Added USB serial and flash storage of settings

NOTE: needs latest Pico SDK!

CMakeLists.txt

@@ -10,6 +10,7 @@ add_executable(grblHAL
  main.c
  driver.c
  serial.c
+ flash.c
  i2c.c
  PCA9654E.c
  eeprom/eeprom_24AAxxx.c
@@ -35,15 +36,26 @@ add_executable(grblHAL
  grbl/system.c
  grbl/tool_change.c
  grbl/my_plugin.c
+ usb_serial.c
+ stdio_usb_descriptors.c
 )
 
 pico_generate_pio_header(grblHAL ${CMAKE_CURRENT_LIST_DIR}/driverPIO.pio)
 
 target_sources(grblHAL PRIVATE driver.c)
 target_compile_definitions(grblHAL PUBLIC XRP2040)
-
-# Pull in our pico_stdlib which pulls in commonly used features
-target_link_libraries(grblHAL PRIVATE pico_stdlib hardware_uart hardware_pio hardware_i2c hardware_gpio hardware_pwm hardware_clocks)
+target_include_directories(grblHAL PRIVATE ${CMAKE_CURRENT_LIST_DIR})
+target_link_libraries(grblHAL PRIVATE
+ tinyusb_device_unmarked
+ pico_stdlib
+ hardware_uart
+ hardware_pio 
+ hardware_i2c 
+ hardware_gpio
+ hardware_pwm
+ hardware_clocks
+ hardware_flash
+)
 
 # create map/bin/hex file etc.
 pico_add_extra_outputs(grblHAL)

driver.c

@@ -99,14 +99,15 @@ typedef union {
 } pio_steps_t;
 
 static pio_steps_t pio_steps = { .delay = 20, .length = 100 };
-uint32_t pirq = 0;
 static uint pulse, timer;
 static uint16_t pulse_length, pulse_delay;
 static bool pwmEnabled = false, IOInitDone = false;
 static axes_signals_t next_step_outbits;
 static spindle_pwm_t spindle_pwm;
 static status_code_t (*on_unknown_sys_command)(uint_fast16_t state, char *line, char *lcline);
 static debounce_t debounce;
+static volatile uint32_t elapsed_ticks = 0;
+static volatile bool ms_event = false;
 static probe_state_t probe; /* = {
     .connected = On
 }; */
@@ -612,32 +613,32 @@ static coolant_state_t coolantGetState (void)
 // Helper functions for setting/clearing/inverting individual bits atomically (uninterruptable)
 static void bitsSetAtomic (volatile uint_fast16_t *ptr, uint_fast16_t bits)
 {
-//    __disable_irq();
+    __disable_irq();
     *ptr |= bits;
-//    __enable_irq();
+    __enable_irq();
 }
 
 static uint_fast16_t bitsClearAtomic (volatile uint_fast16_t *ptr, uint_fast16_t bits)
 {
-//    __disable_irq();
+    __disable_irq();
     uint_fast16_t prev = *ptr;
     *ptr &= ~bits;
-//   __enable_irq();
+   __enable_irq();
     return prev;
 }
 
 static uint_fast16_t valueSetAtomic (volatile uint_fast16_t *ptr, uint_fast16_t value)
 {
-//    __disable_irq();
+    __disable_irq();
     uint_fast16_t prev = *ptr;
     *ptr = value;
-//    __enable_irq();
+    __enable_irq();
     return prev;
 }
 
 static uint32_t getElapsedTicks (void)
 {
-   return 0; //uwTick;
+   return elapsed_ticks;
 }
 
 #if MPG_MODE_ENABLE
@@ -985,6 +986,16 @@ static bool driver_setup (settings_t *settings)
     return IOInitDone;
 }
 
+#if USB_SERIAL_CDC
+static void execute_realtime (uint_fast16_t state)
+{
+    if(ms_event) {
+        ms_event = false;
+        usb_execute_realtime(state);
+    }
+}
+#endif
+
 // Initialize HAL pointers, setup serial comms and enable EEPROM
 // NOTE: Grbl is not yet configured (from EEPROM data), driver_setup() will be called when done
 
@@ -994,14 +1005,12 @@ bool driver_init (void)
 
 //    irq_set_exclusive_handler(-1, systick_handler);
 
-
-
-//mpu_hw->rvr = 999;
-//mpu_hw->csr = M0PLUS_SYST_CSR_TICKINT_BITS|M0PLUS_SYST_CSR_ENABLE_BITS;
-// M0PLUS_SYST_CSR_CLKSOURCE_BITS - set to use processor clock
+    systick_hw->rvr = 999;
+    systick_hw->cvr = 0;
+    systick_hw->csr = M0PLUS_SYST_CSR_TICKINT_BITS|M0PLUS_SYST_CSR_ENABLE_BITS;
 
 #if USB_SERIAL_CDC
-    usbInit();
+    usb_serialInit();
 #else
     serialInit(115200);
 #endif
@@ -1062,13 +1071,14 @@ bool driver_init (void)
     hal.set_value_atomic = valueSetAtomic;
 
