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SAMD Support Initial Patches

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This commit is contained in:
pmantoine 2022-05-17 18:06:08 +08:00
parent f8a19de9fb
commit 6135272c32
11 changed files with 220 additions and 5 deletions
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4
DCC.cpp
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@ -62,7 +62,11 @@ byte DCC::globalSpeedsteps=128;
void DCC::begin(const FSH * motorShieldName) {
shieldName=(FSH *)motorShieldName;
#if defined(ARDUINO_ARCH_SAMD)
StringFormatter::send(SerialUSB,F("<iDCC-EX V-%S / %S / %S G-%S>\n"), F(VERSION), F(ARDUINO_TYPE), shieldName, F(GITHUB_SHA));
#else
StringFormatter::send(Serial,F("<iDCC-EX V-%S / %S / %S G-%S>\n"), F(VERSION), F(ARDUINO_TYPE), shieldName, F(GITHUB_SHA));
#endif
#ifndef DISABLE_EEPROM
// Load stuff from EEprom

3
DCCEXParser.cpp
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@ -1,4 +1,5 @@
/*
* © 2022 Paul M Antoine
* © 2021 Neil McKechnie
* © 2021 Mike S
* © 2021 Herb Morton
@ -881,7 +882,9 @@ bool DCCEXParser::parseD(Print *stream, int16_t params, int16_t p[])
wdt_enable( WDTO_15MS); // set Arduino watchdog timer for 15ms
delay(50); // wait for the prescaller time to expire
#else
#if defined(ARDUINO_ARCH_ESP)
ESP.restart();
#endif
#endif
break; // and <X> if we didnt restart
}

4
DCCTimer.h
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@ -1,4 +1,5 @@
/*
* © 2022 Paul M Antoine
* © 2021 Mike S
* © 2021 Harald Barth
* © 2021 Fred Decker
@ -121,6 +122,9 @@ private:
#elif defined(ARDUINO_ARCH_ESP32)
#define ARDUINO_TYPE "ESP32"
#undef HAS_AVR_WDT
#elif defined(ARDUINO_ARCH_SAMD)
#define ARDUINO_TYPE "SAMD21"
#undef HAS_AVR_WDT
#else
#error CANNOT COMPILE - DCC++ EX ONLY WORKS WITH THE ARCHITECTURES LISTED IN DCCTimer.h
#endif

