Firmware2/Marlin/src/HAL/HAL_DUE/timers.h

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/**
* Marlin 3D Printer Firmware
*
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* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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* Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
*
* 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 <http://www.gnu.org/licenses/>.
*
*/
#pragma once
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/**
* HAL for Arduino Due and compatible (SAM3X8E)
*
* For ARDUINO_ARCH_SAM
*/
#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
typedef uint32_t hal_timer_t;
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#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
#define HAL_TIMER_RATE ((F_CPU) / 2) // frequency of timers peripherals
#define STEP_TIMER_NUM 2 // index of timer to use for stepper
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#define TEMP_TIMER_NUM 4 // index of timer to use for temperature
#define PULSE_TIMER_NUM STEP_TIMER_NUM
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#define TONE_TIMER_NUM 6 // index of timer to use for beeper tones
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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)
#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
#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
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM)
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#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
#define HAL_STEP_TIMER_ISR() void TC2_Handler()
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#define HAL_TEMP_TIMER_ISR() void TC4_Handler()
#define HAL_TONE_TIMER_ISR() void TC6_Handler()
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// ------------------------
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// Types
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// ------------------------
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typedef struct {
Tc *pTimerRegs;
uint16_t channel;
IRQn_Type IRQ_Id;
uint8_t priority;
} tTimerConfig;
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// ------------------------
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// Public Variables
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// ------------------------
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extern const tTimerConfig TimerConfig[];
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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) {
const tTimerConfig * const pConfig = &TimerConfig[timer_num];
pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC = compare;
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}
FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
const tTimerConfig * const pConfig = &TimerConfig[timer_num];
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return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC;
}
FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
const tTimerConfig * const pConfig = &TimerConfig[timer_num];
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return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_CV;
}
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void HAL_timer_enable_interrupt(const uint8_t timer_num);
void HAL_timer_disable_interrupt(const uint8_t timer_num);
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) {
const tTimerConfig * const pConfig = &TimerConfig[timer_num];
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// Reading the status register clears the interrupt flag
pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_SR;
}
#define HAL_timer_isr_epilogue(TIMER_NUM)