MKS Robin E3 / E3D support (#17569)

Co-authored-by: Scott Lahteine <github@thinkyhead.com>

Marlin/src/core/boards.h

@@ -298,6 +298,8 @@
 #define BOARD_GTM32_MINI              4021  // STM32F103VET6 controller
 #define BOARD_GTM32_MINI_A30          4022  // STM32F103VET6 controller
 #define BOARD_GTM32_REV_B             4023  // STM32F103VET6 controller
+#define BOARD_MKS_ROBIN_E3D           4024  // MKS Robin E3D(STM32F103RCT6)
+#define BOARD_MKS_ROBIN_E3            4025  // MKS Robin E3(STM32F103RCT6)
 
 //
 // ARM Cortex-M4F

Marlin/src/pins/pins.h

@@ -516,6 +516,10 @@
   #include "stm32f1/pins_MKS_ROBIN_LITE3.h"     // STM32F1                                env:mks_robin_lite3
 #elif MB(MKS_ROBIN_PRO)
   #include "stm32f1/pins_MKS_ROBIN_PRO.h"       // STM32F1                                env:mks_robin_pro
+#elif MB(MKS_ROBIN_E3D)
+  #include "stm32f1/pins_MKS_ROBIN_E3D.h"       // STM32F1                                env:mks_robin_e3
+#elif MB(MKS_ROBIN_E3)
+  #include "stm32f1/pins_MKS_ROBIN_E3.h"        // STM32F1                                env:mks_robin_e3
 
 //
 // ARM Cortex-M4F

Marlin/src/pins/stm32f1/pins_MKS_ROBIN_E3.h

@@ -0,0 +1,178 @@
+/**
+ * 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 <http://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * MKS Robin E3D (STM32F103RCT6) board pin assignments
+ */
+
+#ifndef __STM32F1__
+  #error "Oops! Select an STM32F1 board in 'Tools > Board.'"
+#elif HOTENDS > 1 || E_STEPPERS > 1
+  #error "MKS Robin E3D supports up to 1 hotends / E-steppers. Comment out this line to continue."
+#endif
+
+#ifndef BOARD_INFO_NAME
+  #define BOARD_INFO_NAME "MKS Robin E3D"
+#endif
+#define BOARD_WEBSITE_URL "github.com/makerbase-mks"
+
+//#define DISABLE_DEBUG
+#define DISABLE_JTAG
+#define ENABLE_SPI2
+
+//
+// Servos
+//
+#define SERVO0_PIN                          PA3
+
+//
+// Limit Switches
+//
+#define X_STOP_PIN                          PA12
+#define Y_STOP_PIN                          PA11
+#define Z_MIN_PIN                           PC6
+#define Z_MAX_PIN                           PB1
+
+//
+// Steppers
+//
+#define X_STEP_PIN                          PC0
+#define X_DIR_PIN                           PB2
+#define X_ENABLE_PIN                        PC13
+
+#define Y_STEP_PIN                          PC2
+#define Y_DIR_PIN                           PB9
+#define Y_ENABLE_PIN                        PB12
+
+#define Z_STEP_PIN                          PB7
+#define Z_DIR_PIN                           PB6
+#define Z_ENABLE_PIN                        PB8
+
+#define E0_STEP_PIN                         PB4
+#define E0_DIR_PIN                          PB3
+#define E0_ENABLE_PIN                       PB5
+
+#if HAS_TMC220x
+  /**
+   * TMC2208/TMC2209 stepper drivers
+   *
+   * Hardware serial communication ports.
+   * If undefined software serial is used according to the pins below
