muele-marlin/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.h

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/**
* 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) // frequency of timers peripherals
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#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
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
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#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)
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#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
// --------------------------------------------------------------------------
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void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
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static FORCE_INLINE void HAL_timer_set_count(const uint8_t timer_num, const uint32_t count) {
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const tTimerConfig *pConfig = &TimerConfig[timer_num];
pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC = count;
}
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static FORCE_INLINE HAL_TIMER_TYPE HAL_timer_get_count(const uint8_t timer_num) {
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const tTimerConfig *pConfig = &TimerConfig[timer_num];
return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC;
}
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static FORCE_INLINE uint32_t HAL_timer_get_current_count(const uint8_t timer_num) {
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const tTimerConfig *pConfig = &TimerConfig[timer_num];
return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_CV;
}
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void HAL_timer_enable_interrupt(const uint8_t timer_num);
void HAL_timer_disable_interrupt(const uint8_t timer_num);
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//void HAL_timer_isr_prologue(const uint8_t timer_num);
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static FORCE_INLINE void HAL_timer_isr_prologue(const uint8_t timer_num) {
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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