From ea39d3c45e0a9076f2cd74702af96b2a9d3c43cc Mon Sep 17 00:00:00 2001 From: bilsef Date: Wed, 9 Sep 2020 16:57:20 -0700 Subject: [PATCH] Support for Teensy 4 (#19311) --- Marlin/src/HAL/TEENSY40_41/HAL.cpp | 167 ++++++++++++++++ Marlin/src/HAL/TEENSY40_41/HAL.h | 180 ++++++++++++++++++ Marlin/src/HAL/TEENSY40_41/HAL_SPI.cpp | 138 ++++++++++++++ Marlin/src/HAL/TEENSY40_41/Servo.cpp | 57 ++++++ Marlin/src/HAL/TEENSY40_41/Servo.h | 39 ++++ Marlin/src/HAL/TEENSY40_41/eeprom.cpp | 77 ++++++++ .../src/HAL/TEENSY40_41/endstop_interrupts.h | 66 +++++++ Marlin/src/HAL/TEENSY40_41/fastio.h | 58 ++++++ .../HAL/TEENSY40_41/inc/Conditionals_LCD.h | 26 +++ .../HAL/TEENSY40_41/inc/Conditionals_adv.h | 22 +++ .../HAL/TEENSY40_41/inc/Conditionals_post.h | 26 +++ Marlin/src/HAL/TEENSY40_41/inc/SanityCheck.h | 38 ++++ Marlin/src/HAL/TEENSY40_41/pinsDebug.h | 146 ++++++++++++++ Marlin/src/HAL/TEENSY40_41/spi_pins.h | 27 +++ Marlin/src/HAL/TEENSY40_41/timers.cpp | 114 +++++++++++ Marlin/src/HAL/TEENSY40_41/timers.h | 119 ++++++++++++ Marlin/src/HAL/TEENSY40_41/watchdog.cpp | 52 +++++ Marlin/src/HAL/TEENSY40_41/watchdog.h | 30 +++ Marlin/src/HAL/platforms.h | 2 + .../src/HAL/shared/backtrace/unwmemaccess.cpp | 13 ++ Marlin/src/HAL/shared/servo.h | 2 + Marlin/src/core/boards.h | 5 + Marlin/src/libs/private_spi.h | 2 +- Marlin/src/module/motion.h | 16 +- Marlin/src/pins/pins.h | 4 + Marlin/src/pins/teensy4/pins_T41U5XBB.h | 119 ++++++++++++ Marlin/src/pins/teensy4/pins_TEENSY41.h | 129 +++++++++++++ README.md | 7 + buildroot/share/git/mftest | 4 +- buildroot/tests/teensy41-tests | 123 ++++++++++++ platformio.ini | 13 ++ 31 files changed, 1814 insertions(+), 7 deletions(-) create mode 100644 Marlin/src/HAL/TEENSY40_41/HAL.cpp create mode 100644 Marlin/src/HAL/TEENSY40_41/HAL.h create mode 100644 Marlin/src/HAL/TEENSY40_41/HAL_SPI.cpp create mode 100644 Marlin/src/HAL/TEENSY40_41/Servo.cpp create mode 100644 Marlin/src/HAL/TEENSY40_41/Servo.h create mode 100644 Marlin/src/HAL/TEENSY40_41/eeprom.cpp create mode 100644 Marlin/src/HAL/TEENSY40_41/endstop_interrupts.h create mode 100644 Marlin/src/HAL/TEENSY40_41/fastio.h create mode 100644 Marlin/src/HAL/TEENSY40_41/inc/Conditionals_LCD.h create mode 100644 Marlin/src/HAL/TEENSY40_41/inc/Conditionals_adv.h create mode 100644 Marlin/src/HAL/TEENSY40_41/inc/Conditionals_post.h create mode 100644 Marlin/src/HAL/TEENSY40_41/inc/SanityCheck.h create mode 100644 Marlin/src/HAL/TEENSY40_41/pinsDebug.h create mode 100644 Marlin/src/HAL/TEENSY40_41/spi_pins.h create mode 100644 Marlin/src/HAL/TEENSY40_41/timers.cpp create mode 100644 Marlin/src/HAL/TEENSY40_41/timers.h create mode 100644 Marlin/src/HAL/TEENSY40_41/watchdog.cpp create mode 100644 Marlin/src/HAL/TEENSY40_41/watchdog.h create mode 100644 Marlin/src/pins/teensy4/pins_T41U5XBB.h create mode 100644 Marlin/src/pins/teensy4/pins_TEENSY41.h create mode 100644 buildroot/tests/teensy41-tests diff --git a/Marlin/src/HAL/TEENSY40_41/HAL.cpp b/Marlin/src/HAL/TEENSY40_41/HAL.cpp new file mode 100644 index 0000000000..f5d37f5fc4 --- /dev/null +++ b/Marlin/src/HAL/TEENSY40_41/HAL.cpp @@ -0,0 +1,167 @@ +/** + * 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 . + * + */ + +/** + * Description: HAL for Teensy40 (IMXRT1062) + */ + +#ifdef __IMXRT1062__ + +#include "HAL.h" +#include "../shared/Delay.h" +#include "timers.h" + +#include + +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) ; +} + +void HAL_clear_reset_source() { + uint32_t reset_source = SRC_SRSR; + SRC_SRSR = reset_source; + } + +uint8_t HAL_get_reset_source() { + switch (SRC_SRSR & 0xFF) { + case 1: return RST_POWER_ON; break; + case 2: return RST_SOFTWARE; break; + case 4: return RST_EXTERNAL; break; + // case 8: return RST_BROWN_OUT; break; + case 16: return RST_WATCHDOG; break; + case 64: return RST_JTAG; break; + // case 128: return RST_OVERTEMP; break; + } + return 0; +} + +#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; + 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 HAL_adc_start_conversion(const uint8_t adc_pin) { + const uint16_t pin = pin2sc1a[adc_pin]; + if (pin == 0xFF) { + HAL_adc_select = -1; // Digital only + } + else if (pin & 0x80) { + HAL_adc_select = 1; + ADC2_HC0 = pin & 0x7F; + } + else { + HAL_adc_select = 0; + ADC1_HC0 = pin; + } +} + +uint16_t HAL_adc_get_result() { + switch (HAL_adc_select) { + case 0: + while (!(ADC1_HS & ADC_HS_COCO0)) ; // wait + return ADC1_R0; + case 1: + while (!(ADC2_HS & ADC_HS_COCO0)) ; // wait + return ADC2_R0; + } + return 0; +} + +bool is_output(uint8_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__ diff --git a/Marlin/src/HAL/TEENSY40_41/HAL.h b/Marlin/src/HAL/TEENSY40_41/HAL.h new file mode 100644 index 0000000000..0626d4ee9c --- /dev/null +++ b/Marlin/src/HAL/TEENSY40_41/HAL.h @@ -0,0 +1,180 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com + * Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.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 . + * + */ +#pragma once + +/** + * Description: HAL for Teensy 4.0 and Teensy 4.1 + */ + +#define CPU_32_BIT + +#include "../shared/Marduino.h" +#include "../shared/math_32bit.h" +#include "../shared/HAL_SPI.h" + +#include "fastio.h" +#include "watchdog.h" + +#include +#include + +//#define ST7920_DELAY_1 DELAY_NS(600) +//#define ST7920_DELAY_2 DELAY_NS(750) +//#define ST7920_DELAY_3 DELAY_NS(750) + +// ------------------------ +// Defines +// ------------------------ + +#ifdef __IMXRT1062__ + #define IS_32BIT_TEENSY 1 + #define IS_TEENSY41 1 +#endif + +#if SERIAL_PORT == -1 + #define MYSERIAL0 SerialUSB +#elif SERIAL_PORT == 0 + #define MYSERIAL0 Serial +#elif SERIAL_PORT == 1 + #define MYSERIAL0 Serial1 +#elif SERIAL_PORT == 2 + #define MYSERIAL0 Serial2 +#elif SERIAL_PORT == 3 + #define MYSERIAL0 Serial3 +#elif SERIAL_PORT == 4 + #define MYSERIAL0 Serial4 +#elif SERIAL_PORT == 5 + #define MYSERIAL0 Serial5 +#elif SERIAL_PORT == 6 + #define MYSERIAL0 Serial6 +#elif SERIAL_PORT == 7 + #define MYSERIAL0 Serial7 +#elif SERIAL_PORT == 8 + #define MYSERIAL0 Serial8 +#else + #error "The required SERIAL_PORT must be from -1 to 8. Please update your configuration." +#endif + +#ifdef SERIAL_PORT_2 + #if SERIAL_PORT_2 == SERIAL_PORT + #error "SERIAL_PORT_2 must be different from SERIAL_PORT. Please update your configuration." + #elif SERIAL_PORT_2 == -1 + #define MYSERIAL1 usbSerial + #elif SERIAL_PORT_2 == 0 + #define MYSERIAL1 Serial + #elif SERIAL_PORT_2 == 1 + #define MYSERIAL1 Serial1 + #elif SERIAL_PORT_2 == 2 + #define MYSERIAL1 Serial2 + #elif SERIAL_PORT_2 == 3 + #define MYSERIAL1 Serial3 + #elif SERIAL_PORT_2 == 4 + #define MYSERIAL1 Serial4 + #elif SERIAL_PORT_2 == 5 + #define MYSERIAL1 Serial5 + #elif SERIAL_PORT_2 == 6 + #define MYSERIAL1 Serial6 + #elif SERIAL_PORT_2 == 7 + #define MYSERIAL1 Serial7 + #elif SERIAL_PORT_2 == 8 + #define MYSERIAL1 Serial8 + #else + #error "SERIAL_PORT_2 must be from -1 to 8. Please update your configuration." + #endif + #define NUM_SERIAL 2 +#else + #define NUM_SERIAL 1 +#endif + +#define HAL_SERVO_LIB libServo + +typedef int8_t pin_t; + +#ifndef analogInputToDigitalPin + #define analogInputToDigitalPin(p) ((p < 12u) ? (p) + 54u : -1) +#endif + +#define CRITICAL_SECTION_START() uint32_t primask = __get_primask(); __disable_irq() +#define CRITICAL_SECTION_END() if (!primask) __enable_irq() +#define ISRS_ENABLED() (!