diff --git a/.travis.yml b/.travis.yml index 555cb91e40..4191100706 100644 --- a/.travis.yml +++ b/.travis.yml @@ -1,5 +1,5 @@ dist: trusty -sudo: false +sudo: require language: python python: @@ -22,8 +22,17 @@ env: - TEST_PLATFORM="LPC1769" - TEST_PLATFORM="STM32F1" - TEST_PLATFORM="teensy35" + - TEST_PLATFORM="linux_native" + +addons: + apt: + sources: + - ubuntu-toolchain-r-test + packages: + - g++-7 before_install: + - sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-7 90 # # Fetch the tag information for the current branch - git fetch origin --tags diff --git a/Marlin/src/HAL/HAL_LINUX/HAL.cpp b/Marlin/src/HAL/HAL_LINUX/HAL.cpp new file mode 100644 index 0000000000..3d2dd5cd82 --- /dev/null +++ b/Marlin/src/HAL/HAL_LINUX/HAL.cpp @@ -0,0 +1,82 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2019 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 . + * + */ + +#ifdef __PLAT_LINUX__ + +#include "../../inc/MarlinConfig.h" +#include "../shared/Delay.h" + +HalSerial usb_serial; + +// U8glib required functions +extern "C" void u8g_xMicroDelay(uint16_t val) { + DELAY_US(val); +} +extern "C" void u8g_MicroDelay(void) { + u8g_xMicroDelay(1); +} +extern "C" void u8g_10MicroDelay(void) { + u8g_xMicroDelay(10); +} +extern "C" void u8g_Delay(uint16_t val) { + delay(val); +} +//************************// + +// return free heap space +int freeMemory() { + return 0; +} + +// -------------------------------------------------------------------------- +// ADC +// -------------------------------------------------------------------------- + +void HAL_adc_init(void) { + +} + +void HAL_adc_enable_channel(int ch) { + +} + +uint8_t active_ch = 0; +void HAL_adc_start_conversion(const uint8_t ch) { + active_ch = ch; +} + +bool HAL_adc_finished(void) { + return true; +} + +uint16_t HAL_adc_get_result(void) { + pin_t pin = analogInputToDigitalPin(active_ch); + if (!VALID_PIN(pin)) return 0; + uint16_t data = ((Gpio::get(pin) >> 2) & 0x3FF); + return data; // return 10bit value as Marlin expects +} + +void HAL_pwm_init(void) { + +} + +#endif // __PLAT_LINUX__ diff --git a/Marlin/src/HAL/HAL_LINUX/HAL.h b/Marlin/src/HAL/HAL_LINUX/HAL.h new file mode 100644 index 0000000000..1057fae995 --- /dev/null +++ b/Marlin/src/HAL/HAL_LINUX/HAL.h @@ -0,0 +1,109 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (C) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com + * Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com + * + * 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 . + * + */ +#pragma once + +#define CPU_32_BIT + +// -------------------------------------------------------------------------- +// Includes +// -------------------------------------------------------------------------- + +#define F_CPU 100000000 +#define SystemCoreClock F_CPU +#include +#include +#include + +#undef min +#undef max + +#include + +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 "hardware/Clock.h" + +#include + +#include "../shared/math_32bit.h" +#include "../shared/HAL_SPI.h" +#include "fastio.h" +#include "watchdog.h" +#include "HAL_timers.h" +#include "serial.h" + +extern HalSerial usb_serial; +#define MYSERIAL0 usb_serial +#define NUM_SERIAL 1 + +#define ST7920_DELAY_1 DELAY_NS(600) +#define ST7920_DELAY_2 DELAY_NS(750) +#define ST7920_DELAY_3 DELAY_NS(750) + +// +// Interrupts +// +#define CRITICAL_SECTION_START +#define CRITICAL_SECTION_END +#define ISRS_ENABLED() +#define ENABLE_ISRS() +#define DISABLE_ISRS() + +//Utility functions +int freeMemory(void); + +// SPI: Extended functions which take a channel number (hardware SPI only) +/** Write single byte to specified SPI channel */ +void spiSend(uint32_t chan, byte b); +/** Write buffer to specified SPI channel */ +void spiSend(uint32_t chan, const uint8_t* buf, size_t n); +/** Read single byte from specified SPI channel */ +uint8_t spiRec(uint32_t chan); + +// ADC +#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() true + +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); + +/* ---------------- Delay in cycles */ +FORCE_INLINE static void DELAY_CYCLES(uint64_t x) { + Clock::delayCycles(x); +} diff --git a/Marlin/src/HAL/HAL_LINUX/HAL_timers.cpp b/Marlin/src/HAL/HAL_LINUX/HAL_timers.cpp new file mode 100644 index 0000000000..5a59165f50 --- /dev/null +++ b/Marlin/src/HAL/HAL_LINUX/HAL_timers.cpp @@ -0,0 +1,73 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (C) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com + * Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com + * + * 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 . + * + */ + +#ifdef __PLAT_LINUX__ + +#include "hardware/Timer.h" + +#include "../../inc/MarlinConfig.h" +#include "HAL_timers.h" + +/** + * Use POSIX signals to attempt to emulate Interrupts + * This has many limitations and is not fit for the purpose + */ + +HAL_STEP_TIMER_ISR; +HAL_TEMP_TIMER_ISR; + +Timer timers[2]; + +void HAL_timer_init(void) { + timers[0].init(0, STEPPER_TIMER_RATE, TIMER0_IRQHandler); + timers[1].init(1, TEMP_TIMER_RATE, TIMER1_IRQHandler); +} + +void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { + timers[timer_num].start(frequency); +} + +void HAL_timer_enable_interrupt(const uint8_t timer_num) { + timers[timer_num].enable(); +} + +void HAL_timer_disable_interrupt(const uint8_t timer_num) { + timers[timer_num].disable(); +} + +bool HAL_timer_interrupt_enabled(const uint8_t timer_num) { + return timers[timer_num].enabled(); +} + +void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) { + timers[timer_num].setCompare(compare); +} + +hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) { + return timers[timer_num].getCompare(); +} + +hal_timer_t HAL_timer_get_count(const uint8_t timer_num) { + return timers[timer_num].getCount(); +} + +#endif // __PLAT_LINUX__ diff --git a/Marlin/src/HAL/HAL_LINUX/HAL_timers.h b/Marlin/src/HAL/HAL_LINUX/HAL_timers.h new file mode 100644 index 0000000000..75ec68b0a8 --- /dev/null +++ b/Marlin/src/HAL/HAL_LINUX/HAL_timers.h @@ -0,0 +1,91 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (C) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com + * + * 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 . + * + */ +#pragma once + +/** + * HAL timers for Linux X86_64 + */ + +// -------------------------------------------------------------------------- +// Includes +// -------------------------------------------------------------------------- + +#include + +// -------------------------------------------------------------------------- +// Defines +// -------------------------------------------------------------------------- + +#define FORCE_INLINE __attribute__((always_inline)) inline + +typedef uint32_t hal_timer_t; +#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF + +#define HAL_TIMER_RATE ((SystemCoreClock) / 4) // frequency of timers peripherals + +#define STEP_TIMER_NUM 0 // Timer Index for Stepper +#define TEMP_TIMER_NUM 1 // Timer Index for Temperature +#define PULSE_TIMER_NUM STEP_TIMER_NUM + +#define TEMP_TIMER_RATE 1000000 +#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency + +#define STEPPER_TIMER_RATE HAL_TIMER_RATE // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) +#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs +#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US) + +#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer +#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE +#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US + +#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM) +#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM) +#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM) + +#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM) +#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM) + +#define HAL_STEP_TIMER_ISR extern "C" void TIMER0_IRQHandler(void) +#define HAL_TEMP_TIMER_ISR extern "C" void TIMER1_IRQHandler(void) + +// PWM timer +#define HAL_PWM_TIMER +#define HAL_PWM_TIMER_ISR extern "C" void TIMER3_IRQHandler(void) +#define HAL_PWM_TIMER_IRQn + + +void HAL_timer_init(void); +void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency); + +void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare); +hal_timer_t HAL_timer_get_compare(const uint8_t timer_num); +hal_timer_t HAL_timer_get_count(const uint8_t timer_num); +FORCE_INLINE static void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_ticks) { + const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_ticks; + if (HAL_timer_get_compare(timer_num) < mincmp) HAL_timer_set_compare(timer_num, mincmp); +} + +void HAL_timer_enable_interrupt(const uint8_t timer_num); +void HAL_timer_disable_interrupt(const uint8_t timer_num); +bool HAL_timer_interrupt_enabled(const uint8_t timer_num); + +#define HAL_timer_isr_prologue(TIMER_NUM) +#define HAL_timer_isr_epilogue(TIMER_NUM) diff --git a/Marlin/src/HAL/HAL_LINUX/SanityCheck.h b/Marlin/src/HAL/HAL_LINUX/SanityCheck.h new file mode 100644 index 0000000000..b9ed279fe7 --- /dev/null +++ b/Marlin/src/HAL/HAL_LINUX/SanityCheck.h @@ -0,0 +1,67 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2019 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 . + * + */ + +/** + * Test X86_64 configuration values for errors at compile-time. + */ + +#if ENABLED(SPINDLE_LASER_ENABLE) + #if !PIN_EXISTS(SPINDLE_LASER_ENABLE) + #error "SPINDLE_LASER_ENABLE requires SPINDLE_LASER_ENABLE_PIN." + #elif SPINDLE_DIR_CHANGE && !PIN_EXISTS(SPINDLE_DIR) + #error "SPINDLE_DIR_PIN not defined." + #elif ENABLED(SPINDLE_LASER_PWM) && PIN_EXISTS(SPINDLE_LASER_PWM) + #if !PWM_PIN(SPINDLE_LASER_PWM_PIN) + #error "SPINDLE_LASER_PWM_PIN not assigned to a PWM pin." + #elif !