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172 lines
5.1 KiB
172 lines
5.1 KiB
/** |
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* Marlin 3D Printer Firmware |
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* Copyright (c) 2020 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 <https://www.gnu.org/licenses/>. |
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* |
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*/ |
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#ifdef __AVR__ |
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#include "../../inc/MarlinConfig.h" |
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#include "HAL.h" |
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#include <avr/wdt.h> |
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#ifdef USBCON |
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DefaultSerial1 MSerial0(false, Serial); |
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#ifdef BLUETOOTH |
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BTSerial btSerial(false, bluetoothSerial); |
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#endif |
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#endif |
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// ------------------------ |
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// Public Variables |
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// ------------------------ |
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// Don't initialize/override variable (which would happen in .init4) |
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uint8_t MarlinHAL::reset_reason __attribute__((section(".noinit"))); |
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// ------------------------ |
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// Public functions |
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// ------------------------ |
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__attribute__((naked)) // Don't output function pro- and epilogue |
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__attribute__((used)) // Output the function, even if "not used" |
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__attribute__((section(".init3"))) // Put in an early user definable section |
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void save_reset_reason() { |
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#if ENABLED(OPTIBOOT_RESET_REASON) |
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__asm__ __volatile__( |
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A("STS %0, r2") |
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: "=m"(hal.reset_reason) |
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); |
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#else |
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hal.reset_reason = MCUSR; |
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#endif |
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// Clear within 16ms since WDRF bit enables a 16ms watchdog timer -> Boot loop |
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hal.clear_reset_source(); |
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wdt_disable(); |
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} |
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void MarlinHAL::init() { |
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// Init Servo Pins |
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#define INIT_SERVO(N) OUT_WRITE(SERVO##N##_PIN, LOW) |
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#if HAS_SERVO_0 |
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INIT_SERVO(0); |
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#endif |
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#if HAS_SERVO_1 |
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INIT_SERVO(1); |
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#endif |
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#if HAS_SERVO_2 |
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INIT_SERVO(2); |
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#endif |
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#if HAS_SERVO_3 |
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INIT_SERVO(3); |
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#endif |
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init_pwm_timers(); // Init user timers to default frequency - 1000HZ |
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} |
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void MarlinHAL::reboot() { |
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#if ENABLED(USE_WATCHDOG) |
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while (1) { /* run out the watchdog */ } |
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#else |
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void (*resetFunc)() = 0; // Declare resetFunc() at address 0 |
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resetFunc(); // Jump to address 0 |
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#endif |
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} |
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// ------------------------ |
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// Watchdog Timer |
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// ------------------------ |
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#if ENABLED(USE_WATCHDOG) |
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#include <avr/wdt.h> |
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#include "../../MarlinCore.h" |
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// Initialize watchdog with 8s timeout, if possible. Otherwise, make it 4s. |
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void MarlinHAL::watchdog_init() { |
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#if ENABLED(WATCHDOG_DURATION_8S) && defined(WDTO_8S) |
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#define WDTO_NS WDTO_8S |
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#else |
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#define WDTO_NS WDTO_4S |
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#endif |
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#if ENABLED(WATCHDOG_RESET_MANUAL) |
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// Enable the watchdog timer, but only for the interrupt. |
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// Take care, as this requires the correct order of operation, with interrupts disabled. |
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// See the datasheet of any AVR chip for details. |
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wdt_reset(); |
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cli(); |
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_WD_CONTROL_REG = _BV(_WD_CHANGE_BIT) | _BV(WDE); |
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_WD_CONTROL_REG = _BV(WDIE) | (WDTO_NS & 0x07) | ((WDTO_NS & 0x08) << 2); // WDTO_NS directly does not work. bit 0-2 are consecutive in the register but the highest value bit is at bit 5 |
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// So worked for up to WDTO_2S |
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sei(); |
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wdt_reset(); |
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#else |
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wdt_enable(WDTO_NS); // The function handles the upper bit correct. |
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#endif |
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//delay(10000); // test it! |
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} |
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//=========================================================================== |
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//=================================== ISR =================================== |
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//=========================================================================== |
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// Watchdog timer interrupt, called if main program blocks >4sec and manual reset is enabled. |
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#if ENABLED(WATCHDOG_RESET_MANUAL) |
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ISR(WDT_vect) { |
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sei(); // With the interrupt driven serial we need to allow interrupts. |
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SERIAL_ERROR_MSG(STR_WATCHDOG_FIRED); |
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minkill(); // interrupt-safe final kill and infinite loop |
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} |
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#endif |
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// Reset watchdog. MUST be called at least every 4 seconds after the |
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// first watchdog_init or AVR will go into emergency procedures. |
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void MarlinHAL::watchdog_refresh() { wdt_reset(); } |
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#endif // USE_WATCHDOG |
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// ------------------------ |
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// Free Memory Accessor |
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// ------------------------ |
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#if ENABLED(SDSUPPORT) |
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#include "../../sd/SdFatUtil.h" |
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int freeMemory() { return SdFatUtil::FreeRam(); } |
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#else // !SDSUPPORT |
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extern "C" { |
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extern char __bss_end; |
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extern char __heap_start; |
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extern void* __brkval; |
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int freeMemory() { |
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int free_memory; |
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if ((int)__brkval == 0) |
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free_memory = ((int)&free_memory) - ((int)&__bss_end); |
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else |
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free_memory = ((int)&free_memory) - ((int)__brkval); |
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return free_memory; |
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} |
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} |
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#endif // !SDSUPPORT |
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#endif // __AVR__
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