From e2aeda61edd123997c77c81483b81d0e99bd18f3 Mon Sep 17 00:00:00 2001
From: Simon Jouet <simon.jouet@gmail.com>
Date: Sun, 8 Oct 2017 17:38:10 +0100
Subject: [PATCH] HAL for Espressif ESP32 Wifi
---
Marlin/Configuration_adv.h | 9 +
Marlin/src/HAL/Delay.h | 41 ++--
Marlin/src/HAL/HAL_ESP32/HAL.cpp | 155 ++++++++++++++
Marlin/src/HAL/HAL_ESP32/HAL.h | 126 +++++++++++
Marlin/src/HAL/HAL_ESP32/HAL_spi_ESP32.cpp | 109 ++++++++++
Marlin/src/HAL/HAL_ESP32/HAL_timers_ESP32.cpp | 202 ++++++++++++++++++
Marlin/src/HAL/HAL_ESP32/HAL_timers_ESP32.h | 114 ++++++++++
Marlin/src/HAL/HAL_ESP32/SanityCheck.h | 25 +++
Marlin/src/HAL/HAL_ESP32/endstop_interrupts.h | 77 +++++++
Marlin/src/HAL/HAL_ESP32/fastio_ESP32.h | 72 +++++++
Marlin/src/HAL/HAL_ESP32/ota.cpp | 81 +++++++
Marlin/src/HAL/HAL_ESP32/ota.h | 26 +++
Marlin/src/HAL/HAL_ESP32/servotimers.h | 21 ++
Marlin/src/HAL/HAL_ESP32/spi_pins.h | 28 +++
Marlin/src/HAL/HAL_ESP32/watchdog_ESP32.cpp | 41 ++++
Marlin/src/HAL/HAL_ESP32/watchdog_ESP32.h | 32 +++
Marlin/src/HAL/platforms.h | 2 +
Marlin/src/Marlin.cpp | 4 +-
Marlin/src/config/default/Configuration_adv.h | 9 +
Marlin/src/core/boards.h | 4 +
Marlin/src/pins/pins.h | 7 +
Marlin/src/pins/pins_ESP32.h | 72 +++++++
platformio.ini | 16 ++
23 files changed, 1257 insertions(+), 16 deletions(-)
create mode 100644 Marlin/src/HAL/HAL_ESP32/HAL.cpp
create mode 100644 Marlin/src/HAL/HAL_ESP32/HAL.h
create mode 100644 Marlin/src/HAL/HAL_ESP32/HAL_spi_ESP32.cpp
create mode 100644 Marlin/src/HAL/HAL_ESP32/HAL_timers_ESP32.cpp
create mode 100644 Marlin/src/HAL/HAL_ESP32/HAL_timers_ESP32.h
create mode 100644 Marlin/src/HAL/HAL_ESP32/SanityCheck.h
create mode 100644 Marlin/src/HAL/HAL_ESP32/endstop_interrupts.h
create mode 100644 Marlin/src/HAL/HAL_ESP32/fastio_ESP32.h
create mode 100644 Marlin/src/HAL/HAL_ESP32/ota.cpp
create mode 100644 Marlin/src/HAL/HAL_ESP32/ota.h
create mode 100644 Marlin/src/HAL/HAL_ESP32/servotimers.h
create mode 100644 Marlin/src/HAL/HAL_ESP32/spi_pins.h
create mode 100644 Marlin/src/HAL/HAL_ESP32/watchdog_ESP32.cpp
create mode 100644 Marlin/src/HAL/HAL_ESP32/watchdog_ESP32.h
create mode 100644 Marlin/src/pins/pins_ESP32.h
diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index 26d238ad67..b71b8f8143 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -1700,4 +1700,13 @@
// Default behaviour is limited to Z axis only.
#endif
+/**
+ * WiFi Support (Espressif ESP32 WiFi)
+ */
+//#define WIFISUPPORT
+#if ENABLED(WIFISUPPORT)
+ #define WIFI_SSID "Wifi SSID"
+ #define WIFI_PWD "Wifi Password"
+#endif
+
#endif // CONFIGURATION_ADV_H
diff --git a/Marlin/src/HAL/Delay.h b/Marlin/src/HAL/Delay.h
index e1e8fab7c8..972f1e2c18 100644
--- a/Marlin/src/HAL/Delay.h
+++ b/Marlin/src/HAL/Delay.h
@@ -21,14 +21,12 @@
*/
/**
-
- Busy wait delay Cycles routines:
-
- DELAY_CYCLES(count): Delay execution in cycles
- DELAY_NS(count): Delay execution in nanoseconds
- DELAY_US(count): Delay execution in microseconds
-
- */
+ * Busy wait delay cycles routines:
+ *
+ * DELAY_CYCLES(count): Delay execution in cycles
+ * DELAY_NS(count): Delay execution in nanoseconds
+ * DELAY_US(count): Delay execution in microseconds
+ */
#ifndef MARLIN_DELAY_H
#define MARLIN_DELAY_H
@@ -37,7 +35,7 @@
#if defined(__arm__) || defined(__thumb__)
- /* https://blueprints.launchpad.net/gcc-arm-embedded/+spec/delay-cycles */
+ // https://blueprints.launchpad.net/gcc-arm-embedded/+spec/delay-cycles
#define nop() __asm__ __volatile__("nop;\n\t":::)
@@ -60,7 +58,7 @@
);
}
- /* ---------------- Delay in cycles */
+ // Delay in cycles
FORCE_INLINE static void DELAY_CYCLES(uint32_t x) {
if (__builtin_constant_p(x)) {
@@ -98,7 +96,7 @@
);
}
- /* ---------------- Delay in cycles */
+ // Delay in cycles
FORCE_INLINE static void DELAY_CYCLES(uint16_t x) {
if (__builtin_constant_p(x)) {
@@ -121,15 +119,30 @@
}
#undef nop
+#elif defined(ESP32)
+
+ FORCE_INLINE static void DELAY_CYCLES(uint32_t x) {
+ unsigned long ccount, stop;
+
+ __asm__ __volatile__ ( "rsr %0, ccount" : "=a" (ccount) );
+
+ stop = ccount + x; // This can overflow
+
+ while (ccount < stop) { // This doesn't deal with overflows
+ __asm__ __volatile__ ( "rsr %0, ccount" : "=a" (ccount) );
+ }
+ }
+
#else
+
#error "Unsupported MCU architecture"
+
#endif
-/* ---------------- Delay in nanoseconds */
+// Delay in nanoseconds
#define DELAY_NS(x) DELAY_CYCLES( (x) * (F_CPU/1000000L) / 1000L )
-/* ---------------- Delay in microseconds */
+// Delay in microseconds
#define DELAY_US(x) DELAY_CYCLES( (x) * (F_CPU/1000000L) )
#endif // MARLIN_DELAY_H
-
diff --git a/Marlin/src/HAL/HAL_ESP32/HAL.cpp b/Marlin/src/HAL/HAL_ESP32/HAL.cpp
new file mode 100644
index 0000000000..f928d635f7
--- /dev/null
+++ b/Marlin/src/HAL/HAL_ESP32/HAL.cpp
@@ -0,0 +1,155 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program 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.
