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The-Legend-of-Delta/Repetier Firmware/Repetier/HAL.h

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/*
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 <http://www.gnu.org/licenses/>.
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.
Functions in this file are used to communicate using ascii or repetier protocol.
*/
#ifndef HAL_H
#define HAL_H
/**
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.
*/
#include <avr/pgmspace.h>
#include <avr/io.h>
#if CPU_ARCH == ARCH_AVR
#include <avr/io.h>
#else
#define PROGMEM
#define PGM_P const char *
#define PSTR(s) s
#define pgm_read_byte_near(x) (*(char*)x)
#define pgm_read_byte(x) (*(char*)x)
#endif
#define PACK
#define FSTRINGVALUE(var,value) const char var[] PROGMEM = value;
#define FSTRINGVAR(var) static const char var[] PROGMEM;
#define FSTRINGPARAM(var) PGM_P var
#include <avr/eeprom.h>
#include <avr/wdt.h>
/** \brief Prescale factor, timer0 runs at.
All known arduino boards use 64. This value is needed for the extruder timing. */
#define TIMER0_PRESCALE 64
#define ANALOG_PRESCALER _BV(ADPS0)|_BV(ADPS1)|_BV(ADPS2)
#if MOTHERBOARD==8 || MOTHERBOARD==88 || MOTHERBOARD==9 || CPU_ARCH!=ARCH_AVR
#define EXTERNALSERIAL
#endif
//#define EXTERNALSERIAL // Force using arduino serial
#ifndef EXTERNALSERIAL
#define HardwareSerial_h // Don't use standard serial console
#endif
#include <inttypes.h>
#include "Print.h"
#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#define COMPAT_PRE1
#endif
#if CPU_ARCH==ARCH_AVR
#include "fastio.h"
#else
#define READ(IO) digitalRead(IO)
#define WRITE(IO, v) digitalWrite(IO, v)
#define SET_INPUT(IO) pinMode(IO, INPUT)
#define SET_OUTPUT(IO) pinMode(IO, OUTPUT)
#endif
class InterruptProtectedBlock
{
uint8_t sreg;
public:
inline void protect()
{
cli();
}
inline void unprotect()
{
SREG = sreg;
}
inline InterruptProtectedBlock(bool later = false)
{
sreg = SREG;
if(!later)
cli();
}
inline ~InterruptProtectedBlock()
{
SREG = sreg;
}
};
#define EEPROM_OFFSET 0
#define SECONDS_TO_TICKS(s) (unsigned long)(s*(float)F_CPU)
#define ANALOG_REDUCE_BITS 0
#define ANALOG_REDUCE_FACTOR 1
#define MAX_RAM 32767
#define bit_clear(x,y) x&= ~(1<<y) //cbi(x,y)
#define bit_set(x,y) x|= (1<<y)//sbi(x,y)
/** defines the data direction (reading from I2C device) in i2cStart(),i2cRepStart() */
#define I2C_READ 1
/** defines the data direction (writing to I2C device) in i2cStart(),i2cRepStart() */
#define I2C_WRITE 0
#if NONLINEAR_SYSTEM
// Maximum speed with 100% inerrupt utilization is 27000 hz at 16MHz cpu
// leave some margin for all the extra transformations. So we keep inside clean timings.
#define LIMIT_INTERVAL ((F_CPU/30000)+1)
#else
#define LIMIT_INTERVAL ((F_CPU/40000)+1)
#endif
typedef uint16_t speed_t;
typedef uint32_t ticks_t;
typedef uint32_t millis_t;
typedef uint8_t flag8_t;
typedef int8_t fast8_t;
#define FAST_INTEGER_SQRT
#ifndef EXTERNALSERIAL
// Implement serial communication for one stream only!