+   */
+  //#define X_HARDWARE_SERIAL  Serial1
+  //#define Y_HARDWARE_SERIAL  Serial1
+  //#define Z_HARDWARE_SERIAL  Serial1
+  //#define E0_HARDWARE_SERIAL Serial1
+
+  //
+  // Software serial
+  //
+  #define X_SERIAL_TX_PIN                   PC7
+  #define X_SERIAL_RX_PIN                   PC7
+
+  #define Y_SERIAL_TX_PIN                   PD2
+  #define Y_SERIAL_RX_PIN                   PD2
+
+  #define Z_SERIAL_TX_PIN                   PC12
+  #define Z_SERIAL_RX_PIN                   PC12
+
+  #define E0_SERIAL_TX_PIN                  PC11
+  #define E0_SERIAL_RX_PIN                  PC11
+
+  // Reduce baud rate to improve software serial reliability
+  #define TMC_BAUD_RATE 19200
+#endif
+
+//
+// Heaters 0,1 / Fans / Bed
+//
+#define HEATER_0_PIN                        PC9
+#define FAN_PIN                             PA8
+#define HEATER_BED_PIN                      PC8
+
+//
+// Temperature Sensors
+//
+#define TEMP_BED_PIN                        PA1   //TB
+#define TEMP_0_PIN                          PA0   //TH1
+
+#define FIL_RUNOUT_PIN                      PB10  // MT_DET
+
+//
+// LCD Pins
+//
+#if HAS_SPI_LCD
+
+  #define BEEPER_PIN                        PC1
+  #define BTN_ENC                           PC3
+  #define LCD_PINS_ENABLE                   PA4
+  #define LCD_PINS_RS                       PA5
+  #define BTN_EN1                           PB11
+  #define BTN_EN2                           PB0
+
+  // MKS MINI12864 and MKS LCD12864B; If using MKS LCD12864A (Need to remove RPK2 resistor)
+  #if ENABLED(MKS_MINI_12864)
+
+    #define LCD_BACKLIGHT_PIN               -1
+    #define LCD_RESET_PIN                   -1
+    #define DOGLCD_A0                       PC4
+    #define DOGLCD_CS                       PA7
+    #define DOGLCD_SCK                      PB13
+    #define DOGLCD_MOSI                     PB15
+
+    // Required for MKS_MINI_12864 with this board
+    #define MKS_LCD12864B
+    #undef SHOW_BOOTSCREEN
+
+  #else                                           // !MKS_MINI_12864
+
+    #define LCD_PINS_D4                     PA6
+    #if ENABLED(ULTIPANEL)
+      #define LCD_PINS_D5                   PA7
+      #define LCD_PINS_D6                   PC4
+      #define LCD_PINS_D7                   PC5
+    #endif
+
+  #endif // !MKS_MINI_12864
+
+#endif // HAS_SPI_LCD
+
+//
+// SD Card
+//
+#define ENABLE_SPI2
+#define SD_DETECT_PIN                       PC10
+#define SCK_PIN                             PB13
+#define MISO_PIN                            PB14
+#define MOSI_PIN                            PB15
+#define SS_PIN                              PA15
+
+#ifndef ST7920_DELAY_1
+  #define ST7920_DELAY_1           DELAY_NS(125)
+#endif
+#ifndef ST7920_DELAY_2
+  #define ST7920_DELAY_2           DELAY_NS(125)
+#endif
+#ifndef ST7920_DELAY_3
+  #define ST7920_DELAY_3           DELAY_NS(125)
+#endif

