/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* 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 .
*
*/
#pragma once
/**
* Fast I/O Routines for AVR
* Use direct port manipulation to save scads of processor time.
* Contributed by Triffid_Hunter and modified by Kliment, thinkyhead, Bob-the-Kuhn, et.al.
*/
#include
#if defined(__AVR_AT90USB1287__) || defined(__AVR_AT90USB1286__) || defined(__AVR_AT90USB1286P__) || defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB646P__) || defined(__AVR_AT90USB647__)
#define AVR_AT90USB1286_FAMILY 1
#elif defined(__AVR_ATmega644__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__) || defined(__AVR_ATmega1284P__)
#define AVR_ATmega1284_FAMILY 1
#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
#define AVR_ATmega2560_FAMILY 1
#elif defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__)
#define AVR_ATmega2561_FAMILY 1
#elif defined(__AVR_ATmega168__) || defined(__AVR_ATmega328__) || defined(__AVR_ATmega328P__)
#define AVR_ATmega328_FAMILY 1
#endif
/**
* Include Ports and Functions
*/
#if AVR_ATmega328_FAMILY
#include "fastio/fastio_168.h"
#elif AVR_ATmega1284_FAMILY
#include "fastio/fastio_644.h"
#elif AVR_ATmega2560_FAMILY
#include "fastio/fastio_1280.h"
#elif AVR_AT90USB1286_FAMILY
#include "fastio/fastio_AT90USB.h"
#elif AVR_ATmega2561_FAMILY
#include "fastio/fastio_1281.h"
#else
#error "No FastIO definition for the selected AVR Board."
#endif
/**
* Magic I/O routines
*
* Now you can simply SET_OUTPUT(PIN); WRITE(PIN, HIGH); WRITE(PIN, LOW);
*
* Why double up on these macros? see https://gcc.gnu.org/onlinedocs/cpp/Stringification.html
*/
#define _READ(IO) TEST(DIO ## IO ## _RPORT, DIO ## IO ## _PIN)
#define _WRITE_NC(IO,V) do{ \
if (V) SBI(DIO ## IO ## _WPORT, DIO ## IO ## _PIN); \
else CBI(DIO ## IO ## _WPORT, DIO ## IO ## _PIN); \
}while(0)
#define _WRITE_C(IO,V) do{ \
uint8_t port_bits = DIO ## IO ## _WPORT; /* Get a mask from the current port bits */ \
if (V) port_bits = ~port_bits; /* For setting bits, invert the mask */ \
DIO ## IO ## _RPORT = port_bits & _BV(DIO ## IO ## _PIN); /* Atomically toggle the output port bits */ \
}while(0)
#define _WRITE(IO,V) do{ if (&(DIO ## IO ## _RPORT) < (uint8_t*)0x100) _WRITE_NC(IO,V); else _WRITE_C(IO,V); }while(0)
#define _TOGGLE(IO) (DIO ## IO ## _RPORT = _BV(DIO ## IO ## _PIN))
#define _SET_INPUT(IO) CBI(DIO ## IO ## _DDR, DIO ## IO ## _PIN)
#define _SET_OUTPUT(IO) SBI(DIO ## IO ## _DDR, DIO ## IO ## _PIN)
#define _IS_INPUT(IO) !TEST(DIO ## IO ## _DDR, DIO ## IO ## _PIN)
#define _IS_OUTPUT(IO) TEST(DIO ## IO ## _DDR, DIO ## IO ## _PIN)
// digitalRead/Write wrappers
#ifdef FASTIO_EXT_START
void extDigitalWrite(const int8_t pin, const uint8_t state);
uint8_t extDigitalRead(const int8_t pin);
#else
#define extDigitalWrite(IO,V) digitalWrite(IO,V)
#define extDigitalRead(IO) digitalRead(IO)
#endif
#define READ(IO) _READ(IO)
#define WRITE(IO,V) _WRITE(IO,V)
#define TOGGLE(IO) _TOGGLE(IO)
#define SET_INPUT(IO) _SET_INPUT(IO)