__get_primask()) +#define ENABLE_ISRS() __enable_irq() +#define DISABLE_ISRS() __disable_irq() + +#undef sq +#define sq(x) ((x)*(x)) + +#ifndef strncpy_P + #define strncpy_P(dest, src, num) strncpy((dest), (src), (num)) +#endif + +// Don't place string constants in PROGMEM +#undef PSTR +#define PSTR(str) ({static const char *data = (str); &data[0];}) + +// Fix bug in pgm_read_ptr +#undef pgm_read_ptr +#define pgm_read_ptr(addr) (*((void**)(addr))) +// Add type-checking to pgm_read_word +#undef pgm_read_word +#define pgm_read_word(addr) (*((uint16_t*)(addr))) + +// Enable hooks into idle and setup for HAL +#define HAL_IDLETASK 1 +FORCE_INLINE void HAL_idletask() {} +FORCE_INLINE void HAL_init() {} + +// Clear reset reason +void HAL_clear_reset_source(); + +// Reset reason +uint8_t HAL_get_reset_source(); + +FORCE_INLINE void _delay_ms(const int delay_ms) { delay(delay_ms); } + +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wunused-function" +extern "C" { + uint32_t freeMemory(); +} +#pragma GCC diagnostic pop + +// ADC + +void HAL_adc_init(); + +#define HAL_ADC_VREF 3.3 +#define HAL_ADC_RESOLUTION 10 +#define HAL_ADC_FILTERED // turn off ADC oversampling +#define HAL_START_ADC(pin) HAL_adc_start_conversion(pin) +#define HAL_READ_ADC() HAL_adc_get_result() +#define HAL_ADC_READY() true + +#define HAL_ANALOG_SELECT(pin) + +void HAL_adc_start_conversion(const uint8_t adc_pin); +uint16_t HAL_adc_get_result(); + +#define GET_PIN_MAP_PIN(index) index +#define GET_PIN_MAP_INDEX(pin) pin +#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval) + +bool is_output(uint8_t pin); diff --git a/Marlin/src/HAL/TEENSY40_41/HAL_SPI.cpp b/Marlin/src/HAL/TEENSY40_41/HAL_SPI.cpp new file mode 100644 index 0000000000..9ccbb3a1f4 --- /dev/null +++ b/Marlin/src/HAL/TEENSY40_41/HAL_SPI.cpp @@ -0,0 +1,138 @@ +/** + * 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 . + * + */ +#ifdef __IMXRT1062__ + +#include "HAL.h" +#include +#include +#include "spi_pins.h" +#include "../../core/macros.h" + +static SPISettings spiConfig; + +// ------------------------ +// Public functions +// ------------------------ + +#if ENABLED(SOFTWARE_SPI) + // ------------------------ + // Software SPI + // ------------------------ + #error "Software SPI not supported for Teensy 4. Use Hardware SPI." +#else + +// ------------------------ +// Hardware SPI +// ------------------------ + +void spiBegin() { + #ifndef SS_PIN + #error "SS_PIN is not defined!" + #endif + + OUT_WRITE(SS_PIN, HIGH); + + //SET_OUTPUT(SCK_PIN); + //SET_INPUT(MISO_PIN); + //SET_OUTPUT(MOSI_PIN); + + #if 0 && DISABLED(SOFTWARE_SPI) + // set SS high - may be chip select for another SPI device + #if SET_SPI_SS_HIGH + WRITE(SS_PIN, HIGH); + #endif + // set a default rate + spiInit(SPI_HALF_SPEED); // 1 + #endif +} + +void spiInit(uint8_t spiRate) { + // Use Marlin data-rates + uint32_t clock; + switch (spiRate) { + case SPI_FULL_SPEED: clock = 10000000; break; + case SPI_HALF_SPEED: clock = 5000000; break; + case SPI_QUARTER_SPEED: clock = 2500000; break; + case SPI_EIGHTH_SPEED: clock = 1250000; break; + case SPI_SPEED_5: clock = 625000; break; + case SPI_SPEED_6: clock = 312500; break; + default: + clock = 4000000; // Default from the SPI libarary + } + spiConfig = SPISettings(clock, MSBFIRST, SPI_MODE0); + SPI.begin(); +} + +uint8_t spiRec() { + SPI.beginTransaction(spiConfig); + uint8_t returnByte = SPI.transfer(0xFF); + SPI.endTransaction(); + return returnByte; + //SPDR = 0xFF; + //while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ } + //return SPDR; +} + +void spiRead(uint8_t* buf, uint16_t nbyte) { + SPI.beginTransaction(spiConfig); + SPI.transfer(buf, nbyte); + SPI.endTransaction(); + //if (nbyte-- == 0) return; + // SPDR = 0xFF; + //for (uint16_t i = 0; i < nbyte; i++) { + // while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ } + // buf[i] = SPDR; + // SPDR = 0xFF; + //} + //while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ } + //buf[nbyte] = SPDR; +} + +void spiSend(uint8_t b) { + SPI.beginTransaction(spiConfig); + SPI.transfer(b); + SPI.endTransaction(); + //SPDR = b; + //while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ } +} + +void spiSendBlock(uint8_t token, const uint8_t* buf) { + SPI.beginTransaction(spiConfig); + SPDR = token; + for (uint16_t i = 0; i < 512; i += 2) { + while (!TEST(SPSR, SPIF)) { /* nada */ }; + SPDR = buf[i]; + while (!TEST(SPSR, SPIF)) { /* nada */ }; + SPDR = buf[i + 1]; + } + while (!TEST(SPSR, SPIF)) { /* nada */ }; + SPI.endTransaction(); +} + +// Begin SPI transaction, set clock, bit order, data mode +void spiBeginTransaction(uint32_t spiClock, uint8_t bitOrder, uint8_t dataMode) { + spiConfig = SPISettings(spiClock, bitOrder, dataMode); + SPI.beginTransaction(spiConfig); +} + +#endif // SOFTWARE_SPI +#endif // __IMXRT1062__ diff --git a/Marlin/src/HAL/TEENSY40_41/Servo.cpp b/Marlin/src/HAL/TEENSY40_41/Servo.cpp new file mode 100644 index 0000000000..e3d0d03449 --- /dev/null +++ b/Marlin/src/HAL/TEENSY40_41/Servo.cpp @@ -0,0 +1,57 @@ +/** + * 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 . + * + */ +#ifdef __IMXRT1062__ + +#include "../../inc/MarlinConfig.h" + +#if HAS_SERVOS + +#include "Servo.h" + +int8_t libServo::attach(const int inPin) { + if (inPin > 0) servoPin = inPin; + return super::attach(servoPin); +} + +int8_t libServo::attach(const int inPin, const int inMin, const int inMax) { + if (inPin > 0) servoPin = inPin; + return super::attach(servoPin, inMin, inMax); +} + +void libServo::move(const int value) { + constexpr uint16_t servo_delay[] = SERVO_DELAY; + static_assert(COUNT(servo_delay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long."); + if (attach(0) >= 0) { + write(value); + safe_delay(servo_delay[servoIndex]); + TERN_(DEACTIVATE_SERVOS_AFTER_MOVE, detach()); + } +} + +void libServo::detach() { + // PWMServo library does not have detach() function + //super::detach(); +} + +#endif // HAS_SERVOS + +#endif // __IMXRT1062__ diff --git a/Marlin/src/HAL/TEENSY40_41/Servo.h b/Marlin/src/HAL/TEENSY40_41/Servo.h new file mode 100644 index 0000000000..ce910ed8a8 --- /dev/null +++ b/Marlin/src/HAL/TEENSY40_41/Servo.h @@ -0,0 +1,39 @@ +/** + * 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 . + * + */ +#pragma once + +#include + +// Inherit and expand on core Servo library +class libServo : public PWMServo { + public: + int8_t attach(const int pin); + int8_t attach(const int pin, const int min, const int max); + void move(const int value); + void detach(void); + private: + typedef PWMServo super; + uint8_t servoPin; + uint16_t min_ticks; + uint16_t max_ticks; + uint8_t servoIndex; // Index into the channel data for this servo +}; diff --git a/Marlin/src/HAL/TEENSY40_41/eeprom.cpp b/Marlin/src/HAL/TEENSY40_41/eeprom.cpp new file mode 100644 index 0000000000..5491e04fbc --- /dev/null +++ b/Marlin/src/HAL/TEENSY40_41/eeprom.cpp @@ -0,0 +1,77 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com + * Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com + * Copyright (c) 2016 Victor Perez victor_pv@hotmail.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 . + * + */ +#ifdef __IMXRT1062__ + +#include "../../inc/MarlinConfig.h" + +#if USE_WIRED_EEPROM + +/** + * PersistentStore for Arduino-style EEPROM interface + * with implementations supplied by the framework. + */ + +#include "../shared/eeprom_api.h" +#include + +#ifndef MARLIN_EEPROM_SIZE + #define MARLIN_EEPROM_SIZE size_t(E2END + 1) +#endif +size_t PersistentStore::capacity() { return MARLIN_EEPROM_SIZE; } + +bool PersistentStore::access_start() { return true; } +bool PersistentStore::access_finish() { return true; } + +bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) { + while (size--) { + uint8_t * const p = (uint8_t * const)pos; + uint8_t v = *value; + // EEPROM has only ~100,000 write cycles, + // so only write bytes that have changed! + if (v != eeprom_read_byte(p)) { + eeprom_write_byte(p, v); + if (eeprom_read_byte(p) != v) { + SERIAL_ECHO_MSG(STR_ERR_EEPROM_WRITE); + return true; + } + } + crc16(crc, &v, 1); + pos++; + value++; + } + return false; +} + +bool PersistentStore::read_data(int &pos, uint8_t* value, size_t size, uint16_t *crc, const bool writing/*=true*/) { + do { + uint8_t c = eeprom_read_byte((uint8_t*)pos); + if (writing) *value = c; + crc16(crc, &c, 1); + pos++; + value++; + } while (--size); + return false; +} + +#endif // USE_WIRED_EEPROM +#endif // __IMXRT1062__ diff --git a/Marlin/src/HAL/TEENSY40_41/endstop_interrupts.h b/Marlin/src/HAL/TEENSY40_41/endstop_interrupts.h new file mode 100644 index 0000000000..92e22efc0f --- /dev/null +++ b/Marlin/src/HAL/TEENSY40_41/endstop_interrupts.h @@ -0,0 +1,66 @@ +/** + * 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 . + * + */ +#pragma once + +/** + * Endstop Interrupts + * + * Without endstop interrupts the endstop pins must be polled continually in + * the temperature-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) + */ + +#include "../../module/endstops.h" + +// One ISR for all EXT-Interrupts +void endstop_ISR() { endstops.update(); } + +/** + * Endstop interrupts for Due based targets. + * On Due, all pins support external interrupt capability. + */ +void setup_endstop_interrupts() { + #define _ATTACH(P) attachInterrupt(digitalPinToInterrupt(P), endstop_ISR, CHANGE) + TERN_(HAS_X_MAX, _ATTACH(X_MAX_PIN)); + TERN_(HAS_X_MIN, _ATTACH(X_MIN_PIN)); + TERN_(HAS_Y_MAX, _ATTACH(Y_MAX_PIN)); + TERN_(HAS_Y_MIN, _ATTACH(Y_MIN_PIN)); + TERN_(HAS_Z_MAX, _ATTACH(Z_MAX_PIN)); + TERN_(HAS_Z_MIN, _ATTACH(Z_MIN_PIN)); + TERN_(HAS_X2_MAX, _ATTACH(X2_MAX_PIN)); + TERN_(HAS_X2_MIN, _ATTACH(X2_MIN_PIN)); + TERN_(HAS_Y2_MAX, _ATTACH(Y2_MAX_PIN)); + TERN_(HAS_Y2_MIN, _ATTACH(Y2_MIN_PIN)); + TERN_(HAS_Z2_MAX, _ATTACH(Z2_MAX_PIN)); + TERN_(HAS_Z2_MIN, _ATTACH(Z2_MIN_PIN)); + TERN_(HAS_Z3_MAX, _ATTACH(Z3_MAX_PIN)); + TERN_(HAS_Z3_MIN, _ATTACH(Z3_MIN_PIN)); + TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN)); + TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN)); + TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN)); +} diff --git a/Marlin/src/HAL/TEENSY40_41/fastio.h b/Marlin/src/HAL/TEENSY40_41/fastio.h new file mode 100644 index 0000000000..19b8114509 --- /dev/null +++ b/Marlin/src/HAL/TEENSY40_41/fastio.h @@ -0,0 +1,58 @@ +/** + * 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 + * 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 . + * + */ +#pragma once + +/** + * Fast I/O interfaces for Teensy 4 + * These use GPIO functions instead of Direct Port Manipulation, as on AVR. + */ + +#ifndef PWM + #define PWM OUTPUT +#endif + +#define READ(IO) digitalRead(IO) +#define WRITE(IO,V) digitalWrite(IO,V) + +#define _GET_MODE(IO) !is_output(IO) +#define _SET_MODE(IO,M) pinMode(IO, M) +#define _SET_OUTPUT(IO) pinMode(IO, OUTPUT) /*!< Output Push Pull Mode & GPIO_NOPULL */ + +#define OUT_WRITE(IO,V) do{ _SET_OUTPUT(IO); WRITE(IO,V); }while(0) + +#define SET_INPUT(IO) _SET_MODE(IO, INPUT) /*!< Input Floating Mode */ +#define SET_INPUT_PULLUP(IO) _SET_MODE(IO, INPUT_PULLUP) /*!< Input with Pull-up activation */ +#define SET_INPUT_PULLDOWN(IO) _SET_MODE(IO, INPUT_PULLDOWN) /*!< Input with Pull-down activation */ +#define SET_OUTPUT(IO) OUT_WRITE(IO, LOW) +#define SET_PWM(IO) _SET_MODE(IO, PWM) + +#define TOGGLE(IO) OUT_WRITE(IO, !READ(IO)) + +#define IS_INPUT(IO) !is_output(IO) +#define IS_OUTPUT(IO) is_output(IO) + +#define PWM_PIN(P) digitalPinHasPWM(P) + +// digitalRead/Write wrappers +#define extDigitalRead(IO) digitalRead(IO) +#define extDigitalWrite(IO,V) digitalWrite(IO,V) diff --git a/Marlin/src/HAL/TEENSY40_41/inc/Conditionals_LCD.h b/Marlin/src/HAL/TEENSY40_41/inc/Conditionals_LCD.h new file mode 100644 index 0000000000..6a8540927b --- /dev/null +++ b/Marlin/src/HAL/TEENSY40_41/inc/Conditionals_LCD.h @@ -0,0 +1,26 @@ +/** + * 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 . + * + */ +#pragma once + +#if HAS_SPI_TFT || HAS_FSMC_TFT + #error "Sorry! TFT displays are not available for HAL/TEENSY40_41." +#endif diff --git a/Marlin/src/HAL/TEENSY40_41/inc/Conditionals_adv.h b/Marlin/src/HAL/TEENSY40_41/inc/Conditionals_adv.h new file mode 