123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168 |
- /**
- * Marlin 3D Printer Firmware
- *
- * Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
- *
- */
- #ifdef __SAMD51__
-
- // --------------------------------------------------------------------------
- // Includes
- // --------------------------------------------------------------------------
-
- #include "../../inc/MarlinConfig.h"
- #include "ServoTimers.h" // for SERVO_TC
-
- // --------------------------------------------------------------------------
- // Local defines
- // --------------------------------------------------------------------------
-
- #define NUM_HARDWARE_TIMERS 9
-
- // --------------------------------------------------------------------------
- // Private Variables
- // --------------------------------------------------------------------------
-
- const tTimerConfig timer_config[NUM_HARDWARE_TIMERS] = {
- { {.pTc=TC0}, TC0_IRQn, TC_PRIORITY(0) }, // 0 - stepper (assigned priority 2)
- { {.pTc=TC1}, TC1_IRQn, TC_PRIORITY(1) }, // 1 - stepper (needed by 32 bit timers)
- { {.pTc=TC2}, TC2_IRQn, 5 }, // 2 - tone (reserved by framework and fixed assigned priority 5)
- { {.pTc=TC3}, TC3_IRQn, TC_PRIORITY(3) }, // 3 - servo (assigned priority 1)
- { {.pTc=TC4}, TC4_IRQn, TC_PRIORITY(4) }, // 4 - software serial (no interrupts used)
- { {.pTc=TC5}, TC5_IRQn, TC_PRIORITY(5) },
- { {.pTc=TC6}, TC6_IRQn, TC_PRIORITY(6) },
- { {.pTc=TC7}, TC7_IRQn, TC_PRIORITY(7) },
- { {.pRtc=RTC}, RTC_IRQn, TC_PRIORITY(8) } // 8 - temperature (assigned priority 6)
- };
-
- // --------------------------------------------------------------------------
- // Private functions
- // --------------------------------------------------------------------------
-
- FORCE_INLINE void Disable_Irq(IRQn_Type irq) {
- NVIC_DisableIRQ(irq);
-
- // We NEED memory barriers to ensure Interrupts are actually disabled!
- // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
- __DSB();
- __ISB();
- }
-
- // --------------------------------------------------------------------------
- // Public functions
- // --------------------------------------------------------------------------
-
- void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
- IRQn_Type irq = timer_config[timer_num].IRQ_Id;
-
- // Disable interrupt, just in case it was already enabled
- Disable_Irq(irq);
-
- if (timer_num == MF_TIMER_RTC) {
- Rtc * const rtc = timer_config[timer_num].pRtc;
-
- // Disable timer interrupt
- rtc->MODE0.INTENCLR.reg = RTC_MODE0_INTENCLR_CMP0;
-
- // RTC clock setup
- OSC32KCTRL->RTCCTRL.reg = OSC32KCTRL_RTCCTRL_RTCSEL_XOSC32K; // External 32.768kHz oscillator
-
- // Stop timer, just in case, to be able to reconfigure it
- rtc->MODE0.CTRLA.bit.ENABLE = false;
- SYNC(rtc->MODE0.SYNCBUSY.bit.ENABLE);
-
- // Mode, reset counter on match
- rtc->MODE0.CTRLA.reg = RTC_MODE0_CTRLA_MODE_COUNT32 | RTC_MODE0_CTRLA_MATCHCLR;
-
- // Set compare value
- rtc->MODE0.COMP[0].reg = (32768 + frequency / 2) / frequency;
- SYNC(rtc->MODE0.SYNCBUSY.bit.COMP0);
-
- // Enable interrupt on compare
- rtc->MODE0.INTFLAG.reg = RTC_MODE0_INTFLAG_CMP0; // reset pending interrupt
- rtc->MODE0.INTENSET.reg = RTC_MODE0_INTENSET_CMP0; // enable compare 0 interrupt
-
- // And start timer
- rtc->MODE0.CTRLA.bit.ENABLE = true;
- SYNC(rtc->MODE0.SYNCBUSY.bit.ENABLE);
- }
- else {
- Tc * const tc = timer_config[timer_num].pTc;
-
- // Disable timer interrupt
- tc->COUNT32.INTENCLR.reg = TC_INTENCLR_OVF; // disable overflow interrupt
-
- // TCn clock setup
- const uint8_t clockID = GCLK_CLKCTRL_IDs[TCC_INST_NUM + timer_num]; // TC clock are preceded by TCC ones
- GCLK->PCHCTRL[clockID].bit.CHEN = false;
- SYNC(GCLK->PCHCTRL[clockID].bit.CHEN);
- GCLK->PCHCTRL[clockID].reg = GCLK_PCHCTRL_GEN_GCLK0 | GCLK_PCHCTRL_CHEN; // 120MHz startup code programmed
- SYNC(!GCLK->PCHCTRL[clockID].bit.CHEN);
-
- // Stop timer, just in case, to be able to reconfigure it
- tc->COUNT32.CTRLA.bit.ENABLE = false;
- SYNC(tc->COUNT32.SYNCBUSY.bit.ENABLE);
-
- // Reset timer
- tc->COUNT32.CTRLA.bit.SWRST = true;
- SYNC(tc->COUNT32.SYNCBUSY.bit.SWRST);
-
- // Wave mode, reset counter on compare match
- tc->COUNT32.WAVE.reg = TC_WAVE_WAVEGEN_MFRQ;
- tc->COUNT32.CTRLA.reg = TC_CTRLA_MODE_COUNT32 | TC_CTRLA_PRESCALER_DIV1;
- tc->COUNT32.CTRLBCLR.reg = TC_CTRLBCLR_DIR;
- SYNC(tc->COUNT32.SYNCBUSY.bit.CTRLB);
-
- // Set compare value
- tc->COUNT32.CC[0].reg = (HAL_TIMER_RATE) / frequency;
- tc->COUNT32.COUNT.reg = 0;
-
- // Enable interrupt on compare
- tc->COUNT32.INTFLAG.reg = TC_INTFLAG_OVF; // reset pending interrupt
- tc->COUNT32.INTENSET.reg = TC_INTENSET_OVF; // enable overflow interrupt
-
- // And start timer
- tc->COUNT32.CTRLA.bit.ENABLE = true;
- SYNC(tc->COUNT32.SYNCBUSY.bit.ENABLE);
- }
-
- // Finally, enable IRQ
- NVIC_SetPriority(irq, timer_config[timer_num].priority);
- NVIC_EnableIRQ(irq);
- }
-
- void HAL_timer_enable_interrupt(const uint8_t timer_num) {
- const IRQn_Type irq = timer_config[timer_num].IRQ_Id;
- NVIC_EnableIRQ(irq);
- }
-
- void HAL_timer_disable_interrupt(const uint8_t timer_num) {
- const IRQn_Type irq = timer_config[timer_num].IRQ_Id;
- Disable_Irq(irq);
- }
-
- // missing from CMSIS: Check if interrupt is enabled or not
- static bool NVIC_GetEnabledIRQ(IRQn_Type IRQn) {
- return TEST(NVIC->ISER[uint32_t(IRQn) >> 5], uint32_t(IRQn) & 0x1F);
- }
-
- bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
- const IRQn_Type irq = timer_config[timer_num].IRQ_Id;
- return NVIC_GetEnabledIRQ(irq);
- }
-
- #endif // __SAMD51__
|