Basic GPIO expander using the ESP32 I2S peripheral (#12959)
This commit is contained in:
Simon Jouet
Scott Lahteine
parent
3983cacbcf
commit
5cd0fa3ce1
10 changed files with 412 additions and 41 deletions
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@ -85,6 +85,8 @@ void HAL_init(void) {
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#if ENABLED(WIFISUPPORT)
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OTA_init();
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#endif
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i2s_init();
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}
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void HAL_idletask(void) {
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@ -31,7 +31,7 @@
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#include <stdint.h>
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#undef DISABLED
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#undef _BV
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#undef M_PI
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#include <Arduino.h>
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@ -43,6 +43,7 @@
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#include "fastio_ESP32.h"
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#include "watchdog_ESP32.h"
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#include "i2s.h"
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#include "HAL_timers_ESP32.h"
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@ -113,7 +113,7 @@ void HAL_timer_start(const uint8_t timer_num, uint32_t frequency) {
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const tTimerConfig timer = TimerConfig[timer_num];
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timer_config_t config;
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config.divider = STEPPER_TIMER_PRESCALE;
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config.divider = timer.divider;
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config.counter_dir = TIMER_COUNT_UP;
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config.counter_en = TIMER_PAUSE;
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config.alarm_en = TIMER_ALARM_EN;
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@ -43,9 +43,15 @@ typedef uint64_t hal_timer_t;
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#define HAL_TIMER_RATE APB_CLK_FREQ // frequency of timer peripherals
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#define STEPPER_TIMER_PRESCALE 40
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#define STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer, 2MHz
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#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
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#if ENABLED(I2S_STEPPER_STREAM)
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#define STEPPER_TIMER_PRESCALE 1
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#define STEPPER_TIMER_RATE 250000 // 250khz, 4us pulses of i2s word clock
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#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs // wrong would be 0.25
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#else
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#define STEPPER_TIMER_PRESCALE 40
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#define STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer, 2MHz
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#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
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#endif
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#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
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@ -21,38 +21,40 @@
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*/
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#pragma once
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#include "i2s.h"
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/**
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* Utility functions
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*/
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// set pin as input
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// Set pin as input
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#define _SET_INPUT(IO) pinMode(IO, INPUT)
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// set pin as output
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// Set pin as output
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#define _SET_OUTPUT(IO) pinMode(IO, OUTPUT)
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// set pin as input with pullup mode
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// Set pin as input with pullup mode
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#define _PULLUP(IO, v) pinMode(IO, v ? INPUT_PULLUP : INPUT)
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// Read a pin wrapper
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#define READ(IO) digitalRead(IO)
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// Write to a pin wrapper
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#define WRITE(IO, v) digitalWrite(IO, v)
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#define WRITE(IO, v) (TEST(IO, 7) ? i2s_write(IO & 0x7F, v) : digitalWrite(IO, v))
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// set pin as input wrapper
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// Set pin as input wrapper
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#define SET_INPUT(IO) _SET_INPUT(IO)
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// set pin as input with pullup wrapper
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// Set pin as input with pullup wrapper
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#define SET_INPUT_PULLUP(IO) do{ _SET_INPUT(IO); _PULLUP(IO, HIGH); }while(0)
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// set pin as output wrapper
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// Set pin as output wrapper
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#define SET_OUTPUT(IO) do{ _SET_OUTPUT(IO); WRITE(IO, LOW); }while(0)
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#define OUT_WRITE(IO,V) do{ _SET_OUTPUT(IO); WRITE(IO,V); }while(0)
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//
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// ports and functions
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// Ports and functions
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//
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// UART
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322
Marlin/src/HAL/HAL_ESP32/i2s.cpp
Normal file
322
Marlin/src/HAL/HAL_ESP32/i2s.cpp
Normal file
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@ -0,0 +1,322 @@
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/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#ifdef ARDUINO_ARCH_ESP32
