is generated. When the TC equals MR1 then an interrupt is generated.
*
* Each interrupt does the following:
* 1) Swaps the tables if it's a MR0 interrupt and the swap flag is set. It then clears the swap flag.
* 2) Scans the entire ISR table (it's been sorted low to high time)
* a. If its the first active entry then it grabs the time as a tentative time for MR1
* b. If active and TC is less than the time then it sets the pin high
* c. If active and TC is more than the time it sets the pin high
* d. On every entry that sets a pin low it grabs the NEXT entry's time for use as the next MR1.
* This results in MR1 being set to the time in the first active entry that does NOT set a
* pin low.
* e. If it's setting the last entry's pin low then it sets MR1 to a value bigger than MR0
* f. If no value has been grabbed for the next MR1 then it's an empty table and MR1 is set to a
* value greater than MR0
*/

79
Marlin/src/HAL/HAL_LPC1768/LPC1768_PWM.h
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@@ -1,79 +0,0 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2017 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/>.
*
*/
/**
* The class Servo uses the PWM class to implement its functions
*
* All PWMs use the same repetition rate - 20mS because that's the normal servo rate
*/
/**
* This is a hybrid system.
*
* The PWM1 module is used to directly control the Servo 0, 1 & 3 pins. This keeps
* the pulse width jitter to under a microsecond.
*
* For all other pins the PWM1 module is used to generate interrupts. The ISR
* routine does the actual setting/clearing of pins. The upside is that any pin can
* have a PWM channel assigned to it. The downside is that there is more pulse width
* jitter. The jitter depends on what else is happening in the system and what ISRs
* prempt the PWM ISR. Writing to the SD card can add 20 microseconds to the pulse
* width.
*/
/**
* The data structures are setup to minimize the computation done by the ISR which
* minimizes ISR execution time. Execution times are 2.2 - 3.7 microseconds.
*
* Two tables are used. active_table is used by the ISR. Changes to the table are
* are done by copying the active_table into the work_table, updating the work_table
* and then swapping the two tables. Swapping is done by manipulating pointers.
*
* Immediately after the swap the ISR uses the work_table until the start of the
* next 20mS cycle. During this transition the "work_table" is actually the table
* that was being used before the swap. The "active_table" contains the data that
* will start being used at the start of the next 20mS period. This keeps the pins
* well behaved during the transition.
*
* The ISR's priority is set to the maximum otherwise other ISRs can cause considerable
* jitter in the PWM high time.
*
* See the end of this file for details on the hardware/firmware interaction
*/
#ifndef _LPC1768_PWM_H_
#define _LPC1768_PWM_H_
#include <pinmapping.h>
#include <lpc17xx_clkpwr.h>
#define LPC_PWM1_MR0 19999 // base repetition rate minus one count - 20mS
#define LPC_PWM1_PCLKSEL0 CLKPWR_PCLKSEL_CCLK_DIV_4 // select clock divider for prescaler - defaults to 4 on power up
#define MR0_MARGIN 200 // if channel value too close to MR0 the system locks up
void LPC1768_PWM_init(void);
bool LPC1768_PWM_attach_pin(pin_t pin, uint32_t min=1, uint32_t max=(LPC_PWM1_MR0 - (MR0_MARGIN)), uint8_t servo_index=0xFF);
bool LPC1768_PWM_write(pin_t pin, uint32_t value);
bool LPC1768_PWM_detach_pin(pin_t pin);
bool useable_hardware_PWM(pin_t pin);
#endif // _LPC1768_PWM_H_

163
Marlin/src/HAL/HAL_LPC1768/LPC1768_Servo.cpp
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@@ -1,163 +0,0 @@
/**
* 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/>.
*
*/
/**
* Based on servo.cpp - Interrupt driven Servo library for Arduino using 16 bit
* timers- Version 2 Copyright (c) 2009 Michael Margolis. All right reserved.
*/
/**
* A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
* The servos are pulsed in the background using the value most recently written using the write() method
*
* Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
* Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
*
* The methods are:
*
* Servo - Class for manipulating servo motors connected to Arduino pins.
*
* attach(pin) - Attach a servo motor to an i/o pin.
* attach(pin, min, max) - Attach to a pin, setting min and max values in microseconds
* Default min is 544, max is 2400
*
* write() - Set the servo angle in degrees. (Invalid angles —over MIN_PULSE_WIDTH— are treated as µs.)
* writeMicroseconds() - Set the servo pulse width in microseconds.
* move(pin, angle) - Sequence of attach(pin), write(angle), safe_delay(servo_delay[servoIndex]).
* With DEACTIVATE_SERVOS_AFTER_MOVE it detaches after servo_delay[servoIndex].
* read() - Get the last-written servo pulse width as an angle between 0 and 180.
* readMicroseconds() - Get the last-written servo pulse width in microseconds.
* attached() - Return true if a servo is attached.
* detach() - Stop an attached servo from pulsing its i/o pin.
*
*/
/**
* The only time that this library wants physical movement is when a WRITE
* command is issued. Before that all the attach & detach activity is solely
* within the data base.
*
* The PWM output is inactive until the first WRITE. After that it stays active
* unless DEACTIVATE_SERVOS_AFTER_MOVE is enabled and a MOVE command was issued.
*/
#ifdef TARGET_LPC1768
#include "../../inc/MarlinConfig.h"
#if HAS_SERVOS
#include "LPC1768_PWM.h"
#include "LPC1768_Servo.h"
#include "servo_private.h"
ServoInfo_t servo_info[MAX_SERVOS]; // static array of servo info structures
uint8_t ServoCount = 0; // the total number of attached servos
#define US_TO_PULSE_WIDTH(p) p
#define PULSE_WIDTH_TO_US(p) p
#define TRIM_DURATION 0
#define SERVO_MIN() MIN_PULSE_WIDTH // minimum value in uS for this servo
#define SERVO_MAX() MAX_PULSE_WIDTH // maximum value in uS for this servo
Servo::Servo() {
if (ServoCount < MAX_SERVOS) {
this->servoIndex = ServoCount++; // assign a servo index to this instance
servo_info[this->servoIndex].pulse_width = US_TO_PULSE_WIDTH(DEFAULT_PULSE_WIDTH); // store default values - 12 Aug 2009
}
else
this->servoIndex = INVALID_SERVO; // too many servos
}
int8_t Servo::attach(const int pin) {
return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
}
int8_t Servo::attach(const int pin, const int min, const int max) {
if (this->servoIndex >= MAX_SERVOS) return -1;
if (pin > 0) servo_info[this->servoIndex].Pin.nbr = pin; // only assign a pin value if the pin info is
// greater than zero. This way the init routine can
// assign the pin and the MOVE command only needs the value.
this->min = MIN_PULSE_WIDTH; //resolution of min/max is 1 uS
this->max = MAX_PULSE_WIDTH;
servo_info[this->servoIndex].Pin.isActive = true;
return this->servoIndex;
}
void Servo::detach() {
servo_info[this->servoIndex].Pin.isActive = false;
}
void Servo::write(int value) {
if (value < MIN_PULSE_WIDTH) { // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
value = map(constrain(value, 0, 180), 0, 180, SERVO_MIN(), SERVO_MAX());
// odd - this sets zero degrees to 544 and 180 degrees to 2400 microseconds but the literature says
// zero degrees should be 500 microseconds and 180 should be 2500
}
this->writeMicroseconds(value);
}
void Servo::writeMicroseconds(int value) {
// calculate and store the values for the given channel
byte channel = this->servoIndex;
if (channel < MAX_SERVOS) { // ensure channel is valid
// ensure pulse width is valid
value = constrain(value, SERVO_MIN(), SERVO_MAX()) - (TRIM_DURATION);
value = US_TO_PULSE_WIDTH(value); // convert to pulse_width after compensating for interrupt overhead - 12 Aug 2009
servo_info[channel].pulse_width = value;
LPC1768_PWM_attach_pin(servo_info[this->servoIndex].Pin.nbr, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH, this->servoIndex);
LPC1768_PWM_write(servo_info[this->servoIndex].Pin.nbr, value);
}
}
// return the value as degrees
int Servo::read() { return map(this->readMicroseconds() + 1, SERVO_MIN(), SERVO_MAX(), 0, 180); }
int Servo::readMicroseconds() {
return (this->servoIndex == INVALID_SERVO) ? 0 : PULSE_WIDTH_TO_US(servo_info[this->servoIndex].pulse_width) + TRIM_DURATION;
}
bool Servo::attached() { return servo_info[this->servoIndex].Pin.isActive; }
void Servo::move(const int value) {
constexpr uint16_t servo_delay[] = SERVO_DELAY;
static_assert(COUNT(servo_delay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
if (this->attach(0) >= 0) { // notice the pin number is zero here
this->write(value);
safe_delay(servo_delay[this->servoIndex]);
#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
this->detach();
LPC1768_PWM_detach_pin(servo_info[this->servoIndex].Pin.nbr); // shut down the PWM signal
LPC1768_PWM_attach_pin(servo_info[this->servoIndex].Pin.nbr, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH, this->servoIndex); // make sure no one else steals the slot
#endif
}
}
#endif // HAS_SERVOS
#endif // TARGET_LPC1768

62
Marlin/src/HAL/HAL_LPC1768/LPC1768_Servo.h
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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2017 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/>.
*
*/
/**
* The class Servo uses the PWM class to implement its functions
*
* The PWM1 module is only used to generate interrups at specified times. It
* is NOT used to directly toggle pins. The ISR writes to the pin assigned to
* that interrupt
*
* All PWMs use the same repetition rate - 20mS because that's the normal servo rate
*
*/
#ifndef LPC1768_SERVO_H
#define LPC1768_SERVO_H
#include <stdint.h>
class Servo {
public:
Servo();
int8_t attach(const int pin); // attach the given pin to the next free channel, set pinMode, return channel number (-1 on fail)
int8_t attach(const int pin, const int min, const int max); // as above but also sets min and max values for writes.
void detach();
void write(int value); // if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds
void writeMicroseconds(int value); // write pulse width in microseconds
void move(const int value); // attach the servo, then move to value
// if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds
// if DEACTIVATE_SERVOS_AFTER_MOVE wait SERVO_DELAY, then detach
int read(); // returns current pulse width as an angle between 0 and 180 degrees
int readMicroseconds(); // returns current pulse width in microseconds for this servo (was read_us() in first release)
bool attached(); // return true if this servo is attached, otherwise false
private:
uint8_t servoIndex; // index into the channel data for this servo
int min;
int max;
};
#define HAL_SERVO_LIB Servo
#endif // LPC1768_SERVO_H

56
Marlin/src/HAL/HAL_LPC1768/MarlinSerial.cpp Normal file
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/**
* 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 TARGET_LPC1768
#include "../../inc/MarlinConfigPre.h"
#include "MarlinSerial.h"
#if (defined(SERIAL_PORT) && SERIAL_PORT == 0) || (defined(SERIAL_PORT_2) && SERIAL_PORT_2 == 0)
MarlinSerial MSerial(LPC_UART0);
extern "C" void UART0_IRQHandler(void) {
MSerial.IRQHandler();
}
#endif
#if (defined(SERIAL_PORT) && SERIAL_PORT == 1) || (defined(SERIAL_PORT_2) && SERIAL_PORT_2 == 1)
MarlinSerial MSerial1((LPC_UART_TypeDef *) LPC_UART1);
extern "C" void UART1_IRQHandler(void) {
MSerial1.IRQHandler();
}
#endif
#if (defined(SERIAL_PORT) && SERIAL_PORT == 2) || (defined(SERIAL_PORT_2) && SERIAL_PORT_2 == 2)
MarlinSerial MSerial2(LPC_UART2);
extern "C" void UART2_IRQHandler(void) {
MSerial2.IRQHandler();
}
#endif
#if (defined(SERIAL_PORT) && SERIAL_PORT == 3) || (defined(SERIAL_PORT_2) && SERIAL_PORT_2 == 3)
MarlinSerial MSerial3(LPC_UART3);
extern "C" void UART3_IRQHandler(void) {
MSerial3.IRQHandler();
}
#endif
#endif // TARGET_LPC1768

71
Marlin/src/HAL/HAL_LPC1768/MarlinSerial.h Normal file
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/**
* 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/>.
*
*/
#ifndef MARLINSERIAL_H
#define MARLINSERIAL_H
#include <HardwareSerial.h>
#include <WString.h>
#include "../../inc/MarlinConfigPre.h"
#if ENABLED(EMERGENCY_PARSER)
#include "../../feature/emergency_parser.h"
#endif
#ifndef SERIAL_PORT
#define SERIAL_PORT 0
#endif
#ifndef RX_BUFFER_SIZE
#define RX_BUFFER_SIZE 128
#endif
#ifndef TX_BUFFER_SIZE
#define TX_BUFFER_SIZE 32
#endif
class MarlinSerial : public HardwareSerial<RX_BUFFER_SIZE, TX_BUFFER_SIZE> {
public:
MarlinSerial(LPC_UART_TypeDef *UARTx) :
HardwareSerial<RX_BUFFER_SIZE, TX_BUFFER_SIZE>(UARTx)
#if ENABLED(EMERGENCY_PARSER)
, emergency_state(EmergencyParser::State::EP_RESET)
#endif
{
}
#if ENABLED(EMERGENCY_PARSER)
bool recv_callback(const char c) override {
emergency_parser.update(emergency_state, c);
return true; // do not discard character
}
#endif
#if ENABLED(EMERGENCY_PARSER)
EmergencyParser::State emergency_state;
#endif
};
extern MarlinSerial MSerial;
extern MarlinSerial MSerial1;
extern MarlinSerial MSerial2;
extern MarlinSerial MSerial3;
#endif // MARLINSERIAL_H

