ellensp
5 years ago
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GitHub
GitHub
43 changed files with 459 additions and 336 deletions
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/**
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* Marlin 3D Printer Firmware |
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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* Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com |
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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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#pragma once |
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#include <stdint.h> |
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// ------------------------
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// Types
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// ------------------------
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typedef uint16_t hal_timer_t; |
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#define HAL_TIMER_TYPE_MAX 0xFFFF |
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// ------------------------
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// Defines
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// ------------------------
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#define HAL_TIMER_RATE ((F_CPU) / 8) // i.e., 2MHz or 2.5MHz
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#ifndef STEP_TIMER_NUM |
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#define STEP_TIMER_NUM 1 |
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#endif |
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#ifndef PULSE_TIMER_NUM |
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#define PULSE_TIMER_NUM STEP_TIMER_NUM |
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#endif |
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#ifndef TEMP_TIMER_NUM |
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#define TEMP_TIMER_NUM 0 |
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#endif |
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#define TEMP_TIMER_FREQUENCY ((F_CPU) / 64.0 / 256.0) |
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#define STEPPER_TIMER_RATE HAL_TIMER_RATE |
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#define STEPPER_TIMER_PRESCALE 8 |
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#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // Cannot be of type double
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#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer
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#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE |
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#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US |
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() SBI(TIMSK1, OCIE1A) |
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A) |
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#define STEPPER_ISR_ENABLED() TEST(TIMSK1, OCIE1A) |
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#define ENABLE_TEMPERATURE_INTERRUPT() SBI(TIMSK0, OCIE0B) |
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#define DISABLE_TEMPERATURE_INTERRUPT() CBI(TIMSK0, OCIE0B) |
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#define TEMPERATURE_ISR_ENABLED() TEST(TIMSK0, OCIE0B) |
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FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) { |
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switch (timer_num) { |
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case STEP_TIMER_NUM: |
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// waveform generation = 0100 = CTC
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SET_WGM(1, CTC_OCRnA); |
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// output mode = 00 (disconnected)
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SET_COMA(1, NORMAL); |
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// Set the timer pre-scaler
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// Generally we use a divider of 8, resulting in a 2MHz timer
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// frequency on a 16MHz MCU. If you are going to change this, be
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// sure to regenerate speed_lookuptable.h with
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// create_speed_lookuptable.py
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SET_CS(1, PRESCALER_8); // CS 2 = 1/8 prescaler
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// Init Stepper ISR to 122 Hz for quick starting
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// (F_CPU) / (STEPPER_TIMER_PRESCALE) / frequency
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OCR1A = 0x4000; |
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TCNT1 = 0; |
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break; |
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case TEMP_TIMER_NUM: |
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// Use timer0 for temperature measurement
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// Interleave temperature interrupt with millies interrupt
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OCR0B = 128; |
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break; |
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} |
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} |
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#define TIMER_OCR_1 OCR1A |
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#define TIMER_COUNTER_1 TCNT1 |
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#define TIMER_OCR_0 OCR0A |
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#define TIMER_COUNTER_0 TCNT0 |
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#define _CAT(a,V...) a##V |
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#define HAL_timer_set_compare(timer, compare) (_CAT(TIMER_OCR_, timer) = compare) |
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#define HAL_timer_get_compare(timer) _CAT(TIMER_OCR_, timer) |
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#define HAL_timer_get_count(timer) _CAT(TIMER_COUNTER_, timer) |
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/**
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* On AVR there is no hardware prioritization and preemption of |
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* interrupts, so this emulates it. The UART has first priority |
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* (otherwise, characters will be lost due to UART overflow). |
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* Then: Stepper, Endstops, Temperature, and -finally- all others. |