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#include <Arduino.h> // replace that with the proper imports
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#include "i2s.h"
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#include "../../core/macros.h"
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#include "driver/periph_ctrl.h"
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#include "rom/lldesc.h"
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#include "soc/i2s_struct.h"
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#include "freertos/queue.h"
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#include "../../module/stepper.h"
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#define DMA_BUF_COUNT 8 // number of DMA buffers to store data
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#define DMA_BUF_LEN 4092 // maximum size in bytes
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#define I2S_SAMPLE_SIZE 4 // 4 bytes, 32 bits per sample
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#define DMA_SAMPLE_COUNT DMA_BUF_LEN / I2S_SAMPLE_SIZE // number of samples per buffer
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typedef enum {
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I2S_NUM_0 = 0x0, /*!< I2S 0*/
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I2S_NUM_1 = 0x1, /*!< I2S 1*/
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I2S_NUM_MAX,
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} i2s_port_t;
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typedef struct {
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uint32_t **buffers;
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uint32_t *current;
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uint32_t rw_pos;
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lldesc_t **desc;
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xQueueHandle queue;
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} i2s_dma_t;
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static portMUX_TYPE i2s_spinlock[I2S_NUM_MAX] = {portMUX_INITIALIZER_UNLOCKED, portMUX_INITIALIZER_UNLOCKED};
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static i2s_dev_t* I2S[I2S_NUM_MAX] = {&I2S0, &I2S1};
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static i2s_dma_t dma;
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// output value
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uint32_t i2s_port_data;
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#define I2S_ENTER_CRITICAL() portENTER_CRITICAL(&i2s_spinlock[i2s_num])
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#define I2S_EXIT_CRITICAL() portEXIT_CRITICAL(&i2s_spinlock[i2s_num])
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static inline void gpio_matrix_out_check(uint32_t gpio, uint32_t signal_idx, bool out_inv, bool oen_inv) {
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//if pin = -1, do not need to configure
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if (gpio != -1) {
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PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[gpio], PIN_FUNC_GPIO);
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gpio_set_direction((gpio_num_t)gpio, (gpio_mode_t)GPIO_MODE_DEF_OUTPUT);
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gpio_matrix_out(gpio, signal_idx, out_inv, oen_inv);
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}
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}
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static esp_err_t i2s_reset_fifo(i2s_port_t i2s_num) {
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I2S_ENTER_CRITICAL();
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I2S[i2s_num]->conf.rx_fifo_reset = 1;
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I2S[i2s_num]->conf.rx_fifo_reset = 0;
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I2S[i2s_num]->conf.tx_fifo_reset = 1;
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I2S[i2s_num]->conf.tx_fifo_reset = 0;
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I2S_EXIT_CRITICAL();
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return ESP_OK;
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}
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esp_err_t i2s_start(i2s_port_t i2s_num) {
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//start DMA link
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I2S_ENTER_CRITICAL();
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i2s_reset_fifo(i2s_num);
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//reset dma
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I2S[i2s_num]->lc_conf.in_rst = 1;
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I2S[i2s_num]->lc_conf.in_rst = 0;
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I2S[i2s_num]->lc_conf.out_rst = 1;
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I2S[i2s_num]->lc_conf.out_rst = 0;
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I2S[i2s_num]->conf.tx_reset = 1;
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I2S[i2s_num]->conf.tx_reset = 0;
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I2S[i2s_num]->conf.rx_reset = 1;
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I2S[i2s_num]->conf.rx_reset = 0;
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I2S[i2s_num]->int_clr.val = 0xFFFFFFFF;
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I2S[i2s_num]->out_link.start = 1;
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I2S[i2s_num]->conf.tx_start = 1;
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I2S_EXIT_CRITICAL();
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return ESP_OK;
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}
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esp_err_t i2s_stop(i2s_port_t i2s_num) {
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I2S_ENTER_CRITICAL();
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I2S[i2s_num]->out_link.stop = 1;
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I2S[i2s_num]->conf.tx_start = 0;
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I2S[i2s_num]->int_clr.val = I2S[i2s_num]->int_st.val; //clear pending interrupt
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I2S_EXIT_CRITICAL();
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return ESP_OK;
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}
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static void IRAM_ATTR i2s_intr_handler_default(void *arg) {
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int dummy;
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lldesc_t *finish_desc;
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portBASE_TYPE high_priority_task_awoken = pdFALSE;
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if (I2S0.int_st.out_eof) {
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// Get the descriptor of the last item in the linkedlist