/*
HardwareSerial.h - Hardware serial library for 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 28 September 2010 by Mark Sproul
Modified to use only 1 queue with fixed length by Repetier
*/
#define SERIAL_BUFFER_SIZE 128
#define SERIAL_BUFFER_MASK 127
#define SERIAL_TX_BUFFER_SIZE 64
#define SERIAL_TX_BUFFER_MASK 63
struct ring_buffer
{
unsigned char buffer[SERIAL_BUFFER_SIZE];
volatile uint8_t head;
volatile uint8_t tail;
};
struct ring_buffer_tx
{
unsigned char buffer[SERIAL_TX_BUFFER_SIZE];
volatile uint8_t head;
volatile uint8_t tail;
};
class RFHardwareSerial : public Print
{
public:
ring_buffer *_rx_buffer;
ring_buffer_tx *_tx_buffer;
volatile uint8_t *_ubrrh;
volatile uint8_t *_ubrrl;
volatile uint8_t *_ucsra;
volatile uint8_t *_ucsrb;
volatile uint8_t *_udr;
uint8_t _rxen;
uint8_t _txen;
uint8_t _rxcie;
uint8_t _udrie;
uint8_t _u2x;
public:
RFHardwareSerial(ring_buffer *rx_buffer, ring_buffer_tx *tx_buffer,
volatile uint8_t *ubrrh, volatile uint8_t *ubrrl,
volatile uint8_t *ucsra, volatile uint8_t *ucsrb,
volatile uint8_t *udr,
uint8_t rxen, uint8_t txen, uint8_t rxcie, uint8_t udrie, uint8_t u2x);
void begin(unsigned long);
void end();
virtual int available(void);
virtual int peek(void);
virtual int read(void);
virtual void flush(void);
#ifdef COMPAT_PRE1
virtual void write(uint8_t);
#else
virtual size_t write(uint8_t);
#endif
using Print::write; // pull in write(str) and write(buf, size) from Print
operator bool();
int outputUnused(void); // Used for output in interrupts
};
extern RFHardwareSerial RFSerial;
#define RFSERIAL RFSerial
//extern ring_buffer tx_buffer;
#define WAIT_OUT_EMPTY while(tx_buffer.head != tx_buffer.tail) {}
#else
#define RFSERIAL Serial
#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()
class HAL
{
public:
HAL();
virtual ~HAL();
static inline void hwSetup(void)
{}
// return val'val
static uint16_t integerSqrt(uint32_t a);
/** \brief Optimized division
Normally the C compiler will compute a long/long division, which takes ~670 Ticks.
This version is optimized for a 16 bit dividend and recognises the special cases
of a 24 bit and 16 bit dividend, which offen, but not always occur in updating the
interval.
*/
static inline int32_t Div4U2U(uint32_t a,uint16_t b)
{
#if CPU_ARCH==ARCH_AVR
// r14/r15 remainder
// r16 counter
__asm__ __volatile__ (
"clr r14 \n\t"
"sub r15,r15 \n\t"
"tst %D0 \n\t"
"brne do32%= \n\t"
"tst %C0 \n\t"
"breq donot24%= \n\t"
"rjmp do24%= \n\t"
"donot24%=:" "ldi r16,17 \n\t" // 16 Bit divide
"d16u_1%=:" "rol %A0 \n\t"
"rol %B0 \n\t"
"dec r16 \n\t"
"brne d16u_2%= \n\t"
"rjmp end%= \n\t"
"d16u_2%=:" "rol r14 \n\t"
"rol r15 \n\t"
"sub r14,%A2 \n\t"
"sbc r15,%B2 \n\t"
"brcc d16u_3%= \n\t"
"add r14,%A2 \n\t"
"adc r15,%B2 \n\t"
"clc \n\t"
"rjmp d16u_1%= \n\t"
"d16u_3%=:" "sec \n\t"
