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143 lines
5.2 KiB
143 lines
5.2 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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* SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
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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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#include <stdint.h>
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// --------------------------------------------------------------------------
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// Defines
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// --------------------------------------------------------------------------
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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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#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 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 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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#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
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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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#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(MF_TIMER_STEP)
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#endif
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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 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(MF_TIMER_TEMP)
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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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union {
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Tc *pTc;
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Rtc *pRtc;
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};
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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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// 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 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 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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}
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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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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 = 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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}
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#define HAL_timer_isr_epilogue(timer_num)
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