218 lines
8.1 KiB
C++
218 lines
8.1 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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/**
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* SAMD21 HAL developed by Bart Meijer (brupje)
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* Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
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*/
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#ifdef __SAMD21__
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// --------------------------------------------------------------------------
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// Includes
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// --------------------------------------------------------------------------
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#include "../../inc/MarlinConfig.h"
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#include "ServoTimers.h" // for SERVO_TC
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// --------------------------------------------------------------------------
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// Local defines
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// --------------------------------------------------------------------------
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#define NUM_HARDWARE_TIMERS 9
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// --------------------------------------------------------------------------
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// Private Variables
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// --------------------------------------------------------------------------
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const tTimerConfig timer_config[NUM_HARDWARE_TIMERS] = {
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{ {.pTcc=TCC0}, TimerType::tcc, TCC0_IRQn, TC_PRIORITY(0) }, // 0 - stepper (assigned priority 2)
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{ {.pTcc=TCC1}, TimerType::tcc, TCC1_IRQn, TC_PRIORITY(1) }, // 1 - stepper (needed by 32 bit timers)
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{ {.pTcc=TCC2}, TimerType::tcc, TCC2_IRQn, 5 }, // 2 - tone (reserved by framework and fixed assigned priority 5)
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{ {.pTc=TC3}, TimerType::tc, TC3_IRQn, TC_PRIORITY(3) }, // 3 - servo (assigned priority 1)
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{ {.pTc=TC4}, TimerType::tc, TC4_IRQn, TC_PRIORITY(4) }, // 4 - software serial (no interrupts used)
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{ {.pTc=TC5}, TimerType::tc, TC5_IRQn, TC_PRIORITY(5) },
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{ {.pTc=TC6}, TimerType::tc, TC6_IRQn, TC_PRIORITY(6) },
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{ {.pTc=TC7}, TimerType::tc, TC7_IRQn, TC_PRIORITY(7) },
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{ {.pRtc=RTC}, TimerType::rtc, RTC_IRQn, TC_PRIORITY(8) } // 8 - temperature (assigned priority 6)
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};
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// --------------------------------------------------------------------------
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// Private functions
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// --------------------------------------------------------------------------
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FORCE_INLINE void Disable_Irq(IRQn_Type irq) {
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NVIC_DisableIRQ(irq);
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// We NEED memory barriers to ensure Interrupts are actually disabled!
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// ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
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__DSB();
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__ISB();
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}
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static bool tcIsSyncing(Tc * tc) {
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return tc->COUNT32.STATUS.reg & TC_STATUS_SYNCBUSY;
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}
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static void tcReset( Tc * tc) {
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tc->COUNT32.CTRLA.reg = TC_CTRLA_SWRST;
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while (tcIsSyncing(tc)) {}
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while (tc->COUNT32.CTRLA.bit.SWRST) {}
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}
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// --------------------------------------------------------------------------
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// Public functions
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// --------------------------------------------------------------------------
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void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
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IRQn_Type irq = timer_config[timer_num].IRQ_Id;
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// Disable interrupt, just in case it was already enabled
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NVIC_DisableIRQ(irq);
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NVIC_ClearPendingIRQ(irq);
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if (timer_num == MF_TIMER_RTC) {
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// https://github.com/arduino-libraries/RTCZero
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Rtc * const rtc = timer_config[timer_num].pRtc;
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PM->APBAMASK.reg |= PM_APBAMASK_RTC;
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GCLK->CLKCTRL.reg = (uint32_t)((GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK4 | (RTC_GCLK_ID << GCLK_CLKCTRL_ID_Pos)));
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while (GCLK->STATUS.bit.SYNCBUSY) {}
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GCLK->GENCTRL.reg = (GCLK_GENCTRL_GENEN | GCLK_GENCTRL_SRC_OSCULP32K | GCLK_GENCTRL_ID(4) | GCLK_GENCTRL_DIVSEL );
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while (GCLK->STATUS.reg & GCLK_STATUS_SYNCBUSY) {}
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GCLK->GENDIV.reg = GCLK_GENDIV_ID(4);
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GCLK->GENDIV.bit.DIV=4;
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while (GCLK->STATUS.reg & GCLK_STATUS_SYNCBUSY) {}
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// Disable timer interrupt
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rtc->MODE0.INTENCLR.reg = RTC_MODE0_INTENCLR_CMP0;
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SYNC(rtc->MODE0.STATUS.bit.SYNCBUSY);
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while(rtc->MODE0.STATUS.bit.SYNCBUSY) {}
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// Stop timer, just in case, to be able to reconfigure it
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rtc->MODE0.CTRL.reg =
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RTC_MODE0_CTRL_MODE_COUNT32 | // Mode 0 = 32-bits counter
