339 lines
14 KiB
C
339 lines
14 KiB
C
/* **************************************************************************
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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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Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
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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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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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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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* Description: HAL for __AVR__
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*/
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#ifndef _HAL_AVR_H_
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#define _HAL_AVR_H_
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// --------------------------------------------------------------------------
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// Includes
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// --------------------------------------------------------------------------
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#include "fastio.h"
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#include <stdint.h>
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#include <Arduino.h>
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#include <util/delay.h>
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#include <avr/eeprom.h>
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#include <avr/pgmspace.h>
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#include <avr/interrupt.h>
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#include <avr/io.h>
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// --------------------------------------------------------------------------
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// Defines
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// --------------------------------------------------------------------------
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//#define analogInputToDigitalPin(IO) IO
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// Bracket code that shouldn't be interrupted
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#ifndef CRITICAL_SECTION_START
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#define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli()
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#define CRITICAL_SECTION_END SREG = _sreg
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#endif
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#define ISRS_ENABLED() TEST(SREG, SREG_I)
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#define ENABLE_ISRS() sei()
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#define DISABLE_ISRS() cli()
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// --------------------------------------------------------------------------
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// Types
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// --------------------------------------------------------------------------
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typedef uint16_t hal_timer_t;
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#define HAL_TIMER_TYPE_MAX 0xFFFF
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typedef int8_t pin_t;
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#define HAL_SERVO_LIB Servo
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// --------------------------------------------------------------------------
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// Public Variables
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// --------------------------------------------------------------------------
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//extern uint8_t MCUSR;
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// --------------------------------------------------------------------------
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// Public functions
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// --------------------------------------------------------------------------
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//void cli(void);
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//void _delay_ms(const int delay);
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inline void HAL_clear_reset_source(void) { MCUSR = 0; }
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inline uint8_t HAL_get_reset_source(void) { return MCUSR; }
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// eeprom
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//void eeprom_write_byte(unsigned char *pos, unsigned char value);
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//unsigned char eeprom_read_byte(unsigned char *pos);
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// timers
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#define HAL_TIMER_RATE ((F_CPU) / 8) // i.e., 2MHz or 2.5MHz
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#define STEP_TIMER_NUM 1
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#define TEMP_TIMER_NUM 0
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#define PULSE_TIMER_NUM STEP_TIMER_NUM
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#define TEMP_TIMER_FREQUENCY ((F_CPU) / 64.0 / 256.0)
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#define STEPPER_TIMER_RATE HAL_TIMER_RATE
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#define STEPPER_TIMER_PRESCALE 8
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#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // Cannot be of type double
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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() SBI(TIMSK1, OCIE1A)
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
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#define STEPPER_ISR_ENABLED() TEST(TIMSK1, OCIE1A)
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#define ENABLE_TEMPERATURE_INTERRUPT() SBI(TIMSK0, OCIE0B)
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#define DISABLE_TEMPERATURE_INTERRUPT() CBI(TIMSK0, OCIE0B)
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#define TEMPERATURE_ISR_ENABLED() TEST(TIMSK0, OCIE0B)
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FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
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UNUSED(frequency);
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switch (timer_num) {
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case STEP_TIMER_NUM:
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// waveform generation = 0100 = CTC
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SET_WGM(1, CTC_OCRnA);
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// output mode = 00 (disconnected)
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SET_COMA(1, NORMAL);
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// Set the timer pre-scaler
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// Generally we use a divider of 8, resulting in a 2MHz timer
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// frequency on a 16MHz MCU. If you are going to change this, be
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// sure to regenerate speed_lookuptable.h with
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// create_speed_lookuptable.py
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SET_CS(1, PRESCALER_8); // CS 2 = 1/8 prescaler
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// Init Stepper ISR to 122 Hz for quick starting
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// (F_CPU) / (STEPPER_TIMER_PRESCALE) / frequency
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OCR1A = 0x4000;
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TCNT1 = 0;
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break;
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case TEMP_TIMER_NUM:
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// Use timer0 for temperature measurement
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// Interleave temperature interrupt with millies interrupt
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OCR0B = 128;
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break;
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}
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}
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#define TIMER_OCR_1 OCR1A
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#define TIMER_COUNTER_1 TCNT1
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#define TIMER_OCR_0 OCR0A
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#define TIMER_COUNTER_0 TCNT0
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#define _CAT(a, ...) a ## __VA_ARGS__
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#define HAL_timer_set_compare(timer, compare) (_CAT(TIMER_OCR_, timer) = compare)
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#define HAL_timer_restrain(timer, interval_ticks) NOLESS(_CAT(TIMER_OCR_, timer), _CAT(TIMER_COUNTER_, timer) + interval_ticks)
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#define HAL_timer_get_compare(timer) _CAT(TIMER_OCR_, timer)
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#define HAL_timer_get_count(timer) _CAT(TIMER_COUNTER_, timer)
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/**
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* On AVR there is no hardware prioritization and preemption of
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* interrupts, so this emulates it. The UART has first priority
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* (otherwise, characters will be lost due to UART overflow).
