Scott Lahteine
7 years ago
committed by
GitHub
GitHub
21 changed files with 273 additions and 268 deletions
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/**
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* Marlin 3D Printer Firmware |
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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* |
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* Based on Sprinter and grbl. |
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
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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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Busy wait delay Cycles routines: |
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DELAY_CYCLES(count): Delay execution in cycles |
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DELAY_NS(count): Delay execution in nanoseconds |
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DELAY_US(count): Delay execution in microseconds |
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*/ |
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#ifndef MARLIN_DELAY_H |
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#define MARLIN_DELAY_H |
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#if defined(__arm__) || defined(__thumb__) |
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/* https://blueprints.launchpad.net/gcc-arm-embedded/+spec/delay-cycles */ |
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#define nop() __asm__ __volatile__("nop;\n\t":::) |
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FORCE_INLINE static void __delay_4cycles(uint32_t cy) { // +1 cycle
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#if ARCH_PIPELINE_RELOAD_CYCLES < 2 |
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#define EXTRA_NOP_CYCLES A("nop") |
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#else |
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#define EXTRA_NOP_CYCLES "" |
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#endif |
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__asm__ __volatile__( |
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A(".syntax unified") // is to prevent CM0,CM1 non-unified syntax
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L("1") |
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A("subs %[cnt],#1") |
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EXTRA_NOP_CYCLES |
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A("bne 1b") |
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: [cnt]"+r"(cy) // output: +r means input+output
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: // input:
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: "cc" // clobbers:
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); |
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} |
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/* ---------------- Delay in cycles */ |
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FORCE_INLINE static void DELAY_CYCLES(uint32_t x) { |
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if (__builtin_constant_p(x)) { |
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#define MAXNOPS 4 |
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if (x <= (MAXNOPS)) { |
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switch (x) { case 4: nop(); case 3: nop(); case 2: nop(); case 1: nop(); } |
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} |
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else { // because of +1 cycle inside delay_4cycles
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const uint32_t rem = (x - 1) % (MAXNOPS); |
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switch (rem) { case 3: nop(); case 2: nop(); case 1: nop(); } |
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if ((x = (x - 1) / (MAXNOPS))) |
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__delay_4cycles(x); // if need more then 4 nop loop is more optimal
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} |
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#undef MAXNOPS |
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} |
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else |
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__delay_4cycles(x / 4); |
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} |
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#undef nop |
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#elif defined(__AVR__) |
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#define nop() __asm__ __volatile__("nop;\n\t":::) |
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FORCE_INLINE static void __delay_4cycles(uint8_t cy) { |
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__asm__ __volatile__( |
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L("1") |
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A("dec %[cnt]") |
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A("nop") |
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A("brne 1b") |
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: [cnt] "+r"(cy) // output: +r means input+output
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: // input:
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: "cc" // clobbers:
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); |
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} |
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/* ---------------- Delay in cycles */ |
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FORCE_INLINE static void DELAY_CYCLES(uint16_t x) { |
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if (__builtin_constant_p(x)) { |
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#define MAXNOPS 4 |
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if (x <= (MAXNOPS)) { |
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switch (x) { case 4: nop(); case 3: nop(); case 2: nop(); case 1: nop(); } |
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} |
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else { |
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const uint32_t rem = (x) % (MAXNOPS); |
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switch (rem) { case 3: nop(); case 2: nop(); case 1: nop(); } |
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if ((x = (x) / (MAXNOPS))) |
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__delay_4cycles(x); // if need more then 4 nop loop is more optimal
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} |
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#undef MAXNOPS |
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} |
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else |
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__delay_4cycles(x / 4); |
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} |
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#undef nop |
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#else |
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#error "Unsupported MCU architecture" |
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#endif |
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/* ---------------- Delay in nanoseconds */ |
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#define DELAY_NS(x) DELAY_CYCLES( (x) * (F_CPU/1000000L) / 1000L ) |
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/* ---------------- Delay in microseconds */ |
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#define DELAY_US(x) DELAY_CYCLES( (x) * (F_CPU/1000000L) ) |
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#endif // MARLIN_DELAY_H
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