100644 index 0000000000..5f1c4b1601 --- /dev/null +++ b/Marlin/src/HAL/TEENSY40_41/inc/Conditionals_adv.h @@ -0,0 +1,22 @@ +/** + * 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 . + * + */ +#pragma once diff --git a/Marlin/src/HAL/TEENSY40_41/inc/Conditionals_post.h b/Marlin/src/HAL/TEENSY40_41/inc/Conditionals_post.h new file mode 100644 index 0000000000..998f1dcc0d --- /dev/null +++ b/Marlin/src/HAL/TEENSY40_41/inc/Conditionals_post.h @@ -0,0 +1,26 @@ +/** + * 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 . + * + */ +#pragma once + +#if USE_FALLBACK_EEPROM + #define USE_WIRED_EEPROM 1 +#endif diff --git a/Marlin/src/HAL/TEENSY40_41/inc/SanityCheck.h b/Marlin/src/HAL/TEENSY40_41/inc/SanityCheck.h new file mode 100644 index 0000000000..fbfe7b0fc3 --- /dev/null +++ b/Marlin/src/HAL/TEENSY40_41/inc/SanityCheck.h @@ -0,0 +1,38 @@ +/** + * 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 . + * + */ +#pragma once + +/** + * Test TEENSY41 specific configuration values for errors at compile-time. + */ + +#if ENABLED(EMERGENCY_PARSER) + #error "EMERGENCY_PARSER is not yet implemented for Teensy 4.0/4.1. Disable EMERGENCY_PARSER to continue." +#endif + +#if ENABLED(FAST_PWM_FAN) || SPINDLE_LASER_FREQUENCY + #error "Features requiring Hardware PWM (FAST_PWM_FAN, SPINDLE_LASER_FREQUENCY) are not yet supported on Teensy 4.0/4.1." +#endif + +#if HAS_TMC_SW_SERIAL + #error "TMC220x Software Serial is not supported on this platform." +#endif diff --git a/Marlin/src/HAL/TEENSY40_41/pinsDebug.h b/Marlin/src/HAL/TEENSY40_41/pinsDebug.h new file mode 100644 index 0000000000..890f668650 --- /dev/null +++ b/Marlin/src/HAL/TEENSY40_41/pinsDebug.h @@ -0,0 +1,146 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 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 . + * + */ +#pragma once + +#warning "PINS_DEBUGGING is not fully supported for Teensy 4.0 / 4.1 so 'M43' may cause hangs." + +#define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS + +#define digitalRead_mod(p) extDigitalRead(p) // AVR digitalRead disabled PWM before it read the pin +#define PRINT_PORT(p) +#define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0) +#define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%02d"), p); SERIAL_ECHO(buffer); }while(0) +#define GET_ARRAY_PIN(p) pin_array[p].pin +#define GET_ARRAY_IS_DIGITAL(p) pin_array[p].is_digital +#define VALID_PIN(pin) (pin >= 0 && pin < (int8_t)NUMBER_PINS_TOTAL ? 1 : 0) +#define DIGITAL_PIN_TO_ANALOG_PIN(p) int(p - analogInputToDigitalPin(0)) +#define IS_ANALOG(P) ((P) >= analogInputToDigitalPin(0) && (P) <= analogInputToDigitalPin(13)) || ((P) >= analogInputToDigitalPin(14) && (P) <= analogInputToDigitalPin(17)) +#define pwm_status(pin) HAL_pwm_status(pin) +#define GET_PINMODE(PIN) (VALID_PIN(pin) && IS_OUTPUT(pin)) +#define MULTI_NAME_PAD 16 // space needed to be pretty if not first name assigned to a pin + +struct pwm_pin_info_struct { + uint8_t type; // 0=no pwm, 1=flexpwm, 2=quad + uint8_t module; // 0-3, 0-3 + uint8_t channel; // 0=X, 1=A, 2=B + uint8_t muxval; // +}; + +#define M(a, b) ((((a) - 1) << 4) | (b)) + +const struct pwm_pin_info_struct pwm_pin_info[] = { + {1, M(1, 1), 0, 4}, // FlexPWM1_1_X 0 // AD_B0_03 + {1, M(1, 0), 0, 4}, // FlexPWM1_0_X 1 // AD_B0_02 + {1, M(4, 2), 1, 1}, // FlexPWM4_2_A 2 // EMC_04 + {1, M(4, 2), 2, 1}, // FlexPWM4_2_B 3 // EMC_05 + {1, M(2, 0), 1, 1}, // FlexPWM2_0_A 4 // EMC_06 + {1, M(2, 1), 1, 1}, // FlexPWM2_1_A 5 // EMC_08 + {1, M(2, 2), 1, 2}, // FlexPWM2_2_A 6 // B0_10 + {1, M(1, 3), 2, 6}, // FlexPWM1_3_B 7 // B1_01 + {1, M(1, 3), 1, 6}, // FlexPWM1_3_A 8 // B1_00 + {1, M(2, 2), 2, 2}, // FlexPWM2_2_B 9 // B0_11 + {2, M(1, 0), 0, 1}, // QuadTimer1_0 10 // B0_00 + {2, M(1, 2), 0, 1}, // QuadTimer1_2 11 // B0_02 + {2, M(1, 1), 0, 1}, // QuadTimer1_1 12 // B0_01 + {2, M(2, 0), 0, 1}, // QuadTimer2_0 13 // B0_03 + {2, M(3, 2), 0, 1}, // QuadTimer3_2 14 // AD_B1_02 + {2, M(3, 3), 0, 1}, // QuadTimer3_3 15 // AD_B1_03 + {0, M(1, 0), 0, 0}, + {0, M(1, 0), 0, 0}, + {2, M(3, 1), 0, 1}, // QuadTimer3_1 18 // AD_B1_01 + {2, M(3, 0), 0, 1}, // QuadTimer3_0 19 // AD_B1_00 + {0, M(1, 0), 0, 0}, + {0, M(1, 0), 0, 0}, + {1, M(4, 0), 1, 1}, // FlexPWM4_0_A 22 // AD_B1_08 + {1, M(4, 1), 1, 1}, // FlexPWM4_1_A 23 // AD_B1_09 + {1, M(1, 2), 0, 4}, // FlexPWM1_2_X 24 // AD_B0_12 + {1, M(1, 3), 0, 4}, // FlexPWM1_3_X 25 // AD_B0_13 + {0, M(1, 0), 0, 0}, + {0, M(1, 0), 0, 0}, + {1, M(3, 1), 2, 1}, // FlexPWM3_1_B 28 // EMC_32 + {1, M(3, 1), 1, 1}, // FlexPWM3_1_A 29 // EMC_31 + {0, M(1, 0), 0, 0}, + {0, M(1, 0), 0, 0}, + {0, M(1, 0), 0, 0}, + {1, M(2, 0), 2, 1}, // FlexPWM2_0_B 33 // EMC_07 + #ifdef ARDUINO_TEENSY40 + {1, M(1, 1), 2, 1}, // FlexPWM1_1_B 34 // SD_B0_03 + {1, M(1, 1), 1, 1}, // FlexPWM1_1_A 35 // SD_B0_02 + {1, M(1, 0), 2, 1}, // FlexPWM1_0_B 36 // SD_B0_01 + {1, M(1, 0), 1, 1}, // FlexPWM1_0_A 37 // SD_B0_00 + {1, M(1, 2), 2, 1}, // FlexPWM1_2_B 38 // SD_B0_05 + {1, M(1, 2), 1, 1}, // FlexPWM1_2_A 39 // SD_B0_04 + #endif + #ifdef ARDUINO_TEENSY41 + {0, M(1, 0), 0, 0}, + {0, M(1, 0), 0, 0}, + {1, M(2, 3), 1, 6}, // FlexPWM2_3_A 36 // B1_00 + {1, M(2, 3), 2, 6}, // FlexPWM2_3_B 37 // B1_01 + {0, M(1, 0), 0, 0}, + {0, M(1, 0), 0, 0}, + {0, M(1, 0), 0, 0}, + {0, M(1, 0), 0, 0}, + {1, M(1, 1), 2, 1}, // FlexPWM1_1_B 42 // SD_B0_03 + {1, M(1, 1), 1, 1}, // FlexPWM1_1_A 43 // SD_B0_02 + {1, M(1, 0), 2, 1}, // FlexPWM1_0_B 44 // SD_B0_01 + {1, M(1, 0), 1, 1}, // FlexPWM1_0_A 45 // SD_B0_00 + {1, M(1, 2), 2, 1}, // FlexPWM1_2_B 46 // SD_B0_05 + {1, M(1, 2), 1, 1}, // FlexPWM1_2_A 47 // SD_B0_04 + {0, M(1, 0), 0, 0}, // duplicate FlexPWM1_0_B + {0, M(1, 0), 0, 0}, // duplicate FlexPWM1_2_A + {0, M(1, 0), 0, 0}, // duplicate FlexPWM1_2_B + {1, M(3, 3), 2, 1}, // FlexPWM3_3_B 51 // EMC_22 + {0, M(1, 0), 0, 0}, // duplicate FlexPWM1_1_B + {0, M(1, 0), 0, 0}, // duplicate FlexPWM1_1_A + {1, M(3, 0), 1, 1}, // FlexPWM3_0_A 53 // EMC_29 + #endif +}; + +void HAL_print_analog_pin(char buffer[], int8_t pin) { + if (pin <= 23) sprintf_P(buffer, PSTR("(A%2d) "), int(pin - 14)); + else if (pin <= 41) sprintf_P(buffer, PSTR("(A%2d) "), int(pin - 24)); +} + +void HAL_analog_pin_state(char buffer[], int8_t pin) { + if (pin <= 23) sprintf_P(buffer, PSTR("Analog in =% 5d"), analogRead(pin - 14)); + else if (pin <= 41) sprintf_P(buffer, PSTR("Analog in =% 5d"), analogRead(pin - 24)); +} + +#define PWM_PRINT(V) do{ sprintf_P(buffer, PSTR("PWM: %4d"), V); SERIAL_ECHO(buffer); }while(0) + +/** + * Print a pin's PWM status. + * Return