"rjmp d16u_1%= \n\t"
"do32%=:" // divide full 32 bit
"rjmp do32B%= \n\t"
"do24%=:" // divide 24 bit
"ldi r16,25 \n\t" // 24 Bit divide
"d24u_1%=:" "rol %A0 \n\t"
"rol %B0 \n\t"
"rol %C0 \n\t"
"dec r16 \n\t"
"brne d24u_2%= \n\t"
"rjmp end%= \n\t"
"d24u_2%=:" "rol r14 \n\t"
"rol r15 \n\t"
"sub r14,%A2 \n\t"
"sbc r15,%B2 \n\t"
"brcc d24u_3%= \n\t"
"add r14,%A2 \n\t"
"adc r15,%B2 \n\t"
"clc \n\t"
"rjmp d24u_1%= \n\t"
"d24u_3%=:" "sec \n\t"
"rjmp d24u_1%= \n\t"
"do32B%=:" // divide full 32 bit
"ldi r16,33 \n\t" // 32 Bit divide
"d32u_1%=:" "rol %A0 \n\t"
"rol %B0 \n\t"
"rol %C0 \n\t"
"rol %D0 \n\t"
"dec r16 \n\t"
"brne d32u_2%= \n\t"
"rjmp end%= \n\t"
"d32u_2%=:" "rol r14 \n\t"
"rol r15 \n\t"
"sub r14,%A2 \n\t"
"sbc r15,%B2 \n\t"
"brcc d32u_3%= \n\t"
"add r14,%A2 \n\t"
"adc r15,%B2 \n\t"
"clc \n\t"
"rjmp d32u_1%= \n\t"
"d32u_3%=:" "sec \n\t"
"rjmp d32u_1%= \n\t"
"end%=:" // end
:"=&r"(a)
:"0"(a),"r"(b)
:"r14","r15","r16"
);
return a;
#else
return a/b;
#endif
}
static inline unsigned long U16SquaredToU32(unsigned int val)
{
long res;
__asm__ __volatile__ ( // 15 Ticks
"mul %A1,%A1 \n\t"
"movw %A0,r0 \n\t"
"mul %B1,%B1 \n\t"
"movw %C0,r0 \n\t"
"mul %A1,%B1 \n\t"
"clr %A1 \n\t"
"add %B0,r0 \n\t"
"adc %C0,r1 \n\t"
"adc %D0,%A1 \n\t"
"add %B0,r0 \n\t"
"adc %C0,r1 \n\t"
"adc %D0,%A1 \n\t"
"clr r1 \n\t"
: "=&r"(res),"=r"(val)
: "1"(val)
);
return res;
}
static inline unsigned int ComputeV(long timer,long accel)
{
#if CPU_ARCH==ARCH_AVR
unsigned int res;
// 38 Ticks
__asm__ __volatile__ ( // 0 = res, 1 = timer, 2 = accel %D2=0 ,%A1 are unused is free
// Result LSB first: %A0, %B0, %A1
"mul %B1,%A2 \n\t"
"mov %A0,r1 \n\t"
"mul %B1,%C2 \n\t"
"mov %B0,r0 \n\t"
"mov %A1,r1 \n\t"
"mul %B1,%B2 \n\t"
"add %A0,r0 \n\t"
"adc %B0,r1 \n\t"
"adc %A1,%D2 \n\t"
"mul %C1,%A2 \n\t"
"add %A0,r0 \n\t"
"adc %B0,r1 \n\t"
"adc %A1,%D2 \n\t"
"mul %C1,%B2 \n\t"
"add %B0,r0 \n\t"
"adc %A1,r1 \n\t"
"mul %D1,%A2 \n\t"
"add %B0,r0 \n\t"
"adc %A1,r1 \n\t"
"mul %C1,%C2 \n\t"
"add %A1,r0 \n\t"
"mul %D1,%B2 \n\t"
"add %A1,r0 \n\t"
"lsr %A1 \n\t"
"ror %B0 \n\t"
"ror %A0 \n\t"
"lsr %A1 \n\t"
"ror %B0 \n\t"
"ror %A0 \n\t"
"clr r1 \n\t"
:"=&r"(res),"=r"(timer),"=r"(accel)
:"1"(timer),"2"(accel)
: );
// unsigned int v = ((timer>>8)*cur->accel)>>10;
return res;
#else
return ((timer>>8)*accel)>>10;
#endif
}
// Multiply two 16 bit values and return 32 bit result
static inline uint32_t mulu16xu16to32(unsigned int a,unsigned int b)
{
uint32_t res;
// 18 Ticks = 1.125 us
__asm__ __volatile__ ( // 0 = res, 1 = timer, 2 = accel %D2=0 ,%A1 are unused is free
// Result LSB first: %A0, %B0, %A1
"clr r18 \n\t"
"mul %B2,%B1 \n\t" // mul hig bytes
"movw %C0,r0 \n\t"
"mul %A1,%A2 \n\t" // mul low bytes
"movw %A0,r0 \n\t"
"mul %A1,%B2 \n\t"
"add %B0,r0 \n\t"
"adc %C0,r1 \n\t"
"adc %D0,r18 \n\t"
"mul %B1,%A2 \n\t"
