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Code Issues Releases Wiki Activity

🎨 Rename HAL timer elements

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This commit is contained in:
Scott Lahteine 2021-11-27 18:33:32 -06:00 committed by Scott Lahteine
parent d75e7784e5
commit 9b1c0a75e1
51 changed files with 380 additions and 402 deletions
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16
Marlin/src/HAL/AVR/timers.h
View File

@ -34,14 +34,14 @@ typedef uint16_t hal_timer_t;
#define HAL_TIMER_RATE ((F_CPU) / 8) // i.e., 2MHz or 2.5MHz #define HAL_TIMER_RATE ((F_CPU) / 8) // i.e., 2MHz or 2.5MHz
#ifndef STEP_TIMER_NUM #ifndef MF_TIMER_STEP
#define STEP_TIMER_NUM 1 #define MF_TIMER_STEP 1
#endif #endif
#ifndef PULSE_TIMER_NUM #ifndef MF_TIMER_PULSE
#define PULSE_TIMER_NUM STEP_TIMER_NUM #define MF_TIMER_PULSE MF_TIMER_STEP
#endif #endif
#ifndef TEMP_TIMER_NUM #ifndef MF_TIMER_TEMP
#define TEMP_TIMER_NUM 0 #define MF_TIMER_TEMP 0
#endif #endif
#define TEMP_TIMER_FREQUENCY ((F_CPU) / 64.0 / 256.0) #define TEMP_TIMER_FREQUENCY ((F_CPU) / 64.0 / 256.0)
@ -64,7 +64,7 @@ typedef uint16_t hal_timer_t;
FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) { FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
switch (timer_num) { switch (timer_num) {
case STEP_TIMER_NUM: case MF_TIMER_STEP:
// waveform generation = 0100 = CTC // waveform generation = 0100 = CTC
SET_WGM(1, CTC_OCRnA); SET_WGM(1, CTC_OCRnA);
@ -84,7 +84,7 @@ FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
TCNT1 = 0; TCNT1 = 0;
break; break;
case TEMP_TIMER_NUM: case MF_TIMER_TEMP:
// Use timer0 for temperature measurement // Use timer0 for temperature measurement
// Interleave temperature interrupt with millies interrupt // Interleave temperature interrupt with millies interrupt
OCR0B = 128; OCR0B = 128;

6
Marlin/src/HAL/DUE/Tone.cpp
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@ -38,17 +38,17 @@ volatile static int32_t toggles;
void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration) { void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration) {
tone_pin = _pin; tone_pin = _pin;
toggles = 2 * frequency * duration / 1000; toggles = 2 * frequency * duration / 1000;
HAL_timer_start(TONE_TIMER_NUM, 2 * frequency); HAL_timer_start(MF_TIMER_TONE, 2 * frequency);
} }
void noTone(const pin_t _pin) { void noTone(const pin_t _pin) {
HAL_timer_disable_interrupt(TONE_TIMER_NUM); HAL_timer_disable_interrupt(MF_TIMER_TONE);
extDigitalWrite(_pin, LOW); extDigitalWrite(_pin, LOW);
} }
HAL_TONE_TIMER_ISR() { HAL_TONE_TIMER_ISR() {
static uint8_t pin_state = 0; static uint8_t pin_state = 0;
HAL_timer_isr_prologue(TONE_TIMER_NUM); HAL_timer_isr_prologue(MF_TIMER_TONE);
if (toggles) { if (toggles) {
toggles--; toggles--;

16
Marlin/src/HAL/DUE/timers.cpp
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@ -42,7 +42,7 @@
// Private Variables // Private Variables
// ------------------------ // ------------------------
const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = { const tTimerConfig timer_config[NUM_HARDWARE_TIMERS] = {
{ TC0, 0, TC0_IRQn, 3}, // 0 - [servo timer5] { TC0, 0, TC0_IRQn, 3}, // 0 - [servo timer5]
{ TC0, 1, TC1_IRQn, 0}, // 1 { TC0, 1, TC1_IRQn, 0}, // 1
{ TC0, 2, TC2_IRQn, 2}, // 2 - stepper { TC0, 2, TC2_IRQn, 2}, // 2 - stepper
@ -66,9 +66,9 @@ const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = {
*/ */
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
Tc *tc = TimerConfig[timer_num].pTimerRegs; Tc *tc = timer_config[timer_num].pTimerRegs;
IRQn_Type irq = TimerConfig[timer_num].IRQ_Id; IRQn_Type irq = timer_config[timer_num].IRQ_Id;
uint32_t channel = TimerConfig[timer_num].channel; uint32_t channel = timer_config[timer_num].channel;
// Disable interrupt, just in case it was already enabled // Disable interrupt, just in case it was already enabled
NVIC_DisableIRQ(irq); NVIC_DisableIRQ(irq);
@ -86,7 +86,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
pmc_set_writeprotect(false); pmc_set_writeprotect(false);
pmc_enable_periph_clk((uint32_t)irq); pmc_enable_periph_clk((uint32_t)irq);
NVIC_SetPriority(irq, TimerConfig [timer_num].priority); NVIC_SetPriority(irq, timer_config[timer_num].priority);
// wave mode, reset counter on match with RC, // wave mode, reset counter on match with RC,
TC_Configure(tc, channel, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK1); TC_Configure(tc, channel, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK1);
@ -105,12 +105,12 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
} }
void HAL_timer_enable_interrupt(const uint8_t timer_num) { void HAL_timer_enable_interrupt(const uint8_t timer_num) {
IRQn_Type irq = TimerConfig[timer_num].IRQ_Id; IRQn_Type irq = timer_config[timer_num].IRQ_Id;
NVIC_EnableIRQ(irq); NVIC_EnableIRQ(irq);
} }
void HAL_timer_disable_interrupt(const uint8_t timer_num) { void HAL_timer_disable_interrupt(const uint8_t timer_num) {
IRQn_Type irq = TimerConfig[timer_num].IRQ_Id; IRQn_Type irq = timer_config[timer_num].IRQ_Id;
NVIC_DisableIRQ(irq); NVIC_DisableIRQ(irq);
// We NEED memory barriers to ensure Interrupts are actually disabled! // We NEED memory barriers to ensure Interrupts are actually disabled!
@ -125,7 +125,7 @@ static bool NVIC_GetEnabledIRQ(IRQn_Type IRQn) {
} }
bool HAL_timer_interrupt_enabled(const uint8_t timer_num) { bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
IRQn_Type irq = TimerConfig[timer_num].IRQ_Id; IRQn_Type irq = timer_config[timer_num].IRQ_Id;
return NVIC_GetEnabledIRQ(irq); return NVIC_GetEnabledIRQ(irq);
} }

36
Marlin/src/HAL/DUE/timers.h
View File

@ -37,17 +37,17 @@ typedef uint32_t hal_timer_t;
#define HAL_TIMER_RATE ((F_CPU) / 2) // frequency of timers peripherals #define HAL_TIMER_RATE ((F_CPU) / 2) // frequency of timers peripherals
#ifndef STEP_TIMER_NUM #ifndef MF_TIMER_STEP
#define STEP_TIMER_NUM 2 // Timer Index for Stepper #define MF_TIMER_STEP 2 // Timer Index for Stepper
#endif #endif
#ifndef PULSE_TIMER_NUM #ifndef MF_TIMER_PULSE
#define PULSE_TIMER_NUM STEP_TIMER_NUM #define MF_TIMER_PULSE MF_TIMER_STEP
#endif #endif
#ifndef TEMP_TIMER_NUM #ifndef MF_TIMER_TEMP
#define TEMP_TIMER_NUM 4 // Timer Index for Temperature #define MF_TIMER_TEMP 4 // Timer Index for Temperature
#endif #endif
#ifndef TONE_TIMER_NUM #ifndef MF_TIMER_TONE
#define TONE_TIMER_NUM 6 // index of timer to use for beeper tones #define MF_TIMER_TONE 6 // index of timer to use for beeper tones
#endif #endif
#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency #define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
@ -60,12 +60,12 @@ typedef uint32_t hal_timer_t;
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE #define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US #define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM) #define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM) #define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_STEP)
#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM) #define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP)
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM) #define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM) #define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)
#ifndef HAL_STEP_TIMER_ISR #ifndef HAL_STEP_TIMER_ISR
#define HAL_STEP_TIMER_ISR() void TC2_Handler() #define HAL_STEP_TIMER_ISR() void TC2_Handler()
@ -92,7 +92,7 @@ typedef struct {
// Public Variables // Public Variables
// ------------------------ // ------------------------
extern const tTimerConfig TimerConfig[]; extern const tTimerConfig timer_config[];
// ------------------------ // ------------------------
// Public functions // Public functions
@ -101,17 +101,17 @@ extern const tTimerConfig TimerConfig[];
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency); void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) { FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
const tTimerConfig * const pConfig = &TimerConfig[timer_num]; const tTimerConfig * const pConfig = &timer_config[timer_num];
pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC = compare; pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC = compare;
} }
FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) { FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
const tTimerConfig * const pConfig = &TimerConfig[timer_num]; const tTimerConfig * const pConfig = &timer_config[timer_num];
return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC; return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC;
} }
FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) { FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
const tTimerConfig * const pConfig = &TimerConfig[timer_num]; const tTimerConfig * const pConfig = &timer_config[timer_num];
return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_CV; return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_CV;
} }
@ -120,7 +120,7 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num);
bool HAL_timer_interrupt_enabled(const uint8_t timer_num); bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) { FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
const tTimerConfig * const pConfig = &TimerConfig[timer_num]; const tTimerConfig * const pConfig = &timer_config[timer_num];
// Reading the status register clears the interrupt flag // Reading the status register clears the interrupt flag
pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_SR; pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_SR;
} }

6
Marlin/src/HAL/ESP32/HAL.cpp
View File

@ -276,7 +276,7 @@ void analogWrite(pin_t pin, int value) {
idx = numPWMUsed; idx = numPWMUsed;
pwmPins[idx] = pin; pwmPins[idx] = pin;
// Start timer on first use // Start timer on first use
if (idx == 0) HAL_timer_start(PWM_TIMER_NUM, PWM_TIMER_FREQUENCY); if (idx == 0) HAL_timer_start(MF_TIMER_PWM, PWM_TIMER_FREQUENCY);
++numPWMUsed; ++numPWMUsed;
} }
@ -287,7 +287,7 @@ void analogWrite(pin_t pin, int value) {
// Handle PWM timer interrupt // Handle PWM timer interrupt
HAL_PWM_TIMER_ISR() { HAL_PWM_TIMER_ISR() {
HAL_timer_isr_prologue(PWM_TIMER_NUM); HAL_timer_isr_prologue(MF_TIMER_PWM);
static uint8_t count = 0; static uint8_t count = 0;
@ -301,7 +301,7 @@ HAL_PWM_TIMER_ISR() {
// 128 for 7 Bit resolution // 128 for 7 Bit resolution
count = (count + 1) & 0x7F; count = (count + 1) & 0x7F;
HAL_timer_isr_epilogue(PWM_TIMER_NUM); HAL_timer_isr_epilogue(MF_TIMER_PWM);
} }
#endif // ARDUINO_ARCH_ESP32 #endif // ARDUINO_ARCH_ESP32

6
Marlin/src/HAL/ESP32/Tone.cpp
View File

@ -38,16 +38,16 @@ volatile static int32_t toggles;
void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration) { void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration) {
tone_pin = _pin; tone_pin = _pin;
toggles = 2 * frequency * duration / 1000; toggles = 2 * frequency * duration / 1000;
HAL_timer_start(TONE_TIMER_NUM, 2 * frequency); HAL_timer_start(MF_TIMER_TONE, 2 * frequency);
} }
void noTone(const pin_t _pin) { void noTone(const pin_t _pin) {
HAL_timer_disable_interrupt(TONE_TIMER_NUM); HAL_timer_disable_interrupt(MF_TIMER_TONE);
WRITE(_pin, LOW); WRITE(_pin, LOW);
} }
HAL_TONE_TIMER_ISR() { HAL_TONE_TIMER_ISR() {
HAL_timer_isr_prologue(TONE_TIMER_NUM); HAL_timer_isr_prologue(MF_TIMER_TONE);
if (toggles) { if (toggles) {
toggles--; toggles--;