90
Marlin/src/HAL/HAL_LPC1768/SoftwareSPI.cpp
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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016, 2017 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/>.
*
*/
/**
* Software SPI functions originally from Arduino Sd2Card Library
* Copyright (C) 2009 by William Greiman
*/
/**
* For TARGET_LPC1768
*/
#ifdef TARGET_LPC1768
#include "../../inc/MarlinConfig.h"
// --------------------------------------------------------------------------
// Software SPI
// --------------------------------------------------------------------------
/**
* This software SPI runs at multiple rates. The SD software provides an index
* (spiRate) of 0-6. The mapping is:
* 0 - about 5 MHz peak (6 MHz on LPC1769)
* 1-2 - about 2 MHz peak
* 3 - about 1 MHz peak
* 4 - about 500 kHz peak
* 5 - about 250 kHz peak
* 6 - about 125 kHz peak
*/
uint8_t swSpiTransfer(uint8_t b, const uint8_t spi_speed, const pin_t sck_pin, const pin_t miso_pin, const pin_t mosi_pin) {
for (uint8_t i = 0; i < 8; i++) {
if (spi_speed == 0) {
WRITE(mosi_pin, !!(b & 0x80));
WRITE(sck_pin, HIGH);
b <<= 1;
if (miso_pin >= 0 && READ(miso_pin)) b |= 1;
WRITE(sck_pin, LOW);
}
else {
const uint8_t state = (b & 0x80) ? HIGH : LOW;
for (uint8_t j = 0; j < spi_speed; j++)
WRITE(mosi_pin, state);
for (uint8_t j = 0; j < spi_speed + (miso_pin >= 0 ? 0 : 1); j++)
WRITE(sck_pin, HIGH);
b <<= 1;
if (miso_pin >= 0 && READ(miso_pin)) b |= 1;
for (uint8_t j = 0; j < spi_speed; j++)
WRITE(sck_pin, LOW);
}
}
return b;
}
void swSpiBegin(const pin_t sck_pin, const pin_t miso_pin, const pin_t mosi_pin) {
SET_OUTPUT(sck_pin);
if (VALID_PIN(miso_pin)) SET_INPUT(miso_pin);
SET_OUTPUT(mosi_pin);
}
uint8_t swSpiInit(const uint8_t spiRate, const pin_t sck_pin, const pin_t mosi_pin) {
WRITE(mosi_pin, HIGH);
WRITE(sck_pin, LOW);
return (SystemCoreClock == 120000000 ? 44 : 38) / POW(2, 6 - MIN(spiRate, 6));
}
#endif // TARGET_LPC1768

50
Marlin/src/HAL/HAL_LPC1768/SoftwareSPI.h
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/**
* 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/>.
*
*/
#ifndef _SOFTWARE_SPI_H_
#define _SOFTWARE_SPI_H_
#include <pinmapping.h>
// --------------------------------------------------------------------------
// Software SPI
// --------------------------------------------------------------------------
/**
* This software SPI runs at multiple rates. The SD software provides an index
* (spiRate) of 0-6. The mapping is:
* 0 - about 5 MHz peak (6 MHz on LPC1769)
* 1-2 - about 2 MHz peak
* 3 - about 1 MHz peak
* 4 - about 500 kHz peak
* 5 - about 250 kHz peak
* 6 - about 125 kHz peak
*/
void swSpiBegin(const pin_t sck_pin, const pin_t miso_pin, const pin_t mosi_pin);
// Returns the spi_speed value to be passed to swSpiTransfer
uint8_t swSpiInit(const uint8_t spiRate, const pin_t sck_pin, const pin_t mosi_pin);
uint8_t swSpiTransfer(uint8_t b, const uint8_t spi_speed, const pin_t sck_pin, const pin_t miso_pin, const pin_t mosi_pin);
#endif // _SOFTWARE_SPI_H_

162
Marlin/src/HAL/HAL_LPC1768/WInterrupts.cpp
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/**
* Copyright (c) 2011-2012 Arduino. All right reserved.
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* This library 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 Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#ifdef TARGET_LPC1768
#include "../../inc/MarlinConfig.h"
#define GNUM 31
typedef void (*interruptCB)(void);
static interruptCB callbacksP0[GNUM] = {};
static interruptCB callbacksP2[GNUM] = {};
extern "C" void GpioEnableInt(const uint32_t port, const uint32_t pin, const uint32_t mode);
extern "C" void GpioDisableInt(const uint32_t port, const uint32_t pin);
static void __initialize() {
NVIC_SetPriority(EINT3_IRQn, NVIC_EncodePriority(0, 1, 0));
NVIC_EnableIRQ(EINT3_IRQn);
}
void attachInterrupt(const pin_t pin, void (*callback)(void), uint32_t mode) {
static int enabled = 0;
if (!INTERRUPT_PIN(pin)) return;
if (!enabled) {
__initialize();
++enabled;
}
uint8_t myport = LPC1768_PIN_PORT(pin),
mypin = LPC1768_PIN_PIN(pin);
if (myport == 0)
callbacksP0[mypin] = callback;
else
callbacksP2[mypin] = callback;
// Enable interrupt
GpioEnableInt(myport,mypin,mode);
}
void detachInterrupt(const pin_t pin) {
if (!INTERRUPT_PIN(pin)) return;
const uint8_t myport = LPC1768_PIN_PORT(pin),
mypin = LPC1768_PIN_PIN(pin);
// Disable interrupt
GpioDisableInt(myport, mypin);
// unset callback
if (myport == 0)
callbacksP0[mypin] = 0;
else //if (myport == 2 )
callbacksP2[mypin] = 0;
}
extern "C" void GpioEnableInt(uint32_t port, uint32_t pin, uint32_t mode) {
//pin here is the processor pin, not logical pin
if (port == 0) {
LPC_GPIOINT->IO0IntClr = _BV(pin);
if (mode == RISING) {
SBI(LPC_GPIOINT->IO0IntEnR, pin);
CBI(LPC_GPIOINT->IO0IntEnF, pin);
}
else if (mode == FALLING) {
SBI(LPC_GPIOINT->IO0IntEnF, pin);
CBI(LPC_GPIOINT->IO0IntEnR, pin);
}
else if (mode == CHANGE) {
SBI(LPC_GPIOINT->IO0IntEnR, pin);
SBI(LPC_GPIOINT->IO0IntEnF, pin);
}
}
else {
LPC_GPIOINT->IO2IntClr = _BV(pin);
if (mode == RISING) {
SBI(LPC_GPIOINT->IO2IntEnR, pin);
CBI(LPC_GPIOINT->IO2IntEnF, pin);
}
else if (mode == FALLING) {
SBI(LPC_GPIOINT->IO2IntEnF, pin);
CBI(LPC_GPIOINT->IO2IntEnR, pin);
}
else if (mode == CHANGE) {
SBI(LPC_GPIOINT->IO2IntEnR, pin);
SBI(LPC_GPIOINT->IO2IntEnF, pin);
}
}
}
extern "C" void GpioDisableInt(const uint32_t port, const uint32_t pin) {
if (port == 0) {
CBI(LPC_GPIOINT->IO0IntEnR, pin);
CBI(LPC_GPIOINT->IO0IntEnF, pin);
LPC_GPIOINT->IO0IntClr = _BV(pin);
}
else {
CBI(LPC_GPIOINT->IO2IntEnR, pin);
CBI(LPC_GPIOINT->IO2IntEnF, pin);
LPC_GPIOINT->IO2IntClr = _BV(pin);
}
}
extern "C" void EINT3_IRQHandler(void) {
// Read in all current interrupt registers. We do this once as the
// GPIO interrupt registers are on the APB bus, and this is slow.
uint32_t rise0 = LPC_GPIOINT->IO0IntStatR,
fall0 = LPC_GPIOINT->IO0IntStatF,
rise2 = LPC_GPIOINT->IO2IntStatR,
fall2 = LPC_GPIOINT->IO2IntStatF;
// Clear the interrupts ASAP
LPC_GPIOINT->IO0IntClr = LPC_GPIOINT->IO2IntClr = 0xFFFFFFFF;
NVIC_ClearPendingIRQ(EINT3_IRQn);
while (rise0 > 0) { // If multiple pins changes happened continue as long as there are interrupts pending
const uint8_t bitloc = 31 - __CLZ(rise0); // CLZ returns number of leading zeros, 31 minus that is location of first pending interrupt
if (callbacksP0[bitloc] != NULL) callbacksP0[bitloc]();
rise0 -= _BV(bitloc);
}
while (fall0 > 0) {
const uint8_t bitloc = 31 - __CLZ(fall0);
if (callbacksP0[bitloc] != NULL) callbacksP0[bitloc]();
fall0 -= _BV(bitloc);
}
while(rise2 > 0) {
const uint8_t bitloc = 31 - __CLZ(rise2);
if (callbacksP2[bitloc] != NULL) callbacksP2[bitloc]();
rise2 -= _BV(bitloc);
}
while (fall2 > 0) {
const uint8_t bitloc = 31 - __CLZ(fall2);
if (callbacksP2[bitloc] != NULL) callbacksP2[bitloc]();
fall2 -= _BV(bitloc);
}
}
#endif // TARGET_LPC1768

179
Marlin/src/HAL/HAL_LPC1768/arduino.cpp
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/**
* 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 TARGET_LPC1768
#include "LPC1768_PWM.h"
#include <lpc17xx_pinsel.h>
#include "../../inc/MarlinConfig.h"
#include "../shared/Delay.h"
// Interrupts
void cli(void) { __disable_irq(); } // Disable
void sei(void) { __enable_irq(); } // Enable
// Time functions
void _delay_ms(const int delay_ms) {
delay(delay_ms);
}
uint32_t millis() {
return _millis;
}
// This is required for some Arduino libraries we are using
void delayMicroseconds(uint32_t us) {
DELAY_US(us);
}
extern "C" void delay(const int msec) {
volatile millis_t end = _millis + msec;
SysTick->VAL = SysTick->LOAD; // reset systick counter so next systick is in exactly 1ms
// this could extend the time between systicks by upto 1ms
while PENDING(_millis, end) __WFE();
}
// IO functions
// As defined by Arduino INPUT(0x0), OUTPUT(0x1), INPUT_PULLUP(0x2)
void pinMode(const pin_t pin, const uint8_t mode) {
if (!VALID_PIN(pin)) return;
PINSEL_CFG_Type config = { LPC1768_PIN_PORT(pin),
LPC1768_PIN_PIN(pin),
PINSEL_FUNC_0,
PINSEL_PINMODE_TRISTATE,
PINSEL_PINMODE_NORMAL };
switch (mode) {
case INPUT:
LPC_GPIO(LPC1768_PIN_PORT(pin))->FIODIR &= ~LPC_PIN(LPC1768_PIN_PIN(pin));
break;
case OUTPUT:
LPC_GPIO(LPC1768_PIN_PORT(pin))->FIODIR |= LPC_PIN(LPC1768_PIN_PIN(pin));
break;
case INPUT_PULLUP:
LPC_GPIO(LPC1768_PIN_PORT(pin))->FIODIR &= ~LPC_PIN(LPC1768_PIN_PIN(pin));
config.Pinmode = PINSEL_PINMODE_PULLUP;
break;
case INPUT_PULLDOWN:
LPC_GPIO(LPC1768_PIN_PORT(pin))->FIODIR &= ~LPC_PIN(LPC1768_PIN_PIN(pin));
config.Pinmode = PINSEL_PINMODE_PULLDOWN;
break;
default: return;
}
PINSEL_ConfigPin(&config);
}
void digitalWrite(pin_t pin, uint8_t pin_status) {
if (!VALID_PIN(pin)) return;
if (pin_status)
LPC_GPIO(LPC1768_PIN_PORT(pin))->FIOSET = LPC_PIN(LPC1768_PIN_PIN(pin));
else
LPC_GPIO(LPC1768_PIN_PORT(pin))->FIOCLR = LPC_PIN(LPC1768_PIN_PIN(pin));
pinMode(pin, OUTPUT); // Set pin mode on every write (Arduino version does this)
/**
* Must be done AFTER the output state is set. Doing this before will cause a
* 2uS glitch if writing a "1".
*
* When the Port Direction bit is written to a "1" the output is immediately set
* to the value of the FIOPIN bit which is "0" because of power up defaults.
*/
}
bool digitalRead(pin_t pin) {
if (!VALID_PIN(pin)) return false;
return LPC_GPIO(LPC1768_PIN_PORT(pin))->FIOPIN & LPC_PIN(LPC1768_PIN_PIN(pin)) ? 1 : 0;
}
void analogWrite(pin_t pin, int pwm_value) { // 1 - 254: pwm_value, 0: LOW, 255: HIGH
if (!VALID_PIN(pin)) return;
#define MR0_MARGIN 200 // if channel value too close to MR0 the system locks up
static bool out_of_PWM_slots = false;
uint value = MAX(MIN(pwm_value, 255), 0);
if (value == 0 || value == 255) { // treat as digital pin
LPC1768_PWM_detach_pin(pin); // turn off PWM
digitalWrite(pin, value);
}
else {
if (LPC1768_PWM_attach_pin(pin, 1, LPC_PWM1->MR0, 0xFF))
LPC1768_PWM_write(pin, map(value, 0, 255, 1, LPC_PWM1->MR0)); // map 1-254 onto PWM range
else { // out of PWM channels
if (!out_of_PWM_slots) SERIAL_ECHOPGM(".\nWARNING - OUT OF PWM CHANNELS\n.\n"); //only warn once
out_of_PWM_slots = true;
digitalWrite(pin, value); // treat as a digital pin if out of channels
}
}
}
extern bool HAL_adc_finished();
uint16_t analogRead(pin_t adc_pin) {
HAL_adc_start_conversion(adc_pin);
while (!HAL_adc_finished()); // Wait for conversion to finish
return HAL_adc_get_result();
}
// **************************
// Persistent Config Storage
// **************************
void eeprom_write_byte(uint8_t *pos, unsigned char value) {
}
uint8_t eeprom_read_byte(uint8_t * pos) { return '\0'; }
void eeprom_read_block(void *__dst, const void *__src, size_t __n) { }
void eeprom_update_block(const void *__src, void *__dst, size_t __n) { }
char *dtostrf (double __val, signed char __width, unsigned char __prec, char *__s) {
char format_string[20];
snprintf(format_string, 20, "%%%d.%df", __width, __prec);
sprintf(__s, format_string, __val);
return __s;
}
int32_t random(int32_t max) {
return rand() % max;
}
int32_t random(int32_t min, int32_t max) {
return min + rand() % (max - min);
}
void randomSeed(uint32_t value) {
srand(value);
}
int map(uint16_t x, uint16_t in_min, uint16_t in_max, uint16_t out_min, uint16_t out_max) {
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}
#endif // TARGET_LPC1768

