321 lines
12 KiB
C
321 lines
12 KiB
C
/**
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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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* Fast I/O Routines
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* Use direct port manipulation to save scads of processor time.
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* Contributed by Triffid_Hunter. Modified by Kliment and the Marlin team.
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*/
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#ifndef _FASTIO_ARDUINO_H
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#define _FASTIO_ARDUINO_H
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#include <avr/io.h>
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#include "macros.h"
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#define AVR_AT90USB1286_FAMILY (defined(__AVR_AT90USB1287__) || defined(__AVR_AT90USB1286__) || defined(__AVR_AT90USB1286P__) || defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB646P__) || defined(__AVR_AT90USB647__))
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#define AVR_ATmega1284_FAMILY (defined(__AVR_ATmega644__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__) || defined(__AVR_ATmega1284P__))
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#define AVR_ATmega2560_FAMILY (defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__))
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#define AVR_ATmega2561_FAMILY (defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__))
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#define AVR_ATmega328_FAMILY (defined(__AVR_ATmega168__) || defined(__AVR_ATmega328__) || defined(__AVR_ATmega328p__))
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/**
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* Include Ports and Functions
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*/
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#if AVR_ATmega328_FAMILY
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#include "fastio_168.h"
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#elif AVR_ATmega1284_FAMILY
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#include "fastio_644.h"
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#elif AVR_ATmega2560_FAMILY
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#include "fastio_1280.h"
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#elif AVR_AT90USB1286_FAMILY
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#include "fastio_AT90USB.h"
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#elif AVR_ATmega2561_FAMILY
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#include "fastio_1281.h"
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#else
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#error "Pins for this chip not defined in Arduino.h! If you have a working pins definition, please contribute!"
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#endif
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#ifndef _BV
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#define _BV(PIN) (1UL << PIN)
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#endif
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/**
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* Magic I/O routines
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*
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* Now you can simply SET_OUTPUT(PIN); WRITE(PIN, HIGH); WRITE(PIN, LOW);
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*
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* Why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
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*/
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#define _READ(IO) ((bool)(DIO ## IO ## _RPORT & _BV(DIO ## IO ## _PIN)))
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// On some boards pins > 0x100 are used. These are not converted to atomic actions. A critical section is needed.
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#define _WRITE_NC(IO, v) do { if (v) {DIO ## IO ## _WPORT |= _BV(DIO ## IO ## _PIN); } else {DIO ## IO ## _WPORT &= ~_BV(DIO ## IO ## _PIN); }; } while (0)
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#define _WRITE_C(IO, v) do { if (v) { \
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CRITICAL_SECTION_START; \
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{DIO ## IO ## _WPORT |= _BV(DIO ## IO ## _PIN); } \
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CRITICAL_SECTION_END; \
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} \
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else { \
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CRITICAL_SECTION_START; \
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{DIO ## IO ## _WPORT &= ~_BV(DIO ## IO ## _PIN); } \
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CRITICAL_SECTION_END; \
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} \
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} \
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while (0)
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#define _WRITE(IO, v) do { if (&(DIO ## IO ## _RPORT) >= (uint8_t *)0x100) {_WRITE_C(IO, v); } else {_WRITE_NC(IO, v); }; } while (0)
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#define _TOGGLE(IO) do {DIO ## IO ## _RPORT ^= _BV(DIO ## IO ## _PIN); } while (0)
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#define _SET_INPUT(IO) do {DIO ## IO ## _DDR &= ~_BV(DIO ## IO ## _PIN); } while (0)
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#define _SET_OUTPUT(IO) do {DIO ## IO ## _DDR |= _BV(DIO ## IO ## _PIN); } while (0)
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#define _GET_INPUT(IO) ((DIO ## IO ## _DDR & _BV(DIO ## IO ## _PIN)) == 0)
