diff options
Diffstat (limited to 'src/Hardware/SAM4E')
| -rw-r--r-- | src/Hardware/SAM4E/Devices.cpp | 76 | ||||
| -rw-r--r-- | src/Hardware/SAM4E/Devices.h | 29 | ||||
| -rw-r--r-- | src/Hardware/SAM4E/Main.cpp | 26 | ||||
| -rw-r--r-- | src/Hardware/SAM4E/PinDescription.h | 49 | ||||
| -rw-r--r-- | src/Hardware/SAM4E/sam4e8e_flash.ld | 152 |
5 files changed, 332 insertions, 0 deletions
diff --git a/src/Hardware/SAM4E/Devices.cpp b/src/Hardware/SAM4E/Devices.cpp new file mode 100644 index 00000000..ca3ec53a --- /dev/null +++ b/src/Hardware/SAM4E/Devices.cpp @@ -0,0 +1,76 @@ +/* + * Devices.cpp + * + * Created on: 11 Aug 2020 + * Author: David + */ + +#include "Devices.h" +#include <RepRapFirmware.h> +#include <AnalogIn.h> +#include <AnalogOut.h> +#include <pmc/pmc.h> + +AsyncSerial Serial (UART0, UART0_IRQn, ID_UART0, 512, 512, [](AsyncSerial*) noexcept { }, [](AsyncSerial*) noexcept { }); +AsyncSerial Serial1(UART1, UART1_IRQn, ID_UART1, 512, 512, [](AsyncSerial*) noexcept { }, [](AsyncSerial*) noexcept { }); +SerialCDC SerialUSB; + +void UART0_Handler(void) noexcept +{ + Serial.IrqHandler(); +} + +void UART1_Handler(void) noexcept +{ + Serial1.IrqHandler(); +} + +void SerialInit() noexcept +{ + SetPinFunction(APIN_Serial0_RXD, Serial0PeriphMode); + SetPinFunction(APIN_Serial0_TXD, Serial0PeriphMode); + SetPullup(APIN_Serial0_RXD, true); + + SetPinFunction(APIN_Serial1_RXD, Serial1PeriphMode); + SetPinFunction(APIN_Serial1_TXD, Serial1PeriphMode); + SetPullup(APIN_Serial1_RXD, true); +} + +void SdhcInit() noexcept +{ + SetPinFunction(HsmciClockPin, HsmciPinsFunction); + for (Pin p : HsmciOtherPins) + { + SetPinFunction(p, HsmciPinsFunction); + SetPullup(p, true); + } +} + +void WireInit() noexcept +{ + pmc_enable_periph_clk(WIRE_INTERFACE_ID); + SetPinFunction(TWI_Data, TWIPeriphMode); + SetPinFunction(TWI_CK, TWIPeriphMode); + + NVIC_DisableIRQ(WIRE_ISR_ID); + NVIC_ClearPendingIRQ(WIRE_ISR_ID); +} + +TwoWire Wire(WIRE_INTERFACE, WireInit); + + +// Device initialisation +void DeviceInit() noexcept +{ + LegacyAnalogIn::AnalogInInit(); + AnalogOut::Init(); + + SerialInit(); + SdhcInit(); +} + +void StopAnalogTask() noexcept +{ +} + +// End diff --git a/src/Hardware/SAM4E/Devices.h b/src/Hardware/SAM4E/Devices.h new file mode 100644 index 00000000..bff883c9 --- /dev/null +++ b/src/Hardware/SAM4E/Devices.h @@ -0,0 +1,29 @@ +/* + * Devices.h + * + * Created on: 11 Aug 2020 + * Author: David + */ + +#ifndef SRC_HARDWARE_SAM4E_DEVICES_H_ +#define SRC_HARDWARE_SAM4E_DEVICES_H_ + +#include <AsyncSerial.h> +typedef AsyncSerial UARTClass; +#include <USARTClass.h> + +extern AsyncSerial Serial; +extern AsyncSerial Serial1; + +#define SUPPORT_USB 1 // needed by SerialCDC.h +#include <SerialCDC.h> + +extern SerialCDC SerialUSB; + +#include <Wire.h> +extern TwoWire Wire; + +void DeviceInit() noexcept; +void StopAnalogTask() noexcept; + +#endif /* SRC_HARDWARE_SAM4E_DEVICES_H_ */ diff --git a/src/Hardware/SAM4E/Main.cpp b/src/Hardware/SAM4E/Main.cpp new file mode 100644 index 00000000..355443b4 --- /dev/null +++ b/src/Hardware/SAM4E/Main.cpp @@ -0,0 +1,26 @@ +/* + * Main.cpp + * Program entry point + * Created on: 11 Jul 2020 + * Author: David + * License: GNU GPL version 3 + */ + +#include <CoreIO.h> +#include <RepRapFirmware.h> + +// Program initialisation +void AppInit() noexcept +{ + // When the reset button is pressed on pre-production Duet WiFi boards, if the TMC2660 drivers were previously enabled then we get + // uncommanded motor movements if the STEP lines pick up any noise. Try to reduce that by initialising the pins that control the drivers early here. + // On the production boards the ENN line is pulled high by an external pullup resistor and that prevents motor movements. + for (size_t drive = 0; drive < MaxSmartDrivers; ++drive) + { + pinMode(STEP_PINS[drive], OUTPUT_LOW); + pinMode(DIRECTION_PINS[drive], OUTPUT_LOW); + pinMode(ENABLE_PINS[drive], OUTPUT_HIGH); + } +} + +// End diff --git a/src/Hardware/SAM4E/PinDescription.h b/src/Hardware/SAM4E/PinDescription.h new file mode 100644 index 00000000..d08e16de --- /dev/null +++ b/src/Hardware/SAM4E/PinDescription.h @@ -0,0 +1,49 @@ +/* + * PinDescription.h + * + * Created on: 10 Jul 2020 + * Author: David + */ + +#ifndef SRC_HARDWARE_SAM4E_PINDESCRIPTION_H_ +#define SRC_HARDWARE_SAM4E_PINDESCRIPTION_H_ + +#include <CoreIO.h> + +// Enum to represent allowed types of pin access +// We don't have a separate bit for servo, because Duet PWM-capable ports can be used for servos if they are on the Duet main board +enum class PinCapability: uint8_t +{ + // Individual capabilities + none = 0, + read = 1, + ain = 2, + write = 4, + pwm = 8, + + // Combinations + ainr = 1|2, + rw = 1|4, + wpwm = 4|8, + rwpwm = 1|4|8, + ainrw = 1|2|4, + ainrwpwm = 1|2|4|8 +}; + +constexpr inline PinCapability operator|(PinCapability a, PinCapability b) noexcept +{ + return (PinCapability)((uint8_t)a | (uint8_t)b); +} + +// The pin description says what functions are available on each pin, filtered to avoid allocating the same function to more than one pin.. +// It is a struct not a class so that it can be direct initialised in read-only memory. +struct PinDescription : public PinDescriptionBase +{ + PinCapability cap; + const char* pinNames; + + PinCapability GetCapability() const noexcept { return cap; } + const char* GetNames() const noexcept { return pinNames; } +}; + +#endif /* SRC_HARDWARE_SAM4E_PINDESCRIPTION_H_ */ diff --git a/src/Hardware/SAM4E/sam4e8e_flash.ld b/src/Hardware/SAM4E/sam4e8e_flash.ld new file mode 100644 index 00000000..fcb4cfc0 --- /dev/null +++ b/src/Hardware/SAM4E/sam4e8e_flash.ld @@ -0,0 +1,152 @@ +/* ---------------------------------------------------------------------------- + * SAM Software Package License + * ---------------------------------------------------------------------------- + * Copyright (c) 2012, Atmel Corporation + * + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following condition is met: + * + * - Redistributions of source code must retain the above copyright notice, + * this list of conditions and the disclaimer below. + * + * Atmel's