0x90/Marlin
12
0
Fork 0
Code Issues Pull requests Packages Projects Releases Wiki Activity

HAL for Espressif ESP32 Wifi

Browse source
This commit is contained in:
Simon Jouet 2017-10-08 17:38:10 +01:00 committed by Scott Lahteine
parent 091f742432
commit e2aeda61ed
23 changed files with 1257 additions and 16 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

9
Marlin/Configuration_adv.h
View file

@ -1700,4 +1700,13 @@
// Default behaviour is limited to Z axis only. // Default behaviour is limited to Z axis only.
#endif #endif
/**
* WiFi Support (Espressif ESP32 WiFi)
*/
//#define WIFISUPPORT
#if ENABLED(WIFISUPPORT)
#define WIFI_SSID "Wifi SSID"
#define WIFI_PWD "Wifi Password"
#endif
#endif // CONFIGURATION_ADV_H #endif // CONFIGURATION_ADV_H

41
Marlin/src/HAL/Delay.h
View file

@ -21,14 +21,12 @@
*/ */
/** /**
* Busy wait delay cycles routines:
Busy wait delay Cycles routines: *
* DELAY_CYCLES(count): Delay execution in cycles
DELAY_CYCLES(count): Delay execution in cycles * DELAY_NS(count): Delay execution in nanoseconds
DELAY_NS(count): Delay execution in nanoseconds * DELAY_US(count): Delay execution in microseconds
DELAY_US(count): Delay execution in microseconds */
*/
#ifndef MARLIN_DELAY_H #ifndef MARLIN_DELAY_H
#define MARLIN_DELAY_H #define MARLIN_DELAY_H
@ -37,7 +35,7 @@
#if defined(__arm__) || defined(__thumb__) #if defined(__arm__) || defined(__thumb__)
/* https://blueprints.launchpad.net/gcc-arm-embedded/+spec/delay-cycles */ // https://blueprints.launchpad.net/gcc-arm-embedded/+spec/delay-cycles
#define nop() __asm__ __volatile__("nop;\n\t":::) #define nop() __asm__ __volatile__("nop;\n\t":::)
@ -60,7 +58,7 @@
); );
} }
/* ---------------- Delay in cycles */ // Delay in cycles
FORCE_INLINE static void DELAY_CYCLES(uint32_t x) { FORCE_INLINE static void DELAY_CYCLES(uint32_t x) {
if (__builtin_constant_p(x)) { if (__builtin_constant_p(x)) {
@ -98,7 +96,7 @@
); );
} }
/* ---------------- Delay in cycles */ // Delay in cycles
FORCE_INLINE static void DELAY_CYCLES(uint16_t x) { FORCE_INLINE static void DELAY_CYCLES(uint16_t x) {
if (__builtin_constant_p(x)) { if (__builtin_constant_p(x)) {
@ -121,15 +119,30 @@
} }
#undef nop #undef nop
#elif defined(ESP32)
FORCE_INLINE static void DELAY_CYCLES(uint32_t x) {
unsigned long ccount, stop;
__asm__ __volatile__ ( "rsr %0, ccount" : "=a" (ccount) );
stop = ccount + x; // This can overflow
while (ccount < stop) { // This doesn't deal with overflows
__asm__ __volatile__ ( "rsr %0, ccount" : "=a" (ccount) );
}
}
#else #else
#error "Unsupported MCU architecture" #error "Unsupported MCU architecture"
#endif #endif
/* ---------------- Delay in nanoseconds */ // Delay in nanoseconds
#define DELAY_NS(x) DELAY_CYCLES( (x) * (F_CPU/1000000L) / 1000L ) #define DELAY_NS(x) DELAY_CYCLES( (x) * (F_CPU/1000000L) / 1000L )
/* ---------------- Delay in microseconds */ // Delay in microseconds
#define DELAY_US(x) DELAY_CYCLES( (x) * (F_CPU/1000000L) ) #define DELAY_US(x) DELAY_CYCLES( (x) * (F_CPU/1000000L) )
#endif // MARLIN_DELAY_H #endif // MARLIN_DELAY_H

