202 lines
7.4 KiB
C
202 lines
7.4 KiB
C
/**
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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 bobcousins42@googlemail.com
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* Copyright (c) 2017 Victor Perez
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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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* HAL for stm32duino.com based on Libmaple and compatible (STM32F1)
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*/
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#include "../../inc/MarlinConfig.h"
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#include "HAL.h"
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#include <libmaple/timer.h>
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// ------------------------
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// Defines
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// ------------------------
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/**
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* TODO: Check and confirm what timer we will use for each Temps and stepper driving.
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* We should probable drive temps with PWM.
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*/
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typedef uint16_t hal_timer_t;
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#define HAL_TIMER_TYPE_MAX 0xFFFF
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#define HAL_TIMER_RATE uint32_t(F_CPU) // frequency of timers peripherals
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#ifndef STEP_TIMER_CHAN
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#define STEP_TIMER_CHAN 1 // Channel of the timer to use for compare and interrupts
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#endif
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#ifndef TEMP_TIMER_CHAN
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#define TEMP_TIMER_CHAN 1 // Channel of the timer to use for compare and interrupts
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#endif
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/**
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* Note: Timers may be used by platforms and libraries
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*
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* FAN PWMs:
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* With FAN_SOFT_PWM disabled the Temperature class uses
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* FANx_PIN timers to generate FAN PWM signals.
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*
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* Speaker:
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* When SPEAKER is enabled, one timer is allocated by maple/tone.cpp.
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* - If BEEPER_PIN has a timer channel (and USE_PIN_TIMER is
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* defined in tone.cpp) it uses the pin's own timer.
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* - Otherwise it uses Timer 8 on boards with STM32_HIGH_DENSITY
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* or Timer 4 on other boards.
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*/
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#ifndef STEP_TIMER_NUM
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#if defined(MCU_STM32F103CB) || defined(MCU_STM32F103C8)
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#define STEP_TIMER_NUM 4 // For C8/CB boards, use timer 4
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#else
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#define STEP_TIMER_NUM 5 // for other boards, five is fine.
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#endif
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#endif
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#ifndef PULSE_TIMER_NUM
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#define PULSE_TIMER_NUM STEP_TIMER_NUM
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#endif
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#ifndef TEMP_TIMER_NUM
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#define TEMP_TIMER_NUM 2 // Timer Index for Temperature
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//#define TEMP_TIMER_NUM 4 // 2->4, Timer 2 for Stepper Current PWM
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#endif
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#if MB(BTT_SKR_MINI_E3_V1_0, BTT_SKR_E3_DIP, BTT_SKR_MINI_E3_V1_2, MKS_ROBIN_LITE)
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// SKR Mini E3 boards use PA8 as FAN_PIN, so TIMER 1 is used for Fan PWM.