170
DCCTimerSAMD.cpp Normal file
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@ -0,0 +1,170 @@
/*
* © 2022 Paul M Antoine
* © 2021 Mike S
* © 2021 Harald Barth
* © 2021 Fred Decker
* © 2021 Chris Harlow
* © 2021 David Cutting
* All rights reserved.
*
* This file is part of Asbelos DCC API
*
* This 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.
*
* It 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 CommandStation. If not, see <https://www.gnu.org/licenses/>.
*/
// ATTENTION: this file only compiles on a SAMD21 based board
// Please refer to DCCTimer.h for general comments about how this class works
// This is to avoid repetition and duplication.
#ifdef ARDUINO_ARCH_SAMD
#include "FSH.h" //PMA temp debug
#include "DIAG.h" //PMA temp debug
#include "DCCTimer.h"
INTERRUPT_CALLBACK interruptHandler=0;
void DCCTimer::begin(INTERRUPT_CALLBACK callback) {
interruptHandler=callback;
noInterrupts();
// Set up ADC to do faster reads... default for Arduino Zero platform configs is 436uS,
// and we need sub-100uS. This code sets it to a read speed of around 21uS, and for now
// enables 10-bit mode, although 12-bit is possible
ADC->CTRLA.bit.ENABLE = 0; // disable ADC
while( ADC->STATUS.bit.SYNCBUSY == 1 ); // wait for synchronization
ADC->CTRLB.reg &= 0b1111100011111111; // mask PRESCALER bits
ADC->CTRLB.reg |= ADC_CTRLB_PRESCALER_DIV64 | // divide Clock by 64
ADC_CTRLB_RESSEL_10BIT; // Result on 10 bits default, 12 bits possible
ADC->AVGCTRL.reg = ADC_AVGCTRL_SAMPLENUM_1 | // take 1 sample at a time
ADC_AVGCTRL_ADJRES(0x00ul); // adjusting result by 0
ADC->SAMPCTRL.reg = 0x00; // sampling Time Length = 0
ADC->CTRLA.bit.ENABLE = 1; // enable ADC
while(ADC->STATUS.bit.SYNCBUSY == 1); // wait for synchronization
// Timer setup - setup clock sources first
REG_GCLK_GENDIV = GCLK_GENDIV_DIV(1) | // Divide 48MHz by 1
GCLK_GENDIV_ID(4); // Apply to GCLK4
while (GCLK->STATUS.bit.SYNCBUSY); // Wait for synchronization
REG_GCLK_GENCTRL = GCLK_GENCTRL_GENEN | // Enable GCLK
GCLK_GENCTRL_SRC_DFLL48M | // Set the 48MHz clock source
GCLK_GENCTRL_ID(4); // Select GCLK4
while (GCLK->STATUS.bit.SYNCBUSY); // Wait for synchronization
REG_GCLK_CLKCTRL = GCLK_CLKCTRL_CLKEN | // Enable generic clock
4 << GCLK_CLKCTRL_GEN_Pos | // Apply to GCLK4
GCLK_CLKCTRL_ID_TCC0_TCC1; // Feed GCLK to TCC0/1
while (GCLK->STATUS.bit.SYNCBUSY);
// Assume we're using TCC0... as we're bit-bashing the DCC waveform output pins anyway
// for "normal accuracy" DCC waveform generation. For high accuracy we're going to need
// to a good deal more. The TCC waveform output pins are mux'd on the SAMD, and output
// pins for each TCC are only available on certain pins
TCC0->WAVE.reg = TCC_WAVE_WAVEGEN_NPWM; // Select NPWM as waveform
while (TCC0->SYNCBUSY.bit.WAVE); // Wait for sync
// Set the frequency
TCC0->CTRLA.reg |= TCC_CTRLA_PRESCALER(TCC_CTRLA_PRESCALER_DIV1_Val);
TCC0->PER.reg = CLOCK_CYCLES * 2;
while (TCC0->SYNCBUSY.bit.PER);
// Start the timer
TCC0->CTRLA.bit.ENABLE = 1;
while (TCC0->SYNCBUSY.bit.ENABLE);
// Set the interrupt condition, priority and enable it in the NVIC
TCC0->INTENSET.reg = TCC_INTENSET_OVF; // Only interrupt on overflow
NVIC_SetPriority((IRQn_Type)TCC0_IRQn, 0); // Make this highest priority
NVIC_EnableIRQ((IRQn_Type)TCC0_IRQn); // Enable the interrupt
interrupts();
}
// Timer IRQ handlers replace the dummy handlers (in cortex_handlers)
// copied from rf24 branch
void TCC0_Handler() {
if(TCC0->INTFLAG.bit.OVF) {
TCC0->INTFLAG.bit.OVF = 1; // writing a 1 clears the flag
interruptHandler();
}
}
void TCC1_Handler() {
if(TCC1->INTFLAG.bit.OVF) {
TCC1->INTFLAG.bit.OVF = 1; // writing a 1 clears the flag
interruptHandler();
}
}
void TCC2_Handler() {
if(TCC2->INTFLAG.bit.OVF) {
TCC2->INTFLAG.bit.OVF = 1; // writing a 1 clears the flag
interruptHandler();
}
}
bool DCCTimer::isPWMPin(byte pin) {
//TODO: SAMD whilst this call to digitalPinHasPWM will reveal which pins can do PWM,
// there's no support yet for High Accuracy, so for now return false
// return digitalPinHasPWM(pin);
return false;
}
void DCCTimer::setPWM(byte pin, bool high) {
// TODO: High Accuracy mode is not supported as yet, and may never need to be
(void) pin;
(void) high;
}
void DCCTimer::clearPWM() {
return;
}
void DCCTimer::getSimulatedMacAddress(byte mac[6]) {
volatile uint32_t *serno1 = (volatile uint32_t *)0x0080A00C;
volatile uint32_t *serno2 = (volatile uint32_t *)0x0080A040;
// volatile uint32_t *serno3 = (volatile uint32_t *)0x0080A044;
// volatile uint32_t *serno4 = (volatile uint32_t *)0x0080A048;
volatile uint32_t m1 = *serno1;
volatile uint32_t m2 = *serno2;
mac[0] = m1 >> 8;
mac[1] = m1 >> 0;
mac[2] = m2 >> 24;
mac[3] = m2 >> 16;
mac[4] = m2 >> 8;
mac[5] = m2 >> 0;
}
volatile int DCCTimer::minimum_free_memory=__INT_MAX__;
// Return low memory value...
int DCCTimer::getMinimumFreeMemory() {
noInterrupts(); // Disable interrupts to get volatile value
int retval = freeMemory();
interrupts();
return retval;
}
extern "C" char* sbrk(int incr);
int DCCTimer::freeMemory() {
char top;
return (int)(&top - reinterpret_cast<char *>(sbrk(0)));
}
#endif

2
EEStore.h
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@ -26,7 +26,7 @@
#include <Arduino.h>
#if defined(ARDUINO_ARCH_SAMD)
#if defined(ARDUINO_ARCH_SAMC)
#include <SparkFun_External_EEPROM.h>
extern ExternalEEPROM EEPROM;
#else

7
MotorDriver.cpp
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@ -1,4 +1,5 @@
/*
* © 2022 Paul M Antoine
* © 2021 Mike S
* © 2021 Fred Decker
* © 2020-2022 Harald Barth
@ -172,8 +173,12 @@ int MotorDriver::mA2raw( unsigned int mA) {
void MotorDriver::getFastPin(const FSH* type,int pin, bool input, FASTPIN & result) {
// DIAG(F("MotorDriver %S Pin=%d,"),type,pin);
(void) type; // avoid compiler warning if diag not used above.
(void) type; // avoid compiler warning if diag not used above.
#if defined(ARDUINO_ARCH_SAMD)
PortGroup *port = digitalPinToPort(pin);
#else
uint8_t port = digitalPinToPort(pin);
#endif
if (input)
result.inout = portInputRegister(port);
else