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* Then: Stepper, Endstops, Temperature, and -finally- all others.
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*/
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#define HAL_timer_isr_prologue(TIMER_NUM)
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#define HAL_timer_isr_epilogue(TIMER_NUM)
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/* 18 cycles maximum latency */
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#define HAL_STEP_TIMER_ISR \
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extern "C" void TIMER1_COMPA_vect (void) __attribute__ ((signal, naked, used, externally_visible)); \
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extern "C" void TIMER1_COMPA_vect_bottom (void) asm ("TIMER1_COMPA_vect_bottom") __attribute__ ((used, externally_visible, noinline)); \
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void TIMER1_COMPA_vect (void) { \
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__asm__ __volatile__ ( \
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A("push r16") /* 2 Save R16 */ \
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A("in r16, __SREG__") /* 1 Get SREG */ \
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A("push r16") /* 2 Save SREG into stack */ \
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A("lds r16, %[timsk0]") /* 2 Load into R0 the Temperature timer Interrupt mask register */ \
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A("push r16") /* 2 Save TIMSK0 into the stack */ \
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A("andi r16,~%[msk0]") /* 1 Disable the temperature ISR */ \
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A("sts %[timsk0], r16") /* 2 And set the new value */ \
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A("lds r16, %[timsk1]") /* 2 Load into R0 the stepper timer Interrupt mask register [TIMSK1] */ \
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A("andi r16,~%[msk1]") /* 1 Disable the stepper ISR */ \
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A("sts %[timsk1], r16") /* 2 And set the new value */ \
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A("push r16") /* 2 Save TIMSK1 into stack */ \
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A("in r16, 0x3B") /* 1 Get RAMPZ register */ \
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A("push r16") /* 2 Save RAMPZ into stack */ \
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A("in r16, 0x3C") /* 1 Get EIND register */ \
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A("push r0") /* C runtime can modify all the following registers without restoring them */ \
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A("push r1") \
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A("push r18") \
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A("push r19") \
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A("push r20") \
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A("push r21") \
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A("push r22") \
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A("push r23") \
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A("push r24") \
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A("push r25") \
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A("push r26") \
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A("push r27") \
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A("push r30") \
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A("push r31") \
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A("clr r1") /* C runtime expects this register to be 0 */ \
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A("call TIMER1_COMPA_vect_bottom") /* Call the bottom handler - No inlining allowed, otherwise registers used are not saved */ \
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A("pop r31") \
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A("pop r30") \
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A("pop r27") \
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A("pop r26") \
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A("pop r25") \
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A("pop r24") \
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A("pop r23") \
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A("pop r22") \
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A("pop r21") \
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A("pop r20") \
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A("pop r19") \
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A("pop r18") \
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A("pop r1") \
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A("pop r0") \
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A("out 0x3C, r16") /* 1 Restore EIND register */ \
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A("pop r16") /* 2 Get the original RAMPZ register value */ \
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A("out 0x3B, r16") /* 1 Restore RAMPZ register to its original value */ \
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A("pop r16") /* 2 Get the original TIMSK1 value but with stepper ISR disabled */ \
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A("ori r16,%[msk1]") /* 1 Reenable the stepper ISR */ \
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A("cli") /* 1 Disable global interrupts - Reenabling Stepper ISR can reenter amd temperature can reenter, and we want that, if it happens, after this ISR has ended */ \
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A("sts %[timsk1], r16") /* 2 And restore the old value - This reenables the stepper ISR */ \
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A("pop r16") /* 2 Get the temperature timer Interrupt mask register [TIMSK0] */ \
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A("sts %[timsk0], r16") /* 2 And restore the old value - This reenables the temperature ISR */ \
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A("pop r16") /* 2 Get the old SREG value */ \
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A("out __SREG__, r16") /* 1 And restore the SREG value */ \
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A("pop r16") /* 2 Restore R16 value */ \
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A("reti") /* 4 Return from interrupt */ \
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: \
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: [timsk0] "i" ((uint16_t)&TIMSK0), \
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[timsk1] "i" ((uint16_t)&TIMSK1), \
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[msk0] "M" ((uint8_t)(1<<OCIE0B)),\
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[msk1] "M" ((uint8_t)(1<<OCIE1A)) \
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: \
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); \
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} \
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void TIMER1_COMPA_vect_bottom(void)
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/* 14 cycles maximum latency */
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#define HAL_TEMP_TIMER_ISR \
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extern "C" void TIMER0_COMPB_vect (void) __attribute__ ((signal, naked, used, externally_visible)); \
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extern "C" void TIMER0_COMPB_vect_bottom(void) asm ("TIMER0_COMPB_vect_bottom") __attribute__ ((used, externally_visible, noinline)); \
