HAL for DUE architecture

2017-07-19 00:29:06 +01:00
parent 4b16fa3272
commit cfef925559
23 changed files with 2996 additions and 0 deletions
--- a/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.h
+++ b/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.h
@ -0,0 +1,116 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * HAL for Arduino Due and compatible (SAM3X8E)
+ *
+ * For ARDUINO_ARCH_SAM
+ */
+
+#ifndef _HAL_TIMERS_DUE_H
+#define _HAL_TIMERS_DUE_H
+
+// --------------------------------------------------------------------------
+// Includes
+// --------------------------------------------------------------------------
+
+#include <stdint.h>
+
+// --------------------------------------------------------------------------
+// Defines
+// --------------------------------------------------------------------------
+
+#define FORCE_INLINE __attribute__((always_inline)) inline
+
+#define HAL_TIMER_TYPE uint32_t
+#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
+
+#define STEP_TIMER_NUM 3  // index of timer to use for stepper
+#define TEMP_TIMER_NUM 4  // index of timer to use for temperature
+
+#define HAL_TIMER_RATE         ((F_CPU) / 2.0)  // frequency of timers peripherals
+#define STEPPER_TIMER_PRESCALE 1.0              // prescaler for setting stepper frequency
+#define HAL_STEPPER_TIMER_RATE HAL_TIMER_RATE   // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
+#define HAL_TICKS_PER_US       ((HAL_STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per us
+
+#define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency
+
+#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 ENABLE_TEMPERATURE_INTERRUPT()  HAL_timer_enable_interrupt (TEMP_TIMER_NUM)
+#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt (TEMP_TIMER_NUM)
+
+#define HAL_ENABLE_ISRs() do { if (thermalManager.in_temp_isr)DISABLE_TEMPERATURE_INTERRUPT(); else ENABLE_TEMPERATURE_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
+//
+#define HAL_STEP_TIMER_ISR  void TC3_Handler()
+#define HAL_TEMP_TIMER_ISR  void TC4_Handler()
+
+// --------------------------------------------------------------------------
+// Types
+// --------------------------------------------------------------------------
+
+typedef struct {
+  Tc          *pTimerRegs;
+  uint16_t    channel;
+  IRQn_Type   IRQ_Id;
+  uint8_t     priority;
+} tTimerConfig;
+
+// --------------------------------------------------------------------------
+// Public Variables
+// --------------------------------------------------------------------------
+
+extern const tTimerConfig TimerConfig[];
+
+// --------------------------------------------------------------------------
+// Public functions
+// --------------------------------------------------------------------------
+
+void HAL_timer_start (uint8_t timer_num, uint32_t frequency);
+
+static FORCE_INLINE void HAL_timer_set_count (uint8_t timer_num, uint32_t count) {
+  const tTimerConfig *pConfig = &TimerConfig[timer_num];
+  pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC = count;
+}
+
+static FORCE_INLINE HAL_TIMER_TYPE HAL_timer_get_count (uint8_t timer_num) {
+  const tTimerConfig *pConfig = &TimerConfig[timer_num];
+  return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC;
+}
+
+static FORCE_INLINE uint32_t HAL_timer_get_current_count(uint8_t timer_num) {
+  const tTimerConfig *pConfig = &TimerConfig[timer_num];
+  return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_CV;
+}
+
+void HAL_timer_enable_interrupt(uint8_t timer_num);
+void HAL_timer_disable_interrupt(uint8_t timer_num);
+
+//void HAL_timer_isr_prologue (uint8_t timer_num);
+
+static FORCE_INLINE void HAL_timer_isr_prologue(uint8_t timer_num) {
+  const tTimerConfig *pConfig = &TimerConfig[timer_num];
+  // Reading the status register clears the interrupt flag
+  pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_SR;
+}
+
+#endif // _HAL_TIMERS_DUE_H