161 lines
6.0 KiB
C++
161 lines
6.0 KiB
C++
/**
|
|
* Marlin 3D Printer Firmware
|
|
* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|
*
|
|
* Based on Sprinter and grbl.
|
|
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
|
|
*
|
|
* 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/>.
|
|
*
|
|
*/
|
|
|
|
/*
|
|
Copyright (c) 2013 Arduino LLC. All right reserved.
|
|
|
|
This library is free software; you can redistribute it and/or
|
|
modify it under the terms of the GNU Lesser General Public
|
|
License as published by the Free Software Foundation; either
|
|
version 2.1 of the License, or (at your option) any later version.
|
|
|
|
This library 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
|
|
Lesser General Public License for more details.
|
|
|
|
You should have received a copy of the GNU Lesser General Public
|
|
License along with this library; if not, write to the Free Software
|
|
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
|
*/
|
|
|
|
#ifdef ARDUINO_ARCH_SAM
|
|
|
|
#include "../../inc/MarlinConfig.h"
|
|
|
|
#if HAS_SERVOS
|
|
|
|
#include "../shared/Marduino.h"
|
|
#include "../shared/servo.h"
|
|
#include "../shared/servo_private.h"
|
|
|
|
static volatile int8_t Channel[_Nbr_16timers]; // counter for the servo being pulsed for each timer (or -1 if refresh interval)
|
|
|
|
//------------------------------------------------------------------------------
|
|
/// Interrupt handler for the TC0 channel 1.
|
|
//------------------------------------------------------------------------------
|
|
void Servo_Handler(timer16_Sequence_t timer, Tc *pTc, uint8_t channel);
|
|
|
|
#ifdef _useTimer1
|
|
void HANDLER_FOR_TIMER1(void) { Servo_Handler(_timer1, TC_FOR_TIMER1, CHANNEL_FOR_TIMER1); }
|
|
#endif
|
|
#ifdef _useTimer2
|
|
void HANDLER_FOR_TIMER2(void) { Servo_Handler(_timer2, TC_FOR_TIMER2, CHANNEL_FOR_TIMER2); }
|
|
#endif
|
|
#ifdef _useTimer3
|
|
void HANDLER_FOR_TIMER3(void) { Servo_Handler(_timer3, TC_FOR_TIMER3, CHANNEL_FOR_TIMER3); }
|
|
#endif
|
|
#ifdef _useTimer4
|
|
void HANDLER_FOR_TIMER4(void) { Servo_Handler(_timer4, TC_FOR_TIMER4, CHANNEL_FOR_TIMER4); }
|
|
#endif
|
|
#ifdef _useTimer5
|
|
void HANDLER_FOR_TIMER5(void) { Servo_Handler(_timer5, TC_FOR_TIMER5, CHANNEL_FOR_TIMER5); }
|
|
#endif
|
|
|
|
void Servo_Handler(timer16_Sequence_t timer, Tc *tc, uint8_t channel) {
|
|
// clear interrupt
|
|
tc->TC_CHANNEL[channel].TC_SR;
|
|
if (Channel[timer] < 0)
|
|
tc->TC_CHANNEL[channel].TC_CCR |= TC_CCR_SWTRG; // channel set to -1 indicated that refresh interval completed so reset the timer
|
|
else if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && SERVO(timer, Channel[timer]).Pin.isActive)
|
|
extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, LOW); // pulse this channel low if activated
|
|
|
|
Channel[timer]++; // increment to the next channel
|
|
if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
|
|
tc->TC_CHANNEL[channel].TC_RA = tc->TC_CHANNEL[channel].TC_CV + SERVO(timer,Channel[timer]).ticks;
|
|
if (SERVO(timer,Channel[timer]).Pin.isActive) // check if activated
|
|
extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, HIGH); // its an active channel so pulse it high
|
|
}
|
|
else {
|
|
// finished all channels so wait for the refresh period to expire before starting over
|
|
tc->TC_CHANNEL[channel].TC_RA =
|
|
tc->TC_CHANNEL[channel].TC_CV < usToTicks(REFRESH_INTERVAL) - 4
|
|
? (unsigned int)usToTicks(REFRESH_INTERVAL) // allow a few ticks to ensure the next OCR1A not missed
|
|
: tc->TC_CHANNEL[channel].TC_CV + 4; // at least REFRESH_INTERVAL has elapsed
|
|
Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
|
|
}
|
|
}
|
|
|
|
static void _initISR(Tc *tc, uint32_t channel, uint32_t id, IRQn_Type irqn) {
|
|
pmc_enable_periph_clk(id);
|
|
TC_Configure(tc, channel,
|
|
TC_CMR_TCCLKS_TIMER_CLOCK3 | // MCK/32
|
|
TC_CMR_WAVE | // Waveform mode
|
|
TC_CMR_WAVSEL_UP_RC ); // Counter running up and reset when equals to RC
|
|
|
|
/* 84MHz, MCK/32, for 1.5ms: 3937 */
|
|
TC_SetRA(tc, channel, 2625); // 1ms
|
|
|
|
/* Configure and enable interrupt */
|
|
NVIC_EnableIRQ(irqn);
|
|
// TC_IER_CPAS: RA Compare
|
|
tc->TC_CHANNEL[channel].TC_IER = TC_IER_CPAS;
|
|
|
|
// Enables the timer clock and performs a software reset to start the counting
|
|
TC_Start(tc, channel);
|
|
}
|
|
|
|
void initISR(timer16_Sequence_t timer) {
|
|
#ifdef _useTimer1
|
|
if (timer == _timer1)
|
|
_initISR(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1, ID_TC_FOR_TIMER1, IRQn_FOR_TIMER1);
|
|
#endif
|
|
#ifdef _useTimer2
|
|
if (timer == _timer2)
|
|
_initISR(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2, ID_TC_FOR_TIMER2, IRQn_FOR_TIMER2);
|
|
#endif
|
|
#ifdef _useTimer3
|
|
if (timer == _timer3)
|
|
_initISR(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3, ID_TC_FOR_TIMER3, IRQn_FOR_TIMER3);
|
|
#endif
|
|
#ifdef _useTimer4
|
|
if (timer == _timer4)
|
|
_initISR(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4, ID_TC_FOR_TIMER4, IRQn_FOR_TIMER4);
|
|
#endif
|
|
#ifdef _useTimer5
|
|
if (timer == _timer5)
|
|
_initISR(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5, ID_TC_FOR_TIMER5, IRQn_FOR_TIMER5);
|
|
#endif
|
|
}
|
|
|
|
void finISR(timer16_Sequence_t timer) {
|
|
#ifdef _useTimer1
|
|
TC_Stop(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1);
|
|
#endif
|
|
#ifdef _useTimer2
|
|
TC_Stop(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2);
|
|
#endif
|
|
#ifdef _useTimer3
|
|
TC_Stop(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3);
|
|
#endif
|
|
#ifdef _useTimer4
|
|
TC_Stop(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4);
|
|
#endif
|
|
#ifdef _useTimer5
|
|
TC_Stop(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5);
|
|
#endif
|
|
}
|
|
|
|
#endif // HAS_SERVOS
|
|
|
|
#endif // ARDUINO_ARCH_SAM
|