117 lines
4.7 KiB
C
117 lines
4.7 KiB
C
/**
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* Marlin 3D Printer Firmware
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*
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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* SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
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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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#pragma once
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#include <stdint.h>
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// --------------------------------------------------------------------------
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// Defines
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// --------------------------------------------------------------------------
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typedef uint32_t hal_timer_t;
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#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
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#define HAL_TIMER_RATE F_CPU // frequency of timers peripherals
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#define STEP_TIMER_NUM 0 // index of timer to use for stepper (also +1 for 32bits counter)
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#define PULSE_TIMER_NUM STEP_TIMER_NUM
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#define TEMP_TIMER_NUM 4 // index of timer to use for temperature (also +1 for 32bits counter)
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#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
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#define STEPPER_TIMER_RATE HAL_TIMER_RATE // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
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#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
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#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
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#define PULSE_TIMER_RATE STEPPER_TIMER_RATE
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#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
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#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
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#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM)
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#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
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#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
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#define TC_PRIORITY(t) (t == STEP_TIMER_NUM || t == PULSE_TIMER_NUM) ? 2 \
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: (t == TEMP_TIMER_NUM) ? 6 \
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: 7
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#define _TC_HANDLER(t) void TC##t##_Handler()
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#define TC_HANDLER(t) _TC_HANDLER(t)
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#define HAL_STEP_TIMER_ISR() TC_HANDLER(STEP_TIMER_NUM)
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#if STEP_TIMER_NUM != PULSE_TIMER_NUM
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#define HAL_PULSE_TIMER_ISR() TC_HANDLER(PULSE_TIMER_NUM)
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#endif
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#define HAL_TEMP_TIMER_ISR() TC_HANDLER(TEMP_TIMER_NUM)
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// --------------------------------------------------------------------------
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// Types
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// --------------------------------------------------------------------------
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typedef struct {
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Tc *pTimer;
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IRQn_Type IRQ_Id;
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uint8_t priority;
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} tTimerConfig;
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// --------------------------------------------------------------------------
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// Public Variables
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// --------------------------------------------------------------------------
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extern const tTimerConfig TimerConfig[];
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// --------------------------------------------------------------------------
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// Public functions
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// --------------------------------------------------------------------------
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void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
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FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
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Tc * const tc = TimerConfig[timer_num].pTimer;
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tc->COUNT32.CC[0].reg = HAL_TIMER_TYPE_MAX - compare;
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}
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FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
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Tc * const tc = TimerConfig[timer_num].pTimer;
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return (hal_timer_t)(HAL_TIMER_TYPE_MAX - tc->COUNT32.CC[0].reg);
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}
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FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
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Tc * const tc = TimerConfig[timer_num].pTimer;
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tc->COUNT32.CTRLBSET.reg = TC_CTRLBCLR_CMD_READSYNC;
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SYNC(tc->COUNT32.SYNCBUSY.bit.CTRLB || tc->COUNT32.SYNCBUSY.bit.COUNT);
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return HAL_TIMER_TYPE_MAX - tc->COUNT32.COUNT.reg;
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}
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void HAL_timer_enable_interrupt(const uint8_t timer_num);
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void HAL_timer_disable_interrupt(const uint8_t timer_num);
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bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
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FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
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Tc * const tc = TimerConfig[timer_num].pTimer;
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// Clear interrupt flag
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tc->COUNT32.INTFLAG.reg = TC_INTFLAG_OVF;
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}
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#define HAL_timer_isr_epilogue(timer_num)
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