18
Marlin/src/HAL/ESP32/timers.cpp
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@ -41,7 +41,7 @@
static timg_dev_t *TG[2] = {&TIMERG0, &TIMERG1}; static timg_dev_t *TG[2] = {&TIMERG0, &TIMERG1};
const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = { const tTimerConfig timer_config[NUM_HARDWARE_TIMERS] = {
{ TIMER_GROUP_0, TIMER_0, STEPPER_TIMER_PRESCALE, stepTC_Handler }, // 0 - Stepper { TIMER_GROUP_0, TIMER_0, STEPPER_TIMER_PRESCALE, stepTC_Handler }, // 0 - Stepper
{ TIMER_GROUP_0, TIMER_1, TEMP_TIMER_PRESCALE, tempTC_Handler }, // 1 - Temperature { TIMER_GROUP_0, TIMER_1, TEMP_TIMER_PRESCALE, tempTC_Handler }, // 1 - Temperature
{ TIMER_GROUP_1, TIMER_0, PWM_TIMER_PRESCALE, pwmTC_Handler }, // 2 - PWM { TIMER_GROUP_1, TIMER_0, PWM_TIMER_PRESCALE, pwmTC_Handler }, // 2 - PWM
@ -53,7 +53,7 @@ const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = {
// ------------------------ // ------------------------
void IRAM_ATTR timer_isr(void *para) { void IRAM_ATTR timer_isr(void *para) {
const tTimerConfig& timer = TimerConfig[(int)para]; const tTimerConfig& timer = timer_config[(int)para];
// Retrieve the interrupt status and the counter value // Retrieve the interrupt status and the counter value
// from the timer that reported the interrupt // from the timer that reported the interrupt
@ -82,7 +82,7 @@ void IRAM_ATTR timer_isr(void *para) {
* @param frequency frequency of the timer * @param frequency frequency of the timer
*/ */
void HAL_timer_start(const uint8_t timer_num, uint32_t frequency) { void HAL_timer_start(const uint8_t timer_num, uint32_t frequency) {
const tTimerConfig timer = TimerConfig[timer_num]; const tTimerConfig timer = timer_config[timer_num];
timer_config_t config; timer_config_t config;
config.divider = timer.divider; config.divider = timer.divider;
@ -115,7 +115,7 @@ void HAL_timer_start(const uint8_t timer_num, uint32_t frequency) {
* @param count threshold at which the interrupt is triggered * @param count threshold at which the interrupt is triggered
*/ */
void HAL_timer_set_compare(const uint8_t timer_num, hal_timer_t count) { void HAL_timer_set_compare(const uint8_t timer_num, hal_timer_t count) {
const tTimerConfig timer = TimerConfig[timer_num]; const tTimerConfig timer = timer_config[timer_num];
timer_set_alarm_value(timer.group, timer.idx, count); timer_set_alarm_value(timer.group, timer.idx, count);
} }
@ -125,7 +125,7 @@ void HAL_timer_set_compare(const uint8_t timer_num, hal_timer_t count) {
* @return the timer current threshold for the alarm to be triggered * @return the timer current threshold for the alarm to be triggered
*/ */
hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) { hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
const tTimerConfig timer = TimerConfig[timer_num]; const tTimerConfig timer = timer_config[timer_num];
uint64_t alarm_value; uint64_t alarm_value;
timer_get_alarm_value(timer.group, timer.idx, &alarm_value); timer_get_alarm_value(timer.group, timer.idx, &alarm_value);
@ -139,7 +139,7 @@ hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
* @return the current counter of the alarm * @return the current counter of the alarm
*/ */
hal_timer_t HAL_timer_get_count(const uint8_t timer_num) { hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
const tTimerConfig timer = TimerConfig[timer_num]; const tTimerConfig timer = timer_config[timer_num];
uint64_t counter_value; uint64_t counter_value;
timer_get_counter_value(timer.group, timer.idx, &counter_value); timer_get_counter_value(timer.group, timer.idx, &counter_value);
return counter_value; return counter_value;
@ -150,7 +150,7 @@ hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
* @param timer_num timer number to enable interrupts on * @param timer_num timer number to enable interrupts on
*/ */
void HAL_timer_enable_interrupt(const uint8_t timer_num) { void HAL_timer_enable_interrupt(const uint8_t timer_num) {
//const tTimerConfig timer = TimerConfig[timer_num]; //const tTimerConfig timer = timer_config[timer_num];
//timer_enable_intr(timer.group, timer.idx); //timer_enable_intr(timer.group, timer.idx);
} }
@ -159,12 +159,12 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num) {
* @param timer_num timer number to disable interrupts on * @param timer_num timer number to disable interrupts on
*/ */
void HAL_timer_disable_interrupt(const uint8_t timer_num) { void HAL_timer_disable_interrupt(const uint8_t timer_num) {
//const tTimerConfig timer = TimerConfig[timer_num]; //const tTimerConfig timer = timer_config[timer_num];
//timer_disable_intr(timer.group, timer.idx); //timer_disable_intr(timer.group, timer.idx);
} }
bool HAL_timer_interrupt_enabled(const uint8_t timer_num) { bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
const tTimerConfig timer = TimerConfig[timer_num]; const tTimerConfig timer = timer_config[timer_num];
return TG[timer.group]->int_ena.val | BIT(timer_num); return TG[timer.group]->int_ena.val | BIT(timer_num);
} }

32
Marlin/src/HAL/ESP32/timers.h
View File

@ -32,20 +32,20 @@
typedef uint64_t hal_timer_t; typedef uint64_t hal_timer_t;
#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFFFFFFFFFULL #define HAL_TIMER_TYPE_MAX 0xFFFFFFFFFFFFFFFFULL
#ifndef STEP_TIMER_NUM #ifndef MF_TIMER_STEP
#define STEP_TIMER_NUM 0 // Timer Index for Stepper #define MF_TIMER_STEP 0 // Timer Index for Stepper
#endif #endif
#ifndef PULSE_TIMER_NUM #ifndef MF_TIMER_PULSE
#define PULSE_TIMER_NUM STEP_TIMER_NUM #define MF_TIMER_PULSE MF_TIMER_STEP
#endif #endif
#ifndef TEMP_TIMER_NUM #ifndef MF_TIMER_TEMP
#define TEMP_TIMER_NUM 1 // Timer Index for Temperature #define MF_TIMER_TEMP 1 // Timer Index for Temperature
#endif #endif
#ifndef PWM_TIMER_NUM #ifndef MF_TIMER_PWM
#define PWM_TIMER_NUM 2 // index of timer to use for PWM outputs #define MF_TIMER_PWM 2 // index of timer to use for PWM outputs
#endif #endif
#ifndef TONE_TIMER_NUM #ifndef MF_TIMER_TONE
#define TONE_TIMER_NUM 3 // index of timer for beeper tones #define MF_TIMER_TONE 3 // index of timer for beeper tones
#endif #endif
#define HAL_TIMER_RATE APB_CLK_FREQ // frequency of timer peripherals #define HAL_TIMER_RATE APB_CLK_FREQ // frequency of timer peripherals
@ -79,12 +79,12 @@ typedef uint64_t hal_timer_t;
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE #define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US #define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM) #define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM) #define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_STEP)
#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM) #define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP)
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM) #define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM) #define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)
#ifndef HAL_TEMP_TIMER_ISR #ifndef HAL_TEMP_TIMER_ISR
#define HAL_TEMP_TIMER_ISR() extern "C" void tempTC_Handler() #define HAL_TEMP_TIMER_ISR() extern "C" void tempTC_Handler()
@ -121,7 +121,7 @@ typedef struct {
// Public Variables // Public Variables
// ------------------------ // ------------------------
extern const tTimerConfig TimerConfig[]; extern const tTimerConfig timer_config[];
// ------------------------ // ------------------------
// Public functions // Public functions

23
Marlin/src/HAL/LINUX/timers.h
View File

@ -37,14 +37,14 @@ typedef uint32_t hal_timer_t;
#define HAL_TIMER_RATE ((SystemCoreClock) / 4) // frequency of timers peripherals #define HAL_TIMER_RATE ((SystemCoreClock) / 4) // frequency of timers peripherals
#ifndef STEP_TIMER_NUM #ifndef MF_TIMER_STEP
#define STEP_TIMER_NUM 0 // Timer Index for Stepper #define MF_TIMER_STEP 0 // Timer Index for Stepper
#endif #endif
#ifndef PULSE_TIMER_NUM #ifndef MF_TIMER_PULSE
#define PULSE_TIMER_NUM STEP_TIMER_NUM #define MF_TIMER_PULSE MF_TIMER_STEP
#endif #endif
#ifndef TEMP_TIMER_NUM #ifndef MF_TIMER_TEMP
#define TEMP_TIMER_NUM 1 // Timer Index for Temperature #define MF_TIMER_TEMP 1 // Timer Index for Temperature
#endif #endif
#define TEMP_TIMER_RATE 1000000 #define TEMP_TIMER_RATE 1000000
@ -58,12 +58,12 @@ typedef uint32_t hal_timer_t;
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE #define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US #define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM) #define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM) #define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_STEP)
#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM) #define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP)
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM) #define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM) #define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)
#ifndef HAL_STEP_TIMER_ISR #ifndef HAL_STEP_TIMER_ISR
#define HAL_STEP_TIMER_ISR() extern "C" void TIMER0_IRQHandler() #define HAL_STEP_TIMER_ISR() extern "C" void TIMER0_IRQHandler()
@ -77,7 +77,6 @@ typedef uint32_t hal_timer_t;
#define HAL_PWM_TIMER_ISR() extern "C" void TIMER3_IRQHandler() #define HAL_PWM_TIMER_ISR() extern "C" void TIMER3_IRQHandler()
#define HAL_PWM_TIMER_IRQn #define HAL_PWM_TIMER_IRQn
void HAL_timer_init(); void HAL_timer_init();
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency); void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);

4
Marlin/src/HAL/LPC1768/timers.cpp
View File

@ -40,7 +40,7 @@ void HAL_timer_init() {
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
switch (timer_num) { switch (timer_num) {
case 0: case MF_TIMER_STEP:
LPC_TIM0->MCR = _BV(SBIT_MR0I) | _BV(SBIT_MR0R); // Match on MR0, reset on MR0, interrupts when NVIC enables them LPC_TIM0->MCR = _BV(SBIT_MR0I) | _BV(SBIT_MR0R); // Match on MR0, reset on MR0, interrupts when NVIC enables them
LPC_TIM0->MR0 = uint32_t(STEPPER_TIMER_RATE) / frequency; // Match value (period) to set frequency LPC_TIM0->MR0 = uint32_t(STEPPER_TIMER_RATE) / frequency; // Match value (period) to set frequency
LPC_TIM0->TCR = _BV(SBIT_CNTEN); // Counter Enable LPC_TIM0->TCR = _BV(SBIT_CNTEN); // Counter Enable
@ -49,7 +49,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
NVIC_EnableIRQ(TIMER0_IRQn); NVIC_EnableIRQ(TIMER0_IRQn);
break; break;
case 1: case MF_TIMER_TEMP:
LPC_TIM1->MCR = _BV(SBIT_MR0I) | _BV(SBIT_MR0R); // Match on MR0, reset on MR0, interrupts when NVIC enables them LPC_TIM1->MCR = _BV(SBIT_MR0I) | _BV(SBIT_MR0R); // Match on MR0, reset on MR0, interrupts when NVIC enables them
LPC_TIM1->MR0 = uint32_t(TEMP_TIMER_RATE) / frequency; LPC_TIM1->MR0 = uint32_t(TEMP_TIMER_RATE) / frequency;
LPC_TIM1->TCR = _BV(SBIT_CNTEN); // Counter Enable LPC_TIM1->TCR = _BV(SBIT_CNTEN); // Counter Enable

