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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
- *
- */
- #pragma once
-
- #include <stdint.h>
-
- // ------------------------
- // Types
- // ------------------------
-
- typedef uint16_t hal_timer_t;
- #define HAL_TIMER_TYPE_MAX 0xFFFF
-
- // ------------------------
- // Defines
- // ------------------------
-
- #define HAL_TIMER_RATE ((F_CPU) / 8) // i.e., 2MHz or 2.5MHz
-
- #ifndef MF_TIMER_STEP
- #define MF_TIMER_STEP 1
- #endif
- #ifndef MF_TIMER_PULSE
- #define MF_TIMER_PULSE MF_TIMER_STEP
- #endif
- #ifndef MF_TIMER_TEMP
- #define MF_TIMER_TEMP 0
- #endif
-
- #define TEMP_TIMER_FREQUENCY ((F_CPU) / 64.0 / 256.0)
-
- #define STEPPER_TIMER_RATE HAL_TIMER_RATE
- #define STEPPER_TIMER_PRESCALE 8
- #define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // Cannot be of type double
-
- #define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer
- #define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
- #define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
-
- #define ENABLE_STEPPER_DRIVER_INTERRUPT() SBI(TIMSK1, OCIE1A)
- #define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
- #define STEPPER_ISR_ENABLED() TEST(TIMSK1, OCIE1A)
-
- #define ENABLE_TEMPERATURE_INTERRUPT() SBI(TIMSK0, OCIE0A)
- #define DISABLE_TEMPERATURE_INTERRUPT() CBI(TIMSK0, OCIE0A)
- #define TEMPERATURE_ISR_ENABLED() TEST(TIMSK0, OCIE0A)
-
- FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
- switch (timer_num) {
- case MF_TIMER_STEP:
- // waveform generation = 0100 = CTC
- SET_WGM(1, CTC_OCRnA);
-
- // output mode = 00 (disconnected)
- SET_COMA(1, NORMAL);
-
- // Set the timer pre-scaler
- // Generally we use a divider of 8, resulting in a 2MHz timer
- // frequency on a 16MHz MCU. If you are going to change this, be
- // sure to regenerate speed_lookuptable.h with
- // create_speed_lookuptable.py
- SET_CS(1, PRESCALER_8); // CS 2 = 1/8 prescaler
-
- // Init Stepper ISR to 122 Hz for quick starting
- // (F_CPU) / (STEPPER_TIMER_PRESCALE) / frequency
- OCR1A = 0x4000;
- TCNT1 = 0;
- break;
-
- case MF_TIMER_TEMP:
- // Use timer0 for temperature measurement
- // Interleave temperature interrupt with millies interrupt
- OCR0A = 128;
- break;
- }
- }
-
- #define TIMER_OCR_1 OCR1A
- #define TIMER_COUNTER_1 TCNT1
-
- #define TIMER_OCR_0 OCR0A
- #define TIMER_COUNTER_0 TCNT0
-
- #define _CAT(a,V...) a##V
- #define HAL_timer_set_compare(timer, compare) (_CAT(TIMER_OCR_, timer) = compare)
- #define HAL_timer_get_compare(timer) _CAT(TIMER_OCR_, timer)
- #define HAL_timer_get_count(timer) _CAT(TIMER_COUNTER_, timer)
-
- /**
- * On AVR there is no hardware prioritization and preemption of
- * interrupts, so this emulates it. The UART has first priority
- * (otherwise, characters will be lost due to UART overflow).
- * Then: Stepper, Endstops, Temperature, and -finally- all others.
- */
- #define HAL_timer_isr_prologue(T) NOOP
- #define HAL_timer_isr_epilogue(T) NOOP
-
- #ifndef HAL_STEP_TIMER_ISR
-
- /* 18 cycles maximum latency */
- #define HAL_STEP_TIMER_ISR() \
- extern "C" void TIMER1_COMPA_vect() __attribute__ ((signal, naked, used, externally_visible)); \
- extern "C" void TIMER1_COMPA_vect_bottom() asm ("TIMER1_COMPA_vect_bottom") __attribute__ ((used, externally_visible, noinline)); \
- void TIMER1_COMPA_vect() { \
- __asm__ __volatile__ ( \
- A("push r16") /* 2 Save R16 */ \
- A("in r16, __SREG__") /* 1 Get SREG */ \
- A("push r16") /* 2 Save SREG into stack */ \
- A("lds r16, %[timsk0]") /* 2 Load into R0 the Temperature timer Interrupt mask register */ \
- A("push r16") /* 2 Save TIMSK0 into the stack */ \
- A("andi r16,~%[msk0]") /* 1 Disable the temperature ISR */ \
- A("sts %[timsk0], r16") /* 2 And set the new value */ \
- A("lds r16, %[timsk1]") /* 2 Load into R0 the stepper timer Interrupt mask register [TIMSK1] */ \
- A("andi r16,~%[msk1]") /* 1 Disable the stepper ISR */ \
- A("sts %[timsk1], r16") /* 2 And set the new value */ \
- A("push r16") /* 2 Save TIMSK1 into stack */ \
- A("in r16, 0x3B") /* 1 Get RAMPZ register */ \
- A("push r16") /* 2 Save RAMPZ into stack */ \
- A("in r16, 0x3C") /* 1 Get EIND register */ \
- A("push r0") /* C runtime can modify all the following registers without restoring them */ \
- A("push r1") \
- A("push r18") \
- A("push r19") \
- A("push r20") \
- A("push r21") \
- A("push r22") \
- A("push r23") \
- A("push r24") \
- A("push r25") \
- A("push r26") \
- A("push r27") \
- A("push r30") \