(SPINDLE_LASER_PWM_PIN == 4 || SPINDLE_LASER_PWM_PIN == 6 || SPINDLE_LASER_PWM_PIN == 11) + #error "SPINDLE_LASER_PWM_PIN must use SERVO0, SERVO1 or SERVO3 connector" + #elif SPINDLE_LASER_POWERUP_DELAY < 1 + #error "SPINDLE_LASER_POWERUP_DELAY must be greater than 0." + #elif SPINDLE_LASER_POWERDOWN_DELAY < 1 + #error "SPINDLE_LASER_POWERDOWN_DELAY must be greater than 0." + #elif !defined(SPINDLE_LASER_PWM_INVERT) + #error "SPINDLE_LASER_PWM_INVERT missing." + #elif !defined(SPEED_POWER_SLOPE) || !defined(SPEED_POWER_INTERCEPT) || !defined(SPEED_POWER_MIN) || !defined(SPEED_POWER_MAX) + #error "SPINDLE_LASER_PWM equation constant(s) missing." + #elif PIN_EXISTS(CASE_LIGHT) && SPINDLE_LASER_PWM_PIN == CASE_LIGHT_PIN + #error "SPINDLE_LASER_PWM_PIN is used by CASE_LIGHT_PIN." + #elif PIN_EXISTS(E0_AUTO_FAN) && SPINDLE_LASER_PWM_PIN == E0_AUTO_FAN_PIN + #error "SPINDLE_LASER_PWM_PIN is used by E0_AUTO_FAN_PIN." + #elif PIN_EXISTS(E1_AUTO_FAN) && SPINDLE_LASER_PWM_PIN == E1_AUTO_FAN_PIN + #error "SPINDLE_LASER_PWM_PIN is used by E1_AUTO_FAN_PIN." + #elif PIN_EXISTS(E2_AUTO_FAN) && SPINDLE_LASER_PWM_PIN == E2_AUTO_FAN_PIN + #error "SPINDLE_LASER_PWM_PIN is used by E2_AUTO_FAN_PIN." + #elif PIN_EXISTS(E3_AUTO_FAN) && SPINDLE_LASER_PWM_PIN == E3_AUTO_FAN_PIN + #error "SPINDLE_LASER_PWM_PIN is used by E3_AUTO_FAN_PIN." + #elif PIN_EXISTS(E4_AUTO_FAN) && SPINDLE_LASER_PWM_PIN == E4_AUTO_FAN_PIN + #error "SPINDLE_LASER_PWM_PIN is used by E4_AUTO_FAN_PIN." + #elif PIN_EXISTS(FAN) && SPINDLE_LASER_PWM_PIN == FAN_PIN + #error "SPINDLE_LASER_PWM_PIN is used FAN_PIN." + #elif PIN_EXISTS(FAN1) && SPINDLE_LASER_PWM_PIN == FAN1_PIN + #error "SPINDLE_LASER_PWM_PIN is used FAN1_PIN." + #elif PIN_EXISTS(FAN2) && SPINDLE_LASER_PWM_PIN == FAN2_PIN + #error "SPINDLE_LASER_PWM_PIN is used FAN2_PIN." + #elif PIN_EXISTS(CONTROLLERFAN) && SPINDLE_LASER_PWM_PIN == CONTROLLERFAN_PIN + #error "SPINDLE_LASER_PWM_PIN is used by CONTROLLERFAN_PIN." + #endif + #endif +#endif // SPINDLE_LASER_ENABLE diff --git a/Marlin/src/HAL/HAL_LINUX/arduino.cpp b/Marlin/src/HAL/HAL_LINUX/arduino.cpp new file mode 100644 index 0000000000..408c96153d --- /dev/null +++ b/Marlin/src/HAL/HAL_LINUX/arduino.cpp @@ -0,0 +1,116 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2019 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 . + * + */ + +#ifdef __PLAT_LINUX__ + +#include +#include "../../inc/MarlinConfig.h" +#include "hardware/Clock.h" +#include "../shared/Delay.h" + +// Interrupts +void cli(void) { } // Disable +void sei(void) { } // Enable + +// Time functions +void _delay_ms(const int delay_ms) { + delay(delay_ms); +} + +uint32_t millis() { + return (uint32_t)Clock::millis(); +} + +// This is required for some Arduino libraries we are using +void delayMicroseconds(uint32_t us) { + Clock::delayMicros(us); +} + +extern "C" void delay(const int msec) { + Clock::delayMillis(msec); +} + +// 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; + Gpio::setMode(pin, mode); +} + +void digitalWrite(pin_t pin, uint8_t pin_status) { + if (!VALID_PIN(pin)) return; + Gpio::set(pin, pin_status); +} + +bool digitalRead(pin_t pin) { + if (!VALID_PIN(pin)) return false; + return Gpio::get(pin); +} + +void analogWrite(pin_t pin, int pwm_value) { // 1 - 254: pwm_value, 0: LOW, 255: HIGH + if (!VALID_PIN(pin)) return; + Gpio::set(pin, pwm_value); +} + +uint16_t analogRead(pin_t adc_pin) { + if (!VALID_PIN(DIGITAL_PIN_TO_ANALOG_PIN(adc_pin))) return 0; + return Gpio::get(DIGITAL_PIN_TO_ANALOG_PIN(adc_pin)); +} + +// ************************** +// Persistent Config Storage +// ************************** + +void eeprom_write_byte(unsigned char *pos, unsigned char value) { + +} + +unsigned char 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 // __PLAT_LINUX__ diff --git a/Marlin/src/HAL/HAL_LINUX/fastio.h b/Marlin/src/HAL/HAL_LINUX/fastio.h new file mode 100644 index 0000000000..db43b93fcf --- /dev/null +++ b/Marlin/src/HAL/HAL_LINUX/fastio.h @@ -0,0 +1,123 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2019 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 . + * + */ +#pragma once + +/** + * Fast I/O Routines for X86_64 + */ + +#include +#include + +#define USEABLE_HARDWARE_PWM(pin) false + +#define SET_DIR_INPUT(IO) Gpio::setDir(IO, 1) +#define SET_DIR_OUTPUT(IO) Gpio::setDir(IO, 0) + +#define SET_MODE(IO, mode) Gpio::setMode(IO, mode) + +#define WRITE_PIN_SET(IO) Gpio::set(IO) +#define WRITE_PIN_CLR(IO) Gpio::clear(IO) + +#define READ_PIN(IO) Gpio::get(IO) +#define WRITE_PIN(IO,V) Gpio::set(IO, V) + +/** + * Magic I/O routines + * + * Now you can simply SET_OUTPUT(STEP); WRITE(STEP, HIGH); WRITE(STEP, LOW); + * + * Why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html + */ + +/// Read a pin +#define _READ(IO) READ_PIN(IO) + +/// Write to a pin +#define _WRITE_VAR(IO,V) digitalWrite(IO,V) + +#define _WRITE(IO,V) WRITE_PIN(IO,V) + +/// toggle a pin +#define _TOGGLE(IO) _WRITE(IO, !READ(IO)) + +/// set pin as input +#define _SET_INPUT(IO) SET_DIR_INPUT(IO) + +/// set pin as output +#define _SET_OUTPUT(IO) SET_DIR_OUTPUT(IO) + +/// set pin as input with pullup mode +#define _PULLUP(IO,V) pinMode(IO, (V) ? INPUT_PULLUP : INPUT) + +/// set pin as input with pulldown mode +#define _PULLDOWN(IO,V) pinMode(IO, (V) ? INPUT_PULLDOWN : INPUT) + +// hg42: all pins can be input or output (I hope) +// hg42: undefined pins create compile error (IO, is no pin) +// hg42: currently not used, but was used by pinsDebug + +/// check if pin is an input +#define _GET_INPUT(IO) (LPC1768_PIN_PIN(IO) >= 0) + +/// check if pin is an output +#define _GET_OUTPUT(IO) (LPC1768_PIN_PIN(IO) >= 0) + +// hg42: GET_TIMER is used only to check if it's a PWM pin +// hg42: we cannot use USEABLE_HARDWARE_PWM because it uses a function that cannot be used statically +// hg42: instead use PWM bit from the #define + +/// check if pin is a timer +#define _GET_TIMER(IO) TRUE // could be LPC1768_PIN_PWM(IO), but there +// hg42: could be this: +// #define _GET_TIMER(IO) LPC1768_PIN_PWM(IO) +// but this is an incomplete check (12 pins are PWMable, but only 6 can be used at the same time) + +/// Read a pin wrapper +#define READ(IO) _READ(IO) + +/// Write to a pin wrapper +#define WRITE_VAR(IO,V) _WRITE_VAR(IO,V) +#define WRITE(IO,V) _WRITE(IO,V) + +/// toggle a pin wrapper +#define TOGGLE(IO) _TOGGLE(IO) + +/// set pin as input wrapper +#define SET_INPUT(IO) _SET_INPUT(IO) +/// set pin as input with pullup wrapper +#define SET_INPUT_PULLUP(IO) do{ _SET_INPUT(IO); _PULLUP(IO, HIGH); }while(0) +/// set pin as input with pulldown wrapper +#define SET_INPUT_PULLDOWN(IO) do{ _SET_INPUT(IO); _PULLDOWN(IO, HIGH); }while(0) +/// set pin as output wrapper - reads the pin and sets the output to that value +#define SET_OUTPUT(IO) do{ _WRITE(IO, _READ(IO)); _SET_OUTPUT(IO); }while(0) + +/// check if pin is an input wrapper +#define GET_INPUT(IO) _GET_INPUT(IO) +/// check if pin is an output wrapper +#define GET_OUTPUT(IO) _GET_OUTPUT(IO) + +/// check if pin is a timer (wrapper) +#define GET_TIMER(IO) _GET_TIMER(IO) + +// Shorthand +#define OUT_WRITE(IO,V) do{ SET_OUTPUT(IO); WRITE(IO,V); }while(0) diff --git a/Marlin/src/HAL/HAL_LINUX/hardware/Clock.cpp b/Marlin/src/HAL/HAL_LINUX/hardware/Clock.cpp new file mode 100644 index 0000000000..961f5c5d98 --- /dev/null +++ b/Marlin/src/HAL/HAL_LINUX/hardware/Clock.cpp @@ -0,0 +1,32 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2019 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 . + * + */ + +#ifdef __PLAT_LINUX__ + +#include "../../../inc/MarlinConfig.h" +#include "Clock.h" + +std::chrono::nanoseconds Clock::startup = std::chrono::high_resolution_clock::now().time_since_epoch(); +uint32_t Clock::frequency = F_CPU; +double Clock::time_multiplier = 1.0; + +#endif // __PLAT_LINUX__ diff --git a/Marlin/src/HAL/HAL_LINUX/hardware/Clock.h b/Marlin/src/HAL/HAL_LINUX/hardware/Clock.h new file mode 100644 index 0000000000..e3dafe250a --- /dev/null +++ b/Marlin/src/HAL/HAL_LINUX/hardware/Clock.h @@ -0,0 +1,89 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2019 