+ *
+ * This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifdef ARDUINO_ARCH_ESP32
+
+// --------------------------------------------------------------------------
+// Includes
+// --------------------------------------------------------------------------
+
+#include "HAL.h"
+#include <rom/rtc.h>
+#include <driver/adc.h>
+#include <esp_adc_cal.h>
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if ENABLED(WIFISUPPORT)
+ #include "ota.h"
+#endif
+
+// --------------------------------------------------------------------------
+// Externals
+// --------------------------------------------------------------------------
+
+portMUX_TYPE spinlock = portMUX_INITIALIZER_UNLOCKED;
+
+// --------------------------------------------------------------------------
+// Local defines
+// --------------------------------------------------------------------------
+
+#define V_REF 1100
+
+// --------------------------------------------------------------------------
+// Types
+// --------------------------------------------------------------------------
+
+// --------------------------------------------------------------------------
+// Variables
+// --------------------------------------------------------------------------
+
+// --------------------------------------------------------------------------
+// Public Variables
+// --------------------------------------------------------------------------
+
+uint16_t HAL_adc_result;
+
+// --------------------------------------------------------------------------
+// Private Variables
+// --------------------------------------------------------------------------
+
+esp_adc_cal_characteristics_t characteristics;
+
+// --------------------------------------------------------------------------
+// Function prototypes
+// --------------------------------------------------------------------------
+
+// --------------------------------------------------------------------------
+// Private functions
+// --------------------------------------------------------------------------
+
+// --------------------------------------------------------------------------
+// Public functions
+// --------------------------------------------------------------------------
+
+void HAL_init(void) {
+ #if ENABLED(WIFISUPPORT)
+ OTA_init();
+ #endif
+}
+
+void HAL_idletask(void) {
+ #if ENABLED(WIFISUPPORT)
+ OTA_handle();
+ #endif
+}
+
+void HAL_clear_reset_source(void) { }
+
+uint8_t HAL_get_reset_source (void) {
+ return rtc_get_reset_reason(1);
+}
+
+void _delay_ms(int delay_ms) {
+ delay(delay_ms);
+}
+
+// return free memory between end of heap (or end bss) and whatever is current
+int freeMemory() {
+ return ESP.getFreeHeap();
+}
+
+// --------------------------------------------------------------------------
+// ADC
+// --------------------------------------------------------------------------
+#define ADC1_CHANNEL(pin) ADC1_GPIO##pin_CHANNEL
+
+adc1_channel_t get_channel(int pin) {
+ switch (pin) {
+ case 36: return ADC1_GPIO36_CHANNEL;
+ case 39: return ADC1_GPIO39_CHANNEL;
+ }
+
+ return ADC1_CHANNEL_MAX;
+}
+
+void HAL_adc_init() {
+ // Configure ADC
+ adc1_config_width(ADC_WIDTH_12Bit);
+ adc1_config_channel_atten(get_channel(36), ADC_ATTEN_11db);
+ adc1_config_channel_atten(get_channel(39), ADC_ATTEN_11db);
+
+ // Calculate ADC characteristics i.e. gain and offset factors
+ esp_adc_cal_characterize(ADC_UNIT_1, ADC_ATTEN_DB_11, ADC_WIDTH_BIT_12, V_REF, &characteristics);
+}
+
+void HAL_adc_start_conversion (uint8_t adc_pin) {
+ uint32_t mv;
+ esp_adc_cal_get_voltage((adc_channel_t)get_channel(adc_pin), &characteristics, &mv);
+
+ HAL_adc_result = mv*1023.0/3300.0;
+}
+
+int pin_to_channel[40] = {};
+int cnt_channel = 1;
+void analogWrite(int pin, int value) {
+ if (pin_to_channel[pin] == 0) {
+ ledcAttachPin(pin, cnt_channel);
+ ledcSetup(cnt_channel, 490, 8);
+ ledcWrite(cnt_channel, value);
+
+ pin_to_channel[pin] = cnt_channel++;
+ }
+
+ ledcWrite(pin_to_channel[pin], value);
+}
+#endif // ARDUINO_ARCH_ESP32
diff --git a/Marlin/src/HAL/HAL_ESP32/HAL.h b/Marlin/src/HAL/HAL_ESP32/HAL.h
new file mode 100644
index 0000000000..c3a3f00955
--- /dev/null
+++ b/Marlin/src/HAL/HAL_ESP32/HAL.h
@@ -0,0 +1,126 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
+ *
+ * This program 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.
