/*
This file is part of Repetier-Firmware.
Repetier-Firmware 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.
Repetier-Firmware 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 Repetier-Firmware. If not, see .
This firmware is a nearly complete rewrite of the sprinter firmware
by kliment (https://github.com/kliment/Sprinter)
which based on Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
Main author: repetier
Initial port of HAL to Arduino Due: John Silvia
*/
/**
This is the main Hardware Abstraction Layer (HAL).
To make the firmware work with different processors and toolchains,
all hardware related code should be packed into the hal files.
*/
// You can set different sizes if you want, but with binary mode it does not get faster
#ifndef SERIAL_RX_BUFFER_SIZE
#define SERIAL_RX_BUFFER_SIZE 128
#endif
#ifndef HAL_H
#define HAL_H
#include
#include "pins.h"
#include "Print.h"
#include "fastio.h"
// Hack to make 84 MHz Due clock work without changes to pre-existing code
// which would otherwise have problems with int overflow.
#undef F_CPU
#define F_CPU 21000000 // should be factor of F_CPU_TRUE
#define F_CPU_TRUE 84000000 // actual CPU clock frequency
#define EEPROM_BYTES 4096 // bytes of eeprom we simulate
#define SUPPORT_64_BIT_MATH // Gives better results with high resultion deltas
// another hack to keep AVR code happy (i.e. SdFat.cpp)
#define SPR0 0
#define SPR1 1
// force SdFat to use HAL (whether or not using SW spi)
#undef SOFTWARE_SPI
#define TIMER0_PRESCALE 128
// Some structures assume no padding, need to add this attribute on ARM
#define PACK __attribute__ ((packed))
#define INLINE __attribute__((always_inline))
// do not use program space memory with Due
#define PROGMEM
#define PGM_P const char *
typedef char prog_char;
#undef PSTR
#define PSTR(s) s
#undef pgm_read_byte_near
#define pgm_read_byte_near(x) (*(int8_t*)x)
#undef pgm_read_byte
#define pgm_read_byte(x) (*(int8_t*)x)
#undef pgm_read_float
#define pgm_read_float(addr) (*(const float *)(addr))
#undef pgm_read_word
//#define pgm_read_word(addr) (*(const unsigned int *)(addr))
#define pgm_read_word(addr) (*(addr))
#undef pgm_read_word_near
#define pgm_read_word_near(addr) pgm_read_word(addr)
#undef pgm_read_dword
#define pgm_read_dword(addr) (*(addr))
//#define pgm_read_dword(addr) (*(const unsigned long *)(addr))
#undef pgm_read_dword_near
#define pgm_read_dword_near(addr) pgm_read_dword(addr)
#define _BV(x) (1 << (x))
#define FSTRINGVALUE(var,value) const char var[] PROGMEM = value;
#define FSTRINGVAR(var) static const char var[] PROGMEM;
#define FSTRINGPARAM(var) PGM_P var
#define EXTRUDER_TIMER TC0
#define EXTRUDER_TIMER_CHANNEL 0
#define EXTRUDER_TIMER_IRQ ID_TC0
#define EXTRUDER_TIMER_VECTOR TC0_Handler
#define PWM_TIMER TC0
#define PWM_TIMER_CHANNEL 1
#define PWM_TIMER_IRQ ID_TC1
#define PWM_TIMER_VECTOR TC1_Handler
#define TIMER1_TIMER TC2
#define TIMER1_TIMER_CHANNEL 2
#define TIMER1_TIMER_IRQ ID_TC8
#define TIMER1_COMPA_VECTOR TC8_Handler
#define SERVO_TIMER TC2
#define SERVO_TIMER_CHANNEL 0
#define SERVO_TIMER_IRQ ID_TC6
