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Merge pull request #6443 from thinkyhead/rc_interrupt_fastio

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Patch fastio.h with Timer 2 interrupt support
This commit is contained in:
Scott Lahteine 2017-04-24 20:09:41 -05:00 committed by GitHub
commit a699967ec8
3 changed files with 106 additions and 46 deletions
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36
Marlin/Marlin_main.cpp
View File

@ -676,14 +676,15 @@ static inline signed char pgm_read_any(const signed char *p) { return pgm_read_b
#define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \ #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
static const PROGMEM type array##_P[XYZ] = { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \ static const PROGMEM type array##_P[XYZ] = { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
static inline type array(AxisEnum axis) { return pgm_read_any(&array##_P[axis]); } static inline type array(AxisEnum axis) { return pgm_read_any(&array##_P[axis]); } \
typedef void __void_##CONFIG##__
XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS) XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS) XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS) XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH) XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
XYZ_CONSTS_FROM_CONFIG(float, home_bump_mm, HOME_BUMP_MM) XYZ_CONSTS_FROM_CONFIG(float, home_bump_mm, HOME_BUMP_MM);
XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR) XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
/** /**
* *************************************************************************** * ***************************************************************************
@ -714,13 +715,13 @@ static void report_current_position();
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
void print_xyz(const char* prefix, const char* suffix, const float x, const float y, const float z) { void print_xyz(const char* prefix, const char* suffix, const float x, const float y, const float z) {
serialprintPGM(prefix); serialprintPGM(prefix);
SERIAL_ECHOPAIR("(", x); SERIAL_CHAR('(');
SERIAL_ECHO(x);
SERIAL_ECHOPAIR(", ", y); SERIAL_ECHOPAIR(", ", y);
SERIAL_ECHOPAIR(", ", z); SERIAL_ECHOPAIR(", ", z);
SERIAL_CHAR(')'); SERIAL_CHAR(')');
if (suffix) serialprintPGM(suffix); suffix ? serialprintPGM(suffix) : SERIAL_EOL;
else SERIAL_EOL;
} }
void print_xyz(const char* prefix, const char* suffix, const float xyz[]) { void print_xyz(const char* prefix, const char* suffix, const float xyz[]) {
@ -11567,47 +11568,46 @@ void prepare_move_to_destination() {
#ifdef TCCR0A #ifdef TCCR0A
case TIMER0A: case TIMER0A:
case TIMER0B: case TIMER0B:
//SET_CS(0, val); //_SET_CS(0, val);
break; break;
#endif #endif
#ifdef TCCR1A #ifdef TCCR1A
case TIMER1A: case TIMER1A:
case TIMER1B: case TIMER1B:
//SET_CS(1, val); //_SET_CS(1, val);
break; break;
#endif #endif
#ifdef TCCR2 #ifdef TCCR2
case TIMER2: case TIMER2:
case TIMER2: case TIMER2:
TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12)); _SET_CS(2, val);
TCCR2 |= val;
break; break;
#endif #endif
#ifdef TCCR2A #ifdef TCCR2A
case TIMER2A: case TIMER2A:
case TIMER2B: case TIMER2B:
SET_CS(2, val); _SET_CS(2, val);
break; break;
#endif #endif
#ifdef TCCR3A #ifdef TCCR3A
case TIMER3A: case TIMER3A:
case TIMER3B: case TIMER3B:
case TIMER3C: case TIMER3C:
SET_CS(3, val); _SET_CS(3, val);
break; break;
#endif #endif
#ifdef TCCR4A #ifdef TCCR4A
case TIMER4A: case TIMER4A:
case TIMER4B: case TIMER4B:
case TIMER4C: case TIMER4C:
SET_CS(4, val); _SET_CS(4, val);
break; break;
#endif #endif
#ifdef TCCR5A #ifdef TCCR5A
case TIMER5A: case TIMER5A:
case TIMER5B: case TIMER5B:
case TIMER5C: case TIMER5C:
SET_CS(5, val); _SET_CS(5, val);
break; break;
#endif #endif
} }