155
Marlin/src/HAL/HAL_ESP32/HAL.cpp Normal file
View file

@ -0,0 +1,155 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifdef ARDUINO_ARCH_ESP32
// --------------------------------------------------------------------------
// Includes
// --------------------------------------------------------------------------
#include "HAL.h"
#include <rom/rtc.h>
#include <driver/adc.h>
#include <esp_adc_cal.h>
#include "../../inc/MarlinConfigPre.h"
#if ENABLED(WIFISUPPORT)
#include "ota.h"
#endif
// --------------------------------------------------------------------------
// Externals
// --------------------------------------------------------------------------
portMUX_TYPE spinlock = portMUX_INITIALIZER_UNLOCKED;
// --------------------------------------------------------------------------
// Local defines
// --------------------------------------------------------------------------
#define V_REF 1100
// --------------------------------------------------------------------------
// Types
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Variables
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Public Variables
// --------------------------------------------------------------------------
uint16_t HAL_adc_result;
// --------------------------------------------------------------------------
// Private Variables
// --------------------------------------------------------------------------
esp_adc_cal_characteristics_t characteristics;
// --------------------------------------------------------------------------
// Function prototypes
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Private functions
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Public functions
// --------------------------------------------------------------------------
void HAL_init(void) {
#if ENABLED(WIFISUPPORT)
OTA_init();
#endif
}
void HAL_idletask(void) {
#if ENABLED(WIFISUPPORT)
OTA_handle();
#endif
}
void HAL_clear_reset_source(void) { }
uint8_t HAL_get_reset_source (void) {
return rtc_get_reset_reason(1);
}
void _delay_ms(int delay_ms) {
delay(delay_ms);
}
// return free memory between end of heap (or end bss) and whatever is current
int freeMemory() {
return ESP.getFreeHeap();
}
// --------------------------------------------------------------------------
// ADC
// --------------------------------------------------------------------------
#define ADC1_CHANNEL(pin) ADC1_GPIO##pin_CHANNEL
adc1_channel_t get_channel(int pin) {
switch (pin) {
case 36: return ADC1_GPIO36_CHANNEL;
case 39: return ADC1_GPIO39_CHANNEL;
}
return ADC1_CHANNEL_MAX;
}
void HAL_adc_init() {
// Configure ADC
adc1_config_width(ADC_WIDTH_12Bit);
adc1_config_channel_atten(get_channel(36), ADC_ATTEN_11db);
adc1_config_channel_atten(get_channel(39), ADC_ATTEN_11db);
// Calculate ADC characteristics i.e. gain and offset factors
esp_adc_cal_characterize(ADC_UNIT_1, ADC_ATTEN_DB_11, ADC_WIDTH_BIT_12, V_REF, &characteristics);
}
void HAL_adc_start_conversion (uint8_t adc_pin) {
uint32_t mv;
esp_adc_cal_get_voltage((adc_channel_t)get_channel(adc_pin), &characteristics, &mv);
HAL_adc_result = mv*1023.0/3300.0;
}
int pin_to_channel[40] = {};
int cnt_channel = 1;
void analogWrite(int pin, int value) {
if (pin_to_channel[pin] == 0) {
ledcAttachPin(pin, cnt_channel);
ledcSetup(cnt_channel, 490, 8);
ledcWrite(cnt_channel, value);
pin_to_channel[pin] = cnt_channel++;
}
ledcWrite(pin_to_channel[pin], value);
}
#endif // ARDUINO_ARCH_ESP32

