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128 lines
4.4 KiB
128 lines
4.4 KiB
/**
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* Marlin 3D Printer Firmware
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*
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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 <https://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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/**
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* HAL Timers for Arduino Due and compatible (SAM3X8E)
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*/
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#include <stdint.h>
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// ------------------------
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// Defines
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// ------------------------
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#define FORCE_INLINE __attribute__((always_inline)) inline
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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) / 2) // frequency of timers peripherals
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#ifndef MF_TIMER_STEP
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#define MF_TIMER_STEP 2 // Timer Index for Stepper
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#endif
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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 MF_TIMER_TEMP
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#define MF_TIMER_TEMP 4 // Timer Index for Temperature
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#endif
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#ifndef MF_TIMER_TONE
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#define MF_TIMER_TONE 6 // index of timer to use for beeper tones
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#endif
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#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
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#define STEPPER_TIMER_RATE HAL_TIMER_RATE // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
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#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
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#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
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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() 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(MF_TIMER_TEMP)
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#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)
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#ifndef HAL_STEP_TIMER_ISR
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#define HAL_STEP_TIMER_ISR() void TC2_Handler()
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#endif
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#ifndef HAL_TEMP_TIMER_ISR
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#define HAL_TEMP_TIMER_ISR() void TC4_Handler()
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#endif
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#ifndef HAL_TONE_TIMER_ISR
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#define HAL_TONE_TIMER_ISR() void TC6_Handler()
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#endif
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// ------------------------
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// Types
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// ------------------------
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typedef struct {
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Tc *pTimerRegs;
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uint16_t channel;
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IRQn_Type IRQ_Id;
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uint8_t priority;
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} tTimerConfig;
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// ------------------------
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// Public Variables
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// ------------------------
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extern const tTimerConfig timer_config[];
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// ------------------------
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// Public functions
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// ------------------------
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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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const tTimerConfig * const pConfig = &timer_config[timer_num];
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pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC = 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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const tTimerConfig * const pConfig = &timer_config[timer_num];
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return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC;
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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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const tTimerConfig * const pConfig = &timer_config[timer_num];
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return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_CV;
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}
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void HAL_timer_enable_interrupt(const uint8_t timer_num);
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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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const tTimerConfig * const pConfig = &timer_config[timer_num];
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// Reading the status register clears the interrupt flag
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pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_SR;
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}
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#define HAL_timer_isr_epilogue(T)
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