"add %B0,r0 \n\t"
"adc %C0,r1 \n\t"
"adc %D0,r18 \n\t"
"clr r1 \n\t"
:"=&r"(res),"=r"(a),"=r"(b)
:"1"(a),"2"(b)
:"r18" );
// return (long)a*b;
return res;
}
// Multiply two 16 bit values and return 32 bit result
static inline unsigned int mulu6xu16shift16(unsigned int a,unsigned int b)
{
#if CPU_ARCH==ARCH_AVR
unsigned int res;
// 18 Ticks = 1.125 us
__asm__ __volatile__ ( // 0 = res, 1 = timer, 2 = accel %D2=0 ,%A1 are unused is free
// Result LSB first: %A0, %B0, %A1
"clr r18 \n\t"
"mul %B2,%B1 \n\t" // mul hig bytes
"movw %A0,r0 \n\t"
"mul %A1,%A2 \n\t" // mul low bytes
"mov r19,r1 \n\t"
"mul %A1,%B2 \n\t"
"add r19,r0 \n\t"
"adc %A0,r1 \n\t"
"adc %B0,r18 \n\t"
"mul %B1,%A2 \n\t"
"add r19,r0 \n\t"
"adc %A0,r1 \n\t"
"adc %B0,r18 \n\t"
"clr r1 \n\t"
:"=&r"(res),"=r"(a),"=r"(b)
:"1"(a),"2"(b)
:"r18","r19" );
return res;
#else
return ((int32_t)a*b)>>16;
#endif
}
static inline void digitalWrite(uint8_t pin,uint8_t value)
{
::digitalWrite(pin,value);
}
static inline uint8_t digitalRead(uint8_t pin)
{
return ::digitalRead(pin);
}
static inline void pinMode(uint8_t pin,uint8_t mode)
{
::pinMode(pin,mode);
}
static int32_t CPUDivU2(unsigned int divisor);
static inline void delayMicroseconds(unsigned int delayUs)
{
::delayMicroseconds(delayUs);
}
static inline void delayMilliseconds(unsigned int delayMs)
{
::delay(delayMs);
}
static inline void tone(uint8_t pin,int duration)
{
::tone(pin,duration);
}
static inline void noTone(uint8_t pin)
{
::noTone(pin);
}
static inline void eprSetByte(unsigned int pos,uint8_t value)
{
eeprom_write_byte((unsigned char *)(EEPROM_OFFSET+pos), value);
}
static inline void eprSetInt16(unsigned int pos,int16_t value)
{
eeprom_write_word((unsigned int*)(EEPROM_OFFSET+pos),value);
}
static inline void eprSetInt32(unsigned int pos,int32_t value)
{
eeprom_write_dword((uint32_t*)(EEPROM_OFFSET+pos),value);
}
static inline void eprSetFloat(unsigned int pos,float value)
{
eeprom_write_block(&value,(void*)(EEPROM_OFFSET+pos), 4);
}
static inline uint8_t eprGetByte(unsigned int pos)
{
return eeprom_read_byte ((unsigned char *)(EEPROM_OFFSET+pos));
}
static inline int16_t eprGetInt16(unsigned int pos)
{
return eeprom_read_word((uint16_t *)(EEPROM_OFFSET+pos));
}
static inline int32_t eprGetInt32(unsigned int pos)
{
return eeprom_read_dword((uint32_t*)(EEPROM_OFFSET+pos));
}
static inline float eprGetFloat(unsigned int pos)
{
float v;
eeprom_read_block(&v,(void *)(EEPROM_OFFSET+pos),4); // newer gcc have eeprom_read_block but not arduino 22
return v;
}
// Faster version of InterruptProtectedBlock.
// For safety it ma yonly be called from within an
// interrupt handler.
static inline void allowInterrupts()
{
sei();
}
// Faster version of InterruptProtectedBlock.
// For safety it ma yonly be called from within an
// interrupt handler.