62
Marlin/src/HAL/LPC1768/timers.h
View File

@ -60,17 +60,17 @@ typedef uint32_t hal_timer_t;
#define HAL_TIMER_RATE ((F_CPU) / 4) // frequency of timers peripherals #define HAL_TIMER_RATE ((F_CPU) / 4) // frequency of timers peripherals
#ifndef STEP_TIMER_NUM #ifndef MF_TIMER_STEP
#define STEP_TIMER_NUM 0 // Timer Index for Stepper #define MF_TIMER_STEP 0 // Timer Index for Stepper
#endif #endif
#ifndef PULSE_TIMER_NUM #ifndef MF_TIMER_PULSE
#define PULSE_TIMER_NUM STEP_TIMER_NUM #define MF_TIMER_PULSE MF_TIMER_STEP
#endif #endif
#ifndef TEMP_TIMER_NUM #ifndef MF_TIMER_TEMP
#define TEMP_TIMER_NUM 1 // Timer Index for Temperature #define MF_TIMER_TEMP 1 // Timer Index for Temperature
#endif #endif
#ifndef PWM_TIMER_NUM #ifndef MF_TIMER_PWM
#define PWM_TIMER_NUM 3 // Timer Index for PWM #define MF_TIMER_PWM 3 // Timer Index for PWM
#endif #endif
#define TEMP_TIMER_RATE 1000000 #define TEMP_TIMER_RATE 1000000
@ -84,23 +84,23 @@ typedef uint32_t hal_timer_t;
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE #define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US #define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM) #define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM) #define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_STEP)
#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM) #define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP)
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM) #define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM) #define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)
#ifndef HAL_STEP_TIMER_ISR #ifndef HAL_STEP_TIMER_ISR
#define HAL_STEP_TIMER_ISR() _HAL_TIMER_ISR(STEP_TIMER_NUM) #define HAL_STEP_TIMER_ISR() _HAL_TIMER_ISR(MF_TIMER_STEP)
#endif #endif
#ifndef HAL_TEMP_TIMER_ISR #ifndef HAL_TEMP_TIMER_ISR
#define HAL_TEMP_TIMER_ISR() _HAL_TIMER_ISR(TEMP_TIMER_NUM) #define HAL_TEMP_TIMER_ISR() _HAL_TIMER_ISR(MF_TIMER_TEMP)
#endif #endif
// Timer references by index // Timer references by index
#define STEP_TIMER_PTR _HAL_TIMER(STEP_TIMER_NUM) #define STEP_TIMER_PTR _HAL_TIMER(MF_TIMER_STEP)
#define TEMP_TIMER_PTR _HAL_TIMER(TEMP_TIMER_NUM) #define TEMP_TIMER_PTR _HAL_TIMER(MF_TIMER_TEMP)
// ------------------------ // ------------------------
// Public functions // Public functions
@ -110,38 +110,38 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) { FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
switch (timer_num) { switch (timer_num) {
case 0: STEP_TIMER_PTR->MR0 = compare; break; // Stepper Timer Match Register 0 case MF_TIMER_STEP: STEP_TIMER_PTR->MR0 = compare; break; // Stepper Timer Match Register 0
case 1: TEMP_TIMER_PTR->MR0 = compare; break; // Temp Timer Match Register 0 case MF_TIMER_TEMP: TEMP_TIMER_PTR->MR0 = compare; break; // Temp Timer Match Register 0
} }
} }
FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) { FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
switch (timer_num) { switch (timer_num) {
case 0: return STEP_TIMER_PTR->MR0; // Stepper Timer Match Register 0 case MF_TIMER_STEP: return STEP_TIMER_PTR->MR0; // Stepper Timer Match Register 0
case 1: return TEMP_TIMER_PTR->MR0; // Temp Timer Match Register 0 case MF_TIMER_TEMP: return TEMP_TIMER_PTR->MR0; // Temp Timer Match Register 0
} }
return 0; return 0;
} }
FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) { FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
switch (timer_num) { switch (timer_num) {
case 0: return STEP_TIMER_PTR->TC; // Stepper Timer Count case MF_TIMER_STEP: return STEP_TIMER_PTR->TC; // Stepper Timer Count
case 1: return TEMP_TIMER_PTR->TC; // Temp Timer Count case MF_TIMER_TEMP: return TEMP_TIMER_PTR->TC; // Temp Timer Count
} }
return 0; return 0;
} }
FORCE_INLINE static void HAL_timer_enable_interrupt(const uint8_t timer_num) { FORCE_INLINE static void HAL_timer_enable_interrupt(const uint8_t timer_num) {
switch (timer_num) { switch (timer_num) {
case 0: NVIC_EnableIRQ(TIMER0_IRQn); break; // Enable interrupt handler case MF_TIMER_STEP: NVIC_EnableIRQ(TIMER0_IRQn); break; // Enable interrupt handler
case 1: NVIC_EnableIRQ(TIMER1_IRQn); break; // Enable interrupt handler case MF_TIMER_TEMP: NVIC_EnableIRQ(TIMER1_IRQn); break; // Enable interrupt handler
} }
} }
FORCE_INLINE static void HAL_timer_disable_interrupt(const uint8_t timer_num) { FORCE_INLINE static void HAL_timer_disable_interrupt(const uint8_t timer_num) {
switch (timer_num) { switch (timer_num) {
case 0: NVIC_DisableIRQ(TIMER0_IRQn); break; // Disable interrupt handler case MF_TIMER_STEP: NVIC_DisableIRQ(TIMER0_IRQn); break; // Disable interrupt handler
case 1: NVIC_DisableIRQ(TIMER1_IRQn); break; // Disable interrupt handler case MF_TIMER_TEMP: NVIC_DisableIRQ(TIMER1_IRQn); break; // Disable interrupt handler
} }
// We NEED memory barriers to ensure Interrupts are actually disabled! // We NEED memory barriers to ensure Interrupts are actually disabled!
@ -157,16 +157,16 @@ FORCE_INLINE static bool NVIC_GetEnableIRQ(IRQn_Type IRQn) {
FORCE_INLINE static bool HAL_timer_interrupt_enabled(const uint8_t timer_num) { FORCE_INLINE static bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
switch (timer_num) { switch (timer_num) {
case 0: return NVIC_GetEnableIRQ(TIMER0_IRQn); // Check if interrupt is enabled or not case MF_TIMER_STEP: return NVIC_GetEnableIRQ(TIMER0_IRQn); // Check if interrupt is enabled or not
case 1: return NVIC_GetEnableIRQ(TIMER1_IRQn); // Check if interrupt is enabled or not case MF_TIMER_TEMP: return NVIC_GetEnableIRQ(TIMER1_IRQn); // Check if interrupt is enabled or not
} }
return false; return false;
} }
FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) { FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
switch (timer_num) { switch (timer_num) {
case 0: SBI(STEP_TIMER_PTR->IR, SBIT_CNTEN); break; case MF_TIMER_STEP: SBI(STEP_TIMER_PTR->IR, SBIT_CNTEN); break;
case 1: SBI(TEMP_TIMER_PTR->IR, SBIT_CNTEN); break; case MF_TIMER_TEMP: SBI(TEMP_TIMER_PTR->IR, SBIT_CNTEN); break;
} }
} }

26
Marlin/src/HAL/NATIVE_SIM/timers.h
View File

@ -37,17 +37,17 @@ typedef uint64_t hal_timer_t;
#define HAL_TIMER_RATE ((SystemCoreClock) / 4) // frequency of timers peripherals #define HAL_TIMER_RATE ((SystemCoreClock) / 4) // frequency of timers peripherals
#ifndef STEP_TIMER_NUM #ifndef MF_TIMER_STEP
#define STEP_TIMER_NUM 0 // Timer Index for Stepper #define MF_TIMER_STEP 0 // Timer Index for Stepper
#endif #endif
#ifndef PULSE_TIMER_NUM #ifndef MF_TIMER_PULSE
#define PULSE_TIMER_NUM STEP_TIMER_NUM #define MF_TIMER_PULSE MF_TIMER_STEP
#endif #endif
#ifndef TEMP_TIMER_NUM #ifndef MF_TIMER_TEMP
#define TEMP_TIMER_NUM 1 // Timer Index for Temperature #define MF_TIMER_TEMP 1 // Timer Index for Temperature
#endif #endif
#ifndef SYSTICK_TIMER_NUM #ifndef MF_TIMER_SYSTICK
#define SYSTICK_TIMER_NUM 2 // Timer Index for Systick #define MF_TIMER_SYSTICK 2 // Timer Index for Systick
#endif #endif
#define SYSTICK_TIMER_FREQUENCY 1000 #define SYSTICK_TIMER_FREQUENCY 1000
@ -62,12 +62,12 @@ typedef uint64_t hal_timer_t;
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE #define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US #define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM) #define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM) #define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_STEP)
#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM) #define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP)
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM) #define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM) #define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)
#ifndef HAL_STEP_TIMER_ISR #ifndef HAL_STEP_TIMER_ISR
#define HAL_STEP_TIMER_ISR() extern "C" void TIMER0_IRQHandler() #define HAL_STEP_TIMER_ISR() extern "C" void TIMER0_IRQHandler()

8
Marlin/src/HAL/SAMD51/Servo.cpp
View File

@ -53,7 +53,7 @@
static volatile int8_t currentServoIndex[_Nbr_16timers]; // index for the servo being pulsed for each timer (or -1 if refresh interval) static volatile int8_t currentServoIndex[_Nbr_16timers]; // index for the servo being pulsed for each timer (or -1 if refresh interval)
FORCE_INLINE static uint16_t getTimerCount() { FORCE_INLINE static uint16_t getTimerCount() {
Tc * const tc = TimerConfig[SERVO_TC].pTc; Tc * const tc = timer_config[SERVO_TC].pTc;
tc->COUNT16.CTRLBSET.reg = TC_CTRLBCLR_CMD_READSYNC; tc->COUNT16.CTRLBSET.reg = TC_CTRLBCLR_CMD_READSYNC;
SYNC(tc->COUNT16.SYNCBUSY.bit.CTRLB || tc->COUNT16.SYNCBUSY.bit.COUNT); SYNC(tc->COUNT16.SYNCBUSY.bit.CTRLB || tc->COUNT16.SYNCBUSY.bit.COUNT);
@ -65,7 +65,7 @@ FORCE_INLINE static uint16_t getTimerCount() {
// Interrupt handler for the TC // Interrupt handler for the TC
// ---------------------------- // ----------------------------
HAL_SERVO_TIMER_ISR() { HAL_SERVO_TIMER_ISR() {
Tc * const tc = TimerConfig[SERVO_TC].pTc; Tc * const tc = timer_config[SERVO_TC].pTc;
const timer16_Sequence_t timer = const timer16_Sequence_t timer =
#ifndef _useTimer1 #ifndef _useTimer1
_timer2 _timer2
@ -125,7 +125,7 @@ HAL_SERVO_TIMER_ISR() {
} }
void initISR(timer16_Sequence_t timer) { void initISR(timer16_Sequence_t timer) {
Tc * const tc = TimerConfig[SERVO_TC].pTc; Tc * const tc = timer_config[SERVO_TC].pTc;
const uint8_t tcChannel = TIMER_TCCHANNEL(timer); const uint8_t tcChannel = TIMER_TCCHANNEL(timer);
static bool initialized = false; // Servo TC has been initialized static bool initialized = false; // Servo TC has been initialized
@ -202,7 +202,7 @@ void initISR(timer16_Sequence_t timer) {
} }
void finISR(timer16_Sequence_t timer) { void finISR(timer16_Sequence_t timer) {
Tc * const tc = TimerConfig[SERVO_TC].pTc; Tc * const tc = timer_config[SERVO_TC].pTc;
const uint8_t tcChannel = TIMER_TCCHANNEL(timer); const uint8_t tcChannel = TIMER_TCCHANNEL(timer);
// Disable the match channel interrupt request // Disable the match channel interrupt request

2
Marlin/src/HAL/SAMD51/inc/SanityCheck.h
View File

@ -36,7 +36,7 @@
#error "OnBoard SPI BUS can't be shared with other devices." #error "OnBoard SPI BUS can't be shared with other devices."
#endif #endif
#if SERVO_TC == RTC_TIMER_NUM #if SERVO_TC == MF_TIMER_RTC
#error "Servos can't use RTC timer" #error "Servos can't use RTC timer"
#endif #endif

20
Marlin/src/HAL/SAMD51/timers.cpp
View File

@ -31,13 +31,13 @@
// Local defines // Local defines
// -------------------------------------------------------------------------- // --------------------------------------------------------------------------
#define NUM_HARDWARE_TIMERS 8 #define NUM_HARDWARE_TIMERS 9
// -------------------------------------------------------------------------- // --------------------------------------------------------------------------
// Private Variables // Private Variables
// -------------------------------------------------------------------------- // --------------------------------------------------------------------------
const tTimerConfig TimerConfig[NUM_HARDWARE_TIMERS+1] = { const tTimerConfig timer_config[NUM_HARDWARE_TIMERS] = {
{ {.pTc=TC0}, TC0_IRQn, TC_PRIORITY(0) }, // 0 - stepper (assigned priority 2) { {.pTc=TC0}, TC0_IRQn, TC_PRIORITY(0) }, // 0 - stepper (assigned priority 2)
{ {.pTc=TC1}, TC1_IRQn, TC_PRIORITY(1) }, // 1 - stepper (needed by 32 bit timers) { {.pTc=TC1}, TC1_IRQn, TC_PRIORITY(1) }, // 1 - stepper (needed by 32 bit timers)
{ {.pTc=TC2}, TC2_IRQn, 5 }, // 2 - tone (reserved by framework and fixed assigned priority 5) { {.pTc=TC2}, TC2_IRQn, 5 }, // 2 - tone (reserved by framework and fixed assigned priority 5)
@ -67,13 +67,13 @@ FORCE_INLINE void Disable_Irq(IRQn_Type irq) {
// -------------------------------------------------------------------------- // --------------------------------------------------------------------------
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
IRQn_Type irq = TimerConfig[timer_num].IRQ_Id; IRQn_Type irq = timer_config[timer_num].IRQ_Id;
// Disable interrupt, just in case it was already enabled // Disable interrupt, just in case it was already enabled
Disable_Irq(irq); Disable_Irq(irq);
if (timer_num == RTC_TIMER_NUM) { if (timer_num == MF_TIMER_RTC) {
Rtc * const rtc = TimerConfig[timer_num].pRtc; Rtc * const rtc = timer_config[timer_num].pRtc;
// Disable timer interrupt // Disable timer interrupt
rtc->MODE0.INTENCLR.reg = RTC_MODE0_INTENCLR_CMP0; rtc->MODE0.INTENCLR.reg = RTC_MODE0_INTENCLR_CMP0;
@ -101,7 +101,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
SYNC(rtc->MODE0.SYNCBUSY.bit.ENABLE); SYNC(rtc->MODE0.SYNCBUSY.bit.ENABLE);
} }
else { else {
Tc * const tc = TimerConfig[timer_num].pTc; Tc * const tc = timer_config[timer_num].pTc;
// Disable timer interrupt // Disable timer interrupt
tc->COUNT32.INTENCLR.reg = TC_INTENCLR_OVF; // disable overflow interrupt tc->COUNT32.INTENCLR.reg = TC_INTENCLR_OVF; // disable overflow interrupt
@ -141,17 +141,17 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
} }
// Finally, enable IRQ // Finally, enable IRQ
NVIC_SetPriority(irq, TimerConfig[timer_num].priority); NVIC_SetPriority(irq, timer_config[timer_num].priority);
NVIC_EnableIRQ(irq); NVIC_EnableIRQ(irq);
} }
void HAL_timer_enable_interrupt(const uint8_t timer_num) { void HAL_timer_enable_interrupt(const uint8_t timer_num) {
const IRQn_Type irq = TimerConfig[timer_num].IRQ_Id; const IRQn_Type irq = timer_config[timer_num].IRQ_Id;
NVIC_EnableIRQ(irq); NVIC_EnableIRQ(irq);
} }
void HAL_timer_disable_interrupt(const uint8_t timer_num) { void HAL_timer_disable_interrupt(const uint8_t timer_num) {
const IRQn_Type irq = TimerConfig[timer_num].IRQ_Id; const IRQn_Type irq = timer_config[timer_num].IRQ_Id;
Disable_Irq(irq); Disable_Irq(irq);
} }
@ -161,7 +161,7 @@ static bool NVIC_GetEnabledIRQ(IRQn_Type IRQn) {
} }
bool HAL_timer_interrupt_enabled(const uint8_t timer_num) { bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
const IRQn_Type irq = TimerConfig[timer_num].IRQ_Id; const IRQn_Type irq = timer_config[timer_num].IRQ_Id;
return NVIC_GetEnabledIRQ(irq); return NVIC_GetEnabledIRQ(irq);
} }