#define SERVO_COMPA_VECTOR TC6_Handler
#define BEEPER_TIMER TC1
#define BEEPER_TIMER_CHANNEL 0
#define BEEPER_TIMER_IRQ ID_TC3
#define BEEPER_TIMER_VECTOR TC3_Handler
#define DELAY_TIMER TC1
#define DELAY_TIMER_CHANNEL 1
#define DELAY_TIMER_IRQ ID_TC4 // IRQ not really used, needed for pmc id
#define DELAY_TIMER_CLOCK TC_CMR_TCCLKS_TIMER_CLOCK2
#define DELAY_TIMER_PRESCALE 8
//#define SERIAL_BUFFER_SIZE 1024
//#define SERIAL_PORT UART
//#define SERIAL_IRQ ID_UART
//#define SERIAL_PORT_VECTOR UART_Handler
// TWI1 if SDA pin = 20 TWI0 for pin = 70
#define TWI_INTERFACE TWI1
#define TWI_ID ID_TWI1
#define EXTRUDER_CLOCK_FREQ 60000 // extruder stepper interrupt frequency
#define PWM_CLOCK_FREQ 3906
#define TIMER1_CLOCK_FREQ 244
#define TIMER1_PRESCALE 2
#define SERVO_CLOCK_FREQ 1000
#define SERVO_PRESCALE 2 // Using TCLOCK1 therefore 2
#define SERVO2500US (((F_CPU_TRUE / SERVO_PRESCALE) / 1000000) * 2500)
#define SERVO5000US (((F_CPU_TRUE / SERVO_PRESCALE) / 1000000) * 5000)
#define AD_PRESCALE_FACTOR 84 // 500 kHz ADC clock
#define AD_TRACKING_CYCLES 4 // 0 - 15 + 1 adc clock cycles
#define AD_TRANSFER_CYCLES 1 // 0 - 3 * 2 + 3 adc clock cycles
#define ADC_ISR_EOC(channel) (0x1u << channel)
#define ENABLED_ADC_CHANNELS {TEMP_0_PIN, TEMP_1_PIN, TEMP_2_PIN}
#define PULLUP(IO,v) {pinMode(IO, (v!=LOW ? INPUT_PULLUP : INPUT)); }
// INTERVAL / (32Khz/128) = seconds
#define WATCHDOG_INTERVAL 1024u // 8sec (~16 seconds max)
#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#define COMPAT_PRE1
#endif
//#define READ(pin) PIO_Get(g_APinDescription[pin].pPort, PIO_INPUT, g_APinDescription[pin].ulPin)
#define READ_VAR(pin) (g_APinDescription[pin].pPort->PIO_PDSR & g_APinDescription[pin].ulPin ? 1 : 0) // does return 0 or pin value
#define _READ(pin) (DIO ## pin ## _PORT->PIO_PDSR & DIO ## pin ## _PIN ? 1 : 0) // does return 0 or pin value
#define READ(pin) _READ(pin)
//#define WRITE_VAR(pin, v) PIO_SetOutput(g_APinDescription[pin].pPort, g_APinDescription[pin].ulPin, v, 0, PIO_PULLUP)
#define WRITE_VAR(pin, v) do{if(v) {g_APinDescription[pin].pPort->PIO_SODR = g_APinDescription[pin].ulPin;} else {g_APinDescription[pin].pPort->PIO_CODR = g_APinDescription[pin].ulPin; }}while(0)
#define _WRITE(port, v) do { if (v) {DIO ## port ## _PORT -> PIO_SODR = DIO ## port ## _PIN; } else {DIO ## port ## _PORT->PIO_CODR = DIO ## port ## _PIN; }; } while (0)
#define WRITE(pin,v) _WRITE(pin,v)
#define SET_INPUT(pin) pmc_enable_periph_clk(g_APinDescription[pin].ulPeripheralId); \
PIO_Configure(g_APinDescription[pin].pPort, PIO_INPUT, g_APinDescription[pin].ulPin, 0)
#define SET_OUTPUT(pin) PIO_Configure(g_APinDescription[pin].pPort, PIO_OUTPUT_1, \
g_APinDescription[pin].ulPin, g_APinDescription[pin].ulPinConfiguration)
#define TOGGLE(pin) WRITE(pin,!READ(pin))
#define TOGGLE_VAR(pin) HAL::digitalWrite(pin,!HAL::digitalRead(pin))
#undef LOW
#define LOW 0
#undef HIGH
#define HIGH 1
// Protects a variable scope for interrupts. Uses RAII to force clearance of
// Interrupt block at the end resp. sets them to previous state.