Marlin/src/pins/stm32f1/pins_MKS_ROBIN_E3D.h

@@ -0,0 +1,205 @@
+/**
+ * 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 <http://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * MKS Robin E3D (STM32F103RCT6) board pin assignments
+ */
+
+#ifndef __STM32F1__
+  #error "Oops! Select an STM32F1 board in 'Tools > Board.'"
+#elif HOTENDS > 1 || E_STEPPERS > 1
+  #error "MKS Robin E3D supports up to 1 hotends / E-steppers. Comment out this line to continue."
+#endif
+
+#ifndef BOARD_INFO_NAME
+  #define BOARD_INFO_NAME "MKS Robin E3D"
+#endif
+#define BOARD_WEBSITE_URL "github.com/makerbase-mks"
+
+//#define DISABLE_DEBUG
+#define DISABLE_JTAG
+#define ENABLE_SPI2
+
+//
+// Servos
+//
+#define SERVO0_PIN                          PA3
+
+//
+// Limit Switches
+//
+#define X_STOP_PIN                          PA12
+#define Y_STOP_PIN                          PA11
+#define Z_MIN_PIN                           PC6
+#define Z_MAX_PIN                           PB1
+
+//
+// Steppers
+//
+#define X_STEP_PIN                          PC0
+#define X_DIR_PIN                           PB2
+#define X_ENABLE_PIN                        PC13
+#ifndef X_CS_PIN
+  #define X_CS_PIN                          PC7
+#endif
+
+#define Y_STEP_PIN                          PC2
+#define Y_DIR_PIN                           PB9
+#define Y_ENABLE_PIN                        PB12
+#ifndef Y_CS_PIN
+  #define Y_CS_PIN                          PD2
+#endif
+
+#define Z_STEP_PIN                          PB7
+#define Z_DIR_PIN                           PB6
+#define Z_ENABLE_PIN                        PB8
+#ifndef Z_CS_PIN
+  #define Z_CS_PIN                          PC12
+#endif
+
+#define E0_STEP_PIN                         PB4
+#define E0_DIR_PIN                          PB3
+#define E0_ENABLE_PIN                       PB5
+#ifndef E0_CS_PIN
+  #define E0_CS_PIN                         PC11
+#endif
+
+//
+// Software SPI pins for TMC2130 stepper drivers
+//
+#if ENABLED(TMC_USE_SW_SPI)
+  #ifndef TMC_SW_MOSI
+    #define TMC_SW_MOSI                     PB15
+  #endif
+  #ifndef TMC_SW_MISO
+    #define TMC_SW_MISO                     PB14
+  #endif
+  #ifndef TMC_SW_SCK
+    #define TMC_SW_SCK                      PB13
+  #endif
+#endif
+
+#if HAS_TMC220x
+  /**
+   * TMC2208/TMC2209 stepper drivers
+   *
+   * Hardware serial communication ports.
+   * If undefined software serial is used according to the pins below
+   */
+  //#define X_HARDWARE_SERIAL  Serial1
+  //#define Y_HARDWARE_SERIAL  Serial1
+  //#define Z_HARDWARE_SERIAL  Serial1
+  //#define E0_HARDWARE_SERIAL Serial1
+
+  //
+  // Software serial
+  //
+  #define X_SERIAL_TX_PIN                   PC7
+  #define X_SERIAL_RX_PIN                   PC7
+
+  #define Y_SERIAL_TX_PIN                   PD2
+  #define Y_SERIAL_RX_PIN                   PD2
+
+  #define Z_SERIAL_TX_PIN                   PC12
+  #define Z_SERIAL_RX_PIN                   PC12
+
+  #define E0_SERIAL_TX_PIN                  PC11
+  #define E0_SERIAL_RX_PIN                  PC11
+
+  // Reduce baud rate to improve software serial reliability
+  #define TMC_BAUD_RATE 19200
+#endif
+
+//
+// Heaters 0,1 / Fans / Bed
+//
+#define HEATER_0_PIN                        PC9
+#define FAN_PIN                             PA8
+#define HEATER_BED_PIN                      PC8
+
+//
+// Temperature Sensors
+//
+#define TEMP_BED_PIN                        PA1   //TB
+#define TEMP_0_PIN                          PA0   //TH1
+
+#define FIL_RUNOUT_PIN                      PB10  // MT_DET
+
+//
+// LCD Pins
+//
+#if HAS_SPI_LCD
+
+  #define BEEPER_PIN                        PC1
+  #define BTN_ENC                           PC3
+  #define LCD_PINS_ENABLE                   PA4
+  #define LCD_PINS_RS                       PA5
+  #define BTN_EN1                           PB11
+  #define BTN_EN2                           PB0
+
+  // MKS MINI12864 and MKS LCD12864B; If using MKS LCD12864A (Need to remove RPK2 resistor)
+  #if ENABLED(MKS_MINI_12864)
+
+    #define LCD_BACKLIGHT_PIN               -1
+    #define LCD_RESET_PIN                   -1
+    #define DOGLCD_A0                       PC4
+    #define DOGLCD_CS                       PA7
+    #define DOGLCD_SCK                      PB13
+    #define DOGLCD_MOSI                     PB15
+
+    // Required for MKS_MINI_12864 with this board
+    #define MKS_LCD12864B
+    #undef SHOW_BOOTSCREEN
+
+  #else                                           // !MKS_MINI_12864
+
+    #define LCD_PINS_D4                     PA6
+    #if ENABLED(ULTIPANEL)
+      #define LCD_PINS_D5                   PA7
+      #define LCD_PINS_D6                   PC4
+      #define LCD_PINS_D7                   PC5
+    #endif
+
+  #endif // !MKS_MINI_12864
+
+#endif // HAS_SPI_LCD
+
+//
+// SD Card
+//
+#define ENABLE_SPI2
+#define SD_DETECT_PIN                       PC10
+#define SCK_PIN                             PB13
+#define MISO_PIN                            PB14
+#define MOSI_PIN                            PB15
+#define SS_PIN                              PA15
+
+#ifndef ST7920_DELAY_1
+  #define ST7920_DELAY_1           DELAY_NS(125)
+#endif
+#ifndef ST7920_DELAY_2
+  #define ST7920_DELAY_2           DELAY_NS(125)
+#endif
+#ifndef ST7920_DELAY_3
+  #define ST7920_DELAY_3           DELAY_NS(125)
+#endif