true if it's currently a PWM pin. + */ +bool HAL_pwm_status(int8_t pin) { + char buffer[20]; // for the sprintf statements + const struct pwm_pin_info_struct *info; + + if (pin >= CORE_NUM_DIGITAL) return 0; + info = pwm_pin_info + pin; + + if (info->type == 0) return 0; + + /* TODO decode pwm value from timers */ + // for now just indicate if output is set as pwm + PWM_PRINT(*(portConfigRegister(pin)) == info->muxval); + return (*(portConfigRegister(pin)) == info->muxval); +} + +static void pwm_details(uint8_t pin) { /* TODO */ } diff --git a/Marlin/src/HAL/TEENSY40_41/spi_pins.h b/Marlin/src/HAL/TEENSY40_41/spi_pins.h new file mode 100644 index 0000000000..276d4f456a --- /dev/null +++ b/Marlin/src/HAL/TEENSY40_41/spi_pins.h @@ -0,0 +1,27 @@ +/** + * 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 . + * + */ +#pragma once + +#define SCK_PIN 13 +#define MISO_PIN 12 +#define MOSI_PIN 11 +#define SS_PIN 20 // SDSS // A.28, A.29, B.21, C.26, C.29 diff --git a/Marlin/src/HAL/TEENSY40_41/timers.cpp b/Marlin/src/HAL/TEENSY40_41/timers.cpp new file mode 100644 index 0000000000..15f5185a6b --- /dev/null +++ b/Marlin/src/HAL/TEENSY40_41/timers.cpp @@ -0,0 +1,114 @@ +/** + * 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 . + * + */ + +/** + * Teensy4.0/4.1 (__IMXRT1062__) + */ + +#ifdef __IMXRT1062__ + +#include "../../inc/MarlinConfig.h" + +void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { + switch (timer_num) { + case 0: + CCM_CSCMR1 &= ~CCM_CSCMR1_PERCLK_CLK_SEL; // turn off 24mhz mode + CCM_CCGR1 |= CCM_CCGR1_GPT1_BUS(CCM_CCGR_ON); + + GPT1_CR = 0; // disable timer + GPT1_SR = 0x3F; // clear all prior status + GPT1_PR = GPT1_TIMER_PRESCALE - 1; + GPT1_CR |= GPT_CR_CLKSRC(1); //clock selection #1 (peripheral clock = 150 MHz) + GPT1_CR |= GPT_CR_ENMOD; //reset count to zero before enabling + GPT1_CR |= GPT_CR_OM1(1); // toggle mode + GPT1_OCR1 = (GPT1_TIMER_RATE / frequency) -1; // Initial compare value + GPT1_IR = GPT_IR_OF1IE; // Compare3 value + GPT1_CR |= GPT_CR_EN; //enable GPT2 counting at 150 MHz + + OUT_WRITE(15, HIGH); + attachInterruptVector(IRQ_GPT1, &stepTC_Handler); + NVIC_SET_PRIORITY(IRQ_GPT1, 16); + break; + case 1: + CCM_CSCMR1 &= ~CCM_CSCMR1_PERCLK_CLK_SEL; // turn off 24mhz mode + CCM_CCGR0 |= CCM_CCGR0_GPT2_BUS(CCM_CCGR_ON); + + GPT2_CR = 0; // disable timer + GPT2_SR = 0x3F; // clear all prior status + GPT2_PR = GPT2_TIMER_PRESCALE - 1; + GPT2_CR |= GPT_CR_CLKSRC(1); //clock selection #1 (peripheral clock = 150 MHz) + GPT2_CR |= GPT_CR_ENMOD; //reset count to zero before enabling + GPT2_CR |= GPT_CR_OM1(1); // toggle mode + GPT2_OCR1 = (GPT2_TIMER_RATE / frequency) -1; // Initial compare value + GPT2_IR = GPT_IR_OF1IE; // Compare3 value + GPT2_CR |= GPT_CR_EN; //enable GPT2 counting at 150 MHz + + OUT_WRITE(14, HIGH); + attachInterruptVector(IRQ_GPT2, &tempTC_Handler); + NVIC_SET_PRIORITY(IRQ_GPT2, 32); + break; + } +} + +void HAL_timer_enable_interrupt(const uint8_t timer_num) { + switch (timer_num) { + case 0: + NVIC_ENABLE_IRQ(IRQ_GPT1); + break; + case 1: + NVIC_ENABLE_IRQ(IRQ_GPT2); + break; + } +} + +void HAL_timer_disable_interrupt(const uint8_t timer_num) { + switch (timer_num) { + case 0: NVIC_DISABLE_IRQ(IRQ_GPT1); break; + case 1: NVIC_DISABLE_IRQ(IRQ_GPT2); break; + } + + // We NEED memory barriers to ensure Interrupts are actually disabled! + // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the ) + asm volatile("dsb"); +} + +bool HAL_timer_interrupt_enabled(const uint8_t timer_num) { + switch (timer_num) { + case 0: return (NVIC_IS_ENABLED(IRQ_GPT1)); + case 1: return (NVIC_IS_ENABLED(IRQ_GPT2)); + } + return false; +} + +void HAL_timer_isr_prologue(const uint8_t timer_num) { + switch (timer_num) { + case 0: + GPT1_SR = GPT_IR_OF1IE; // clear OF3 bit + break; + case 1: + GPT2_SR = GPT_IR_OF1IE; // clear OF3 bit + break; + } + asm volatile("dsb"); +} + +#endif // __IMXRT1062__ diff --git a/Marlin/src/HAL/TEENSY40_41/timers.h b/Marlin/src/HAL/TEENSY40_41/timers.h new file mode 100644 index 0000000000..9c4bf8c274 --- /dev/null +++ b/Marlin/src/HAL/TEENSY40_41/timers.h @@ -0,0 +1,119 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com + * Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.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 . + */ +#pragma once + +/** + * Description: HAL for + * Teensy4.0/4.1 (__IMXRT1062__) + */ + +#include + +// ------------------------ +// Defines +// ------------------------ + +#define FORCE_INLINE __attribute__((always_inline)) inline + +typedef uint32_t hal_timer_t; +#define HAL_TIMER_TYPE_MAX 0xFFFFFFFE + +#define GPT_TIMER_RATE F_BUS_ACTUAL // 150MHz + +#define GPT1_TIMER_PRESCALE 2 +#define GPT2_TIMER_PRESCALE 10 + +#define GPT1_TIMER_RATE (GPT_TIMER_RATE / GPT1_TIMER_PRESCALE) // 75MHz +#define GPT2_TIMER_RATE (GPT_TIMER_RATE / GPT2_TIMER_PRESCALE) // 15MHz + +#ifndef STEP_TIMER_NUM + #define STEP_TIMER_NUM 0 // Timer Index for Stepper +#endif +#ifndef PULSE_TIMER_NUM + #define PULSE_TIMER_NUM STEP_TIMER_NUM +#endif +#ifndef TEMP_TIMER_NUM + #define TEMP_TIMER_NUM 1 // Timer Index for Temperature +#endif + +#define TEMP_TIMER_RATE 1000000 +#define TEMP_TIMER_FREQUENCY 1000 + +#define STEPPER_TIMER_RATE GPT1_TIMER_RATE +#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) +#define STEPPER_TIMER_PRESCALE ((GPT_TIMER_RATE / 1000000) / STEPPER_TIMER_TICKS_PER_US) + +#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) + +#ifndef HAL_STEP_TIMER_ISR + #define HAL_STEP_TIMER_ISR() extern "C" void stepTC_Handler() // GPT1_Handler() +#endif +#ifndef HAL_TEMP_TIMER_ISR + #define HAL_TEMP_TIMER_ISR() extern "C" void tempTC_Handler() // GPT2_Handler() +#endif + +extern "C" void stepTC_Handler(); +extern "C" void tempTC_Handler(); + +void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency); + +FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) { + switch (timer_num) { + case 0: + GPT1_OCR1 = compare - 1; + break; + case 1: + GPT2_OCR1 = compare - 1; + break; + } +} + +FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) { + switch (timer_num) { + case 0: return GPT1_OCR1; + case 1: return GPT2_OCR1; + } + return 0; +} + +FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) { + switch (timer_num) { + case 0: return GPT1_CNT; + case 1: return GPT2_CNT; + } + return 0; +} + +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); + +void HAL_timer_isr_prologue(const uint8_t timer_num); +//void HAL_timer_isr_epilogue(const uint8_t timer_num) {} +#define HAL_timer_isr_epilogue(TIMER_NUM) diff --git a/Marlin/src/HAL/TEENSY40_41/watchdog.cpp b/Marlin/src/HAL/TEENSY40_41/watchdog.cpp new file mode 100644 index 0000000000..4253944f2b --- /dev/null +++ b/Marlin/src/HAL/TEENSY40_41/watchdog.cpp @@ -0,0 +1,52 @@ +/** + * 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 . + * + */ +#ifdef __IMXRT1062__ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(USE_WATCHDOG) + +#include "watchdog.h" + +// 4 seconds timeout +#define WDTO 4 //seconds + +uint8_t timeoutval = (WDTO - 0.5f) / 0.5f; + +void watchdog_init() { + + CCM_CCGR3 |= CCM_CCGR3_WDOG1(3); // enable WDOG1 clocks + WDOG1_WMCR = 0; // disable power down PDE + WDOG1_WCR |= WDOG_WCR_SRS | WDOG_WCR_WT(timeoutval); + WDOG1_WCR |= WDOG_WCR_WDE | WDOG_WCR_WDT | WDOG_WCR_SRE; + +} + +void HAL_watchdog_refresh() { + // Watchdog refresh sequence + WDOG1_WSR = 0x5555; + WDOG1_WSR = 0xAAAA; +} + +#endif // USE_WATCHDOG + +#endif // __IMXRT1062__ diff --git a/Marlin/src/HAL/TEENSY40_41/watchdog.h b/Marlin/src/HAL/TEENSY40_41/watchdog.h new file mode 100644 index 0000000000..f10ecb5aef --- /dev/null +++ b/Marlin/src/HAL/TEENSY40_41/watchdog.h @@ -0,0 +1,30 @@ +/** + * 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 . + * + */ +#pragma once + +/** + * Watchdog for Teensy4.0/4.1 (__IMXRT1062__) + */ + +void watchdog_init(); + +void HAL_watchdog_refresh(); diff --git a/Marlin/src/HAL/platforms.h b/Marlin/src/HAL/platforms.h index d4cec64267..ef17d19170 100644 --- a/Marlin/src/HAL/platforms.h +++ b/Marlin/src/HAL/platforms.h @@ -31,6 +31,8 @@ #define HAL_PATH(PATH, NAME) XSTR(PATH/TEENSY31_32/NAME) #elif defined(__MK64FX512__) || defined(__MK66FX1M0__) #define HAL_PATH(PATH, NAME) XSTR(PATH/TEENSY35_36/NAME) +#elif defined(__IMXRT1062__) + #define HAL_PATH(PATH, NAME) XSTR(PATH/TEENSY40_41/NAME) #elif defined(TARGET_LPC1768) #define HAL_PATH(PATH, NAME) XSTR(PATH/LPC1768/NAME) #elif defined(__STM32F1__) || defined(TARGET_STM32F1) diff --git a/Marlin/src/HAL/shared/backtrace/unwmemaccess.cpp b/Marlin/src/HAL/shared/backtrace/unwmemaccess.cpp index 02a6ad34f0..4b085f90ce 100644 --- a/Marlin/src/HAL/shared/backtrace/unwmemaccess.cpp +++ b/Marlin/src/HAL/shared/backtrace/unwmemaccess.cpp @@ -129,6 +129,19 @@ #define START_FLASH_ADDR 0x00000000 #define END_FLASH_ADDR 0x00140000 +#elif defined(__IMXRT1062__) + + // For IMXRT1062 in TEENSY 4.0/4/1 + // ITCM (rwx): ORIGIN = 0x00000000, LENGTH = 512K + // DTCM (rwx): ORIGIN = 0x20000000, LENGTH = 512K + // RAM (rwx): ORIGIN = 0x20200000, LENGTH = 512K + // FLASH (rwx): ORIGIN = 0x60000000, LENGTH = 1984K + // + #define START_SRAM_ADDR 0x00000000 + #define END_SRAM_ADDR 0x20280000 + #define START_FLASH_ADDR 0x60000000 + #define END_FLASH_ADDR 0x601F0000 + #elif defined(__SAMD51P20A__) // For SAMD51x20, valid address ranges are diff --git a/Marlin/src/HAL/shared/servo.h b/Marlin/src/HAL/shared/servo.h index f9c4784118..ccaf1f0255 100644 --- a/Marlin/src/HAL/shared/servo.h +++ b/Marlin/src/HAL/shared/servo.h @@ -71,6 +71,8 @@ #include "../TEENSY31_32/Servo.h" #elif IS_TEENSY35 || IS_TEENSY36 #include "../TEENSY35_36/Servo.h" +#elif IS_TEENSY40 || IS_TEENSY41 + #include "../TEENSY40_41/Servo.h" #elif defined(TARGET_LPC1768) #include "../LPC1768/Servo.h" #elif defined(__STM32F1__) || defined(TARGET_STM32F1) diff --git a/Marlin/src/core/boards.h b/Marlin/src/core/boards.h index c8e1f28754..e10c493097 100644 --- a/Marlin/src/core/boards.h +++ b/Marlin/src/core/boards.h @@ -356,10 +356,13 @@ #define BOARD_THE_BORG 5000 // THE-BORG (Power outputs: Hotend0, Hotend1, Bed, Fan) #define BOARD_REMRAM_V1 5001 // RemRam v1 +#define BOARD_TEENSY41 5002 // Teensy4.0 and Teensy4.1 +#define BOARD_T41U5XBB 5003 // T41U5XBB Teensy4.1 breakout board // // Espressif ESP32 WiFi // + #define BOARD_ESPRESSIF_ESP32 6000 // Generic ESP32 #define BOARD_MRR_ESPA 6001 // MRR ESPA board based on ESP32 (native pins only) #define BOARD_MRR_ESPE 6002 // MRR ESPE board based on ESP32 (with I2S stepper stream) @@ -368,11 +371,13 @@ // // SAMD51 ARM Cortex M4 // + #define BOARD_AGCM4_RAMPS_144 6100 // RAMPS 1.4.4 // // Custom board // + #define BOARD_CUSTOM 9998 // Custom pins definition for development and/or rare boards // diff --git a/Marlin/src/libs/private_spi.h b/Marlin/src/libs/private_spi.h index c2a054235b..9c0ffe7486 100644 --- a/Marlin/src/libs/private_spi.h +++ b/Marlin/src/libs/private_spi.h @@ -43,7 +43,7 @@ class SPIclass { SET_INPUT_PULLUP(MISO_PIN); } FORCE_INLINE static uint8_t receive() { - #if defined(__AVR__) || defined(__MK20DX256__) || defined(__MK64FX512__) || defined(__MK66FX1M0__) + #if defined(__AVR__) || defined(__MK20DX256__) || defined(__MK64FX512__) || defined(__MK66FX1M0__) || defined(__IMXRT1062__) SPDR = 0; for (;!TEST(SPSR, SPIF);); return SPDR; diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h index c3f2d9b779..052e3180c8 100644 --- a/Marlin/src/module/motion.h +++ b/Marlin/src/module/motion.h @@ -108,22 +108,28 @@ extern int16_t feedrate_percentage; extern float e_move_accumulator; #endif -inline float pgm_read_any(const float *p) { return pgm_read_float(p); } -inline signed char pgm_read_any(const signed char *p) { return pgm_read_byte(p); } +#ifdef __IMXRT1062__ + #define DEFS_PROGMEM +#else + #define DEFS_PROGMEM PROGMEM +#endif + +inline float pgm_read_any(const float *p) { return TERN(__IMXRT1062__, *p, pgm_read_float(p)); } +inline int8_t pgm_read_any(const int8_t *p) { return TERN(__IMXRT1062__, *p, pgm_read_byte(p)); } #define XYZ_DEFS(T, NAME, OPT) \ inline T NAME(const AxisEnum axis) { \ - static const XYZval NAME##_P PROGMEM = { X_##OPT, Y_##OPT, Z_##OPT }; \ + static const XYZval NAME##_P DEFS_PROGMEM = { X_##OPT, Y_##OPT, Z_##OPT }; \ return pgm_read_any(&NAME##_P[axis]); \ } XYZ_DEFS(float, base_min_pos, MIN_POS); XYZ_DEFS(float, base_max_pos, MAX_POS); XYZ_DEFS(float, base_home_pos, HOME_POS); XYZ_DEFS(float, max_length, MAX_LENGTH); -XYZ_DEFS(signed char, home_dir, HOME_DIR); +XYZ_DEFS(int8_t, home_dir, HOME_DIR); inline float home_bump_mm(const AxisEnum axis) { - static const xyz_pos_t home_bump_mm_P PROGMEM = HOMING_BUMP_MM; + static const xyz_pos_t home_bump_mm_P DEFS_PROGMEM = HOMING_BUMP_MM; return pgm_read_any(&home_bump_mm_P[axis]); } diff --git a/Marlin/src/pins/pins.h b/Marlin/src/pins/pins.h index 9f120b8b00..7aff582c6d 100644 --- a/Marlin/src/pins/pins.h +++ b/Marlin/src/pins/pins.h @@ -619,6 +619,10 @@ #include "stm32f7/pins_THE_BORG.h" // STM32F7 env:STM32F7 #elif MB(REMRAM_V1) #include "stm32f7/pins_REMRAM_V1.h" // STM32F7 env:STM32F7 +#elif