// Uses ABSEPRI to allow higher level interrupts then the one changing firmware data
#if 1
class InterruptProtectedBlock {
public:
INLINE void protect() {
__disable_irq();
}
INLINE void unprotect() {
__enable_irq();
}
INLINE InterruptProtectedBlock(bool later = false) {
if (!later)
__disable_irq();
}
INLINE ~InterruptProtectedBlock() {
__enable_irq();
}
};
#else
class InterruptProtectedBlock {
uint32_t mask;
public:
inline void protect() {
mask = __get_PRIMASK();;
__disable_irq();
}
inline void unprotect() {
__set_PRIMASK(mask);
}
inline InterruptProtectedBlock(bool later = false) {
mask = __get_PRIMASK();
if (!later)
__disable_irq();
}
inline ~InterruptProtectedBlock() {
__set_PRIMASK(mask);
}
};
#endif
#define EEPROM_OFFSET 0
#define SECONDS_TO_TICKS(s) (unsigned long)(s*(float)F_CPU)
#define ANALOG_INPUT_SAMPLE 6
#define ANALOG_INPUT_MEDIAN 10
// Bits of the ADC converter
#define ANALOG_INPUT_BITS 12
#define ANALOG_REDUCE_BITS 0
#define ANALOG_REDUCE_FACTOR 1
// maximum available RAM
#define MAX_RAM 98303
#define bit_clear(x,y) x&= ~(1< 0
#if BLUETOOTH_SERIAL == 1
#define BT_SERIAL Serial1
#elif BLUETOOTH_SERIAL == 2
#define BT_SERIAL Serial2
#elif BLUETOOTH_SERIAL == 3
#define BT_SERIAL Serial3
#elif BLUETOOTH_SERIAL == 100
#define BT_SERIAL Serial
#elif BLUETOOTH_SERIAL == 101
#define BT_SERIAL SerialUSB
#endif
class RFDoubleSerial : public Print
{
public:
RFDoubleSerial();
void begin(unsigned long);
void end();
virtual int available(void);
virtual int peek(void);
virtual int read(void);
virtual void flush(void);
virtual size_t write(uint8_t);
using Print::write; // pull in write(str) and write(buf, size) from Print
};
extern RFDoubleSerial BTAdapter;
#endif
#define OUT_P_I(p,i) //Com::printF(PSTR(p),(int)(i))
#define OUT_P_I_LN(p,i) //Com::printFLN(PSTR(p),(int)(i))
#define OUT_P_L(p,i) //Com::printF(PSTR(p),(long)(i))
#define OUT_P_L_LN(p,i) //Com::printFLN(PSTR(p),(long)(i))
#define OUT_P_F(p,i) //Com::printF(PSTR(p),(float)(i))
#define OUT_P_F_LN(p,i) //Com::printFLN(PSTR(p),(float)(i))
#define OUT_P_FX(p,i,x) //Com::printF(PSTR(p),(float)(i),x)
#define OUT_P_FX_LN(p,i,x) //Com::printFLN(PSTR(p),(float)(i),x)
#define OUT_P(p) //Com::printF(PSTR(p))
#define OUT_P_LN(p) //Com::printFLN(PSTR(p))
#define OUT_ERROR_P(p) //Com::printErrorF(PSTR(p))
#define OUT_ERROR_P_LN(p) {//Com::printErrorF(PSTR(p));//Com::println();}
#define OUT(v) //Com::print(v)
#define OUT_LN //Com::println()
union eeval_t {
uint8_t b[4];
float f;
uint32_t i;
uint16_t s;
long l;
} PACK;
#if EEPROM_AVAILABLE == EEPROM_SDCARD
extern millis_t eprSyncTime;
#endif
class HAL
{
public:
// we use ram instead of eeprom, so reads are faster and safer. Writes store in real eeprom as well
// as long as hal eeprom functions are used.
