163 lines
4.5 KiB
C
163 lines
4.5 KiB
C
/**
|
|
* Marlin 3D Printer Firmware
|
|
* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|
*
|
|
* Based on Sprinter and grbl.
|
|
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
|
|
*
|
|
* 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
|
|
|
|
/**
|
|
* Busy wait delay cycles routines:
|
|
*
|
|
* DELAY_CYCLES(count): Delay execution in cycles
|
|
* DELAY_NS(count): Delay execution in nanoseconds
|
|
* DELAY_US(count): Delay execution in microseconds
|
|
*/
|
|
|
|
#include "../../core/millis_t.h"
|
|
#include "../../core/macros.h"
|
|
|
|
#if defined(__arm__) || defined(__thumb__)
|
|
|
|
#if __CORTEX_M == 7
|
|
|
|
// Cortex-M3 through M7 can use the cycle counter of the DWT unit
|
|
// http://www.anthonyvh.com/2017/05/18/cortex_m-cycle_counter/
|
|
|
|
FORCE_INLINE static void enableCycleCounter() {
|
|
CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
|
|
|
|
#if __CORTEX_M == 7
|
|
DWT->LAR = 0xC5ACCE55; // Unlock DWT on the M7
|
|
#endif
|
|
|
|
DWT->CYCCNT = 0;
|
|
DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
|
|
}
|
|
|
|
FORCE_INLINE volatile uint32_t getCycleCount() { return DWT->CYCCNT; }
|
|
|
|
FORCE_INLINE static void DELAY_CYCLES(const uint32_t x) {
|
|
const uint32_t endCycles = getCycleCount() + x;
|
|
while (PENDING(getCycleCount(), endCycles)) {}
|
|
}
|
|
|
|
#else
|
|
|
|
// https://blueprints.launchpad.net/gcc-arm-embedded/+spec/delay-cycles
|
|
|
|
#define nop() __asm__ __volatile__("nop;\n\t":::)
|
|
|
|
FORCE_INLINE static void __delay_4cycles(uint32_t cy) { // +1 cycle
|
|
#if ARCH_PIPELINE_RELOAD_CYCLES < 2
|
|
#define EXTRA_NOP_CYCLES A("nop")
|
|
#else
|
|
#define EXTRA_NOP_CYCLES ""
|
|
#endif
|
|
|
|
__asm__ __volatile__(
|
|
A(".syntax unified") // is to prevent CM0,CM1 non-unified syntax
|
|
L("1")
|
|
A("subs %[cnt],#1")
|
|
EXTRA_NOP_CYCLES
|
|
A("bne 1b")
|
|
: [cnt]"+r"(cy) // output: +r means input+output
|
|
: // input:
|
|
: "cc" // clobbers:
|
|
);
|
|
}
|
|
|
|
// Delay in cycles
|
|
FORCE_INLINE static void DELAY_CYCLES(uint32_t x) {
|
|
|
|
if (__builtin_constant_p(x)) {
|
|
#define MAXNOPS 4
|
|
|
|
if (x <= (MAXNOPS)) {
|
|
switch (x) { case 4: nop(); case 3: nop(); case 2: nop(); case 1: nop(); }
|
|
}
|
|
else { // because of +1 cycle inside delay_4cycles
|
|
const uint32_t rem = (x - 1) % (MAXNOPS);
|
|
switch (rem) { case 3: nop(); case 2: nop(); case 1: nop(); }
|
|
if ((x = (x - 1) / (MAXNOPS)))
|
|
__delay_4cycles(x); // if need more then 4 nop loop is more optimal
|
|
}
|
|
#undef MAXNOPS
|
|
}
|
|
else if ((x >>= 2))
|
|
__delay_4cycles(x);
|
|
}
|
|
#undef nop
|
|
|
|
#endif
|
|
|
|
#elif defined(__AVR__)
|
|
|
|
#define nop() __asm__ __volatile__("nop;\n\t":::)
|
|
|
|
FORCE_INLINE static void __delay_4cycles(uint8_t cy) {
|
|
__asm__ __volatile__(
|
|
L("1")
|
|
A("dec %[cnt]")
|
|
A("nop")
|
|
A("brne 1b")
|
|
: [cnt] "+r"(cy) // output: +r means input+output
|
|
: // input:
|
|
: "cc" // clobbers:
|
|
);
|
|
}
|
|
|
|
// Delay in cycles
|
|
FORCE_INLINE static void DELAY_CYCLES(uint16_t x) {
|
|
|
|
if (__builtin_constant_p(x)) {
|
|
#define MAXNOPS 4
|
|
|
|
if (x <= (MAXNOPS)) {
|
|
switch (x) { case 4: nop(); case 3: nop(); case 2: nop(); case 1: nop(); }
|
|
}
|
|
else {
|
|
const uint32_t rem = (x) % (MAXNOPS);
|
|
switch (rem) { case 3: nop(); case 2: nop(); case 1: nop(); }
|
|
if ((x = (x) / (MAXNOPS)))
|
|
__delay_4cycles(x); // if need more then 4 nop loop is more optimal
|
|
}
|
|
|
|
#undef MAXNOPS
|
|
}
|
|
else if ((x >>= 2))
|
|
__delay_4cycles(x);
|
|
}
|
|
#undef nop
|
|
|
|
#elif defined(__PLAT_LINUX__) || defined(ESP32)
|
|
|
|
// specified inside platform
|
|
|
|
#else
|
|
|
|
#error "Unsupported MCU architecture"
|
|
|
|
#endif
|
|
|
|
// Delay in nanoseconds
|
|
#define DELAY_NS(x) DELAY_CYCLES( (x) * (F_CPU / 1000000UL) / 1000UL )
|
|
|
|
// Delay in microseconds
|
|
#define DELAY_US(x) DELAY_CYCLES( (x) * (F_CPU / 1000000UL) )
|