0c428a66d9
Also simplify logic on all ARM-based interrupts. Now, it is REQUIRED to properly configure interrupt priority. USART should have highest priority, followed by Stepper, and then all others.
119 lines
4.2 KiB
C
119 lines
4.2 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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Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.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
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* Teensy3.5 (__MK64FX512__)
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* Teensy3.6 (__MK66FX1M0__)
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*/
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#ifndef _HAL_TIMERS_TEENSY_H
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#define _HAL_TIMERS_TEENSY_H
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// --------------------------------------------------------------------------
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// Includes
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// --------------------------------------------------------------------------
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#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
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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 STEP_TIMER_NUM 0
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#define TEMP_TIMER_NUM 1
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#define FTM0_TIMER_PRESCALE 8
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#define FTM1_TIMER_PRESCALE 4
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#define FTM0_TIMER_PRESCALE_BITS 0b011
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#define FTM1_TIMER_PRESCALE_BITS 0b010
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#define FTM0_TIMER_RATE (F_BUS / FTM0_TIMER_PRESCALE) // 60MHz / 8 = 7500kHz
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#define FTM1_TIMER_RATE (F_BUS / FTM1_TIMER_PRESCALE) // 60MHz / 4 = 15MHz
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#define STEPPER_TIMER STEP_TIMER_NUM // Alias?
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#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / HAL_TICKS_PER_US)
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#define PULSE_TIMER_NUM STEP_TIMER_NUM
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#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
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#define HAL_TIMER_RATE (FTM0_TIMER_RATE)
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#define HAL_STEPPER_TIMER_RATE HAL_TIMER_RATE
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#define HAL_TICKS_PER_US ((HAL_STEPPER_TIMER_RATE) / 1000000)
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#define TEMP_TIMER_FREQUENCY 1000
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#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
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#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)
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#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
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#define HAL_STEP_TIMER_ISR extern "C" void ftm0_isr(void) //void TC3_Handler()
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#define HAL_TEMP_TIMER_ISR extern "C" void ftm1_isr(void) //void TC4_Handler()
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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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switch (timer_num) {
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case 0: FTM0_C0V = compare; break;
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case 1: FTM1_C0V = compare; break;
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}
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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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switch (timer_num) {
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case 0: return FTM0_C0V;
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case 1: return FTM1_C0V;
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}
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return 0;
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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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switch (timer_num) {
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case 0: return FTM0_CNT;
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case 1: return FTM1_CNT;
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}
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return 0;
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}
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FORCE_INLINE static void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_ticks) {
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const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_ticks;
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if (HAL_timer_get_compare(timer_num) < mincmp) HAL_timer_set_compare(timer_num, mincmp);
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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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void HAL_timer_isr_prologue(const uint8_t timer_num);
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#define HAL_timer_isr_epilogue(TIMER_NUM)
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#endif // _HAL_TIMERS_TEENSY_H
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