62
Marlin/src/HAL/SAMD51/timers.h
View File

@ -25,21 +25,22 @@
// -------------------------------------------------------------------------- // --------------------------------------------------------------------------
// Defines // Defines
// -------------------------------------------------------------------------- // --------------------------------------------------------------------------
#define RTC_TIMER_NUM 8 // This is not a TC but a RTC
typedef uint32_t hal_timer_t; typedef uint32_t hal_timer_t;
#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF #define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
#define HAL_TIMER_RATE F_CPU // frequency of timers peripherals #define HAL_TIMER_RATE F_CPU // frequency of timers peripherals
#ifndef STEP_TIMER_NUM #define MF_TIMER_RTC 8 // This is not a TC but a RTC
#define STEP_TIMER_NUM 0 // Timer Index for Stepper
#ifndef MF_TIMER_STEP
#define MF_TIMER_STEP 0 // Timer Index for Stepper
#endif #endif
#ifndef PULSE_TIMER_NUM #ifndef MF_TIMER_PULSE
#define PULSE_TIMER_NUM STEP_TIMER_NUM #define MF_TIMER_PULSE MF_TIMER_STEP
#endif #endif
#ifndef TEMP_TIMER_NUM #ifndef MF_TIMER_TEMP
#define TEMP_TIMER_NUM RTC_TIMER_NUM // Timer Index for Temperature #define MF_TIMER_TEMP MF_TIMER_RTC // Timer Index for Temperature
#endif #endif
#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency #define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
@ -52,30 +53,29 @@ typedef uint32_t hal_timer_t;
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE #define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US #define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM) #define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM) #define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_STEP)
#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM) #define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP)
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM) #define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM) #define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)
#define TC_PRIORITY(t) t == SERVO_TC ? 1 \ #define TC_PRIORITY(t) ( t == SERVO_TC ? 1 \
: (t == STEP_TIMER_NUM || t == PULSE_TIMER_NUM) ? 2 \ : (t == MF_TIMER_STEP || t == MF_TIMER_PULSE) ? 2 \
: (t == TEMP_TIMER_NUM) ? 6 \ : (t == MF_TIMER_TEMP) ? 6 : 7 )
: 7
#define _TC_HANDLER(t) void TC##t##_Handler() #define _TC_HANDLER(t) void TC##t##_Handler()
#define TC_HANDLER(t) _TC_HANDLER(t) #define TC_HANDLER(t) _TC_HANDLER(t)
#ifndef HAL_STEP_TIMER_ISR #ifndef HAL_STEP_TIMER_ISR
#define HAL_STEP_TIMER_ISR() TC_HANDLER(STEP_TIMER_NUM) #define HAL_STEP_TIMER_ISR() TC_HANDLER(MF_TIMER_STEP)
#endif #endif
#if STEP_TIMER_NUM != PULSE_TIMER_NUM #if MF_TIMER_STEP != MF_TIMER_PULSE
#define HAL_PULSE_TIMER_ISR() TC_HANDLER(PULSE_TIMER_NUM) #define HAL_PULSE_TIMER_ISR() TC_HANDLER(MF_TIMER_PULSE)
#endif #endif
#if TEMP_TIMER_NUM == RTC_TIMER_NUM #if MF_TIMER_TEMP == MF_TIMER_RTC
#define HAL_TEMP_TIMER_ISR() void RTC_Handler() #define HAL_TEMP_TIMER_ISR() void RTC_Handler()
#else #else
#define HAL_TEMP_TIMER_ISR() TC_HANDLER(TEMP_TIMER_NUM) #define HAL_TEMP_TIMER_ISR() TC_HANDLER(MF_TIMER_TEMP)
#endif #endif
// -------------------------------------------------------------------------- // --------------------------------------------------------------------------
@ -95,7 +95,7 @@ typedef struct {
// Public Variables // Public Variables
// -------------------------------------------------------------------------- // --------------------------------------------------------------------------
extern const tTimerConfig TimerConfig[]; extern const tTimerConfig timer_config[];
// -------------------------------------------------------------------------- // --------------------------------------------------------------------------
// Public functions // Public functions
@ -104,20 +104,20 @@ extern const tTimerConfig TimerConfig[];
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency); void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) { FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
// Should never be called with timer RTC_TIMER_NUM // Should never be called with timer MF_TIMER_RTC
Tc * const tc = TimerConfig[timer_num].pTc; Tc * const tc = timer_config[timer_num].pTc;
tc->COUNT32.CC[0].reg = compare; tc->COUNT32.CC[0].reg = compare;
} }
FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) { FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
// Should never be called with timer RTC_TIMER_NUM // Should never be called with timer MF_TIMER_RTC
Tc * const tc = TimerConfig[timer_num].pTc; Tc * const tc = timer_config[timer_num].pTc;
return (hal_timer_t)tc->COUNT32.CC[0].reg; return (hal_timer_t)tc->COUNT32.CC[0].reg;
} }
FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) { FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
// Should never be called with timer RTC_TIMER_NUM // Should never be called with timer MF_TIMER_RTC
Tc * const tc = TimerConfig[timer_num].pTc; Tc * const tc = timer_config[timer_num].pTc;
tc->COUNT32.CTRLBSET.reg = TC_CTRLBCLR_CMD_READSYNC; tc->COUNT32.CTRLBSET.reg = TC_CTRLBCLR_CMD_READSYNC;
SYNC(tc->COUNT32.SYNCBUSY.bit.CTRLB || tc->COUNT32.SYNCBUSY.bit.COUNT); SYNC(tc->COUNT32.SYNCBUSY.bit.CTRLB || tc->COUNT32.SYNCBUSY.bit.COUNT);
return tc->COUNT32.COUNT.reg; return tc->COUNT32.COUNT.reg;
@ -128,13 +128,13 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num);
bool HAL_timer_interrupt_enabled(const uint8_t timer_num); bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) { FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
if (timer_num == RTC_TIMER_NUM) { if (timer_num == MF_TIMER_RTC) {
Rtc * const rtc = TimerConfig[timer_num].pRtc; Rtc * const rtc = timer_config[timer_num].pRtc;
// Clear interrupt flag // Clear interrupt flag
rtc->MODE0.INTFLAG.reg = RTC_MODE0_INTFLAG_CMP0; rtc->MODE0.INTFLAG.reg = RTC_MODE0_INTFLAG_CMP0;
} }
else { else {
Tc * const tc = TimerConfig[timer_num].pTc; Tc * const tc = timer_config[timer_num].pTc;
// Clear interrupt flag // Clear interrupt flag
tc->COUNT32.INTFLAG.reg = TC_INTFLAG_OVF; tc->COUNT32.INTFLAG.reg = TC_INTFLAG_OVF;
} }

5
Marlin/src/HAL/STM32/fast_pwm.cpp
View File

@ -70,9 +70,6 @@ void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255
void set_pwm_frequency(const pin_t pin, int f_desired) { void set_pwm_frequency(const pin_t pin, int f_desired) {
if (!PWM_PIN(pin)) return; // Don't proceed if no hardware timer if (!PWM_PIN(pin)) return; // Don't proceed if no hardware timer
HardwareTimer *HT;
PinName pin_name = digitalPinToPinName(pin);
TIM_TypeDef *Instance = (TIM_TypeDef *)pinmap_peripheral(pin_name, PinMap_PWM); // Get HAL timer instance
const PinName pin_name = digitalPinToPinName(pin); const PinName pin_name = digitalPinToPinName(pin);
TIM_TypeDef * const Instance = (TIM_TypeDef *)pinmap_peripheral(pin_name, PinMap_PWM); // Get HAL timer instance TIM_TypeDef * const Instance = (TIM_TypeDef *)pinmap_peripheral(pin_name, PinMap_PWM); // Get HAL timer instance
@ -87,7 +84,7 @@ void set_pwm_frequency(const pin_t pin, int f_desired) {
if (HardwareTimer_Handle[index] == nullptr) // If frequency is set before duty we need to create a handle here. if (HardwareTimer_Handle[index] == nullptr) // If frequency is set before duty we need to create a handle here.
HardwareTimer_Handle[index]->__this = new HardwareTimer((TIM_TypeDef *)pinmap_peripheral(pin_name, PinMap_PWM)); HardwareTimer_Handle[index]->__this = new HardwareTimer((TIM_TypeDef *)pinmap_peripheral(pin_name, PinMap_PWM));
HT = (HardwareTimer *)(HardwareTimer_Handle[index]->__this); HardwareTimer * const HT = (HardwareTimer *)(HardwareTimer_Handle[index]->__this);
timer_freq[index] = f_desired; // Save the last frequency so duty will not set the default for this timer number. timer_freq[index] = f_desired; // Save the last frequency so duty will not set the default for this timer number.
HT->setOverflow(f_desired, HERTZ_FORMAT); HT->setOverflow(f_desired, HERTZ_FORMAT);
} }

14
Marlin/src/HAL/STM32/timers.cpp
View File

@ -110,7 +110,7 @@ HardwareTimer *timer_instance[NUM_HARDWARE_TIMERS] = { nullptr };
uint32_t GetStepperTimerClkFreq() { uint32_t GetStepperTimerClkFreq() {
// Timer input clocks vary between devices, and in some cases between timers on the same device. // Timer input clocks vary between devices, and in some cases between timers on the same device.
// Retrieve at runtime to ensure device compatibility. Cache result to avoid repeated overhead. // Retrieve at runtime to ensure device compatibility. Cache result to avoid repeated overhead.
static uint32_t clkfreq = timer_instance[STEP_TIMER_NUM]->getTimerClkFreq(); static uint32_t clkfreq = timer_instance[MF_TIMER_STEP]->getTimerClkFreq();
return clkfreq; return clkfreq;
} }
@ -118,7 +118,7 @@ uint32_t GetStepperTimerClkFreq() {
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
if (!HAL_timer_initialized(timer_num)) { if (!HAL_timer_initialized(timer_num)) {
switch (timer_num) { switch (timer_num) {
case STEP_TIMER_NUM: // STEPPER TIMER - use a 32bit timer if possible case MF_TIMER_STEP: // STEPPER TIMER - use a 32bit timer if possible
timer_instance[timer_num] = new HardwareTimer(STEP_TIMER_DEV); timer_instance[timer_num] = new HardwareTimer(STEP_TIMER_DEV);
/* Set the prescaler to the final desired value. /* Set the prescaler to the final desired value.
* This will change the effective ISR callback frequency but when * This will change the effective ISR callback frequency but when
@ -137,7 +137,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
timer_instance[timer_num]->setPrescaleFactor(STEPPER_TIMER_PRESCALE); //the -1 is done internally timer_instance[timer_num]->setPrescaleFactor(STEPPER_TIMER_PRESCALE); //the -1 is done internally
timer_instance[timer_num]->setOverflow(_MIN(hal_timer_t(HAL_TIMER_TYPE_MAX), (HAL_TIMER_RATE) / (STEPPER_TIMER_PRESCALE) /* /frequency */), TICK_FORMAT); timer_instance[timer_num]->setOverflow(_MIN(hal_timer_t(HAL_TIMER_TYPE_MAX), (HAL_TIMER_RATE) / (STEPPER_TIMER_PRESCALE) /* /frequency */), TICK_FORMAT);
break; break;
case TEMP_TIMER_NUM: // TEMP TIMER - any available 16bit timer case MF_TIMER_TEMP: // TEMP TIMER - any available 16bit timer
timer_instance[timer_num] = new HardwareTimer(TEMP_TIMER_DEV); timer_instance[timer_num] = new HardwareTimer(TEMP_TIMER_DEV);
// The prescale factor is computed automatically for HERTZ_FORMAT // The prescale factor is computed automatically for HERTZ_FORMAT
timer_instance[timer_num]->setOverflow(frequency, HERTZ_FORMAT); timer_instance[timer_num]->setOverflow(frequency, HERTZ_FORMAT);
@ -157,10 +157,10 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
// These calls can be removed and replaced with // These calls can be removed and replaced with
// timer_instance[timer_num]->setInterruptPriority // timer_instance[timer_num]->setInterruptPriority
switch (timer_num) { switch (timer_num) {
case STEP_TIMER_NUM: case MF_TIMER_STEP:
timer_instance[timer_num]->setInterruptPriority(STEP_TIMER_IRQ_PRIO, 0); timer_instance[timer_num]->setInterruptPriority(STEP_TIMER_IRQ_PRIO, 0);
break; break;
case TEMP_TIMER_NUM: case MF_TIMER_TEMP:
timer_instance[timer_num]->setInterruptPriority(TEMP_TIMER_IRQ_PRIO, 0); timer_instance[timer_num]->setInterruptPriority(TEMP_TIMER_IRQ_PRIO, 0);
break; break;
} }
@ -170,10 +170,10 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
void HAL_timer_enable_interrupt(const uint8_t timer_num) { void HAL_timer_enable_interrupt(const uint8_t timer_num) {
if (HAL_timer_initialized(timer_num) && !timer_instance[timer_num]->hasInterrupt()) { if (HAL_timer_initialized(timer_num) && !timer_instance[timer_num]->hasInterrupt()) {
switch (timer_num) { switch (timer_num) {
case STEP_TIMER_NUM: case MF_TIMER_STEP:
timer_instance[timer_num]->attachInterrupt(Step_Handler); timer_instance[timer_num]->attachInterrupt(Step_Handler);
break; break;
case TEMP_TIMER_NUM: case MF_TIMER_TEMP:
timer_instance[timer_num]->attachInterrupt(Temp_Handler); timer_instance[timer_num]->attachInterrupt(Temp_Handler);
break; break;
} }