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 . + * + */ +#pragma once + +#include +#include + +class Clock { +public: + static uint64_t ticks(uint32_t frequency = Clock::frequency) { + return (Clock::nanos() - Clock::startup.count()) / (1000000000ULL / frequency); + } + + static uint64_t nanosToTicks(uint64_t ns, uint32_t frequency = Clock::frequency) { + return ns / (1000000000ULL / frequency); + } + + // Time acceleration compensated + static uint64_t ticksToNanos(uint64_t tick, uint32_t frequency = Clock::frequency) { + return (tick * (1000000000ULL / frequency)) / Clock::time_multiplier; + } + + static void setFrequency(uint32_t freq) { + Clock::frequency = freq; + } + + // Time Acceleration compensated + static uint64_t nanos() { + auto now = std::chrono::high_resolution_clock::now().time_since_epoch(); + return (now.count() - Clock::startup.count()) * Clock::time_multiplier; + } + + static uint64_t micros() { + return Clock::nanos() / 1000; + } + + static uint64_t millis() { + return Clock::micros() / 1000; + } + + static double seconds() { + return Clock::nanos() / 1000000000.0; + } + + static void delayCycles(uint64_t cycles) { + std::this_thread::sleep_for(std::chrono::nanoseconds( (1000000000L / frequency) * cycles) / Clock::time_multiplier ); + } + + static void delayMicros(uint64_t micros) { + std::this_thread::sleep_for(std::chrono::microseconds( micros ) / Clock::time_multiplier); + } + + static void delayMillis(uint64_t millis) { + std::this_thread::sleep_for(std::chrono::milliseconds( millis ) / Clock::time_multiplier); + } + + static void delaySeconds(double secs) { + std::this_thread::sleep_for(std::chrono::duration(secs * 1000) / Clock::time_multiplier); + } + + // Will reduce timer resolution increasing likelihood of overflows + static void setTimeMultiplier(double tm) { + Clock::time_multiplier = tm; + } + +private: + static std::chrono::nanoseconds startup; + static uint32_t frequency; + static double time_multiplier; +}; diff --git a/Marlin/src/HAL/HAL_LINUX/hardware/Gpio.cpp b/Marlin/src/HAL/HAL_LINUX/hardware/Gpio.cpp new file mode 100644 index 0000000000..0aeeb9c674 --- /dev/null +++ b/Marlin/src/HAL/HAL_LINUX/hardware/Gpio.cpp @@ -0,0 +1,30 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2019 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 . + * + */ + +#ifdef __PLAT_LINUX__ + +#include "Gpio.h" + +pin_data Gpio::pin_map[Gpio::pin_count+1] = {}; +IOLogger* Gpio::logger = nullptr; + +#endif // __PLAT_LINUX__ diff --git a/Marlin/src/HAL/HAL_LINUX/hardware/Gpio.h b/Marlin/src/HAL/HAL_LINUX/hardware/Gpio.h new file mode 100644 index 0000000000..a53ad029c4 --- /dev/null +++ b/Marlin/src/HAL/HAL_LINUX/hardware/Gpio.h @@ -0,0 +1,141 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2019 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 . + * + */ +#pragma once + +#include "Clock.h" +#include "../../../inc/MarlinConfigPre.h" +#include + +typedef int16_t pin_type; + +struct GpioEvent { + enum Type { + NOP, + FALL, + RISE, + SET_VALUE, + SETM, + SETD + }; + uint64_t timestamp; + pin_type pin_id; + GpioEvent::Type event; + + GpioEvent(uint64_t timestamp, pin_type pin_id, GpioEvent::Type event){ + this->timestamp = timestamp; + this->pin_id = pin_id; + this->event = event; + } +}; + +class IOLogger { +public: + virtual ~IOLogger(){}; + virtual void log(GpioEvent ev) = 0; +}; + +class Peripheral { +public: + virtual ~Peripheral(){}; + virtual void interrupt(GpioEvent ev) = 0; + virtual void update() = 0; +}; + +struct pin_data { + uint8_t dir; + uint8_t mode; + uint16_t value; + Peripheral* cb; +}; + +class Gpio { +public: + + static const pin_type pin_count = 255; + static pin_data pin_map[pin_count+1]; + + static bool valid_pin(pin_type pin) { + return pin >= 0 && pin <= pin_count; + } + + static void set(pin_type pin) { + set(pin, 1); + } + + static void set(pin_type pin, uint16_t value) { + if (!valid_pin(pin)) return; + GpioEvent::Type evt_type = value > 1 ? GpioEvent::SET_VALUE : value > pin_map[pin].value ? GpioEvent::RISE : value < pin_map[pin].value ? GpioEvent::FALL : GpioEvent::NOP; + pin_map[pin].value = value; + GpioEvent evt(Clock::nanos(), pin, evt_type); + if (pin_map[pin].cb != nullptr) { + pin_map[pin].cb->interrupt(evt); + } + if (Gpio::logger != nullptr) Gpio::logger->log(evt); + } + + static uint16_t get(pin_type pin) { + if (!valid_pin(pin)) return 0; + return pin_map[pin].value; + } + + static void clear(pin_type pin) { + set(pin, 0); + } + + static void setMode(pin_type pin, uint8_t value) { + if (!valid_pin(pin)) return; + pin_map[pin].mode = value; + GpioEvent evt(Clock::nanos(), pin, GpioEvent::Type::SETM); + if (pin_map[pin].cb != nullptr) pin_map[pin].cb->interrupt(evt); + if (Gpio::logger != nullptr) Gpio::logger->log(evt); + } + + static uint8_t getMode(pin_type pin) { + if (!valid_pin(pin)) return 0; + return pin_map[pin].mode; + } + + static void setDir(pin_type pin, uint8_t value) { + if (!valid_pin(pin)) return; + pin_map[pin].dir = value; + GpioEvent evt(Clock::nanos(), pin, GpioEvent::Type::SETD); + if (pin_map[pin].cb != nullptr) pin_map[pin].cb->interrupt(evt); + if (Gpio::logger != nullptr) Gpio::logger->log(evt); + } + + static uint8_t getDir(pin_type pin) { + if (!valid_pin(pin)) return 0; + return pin_map[pin].dir; + } + + static void attachPeripheral(pin_type pin, Peripheral* per) { + if (!valid_pin(pin)) return; + pin_map[pin].cb = per; + } + + static void attachLogger(IOLogger* logger) { + Gpio::logger = logger; + } + +private: + static IOLogger* logger; +}; diff --git a/Marlin/src/HAL/HAL_LINUX/hardware/Heater.cpp b/Marlin/src/HAL/HAL_LINUX/hardware/Heater.cpp new file mode 100644 index 0000000000..0e2f94c356 --- /dev/null +++ b/Marlin/src/HAL/HAL_LINUX/hardware/Heater.cpp @@ -0,0 +1,61 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2019 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 . + * + */ + +#ifdef __PLAT_LINUX__ + +#include "Clock.h" +#include +#include "../../../inc/MarlinConfig.h" + +#include "Heater.h" + +Heater::Heater(pin_t heater, pin_t adc) { + heater_state = 0; + room_temp_raw = 150; + last = Clock::micros(); + heater_pin = heater; + adc_pin = adc; + heat = 0.0; +} + +Heater::~Heater() { +} + +void Heater::update() { + // crude pwm read and cruder heat simulation + auto now = Clock::micros(); + double delta = (now - last); + if (delta > 1000 ) { + heater_state = pwmcap.update(0xFFFF * Gpio::pin_map[heater_pin].value); + last = now; + heat += (heater_state - heat) * (delta / 1000000000.0); + + if (heat < room_temp_raw) heat = room_temp_raw; + Gpio::pin_map[analogInputToDigitalPin(adc_pin)].value = 0xFFFF - (uint16_t)heat; + } +} + +void Heater::interrupt(GpioEvent ev) { + // ununsed +} + +#endif // __PLAT_LINUX__ diff --git a/Marlin/src/HAL/HAL_LINUX/hardware/Heater.h b/Marlin/src/HAL/HAL_LINUX/hardware/Heater.h new file mode 100644 index 0000000000..90e9da21df --- /dev/null +++ b/Marlin/src/HAL/HAL_LINUX/hardware/Heater.h @@ -0,0 +1,47 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2019 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 . + * + */ +#pragma once + +#include "Gpio.h" + +struct LowpassFilter { + uint64_t data_delay = 0; + uint16_t update(uint16_t value) { + data_delay = data_delay - (data_delay >> 6) + value; + return (uint16_t)(data_delay >> 6); + } +}; + +class Heater: public Peripheral { +public: + Heater(pin_t heater, pin_t adc); + virtual ~Heater(); + void interrupt(GpioEvent ev); + void update(); + + pin_t heater_pin, adc_pin; + uint16_t room_temp_raw; + uint16_t heater_state; + LowpassFilter pwmcap; + double heat; + uint64_t last; +}; diff --git a/Marlin/src/HAL/HAL_LINUX/hardware/IOLoggerCSV.cpp b/Marlin/src/HAL/HAL_LINUX/hardware/IOLoggerCSV.cpp new file mode 100644 index 0000000000..8fc2dc95c5 --- /dev/null +++ b/Marlin/src/HAL/HAL_LINUX/hardware/IOLoggerCSV.cpp @@ -0,0 +1,50 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2019 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 . + * + */ + +#ifdef __PLAT_LINUX__ + +#include "IOLoggerCSV.h" + +IOLoggerCSV::IOLoggerCSV(std::string filename) { + file.open(filename); +} + +IOLoggerCSV::~IOLoggerCSV() { + file.close(); +} + +void IOLoggerCSV::log(GpioEvent ev) { + std::lock_guard lock(vector_lock); + events.push_back(ev); //minimal impact to signal handler +} + +void IOLoggerCSV::flush() { + { std::lock_guard lock(vector_lock); + while (!events.empty()) { + file << events.front().timestamp << ", "<< events.front().pin_id << ", " << events.front().event << std::endl; + events.pop_front(); + } + } + file.flush(); +} + +#endif // __PLAT_LINUX__ diff --git a/Marlin/src/HAL/HAL_LINUX/hardware/IOLoggerCSV.h b/Marlin/src/HAL/HAL_LINUX/hardware/IOLoggerCSV.h new file mode 100644 index 0000000000..61cce9c106 --- /dev/null +++ b/Marlin/src/HAL/HAL_LINUX/hardware/IOLoggerCSV.h @@ -0,0 +1,40 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2019 