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Clean up some HAL code

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This commit is contained in:
Scott Lahteine 2017-08-31 17:30:43 -05:00
parent b29b66feda
commit 27cbb939b2
12 changed files with 140 additions and 164 deletions
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4
Marlin/src/HAL/HAL_AVR/watchdog_AVR.cpp
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@ -22,12 +22,14 @@
#ifdef ARDUINO_ARCH_AVR #ifdef ARDUINO_ARCH_AVR
#include "../../../Marlin.h" #include "../../../MarlinConfig.h"
#if ENABLED(USE_WATCHDOG) #if ENABLED(USE_WATCHDOG)
#include "watchdog_AVR.h" #include "watchdog_AVR.h"
#include "../../../Marlin.h"
// Initialize watchdog with a 4 sec interrupt time // Initialize watchdog with a 4 sec interrupt time
void watchdog_init() { void watchdog_init() {
#if ENABLED(WATCHDOG_RESET_MANUAL) #if ENABLED(WATCHDOG_RESET_MANUAL)

4
Marlin/src/HAL/HAL_AVR/watchdog_AVR.h
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@ -23,8 +23,6 @@
#ifndef WATCHDOG_AVR_H #ifndef WATCHDOG_AVR_H
#define WATCHDOG_AVR_H #define WATCHDOG_AVR_H
//#include "../../../Marlin.h"
#include <avr/wdt.h> #include <avr/wdt.h>
// Initialize watchdog with a 4 second interrupt time // Initialize watchdog with a 4 second interrupt time
@ -34,4 +32,4 @@ void watchdog_init();
// first watchdog_init or AVR will go into emergency procedures. // first watchdog_init or AVR will go into emergency procedures.
inline void watchdog_reset() { wdt_reset(); } inline void watchdog_reset() { wdt_reset(); }
#endif #endif // WATCHDOG_AVR_H

4
Marlin/src/HAL/HAL_DUE/HAL_Due.cpp
View file

@ -94,8 +94,8 @@ uint8_t HAL_get_reset_source (void) {
} }
void _delay_ms(int delay_ms) { void _delay_ms(int delay_ms) {
//todo: port for Due? // todo: port for Due?
delay (delay_ms); delay(delay_ms);
} }
extern "C" { extern "C" {

1
Marlin/src/HAL/HAL_DUE/HAL_timers_Due.cpp
View file

@ -91,7 +91,6 @@ const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = {
Timer_clock4: Prescaler 128 -> 656.25kHz Timer_clock4: Prescaler 128 -> 656.25kHz
*/ */
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
Tc *tc = TimerConfig[timer_num].pTimerRegs; Tc *tc = TimerConfig[timer_num].pTimerRegs;
IRQn_Type irq = TimerConfig[timer_num].IRQ_Id; IRQn_Type irq = TimerConfig[timer_num].IRQ_Id;

1
Marlin/src/HAL/HAL_DUE/fastio_Due.h
View file

@ -431,5 +431,4 @@ pins
#define DIO100_PIN 11 #define DIO100_PIN 11
#define DIO100_WPORT PIOC #define DIO100_WPORT PIOC
#endif // _FASTIO_DUE_H #endif // _FASTIO_DUE_H

4
Marlin/src/HAL/HAL_LPC1768/LPC1768_PWM.h
View file

@ -21,7 +21,7 @@
*/ */
/** /**
* The class Servo uses the PWM class to implement it's functions * The class Servo uses the PWM class to implement its functions
* *
* All PWMs use the same repetition rate - 20mS because that's the normal servo rate * All PWMs use the same repetition rate - 20mS because that's the normal servo rate
*/ */
@ -489,7 +489,7 @@ return;
* writes to the LER register * writes to the LER register
* sets the PWM_table_swap flag active * sets the PWM_table_swap flag active
* re-enables the ISR * re-enables the ISR
* 7) On the next interrupt the ISR changes it's pointer to the work table which is now the old, * 7) On the next interrupt the ISR changes its pointer to the work table which is now the old,
* unmodified, active table. * unmodified, active table.
* 8) On the next MR0 interrupt the ISR: * 8) On the next MR0 interrupt the ISR:
* switches over to the active table * switches over to the active table