110
Marlin/fastio.h
View File

@ -85,7 +85,7 @@
#define OUT_WRITE(IO, v) do{ SET_OUTPUT(IO); WRITE(IO, v); }while(0) #define OUT_WRITE(IO, v) do{ SET_OUTPUT(IO); WRITE(IO, v); }while(0)
/** /**
* Interrupt Control * Timer and Interrupt Control
*/ */
// Waveform Generation Modes // Waveform Generation Modes
@ -128,24 +128,86 @@ typedef enum {
CS_EXT_RISING // 7 CS_EXT_RISING // 7
} ClockSource; } ClockSource;
#define SET_WGM(T,V) do{ \ // Clock Sources (Timer 2 only)
typedef enum {
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
} ClockSource2;
// Get interrupt bits in an orderly way
#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
#define _SET_WGM(T,V) do{ \
TCCR##T##A = (TCCR##T##A & ~(0x3 << WGM##T##0)) | (( int(V) & 0x3) << WGM##T##0); \ 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); \ TCCR##T##B = (TCCR##T##B & ~(0x3 << WGM##T##2)) | (((int(V) >> 2) & 0x3) << WGM##T##2); \
}while(0) }while(0)
#define SET_WGM(T,V) _SET_WGM(T,WGM_##V)
#define SET_CS(T,V) do{ \ // Set Clock Select bits
TCCR##T##B = (TCCR##T##B & ~(0x7 << CS10)) | ((int(V) & 0x7) << CS10); \ #define _SET_CS(T,V) (TCCR##T##B = (TCCR##T##B & ~(0x7 << CS##T##0)) | ((int(V) & 0x7) << CS##T##0))
}while(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)
#define SET_COM(T,Q,V) do{ \ // Set Compare Mode bits
TCCR##T##Q = (TCCR##T##Q & ~(0x3 << COM1##Q##0)) | ((int(V) & 0x3) << COM1##Q##0); \ #define _SET_COM(T,Q,V) (TCCR##T##Q = (TCCR##T##Q & ~(0x3 << COM##T##Q##0)) | (int(V) << COM##T##Q##0))
}while(0) #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)
#define SET_COM(T,Q,V) _SET_COM(T,Q,COM_##V)
#define SET_COMA(T,V) SET_COM(T,A,V) #define SET_COMA(T,V) SET_COM(T,A,V)
#define SET_COMB(T,V) SET_COM(T,B,V) #define SET_COMB(T,V) SET_COM(T,B,V)
#define SET_COMS(T,V1,V2) do{ SET_COMA(T,V1); SET_COMB(T,V2); }while(0) #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)
#define SET_ICNC(T,V) (TCCR##T##B = (TCCR##T##B & ~_BV(7) | ((V) & 1) << 7)) // Set Noise Canceler bit
#define SET_ICES(T,V) (TCCR##T##B = (TCCR##T##B & ~_BV(6) | ((V) & 1) << 6)) #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
#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
#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)
/** /**
* Ports and Functions * Ports and Functions
@ -177,8 +239,8 @@ typedef enum {
#define DEBUG_LED AIO5 #define DEBUG_LED AIO5
/** /**
pins * Pins Info
*/ */
#define DIO0_PIN PIND0 #define DIO0_PIN PIND0
#define DIO0_RPORT PIND #define DIO0_RPORT PIND
@ -513,9 +575,10 @@ typedef enum {
#define OC2B DIO14 #define OC2B DIO14
#define DEBUG_LED DIO0 #define DEBUG_LED DIO0
/** /**
pins * Pins Info
*/ */
#define DIO0_PIN PINB0 #define DIO0_PIN PINB0
#define DIO0_RPORT PINB #define DIO0_RPORT PINB
@ -757,8 +820,6 @@ typedef enum {
#define AIO7_DDR DDRA #define AIO7_DDR DDRA
#define AIO7_PWM NULL #define AIO7_PWM NULL
#undef PA0 #undef PA0
#define PA0_PIN PINA0 #define PA0_PIN PINA0
#define PA0_RPORT PINA #define PA0_RPORT PINA
@ -1023,8 +1084,9 @@ typedef enum {
#define DEBUG_LED DIO21 #define DEBUG_LED DIO21
/** /**
pins * Pins Info
*/ */
#define DIO0_PIN PINE0 #define DIO0_PIN PINE0
#define DIO0_RPORT PINE #define DIO0_RPORT PINE
#define DIO0_WPORT PORTE #define DIO0_WPORT PORTE
@ -2075,7 +2137,7 @@ typedef enum {
#define DEBUG_LED DIO31 /* led D5 red */ #define DEBUG_LED DIO31 /* led D5 red */
/** /**
* pins * Pins Info
*/ */
//#define AT90USBxx_TEENSYPP_ASSIGNMENTS // Use Teensy++ 2.0 assignments //#define AT90USBxx_TEENSYPP_ASSIGNMENTS // Use Teensy++ 2.0 assignments
@ -3402,8 +3464,9 @@ typedef enum {
#define DEBUG_LED DIO46 #define DEBUG_LED DIO46
/** /**
pins * Pins Info
*/ */
#define DIO0_PIN PINE0 #define DIO0_PIN PINE0
#define DIO0_RPORT PINE #define DIO0_RPORT PINE
#define DIO0_WPORT PORTE #define DIO0_WPORT PORTE
@ -3728,9 +3791,6 @@ typedef enum {
#define DIO53_DDR DDRF #define DIO53_DDR DDRF
#define DIO53_PWM NULL #define DIO53_PWM NULL
#undef PA0 #undef PA0
#define PA0_PIN PINA0 #define PA0_PIN PINA0
#define PA0_RPORT PINA #define PA0_RPORT PINA

6
Marlin/stepper.cpp
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@ -1081,17 +1081,17 @@ void Stepper::init() {
#endif #endif
// waveform generation = 0100 = CTC // waveform generation = 0100 = CTC
SET_WGM(1, WGM_CTC_OCRnA); SET_WGM(1, CTC_OCRnA);
// output mode = 00 (disconnected) // output mode = 00 (disconnected)
SET_COMS(1, COM_NORMAL, COM_NORMAL); SET_COMS(1, NORMAL, NORMAL, NORMAL);
// Set the timer pre-scaler // Set the timer pre-scaler
// Generally we use a divider of 8, resulting in a 2MHz timer // Generally we use a divider of 8, resulting in a 2MHz timer
// frequency on a 16MHz MCU. If you are going to change this, be // frequency on a 16MHz MCU. If you are going to change this, be
// sure to regenerate speed_lookuptable.h with // sure to regenerate speed_lookuptable.h with
// create_speed_lookuptable.py // create_speed_lookuptable.py
SET_CS(1, CS_PRESCALER_8); // CS 2 = 1/8 prescaler SET_CS(1, PRESCALER_8); // CS 2 = 1/8 prescaler
// Init Stepper ISR to 122 Hz for quick starting // Init Stepper ISR to 122 Hz for quick starting
OCR1A = 0x4000; OCR1A = 0x4000;