126
Marlin/src/HAL/HAL_ESP32/HAL.h Normal file
View file

@ -0,0 +1,126 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
*/
/**
* Description: HAL for Espressif ESP32 WiFi
*/
#ifndef _HAL_ESP32_H
#define _HAL_ESP32_H
#define CPU_32_BIT
// --------------------------------------------------------------------------
// Includes
// --------------------------------------------------------------------------
#include <stdint.h>
#undef DISABLED
#undef _BV
#include <Arduino.h>
#undef DISABLED
#define DISABLED(b) (!_CAT(SWITCH_ENABLED_, b))
#include "../math_32bit.h"
#include "../HAL_SPI.h"
#include "fastio_ESP32.h"
#include "watchdog_ESP32.h"
#include "HAL_timers_ESP32.h"
// --------------------------------------------------------------------------
// Defines
// --------------------------------------------------------------------------
extern portMUX_TYPE spinlock;
#define NUM_SERIAL 1
#define MYSERIAL0 Serial
#define CRITICAL_SECTION_START portENTER_CRITICAL(&spinlock)
#define CRITICAL_SECTION_END portEXIT_CRITICAL(&spinlock)
#define ISRS_ENABLED() (spinlock.owner == portMUX_FREE_VAL)
#define ENABLE_ISRS() if (spinlock.owner != portMUX_FREE_VAL) portEXIT_CRITICAL(&spinlock)
#define DISABLE_ISRS() portENTER_CRITICAL(&spinlock)
// Fix bug in pgm_read_ptr
#undef pgm_read_ptr
#define pgm_read_ptr(addr) (*(addr))
// --------------------------------------------------------------------------
// Types
// --------------------------------------------------------------------------
typedef int16_t pin_t;
// --------------------------------------------------------------------------
// Public Variables
// --------------------------------------------------------------------------
/** result of last ADC conversion */
extern uint16_t HAL_adc_result;
// --------------------------------------------------------------------------
// Public functions
// --------------------------------------------------------------------------
// clear reset reason
void HAL_clear_reset_source (void);
// reset reason
uint8_t HAL_get_reset_source (void);
void _delay_ms(int delay);
int freeMemory(void);
void analogWrite(int pin, int value);
// 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);
// ADC
#define HAL_ANALOG_SELECT(pin)
void HAL_adc_init(void);
#define HAL_START_ADC(pin) HAL_adc_start_conversion(pin)
#define HAL_READ_ADC HAL_adc_result
void HAL_adc_start_conversion (uint8_t adc_pin);
#define GET_PIN_MAP_PIN(index) index
#define GET_PIN_MAP_INDEX(pin) pin
#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
// Enable hooks into idle and setup for HAL
#define HAL_IDLETASK 1
#define HAL_INIT 1
void HAL_idletask(void);
void HAL_init(void);
#endif // _HAL_ESP32_H

109
Marlin/src/HAL/HAL_ESP32/HAL_spi_ESP32.cpp Normal file
View file

@ -0,0 +1,109 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
* Copyright (C) 2017 Victor Perez
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifdef ARDUINO_ARCH_ESP32
// --------------------------------------------------------------------------
// Includes
// --------------------------------------------------------------------------
#include "HAL.h"
#include "../HAL_SPI.h"
#include "pins_arduino.h"
#include "spi_pins.h"
#include "../../core/macros.h"
#include <SPI.h>
// --------------------------------------------------------------------------
// Public Variables
// --------------------------------------------------------------------------
static SPISettings spiConfig;
// --------------------------------------------------------------------------
// Public functions
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Hardware SPI
// --------------------------------------------------------------------------
void spiBegin() {
#if !PIN_EXISTS(SS)
#error "SS_PIN not defined!"
#endif
WRITE(SS_PIN, HIGH);
SET_OUTPUT(SS_PIN);
}
void spiInit(uint8_t spiRate) {
uint32_t clock;
switch (spiRate) {
case SPI_FULL_SPEED: clock = SPI_CLOCK_DIV2 ; break;
case SPI_HALF_SPEED: clock = SPI_CLOCK_DIV4 ; break;
case SPI_QUARTER_SPEED: clock = SPI_CLOCK_DIV8 ; break;
case SPI_EIGHTH_SPEED: clock = SPI_CLOCK_DIV16; break;
case SPI_SPEED_5: clock = SPI_CLOCK_DIV32; break;
case SPI_SPEED_6: clock = SPI_CLOCK_DIV64; break;
default: clock = SPI_CLOCK_DIV2; // Default from the SPI library
}
spiConfig = SPISettings(clock, MSBFIRST, SPI_MODE0);
SPI.begin();
}
uint8_t spiRec(void) {
SPI.beginTransaction(spiConfig);
uint8_t returnByte = SPI.transfer(0xFF);
SPI.endTransaction();
return returnByte;
}
void spiRead(uint8_t* buf, uint16_t nbyte) {
SPI.beginTransaction(spiConfig);
SPI.transferBytes(0, buf, nbyte);
SPI.endTransaction();
}
void spiSend(uint8_t b) {
SPI.beginTransaction(spiConfig);
SPI.transfer(b);
SPI.endTransaction();
}
void spiSendBlock(uint8_t token, const uint8_t* buf) {
SPI.beginTransaction(spiConfig);
SPI.transfer(token);
SPI.writeBytes(const_cast<uint8_t*>(buf), 512);
SPI.endTransaction();
}
void spiBeginTransaction(uint32_t spiClock, uint8_t bitOrder, uint8_t dataMode) {
spiConfig = SPISettings(spiClock, bitOrder, dataMode);
SPI.beginTransaction(spiConfig);
}
#endif // ARDUINO_ARCH_ESP32