MB(TEENSY40_41) + #include "teensy4/pins_TEENSY41.h" // Teensy-4.x env:teensy41 +#elif MB(T41U5XBB) + #include "teensy4/pins_T41U5XBB.h" // Teensy-4.x env:teensy41 // // Espressif ESP32 diff --git a/Marlin/src/pins/teensy4/pins_T41U5XBB.h b/Marlin/src/pins/teensy4/pins_T41U5XBB.h new file mode 100644 index 0000000000..1541bfbd62 --- /dev/null +++ b/Marlin/src/pins/teensy4/pins_T41U5XBB.h @@ -0,0 +1,119 @@ +/** + * 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 . + * + */ +#pragma once + +/**************************************************************************************** +* Teensy 4.1 (IMXRT1062) Breadboard pin assignments +* Requires the Teensyduino software with Teensy 4.1 selected in Arduino IDE! +* https://www.pjrc.com/teensy/teensyduino.html +****************************************************************************************/ + +#if !IS_32BIT_TEENSY || !IS_TEENSY41 + #error "Oops! Select 'Teensy 4.1' in 'Tools > Board.'" +#else + #define BOARD_INFO_NAME "Teensy4.1" +#endif + +#define AT90USB 1286 // Disable MarlinSerial etc. +#define USBCON //1286 // Disable MarlinSerial etc. +/* + + plan for Teensy4.0 and Teensy4.1: + USB + GND |-----#####-----| VIN (3.65 TO 5.5V) + RX1 CS1 RX1 PWM 0 | ##### | GND + TX1 MISO1 TX1 PWM 1 | | 3.3V + STPX PWM 2 | | 23 A9 PWM + DIRX PWM 3 | | 22 A8 PWM LIMZ + STPY PWM 4 | | 21 A7 RX5 LIMY + DIRY PWM 5 | | 20 A6 TX5 LIMX + STPZ PWM 6 | | 19 A5 PWM SCL0 COOL + DIRZ RX2 PWM 7 | | 18 A4 PWM SDA0 MIST + STPA TX2 PWM 8 | | 17 A3 RX4 SDA1 CYST + DIRA PWM 9 | | 16 A2 TX4 SCL1 EHOLD + STEN PWM 10 | | 15 A1 PWM RX3 PRB + SPDI MOSI0 PWM 11 | | 14 A0 PWM TX3 PANIC + SPEN MISO0 PWM 12 | | 13 LED PWM SCK0 SPWM + 3.3V | | GND + SCL PWM 24 | | 41 A17 KPSTR + SDA PWM 25 | | 40 A16 STENY + STPB MOSI1 26 | | 39 A15 MISO1 STENZ + DIRB SCK1 27 | * * * * * | 38 A14 STENA + LIMB RX7 PWM 28 | | 37 PWM STENB + DOOR TX7 PWM 29 | | 36 PWM ST0 + ST1 30 | | 35 TX8 ST3 + AUX0 31 | SDCARD | 34 RX8 ST2 + AUX1 32 |_______________| 33 PWM AUX2 + + +*/ + +// +// Limit Switches +// +#define X_STOP_PIN 20 +#define Y_STOP_PIN 21 +#define Z_STOP_PIN 22 + +// +// Steppers +// +#define X_STEP_PIN 2 +#define X_DIR_PIN 3 +#define X_ENABLE_PIN 10 +//#define X_CS_PIN 30 + +#define Y_STEP_PIN 4 +#define Y_DIR_PIN 5 +#define Y_ENABLE_PIN 40 +//#define Y_CS_PIN 31 + +#define Z_STEP_PIN 6 +#define Z_DIR_PIN 7 +#define Z_ENABLE_PIN 39 +//#define Z_CS_PIN 32 + +#define E0_STEP_PIN 8 +#define E0_DIR_PIN 9 +#define E0_ENABLE_PIN 38 + +#define E1_STEP_PIN 26 +#define E1_DIR_PIN 27 +#define E1_ENABLE_PIN 37 + +#define HEATER_0_PIN 31 +#define HEATER_1_PIN 32 +#define HEATER_BED_PIN 33 + +#define TEMP_0_PIN 5 // Extruder / Analog pin numbering: 2 => A2 +#define TEMP_1_PIN 4 +#define TEMP_BED_PIN 15 // Bed / Analog pin numbering + +#define LED_PIN 13 + +#define SOL0_PIN 17 +#define SERVO0_PIN 24 +#define SERVO1_PIN 25 + +#ifndef SDCARD_CONNECTION + #define SDCARD_CONNECTION ONBOARD +#endif diff --git a/Marlin/src/pins/teensy4/pins_TEENSY41.h b/Marlin/src/pins/teensy4/pins_TEENSY41.h new file mode 100644 index 0000000000..08a3f5e0d1 --- /dev/null +++ b/Marlin/src/pins/teensy4/pins_TEENSY41.h @@ -0,0 +1,129 @@ +/** + * 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 . + * + */ +#pragma once + +/**************************************************************************************** +* Teensy 4.1 (IMXRT1062) Breadboard pin assignments +* Requires the Teensyduino software with Teensy 4.1 selected in Arduino IDE! +* https://www.pjrc.com/teensy/teensyduino.html +****************************************************************************************/ + +#if !IS_32BIT_TEENSY || !IS_TEENSY41 + #error "Oops! Select 'Teensy 4.1' in 'Tools > Board.'" +#else + #define BOARD_INFO_NAME "Teensy4.1" +#endif + +#define AT90USB 1286 // Disable MarlinSerial etc. +#define USBCON //1286 // Disable MarlinSerial etc. +/* + + plan for Teensy4.0 and Teensy4.1: + USB + GND |-----#####-----| VIN (3.65 TO 5.5V) + X_STEP_PIN CS1 RX1 PWM 0 | ##### | GND + X_DIR_PIN MISO1 TX1 PWM 1 | | 3.3V + Y_STEP_PIN PWM 2 | | 23 A9 PWM SERVO1_PIN + Y_DIR_PIN PWM 3 | | 22 A8 PWM SERVO0_PIN + Z_STEP_PIN PWM 4 | | 21 A7 RX5 + Z_DIR_PIN PWM 5 | | 20 A6 TX5 FILWIDTH_PIN + X_ENABLE_PIN PWM 6 | | 19 A5 PWM SCL0 + Y_ENABLE_PIN RX2 PWM 7 | | 18 A4 PWM SDA0 HEATER_1_PIN + Z_ENABLE_PIN TX2 PWM 8 | | 17 A3 RX4 SDA1 + E0_STEP_PIN PWM 9 | | 16 A2 TX4 SCL1 TEMP_0_PIN + E0_DIR_PIN PWM 10 | | 15 A1 PWM RX3 TEMP_BED_PIN + MOSI_PIN MOSI0 PWM 11 | | 14 A0 PWM TX3 TEMP_1_PIN + MISO_PIN MISO0 PWM 12 | | 13 LED PWM SCK0 SCK_PIN + 3.3V | | GND + Z_STOP_PIN PWM 24 | | 41 A17 + E0_ENABLE_PIN PWM 25 | | 40 A16 + FAN_PIN MOSI1 26 | | 39 A15 MISO1 X_STOP_PIN + Z-PROBE PWR SCK1 27 | * * * * * | 38 A14 Y_STOP_PIN + SOL1_PIN RX7 PWM 28 | | 37 PWM HEATER_0_PIN + FAN_PIN TX7 PWM 29 | | 36 PWM HEATER_BED_PIN + X_CS_PIN 30 | | 35 TX8 E1_ENABLE_PIN + y_CS_PIN 31 | SDCARD | 34 RX8 E1_DIR_PIN + Z_CS_PIN 32 |_______________| 33 PWM E1_STEP_PIN + + +*/ + +// +// Limit Switches +// +#define X_STOP_PIN 39 +#define Y_STOP_PIN 38 +#define Z_STOP_PIN 24 + +// +// Steppers +// +#define X_STEP_PIN 0 +#define X_DIR_PIN 1 +#define X_ENABLE_PIN 6 +//#define X_CS_PIN 30 + +#define Y_STEP_PIN 2 +#define Y_DIR_PIN 3 +#define Y_ENABLE_PIN 7 +//#define Y_CS_PIN 31 + +#define Z_STEP_PIN 4 +#define Z_DIR_PIN 5 +#define Z_ENABLE_PIN 8 +//#define Z_CS_PIN 32 + +#define E0_STEP_PIN 9 +#define E0_DIR_PIN 10 +#define E0_ENABLE_PIN 25 + +#define E1_STEP_PIN 33 +#define E1_DIR_PIN 34 +#define E1_ENABLE_PIN 35 + +#define HEATER_0_PIN 37 +#define HEATER_1_PIN 18 +#define HEATER_BED_PIN 36 +#ifndef FAN_PIN + #define FAN_PIN 29 +#endif + +#define TEMP_0_PIN 2 // Extruder / Analog pin numbering: 2 => A2 +#define TEMP_1_PIN 0 +#define TEMP_BED_PIN 1 // Bed / Analog pin numbering + +#define LED_PIN 13 +//#define PS_ON_PIN 1 +//#define ALARM_PIN -1 + +//#define FILWIDTH_PIN 6 // A6 +#define SOL0_PIN 28 +#define SERVO0_PIN 22 +#define SERVO1_PIN 23 + +//#define SCK_PIN 13 +//#define MISO_PIN 12 +//#define MOSI_PIN 11 + +#ifndef SDCARD_CONNECTION + #define SDCARD_CONNECTION ONBOARD +#endif diff --git a/README.md b/README.md index 042cf3303b..839b9f3f65 100644 --- a/README.md +++ b/README.md @@ -96,6 +96,13 @@ Marlin 2.0 introduces a layer of abstraction so that all the existing high-level [Teensy 3.5](https://www.pjrc.com/store/teensy35.html)|[MK64FX512VMD12](https://www.mouser.com/ProductDetail/NXP-Freescale/MK64FX512VMD12) ARM-Cortex M4|120MHz|512k|192k|3.3-5V|yes [Teensy 