static char virtualEeprom[EEPROM_BYTES];
static bool wdPinged;
HAL();
virtual ~HAL();
//Davinci Specific
#if FEATURE_BEEPER
static bool enablesound;
#endif //FEATURE_BEEPER
#if ENABLE_WIFI
static bool bwifion;
#endif //wifi feature
// do any hardware-specific initialization here
static inline void hwSetup(void)
{
#if !FEATURE_WATCHDOG
// Disable watchdog
WDT_Disable(WDT);
#endif
#if EEPROM_AVAILABLE == EEPROM_I2C || UI_DISPLAY_TYPE == 3 //init i2c when EEprom installed or using i2c display
HAL::i2cInit(TWI_CLOCK_FREQ);
#endif
// make debugging startup easier
//Serial.begin(115200);
TimeTick_Configure(F_CPU_TRUE);
// setup microsecond delay timer
pmc_enable_periph_clk(DELAY_TIMER_IRQ);
TC_Configure(DELAY_TIMER, DELAY_TIMER_CHANNEL, TC_CMR_WAVSEL_UP |
TC_CMR_WAVE | DELAY_TIMER_CLOCK);
TC_Start(DELAY_TIMER, DELAY_TIMER_CHANNEL);
#if EEPROM_AVAILABLE && EEPROM_MODE != EEPROM_NONE
// Copy eeprom to ram for faster access
int i;
for (i = 0; i < EEPROM_BYTES; i += 4) {
eeval_t v = eprGetValue(i, 4);
memcopy4(&virtualEeprom[i],&v.i);
}
#else
int i,n = 0;
for (i = 0; i < EEPROM_BYTES; i += 4) {
memcopy4(&virtualEeprom[i],&n);
}
#endif
}
static uint32_t integer64Sqrt(uint64_t a);
// return val'val
static inline unsigned long U16SquaredToU32(unsigned int val)
{
return (unsigned long) val * (unsigned long) val;
}
static inline unsigned int ComputeV(long timer, long accel)
{
return static_cast((static_cast(timer) * static_cast(accel)) >> 18);
//return ((timer>>8)*accel)>>10;
}
// Multiply two 16 bit values and return 32 bit result
static inline unsigned long mulu16xu16to32(unsigned int a, unsigned int b)
{
return (unsigned long) a * (unsigned long) b;
}
// Multiply two 16 bit values and return 32 bit result
static inline unsigned int mulu6xu16shift16(unsigned int a, unsigned int b)
{
return ((unsigned long)a * (unsigned long)b) >> 16;
}
static inline unsigned int Div4U2U(unsigned long a, unsigned int b)
{
return ((unsigned long)a / (unsigned long)b);
}
static inline void digitalWrite(uint8_t pin, uint8_t value)
{
WRITE_VAR(pin, value);
}
static inline uint8_t digitalRead(uint8_t pin)
{
return READ_VAR(pin);
}
static inline void pinMode(uint8_t pin, uint8_t mode)
{
if (mode == INPUT) {
SET_INPUT(pin);
}
else SET_OUTPUT(pin);
}
static long CPUDivU2(speed_t divisor) {
return F_CPU / divisor;
}
static INLINE void delayMicroseconds(uint32_t usec)
{ //usec += 3;
uint32_t n = usec * (F_CPU_TRUE / 3000000);
asm volatile(
"L2_%=_delayMicroseconds:" "\n\t"
"subs %0, #1" "\n\t"
"bge L2_%=_delayMicroseconds" "\n"
: "+r" (n) :
);
}
static inline void delayMilliseconds(unsigned int delayMs)
{
unsigned int del;
while (delayMs > 0) {
del = delayMs > 100 ? 100 : delayMs;
delay(del);
delayMs -= del;
#if FEATURE_WATCHDOG
HAL::pingWatchdog();
#endif
}
}
static inline void tone(uint8_t pin, int frequency) {
// set up timer counter 1 channel 0 to generate interrupts for
// toggling output pin.