202
Marlin/src/HAL/HAL_ESP32/HAL_timers_ESP32.cpp Normal file
View file

@ -0,0 +1,202 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifdef ARDUINO_ARCH_ESP32
// --------------------------------------------------------------------------
// Includes
// --------------------------------------------------------------------------
#include <stdio.h>
#include "esp_types.h"
#include "soc/timer_group_struct.h"
#include "driver/periph_ctrl.h"
#include "driver/timer.h"
#include "HAL.h"
#include "HAL_timers_ESP32.h"
// --------------------------------------------------------------------------
// Externals
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Local defines
// --------------------------------------------------------------------------
#define NUM_HARDWARE_TIMERS 4
// --------------------------------------------------------------------------
// Types
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Public Variables
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Private Variables
// --------------------------------------------------------------------------
static timg_dev_t *TG[2] = {&TIMERG0, &TIMERG1};
const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = {
{ TIMER_GROUP_0, TIMER_0, STEPPER_TIMER_PRESCALE, stepTC_Handler }, // 0 - Stepper
{ TIMER_GROUP_0, TIMER_1, TEMP_TIMER_PRESCALE, tempTC_Handler }, // 1 - Temperature
{ TIMER_GROUP_1, TIMER_0, 1, NULL }, // 2
{ TIMER_GROUP_1, TIMER_1, 1, NULL }, // 3
};
// --------------------------------------------------------------------------
// Function prototypes
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Private functions
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Public functions
// --------------------------------------------------------------------------
void IRAM_ATTR timer_group0_isr(void *para) {
const int timer_idx = (int)para;
// Retrieve the interrupt status and the counter value
// from the timer that reported the interrupt
uint32_t intr_status = TIMERG0.int_st_timers.val;
TIMERG0.hw_timer[timer_idx].update = 1;
// Clear the interrupt
if (intr_status & BIT(timer_idx)) {
switch (timer_idx) {
case TIMER_0: TIMERG0.int_clr_timers.t0 = 1; break;
case TIMER_1: TIMERG0.int_clr_timers.t1 = 1; break;
}
}
const tTimerConfig timer = TimerConfig[timer_idx];
timer.fn();
// After the alarm has been triggered
// Enable it again so it gets triggered the next time
TIMERG0.hw_timer[timer_idx].config.alarm_en = TIMER_ALARM_EN;
}
/**
* Enable and initialize the timer
* @param timer_num timer number to initialize
* @param frequency frequency of the timer
*/
void HAL_timer_start(const uint8_t timer_num, uint32_t frequency) {
const tTimerConfig timer = TimerConfig[timer_num];
timer_config_t config;
config.divider = STEPPER_TIMER_PRESCALE;
config.counter_dir = TIMER_COUNT_UP;
config.counter_en = TIMER_PAUSE;
config.alarm_en = TIMER_ALARM_EN;
config.intr_type = TIMER_INTR_LEVEL;
config.auto_reload = true;
// Select and initialize the timer
timer_init(timer.group, timer.idx, &config);
// Timer counter initial value and auto reload on alarm
timer_set_counter_value(timer.group, timer.idx, 0x00000000ULL);
// Configure the alam value and the interrupt on alarm
timer_set_alarm_value(timer.group, timer.idx, (HAL_TIMER_RATE) / timer.divider / frequency - 1);
timer_enable_intr(timer.group, timer.idx);
// TODO need to deal with timer_group1_isr
timer_isr_register(timer.group, timer.idx, timer_group0_isr, (void*)timer.idx, NULL, NULL);
timer_start(timer.group, timer.idx);
}
/**
* Set the upper value of the timer, when the timer reaches this upper value the
* interrupt should be triggered and the counter reset
* @param timer_num timer number to set the count to
* @param count threshold at which the interrupt is triggered
*/
void HAL_timer_set_compare(const uint8_t timer_num, hal_timer_t count) {
const tTimerConfig timer = TimerConfig[timer_num];
timer_set_alarm_value(timer.group, timer.idx, count);
}
/**
* Get the current upper value of the timer
* @param timer_num timer number to get the count from
* @return the timer current threshold for the alarm to be triggered
*/
hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
const tTimerConfig timer = TimerConfig[timer_num];
uint64_t alarm_value;
timer_get_alarm_value(timer.group, timer.idx, &alarm_value);
return alarm_value;
}
/**
* Get the current counter value between 0 and the maximum count (HAL_timer_set_count)
* @param timer_num timer number to get the current count
* @return the current counter of the alarm
*/
hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
const tTimerConfig timer = TimerConfig[timer_num];
uint64_t counter_value;
timer_get_counter_value(timer.group, timer.idx, &counter_value);
return counter_value;
}
/**
* Enable timer interrupt on the timer
* @param timer_num timer number to enable interrupts on
*/
void HAL_timer_enable_interrupt(const uint8_t timer_num) {
const tTimerConfig timer = TimerConfig[timer_num];
//timer_enable_intr(timer.group, timer.idx);
}
/**
* Disable timer interrupt on the timer
* @param timer_num timer number to disable interrupts on
*/
void HAL_timer_disable_interrupt(const uint8_t timer_num) {
const tTimerConfig timer = TimerConfig[timer_num];
// timer_disable_intr(timer.group, timer.idx);
}
bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
const tTimerConfig timer = TimerConfig[timer_num];
return TG[timer.group]->int_ena.val | BIT(timer_num);
}
#endif // ARDUINO_ARCH_ESP32

