201 lines
6.8 KiB
C++
201 lines
6.8 KiB
C++
/**
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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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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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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 ARDUINO_ARCH_ESP32
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// --------------------------------------------------------------------------
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// Includes
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// --------------------------------------------------------------------------
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#include <stdio.h>
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#include "esp_types.h"
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#include "soc/timer_group_struct.h"
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#include "driver/periph_ctrl.h"
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#include "driver/timer.h"
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#include "HAL.h"
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#include "HAL_timers_ESP32.h"
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// --------------------------------------------------------------------------
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// Externals
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// --------------------------------------------------------------------------
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// --------------------------------------------------------------------------
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// Local defines
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// --------------------------------------------------------------------------
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#define NUM_HARDWARE_TIMERS 4
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// --------------------------------------------------------------------------
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// Types
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// --------------------------------------------------------------------------
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// --------------------------------------------------------------------------
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// Public Variables
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// --------------------------------------------------------------------------
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// --------------------------------------------------------------------------
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// Private Variables
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// --------------------------------------------------------------------------
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static timg_dev_t *TG[2] = {&TIMERG0, &TIMERG1};
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const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = {
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{ TIMER_GROUP_0, TIMER_0, STEPPER_TIMER_PRESCALE, stepTC_Handler }, // 0 - Stepper
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{ TIMER_GROUP_0, TIMER_1, TEMP_TIMER_PRESCALE, tempTC_Handler }, // 1 - Temperature
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{ TIMER_GROUP_1, TIMER_0, 1, nullptr }, // 2
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{ TIMER_GROUP_1, TIMER_1, 1, nullptr }, // 3
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};
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// --------------------------------------------------------------------------
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// Function prototypes
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// --------------------------------------------------------------------------
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// --------------------------------------------------------------------------
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// Private functions
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// --------------------------------------------------------------------------
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// --------------------------------------------------------------------------
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// Public functions
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// --------------------------------------------------------------------------
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void IRAM_ATTR timer_group0_isr(void *para) {
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const int timer_idx = (int)para;
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// Retrieve the interrupt status and the counter value
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// from the timer that reported the interrupt
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uint32_t intr_status = TIMERG0.int_st_timers.val;
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TIMERG0.hw_timer[timer_idx].update = 1;
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// Clear the interrupt
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if (intr_status & BIT(timer_idx)) {
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switch (timer_idx) {
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case TIMER_0: TIMERG0.int_clr_timers.t0 = 1; break;
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case TIMER_1: TIMERG0.int_clr_timers.t1 = 1; break;
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}
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}
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const tTimerConfig timer = TimerConfig[timer_idx];
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timer.fn();
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// After the alarm has been triggered
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// Enable it again so it gets triggered the next time
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TIMERG0.hw_timer[timer_idx].config.alarm_en = TIMER_ALARM_EN;
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}
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/**
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* Enable and initialize the timer
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* @param timer_num timer number to initialize
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* @param frequency frequency of the timer
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*/
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void HAL_timer_start(const uint8_t timer_num, uint32_t frequency) {
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const tTimerConfig timer = TimerConfig[timer_num];
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timer_config_t config;
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config.divider = timer.divider;
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config.counter_dir = TIMER_COUNT_UP;
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config.counter_en = TIMER_PAUSE;
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config.alarm_en = TIMER_ALARM_EN;
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config.intr_type = TIMER_INTR_LEVEL;
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config.auto_reload = true;
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// Select and initialize the timer
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timer_init(timer.group, timer.idx, &config);
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// Timer counter initial value and auto reload on alarm
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timer_set_counter_value(timer.group, timer.idx, 0x00000000ULL);
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// Configure the alam value and the interrupt on alarm
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timer_set_alarm_value(timer.group, timer.idx, (HAL_TIMER_RATE) / timer.divider / frequency - 1);
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timer_enable_intr(timer.group, timer.idx);
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// TODO need to deal with timer_group1_isr
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timer_isr_register(timer.group, timer.idx, timer_group0_isr, (void*)timer.idx, 0, nullptr);
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timer_start(timer.group, timer.idx);
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}
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/**
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* Set the upper value of the timer, when the timer reaches this upper value the
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* interrupt should be triggered and the counter reset
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* @param timer_num timer number to set the count to
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* @param count threshold at which the interrupt is triggered
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*/
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void HAL_timer_set_compare(const uint8_t timer_num, hal_timer_t count) {
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const tTimerConfig timer = TimerConfig[timer_num];
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timer_set_alarm_value(timer.group, timer.idx, count);
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}
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/**
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* Get the current upper value of the timer
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* @param timer_num timer number to get the count from
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* @return the timer current threshold for the alarm to be triggered
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*/
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hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
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const tTimerConfig timer = TimerConfig[timer_num];
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uint64_t alarm_value;
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timer_get_alarm_value(timer.group, timer.idx, &alarm_value);
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return alarm_value;
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}
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/**
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* Get the current counter value between 0 and the maximum count (HAL_timer_set_count)
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* @param timer_num timer number to get the current count
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* @return the current counter of the alarm
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*/
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hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
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const tTimerConfig timer = TimerConfig[timer_num];
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uint64_t counter_value;
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timer_get_counter_value(timer.group, timer.idx, &counter_value);
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return counter_value;
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}
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/**
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* Enable timer interrupt on the timer
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* @param timer_num timer number to enable interrupts on
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*/
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void HAL_timer_enable_interrupt(const uint8_t timer_num) {
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//const tTimerConfig timer = TimerConfig[timer_num];
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//timer_enable_intr(timer.group, timer.idx);
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}
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/**
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* Disable timer interrupt on the timer
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* @param timer_num timer number to disable interrupts on
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*/
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void HAL_timer_disable_interrupt(const uint8_t timer_num) {
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//const tTimerConfig timer = TimerConfig[timer_num];
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//timer_disable_intr(timer.group, timer.idx);
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}
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bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
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const tTimerConfig timer = TimerConfig[timer_num];
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return TG[timer.group]->int_ena.val | BIT(timer_num);
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}
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#endif // ARDUINO_ARCH_ESP32
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