#define SET_INPUT_PULLUP(IO) do{ _SET_INPUT(IO); _WRITE(IO, HIGH); }while(0)
#define SET_INPUT_PULLDOWN SET_INPUT
#define SET_OUTPUT(IO) _SET_OUTPUT(IO)
#define SET_PWM SET_OUTPUT
#define IS_INPUT(IO) _IS_INPUT(IO)
#define IS_OUTPUT(IO) _IS_OUTPUT(IO)
#define OUT_WRITE(IO,V) do{ SET_OUTPUT(IO); WRITE(IO,V); }while(0)
/**
* Timer and Interrupt Control
*/
// Waveform Generation Modes
enum WaveGenMode : char {
WGM_NORMAL, // 0
WGM_PWM_PC_8, // 1
WGM_PWM_PC_9, // 2
WGM_PWM_PC_10, // 3
WGM_CTC_OCRnA, // 4 COM OCnx
WGM_FAST_PWM_8, // 5
WGM_FAST_PWM_9, // 6
WGM_FAST_PWM_10, // 7
WGM_PWM_PC_FC_ICRn, // 8
WGM_PWM_PC_FC_OCRnA, // 9 COM OCnA
WGM_PWM_PC_ICRn, // 10
WGM_PWM_PC_OCRnA, // 11 COM OCnA
WGM_CTC_ICRn, // 12 COM OCnx
WGM_reserved, // 13
WGM_FAST_PWM_ICRn, // 14 COM OCnA
WGM_FAST_PWM_OCRnA // 15 COM OCnA
};
// Wavefore Generation Modes (Timer 2 only)
enum WaveGenMode2 : char {
WGM2_NORMAL, // 0
WGM2_PWM_PC, // 1
WGM2_CTC_OCR2A, // 2
WGM2_FAST_PWM, // 3
WGM2_reserved_1, // 4
WGM2_PWM_PC_OCR2A, // 5
WGM2_reserved_2, // 6
WGM2_FAST_PWM_OCR2A, // 7
};
// Compare Modes
enum CompareMode : char {
COM_NORMAL, // 0
COM_TOGGLE, // 1 Non-PWM: OCnx ... Both PWM (WGM 9,11,14,15): OCnA only ... else NORMAL
COM_CLEAR_SET, // 2 Non-PWM: OCnx ... Fast PWM: OCnx/Bottom ... PF-FC: OCnx Up/Down
COM_SET_CLEAR // 3 Non-PWM: OCnx ... Fast PWM: OCnx/Bottom ... PF-FC: OCnx Up/Down
};
// Clock Sources
enum ClockSource : char {
CS_NONE, // 0
CS_PRESCALER_1, // 1
CS_PRESCALER_8, // 2
CS_PRESCALER_64, // 3
CS_PRESCALER_256, // 4
CS_PRESCALER_1024, // 5
CS_EXT_FALLING, // 6
CS_EXT_RISING // 7
};
// Clock Sources (Timer 2 only)
enum ClockSource2 : char {
CS2_NONE, // 0
CS2_PRESCALER_1, // 1
CS2_PRESCALER_8, // 2
CS2_PRESCALER_32, // 3
CS2_PRESCALER_64, // 4
CS2_PRESCALER_128, // 5
CS2_PRESCALER_256, // 6
CS2_PRESCALER_1024 // 7
};
// Get interrupt bits in an orderly way
// Ex: cs = GET_CS(0); coma1 = GET_COM(A,1);
#define GET_WGM(T) (((TCCR##T##A >> WGM##T##0) & 0x3) | ((TCCR##T##B >> WGM##T##2 << 2) & 0xC))
#define GET_CS(T) ((TCCR##T##B >> CS##T##0) & 0x7)
#define GET_COM(T,Q) ((TCCR##T##Q >> COM##T##Q##0) & 0x3)
#define GET_COMA(T) GET_COM(T,A)
#define GET_COMB(T) GET_COM(T,B)
#define GET_COMC(T) GET_COM(T,C)
#define GET_ICNC(T) (!!(TCCR##T##B & _BV(ICNC##T)))
#define GET_ICES(T) (!!(TCCR##T##B & _BV(ICES##T)))
#define GET_FOC(T,Q) (!!(TCCR##T##C & _BV(FOC##T##Q)))
#define GET_FOCA(T) GET_FOC(T,A)
#define GET_FOCB(T) GET_FOC(T,B)
#define GET_FOCC(T) GET_FOC(T,C)
// Set Wave Generation Mode bits
// Ex: SET_WGM(5,CTC_ICRn);
#define _SET_WGM(T,V) do{ \
TCCR##T##A = (TCCR##T##A & ~(0x3 << WGM##T##0)) | (( int(V) & 0x3) << WGM##T##0); \
TCCR##T##B = (TCCR##T##B & ~(0x3 << WGM##T##2)) | (((int(V) >> 2) & 0x3) << WGM##T##2); \
}while(0)
#define SET_WGM(T,V) _SET_WGM(T,WGM_##V)
// Runtime (see set_pwm_frequency):
#define _SET_WGMnQ(TCCRnQ, V) do{ \
*(TCCRnQ)[0] = (*(TCCRnQ)[0] & ~(0x3 << 0)) | (( int(V) & 0x3) << 0); \
*(TCCRnQ)[1] = (*(TCCRnQ)[1] & ~(0x3 << 3)) | (((int(V) >> 2) & 0x3) << 3); \
