⏪️ Refactor still needs work

Reverting MarlinFirmware#23295

Author: thinkyhead

Marlin/src/HAL/AVR/HAL.cpp

@@ -36,7 +36,7 @@
 // ------------------------
 
 // Don't initialize/override variable (which would happen in .init4)
-uint8_t MarlinHAL::reset_reason __attribute__((section(".noinit")));
+uint8_t reset_reason __attribute__((section(".noinit")));
 
 // ------------------------
 // Public functions
@@ -45,22 +45,22 @@ uint8_t MarlinHAL::reset_reason __attribute__((section(".noinit")));
 __attribute__((naked))             // Don't output function pro- and epilogue
 __attribute__((used))              // Output the function, even if "not used"
 __attribute__((section(".init3"))) // Put in an early user definable section
-void save_reset_reason() {
+void HAL_save_reset_reason() {
   #if ENABLED(OPTIBOOT_RESET_REASON)
     __asm__ __volatile__(
       A("STS %0, r2")
-      : "=m"(hal.reset_reason)
+      : "=m"(reset_reason)
     );
   #else
-    hal.reset_reason = MCUSR;
+    reset_reason = MCUSR;
   #endif
 
   // Clear within 16ms since WDRF bit enables a 16ms watchdog timer -> Boot loop
-  hal.clear_reset_source();
+  MCUSR = 0;
   wdt_disable();
 }
 
-void MarlinHAL::init() {
+void HAL_init() {
   // Init Servo Pins
   #define INIT_SERVO(N) OUT_WRITE(SERVO##N##_PIN, LOW)
   #if HAS_SERVO_0
@@ -77,7 +77,7 @@ void MarlinHAL::init() {
   #endif
 }
 
-void MarlinHAL::reboot() {
+void HAL_reboot() {
   #if ENABLED(USE_WATCHDOG)
     while (1) { /* run out the watchdog */ }
   #else

Marlin/src/HAL/AVR/HAL.h

@@ -74,25 +74,26 @@
   #define CRITICAL_SECTION_START()  unsigned char _sreg = SREG; cli()
   #define CRITICAL_SECTION_END()    SREG = _sreg
 #endif
-
-#define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
+#define ISRS_ENABLED() TEST(SREG, SREG_I)
+#define ENABLE_ISRS()  sei()
+#define DISABLE_ISRS() cli()
 
 // ------------------------
 // Types
 // ------------------------
 
 typedef int8_t pin_t;
 
-// Use shared/servos.cpp
 #define SHARED_SERVOS HAS_SERVOS
-
-class Servo;
-typedef Servo hal_servo_t;
+#define HAL_SERVO_LIB Servo
 
 // ------------------------
-// Serial ports
+// Public Variables
 // ------------------------
 
+extern uint8_t reset_reason;
+
+// Serial ports
 #ifdef USBCON
   #include "../../core/serial_hook.h"
   typedef ForwardSerial1Class< decltype(Serial) > DefaultSerial1;
@@ -141,31 +142,20 @@ typedef Servo hal_servo_t;
   #endif
 #endif
 
-//
-// ADC
-//
-#define HAL_ADC_VREF        5.0
-#define HAL_ADC_RESOLUTION 10
+// ------------------------
+// Public functions
+// ------------------------
 
-//
-// Pin Mapping for M42, M43, M226
-//
-#define GET_PIN_MAP_PIN(index) index
-#define GET_PIN_MAP_INDEX(pin) pin
-#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
+void HAL_init();
 
-#define HAL_SENSITIVE_PINS 0, 1,
+//void cli();
 
-#ifdef __AVR_AT90USB1286__
-  #define JTAG_DISABLE() do{ MCUCR = 0x80; MCUCR = 0x80; }while(0)
-#endif
+//void _delay_ms(const int delay);
 
-// AVR compatibility
-#define strtof strtod
+inline void HAL_clear_reset_source() { }
+inline uint8_t HAL_get_reset_source() { return reset_reason; }
 
-// ------------------------
-// Class Utilities
-// ------------------------
+void HAL_reboot();
 
 #pragma GCC diagnostic push
 #if GCC_VERSION <= 50000
@@ -176,91 +166,63 @@ extern "C" int freeMemory();
 