21
Marlin/src/HAL/HAL_LPC1768/debug_extra_script.py
View File

@@ -1,21 +0,0 @@
Import("env")
env.AddPostAction(
"$BUILD_DIR/firmware.hex",
env.VerboseAction(" ".join([
"sed", "-i.bak",
"s/:10040000FFFFFFFFFFFFFFFFFFFFFFFFDEF9FFFF23/:10040000FFFFFFFFFFFFFFFFFFFFFFFFFEFFFFFFFD/",
"$BUILD_DIR/firmware.hex"
]), "Fixing $BUILD_DIR/firmware.hex secure flash flags"))
env.AddPreAction(
"upload",
env.VerboseAction(" ".join([
"echo",
"'h\\nloadfile $BUILD_DIR/firmware.hex\\nr\\nq\\n'",
">$BUILD_DIR/aux.jlink"
]), "Creating auxiliary files"))
env.Replace(
UPLOADHEXCMD=
'JLinkExe -device MK20DX256xxx7 -speed 4000 -if swd -autoconnect 1 -CommanderScript $BUILD_DIR/aux.jlink -SkipProgOnCRCMatch = 1 -VerifyDownload = 1'
)

26
Marlin/src/HAL/HAL_LPC1768/fastio.h
View File

@@ -35,27 +35,23 @@
#ifndef _FASTIO_LPC1768_H
#define _FASTIO_LPC1768_H
#include <LPC17xx.h>
#include <Arduino.h>
#include <pinmapping.h>
bool useable_hardware_PWM(pin_t pin);
#define USEABLE_HARDWARE_PWM(pin) useable_hardware_PWM(pin)
#define LPC_PORT_OFFSET (0x0020)
#define LPC_PIN(pin) (1UL << pin)
#define LPC_GPIO(port) ((volatile LPC_GPIO_TypeDef *)(LPC_GPIO0_BASE + LPC_PORT_OFFSET * port))
#define LPC_PIN(pin) (gpio_pin(pin))
#define LPC_GPIO(port) (gpio_port(port))
#define SET_DIR_INPUT(IO) (LPC_GPIO(LPC1768_PIN_PORT(IO))->FIODIR &= ~LPC_PIN(LPC1768_PIN_PIN(IO)))
#define SET_DIR_OUTPUT(IO) (LPC_GPIO(LPC1768_PIN_PORT(IO))->FIODIR |= LPC_PIN(LPC1768_PIN_PIN(IO)))
#define SET_DIR_INPUT(IO) (gpio_set_input(IO))
#define SET_DIR_OUTPUT(IO) (gpio_set_output(IO))
#define SET_MODE(IO, mode) (pin_mode((LPC1768_PIN_PORT(IO), LPC1768_PIN_PIN(IO)), mode))
#define SET_MODE(IO, mode) (pinMode(IO, mode))
#define WRITE_PIN_SET(IO) (LPC_GPIO(LPC1768_PIN_PORT(IO))->FIOSET = LPC_PIN(LPC1768_PIN_PIN(IO)))
#define WRITE_PIN_CLR(IO) (LPC_GPIO(LPC1768_PIN_PORT(IO))->FIOCLR = LPC_PIN(LPC1768_PIN_PIN(IO)))
#define WRITE_PIN_SET(IO) (gpio_set(IO))
#define WRITE_PIN_CLR(IO) (gpio_clear(IO))
#define READ_PIN(IO) ((LPC_GPIO(LPC1768_PIN_PORT(IO))->FIOPIN & LPC_PIN(LPC1768_PIN_PIN(IO))) ? 1 : 0)
#define WRITE_PIN(IO,V) ((V) ? WRITE_PIN_SET(IO) : WRITE_PIN_CLR(IO))
#define READ_PIN(IO) (gpio_get(IO))
#define WRITE_PIN(IO,V) (gpio_set(IO, V))
/**
* Magic I/O routines
@@ -89,10 +85,10 @@ bool useable_hardware_PWM(pin_t pin);
#define _PULLDOWN(IO,V) pinMode(IO, (V) ? INPUT_PULLDOWN : INPUT)
/// check if pin is an input
#define _GET_INPUT(IO) (LPC_GPIO(LPC1768_PIN_PORT(IO))->FIODIR & LPC_PIN(LPC1768_PIN_PIN(IO)) != 0)
#define _GET_INPUT(IO) (!gpio_get_dir(IO))
/// check if pin is an output
#define _GET_OUTPUT(IO) (LPC_GPIO(LPC1768_PIN_PORT(IO))->FIODIR & LPC_PIN(LPC1768_PIN_PIN(IO)) == 0)
#define _GET_OUTPUT(IO) (gpio_get_dir(IO))
/// check if pin is a timer
/// all gpio pins are pwm capable, either interrupt or hardware pwm controlled

125
Marlin/src/HAL/HAL_LPC1768/include/Arduino.h
View File

@@ -1,125 +0,0 @@
/**
* 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/>.
*
*/
#ifndef __ARDUINO_H__
#define __ARDUINO_H__
#include <stddef.h>
#include <stdint.h>
#include <math.h>
#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
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(const pin_t pin, void (*callback)(void), uint32_t mode);
void detachInterrupt(const pin_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)
#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
#define strchr_P strchr
// 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(uint8_t *pos, unsigned char value);
uint8_t eeprom_read_byte(uint8_t *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);
#endif // __ARDUINO_DEF_H__