}while(0)
// Set Clock Select bits
// Ex: SET_CS3(PRESCALER_64);
#define _SET_CS(T,V) (TCCR##T##B = (TCCR##T##B & ~(0x7 << CS##T##0)) | ((int(V) & 0x7) << CS##T##0))
#define _SET_CS0(V) _SET_CS(0,V)
#define _SET_CS1(V) _SET_CS(1,V)
#ifdef TCCR2
#define _SET_CS2(V) (TCCR2 = (TCCR2 & ~(0x7 << CS20)) | (int(V) << CS20))
#else
#define _SET_CS2(V) _SET_CS(2,V)
#endif
#define _SET_CS3(V) _SET_CS(3,V)
#define _SET_CS4(V) _SET_CS(4,V)
#define _SET_CS5(V) _SET_CS(5,V)
#define SET_CS0(V) _SET_CS0(CS_##V)
#define SET_CS1(V) _SET_CS1(CS_##V)
#ifdef TCCR2
#define SET_CS2(V) _SET_CS2(CS2_##V)
#else
#define SET_CS2(V) _SET_CS2(CS_##V)
#endif
#define SET_CS3(V) _SET_CS3(CS_##V)
#define SET_CS4(V) _SET_CS4(CS_##V)
#define SET_CS5(V) _SET_CS5(CS_##V)
#define SET_CS(T,V) SET_CS##T(V)
// Runtime (see set_pwm_frequency)
#define _SET_CSn(TCCRnQ, V) do{ \
(*(TCCRnQ)[1] = (*(TCCRnQ[1]) & ~(0x7 << 0)) | ((int(V) & 0x7) << 0)); \
}while(0)
// Set Compare Mode bits
// Ex: SET_COMS(4,CLEAR_SET,CLEAR_SET,CLEAR_SET);
#define _SET_COM(T,Q,V) (TCCR##T##Q = (TCCR##T##Q & ~(0x3 << COM##T##Q##0)) | (int(V) << COM##T##Q##0))
#define SET_COM(T,Q,V) _SET_COM(T,Q,COM_##V)
#define SET_COMA(T,V) SET_COM(T,A,V)
#define SET_COMB(T,V) SET_COM(T,B,V)
#define SET_COMC(T,V) SET_COM(T,C,V)
#define SET_COMS(T,V1,V2,V3) do{ SET_COMA(T,V1); SET_COMB(T,V2); SET_COMC(T,V3); }while(0)
// Runtime (see set_pwm_duty)
#define _SET_COMnQ(TCCRnQ, Q, V) do{ \
(*(TCCRnQ)[0] = (*(TCCRnQ)[0] & ~(0x3 << (6-2*(Q)))) | (int(V) << (6-2*(Q)))); \
}while(0)
// Set OCRnQ register
// Runtime (see set_pwm_duty):
#define _SET_OCRnQ(OCRnQ, Q, V) do{ \
(*(OCRnQ)[(Q)] = (0x0000) | (int(V) & 0xFFFF)); \
}while(0)
// Set ICRn register (one per timer)
// Runtime (see set_pwm_frequency)
#define _SET_ICRn(ICRn, V) do{ \
(*(ICRn) = (0x0000) | (int(V) & 0xFFFF)); \
}while(0)
// Set Noise Canceler bit
// Ex: SET_ICNC(2,1)
#define SET_ICNC(T,V) (TCCR##T##B = (V) ? TCCR##T##B | _BV(ICNC##T) : TCCR##T##B & ~_BV(ICNC##T))
// Set Input Capture Edge Select bit
// Ex: SET_ICES(5,0)
#define SET_ICES(T,V) (TCCR##T##B = (V) ? TCCR##T##B | _BV(ICES##T) : TCCR##T##B & ~_BV(ICES##T))
// Set Force Output Compare bit
// Ex: SET_FOC(3,A,1)
#define SET_FOC(T,Q,V) (TCCR##T##C = (V) ? TCCR##T##C | _BV(FOC##T##Q) : TCCR##T##C & ~_BV(FOC##T##Q))
#define SET_FOCA(T,V) SET_FOC(T,A,V)
#define SET_FOCB(T,V) SET_FOC(T,B,V)
#define SET_FOCC(T,V) SET_FOC(T,C,V)
#if 0
/**
* PWM availability macros
*/
// Determine which harware PWMs are already in use
#define _PWM_CHK_FAN_B(P) (P == E0_AUTO_FAN_PIN || P == E1_AUTO_FAN_PIN || P == E2_AUTO_FAN_PIN || P == E3_AUTO_FAN_PIN || P == E4_AUTO_FAN_PIN || P == E5_AUTO_FAN_PIN || P == E6_AUTO_FAN_PIN || P == E7_AUTO_FAN_PIN || P == CHAMBER_AUTO_FAN_PIN)
#if PIN_EXISTS(CONTROLLER_FAN)
#define PWM_CHK_FAN_B(P) (_PWM_CHK_FAN_B(P) || P == CONTROLLER_FAN_PIN)
#else
#define PWM_CHK_FAN_B(P) _PWM_CHK_FAN_B(P)
#endif
#if ANY_PIN(FAN, FAN1, FAN2, FAN3, FAN4, FAN5, FAN6, FAN7)
