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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/>.
- *
- */
- #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)
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