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Support for Teensy 4 (MarlinFirmware#19311)
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‎Marlin/src/HAL/TEENSY40_41/HAL.cpp

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/**
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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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/**
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* Description: HAL for Teensy40 (IMXRT1062)
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*/
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#ifdef __IMXRT1062__
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#include "HAL.h"
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#include "../shared/Delay.h"
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#include "timers.h"
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#include <Wire.h>
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uint16_t HAL_adc_result, HAL_adc_select;
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static const uint8_t pin2sc1a[] = {
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0x07, // 0/A0 AD_B1_02
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0x08, // 1/A1 AD_B1_03
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0x0C, // 2/A2 AD_B1_07
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0x0B, // 3/A3 AD_B1_06
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0x06, // 4/A4 AD_B1_01
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0x05, // 5/A5 AD_B1_00
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0x0F, // 6/A6 AD_B1_10
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0x00, // 7/A7 AD_B1_11
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0x0D, // 8/A8 AD_B1_08
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0x0E, // 9/A9 AD_B1_09
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0x01, // 24/A10 AD_B0_12
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0x02, // 25/A11 AD_B0_13
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0x83, // 26/A12 AD_B1_14 - only on ADC2, 3
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0x84, // 27/A13 AD_B1_15 - only on ADC2, 4
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0x07, // 14/A0 AD_B1_02
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0x08, // 15/A1 AD_B1_03
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0x0C, // 16/A2 AD_B1_07
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0x0B, // 17/A3 AD_B1_06
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0x06, // 18/A4 AD_B1_01
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0x05, // 19/A5 AD_B1_00
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0x0F, // 20/A6 AD_B1_10
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0x00, // 21/A7 AD_B1_11
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0x0D, // 22/A8 AD_B1_08
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0x0E, // 23/A9 AD_B1_09
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0x01, // 24/A10 AD_B0_12
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0x02, // 25/A11 AD_B0_13
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0x83, // 26/A12 AD_B1_14 - only on ADC2, 3
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0x84, // 27/A13 AD_B1_15 - only on ADC2, 4
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#ifdef ARDUINO_TEENSY41
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0xFF, // 28
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0xFF, // 29
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0xFF, // 30
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0xFF, // 31
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0xFF, // 32
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0xFF, // 33
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0xFF, // 34
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0xFF, // 35
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0xFF, // 36
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0xFF, // 37
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0x81, // 38/A14 AD_B1_12 - only on ADC2, 1
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0x82, // 39/A15 AD_B1_13 - only on ADC2, 2
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0x09, // 40/A16 AD_B1_04
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0x0A, // 41/A17 AD_B1_05
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#endif
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};
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/*
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// disable interrupts
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void cli() { noInterrupts(); }
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// enable interrupts
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void sei() { interrupts(); }
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*/
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void HAL_adc_init() {
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analog_init();
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while (ADC1_GC & ADC_GC_CAL) ;
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while (ADC2_GC & ADC_GC_CAL) ;
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}
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void HAL_clear_reset_source() {
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uint32_t reset_source = SRC_SRSR;
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SRC_SRSR = reset_source;
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}
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uint8_t HAL_get_reset_source() {
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switch (SRC_SRSR & 0xFF) {
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case 1: return RST_POWER_ON; break;
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case 2: return RST_SOFTWARE; break;
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case 4: return RST_EXTERNAL; break;
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// case 8: return RST_BROWN_OUT; break;
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case 16: return RST_WATCHDOG; break;
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case 64: return RST_JTAG; break;
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// case 128: return RST_OVERTEMP; break;
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}
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return 0;
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}
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#define __bss_end _ebss
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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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// Doesn't work on Teensy 4.x
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uint32_t freeMemory() {
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uint32_t free_memory;
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if ((uint32_t)__brkval == 0)
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free_memory = ((uint32_t)&free_memory) - ((uint32_t)&__bss_end);
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else
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free_memory = ((uint32_t)&free_memory) - ((uint32_t)__brkval);
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return free_memory;
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}
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}
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void HAL_adc_start_conversion(const uint8_t adc_pin) {
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const uint16_t pin = pin2sc1a[adc_pin];
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if (pin == 0xFF) {
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HAL_adc_select = -1; // Digital only
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}
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else if (pin & 0x80) {
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HAL_adc_select = 1;
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ADC2_HC0 = pin & 0x7F;
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}
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else {
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HAL_adc_select = 0;
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ADC1_HC0 = pin;
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}
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}
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uint16_t HAL_adc_get_result() {
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switch (HAL_adc_select) {
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case 0:
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while (!(ADC1_HS & ADC_HS_COCO0)) ; // wait
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return ADC1_R0;
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case 1:
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while (!(ADC2_HS & ADC_HS_COCO0)) ; // wait
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return ADC2_R0;
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}
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return 0;
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}
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bool is_output(uint8_t pin) {
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const struct digital_pin_bitband_and_config_table_struct *p;
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p = digital_pin_to_info_PGM + pin;
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return (*(p->reg + 1) & p->mask);
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}
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#endif // __IMXRT1062__