- A("push r31") \
- A("clr r1") /* C runtime expects this register to be 0 */ \
- A("call TIMER1_COMPA_vect_bottom") /* Call the bottom handler - No inlining allowed, otherwise registers used are not saved */ \
- A("pop r31") \
- A("pop r30") \
- A("pop r27") \
- A("pop r26") \
- A("pop r25") \
- A("pop r24") \
- A("pop r23") \
- A("pop r22") \
- A("pop r21") \
- A("pop r20") \
- A("pop r19") \
- A("pop r18") \
- A("pop r1") \
- A("pop r0") \
- A("out 0x3C, r16") /* 1 Restore EIND register */ \
- A("pop r16") /* 2 Get the original RAMPZ register value */ \
- A("out 0x3B, r16") /* 1 Restore RAMPZ register to its original value */ \
- A("pop r16") /* 2 Get the original TIMSK1 value but with stepper ISR disabled */ \
- A("ori r16,%[msk1]") /* 1 Reenable the stepper ISR */ \
- A("cli") /* 1 Disable global interrupts - Reenabling Stepper ISR can reenter amd temperature can reenter, and we want that, if it happens, after this ISR has ended */ \
- A("sts %[timsk1], r16") /* 2 And restore the old value - This reenables the stepper ISR */ \
- A("pop r16") /* 2 Get the temperature timer Interrupt mask register [TIMSK0] */ \
- A("sts %[timsk0], r16") /* 2 And restore the old value - This reenables the temperature ISR */ \
- A("pop r16") /* 2 Get the old SREG value */ \
- A("out __SREG__, r16") /* 1 And restore the SREG value */ \
- A("pop r16") /* 2 Restore R16 value */ \
- A("reti") /* 4 Return from interrupt */ \
- : \
- : [timsk0] "i" ((uint16_t)&TIMSK0), \
- [timsk1] "i" ((uint16_t)&TIMSK1), \
- [msk0] "M" ((uint8_t)(1<<OCIE0A)),\
- [msk1] "M" ((uint8_t)(1<<OCIE1A)) \
- : \
- ); \
- } \
- void TIMER1_COMPA_vect_bottom()
-
- #endif // HAL_STEP_TIMER_ISR
-
- #ifndef HAL_TEMP_TIMER_ISR
-
- /* 14 cycles maximum latency */
- #define HAL_TEMP_TIMER_ISR() \
- extern "C" void TIMER0_COMPA_vect() __attribute__ ((signal, naked, used, externally_visible)); \
- extern "C" void TIMER0_COMPA_vect_bottom() asm ("TIMER0_COMPA_vect_bottom") __attribute__ ((used, externally_visible, noinline)); \
- void TIMER0_COMPA_vect() { \
- __asm__ __volatile__ ( \
- A("push r16") /* 2 Save R16 */ \
- A("in r16, __SREG__") /* 1 Get SREG */ \
- A("push r16") /* 2 Save SREG into stack */ \
- A("lds r16, %[timsk0]") /* 2 Load into R0 the Temperature timer Interrupt mask register */ \
- A("andi r16,~%[msk0]") /* 1 Disable the temperature ISR */ \
- A("sts %[timsk0], r16") /* 2 And set the new value */ \
- A("sei") /* 1 Enable global interrupts - It is safe, as the temperature ISR is disabled, so we cannot reenter it */ \
- A("push r16") /* 2 Save TIMSK0 into stack */ \
- A("in r16, 0x3B") /* 1 Get RAMPZ register */ \
- A("push r16") /* 2 Save RAMPZ into stack */ \
- A("in r16, 0x3C") /* 1 Get EIND register */ \
- A("push r0") /* C runtime can modify all the following registers without restoring them */ \
- A("push r1") \
- A("push r18") \
- A("push r19") \
- A("push r20") \
- A("push r21") \
- A("push r22") \
- A("push r23") \
- A("push r24") \
- A("push r25") \
- A("push r26") \
- A("push r27") \
- A("push r30") \
- A("push r31") \
- A("clr r1") /* C runtime expects this register to be 0 */ \
- A("call TIMER0_COMPA_vect_bottom") /* Call the bottom handler - No inlining allowed, otherwise registers used are not saved */ \
- A("pop r31") \
- A("pop r30") \
- A("pop r27") \
- A("pop r26") \
- A("pop r25") \
- A("pop r24") \
- A("pop r23") \
- A("pop r22") \
- A("pop r21") \
- A("pop r20") \
- A("pop r19") \
- A("pop r18") \
- A("pop r1") \
- A("pop r0") \
- A("out 0x3C, r16") /* 1 Restore EIND register */ \
- A("pop r16") /* 2 Get the original RAMPZ register value */ \
- A("out 0x3B, r16") /* 1 Restore RAMPZ register to its original value */ \
- A("pop r16") /* 2 Get the original TIMSK0 value but with temperature ISR disabled */ \
- A("ori r16,%[msk0]") /* 1 Enable temperature ISR */ \
- A("cli") /* 1 Disable global interrupts - We must do this, as we will reenable the temperature ISR, and we don't want to reenter this handler until the current one is done */ \
- A("sts %[timsk0], r16") /* 2 And restore the old value */ \
- A("pop r16") /* 2 Get the old SREG */ \
- A("out __SREG__, r16") /* 1 And restore the SREG value */ \
- A("pop r16") /* 2 Restore R16 */ \
- A("reti") /* 4 Return from interrupt */ \
- : \
- : [timsk0] "i"((uint16_t)&TIMSK0), \
- [msk0] "M" ((uint8_t)(1<<OCIE0A)) \
- : \
- ); \
- } \
- void TIMER0_COMPA_vect_bottom()
-
- #endif // HAL_TEMP_TIMER_ISR
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