3
MotorDriver.h
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@ -1,4 +1,5 @@
/*
* © 2022 Paul M Antoine
* © 2021 Mike S
* © 2021 Fred Decker
* © 2020 Chris Harlow
@ -36,7 +37,7 @@
#define UNUSED_PIN 127 // inside int8_t
#endif
#if defined(__IMXRT1062__) || defined(ARDUINO_ARCH_ESP8266) || defined(ARDUINO_ARCH_ESP32)
#if defined(__IMXRT1062__) || defined(ARDUINO_ARCH_ESP8266) || defined(ARDUINO_ARCH_ESP32) || defined(ARDUINO_ARCH_SAMD)
struct FASTPIN {
volatile uint32_t *inout;
uint32_t maskHIGH;

8
MotorDrivers.h
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@ -1,4 +1,5 @@
/*
* © 2022 Paul M Antoine
* © 2021 Fred Decker
* © 2020-2022 Harald Barth
* (c) 2020 Chris Harlow. All rights reserved.
@ -50,6 +51,13 @@
new MotorDriver(3, 12, UNUSED_PIN, 9, A0, 2.99, 2000, UNUSED_PIN), \
new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 2.99, 2000, UNUSED_PIN)
// Setup for SAMD21 Sparkfun DEV board using Arduino standard Motor Shield R3 (MUST be R3 for 3v3 compatibility!!)
// senseFactor for 3.3v systems is 1.95 as calculated when using 10-bit A/D samples,
// and for 12-bit samples it's more like 0.488, but we probably need to tweak both these
#define SAMD_STANDARD_MOTOR_SHIELD F("STANDARD_MOTOR_SHIELD"), \
new MotorDriver(3, 12, UNUSED_PIN, 9, A0, 1.95, 2000, UNUSED_PIN), \
new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 1.95, 2000, UNUSED_PIN)
// Pololu Motor Shield
#define POLOLU_MOTOR_SHIELD F("POLOLU_MOTOR_SHIELD"), \
new MotorDriver( 9, 7, UNUSED_PIN, -4, A0, 18, 3000, 12), \

6
SerialManager.cpp
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@ -1,4 +1,5 @@
/*
* © 2022 Paul M Antoine
* © 2021 Chris Harlow
* © 2022 Harald Barth
* All rights reserved.
@ -33,8 +34,13 @@ SerialManager::SerialManager(Stream * myserial) {
void SerialManager::init() {
while (!Serial && millis() < 5000); // wait max 5s for Serial to start
#if defined(ARDUINO_ARCH_SAMD)
SerialUSB.begin(115200);
new SerialManager(&SerialUSB);
#else
Serial.begin(115200);
new SerialManager(&Serial);
#endif
#ifdef SERIAL3_COMMANDS
Serial3.begin(115200);
new SerialManager(&Serial3);

3
defines.h
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@ -1,4 +1,5 @@
/*
* © 2022 Paul M Antoine
* © 2021 Neil McKechnie
* © 2021 Mike S
* © 2021 Fred Decker
@ -40,7 +41,7 @@
// WIFI_ON: All prereqs for running with WIFI are met
// Note: WIFI_CHANNEL may not exist in early config.h files so is added here if needed.
#if defined(ARDUINO_AVR_MEGA) || defined(ARDUINO_AVR_MEGA2560) || defined(ARDUINO_SAMD_ZERO) || defined(TEENSYDUINO) || defined(ARDUINO_AVR_NANO_EVERY) || defined(ARDUINO_ARCH_ESP8266) || defined(ARDUINO_ARCH_ESP32)
#if defined(ARDUINO_AVR_MEGA) || defined(ARDUINO_AVR_MEGA2560) || defined(ARDUINO_SAMD_ZERO) || defined(TEENSYDUINO) || defined(ARDUINO_AVR_NANO_EVERY) || defined(ARDUINO_ARCH_ESP8266) || defined(ARDUINO_ARCH_ESP32) || defined(ARDUINO_ARCH_SAMD)
#define BIG_RAM
#endif
#if ENABLE_WIFI

15
platformio.ini
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@ -15,22 +15,35 @@ default_envs =
mega328
unowifiR2
nano
samd21-dev-usb
src_dir = .
include_dir = .
[env]
build_flags = -Wall -Wextra
[env:samd21]
[env:samd21-dev-usb]
platform = atmelsam
board = sparkfun_samd21_dev_usb
framework = arduino
upload_protocol = sam-ba
lib_deps =
${env.lib_deps}
monitor_speed = 115200
monitor_flags = --echo
build_flags = -std=c++17 -DI2C_USE_WIRE -DDISABLE_EEPROM
[env:samc21-firebox]
platform = atmelsam
board = firebox
framework = arduino
upload_protocol = atmel-ice
lib_deps =
${env.lib_deps}
SparkFun External EEPROM Arduino Library
monitor_speed = 115200
monitor_flags = --echo
build_flags = -std=c++17 -DI2C_USE_WIRE -DDISABLE_EEPROM
[env:mega2560-debug]
platform = atmelavr