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finish_desc = (lldesc_t*) I2S0.out_eof_des_addr;
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// If the queue is full it's because we have an underflow,
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// more than buf_count isr without new data, remove the front buffer
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if (xQueueIsQueueFullFromISR(dma.queue))
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xQueueReceiveFromISR(dma.queue, &dummy, &high_priority_task_awoken);
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xQueueSendFromISR(dma.queue, (void *)(&finish_desc->buf), &high_priority_task_awoken);
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}
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if (high_priority_task_awoken == pdTRUE) portYIELD_FROM_ISR();
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// clear interrupt
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I2S0.int_clr.val = I2S0.int_st.val; //clear pending interrupt
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}
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void stepperTask(void* parameter) {
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uint32_t i, remaining = 0;
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while (1) {
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xQueueReceive(dma.queue, &dma.current, portMAX_DELAY);
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dma.rw_pos = 0;
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for (i = 0; i < DMA_SAMPLE_COUNT; i++) {
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// Fill with the port data post pulse_phase until the next step
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if (remaining) {
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i2s_push_sample();
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remaining--;
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}
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else {
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Stepper::stepper_pulse_phase_isr();
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remaining = Stepper::stepper_block_phase_isr();
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}
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}
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}
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}
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int i2s_init() {
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periph_module_enable(PERIPH_I2S0_MODULE);
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/**
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* Each i2s transfer will take
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* fpll = PLL_D2_CLK -- clka_en = 0
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*
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* fi2s = fpll / N + b/a -- N = clkm_div_num
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* fi2s = 160MHz / 2
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* fi2s = 80MHz
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*
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* fbclk = fi2s / M -- M = tx_bck_div_num
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* fbclk = 80MHz / 2
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* fbclk = 40MHz
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*
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* fwclk = fbclk / 32
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*
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* for fwclk = 250kHz (4uS pulse time)
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* N = 10
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* M = 20
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*/
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// Allocate the array of pointers to the buffers
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dma.buffers = (uint32_t **)malloc(sizeof(uint32_t*) * DMA_BUF_COUNT);
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if (dma.buffers == NULL) return -1;
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// Allocate each buffer that can be used by the DMA controller
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for (int buf_idx = 0; buf_idx < DMA_BUF_COUNT; buf_idx++) {
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dma.buffers[buf_idx] = (uint32_t*) heap_caps_calloc(1, DMA_BUF_LEN, MALLOC_CAP_DMA);
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if (dma.buffers[buf_idx] == NULL) return -1;
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}
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// Allocate the array of DMA descriptors
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dma.desc = (lldesc_t**) malloc(sizeof(lldesc_t*) * DMA_BUF_COUNT);
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if (dma.desc == NULL) return -1;
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// Allocate each DMA descriptor that will be used by the DMA controller
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for (int buf_idx = 0; buf_idx < DMA_BUF_COUNT; buf_idx++) {
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dma.desc[buf_idx] = (lldesc_t*) heap_caps_malloc(sizeof(lldesc_t), MALLOC_CAP_DMA);
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if (dma.desc[buf_idx] == NULL) return -1;
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}
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// Initialize
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for (int buf_idx = 0; buf_idx < DMA_BUF_COUNT; buf_idx++) {
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dma.desc[buf_idx]->owner = 1;
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dma.desc[buf_idx]->eof = 1; // set to 1 will trigger the interrupt
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dma.desc[buf_idx]->sosf = 0;
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dma.desc[buf_idx]->length = DMA_BUF_LEN;
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dma.desc[buf_idx]->size = DMA_BUF_LEN;
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dma.desc[buf_idx]->buf = (uint8_t *) dma.buffers[buf_idx];
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dma.desc[buf_idx]->offset = 0;
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dma.desc[buf_idx]->empty = (uint32_t)((buf_idx < (DMA_BUF_COUNT - 1)) ? (dma.desc[buf_idx + 1]) : dma.desc[0]);
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}
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dma.queue = xQueueCreate(DMA_BUF_COUNT, sizeof(uint32_t *));
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// Set the first DMA descriptor
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I2S0.out_link.addr = (uint32_t)dma.desc[0];
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// stop i2s
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i2s_stop(I2S_NUM_0);
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// configure I2S data port interface.