 #pragma GCC diagnostic pop
 
-// ------------------------
-// MarlinHAL Class
-// ------------------------
-
-class MarlinHAL {
-public:
+// ADC
+#ifdef DIDR2
+  #define HAL_ANALOG_SELECT(ind) do{ if (ind < 8) SBI(DIDR0, ind); else SBI(DIDR2, ind & 0x07); }while(0)
+#else
+  #define HAL_ANALOG_SELECT(ind) SBI(DIDR0, ind);
+#endif
 
-  // Earliest possible init, before setup()
-  MarlinHAL() {}
+inline void HAL_adc_init() {
+  ADCSRA = _BV(ADEN) | _BV(ADSC) | _BV(ADIF) | 0x07;
+  DIDR0 = 0;
+  #ifdef DIDR2
+    DIDR2 = 0;
+  #endif
+}
 
-  static void init();                 // Called early in setup()
-  static inline void init_board() {}  // Called less early in setup()
-  static void reboot();               // Restart the firmware from 0x0
+#define SET_ADMUX_ADCSRA(ch) ADMUX = _BV(REFS0) | (ch & 0x07); SBI(ADCSRA, ADSC)
+#ifdef MUX5
+  #define HAL_START_ADC(ch) if (ch > 7) ADCSRB = _BV(MUX5); else ADCSRB = 0; SET_ADMUX_ADCSRA(ch)
+#else
+  #define HAL_START_ADC(ch) ADCSRB = 0; SET_ADMUX_ADCSRA(ch)
+#endif
 
-  static inline bool isr_state() { return TEST(SREG, SREG_I); }
-  static inline void isr_on()  { sei(); }
-  static inline void isr_off() { cli(); }
+#define HAL_ADC_VREF        5.0
+#define HAL_ADC_RESOLUTION 10
+#define HAL_READ_ADC()  ADC
+#define HAL_ADC_READY() !TEST(ADCSRA, ADSC)
 
-  static inline void delay_ms(const int ms) { _delay_ms(ms); }
+#define GET_PIN_MAP_PIN(index) index
+#define GET_PIN_MAP_INDEX(pin) pin
+#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
 
-  // Tasks, called from idle()
-  static inline void idletask() {}
+#define HAL_SENSITIVE_PINS 0, 1,
 
-  // Reset
-  static uint8_t reset_reason;
-  static inline uint8_t get_reset_source() { return reset_reason; }
-  static inline void clear_reset_source() { MCUSR = 0; }
+#ifdef __AVR_AT90USB1286__
+  #define JTAG_DISABLE() do{ MCUCR = 0x80; MCUCR = 0x80; }while(0)
+#endif
 
-  // Free SRAM
-  static inline int freeMemory() { return ::freeMemory(); }
+// AVR compatibility
+#define strtof strtod
 
-  //
-  // ADC Methods
-  //
+#define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
 
-  // Called by Temperature::init once at startup
-  static inline void adc_init() {
-    ADCSRA = _BV(ADEN) | _BV(ADSC) | _BV(ADIF) | 0x07;
-    DIDR0 = 0;
-    #ifdef DIDR2
-      DIDR2 = 0;
-    #endif
-  }
+/**
+ *  set_pwm_frequency
+ *  Sets the frequency of the timer corresponding to the provided pin
+ *  as close as possible to the provided desired frequency. Internally
+ *  calculates the required waveform generation mode, prescaler and
+ *  resolution values required and sets the timer registers accordingly.
+ *  NOTE that the frequency is applied to all pins on the timer (Ex OC3A, OC3B and OC3B)
+ *  NOTE that there are limitations, particularly if using TIMER2. (see Configuration_adv.h -> FAST FAN PWM Settings)
+ */
+void set_pwm_frequency(const pin_t pin, int f_desired);
 