‎Marlin/src/HAL/TEENSY40_41/HAL.h

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/**
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* Marlin 3D Printer Firmware
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*
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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* Copyright (c) 2016 Bob Cousins [email protected]
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* Copyright (c) 2015-2016 Nico Tonnhofer [email protected]
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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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#pragma once
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/**
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* Description: HAL for Teensy 4.0 and Teensy 4.1
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*/
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#define CPU_32_BIT
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#include "../shared/Marduino.h"
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#include "../shared/math_32bit.h"
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#include "../shared/HAL_SPI.h"
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#include "fastio.h"
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#include "watchdog.h"
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#include <stdint.h>
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#include <util/atomic.h>
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//#define ST7920_DELAY_1 DELAY_NS(600)
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//#define ST7920_DELAY_2 DELAY_NS(750)
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//#define ST7920_DELAY_3 DELAY_NS(750)
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// ------------------------
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// Defines
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// ------------------------
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#ifdef __IMXRT1062__
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#define IS_32BIT_TEENSY 1
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#define IS_TEENSY41 1
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#endif
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#if SERIAL_PORT == -1
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#define MYSERIAL0 SerialUSB
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#elif SERIAL_PORT == 0
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#define MYSERIAL0 Serial
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#elif SERIAL_PORT == 1
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#define MYSERIAL0 Serial1
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#elif SERIAL_PORT == 2
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#define MYSERIAL0 Serial2
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#elif SERIAL_PORT == 3
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#define MYSERIAL0 Serial3
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#elif SERIAL_PORT == 4
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#define MYSERIAL0 Serial4
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#elif SERIAL_PORT == 5
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#define MYSERIAL0 Serial5
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#elif SERIAL_PORT == 6
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#define MYSERIAL0 Serial6
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#elif SERIAL_PORT == 7
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#define MYSERIAL0 Serial7
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#elif SERIAL_PORT == 8
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#define MYSERIAL0 Serial8
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#else
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#error "The required SERIAL_PORT must be from -1 to 8. Please update your configuration."
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#endif
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#ifdef SERIAL_PORT_2
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#if SERIAL_PORT_2 == SERIAL_PORT
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#error "SERIAL_PORT_2 must be different from SERIAL_PORT. Please update your configuration."
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#elif SERIAL_PORT_2 == -1
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#define MYSERIAL1 usbSerial
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#elif SERIAL_PORT_2 == 0
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#define MYSERIAL1 Serial
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#elif SERIAL_PORT_2 == 1
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#define MYSERIAL1 Serial1
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#elif SERIAL_PORT_2 == 2
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#define MYSERIAL1 Serial2
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#elif SERIAL_PORT_2 == 3
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#define MYSERIAL1 Serial3
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#elif SERIAL_PORT_2 == 4
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#define MYSERIAL1 Serial4
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#elif SERIAL_PORT_2 == 5
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#define MYSERIAL1 Serial5
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#elif SERIAL_PORT_2 == 6
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#define MYSERIAL1 Serial6
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#elif SERIAL_PORT_2 == 7
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#define MYSERIAL1 Serial7
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#elif SERIAL_PORT_2 == 8
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#define MYSERIAL1 Serial8
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#else
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#error "SERIAL_PORT_2 must be from -1 to 8. Please update your configuration."
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#endif
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#define NUM_SERIAL 2
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#else
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#define NUM_SERIAL 1
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#endif
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#define HAL_SERVO_LIB libServo
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typedef int8_t pin_t;
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#ifndef analogInputToDigitalPin
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#define analogInputToDigitalPin(p) ((p < 12u) ? (p) + 54u : -1)
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#endif
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#define CRITICAL_SECTION_START() uint32_t primask = __get_primask(); __disable_irq()
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#define CRITICAL_SECTION_END() if (!primask) __enable_irq()
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#define ISRS_ENABLED() (!__get_primask())
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#define ENABLE_ISRS() __enable_irq()
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#define DISABLE_ISRS() __disable_irq()
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#undef sq
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#define sq(x) ((x)*(x))
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#ifndef strncpy_P
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#define strncpy_P(dest, src, num) strncpy((dest), (src), (num))
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#endif
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// Don't place string constants in PROGMEM
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#undef PSTR
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#define PSTR(str) ({static const char *data = (str); &data[0];})
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// Fix bug in pgm_read_ptr
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#undef pgm_read_ptr
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#define pgm_read_ptr(addr) (*((void**)(addr)))
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// Add type-checking to pgm_read_word
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#undef pgm_read_word
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#define pgm_read_word(addr) (*((uint16_t*)(addr)))
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// Enable hooks into idle and setup for HAL
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#define HAL_IDLETASK 1
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FORCE_INLINE void HAL_idletask() {}
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FORCE_INLINE void HAL_init() {}
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// Clear reset reason
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void HAL_clear_reset_source();
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// Reset reason
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uint8_t HAL_get_reset_source();
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FORCE_INLINE void _delay_ms(const int delay_ms) { delay(delay_ms); }
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#pragma GCC diagnostic push
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#pragma GCC diagnostic ignored "-Wunused-function"
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extern "C" {
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uint32_t freeMemory();
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}
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#pragma GCC diagnostic pop
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// ADC
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void HAL_adc_init();
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#define HAL_ADC_VREF 3.3
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#define HAL_ADC_RESOLUTION 10
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#define HAL_ADC_FILTERED // turn off ADC oversampling
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#define HAL_START_ADC(pin) HAL_adc_start_conversion(pin)
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#define HAL_READ_ADC() HAL_adc_get_result()
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#define HAL_ADC_READY() true
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#define HAL_ANALOG_SELECT(pin)
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void HAL_adc_start_conversion(const uint8_t adc_pin);
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uint16_t HAL_adc_get_result();
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#define GET_PIN_MAP_PIN(index) index
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#define GET_PIN_MAP_INDEX(pin) pin
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#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
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bool is_output(uint8_t pin);

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