marlin/Marlin/src/HAL/AVR/HAL.h

/**
 * Marlin 3D Printer Firmware
 * Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
 *
 */
#pragma once

/**
 * HAL for Arduino AVR
 */

#include "../shared/Marduino.h"
#include "../shared/HAL_SPI.h"
#include "fastio.h"
#include "math.h"

#ifdef USBCON
  #include <HardwareSerial.h>
#else
  #include "MarlinSerial.h"
  #define BOARD_NO_NATIVE_USB
#endif

#include <stdint.h>
#include <util/delay.h>
#include <avr/eeprom.h>
#include <avr/pgmspace.h>
#include <avr/interrupt.h>
#include <avr/io.h>

//
// Default graphical display delays
//
#if F_CPU >= 20000000
  #define CPU_ST7920_DELAY_1 150
  #define CPU_ST7920_DELAY_2   0
  #define CPU_ST7920_DELAY_3 150
#elif F_CPU == 16000000
  #define CPU_ST7920_DELAY_1 125
  #define CPU_ST7920_DELAY_2   0
  #define CPU_ST7920_DELAY_3 188
#endif

#ifndef pgm_read_ptr
  // Compatibility for avr-libc 1.8.0-4.1 included with Ubuntu for
  // Windows Subsystem for Linux on Windows 10 as of 10/18/2019
  #define pgm_read_ptr_far(address_long) (void*)__ELPM_word((uint32_t)(address_long))
  #define pgm_read_ptr_near(address_short) (void*)__LPM_word((uint16_t)(address_short))
  #define pgm_read_ptr(address_short) pgm_read_ptr_near(address_short)
#endif

// ------------------------
// Defines
// ------------------------

// AVR PROGMEM extension for sprintf_P
#define S_FMT "%S"

// AVR PROGMEM extension for string define
#define PGMSTR(NAM,STR) const char NAM[] PROGMEM = STR

#ifndef CRITICAL_SECTION_START
  #define CRITICAL_SECTION_START()  unsigned char _sreg = SREG; cli()
  #define CRITICAL_SECTION_END()    SREG = _sreg
#endif

#define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
#define PWM_FREQUENCY 1000     // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency()

// ------------------------
// Types
// ------------------------

typedef int8_t pin_t;

#define SHARED_SERVOS HAS_SERVOS  // Use shared/servos.cpp

class Servo;
typedef Servo hal_servo_t;

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

#ifdef USBCON
  #include "../../core/serial_hook.h"
  typedef ForwardSerial1Class< decltype(Serial) > DefaultSerial1;
  extern DefaultSerial1 MSerial0;
  #ifdef BLUETOOTH
    typedef ForwardSerial1Class< decltype(bluetoothSerial) > BTSerial;
    extern BTSerial btSerial;
  #endif

  #define MYSERIAL1 TERN(BLUETOOTH, btSerial, MSerial0)
#else
  #if !WITHIN(SERIAL_PORT, 0, 3)
    #error "SERIAL_PORT must be from 0 to 3."
  #endif
  #define MYSERIAL1 customizedSerial1

  #ifdef SERIAL_PORT_2
    #if !WITHIN(SERIAL_PORT_2, 0, 3)
      #error "SERIAL_PORT_2 must be from 0 to 3."
    #endif
    #define MYSERIAL2 customizedSerial2
  #endif

  #ifdef SERIAL_PORT_3
    #if !WITHIN(SERIAL_PORT_3, 0, 3)
      #error "SERIAL_PORT_3 must be from 0 to 3."
    #endif
    #define MYSERIAL3 customizedSerial3
  #endif
#endif

#ifdef MMU2_SERIAL_PORT
  #if !WITHIN(MMU2_SERIAL_PORT, 0, 3)
    #error "MMU2_SERIAL_PORT must be from 0 to 3"
  #endif
  #define MMU2_SERIAL mmuSerial
#endif

#ifdef LCD_SERIAL_PORT
  #if !WITHIN(LCD_SERIAL_PORT, 0, 3)
    #error "LCD_SERIAL_PORT must be from 0 to 3."
  #endif
  #define LCD_SERIAL lcdSerial
  #if HAS_DGUS_LCD
    #define SERIAL_GET_TX_BUFFER_FREE() LCD_SERIAL.get_tx_buffer_free()
  #endif
#endif