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#define _GET_OUTPUT(IO) ((DIO ## IO ## _DDR & _BV(DIO ## IO ## _PIN)) != 0)
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#define _GET_TIMER(IO) (DIO ## IO ## _PWM)
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#define READ(IO) _READ(IO)
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#define WRITE(IO,V) _WRITE(IO,V)
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#define TOGGLE(IO) _TOGGLE(IO)
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#define SET_INPUT(IO) _SET_INPUT(IO)
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#define SET_INPUT_PULLUP(IO) do{ _SET_INPUT(IO); _WRITE(IO, HIGH); }while(0)
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#define SET_OUTPUT(IO) _SET_OUTPUT(IO)
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#define GET_INPUT(IO) _GET_INPUT(IO)
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#define GET_OUTPUT(IO) _GET_OUTPUT(IO)
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#define GET_TIMER(IO) _GET_TIMER(IO)
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#define OUT_WRITE(IO, v) do{ SET_OUTPUT(IO); WRITE(IO, v); }while(0)
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/**
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* Timer and Interrupt Control
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*/
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// Waveform Generation Modes
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typedef enum {
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WGM_NORMAL, // 0
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WGM_PWM_PC_8, // 1
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WGM_PWM_PC_9, // 2
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WGM_PWM_PC_10, // 3
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WGM_CTC_OCRnA, // 4 COM OCnx
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WGM_FAST_PWM_8, // 5
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WGM_FAST_PWM_9, // 6
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WGM_FAST_PWM_10, // 7
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WGM_PWM_PC_FC_ICRn, // 8
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WGM_PWM_PC_FC_OCRnA, // 9 COM OCnA
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WGM_PWM_PC_ICRn, // 10
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WGM_PWM_PC_OCRnA, // 11 COM OCnA
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WGM_CTC_ICRn, // 12 COM OCnx
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WGM_reserved, // 13
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WGM_FAST_PWM_ICRn, // 14 COM OCnA
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WGM_FAST_PWM_OCRnA // 15 COM OCnA
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} WaveGenMode;
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// Compare Modes
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typedef enum {
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COM_NORMAL, // 0
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COM_TOGGLE, // 1 Non-PWM: OCnx ... Both PWM (WGM 9,11,14,15): OCnA only ... else NORMAL
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COM_CLEAR_SET, // 2 Non-PWM: OCnx ... Fast PWM: OCnx/Bottom ... PF-FC: OCnx Up/Down
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COM_SET_CLEAR // 3 Non-PWM: OCnx ... Fast PWM: OCnx/Bottom ... PF-FC: OCnx Up/Down
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} CompareMode;
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// Clock Sources
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typedef enum {
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CS_NONE, // 0
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CS_PRESCALER_1, // 1
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CS_PRESCALER_8, // 2
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CS_PRESCALER_64, // 3
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CS_PRESCALER_256, // 4
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CS_PRESCALER_1024, // 5
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CS_EXT_FALLING, // 6
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CS_EXT_RISING // 7
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} ClockSource;
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// Clock Sources (Timer 2 only)
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typedef enum {
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CS2_NONE, // 0
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CS2_PRESCALER_1, // 1
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CS2_PRESCALER_8, // 2
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CS2_PRESCALER_32, // 3
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CS2_PRESCALER_64, // 4
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CS2_PRESCALER_128, // 5
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CS2_PRESCALER_256, // 6
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CS2_PRESCALER_1024 // 7
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} ClockSource2;
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// Get interrupt bits in an orderly way
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#define GET_WGM(T) (((TCCR##T##A >> WGM##T##0) & 0x3) | ((TCCR##T##B >> WGM##T##2 << 2) & 0xC))
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#define GET_CS(T) ((TCCR##T##B >> CS##T##0) & 0x7)
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#define GET_COM(T,Q) ((TCCR##T##Q >> COM##T##Q##0) & 0x3)
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#define GET_COMA(T) GET_COM(T,A)
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#define GET_COMB(T) GET_COM(T,B)
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#define GET_COMC(T) GET_COM(T,C)
