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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 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 <http://www.gnu.org/licenses/>.
- *
- */
-
- #ifdef __PLAT_LINUX__
-
- #include "Timer.h"
- #include <stdio.h>
-
- Timer::Timer() {
- active = false;
- compare = 0;
- frequency = 0;
- overruns = 0;
- timerid = 0;
- cbfn = nullptr;
- period = 0;
- start_time = 0;
- avg_error = 0;
- }
-
- Timer::~Timer() {
- timer_delete(timerid);
- }
-
- void Timer::init(uint32_t sig_id, uint32_t sim_freq, callback_fn* fn) {
- struct sigaction sa;
- struct sigevent sev;
-
- frequency = sim_freq;
- cbfn = fn;
-
- sa.sa_flags = SA_SIGINFO;
- sa.sa_sigaction = Timer::handler;
- sigemptyset(&sa.sa_mask);
- if (sigaction(SIGRTMIN, &sa, nullptr) == -1) {
- return; // todo: handle error
- }
-
- sigemptyset(&mask);
- sigaddset(&mask, SIGRTMIN);
-
- disable();
-
- sev.sigev_notify = SIGEV_SIGNAL;
- sev.sigev_signo = SIGRTMIN;
- sev.sigev_value.sival_ptr = (void*)this;
- if (timer_create(CLOCK_REALTIME, &sev, &timerid) == -1) {
- return; // todo: handle error
- }
- }
-
- void Timer::start(uint32_t frequency) {
- setCompare(this->frequency / frequency);
- //printf("timer(%ld) started\n", getID());
- }
-
- void Timer::enable() {
- if (sigprocmask(SIG_UNBLOCK, &mask, nullptr) == -1) {
- return; // todo: handle error
- }
- active = true;
- //printf("timer(%ld) enabled\n", getID());
- }
-
- void Timer::disable() {
- if (sigprocmask(SIG_SETMASK, &mask, nullptr) == -1) {
- return; // todo: handle error
- }
- active = false;
- }
-
- void Timer::setCompare(uint32_t compare) {
- uint32_t nsec_offset = 0;
- if (active) {
- nsec_offset = Clock::nanos() - this->start_time; // calculate how long the timer would have been running for
- nsec_offset = nsec_offset < 1000 ? nsec_offset : 0; // constrain, this shouldn't be needed but apparently Marlin enables interrupts on the stepper timer before initialising it, todo: investigate ?bug?
- }
- this->compare = compare;
- uint64_t ns = Clock::ticksToNanos(compare, frequency) - nsec_offset;
- struct itimerspec its;
- its.it_value.tv_sec = ns / 1000000000;
- its.it_value.tv_nsec = ns % 1000000000;
- its.it_interval.tv_sec = its.it_value.tv_sec;
- its.it_interval.tv_nsec = its.it_value.tv_nsec;
-
- if (timer_settime(timerid, 0, &its, nullptr) == -1) {
- printf("timer(%ld) failed, compare: %d(%ld)\n", getID(), compare, its.it_value.tv_nsec);
- return; // todo: handle error
- }
- //printf("timer(%ld) started, compare: %d(%d)\n", getID(), compare, its.it_value.tv_nsec);
- this->period = its.it_value.tv_nsec;
- this->start_time = Clock::nanos();
- }
-
- uint32_t Timer::getCount() {
- return Clock::nanosToTicks(Clock::nanos() - this->start_time, frequency);
- }
-
- #endif // __PLAT_LINUX__
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