+ *
+ * This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/**
+ * Description: HAL for Espressif ESP32 WiFi
+ */
+
+#ifndef _HAL_ESP32_H
+#define _HAL_ESP32_H
+
+#define CPU_32_BIT
+
+// --------------------------------------------------------------------------
+// Includes
+// --------------------------------------------------------------------------
+
+#include <stdint.h>
+
+#undef DISABLED
+#undef _BV
+
+#include <Arduino.h>
+
+#undef DISABLED
+#define DISABLED(b) (!_CAT(SWITCH_ENABLED_, b))
+
+#include "../math_32bit.h"
+#include "../HAL_SPI.h"
+
+#include "fastio_ESP32.h"
+#include "watchdog_ESP32.h"
+
+#include "HAL_timers_ESP32.h"
+
+// --------------------------------------------------------------------------
+// Defines
+// --------------------------------------------------------------------------
+
+extern portMUX_TYPE spinlock;
+
+#define NUM_SERIAL 1
+#define MYSERIAL0 Serial
+
+#define CRITICAL_SECTION_START portENTER_CRITICAL(&spinlock)
+#define CRITICAL_SECTION_END portEXIT_CRITICAL(&spinlock)
+#define ISRS_ENABLED() (spinlock.owner == portMUX_FREE_VAL)
+#define ENABLE_ISRS() if (spinlock.owner != portMUX_FREE_VAL) portEXIT_CRITICAL(&spinlock)
+#define DISABLE_ISRS() portENTER_CRITICAL(&spinlock)
+
+
+// Fix bug in pgm_read_ptr
+#undef pgm_read_ptr
+#define pgm_read_ptr(addr) (*(addr))
+
+// --------------------------------------------------------------------------
+// Types
+// --------------------------------------------------------------------------
+
+typedef int16_t pin_t;
+
+// --------------------------------------------------------------------------
+// Public Variables
+// --------------------------------------------------------------------------
+
+/** result of last ADC conversion */
+extern uint16_t HAL_adc_result;
+
+// --------------------------------------------------------------------------
+// Public functions
+// --------------------------------------------------------------------------
+
+// clear reset reason
+void HAL_clear_reset_source (void);
+
+// reset reason
+uint8_t HAL_get_reset_source (void);
+
+void _delay_ms(int delay);
+
+int freeMemory(void);
+
+void analogWrite(int pin, int value);
+
+// EEPROM
+void eeprom_write_byte(unsigned char *pos, unsigned char value);
+unsigned char eeprom_read_byte(unsigned char *pos);
+void eeprom_read_block (void *__dst, const void *__src, size_t __n);
+void eeprom_update_block (const void *__src, void *__dst, size_t __n);
+
+// ADC
+#define HAL_ANALOG_SELECT(pin)
+
+void HAL_adc_init(void);
+
+#define HAL_START_ADC(pin) HAL_adc_start_conversion(pin)
+#define HAL_READ_ADC HAL_adc_result
+
+void HAL_adc_start_conversion (uint8_t adc_pin);
+
+#define GET_PIN_MAP_PIN(index) index
+#define GET_PIN_MAP_INDEX(pin) pin
+#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
+
+// Enable hooks into idle and setup for HAL
+#define HAL_IDLETASK 1
+#define HAL_INIT 1
+void HAL_idletask(void);
+void HAL_init(void);
+
+#endif // _HAL_ESP32_H
diff --git a/Marlin/src/HAL/HAL_ESP32/HAL_spi_ESP32.cpp b/Marlin/src/HAL/HAL_ESP32/HAL_spi_ESP32.cpp
new file mode 100644
index 0000000000..e59e1f90de
--- /dev/null
+++ b/Marlin/src/HAL/HAL_ESP32/HAL_spi_ESP32.cpp
@@ -0,0 +1,109 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ * Copyright (C) 2017 Victor Perez
+ *
+ * This program 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.
+ *
+ * This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifdef ARDUINO_ARCH_ESP32
+
+// --------------------------------------------------------------------------
+// Includes
+// --------------------------------------------------------------------------
+
+#include "HAL.h"
+#include "../HAL_SPI.h"
+#include "pins_arduino.h"
+#include "spi_pins.h"
+#include "../../core/macros.h"
+#include <SPI.h>
+
+// --------------------------------------------------------------------------
+// Public Variables
+// --------------------------------------------------------------------------
+
+static SPISettings spiConfig;
+
+// --------------------------------------------------------------------------
+// Public functions
+// --------------------------------------------------------------------------
+
+// --------------------------------------------------------------------------
+// Hardware SPI
+// --------------------------------------------------------------------------
+
+void spiBegin() {
+ #if !PIN_EXISTS(SS)
+ #error "SS_PIN not defined!"