335
Marlin/src/HAL/HAL_LPC1768/include/HardwareSerial.cpp
View File

@@ -1,335 +0,0 @@
/**
* 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 TARGET_LPC1768
#include "HardwareSerial.h"
#if SERIAL_PORT == 0 || SERIAL_PORT_2 == 0
HardwareSerial Serial = HardwareSerial(LPC_UART0);
#elif SERIAL_PORT == 1 || SERIAL_PORT_2 == 1
HardwareSerial Serial1 = HardwareSerial((LPC_UART_TypeDef *) LPC_UART1);
#elif SERIAL_PORT == 2 || SERIAL_PORT_2 == 2
HardwareSerial Serial2 = HardwareSerial(LPC_UART2);
#elif SERIAL_PORT == 3 || SERIAL_PORT_2 == 3
HardwareSerial Serial3 = HardwareSerial(LPC_UART3);
#endif
void HardwareSerial::begin(uint32_t baudrate) {
UART_CFG_Type UARTConfigStruct;
PINSEL_CFG_Type PinCfg;
UART_FIFO_CFG_Type FIFOConfig;
if (Baudrate == baudrate) return; // No need to re-initialize
if (UARTx == LPC_UART0) {
// Initialize UART0 pin connect
PinCfg.Funcnum = 1;
PinCfg.OpenDrain = 0;
PinCfg.Pinmode = 0;
PinCfg.Pinnum = 2;
PinCfg.Portnum = 0;
PINSEL_ConfigPin(&PinCfg);
PinCfg.Pinnum = 3;
PINSEL_ConfigPin(&PinCfg);
} else if ((LPC_UART1_TypeDef *) UARTx == LPC_UART1) {
// Initialize UART1 pin connect
PinCfg.Funcnum = 1;
PinCfg.OpenDrain = 0;
PinCfg.Pinmode = 0;
PinCfg.Pinnum = 15;
PinCfg.Portnum = 0;
PINSEL_ConfigPin(&PinCfg);
PinCfg.Pinnum = 16;
PINSEL_ConfigPin(&PinCfg);
} else if (UARTx == LPC_UART2) {
// Initialize UART2 pin connect
PinCfg.Funcnum = 1;
PinCfg.OpenDrain = 0;
PinCfg.Pinmode = 0;
PinCfg.Pinnum = 10;
PinCfg.Portnum = 0;
PINSEL_ConfigPin(&PinCfg);
PinCfg.Pinnum = 11;
PINSEL_ConfigPin(&PinCfg);
} else if (UARTx == LPC_UART3) {
// Initialize UART2 pin connect
PinCfg.Funcnum = 1;
PinCfg.OpenDrain = 0;
PinCfg.Pinmode = 0;
PinCfg.Pinnum = 0;
PinCfg.Portnum = 0;
PINSEL_ConfigPin(&PinCfg);
PinCfg.Pinnum = 1;
PINSEL_ConfigPin(&PinCfg);
}
/* Initialize UART Configuration parameter structure to default state:
* Baudrate = 9600bps
* 8 data bit
* 1 Stop bit
* None parity
*/
UART_ConfigStructInit(&UARTConfigStruct);
// Re-configure baudrate
UARTConfigStruct.Baud_rate = baudrate;
// Initialize eripheral with given to corresponding parameter
UART_Init(UARTx, &UARTConfigStruct);
// Enable and reset the TX and RX FIFOs
UART_FIFOConfigStructInit(&FIFOConfig);
UART_FIFOConfig(UARTx, &FIFOConfig);
// Enable UART Transmit
UART_TxCmd(UARTx, ENABLE);
// Configure Interrupts
UART_IntConfig(UARTx, UART_INTCFG_RBR, ENABLE);
UART_IntConfig(UARTx, UART_INTCFG_RLS, ENABLE);
// Set proper priority and enable interrupts
if (UARTx == LPC_UART0) {
NVIC_SetPriority(UART0_IRQn, NVIC_EncodePriority(0, 3, 0));
NVIC_EnableIRQ(UART0_IRQn);
}
else if ((LPC_UART1_TypeDef *) UARTx == LPC_UART1) {
NVIC_SetPriority(UART1_IRQn, NVIC_EncodePriority(0, 3, 0));
NVIC_EnableIRQ(UART1_IRQn);
}
else if (UARTx == LPC_UART2) {
NVIC_SetPriority(UART2_IRQn, NVIC_EncodePriority(0, 3, 0));
NVIC_EnableIRQ(UART2_IRQn);
}
else if (UARTx == LPC_UART3) {
NVIC_SetPriority(UART3_IRQn, NVIC_EncodePriority(0, 3, 0));
NVIC_EnableIRQ(UART3_IRQn);
}
RxQueueWritePos = RxQueueReadPos = 0;
#if TX_BUFFER_SIZE > 0
TxQueueWritePos = TxQueueReadPos = 0;
#endif
// Save the configured baudrate
Baudrate = baudrate;
}
int16_t HardwareSerial::peek() {
int16_t byte = -1;
// Temporarily lock out UART receive interrupts during this read so the UART receive
// interrupt won't cause problems with the index values
UART_IntConfig(UARTx, UART_INTCFG_RBR, DISABLE);
if (RxQueueReadPos != RxQueueWritePos)
byte = RxBuffer[RxQueueReadPos];
// Re-enable UART interrupts
UART_IntConfig(UARTx, UART_INTCFG_RBR, ENABLE);
return byte;
}
int16_t HardwareSerial::read() {
int16_t byte = -1;
// Temporarily lock out UART receive interrupts during this read so the UART receive
// interrupt won't cause problems with the index values
UART_IntConfig(UARTx, UART_INTCFG_RBR, DISABLE);
if (RxQueueReadPos != RxQueueWritePos) {
byte = RxBuffer[RxQueueReadPos];
RxQueueReadPos = (RxQueueReadPos + 1) % RX_BUFFER_SIZE;
}
// Re-enable UART interrupts
UART_IntConfig(UARTx, UART_INTCFG_RBR, ENABLE);
return byte;
}
size_t HardwareSerial::write(uint8_t send) {
#if TX_BUFFER_SIZE > 0
size_t bytes = 0;
uint32_t fifolvl = 0;
// If the Tx Buffer is full, wait for space to clear
if ((TxQueueWritePos+1) % TX_BUFFER_SIZE == TxQueueReadPos) flushTX();
// Temporarily lock out UART transmit interrupts during this read so the UART transmit interrupt won't
// cause problems with the index values
UART_IntConfig(UARTx, UART_INTCFG_THRE, DISABLE);
// LPC17xx.h incorrectly defines FIFOLVL as a uint8_t, when it's actually a 32-bit register
if ((LPC_UART1_TypeDef *) UARTx == LPC_UART1) {
fifolvl = *(reinterpret_cast<volatile uint32_t *>(&((LPC_UART1_TypeDef *) UARTx)->FIFOLVL));
} else fifolvl = *(reinterpret_cast<volatile uint32_t *>(&UARTx->FIFOLVL));
// If the queue is empty and there's space in the FIFO, immediately send the byte
if (TxQueueWritePos == TxQueueReadPos && fifolvl < UART_TX_FIFO_SIZE) {
bytes = UART_Send(UARTx, &send, 1, BLOCKING);
}
// Otherwiise, write the byte to the transmit buffer
else if ((TxQueueWritePos+1) % TX_BUFFER_SIZE != TxQueueReadPos) {
TxBuffer[TxQueueWritePos] = send;
TxQueueWritePos = (TxQueueWritePos+1) % TX_BUFFER_SIZE;
bytes++;
}
// Re-enable the TX Interrupt
UART_IntConfig(UARTx, UART_INTCFG_THRE, ENABLE);
return bytes;
#else
return UART_Send(UARTx, &send, 1, BLOCKING);
#endif
}
#if TX_BUFFER_SIZE > 0
void HardwareSerial::flushTX() {
// Wait for the tx buffer and FIFO to drain
while (TxQueueWritePos != TxQueueReadPos && UART_CheckBusy(UARTx) == SET);
}
#endif
size_t HardwareSerial::available() {
return (RxQueueWritePos + RX_BUFFER_SIZE - RxQueueReadPos) % RX_BUFFER_SIZE;
}
void HardwareSerial::flush() {
RxQueueWritePos = 0;
RxQueueReadPos = 0;
}
size_t HardwareSerial::printf(const char *format, ...) {
char RxBuffer[256];
va_list vArgs;
va_start(vArgs, format);
int length = vsnprintf(RxBuffer, 256, format, vArgs);
va_end(vArgs);
if (length > 0 && length < 256) {
for (size_t i = 0; i < (size_t)length; ++i)
write(RxBuffer[i]);
}
return length;
}
void HardwareSerial::IRQHandler() {
uint32_t IIRValue;
uint8_t LSRValue, byte;
IIRValue = UART_GetIntId(UARTx);
IIRValue &= UART_IIR_INTID_MASK; // check bit 1~3, interrupt identification
// Receive Line Status
if (IIRValue == UART_IIR_INTID_RLS) {
LSRValue = UART_GetLineStatus(UARTx);
// Receive Line Status
if (LSRValue & (UART_LSR_OE | UART_LSR_PE | UART_LSR_FE | UART_LSR_RXFE | UART_LSR_BI)) {
// There are errors or break interrupt
// Read LSR will clear the interrupt
Status = LSRValue;
byte = UART_ReceiveByte(UARTx); // Dummy read on RX to clear interrupt, then bail out
return;
}
}
// Receive Data Available
if (IIRValue == UART_IIR_INTID_RDA) {
// Clear the FIFO
while (UART_Receive(UARTx, &byte, 1, NONE_BLOCKING)) {
#if ENABLED(EMERGENCY_PARSER)
emergency_parser.update(emergency_state, byte);
#endif
if ((RxQueueWritePos + 1) % RX_BUFFER_SIZE != RxQueueReadPos) {
RxBuffer[RxQueueWritePos] = byte;
RxQueueWritePos = (RxQueueWritePos + 1) % RX_BUFFER_SIZE;
} else
break;
}
// Character timeout indicator
} else if (IIRValue == UART_IIR_INTID_CTI) {
// Character Time-out indicator
Status |= 0x100; // Bit 9 as the CTI error
}
#if TX_BUFFER_SIZE > 0
if (IIRValue == UART_IIR_INTID_THRE) {
// Disable THRE interrupt
UART_IntConfig(UARTx, UART_INTCFG_THRE, DISABLE);
// Wait for FIFO buffer empty
while (UART_CheckBusy(UARTx) == SET);
// Transfer up to UART_TX_FIFO_SIZE bytes of data
for (int i = 0; i < UART_TX_FIFO_SIZE && TxQueueWritePos != TxQueueReadPos; i++) {
// Move a piece of data into the transmit FIFO
if (UART_Send(UARTx, &TxBuffer[TxQueueReadPos], 1, NONE_BLOCKING)) {
TxQueueReadPos = (TxQueueReadPos+1) % TX_BUFFER_SIZE;
} else break;
}
// If there is no more data to send, disable the transmit interrupt - else enable it or keep it enabled
if (TxQueueWritePos == TxQueueReadPos) {
UART_IntConfig(UARTx, UART_INTCFG_THRE, DISABLE);
} else UART_IntConfig(UARTx, UART_INTCFG_THRE, ENABLE);
}
#endif
}
#ifdef __cplusplus
extern "C" {
#endif
void UART0_IRQHandler(void) {
#if SERIAL_PORT == 0 || SERIAL_PORT_2 == 0
Serial.IRQHandler();
#endif
}
void UART1_IRQHandler(void) {
#if SERIAL_PORT == 1 || SERIAL_PORT_2 == 1
Serial1.IRQHandler();
#endif
}
void UART2_IRQHandler(void) {
#if SERIAL_PORT == 2 || SERIAL_PORT_2 == 2
Serial2.IRQHandler();
#endif
}
void UART3_IRQHandler(void) {
#if SERIAL_PORT == 3 || SERIAL_PORT_2 == 3
Serial3.IRQHandler();
#endif
}
#ifdef __cplusplus
}
#endif
#endif // TARGET_LPC1768

91
Marlin/src/HAL/HAL_LPC1768/include/HardwareSerial.h
View File

@@ -1,91 +0,0 @@
/**
* 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/>.
*
*/
#ifndef HARDWARE_SERIAL_H_
#define HARDWARE_SERIAL_H_
#include "../../../inc/MarlinConfigPre.h"
#if ENABLED(EMERGENCY_PARSER)
#include "../../../feature/emergency_parser.h"
#endif
#include <stdarg.h>
#include <stdio.h>
#include <Stream.h>
extern "C" {
#include <lpc17xx_uart.h>
#include "lpc17xx_pinsel.h"
}
class HardwareSerial : public Stream {
private:
LPC_UART_TypeDef *UARTx;
uint32_t Baudrate;
uint32_t Status;
uint8_t RxBuffer[RX_BUFFER_SIZE];
uint32_t RxQueueWritePos;
uint32_t RxQueueReadPos;
#if TX_BUFFER_SIZE > 0
uint8_t TxBuffer[TX_BUFFER_SIZE];
uint32_t TxQueueWritePos;
uint32_t TxQueueReadPos;
#endif
#if ENABLED(EMERGENCY_PARSER)
EmergencyParser::State emergency_state;
#endif
public:
HardwareSerial(LPC_UART_TypeDef *UARTx)
: UARTx(UARTx)
, Baudrate(0)
, RxQueueWritePos(0)
, RxQueueReadPos(0)
#if TX_BUFFER_SIZE > 0
, TxQueueWritePos(0)
, TxQueueReadPos(0)
#endif
#if ENABLED(EMERGENCY_PARSER)
, emergency_state(EmergencyParser::State::EP_RESET)
#endif
{
}
void begin(uint32_t baudrate);
int16_t peek();
int16_t read();
size_t write(uint8_t send);
#if TX_BUFFER_SIZE > 0
void flushTX();
#endif
size_t available();
void flush();
size_t printf(const char *format, ...);
operator bool() { return true; }
void IRQHandler();
};
#endif // MARLIN_SRC_HAL_HAL_SERIAL_H_