//Davinci Specific
#if FEATURE_BEEPER
if (!enablesound)return;
#endif
SET_OUTPUT(pin);
tone_pin = pin;
pmc_set_writeprotect(false);
pmc_enable_periph_clk((uint32_t)BEEPER_TIMER_IRQ);
// set interrupt to lowest possible priority
NVIC_SetPriority((IRQn_Type)BEEPER_TIMER_IRQ, NVIC_EncodePriority(4, 6, 3));
TC_Configure(BEEPER_TIMER, BEEPER_TIMER_CHANNEL, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC |
TC_CMR_TCCLKS_TIMER_CLOCK4); // TIMER_CLOCK4 -> 128 divisor
uint32_t rc = VARIANT_MCK / 128 / frequency;
TC_SetRA(BEEPER_TIMER, BEEPER_TIMER_CHANNEL, rc / 2); // 50% duty cycle
TC_SetRC(BEEPER_TIMER, BEEPER_TIMER_CHANNEL, rc);
TC_Start(BEEPER_TIMER, BEEPER_TIMER_CHANNEL);
BEEPER_TIMER->TC_CHANNEL[BEEPER_TIMER_CHANNEL].TC_IER = TC_IER_CPCS;
BEEPER_TIMER->TC_CHANNEL[BEEPER_TIMER_CHANNEL].TC_IDR = ~TC_IER_CPCS;
NVIC_EnableIRQ((IRQn_Type)BEEPER_TIMER_IRQ);
}
static inline void noTone(uint8_t pin) {
TC_Stop(TC1, 0);
WRITE_VAR(pin, LOW);
}
#if EEPROM_AVAILABLE == EEPROM_SDCARD
static void syncEEPROM(); // store to disk if changed
static void importEEPROM();
#endif
static inline void eprSetByte(unsigned int pos, uint8_t value)
{
eeval_t v;
v.b[0] = value;
eprBurnValue(pos, 1, v);
*(uint8_t*)&virtualEeprom[pos] = value;
}
static inline void eprSetInt16(unsigned int pos, int16_t value)
{
eeval_t v;
v.s = value;
eprBurnValue(pos, 2, v);
memcopy2(&virtualEeprom[pos],&value);
}
static inline void eprSetInt32(unsigned int pos, int32_t value)
{
eeval_t v;
v.i = value;
eprBurnValue(pos, 4, v);
memcopy4(&virtualEeprom[pos],&value);
}
static inline void eprSetLong(unsigned int pos, long value)
{
eeval_t v;
v.l = value;
eprBurnValue(pos, sizeof(long), v);
memcopy4(&virtualEeprom[pos],&value);
}
static inline void eprSetFloat(unsigned int pos, float value)
{
eeval_t v;
v.f = value;
eprBurnValue(pos, sizeof(float), v);
memcopy4(&virtualEeprom[pos],&value);
}
static inline uint8_t eprGetByte(unsigned int pos)
{
return *(uint8_t*)&virtualEeprom[pos];
}
static inline int16_t eprGetInt16(unsigned int pos)
{
int16_t v;
memcopy2(&v,&virtualEeprom[pos]);
return v;
}
static inline int32_t eprGetInt32(unsigned int pos)
{
int32_t v;
memcopy4(&v,&virtualEeprom[pos]);
return v;
}
static inline long eprGetLong(unsigned int pos)
{
int32_t v;
memcopy4(&v,&virtualEeprom[pos]);
return v;
}
static inline float eprGetFloat(unsigned int pos) {
float v;
memcopy4(&v,&virtualEeprom[pos]);
return v;
}
// Write any data type to EEPROM
static inline void eprBurnValue(unsigned int pos, int size, union eeval_t newvalue)
{
#if EEPROM_AVAILABLE == EEPROM_SPI_ALLIGATOR
uint8_t eeprom_temp[3];
/*write enable*/
eeprom_temp[0] = 6;//WREN
WRITE( SPI_EEPROM1_CS , LOW );
spiSend(SPI_CHAN_EEPROM1 , eeprom_temp , 1);
WRITE( SPI_EEPROM1_CS , HIGH );