114
Marlin/src/HAL/HAL_ESP32/HAL_timers_ESP32.h Normal file
View file

@ -0,0 +1,114 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifndef _HAL_TIMERS_ESP32_H
#define _HAL_TIMERS_ESP32_H
// --------------------------------------------------------------------------
// Includes
// --------------------------------------------------------------------------
#include <stdint.h>
#include "driver/timer.h"
// --------------------------------------------------------------------------
// Defines
// --------------------------------------------------------------------------
//
#define FORCE_INLINE __attribute__((always_inline)) inline
typedef uint64_t hal_timer_t;
#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFFFFFFFFFULL
#define STEP_TIMER_NUM 0 // index of timer to use for stepper
#define TEMP_TIMER_NUM 1 // index of timer to use for temperature
#define PULSE_TIMER_NUM STEP_TIMER_NUM
#define HAL_TIMER_RATE APB_CLK_FREQ // frequency of timer peripherals
#define STEPPER_TIMER_PRESCALE 40
#define STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer, 2MHz
#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
#define TEMP_TIMER_PRESCALE 1000 // prescaler for setting Temp timer, 72Khz
#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
#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_TEMP_TIMER_ISR extern "C" void tempTC_Handler(void)
#define HAL_STEP_TIMER_ISR extern "C" void stepTC_Handler(void)
extern "C" void tempTC_Handler(void);
extern "C" void stepTC_Handler(void);
// --------------------------------------------------------------------------
// Types
// --------------------------------------------------------------------------
typedef struct {
timer_group_t group;
timer_idx_t idx;
uint32_t divider;
void (*fn)(void);
} tTimerConfig;
// --------------------------------------------------------------------------
// Public Variables
// --------------------------------------------------------------------------
extern const tTimerConfig TimerConfig[];
// --------------------------------------------------------------------------
// Public functions
// --------------------------------------------------------------------------
void HAL_timer_start (const uint8_t timer_num, uint32_t frequency);
void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t count);
hal_timer_t HAL_timer_get_compare(const uint8_t timer_num);
hal_timer_t HAL_timer_get_count(const uint8_t timer_num);
// if counter too high then bump up compare
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)
#endif // _HAL_TIMERS_ESP32_H

