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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
- *
- */
- #ifdef ARDUINO_ARCH_ESP32
-
- #include "../../inc/MarlinConfig.h"
-
- #include <rom/rtc.h>
- #include <driver/adc.h>
- #include <esp_adc_cal.h>
- #include <HardwareSerial.h>
-
- #if ENABLED(USE_ESP32_TASK_WDT)
- #include <esp_task_wdt.h>
- #endif
-
- #if ENABLED(WIFISUPPORT)
- #include <ESPAsyncWebServer.h>
- #include "wifi.h"
- #if ENABLED(OTASUPPORT)
- #include "ota.h"
- #endif
- #if ENABLED(WEBSUPPORT)
- #include "spiffs.h"
- #include "web.h"
- #endif
- #endif
-
- #if ENABLED(ESP3D_WIFISUPPORT)
- DefaultSerial1 MSerial0(false, Serial2Socket);
- #endif
-
- // ------------------------
- // Externs
- // ------------------------
-
- portMUX_TYPE MarlinHAL::spinlock = portMUX_INITIALIZER_UNLOCKED;
-
- // ------------------------
- // Local defines
- // ------------------------
-
- #define V_REF 1100
-
- // ------------------------
- // Public Variables
- // ------------------------
-
- uint16_t MarlinHAL::adc_result;
- pwm_pin_t MarlinHAL::pwm_pin_data[MAX_EXPANDER_BITS];
-
- // ------------------------
- // Private Variables
- // ------------------------
-
- esp_adc_cal_characteristics_t characteristics[ADC_ATTEN_MAX];
- adc_atten_t attenuations[ADC1_CHANNEL_MAX] = {};
- uint32_t thresholds[ADC_ATTEN_MAX];
-
- volatile int numPWMUsed = 0;
- volatile struct { pin_t pin; int value; } pwmState[MAX_PWM_PINS];
-
- pin_t chan_pin[CHANNEL_MAX_NUM + 1] = { 0 }; // PWM capable IOpins - not 0 or >33 on ESP32
-
- struct {
- uint32_t freq; // ledcReadFreq doesn't work if a duty hasn't been set yet!
- uint16_t res;
- } pwmInfo[(CHANNEL_MAX_NUM + 1) / 2];
-
- // ------------------------
- // Public functions
- // ------------------------
-
- #if ENABLED(WIFI_CUSTOM_COMMAND)
-
- bool wifi_custom_command(char * const command_ptr) {
- #if ENABLED(ESP3D_WIFISUPPORT)
- return esp3dlib.parse(command_ptr);
- #else
- UNUSED(command_ptr);
- return false;
- #endif
- }
-
- #endif
-
- #if ENABLED(USE_ESP32_EXIO)
-
- HardwareSerial YSerial2(2);
-
- void Write_EXIO(uint8_t IO, uint8_t v) {
- if (hal.isr_state()) {
- hal.isr_off();
- YSerial2.write(0x80 | (((char)v) << 5) | (IO - 100));
- hal.isr_on();
- }
- else
- YSerial2.write(0x80 | (((char)v) << 5) | (IO - 100));
- }
-
- #endif
-
- void MarlinHAL::init_board() {
- #if ENABLED(USE_ESP32_TASK_WDT)
- esp_task_wdt_init(10, true);
- #endif
- #if ENABLED(ESP3D_WIFISUPPORT)
- esp3dlib.init();
- #elif ENABLED(WIFISUPPORT)
- wifi_init();
- TERN_(OTASUPPORT, OTA_init());
- #if ENABLED(WEBSUPPORT)
- spiffs_init();
- web_init();
- #endif
- server.begin();
- #endif
-
- // ESP32 uses a GPIO matrix that allows pins to be assigned to hardware serial ports.
- // The following code initializes hardware Serial1 and Serial2 to use user-defined pins
- // if they have been defined.