buildroot/share/PlatformIO/ldscripts/mks_robin_e3.ld

@@ -0,0 +1,14 @@
+MEMORY
+{
+  ram (rwx) : ORIGIN = 0x20000000, LENGTH = 48K - 40
+  rom (rx)  : ORIGIN = 0x08005000, LENGTH = 256K - 20K
+}
+
+/* Provide memory region aliases for common.inc */
+REGION_ALIAS("REGION_TEXT", rom);
+REGION_ALIAS("REGION_DATA", ram);
+REGION_ALIAS("REGION_BSS", ram);
+REGION_ALIAS("REGION_RODATA", rom);
+
+/* Let common.inc handle the real work. */
+INCLUDE common.inc

buildroot/share/PlatformIO/scripts/mks_robin_e3.py

@@ -0,0 +1,40 @@
+import os
+Import("env")
+
+# Relocate firmware from 0x08000000 to 0x08005000
+for define in env['CPPDEFINES']:
+    if define[0] == "VECT_TAB_ADDR":
+        env['CPPDEFINES'].remove(define)
+env['CPPDEFINES'].append(("VECT_TAB_ADDR", "0x08005000"))
+
+custom_ld_script = os.path.abspath("buildroot/share/PlatformIO/ldscripts/mks_robin_e3.ld")
+for i, flag in enumerate(env["LINKFLAGS"]):
+    if "-Wl,-T" in flag:
+        env["LINKFLAGS"][i] = "-Wl,-T" + custom_ld_script
+    elif flag == "-T":
+        env["LINKFLAGS"][i + 1] = custom_ld_script
+
+
+# Encrypt ${PROGNAME}.bin and save it as 'mksLite.bin'
+def encrypt(source, target, env):
+    import sys
+
+    key = [0xA3, 0xBD, 0xAD, 0x0D, 0x41, 0x11, 0xBB, 0x8D, 0xDC, 0x80, 0x2D, 0xD0, 0xD2, 0xC4, 0x9B, 0x1E, 0x26, 0xEB, 0xE3, 0x33, 0x4A, 0x15, 0xE4, 0x0A, 0xB3, 0xB1, 0x3C, 0x93, 0xBB, 0xAF, 0xF7, 0x3E]
+
+    firmware = open(target[0].path, "rb")
+    robin = open(target[0].dir.path +'/Robin_e3.bin', "wb")
+    length = os.path.getsize(target[0].path)
+    position = 0
+    try:
+        while position < length:
+            byte = firmware.read(1)
+            if position >= 320 and position < 31040:
+                byte = chr(ord(byte) ^ key[position & 31])
+                if sys.version_info[0] > 2:
+                    byte = bytes(byte, 'latin1')
+            robin.write(byte)
+            position += 1
+    finally:
+        firmware.close()
+        robin.close()
+env.AddPostAction("$BUILD_DIR/${PROGNAME}.bin", encrypt);

platformio.ini

@@ -544,6 +544,23 @@ lib_deps      = ${common.lib_deps}
 lib_ignore    = Adafruit NeoPixel, SPI, TMCStepper
 
 #
+# MKS Robin E3D (STM32F103RCT6) and
+# MKS Robin E3 with TMC2209
+#
+[env:mks_robin_e3]
+platform          = ststm32
+board             = genericSTM32F103RC
+platform_packages = tool-stm32duino
+build_flags       = !python Marlin/src/HAL/STM32F1/build_flags.py
+  ${common.build_flags} -DDEBUG_LEVEL=0 -std=gnu++14 -DHAVE_SW_SERIAL -DSS_TIMER=4
+build_unflags     = -std=gnu++11
+extra_scripts     = buildroot/share/PlatformIO/scripts/mks_robin_e3.py
+src_filter        = ${common.default_src_filter} +<src/HAL/STM32F1>
+lib_deps          = ${common.lib_deps}
+  SoftwareSerialM=https://github.com/FYSETC/SoftwareSerialM/archive/master.zip
+lib_ignore        = Adafruit NeoPixel, SPI
+
+#
 # MKS Robin Lite/Lite2 (STM32F103RCT6)
 #
 [env:mks_robin_lite]