22
Marlin/src/HAL/STM32/timers.h
View File

@ -42,14 +42,14 @@
#define NUM_HARDWARE_TIMERS 2 #define NUM_HARDWARE_TIMERS 2
#ifndef STEP_TIMER_NUM #ifndef MF_TIMER_STEP
#define STEP_TIMER_NUM 0 // Timer Index for Stepper #define MF_TIMER_STEP 0 // Timer Index for Stepper
#endif #endif
#ifndef PULSE_TIMER_NUM #ifndef MF_TIMER_PULSE
#define PULSE_TIMER_NUM STEP_TIMER_NUM #define MF_TIMER_PULSE MF_TIMER_STEP
#endif #endif
#ifndef TEMP_TIMER_NUM #ifndef MF_TIMER_TEMP
#define TEMP_TIMER_NUM 1 // Timer Index for Temperature #define MF_TIMER_TEMP 1 // Timer Index for Temperature
#endif #endif
#define TEMP_TIMER_FREQUENCY 1000 // Temperature::isr() is expected to be called at around 1kHz #define TEMP_TIMER_FREQUENCY 1000 // Temperature::isr() is expected to be called at around 1kHz
@ -64,12 +64,12 @@ extern uint32_t GetStepperTimerClkFreq();
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE #define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US #define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM) #define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM) #define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_STEP)
#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM) #define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP)
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM) #define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM) #define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)
extern void Step_Handler(); extern void Step_Handler();
extern void Temp_Handler(); extern void Temp_Handler();

18
Marlin/src/HAL/STM32F1/Servo.cpp
View File

@ -60,7 +60,7 @@ uint8_t ServoCount = 0;
#define US_TO_ANGLE(us) int16_t(map((us), SERVO_DEFAULT_MIN_PW, SERVO_DEFAULT_MAX_PW, minAngle, maxAngle)) #define US_TO_ANGLE(us) int16_t(map((us), SERVO_DEFAULT_MIN_PW, SERVO_DEFAULT_MAX_PW, minAngle, maxAngle))
void libServo::servoWrite(uint8_t inPin, uint16_t duty_cycle) { void libServo::servoWrite(uint8_t inPin, uint16_t duty_cycle) {
#ifdef SERVO0_TIMER_NUM #ifdef MF_TIMER_SERVO0
if (servoIndex == 0) { if (servoIndex == 0) {
pwmSetDuty(duty_cycle); pwmSetDuty(duty_cycle);
return; return;
@ -74,7 +74,7 @@ void libServo::servoWrite(uint8_t inPin, uint16_t duty_cycle) {
libServo::libServo() { libServo::libServo() {
servoIndex = ServoCount < MAX_SERVOS ? ServoCount++ : INVALID_SERVO; servoIndex = ServoCount < MAX_SERVOS ? ServoCount++ : INVALID_SERVO;
timer_set_interrupt_priority(SERVO0_TIMER_NUM, SERVO0_TIMER_IRQ_PRIO); HAL_timer_set_interrupt_priority(MF_TIMER_SERVO0, SERVO0_TIMER_IRQ_PRIO);
} }
bool libServo::attach(const int32_t inPin, const int32_t inMinAngle, const int32_t inMaxAngle) { bool libServo::attach(const int32_t inPin, const int32_t inMinAngle, const int32_t inMaxAngle) {
@ -85,7 +85,7 @@ bool libServo::attach(const int32_t inPin, const int32_t inMinAngle, const int32
maxAngle = inMaxAngle; maxAngle = inMaxAngle;
angle = -1; angle = -1;
#ifdef SERVO0_TIMER_NUM #ifdef MF_TIMER_SERVO0
if (servoIndex == 0 && setupSoftPWM(inPin)) { if (servoIndex == 0 && setupSoftPWM(inPin)) {
pin = inPin; // set attached() pin = inPin; // set attached()
return true; return true;
@ -119,7 +119,7 @@ bool libServo::detach() {
int32_t libServo::read() const { int32_t libServo::read() const {
if (attached()) { if (attached()) {
#ifdef SERVO0_TIMER_NUM #ifdef MF_TIMER_SERVO0
if (servoIndex == 0) return angle; if (servoIndex == 0) return angle;
#endif #endif
timer_dev *tdev = PIN_MAP[pin].timer_device; timer_dev *tdev = PIN_MAP[pin].timer_device;
@ -141,9 +141,9 @@ void libServo::move(const int32_t value) {
} }
} }
#ifdef SERVO0_TIMER_NUM #ifdef MF_TIMER_SERVO0
extern "C" void Servo_IRQHandler() { extern "C" void Servo_IRQHandler() {
static timer_dev *tdev = get_timer_dev(SERVO0_TIMER_NUM); static timer_dev *tdev = HAL_get_timer_dev(MF_TIMER_SERVO0);
uint16_t SR = timer_get_status(tdev); uint16_t SR = timer_get_status(tdev);
if (SR & TIMER_SR_CC1IF) { // channel 1 off if (SR & TIMER_SR_CC1IF) { // channel 1 off
#ifdef SERVO0_PWM_OD #ifdef SERVO0_PWM_OD
@ -164,7 +164,7 @@ void libServo::move(const int32_t value) {
} }
bool libServo::setupSoftPWM(const int32_t inPin) { bool libServo::setupSoftPWM(const int32_t inPin) {
timer_dev *tdev = get_timer_dev(SERVO0_TIMER_NUM); timer_dev *tdev = HAL_get_timer_dev(MF_TIMER_SERVO0);
if (!tdev) return false; if (!tdev) return false;
#ifdef SERVO0_PWM_OD #ifdef SERVO0_PWM_OD
OUT_WRITE_OD(inPin, 1); OUT_WRITE_OD(inPin, 1);
@ -189,7 +189,7 @@ void libServo::move(const int32_t value) {
} }
void libServo::pwmSetDuty(const uint16_t duty_cycle) { void libServo::pwmSetDuty(const uint16_t duty_cycle) {
timer_dev *tdev = get_timer_dev(SERVO0_TIMER_NUM); timer_dev *tdev = HAL_get_timer_dev(MF_TIMER_SERVO0);
timer_set_compare(tdev, 1, duty_cycle); timer_set_compare(tdev, 1, duty_cycle);
timer_generate_update(tdev); timer_generate_update(tdev);
if (duty_cycle) { if (duty_cycle) {
@ -208,7 +208,7 @@ void libServo::move(const int32_t value) {
} }
void libServo::pauseSoftPWM() { // detach void libServo::pauseSoftPWM() { // detach
timer_dev *tdev = get_timer_dev(SERVO0_TIMER_NUM); timer_dev *tdev = HAL_get_timer_dev(MF_TIMER_SERVO0);
timer_pause(tdev); timer_pause(tdev);
pwmSetDuty(0); pwmSetDuty(0);
} }

9
Marlin/src/HAL/STM32F1/fast_pwm.cpp
View File

@ -35,7 +35,6 @@ void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255
uint16_t max_val = timer->regs.bas->ARR * v / v_size; uint16_t max_val = timer->regs.bas->ARR * v / v_size;
if (invert) max_val = v_size - max_val; if (invert) max_val = v_size - max_val;
pwmWrite(pin, max_val); pwmWrite(pin, max_val);
} }
void set_pwm_frequency(const pin_t pin, int f_desired) { void set_pwm_frequency(const pin_t pin, int f_desired) {
@ -45,10 +44,10 @@ void set_pwm_frequency(const pin_t pin, int f_desired) {
uint8_t channel = PIN_MAP[pin].timer_channel; uint8_t channel = PIN_MAP[pin].timer_channel;
// Protect used timers // Protect used timers
if (timer == get_timer_dev(TEMP_TIMER_NUM)) return; if (timer == HAL_get_timer_dev(MF_TIMER_TEMP)) return;
if (timer == get_timer_dev(STEP_TIMER_NUM)) return; if (timer == HAL_get_timer_dev(MF_TIMER_STEP)) return;
#if PULSE_TIMER_NUM != STEP_TIMER_NUM #if MF_TIMER_PULSE != MF_TIMER_STEP
if (timer == get_timer_dev(PULSE_TIMER_NUM)) return; if (timer == HAL_get_timer_dev(MF_TIMER_PULSE)) return;
#endif #endif
if (!(timer->regs.bas->SR & TIMER_CR1_CEN)) // Ensure the timer is enabled if (!(timer->regs.bas->SR & TIMER_CR1_CEN)) // Ensure the timer is enabled

30
Marlin/src/HAL/STM32F1/timers.cpp
View File

@ -47,10 +47,7 @@
* TODO: Calculate Timer prescale value, so we get the 32bit to adjust * TODO: Calculate Timer prescale value, so we get the 32bit to adjust
*/ */
void HAL_timer_set_interrupt_priority(uint_fast8_t timer_num, uint_fast8_t priority) {
void timer_set_interrupt_priority(uint_fast8_t timer_num, uint_fast8_t priority) {
nvic_irq_num irq_num; nvic_irq_num irq_num;
switch (timer_num) { switch (timer_num) {
case 1: irq_num = NVIC_TIMER1_CC; break; case 1: irq_num = NVIC_TIMER1_CC; break;
@ -73,7 +70,6 @@ void timer_set_interrupt_priority(uint_fast8_t timer_num, uint_fast8_t priority)
nvic_irq_set_priority(irq_num, priority); nvic_irq_set_priority(irq_num, priority);
} }
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
/** /**
* Give the Stepper ISR a higher priority (lower number) * Give the Stepper ISR a higher priority (lower number)
@ -81,7 +77,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
*/ */
switch (timer_num) { switch (timer_num) {
case STEP_TIMER_NUM: case MF_TIMER_STEP:
timer_pause(STEP_TIMER_DEV); timer_pause(STEP_TIMER_DEV);
timer_set_mode(STEP_TIMER_DEV, STEP_TIMER_CHAN, TIMER_OUTPUT_COMPARE); // counter timer_set_mode(STEP_TIMER_DEV, STEP_TIMER_CHAN, TIMER_OUTPUT_COMPARE); // counter
timer_set_count(STEP_TIMER_DEV, 0); timer_set_count(STEP_TIMER_DEV, 0);
@ -91,11 +87,11 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
timer_set_compare(STEP_TIMER_DEV, STEP_TIMER_CHAN, _MIN(hal_timer_t(HAL_TIMER_TYPE_MAX), (STEPPER_TIMER_RATE) / frequency)); timer_set_compare(STEP_TIMER_DEV, STEP_TIMER_CHAN, _MIN(hal_timer_t(HAL_TIMER_TYPE_MAX), (STEPPER_TIMER_RATE) / frequency));
timer_no_ARR_preload_ARPE(STEP_TIMER_DEV); // Need to be sure no preload on ARR register timer_no_ARR_preload_ARPE(STEP_TIMER_DEV); // Need to be sure no preload on ARR register
timer_attach_interrupt(STEP_TIMER_DEV, STEP_TIMER_CHAN, stepTC_Handler); timer_attach_interrupt(STEP_TIMER_DEV, STEP_TIMER_CHAN, stepTC_Handler);
timer_set_interrupt_priority(STEP_TIMER_NUM, STEP_TIMER_IRQ_PRIO); HAL_timer_set_interrupt_priority(MF_TIMER_STEP, STEP_TIMER_IRQ_PRIO);
timer_generate_update(STEP_TIMER_DEV); timer_generate_update(STEP_TIMER_DEV);
timer_resume(STEP_TIMER_DEV); timer_resume(STEP_TIMER_DEV);
break; break;
case TEMP_TIMER_NUM: case MF_TIMER_TEMP:
timer_pause(TEMP_TIMER_DEV); timer_pause(TEMP_TIMER_DEV);
timer_set_mode(TEMP_TIMER_DEV, TEMP_TIMER_CHAN, TIMER_OUTPUT_COMPARE); timer_set_mode(TEMP_TIMER_DEV, TEMP_TIMER_CHAN, TIMER_OUTPUT_COMPARE);
timer_set_count(TEMP_TIMER_DEV, 0); timer_set_count(TEMP_TIMER_DEV, 0);
@ -103,7 +99,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
timer_set_reload(TEMP_TIMER_DEV, 0xFFFF); timer_set_reload(TEMP_TIMER_DEV, 0xFFFF);
timer_set_compare(TEMP_TIMER_DEV, TEMP_TIMER_CHAN, _MIN(hal_timer_t(HAL_TIMER_TYPE_MAX), (F_CPU) / (TEMP_TIMER_PRESCALE) / frequency)); timer_set_compare(TEMP_TIMER_DEV, TEMP_TIMER_CHAN, _MIN(hal_timer_t(HAL_TIMER_TYPE_MAX), (F_CPU) / (TEMP_TIMER_PRESCALE) / frequency));
timer_attach_interrupt(TEMP_TIMER_DEV, TEMP_TIMER_CHAN, tempTC_Handler); timer_attach_interrupt(TEMP_TIMER_DEV, TEMP_TIMER_CHAN, tempTC_Handler);
timer_set_interrupt_priority(TEMP_TIMER_NUM, TEMP_TIMER_IRQ_PRIO); HAL_timer_set_interrupt_priority(MF_TIMER_TEMP, TEMP_TIMER_IRQ_PRIO);
timer_generate_update(TEMP_TIMER_DEV); timer_generate_update(TEMP_TIMER_DEV);
timer_resume(TEMP_TIMER_DEV); timer_resume(TEMP_TIMER_DEV);
break; break;
@ -112,31 +108,31 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
void HAL_timer_enable_interrupt(const uint8_t timer_num) { void HAL_timer_enable_interrupt(const uint8_t timer_num) {
switch (timer_num) { switch (timer_num) {
case STEP_TIMER_NUM: ENABLE_STEPPER_DRIVER_INTERRUPT(); break; case MF_TIMER_STEP: ENABLE_STEPPER_DRIVER_INTERRUPT(); break;
case TEMP_TIMER_NUM: ENABLE_TEMPERATURE_INTERRUPT(); break; case MF_TIMER_TEMP: ENABLE_TEMPERATURE_INTERRUPT(); break;
} }
} }
void HAL_timer_disable_interrupt(const uint8_t timer_num) { void HAL_timer_disable_interrupt(const uint8_t timer_num) {
switch (timer_num) { switch (timer_num) {
case STEP_TIMER_NUM: DISABLE_STEPPER_DRIVER_INTERRUPT(); break; case MF_TIMER_STEP: DISABLE_STEPPER_DRIVER_INTERRUPT(); break;
case TEMP_TIMER_NUM: DISABLE_TEMPERATURE_INTERRUPT(); break; case MF_TIMER_TEMP: DISABLE_TEMPERATURE_INTERRUPT(); break;
} }
} }
static inline bool timer_irq_enabled(const timer_dev * const dev, const uint8_t interrupt) { static inline bool HAL_timer_irq_enabled(const timer_dev * const dev, const uint8_t interrupt) {
return bool(*bb_perip(&(dev->regs).gen->DIER, interrupt)); return bool(*bb_perip(&(dev->regs).gen->DIER, interrupt));
} }
bool HAL_timer_interrupt_enabled(const uint8_t timer_num) { bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
switch (timer_num) { switch (timer_num) {
case STEP_TIMER_NUM: return timer_irq_enabled(STEP_TIMER_DEV, STEP_TIMER_CHAN); case MF_TIMER_STEP: return HAL_timer_irq_enabled(STEP_TIMER_DEV, STEP_TIMER_CHAN);
case TEMP_TIMER_NUM: return timer_irq_enabled(TEMP_TIMER_DEV, TEMP_TIMER_CHAN); case MF_TIMER_TEMP: return HAL_timer_irq_enabled(TEMP_TIMER_DEV, TEMP_TIMER_CHAN);
} }
return false; return false;
} }
timer_dev* get_timer_dev(int number) { timer_dev* HAL_get_timer_dev(int number) {
switch (number) { switch (number) {
#if STM32_HAVE_TIMER(1) #if STM32_HAVE_TIMER(1)
case 1: return &timer1; case 1: return &timer1;