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void TIMER0_COMPB_vect (void) { \
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__asm__ __volatile__ ( \
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A("push r16") /* 2 Save R16 */ \
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A("in r16, __SREG__") /* 1 Get SREG */ \
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A("push r16") /* 2 Save SREG into stack */ \
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A("lds r16, %[timsk0]") /* 2 Load into R0 the Temperature timer Interrupt mask register */ \
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A("andi r16,~%[msk0]") /* 1 Disable the temperature ISR */ \
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A("sts %[timsk0], r16") /* 2 And set the new value */ \
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A("sei") /* 1 Enable global interrupts - It is safe, as the temperature ISR is disabled, so we cannot reenter it */ \
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A("push r16") /* 2 Save TIMSK0 into stack */ \
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A("in r16, 0x3B") /* 1 Get RAMPZ register */ \
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A("push r16") /* 2 Save RAMPZ into stack */ \
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A("in r16, 0x3C") /* 1 Get EIND register */ \
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A("push r0") /* C runtime can modify all the following registers without restoring them */ \
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A("push r1") \
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A("push r18") \
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A("push r19") \
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A("push r20") \
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A("push r21") \
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A("push r22") \
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A("push r23") \
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A("push r24") \
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A("push r25") \
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A("push r26") \
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A("push r27") \
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A("push r30") \
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A("push r31") \
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A("clr r1") /* C runtime expects this register to be 0 */ \
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A("call TIMER0_COMPB_vect_bottom") /* Call the bottom handler - No inlining allowed, otherwise registers used are not saved */ \
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A("pop r31") \
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A("pop r30") \
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A("pop r27") \
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A("pop r26") \
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A("pop r25") \
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A("pop r24") \
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A("pop r23") \
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A("pop r22") \
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A("pop r21") \
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A("pop r20") \
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A("pop r19") \
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A("pop r18") \
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A("pop r1") \
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A("pop r0") \
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A("out 0x3C, r16") /* 1 Restore EIND register */ \
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A("pop r16") /* 2 Get the original RAMPZ register value */ \
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A("out 0x3B, r16") /* 1 Restore RAMPZ register to its original value */ \
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A("pop r16") /* 2 Get the original TIMSK0 value but with temperature ISR disabled */ \
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A("ori r16,%[msk0]") /* 1 Enable temperature ISR */ \
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A("cli") /* 1 Disable global interrupts - We must do this, as we will reenable the temperature ISR, and we don't want to reenter this handler until the current one is done */ \
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A("sts %[timsk0], r16") /* 2 And restore the old value */ \
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A("pop r16") /* 2 Get the old SREG */ \
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A("out __SREG__, r16") /* 1 And restore the SREG value */ \
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A("pop r16") /* 2 Restore R16 */ \
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A("reti") /* 4 Return from interrupt */ \
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: \
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: [timsk0] "i"((uint16_t)&TIMSK0), \
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[msk0] "M" ((uint8_t)(1<<OCIE0B)) \
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: \
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); \
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} \
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void TIMER0_COMPB_vect_bottom(void)
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// ADC
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#ifdef DIDR2
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#define HAL_ANALOG_SELECT(pin) do{ if (pin < 8) SBI(DIDR0, pin); else SBI(DIDR2, pin & 0x07); }while(0)
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#else
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#define HAL_ANALOG_SELECT(pin) do{ SBI(DIDR0, pin); }while(0)
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#endif
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inline void HAL_adc_init(void) {
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ADCSRA = _BV(ADEN) | _BV(ADSC) | _BV(ADIF) | 0x07;
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DIDR0 = 0;
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#ifdef DIDR2
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DIDR2 = 0;
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#endif
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}
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#define SET_ADMUX_ADCSRA(pin) ADMUX = _BV(REFS0) | (pin & 0x07); SBI(ADCSRA, ADSC)
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#ifdef MUX5
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#define HAL_START_ADC(pin) if (pin > 7) ADCSRB = _BV(MUX5); else ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
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#else
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#define HAL_START_ADC(pin) ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
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#endif
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#define HAL_READ_ADC ADC
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#define GET_PIN_MAP_PIN(index) index
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#define GET_PIN_MAP_INDEX(pin) pin
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#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
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#define HAL_SENSITIVE_PINS 0, 1
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#endif // _HAL_AVR_H_
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