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RTC_MODE0_CTRL_PRESCALER_DIV1024; // Divisor = 1024
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while(rtc->MODE0.STATUS.bit.SYNCBUSY) {}
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// Mode, reset counter on match
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rtc->MODE0.CTRL.reg = RTC_MODE0_CTRL_MODE_COUNT32 | RTC_MODE0_CTRL_MATCHCLR;
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// Set compare value
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rtc->MODE0.COMP[0].reg = (32768 + frequency / 2) / frequency;
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SYNC(rtc->MODE0.STATUS.bit.SYNCBUSY);
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// Enable interrupt on compare
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rtc->MODE0.INTFLAG.reg = RTC_MODE0_INTFLAG_CMP0; // reset pending interrupt
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rtc->MODE0.INTENSET.reg = RTC_MODE0_INTENSET_CMP0; // enable compare 0 interrupt
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// And start timer
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rtc->MODE0.CTRL.bit.ENABLE = true;
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SYNC(rtc->MODE0.STATUS.bit.SYNCBUSY);
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}
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else if (timer_config[timer_num].type==TimerType::tcc) {
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Tcc * const tc = timer_config[timer_num].pTcc;
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PM->APBCMASK.reg |= PM_APBCMASK_TCC0;
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GCLK->CLKCTRL.reg =(GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID(TCC0_GCLK_ID));
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SYNC (GCLK->STATUS.bit.SYNCBUSY);
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tc->CTRLA.reg = TCC_CTRLA_SWRST;
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SYNC (tc->SYNCBUSY.reg & TCC_SYNCBUSY_SWRST) {}
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SYNC (tc->CTRLA.bit.SWRST);
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tc->CTRLA.reg &= ~(TCC_CTRLA_ENABLE); // disable TC module
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tc->CTRLA.reg |= TCC_WAVE_WAVEGEN_MFRQ;
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tc->CTRLA.reg |= TCC_CTRLA_PRESCALER_DIV2;
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tc->CC[0].reg = (HAL_TIMER_RATE) / frequency;
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tc->INTENSET.reg = TCC_INTFLAG_MC0;
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tc->CTRLA.reg |= TCC_CTRLA_ENABLE;
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tc->INTFLAG.reg = 0xFF;
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SYNC ( tc->STATUS.reg & TC_STATUS_SYNCBUSY);
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}
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else {
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Tc * const tc = timer_config[timer_num].pTc;
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// Disable timer interrupt
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tc->COUNT32.INTENCLR.reg = TC_INTENCLR_OVF; // disable overflow interrupt
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// TCn clock setup
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GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID(GCM_TC4_TC5)) ;
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SYNC (GCLK->STATUS.bit.SYNCBUSY);
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tcReset(tc); // reset TC
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// Set Timer counter 5 Mode to 16 bits, it will become a 16bit counter ('mode1' in the datasheet)
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tc->COUNT32.CTRLA.reg |= TC_CTRLA_MODE_COUNT32;
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// Set TC waveform generation mode to 'match frequency'
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tc->COUNT32.CTRLA.reg |= TC_CTRLA_WAVEGEN_MFRQ;
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//set prescaler
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//the clock normally counts at the GCLK_TC frequency, but we can set it to divide that frequency to slow it down
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//you can use different prescaler divisons here like TC_CTRLA_PRESCALER_DIV1 to get a different range
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tc->COUNT32.CTRLA.reg |= TC_CTRLA_PRESCALER_DIV1 | TC_CTRLA_ENABLE; //it will divide GCLK_TC frequency by 1024
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//set the compare-capture register.
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//The counter will count up to this value (it's a 16bit counter so we use uint16_t)
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//this is how we fine-tune the frequency, make it count to a lower or higher value
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//system clock should be 1MHz (8MHz/8) at Reset by default
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tc->COUNT32.CC[0].reg = (uint16_t) (HAL_TIMER_RATE / frequency);
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while (tcIsSyncing(tc)) {}
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// Enable the TC interrupt request
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tc->COUNT32.INTENSET.bit.MC0 = 1;
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while (tcIsSyncing(tc)) {}
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}
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NVIC_SetPriority(irq, timer_config[timer_num].priority);
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NVIC_EnableIRQ(irq);
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}
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void HAL_timer_enable_interrupt(const uint8_t timer_num) {
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const IRQn_Type irq = timer_config[timer_num].IRQ_Id;
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NVIC_EnableIRQ(irq);
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}
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void HAL_timer_disable_interrupt(const uint8_t timer_num) {
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const IRQn_Type irq = timer_config[timer_num].IRQ_Id;
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Disable_Irq(irq);
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}
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// missing from CMSIS: Check if interrupt is enabled or not
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static bool NVIC_GetEnabledIRQ(IRQn_Type IRQn) {
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return TEST(NVIC->ISER[uint32_t(IRQn) >> 5], uint32_t(IRQn) & 0x1F);
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}
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bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
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const IRQn_Type irq = timer_config[timer_num].IRQ_Id;
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return NVIC_GetEnabledIRQ(irq);
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}
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#endif // __SAMD21__
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