+ #endif
+
+ WRITE(SS_PIN, HIGH);
+ SET_OUTPUT(SS_PIN);
+}
+
+void spiInit(uint8_t spiRate) {
+ uint32_t clock;
+
+ switch (spiRate) {
+ case SPI_FULL_SPEED: clock = SPI_CLOCK_DIV2 ; break;
+ case SPI_HALF_SPEED: clock = SPI_CLOCK_DIV4 ; break;
+ case SPI_QUARTER_SPEED: clock = SPI_CLOCK_DIV8 ; break;
+ case SPI_EIGHTH_SPEED: clock = SPI_CLOCK_DIV16; break;
+ case SPI_SPEED_5: clock = SPI_CLOCK_DIV32; break;
+ case SPI_SPEED_6: clock = SPI_CLOCK_DIV64; break;
+ default: clock = SPI_CLOCK_DIV2; // Default from the SPI library
+ }
+
+ spiConfig = SPISettings(clock, MSBFIRST, SPI_MODE0);
+ SPI.begin();
+}
+
+uint8_t spiRec(void) {
+ SPI.beginTransaction(spiConfig);
+ uint8_t returnByte = SPI.transfer(0xFF);
+ SPI.endTransaction();
+ return returnByte;
+}
+
+void spiRead(uint8_t* buf, uint16_t nbyte) {
+ SPI.beginTransaction(spiConfig);
+ SPI.transferBytes(0, buf, nbyte);
+ SPI.endTransaction();
+}
+
+void spiSend(uint8_t b) {
+ SPI.beginTransaction(spiConfig);
+ SPI.transfer(b);
+ SPI.endTransaction();
+}
+
+void spiSendBlock(uint8_t token, const uint8_t* buf) {
+ SPI.beginTransaction(spiConfig);
+ SPI.transfer(token);
+ SPI.writeBytes(const_cast<uint8_t*>(buf), 512);
+ SPI.endTransaction();
+}
+
+void spiBeginTransaction(uint32_t spiClock, uint8_t bitOrder, uint8_t dataMode) {
+ spiConfig = SPISettings(spiClock, bitOrder, dataMode);
+
+ SPI.beginTransaction(spiConfig);
+}
+
+#endif // ARDUINO_ARCH_ESP32
diff --git a/Marlin/src/HAL/HAL_ESP32/HAL_timers_ESP32.cpp b/Marlin/src/HAL/HAL_ESP32/HAL_timers_ESP32.cpp
new file mode 100644
index 0000000000..f3d444af0c
--- /dev/null
+++ b/Marlin/src/HAL/HAL_ESP32/HAL_timers_ESP32.cpp
@@ -0,0 +1,202 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program 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.
+ *
+ * This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifdef ARDUINO_ARCH_ESP32
+
+// --------------------------------------------------------------------------
+// Includes
+// --------------------------------------------------------------------------
+
+#include <stdio.h>
+#include "esp_types.h"
+#include "soc/timer_group_struct.h"
+#include "driver/periph_ctrl.h"
+#include "driver/timer.h"
+
+#include "HAL.h"
+
+#include "HAL_timers_ESP32.h"
+
+// --------------------------------------------------------------------------
+// Externals
+// --------------------------------------------------------------------------
+
+// --------------------------------------------------------------------------
+// Local defines
+// --------------------------------------------------------------------------
+
+#define NUM_HARDWARE_TIMERS 4
+
+// --------------------------------------------------------------------------
+// Types
+// --------------------------------------------------------------------------
+
+
+// --------------------------------------------------------------------------
+// Public Variables
+// --------------------------------------------------------------------------
+
+// --------------------------------------------------------------------------
+// Private Variables
+// --------------------------------------------------------------------------
+
+static timg_dev_t *TG[2] = {&TIMERG0, &TIMERG1};
+
+const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = {
+ { TIMER_GROUP_0, TIMER_0, STEPPER_TIMER_PRESCALE, stepTC_Handler }, // 0 - Stepper
+ { TIMER_GROUP_0, TIMER_1, TEMP_TIMER_PRESCALE, tempTC_Handler }, // 1 - Temperature
+ { TIMER_GROUP_1, TIMER_0, 1, NULL }, // 2
+ { TIMER_GROUP_1, TIMER_1, 1, NULL }, // 3
+};
+
+// --------------------------------------------------------------------------
+// Function prototypes
+// --------------------------------------------------------------------------
+
+// --------------------------------------------------------------------------
+// Private functions
+// --------------------------------------------------------------------------
+
+// --------------------------------------------------------------------------
+// Public functions
+// --------------------------------------------------------------------------
+
+void IRAM_ATTR timer_group0_isr(void *para) {
+ const int timer_idx = (int)para;
+
+ // Retrieve the interrupt status and the counter value
+ // from the timer that reported the interrupt
+ uint32_t intr_status = TIMERG0.int_st_timers.val;
+ TIMERG0.hw_timer[timer_idx].update = 1;
+
+ // Clear the interrupt
+ if (intr_status & BIT(timer_idx)) {
+ switch (timer_idx) {
+ case TIMER_0: TIMERG0.int_clr_timers.t0 = 1; break;
+ case TIMER_1: TIMERG0.int_clr_timers.t1 = 1; break;
+ }
+ }
+
+ const tTimerConfig timer = TimerConfig[timer_idx];
+ timer.fn();
+
+ // After the alarm has been triggered
+ // Enable it again so it gets triggered the next time
+ TIMERG0.hw_timer[timer_idx].config.alarm_en = TIMER_ALARM_EN;
+}
+
+/**
+ * Enable and initialize the timer
+ * @param timer_num timer number to initialize
+ * @param frequency frequency of the timer
+ */
+void HAL_timer_start(const uint8_t timer_num, uint32_t frequency) {
+ const tTimerConfig timer = TimerConfig[timer_num];
+
+ timer_config_t config;
+ config.divider = STEPPER_TIMER_PRESCALE;
+ config.counter_dir = TIMER_COUNT_UP;
+ config.counter_en = TIMER_PAUSE;
+ config.alarm_en = TIMER_ALARM_EN;
+ config.intr_type = TIMER_INTR_LEVEL;
+ config.auto_reload = true;
+
+ // Select and initialize the timer
+ timer_init(timer.group, timer.idx, &config);
+
+ // Timer counter initial value and auto reload on alarm
+ timer_set_counter_value(timer.group, timer.idx, 0x00000000ULL);
+
+ // Configure the alam value and the interrupt on alarm
+ timer_set_alarm_value(timer.group, timer.idx, (HAL_TIMER_RATE) / timer.divider / frequency - 1);
+
+ timer_enable_intr(timer.group, timer.idx);
+
+ // TODO need to deal with timer_group1_isr
+ timer_isr_register(timer.group, timer.idx, timer_group0_isr, (void*)timer.idx, NULL, NULL);
+
+ timer_start(timer.group, timer.idx);
+}
+
+/**
+ * Set the upper value of the timer, when the timer reaches this upper value the
+ * interrupt should be triggered and the counter reset
+ * @param timer_num timer number to set the count to