329
Marlin/src/HAL/HAL_LPC1768/include/SoftwareSerial.cpp
View File

@@ -1,329 +0,0 @@
/*
* SoftwareSerial.cpp (formerly NewSoftSerial.cpp)
*
* Multi-instance software serial library for Arduino/Wiring
* -- Interrupt-driven receive and other improvements by ladyada
* (http://ladyada.net)
* -- Tuning, circular buffer, derivation from class Print/Stream,
* multi-instance support, porting to 8MHz processors,
* various optimizations, PROGMEM delay tables, inverse logic and
* direct port writing by Mikal Hart (http://www.arduiniana.org)
* -- Pin change interrupt macros by Paul Stoffregen (http://www.pjrc.com)
* -- 20MHz processor support by Garrett Mace (http://www.macetech.com)
* -- ATmega1280/2560 support by Brett Hagman (http://www.roguerobotics.com/)
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* This library 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
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* The latest version of this library can always be found at
* http://arduiniana.org.
*/
#ifdef TARGET_LPC1768
//
// Includes
//
//#include <WInterrupts.h>
#include "../../../inc/MarlinConfig.h"
#include "../../shared/Delay.h"
#include <stdint.h>
#include <stdarg.h>
#include <Arduino.h>
#include <pinmapping.h>
#include "../fastio.h"
#include "SoftwareSerial.h"
void GpioEnableInt(uint32_t port, uint32_t pin, uint32_t mode);
void GpioDisableInt(uint32_t port, uint32_t pin);
//
// Statics
//
SoftwareSerial *SoftwareSerial::active_object = 0;
unsigned char SoftwareSerial::_receive_buffer[_SS_MAX_RX_BUFF];
volatile uint8_t SoftwareSerial::_receive_buffer_tail = 0;
volatile uint8_t SoftwareSerial::_receive_buffer_head = 0;
typedef struct _DELAY_TABLE {
long baud;
uint16_t rx_delay_centering;
uint16_t rx_delay_intrabit;
uint16_t rx_delay_stopbit;
uint16_t tx_delay;
} DELAY_TABLE;
// rough delay estimation
static const DELAY_TABLE table[] = {
//baud |rxcenter|rxintra |rxstop |tx { 250000, 2, 4, 4, 4, }, //Done but not good due to instruction cycle error { 115200, 4, 8, 8, 8, }, //Done but not good due to instruction cycle error
//{ 74880, 69, 139, 62, 162, }, // estimation
//{ 57600, 100, 185, 1, 208, }, // Done but not good due to instruction cycle error
//{ 38400, 13, 26, 26, 26, }, // Done
//{ 19200, 26, 52, 52, 52, }, // Done { 9600, 52, 104, 104, 104, }, // Done
//{ 4800, 104, 208, 208, 208, },
//{ 2400, 208, 417, 417, 417, },
//{ 1200, 416, 833, 833, 833,},
};
//
// Private methods
//
inline void SoftwareSerial::tunedDelay(const uint32_t count) {
DELAY_US(count);
}
// This function sets the current object as the "listening"
// one and returns true if it replaces another
bool SoftwareSerial::listen() {
if (!_rx_delay_stopbit)
return false;
if (active_object != this) {
if (active_object)
active_object->stopListening();
_buffer_overflow = false;
_receive_buffer_head = _receive_buffer_tail = 0;
active_object = this;
setRxIntMsk(true);
return true;
}
return false;
}
// Stop listening. Returns true if we were actually listening.
bool SoftwareSerial::stopListening() {
if (active_object == this) {
setRxIntMsk(false);
active_object = NULL;
return true;
}
return false;
}
//
// The receive routine called by the interrupt handler
//
void SoftwareSerial::recv() {
uint8_t d = 0;
// If RX line is high, then we don't see any start bit
// so interrupt is probably not for us
if (_inverse_logic ? rx_pin_read() : !rx_pin_read()) {
// Disable further interrupts during reception, this prevents
// triggering another interrupt directly after we return, which can
// cause problems at higher baudrates.
setRxIntMsk(false);//__disable_irq();//
// Wait approximately 1/2 of a bit width to "center" the sample
tunedDelay(_rx_delay_centering);
// Read each of the 8 bits
for (uint8_t i=8; i > 0; --i) {
tunedDelay(_rx_delay_intrabit);
d >>= 1;
if (rx_pin_read()) d |= 0x80;
}
if (_inverse_logic) d = ~d;
// if buffer full, set the overflow flag and return
uint8_t next = (_receive_buffer_tail + 1) % _SS_MAX_RX_BUFF;
if (next != _receive_buffer_head) {
// save new data in buffer: tail points to where byte goes
_receive_buffer[_receive_buffer_tail] = d; // save new byte
_receive_buffer_tail = next;
}
else {
_buffer_overflow = true;
}
tunedDelay(_rx_delay_stopbit);
// Re-enable interrupts when we're sure to be inside the stop bit
setRxIntMsk(true); //__enable_irq();//
}
}
uint32_t SoftwareSerial::rx_pin_read() {
return digitalRead(_receivePin);
}
//
// Interrupt handling
//
/* static */
inline void SoftwareSerial::handle_interrupt() {
if (active_object)
active_object->recv();
}
extern "C" void intWrapper() {
SoftwareSerial::handle_interrupt();
}
//
// Constructor
//
SoftwareSerial::SoftwareSerial(pin_t receivePin, pin_t transmitPin, bool inverse_logic /* = false */) :
_rx_delay_centering(0),
_rx_delay_intrabit(0),
_rx_delay_stopbit(0),
_tx_delay(0),
_buffer_overflow(false),
_inverse_logic(inverse_logic) {
setTX(transmitPin);
setRX(receivePin);
}
//
// Destructor
//
SoftwareSerial::~SoftwareSerial() {
end();
}
void SoftwareSerial::setTX(pin_t tx) {
// First write, then set output. If we do this the other way around,
// the pin would be output low for a short while before switching to
// output hihg. Now, it is input with pullup for a short while, which
// is fine. With inverse logic, either order is fine.
digitalWrite(tx, _inverse_logic ? LOW : HIGH);
pinMode(tx,OUTPUT);
_transmitPin = tx;
}
void SoftwareSerial::setRX(pin_t rx) {
pinMode(rx, INPUT_PULLUP); // pullup for normal logic!
//if (!_inverse_logic)
// digitalWrite(rx, HIGH);
_receivePin = rx;
_receivePort = LPC1768_PIN_PORT(rx);
_receivePortPin = LPC1768_PIN_PIN(rx);
/* GPIO_T * rxPort = digitalPinToPort(rx);
_receivePortRegister = portInputRegister(rxPort);
_receiveBitMask = digitalPinToBitMask(rx);*/
}
//
// Public methods
//
void SoftwareSerial::begin(long speed) {
_rx_delay_centering = _rx_delay_intrabit = _rx_delay_stopbit = _tx_delay = 0;
for(uint8_t i = 0; i < sizeof(table)/sizeof(table[0]); ++i) {
long baud = table[i].baud;
if (baud == speed) {
_rx_delay_centering = table[i].rx_delay_centering;
_rx_delay_intrabit = table[i].rx_delay_intrabit;
_rx_delay_stopbit = table[i].rx_delay_stopbit;
_tx_delay = table[i].tx_delay;
break;
}
}
attachInterrupt(_receivePin, intWrapper, CHANGE); //this->handle_interrupt, CHANGE);
listen();
tunedDelay(_tx_delay);
}
void SoftwareSerial::setRxIntMsk(bool enable) {
if (enable)
GpioEnableInt(_receivePort,_receivePin,CHANGE);
else
GpioDisableInt(_receivePort,_receivePin);
}
void SoftwareSerial::end() {
stopListening();
}
// Read data from buffer
int16_t SoftwareSerial::read() {
if (!isListening()) return -1;
// Empty buffer?
if (_receive_buffer_head == _receive_buffer_tail) return -1;
// Read from "head"
uint8_t d = _receive_buffer[_receive_buffer_head]; // grab next byte
_receive_buffer_head = (_receive_buffer_head + 1) % _SS_MAX_RX_BUFF;
return d;
}
size_t SoftwareSerial::available() {
if (!isListening()) return 0;
return (_receive_buffer_tail + _SS_MAX_RX_BUFF - _receive_buffer_head) % _SS_MAX_RX_BUFF;
}
size_t SoftwareSerial::write(uint8_t b) {
// By declaring these as local variables, the compiler will put them
// in registers _before_ disabling interrupts and entering the
// critical timing sections below, which makes it a lot easier to
// verify the cycle timings
bool inv = _inverse_logic;
uint16_t delay = _tx_delay;
if (inv) b = ~b;
cli(); // turn off interrupts for a clean txmit
// Write the start bit
digitalWrite(_transmitPin, !!inv);
tunedDelay(delay);
// Write each of the 8 bits
for (uint8_t i = 8; i > 0; --i) {
digitalWrite(_transmitPin, b & 1); // send 1 //(GPIO_Desc[_transmitPin].P)->DOUT |= GPIO_Desc[_transmitPin].bit;
// send 0 //(GPIO_Desc[_transmitPin].P)->DOUT &= ~GPIO_Desc[_transmitPin].bit;
tunedDelay(delay);
b >>= 1;
}
// restore pin to natural state
digitalWrite(_transmitPin, !inv);
sei(); // turn interrupts back on
tunedDelay(delay);
return 1;
}
void SoftwareSerial::flush() {
if (!isListening()) return;
cli();
_receive_buffer_head = _receive_buffer_tail = 0;
sei();
}
int16_t SoftwareSerial::peek() {
if (!isListening())
return -1;
// Empty buffer?
if (_receive_buffer_head == _receive_buffer_tail)
return -1;
// Read from "head"
return _receive_buffer[_receive_buffer_head];
}
#endif // TARGET_LPC1768

120
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@@ -1,120 +0,0 @@
/*
* SoftwareSerial.h (formerly NewSoftSerial.h)
*
* Multi-instance software serial library for Arduino/Wiring
* -- Interrupt-driven receive and other improvements by ladyada
* (http://ladyada.net)
* -- Tuning, circular buffer, derivation from class Print/Stream,
* multi-instance support, porting to 8MHz processors,
* various optimizations, PROGMEM delay tables, inverse logic and
* direct port writing by Mikal Hart (http://www.arduiniana.org)
* -- Pin change interrupt macros by Paul Stoffregen (http://www.pjrc.com)
* -- 20MHz processor support by Garrett Mace (http://www.macetech.com)
* -- ATmega1280/2560 support by Brett Hagman (http://www.roguerobotics.com/)
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* This library 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
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* The latest version of this library can always be found at
* http://arduiniana.org.
*/
#ifndef SOFTWARESERIAL_H
#define SOFTWARESERIAL_H
#include <Arduino.h>
#include <stdint.h>
//#include "serial.h"
#include <Stream.h>
#include <Print.h>
/******************************************************************************
* Definitions
******************************************************************************/
#define _SS_MAX_RX_BUFF 64 // RX buffer size
class SoftwareSerial : public Stream
{
private:
// per object data
pin_t _receivePin;
pin_t _transmitPin;
// uint32_t _receiveBitMask; // for rx interrupts
uint32_t _receivePort;
uint32_t _receivePortPin;
// Expressed as 4-cycle delays (must never be 0!)
uint16_t _rx_delay_centering;
uint16_t _rx_delay_intrabit;
uint16_t _rx_delay_stopbit;
uint16_t _tx_delay;
uint16_t _buffer_overflow:1;
uint16_t _inverse_logic:1;
// static data
static unsigned char _receive_buffer[_SS_MAX_RX_BUFF];
static volatile uint8_t _receive_buffer_tail;
static volatile uint8_t _receive_buffer_head;
static SoftwareSerial *active_object;
// private methods
void recv();
uint32_t rx_pin_read();
void tx_pin_write(uint8_t pin_state);
void setTX(pin_t transmitPin);
void setRX(pin_t receivePin);
void setRxIntMsk(bool enable);
// private static method for timing
static inline void tunedDelay(uint32_t delay);
public:
// public methods
SoftwareSerial(pin_t receivePin, pin_t transmitPin, bool inverse_logic = false);
~SoftwareSerial();
void begin(long speed);
bool listen();
void end();
bool isListening() { return this == active_object; }
bool stopListening();
bool overflow() { bool ret = _buffer_overflow; if (ret) _buffer_overflow = false; return ret; }
int16_t peek();
virtual size_t write(uint8_t byte);
virtual int16_t read();
virtual size_t available();
virtual void flush();
operator bool() { return true; }
using Print::write;
//using HalSerial::write;
// public only for easy access by interrupt handlers
static inline void handle_interrupt() __attribute__((__always_inline__));
};
// Arduino 0012 workaround
#undef int
#undef char
#undef long
#undef byte
#undef float
#undef abs
#undef round
#endif // SOFTWARESERIAL_H

219
Marlin/src/HAL/HAL_LPC1768/include/Wire.cpp
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@@ -1,219 +0,0 @@
/*
TwoWire.cpp - TWI/I2C library for Wiring & Arduino
Copyright (c) 2006 Nicholas Zambetti. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library 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
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#ifdef TARGET_LPC1768
extern "C" {
#include <stdlib.h>
#include <string.h>
#include <inttypes.h>
#include <lpc17xx_i2c.h>
#include <lpc17xx_pinsel.h>
#include <lpc17xx_libcfg_default.h>
}
#include <Wire.h>
#define USEDI2CDEV_M 1
#if (USEDI2CDEV_M == 0)
#define I2CDEV_M LPC_I2C0
#elif (USEDI2CDEV_M == 1)
#define I2CDEV_M LPC_I2C1
#elif (USEDI2CDEV_M == 2)
#define I2CDEV_M LPC_I2C2
#else
#error "Master I2C device not defined!"
#endif
// Initialize Class Variables //////////////////////////////////////////////////
uint8_t TwoWire::rxBuffer[BUFFER_LENGTH];
uint8_t TwoWire::rxBufferIndex = 0;
uint8_t TwoWire::rxBufferLength = 0;
uint8_t TwoWire::txAddress = 0;
uint8_t TwoWire::txBuffer[BUFFER_LENGTH];
uint8_t TwoWire::txBufferIndex = 0;
uint8_t TwoWire::txBufferLength = 0;
uint8_t TwoWire::transmitting = 0;
// Constructors ////////////////////////////////////////////////////////////////
TwoWire::TwoWire() {
}
// Public Methods //////////////////////////////////////////////////////////////
void TwoWire::begin(void) {
rxBufferIndex = 0;
rxBufferLength = 0;
txBufferIndex = 0;
txBufferLength = 0;
/*
* Init I2C pin connect
*/
PINSEL_CFG_Type PinCfg;
PinCfg.OpenDrain = 0;
PinCfg.Pinmode = 0;
#if USEDI2CDEV_M == 0
PinCfg.Funcnum = 1;
PinCfg.Pinnum = 27;
PinCfg.Portnum = 0;
PINSEL_ConfigPin(&PinCfg); // SDA0 / D57 AUX-1
PinCfg.Pinnum = 28;
PINSEL_ConfigPin(&PinCfg); // SCL0 / D58 AUX-1
#endif
#if USEDI2CDEV_M == 1
PinCfg.Funcnum = 3;
PinCfg.Pinnum = 0;
PinCfg.Portnum = 0;
PINSEL_ConfigPin(&PinCfg); // SDA1 / D20 SCA
PinCfg.Pinnum = 1;
PINSEL_ConfigPin(&PinCfg); // SCL1 / D21 SCL
#endif
#if USEDI2CDEV_M == 2
PinCfg.Funcnum = 2;
PinCfg.Pinnum = 10;
PinCfg.Portnum = 0;
PINSEL_ConfigPin(&PinCfg); // SDA2 / D38 X_ENABLE_PIN
PinCfg.Pinnum = 11;
PINSEL_ConfigPin(&PinCfg); // SCL2 / D55 X_DIR_PIN
#endif
// Initialize I2C peripheral
I2C_Init(I2CDEV_M, 100000);
// Enable Master I2C operation
I2C_Cmd(I2CDEV_M, I2C_MASTER_MODE, ENABLE);
}
uint8_t TwoWire::requestFrom(uint8_t address, uint8_t quantity) {
// clamp to buffer length
if (quantity > BUFFER_LENGTH)
quantity = BUFFER_LENGTH;
// perform blocking read into buffer
I2C_M_SETUP_Type transferMCfg;
transferMCfg.sl_addr7bit = address >> 1; // not sure about the right shift
transferMCfg.tx_data = NULL;
transferMCfg.tx_length = 0;
transferMCfg.rx_data = rxBuffer;
transferMCfg.rx_length = quantity;
transferMCfg.retransmissions_max = 3;
I2C_MasterTransferData(I2CDEV_M, &transferMCfg, I2C_TRANSFER_POLLING);
// set rx buffer iterator vars
rxBufferIndex = 0;
rxBufferLength = transferMCfg.rx_count;
return transferMCfg.rx_count;
}
uint8_t TwoWire::requestFrom(int address, int quantity) {
return requestFrom((uint8_t)address, (uint8_t)quantity);
}
void TwoWire::beginTransmission(uint8_t address) {
// indicate that we are transmitting
transmitting = 1;
// set address of targeted slave
txAddress = address;
// reset tx buffer iterator vars
txBufferIndex = 0;
txBufferLength = 0;
}
void TwoWire::beginTransmission(int address) {
beginTransmission((uint8_t)address);
}
uint8_t TwoWire::endTransmission(void) {
// transmit buffer (blocking)
I2C_M_SETUP_Type transferMCfg;
transferMCfg.sl_addr7bit = txAddress >> 1; // not sure about the right shift
transferMCfg.tx_data = txBuffer;
transferMCfg.tx_length = txBufferLength;
transferMCfg.rx_data = NULL;
transferMCfg.rx_length = 0;
transferMCfg.retransmissions_max = 3;
Status status = I2C_MasterTransferData(I2CDEV_M, &transferMCfg, I2C_TRANSFER_POLLING);
// reset tx buffer iterator vars
txBufferIndex = 0;
txBufferLength = 0;
// indicate that we are done transmitting
transmitting = 0;
return status == SUCCESS ? 0 : 4;
}
// must be called after beginTransmission(address)
size_t TwoWire::write(uint8_t data) {
if (transmitting) {
// don't bother if buffer is full
if (txBufferLength >= BUFFER_LENGTH) return 0;
// put byte in tx buffer
txBuffer[txBufferIndex++] = data;
// update amount in buffer
txBufferLength = txBufferIndex;
}
return 1;
}
// must be called after beginTransmission(address)
size_t TwoWire::write(const uint8_t *data, size_t quantity) {
size_t sent = 0;
if (transmitting)
for (sent = 0; sent < quantity; ++sent)
if (!write(data[sent])) break;
return sent;
}
// Must be called after requestFrom(address, numBytes)
int TwoWire::available(void) {
return rxBufferLength - rxBufferIndex;
}
// Must be called after requestFrom(address, numBytes)
int TwoWire::read(void) {
return rxBufferIndex < rxBufferLength ? rxBuffer[rxBufferIndex++] : -1;
}
// Must be called after requestFrom(address, numBytes)
int TwoWire::peek(void) {
return rxBufferIndex < rxBufferLength ? rxBuffer[rxBufferIndex] : -1;
}
// Preinstantiate Objects //////////////////////////////////////////////////////
TwoWire Wire = TwoWire();
#endif // TARGET_LPC1768

