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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 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/>.
- *
- */
- #pragma once
-
- /**
- * Busy wait delay cycles routines:
- *
- * DELAY_CYCLES(count): Delay execution in cycles
- * DELAY_NS(count): Delay execution in nanoseconds
- * DELAY_US(count): Delay execution in microseconds
- */
-
- #include "../../core/macros.h"
-
- #if defined(__arm__) || defined(__thumb__)
-
- #if __CORTEX_M == 7
-
- // Cortex-M3 through M7 can use the cycle counter of the DWT unit
- // http://www.anthonyvh.com/2017/05/18/cortex_m-cycle_counter/
-
- FORCE_INLINE static void enableCycleCounter() {
- CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
-
- #if __CORTEX_M == 7
- DWT->LAR = 0xC5ACCE55; // Unlock DWT on the M7
- #endif
-
- DWT->CYCCNT = 0;
- DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
- }
-
- FORCE_INLINE volatile uint32_t getCycleCount() { return DWT->CYCCNT; }
-
- FORCE_INLINE static void DELAY_CYCLES(const uint32_t x) {
- const uint32_t endCycles = getCycleCount() + x;
- while (PENDING(getCycleCount(), endCycles)) {}
- }
-
- #else
-
- // https://blueprints.launchpad.net/gcc-arm-embedded/+spec/delay-cycles
-
- #define nop() __asm__ __volatile__("nop;\n\t":::)
-
- FORCE_INLINE static void __delay_4cycles(uint32_t cy) { // +1 cycle
- #if ARCH_PIPELINE_RELOAD_CYCLES < 2
- #define EXTRA_NOP_CYCLES A("nop")
- #else
- #define EXTRA_NOP_CYCLES ""
- #endif
-
- __asm__ __volatile__(
- A(".syntax unified") // is to prevent CM0,CM1 non-unified syntax
- L("1")
- A("subs %[cnt],#1")
- EXTRA_NOP_CYCLES
- A("bne 1b")
- : [cnt]"+r"(cy) // output: +r means input+output
- : // input:
- : "cc" // clobbers:
- );
- }
-
- // Delay in cycles
- FORCE_INLINE static void DELAY_CYCLES(uint32_t x) {
-
- if (__builtin_constant_p(x)) {
- #define MAXNOPS 4
-
- if (x <= (MAXNOPS)) {
- switch (x) { case 4: nop(); case 3: nop(); case 2: nop(); case 1: nop(); }
- }
- else { // because of +1 cycle inside delay_4cycles
- const uint32_t rem = (x - 1) % (MAXNOPS);
- switch (rem) { case 3: nop(); case 2: nop(); case 1: nop(); }
- if ((x = (x - 1) / (MAXNOPS)))
- __delay_4cycles(x); // if need more then 4 nop loop is more optimal
- }
- #undef MAXNOPS
- }
- else if ((x >>= 2))
- __delay_4cycles(x);
- }
- #undef nop
-
- #endif
-
- #elif defined(__AVR__)
-
- #define nop() __asm__ __volatile__("nop;\n\t":::)
-
- FORCE_INLINE static void __delay_4cycles(uint8_t cy) {
- __asm__ __volatile__(
- L("1")
- A("dec %[cnt]")
- A("nop")
- A("brne 1b")
- : [cnt] "+r"(cy) // output: +r means input+output
- : // input:
- : "cc" // clobbers:
- );
- }
-
- // Delay in cycles
- FORCE_INLINE static void DELAY_CYCLES(uint16_t x) {
-
- if (__builtin_constant_p(x)) {
- #define MAXNOPS 4
-
- if (x <= (MAXNOPS)) {
- switch (x) { case 4: nop(); case 3: nop(); case 2: nop(); case 1: nop(); }
- }
- else {
- const uint32_t rem = (x) % (MAXNOPS);
- switch (rem) { case 3: nop(); case 2: nop(); case 1: nop(); }
- if ((x = (x) / (MAXNOPS)))
- __delay_4cycles(x); // if need more then 4 nop loop is more optimal
- }
-
- #undef MAXNOPS
- }
- else if ((x >>= 2))
- __delay_4cycles(x);
- }
- #undef nop
-
- #elif defined(__PLAT_LINUX__) || defined(ESP32)
-
- // specified inside platform
-
- #else
-
- #error "Unsupported MCU architecture"
-
- #endif
-
- // Delay in nanoseconds
- #define DELAY_NS(x) DELAY_CYCLES( (x) * (F_CPU / 1000000UL) / 1000UL )
-
- // Delay in microseconds
- #define DELAY_US(x) DELAY_CYCLES( (x) * (F_CPU / 1000000UL) )
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