+ * @param count threshold at which the interrupt is triggered
+ */
+void HAL_timer_set_compare(const uint8_t timer_num, hal_timer_t count) {
+ const tTimerConfig timer = TimerConfig[timer_num];
+ timer_set_alarm_value(timer.group, timer.idx, count);
+}
+
+/**
+ * Get the current upper value of the timer
+ * @param timer_num timer number to get the count from
+ * @return the timer current threshold for the alarm to be triggered
+ */
+hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
+ const tTimerConfig timer = TimerConfig[timer_num];
+
+ uint64_t alarm_value;
+ timer_get_alarm_value(timer.group, timer.idx, &alarm_value);
+
+ return alarm_value;
+}
+
+/**
+ * Get the current counter value between 0 and the maximum count (HAL_timer_set_count)
+ * @param timer_num timer number to get the current count
+ * @return the current counter of the alarm
+ */
+hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
+ const tTimerConfig timer = TimerConfig[timer_num];
+
+ uint64_t counter_value;
+ timer_get_counter_value(timer.group, timer.idx, &counter_value);
+
+ return counter_value;
+}
+
+/**
+ * Enable timer interrupt on the timer
+ * @param timer_num timer number to enable interrupts on
+ */
+void HAL_timer_enable_interrupt(const uint8_t timer_num) {
+ const tTimerConfig timer = TimerConfig[timer_num];
+ //timer_enable_intr(timer.group, timer.idx);
+}
+
+/**
+ * Disable timer interrupt on the timer
+ * @param timer_num timer number to disable interrupts on
+ */
+void HAL_timer_disable_interrupt(const uint8_t timer_num) {
+ const tTimerConfig timer = TimerConfig[timer_num];
+ // timer_disable_intr(timer.group, timer.idx);
+}
+
+bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
+ const tTimerConfig timer = TimerConfig[timer_num];
+ return TG[timer.group]->int_ena.val | BIT(timer_num);
+}
+
+#endif // ARDUINO_ARCH_ESP32
diff --git a/Marlin/src/HAL/HAL_ESP32/HAL_timers_ESP32.h b/Marlin/src/HAL/HAL_ESP32/HAL_timers_ESP32.h
new file mode 100644
index 0000000000..2ddaf2dcf0
--- /dev/null
+++ b/Marlin/src/HAL/HAL_ESP32/HAL_timers_ESP32.h
@@ -0,0 +1,114 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program 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.
+ *
+ * This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifndef _HAL_TIMERS_ESP32_H
+#define _HAL_TIMERS_ESP32_H
+
+// --------------------------------------------------------------------------
+// Includes
+// --------------------------------------------------------------------------
+
+#include <stdint.h>
+#include "driver/timer.h"
+
+// --------------------------------------------------------------------------
+// Defines
+// --------------------------------------------------------------------------
+//
+#define FORCE_INLINE __attribute__((always_inline)) inline
+
+typedef uint64_t hal_timer_t;
+#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFFFFFFFFFULL
+
+#define STEP_TIMER_NUM 0 // index of timer to use for stepper
+#define TEMP_TIMER_NUM 1 // index of timer to use for temperature
+#define PULSE_TIMER_NUM STEP_TIMER_NUM
+
+#define HAL_TIMER_RATE APB_CLK_FREQ // frequency of timer peripherals
+
+#define STEPPER_TIMER_PRESCALE 40
+#define STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer, 2MHz
+#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
+
+#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
+
+#define TEMP_TIMER_PRESCALE 1000 // prescaler for setting Temp timer, 72Khz
+#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
+
+#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer
+#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
+#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
+
+#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
+#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
+#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM)
+
+#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
+#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
+
+#define HAL_TEMP_TIMER_ISR extern "C" void tempTC_Handler(void)
+#define HAL_STEP_TIMER_ISR extern "C" void stepTC_Handler(void)
+
+extern "C" void tempTC_Handler(void);
+extern "C" void stepTC_Handler(void);
+
+
+// --------------------------------------------------------------------------
+// Types
+// --------------------------------------------------------------------------
+
+typedef struct {
+ timer_group_t group;
+ timer_idx_t idx;
+ uint32_t divider;
+ void (*fn)(void);
+} tTimerConfig;
+
+// --------------------------------------------------------------------------
+// Public Variables
+// --------------------------------------------------------------------------
+
+extern const tTimerConfig TimerConfig[];
+
+// --------------------------------------------------------------------------
+// Public functions
+// --------------------------------------------------------------------------
+
+void HAL_timer_start (const uint8_t timer_num, uint32_t frequency);
+void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t count);
+hal_timer_t HAL_timer_get_compare(const uint8_t timer_num);
+hal_timer_t HAL_timer_get_count(const uint8_t timer_num);
+
+// if counter too high then bump up compare
+FORCE_INLINE static void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_ticks) {
+ const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_ticks;
+ if (HAL_timer_get_compare(timer_num) < mincmp) HAL_timer_set_compare(timer_num, mincmp);
+}
+
+void HAL_timer_enable_interrupt(const uint8_t timer_num);
+void HAL_timer_disable_interrupt(const uint8_t timer_num);
+bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
+
+#define HAL_timer_isr_prologue(TIMER_NUM)
+#define HAL_timer_isr_epilogue(TIMER_NUM)
+
+#endif // _HAL_TIMERS_ESP32_H
diff --git a/Marlin/src/HAL/HAL_ESP32/SanityCheck.h b/Marlin/src/HAL/HAL_ESP32/SanityCheck.h
new file mode 100644
index 0000000000..a96f665151
--- /dev/null
+++ b/Marlin/src/HAL/HAL_ESP32/SanityCheck.h
@@ -0,0 +1,25 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016, 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program 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.