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 . + * + */ +#pragma once + +#include +#include +#include +#include "Gpio.h" + +class IOLoggerCSV: public IOLogger { +public: + IOLoggerCSV(std::string filename); + virtual ~IOLoggerCSV(); + void flush(); + void log(GpioEvent ev); + +private: + std::ofstream file; + std::list events; + std::mutex vector_lock; +}; diff --git a/Marlin/src/HAL/HAL_LINUX/hardware/LinearAxis.cpp b/Marlin/src/HAL/HAL_LINUX/hardware/LinearAxis.cpp new file mode 100644 index 0000000000..2682f8be0c --- /dev/null +++ b/Marlin/src/HAL/HAL_LINUX/hardware/LinearAxis.cpp @@ -0,0 +1,66 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2019 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 . + * + */ + +#ifdef __PLAT_LINUX__ + +#include +#include +#include "Clock.h" +#include "LinearAxis.h" + +LinearAxis::LinearAxis(pin_type enable, pin_type dir, pin_type step, pin_type end_min, pin_type end_max) { + enable_pin = enable; + dir_pin = dir; + step_pin = step; + min_pin = end_min; + max_pin = end_max; + + min_position = 50; + max_position = (200*80) + min_position; + position = rand() % ((max_position - 40) - min_position) + (min_position + 20); + last_update = Clock::nanos(); + + Gpio::attachPeripheral(step_pin, this); + +} + +LinearAxis::~LinearAxis() { + +} + +void LinearAxis::update() { + +} + +void LinearAxis::interrupt(GpioEvent ev) { + if (ev.pin_id == step_pin && !Gpio::pin_map[enable_pin].value){ + if (ev.event == GpioEvent::RISE) { + last_update = ev.timestamp; + position += -1 + 2 * Gpio::pin_map[dir_pin].value; + Gpio::pin_map[min_pin].value = (position < min_position); + //Gpio::pin_map[max_pin].value = (position > max_position); + //if(position < min_position) printf("axis(%d) endstop : pos: %d, mm: %f, min: %d\n", step_pin, position, position / 80.0, Gpio::pin_map[min_pin].value); + } + } +} + +#endif // __PLAT_LINUX__ diff --git a/Marlin/src/HAL/HAL_LINUX/hardware/LinearAxis.h b/Marlin/src/HAL/HAL_LINUX/hardware/LinearAxis.h new file mode 100644 index 0000000000..0e3b4b7503 --- /dev/null +++ b/Marlin/src/HAL/HAL_LINUX/hardware/LinearAxis.h @@ -0,0 +1,45 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2019 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 . + * + */ +#pragma once + +#include +#include "Gpio.h" + +class LinearAxis: public Peripheral { +public: + LinearAxis(pin_type enable, pin_type dir, pin_type step, pin_type end_min, pin_type end_max); + virtual ~LinearAxis(); + void update(); + void interrupt(GpioEvent ev); + + pin_type enable_pin; + pin_type dir_pin; + pin_type step_pin; + pin_type min_pin; + pin_type max_pin; + + int32_t position; + int32_t min_position; + int32_t max_position; + uint64_t last_update; + +}; diff --git a/Marlin/src/HAL/HAL_LINUX/hardware/Timer.cpp b/Marlin/src/HAL/HAL_LINUX/hardware/Timer.cpp new file mode 100644 index 0000000000..10f725ae68 --- /dev/null +++ b/Marlin/src/HAL/HAL_LINUX/hardware/Timer.cpp @@ -0,0 +1,118 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2019 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 . + * + */ + +#ifdef __PLAT_LINUX__ + +#include "Timer.h" +#include + +Timer::Timer() { + active = false; + compare = 0; + frequency = 0; + overruns = 0; + timerid = 0; + cbfn = nullptr; + period = 0; + start_time = 0; + avg_error = 0; +} + +Timer::~Timer() { + timer_delete(timerid); +} + +void Timer::init(uint32_t sig_id, uint32_t sim_freq, callback_fn* fn) { + struct sigaction sa; + struct sigevent sev; + + frequency = sim_freq; + cbfn = fn; + + sa.sa_flags = SA_SIGINFO; + sa.sa_sigaction = Timer::handler; + sigemptyset(&sa.sa_mask); + if (sigaction(SIGRTMIN, &sa, NULL) == -1) { + return; // todo: handle error + } + + sigemptyset(&mask); + sigaddset(&mask, SIGRTMIN); + + disable(); + + sev.sigev_notify = SIGEV_SIGNAL; + sev.sigev_signo = SIGRTMIN; + sev.sigev_value.sival_ptr = (void*)this; + if (timer_create(CLOCK_REALTIME, &sev, &timerid) == -1) { + return; // todo: handle error + } +} + +void Timer::start(uint32_t frequency) { + setCompare(this->frequency / frequency); + //printf("timer(%ld) started\n", getID()); +} + +void Timer::enable() { + if (sigprocmask(SIG_UNBLOCK, &mask, NULL) == -1) { + return; // todo: handle error + } + active = true; + //printf("timer(%ld) enabled\n", getID()); +} + +void Timer::disable() { + if (sigprocmask(SIG_SETMASK, &mask, NULL) == -1) { + return; // todo: handle error + } + active = false; +} + +void Timer::setCompare(uint32_t compare) { + uint32_t nsec_offset = 0; + if (active) { + nsec_offset = Clock::nanos() - this->start_time; // calculate how long the timer would have been running for + nsec_offset = nsec_offset < 1000 ? nsec_offset : 0; // constrain, this shouldn't be needed but apparently Marlin enables interrupts on the stepper timer before initialising it, todo: investigate ?bug? + } + this->compare = compare; + uint64_t ns = Clock::ticksToNanos(compare, frequency) - nsec_offset; + struct itimerspec its; + its.it_value.tv_sec = ns / 1000000000; + its.it_value.tv_nsec = ns % 1000000000; + its.it_interval.tv_sec = its.it_value.tv_sec; + its.it_interval.tv_nsec = its.it_value.tv_nsec; + + if (timer_settime(timerid, 0, &its, NULL) == -1) { + printf("timer(%ld) failed, compare: %d(%ld)\n", getID(), compare, its.it_value.tv_nsec); + return; // todo: handle error + } + //printf("timer(%ld) started, compare: %d(%d)\n", getID(), compare, its.it_value.tv_nsec); + this->period = its.it_value.tv_nsec; + this->start_time = Clock::nanos(); +} + +uint32_t Timer::getCount() { + return Clock::nanosToTicks(Clock::nanos() - this->start_time, frequency); +} + +#endif // __PLAT_LINUX__ diff --git a/Marlin/src/HAL/HAL_LINUX/hardware/Timer.h b/Marlin/src/HAL/HAL_LINUX/hardware/Timer.h new file mode 100644 index 0000000000..6aadbcbcb1 --- /dev/null +++ b/Marlin/src/HAL/HAL_LINUX/hardware/Timer.h @@ -0,0 +1,76 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2019 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 . + * + */ +#pragma once + +#include +#include +#include +#include +#include +#include + +#include "Clock.h" + +class Timer { +public: + Timer(); + virtual ~Timer(); + + typedef void (callback_fn)(); + + void init(uint32_t sig_id, uint32_t sim_freq, callback_fn* fn); + void start(uint32_t frequency); + void enable(); + bool enabled() {return active;} + void disable(); + void setCompare(uint32_t compare); + uint32_t getCount(); + uint32_t getCompare() {return compare;} + uint32_t getOverruns() {return overruns;} + uint32_t getAvgError() {return avg_error;} + + intptr_t getID() { + return (*(intptr_t*)timerid); + } + + static void handler(int sig, siginfo_t *si, void *uc){ + Timer* _this = (Timer*)si->si_value.sival_ptr; + _this->avg_error += (Clock::nanos() - _this->start_time) - _this->period; //high_resolution_clock is also limited in precision, but best we have + _this->avg_error /= 2; //very crude precision analysis (actually within +-500ns usually) + _this->start_time = Clock::nanos(); // wrap + _this->cbfn(); + _this->overruns += timer_getoverrun(_this->timerid); // even at 50Khz this doesn't stay zero, again demonstrating the limitations + // using a realtime linux kernel would help somewhat + } + +private: + bool active; + uint32_t compare; + uint32_t frequency; + uint32_t overruns; + timer_t timerid; + sigset_t mask; + callback_fn* cbfn; + uint64_t period; + uint64_t avg_error; + uint64_t start_time; +}; diff --git a/Marlin/src/HAL/HAL_LINUX/include/Arduino.h b/Marlin/src/HAL/HAL_LINUX/include/Arduino.h new file mode 100644 index 0000000000..60f14cc44f --- /dev/null +++ b/Marlin/src/HAL/HAL_LINUX/include/Arduino.h @@ -0,0 +1,125 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2019 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 . + * + */ +#pragma once + +#include +#include +#include +#include + +#include + +#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 + +#define E2END 0xFFF // EEPROM end address + +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(uint32_t pin, void (*callback)(void), uint32_t mode); +void detachInterrupt(uint32_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) + +using std::memcpy; +#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 + +// 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(unsigned char *pos, unsigned char value); +unsigned char eeprom_read_byte(unsigned char *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); diff --git a/Marlin/src/HAL/HAL_LINUX/include/pinmapping.cpp b/Marlin/src/HAL/HAL_LINUX/include/pinmapping.cpp new file mode 100644 index 0000000000..dca18a676b --- /dev/null +++ b/Marlin/src/HAL/HAL_LINUX/include/pinmapping.cpp @@ -0,0 +1,70 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2019 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 . + * + */ + +#ifdef __PLAT_LINUX__ + +#include + +#include "../../../gcode/parser.h" + +uint8_t analog_offset = NUM_DIGITAL_PINS - NUM_ANALOG_INPUTS; + +// Get the digital pin for an analog index +pin_t analogInputToDigitalPin(const int8_t p) { + return (WITHIN(p, 0, NUM_ANALOG_INPUTS) ? analog_offset + p : P_NC); +} + +// Return the index of a pin number +int16_t GET_PIN_MAP_INDEX(const pin_t pin) { + return pin; +} + +// Test whether the pin is valid +bool VALID_PIN(const pin_t p) { + return WITHIN(p, 0, NUM_DIGITAL_PINS); +} + +// Get the analog index for a digital pin +int8_t DIGITAL_PIN_TO_ANALOG_PIN(const pin_t p) { + return (WITHIN(p, analog_offset, NUM_DIGITAL_PINS) ? p - analog_offset : P_NC); +} + +// Test whether the pin is PWM +bool PWM_PIN(const pin_t p) { + return false; +} + +// Test whether the pin is interruptable +bool INTERRUPT_PIN(const pin_t p) { + return false; +} + +// Get the pin number at the given index +pin_t GET_PIN_MAP_PIN(const int16_t ind) { + return ind; +} + +int16_t PARSED_PIN_INDEX(const char code, const int16_t dval) { + return parser.intval(code, dval); +} + +#endif // __PLAT_LINUX__ diff --git a/Marlin/src/HAL/HAL_LINUX/include/pinmapping.h b/Marlin/src/HAL/HAL_LINUX/include/pinmapping.h new file mode 100644 index 0000000000..effc464c73 --- /dev/null +++ b/Marlin/src/HAL/HAL_LINUX/include/pinmapping.h @@ -0,0 +1,59 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2019 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 . + * + */ +#pragma once + +#include "../../../inc/MarlinConfigPre.h" + +#include +#include "../hardware/Gpio.h" + +typedef pin_type pin_t; + +#define P_NC -1 +constexpr uint16_t NUM_DIGITAL_PINS = Gpio::pin_count; +constexpr uint8_t NUM_ANALOG_INPUTS = 16; + +#define HAL_SENSITIVE_PINS + +// Get the digital pin for an analog index +pin_t analogInputToDigitalPin(const int8_t p); + +// Return the index of a pin number +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); + +// 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); diff --git a/Marlin/src/HAL/HAL_LINUX/include/serial.h b/Marlin/src/HAL/HAL_LINUX/include/serial.h new file mode 100644 index 0000000000..9b439de985 --- /dev/null +++ b/Marlin/src/HAL/HAL_LINUX/include/serial.h @@ -0,0 +1,207 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2019 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 . + * + */ +#pragma once + +#include "../../../inc/MarlinConfigPre.h" +#if ENABLED(EMERGENCY_PARSER) + #include "../../../feature/emergency_parser.h" +#endif + +#include +#include + +/** + * Generic RingBuffer + * T type of the buffer array + * S size of the buffer (must be power of 2) + * + */ +template class RingBuffer { +public: + RingBuffer() { index_read = index_write = 0; } + uint32_t available() volatile { return index_write - index_read; } + uint32_t free() volatile { return buffer_size - available(); } + bool empty() volatile { return index_read == index_write; } + bool full() volatile { return available() == buffer_size; } + void clear() volatile { index_read = index_write = 0; } + + bool peek(T *value) volatile { + if (value == 0 || available() == 0) + return false; + *value = buffer[mask(index_read)]; + return true; + } + + int read() volatile { + if (empty()) return -1; + return buffer[mask(index_read++)]; + } + + bool write(T value) volatile { + if (full()) return false; + buffer[mask(index_write++)] = value; + return true; + } + +private: + uint32_t mask(uint32_t val) volatile { + return buffer_mask & val; + } + + static const uint32_t buffer_size = S; + static const uint32_t buffer_mask = buffer_size - 1; + volatile T buffer[buffer_size]; + volatile uint32_t index_write; + volatile uint32_t index_read; +}; + +class HalSerial { +public: + + #if ENABLED(EMERGENCY_PARSER) + EmergencyParser::State emergency_state; + #endif + + HalSerial() { host_connected = true; } + + void begin(int32_t baud) { + } + + int peek() { + uint8_t value; + return receive_buffer.peek(&value) ? value : -1; + } + + int read() { return receive_buffer.read(); } + + size_t write(char c) { + if (!host_connected) return 0; + while (!transmit_buffer.free()); + return transmit_buffer.write(c); + } + + operator bool() { return host_connected; } + + uint16_t available() { + return (uint16_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){ + if (host_connected) + while (transmit_buffer.available()) { /* nada */ } + } + + void 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); + if (length > 0 && length < 256) { + if (host_connected) { + for (int i = 0; i < length;) { + if (transmit_buffer.write(buffer[i])) { + ++i; + } + } + } + } + } + + #define DEC 10 + #define HEX 16 + #define OCT 8 + #define BIN 2 + + void print_bin(uint32_t value, uint8_t num_digits) { + uint32_t mask = 1 << (num_digits -1); + for (uint8_t i = 0; i < num_digits; i++) { + if (!(i % 4) && i) write(' '); + if (!(i % 16) && i) write(' '); + if (value & mask) write('1'); + else write('0'); + value <<= 1; + } + } + + void print(const char value[]) { printf("%s" , value); } + void print(char value, int nbase = 0) { + if (nbase == BIN) print_bin(value, 8); + else if (nbase == OCT) printf("%3o", value); + else if (nbase == HEX) printf("%2X", value); + else if (nbase == DEC ) printf("%d", value); + else printf("%c" , value); + } + void print(unsigned char value, int nbase = 0) { + if (nbase == BIN) print_bin(value, 8); + else if (nbase == OCT) printf("%3o", value); + else if (nbase == HEX) printf("%2X", value); + else printf("%u" , value); + } + void print(int value, int nbase = 0) { + if (nbase == BIN) print_bin(value, 16); + else if (nbase == OCT) printf("%6o", value); + else if (nbase == HEX) printf("%4X", value); + else printf("%d", value); + } + void print(unsigned int value, int nbase = 0) { + if (nbase == BIN) print_bin(value, 16); + else if (nbase == OCT) printf("%6o", value); + else if (nbase == HEX) printf("%4X", value); + else printf("%u" , value); + } + void print(long value, int nbase = 0) { + if (nbase == BIN) print_bin(value, 32); + else if (nbase == OCT) printf("%11o", value); + else if (nbase == HEX) printf("%8X", value); + else printf("%ld" , value); + } + void print(unsigned long value, int nbase = 0) { + if (nbase == BIN) print_bin(value, 32); + else if (nbase == OCT) printf("%11o", value); + else if (nbase == HEX) printf("%8X", value); + else printf("%lu" , value); + } + void print(float value, int round = 6) { printf("%f" , value); } + void print(double value, int round = 6) { printf("%f" , value); } + + void println(const char value[]) { printf("%s\n" , value); } + void println(char value, int nbase = 0) { print(value, nbase); println(); } + void println(unsigned char value, int nbase = 0) { print(value, nbase); println(); } + void println(int value, int nbase = 0) { print(value, nbase); println(); } + void println(unsigned int value, int nbase = 0) { print(value, nbase); println(); } + void println(long value, int nbase = 0) { print(value, nbase); println(); } + void println(unsigned long value, int nbase = 0) { print(value, nbase); println(); } + void println(float value, int round = 6) { printf("%f\n" , value); } + void println(double value, int round = 6) { printf("%f\n" , value); } + void println(void) { print('\n'); } + + volatile RingBuffer receive_buffer; + volatile RingBuffer transmit_buffer; + volatile bool host_connected; +}; diff --git a/Marlin/src/HAL/HAL_LINUX/main.cpp b/Marlin/src/HAL/HAL_LINUX/main.cpp new file mode 100644 index 0000000000..71aab05b1e --- /dev/null +++ b/Marlin/src/HAL/HAL_LINUX/main.cpp @@ -0,0 +1,137 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (C) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +#ifdef __PLAT_LINUX__ + +extern void setup(); +extern void loop(); + +#include + +#include +#include + +#include "../../inc/MarlinConfig.h" +#include +#include +#include "../shared/Delay.h" +#include "hardware/IOLoggerCSV.h" +#include "hardware/Heater.h" +#include "hardware/LinearAxis.h" + +// simple stdout / stdin implementation for fake serial port +void write_serial_thread() { + for (;;) { + for (std::size_t i = usb_serial.transmit_buffer.available(); i > 0; i--) { + fputc(usb_serial.transmit_buffer.read(), stdout); + } + std::this_thread::yield(); + } +} + +void read_serial_thread() { + char buffer[255] = {}; + for (;;) { + std::size_t len = MIN(usb_serial.receive_buffer.free(), 254U); + if (fgets(buffer, len, stdin)) + for (std::size_t i = 0; i < strlen(buffer); i++) + usb_serial.receive_buffer.write(buffer[i]); + std::this_thread::yield(); + } +} + +void simulation_loop() { + Heater hotend(HEATER_0_PIN, TEMP_0_PIN); + Heater bed(HEATER_BED_PIN, TEMP_BED_PIN); + LinearAxis x_axis(X_ENABLE_PIN, X_DIR_PIN, X_STEP_PIN, X_MIN_PIN, X_MAX_PIN); + LinearAxis y_axis(Y_ENABLE_PIN, Y_DIR_PIN, Y_STEP_PIN, Y_MIN_PIN, Y_MAX_PIN); + LinearAxis z_axis(Z_ENABLE_PIN, Z_DIR_PIN, Z_STEP_PIN, Z_MIN_PIN, Z_MAX_PIN); + LinearAxis extruder0(E0_ENABLE_PIN, E0_DIR_PIN, E0_STEP_PIN, P_NC, P_NC); + + //#define GPIO_LOGGING // Full GPIO and Positional Logging + + #ifdef GPIO_LOGGING + IOLoggerCSV logger("all_gpio_log.csv"); + Gpio::attachLogger(&logger); + + std::ofstream position_log; + position_log.open("axis_position_log.csv"); + + int32_t x,y,z; + #endif + + for (;;) { + + hotend.update(); + bed.update(); + + x_axis.update(); + y_axis.update(); + z_axis.update(); + extruder0.update(); + + #ifdef GPIO_LOGGING + if (x_axis.position != x || y_axis.position != y || z_axis.position != z) { + uint64_t update = MAX3(x_axis.last_update, y_axis.last_update, z_axis.last_update); + position_log << update << ", " << x_axis.position << ", " << y_axis.position << ", " << z_axis.position << std::endl; + position_log.flush(); + x = x_axis.position; + y = y_axis.position; + z = z_axis.position; + } + // flush the logger + logger.flush(); + #endif + + std::this_thread::yield(); + } +} + +int main(void) { + std::thread write_serial (write_serial_thread); + std::thread read_serial (read_serial_thread); + + #if NUM_SERIAL > 0 + MYSERIAL0.begin(BAUDRATE); + SERIAL_PRINTF("x86_64 Initialised\n"); + SERIAL_FLUSHTX(); + #endif + + Clock::setFrequency(F_CPU); + Clock::setTimeMultiplier(1.0); // some testing at 10x + + HAL_timer_init(); + + std::thread simulation (simulation_loop); + + DELAY_US(10000); + + setup(); + for (;;) { + loop(); + std::this_thread::yield(); + } + + simulation.join(); + write_serial.join(); + read_serial.join(); +} + +#endif // __PLAT_LINUX__ diff --git a/Marlin/src/HAL/HAL_LINUX/persistent_store_impl.cpp b/Marlin/src/HAL/HAL_LINUX/persistent_store_impl.cpp new file mode 100644 index 0000000000..5e0b4a4f28 --- /dev/null +++ b/Marlin/src/HAL/HAL_LINUX/persistent_store_impl.cpp @@ -0,0 +1,101 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2019 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 . + * + */ + +#ifdef __PLAT_LINUX__ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(EEPROM_SETTINGS) + +#include "../shared/persistent_store_api.h" +#include + +uint8_t buffer[E2END]; +char filename[] = "eeprom.dat"; + +bool PersistentStore::access_start() { + const char eeprom_erase_value = 0xFF; + FILE * eeprom_file = fopen(filename, "rb"); + if (eeprom_file == NULL) return false; + + fseek(eeprom_file, 0L, SEEK_END); + std::size_t file_size = ftell(eeprom_file); + + if (file_size < E2END) { + memset(buffer + file_size, eeprom_erase_value, E2END - file_size); + } + else { + fseek(eeprom_file, 0L, SEEK_SET); + fread(buffer, sizeof(uint8_t), sizeof(buffer), eeprom_file); + } + + fclose(eeprom_file); + return true; +} + +bool PersistentStore::access_finish() { + FILE * eeprom_file = fopen(filename, "wb"); + if (eeprom_file == NULL) return false; + fwrite(buffer, sizeof(uint8_t), sizeof(buffer), eeprom_file); + fclose(eeprom_file); + return true; +} + +bool PersistentStore::write_data(int &pos, const uint8_t *value, const size_t size, uint16_t *crc) { + std::size_t bytes_written = 0; + + for (std::size_t i = 0; i < size; i++) { + buffer[pos+i] = value[i]; + bytes_written ++; + } + + crc16(crc, value, size); + pos = pos + size; + return (bytes_written != size); // return true for any error +} + +bool PersistentStore::read_data(int &pos, uint8_t* value, const size_t size, uint16_t *crc, const bool writing/*=true*/) { + std::size_t bytes_read = 0; + if (writing) { + for (std::size_t i = 0; i < size; i++) { + value[i] = buffer[pos+i]; + bytes_read ++; + } + crc16(crc, value, size); + } + else { + uint8_t temp[size]; + for (std::size_t i = 0; i < size; i++) { + temp[i] = buffer[pos+i]; + bytes_read ++; + } + crc16(crc, temp, size); + } + + pos = pos + size; + return bytes_read != size; // return true for any error +} + +size_t PersistentStore::capacity() { return 4096; } // 4KiB of Emulated EEPROM + +#endif // EEPROM_SETTINGS +#endif // __PLAT_LINUX__ diff --git a/Marlin/src/HAL/HAL_LINUX/pinsDebug.h b/Marlin/src/HAL/HAL_LINUX/pinsDebug.h new file mode 100644 index 0000000000..cead56c30a --- /dev/null +++ b/Marlin/src/HAL/HAL_LINUX/pinsDebug.h @@ -0,0 +1,63 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2019 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 . + * + */ + +/** + * Support routines for X86_64 + */ + +/** + * Translation of routines & variables used by pinsDebug.h + */ + +#define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS +#define pwm_details(pin) pin = pin // do nothing // print PWM details +#define pwm_status(pin) false //Print a pin's PWM status. Return true if it's currently a PWM pin. +#define IS_ANALOG(P) (DIGITAL_PIN_TO_ANALOG_PIN(P) >= 0 ? 1 : 0) +#define digitalRead_mod(p) digitalRead(p) +#define PRINT_PORT(p) +#define GET_ARRAY_PIN(p) pin_array[p].pin +#define NAME_FORMAT(p) PSTR("%-##p##s") +#define PRINT_ARRAY_NAME(x) do {sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer);} while (0) +#define PRINT_PIN(p) do {sprintf_P(buffer, PSTR("%3d "), p); SERIAL_ECHO(buffer);} while (0) +#define MULTI_NAME_PAD 16 // space needed to be pretty if not first name assigned to a pin + +// active ADC function/mode/code values for PINSEL registers +constexpr int8_t ADC_pin_mode(pin_t pin) { + return (-1); +} + +int8_t get_pin_mode(pin_t pin) { + if (!VALID_PIN(pin)) return -1; + return 0; +} + +bool GET_PINMODE(pin_t pin) { + int8_t pin_mode = get_pin_mode(pin); + if (pin_mode == -1 || pin_mode == ADC_pin_mode(pin)) // found an invalid pin or active analog pin + return false; + + return (Gpio::getMode(pin) != 0); //input/output state +} + +bool GET_ARRAY_IS_DIGITAL(pin_t pin) { + return (!IS_ANALOG(pin) || get_pin_mode(pin) != ADC_pin_mode(pin)); +} diff --git a/Marlin/src/HAL/HAL_LINUX/servo_private.h b/Marlin/src/HAL/HAL_LINUX/servo_private.h new file mode 100644 index 0000000000..c0e0a0c710 --- /dev/null +++ b/Marlin/src/HAL/HAL_LINUX/servo_private.h @@ -0,0 +1,80 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2019 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 . + * + */ +#pragma once + +/** + * servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2 + * Copyright (c) 2009 Michael Margolis. 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 + */ + +/** + * Based on "servo.h - Interrupt driven Servo library for Arduino using 16 bit timers - + * Version 2 Copyright (c) 2009 Michael Margolis. All right reserved. + * + * The only modification was to update/delete macros to match the LPC176x. + * + */ + +#include + +// 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 + +#define MAX_SERVOS 4 + +#define INVALID_SERVO 255 // flag indicating an invalid servo index + + +// 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]; diff --git a/Marlin/src/HAL/HAL_LINUX/spi_pins.h b/Marlin/src/HAL/HAL_LINUX/spi_pins.h new file mode 100644 index 0000000000..b24968b2ee --- /dev/null +++ b/Marlin/src/HAL/HAL_LINUX/spi_pins.h @@ -0,0 +1,53 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2019 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 . + * + */ +#pragma once + +#include "src/core/macros.h" + +#if ENABLED(SDSUPPORT) && ENABLED(DOGLCD) && (LCD_PINS_D4 == SCK_PIN || LCD_PINS_ENABLE == MOSI_PIN || DOGLCD_SCK == SCK_PIN || DOGLCD_MOSI == MOSI_PIN) + #define LPC_SOFTWARE_SPI // If the SD card and LCD adapter share the same SPI pins, then software SPI is currently + // needed due to the speed and mode requred for communicating with each device being different. + // This requirement can be removed if the SPI access to these devices is updated to use + // spiBeginTransaction. +#endif + +/** onboard SD card */ +//#define SCK_PIN P0_07 +//#define MISO_PIN P0_08 +//#define MOSI_PIN P0_09 +//#define SS_PIN P0_06 +/** external */ +#ifndef SCK_PIN + #define SCK_PIN 50 +#endif +#ifndef MISO_PIN + #define MISO_PIN 51 +#endif +#ifndef MOSI_PIN + #define MOSI_PIN 52 +#endif +#ifndef SS_PIN + #define SS_PIN 53 +#endif +#ifndef SDSS + #define SDSS SS_PIN +#endif diff --git a/Marlin/src/HAL/HAL_LINUX/watchdog.cpp b/Marlin/src/HAL/HAL_LINUX/watchdog.cpp new file mode 100644 index 0000000000..a70eb82b98 --- /dev/null +++ b/Marlin/src/HAL/HAL_LINUX/watchdog.cpp @@ -0,0 +1,46 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2019 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 . + * + */ + +#ifdef __PLAT_LINUX__ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(USE_WATCHDOG) + +#include "watchdog.h" + +void watchdog_init(void) {} + +void HAL_clear_reset_source(void) {} + +uint8_t HAL_get_reset_source(void) { + return RST_POWER_ON; +} + +void watchdog_reset() {} + +#else + void HAL_clear_reset_source(void) {} + uint8_t HAL_get_reset_source(void) { return RST_POWER_ON; } +#endif // USE_WATCHDOG + +#endif // __PLAT_LINUX__ diff --git a/Marlin/src/HAL/HAL_LINUX/watchdog.h b/Marlin/src/HAL/HAL_LINUX/watchdog.h new file mode 100644 index 0000000000..26a9f499fd --- /dev/null +++ b/Marlin/src/HAL/HAL_LINUX/watchdog.h @@ -0,0 +1,34 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2019 