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MarlinHAL for Teensy 4.0/4.1
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@thinkyhead
thinkyhead committed Dec 25, 2021
1 parent 02f2158 commit 9b5ce13
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194 changes: 100 additions & 94 deletions Marlin/src/HAL/TEENSY40_41/HAL.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,82 +33,53 @@
#include "timers.h"
#include <Wire.h>

// ------------------------
// Serial ports
// ------------------------

#define _IMPLEMENT_SERIAL(X) DefaultSerial##X MSerial##X(false, Serial##X)
#define IMPLEMENT_SERIAL(X) _IMPLEMENT_SERIAL(X)
#if WITHIN(SERIAL_PORT, 0, 3)
IMPLEMENT_SERIAL(SERIAL_PORT);
#endif
USBSerialType USBSerial(false, SerialUSB);

uint16_t HAL_adc_result, HAL_adc_select;

static const uint8_t pin2sc1a[] = {
0x07, // 0/A0 AD_B1_02
0x08, // 1/A1 AD_B1_03
0x0C, // 2/A2 AD_B1_07
0x0B, // 3/A3 AD_B1_06
0x06, // 4/A4 AD_B1_01
0x05, // 5/A5 AD_B1_00
0x0F, // 6/A6 AD_B1_10
0x00, // 7/A7 AD_B1_11
0x0D, // 8/A8 AD_B1_08
0x0E, // 9/A9 AD_B1_09
0x01, // 24/A10 AD_B0_12
0x02, // 25/A11 AD_B0_13
0x83, // 26/A12 AD_B1_14 - only on ADC2, 3
0x84, // 27/A13 AD_B1_15 - only on ADC2, 4
0x07, // 14/A0 AD_B1_02
0x08, // 15/A1 AD_B1_03
0x0C, // 16/A2 AD_B1_07
0x0B, // 17/A3 AD_B1_06
0x06, // 18/A4 AD_B1_01
0x05, // 19/A5 AD_B1_00
0x0F, // 20/A6 AD_B1_10
0x00, // 21/A7 AD_B1_11
0x0D, // 22/A8 AD_B1_08
0x0E, // 23/A9 AD_B1_09
0x01, // 24/A10 AD_B0_12
0x02, // 25/A11 AD_B0_13
0x83, // 26/A12 AD_B1_14 - only on ADC2, 3
0x84, // 27/A13 AD_B1_15 - only on ADC2, 4
#ifdef ARDUINO_TEENSY41
0xFF, // 28
0xFF, // 29
0xFF, // 30
0xFF, // 31
0xFF, // 32
0xFF, // 33
0xFF, // 34
0xFF, // 35
0xFF, // 36
0xFF, // 37
0x81, // 38/A14 AD_B1_12 - only on ADC2, 1
0x82, // 39/A15 AD_B1_13 - only on ADC2, 2
0x09, // 40/A16 AD_B1_04
0x0A, // 41/A17 AD_B1_05
#endif
};

/*
// disable interrupts
void cli() { noInterrupts(); }
// enable interrupts
void sei() { interrupts(); }
*/

void HAL_adc_init() {
analog_init();
while (ADC1_GC & ADC_GC_CAL) ;
while (ADC2_GC & ADC_GC_CAL) ;
// ------------------------
// Class Utilities
// ------------------------

#define __bss_end _ebss

extern "C" {
extern char __bss_end;
extern char __heap_start;
extern void* __brkval;

// Doesn't work on Teensy 4.x
uint32_t freeMemory() {
uint32_t free_memory;
free_memory = ((uint32_t)&free_memory) - (((uint32_t)__brkval) ?: ((uint32_t)&__bss_end));
return free_memory;
}
}

void HAL_clear_reset_source() {
uint32_t reset_source = SRC_SRSR;
SRC_SRSR = reset_source;
// ------------------------
// FastIO
// ------------------------

bool is_output(pin_t pin) {
const struct digital_pin_bitband_and_config_table_struct *p;
p = digital_pin_to_info_PGM + pin;
return (*(p->reg + 1) & p->mask);
}

uint8_t HAL_get_reset_source() {
// ------------------------
// MarlinHAL Class
// ------------------------

void MarlinHAL::reboot() { _reboot_Teensyduino_(); }

uint8_t MarlinHAL::get_reset_source() {
switch (SRC_SRSR & 0xFF) {
case 1: return RST_POWER_ON; break;
case 2: return RST_SOFTWARE; break;
Expand All @@ -121,57 +92,92 @@ uint8_t HAL_get_reset_source() {
return 0;
}

void HAL_reboot() { _reboot_Teensyduino_(); }
void MarlinHAL::clear_reset_source() {
uint32_t reset_source = SRC_SRSR;
SRC_SRSR = reset_source;
}