3.6](https://www.pjrc.com/store/teensy36.html)|[MK66FX1M0VMD18](https://www.mouser.com/ProductDetail/NXP-Freescale/MK66FX1M0VMD18) ARM-Cortex M4|180MHz|1M|256k|3.3V|yes + #### Teensy 4.0 / 4.1 + + boards|processor|speed|flash|sram|logic|fpu + ----|---------|-----|-----|----|-----|--- + [Teensy 4.0](https://www.pjrc.com/store/teensy40.html)|[IMXRT1062](https://www.mouser.com/new/nxp-semiconductors/nxp-imx-rt1060-crossover-processor/) ARM-Cortex M7|600MHz|1M|2M|3.3V|yes + [Teensy 4.1](https://www.pjrc.com/store/teensy41.html)|[IMXRT1062](https://www.mouser.com/new/nxp-semiconductors/nxp-imx-rt1060-crossover-processor/) ARM-Cortex M7|600MHz|1M|2M|3.3V|yes + ## Submitting Patches Proposed patches should be submitted as a Pull Request against the ([bugfix-2.0.x](https://github.com/MarlinFirmware/Marlin/tree/bugfix-2.0.x)) branch. diff --git a/buildroot/share/git/mftest b/buildroot/share/git/mftest index 3a88bf5f28..cfb5dd05f3 100755 --- a/buildroot/share/git/mftest +++ b/buildroot/share/git/mftest @@ -48,6 +48,8 @@ case $TESTENV in t32) TESTENV='teensy31' ;; t35) TESTENV='teensy35' ;; t36) TESTENV='teensy35' ;; + t40) TESTENV='teensy41' ;; + t41) TESTENV='teensy41' ;; -h|--help) echo -e "$(basename $0) : Marlin Firmware test, build, and upload\n" echo "Usage: $(basename $0) ................. Select env and test to apply / run" @@ -56,7 +58,7 @@ case $TESTENV in echo " $(basename $0) -b [variant] .... Auto-build the specified variant" echo " $(basename $0) -u [variant] .... Auto-build and upload the specified variant" echo - echo "env shortcuts: tree due esp lin lpc|lpc8 lpc9 m128 m256|mega stm|f1 f4 f7 s6 teensy|t31|t32 t35|t36" + echo "env shortcuts: tree due esp lin lpc|lpc8 lpc9 m128 m256|mega stm|f1 f4 f7 s6 teensy|t31|t32 t35|t36 t40|t41" exit ;; diff --git a/buildroot/tests/teensy41-tests b/buildroot/tests/teensy41-tests new file mode 100644 index 0000000000..04baf029d9 --- /dev/null +++ b/buildroot/tests/teensy41-tests @@ -0,0 +1,123 @@ +#!/usr/bin/env bash +# +# Build tests for Teensy 4.0/4.1 (ARM Cortex-M7) +# + +# exit on first failure +set -e + +restore_configs +opt_set MOTHERBOARD BOARD_TEENSY41 +exec_test $1 $2 "Teensy4.1 with default config" + +# +# Test as many features together as possible +# +restore_configs +opt_set MOTHERBOARD BOARD_TEENSY41 +opt_set EXTRUDERS 2 +opt_set TEMP_SENSOR_0 1 +opt_set TEMP_SENSOR_1 5 +opt_set TEMP_SENSOR_BED 1 +opt_enable REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER LCD_INFO_MENU SDSUPPORT SDCARD_SORT_ALPHA \ + FILAMENT_WIDTH_SENSOR FILAMENT_LCD_DISPLAY CALIBRATION_GCODE BAUD_RATE_GCODE \ + FIX_MOUNTED_PROBE Z_SAFE_HOMING AUTO_BED_LEVELING_BILINEAR Z_MIN_PROBE_REPEATABILITY_TEST DEBUG_LEVELING_FEATURE \ + BABYSTEPPING BABYSTEP_XY BABYSTEP_ZPROBE_OFFSET BABYSTEP_ZPROBE_GFX_OVERLAY \ + PRINTCOUNTER NOZZLE_PARK_FEATURE NOZZLE_CLEAN_FEATURE SLOW_PWM_HEATERS PIDTEMPBED EEPROM_SETTINGS INCH_MODE_SUPPORT TEMPERATURE_UNITS_SUPPORT M100_FREE_MEMORY_WATCHER \ + ADVANCED_PAUSE_FEATURE ARC_SUPPORT BEZIER_CURVE_SUPPORT EXPERIMENTAL_I2CBUS EXTENDED_CAPABILITIES_REPORT AUTO_REPORT_TEMPERATURES PARK_HEAD_ON_PAUSE \ + PHOTO_GCODE PHOTO_POSITION PHOTO_SWITCH_POSITION PHOTO_SWITCH_MS PHOTO_DELAY_MS PHOTO_RETRACT_MM \ + HOST_ACTION_COMMANDS HOST_PROMPT_SUPPORT +opt_set I2C_SLAVE_ADDRESS 63 +opt_set GRID_MAX_POINTS_X 16 +exec_test $1 $2 "Teensy4.1 with many features" + +# +# Test a Sled Z Probe with Linear leveling +# +restore_configs +opt_set MOTHERBOARD BOARD_TEENSY41 +opt_enable EEPROM_SETTINGS Z_PROBE_SLED Z_SAFE_HOMING AUTO_BED_LEVELING_LINEAR DEBUG_LEVELING_FEATURE GCODE_MACROS +exec_test $1 $2 "Sled Z Probe with Linear leveling" + +# +# Test a Servo Probe +# +# restore_configs +# opt_set MOTHERBOARD BOARD_TEENSY41 +# opt_enable Z_PROBE_SERVO_NR Z_SERVO_ANGLES DEACTIVATE_SERVOS_AFTER_MOVE \ +# AUTO_BED_LEVELING_3POINT DEBUG_LEVELING_FEATURE EEPROM_SETTINGS +# opt_set NUM_SERVOS 1 +# exec_test $1 $2 "Servo Probe" +# +# ...with AUTO_BED_LEVELING_3POINT, DEBUG_LEVELING_FEATURE, EEPROM_SETTINGS, EEPROM_CHITCHAT, EXTENDED_CAPABILITIES_REPORT, and AUTO_REPORT_TEMPERATURES +# +# opt_enable AUTO_BED_LEVELING_3POINT DEBUG_LEVELING_FEATURE EEPROM_SETTINGS \ +# EXTENDED_CAPABILITIES_REPORT AUTO_REPORT_TEMPERATURES +# exec_test $1 $2 "...with AUTO_BED_LEVELING_3POINT, DEBUG_LEVELING_FEATURE, EEPROM_SETTINGS, EEPROM_CHITCHAT, EXTENDED_CAPABILITIES_REPORT, and AUTO_REPORT_TEMPERATURES" + +# +# Test MAGNETIC_PARKING_EXTRUDER with LCD +# +restore_configs +opt_set MOTHERBOARD BOARD_TEENSY41 +opt_set EXTRUDERS 2 +opt_set TEMP_SENSOR_1 1 +opt_enable MAGNETIC_PARKING_EXTRUDER ULTIMAKERCONTROLLER +exec_test $1 $2 "MAGNETIC_PARKING_EXTRUDER with LCD" + +# +# Mixing Extruder +# +restore_configs +opt_set MOTHERBOARD BOARD_TEENSY41 +opt_enable MIXING_EXTRUDER DIRECT_MIXING_IN_G1 GRADIENT_MIX GRADIENT_VTOOL REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER +opt_set MIXING_STEPPERS 2 +exec_test $1 $2 "Mixing Extruder" + +# +# Test SWITCHING_EXTRUDER +# +# restore_configs +# opt_set MOTHERBOARD BOARD_TEENSY41 +# opt_set EXTRUDERS 2 +# opt_set NUM_SERVOS 1 +# opt_enable SWITCHING_EXTRUDER ULTIMAKERCONTROLLER +# exec_test $1 $2 "SWITCHING_EXTRUDER" + +# +# Enable COREXY +# +restore_configs +opt_set MOTHERBOARD BOARD_TEENSY41 +opt_enable COREXY +opt_set X_DRIVER_TYPE TMC5160 +opt_set Y_DRIVER_TYPE TMC5160 +opt_set X_MIN_ENDSTOP_INVERTING true +opt_set Y_MIN_ENDSTOP_INVERTING true +opt_add X_CS_PIN 46 +opt_add Y_CS_PIN 47 +opt_enable USE_ZMIN_PLUG MONITOR_DRIVER_STATUS SENSORLESS_HOMING +exec_test $1 $2 "Teensy 4.0/4.1 COREXY" + +# +# Enable COREXZ +# +restore_configs +opt_set MOTHERBOARD BOARD_TEENSY41 +opt_enable COREXZ +exec_test $1 $2 "Teensy 4.0/4.1 COREXZ" + +# +# Enable Dual Z with Dual Z endstops +# +restore_configs +opt_set MOTHERBOARD BOARD_TEENSY41 +opt_enable Z_MULTI_ENDSTOPS +opt_set NUM_Z_STEPPER_DRIVERS 2 +pins_set ramps/RAMPS X_MAX_PIN -1 +opt_add Z2_MAX_PIN 2 +opt_enable USE_XMAX_PLUG +exec_test $1 $2 "Dual Z with Dual Z endstops" + +# Clean up +restore_configs diff --git a/platformio.ini b/platformio.ini index f46e609969..38d874d865 100644 --- a/platformio.ini +++ b/platformio.ini @@ -1264,6 +1264,19 @@ platform = teensy board = teensy35 src_filter = ${common.default_src_filter} + +[env:teensy36] +platform = teensy +board = teensy36 +src_filter = ${common.default_src_filter} + + +# +# Teensy 4.0 / 4.1 (ARM Cortex-M7) +# +[env:teensy41] +platform = teensy +board = teensy41 +src_filter = ${common.default_src_filter} + + # # Native # No supported Arduino libraries, base Marlin only