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#define GET_ICNC(T) (!!(TCCR##T##B & _BV(ICNC##T)))
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#define GET_ICES(T) (!!(TCCR##T##B & _BV(ICES##T)))
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#define GET_FOC(T,Q) (!!(TCCR##T##C & _BV(FOC##T##Q)))
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#define GET_FOCA(T) GET_FOC(T,A)
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#define GET_FOCB(T) GET_FOC(T,B)
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#define GET_FOCC(T) GET_FOC(T,C)
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// Set Wave Generation Mode bits
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#define _SET_WGM(T,V) do{ \
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TCCR##T##A = (TCCR##T##A & ~(0x3 << WGM##T##0)) | (( int(V) & 0x3) << WGM##T##0); \
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TCCR##T##B = (TCCR##T##B & ~(0x3 << WGM##T##2)) | (((int(V) >> 2) & 0x3) << WGM##T##2); \
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}while(0)
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#define SET_WGM(T,V) _SET_WGM(T,WGM_##V)
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// Set Clock Select bits
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#define _SET_CS(T,V) (TCCR##T##B = (TCCR##T##B & ~(0x7 << CS##T##0)) | ((int(V) & 0x7) << CS##T##0))
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#define _SET_CS0(V) _SET_CS(0,V)
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#define _SET_CS1(V) _SET_CS(1,V)
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#ifdef TCCR2
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#define _SET_CS2(V) (TCCR2 = (TCCR2 & ~(0x7 << CS20)) | (int(V) << CS20))
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#else
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#define _SET_CS2(V) _SET_CS(2,V)
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#endif
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#define _SET_CS3(V) _SET_CS(3,V)
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#define _SET_CS4(V) _SET_CS(4,V)
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#define _SET_CS5(V) _SET_CS(5,V)
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#define SET_CS0(V) _SET_CS0(CS_##V)
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#define SET_CS1(V) _SET_CS1(CS_##V)
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#ifdef TCCR2
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#define SET_CS2(V) _SET_CS2(CS2_##V)
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#else
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#define SET_CS2(V) _SET_CS2(CS_##V)
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#endif
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#define SET_CS3(V) _SET_CS3(CS_##V)
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#define SET_CS4(V) _SET_CS4(CS_##V)
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#define SET_CS5(V) _SET_CS5(CS_##V)
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#define SET_CS(T,V) SET_CS##T(V)
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// Set Compare Mode bits
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#define _SET_COM(T,Q,V) (TCCR##T##Q = (TCCR##T##Q & ~(0x3 << COM##T##Q##0)) | (int(V) << COM##T##Q##0))
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#define SET_COM(T,Q,V) _SET_COM(T,Q,COM_##V)
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#define SET_COMA(T,V) SET_COM(T,A,V)
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#define SET_COMB(T,V) SET_COM(T,B,V)
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#define SET_COMC(T,V) SET_COM(T,C,V)
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#define SET_COMS(T,V1,V2,V3) do{ SET_COMA(T,V1); SET_COMB(T,V2); SET_COMC(T,V3); }while(0)
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// Set Noise Canceler bit
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#define SET_ICNC(T,V) (TCCR##T##B = (V) ? TCCR##T##B | _BV(ICNC##T) : TCCR##T##B & ~_BV(ICNC##T))
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// Set Input Capture Edge Select bit
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#define SET_ICES(T,V) (TCCR##T##B = (V) ? TCCR##T##B | _BV(ICES##T) : TCCR##T##B & ~_BV(ICES##T))
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// Set Force Output Compare bit
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#define SET_FOC(T,Q,V) (TCCR##T##C = (V) ? TCCR##T##C | _BV(FOC##T##Q) : TCCR##T##C & ~_BV(FOC##T##Q))
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#define SET_FOCA(T,V) SET_FOC(T,A,V)
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#define SET_FOCB(T,V) SET_FOC(T,B,V)
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#define SET_FOCC(T,V) SET_FOC(T,C,V)
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/**
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* PWM availability macros
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*/
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//find out which harware PWMs are already in use
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#if PIN_EXISTS(CONTROLLER_FAN)
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#define PWM_CHK_FAN_B(p) (p == CONTROLLER_FAN_PIN || p == E0_AUTO_FAN_PIN || p == E1_AUTO_FAN_PIN || p == E2_AUTO_FAN_PIN || p == E3_AUTO_FAN_PIN || p == E4_AUTO_FAN_PIN)
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#else
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#define PWM_CHK_FAN_B(p) (p == E0_AUTO_FAN_PIN || p == E1_AUTO_FAN_PIN || p == E2_AUTO_FAN_PIN || p == E3_AUTO_FAN_PIN || p == E4_AUTO_FAN_PIN)
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#endif
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#if PIN_EXISTS(FAN) || PIN_EXISTS(FAN1) || PIN_EXISTS(FAN2)
