Support for RP2040 and BTT SKR Pico (WIP)

.github/workflows/ci-build-tests.yml

@@ -41,6 +41,9 @@ jobs:
  matrix:
  test-platform:
 
+ # RP2040
+ - SKR_Pico
+
  # Native
  - linux_native
  - simulator_linux_release

Marlin/src/HAL/RP2040/HAL.cpp

@@ -0,0 +1,188 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2022 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 <https://www.gnu.org/licenses/>.
+ *
+ */
+#include "../platforms.h"
+
+#ifdef __PLAT_RP2040__
+
+#include "HAL.h"
+//#include "usb_serial.h"
+
+#include "../../inc/MarlinConfig.h"
+#include "../shared/Delay.h"
+
+extern "C" {
+ #include "pico/bootrom.h"
+ #include "hardware/watchdog.h"
+}
+
+#if HAS_SD_HOST_DRIVE
+ #include "msc_sd.h"
+ #include "usbd_cdc_if.h"
+#endif
+
+// ------------------------
+// Public Variables
+// ------------------------
+
+volatile uint16_t adc_result;
+
+// ------------------------
+// Public functions
+// ------------------------
+
+TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial());
+
+// HAL initialization task
+void MarlinHAL::init() {
+ // Ensure F_CPU is a constant expression.
+ // If the compiler breaks here, it means that delay code that should compute at compile time will not work.
+ // So better safe than sorry here.
+ constexpr int cpuFreq = F_CPU;
+ UNUSED(cpuFreq);
+
+ #undef SDSS
+ #define SDSS 2
+ #define PIN_EXISTS_(P1,P2) (defined(P1##P2) && P1##P2 >= 0)
+ #if HAS_MEDIA && DISABLED(SDIO_SUPPORT) && PIN_EXISTS_(SDSS,)
+ OUT_WRITE(SDSS, HIGH); // Try to set SDSS inactive before any other SPI users start up
+ #endif
+
+ #if PIN_EXISTS(LED)
+ OUT_WRITE(LED_PIN, LOW);
+ #endif
+
+ #if ENABLED(SRAM_EEPROM_EMULATION)
+ // __HAL_RCC_PWR_CLK_ENABLE();
+ // HAL_PWR_EnableBkUpAccess(); // Enable access to backup SRAM
+ // __HAL_RCC_BKPSRAM_CLK_ENABLE();
+ // LL_PWR_EnableBkUpRegulator(); // Enable backup regulator
+ // while (!LL_PWR_IsActiveFlag_BRR()); // Wait until backup regulator is initialized
+ #endif
+
+ HAL_timer_init();
+
+ #if ENABLED(EMERGENCY_PARSER) && USBD_USE_CDC
+ USB_Hook_init();
+ #endif
+
+ TERN_(POSTMORTEM_DEBUGGING, install_min_serial()); // Install the min serial handler
+
+ TERN_(HAS_SD_HOST_DRIVE, MSC_SD_init()); // Enable USB SD card access
+
+ #if PIN_EXISTS(USB_CONNECT)
+ OUT_WRITE(USB_CONNECT_PIN, !USB_CONNECT_INVERTING); // USB clear connection
+ delay_ms(1000); // Give OS time to notice
+ WRITE(USB_CONNECT_PIN, USB_CONNECT_INVERTING);
+ #endif
+}
+
+uint8_t MarlinHAL::get_reset_source() {
+ return watchdog_enable_caused_reboot() ? RST_WATCHDOG : 0;
+}
+
+void MarlinHAL::reboot() { watchdog_reboot(0, 0, 1); }
+
+// ------------------------
+// Watchdog Timer
+// ------------------------
+
+#if ENABLED(USE_WATCHDOG)
+
+ #define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout
+
+ extern "C" {
+ #include "hardware/watchdog.h"
+ }
+
+ void MarlinHAL::watchdog_init() {
+ #if DISABLED(DISABLE_WATCHDOG_INIT)
+ static_assert(WDT_TIMEOUT_US > 1000, "WDT Timout is too small, aborting");
+ watchdog_enable(WDT_TIMEOUT_US/1000, true);
+ #endif
+ }
+
+ void MarlinHAL::watchdog_refresh() {
+ watchdog_update();
+ #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED)
+ TOGGLE(LED_PIN); // heartbeat indicator
+ #endif
+ }
+
+#endif
+
+// ------------------------
+// ADC
+// ------------------------
+
+volatile bool MarlinHAL::adc_has_result = false;
+
+void MarlinHAL::adc_init() {
+ analogReadResolution(HAL_ADC_RESOLUTION);
+ ::adc_init();
+ adc_fifo_setup(true, false, 1, false, false);
+ irq_set_exclusive_handler(ADC_IRQ_FIFO, adc_exclusive_handler);
+ irq_set_enabled(ADC_IRQ_FIFO, true);
+ adc_irq_set_enabled(true);
+}
+
+void MarlinHAL::adc_enable(const pin_t pin) {
+ if (pin >= A0 && pin <= A3)
+ adc_gpio_init(pin);
+ else if (pin == HAL_ADC_MCU_TEMP_DUMMY_PIN)
+ adc_set_temp_sensor_enabled(true);
+}
+
+void MarlinHAL::adc_start(const pin_t pin) {
+ adc_has_result = false;
+ // Select an ADC input. 0...3 are GPIOs 26...29 respectively.
+ adc_select_input(pin == HAL_ADC_MCU_TEMP_DUMMY_PIN ? 4 : pin - A0);
+ adc_run(true);
+}
+
+void MarlinHAL::adc_exclusive_handler() {
+ adc_run(false); // Disable since we only want one result
+ irq_clear(ADC_IRQ_FIFO); // Clear the IRQ
+
+ if (adc_fifo_get_level() >= 1) {
+ adc_result = adc_fifo_get(); // Pop the result
+ adc_fifo_drain();
+ adc_has_result = true; // Signal the end of the conversion
+ }
+}
+
+uint16_t MarlinHAL::adc_value() { return adc_result; }
+
+// Reset the system to initiate a firmware flash
+void flashFirmware(const int16_t) { hal.reboot(); }
+
+extern "C" {
+ void * _sbrk(int incr);
+ extern unsigned int __bss_end__; // end of bss section
+}
+
+// Return free memory between end of heap (or end bss) and whatever is current
+int freeMemory() {
+ int free_memory, heap_end = (int)_sbrk(0);
+ return (int)&free_memory - (heap_end ?: (int)&__bss_end__);
+}
+
+#endif // __PLAT_RP2040__