25
Marlin/src/HAL/HAL_ESP32/SanityCheck.h Normal file
View file

@ -0,0 +1,25 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016, 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#if ENABLED(EMERGENCY_PARSER)
#error "EMERGENCY_PARSER is not yet implemented for ESP32. Disable EMERGENCY_PARSER to continue."
#endif

77
Marlin/src/HAL/HAL_ESP32/endstop_interrupts.h Normal file
View file

@ -0,0 +1,77 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* Endstop Interrupts
*
* Without endstop interrupts the endstop pins must be polled continually in
* the stepper-ISR via endstops.update(), most of the time finding no change.
* With this feature endstops.update() is called only when we know that at
* least one endstop has changed state, saving valuable CPU cycles.
*
* This feature only works when all used endstop pins can generate an 'external interrupt'.
*
* Test whether pins issue interrupts on your board by flashing 'pin_interrupt_test.ino'.
* (Located in Marlin/buildroot/share/pin_interrupt_test/pin_interrupt_test.ino)
*/
#ifndef _ENDSTOP_INTERRUPTS_H_
#define _ENDSTOP_INTERRUPTS_H_
#include "../../module/endstops.h"
// One ISR for all EXT-Interrupts
void ICACHE_RAM_ATTR endstop_ISR(void) {
endstops.check_possible_change();
}
void setup_endstop_interrupts(void) {
#if HAS_X_MAX
attachInterrupt(digitalPinToInterrupt(X_MAX_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_X_MIN
attachInterrupt(digitalPinToInterrupt(X_MIN_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Y_MAX
attachInterrupt(digitalPinToInterrupt(Y_MAX_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Y_MIN
attachInterrupt(digitalPinToInterrupt(Y_MIN_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z_MAX
attachInterrupt(digitalPinToInterrupt(Z_MAX_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z_MIN
attachInterrupt(digitalPinToInterrupt(Z_MIN_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z2_MAX
attachInterrupt(digitalPinToInterrupt(Z2_MAX_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z2_MIN
attachInterrupt(digitalPinToInterrupt(Z2_MIN_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z_MIN_PROBE_PIN
attachInterrupt(digitalPinToInterrupt(Z_MIN_PROBE_PIN), endstop_ISR, CHANGE);
#endif
}
#endif //_ENDSTOP_INTERRUPTS_H_

72
Marlin/src/HAL/HAL_ESP32/fastio_ESP32.h Normal file
View file

@ -0,0 +1,72 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifndef _FASTIO_ESP32_H
#define _FASTIO_ESP32_H
/**
* Utility functions
*/
// set pin as input
#define _SET_INPUT(IO) pinMode(IO, INPUT)
// set pin as output
#define _SET_OUTPUT(IO) pinMode(IO, OUTPUT)
// set pin as input with pullup mode
#define _PULLUP(IO, v) pinMode(IO, v ? INPUT_PULLUP : INPUT)
// Read a pin wrapper
#define READ(IO) digitalRead(IO)
// Write to a pin wrapper
#define WRITE(IO, v) digitalWrite(IO, v)
// 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 output wrapper
#define SET_OUTPUT(IO) do{ _SET_OUTPUT(IO); WRITE(IO, LOW); }while(0)
#define OUT_WRITE(IO,V) do{ _SET_OUTPUT(IO); WRITE(IO,V); }while(0)
//
// ports and functions
//
// UART
#define RXD 3
#define TXD 1
// TWI (I2C)
#define SCL 5
#define SDA 4
//
// pins
//
#endif // _FASTIO_ESP32_H