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*/ |
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#define HAL_timer_isr_prologue(TIMER_NUM) |
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#define HAL_timer_isr_epilogue(TIMER_NUM) |
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/* 18 cycles maximum latency */ |
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#ifndef HAL_STEP_TIMER_ISR |
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#define HAL_STEP_TIMER_ISR() \ |
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extern "C" void TIMER1_COMPA_vect() __attribute__ ((signal, naked, used, externally_visible)); \ |
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extern "C" void TIMER1_COMPA_vect_bottom() asm ("TIMER1_COMPA_vect_bottom") __attribute__ ((used, externally_visible, noinline)); \ |
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void TIMER1_COMPA_vect() { \ |
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__asm__ __volatile__ ( \ |
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A("push r16") /* 2 Save R16 */ \ |
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A("in r16, __SREG__") /* 1 Get SREG */ \ |
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A("push r16") /* 2 Save SREG into stack */ \ |
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A("lds r16, %[timsk0]") /* 2 Load into R0 the Temperature timer Interrupt mask register */ \ |
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A("push r16") /* 2 Save TIMSK0 into the stack */ \ |
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A("andi r16,~%[msk0]") /* 1 Disable the temperature ISR */ \ |
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A("sts %[timsk0], r16") /* 2 And set the new value */ \ |
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A("lds r16, %[timsk1]") /* 2 Load into R0 the stepper timer Interrupt mask register [TIMSK1] */ \ |
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A("andi r16,~%[msk1]") /* 1 Disable the stepper ISR */ \ |
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A("sts %[timsk1], r16") /* 2 And set the new value */ \ |
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A("push r16") /* 2 Save TIMSK1 into stack */ \ |
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A("in r16, 0x3B") /* 1 Get RAMPZ register */ \ |
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A("push r16") /* 2 Save RAMPZ into stack */ \ |
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A("in r16, 0x3C") /* 1 Get EIND register */ \ |
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A("push r0") /* C runtime can modify all the following registers without restoring them */ \ |
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A("push r1") \ |
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A("push r18") \ |
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A("push r19") \ |
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A("push r20") \ |
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A("push r21") \ |
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A("push r22") \ |
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A("push r23") \ |
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A("push r24") \ |
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A("push r25") \ |
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A("push r26") \ |
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A("push r27") \ |
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A("push r30") \ |
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A("push r31") \ |
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A("clr r1") /* C runtime expects this register to be 0 */ \ |
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A("call TIMER1_COMPA_vect_bottom") /* Call the bottom handler - No inlining allowed, otherwise registers used are not saved */ \ |
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A("pop r31") \ |
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A("pop r30") \ |
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A("pop r27") \ |
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A("pop r26") \ |
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A("pop r25") \ |
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A("pop r24") \ |
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A("pop r23") \ |
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A("pop r22") \ |
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A("pop r21") \ |
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A("pop r20") \ |
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A("pop r19") \ |
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A("pop r18") \ |
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A("pop r1") \ |
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A("pop r0") \ |
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A("out 0x3C, r16") /* 1 Restore EIND register */ \ |
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A("pop r16") /* 2 Get the original RAMPZ register value */ \ |
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A("out 0x3B, r16") /* 1 Restore RAMPZ register to its original value */ \ |
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A("pop r16") /* 2 Get the original TIMSK1 value but with stepper ISR disabled */ \ |
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A("ori r16,%[msk1]") /* 1 Reenable the stepper ISR */ \ |
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A("cli") /* 1 Disable global interrupts - Reenabling Stepper ISR can reenter amd temperature can reenter, and we want that, if it happens, after this ISR has ended */ \ |
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A("sts %[timsk1], r16") /* 2 And restore the old value - This reenables the stepper ISR */ \ |
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A("pop r16") /* 2 Get the temperature timer Interrupt mask register [TIMSK0] */ \ |
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A("sts %[timsk0], r16") /* 2 And restore the old value - This reenables the temperature ISR */ \ |
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A("pop r16") /* 2 Get the old SREG value */ \ |
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A("out __SREG__, r16") /* 1 And restore the SREG value */ \ |
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A("pop r16") /* 2 Restore R16 value */ \ |
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A("reti") /* 4 Return from interrupt */ \ |
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: \ |
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: [timsk0] "i" ((uint16_t)&TIMSK0), \ |
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[timsk1] "i" ((uint16_t)&TIMSK1), \ |
