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- /**
- * Marlin 3D Printer Firmware
- *
- * Copyright (C) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
- *
- * 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
-
- #include <stdint.h>
-
- // --------------------------------------------------------------------------
- // Defines
- // --------------------------------------------------------------------------
-
- typedef uint32_t hal_timer_t;
- #define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
-
- #define HAL_TIMER_RATE SystemCoreClock // frequency of timers peripherals
-
- #define STEP_TIMER_NUM 0 // index of timer to use for stepper (also +1 for 32bits counter)
- #define PULSE_TIMER_NUM STEP_TIMER_NUM
- #define TONE_TIMER_NUM 2 // index of timer to use for beeper tones (also +1 for 32bits counter)
- #define TEMP_TIMER_NUM 4 // index of timer to use for temperature (also +1 for 32bits counter)
-
- #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(STEP_TIMER_NUM)
- #define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
- #define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM)
-
- #define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
- #define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
-
- #define TC_PRIORITY(t) (t == STEP_TIMER_NUM || t == PULSE_TIMER_NUM) ? 2 \
- : (t == TEMP_TIMER_NUM) ? 6 \
- : (t == TONE_TIMER_NUM) ? 5 : 7
- #define _TC_HANDLER(t) void TC##t##_Handler()
- #define TC_HANDLER(t) _TC_HANDLER(t)
- #define HAL_STEP_TIMER_ISR() TC_HANDLER(STEP_TIMER_NUM)
- #if STEP_TIMER_NUM != PULSE_TIMER_NUM
- #define HAL_PULSE_TIMER_ISR() TC_HANDLER(PULSE_TIMER_NUM)
- #endif
- #define HAL_TEMP_TIMER_ISR() TC_HANDLER(TEMP_TIMER_NUM)
- #define HAL_TONE_TIMER_ISR() TC_HANDLER(TONE_TIMER_NUM)
-
- // --------------------------------------------------------------------------
- // Types
- // --------------------------------------------------------------------------
-
- typedef struct {
- Tc *pTimer;
- IRQn_Type IRQ_Id;
- uint8_t priority;
- } tTimerConfig;
-
- // --------------------------------------------------------------------------
- // Public Variables
- // --------------------------------------------------------------------------
-
- extern const tTimerConfig TimerConfig[];
-
- // --------------------------------------------------------------------------
- // 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) {
- Tc * const tc = TimerConfig[timer_num].pTimer;
- tc->COUNT32.CC[0].reg = HAL_TIMER_TYPE_MAX - compare;
- }
-
- FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
- Tc * const tc = TimerConfig[timer_num].pTimer;
- return (hal_timer_t)(HAL_TIMER_TYPE_MAX - tc->COUNT32.CC[0].reg);
- }
-
- FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
- Tc * const tc = TimerConfig[timer_num].pTimer;
- tc->COUNT32.CTRLBSET.reg = TC_CTRLBCLR_CMD_READSYNC;
- SYNC(tc->COUNT32.SYNCBUSY.bit.CTRLB || tc->COUNT32.SYNCBUSY.bit.COUNT);
- return HAL_TIMER_TYPE_MAX - 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) {
- Tc * const tc = TimerConfig[timer_num].pTimer;
- // Clear interrupt flag
- tc->COUNT32.INTFLAG.reg = TC_INTFLAG_OVF;
- }
-
- #define HAL_timer_isr_epilogue(timer_num)
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