//
// ADC
//
#define HAL_ADC_VREF        5.0
#define HAL_ADC_RESOLUTION 10

//
// Pin Mapping for M42, M43, M226
//
#define GET_PIN_MAP_PIN(index) index
#define GET_PIN_MAP_INDEX(pin) pin
#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)

#define HAL_SENSITIVE_PINS 0, 1,

#ifdef __AVR_AT90USB1286__
  #define JTAG_DISABLE() do{ MCUCR = 0x80; MCUCR = 0x80; }while(0)
#endif

// AVR compatibility
#define strtof strtod

// ------------------------
// Free Memory Accessor
// ------------------------

#pragma GCC diagnostic push
#if GCC_VERSION <= 50000
  #pragma GCC diagnostic ignored "-Wunused-function"
#endif

extern "C" int freeMemory();

#pragma GCC diagnostic pop

// ------------------------
// MarlinHAL Class
// ------------------------

class MarlinHAL {
public:

  // Earliest possible init, before setup()
  MarlinHAL() {}

  // Watchdog
  static void watchdog_init()    IF_DISABLED(USE_WATCHDOG, {});
  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});

  static void init();          // Called early in setup()
  static void init_board() {}  // Called less early in setup()
  static void reboot();        // Restart the firmware from 0x0

  // Interrupts
  static bool isr_state() { return TEST(SREG, SREG_I); }
  static void isr_on()  { sei(); }
  static void isr_off() { cli(); }

  static void delay_ms(const int ms) { _delay_ms(ms); }

  // Tasks, called from idle()
  static void idletask() {}

  // Reset
  static uint8_t reset_reason;
  static uint8_t get_reset_source() { return reset_reason; }
  static void clear_reset_source() { MCUSR = 0; }

  // Free SRAM
  static int freeMemory() { return ::freeMemory(); }

  //
  // ADC Methods
  //

  // Called by Temperature::init once at startup
  static void adc_init() {
    ADCSRA = _BV(ADEN) | _BV(ADSC) | _BV(ADIF) | 0x07;
    DIDR0 = 0;
    #ifdef DIDR2
      DIDR2 = 0;
    #endif
  }

  // Called by Temperature::init for each sensor at startup
  static void adc_enable(const uint8_t ch) {
    #ifdef DIDR2
      if (ch > 7) { SBI(DIDR2, ch & 0x07); return; }
    #endif
    SBI(DIDR0, ch);
  }

  // Begin ADC sampling on the given channel. Called from Temperature::isr!
  static void adc_start(const uint8_t ch) {
    #ifdef MUX5
      ADCSRB = ch > 7 ? _BV(MUX5) : 0;
    #else
      ADCSRB = 0;
    #endif
    ADMUX = _BV(REFS0) | (ch & 0x07);
    SBI(ADCSRA, ADSC);
  }

  // Is the ADC ready for reading?
  static bool adc_ready() { return !TEST(ADCSRA, ADSC); }

  // The current value of the ADC register
  static __typeof__(ADC) adc_value() { return ADC; }

  /**
   * init_pwm_timers
   * Set the default frequency for timers 2-5 to 1000HZ
   */
  static void init_pwm_timers();

  /**
   * Set the PWM duty cycle for the pin to the given value.
   * Optionally invert the duty cycle [default = false]
   * Optionally change the scale of the provided value to enable finer PWM duty control [default = 255]
   */
  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);

  /**
   * Set the frequency of the timer for the given pin as close as
   * possible to the provided desired frequency. Internally calculate
   * the required waveform generation mode, prescaler, and resolution
   * values and set timer registers accordingly.
   * NOTE that the frequency is applied to all pins on the timer (Ex OC3A, OC3B and OC3B)
   * NOTE that there are limitations, particularly if using TIMER2. (see Configuration_adv.h -> FAST_PWM_FAN Settings)
   */
  static void set_pwm_frequency(const pin_t pin, const uint16_t f_desired);
};