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#ifdef STM32_HIGH_DENSITY
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#define SERVO0_TIMER_NUM 8 // tone.cpp uses Timer 4
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#else
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#define SERVO0_TIMER_NUM 3 // tone.cpp uses Timer 8
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#endif
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#else
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#define SERVO0_TIMER_NUM 1 // SERVO0 or BLTOUCH
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#endif
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#define STEP_TIMER_IRQ_PRIO 2
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#define TEMP_TIMER_IRQ_PRIO 3
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#define SERVO0_TIMER_IRQ_PRIO 1
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#define TEMP_TIMER_PRESCALE 1000 // prescaler for setting Temp timer, 72Khz
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#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
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#define STEPPER_TIMER_PRESCALE 18 // prescaler for setting stepper timer, 4Mhz
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#define STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer
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#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
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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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timer_dev* get_timer_dev(int number);
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#define TIMER_DEV(num) get_timer_dev(num)
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#define STEP_TIMER_DEV TIMER_DEV(STEP_TIMER_NUM)
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#define TEMP_TIMER_DEV TIMER_DEV(TEMP_TIMER_NUM)
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() timer_enable_irq(STEP_TIMER_DEV, STEP_TIMER_CHAN)
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() timer_disable_irq(STEP_TIMER_DEV, STEP_TIMER_CHAN)
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#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM)
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#define ENABLE_TEMPERATURE_INTERRUPT() timer_enable_irq(TEMP_TIMER_DEV, TEMP_TIMER_CHAN)
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#define DISABLE_TEMPERATURE_INTERRUPT() timer_disable_irq(TEMP_TIMER_DEV, TEMP_TIMER_CHAN)
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#define HAL_timer_get_count(timer_num) timer_get_count(TIMER_DEV(timer_num))
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// TODO change this
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#ifndef HAL_TEMP_TIMER_ISR
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#define HAL_TEMP_TIMER_ISR() extern "C" void tempTC_Handler()
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#endif
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#ifndef HAL_STEP_TIMER_ISR
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#define HAL_STEP_TIMER_ISR() extern "C" void stepTC_Handler()
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#endif
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extern "C" {
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void tempTC_Handler();
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void stepTC_Handler();
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}
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// ------------------------
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// Public Variables
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// ------------------------
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//static HardwareTimer StepperTimer(STEP_TIMER_NUM);
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//static HardwareTimer TempTimer(TEMP_TIMER_NUM);
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// ------------------------
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// Public functions
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// ------------------------
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void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
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void HAL_timer_enable_interrupt(const uint8_t timer_num);
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void HAL_timer_disable_interrupt(const uint8_t timer_num);
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bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
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/**
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* NOTE: By default libmaple sets ARPE = 1, which means the Auto reload register is preloaded (will only update with an update event)
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* Thus we have to pause the timer, update the value, refresh, resume the timer.
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* That seems like a big waste of time and may be better to change the timer config to ARPE = 0, so ARR can be updated any time.
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* We are using a Channel in each timer in Capture/Compare mode. We could also instead use the Time Update Event Interrupt, but need to disable ARPE
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* so we can change the ARR value on the fly (without calling refresh), and not get an interrupt right there because we caused an UEV.
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* This mode pretty much makes 2 timers unusable for PWM since they have their counts updated all the time on ISRs.
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* The way Marlin manages timer interrupts doesn't make for an efficient usage in STM32F1
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* Todo: Look at that possibility later.
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*/
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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 STEP_TIMER_NUM:
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// NOTE: WE have set ARPE = 0, which means the Auto reload register is not preloaded
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// and there is no need to use any compare, as in the timer mode used, setting ARR to the compare value
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// will result in exactly the same effect, ie trigerring an interrupt, and on top, set counter to 0
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timer_set_reload(STEP_TIMER_DEV, compare); // We reload direct ARR as needed during counting up
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break;
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case TEMP_TIMER_NUM:
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timer_set_compare(TEMP_TIMER_DEV, TEMP_TIMER_CHAN, compare);
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break;
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}
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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 STEP_TIMER_NUM:
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// No counter to clear
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timer_generate_update(STEP_TIMER_DEV);
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return;
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case TEMP_TIMER_NUM:
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timer_set_count(TEMP_TIMER_DEV, 0);
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timer_generate_update(TEMP_TIMER_DEV);
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return;
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}
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}
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#define HAL_timer_isr_epilogue(TIMER_NUM)
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// No command is available in framework to turn off ARPE bit, which is turned on by default in libmaple.
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// Needed here to reset ARPE=0 for stepper timer
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FORCE_INLINE static void timer_no_ARR_preload_ARPE(timer_dev *dev) {
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bb_peri_set_bit(&(dev->regs).gen->CR1, TIMER_CR1_ARPE_BIT, 0);
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}
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void timer_set_interrupt_priority(uint_fast8_t timer_num, uint_fast8_t priority);
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#define TIMER_OC_NO_PRELOAD 0 // Need to disable preload also on compare registers.
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