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 . + * + */ +#pragma once + +#define RST_POWER_ON 1 +#define RST_EXTERNAL 2 +#define RST_BROWN_OUT 4 +#define RST_WATCHDOG 8 + +#define WDT_TIMEOUT 4000000 // 4 second timeout + +void watchdog_init(void); +void watchdog_reset(void); +void HAL_clear_reset_source(void); +uint8_t HAL_get_reset_source(void); diff --git a/Marlin/src/HAL/platforms.h b/Marlin/src/HAL/platforms.h index bcf26020b9..f5042b9fed 100644 --- a/Marlin/src/HAL/platforms.h +++ b/Marlin/src/HAL/platforms.h @@ -41,6 +41,8 @@ #define HAL_PLATFORM HAL_STM32 #elif defined(ARDUINO_ARCH_ESP32) #define HAL_PLATFORM HAL_ESP32 +#elif defined(__PLAT_LINUX__) + #define HAL_PLATFORM HAL_LINUX #else #error "Unsupported Platform!" #endif diff --git a/Marlin/src/HAL/shared/Delay.h b/Marlin/src/HAL/shared/Delay.h index 43833cff0f..bab7d7471e 100644 --- a/Marlin/src/HAL/shared/Delay.h +++ b/Marlin/src/HAL/shared/Delay.h @@ -158,6 +158,10 @@ } } +#elif defined(__PLAT_LINUX__) + + // specified inside platform + #else #error "Unsupported MCU architecture" diff --git a/Marlin/src/core/boards.h b/Marlin/src/core/boards.h index 6c1389ef1e..6f617744a8 100644 --- a/Marlin/src/core/boards.h +++ b/Marlin/src/core/boards.h @@ -259,4 +259,10 @@ // #define BOARD_ESP32 1900 +// +// Simulations +// + +#define BOARD_LINUX_RAMPS 2000 + #define MB(board) (defined(BOARD_##board) && MOTHERBOARD==BOARD_##board) diff --git a/Marlin/src/pins/pins.h b/Marlin/src/pins/pins.h index 5df075a69c..8c874e85fd 100644 --- a/Marlin/src/pins/pins.h +++ b/Marlin/src/pins/pins.h @@ -448,6 +448,13 @@ #elif MB(ESP32) #include "pins_ESP32.h" +// +// Linux Native Debug board +// + +#elif MB(LINUX_RAMPS) + #include "pins_RAMPS_LINUX.h" // Linux env:linux_native + #else #error "Unknown MOTHERBOARD value set in Configuration.h" #endif diff --git a/Marlin/src/pins/pins_RAMPS_LINUX.h b/Marlin/src/pins/pins_RAMPS_LINUX.h new file mode 100644 index 0000000000..0c14bc713e --- /dev/null +++ b/Marlin/src/pins/pins_RAMPS_LINUX.h @@ -0,0 +1,572 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2019 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 . + * + */ + +/** + * Arduino Mega with RAMPS v1.4 (or v1.3) pin assignments + * + * Applies to the following boards: + * + * RAMPS_14_EFB (Hotend, Fan, Bed) + * RAMPS_14_EEB (Hotend0, Hotend1, Bed) + * RAMPS_14_EFF (Hotend, Fan0, Fan1) + * RAMPS_14_EEF (Hotend0, Hotend1, Fan) + * RAMPS_14_SF (Spindle, Controller Fan) + * + * RAMPS_13_EFB (Hotend, Fan, Bed) + * RAMPS_13_EEB (Hotend0, Hotend1, Bed) + * RAMPS_13_EFF (Hotend, Fan0, Fan1) + * RAMPS_13_EEF (Hotend0, Hotend1, Fan) + * RAMPS_13_SF (Spindle, Controller Fan) + * + * Other pins_MYBOARD.h files may override these defaults + * + * Differences between + * RAMPS_13 | RAMPS_14 + * 7 | 11 + */ + +#ifndef BOARD_NAME + #define BOARD_NAME "RAMPS 1.4" +#endif + +#define IS_RAMPS_EFB + +// +// Servos +// +#ifdef IS_RAMPS_13 + #define SERVO0_PIN 7 // RAMPS_13 // Will conflict with BTN_EN2 on LCD_I2C_VIKI +#else + #define SERVO0_PIN 11 +#endif +#define SERVO1_PIN 6 +#define SERVO2_PIN 5 +#ifndef SERVO3_PIN + #define SERVO3_PIN 4 +#endif + +// +// Limit Switches +// +#define X_MIN_PIN 3 +#ifndef X_MAX_PIN + #define X_MAX_PIN 2 +#endif +#define Y_MIN_PIN 14 +#define Y_MAX_PIN 15 +#define Z_MIN_PIN 18 +#define Z_MAX_PIN 19 + +// +// Z Probe (when not Z_MIN_PIN) +// +#ifndef Z_MIN_PROBE_PIN + #define Z_MIN_PROBE_PIN 32 +#endif + +// +// Steppers +// +#define X_STEP_PIN 54 +#define X_DIR_PIN 55 +#define X_ENABLE_PIN 38 +#ifndef X_CS_PIN + #define X_CS_PIN 53 +#endif + +#define Y_STEP_PIN 60 +#define Y_DIR_PIN 61 +#define Y_ENABLE_PIN 56 +#ifndef Y_CS_PIN + #define Y_CS_PIN 49 +#endif + +#define Z_STEP_PIN 46 +#define Z_DIR_PIN 48 +#define Z_ENABLE_PIN 62 +#ifndef Z_CS_PIN + #define Z_CS_PIN 40 +#endif + +#define E0_STEP_PIN 26 +#define E0_DIR_PIN 28 +#define E0_ENABLE_PIN 24 +#ifndef E0_CS_PIN + #define E0_CS_PIN 42 +#endif + +#define E1_STEP_PIN 36 +#define E1_DIR_PIN 34 +#define E1_ENABLE_PIN 30 +#ifndef E1_CS_PIN + #define E1_CS_PIN 44 +#endif + +// +// Temperature Sensors +// +#define TEMP_0_PIN 0 // Analog Input +#define TEMP_1_PIN 1 // Analog Input +#define TEMP_BED_PIN 2 // Analog Input + +// SPI for Max6675 or Max31855 Thermocouple +#if DISABLED(SDSUPPORT) + #define MAX6675_SS_PIN 66 // Do not use pin 53 if there is even the remote possibility of using Display/SD card +#else + #define MAX6675_SS_PIN 66 // Do not use pin 49 as this is tied to the switch inside the SD card socket to detect if there is an SD card present +#endif + +// +// Augmentation for auto-assigning RAMPS plugs +// +#if DISABLED(IS_RAMPS_EEB) && DISABLED(IS_RAMPS_EEF) && DISABLED(IS_RAMPS_EFB) && DISABLED(IS_RAMPS_EFF) && DISABLED(IS_RAMPS_SF) && !PIN_EXISTS(MOSFET_D) + #if HOTENDS > 1 + #if TEMP_SENSOR_BED + #define IS_RAMPS_EEB + #else + #define IS_RAMPS_EEF + #endif + #elif TEMP_SENSOR_BED + #define IS_RAMPS_EFB + #else + #define IS_RAMPS_EFF + #endif +#endif + +// +// Heaters / Fans +// +#ifndef MOSFET_D_PIN + #define MOSFET_D_PIN -1 +#endif +#ifndef RAMPS_D8_PIN + #define RAMPS_D8_PIN 8 +#endif +#ifndef RAMPS_D9_PIN + #define RAMPS_D9_PIN 9 +#endif +#ifndef RAMPS_D10_PIN + #define RAMPS_D10_PIN 10 +#endif + +#define HEATER_0_PIN RAMPS_D10_PIN + +#if ENABLED(IS_RAMPS_EFB) // Hotend, Fan, Bed + #define FAN_PIN RAMPS_D9_PIN + #define HEATER_BED_PIN RAMPS_D8_PIN +#elif ENABLED(IS_RAMPS_EEF) // Hotend, Hotend, Fan + #define HEATER_1_PIN RAMPS_D9_PIN + #define FAN_PIN RAMPS_D8_PIN +#elif ENABLED(IS_RAMPS_EEB) // Hotend, Hotend, Bed + #define HEATER_1_PIN RAMPS_D9_PIN + #define HEATER_BED_PIN RAMPS_D8_PIN +#elif ENABLED(IS_RAMPS_EFF) // Hotend, Fan, Fan + #define FAN_PIN RAMPS_D9_PIN + #define FAN1_PIN RAMPS_D8_PIN +#elif ENABLED(IS_RAMPS_SF) // Spindle, Fan + #define FAN_PIN RAMPS_D8_PIN +#else // Non-specific are "EFB" (i.e., "EFBF" or "EFBE") + #define FAN_PIN RAMPS_D9_PIN + #define HEATER_BED_PIN RAMPS_D8_PIN + #if HOTENDS == 1 + #define FAN1_PIN MOSFET_D_PIN + #else + #define HEATER_1_PIN MOSFET_D_PIN + #endif +#endif + +#ifndef FAN_PIN + #define FAN_PIN 4 // IO pin. Buffer needed +#endif + +// +// Misc. Functions +// +#define SDSS 53 +#define LED_PIN 13 + +#ifndef FILWIDTH_PIN + #define FILWIDTH_PIN 5 // Analog Input on AUX2 +#endif + +// define digital pin 4 for the filament runout sensor. Use the RAMPS 1.4 digital input 4 on the servos connector +#ifndef FIL_RUNOUT_PIN + #define FIL_RUNOUT_PIN 4 +#endif + +#ifndef PS_ON_PIN + #define PS_ON_PIN 12 +#endif + +#if ENABLED(CASE_LIGHT_ENABLE) && !defined(CASE_LIGHT_PIN) && !defined(SPINDLE_LASER_ENABLE_PIN) + #if NUM_SERVOS <= 1 // try to use servo connector first + #define CASE_LIGHT_PIN 6 // MUST BE HARDWARE PWM + #elif !(ENABLED(ULTRA_LCD) && ENABLED(NEWPANEL) \ + && (ENABLED(PANEL_ONE) || ENABLED(VIKI2) || ENABLED(miniVIKI) || ENABLED(MINIPANEL) || ENABLED(REPRAPWORLD_KEYPAD))) // try to use AUX 2 + #define CASE_LIGHT_PIN 44 // MUST BE HARDWARE PWM + #endif +#endif + +// +// M3/M4/M5 - Spindle/Laser Control +// +#if ENABLED(SPINDLE_LASER_ENABLE) && !PIN_EXISTS(SPINDLE_LASER_ENABLE) + #if !defined(NUM_SERVOS) || NUM_SERVOS == 0 // try to use servo connector first + #define SPINDLE_LASER_ENABLE_PIN 4 // Pin should have a pullup/pulldown! + #define SPINDLE_LASER_PWM_PIN 6 // MUST BE HARDWARE PWM + #define SPINDLE_DIR_PIN 5 + #elif !(ENABLED(ULTRA_LCD) && ENABLED(NEWPANEL) \ + && (ENABLED(PANEL_ONE) || ENABLED(VIKI2) || ENABLED(miniVIKI) || ENABLED(MINIPANEL) || ENABLED(REPRAPWORLD_KEYPAD))) // try to use AUX 2 + #define SPINDLE_LASER_ENABLE_PIN 40 // Pin should have a pullup/pulldown! + #define SPINDLE_LASER_PWM_PIN 44 // MUST BE HARDWARE PWM + #define SPINDLE_DIR_PIN 65 + #endif +#endif + +// +// Průša i3 MK2 Multiplexer Support +// +#ifndef E_MUX0_PIN + #define E_MUX0_PIN 40 // Z_CS_PIN +#endif +#ifndef E_MUX1_PIN + #define E_MUX1_PIN 42 // E0_CS_PIN +#endif +#ifndef E_MUX2_PIN + #define E_MUX2_PIN 44 // E1_CS_PIN +#endif + +/** + * Default pins for TMC software SPI + */ +#if ENABLED(TMC_USE_SW_SPI) + #ifndef TMC_SW_MOSI + #define TMC_SW_MOSI 66 + #endif + #ifndef TMC_SW_MISO + #define TMC_SW_MISO 44 + #endif + #ifndef TMC_SW_SCK + #define TMC_SW_SCK 64 + #endif +#endif + +#if ENABLED(HAVE_TMC2208) + /** + * TMC2208 stepper drivers + * + * Hardware serial communication ports. + * If undefined software serial is used according to the pins below + */ + //#define X_HARDWARE_SERIAL Serial1 + //#define X2_HARDWARE_SERIAL Serial1 + //#define Y_HARDWARE_SERIAL Serial1 + //#define Y2_HARDWARE_SERIAL Serial1 + //#define Z_HARDWARE_SERIAL Serial1 + //#define Z2_HARDWARE_SERIAL Serial1 + //#define E0_HARDWARE_SERIAL Serial1 + //#define E1_HARDWARE_SERIAL Serial1 + //#define E2_HARDWARE_SERIAL Serial1 + //#define E3_HARDWARE_SERIAL Serial1 + //#define E4_HARDWARE_SERIAL Serial1 + + /** + * Software serial + */ + + #define X_SERIAL_TX_PIN 40 + #define X_SERIAL_RX_PIN 63 + #define X2_SERIAL_TX_PIN -1 + #define X2_SERIAL_RX_PIN -1 + + #define Y_SERIAL_TX_PIN 59 + #define Y_SERIAL_RX_PIN 64 + #define Y2_SERIAL_TX_PIN -1 + #define Y2_SERIAL_RX_PIN -1 + + #define Z_SERIAL_TX_PIN 42 + #define Z_SERIAL_RX_PIN 65 + #define Z2_SERIAL_TX_PIN -1 + #define Z2_SERIAL_RX_PIN -1 + + #define E0_SERIAL_TX_PIN 44 + #define E0_SERIAL_RX_PIN 66 + #define E1_SERIAL_TX_PIN -1 + #define E1_SERIAL_RX_PIN -1 + #define E2_SERIAL_TX_PIN -1 + #define E2_SERIAL_RX_PIN -1 + #define E3_SERIAL_TX_PIN -1 + #define E3_SERIAL_RX_PIN -1 + #define E4_SERIAL_TX_PIN -1 + #define E4_SERIAL_RX_PIN -1 +#endif + +////////////////////////// +// LCDs and Controllers // +////////////////////////// + +#if ENABLED(ULTRA_LCD) + + // + // LCD Display output pins + // + #if ENABLED(REPRAPWORLD_GRAPHICAL_LCD) + + #define LCD_PINS_RS 49 // CS chip select /SS chip slave select + #define LCD_PINS_ENABLE 51 // SID (MOSI) + #define LCD_PINS_D4 52 // SCK (CLK) clock + + #elif ENABLED(NEWPANEL) && ENABLED(PANEL_ONE) + + #define LCD_PINS_RS 40 + #define LCD_PINS_ENABLE 42 + #define LCD_PINS_D4 65 + #define LCD_PINS_D5 66 + #define LCD_PINS_D6 44 + #define LCD_PINS_D7 64 + + #else + + #if ENABLED(CR10_STOCKDISPLAY) + + #define LCD_PINS_RS 27 + #define LCD_PINS_ENABLE 29 + #define LCD_PINS_D4 25 + + #if DISABLED(NEWPANEL) + #define BEEPER_PIN 37 + #endif + + #elif ENABLED(ZONESTAR_LCD) + + #define LCD_PINS_RS 64 + #define LCD_PINS_ENABLE 44 + #define LCD_PINS_D4 63 + #define LCD_PINS_D5 40 + #define LCD_PINS_D6 42 + #define LCD_PINS_D7 65 + + #else + + #if ENABLED(MKS_12864OLED) || ENABLED(MKS_12864OLED_SSD1306) + #define LCD_PINS_DC 25 // Set as output on init + #define LCD_PINS_RS 27 // Pull low for 1s to init + // DOGM SPI LCD Support + #define DOGLCD_CS 16 + #define DOGLCD_MOSI 17 + #define DOGLCD_SCK 23 + #define DOGLCD_A0 LCD_PINS_DC + #else + #define LCD_PINS_RS 16 + #define LCD_PINS_ENABLE 17 + #define LCD_PINS_D4 23 + #define LCD_PINS_D5 25 + #define LCD_PINS_D6 27 + #endif + + #define LCD_PINS_D7 29 + + #if DISABLED(NEWPANEL) + #define BEEPER_PIN 33 + #endif + + #endif + + #if DISABLED(NEWPANEL) + // Buttons are attached to a shift register + // Not wired yet + //#define SHIFT_CLK 38 + //#define SHIFT_LD 42 + //#define SHIFT_OUT 40 + //#define SHIFT_EN 17 + #endif + + #endif + + // + // LCD Display input pins + // + #if ENABLED(NEWPANEL) + + #if ENABLED(REPRAP_DISCOUNT_SMART_CONTROLLER) + + #define BEEPER_PIN 37 + + #if ENABLED(CR10_STOCKDISPLAY) + #define BTN_EN1 17 + #define BTN_EN2 23 + #else + #define BTN_EN1 31 + #define BTN_EN2 33 + #endif + + #define BTN_ENC 35 + #define SD_DETECT_PIN 49 + #define KILL_PIN 41 + + #if ENABLED(BQ_LCD_SMART_CONTROLLER) + #define LCD_BACKLIGHT_PIN 39 + #endif + + #elif ENABLED(REPRAPWORLD_GRAPHICAL_LCD) + + #define BTN_EN1 64 + #define BTN_EN2 59 + #define BTN_ENC 63 + #define SD_DETECT_PIN 42 + + #elif ENABLED(LCD_I2C_PANELOLU2) + + #define BTN_EN1 47 + #define BTN_EN2 43 + #define BTN_ENC 32 + #define LCD_SDSS SDSS + #define KILL_PIN 41 + + #elif ENABLED(LCD_I2C_VIKI) + + #define BTN_EN1 22 // http://files.panucatt.com/datasheets/viki_wiring_diagram.pdf explains 40/42. + #define BTN_EN2 7 // 22/7 are unused on RAMPS_14. 22 is unused and 7 the SERVO0_PIN on RAMPS_13. + #define BTN_ENC -1 + + #define LCD_SDSS SDSS + #define SD_DETECT_PIN 49 + + #elif ENABLED(VIKI2) || ENABLED(miniVIKI) + + #define DOGLCD_CS 45 + #define DOGLCD_A0 44 + #define LCD_SCREEN_ROT_180 + + #define BEEPER_PIN 33 + #define STAT_LED_RED_PIN 32 + #define STAT_LED_BLUE_PIN 35 + + #define BTN_EN1 22 + #define BTN_EN2 7 + #define BTN_ENC 39 + + #define SD_DETECT_PIN -1 // Pin 49 for display sd interface, 72 for easy adapter board + #define KILL_PIN 31 + + #elif ENABLED(ELB_FULL_GRAPHIC_CONTROLLER) + + #define DOGLCD_CS 29 + #define DOGLCD_A0 27 + + #define BEEPER_PIN 23 + #define LCD_BACKLIGHT_PIN 33 + + #define BTN_EN1 35 + #define BTN_EN2 37 + #define BTN_ENC 31 + + #define LCD_SDSS SDSS + #define SD_DETECT_PIN 49 + #define KILL_PIN 41 + + #elif ENABLED(MKS_MINI_12864) // Added in Marlin 1.1.6 + + #define DOGLCD_A0 27 + #define DOGLCD_CS 25 + + // GLCD features + //#define LCD_CONTRAST 190 + // Uncomment screen orientation + //#define LCD_SCREEN_ROT_90 + //#define LCD_SCREEN_ROT_180 + //#define LCD_SCREEN_ROT_270 + + #define BEEPER_PIN 37 + // not connected to a pin + #define LCD_BACKLIGHT_PIN 65 // backlight LED on A11/D65 + + #define BTN_EN1 31 + #define BTN_EN2 33 + #define BTN_ENC 35 + + #define SD_DETECT_PIN 49 + #define KILL_PIN 64 + + #elif ENABLED(MINIPANEL) + + #define BEEPER_PIN 42 + // not connected to a pin + #define LCD_BACKLIGHT_PIN 65 // backlight LED on A11/D65 + + #define DOGLCD_A0 44 + #define DOGLCD_CS 66 + + // GLCD features + //#define LCD_CONTRAST 190 + // Uncomment screen orientation + //#define LCD_SCREEN_ROT_90 + //#define LCD_SCREEN_ROT_180 + //#define LCD_SCREEN_ROT_270 + + #define BTN_EN1 40 + #define BTN_EN2 63 + #define BTN_ENC 59 + + #define SD_DETECT_PIN 49 + #define KILL_PIN 64 + + #elif ENABLED(ZONESTAR_LCD) + + #define ADC_KEYPAD_PIN 12 + + #elif ENABLED(AZSMZ_12864) + + // Pins only defined for RAMPS_SMART currently + + #else + + // Beeper on AUX-4 + #define BEEPER_PIN 33 + + // Buttons are directly attached using AUX-2 + #if ENABLED(REPRAPWORLD_KEYPAD) + #define SHIFT_OUT 40 + #define SHIFT_CLK 44 + #define SHIFT_LD 42 + #define BTN_EN1 64 + #define BTN_EN2 59 + #define BTN_ENC 63 + #elif ENABLED(PANEL_ONE) + #define BTN_EN1 59 // AUX2 PIN 3 + #define BTN_EN2 63 // AUX2 PIN 4 + #define BTN_ENC 49 // AUX3 PIN 7 + #else + #define BTN_EN1 37 + #define BTN_EN2 35 + #define BTN_ENC 31 + #endif + + #if ENABLED(G3D_PANEL) + #define SD_DETECT_PIN 49 + #define KILL_PIN 41 + #endif + + #endif + #endif // NEWPANEL + +#endif // ULTRA_LCD diff --git a/buildroot/share/tests/DUE_tests b/buildroot/share/tests/DUE-tests similarity index 100% rename from buildroot/share/tests/DUE_tests rename to buildroot/share/tests/DUE-tests diff --git a/buildroot/share/tests/LPC1768_tests b/buildroot/share/tests/LPC1768-tests similarity index 100% rename from buildroot/share/tests/LPC1768_tests rename to buildroot/share/tests/LPC1768-tests diff --git a/buildroot/share/tests/LPC1769_tests b/buildroot/share/tests/LPC1769-tests similarity index 100% rename from buildroot/share/tests/LPC1769_tests rename to buildroot/share/tests/LPC1769-tests diff --git a/buildroot/share/tests/STM32F1_tests b/buildroot/share/tests/STM32F1-tests similarity index 100% rename from buildroot/share/tests/STM32F1_tests rename to buildroot/share/tests/STM32F1-tests diff --git a/buildroot/share/tests/linux_native-tests b/buildroot/share/tests/linux_native-tests new file mode 100755 index 0000000000..cc45f5c29b --- /dev/null +++ b/buildroot/share/tests/linux_native-tests @@ -0,0 +1,16 @@ +#!/usr/bin/env bash +# +# Build tests for Linux x86_64 +# + +# exit on first failure +set -e + +restore_configs +opt_set MOTHERBOARD BOARD_LINUX_RAMPS +opt_set TEMP_SENSOR_BED 1 +opt_enable PIDTEMPBED EEPROM_SETTINGS +exec_test $1 $2 "Linux with EEPROM" + +# cleanup +restore_configs diff --git a/buildroot/share/tests/megaatmega2560_tests b/buildroot/share/tests/megaatmega2560-tests similarity index 100% rename from buildroot/share/tests/megaatmega2560_tests rename to buildroot/share/tests/megaatmega2560-tests diff --git a/buildroot/share/tests/run_tests b/buildroot/share/tests/run_tests index ec21df500e..229cfb588a 100755 --- a/buildroot/share/tests/run_tests +++ b/buildroot/share/tests/run_tests @@ -33,7 +33,7 @@ if [[ $2 = "ALL" ]]; then declare -a tests=(${dir_list[@]/*run_tests/}) for f in "${tests[@]}"; do env_backup - testenv=$(basename $f | cut -d"_" -f1) + testenv=$(basename $f | cut -d"-" -f1) printf "Running \033[0;32m$f\033[0m Tests\n" exec_test $1 "$testenv --target clean" "Setup Build Environment" $f $1 $testenv @@ -42,7 +42,7 @@ if [[ $2 = "ALL" ]]; then else env_backup exec_test $1 "$2 --target clean" "Setup Build Environment" - $2_tests $1 $2 + $2-tests $1 $2 env_restore fi printf "\033[0;32mAll tests completed successfully\033[0m\n" diff --git a/buildroot/share/tests/teensy35_tests b/buildroot/share/tests/teensy35-tests similarity index 100% rename from buildroot/share/tests/teensy35_tests rename to buildroot/share/tests/teensy35-tests diff --git a/platformio.ini b/platformio.ini index d877926a92..93938d45c9 100644 --- a/platformio.ini +++ b/platformio.ini @@ -381,3 +381,17 @@ board_build.f_cpu = 16000000L lib_deps = ${common.lib_deps} src_filter = ${common.default_src_filter} + monitor_speed = 250000 + +# +# Native +# No supported Arduino libraries, base Marlin only +# +[env:linux_native] +platform = native +build_flags = -D__PLAT_LINUX__ -std=gnu++17 -ggdb -g -lrt -lpthread +src_build_flags = -Wall -IMarlin/src/HAL/HAL_LINUX/include +build_unflags = -Wall +lib_ldf_mode = off +lib_deps = +extra_scripts = +src_filter = ${common.default_src_filter} +