+ *
+ * This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#if ENABLED(EMERGENCY_PARSER)
+ #error "EMERGENCY_PARSER is not yet implemented for ESP32. Disable EMERGENCY_PARSER to continue."
+#endif
diff --git a/Marlin/src/HAL/HAL_ESP32/endstop_interrupts.h b/Marlin/src/HAL/HAL_ESP32/endstop_interrupts.h
new file mode 100644
index 0000000000..6ba9c8100d
--- /dev/null
+++ b/Marlin/src/HAL/HAL_ESP32/endstop_interrupts.h
@@ -0,0 +1,77 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program 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.
+ *
+ * This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * Endstop Interrupts
+ *
+ * Without endstop interrupts the endstop pins must be polled continually in
+ * the stepper-ISR via endstops.update(), most of the time finding no change.
+ * With this feature endstops.update() is called only when we know that at
+ * least one endstop has changed state, saving valuable CPU cycles.
+ *
+ * This feature only works when all used endstop pins can generate an 'external interrupt'.
+ *
+ * Test whether pins issue interrupts on your board by flashing 'pin_interrupt_test.ino'.
+ * (Located in Marlin/buildroot/share/pin_interrupt_test/pin_interrupt_test.ino)
+ */
+
+#ifndef _ENDSTOP_INTERRUPTS_H_
+#define _ENDSTOP_INTERRUPTS_H_
+
+#include "../../module/endstops.h"
+
+// One ISR for all EXT-Interrupts
+void ICACHE_RAM_ATTR endstop_ISR(void) {
+ endstops.check_possible_change();
+}
+
+void setup_endstop_interrupts(void) {
+ #if HAS_X_MAX
+ attachInterrupt(digitalPinToInterrupt(X_MAX_PIN), endstop_ISR, CHANGE);
+ #endif
+ #if HAS_X_MIN
+ attachInterrupt(digitalPinToInterrupt(X_MIN_PIN), endstop_ISR, CHANGE);
+ #endif
+ #if HAS_Y_MAX
+ attachInterrupt(digitalPinToInterrupt(Y_MAX_PIN), endstop_ISR, CHANGE);
+ #endif
+ #if HAS_Y_MIN
+ attachInterrupt(digitalPinToInterrupt(Y_MIN_PIN), endstop_ISR, CHANGE);
+ #endif
+ #if HAS_Z_MAX
+ attachInterrupt(digitalPinToInterrupt(Z_MAX_PIN), endstop_ISR, CHANGE);
+ #endif
+ #if HAS_Z_MIN
+ attachInterrupt(digitalPinToInterrupt(Z_MIN_PIN), endstop_ISR, CHANGE);
+ #endif
+ #if HAS_Z2_MAX
+ attachInterrupt(digitalPinToInterrupt(Z2_MAX_PIN), endstop_ISR, CHANGE);
+ #endif
+ #if HAS_Z2_MIN
+ attachInterrupt(digitalPinToInterrupt(Z2_MIN_PIN), endstop_ISR, CHANGE);
+ #endif
+ #if HAS_Z_MIN_PROBE_PIN
+ attachInterrupt(digitalPinToInterrupt(Z_MIN_PROBE_PIN), endstop_ISR, CHANGE);
+ #endif
+}
+
+#endif //_ENDSTOP_INTERRUPTS_H_
diff --git a/Marlin/src/HAL/HAL_ESP32/fastio_ESP32.h b/Marlin/src/HAL/HAL_ESP32/fastio_ESP32.h
new file mode 100644
index 0000000000..5f609c4f0c
--- /dev/null
+++ b/Marlin/src/HAL/HAL_ESP32/fastio_ESP32.h
@@ -0,0 +1,72 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program 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.
+ *
+ * This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifndef _FASTIO_ESP32_H
+#define _FASTIO_ESP32_H
+
+/**
+ * Utility functions
+ */
+
+// set pin as input
+#define _SET_INPUT(IO) pinMode(IO, INPUT)
+
+// set pin as output
+#define _SET_OUTPUT(IO) pinMode(IO, OUTPUT)
+
+// set pin as input with pullup mode
+#define _PULLUP(IO, v) pinMode(IO, v ? INPUT_PULLUP : INPUT)
+
+// Read a pin wrapper
+#define READ(IO) digitalRead(IO)
+
+// Write to a pin wrapper
+#define WRITE(IO, v) digitalWrite(IO, v)
+
+// set pin as input wrapper
+#define SET_INPUT(IO) _SET_INPUT(IO)
+
+// set pin as input with pullup wrapper
+#define SET_INPUT_PULLUP(IO) do{ _SET_INPUT(IO); _PULLUP(IO, HIGH); }while(0)
+
+// set pin as output wrapper
+#define SET_OUTPUT(IO) do{ _SET_OUTPUT(IO); WRITE(IO, LOW); }while(0)
+
+#define OUT_WRITE(IO,V) do{ _SET_OUTPUT(IO); WRITE(IO,V); }while(0)
+
+//
+// ports and functions
+//
+
+// UART
+#define RXD 3
+#define TXD 1
+
+// TWI (I2C)
+#define SCL 5
+#define SDA 4
+
+//
+// pins
+//
+
+#endif // _FASTIO_ESP32_H
diff --git a/Marlin/src/HAL/HAL_ESP32/ota.cpp b/Marlin/src/HAL/HAL_ESP32/ota.cpp
new file mode 100644
index 0000000000..b7fd1bb5c4
--- /dev/null
+++ b/Marlin/src/HAL/HAL_ESP32/ota.cpp
@@ -0,0 +1,81 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
+ *
+ * This program 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.
