marlin/Marlin/src/HAL/SAMD51/timers.h

/**
 * 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/>.
 *
 */
#pragma once

/**
 * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
 */

#include <stdint.h>

// --------------------------------------------------------------------------
// Defines
// --------------------------------------------------------------------------

typedef uint32_t hal_timer_t;
#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF

#define HAL_TIMER_RATE      F_CPU   // frequency of timers peripherals

#define MF_TIMER_RTC            8   // This is not a TC but a RTC

#ifndef MF_TIMER_STEP
  #define MF_TIMER_STEP         0   // Timer Index for Stepper
#endif
#ifndef MF_TIMER_PULSE
  #define MF_TIMER_PULSE        MF_TIMER_STEP
#endif
#ifndef MF_TIMER_TEMP
  #define MF_TIMER_TEMP         MF_TIMER_RTC // Timer Index for Temperature
#endif

#define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency

#define STEPPER_TIMER_RATE          HAL_TIMER_RATE   // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
#define STEPPER_TIMER_TICKS_PER_US  (STEPPER_TIMER_RATE / 1000000) // stepper timer ticks per µs
#define STEPPER_TIMER_PRESCALE      (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)

#define PULSE_TIMER_RATE          STEPPER_TIMER_RATE
#define PULSE_TIMER_PRESCALE      STEPPER_TIMER_PRESCALE
#define PULSE_TIMER_TICKS_PER_US  STEPPER_TIMER_TICKS_PER_US

#define ENABLE_STEPPER_DRIVER_INTERRUPT()   HAL_timer_enable_interrupt(MF_TIMER_STEP)
#define DISABLE_STEPPER_DRIVER_INTERRUPT()  HAL_timer_disable_interrupt(MF_TIMER_STEP)
#define STEPPER_ISR_ENABLED()               HAL_timer_interrupt_enabled(MF_TIMER_STEP)

#define ENABLE_TEMPERATURE_INTERRUPT()  HAL_timer_enable_interrupt(MF_TIMER_TEMP)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)

#define TC_PRIORITY(t)     (  t == SERVO_TC ? 1                              \
                           : (t == MF_TIMER_STEP || t == MF_TIMER_PULSE) ? 2 \
                           : (t == MF_TIMER_TEMP) ? 6 : 7 )

#define _TC_HANDLER(t)          void TC##t##_Handler()
#define TC_HANDLER(t)           _TC_HANDLER(t)
#ifndef HAL_STEP_TIMER_ISR
  #define HAL_STEP_TIMER_ISR()  TC_HANDLER(MF_TIMER_STEP)
#endif
#if MF_TIMER_STEP != MF_TIMER_PULSE
  #define HAL_PULSE_TIMER_ISR() TC_HANDLER(MF_TIMER_PULSE)
#endif
#if MF_TIMER_TEMP == MF_TIMER_RTC
  #define HAL_TEMP_TIMER_ISR()  void RTC_Handler()
#else
  #define HAL_TEMP_TIMER_ISR()  TC_HANDLER(MF_TIMER_TEMP)
#endif

// --------------------------------------------------------------------------
// Types
// --------------------------------------------------------------------------

typedef struct {
  union {
    Tc  *pTc;
    Rtc *pRtc;
  };
  IRQn_Type   IRQ_Id;
  uint8_t     priority;
} tTimerConfig;

// --------------------------------------------------------------------------
// Public Variables
// --------------------------------------------------------------------------

extern const tTimerConfig timer_config[];

// --------------------------------------------------------------------------
// Public functions
// --------------------------------------------------------------------------

void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);

FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
  // Should never be called with timer MF_TIMER_RTC
  Tc * const tc = timer_config[timer_num].pTc;
  tc->COUNT32.CC[0].reg = compare;
}

FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
  // Should never be called with timer MF_TIMER_RTC
  Tc * const tc = timer_config[timer_num].pTc;
  return (hal_timer_t)tc->COUNT32.CC[0].reg;
}

FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
  // Should never be called with timer MF_TIMER_RTC
  Tc * const tc = timer_config[timer_num].pTc;
  tc->COUNT32.CTRLBSET.reg = TC_CTRLBCLR_CMD_READSYNC;
  SYNC(tc->COUNT32.SYNCBUSY.bit.CTRLB || tc->COUNT32.SYNCBUSY.bit.COUNT);
  return tc->COUNT32.COUNT.reg;
}

void HAL_timer_enable_interrupt(const uint8_t timer_num);
void HAL_timer_disable_interrupt(const uint8_t timer_num);
bool HAL_timer_interrupt_enabled(const uint8_t timer_num);

FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
  if (timer_num == MF_TIMER_RTC) {
    Rtc * const rtc = timer_config[timer_num].pRtc;
    // Clear interrupt flag
    rtc->MODE0.INTFLAG.reg = RTC_MODE0_INTFLAG_CMP0;
  }
  else {
    Tc * const tc = timer_config[timer_num].pTc;
    // Clear interrupt flag
    tc->COUNT32.INTFLAG.reg = TC_INTFLAG_OVF;
  }
}

#define HAL_timer_isr_epilogue(timer_num)