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i2s_reset_fifo(I2S_NUM_0);
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//reset i2s
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I2S0.conf.tx_reset = 1;
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I2S0.conf.tx_reset = 0;
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I2S0.conf.rx_reset = 1;
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I2S0.conf.rx_reset = 0;
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//reset dma
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I2S0.lc_conf.in_rst = 1;
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I2S0.lc_conf.in_rst = 0;
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I2S0.lc_conf.out_rst = 1;
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I2S0.lc_conf.out_rst = 0;
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//Enable and configure DMA
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I2S0.lc_conf.check_owner = 0;
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I2S0.lc_conf.out_loop_test = 0;
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I2S0.lc_conf.out_auto_wrback = 0;
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I2S0.lc_conf.out_data_burst_en = 0;
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I2S0.lc_conf.outdscr_burst_en = 0;
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I2S0.lc_conf.out_no_restart_clr = 0;
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I2S0.lc_conf.indscr_burst_en = 0;
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I2S0.lc_conf.out_eof_mode = 1;
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I2S0.conf2.lcd_en = 0;
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I2S0.conf2.camera_en = 0;
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I2S0.pdm_conf.pcm2pdm_conv_en = 0;
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I2S0.pdm_conf.pdm2pcm_conv_en = 0;
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I2S0.fifo_conf.dscr_en = 0;
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I2S0.conf_chan.tx_chan_mod = 0;
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I2S0.fifo_conf.tx_fifo_mod = 0;
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I2S0.conf.tx_mono = 0;
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I2S0.conf_chan.rx_chan_mod = 0;
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I2S0.fifo_conf.rx_fifo_mod = 0;
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I2S0.conf.rx_mono = 0;
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I2S0.fifo_conf.dscr_en = 1; //connect dma to fifo
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I2S0.conf.tx_start = 0;
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I2S0.conf.rx_start = 0;
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I2S0.conf.tx_msb_right = 1;
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I2S0.conf.tx_right_first = 1;
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I2S0.conf.tx_slave_mod = 0; // Master
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I2S0.fifo_conf.tx_fifo_mod_force_en = 1;
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I2S0.pdm_conf.rx_pdm_en = 0;
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I2S0.pdm_conf.tx_pdm_en = 0;
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I2S0.conf.tx_short_sync = 0;
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I2S0.conf.rx_short_sync = 0;
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I2S0.conf.tx_msb_shift = 0;
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I2S0.conf.rx_msb_shift = 0;
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// set clock
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I2S0.clkm_conf.clka_en = 0; // Use PLL/2 as reference
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I2S0.clkm_conf.clkm_div_num = 10; // minimum value of 2, reset value of 4, max 256
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I2S0.clkm_conf.clkm_div_a = 0; // 0 at reset, what about divide by 0? (not an issue)
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I2S0.clkm_conf.clkm_div_b = 0; // 0 at reset
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// fbck = fi2s / tx_bck_div_num
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I2S0.sample_rate_conf.tx_bck_div_num = 2; // minimum value of 2 defaults to 6
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// Enable TX interrupts
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I2S0.int_ena.out_eof = 1;
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I2S0.int_ena.out_dscr_err = 0;
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I2S0.int_ena.out_total_eof = 0;
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I2S0.int_ena.out_done = 0;
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// Allocate and Enable the I2S interrupt
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intr_handle_t i2s_isr_handle;
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esp_intr_alloc(ETS_I2S0_INTR_SOURCE, 0, i2s_intr_handler_default, NULL, &i2s_isr_handle);
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esp_intr_enable(i2s_isr_handle);
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|
||||
// Create the task that will feed the buffer
|
||||
xTaskCreate(stepperTask, "StepperTask", 10000, NULL, 1, NULL);
|
||||
|
||||
// Route the i2s pins to the appropriate GPIO
|
||||
gpio_matrix_out_check(22, I2S0O_DATA_OUT23_IDX, 0, 0);
|
||||
gpio_matrix_out_check(25, I2S0O_WS_OUT_IDX, 0, 0);
|
||||
gpio_matrix_out_check(26, I2S0O_BCK_OUT_IDX, 0, 0);
|
||||
|
||||
// Start the I2S peripheral
|
||||
return i2s_start(I2S_NUM_0);
|
||||
}
|
||||
|
||||
void i2s_write(uint8_t pin, uint8_t val) {
|
||||
SET_BIT_TO(i2s_port_data, pin, val);
|
||||
}
|
||||
|
||||
void i2s_push_sample() {
|
||||
dma.current[dma.rw_pos++] = i2s_port_data;
|
||||
}
|
||||
|
||||
#endif // ARDUINO_ARCH_ESP32
|
||||
31
Marlin/src/HAL/HAL_ESP32/i2s.h
Normal file
31
Marlin/src/HAL/HAL_ESP32/i2s.h
Normal file
|
|
@ -0,0 +1,31 @@
|
|||
/**
|
||||
* Marlin 3D Printer Firmware
|
||||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||
*
|
||||
* Based on Sprinter and grbl.
