Giuliano Zaro
5 years ago
committed by
Scott Lahteine
Scott Lahteine
15 changed files with 318 additions and 117 deletions
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/**
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* Marlin 3D Printer Firmware |
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* |
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* Copyright (C) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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* SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) |
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* |
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* This program is free software: you can redistribute it and/or modify |
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* it under the terms of the GNU General Public License as published by |
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* the Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This program is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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* |
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*/ |
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#pragma once |
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#define _useTimer1 |
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#define _useTimer2 |
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#define TRIM_DURATION 5 // compensation ticks to trim adjust for digitalWrite delays
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#define SERVO_TIMER_PRESCALER 64 // timer prescaler factor to 64 (avoid overflowing 16-bit clock counter, at 120MHz this is 1831 ticks per millisecond
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#define SERVO_TC 3 |
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typedef enum { |
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#ifdef _useTimer1 |
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_timer1, |
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#endif |
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#ifdef _useTimer2 |
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_timer2, |
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#endif |
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_Nbr_16timers |
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} timer16_Sequence_t; |
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/**
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* Marlin 3D Printer Firmware |
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* |
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* Copyright (C) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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* SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) |
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* |
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* This program is free software: you can redistribute it and/or modify |
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* it under the terms of the GNU General Public License as published by |
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* the Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This program is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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* |
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*/ |
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/**
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* This comes from Arduino library which at the moment is buggy and uncompilable |
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*/ |
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#ifdef __SAMD51__ |
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#include "../../inc/MarlinConfig.h" |
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#if HAS_SERVOS |
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#include "../shared/Marduino.h" |
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#include "../shared/servo.h" |
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#include "../shared/servo_private.h" |
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#include "SAMD51.h" |
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#include "HAL_timers_SAMD51.h" |
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#define __TC_GCLK_ID(t) TC##t##_GCLK_ID |
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#define _TC_GCLK_ID(t) __TC_GCLK_ID(t) |
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#define TC_GCLK_ID _TC_GCLK_ID(SERVO_TC) |
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#define _TC_PRESCALER(d) TC_CTRLA_PRESCALER_DIV##d##_Val |
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#define TC_PRESCALER(d) _TC_PRESCALER(d) |
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#define __SERVO_IRQn(t) TC##t##_IRQn |
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#define _SERVO_IRQn(t) __SERVO_IRQn(t) |
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#define SERVO_IRQn _SERVO_IRQn(SERVO_TC) |
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#define HAL_SERVO_TIMER_ISR() TC_HANDLER(SERVO_TC) |
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#define TIMER_TCCHANNEL(t) ((t) & 1) |
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#define TC_COUNTER_START_VAL 0xFFFF |
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static volatile int8_t currentServoIndex[_Nbr_16timers]; // index for the servo being pulsed for each timer (or -1 if refresh interval)
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FORCE_INLINE static uint16_t getTimerCount() { |
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Tc * const tc = TimerConfig[SERVO_TC].pTimer; |
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tc->COUNT16.CTRLBSET.reg = TC_CTRLBCLR_CMD_READSYNC; |
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SYNC(tc->COUNT16.SYNCBUSY.bit.CTRLB || tc->COUNT16.SYNCBUSY.bit.COUNT); |
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return tc->COUNT16.COUNT.reg; |
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} |
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// ----------------------------
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// Interrupt handler for the TC
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// ----------------------------
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HAL_SERVO_TIMER_ISR() { |
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Tc * const tc = TimerConfig[SERVO_TC].pTimer; |
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const timer16_Sequence_t timer = |
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#ifndef _useTimer1 |
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_timer2 |
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#elif !defined(_useTimer2) |
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_timer1 |
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#else |
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(tc->COUNT16.INTFLAG.reg & tc->COUNT16.INTENSET.reg & TC_INTFLAG_MC0) ? _timer1 : _timer2 |
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#endif |
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; |
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const uint8_t tcChannel = TIMER_TCCHANNEL(timer); |
