mirror of
https://github.com/MarlinFirmware/Marlin.git
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281 lines
10 KiB
C++
281 lines
10 KiB
C++
/* **************************************************************************
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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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Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
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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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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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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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#ifdef TARGET_LPC1768
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#include "../../inc/MarlinConfig.h"
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HalSerial usb_serial;
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// U8glib required functions
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extern "C" void u8g_xMicroDelay(uint16_t val) {
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delayMicroseconds(val);
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}
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extern "C" void u8g_MicroDelay(void) {
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u8g_xMicroDelay(1);
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}
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extern "C" void u8g_10MicroDelay(void) {
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u8g_xMicroDelay(10);
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}
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extern "C" void u8g_Delay(uint16_t val) {
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delay(val);
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}
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//************************//
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// return free heap space
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int freeMemory() {
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char stack_end;
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void *heap_start = malloc(sizeof(uint32_t));
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if (heap_start == 0) return 0;
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uint32_t result = (uint32_t)&stack_end - (uint32_t)heap_start;
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free(heap_start);
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return result;
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}
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// --------------------------------------------------------------------------
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// ADC
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// --------------------------------------------------------------------------
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#define ADC_DONE 0x80000000
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#define ADC_OVERRUN 0x40000000
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void HAL_adc_init(void) {
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LPC_SC->PCONP |= (1 << 12); // Enable CLOCK for internal ADC controller
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LPC_SC->PCLKSEL0 &= ~(0x3 << 24);
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LPC_SC->PCLKSEL0 |= (0x1 << 24); // 0: 25MHz, 1: 100MHz, 2: 50MHz, 3: 12.5MHZ to ADC clock divider
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LPC_ADC->ADCR = (0 << 0) // SEL: 0 = no channels selected
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| (0xFF << 8) // select slowest clock for A/D conversion 150 - 190 uS for a complete conversion
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| (0 << 16) // BURST: 0 = software control
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| (0 << 17) // CLKS: not applicable
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| (1 << 21) // PDN: 1 = operational
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| (0 << 24) // START: 0 = no start
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| (0 << 27); // EDGE: not applicable
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}
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// externals need to make the call to KILL compile
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#include "../../core/language.h"
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extern void kill(const char*);
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extern const char errormagic[];
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void HAL_adc_enable_channel(int ch) {
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pin_t pin = analogInputToDigitalPin(ch);
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if (pin == -1) {
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SERIAL_PRINTF("%sINVALID ANALOG PORT:%d\n", errormagic, ch);
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kill(MSG_KILLED);
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}
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int8_t pin_port = LPC1768_PIN_PORT(pin),
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pin_port_pin = LPC1768_PIN_PIN(pin),
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pinsel_start_bit = pin_port_pin > 15 ? 2 * (pin_port_pin - 16) : 2 * pin_port_pin;
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uint8_t pin_sel_register = (pin_port == 0 && pin_port_pin <= 15) ? 0 :
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pin_port == 0 ? 1 :
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pin_port == 1 ? 3 : 10;
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switch (pin_sel_register) {
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case 1:
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LPC_PINCON->PINSEL1 &= ~(0x3 << pinsel_start_bit);
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LPC_PINCON->PINSEL1 |= (0x1 << pinsel_start_bit);
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break;
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case 3:
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LPC_PINCON->PINSEL3 &= ~(0x3 << pinsel_start_bit);
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LPC_PINCON->PINSEL3 |= (0x3 << pinsel_start_bit);
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break;
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case 0:
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LPC_PINCON->PINSEL0 &= ~(0x3 << pinsel_start_bit);
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LPC_PINCON->PINSEL0 |= (0x2 << pinsel_start_bit);
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break;
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};
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}
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void HAL_adc_start_conversion(const uint8_t ch) {
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if (analogInputToDigitalPin(ch) == -1) {
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SERIAL_PRINTF("HAL: HAL_adc_start_conversion: invalid channel %d\n", ch);
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return;
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}
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LPC_ADC->ADCR &= ~0xFF; // Reset
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SBI(LPC_ADC->ADCR, ch); // Select Channel
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SBI(LPC_ADC->ADCR, 24); // Start conversion
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}
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bool HAL_adc_finished(void) {
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return LPC_ADC->ADGDR & ADC_DONE;
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}
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// possible config options if something similar is extended to more platforms.
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#define ADC_USE_MEDIAN_FILTER // Filter out erroneous readings
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#define ADC_MEDIAN_FILTER_SIZE (23) // Higher values increase step delay (phase shift),
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// (ADC_MEDIAN_FILTER_SIZE + 1) / 2 sample step delay (12 samples @ 500Hz: 24ms phase shift)
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// Memory usage per ADC channel (bytes): (6 * ADC_MEDIAN_FILTER_SIZE) + 16
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// 8 * ((6 * 23) + 16 ) = 1232 Bytes for 8 channels
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#define ADC_USE_LOWPASS_FILTER // Filter out high frequency noise
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#define ADC_LOWPASS_K_VALUE (6) // Higher values increase rise time
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// Rise time sample delays for 100% signal convergence on full range step
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// (1 : 13, 2 : 32, 3 : 67, 4 : 139, 5 : 281, 6 : 565, 7 : 1135, 8 : 2273)
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// K = 6, 565 samples, 500Hz sample rate, 1.13s convergence on full range step
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// Memory usage per ADC channel (bytes): 4 (32 Bytes for 8 channels)
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// Sourced from https://embeddedgurus.com/stack-overflow/tag/median-filter/
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struct MedianFilter {
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#define STOPPER 0 // Smaller than any datum
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struct Pair {
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Pair *point; // Pointers forming list linked in sorted order
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uint16_t value; // Values to sort
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};
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Pair buffer[ADC_MEDIAN_FILTER_SIZE] = {}; // Buffer of nwidth pairs
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Pair *datpoint = buffer; // Pointer into circular buffer of data
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Pair small = {NULL, STOPPER}; // Chain stopper
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Pair big = {&small, 0}; // Pointer to head (largest) of linked list.