46
Marlin/src/HAL/STM32F1/timers.h
View File

@ -65,30 +65,30 @@ typedef uint16_t hal_timer_t;
* - Otherwise it uses Timer 8 on boards with STM32_HIGH_DENSITY * - Otherwise it uses Timer 8 on boards with STM32_HIGH_DENSITY
* or Timer 4 on other boards. * or Timer 4 on other boards.
*/ */
#ifndef STEP_TIMER_NUM #ifndef MF_TIMER_STEP
#if defined(MCU_STM32F103CB) || defined(MCU_STM32F103C8) #if defined(MCU_STM32F103CB) || defined(MCU_STM32F103C8)
#define STEP_TIMER_NUM 4 // For C8/CB boards, use timer 4 #define MF_TIMER_STEP 4 // For C8/CB boards, use timer 4
#else #else
#define STEP_TIMER_NUM 5 // for other boards, five is fine. #define MF_TIMER_STEP 5 // for other boards, five is fine.
#endif #endif
#endif #endif
#ifndef PULSE_TIMER_NUM #ifndef MF_TIMER_PULSE
#define PULSE_TIMER_NUM STEP_TIMER_NUM #define MF_TIMER_PULSE MF_TIMER_STEP
#endif #endif
#ifndef TEMP_TIMER_NUM #ifndef MF_TIMER_TEMP
#define TEMP_TIMER_NUM 2 // Timer Index for Temperature #define MF_TIMER_TEMP 2 // Timer Index for Temperature
//#define TEMP_TIMER_NUM 4 // 2->4, Timer 2 for Stepper Current PWM //#define MF_TIMER_TEMP 4 // 2->4, Timer 2 for Stepper Current PWM
#endif #endif
#if MB(BTT_SKR_MINI_E3_V1_0, BTT_SKR_E3_DIP, BTT_SKR_MINI_E3_V1_2, MKS_ROBIN_LITE, MKS_ROBIN_E3D, MKS_ROBIN_E3) #if MB(BTT_SKR_MINI_E3_V1_0, BTT_SKR_E3_DIP, BTT_SKR_MINI_E3_V1_2, MKS_ROBIN_LITE, MKS_ROBIN_E3D, MKS_ROBIN_E3)
// SKR Mini E3 boards use PA8 as FAN_PIN, so TIMER 1 is used for Fan PWM. // SKR Mini E3 boards use PA8 as FAN_PIN, so TIMER 1 is used for Fan PWM.
#ifdef STM32_HIGH_DENSITY #ifdef STM32_HIGH_DENSITY
#define SERVO0_TIMER_NUM 8 // tone.cpp uses Timer 4 #define MF_TIMER_SERVO0 8 // tone.cpp uses Timer 4
#else #else
#define SERVO0_TIMER_NUM 3 // tone.cpp uses Timer 8 #define MF_TIMER_SERVO0 3 // tone.cpp uses Timer 8
#endif #endif
#else #else
#define SERVO0_TIMER_NUM 1 // SERVO0 or BLTOUCH #define MF_TIMER_SERVO0 1 // SERVO0 or BLTOUCH
#endif #endif
#define STEP_TIMER_IRQ_PRIO 2 #define STEP_TIMER_IRQ_PRIO 2
@ -106,14 +106,14 @@ typedef uint16_t hal_timer_t;
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE #define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US #define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
timer_dev* get_timer_dev(int number); timer_dev* HAL_get_timer_dev(int number);
#define TIMER_DEV(num) get_timer_dev(num) #define TIMER_DEV(num) HAL_get_timer_dev(num)
#define STEP_TIMER_DEV TIMER_DEV(STEP_TIMER_NUM) #define STEP_TIMER_DEV TIMER_DEV(MF_TIMER_STEP)
#define TEMP_TIMER_DEV TIMER_DEV(TEMP_TIMER_NUM) #define TEMP_TIMER_DEV TIMER_DEV(MF_TIMER_TEMP)
#define ENABLE_STEPPER_DRIVER_INTERRUPT() timer_enable_irq(STEP_TIMER_DEV, STEP_TIMER_CHAN) #define ENABLE_STEPPER_DRIVER_INTERRUPT() timer_enable_irq(STEP_TIMER_DEV, STEP_TIMER_CHAN)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() timer_disable_irq(STEP_TIMER_DEV, STEP_TIMER_CHAN) #define DISABLE_STEPPER_DRIVER_INTERRUPT() timer_disable_irq(STEP_TIMER_DEV, STEP_TIMER_CHAN)
#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM) #define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP)
#define ENABLE_TEMPERATURE_INTERRUPT() timer_enable_irq(TEMP_TIMER_DEV, TEMP_TIMER_CHAN) #define ENABLE_TEMPERATURE_INTERRUPT() timer_enable_irq(TEMP_TIMER_DEV, TEMP_TIMER_CHAN)
#define DISABLE_TEMPERATURE_INTERRUPT() timer_disable_irq(TEMP_TIMER_DEV, TEMP_TIMER_CHAN) #define DISABLE_TEMPERATURE_INTERRUPT() timer_disable_irq(TEMP_TIMER_DEV, TEMP_TIMER_CHAN)
@ -138,8 +138,8 @@ extern "C" {
// Public Variables // Public Variables
// ------------------------ // ------------------------
//static HardwareTimer StepperTimer(STEP_TIMER_NUM); //static HardwareTimer StepperTimer(MF_TIMER_STEP);
//static HardwareTimer TempTimer(TEMP_TIMER_NUM); //static HardwareTimer TempTimer(MF_TIMER_TEMP);
// ------------------------ // ------------------------
// Public functions // Public functions
@ -163,13 +163,13 @@ bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) { FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
switch (timer_num) { switch (timer_num) {
case STEP_TIMER_NUM: case MF_TIMER_STEP:
// NOTE: WE have set ARPE = 0, which means the Auto reload register is not preloaded // NOTE: WE have set ARPE = 0, which means the Auto reload register is not preloaded
// and there is no need to use any compare, as in the timer mode used, setting ARR to the compare value // and there is no need to use any compare, as in the timer mode used, setting ARR to the compare value
// will result in exactly the same effect, ie triggering an interrupt, and on top, set counter to 0 // will result in exactly the same effect, ie triggering an interrupt, and on top, set counter to 0
timer_set_reload(STEP_TIMER_DEV, compare); // We reload direct ARR as needed during counting up timer_set_reload(STEP_TIMER_DEV, compare); // We reload direct ARR as needed during counting up
break; break;
case TEMP_TIMER_NUM: case MF_TIMER_TEMP:
timer_set_compare(TEMP_TIMER_DEV, TEMP_TIMER_CHAN, compare); timer_set_compare(TEMP_TIMER_DEV, TEMP_TIMER_CHAN, compare);
break; break;
} }
@ -177,11 +177,11 @@ FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const ha
FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) { FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
switch (timer_num) { switch (timer_num) {
case STEP_TIMER_NUM: case MF_TIMER_STEP:
// No counter to clear // No counter to clear
timer_generate_update(STEP_TIMER_DEV); timer_generate_update(STEP_TIMER_DEV);
return; return;
case TEMP_TIMER_NUM: case MF_TIMER_TEMP:
timer_set_count(TEMP_TIMER_DEV, 0); timer_set_count(TEMP_TIMER_DEV, 0);
timer_generate_update(TEMP_TIMER_DEV); timer_generate_update(TEMP_TIMER_DEV);
return; return;
@ -196,6 +196,6 @@ FORCE_INLINE static void timer_no_ARR_preload_ARPE(timer_dev *dev) {
bb_peri_set_bit(&(dev->regs).gen->CR1, TIMER_CR1_ARPE_BIT, 0); bb_peri_set_bit(&(dev->regs).gen->CR1, TIMER_CR1_ARPE_BIT, 0);
} }
void timer_set_interrupt_priority(uint_fast8_t timer_num, uint_fast8_t priority); void HAL_timer_set_interrupt_priority(uint_fast8_t timer_num, uint_fast8_t priority);
#define TIMER_OC_NO_PRELOAD 0 // Need to disable preload also on compare registers. #define TIMER_OC_NO_PRELOAD 0 // Need to disable preload also on compare registers.

20
Marlin/src/HAL/TEENSY31_32/timers.cpp
View File

@ -47,7 +47,7 @@ FORCE_INLINE static void __DSB() {
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
switch (timer_num) { switch (timer_num) {
case 0: case MF_TIMER_STEP:
FTM0_MODE = FTM_MODE_WPDIS | FTM_MODE_FTMEN; FTM0_MODE = FTM_MODE_WPDIS | FTM_MODE_FTMEN;
FTM0_SC = 0x00; // Set this to zero before changing the modulus FTM0_SC = 0x00; // Set this to zero before changing the modulus
FTM0_CNT = 0x0000; // Reset the count to zero FTM0_CNT = 0x0000; // Reset the count to zero
@ -56,7 +56,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
FTM0_SC = (FTM_SC_CLKS(0b1) & FTM_SC_CLKS_MASK) | (FTM_SC_PS(FTM0_TIMER_PRESCALE_BITS) & FTM_SC_PS_MASK); // Bus clock 60MHz divided by prescaler 8 FTM0_SC = (FTM_SC_CLKS(0b1) & FTM_SC_CLKS_MASK) | (FTM_SC_PS(FTM0_TIMER_PRESCALE_BITS) & FTM_SC_PS_MASK); // Bus clock 60MHz divided by prescaler 8
FTM0_C0SC = FTM_CSC_CHIE | FTM_CSC_MSA | FTM_CSC_ELSA; FTM0_C0SC = FTM_CSC_CHIE | FTM_CSC_MSA | FTM_CSC_ELSA;
break; break;
case 1: case MF_TIMER_TEMP:
FTM1_MODE = FTM_MODE_WPDIS | FTM_MODE_FTMEN; // Disable write protection, Enable FTM1 FTM1_MODE = FTM_MODE_WPDIS | FTM_MODE_FTMEN; // Disable write protection, Enable FTM1
FTM1_SC = 0x00; // Set this to zero before changing the modulus FTM1_SC = 0x00; // Set this to zero before changing the modulus
FTM1_CNT = 0x0000; // Reset the count to zero FTM1_CNT = 0x0000; // Reset the count to zero
@ -70,15 +70,15 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
void HAL_timer_enable_interrupt(const uint8_t timer_num) { void HAL_timer_enable_interrupt(const uint8_t timer_num) {
switch (timer_num) { switch (timer_num) {
case 0: NVIC_ENABLE_IRQ(IRQ_FTM0); break; case MF_TIMER_STEP: NVIC_ENABLE_IRQ(IRQ_FTM0); break;
case 1: NVIC_ENABLE_IRQ(IRQ_FTM1); break; case MF_TIMER_TEMP: NVIC_ENABLE_IRQ(IRQ_FTM1); break;
} }
} }
void HAL_timer_disable_interrupt(const uint8_t timer_num) { void HAL_timer_disable_interrupt(const uint8_t timer_num) {
switch (timer_num) { switch (timer_num) {
case 0: NVIC_DISABLE_IRQ(IRQ_FTM0); break; case MF_TIMER_STEP: NVIC_DISABLE_IRQ(IRQ_FTM0); break;
case 1: NVIC_DISABLE_IRQ(IRQ_FTM1); break; case MF_TIMER_TEMP: NVIC_DISABLE_IRQ(IRQ_FTM1); break;
} }
// We NEED memory barriers to ensure Interrupts are actually disabled! // We NEED memory barriers to ensure Interrupts are actually disabled!
@ -89,20 +89,20 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num) {
bool HAL_timer_interrupt_enabled(const uint8_t timer_num) { bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
switch (timer_num) { switch (timer_num) {
case 0: return NVIC_IS_ENABLED(IRQ_FTM0); case MF_TIMER_STEP: return NVIC_IS_ENABLED(IRQ_FTM0);
case 1: return NVIC_IS_ENABLED(IRQ_FTM1); case MF_TIMER_TEMP: return NVIC_IS_ENABLED(IRQ_FTM1);
} }
return false; return false;
} }
void HAL_timer_isr_prologue(const uint8_t timer_num) { void HAL_timer_isr_prologue(const uint8_t timer_num) {
switch (timer_num) { switch (timer_num) {
case 0: case MF_TIMER_STEP:
FTM0_CNT = 0x0000; FTM0_CNT = 0x0000;
FTM0_SC &= ~FTM_SC_TOF; // Clear FTM Overflow flag FTM0_SC &= ~FTM_SC_TOF; // Clear FTM Overflow flag
FTM0_C0SC &= ~FTM_CSC_CHF; // Clear FTM Channel Compare flag FTM0_C0SC &= ~FTM_CSC_CHF; // Clear FTM Channel Compare flag
break; break;
case 1: case MF_TIMER_TEMP:
FTM1_CNT = 0x0000; FTM1_CNT = 0x0000;
FTM1_SC &= ~FTM_SC_TOF; // Clear FTM Overflow flag FTM1_SC &= ~FTM_SC_TOF; // Clear FTM Overflow flag
FTM1_C0SC &= ~FTM_CSC_CHF; // Clear FTM Channel Compare flag FTM1_C0SC &= ~FTM_CSC_CHF; // Clear FTM Channel Compare flag