81
Marlin/src/HAL/HAL_ESP32/ota.cpp Normal file
View file

@ -0,0 +1,81 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
*/
#ifdef ARDUINO_ARCH_ESP32
#include "../../inc/MarlinConfigPre.h"
#if ENABLED(WIFISUPPORT)
#include <WiFi.h>
#include <ESPmDNS.h>
#include <WiFiUdp.h>
#include <ArduinoOTA.h>
#include "driver/timer.h"
void OTA_init() {
WiFi.mode(WIFI_STA);
WiFi.begin(WIFI_SSID, WIFI_PWD);
while (WiFi.waitForConnectResult() != WL_CONNECTED) {
Serial.println("Connection Failed! Rebooting...");
delay(5000);
ESP.restart();
}
ArduinoOTA
.onStart([]() {
timer_pause(TIMER_GROUP_0, TIMER_0);
timer_pause(TIMER_GROUP_0, TIMER_1);
// U_FLASH or U_SPIFFS
String type = (ArduinoOTA.getCommand() == U_FLASH) ? "sketch" : "filesystem";
// NOTE: if updating SPIFFS this would be the place to unmount SPIFFS using SPIFFS.end()
Serial.println("Start updating " + type);
})
.onEnd([]() {
Serial.println("\nEnd");
})
.onProgress([](unsigned int progress, unsigned int total) {
Serial.printf("Progress: %u%%\r", (progress / (total / 100)));
})
.onError([](ota_error_t error) {
Serial.printf("Error[%u]: ", error);
char *str;
switch (error) {
case OTA_AUTH_ERROR: str = "Auth Failed"; break;
case OTA_BEGIN_ERROR: str = "Begin Failed"; break;
case OTA_CONNECT_ERROR: str = "Connect Failed"; break;
case OTA_RECEIVE_ERROR: str = "Receive Failed"; break;
case OTA_END_ERROR: str = "End Failed"; break;
}
Serial.println(str);
});
ArduinoOTA.begin();
}
void OTA_handle() {
ArduinoOTA.handle();
}
#endif // WIFISUPPORT
#endif // ARDUINO_ARCH_ESP32

26
Marlin/src/HAL/HAL_ESP32/ota.h Normal file
View file

@ -0,0 +1,26 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
*/
#ifndef _HAL_OTA_H
#define _HAL_OTA_H
void OTA_init();
void OTA_handle();
#endif

21
Marlin/src/HAL/HAL_ESP32/servotimers.h Normal file
View file

@ -0,0 +1,21 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/

28
Marlin/src/HAL/HAL_ESP32/spi_pins.h Normal file
View file

@ -0,0 +1,28 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
*
*/
#ifndef SPI_PINS_H_
#define SPI_PINS_H_
#define SS_PIN 5
#define SCK_PIN 18
#define MISO_PIN 19
#define MOSI_PIN 23
#endif // SPI_PINS_H_

41
Marlin/src/HAL/HAL_ESP32/watchdog_ESP32.cpp Normal file
View file

@ -0,0 +1,41 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifdef ARDUINO_ARCH_ESP32
#include "../../inc/MarlinConfig.h"
#if ENABLED(USE_WATCHDOG)
#include "watchdog_ESP32.h"
void watchdogSetup(void) {
// do whatever. don't remove this function.
}
void watchdog_init(void) {
// TODO
}
#endif // USE_WATCHDOG
#endif // ARDUINO_ARCH_ESP32

32
Marlin/src/HAL/HAL_ESP32/watchdog_ESP32.h Normal file
View file

@ -0,0 +1,32 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifndef WATCHDOG_ESP32_H
#define WATCHDOG_ESP32_H
// Initialize watchdog with a 4 second interrupt time
void watchdog_init();
// Reset watchdog.
inline void watchdog_reset() {};
#endif // WATCHDOG_ESP32_H

2
Marlin/src/HAL/platforms.h
View file

@ -17,6 +17,8 @@
#define HAL_PLATFORM HAL_STM32F4 #define HAL_PLATFORM HAL_STM32F4
#elif defined(STM32F7) #elif defined(STM32F7)
#define HAL_PLATFORM HAL_STM32F7 #define HAL_PLATFORM HAL_STM32F7
#elif defined(ARDUINO_ARCH_ESP32)
#define HAL_PLATFORM HAL_ESP32
#else #else
#error "Unsupported Platform!" #error "Unsupported Platform!"
#endif #endif