static inline void forbidInterrupts()
{
cli();
}
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)
{
RFSERIAL.begin(baud);
}
static inline bool serialByteAvailable()
{
return RFSERIAL.available()>0;
}
static inline uint8_t serialReadByte()
{
return RFSERIAL.read();
}
static inline void serialWriteByte(char b)
{
RFSERIAL.write(b);
}
static inline void serialFlush()
{
RFSERIAL.flush();
}
static void setupTimer();
static void showStartReason();
static int getFreeRam();
static void resetHardware();
// SPI related functions
static void spiBegin()
{
#if SDSS>=0
SET_INPUT(MISO_PIN);
SET_OUTPUT(MOSI_PIN);
SET_OUTPUT(SCK_PIN);
// SS must be in output mode even it is not chip select
SET_OUTPUT(SDSS);
#if SDSSORIG >- 1
SET_OUTPUT(SDSSORIG);
#endif
// set SS high - may be chip select for another SPI device
#if SET_SPI_SS_HIGH
WRITE(SDSS, HIGH);
#endif // SET_SPI_SS_HIGH
#endif
}
static inline void spiInit(uint8_t spiRate)
{
uint8_t r = 0;
for (uint8_t b = 2; spiRate > b && r < 6; b <<= 1, r++);
SET_OUTPUT(SS);
WRITE(SS,HIGH);
SET_OUTPUT(SCK);
SET_OUTPUT(MOSI_PIN);
SET_INPUT(MISO_PIN);
#ifdef PRR
PRR &= ~(1<<PRSPI);
#elif defined PRR0
PRR0 &= ~(1<<PRSPI);
#endif
// See avr processor documentation
SPCR = (1 << SPE) | (1 << MSTR) | (r >> 1);
SPSR = (r & 1 || r == 6 ? 0 : 1) << SPI2X;
}
static inline uint8_t spiReceive(uint8_t send=0xff)
{
SPDR = send;
while (!(SPSR & (1 << SPIF))) {}
return SPDR;
}
static inline void spiReadBlock(uint8_t*buf,size_t nbyte)
{
if (nbyte-- == 0) return;
SPDR = 0XFF;
for (size_t i = 0; i < nbyte; i++)
{
while (!(SPSR & (1 << SPIF))) {}
buf[i] = SPDR;
SPDR = 0XFF;
}
while (!(SPSR & (1 << SPIF))) {}
buf[nbyte] = SPDR;
}
static inline void spiSend(uint8_t b)
{
SPDR = b;
while (!(SPSR & (1 << SPIF))) {}
}
static inline void spiSend(const uint8_t* buf , size_t n)
{
if (n == 0) return;
SPDR = buf[0];
if (n > 1)
{
uint8_t b = buf[1];
size_t i = 2;
while (1)
{
while (!(SPSR & (1 << SPIF))) {}
SPDR = b;
if (i == n) break;
b = buf[i++];
}
}
while (!(SPSR & (1 << SPIF))) {}
}
static inline __attribute__((always_inline))
void spiSendBlock(uint8_t token, const uint8_t* buf)
{
SPDR = token;
for (uint16_t i = 0; i < 512; i += 2)
{
while (!(SPSR & (1 << SPIF))) {}
SPDR = buf[i];
while (!(SPSR & (1 << SPIF))) {}
SPDR = buf[i + 1];
}
while (!(SPSR & (1 << SPIF))) {}
}
// I2C Support
static void i2cInit(unsigned long clockSpeedHz);
static unsigned char i2cStart(unsigned char address);
static void i2cStartWait(unsigned char address);
static void i2cStop(void);
static unsigned char i2cWrite( unsigned char data );
static unsigned char i2cReadAck(void);
static unsigned char i2cReadNak(void);
// Watchdog support
inline static void startWatchdog()
{
wdt_enable(WDTO_1S);
};
inline static void stopWatchdog()
{
wdt_disable();
}
inline static void pingWatchdog()
{
wdt_reset();
};
inline static float maxExtruderTimerFrequency()
{
return (float)F_CPU/TIMER0_PRESCALE;
}
#if FEATURE_SERVO
static unsigned int servoTimings[4];
static void servoMicroseconds(uint8_t servo,int ms);
#endif
static void analogStart();
#if USE_ADVANCE
static void resetExtruderDirection();
#endif
protected:
private:
};
/*#if MOTHERBOARD==6 || MOTHERBOARD==62 || MOTHERBOARD==7
#if MOTHERBOARD!=7
#define SIMULATE_PWM
#endif
#define EXTRUDER_TIMER_VECTOR TIMER2_COMPA_vect
#define EXTRUDER_OCR OCR2A
#define EXTRUDER_TCCR TCCR2A
#define EXTRUDER_TIMSK TIMSK2
#define EXTRUDER_OCIE OCIE2A
#define PWM_TIMER_VECTOR TIMER2_COMPB_vect
#define PWM_OCR OCR2B
#define PWM_TCCR TCCR2B
#define PWM_TIMSK TIMSK2
#define PWM_OCIE OCIE2B
#else*/
#define EXTRUDER_TIMER_VECTOR TIMER0_COMPA_vect
#define EXTRUDER_OCR OCR0A
#define EXTRUDER_TCCR TCCR0A
#define EXTRUDER_TIMSK TIMSK0
#define EXTRUDER_OCIE OCIE0A
#define PWM_TIMER_VECTOR TIMER0_COMPB_vect
#define PWM_OCR OCR0B
#define PWM_TCCR TCCR0A
#define PWM_TIMSK TIMSK0
#define PWM_OCIE OCIE0B
//#endif
#endif // HAL_H
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