- #if defined(HARDWARE_SERIAL1_RX) && defined(HARDWARE_SERIAL1_TX)
- HardwareSerial Serial1(1);
- #ifdef TMC_BAUD_RATE // use TMC_BAUD_RATE for Serial1 if defined
- Serial1.begin(TMC_BAUD_RATE, SERIAL_8N1, HARDWARE_SERIAL1_RX, HARDWARE_SERIAL1_TX);
- #else // use default BAUDRATE if TMC_BAUD_RATE not defined
- Serial1.begin(BAUDRATE, SERIAL_8N1, HARDWARE_SERIAL1_RX, HARDWARE_SERIAL1_TX);
- #endif
- #endif
- #if defined(HARDWARE_SERIAL2_RX) && defined(HARDWARE_SERIAL2_TX)
- HardwareSerial Serial2(2);
- #ifdef TMC_BAUD_RATE // use TMC_BAUD_RATE for Serial1 if defined
- Serial2.begin(TMC_BAUD_RATE, SERIAL_8N1, HARDWARE_SERIAL2_RX, HARDWARE_SERIAL2_TX);
- #else // use default BAUDRATE if TMC_BAUD_RATE not defined
- Serial2.begin(BAUDRATE, SERIAL_8N1, HARDWARE_SERIAL2_RX, HARDWARE_SERIAL2_TX);
- #endif
- #endif
-
- // Initialize the i2s peripheral only if the I2S stepper stream is enabled.
- // The following initialization is performed after Serial1 and Serial2 are defined as
- // their native pins might conflict with the i2s stream even when they are remapped.
- #if ENABLED(USE_ESP32_EXIO)
- YSerial2.begin(460800 * 3, SERIAL_8N1, 16, 17);
- #elif ENABLED(I2S_STEPPER_STREAM)
- i2s_init();
- #endif
- }
-
- void MarlinHAL::idletask() {
- #if BOTH(WIFISUPPORT, OTASUPPORT)
- OTA_handle();
- #endif
- TERN_(ESP3D_WIFISUPPORT, esp3dlib.idletask());
- }
-
- uint8_t MarlinHAL::get_reset_source() { return rtc_get_reset_reason(1); }
-
- void MarlinHAL::reboot() { ESP.restart(); }
-
- void _delay_ms(int delay_ms) { delay(delay_ms); }
-
- // return free memory between end of heap (or end bss) and whatever is current
- int MarlinHAL::freeMemory() { return ESP.getFreeHeap(); }
-
- // ------------------------
- // Watchdog Timer
- // ------------------------
-
- #if ENABLED(USE_WATCHDOG)
-
- #define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout
-
- extern "C" {
- esp_err_t esp_task_wdt_reset();
- }
-
- void watchdogSetup() {
- // do whatever. don't remove this function.
- }
-
- void MarlinHAL::watchdog_init() {
- // TODO
- }
-
- // Reset watchdog.
- void MarlinHAL::watchdog_refresh() { esp_task_wdt_reset(); }
-
- #endif
-
- // ------------------------
- // ADC
- // ------------------------
-
- #define ADC1_CHANNEL(pin) ADC1_GPIO ## pin ## _CHANNEL
-
- adc1_channel_t get_channel(int pin) {
- switch (pin) {
- case 39: return ADC1_CHANNEL(39);
- case 36: return ADC1_CHANNEL(36);
- case 35: return ADC1_CHANNEL(35);
- case 34: return ADC1_CHANNEL(34);
- case 33: return ADC1_CHANNEL(33);
- case 32: return ADC1_CHANNEL(32);
- }
- return ADC1_CHANNEL_MAX;
- }
-
- void adc1_set_attenuation(adc1_channel_t chan, adc_atten_t atten) {
- if (attenuations[chan] != atten) {
- adc1_config_channel_atten(chan, atten);
- attenuations[chan] = atten;
- }
- }
-
- void MarlinHAL::adc_init() {
- // Configure ADC
- adc1_config_width(ADC_WIDTH_12Bit);
-
- // Configure channels only if used as (re-)configuring a pin for ADC that is used elsewhere might have adverse effects
- TERN_(HAS_TEMP_ADC_0, adc1_set_attenuation(get_channel(TEMP_0_PIN), ADC_ATTEN_11db));
- TERN_(HAS_TEMP_ADC_1, adc1_set_attenuation(get_channel(TEMP_1_PIN), ADC_ATTEN_11db));
- TERN_(HAS_TEMP_ADC_2, adc1_set_attenuation(get_channel(TEMP_2_PIN), ADC_ATTEN_11db));
- TERN_(HAS_TEMP_ADC_3, adc1_set_attenuation(get_channel(TEMP_3_PIN), ADC_ATTEN_11db));
- TERN_(HAS_TEMP_ADC_4, adc1_set_attenuation(get_channel(TEMP_4_PIN), ADC_ATTEN_11db));
- TERN_(HAS_TEMP_ADC_5, adc1_set_attenuation(get_channel(TEMP_5_PIN), ADC_ATTEN_11db));
- TERN_(HAS_TEMP_ADC_6, adc2_set_attenuation(get_channel(TEMP_6_PIN), ADC_ATTEN_11db));
- TERN_(HAS_TEMP_ADC_7, adc3_set_attenuation(get_channel(TEMP_7_PIN), ADC_ATTEN_11db));
- TERN_(HAS_HEATED_BED, adc1_set_attenuation(get_channel(TEMP_BED_PIN), ADC_ATTEN_11db));
- TERN_(HAS_TEMP_CHAMBER, adc1_set_attenuation(get_channel(TEMP_CHAMBER_PIN), ADC_ATTEN_11db));
- TERN_(HAS_TEMP_PROBE, adc1_set_attenuation(get_channel(TEMP_PROBE_PIN), ADC_ATTEN_11db));
- TERN_(HAS_TEMP_COOLER, adc1_set_attenuation(get_channel(TEMP_COOLER_PIN), ADC_ATTEN_11db));
- TERN_(HAS_TEMP_BOARD, adc1_set_attenuation(get_channel(TEMP_BOARD_PIN), ADC_ATTEN_11db));
- TERN_(FILAMENT_WIDTH_SENSOR, adc1_set_attenuation(get_channel(FILWIDTH_PIN), ADC_ATTEN_11db));
-
- // Note that adc2 is shared with the WiFi module, which has higher priority, so the conversion may fail.
