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@ -25,21 +25,22 @@ |
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// --------------------------------------------------------------------------
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// Defines
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// --------------------------------------------------------------------------
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#define RTC_TIMER_NUM 8 // This is not a TC but a RTC
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typedef uint32_t hal_timer_t; |
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#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF |
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#define HAL_TIMER_RATE F_CPU // frequency of timers peripherals
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#ifndef STEP_TIMER_NUM |
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#define STEP_TIMER_NUM 0 // Timer Index for Stepper
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#define MF_TIMER_RTC 8 // This is not a TC but a RTC
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#ifndef MF_TIMER_STEP |
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#define MF_TIMER_STEP 0 // Timer Index for Stepper
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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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#ifndef MF_TIMER_PULSE |
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#define MF_TIMER_PULSE MF_TIMER_STEP |
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#endif |
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#ifndef TEMP_TIMER_NUM |
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#define TEMP_TIMER_NUM RTC_TIMER_NUM // Timer Index for Temperature
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#ifndef MF_TIMER_TEMP |
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#define MF_TIMER_TEMP MF_TIMER_RTC // Timer Index for Temperature
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#endif |
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#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
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@ -52,30 +53,29 @@ typedef uint32_t hal_timer_t; |
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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() HAL_timer_enable_interrupt(STEP_TIMER_NUM) |
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM) |
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#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM) |
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP) |
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_STEP) |
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#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP) |
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#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM) |
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#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM) |
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#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP) |
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#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP) |
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#define TC_PRIORITY(t) t == SERVO_TC ? 1 \ |
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: (t == STEP_TIMER_NUM || t == PULSE_TIMER_NUM) ? 2 \ |
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: (t == TEMP_TIMER_NUM) ? 6 \ |
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: 7 |
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#define TC_PRIORITY(t) ( t == SERVO_TC ? 1 \ |
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: (t == MF_TIMER_STEP || t == MF_TIMER_PULSE) ? 2 \ |
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: (t == MF_TIMER_TEMP) ? 6 : 7 ) |
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#define _TC_HANDLER(t) void TC##t##_Handler() |
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#define TC_HANDLER(t) _TC_HANDLER(t) |
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#ifndef HAL_STEP_TIMER_ISR |
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#define HAL_STEP_TIMER_ISR() TC_HANDLER(STEP_TIMER_NUM) |
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#define HAL_STEP_TIMER_ISR() TC_HANDLER(MF_TIMER_STEP) |
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#endif |
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#if STEP_TIMER_NUM != PULSE_TIMER_NUM |
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#define HAL_PULSE_TIMER_ISR() TC_HANDLER(PULSE_TIMER_NUM) |
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#if MF_TIMER_STEP != MF_TIMER_PULSE |
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#define HAL_PULSE_TIMER_ISR() TC_HANDLER(MF_TIMER_PULSE) |
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#endif |
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#if TEMP_TIMER_NUM == RTC_TIMER_NUM |
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#if MF_TIMER_TEMP == MF_TIMER_RTC |
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#define HAL_TEMP_TIMER_ISR() void RTC_Handler() |
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#else |
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#define HAL_TEMP_TIMER_ISR() TC_HANDLER(TEMP_TIMER_NUM) |
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#define HAL_TEMP_TIMER_ISR() TC_HANDLER(MF_TIMER_TEMP) |
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#endif |
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// --------------------------------------------------------------------------
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@ -95,7 +95,7 @@ typedef struct { |
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// Public Variables
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// --------------------------------------------------------------------------
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extern const tTimerConfig TimerConfig[]; |
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extern const tTimerConfig timer_config[]; |
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// --------------------------------------------------------------------------
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// Public functions
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@ -104,20 +104,20 @@ extern const tTimerConfig TimerConfig[]; |
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void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency); |
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FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) { |
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// Should never be called with timer RTC_TIMER_NUM
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Tc * const tc = TimerConfig[timer_num].pTc; |
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// Should never be called with timer MF_TIMER_RTC
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Tc * const tc = timer_config[timer_num].pTc; |
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tc->COUNT32.CC[0].reg = compare; |
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} |
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FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) { |
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// Should never be called with timer RTC_TIMER_NUM
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Tc * const tc = TimerConfig[timer_num].pTc; |
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// Should never be called with timer MF_TIMER_RTC
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Tc * const tc = timer_config[timer_num].pTc; |
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return (hal_timer_t)tc->COUNT32.CC[0].reg; |
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} |
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FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) { |
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// Should never be called with timer RTC_TIMER_NUM
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Tc * const tc = TimerConfig[timer_num].pTc; |
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// Should never be called with timer MF_TIMER_RTC
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Tc * const tc = timer_config[timer_num].pTc; |
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tc->COUNT32.CTRLBSET.reg = TC_CTRLBCLR_CMD_READSYNC; |
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SYNC(tc->COUNT32.SYNCBUSY.bit.CTRLB || tc->COUNT32.SYNCBUSY.bit.COUNT); |
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return tc->COUNT32.COUNT.reg; |
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@ -128,13 +128,13 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num); |
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bool HAL_timer_interrupt_enabled(const uint8_t timer_num); |
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FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) { |
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if (timer_num == RTC_TIMER_NUM) { |
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Rtc * const rtc = TimerConfig[timer_num].pRtc; |
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if (timer_num == MF_TIMER_RTC) { |
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Rtc * const rtc = timer_config[timer_num].pRtc; |
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// Clear interrupt flag
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rtc->MODE0.INTFLAG.reg = RTC_MODE0_INTFLAG_CMP0; |
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} |
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else { |
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Tc * const tc = TimerConfig[timer_num].pTc; |
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Tc * const tc = timer_config[timer_num].pTc; |
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// Clear interrupt flag
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tc->COUNT32.INTFLAG.reg = TC_INTFLAG_OVF; |
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} |
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Scott Lahteine
3 years ago
Scott Lahteine