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#if PIN_EXISTS(FAN2)
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#define PWM_CHK_FAN_A(p) (p == FAN_PIN || p == FAN1_PIN || p == FAN2_PIN)
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#elif PIN_EXISTS(FAN1)
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#define PWM_CHK_FAN_A(p) (p == FAN_PIN || p == FAN1_PIN)
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#else
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#define PWM_CHK_FAN_A(p) p == FAN_PIN
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#endif
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#else
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#define PWM_CHK_FAN_A(p) false
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#endif
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#if HAS_MOTOR_CURRENT_PWM
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
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#define PWM_CHK_MOTOR_CURRENT(p) (p == MOTOR_CURRENT_PWM_E || p == MOTOR_CURRENT_PWM_Z || p == MOTOR_CURRENT_PWM_XY)
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#elif PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
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#define PWM_CHK_MOTOR_CURRENT(p) (p == MOTOR_CURRENT_PWM_E || p == MOTOR_CURRENT_PWM_Z)
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#else
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#define PWM_CHK_MOTOR_CURRENT(p) (p == MOTOR_CURRENT_PWM_E)
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#endif
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#else
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#define PWM_CHK_MOTOR_CURRENT(p) false
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#endif
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#if defined(NUM_SERVOS)
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#if AVR_ATmega2560_FAMILY
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#define PWM_CHK_SERVO(p) ( p == 5 || NUM_SERVOS > 12 && p == 6 || NUM_SERVOS > 24 && p == 46) //PWMS 3A, 4A & 5A
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#elif AVR_ATmega2561_FAMILY
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#define PWM_CHK_SERVO(p) p == 5 //PWM3A
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#elif AVR_ATmega1284_FAMILY
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#define PWM_CHK_SERVO(p) false
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#elif AVR_AT90USB1286_FAMILY
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#define PWM_CHK_SERVO(p) p == 16 //PWM3A
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#elif AVR_ATmega328_FAMILY
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#define PWM_CHK_SERVO(p) false
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#endif
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#else
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#define PWM_CHK_SERVO(p) false
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#endif
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#if ENABLED(BARICUDA)
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#if HAS_HEATER_1 && HAS_HEATER_2
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#define PWM_CHK_HEATER(p) (p == HEATER_1_PIN || p == HEATER_2_PIN)
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#elif HAS_HEATER_1
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#define PWM_CHK_HEATER(p) (p == HEATER_1_PIN)
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#endif
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#else
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#define PWM_CHK_HEATER(p) false
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#endif
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#define PWM_CHK(p) (PWM_CHK_HEATER(p) || PWM_CHK_SERVO(p) || PWM_CHK_MOTOR_CURRENT(p)\
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|| PWM_CHK_FAN_A(p) || PWM_CHK_FAN_B(p))
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// define which hardware PWMs are available for the current CPU
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// all timer 1 PWMS deleted from this list because they are never available
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#if AVR_ATmega2560_FAMILY
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#define PWM_PINS(p) ((p >= 2 && p <= 10 ) || p == 13 || p == 44 || p == 45 || p == 46 )
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#elif AVR_ATmega2561_FAMILY
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#define PWM_PINS(p) ((p >= 2 && p <= 6 ) || p == 9)
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#elif AVR_ATmega1284_FAMILY
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#define PWM_PINS(p) (p == 3 || p == 4 || p == 14 || p == 15)
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#elif AVR_AT90USB1286_FAMILY
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#define PWM_PINS(p) (p == 0 || p == 1 || p == 14 || p == 15 || p == 16 || p == 24)
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#elif AVR_ATmega328_FAMILY
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#define PWM_PINS(p) (p == 3 || p == 5 || p == 6 || p == 11)
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#else
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#error "unknown CPU"
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#endif
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// finally - the macro that tells us if a pin is an available hardware PWM
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#define USEABLE_HARDWARE_PWM(p) (PWM_PINS(p) && !PWM_CHK(p))
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#endif // _FASTIO_ARDUINO_H
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