- // That's why we're not setting it up here.
-
- // Calculate ADC characteristics (i.e., gain and offset factors for each attenuation level)
- for (int i = 0; i < ADC_ATTEN_MAX; i++) {
- esp_adc_cal_characterize(ADC_UNIT_1, (adc_atten_t)i, ADC_WIDTH_BIT_12, V_REF, &characteristics[i]);
-
- // Change attenuation 100mV below the calibrated threshold
- thresholds[i] = esp_adc_cal_raw_to_voltage(4095, &characteristics[i]);
- }
- }
-
- #ifndef ADC_REFERENCE_VOLTAGE
- #define ADC_REFERENCE_VOLTAGE 3.3
- #endif
-
- void MarlinHAL::adc_start(const pin_t pin) {
- const adc1_channel_t chan = get_channel(pin);
- uint32_t mv;
- esp_adc_cal_get_voltage((adc_channel_t)chan, &characteristics[attenuations[chan]], &mv);
-
- adc_result = mv * isr_float_t(1023) / isr_float_t(ADC_REFERENCE_VOLTAGE) / isr_float_t(1000);
-
- // Change the attenuation level based on the new reading
- adc_atten_t atten;
- if (mv < thresholds[ADC_ATTEN_DB_0] - 100)
- atten = ADC_ATTEN_DB_0;
- else if (mv > thresholds[ADC_ATTEN_DB_0] - 50 && mv < thresholds[ADC_ATTEN_DB_2_5] - 100)
- atten = ADC_ATTEN_DB_2_5;
- else if (mv > thresholds[ADC_ATTEN_DB_2_5] - 50 && mv < thresholds[ADC_ATTEN_DB_6] - 100)
- atten = ADC_ATTEN_DB_6;
- else if (mv > thresholds[ADC_ATTEN_DB_6] - 50)
- atten = ADC_ATTEN_DB_11;
- else return;
-
- adc1_set_attenuation(chan, atten);
- }
-
- // ------------------------
- // PWM
- // ------------------------
-
- int8_t channel_for_pin(const uint8_t pin) {
- for (int i = 0; i <= CHANNEL_MAX_NUM; i++)
- if (chan_pin[i] == pin) return i;
- return -1;
- }
-
- // get PWM channel for pin - if none then attach a new one
- // return -1 if fail or invalid pin#, channel # (0-15) if success
- int8_t get_pwm_channel(const pin_t pin, const uint32_t freq, const uint16_t res) {
- if (!WITHIN(pin, 1, MAX_PWM_IOPIN)) return -1; // Not a hardware PWM pin!
- int8_t cid = channel_for_pin(pin);
- if (cid >= 0) return cid;
-
- // Find an empty adjacent channel (same timer & freq/res)
- for (int i = 0; i <= CHANNEL_MAX_NUM; i++) {
- if (chan_pin[i] == 0) {
- if (chan_pin[i ^ 0x1] != 0) {
- if (pwmInfo[i / 2].freq == freq && pwmInfo[i / 2].res == res) {
- chan_pin[i] = pin; // Allocate PWM to this channel
- ledcAttachPin(pin, i);
- return i;
- }
- }
- else if (cid == -1) // Pair of empty channels?