name may not be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * DISCLAIMER: THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR + * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE + * DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * ---------------------------------------------------------------------------- + */ + +OUTPUT_FORMAT("elf32-littlearm", "elf32-littlearm", "elf32-littlearm") +OUTPUT_ARCH(arm) +SEARCH_DIR(.) + +/* Memory Spaces Definitions */ +MEMORY +{ + rom (rx) : ORIGIN = 0x00400000, LENGTH = 0x00080000 + ram (rwx) : ORIGIN = 0x20000000, LENGTH = 0x00020000 +} + +/* Section Definitions */ +SECTIONS +{ + .text : + { + . = ALIGN(4); + _sfixed = .; + KEEP(*(.vectors .vectors.*)) + *(.text .text.* .gnu.linkonce.t.*) + *(.glue_7t) *(.glue_7) + *(.rodata .rodata* .gnu.linkonce.r.*) + + /* Support C constructors, and C destructors in both user code + and the C library. This also provides support for C++ code. */ + . = ALIGN(4); + KEEP(*(.init)) + . = ALIGN(4); + __preinit_array_start = .; + KEEP (*(.preinit_array)) + __preinit_array_end = .; + + . = ALIGN(4); + __init_array_start = .; + KEEP (*(SORT(.init_array.*))) + KEEP (*(.init_array)) + __init_array_end = .; + + . = ALIGN(0x4); + KEEP (*crtbegin.o(.ctors)) + KEEP (*(EXCLUDE_FILE (*crtend.o) .ctors)) + KEEP (*(SORT(.ctors.*))) + KEEP (*crtend.o(.ctors)) + + . = ALIGN(4); + KEEP(*(.fini)) + + . = ALIGN(4); + __fini_array_start = .; + KEEP (*(.fini_array)) + KEEP (*(SORT(.fini_array.*))) + __fini_array_end = .; + + KEEP (*crtbegin.o(.dtors)) + KEEP (*(EXCLUDE_FILE (*crtend.o) .dtors)) + KEEP (*(SORT(.dtors.*))) + KEEP (*crtend.o(.dtors)) + + . = ALIGN(4); + _efixed = .; /* End of text section */ + } > rom + + .ARM.extab : + { + *(.ARM.extab* .gnu.linkonce.armextab.*) + } > rom + + /* .ARM.exidx is sorted, so has to go in its own output section. */ + .ARM.exidx : + { + __exidx_start = .; + *(.ARM.exidx* .gnu.linkonce.armexidx.*) + __exidx_end = .; + } > rom + + . = ALIGN(4); + _etext = .; + + .relocate : AT (_etext) + { + . = ALIGN(4); + _srelocate = .; + *(.ramfunc .ramfunc.*); + . = ALIGN(4); + _eramfunc = .; + *(.data .data.*); + . = ALIGN(4); + _erelocate = .; + } > ram + + _firmware_crc = _etext + (_erelocate - _srelocate); /* We append the CRC32 to the binary file. This is its offset in memory. */ + + /* .bss section which is used for uninitialized data */ + .bss ALIGN(4) (NOLOAD) : + { + . = ALIGN(4); + _sbss = . ; + _szero = .; + *(.bss .bss.*) + *(COMMON) + . = ALIGN(4); + _ebss = . ; + _ezero = .; + } > ram + + . = ALIGN(4); + _end = . ; + + /* .stack_dummy section doesn't contains any symbols. It is only + used for linker to calculate size of stack sections, and assign + values to stack symbols later */ + .stack_dummy : + { + *(.stack*) + } > ram + + /* Set stack top to end of ram, and stack limit move down by + * size of stack_dummy section */ + __StackTop = ORIGIN(ram) + LENGTH(ram); + __StackLimit = __StackTop - SIZEOF(.stack_dummy); + PROVIDE(_sstack = __StackLimit); + PROVIDE(_estack = __StackTop); +} |