172 lines
6.0 KiB
C
172 lines
6.0 KiB
C
/**
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* Marlin 3D Printer Firmware
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*
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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* Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
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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 <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* HAL for Arduino Due and compatible (SAM3X8E)
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*
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* For ARDUINO_ARCH_SAM
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*/
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#ifndef _HAL_TIMERS_H
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#define _HAL_TIMERS_H
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// --------------------------------------------------------------------------
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// Includes
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// --------------------------------------------------------------------------
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#include <stdint.h>
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#include "../../core/macros.h"
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#define SBIT_TIMER0 1
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#define SBIT_TIMER1 2
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#define SBIT_CNTEN 0
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#define SBIT_MR0I 0 // Timer 0 Interrupt when TC matches MR0
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#define SBIT_MR0R 1 // Timer 0 Reset TC on Match
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#define SBIT_MR0S 2 // Timer 0 Stop TC and PC on Match
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#define SBIT_MR1I 3
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#define SBIT_MR1R 4
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#define SBIT_MR1S 5
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#define SBIT_MR2I 6
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#define SBIT_MR2R 7
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#define SBIT_MR2S 8
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#define SBIT_MR3I 9
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#define SBIT_MR3R 10
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#define SBIT_MR3S 11
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// --------------------------------------------------------------------------
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// Defines
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// --------------------------------------------------------------------------
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#define _HAL_TIMER(T) _CAT(LPC_TIM, T)
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#define _HAL_TIMER_IRQ(T) TIMER##T##_IRQn
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#define __HAL_TIMER_ISR(T) extern "C" void TIMER##T##_IRQHandler(void)
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#define _HAL_TIMER_ISR(T) __HAL_TIMER_ISR(T)
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typedef uint32_t hal_timer_t;
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#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
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#define HAL_TIMER_RATE ((SystemCoreClock) / 4) // frequency of timers peripherals
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#define STEP_TIMER_NUM 0 // Timer Index for Stepper
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#define TEMP_TIMER_NUM 1 // Timer Index for Temperature
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#define PULSE_TIMER_NUM STEP_TIMER_NUM
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#define PWM_TIMER_NUM 3 // Timer Index for PWM
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#define TEMP_TIMER_RATE 1000000
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#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
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#define STEPPER_TIMER_RATE HAL_TIMER_RATE // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
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#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
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#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
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#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer
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#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
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#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
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#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM)
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#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
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#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
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#define HAL_STEP_TIMER_ISR _HAL_TIMER_ISR(STEP_TIMER_NUM)
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#define HAL_TEMP_TIMER_ISR _HAL_TIMER_ISR(TEMP_TIMER_NUM)
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// Timer references by index
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#define STEP_TIMER _HAL_TIMER(STEP_TIMER_NUM)
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#define TEMP_TIMER _HAL_TIMER(TEMP_TIMER_NUM)
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// --------------------------------------------------------------------------
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// Public functions
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// --------------------------------------------------------------------------
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void HAL_timer_init(void);
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void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
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FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
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switch (timer_num) {
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case 0: STEP_TIMER->MR0 = compare; break; // Stepper Timer Match Register 0
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case 1: TEMP_TIMER->MR0 = compare; break; // Temp Timer Match Register 0
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}
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}
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FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
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switch (timer_num) {
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case 0: return STEP_TIMER->MR0; // Stepper Timer Match Register 0
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case 1: return TEMP_TIMER->MR0; // Temp Timer Match Register 0
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}
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return 0;
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}
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FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
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switch (timer_num) {
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case 0: return STEP_TIMER->TC; // Stepper Timer Count
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case 1: return TEMP_TIMER->TC; // Temp Timer Count
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}
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return 0;
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}
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FORCE_INLINE static void HAL_timer_enable_interrupt(const uint8_t timer_num) {
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switch (timer_num) {
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case 0: NVIC_EnableIRQ(TIMER0_IRQn); // Enable interrupt handler
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case 1: NVIC_EnableIRQ(TIMER1_IRQn); // Enable interrupt handler
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}
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}
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FORCE_INLINE static void HAL_timer_disable_interrupt(const uint8_t timer_num) {
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switch (timer_num) {
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case 0: NVIC_DisableIRQ(TIMER0_IRQn); // Disable interrupt handler
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case 1: NVIC_DisableIRQ(TIMER1_IRQn); // Disable interrupt handler
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}
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// We NEED memory barriers to ensure Interrupts are actually disabled!
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// ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
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__DSB();
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__ISB();
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}
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// This function is missing from CMSIS
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FORCE_INLINE static bool NVIC_GetEnableIRQ(IRQn_Type IRQn) {
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return (NVIC->ISER[((uint32_t)IRQn) >> 5] & (1 << ((uint32_t)IRQn) & 0x1F)) != 0;
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}
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FORCE_INLINE static bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
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switch (timer_num) {
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case 0: return NVIC_GetEnableIRQ(TIMER0_IRQn); // Check if interrupt is enabled or not
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case 1: return NVIC_GetEnableIRQ(TIMER1_IRQn); // Check if interrupt is enabled or not
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}
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return false;
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}
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FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
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switch (timer_num) {
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case 0: SBI(STEP_TIMER->IR, SBIT_CNTEN); break;
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case 1: SBI(TEMP_TIMER->IR, SBIT_CNTEN); break;
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}
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}
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#define HAL_timer_isr_epilogue(TIMER_NUM)
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#endif // _HAL_TIMERS_H
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