|
||||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
||||
*
|
||||
* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
// current value of the outputs provided over i2s
|
||||
extern uint32_t i2s_port_data;
|
||||
|
||||
int i2s_init();
|
||||
|
||||
void i2s_write(uint8_t pin, uint8_t val);
|
||||
|
||||
void i2s_push_sample();
|
||||
|
|
@ -1474,7 +1474,12 @@ void Stepper::stepper_pulse_phase_isr() {
|
|||
#endif
|
||||
#endif
|
||||
|
||||
#if MINIMUM_STEPPER_PULSE
|
||||
#if ENABLED(I2S_STEPPER_STREAM)
|
||||
i2s_push_sample();
|
||||
#endif
|
||||
|
||||
// TODO: need to deal with MINIMUM_STEPPER_PULSE over i2s
|
||||
#if MINIMUM_STEPPER_PULSE && DISABLED(I2S_STEPPER_STREAM)
|
||||
// Just wait for the requested pulse duration
|
||||
while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
|
||||
#endif
|
||||
|
|
@ -2143,12 +2148,11 @@ void Stepper::init() {
|
|||
E_AXIS_INIT(5);
|
||||
#endif
|
||||
|
||||
// Init Stepper ISR to 122 Hz for quick starting
|
||||
HAL_timer_start(STEP_TIMER_NUM, 122);
|
||||
|
||||
#if DISABLED(I2S_STEPPER_STREAM)
|
||||
HAL_timer_start(STEP_TIMER_NUM, 122); // Init Stepper ISR to 122 Hz for quick starting
|
||||
ENABLE_STEPPER_DRIVER_INTERRUPT();
|
||||
|
||||
sei();
|
||||
#endif
|
||||
|
||||
// Init direction bits for first moves
|
||||
last_direction_bits = 0
|
||||
|
|
|
|||
|
|
@ -36,24 +36,24 @@
|
|||
//
|
||||
// Steppers
|
||||
//
|
||||
#define X_STEP_PIN 27
|
||||
#define X_DIR_PIN 26
|
||||
#define X_ENABLE_PIN 25
|
||||
#define X_STEP_PIN 128
|
||||
#define X_DIR_PIN 129
|
||||
#define X_ENABLE_PIN 130
|
||||
//#define X_CS_PIN 0
|
||||
|
||||
#define Y_STEP_PIN 33
|
||||
#define Y_DIR_PIN 32
|
||||
#define Y_ENABLE_PIN X_ENABLE_PIN
|
||||
#define Y_STEP_PIN 131
|
||||
#define Y_DIR_PIN 132
|
||||
#define Y_ENABLE_PIN 133
|
||||
//#define Y_CS_PIN 13
|
||||
|
||||
#define Z_STEP_PIN 14
|
||||
#define Z_DIR_PIN 12
|
||||
#define Z_ENABLE_PIN X_ENABLE_PIN
|
||||
#define Z_STEP_PIN 134
|
||||
#define Z_DIR_PIN 135
|
||||
#define Z_ENABLE_PIN 136
|
||||
//#define Z_CS_PIN 5 // SS_PIN
|
||||
|
||||
#define E0_STEP_PIN 16
|
||||
#define E0_DIR_PIN 17
|
||||
#define E0_ENABLE_PIN X_ENABLE_PIN
|
||||
#define E0_STEP_PIN 137
|
||||
#define E0_DIR_PIN 138
|
||||
#define E0_ENABLE_PIN 139
|
||||
//#define E0_CS_PIN 21
|
||||
|
||||
//
|
||||
|
|
|
|||
|
|
@ -356,7 +356,8 @@ lib_ignore =
|
|||
platform = https://github.com/platformio/platform-espressif32.git#feature/stage
|
||||
board = esp32dev
|
||||
framework = arduino
|
||||
upload_port = COM3
|
||||
upload_speed = 115200
|
||||
monitor_speed = 115200
|
||||
lib_ignore =
|
||||
LiquidCrystal_I2C
|
||||
LiquidCrystal
|
||||
|
|
@ -364,6 +365,8 @@ lib_ignore =
|
|||
LiquidTWI2
|
||||
TMC26XStepper
|
||||
c1921b4
|
||||
SailfishLCD
|
||||
SailfishRGB_LED
|
||||
src_filter = ${common.default_src_filter} +<src/HAL/HAL_ESP32>
|
||||
|
||||
#
|
||||
|
|
|
|||
Reference in a new issue