delayMilliseconds(1);
/*write addr*/
eeprom_temp[0] = 2;//WRITE
eeprom_temp[1] = ((pos >> 8) & 0xFF); //addrH
eeprom_temp[2] = (pos & 0xFF); //addrL
WRITE( SPI_EEPROM1_CS , LOW );
spiSend(SPI_CHAN_EEPROM1 , eeprom_temp , 3);
spiSend(SPI_CHAN_EEPROM1 , &(newvalue.b[0]) , 1);
for (int i = 1; i < size; i++) {
pos++;
// writes cannot cross page boundary
if ((pos % EEPROM_PAGE_SIZE) == 0) {
// burn current page then address next one
WRITE( SPI_EEPROM1_CS , HIGH );
delayMilliseconds(EEPROM_PAGE_WRITE_TIME);
/*write enable*/
eeprom_temp[0] = 6;//WREN
WRITE( SPI_EEPROM1_CS , LOW );
spiSend(SPI_CHAN_EEPROM1 , eeprom_temp , 1);
WRITE( SPI_EEPROM1_CS , HIGH );
eeprom_temp[0] = 2;//WRITE
eeprom_temp[1] = ((pos >> 8) & 0xFF); //addrH
eeprom_temp[2] = (pos & 0xFF); //addrL
WRITE( SPI_EEPROM1_CS , LOW );
spiSend(SPI_CHAN_EEPROM1 , eeprom_temp , 3);
}
spiSend(SPI_CHAN_EEPROM1 , &(newvalue.b[i]) , 1);
}
WRITE( SPI_EEPROM1_CS , HIGH );
delayMilliseconds(EEPROM_PAGE_WRITE_TIME); // wait for page write to complete
#elif EEPROM_AVAILABLE == EEPROM_I2C
i2cStartAddr(EEPROM_SERIAL_ADDR << 1 | I2C_WRITE, pos);
i2cWrite(newvalue.b[0]); // write first byte
for (int i = 1; i < size; i++) {
pos++;
// writes cannot cross page boundary
if ((pos % EEPROM_PAGE_SIZE) == 0) {
// burn current page then address next one
i2cStop();
delayMilliseconds(EEPROM_PAGE_WRITE_TIME);
i2cStartAddr(EEPROM_SERIAL_ADDR << 1, pos);
} else {
while ( (TWI_INTERFACE->TWI_SR & TWI_SR_TXRDY) != TWI_SR_TXRDY);// wait for transmission register to empty
}
i2cWrite(newvalue.b[i]);
}
i2cStop(); // signal end of transaction
delayMilliseconds(EEPROM_PAGE_WRITE_TIME); // wait for page write to complete
#elif EEPROM_AVAILABLE == EEPROM_SDCARD
eprSyncTime = HAL::timeInMilliseconds() | 1UL;
#endif
}
// Read any data type from EEPROM that was previously written by eprBurnValue
static inline union eeval_t eprGetValue(unsigned int pos, int size)
{
#if EEPROM_AVAILABLE == EEPROM_SPI_ALLIGATOR
int i = 0;
eeval_t v;
uint8_t eeprom_temp[3];
size--;
eeprom_temp[0] = 3;//READ
eeprom_temp[1] = ((pos >> 8) & 0xFF); //addrH
eeprom_temp[2] = (pos & 0xFF); //addrL
WRITE( SPI_EEPROM1_CS , HIGH );
WRITE( SPI_EEPROM1_CS , LOW );
spiSend(SPI_CHAN_EEPROM1 , eeprom_temp , 3);
for (i = 0; i < size; i++) {
// read an incomming byte
v.b[i] = spiReceive(SPI_CHAN_EEPROM1);
}
// read last byte
v.b[i] = spiReceive(SPI_CHAN_EEPROM1);
WRITE( SPI_EEPROM1_CS , HIGH );
return v;
#elif EEPROM_AVAILABLE == EEPROM_I2C
int i;
eeval_t v;
size--;
// set read location
i2cStartAddr(EEPROM_SERIAL_ADDR << 1 | I2C_READ, pos);
for (i = 0; i < size; i++) {
// read an incomming byte
v.b[i] = i2cReadAck();
}
// read last byte
v.b[i] = i2cReadNak();
return v;
#else
eeval_t v;