4
Marlin/src/Marlin.cpp
View file

@ -702,10 +702,10 @@ void setup() {
#if NUM_SERIAL > 0 #if NUM_SERIAL > 0
uint32_t serial_connect_timeout = millis() + 1000UL; uint32_t serial_connect_timeout = millis() + 1000UL;
while(!MYSERIAL0 && PENDING(millis(), serial_connect_timeout)) { /*nada*/ } while (!MYSERIAL0 && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
#if NUM_SERIAL > 1 #if NUM_SERIAL > 1
serial_connect_timeout = millis() + 1000UL; serial_connect_timeout = millis() + 1000UL;
while(!MYSERIAL1 && PENDING(millis(), serial_connect_timeout)) { /*nada*/ } while (!MYSERIAL1 && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
#endif #endif
#endif #endif

9
Marlin/src/config/default/Configuration_adv.h
View file

@ -1700,4 +1700,13 @@
// Default behaviour is limited to Z axis only. // Default behaviour is limited to Z axis only.
#endif #endif
/**
* WiFi Support (Espressif ESP32 WiFi)
*/
//#define WIFISUPPORT
#if ENABLED(WIFISUPPORT)
#define WIFI_SSID "Wifi SSID"
#define WIFI_PWD "Wifi Password"
#endif
#endif // CONFIGURATION_ADV_H #endif // CONFIGURATION_ADV_H

4
Marlin/src/core/boards.h
View file

@ -225,6 +225,10 @@
#define BOARD_THE_BORG 1860 // THE-BORG (Power outputs: Hotend0, Hotend1, Bed, Fan) #define BOARD_THE_BORG 1860 // THE-BORG (Power outputs: Hotend0, Hotend1, Bed, Fan)
//
// Espressif ESP32 WiFi
//
#define BOARD_ESP32 1900
#define MB(board) (defined(BOARD_##board) && MOTHERBOARD==BOARD_##board) #define MB(board) (defined(BOARD_##board) && MOTHERBOARD==BOARD_##board)

7
Marlin/src/pins/pins.h
View file

@ -381,6 +381,13 @@
#elif MB(THE_BORG) #elif MB(THE_BORG)
#include "pins_THE_BORG.h" // STM32F7 env:STM32F7 #include "pins_THE_BORG.h" // STM32F7 env:STM32F7
//
// Espressif ESP32
//
#elif MB(ESP32)
#include "pins_ESP32.h"
#else #else
#error "Unknown MOTHERBOARD value set in Configuration.h" #error "Unknown MOTHERBOARD value set in Configuration.h"
#endif #endif

72
Marlin/src/pins/pins_ESP32.h Normal file
View file

@ -0,0 +1,72 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* Espressif ESP32 (Tensilica Xtensa LX6) pin assignments
*/
#ifndef BOARD_NAME
#define BOARD_NAME "Espressif ESP32"
#endif
//
// Limit Switches
//
#define X_MIN_PIN 34
#define Y_MIN_PIN 35
#define Z_MIN_PIN 15
//
// Steppers
//
#define X_STEP_PIN 27
#define X_DIR_PIN 26
#define X_ENABLE_PIN 25
//#define X_CS_PIN 0
#define Y_STEP_PIN 33
#define Y_DIR_PIN 32
#define Y_ENABLE_PIN X_ENABLE_PIN
//#define Y_CS_PIN 13
#define Z_STEP_PIN 14
#define Z_DIR_PIN 12
#define Z_ENABLE_PIN X_ENABLE_PIN
//#define Z_CS_PIN 5 // SS_PIN
#define E0_STEP_PIN 16
#define E0_DIR_PIN 17
#define E0_ENABLE_PIN X_ENABLE_PIN
//#define E0_CS_PIN 21
//
// Temperature Sensors
//
#define TEMP_0_PIN 36 // Analog Input
#define TEMP_BED_PIN 39 // Analog Input
//
// Heaters / Fans
//
#define HEATER_0_PIN 2
#define FAN_PIN 13
#define HEATER_BED_PIN 4

16
platformio.ini
View file

@ -318,3 +318,19 @@ lib_ignore =
U8glib-HAL U8glib-HAL
TMC2208Stepper TMC2208Stepper
c1921b4 c1921b4
#
# Espressif ESP32
#
[env:esp32]
platform = https://github.com/platformio/platform-espressif32.git#feature/stage
board = esp32dev
framework = arduino
upload_port = COM3
lib_ignore =
LiquidCrystal_I2C
LiquidCrystal
NewliquidCrystal
LiquidTWI2
TMC26XStepper
c1921b4