162 lines
6 KiB
C++
162 lines
6 KiB
C++
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/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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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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Copyright (c) 2013 Arduino LLC. All right reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library 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 GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#ifdef ARDUINO_ARCH_SAM
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#include "../../../MarlinConfig.h"
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#if HAS_SERVOS
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#include <Arduino.h>
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#include "../servo.h"
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#include "../servo_private.h"
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static volatile int8_t Channel[_Nbr_16timers ]; // counter for the servo being pulsed for each timer (or -1 if refresh interval)
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//------------------------------------------------------------------------------
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/// Interrupt handler for the TC0 channel 1.
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//------------------------------------------------------------------------------
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void Servo_Handler(timer16_Sequence_t timer, Tc *pTc, uint8_t channel);
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#ifdef _useTimer1
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void HANDLER_FOR_TIMER1(void) { Servo_Handler(_timer1, TC_FOR_TIMER1, CHANNEL_FOR_TIMER1); }
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#endif
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#ifdef _useTimer2
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void HANDLER_FOR_TIMER2(void) { Servo_Handler(_timer2, TC_FOR_TIMER2, CHANNEL_FOR_TIMER2); }
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#endif
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#ifdef _useTimer3
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void HANDLER_FOR_TIMER3(void) { Servo_Handler(_timer3, TC_FOR_TIMER3, CHANNEL_FOR_TIMER3); }
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#endif
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#ifdef _useTimer4
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void HANDLER_FOR_TIMER4(void) { Servo_Handler(_timer4, TC_FOR_TIMER4, CHANNEL_FOR_TIMER4); }
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#endif
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#ifdef _useTimer5
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void HANDLER_FOR_TIMER5(void) { Servo_Handler(_timer5, TC_FOR_TIMER5, CHANNEL_FOR_TIMER5); }
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#endif
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void Servo_Handler(timer16_Sequence_t timer, Tc *tc, uint8_t channel) {
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// clear interrupt
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tc->TC_CHANNEL[channel].TC_SR;
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if (Channel[timer] < 0)
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tc->TC_CHANNEL[channel].TC_CCR |= TC_CCR_SWTRG; // channel set to -1 indicated that refresh interval completed so reset the timer
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else if (SERVO_INDEX(timer,Channel[timer]) < ServoCount && SERVO(timer,Channel[timer]).Pin.isActive)
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digitalWrite(SERVO(timer,Channel[timer]).Pin.nbr, LOW); // pulse this channel low if activated
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Channel[timer]++; // increment to the next channel
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if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
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tc->TC_CHANNEL[channel].TC_RA = tc->TC_CHANNEL[channel].TC_CV + SERVO(timer,Channel[timer]).ticks;
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if (SERVO(timer,Channel[timer]).Pin.isActive) // check if activated
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digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,HIGH); // its an active channel so pulse it high
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}
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else {
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// finished all channels so wait for the refresh period to expire before starting over
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tc->TC_CHANNEL[channel].TC_RA =
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tc->TC_CHANNEL[channel].TC_CV < usToTicks(REFRESH_INTERVAL) - 4
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? (unsigned int)usToTicks(REFRESH_INTERVAL) // allow a few ticks to ensure the next OCR1A not missed
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: tc->TC_CHANNEL[channel].TC_CV + 4; // at least REFRESH_INTERVAL has elapsed
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Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
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}
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}
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static void _initISR(Tc *tc, uint32_t channel, uint32_t id, IRQn_Type irqn) {
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pmc_enable_periph_clk(id);
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TC_Configure(tc, channel,
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TC_CMR_TCCLKS_TIMER_CLOCK3 | // MCK/32
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TC_CMR_WAVE | // Waveform mode
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TC_CMR_WAVSEL_UP_RC ); // Counter running up and reset when equals to RC
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/* 84MHz, MCK/32, for 1.5ms: 3937 */
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TC_SetRA(tc, channel, 2625); // 1ms
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/* Configure and enable interrupt */
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NVIC_EnableIRQ(irqn);
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// TC_IER_CPAS: RA Compare
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tc->TC_CHANNEL[channel].TC_IER = TC_IER_CPAS;
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// Enables the timer clock and performs a software reset to start the counting
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TC_Start(tc, channel);
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}
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void initISR(timer16_Sequence_t timer) {
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#ifdef _useTimer1
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if (timer == _timer1)
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_initISR(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1, ID_TC_FOR_TIMER1, IRQn_FOR_TIMER1);
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#endif
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#ifdef _useTimer2
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if (timer == _timer2)
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_initISR(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2, ID_TC_FOR_TIMER2, IRQn_FOR_TIMER2);
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#endif
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#ifdef _useTimer3
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if (timer == _timer3)
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_initISR(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3, ID_TC_FOR_TIMER3, IRQn_FOR_TIMER3);
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#endif
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#ifdef _useTimer4
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if (timer == _timer4)
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_initISR(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4, ID_TC_FOR_TIMER4, IRQn_FOR_TIMER4);
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#endif
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#ifdef _useTimer5
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if (timer == _timer5)
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_initISR(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5, ID_TC_FOR_TIMER5, IRQn_FOR_TIMER5);
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#endif
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}
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void finISR(timer16_Sequence_t timer) {
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#ifdef _useTimer1
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TC_Stop(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1);
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#endif
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#ifdef _useTimer2
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TC_Stop(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2);
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#endif
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#ifdef _useTimer3
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TC_Stop(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3);
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#endif
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#ifdef _useTimer4
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TC_Stop(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4);
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#endif
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#ifdef _useTimer5
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TC_Stop(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5);
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#endif
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}
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#endif // HAS_SERVOS
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#endif // ARDUINO_ARCH_SAM
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