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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 <https://www.gnu.org/licenses/>.
- *
- */
-
- /**
- * HAL Timers for Teensy 4.0 (IMXRT1062DVL6A) / 4.1 (IMXRT1062DVJ6A)
- */
-
- #ifdef __IMXRT1062__
-
- #include "../../inc/MarlinConfig.h"
-
- void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
- switch (timer_num) {
- case MF_TIMER_STEP:
- CCM_CSCMR1 &= ~CCM_CSCMR1_PERCLK_CLK_SEL; // turn off 24mhz mode
- CCM_CCGR1 |= CCM_CCGR1_GPT1_BUS(CCM_CCGR_ON);
-
- GPT1_CR = 0; // disable timer
- GPT1_SR = 0x3F; // clear all prior status
- GPT1_PR = GPT1_TIMER_PRESCALE - 1;
- GPT1_CR |= GPT_CR_CLKSRC(1); //clock selection #1 (peripheral clock = 150 MHz)
- GPT1_CR |= GPT_CR_ENMOD; //reset count to zero before enabling
- GPT1_CR |= GPT_CR_OM1(1); // toggle mode
- GPT1_OCR1 = (GPT1_TIMER_RATE / frequency) -1; // Initial compare value
- GPT1_IR = GPT_IR_OF1IE; // Compare3 value
- GPT1_CR |= GPT_CR_EN; //enable GPT2 counting at 150 MHz
-
- OUT_WRITE(15, HIGH);
- attachInterruptVector(IRQ_GPT1, &stepTC_Handler);
- NVIC_SET_PRIORITY(IRQ_GPT1, 16);
- break;
- case MF_TIMER_TEMP:
- CCM_CSCMR1 &= ~CCM_CSCMR1_PERCLK_CLK_SEL; // turn off 24mhz mode
- CCM_CCGR0 |= CCM_CCGR0_GPT2_BUS(CCM_CCGR_ON);
-
- GPT2_CR = 0; // disable timer
- GPT2_SR = 0x3F; // clear all prior status
- GPT2_PR = GPT2_TIMER_PRESCALE - 1;
- GPT2_CR |= GPT_CR_CLKSRC(1); //clock selection #1 (peripheral clock = 150 MHz)
- GPT2_CR |= GPT_CR_ENMOD; //reset count to zero before enabling
- GPT2_CR |= GPT_CR_OM1(1); // toggle mode
- GPT2_OCR1 = (GPT2_TIMER_RATE / frequency) -1; // Initial compare value
- GPT2_IR = GPT_IR_OF1IE; // Compare3 value
- GPT2_CR |= GPT_CR_EN; //enable GPT2 counting at 150 MHz
-
- OUT_WRITE(14, HIGH);
- attachInterruptVector(IRQ_GPT2, &tempTC_Handler);
- NVIC_SET_PRIORITY(IRQ_GPT2, 32);
- break;
- }
- }
-
- void HAL_timer_enable_interrupt(const uint8_t timer_num) {
- switch (timer_num) {
- case MF_TIMER_STEP: NVIC_ENABLE_IRQ(IRQ_GPT1); break;
- case MF_TIMER_TEMP: NVIC_ENABLE_IRQ(IRQ_GPT2); break;
- }
- }
-
- void HAL_timer_disable_interrupt(const uint8_t timer_num) {
- switch (timer_num) {
- case MF_TIMER_STEP: NVIC_DISABLE_IRQ(IRQ_GPT1); break;
- case MF_TIMER_TEMP: NVIC_DISABLE_IRQ(IRQ_GPT2); break;
- }
-
- // We NEED memory barriers to ensure Interrupts are actually disabled!
- // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
- asm volatile("dsb");
- }
-
- bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
- switch (timer_num) {
- case MF_TIMER_STEP: return (NVIC_IS_ENABLED(IRQ_GPT1));
- case MF_TIMER_TEMP: return (NVIC_IS_ENABLED(IRQ_GPT2));
- }
- return false;
- }
-
- void HAL_timer_isr_prologue(const uint8_t timer_num) {
- switch (timer_num) {
- case MF_TIMER_STEP: GPT1_SR = GPT_IR_OF1IE; break; // clear OF3 bit
- case MF_TIMER_TEMP: GPT2_SR = GPT_IR_OF1IE; break; // clear OF3 bit
- }
- asm volatile("dsb");
- }
-
- #endif // __IMXRT1062__
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