 #if USB_SERIAL_CDC
-    hal.stream.read = usbGetC;
-    hal.stream.write = usbWriteS;
-    hal.stream.write_all = usbWriteS;
-    hal.stream.get_rx_buffer_available = usbRxFree;
-    hal.stream.reset_read_buffer = usbRxFlush;
-    hal.stream.cancel_read_buffer = usbRxCancel;
-    hal.stream.suspend_read = usbSuspendInput;
+    hal.stream.read = usb_serialGetC;
+    hal.stream.write = usb_serialWriteS;
+    hal.stream.write_all = usb_serialWriteS;
+    hal.stream.get_rx_buffer_available = usb_serialRxFree;
+    hal.stream.reset_read_buffer = usb_serialRxFlush;
+    hal.stream.cancel_read_buffer = usb_serialRxCancel;
+    hal.stream.suspend_read = usb_serialSuspendInput;
+    grbl.on_execute_realtime = execute_realtime;
 #else
     hal.stream.read = serialGetC;
     hal.stream.write = serialWriteS;
@@ -1165,9 +1175,6 @@ bool driver_init (void)
 // Main stepper driver
 void STEPPER_TIMER_IRQHandler (void)
 {
-    //irq_clear(PIO1_IRQ_0);
-
-    pirq = pio1->irq;
     stepper_timer_irq_clear(pio1);
 
     hal.stepper.interrupt_callback();
@@ -1258,10 +1265,8 @@ static void gpio_int_handler (uint gpio, uint32_t events)
 // Interrupt handler for 1 ms interval timer
 void isr_systick (void)
 {
-    static uint32_t cnt = 0;
-
-    cnt++;
-    /*
+    ms_event = true;
+    elapsed_ticks++;
 
 #if SDCARD_ENABLE
     static uint32_t fatfs_ticks = 10;
@@ -1270,13 +1275,4 @@ void isr_systick (void)
         fatfs_ticks = 10;
     }
 #endif
-    uwTick += uwTickFreq;
-
-    if(delay.ms && !(--delay.ms)) {
-        if(delay.callback) {
-            delay.callback();
-            delay.callback = NULL;
-        }
-    }
-    */
 }

driver.h

@@ -59,7 +59,7 @@
 #define ODOMETER_ENABLE     0
 #endif
 #ifndef PPI_ENABLE
-#define PPI_ENABLE       	0
+#define PPI_ENABLE       	  0
 #endif
 #ifndef EEPROM_ENABLE
 #define EEPROM_ENABLE       0
@@ -136,7 +136,7 @@
 // End configuration
 
 #if EEPROM_ENABLE == 0
-#define FLASH_ENABLE 0
+#define FLASH_ENABLE 1
 #else
 #define FLASH_ENABLE 0
 #endif
@@ -168,4 +168,28 @@
 
 bool driver_init (void);
 
+/**
+  \brief   Enable IRQ Interrupts
+  \details Enables IRQ interrupts by clearing the I-bit in the CPSR.
+           Can only be executed in Privileged modes.
+ */
+
+// While waiting for CMSIS headers...:
+
+static inline void __enable_irq(void)
+{
+  __asm volatile ("cpsie i" : : : "memory");
+}
+
+/**
+  \brief   Disable IRQ Interrupts
+  \details Disables IRQ interrupts by setting the I-bit in the CPSR.
+           Can only be executed in Privileged modes.
+ */
+static inline  void __disable_irq(void)
+{
+  __asm volatile ("cpsid i" : : : "memory");
+}
+
+
 #endif // __DRIVER_H__

flash.c

@@ -0,0 +1,61 @@
+/*
+
+  flash.c - driver code for RP2040 ARM processor
+
+  Part of grblHAL
+
+  Copyright (c) 2021 Terje Io
+
+  This code reads/writes the whole RAM-based emulated EPROM contents from/to flash
+
+  Grbl 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.
+
+  Grbl 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 Grbl.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+/*
+	IMPORTANT! If both cores are in use synchronization has to be added since flash cannot be read during programming
+	
+	See 4.1.8. hardware_flash in the SDK documentation.
+*/
+
+#include <string.h>
+
+#include "hardware/flash.h"
+#include "hardware/regs/addressmap.h"
+
+#include "driver.h"
+
+#define FLASH_TARGET_OFFSET (1024 * 512)
+
+static const uint8_t *flash_target = (const uint8_t *)(XIP_BASE + FLASH_TARGET_OFFSET);    // Last page start adress
+
+bool memcpy_from_flash (uint8_t *dest)
+{
+    memcpy(dest, flash_target, hal.nvs.size);
+
+    return true;
+}
+
+bool memcpy_to_flash (uint8_t *source)
+{
+    if (!memcmp(source, flash_target, hal.nvs.size))
+        return true;
+
+    __disable_irq();
+    flash_range_erase(FLASH_TARGET_OFFSET, FLASH_SECTOR_SIZE);
+    flash_range_program(FLASH_TARGET_OFFSET, source, FLASH_PAGE_SIZE * (hal.nvs.size / FLASH_PAGE_SIZE + (hal.nvs.size % FLASH_PAGE_SIZE ? 1 :0)));
+    __enable_irq();
+
+    return !memcmp(source, flash_target, hal.nvs.size);
+}

flash.h

@@ -0,0 +1,30 @@
+/*
+
+  flash.h - driver code for RP2040 ARM processor
+
+  Part of grblHAL
+
+  Copyright (c) 2021 Terje Io
+
+  Grbl 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.
+
+  Grbl 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 Grbl.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+#ifndef _flash_h_
+#define _flash_h_
+
+bool memcpy_from_flash (uint8_t *dest);
+bool memcpy_to_flash (uint8_t *source);
+
+#endif

main.c

@@ -25,5 +25,5 @@
 
 int main (void)
 {
-  grbl_enter();
-}
+    grbl_enter();
+}

my_machine.h

@@ -28,7 +28,7 @@
 // Configuration
 // Uncomment to enable.
 
-//#define USB_SERIAL_CDC       1 // Serial communication via native USB.
+#define USB_SERIAL_CDC       1 // Serial communication via native USB.
 //#define SDCARD_ENABLE        1 // Run gcode programs from SD card, requires sdcard plugin.
 //#define KEYPAD_ENABLE        1 // I2C keypad for jogging etc., requires keypad plugin.
 //#define ODOMETER_ENABLE      1 // Odometer plugin.