+ *
+ * This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifdef ARDUINO_ARCH_ESP32
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if ENABLED(WIFISUPPORT)
+
+#include <WiFi.h>
+#include <ESPmDNS.h>
+#include <WiFiUdp.h>
+#include <ArduinoOTA.h>
+#include "driver/timer.h"
+
+void OTA_init() {
+ WiFi.mode(WIFI_STA);
+ WiFi.begin(WIFI_SSID, WIFI_PWD);
+
+ while (WiFi.waitForConnectResult() != WL_CONNECTED) {
+ Serial.println("Connection Failed! Rebooting...");
+ delay(5000);
+ ESP.restart();
+ }
+
+ ArduinoOTA
+ .onStart([]() {
+ timer_pause(TIMER_GROUP_0, TIMER_0);
+ timer_pause(TIMER_GROUP_0, TIMER_1);
+
+ // U_FLASH or U_SPIFFS
+ String type = (ArduinoOTA.getCommand() == U_FLASH) ? "sketch" : "filesystem";
+
+ // NOTE: if updating SPIFFS this would be the place to unmount SPIFFS using SPIFFS.end()
+ Serial.println("Start updating " + type);
+ })
+ .onEnd([]() {
+ Serial.println("\nEnd");
+ })
+ .onProgress([](unsigned int progress, unsigned int total) {
+ Serial.printf("Progress: %u%%\r", (progress / (total / 100)));
+ })
+ .onError([](ota_error_t error) {
+ Serial.printf("Error[%u]: ", error);
+ char *str;
+ switch (error) {
+ case OTA_AUTH_ERROR: str = "Auth Failed"; break;
+ case OTA_BEGIN_ERROR: str = "Begin Failed"; break;
+ case OTA_CONNECT_ERROR: str = "Connect Failed"; break;
+ case OTA_RECEIVE_ERROR: str = "Receive Failed"; break;
+ case OTA_END_ERROR: str = "End Failed"; break;
+ }
+ Serial.println(str);
+ });
+
+ ArduinoOTA.begin();
+}
+
+void OTA_handle() {
+ ArduinoOTA.handle();
+}
+
+#endif // WIFISUPPORT
+
+#endif // ARDUINO_ARCH_ESP32
diff --git a/Marlin/src/HAL/HAL_ESP32/ota.h b/Marlin/src/HAL/HAL_ESP32/ota.h
new file mode 100644
index 0000000000..4af2a74cab
--- /dev/null
+++ b/Marlin/src/HAL/HAL_ESP32/ota.h
@@ -0,0 +1,26 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
+ *
+ * This program 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.
+ *
+ * This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef _HAL_OTA_H
+#define _HAL_OTA_H
+
+void OTA_init();
+void OTA_handle();
+
+#endif
diff --git a/Marlin/src/HAL/HAL_ESP32/servotimers.h b/Marlin/src/HAL/HAL_ESP32/servotimers.h
new file mode 100644
index 0000000000..98b0b3c54e
--- /dev/null
+++ b/Marlin/src/HAL/HAL_ESP32/servotimers.h
@@ -0,0 +1,21 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program 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.
+ *
+ * This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
diff --git a/Marlin/src/HAL/HAL_ESP32/spi_pins.h b/Marlin/src/HAL/HAL_ESP32/spi_pins.h
new file mode 100644
index 0000000000..ecd58b9100
--- /dev/null
+++ b/Marlin/src/HAL/HAL_ESP32/spi_pins.h
@@ -0,0 +1,28 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * This program 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.
+ *
+ * This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifndef SPI_PINS_H_
+#define SPI_PINS_H_
+
+#define SS_PIN 5
+#define SCK_PIN 18
+#define MISO_PIN 19
+#define MOSI_PIN 23
+
+#endif // SPI_PINS_H_
diff --git a/Marlin/src/HAL/HAL_ESP32/watchdog_ESP32.cpp b/Marlin/src/HAL/HAL_ESP32/watchdog_ESP32.cpp
new file mode 100644
index 0000000000..07e00e95b4
--- /dev/null
+++ b/Marlin/src/HAL/HAL_ESP32/watchdog_ESP32.cpp
@@ -0,0 +1,41 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program 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.
+ *
+ * This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifdef ARDUINO_ARCH_ESP32
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(USE_WATCHDOG)
+
+#include "watchdog_ESP32.h"
+
+void watchdogSetup(void) {
+ // do whatever. don't remove this function.
+}
+
+void watchdog_init(void) {
+ // TODO
+}
+
+#endif // USE_WATCHDOG
+
+#endif // ARDUINO_ARCH_ESP32
diff --git a/Marlin/src/HAL/HAL_ESP32/watchdog_ESP32.h b/Marlin/src/HAL/HAL_ESP32/watchdog_ESP32.h
new file mode 100644
index 0000000000..39f0287275
--- /dev/null
+++ b/Marlin/src/HAL/HAL_ESP32/watchdog_ESP32.h
@@ -0,0 +1,32 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program 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.
+ *
+ * This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifndef WATCHDOG_ESP32_H
+#define WATCHDOG_ESP32_H
+
+// Initialize watchdog with a 4 second interrupt time
+void watchdog_init();
+
+// Reset watchdog.