-  // Called by Temperature::init for each sensor at startup
-  static inline void adc_enable(const uint8_t ch) {
-    #ifdef DIDR2
-      if (ch > 7) { SBI(DIDR2, ch & 0x07); return; }
-    #endif
-    SBI(DIDR0, ch);
-  }
-
-  // Begin ADC sampling on the given channel
-  static inline void adc_start(const uint8_t ch) {
-    #ifdef MUX5
-      ADCSRB = ch > 7 ? _BV(MUX5) : 0;
-    #else
-      ADCSRB = 0;
-    #endif
-    ADMUX = _BV(REFS0) | (ch & 0x07);
-    SBI(ADCSRA, ADSC);
-  }
-
-  // Is the ADC ready for reading?
-  static inline bool adc_ready() { return !TEST(ADCSRA, ADSC); }
-
-  // The current value of the ADC register
-  static inline __typeof__(ADC) adc_value() { return ADC; }
-
-  /**
-   * Set the PWM duty cycle for the pin to the given value.
-   * Optionally invert the duty cycle [default = false]
-   * Optionally change the scale of the provided value to enable finer PWM duty control [default = 255]
-   */
-  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
-
-  /**
-   * Set the frequency of the timer for the given pin as close as
-   * possible to the provided desired frequency. Internally calculate
-   * the required waveform generation mode, prescaler, and resolution
-   * values and set timer registers accordingly.
-   * NOTE that the frequency is applied to all pins on the timer (Ex OC3A, OC3B and OC3B)
-   * NOTE that there are limitations, particularly if using TIMER2. (see Configuration_adv.h -> FAST FAN PWM Settings)
-   */
-  static void set_pwm_frequency(const pin_t pin, int f_desired);
-};
-
-extern MarlinHAL hal;
+/**
+ * set_pwm_duty
+ *  Set the PWM duty cycle of the provided pin to the provided value
+ *  Optionally allows inverting the duty cycle [default = false]
+ *  Optionally allows changing the maximum size of the provided value to enable finer PWM duty control [default = 255]
+ */
+void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);

Marlin/src/HAL/AVR/MarlinSerial.cpp

@@ -486,7 +486,7 @@ void MarlinSerial<Cfg>::write(const uint8_t c) {
     const uint8_t i = (tx_buffer.head + 1) & (Cfg::TX_SIZE - 1);
 
     // If global interrupts are disabled (as the result of being called from an ISR)...
-    if (!hal.isr_state()) {
+    if (!ISRS_ENABLED()) {
 
       // Make room by polling if it is possible to transmit, and do so!
       while (i == tx_buffer.tail) {
@@ -534,7 +534,7 @@ void MarlinSerial<Cfg>::flushTX() {
     if (!_written) return;
 
     // If global interrupts are disabled (as the result of being called from an ISR)...
-    if (!hal.isr_state()) {
+    if (!ISRS_ENABLED()) {
 
       // Wait until everything was transmitted - We must do polling, as interrupts are disabled
       while (tx_buffer.head != tx_buffer.tail || !B_TXC) {

Marlin/src/HAL/AVR/fast_pwm.cpp

@@ -35,9 +35,10 @@ struct Timer {
 };
 
 /**
- * Get the timer information and register for a pin.
- * Return a Timer struct containing this information.
- * Used by set_pwm_frequency, set_pwm_duty
+ * get_pwm_timer
+ *  Get the timer information and register of the provided pin.
+ *  Return a Timer struct containing this information.
+ *  Used by set_pwm_frequency, set_pwm_duty
  */
 Timer get_pwm_timer(const pin_t pin) {
   uint8_t q = 0;
@@ -149,7 +150,7 @@ Timer get_pwm_timer(const pin_t pin) {
   return timer;
 }
 
-void MarlinHAL::set_pwm_frequency(const pin_t pin, int f_desired) {
+void set_pwm_frequency(const pin_t pin, int f_desired) {
   Timer timer = get_pwm_timer(pin);
   if (timer.n == 0) return; // Don't proceed if protected timer or not recognized
   uint16_t size;
@@ -229,7 +230,7 @@ void MarlinHAL::set_pwm_frequency(const pin_t pin, int f_desired) {
 
 #endif // NEEDS_HARDWARE_PWM
 
-void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
+void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
   #if NEEDS_HARDWARE_PWM
 
     // If v is 0 or v_size (max), digitalWrite to LOW or HIGH.

Marlin/src/HAL/AVR/timers.h

@@ -109,8 +109,8 @@ FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
  * (otherwise, characters will be lost due to UART overflow).
  * Then: Stepper, Endstops, Temperature, and -finally- all others.
  */
-#define HAL_timer_isr_prologue(T) NOOP
-#define HAL_timer_isr_epilogue(T) NOOP
+#define HAL_timer_isr_prologue(T)
+#define HAL_timer_isr_epilogue(T)
 
 /* 18 cycles maximum latency */
 #ifndef HAL_STEP_TIMER_ISR