34
Marlin/src/HAL/TEENSY31_32/timers.h
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@ -46,14 +46,14 @@ typedef uint32_t hal_timer_t;
#define HAL_TIMER_RATE (FTM0_TIMER_RATE) #define HAL_TIMER_RATE (FTM0_TIMER_RATE)
#ifndef STEP_TIMER_NUM #ifndef MF_TIMER_STEP
#define STEP_TIMER_NUM 0 // Timer Index for Stepper #define MF_TIMER_STEP 0 // Timer Index for Stepper
#endif #endif
#ifndef PULSE_TIMER_NUM #ifndef MF_TIMER_PULSE
#define PULSE_TIMER_NUM STEP_TIMER_NUM #define MF_TIMER_PULSE MF_TIMER_STEP
#endif #endif
#ifndef TEMP_TIMER_NUM #ifndef MF_TIMER_TEMP
#define TEMP_TIMER_NUM 1 // Timer Index for Temperature #define MF_TIMER_TEMP 1 // Timer Index for Temperature
#endif #endif
#define TEMP_TIMER_FREQUENCY 1000 #define TEMP_TIMER_FREQUENCY 1000
@ -66,12 +66,12 @@ typedef uint32_t hal_timer_t;
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE #define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US #define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM) #define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM) #define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_STEP)
#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM) #define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP)
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM) #define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM) #define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)
#ifndef HAL_STEP_TIMER_ISR #ifndef HAL_STEP_TIMER_ISR
#define HAL_STEP_TIMER_ISR() extern "C" void ftm0_isr() //void TC3_Handler() #define HAL_STEP_TIMER_ISR() extern "C" void ftm0_isr() //void TC3_Handler()
@ -84,23 +84,23 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) { FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
switch (timer_num) { switch (timer_num) {
case 0: FTM0_C0V = compare; break; case MF_TIMER_STEP: FTM0_C0V = compare; break;
case 1: FTM1_C0V = compare; break; case MF_TIMER_TEMP: FTM1_C0V = compare; break;
} }
} }
FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) { FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
switch (timer_num) { switch (timer_num) {
case 0: return FTM0_C0V; case MF_TIMER_STEP: return FTM0_C0V;
case 1: return FTM1_C0V; case MF_TIMER_TEMP: return FTM1_C0V;
} }
return 0; return 0;
} }
FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) { FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
switch (timer_num) { switch (timer_num) {
case 0: return FTM0_CNT; case MF_TIMER_STEP: return FTM0_CNT;
case 1: return FTM1_CNT; case MF_TIMER_TEMP: return FTM1_CNT;
} }
return 0; return 0;
} }

20
Marlin/src/HAL/TEENSY35_36/timers.cpp
View File

@ -47,7 +47,7 @@ FORCE_INLINE static void __DSB() {
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
switch (timer_num) { switch (timer_num) {
case 0: case MF_TIMER_STEP:
FTM0_MODE = FTM_MODE_WPDIS | FTM_MODE_FTMEN; FTM0_MODE = FTM_MODE_WPDIS | FTM_MODE_FTMEN;
FTM0_SC = 0x00; // Set this to zero before changing the modulus FTM0_SC = 0x00; // Set this to zero before changing the modulus
FTM0_CNT = 0x0000; // Reset the count to zero FTM0_CNT = 0x0000; // Reset the count to zero
@ -56,7 +56,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
FTM0_SC = (FTM_SC_CLKS(0b1) & FTM_SC_CLKS_MASK) | (FTM_SC_PS(FTM0_TIMER_PRESCALE_BITS) & FTM_SC_PS_MASK); // Bus clock 60MHz divided by prescaler 8 FTM0_SC = (FTM_SC_CLKS(0b1) & FTM_SC_CLKS_MASK) | (FTM_SC_PS(FTM0_TIMER_PRESCALE_BITS) & FTM_SC_PS_MASK); // Bus clock 60MHz divided by prescaler 8
FTM0_C0SC = FTM_CSC_CHIE | FTM_CSC_MSA | FTM_CSC_ELSA; FTM0_C0SC = FTM_CSC_CHIE | FTM_CSC_MSA | FTM_CSC_ELSA;
break; break;
case 1: case MF_TIMER_TEMP:
FTM1_MODE = FTM_MODE_WPDIS | FTM_MODE_FTMEN; // Disable write protection, Enable FTM1 FTM1_MODE = FTM_MODE_WPDIS | FTM_MODE_FTMEN; // Disable write protection, Enable FTM1
FTM1_SC = 0x00; // Set this to zero before changing the modulus FTM1_SC = 0x00; // Set this to zero before changing the modulus
FTM1_CNT = 0x0000; // Reset the count to zero FTM1_CNT = 0x0000; // Reset the count to zero
@ -70,15 +70,15 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
void HAL_timer_enable_interrupt(const uint8_t timer_num) { void HAL_timer_enable_interrupt(const uint8_t timer_num) {
switch (timer_num) { switch (timer_num) {
case 0: NVIC_ENABLE_IRQ(IRQ_FTM0); break; case MF_TIMER_STEP: NVIC_ENABLE_IRQ(IRQ_FTM0); break;
case 1: NVIC_ENABLE_IRQ(IRQ_FTM1); break; case MF_TIMER_TEMP: NVIC_ENABLE_IRQ(IRQ_FTM1); break;
} }
} }
void HAL_timer_disable_interrupt(const uint8_t timer_num) { void HAL_timer_disable_interrupt(const uint8_t timer_num) {
switch (timer_num) { switch (timer_num) {
case 0: NVIC_DISABLE_IRQ(IRQ_FTM0); break; case MF_TIMER_STEP: NVIC_DISABLE_IRQ(IRQ_FTM0); break;
case 1: NVIC_DISABLE_IRQ(IRQ_FTM1); break; case MF_TIMER_TEMP: NVIC_DISABLE_IRQ(IRQ_FTM1); break;
} }
// We NEED memory barriers to ensure Interrupts are actually disabled! // We NEED memory barriers to ensure Interrupts are actually disabled!
@ -89,20 +89,20 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num) {
bool HAL_timer_interrupt_enabled(const uint8_t timer_num) { bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
switch (timer_num) { switch (timer_num) {
case 0: return NVIC_IS_ENABLED(IRQ_FTM0); case MF_TIMER_STEP: return NVIC_IS_ENABLED(IRQ_FTM0);
case 1: return NVIC_IS_ENABLED(IRQ_FTM1); case MF_TIMER_TEMP: return NVIC_IS_ENABLED(IRQ_FTM1);
} }
return false; return false;
} }
void HAL_timer_isr_prologue(const uint8_t timer_num) { void HAL_timer_isr_prologue(const uint8_t timer_num) {
switch (timer_num) { switch (timer_num) {
case 0: case MF_TIMER_STEP:
FTM0_CNT = 0x0000; FTM0_CNT = 0x0000;
FTM0_SC &= ~FTM_SC_TOF; // Clear FTM Overflow flag FTM0_SC &= ~FTM_SC_TOF; // Clear FTM Overflow flag
FTM0_C0SC &= ~FTM_CSC_CHF; // Clear FTM Channel Compare flag FTM0_C0SC &= ~FTM_CSC_CHF; // Clear FTM Channel Compare flag
break; break;
case 1: case MF_TIMER_TEMP:
FTM1_CNT = 0x0000; FTM1_CNT = 0x0000;
FTM1_SC &= ~FTM_SC_TOF; // Clear FTM Overflow flag FTM1_SC &= ~FTM_SC_TOF; // Clear FTM Overflow flag
FTM1_C0SC &= ~FTM_CSC_CHF; // Clear FTM Channel Compare flag FTM1_C0SC &= ~FTM_CSC_CHF; // Clear FTM Channel Compare flag

34
Marlin/src/HAL/TEENSY35_36/timers.h
View File

@ -45,14 +45,14 @@ typedef uint32_t hal_timer_t;
#define HAL_TIMER_RATE (FTM0_TIMER_RATE) #define HAL_TIMER_RATE (FTM0_TIMER_RATE)
#ifndef STEP_TIMER_NUM #ifndef MF_TIMER_STEP
#define STEP_TIMER_NUM 0 // Timer Index for Stepper #define MF_TIMER_STEP 0 // Timer Index for Stepper
#endif #endif
#ifndef PULSE_TIMER_NUM #ifndef MF_TIMER_PULSE
#define PULSE_TIMER_NUM STEP_TIMER_NUM #define MF_TIMER_PULSE MF_TIMER_STEP
#endif #endif
#ifndef TEMP_TIMER_NUM #ifndef MF_TIMER_TEMP
#define TEMP_TIMER_NUM 1 // Timer Index for Temperature #define MF_TIMER_TEMP 1 // Timer Index for Temperature
#endif #endif
#define TEMP_TIMER_FREQUENCY 1000 #define TEMP_TIMER_FREQUENCY 1000
@ -65,12 +65,12 @@ typedef uint32_t hal_timer_t;
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE #define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US #define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM) #define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM) #define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_STEP)
#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM) #define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP)
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM) #define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM) #define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)
#ifndef HAL_STEP_TIMER_ISR #ifndef HAL_STEP_TIMER_ISR
#define HAL_STEP_TIMER_ISR() extern "C" void ftm0_isr() //void TC3_Handler() #define HAL_STEP_TIMER_ISR() extern "C" void ftm0_isr() //void TC3_Handler()
@ -83,23 +83,23 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) { FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
switch (timer_num) { switch (timer_num) {
case 0: FTM0_C0V = compare; break; case MF_TIMER_STEP: FTM0_C0V = compare; break;
case 1: FTM1_C0V = compare; break; case MF_TIMER_TEMP: FTM1_C0V = compare; break;
} }
} }
FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) { FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
switch (timer_num) { switch (timer_num) {
case 0: return FTM0_C0V; case MF_TIMER_STEP: return FTM0_C0V;
case 1: return FTM1_C0V; case MF_TIMER_TEMP: return FTM1_C0V;
} }
return 0; return 0;
} }
FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) { FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
switch (timer_num) { switch (timer_num) {
case 0: return FTM0_CNT; case MF_TIMER_STEP: return FTM0_CNT;
case 1: return FTM1_CNT; case MF_TIMER_TEMP: return FTM1_CNT;
} }
return 0; return 0;
} }