67
Marlin/src/HAL/HAL_LPC1768/include/Wire.h
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@@ -1,67 +0,0 @@
/**
* TwoWire.h - TWI/I2C library for Arduino & Wiring
* Copyright (c) 2006 Nicholas Zambetti. All right reserved.
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* This library 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
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts
*/
#ifndef _TWOWIRE_H_
#define _TWOWIRE_H_
#include <inttypes.h>
#define BUFFER_LENGTH 32
class TwoWire {
private:
static uint8_t rxBuffer[];
static uint8_t rxBufferIndex;
static uint8_t rxBufferLength;
static uint8_t txAddress;
static uint8_t txBuffer[];
static uint8_t txBufferIndex;
static uint8_t txBufferLength;
static uint8_t transmitting;
public:
TwoWire();
void begin();
void beginTransmission(uint8_t);
void beginTransmission(int);
uint8_t endTransmission(void);
uint8_t endTransmission(uint8_t);
uint8_t requestFrom(uint8_t, uint8_t);
uint8_t requestFrom(int, int);
virtual size_t write(uint8_t);
virtual size_t write(const uint8_t *, size_t);
virtual int available(void);
virtual int read(void);
virtual int peek(void);
inline size_t write(unsigned long n) { return write((uint8_t)n); }
inline size_t write(long n) { return write((uint8_t)n); }
inline size_t write(unsigned int n) { return write((uint8_t)n); }
inline size_t write(int n) { return write((uint8_t)n); }
};
extern TwoWire Wire;
#endif // _TWOWIRE_H_

74
Marlin/src/HAL/HAL_LPC1768/include/pinmapping.cpp
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/**
* 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 TARGET_LPC1768
#include <pinmapping.h>
#include "../../../gcode/parser.h"
// Get the digital pin for an analog index
pin_t analogInputToDigitalPin(const int8_t p) {
return (WITHIN(p, 0, NUM_ANALOG_INPUTS) ? adc_pin_table[p] : P_NC);
}
// Return the index of a pin number
// The pin number given here is in the form ppp:nnnnn
int16_t GET_PIN_MAP_INDEX(const pin_t pin) {
const uint16_t index = (LPC1768_PIN_PORT(pin) << 5) | LPC1768_PIN_PIN(pin);
return (index < NUM_DIGITAL_PINS && pin_map[index] != P_NC) ? index : -1;
}
// Test whether the pin is valid
bool VALID_PIN(const pin_t p) {
const int16_t ind = GET_PIN_MAP_INDEX(p);
return ind >= 0 && pin_map[ind] >= 0;
}
// Get the analog index for a digital pin
int8_t DIGITAL_PIN_TO_ANALOG_PIN(const pin_t p) {
return (VALID_PIN(p) ? LPC1768_PIN_ADC(p) : -1);
}
// Test whether the pin is PWM
bool PWM_PIN(const pin_t p) {
return VALID_PIN(p) && LPC1768_PIN_PWM(p);
}
// Test whether the pin is interruptable
bool INTERRUPT_PIN(const pin_t p) {
return VALID_PIN(p) && LPC1768_PIN_INTERRUPT(p);
}
// Get the pin number at the given index
pin_t GET_PIN_MAP_PIN(const int16_t ind) {
return WITHIN(ind, 0, NUM_DIGITAL_PINS - 1) ? pin_map[ind] : P_NC;
}
int16_t PARSED_PIN_INDEX(const char code, const int16_t dval) {
const uint16_t val = (uint16_t)parser.intval(code), port = val / 100, pin = val % 100;
const int16_t ind = (port < (NUM_DIGITAL_PINS >> 5) && (pin < 32))
? GET_PIN_MAP_INDEX(port << 5 | pin) : -2;
return ind > -2 ? ind : dval;
}
#endif // TARGET_LPC1768

