0c428a66d9
Also simplify logic on all ARM-based interrupts. Now, it is REQUIRED to properly configure interrupt priority. USART should have highest priority, followed by Stepper, and then all others.
131 lines
5 KiB
C
131 lines
5 KiB
C
/**
|
|
* 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
|
|
|
|
typedef uint32_t hal_timer_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 TONE_TIMER_NUM 6 // index of timer to use for beeper tones
|
|
|
|
#define HAL_TIMER_RATE ((F_CPU) / 2) // frequency of timers peripherals
|
|
#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / HAL_TICKS_PER_US)
|
|
#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 µs
|
|
|
|
#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
|
|
#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
|
|
|
|
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
|
|
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
|
|
#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM)
|
|
|
|
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
|
|
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
|
|
|
|
#define HAL_STEP_TIMER_ISR void TC3_Handler()
|
|
#define HAL_TEMP_TIMER_ISR void TC4_Handler()
|
|
#define HAL_TONE_TIMER_ISR void TC6_Handler()
|
|
|
|
#define PULSE_TIMER_NUM STEP_TIMER_NUM
|
|
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
|
|
|
|
// --------------------------------------------------------------------------
|
|
// Types
|
|
// --------------------------------------------------------------------------
|
|
|
|
typedef struct {
|
|
Tc *pTimerRegs;
|
|
uint16_t channel;
|
|
IRQn_Type IRQ_Id;
|
|
uint8_t priority;
|
|
} tTimerConfig;
|
|
|
|
// --------------------------------------------------------------------------
|
|
// Public Variables
|
|
// --------------------------------------------------------------------------
|
|
|
|
extern const tTimerConfig TimerConfig[];
|
|
|
|
// --------------------------------------------------------------------------
|
|
// Public functions
|
|
// --------------------------------------------------------------------------
|
|
|
|
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
|
|
|
|
FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
|
|
const tTimerConfig * const pConfig = &TimerConfig[timer_num];
|
|
pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC = compare;
|
|
}
|
|
|
|
FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
|
|
const tTimerConfig * const pConfig = &TimerConfig[timer_num];
|
|
return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC;
|
|
}
|
|
|
|
FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
|
|
const tTimerConfig * const pConfig = &TimerConfig[timer_num];
|
|
return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_CV;
|
|
}
|
|
|
|
// if counter too high then bump up compare
|
|
FORCE_INLINE static void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_ticks) {
|
|
const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_ticks;
|
|
if (HAL_timer_get_compare(timer_num) < mincmp) HAL_timer_set_compare(timer_num, mincmp);
|
|
}
|
|
|
|
void HAL_timer_enable_interrupt(const uint8_t timer_num);
|
|
void HAL_timer_disable_interrupt(const uint8_t timer_num);
|
|
bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
|
|
|
|
//void HAL_timer_isr_prologue(const uint8_t timer_num);
|
|
|
|
FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
|
|
const tTimerConfig * const pConfig = &TimerConfig[timer_num];
|
|
// Reading the status register clears the interrupt flag
|
|
pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_SR;
|
|
}
|
|
|
|
#define HAL_timer_isr_epilogue(TIMER_NUM)
|
|
|
|
#endif // _HAL_TIMERS_DUE_H
|