28
Marlin/src/HAL/HAL_LPC1768/LPC1768_Servo.cpp
View file

@ -1,6 +1,6 @@
/** /**
* Marlin 3D Printer Firmware * Marlin 3D Printer Firmware
* Copyright (C) 2016, 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
* *
* Based on Sprinter and grbl. * Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
@ -18,12 +18,12 @@
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>. * along with this program. If not, see <http://www.gnu.org/licenses/>.
* *
*/ */
/** /**
* Based on servo.cpp - Interrupt driven Servo library for Arduino using 16 bit * Based on servo.cpp - Interrupt driven Servo library for Arduino using 16 bit
* timers- Version 2 Copyright (c) 2009 Michael Margolis. All right reserved. * timers- Version 2 Copyright (c) 2009 Michael Margolis. All right reserved.
*/ */
/** /**
* A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method. * A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
@ -49,7 +49,7 @@
* attached() - Return true if a servo is attached. * attached() - Return true if a servo is attached.
* detach() - Stop an attached servo from pulsing its i/o pin. * detach() - Stop an attached servo from pulsing its i/o pin.
* *
*/ */
/** /**
* The only time that this library wants physical movement is when a WRITE * The only time that this library wants physical movement is when a WRITE
@ -58,28 +58,22 @@
* *
* The PWM output is inactive until the first WRITE. After that it stays active * The PWM output is inactive until the first WRITE. After that it stays active
* unless DEACTIVATE_SERVOS_AFTER_MOVE is enabled and a MOVE command was issued. * unless DEACTIVATE_SERVOS_AFTER_MOVE is enabled and a MOVE command was issued.
*
*/ */
#ifdef TARGET_LPC1768 #include "../../../MarlinConfig.h"
#if HAS_SERVOS #if HAS_SERVOS && defined(TARGET_LPC1768)
#include "LPC1768_Servo.h"
#include "servo_private.h"
#include "LPC1768_Servo.h"
#include "servo_private.h"
extern bool LPC1768_PWM_attach_pin(uint8_t, uint32_t, uint32_t, uint8_t); extern bool LPC1768_PWM_attach_pin(uint8_t, uint32_t, uint32_t, uint8_t);
extern bool LPC1768_PWM_write(uint8_t, uint32_t); extern bool LPC1768_PWM_write(uint8_t, uint32_t);
extern bool LPC1768_PWM_detach_pin(uint8_t); extern bool LPC1768_PWM_detach_pin(uint8_t);
ServoInfo_t servo_info[MAX_SERVOS]; // static array of servo info structures ServoInfo_t servo_info[MAX_SERVOS]; // static array of servo info structures
uint8_t ServoCount = 0; // the total number of attached servos uint8_t ServoCount = 0; // the total number of attached servos
#define US_TO_PULSE_WIDTH(p) p #define US_TO_PULSE_WIDTH(p) p
#define PULSE_WIDTH_TO_US(p) p #define PULSE_WIDTH_TO_US(p) p
#define TRIM_DURATION 0 #define TRIM_DURATION 0
@ -107,7 +101,6 @@
// greater than zero. This way the init routine can // greater than zero. This way the init routine can
// assign the pin and the MOVE command only needs the value. // assign the pin and the MOVE command only needs the value.
this->min = MIN_PULSE_WIDTH; //resolution of min/max is 1 uS this->min = MIN_PULSE_WIDTH; //resolution of min/max is 1 uS
this->max = MAX_PULSE_WIDTH; this->max = MAX_PULSE_WIDTH;
@ -165,7 +158,4 @@
} }
} }
#endif // HAS_SERVOS #endif // HAS_SERVOS && TARGET_LPC1768
#endif // TARGET_LPC1768

23
Marlin/src/HAL/HAL_LPC1768/LPC1768_Servo.h
View file

@ -21,7 +21,7 @@
*/ */
/** /**
* The class Servo uses the PWM class to implement it's functions * The class Servo uses the PWM class to implement its functions
* *
* The PWM1 module is only used to generate interrups at specified times. It * The PWM1 module is only used to generate interrups at specified times. It
* is NOT used to directly toggle pins. The ISR writes to the pin assigned to * is NOT used to directly toggle pins. The ISR writes to the pin assigned to
@ -31,14 +31,12 @@
* *
*/ */
#ifndef LPC1768_SERVO_h #ifndef LPC1768_SERVO_H
#define LPC1768_SERVO_h #define LPC1768_SERVO_H
#ifdef TARGET_LPC1768 #include <inttypes.h>
#include <inttypes.h>
class Servo {
class Servo {
public: public:
Servo(); Servo();
int8_t attach(int pin); // attach the given pin to the next free channel, set pinMode, return channel number (-1 on fail) int8_t attach(int pin); // attach the given pin to the next free channel, set pinMode, return channel number (-1 on fail)
@ -57,13 +55,8 @@
uint8_t servoIndex; // index into the channel data for this servo uint8_t servoIndex; // index into the channel data for this servo
int min; int min;
int max; int max;
}; };
#define HAL_SERVO_LIB Servo
#endif
#endif
#define HAL_SERVO_LIB Servo
#endif // LPC1768_SERVO_H