#if PIN_EXISTS(FAN7)
#define PWM_CHK_FAN_A(P) (P == FAN0_PIN || P == FAN1_PIN || P == FAN2_PIN || P == FAN3_PIN || P == FAN4_PIN || P == FAN5_PIN || P == FAN6_PIN || P == FAN7_PIN)
#elif PIN_EXISTS(FAN6)
#define PWM_CHK_FAN_A(P) (P == FAN0_PIN || P == FAN1_PIN || P == FAN2_PIN || P == FAN3_PIN || P == FAN4_PIN || P == FAN5_PIN || P == FAN6_PIN)
#elif PIN_EXISTS(FAN5)
#define PWM_CHK_FAN_A(P) (P == FAN0_PIN || P == FAN1_PIN || P == FAN2_PIN || P == FAN3_PIN || P == FAN4_PIN || P == FAN5_PIN)
#elif PIN_EXISTS(FAN4)
#define PWM_CHK_FAN_A(P) (P == FAN0_PIN || P == FAN1_PIN || P == FAN2_PIN || P == FAN3_PIN || P == FAN4_PIN)
#elif PIN_EXISTS(FAN3)
#define PWM_CHK_FAN_A(P) (P == FAN0_PIN || P == FAN1_PIN || P == FAN2_PIN || P == FAN3_PIN)
#elif PIN_EXISTS(FAN2)
#define PWM_CHK_FAN_A(P) (P == FAN0_PIN || P == FAN1_PIN || P == FAN2_PIN)
#elif PIN_EXISTS(FAN1)
#define PWM_CHK_FAN_A(P) (P == FAN0_PIN || P == FAN1_PIN)
#else
#define PWM_CHK_FAN_A(P) (P == FAN0_PIN)
#endif
#else
#define PWM_CHK_FAN_A(P) false
#endif
#if HAS_MOTOR_CURRENT_PWM
#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
#define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_Z || P == MOTOR_CURRENT_PWM_XY)
#elif PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
#define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_Z)
#else
#define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E)
#endif
#else
#define PWM_CHK_MOTOR_CURRENT(P) false
#endif
#ifdef NUM_SERVOS
#if AVR_ATmega2560_FAMILY
#define PWM_CHK_SERVO(P) (P == 5 || (NUM_SERVOS > 12 && P == 6) || (NUM_SERVOS > 24 && P == 46)) // PWMS 3A, 4A & 5A
#elif AVR_ATmega2561_FAMILY
#define PWM_CHK_SERVO(P) (P == 5) // PWM3A
#elif AVR_ATmega1284_FAMILY
#define PWM_CHK_SERVO(P) false
#elif AVR_AT90USB1286_FAMILY
#define PWM_CHK_SERVO(P) (P == 16) // PWM3A
#elif AVR_ATmega328_FAMILY
#define PWM_CHK_SERVO(P) false
#endif
#else
#define PWM_CHK_SERVO(P) false
#endif
#if ENABLED(BARICUDA)
#if HAS_HEATER_1 && HAS_HEATER_2
#define PWM_CHK_HEATER(P) (P == HEATER_1_PIN || P == HEATER_2_PIN)
#elif HAS_HEATER_1
#define PWM_CHK_HEATER(P) (P == HEATER_1_PIN)
#endif
#else
#define PWM_CHK_HEATER(P) false
#endif
#define PWM_CHK(P) (PWM_CHK_HEATER(P) || PWM_CHK_SERVO(P) || PWM_CHK_MOTOR_CURRENT(P) || PWM_CHK_FAN_A(P) || PWM_CHK_FAN_B(P))
#endif // PWM_CHK is not used in Marlin
// define which hardware PWMs are available for the current CPU
// all timer 1 PWMS deleted from this list because they are never available
#if AVR_ATmega2560_FAMILY
#define PWM_PIN(P) ((P >= 2 && P <= 10) || P == 13 || P == 44 || P == 45 || P == 46)
#elif AVR_ATmega2561_FAMILY
#define PWM_PIN(P) ((P >= 2 && P <= 6) || P == 9)
#elif AVR_ATmega1284_FAMILY
#define PWM_PIN(P) (P == 3 || P == 4 || P == 14 || P == 15)
#elif AVR_AT90USB1286_FAMILY
#define PWM_PIN(P) (P == 0 || P == 1 || P == 14 || P == 15 || P == 16 || P == 24)
#elif AVR_ATmega328_FAMILY
#define PWM_PIN(P) (P == 3 || P == 5 || P == 6 || P == 11)
#else
#error "unknown CPU"
#endif