136 lines
4.6 KiB
C++
136 lines
4.6 KiB
C++
/**
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* Marlin 3D Printer Firmware
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*
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* Copyright (C) 2019 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 <http://www.gnu.org/licenses/>.
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*
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*/
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#ifdef __SAMD51__
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// --------------------------------------------------------------------------
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// Includes
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// --------------------------------------------------------------------------
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#include "../../inc/MarlinConfig.h"
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#include "HAL_timers_SAMD51.h"
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// --------------------------------------------------------------------------
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// Local defines
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// --------------------------------------------------------------------------
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#define NUM_HARDWARE_TIMERS 8
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// --------------------------------------------------------------------------
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// Private Variables
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// --------------------------------------------------------------------------
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const tTimerConfig TimerConfig[NUM_HARDWARE_TIMERS] = {
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{ TC0, TC0_IRQn, TC_PRIORITY(0) },
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{ TC1, TC1_IRQn, TC_PRIORITY(1) },
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{ TC2, TC2_IRQn, TC_PRIORITY(2) },
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{ TC3, TC3_IRQn, TC_PRIORITY(3) },
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{ TC4, TC4_IRQn, TC_PRIORITY(4) },
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{ TC5, TC5_IRQn, TC_PRIORITY(5) },
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{ TC6, TC6_IRQn, TC_PRIORITY(6) },
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{ TC7, TC7_IRQn, TC_PRIORITY(7) }
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};
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// --------------------------------------------------------------------------
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// Private functions
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// --------------------------------------------------------------------------
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FORCE_INLINE void Disable_Irq(IRQn_Type irq) {
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NVIC_DisableIRQ(irq);
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// We NEED memory barriers to ensure Interrupts are actually disabled!
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// ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
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__DSB();
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__ISB();
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}
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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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Tc * const tc = TimerConfig[timer_num].pTimer;
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IRQn_Type irq = TimerConfig[timer_num].IRQ_Id;
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// Disable interrupt, just in case it was already enabled
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Disable_Irq(irq);
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// Disable timer interrupt
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tc->COUNT32.INTENCLR.reg = TC_INTENCLR_OVF; // disable overflow interrupt
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// TCn clock setup
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const uint8_t clockID = GCLK_CLKCTRL_IDs[TCC_INST_NUM + timer_num];
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GCLK->PCHCTRL[clockID].bit.CHEN = false;
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SYNC(GCLK->PCHCTRL[clockID].bit.CHEN);
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GCLK->PCHCTRL[clockID].reg = GCLK_PCHCTRL_GEN_GCLK0 | GCLK_PCHCTRL_CHEN; // 120MHz startup code programmed
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SYNC(!GCLK->PCHCTRL[clockID].bit.CHEN);
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// Stop timer, just in case, to be able to reconfigure it
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tc->COUNT32.CTRLA.bit.ENABLE = false;
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SYNC(tc->COUNT32.SYNCBUSY.bit.ENABLE);
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// Reset timer
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tc->COUNT32.CTRLA.bit.SWRST = true;
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SYNC(tc->COUNT32.SYNCBUSY.bit.SWRST);
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NVIC_SetPriority(irq, TimerConfig[timer_num].priority);
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// Wave mode, reset counter on overflow on 0 (I use count down to prevent double buffer use)
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tc->COUNT32.WAVE.reg = TC_WAVE_WAVEGEN_MFRQ;
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tc->COUNT32.CTRLA.reg = TC_CTRLA_MODE_COUNT32 | TC_CTRLA_PRESCALER_DIV1;
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tc->COUNT32.CTRLBSET.reg = TC_CTRLBCLR_DIR;
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SYNC(tc->COUNT32.SYNCBUSY.bit.CTRLB);
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// Set compare value
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tc->COUNT32.COUNT.reg = tc->COUNT32.CC[0].reg = HAL_TIMER_RATE / frequency;
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// And start timer
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tc->COUNT32.CTRLA.bit.ENABLE = true;
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SYNC(tc->COUNT32.SYNCBUSY.bit.ENABLE);
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// Enable interrupt on RC compare
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tc->COUNT32.INTENSET.reg = TC_INTENCLR_OVF; // enable overflow interrupt
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// Finally, enable IRQ
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NVIC_EnableIRQ(irq);
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}
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void HAL_timer_enable_interrupt(const uint8_t timer_num) {
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IRQn_Type irq = TimerConfig[timer_num].IRQ_Id;
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NVIC_EnableIRQ(irq);
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}
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void HAL_timer_disable_interrupt(const uint8_t timer_num) {
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IRQn_Type irq = TimerConfig[timer_num].IRQ_Id;
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Disable_Irq(irq);
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}
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// missing from CMSIS: Check if interrupt is enabled or not
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static bool NVIC_GetEnabledIRQ(IRQn_Type IRQn) {
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return (NVIC->ISER[(uint32_t)(IRQn) >> 5] & (1 << ((uint32_t)(IRQn) & 0x1F))) != 0;
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}
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bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
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IRQn_Type irq = TimerConfig[timer_num].IRQ_Id;
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return NVIC_GetEnabledIRQ(irq);
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}
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#endif // __SAMD51__
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