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[msk0] "M" ((uint8_t)(1<<OCIE0B)),\ |
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[msk1] "M" ((uint8_t)(1<<OCIE1A)) \ |
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: \ |
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); \ |
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} \ |
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void TIMER1_COMPA_vect_bottom() |
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#endif // HAL_STEP_TIMER_ISR
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#ifndef HAL_TEMP_TIMER_ISR |
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/* 14 cycles maximum latency */ |
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#define HAL_TEMP_TIMER_ISR() \ |
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extern "C" void TIMER0_COMPB_vect() __attribute__ ((signal, naked, used, externally_visible)); \ |
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extern "C" void TIMER0_COMPB_vect_bottom() asm ("TIMER0_COMPB_vect_bottom") __attribute__ ((used, externally_visible, noinline)); \ |
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void TIMER0_COMPB_vect() { \ |
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__asm__ __volatile__ ( \ |
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A("push r16") /* 2 Save R16 */ \ |
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A("in r16, __SREG__") /* 1 Get SREG */ \ |
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A("push r16") /* 2 Save SREG into stack */ \ |
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A("lds r16, %[timsk0]") /* 2 Load into R0 the Temperature timer Interrupt mask register */ \ |
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A("andi r16,~%[msk0]") /* 1 Disable the temperature ISR */ \ |
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A("sts %[timsk0], r16") /* 2 And set the new value */ \ |
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A("sei") /* 1 Enable global interrupts - It is safe, as the temperature ISR is disabled, so we cannot reenter it */ \ |
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A("push r16") /* 2 Save TIMSK0 into stack */ \ |
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A("in r16, 0x3B") /* 1 Get RAMPZ register */ \ |
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A("push r16") /* 2 Save RAMPZ into stack */ \ |
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A("in r16, 0x3C") /* 1 Get EIND register */ \ |
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A("push r0") /* C runtime can modify all the following registers without restoring them */ \ |
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A("push r1") \ |
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A("push r18") \ |
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A("push r19") \ |
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A("push r20") \ |
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A("push r21") \ |
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A("push r22") \ |
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A("push r23") \ |
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A("push r24") \ |
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A("push r25") \ |
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A("push r26") \ |
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A("push r27") \ |
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A("push r30") \ |
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A("push r31") \ |
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A("clr r1") /* C runtime expects this register to be 0 */ \ |
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A("call TIMER0_COMPB_vect_bottom") /* Call the bottom handler - No inlining allowed, otherwise registers used are not saved */ \ |
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A("pop r31") \ |
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A("pop r30") \ |
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A("pop r27") \ |
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A("pop r26") \ |
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A("pop r25") \ |
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A("pop r24") \ |
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A("pop r23") \ |
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A("pop r22") \ |
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A("pop r21") \ |
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A("pop r20") \ |
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A("pop r19") \ |
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A("pop r18") \ |
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A("pop r1") \ |
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A("pop r0") \ |
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A("out 0x3C, r16") /* 1 Restore EIND register */ \ |
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A("pop r16") /* 2 Get the original RAMPZ register value */ \ |
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A("out 0x3B, r16") /* 1 Restore RAMPZ register to its original value */ \ |
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A("pop r16") /* 2 Get the original TIMSK0 value but with temperature ISR disabled */ \ |
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A("ori r16,%[msk0]") /* 1 Enable temperature ISR */ \ |
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A("cli") /* 1 Disable global interrupts - We must do this, as we will reenable the temperature ISR, and we don't want to reenter this handler until the current one is done */ \ |
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A("sts %[timsk0], r16") /* 2 And restore the old value */ \ |
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A("pop r16") /* 2 Get the old SREG */ \ |
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A("out __SREG__, r16") /* 1 And restore the SREG value */ \ |
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A("pop r16") /* 2 Restore R16 */ \ |
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A("reti") /* 4 Return from interrupt */ \ |
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: \ |
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: [timsk0] "i"((uint16_t)&TIMSK0), \ |
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[msk0] "M" ((uint8_t)(1<<OCIE0B)) \ |
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: \ |
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); \ |
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} \ |
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void TIMER0_COMPB_vect_bottom() |
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#endif // HAL_TEMP_TIMER_ISR
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