- cid = i & 0xFE; // Save lower channel number
- }
- }
- // not attached, is an empty timer slot avail?
- if (cid >= 0) {
- chan_pin[cid] = pin;
- pwmInfo[cid / 2].freq = freq;
- pwmInfo[cid / 2].res = res;
- ledcSetup(cid, freq, res);
- ledcAttachPin(pin, cid);
- }
- return cid; // -1 if no channel avail
- }
-
- void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=_BV(PWM_RESOLUTION)-1*/, const bool invert/*=false*/) {
- #if ENABLED(I2S_STEPPER_STREAM)
- if (pin > 127) {
- const uint8_t pinlo = pin & 0x7F;
- pwm_pin_t &pindata = pwm_pin_data[pinlo];
- const uint32_t duty = map(invert ? v_size - v : v, 0, v_size, 0, pindata.pwm_cycle_ticks);
- if (duty == 0 || duty == pindata.pwm_cycle_ticks) { // max or min (i.e., on/off)
- pindata.pwm_duty_ticks = 0; // turn off PWM for this pin
- duty ? SBI32(i2s_port_data, pinlo) : CBI32(i2s_port_data, pinlo); // set pin level
- }
- else
- pindata.pwm_duty_ticks = duty; // PWM duty count = # of 4µs ticks per full PWM cycle
- }
- else
- #endif
- {
- const int8_t cid = get_pwm_channel(pin, PWM_FREQUENCY, PWM_RESOLUTION);
- if (cid >= 0) {
- const uint32_t duty = map(invert ? v_size - v : v, 0, v_size, 0, _BV(PWM_RESOLUTION)-1);
- ledcWrite(cid, duty);
- }
- }
- }
-
- int8_t MarlinHAL::set_pwm_frequency(const pin_t pin, const uint32_t f_desired) {
- #if ENABLED(I2S_STEPPER_STREAM)
- if (pin > 127) {
- pwm_pin_data[pin & 0x7F].pwm_cycle_ticks = 1000000UL / f_desired / 4; // # of 4µs ticks per full PWM cycle
- return 0;
- }
- else
- #endif
- {
- const int8_t cid = channel_for_pin(pin);
- if (cid >= 0) {
- if (f_desired == ledcReadFreq(cid)) return cid; // no freq change
- ledcDetachPin(chan_pin[cid]);
- chan_pin[cid] = 0; // remove old freq channel
- }
- return get_pwm_channel(pin, f_desired, PWM_RESOLUTION); // try for new one
- }
- }
-
- // use hardware PWM if avail, if not then ISR
- void analogWrite(const pin_t pin, const uint16_t value, const uint32_t freq/*=PWM_FREQUENCY*/, const uint16_t res/*=8*/) { // always 8 bit resolution!
- // Use ledc hardware for internal pins
- const int8_t cid = get_pwm_channel(pin, freq, res);
- if (cid >= 0) {
- ledcWrite(cid, value); // set duty value
- return;
- }
-
- // not a hardware PWM pin OR no PWM channels available
- int idx = -1;
-
- // Search Pin
- for (int i = 0; i < numPWMUsed; ++i)
- if (pwmState[i].pin == pin) { idx = i; break; }
-
- // not found ?
- if (idx < 0) {
- // No slots remaining
- if (numPWMUsed >= MAX_PWM_PINS) return;
-
- // Take new slot for pin
- idx = numPWMUsed;
- pwmState[idx].pin = pin;
- // Start timer on first use
- if (idx == 0) HAL_timer_start(MF_TIMER_PWM, PWM_TIMER_FREQUENCY);
-
- ++numPWMUsed;
- }
-
- // Use 7bit internal value - add 1 to have 100% high at 255
- pwmState[idx].value = (value + 1) / 2;
- }
-
- // Handle PWM timer interrupt
- HAL_PWM_TIMER_ISR() {
- HAL_timer_isr_prologue(MF_TIMER_PWM);
-
- static uint8_t count = 0;
-
- for (int i = 0; i < numPWMUsed; ++i) {
- if (count == 0) // Start of interval
- digitalWrite(pwmState[i].pin, pwmState[i].value ? HIGH : LOW);
- else if (pwmState[i].value == count) // End of duration
- digitalWrite(pwmState[i].pin, LOW);
- }
-
- // 128 for 7 Bit resolution
- count = (count + 1) & 0x7F;
-
- HAL_timer_isr_epilogue(MF_TIMER_PWM);
- }
-
- #endif // ARDUINO_ARCH_ESP32
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