15
Marlin/src/HAL/HAL_pinsDebug.h
View file

@ -21,19 +21,18 @@
*/ */
#ifndef HAL_PINSDEBUG_H #ifndef HAL_PINSDEBUG_H
#define HAL_PINSDEBUG_H
#if defined(PINS_DEBUGGING) #ifdef ARDUINO_ARCH_AVR
#ifdef ARDUINO_ARCH_AVR
#include "HAL_AVR/pinsDebug_AVR_8_bit.h" #include "HAL_AVR/pinsDebug_AVR_8_bit.h"
#elif defined(ARDUINO_ARCH_SAM) #elif defined(ARDUINO_ARCH_SAM)
#include "HAL_DUE/HAL_pinsDebug_Due.h" #include "HAL_DUE/HAL_pinsDebug_Due.h"
#elif IS_32BIT_TEENSY #elif IS_32BIT_TEENSY
#include "HAL_TEENSY35_36/HAL_pinsDebug_Teensy.h" #include "HAL_TEENSY35_36/HAL_pinsDebug_Teensy.h"
#elif defined(TARGET_LPC1768) #elif defined(TARGET_LPC1768)
#include "HAL_LPC1768/pinsDebug_Re_ARM.h" #include "HAL_LPC1768/pinsDebug_Re_ARM.h"
#else #else
#error Unsupported Platform! #error Unsupported Platform!
#endif
#endif #endif
#endif #endif // HAL_PINSDEBUG_H

2
Marlin/src/HAL/HAL_spi_pins.h
View file

@ -41,4 +41,4 @@
#error "Unsupported Platform!" #error "Unsupported Platform!"
#endif #endif
#endif /* HAL_SPI_PINS_H_ */ #endif // HAL_SPI_PINS_H_

25
Marlin/src/HAL/servo.h
View file

@ -66,28 +66,27 @@
With DEACTIVATE_SERVOS_AFTER_MOVE wait SERVO_DELAY and detach. With DEACTIVATE_SERVOS_AFTER_MOVE wait SERVO_DELAY and detach.
*/ */
#ifndef servo_h #ifndef SERVO_H
#define servo_h #define SERVO_H
#if IS_32BIT_TEENSY #if IS_32BIT_TEENSY
#include "HAL_TEENSY35_36/HAL_Servo_Teensy.h" // Teensy HAL uses an inherited library #include "HAL_TEENSY35_36/HAL_Servo_Teensy.h" // Teensy HAL uses an inherited library
#elif defined(TARGET_LPC1768) #elif defined(TARGET_LPC1768)
#include "HAL_LPC1768/LPC1768_Servo.cpp" #include "HAL_LPC1768/LPC1768_Servo.h"
#else #else
#include <inttypes.h>
#include <inttypes.h> #if defined(ARDUINO_ARCH_AVR) || defined(ARDUINO_ARCH_SAM)
#if defined(ARDUINO_ARCH_AVR) || defined(ARDUINO_ARCH_SAM)
// we're good to go // we're good to go
#else #else
#error "This library only supports boards with an AVR or SAM3X processor." #error "This library only supports boards with an AVR or SAM3X processor."
#endif #endif
#define Servo_VERSION 2 // software version of this library #define Servo_VERSION 2 // software version of this library
class Servo { class Servo {
public: public:
Servo(); Servo();
int8_t attach(int pin); // attach the given pin to the next free channel, set pinMode, return channel number (-1 on fail) int8_t attach(int pin); // attach the given pin to the next free channel, set pinMode, return channel number (-1 on fail)
@ -106,8 +105,8 @@ class Servo {
uint8_t servoIndex; // index into the channel data for this servo uint8_t servoIndex; // index into the channel data for this servo
int8_t min; // minimum is this value times 4 added to MIN_PULSE_WIDTH int8_t min; // minimum is this value times 4 added to MIN_PULSE_WIDTH
int8_t max; // maximum is this value times 4 added to MAX_PULSE_WIDTH int8_t max; // maximum is this value times 4 added to MAX_PULSE_WIDTH
}; };
#endif // !TEENSY
#endif #endif
#endif // SERVO_H

5
Marlin/stepper.cpp
View file

@ -355,11 +355,8 @@ void Stepper::isr() {
} }
_NEXT_ISR(ocr_val); _NEXT_ISR(ocr_val);
#ifdef CPU_32_BIT
//todo: HAL?
#else
NOLESS(OCR1A, TCNT1 + 16); NOLESS(OCR1A, TCNT1 + 16);
#endif
HAL_ENABLE_ISRs(); // re-enable ISRs HAL_ENABLE_ISRs(); // re-enable ISRs
return; return;