+inline void watchdog_reset() {};
+
+#endif // WATCHDOG_ESP32_H
diff --git a/Marlin/src/HAL/platforms.h b/Marlin/src/HAL/platforms.h
index 6ef7835fec..1410b21f9c 100644
--- a/Marlin/src/HAL/platforms.h
+++ b/Marlin/src/HAL/platforms.h
@@ -17,6 +17,8 @@
#define HAL_PLATFORM HAL_STM32F4
#elif defined(STM32F7)
#define HAL_PLATFORM HAL_STM32F7
+#elif defined(ARDUINO_ARCH_ESP32)
+ #define HAL_PLATFORM HAL_ESP32
#else
#error "Unsupported Platform!"
#endif
diff --git a/Marlin/src/Marlin.cpp b/Marlin/src/Marlin.cpp
index c182efc418..fe4ceb1263 100644
--- a/Marlin/src/Marlin.cpp
+++ b/Marlin/src/Marlin.cpp
@@ -702,10 +702,10 @@ void setup() {
#if NUM_SERIAL > 0
uint32_t serial_connect_timeout = millis() + 1000UL;
- while(!MYSERIAL0 && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
+ while (!MYSERIAL0 && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
#if NUM_SERIAL > 1
serial_connect_timeout = millis() + 1000UL;
- while(!MYSERIAL1 && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
+ while (!MYSERIAL1 && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
#endif
#endif
diff --git a/Marlin/src/config/default/Configuration_adv.h b/Marlin/src/config/default/Configuration_adv.h
index 26d238ad67..b71b8f8143 100644
--- a/Marlin/src/config/default/Configuration_adv.h
+++ b/Marlin/src/config/default/Configuration_adv.h
@@ -1700,4 +1700,13 @@
// Default behaviour is limited to Z axis only.
#endif
+/**
+ * WiFi Support (Espressif ESP32 WiFi)
+ */
+//#define WIFISUPPORT
+#if ENABLED(WIFISUPPORT)
+ #define WIFI_SSID "Wifi SSID"
+ #define WIFI_PWD "Wifi Password"
+#endif
+
#endif // CONFIGURATION_ADV_H
diff --git a/Marlin/src/core/boards.h b/Marlin/src/core/boards.h
index a6d1ec27e1..9de00d064c 100644
--- a/Marlin/src/core/boards.h
+++ b/Marlin/src/core/boards.h
@@ -225,6 +225,10 @@
#define BOARD_THE_BORG 1860 // THE-BORG (Power outputs: Hotend0, Hotend1, Bed, Fan)
+//
+// Espressif ESP32 WiFi
+//
+#define BOARD_ESP32 1900
#define MB(board) (defined(BOARD_##board) && MOTHERBOARD==BOARD_##board)
diff --git a/Marlin/src/pins/pins.h b/Marlin/src/pins/pins.h
index 2635fb3f59..1feead8af2 100644
--- a/Marlin/src/pins/pins.h
+++ b/Marlin/src/pins/pins.h
@@ -381,6 +381,13 @@
#elif MB(THE_BORG)
#include "pins_THE_BORG.h" // STM32F7 env:STM32F7
+//
+// Espressif ESP32
+//
+
+#elif MB(ESP32)
+ #include "pins_ESP32.h"
+
#else
#error "Unknown MOTHERBOARD value set in Configuration.h"
#endif
diff --git a/Marlin/src/pins/pins_ESP32.h b/Marlin/src/pins/pins_ESP32.h
new file mode 100644
index 0000000000..ffad5890b2
--- /dev/null
+++ b/Marlin/src/pins/pins_ESP32.h
@@ -0,0 +1,72 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program 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.
+ *
+ * This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * Espressif ESP32 (Tensilica Xtensa LX6) pin assignments
+ */
+
+#ifndef BOARD_NAME
+ #define BOARD_NAME "Espressif ESP32"
+#endif
+
+//
+// Limit Switches
+//
+#define X_MIN_PIN 34
+#define Y_MIN_PIN 35
+#define Z_MIN_PIN 15
+
+//
+// Steppers
+//
+#define X_STEP_PIN 27
+#define X_DIR_PIN 26
+#define X_ENABLE_PIN 25
+//#define X_CS_PIN 0
+
+#define Y_STEP_PIN 33
+#define Y_DIR_PIN 32
+#define Y_ENABLE_PIN X_ENABLE_PIN
+//#define Y_CS_PIN 13
+
+#define Z_STEP_PIN 14
+#define Z_DIR_PIN 12
+#define Z_ENABLE_PIN X_ENABLE_PIN
+//#define Z_CS_PIN 5 // SS_PIN
+
+#define E0_STEP_PIN 16
+#define E0_DIR_PIN 17
+#define E0_ENABLE_PIN X_ENABLE_PIN
+//#define E0_CS_PIN 21
+
+//
+// Temperature Sensors
+//
+#define TEMP_0_PIN 36 // Analog Input
+#define TEMP_BED_PIN 39 // Analog Input
+
+//
+// Heaters / Fans
+//
+#define HEATER_0_PIN 2
+#define FAN_PIN 13
+#define HEATER_BED_PIN 4
diff --git a/platformio.ini b/platformio.ini
index 1a5f1eeac5..ea4dda2b31 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -318,3 +318,19 @@ lib_ignore =
U8glib-HAL
TMC2208Stepper
c1921b4
+
+#
+# Espressif ESP32
+#
+[env:esp32]
+platform = https://github.com/platformio/platform-espressif32.git#feature/stage
+board = esp32dev
+framework = arduino
+upload_port = COM3
+lib_ignore =
+ LiquidCrystal_I2C
+ LiquidCrystal
+ NewliquidCrystal
+ LiquidTWI2
+ TMC26XStepper
+ c1921b4
--
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