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if (currentServoIndex[timer] < 0) { |
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#if defined(_useTimer1) && defined(_useTimer2) |
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if (currentServoIndex[timer ^ 1] >= 0) { |
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// Wait for both channels
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// Clear the interrupt
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tc->COUNT16.INTFLAG.reg = (tcChannel == 0) ? TC_INTFLAG_MC0 : TC_INTFLAG_MC1; |
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return; |
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} |
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#endif |
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tc->COUNT16.COUNT.reg = TC_COUNTER_START_VAL; |
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SYNC(tc->COUNT16.SYNCBUSY.bit.COUNT); |
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} |
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else if (SERVO_INDEX(timer, currentServoIndex[timer]) < ServoCount && SERVO(timer, currentServoIndex[timer]).Pin.isActive) |
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digitalWrite(SERVO(timer, currentServoIndex[timer]).Pin.nbr, LOW); // pulse this channel low if activated
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// Select the next servo controlled by this timer
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currentServoIndex[timer]++; |
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if (SERVO_INDEX(timer, currentServoIndex[timer]) < ServoCount && currentServoIndex[timer] < SERVOS_PER_TIMER) { |
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if (SERVO(timer, currentServoIndex[timer]).Pin.isActive) // check if activated
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digitalWrite(SERVO(timer, currentServoIndex[timer]).Pin.nbr, HIGH); // it's an active channel so pulse it high
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tc->COUNT16.CC[tcChannel].reg = getTimerCount() - (uint16_t)SERVO(timer, currentServoIndex[timer]).ticks; |
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} |
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else { |
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// finished all channels so wait for the refresh period to expire before starting over
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currentServoIndex[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
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const uint16_t tcCounterValue = getTimerCount(); |
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if ((TC_COUNTER_START_VAL - tcCounterValue) + 4UL < usToTicks(REFRESH_INTERVAL)) // allow a few ticks to ensure the next OCR1A not missed
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tc->COUNT16.CC[tcChannel].reg = TC_COUNTER_START_VAL - (uint16_t)usToTicks(REFRESH_INTERVAL); |
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else |
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tc->COUNT16.CC[tcChannel].reg = (uint16_t)(tcCounterValue - 4UL); // at least REFRESH_INTERVAL has elapsed
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} |
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if (tcChannel == 0) { |
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SYNC(tc->COUNT16.SYNCBUSY.bit.CC0); |
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// Clear the interrupt
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tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC0; |
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} |
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else { |
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SYNC(tc->COUNT16.SYNCBUSY.bit.CC1); |
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// Clear the interrupt
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tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC1; |
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} |
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} |
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void initISR(timer16_Sequence_t timer) { |
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Tc * const tc = TimerConfig[SERVO_TC].pTimer; |
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const uint8_t tcChannel = TIMER_TCCHANNEL(timer); |
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static bool initialized = false; // Servo TC has been initialized
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if (!initialized) { |
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NVIC_DisableIRQ(SERVO_IRQn); |
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// Disable the timer
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tc->COUNT16.CTRLA.bit.ENABLE = false; |
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SYNC(tc->COUNT16.SYNCBUSY.bit.ENABLE); |
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// Select GCLK0 as timer/counter input clock source
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GCLK->PCHCTRL[TC_GCLK_ID].bit.CHEN = false; |
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SYNC(GCLK->PCHCTRL[TC_GCLK_ID].bit.CHEN); |
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GCLK->PCHCTRL[TC_GCLK_ID].reg = GCLK_PCHCTRL_GEN_GCLK0 | GCLK_PCHCTRL_CHEN; // 120MHz startup code programmed
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SYNC(!GCLK->PCHCTRL[TC_GCLK_ID].bit.CHEN); |
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// Reset the timer
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tc->COUNT16.CTRLA.bit.SWRST = true; |
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SYNC(tc->COUNT16.SYNCBUSY.bit.SWRST); |
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SYNC(tc->COUNT16.CTRLA.bit.SWRST); |
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// Set timer counter mode to 16 bits
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tc->COUNT16.CTRLA.reg = TC_CTRLA_MODE_COUNT16; |
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// Set timer counter mode as normal PWM
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tc->COUNT16.WAVE.bit.WAVEGEN = TCC_WAVE_WAVEGEN_NPWM_Val; |
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// Set the prescaler factor
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tc->COUNT16.CTRLA.bit.PRESCALER = TC_PRESCALER(SERVO_TIMER_PRESCALER); |
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// Count down
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tc->COUNT16.CTRLBSET.reg = TC_CTRLBCLR_DIR; |
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SYNC(tc->COUNT16.SYNCBUSY.bit.CTRLB); |
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// Reset all servo indexes
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memset(currentServoIndex, 0xFF, sizeof(currentServoIndex)); |
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// Configure interrupt request
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NVIC_ClearPendingIRQ(SERVO_IRQn); |
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NVIC_SetPriority(SERVO_IRQn, 5); |
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NVIC_EnableIRQ(SERVO_IRQn); |
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initialized = true; |