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uint16_t update(uint16_t datum) {
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Pair *successor; // Pointer to successor of replaced data item
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Pair *scan; // Pointer used to scan down the sorted list
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Pair *scanold; // Previous value of scan
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Pair *median; // Pointer to median
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uint16_t i;
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if (datum == STOPPER) {
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datum = STOPPER + 1; // No stoppers allowed.
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}
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if ( (++datpoint - buffer) >= ADC_MEDIAN_FILTER_SIZE) {
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datpoint = buffer; // Increment and wrap data in pointer.
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}
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datpoint->value = datum; // Copy in new datum
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successor = datpoint->point; // Save pointer to old value's successor
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median = &big; // Median initially to first in chain
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scanold = NULL; // Scanold initially null.
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scan = &big; // Points to pointer to first (largest) datum in chain
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// Handle chain-out of first item in chain as special case
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if (scan->point == datpoint) {
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scan->point = successor;
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}
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scanold = scan; // Save this pointer and
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scan = scan->point ; // step down chain
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// Loop through the chain, normal loop exit via break.
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for (i = 0 ; i < ADC_MEDIAN_FILTER_SIZE; ++i) {
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// Handle odd-numbered item in chain
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if (scan->point == datpoint) {
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scan->point = successor; // Chain out the old datum
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}
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if (scan->value < datum) { // If datum is larger than scanned value
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datpoint->point = scanold->point; // Chain it in here
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scanold->point = datpoint; // Mark it chained in
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datum = STOPPER;
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}
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// Step median pointer down chain after doing odd-numbered element
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median = median->point; // Step median pointer
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if (scan == &small) {
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break; // Break at end of chain
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}
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scanold = scan; // Save this pointer and
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scan = scan->point; // step down chain
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// Handle even-numbered item in chain.
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if (scan->point == datpoint) {
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scan->point = successor;
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}
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if (scan->value < datum) {
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datpoint->point = scanold->point;
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scanold->point = datpoint;
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datum = STOPPER;
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}
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if (scan == &small) {
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break;
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}
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scanold = scan;
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scan = scan->point;
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}
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return median->value;
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}
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};
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struct LowpassFilter {
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uint32_t data_delay = 0;
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uint16_t update(uint16_t value) {
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data_delay = data_delay - (data_delay >> ADC_LOWPASS_K_VALUE) + value;
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return (uint16_t)(data_delay >> ADC_LOWPASS_K_VALUE);
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}
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};
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uint16_t HAL_adc_get_result(void) {
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uint32_t adgdr = LPC_ADC->ADGDR;
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CBI(LPC_ADC->ADCR, 24); // Stop conversion
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if (adgdr & ADC_OVERRUN) return 0;
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uint16_t data = (adgdr >> 4) & 0xFFF; // copy the 12bit data value
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uint8_t adc_channel = (adgdr >> 24) & 0x7; // copy the 3bit used channel
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#ifdef ADC_USE_MEDIAN_FILTER
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static MedianFilter median_filter[NUM_ANALOG_INPUTS];
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data = median_filter[adc_channel].update(data);
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#endif
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#ifdef ADC_USE_LOWPASS_FILTER
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static LowpassFilter lowpass_filter[NUM_ANALOG_INPUTS];
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data = lowpass_filter[adc_channel].update(data);
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#endif
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return ((data >> 2) & 0x3ff); // return 10bit value as Marlin expects
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}
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#define SBIT_CNTEN 0
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#define SBIT_PWMEN 2
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#define SBIT_PWMMR0R 1
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#define PWM_1 0 //P2_00 (0-1 Bits of PINSEL4)
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#define PWM_2 2 //P2_01 (2-3 Bits of PINSEL4)
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#define PWM_3 4 //P2_02 (4-5 Bits of PINSEL4)
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#define PWM_4 6 //P2_03 (6-7 Bits of PINSEL4)
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#define PWM_5 8 //P2_04 (8-9 Bits of PINSEL4)
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#define PWM_6 10 //P2_05 (10-11 Bits of PINSEL4)
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void HAL_pwm_init(void) {
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LPC_PINCON->PINSEL4 = _BV(PWM_5) | _BV(PWM_6);
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LPC_PWM1->TCR = _BV(SBIT_CNTEN) | _BV(SBIT_PWMEN);
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LPC_PWM1->PR = 0x0; // No prescalar
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LPC_PWM1->MCR = _BV(SBIT_PWMMR0R); // Reset on PWMMR0, reset TC if it matches MR0
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LPC_PWM1->MR0 = 255; // set PWM cycle(Ton+Toff)=255)
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LPC_PWM1->MR5 = 0; // Set 50% Duty Cycle for the channels
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LPC_PWM1->MR6 = 0;
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// Trigger the latch Enable Bits to load the new Match Values MR0, MR5, MR6
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LPC_PWM1->LER = _BV(0) | _BV(5) | _BV(6);
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// Enable the PWM output pins for PWM_5-PWM_6(P2_04 - P2_05)
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LPC_PWM1->PCR = _BV(13) | _BV(14);
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}
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#endif // TARGET_LPC1768
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