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Marlin/src/HAL/HAL_LPC1768/include/pinmapping.h
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/**
* 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/>.
*
*/
#ifndef _PINMAPPING_H_
#define _PINMAPPING_H_
#include "../../../inc/MarlinConfigPre.h"
#include <stdint.h>
typedef int16_t pin_t;
#define PORT_0 000
#define PORT_1 001
#define PORT_2 010
#define PORT_3 011
#define PORT_4 100
#define PORT_(p) PORT_##p
#define PORT(p) PORT_(p)
#define PIN_0 00000
#define PIN_1 00001
#define PIN_2 00010
#define PIN_3 00011
#define PIN_4 00100
#define PIN_5 00101
#define PIN_6 00110
#define PIN_7 00111
#define PIN_8 01000
#define PIN_9 01001
#define PIN_10 01010
#define PIN_11 01011
#define PIN_12 01100
#define PIN_13 01101
#define PIN_14 01110
#define PIN_15 01111
#define PIN_16 10000
#define PIN_17 10001
#define PIN_18 10010
#define PIN_19 10011
#define PIN_20 10100
#define PIN_21 10101
#define PIN_22 10110
#define PIN_23 10111
#define PIN_24 11000
#define PIN_25 11001
#define PIN_26 11010
#define PIN_27 11011
#define PIN_28 11100
#define PIN_29 11101
#define PIN_30 11110
#define PIN_31 11111
#define PIN_(p) PIN_##p
#define PIN(p) PIN_(p)
#define ADC_NONE 0000
#define ADC_CHAN_0 0001
#define ADC_CHAN_1 0010
#define ADC_CHAN_2 0011
#define ADC_CHAN_3 0100
#define ADC_CHAN_4 0101
#define ADC_CHAN_5 0110
#define ADC_CHAN_6 0111
#define ADC_CHAN_7 1000
#define ADC_CHAN_(c) ADC_CHAN_##c
#define ADC_CHAN(p) ADC_CHAN_(p)
#define BOOL_0 0
#define BOOL_1 1
#define BOOL_(b) BOOL_##b
#define INTERRUPT(b) BOOL_(b)
#define PWM(b) BOOL_(b)
// Combine elements into pin bits: 0b00AAAAWIPPPNNNNN
#define LPC1768_PIN_(port, pin, int, pwm, adc) 0b00##adc##pwm##int##port##pin
#define LPC1768_PIN(port, pin, int, pwm, adc) LPC1768_PIN_(port, pin, int, pwm, adc)
constexpr uint8_t LPC1768_PIN_PORT(const pin_t pin) { return ((uint8_t)((pin >> 5) & 0b111)); }
constexpr uint8_t LPC1768_PIN_PIN(const pin_t pin) { return ((uint8_t)(pin & 0b11111)); }
constexpr bool LPC1768_PIN_INTERRUPT(const pin_t pin) { return (((pin >> 8) & 0b1) != 0); }
constexpr bool LPC1768_PIN_PWM(const pin_t pin) { return (((pin >> 9) & 0b1) != 0); }
constexpr int8_t LPC1768_PIN_ADC(const pin_t pin) { return (int8_t)((pin >> 10) & 0b1111) - 1; }
// ******************
// Runtime pinmapping
// ******************
#define P_NC -1
#if SERIAL_PORT != 3 && SERIAL_PORT_2 != 3
#define P0_00 LPC1768_PIN(PORT(0), PIN( 0), INTERRUPT(1), PWM(0), ADC_NONE)
#define P0_01 LPC1768_PIN(PORT(0), PIN( 1), INTERRUPT(1), PWM(0), ADC_NONE)
#endif
#if SERIAL_PORT != 0 && SERIAL_PORT_2 != 0
#define P0_02 LPC1768_PIN(PORT(0), PIN( 2), INTERRUPT(1), PWM(0), ADC_CHAN(7))
#define P0_03 LPC1768_PIN(PORT(0), PIN( 3), INTERRUPT(1), PWM(0), ADC_CHAN(6))
#endif
#define P0_04 LPC1768_PIN(PORT(0), PIN( 4), INTERRUPT(1), PWM(0), ADC_NONE)
#define P0_05 LPC1768_PIN(PORT(0), PIN( 5), INTERRUPT(1), PWM(0), ADC_NONE)
#define P0_06 LPC1768_PIN(PORT(0), PIN( 6), INTERRUPT(1), PWM(0), ADC_NONE)
#define P0_07 LPC1768_PIN(PORT(0), PIN( 7), INTERRUPT(1), PWM(0), ADC_NONE)
#define P0_08 LPC1768_PIN(PORT(0), PIN( 8), INTERRUPT(1), PWM(0), ADC_NONE)
#define P0_09 LPC1768_PIN(PORT(0), PIN( 9), INTERRUPT(1), PWM(0), ADC_NONE)
#if SERIAL_PORT != 2 && SERIAL_PORT_2 != 2
#define P0_10 LPC1768_PIN(PORT(0), PIN(10), INTERRUPT(1), PWM(0), ADC_NONE)
#define P0_11 LPC1768_PIN(PORT(0), PIN(11), INTERRUPT(1), PWM(0), ADC_NONE)
#endif
#if SERIAL_PORT != 1 && SERIAL_PORT_2 != 1
#define P0_15 LPC1768_PIN(PORT(0), PIN(15), INTERRUPT(1), PWM(0), ADC_NONE)
#define P0_16 LPC1768_PIN(PORT(0), PIN(16), INTERRUPT(1), PWM(0), ADC_NONE)
#endif
#define P0_17 LPC1768_PIN(PORT(0), PIN(17), INTERRUPT(1), PWM(0), ADC_NONE)
#define P0_18 LPC1768_PIN(PORT(0), PIN(18), INTERRUPT(1), PWM(0), ADC_NONE)
#define P0_19 LPC1768_PIN(PORT(0), PIN(19), INTERRUPT(1), PWM(0), ADC_NONE)
#define P0_20 LPC1768_PIN(PORT(0), PIN(20), INTERRUPT(1), PWM(0), ADC_NONE)
#define P0_21 LPC1768_PIN(PORT(0), PIN(21), INTERRUPT(1), PWM(0), ADC_NONE)
#define P0_22 LPC1768_PIN(PORT(0), PIN(22), INTERRUPT(1), PWM(0), ADC_NONE)
#define P0_23 LPC1768_PIN(PORT(0), PIN(23), INTERRUPT(1), PWM(0), ADC_CHAN(0))
#define P0_24 LPC1768_PIN(PORT(0), PIN(24), INTERRUPT(1), PWM(0), ADC_CHAN(1))
#define P0_25 LPC1768_PIN(PORT(0), PIN(25), INTERRUPT(1), PWM(0), ADC_CHAN(2))
#define P0_26 LPC1768_PIN(PORT(0), PIN(26), INTERRUPT(1), PWM(0), ADC_CHAN(3))
#define P0_27 LPC1768_PIN(PORT(0), PIN(27), INTERRUPT(1), PWM(0), ADC_NONE)
#define P0_28 LPC1768_PIN(PORT(0), PIN(28), INTERRUPT(1), PWM(0), ADC_NONE)
#if SERIAL_PORT != -1 && SERIAL_PORT_2 != -1
#define P0_29 LPC1768_PIN(PORT(0), PIN(29), INTERRUPT(1), PWM(0), ADC_NONE)
#define P0_30 LPC1768_PIN(PORT(0), PIN(30), INTERRUPT(1), PWM(0), ADC_NONE)
#endif
#define P1_00 LPC1768_PIN(PORT(1), PIN( 0), INTERRUPT(0), PWM(0), ADC_NONE)
#define P1_01 LPC1768_PIN(PORT(1), PIN( 1), INTERRUPT(0), PWM(0), ADC_NONE)
#define P1_04 LPC1768_PIN(PORT(1), PIN( 4), INTERRUPT(0), PWM(0), ADC_NONE)
#define P1_08 LPC1768_PIN(PORT(1), PIN( 8), INTERRUPT(0), PWM(0), ADC_NONE)
#define P1_09 LPC1768_PIN(PORT(1), PIN( 9), INTERRUPT(0), PWM(0), ADC_NONE)
#define P1_10 LPC1768_PIN(PORT(1), PIN(10), INTERRUPT(0), PWM(0), ADC_NONE)
#define P1_14 LPC1768_PIN(PORT(1), PIN(14), INTERRUPT(0), PWM(0), ADC_NONE)
#define P1_15 LPC1768_PIN(PORT(1), PIN(15), INTERRUPT(0), PWM(0), ADC_NONE)
#define P1_16 LPC1768_PIN(PORT(1), PIN(16), INTERRUPT(0), PWM(0), ADC_NONE)
#define P1_17 LPC1768_PIN(PORT(1), PIN(17), INTERRUPT(0), PWM(0), ADC_NONE)
#define P1_18 LPC1768_PIN(PORT(1), PIN(18), INTERRUPT(0), PWM(1), ADC_NONE)
#define P1_19 LPC1768_PIN(PORT(1), PIN(19), INTERRUPT(0), PWM(0), ADC_NONE)
#define P1_20 LPC1768_PIN(PORT(1), PIN(20), INTERRUPT(0), PWM(1), ADC_NONE)
#define P1_21 LPC1768_PIN(PORT(1), PIN(21), INTERRUPT(0), PWM(1), ADC_NONE)
#define P1_22 LPC1768_PIN(PORT(1), PIN(22), INTERRUPT(0), PWM(0), ADC_NONE)
#define P1_23 LPC1768_PIN(PORT(1), PIN(23), INTERRUPT(0), PWM(1), ADC_NONE)
#define P1_24 LPC1768_PIN(PORT(1), PIN(24), INTERRUPT(0), PWM(1), ADC_NONE)
#define P1_25 LPC1768_PIN(PORT(1), PIN(25), INTERRUPT(0), PWM(0), ADC_NONE)
#define P1_26 LPC1768_PIN(PORT(1), PIN(26), INTERRUPT(0), PWM(1), ADC_NONE)
#define P1_27 LPC1768_PIN(PORT(1), PIN(27), INTERRUPT(0), PWM(0), ADC_NONE)
#define P1_28 LPC1768_PIN(PORT(1), PIN(28), INTERRUPT(0), PWM(0), ADC_NONE)
#define P1_29 LPC1768_PIN(PORT(1), PIN(29), INTERRUPT(0), PWM(0), ADC_NONE)
#define P1_30 LPC1768_PIN(PORT(1), PIN(30), INTERRUPT(0), PWM(0), ADC_CHAN(4))
#define P1_31 LPC1768_PIN(PORT(1), PIN(31), INTERRUPT(0), PWM(0), ADC_CHAN(5))
#define P2_00 LPC1768_PIN(PORT(2), PIN( 0), INTERRUPT(1), PWM(1), ADC_NONE)
#define P2_01 LPC1768_PIN(PORT(2), PIN( 1), INTERRUPT(1), PWM(1), ADC_NONE)
#define P2_02 LPC1768_PIN(PORT(2), PIN( 2), INTERRUPT(1), PWM(1), ADC_NONE)
#define P2_03 LPC1768_PIN(PORT(2), PIN( 3), INTERRUPT(1), PWM(1), ADC_NONE)
#define P2_04 LPC1768_PIN(PORT(2), PIN( 4), INTERRUPT(1), PWM(1), ADC_NONE)
#define P2_05 LPC1768_PIN(PORT(2), PIN( 5), INTERRUPT(1), PWM(1), ADC_NONE)
#define P2_06 LPC1768_PIN(PORT(2), PIN( 6), INTERRUPT(1), PWM(0), ADC_NONE)
#define P2_07 LPC1768_PIN(PORT(2), PIN( 7), INTERRUPT(1), PWM(0), ADC_NONE)
#define P2_08 LPC1768_PIN(PORT(2), PIN( 8), INTERRUPT(1), PWM(0), ADC_NONE)
#define P2_09 LPC1768_PIN(PORT(2), PIN( 9), INTERRUPT(1), PWM(0), ADC_NONE)
#define P2_10 LPC1768_PIN(PORT(2), PIN(10), INTERRUPT(1), PWM(0), ADC_NONE)
#define P2_11 LPC1768_PIN(PORT(2), PIN(11), INTERRUPT(1), PWM(0), ADC_NONE)
#define P2_12 LPC1768_PIN(PORT(2), PIN(12), INTERRUPT(1), PWM(0), ADC_NONE)
#define P2_13 LPC1768_PIN(PORT(2), PIN(13), INTERRUPT(1), PWM(0), ADC_NONE)
#define P3_25 LPC1768_PIN(PORT(3), PIN(25), INTERRUPT(0), PWM(1), ADC_NONE)
#define P3_26 LPC1768_PIN(PORT(3), PIN(26), INTERRUPT(0), PWM(1), ADC_NONE)
#define P4_28 LPC1768_PIN(PORT(4), PIN(28), INTERRUPT(0), PWM(0), ADC_NONE)
#define P4_29 LPC1768_PIN(PORT(4), PIN(29), INTERRUPT(0), PWM(0), ADC_NONE)
// Pin index for M43 and M226
constexpr pin_t pin_map[] = {
#if SERIAL_PORT != 3 && SERIAL_PORT_2 != 3
P0_00, P0_01,
#else
P_NC, P_NC,
#endif
#if SERIAL_PORT != 0 && SERIAL_PORT_2 != 0
P0_02, P0_03,
#else
P_NC, P_NC,
#endif
P0_04, P0_05, P0_06, P0_07,
P0_08, P0_09,
#if SERIAL_PORT != 2 && SERIAL_PORT_2 != 2
P0_10, P0_11,
#else
P_NC, P_NC,
#endif
P_NC, P_NC, P_NC,
#if SERIAL_PORT != 1 && SERIAL_PORT_2 != 1
P0_15,
P0_16,
#else
P_NC,
P_NC,
#endif
P0_17, P0_18, P0_19, P0_20, P0_21, P0_22, P0_23,
P0_24, P0_25, P0_26, P0_27, P0_28,
#if SERIAL_PORT != -1 && SERIAL_PORT_2 != -1
P0_29, P0_30,
#else
P_NC, P_NC,
#endif
P_NC,
P1_00, P1_01, P_NC, P_NC, P1_04, P_NC, P_NC, P_NC,
P1_08, P1_09, P1_10, P_NC, P_NC, P_NC, P1_14, P1_15,
P1_16, P1_17, P1_18, P1_19, P1_20, P1_21, P1_22, P1_23,
P1_24, P1_25, P1_26, P1_27, P1_28, P1_29, P1_30, P1_31,
P2_00, P2_01, P2_02, P2_03, P2_04, P2_05, P2_06, P2_07,
P2_08, P2_09, P2_10, P2_11, P2_12, P2_13, P_NC, P_NC,
P_NC, P_NC, P_NC, P_NC, P_NC, P_NC, P_NC, P_NC,
P_NC, P_NC, P_NC, P_NC, P_NC, P_NC, P_NC, P_NC,
P_NC, P_NC, P_NC, P_NC, P_NC, P_NC, P_NC, P_NC,
P_NC, P_NC, P_NC, P_NC, P_NC, P_NC, P_NC, P_NC,
P_NC, P_NC, P_NC, P_NC, P_NC, P_NC, P_NC, P_NC,
P_NC, P3_25, P3_26, P_NC, P_NC, P_NC, P_NC, P_NC,
P_NC, P_NC, P_NC, P_NC, P_NC, P_NC, P_NC, P_NC,
P_NC, P_NC, P_NC, P_NC, P_NC, P_NC, P_NC, P_NC,
P_NC, P_NC, P_NC, P_NC, P_NC, P_NC, P_NC, P_NC,
P_NC, P_NC, P_NC, P_NC, P4_28, P4_29, P_NC, P_NC
};
constexpr uint8_t NUM_DIGITAL_PINS = COUNT(pin_map);
constexpr pin_t adc_pin_table[] = {
P0_23, P0_24, P0_25, P0_26, P1_30, P1_31,
#if SERIAL_PORT != 0 && SERIAL_PORT_2 != 0
P0_03, P0_02
#endif
};
#if SERIAL_PORT != 0 && SERIAL_PORT_2 != 0
#define NUM_ANALOG_INPUTS 8
#else
#define NUM_ANALOG_INPUTS 6
#endif
// P0.6 thru P0.9 are for the onboard SD card
#define HAL_SENSITIVE_PINS P0_06, P0_07, P0_08, P0_09
// Get the digital pin for an analog index
pin_t analogInputToDigitalPin(const int8_t p);
#define digitalPinToInterrupt(pin) (pin)
// Return the index of a pin number
// The pin number given here is in the form ppp:nnnnn
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);
#define LPC1768_PIN_INTERRUPT_M(pin) (((pin >> 8) & 0b1) != 0)
// 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);
#endif // _PINMAPPING_H_

161
Marlin/src/HAL/HAL_LPC1768/include/serial.h
View File

@@ -1,161 +0,0 @@
/**
* 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/>.
*
*/
#ifndef _HAL_SERIAL_H_
#define _HAL_SERIAL_H_
#include "../../../inc/MarlinConfigPre.h"
#if ENABLED(EMERGENCY_PARSER)
#include "../../../feature/emergency_parser.h"
#endif
#include <stdarg.h>
#include <stdio.h>
#include <Print.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() {return mask(index_write - index_read);}
uint32_t free() {return buffer_size - available();}
bool empty() {return index_read == index_write;}
bool full() {return next(index_write) == index_read;}
void clear() {index_read = index_write = 0;}
bool peek(T *const value) {
if (value == nullptr || empty()) return false;
*value = buffer[index_read];
return true;
}
uint32_t read(T *const value) {
if (value == nullptr || empty()) return 0;
*value = buffer[index_read];
index_read = next(index_read);
return 1;
}
uint32_t write(T value) {
uint32_t next_head = next(index_write);
if (next_head == index_read) return 0; // buffer full
buffer[index_write] = value;
index_write = next_head;
return 1;
}
private:
inline uint32_t mask(uint32_t val) {
return val & buffer_mask;
}
inline uint32_t next(uint32_t val) {
return mask(val + 1);
}
static const uint32_t buffer_size = S;
static const uint32_t buffer_mask = buffer_size - 1;
T buffer[buffer_size];
volatile uint32_t index_write;
volatile uint32_t index_read;
};
/**
* Serial Interface Class
* Data is injected directly into, and consumed from, the fifo buffers
*/
class HalSerial: public Print {
public:
#if ENABLED(EMERGENCY_PARSER)
EmergencyParser::State emergency_state;
#endif
HalSerial() : host_connected(false) { }
virtual ~HalSerial() { }
operator bool() { return host_connected; }
void begin(int32_t baud) { }
int16_t peek() {
uint8_t value;
return receive_buffer.peek(&value) ? value : -1;
}
int16_t read() {
uint8_t value;
return receive_buffer.read(&value) ? value : -1;
}
size_t write(const uint8_t c) {
if (!host_connected) return 0; // Do not fill buffer when host disconnected
while (transmit_buffer.write(c) == 0) { // Block until there is free room in buffer
if (!host_connected) return 0; // Break infinite loop on host disconect
}
return 1;
}
size_t available() {
return (size_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) {
while (transmit_buffer.available() && host_connected) { /* nada */}
}
size_t 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);
size_t i = 0;
if (length > 0 && length < 256) {
while (i < (size_t)length && host_connected) {
i += transmit_buffer.write(buffer[i]);
}
}
return i;
}
RingBuffer<uint8_t, 128> receive_buffer;
RingBuffer<uint8_t, 128> transmit_buffer;
volatile bool host_connected;
};
#endif // _HAL_SERIAL_H_