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} |
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if (!tc->COUNT16.CTRLA.bit.ENABLE) { |
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// Reset the timer counter
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tc->COUNT16.COUNT.reg = TC_COUNTER_START_VAL; |
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SYNC(tc->COUNT16.SYNCBUSY.bit.COUNT); |
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// Enable the timer and start it
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tc->COUNT16.CTRLA.bit.ENABLE = true; |
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SYNC(tc->COUNT16.SYNCBUSY.bit.ENABLE); |
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} |
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// First interrupt request after 1 ms
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tc->COUNT16.CC[tcChannel].reg = getTimerCount() - (uint16_t)usToTicks(1000UL); |
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if (tcChannel == 0 ) { |
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SYNC(tc->COUNT16.SYNCBUSY.bit.CC0); |
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// Clear pending match interrupt
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tc->COUNT16.INTFLAG.reg = TC_INTENSET_MC0; |
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// Enable the match channel interrupt request
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tc->COUNT16.INTENSET.reg = TC_INTENSET_MC0; |
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} |
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else { |
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SYNC(tc->COUNT16.SYNCBUSY.bit.CC1); |
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// Clear pending match interrupt
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tc->COUNT16.INTFLAG.reg = TC_INTENSET_MC1; |
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// Enable the match channel interrupt request
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tc->COUNT16.INTENSET.reg = TC_INTENSET_MC1; |
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} |
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} |
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void finISR(timer16_Sequence_t timer) { |
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Tc * const tc = TimerConfig[SERVO_TC].pTimer; |
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const uint8_t tcChannel = TIMER_TCCHANNEL(timer); |
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// Disable the match channel interrupt request
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tc->COUNT16.INTENCLR.reg = (tcChannel == 0) ? TC_INTENCLR_MC0 : TC_INTENCLR_MC1; |
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if (true |
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#if defined(_useTimer1) && defined(_useTimer2) |
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&& (tc->COUNT16.INTENCLR.reg & (TC_INTENCLR_MC0|TC_INTENCLR_MC1)) == 0 |
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#endif |
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) { |
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// Disable the timer if not used
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tc->COUNT16.CTRLA.bit.ENABLE = false; |
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SYNC(tc->COUNT16.SYNCBUSY.bit.ENABLE); |
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} |
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} |
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#endif // HAS_SERVOS
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#endif // __SAMD51__
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@ -1,59 +0,0 @@ |
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/**
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* Marlin 3D Printer Firmware |
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* |
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* Copyright (C) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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* SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) |
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* |
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* This program is free software: you can redistribute it and/or modify |
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* it under the terms of the GNU General Public License as published by |
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* the Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This program is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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* |
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*/ |
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/**
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* Description: Tone function for Arduino Due and compatible (SAM3X8E) |
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* Derived from http://forum.arduino.cc/index.php?topic=136500.msg2903012#msg2903012
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*/ |
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#ifdef __SAMD51__ |
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#include "../../inc/MarlinConfig.h" |
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#include "HAL_timers_SAMD51.h" |
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static pin_t tone_pin; |
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volatile static int32_t toggles; |
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void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration) { |
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tone_pin = _pin; |
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toggles = 2 * frequency * duration / 1000; |
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HAL_timer_start(TONE_TIMER_NUM, 2 * frequency); |
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} |
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void noTone(const pin_t _pin) { |
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HAL_timer_disable_interrupt(TONE_TIMER_NUM); |
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extDigitalWrite(_pin, LOW); |
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} |
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HAL_TONE_TIMER_ISR() { |
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static bool pin_state = false; |
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HAL_timer_isr_prologue(TONE_TIMER_NUM); |
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if (toggles) { |
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toggles--; |
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extDigitalWrite(tone_pin, (pin_state = !pin_state)); |
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} |
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else noTone(tone_pin); // turn off interrupt
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HAL_timer_isr_epilogue(TONE_TIMER_NUM); |
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} |
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#endif // __SAMD51__
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