int i;
for (i = 0; i < size; i++) {
// read an incomming byte
v.b[i] = 0;
}
return v;
#endif //(MOTHERBOARD==500) || (MOTHERBOARD==501)
}
static inline void allowInterrupts()
{
//__enable_irq();
}
static inline void forbidInterrupts()
{
//__disable_irq();
}
static inline unsigned long timeInMilliseconds()
{
return millis();
}
static inline char readFlashByte(PGM_P ptr)
{
return pgm_read_byte(ptr);
}
static inline void serialSetBaudrate(long baud)
{
Serial.setInterruptPriority(1);
#if defined(BLUETOOTH_SERIAL) && BLUETOOTH_SERIAL > 0
BTAdapter.begin(baud);
#else
//ESP8266 Specific
#if ENABLE_WIFI
WIFI_SERIAL.begin(baud);
#endif
RFSERIAL.begin(baud);
#endif
}
static inline bool serialByteAvailable()
{
#if defined(BLUETOOTH_SERIAL) && BLUETOOTH_SERIAL > 0
return BTAdapter.available();
#else
//ESP8266 Specific
#if ENABLE_WIFI
if(HAL::bwifion) return WIFI_SERIAL.available();
else
#endif
return RFSERIAL.available();
#endif
}
static inline uint8_t serialReadByte()
{
#if defined(BLUETOOTH_SERIAL) && BLUETOOTH_SERIAL > 0
return BTAdapter.read();
#else
//ESP8266 Specific
#if ENABLE_WIFI
if(HAL::bwifion) return WIFI_SERIAL.read();
else
#endif
return RFSERIAL.read();
#endif
}
static inline void serialWriteByte(char b)
{
#if defined(BLUETOOTH_SERIAL) && BLUETOOTH_SERIAL > 0
BTAdapter.write(b);
#else
//ESP8266 Specific
#if ENABLE_WIFI
if (HAL::bwifion)
{
WIFI_SERIAL.write(b);
if (b=='\n')
{
HAL::delayMilliseconds(DELAY_BY_LINE);
}
}
else
#endif
RFSERIAL.write(b);
#endif
}
static inline void serialFlush()
{
#if defined(BLUETOOTH_SERIAL) && BLUETOOTH_SERIAL > 0
BTAdapter.flush();
#else
//ESP8266 Specific
#if ENABLE_WIFI
if(HAL::bwifion) WIFI_SERIAL.flush();
else
#endif
RFSERIAL.flush();
#endif
}
static void setupTimer();
static void showStartReason();
static int getFreeRam();
static void resetHardware();
// SPI related functions
#ifdef DUE_SOFTWARE_SPI
// bitbanging transfer
// run at ~100KHz (necessary for init)
static uint8_t spiTransfer(uint8_t b) // using Mode 0
{
for (int bits = 0; bits < 8; bits++) {
if (b & 0x80) {
WRITE(MOSI_PIN, HIGH);
} else {
WRITE(MOSI_PIN, LOW);
}
b <<= 1;
WRITE(SCK_PIN, HIGH);
delayMicroseconds(5);
if (READ(MISO_PIN)) {
b |= 1;
}
WRITE(SCK_PIN, LOW);
delayMicroseconds(5);
}
return b;
}
static inline void spiBegin()
{
SET_OUTPUT(SDSS);
WRITE(SDSS, HIGH);
SET_OUTPUT(SCK_PIN);
SET_INPUT(MISO_PIN);
SET_OUTPUT(MOSI_PIN);
}
static inline void spiInit(uint8_t spiClock)
{
WRITE(SDSS, HIGH);
WRITE(MOSI_PIN, HIGH);
WRITE(SCK_PIN, LOW);
}
static inline uint8_t spiReceive()
{
WRITE(SDSS, LOW);
uint8_t b = spiTransfer(0xff);
WRITE(SDSS, HIGH);
return b;
}
static inline void spiReadBlock(uint8_t*buf, uint16_t nbyte)
{
if (nbyte == 0) return;
WRITE(SDSS, LOW);
for (int i = 0; i < nbyte; i++)