60
Marlin/src/HAL/HAL_LPC1768/lpc1768_flag_script.py
View File

@@ -1,60 +0,0 @@
from __future__ import print_function
import sys
#dynamic build flags for generic compile options
if __name__ == "__main__":
args = " ".join([ "-std=gnu11",
"-std=gnu++11",
"-Os",
"-mcpu=cortex-m3",
"-mthumb",
"-fsigned-char",
"-fno-move-loop-invariants",
"-fno-strict-aliasing",
"-fsingle-precision-constant",
"--specs=nano.specs",
"--specs=nosys.specs",
# For external libraries
"-IMarlin/src/HAL/HAL_LPC1768/include",
# For MarlinFirmware/U8glib-HAL
"-IMarlin/src/HAL/HAL_LPC1768/u8g",
"-DU8G_HAL_LINKS",
"-MMD",
"-MP",
"-DTARGET_LPC1768"
])
for i in range(1, len(sys.argv)):
args += " " + sys.argv[i]
print(args)
# extra script for linker options
else:
from SCons.Script import DefaultEnvironment
env = DefaultEnvironment()
env.Append(
ARFLAGS=["rcs"],
ASFLAGS=["-x", "assembler-with-cpp"],
CXXFLAGS=[
"-fabi-version=0",
"-fno-use-cxa-atexit",
"-fno-threadsafe-statics"
],
LINKFLAGS=[
"-Wl,-Tframeworks/CMSIS/LPC1768/system/LPC1768.ld,--gc-sections",
"-Os",
"-mcpu=cortex-m3",
"-mthumb",
"--specs=nano.specs",
"--specs=nosys.specs",
"-u_printf_float"
],
)

107
Marlin/src/HAL/HAL_LPC1768/main.cpp
View File

@@ -1,15 +1,6 @@
#ifdef TARGET_LPC1768
// ---------------------
// Userspace entry point
// ---------------------
extern void setup();
extern void loop();
extern "C" {
#include <lpc17xx_gpio.h>
}
#include <LPC1768_PWM.h>
#include <usb/usb.h>
#include <usb/usbcfg.h>
#include <usb/usbhw.h>
@@ -17,80 +8,44 @@ extern "C" {
#include <usb/cdc.h>
#include <usb/cdcuser.h>
#include <usb/mscuser.h>
extern "C" {
#include <debug_frmwrk.h>
#include <chanfs/diskio.h>
#include <chanfs/ff.h>
}
#include <CDCSerial.h>
#include "../../inc/MarlinConfig.h"
#include "HAL.h"
#include "fastio.h"
#include "HAL_timers.h"
#include <stdio.h>
#include <stdarg.h>
#include <Arduino.h>
#include "serial.h"
#include "LPC1768_PWM.h"
static __INLINE uint32_t SysTick_Config(uint32_t ticks) {
if (ticks > SysTick_LOAD_RELOAD_Msk) return 1;
SysTick->LOAD = (ticks & SysTick_LOAD_RELOAD_Msk) - 1; // Set reload register
SysTick->VAL = 0; // Load the SysTick Counter Value
SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk |
SysTick_CTRL_TICKINT_Msk |
SysTick_CTRL_ENABLE_Msk; // Enable SysTick IRQ and SysTick Timer
NVIC_SetPriority(SysTick_IRQn, NVIC_EncodePriority(0, 0, 0)); // Set Priority for Cortex-M3 System Interrupts
return 0;
}
extern "C" {
extern int isLPC1769();
extern void disk_timerproc(void);
volatile uint32_t _millis;
void SysTick_Handler(void) {
++_millis;
disk_timerproc();
}
// Runs after clock init and before global static constructors
void SystemPostInit() {
_millis = 0; // Initialize the millisecond counter value
SysTick_Config(SystemCoreClock / 1000); // Start millisecond global counter
// Runs before setup() to configure LED_PIN and used to indicate successful bootloader execution
#if PIN_EXISTS(LED)
SET_DIR_OUTPUT(LED_PIN);
WRITE_PIN_CLR(LED_PIN);
// MKS_SBASE has 3 other LEDs the bootloader uses during flashing. Clear them.
SET_DIR_OUTPUT(P1_19);
WRITE_PIN_CLR(P1_19);
SET_DIR_OUTPUT(P1_20);
WRITE_PIN_CLR(P1_20);
SET_DIR_OUTPUT(P1_21);
WRITE_PIN_CLR(P1_21);
for (uint8_t i = 6; i--;) {
TOGGLE(LED_PIN);
delay(100);
}
#endif
}
}
extern uint32_t MSC_SD_Init(uint8_t pdrv);
extern "C" int isLPC1769();
extern "C" void disk_timerproc(void);
int main(void) {
void SysTick_Callback() {
disk_timerproc();
}
void HAL_init() {
#if PIN_EXISTS(LED)
SET_DIR_OUTPUT(LED_PIN);
WRITE_PIN_CLR(LED_PIN);
// MKS_SBASE has 3 other LEDs the bootloader uses during flashing. Clear them.
SET_DIR_OUTPUT(P1_19);
WRITE_PIN_CLR(P1_19);
SET_DIR_OUTPUT(P1_20);
WRITE_PIN_CLR(P1_20);
SET_DIR_OUTPUT(P1_21);
WRITE_PIN_CLR(P1_21);
// Flash status LED 3 times to indicate Marlin has started booting
for (uint8_t i = 0; i < 6; ++i) {
TOGGLE(LED_PIN);
delay(100);
}
#endif
(void)MSC_SD_Init(0);
USB_Init(); // USB Initialization
USB_Connect(TRUE); // USB Connect
USB_Init();
USB_Connect(TRUE);
const uint32_t usb_timeout = millis() + 2000;
while (!USB_Configuration && PENDING(millis(), usb_timeout)) {
@@ -110,11 +65,7 @@ int main(void) {
#endif
HAL_timer_init();
LPC1768_PWM_init();
setup();
for (;;) loop();
}
#endif // TARGET_LPC1768

43
Marlin/src/HAL/HAL_LPC1768/servo_private.h
View File

@@ -50,35 +50,26 @@
#ifndef SERVO_PRIVATE_H
#define SERVO_PRIVATE_H
#include <stdint.h>
#include <LPC1768_Servo.h>
// Macros
//values in microseconds
#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo
#define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo
#define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached
#define REFRESH_INTERVAL 20000 // minimum time to refresh servos in microseconds
class MarlinServo: public Servo {
void move(const int value) {
constexpr uint16_t servo_delay[] = SERVO_DELAY;
static_assert(COUNT(servo_delay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
if (this->attach(0) >= 0) { // notice the pin number is zero here
this->write(value);
#define MAX_SERVOS 4
safe_delay(servo_delay[this->servoIndex]);
#define INVALID_SERVO 255 // flag indicating an invalid servo index
#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
this->detach();
LPC1768_PWM_detach_pin(servo_info[this->servoIndex].Pin.nbr); // shut down the PWM signal
LPC1768_PWM_attach_pin(servo_info[this->servoIndex].Pin.nbr, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH, this->servoIndex); // make sure no one else steals the slot
#endif
}
}
}
// Types
typedef struct {
uint8_t nbr : 8 ; // a pin number from 0 to 254 (255 signals invalid pin)
uint8_t isActive : 1 ; // true if this channel is enabled, pin not pulsed if false
} ServoPin_t;
typedef struct {
ServoPin_t Pin;
unsigned int pulse_width; // pulse width in microseconds
} ServoInfo_t;
// Global variables
extern uint8_t ServoCount;
extern ServoInfo_t servo_info[MAX_SERVOS];
#define HAL_SERVO_LIB MarlinServo
#endif // SERVO_PRIVATE_H

2
Marlin/src/HAL/HAL_LPC1768/u8g_com_HAL_LPC1768_hw_spi.cpp → Marlin/src/HAL/HAL_LPC1768/u8g/u8g_com_HAL_LPC1768_hw_spi.cpp
View File

@@ -55,7 +55,7 @@
#ifdef TARGET_LPC1768
#include "../../inc/MarlinConfigPre.h"
#include "../../../inc/MarlinConfigPre.h"
#if ENABLED(DOGLCD)

2
Marlin/src/HAL/HAL_LPC1768/u8g_com_HAL_LPC1768_ssd_hw_i2c.cpp → Marlin/src/HAL/HAL_LPC1768/u8g/u8g_com_HAL_LPC1768_ssd_hw_i2c.cpp
View File

@@ -77,7 +77,7 @@
#ifdef TARGET_LPC1768
#include "../../inc/MarlinConfigPre.h"
#include "../../../inc/MarlinConfigPre.h"
#if ENABLED(DOGLCD)

0
Marlin/src/HAL/HAL_LPC1768/u8g_com_HAL_LPC1768_ssd_sw_i2c.cpp under construction → Marlin/src/HAL/HAL_LPC1768/u8g/u8g_com_HAL_LPC1768_ssd_sw_i2c.cpp under construction
View File

4
Marlin/src/HAL/HAL_LPC1768/u8g_com_HAL_LPC1768_st7920_hw_spi.cpp → Marlin/src/HAL/HAL_LPC1768/u8g/u8g_com_HAL_LPC1768_st7920_hw_spi.cpp
View File

@@ -55,13 +55,13 @@
#ifdef TARGET_LPC1768
#include "../../inc/MarlinConfigPre.h"
#include "../../../inc/MarlinConfigPre.h"
#if ENABLED(DOGLCD)
//#include <inttypes.h>
#include <U8glib.h>
#include "../shared/Delay.h"
#include "../../shared/Delay.h"
#define SPI_FULL_SPEED 0
#define SPI_HALF_SPEED 1

4
Marlin/src/HAL/HAL_LPC1768/u8g_com_HAL_LPC1768_st7920_sw_spi.cpp → Marlin/src/HAL/HAL_LPC1768/u8g/u8g_com_HAL_LPC1768_st7920_sw_spi.cpp
View File

@@ -55,13 +55,13 @@
#ifdef TARGET_LPC1768
#include "../../inc/MarlinConfigPre.h"
#include "../../../inc/MarlinConfigPre.h"
#if ENABLED(DOGLCD)
#include <U8glib.h>
#include "SoftwareSPI.h"
#include "../shared/Delay.h"
#include "../../shared/Delay.h"
#define SPI_SPEED 3 // About 1 MHz

2
Marlin/src/HAL/HAL_LPC1768/u8g_com_HAL_LPC1768_sw_spi.cpp → Marlin/src/HAL/HAL_LPC1768/u8g/u8g_com_HAL_LPC1768_sw_spi.cpp
View File

@@ -55,7 +55,7 @@
#ifdef TARGET_LPC1768
#include "../../inc/MarlinConfigPre.h"
#include "../../../inc/MarlinConfigPre.h"
#if ENABLED(DOGLCD)

13
Marlin/src/HAL/HAL_LPC1768/usb_serial.cpp Normal file
View File

@@ -0,0 +1,13 @@
#ifdef TARGET_LPC1768
#include "../../inc/MarlinConfigPre.h"
#if ENABLED(EMERGENCY_PARSER)
#include "../../feature/emergency_parser.h"
EmergencyParser::State emergency_state;
bool CDC_RecvCallback(const char buffer) {
emergency_parser.update(emergency_state, buffer);
return true;
}
#endif // ENABLED(EMERGENCY_PARSER)
#endif // TARGET_LPC1768

36
Marlin/src/HAL/HAL_LPC1768/win_usb_driver/lpc176x_usb_driver.inf Normal file
View File

@@ -0,0 +1,36 @@
[Version]
Signature="$Windows NT$"
Class=Ports
ClassGuid={4D36E978-E325-11CE-BFC1-08002BE10318}
Provider=%PROVIDER%
DriverVer =04/14/2008, 5.1.2600.5512
[Manufacturer]
%PROVIDER%=DeviceList,ntamd64
[DeviceList]
%DESCRIPTION%=LPC1768USB, USB\VID_1D50&PID_6029&MI_00
[DeviceList.ntamd64]
%DESCRIPTION%=LPC1768USB, USB\VID_1D50&PID_6029&MI_00
[LPC1768USB]
include=mdmcpq.inf
CopyFiles=FakeModemCopyFileSection
AddReg=LowerFilterAddReg,SerialPropPageAddReg
[LPC1768USB.Services]
include=mdmcpq.inf
AddService=usbser, 0x00000002, LowerFilter_Service_Inst
[SerialPropPageAddReg]
HKR,,EnumPropPages32,,"MsPorts.dll,SerialPortPropPageProvider"
[Strings]
PROVIDER = "marlinfw.org"
DRIVER.SVC = "Marlin USB Driver"
DESCRIPTION= "Marlin USB Serial"
COMPOSITE = "Marlin USB VCOM"

2
Marlin/src/HAL/shared/servo.h
View File

@@ -73,7 +73,7 @@
#elif IS_TEENSY35 || IS_TEENSY36
#include "../HAL_TEENSY35_36/HAL_Servo_Teensy.h"
#elif defined(TARGET_LPC1768)
#include "../HAL_LPC1768/LPC1768_Servo.h"
#include "../HAL_LPC1768/servo_private.h"
#elif defined(__STM32F1__) || defined(TARGET_STM32F1)
#include "../HAL_STM32F1/HAL_Servo_STM32F1.h"
#elif defined(STM32GENERIC) && defined(STM32F4)