#define __bss_end _ebss
// ADC

extern "C" {
extern char __bss_end;
extern char __heap_start;
extern void* __brkval;
int8_t MarlinHAL::adc_select;

// Doesn't work on Teensy 4.x
uint32_t freeMemory() {
uint32_t free_memory;
if ((uint32_t)__brkval == 0)
free_memory = ((uint32_t)&free_memory) - ((uint32_t)&__bss_end);
else
free_memory = ((uint32_t)&free_memory) - ((uint32_t)__brkval);
return free_memory;
}
void MarlinHAL::adc_init() {
analog_init();
while (ADC1_GC & ADC_GC_CAL) { /* wait */ }
while (ADC2_GC & ADC_GC_CAL) { /* wait */ }
}

void HAL_adc_start_conversion(const uint8_t adc_pin) {
void MarlinHAL::adc_start(const pin_t adc_pin) {
static const uint8_t pin2sc1a[] = {
0x07, // 0/A0 AD_B1_02
0x08, // 1/A1 AD_B1_03
0x0C, // 2/A2 AD_B1_07
0x0B, // 3/A3 AD_B1_06
0x06, // 4/A4 AD_B1_01
0x05, // 5/A5 AD_B1_00
0x0F, // 6/A6 AD_B1_10
0x00, // 7/A7 AD_B1_11
0x0D, // 8/A8 AD_B1_08
0x0E, // 9/A9 AD_B1_09
0x01, // 24/A10 AD_B0_12
0x02, // 25/A11 AD_B0_13
0x83, // 26/A12 AD_B1_14 - only on ADC2, 3
0x84, // 27/A13 AD_B1_15 - only on ADC2, 4
0x07, // 14/A0 AD_B1_02
0x08, // 15/A1 AD_B1_03
0x0C, // 16/A2 AD_B1_07
0x0B, // 17/A3 AD_B1_06
0x06, // 18/A4 AD_B1_01
0x05, // 19/A5 AD_B1_00
0x0F, // 20/A6 AD_B1_10
0x00, // 21/A7 AD_B1_11
0x0D, // 22/A8 AD_B1_08
0x0E, // 23/A9 AD_B1_09
0x01, // 24/A10 AD_B0_12
0x02, // 25/A11 AD_B0_13
0x83, // 26/A12 AD_B1_14 - only on ADC2, 3
0x84, // 27/A13 AD_B1_15 - only on ADC2, 4
#ifdef ARDUINO_TEENSY41
0xFF, // 28
0xFF, // 29
0xFF, // 30
0xFF, // 31
0xFF, // 32
0xFF, // 33
0xFF, // 34
0xFF, // 35
0xFF, // 36
0xFF, // 37
0x81, // 38/A14 AD_B1_12 - only on ADC2, 1
0x82, // 39/A15 AD_B1_13 - only on ADC2, 2
0x09, // 40/A16 AD_B1_04
0x0A, // 41/A17 AD_B1_05
#endif
};
const uint16_t pin = pin2sc1a[adc_pin];
if (pin == 0xFF) {
HAL_adc_select = -1; // Digital only
adc_select = -1; // Digital only
}
else if (pin & 0x80) {
HAL_adc_select = 1;
adc_select = 1;
ADC2_HC0 = pin & 0x7F;
}
else {
HAL_adc_select = 0;
adc_select = 0;
ADC1_HC0 = pin;
}
}

uint16_t HAL_adc_get_result() {
switch (HAL_adc_select) {
uint16_t MarlinHAL::adc_value() {
switch (adc_select) {
case 0:
while (!(ADC1_HS & ADC_HS_COCO0)) ; // wait
while (!(ADC1_HS & ADC_HS_COCO0)) { /* wait */ }
return ADC1_R0;
case 1:
while (!(ADC2_HS & ADC_HS_COCO0)) ; // wait
while (!(ADC2_HS & ADC_HS_COCO0)) { /* wait */ }
return ADC2_R0;
}
return 0;
}

bool is_output(pin_t pin) {
const struct digital_pin_bitband_and_config_table_struct *p;
p = digital_pin_to_info_PGM + pin;
return (*(p->reg + 1) & p->mask);
}

#endif // __IMXRT1062__
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