{
buf[i] = spiTransfer(0xff);
}
WRITE(SDSS, HIGH);
}
static inline void spiSend(uint8_t b) {
WRITE(SDSS, LOW);
uint8_t response = spiTransfer(b);
WRITE(SDSS, HIGH);
}
static inline void spiSend(const uint8_t* buf , size_t n)
{
if (n == 0) return;
WRITE(SDSS, LOW);
for (uint16_t i = 0; i < n; i++) {
spiTransfer(buf[i]);
}
WRITE(SDSS, HIGH);
}
inline __attribute__((always_inline))
static void spiSendBlock(uint8_t token, const uint8_t* buf)
{
WRITE(SDSS, LOW);
spiTransfer(token);
for (uint16_t i = 0; i < 512; i++)
{
spiTransfer(buf[i]);
}
WRITE(SDSS, HIGH);
}
#else
// hardware SPI
static void spiBegin();
// spiClock is 0 to 6, relecting AVR clock dividers 2,4,8,16,32,64,128
// Due can only go as slow as AVR divider 32 -- slowest Due clock is 329,412 Hz
static void spiInit(uint8_t spiClock);
// Write single byte to SPI
static void spiSend(byte b);
static void spiSend(const uint8_t* buf , size_t n);
#if MOTHERBOARD == 500 || MOTHERBOARD == 501
static void spiSend(uint32_t chan , const uint8_t* buf , size_t n);
static void spiSend(uint32_t chan, byte b);
static uint8_t spiReceive(uint32_t chan);
#endif
// Read single byte from SPI
static uint8_t spiReceive();
// Read from SPI into buffer
static void spiReadBlock(uint8_t*buf, uint16_t nbyte);
// Write from buffer to SPI
static void spiSendBlock(uint8_t token, const uint8_t* buf);
#endif /*DUE_SOFTWARE_SPI*/
// I2C Support
static void i2cSetClockspeed(uint32_t clockSpeedHz);
static void i2cInit(unsigned long clockSpeedHz);
static void i2cStartWait(unsigned char address);
static uint8_t i2cStart(unsigned char address);
static void i2cStartAddr(unsigned char address, unsigned int pos);
static void i2cStop(void);
static void i2cStartBit(void);
static void i2cCompleted (void);
static void i2cTxFinished(void);
static void i2cWrite( uint8_t data );
static uint8_t i2cReadAck(void);
static uint8_t i2cReadNak(void);
// Watchdog support
inline static void startWatchdog() {
//Davinci Specific
#if FEATURE_WATCHDOG
uint32_t timeout = 8000 * 256 / 1000; //8000ms = 8s
if (timeout == 0) timeout = 1;
else if (timeout > 0xFFF) timeout = 0xFFF;
timeout = WDT_MR_WDRSTEN | WDT_MR_WDV(timeout) | WDT_MR_WDD(timeout);
WDT_Enable (WDT, timeout);
#endif
}
inline static void stopWatchdog() {WDT_Disable (WDT);}
inline static void pingWatchdog() {
#if FEATURE_WATCHDOG
wdPinged = true;
#endif
};
inline static float maxExtruderTimerFrequency() {
return (float)F_CPU_TRUE/32;
}
#if FEATURE_SERVO
static unsigned int servoTimings[4];
static void servoMicroseconds(uint8_t servo, int ms, uint16_t autoOff);
#endif
static void analogStart(void);
#if USE_ADVANCE
static void resetExtruderDirection();
#endif
static volatile uint8_t insideTimer1;
};
#endif // HAL_H