28
Marlin/src/HAL/TEENSY40_41/timers.cpp
View File

@ -30,7 +30,7 @@
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
switch (timer_num) { switch (timer_num) {
case 0: case MF_TIMER_STEP:
CCM_CSCMR1 &= ~CCM_CSCMR1_PERCLK_CLK_SEL; // turn off 24mhz mode CCM_CSCMR1 &= ~CCM_CSCMR1_PERCLK_CLK_SEL; // turn off 24mhz mode
CCM_CCGR1 |= CCM_CCGR1_GPT1_BUS(CCM_CCGR_ON); CCM_CCGR1 |= CCM_CCGR1_GPT1_BUS(CCM_CCGR_ON);
@ -48,7 +48,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
attachInterruptVector(IRQ_GPT1, &stepTC_Handler); attachInterruptVector(IRQ_GPT1, &stepTC_Handler);
NVIC_SET_PRIORITY(IRQ_GPT1, 16); NVIC_SET_PRIORITY(IRQ_GPT1, 16);
break; break;
case 1: case MF_TIMER_TEMP:
CCM_CSCMR1 &= ~CCM_CSCMR1_PERCLK_CLK_SEL; // turn off 24mhz mode CCM_CSCMR1 &= ~CCM_CSCMR1_PERCLK_CLK_SEL; // turn off 24mhz mode
CCM_CCGR0 |= CCM_CCGR0_GPT2_BUS(CCM_CCGR_ON); CCM_CCGR0 |= CCM_CCGR0_GPT2_BUS(CCM_CCGR_ON);
@ -71,19 +71,15 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
void HAL_timer_enable_interrupt(const uint8_t timer_num) { void HAL_timer_enable_interrupt(const uint8_t timer_num) {
switch (timer_num) { switch (timer_num) {
case 0: case MF_TIMER_STEP: NVIC_ENABLE_IRQ(IRQ_GPT1); break;
NVIC_ENABLE_IRQ(IRQ_GPT1); case MF_TIMER_TEMP: NVIC_ENABLE_IRQ(IRQ_GPT2); break;
break;
case 1:
NVIC_ENABLE_IRQ(IRQ_GPT2);
break;
} }
} }
void HAL_timer_disable_interrupt(const uint8_t timer_num) { void HAL_timer_disable_interrupt(const uint8_t timer_num) {
switch (timer_num) { switch (timer_num) {
case 0: NVIC_DISABLE_IRQ(IRQ_GPT1); break; case MF_TIMER_STEP: NVIC_DISABLE_IRQ(IRQ_GPT1); break;
case 1: NVIC_DISABLE_IRQ(IRQ_GPT2); break; case MF_TIMER_TEMP: NVIC_DISABLE_IRQ(IRQ_GPT2); break;
} }
// We NEED memory barriers to ensure Interrupts are actually disabled! // We NEED memory barriers to ensure Interrupts are actually disabled!
@ -93,20 +89,16 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num) {
bool HAL_timer_interrupt_enabled(const uint8_t timer_num) { bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
switch (timer_num) { switch (timer_num) {
case 0: return (NVIC_IS_ENABLED(IRQ_GPT1)); case MF_TIMER_STEP: return (NVIC_IS_ENABLED(IRQ_GPT1));
case 1: return (NVIC_IS_ENABLED(IRQ_GPT2)); case MF_TIMER_TEMP: return (NVIC_IS_ENABLED(IRQ_GPT2));
} }
return false; return false;
} }
void HAL_timer_isr_prologue(const uint8_t timer_num) { void HAL_timer_isr_prologue(const uint8_t timer_num) {
switch (timer_num) { switch (timer_num) {
case 0: case MF_TIMER_STEP: GPT1_SR = GPT_IR_OF1IE; break; // clear OF3 bit
GPT1_SR = GPT_IR_OF1IE; // clear OF3 bit case MF_TIMER_TEMP: GPT2_SR = GPT_IR_OF1IE; break; // clear OF3 bit
break;
case 1:
GPT2_SR = GPT_IR_OF1IE; // clear OF3 bit
break;
} }
asm volatile("dsb"); asm volatile("dsb");
} }

38
Marlin/src/HAL/TEENSY40_41/timers.h
View File

@ -43,14 +43,14 @@ typedef uint32_t hal_timer_t;
#define GPT1_TIMER_RATE (GPT_TIMER_RATE / GPT1_TIMER_PRESCALE) // 75MHz #define GPT1_TIMER_RATE (GPT_TIMER_RATE / GPT1_TIMER_PRESCALE) // 75MHz
#define GPT2_TIMER_RATE (GPT_TIMER_RATE / GPT2_TIMER_PRESCALE) // 15MHz #define GPT2_TIMER_RATE (GPT_TIMER_RATE / GPT2_TIMER_PRESCALE) // 15MHz
#ifndef STEP_TIMER_NUM #ifndef MF_TIMER_STEP
#define STEP_TIMER_NUM 0 // Timer Index for Stepper #define MF_TIMER_STEP 0 // Timer Index for Stepper
#endif #endif
#ifndef PULSE_TIMER_NUM #ifndef MF_TIMER_PULSE
#define PULSE_TIMER_NUM STEP_TIMER_NUM #define MF_TIMER_PULSE MF_TIMER_STEP
#endif #endif
#ifndef TEMP_TIMER_NUM #ifndef MF_TIMER_TEMP
#define TEMP_TIMER_NUM 1 // Timer Index for Temperature #define MF_TIMER_TEMP 1 // Timer Index for Temperature
#endif #endif
#define TEMP_TIMER_RATE 1000000 #define TEMP_TIMER_RATE 1000000
@ -64,12 +64,12 @@ typedef uint32_t hal_timer_t;
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE #define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US #define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM) #define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM) #define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_STEP)
#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM) #define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP)
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM) #define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM) #define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)
#ifndef HAL_STEP_TIMER_ISR #ifndef HAL_STEP_TIMER_ISR
#define HAL_STEP_TIMER_ISR() extern "C" void stepTC_Handler() // GPT1_Handler() #define HAL_STEP_TIMER_ISR() extern "C" void stepTC_Handler() // GPT1_Handler()
@ -87,27 +87,23 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) { FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
switch (timer_num) { switch (timer_num) {
case 0: case MF_TIMER_STEP: GPT1_OCR1 = compare - 1; break;
GPT1_OCR1 = compare - 1; case MF_TIMER_TEMP: GPT2_OCR1 = compare - 1; break;
break;
case 1:
GPT2_OCR1 = compare - 1;
break;
} }
} }
FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) { FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
switch (timer_num) { switch (timer_num) {
case 0: return GPT1_OCR1; case MF_TIMER_STEP: return GPT1_OCR1;
case 1: return GPT2_OCR1; case MF_TIMER_TEMP: return GPT2_OCR1;
} }
return 0; return 0;
} }
FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) { FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
switch (timer_num) { switch (timer_num) {
case 0: return GPT1_CNT; case MF_TIMER_STEP: return GPT1_CNT;
case 1: return GPT2_CNT; case MF_TIMER_TEMP: return GPT2_CNT;
} }
return 0; return 0;
} }

20
Marlin/src/module/stepper.cpp
View File

@ -464,8 +464,8 @@ xyze_int8_t Stepper::count_direction{0};
#define PULSE_LOW_TICK_COUNT hal_timer_t(NS_TO_PULSE_TIMER_TICKS(_MIN_PULSE_LOW_NS - _MIN(_MIN_PULSE_LOW_NS, TIMER_SETUP_NS))) #define PULSE_LOW_TICK_COUNT hal_timer_t(NS_TO_PULSE_TIMER_TICKS(_MIN_PULSE_LOW_NS - _MIN(_MIN_PULSE_LOW_NS, TIMER_SETUP_NS)))
#define USING_TIMED_PULSE() hal_timer_t start_pulse_count = 0 #define USING_TIMED_PULSE() hal_timer_t start_pulse_count = 0
#define START_TIMED_PULSE(DIR) (start_pulse_count = HAL_timer_get_count(PULSE_TIMER_NUM)) #define START_TIMED_PULSE(DIR) (start_pulse_count = HAL_timer_get_count(MF_TIMER_PULSE))
#define AWAIT_TIMED_PULSE(DIR) while (PULSE_##DIR##_TICK_COUNT > HAL_timer_get_count(PULSE_TIMER_NUM) - start_pulse_count) { } #define AWAIT_TIMED_PULSE(DIR) while (PULSE_##DIR##_TICK_COUNT > HAL_timer_get_count(MF_TIMER_PULSE) - start_pulse_count) { }
#define START_HIGH_PULSE() START_TIMED_PULSE(HIGH) #define START_HIGH_PULSE() START_TIMED_PULSE(HIGH)
#define AWAIT_HIGH_PULSE() AWAIT_TIMED_PULSE(HIGH) #define AWAIT_HIGH_PULSE() AWAIT_TIMED_PULSE(HIGH)
#define START_LOW_PULSE() START_TIMED_PULSE(LOW) #define START_LOW_PULSE() START_TIMED_PULSE(LOW)
@ -1454,11 +1454,11 @@ void Stepper::set_directions() {
*/ */
HAL_STEP_TIMER_ISR() { HAL_STEP_TIMER_ISR() {
HAL_timer_isr_prologue(STEP_TIMER_NUM); HAL_timer_isr_prologue(MF_TIMER_STEP);
Stepper::isr(); Stepper::isr();
HAL_timer_isr_epilogue(STEP_TIMER_NUM); HAL_timer_isr_epilogue(MF_TIMER_STEP);
} }
#ifdef CPU_32_BIT #ifdef CPU_32_BIT
@ -1480,7 +1480,7 @@ void Stepper::isr() {
// Program timer compare for the maximum period, so it does NOT // Program timer compare for the maximum period, so it does NOT
// flag an interrupt while this ISR is running - So changes from small // flag an interrupt while this ISR is running - So changes from small
// periods to big periods are respected and the timer does not reset to 0 // periods to big periods are respected and the timer does not reset to 0
HAL_timer_set_compare(STEP_TIMER_NUM, hal_timer_t(HAL_TIMER_TYPE_MAX)); HAL_timer_set_compare(MF_TIMER_STEP, hal_timer_t(HAL_TIMER_TYPE_MAX));
// Count of ticks for the next ISR // Count of ticks for the next ISR
hal_timer_t next_isr_ticks = 0; hal_timer_t next_isr_ticks = 0;
@ -1584,7 +1584,7 @@ void Stepper::isr() {
* On AVR the ISR epilogue+prologue is estimated at 100 instructions - Give 8µs as margin * On AVR the ISR epilogue+prologue is estimated at 100 instructions - Give 8µs as margin
* On ARM the ISR epilogue+prologue is estimated at 20 instructions - Give 1µs as margin * On ARM the ISR epilogue+prologue is estimated at 20 instructions - Give 1µs as margin
*/ */
min_ticks = HAL_timer_get_count(STEP_TIMER_NUM) + hal_timer_t( min_ticks = HAL_timer_get_count(MF_TIMER_STEP) + hal_timer_t(
#ifdef __AVR__ #ifdef __AVR__
8 8
#else #else
@ -1608,7 +1608,7 @@ void Stepper::isr() {
// sure that the time has not arrived yet - Warrantied by the scheduler // sure that the time has not arrived yet - Warrantied by the scheduler
// Set the next ISR to fire at the proper time // Set the next ISR to fire at the proper time
HAL_timer_set_compare(STEP_TIMER_NUM, hal_timer_t(next_isr_ticks)); HAL_timer_set_compare(MF_TIMER_STEP, hal_timer_t(next_isr_ticks));
// Don't forget to finally reenable interrupts // Don't forget to finally reenable interrupts
ENABLE_ISRS(); ENABLE_ISRS();
@ -2769,7 +2769,7 @@ void Stepper::init() {
#endif #endif
#if DISABLED(I2S_STEPPER_STREAM) #if DISABLED(I2S_STEPPER_STREAM)
HAL_timer_start(STEP_TIMER_NUM, 122); // Init Stepper ISR to 122 Hz for quick starting HAL_timer_start(MF_TIMER_STEP, 122); // Init Stepper ISR to 122 Hz for quick starting
wake_up(); wake_up();
sei(); sei();
#endif #endif
@ -2980,8 +2980,8 @@ void Stepper::report_positions() {
#define EXTRA_CYCLES_BABYSTEP (STEP_PULSE_CYCLES - (CYCLES_EATEN_BABYSTEP)) #define EXTRA_CYCLES_BABYSTEP (STEP_PULSE_CYCLES - (CYCLES_EATEN_BABYSTEP))
#if EXTRA_CYCLES_BABYSTEP > 20 #if EXTRA_CYCLES_BABYSTEP > 20
#define _SAVE_START() const hal_timer_t pulse_start = HAL_timer_get_count(PULSE_TIMER_NUM) #define _SAVE_START() const hal_timer_t pulse_start = HAL_timer_get_count(MF_TIMER_PULSE)
#define _PULSE_WAIT() while (EXTRA_CYCLES_BABYSTEP > (uint32_t)(HAL_timer_get_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ } #define _PULSE_WAIT() while (EXTRA_CYCLES_BABYSTEP > (uint32_t)(HAL_timer_get_count(MF_TIMER_PULSE) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
#else #else
#define _SAVE_START() NOOP #define _SAVE_START() NOOP
#if EXTRA_CYCLES_BABYSTEP > 0 #if EXTRA_CYCLES_BABYSTEP > 0

6
Marlin/src/module/temperature.cpp
View File

@ -2399,7 +2399,7 @@ void Temperature::init() {
HAL_ANALOG_SELECT(POWER_MONITOR_VOLTAGE_PIN); HAL_ANALOG_SELECT(POWER_MONITOR_VOLTAGE_PIN);
#endif #endif
HAL_timer_start(TEMP_TIMER_NUM, TEMP_TIMER_FREQUENCY); HAL_timer_start(MF_TIMER_TEMP, TEMP_TIMER_FREQUENCY);
ENABLE_TEMPERATURE_INTERRUPT(); ENABLE_TEMPERATURE_INTERRUPT();
#if HAS_AUTO_FAN_0 #if HAS_AUTO_FAN_0
@ -2980,11 +2980,11 @@ void Temperature::readings_ready() {
* - Call planner.isr to count down its "ignore" time * - Call planner.isr to count down its "ignore" time
*/ */
HAL_TEMP_TIMER_ISR() { HAL_TEMP_TIMER_ISR() {
HAL_timer_isr_prologue(TEMP_TIMER_NUM); HAL_timer_isr_prologue(MF_TIMER_TEMP);
Temperature::isr(); Temperature::isr();
HAL_timer_isr_epilogue(TEMP_TIMER_NUM); HAL_timer_isr_epilogue(MF_TIMER_TEMP);
} }
#if ENABLED(SLOW_PWM_HEATERS) && !defined(MIN_STATE_TIME) #if ENABLED(SLOW_PWM_HEATERS) && !defined(MIN_STATE_TIME)

3
Marlin/src/pins/sam/pins_ARCHIM1.h
View File

@ -46,8 +46,7 @@
// //
// Timers // Timers
// //
// These are already defined in DUE, so must be undefined first #define MF_TIMER_STEP 3
#define STEP_TIMER_NUM 3
#define HAL_STEP_TIMER_ISR() void TC3_Handler() #define HAL_STEP_TIMER_ISR() void TC3_Handler()
// //