diff options
Diffstat (limited to 'Marlin/src/HAL/TEENSY40_41/timers.cpp')
| -rw-r--r-- | Marlin/src/HAL/TEENSY40_41/timers.cpp | 114 |
1 files changed, 114 insertions, 0 deletions
diff --git a/Marlin/src/HAL/TEENSY40_41/timers.cpp b/Marlin/src/HAL/TEENSY40_41/timers.cpp new file mode 100644 index 0000000..81c9b08 --- /dev/null +++ b/Marlin/src/HAL/TEENSY40_41/timers.cpp @@ -0,0 +1,114 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <https://www.gnu.org/licenses/>. + * + */ + +/** + * HAL Timers for Teensy 4.0 (IMXRT1062DVL6A) / 4.1 (IMXRT1062DVJ6A) + */ + +#ifdef __IMXRT1062__ + +#include "../../inc/MarlinConfig.h" + +void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { + switch (timer_num) { + case 0: + CCM_CSCMR1 &= ~CCM_CSCMR1_PERCLK_CLK_SEL; // turn off 24mhz mode + CCM_CCGR1 |= CCM_CCGR1_GPT1_BUS(CCM_CCGR_ON); + + GPT1_CR = 0; // disable timer + GPT1_SR = 0x3F; // clear all prior status + GPT1_PR = GPT1_TIMER_PRESCALE - 1; + GPT1_CR |= GPT_CR_CLKSRC(1); //clock selection #1 (peripheral clock = 150 MHz) + GPT1_CR |= GPT_CR_ENMOD; //reset count to zero before enabling + GPT1_CR |= GPT_CR_OM1(1); // toggle mode + GPT1_OCR1 = (GPT1_TIMER_RATE / frequency) -1; // Initial compare value + GPT1_IR = GPT_IR_OF1IE; // Compare3 value + GPT1_CR |= GPT_CR_EN; //enable GPT2 counting at 150 MHz + + OUT_WRITE(15, HIGH); + attachInterruptVector(IRQ_GPT1, &stepTC_Handler); + NVIC_SET_PRIORITY(IRQ_GPT1, 16); + break; + case 1: + CCM_CSCMR1 &= ~CCM_CSCMR1_PERCLK_CLK_SEL; // turn off 24mhz mode + CCM_CCGR0 |= CCM_CCGR0_GPT2_BUS(CCM_CCGR_ON); + + GPT2_CR = 0; // disable timer + GPT2_SR = 0x3F; // clear all prior status + GPT2_PR = GPT2_TIMER_PRESCALE - 1; + GPT2_CR |= GPT_CR_CLKSRC(1); //clock selection #1 (peripheral clock = 150 MHz) + GPT2_CR |= GPT_CR_ENMOD; //reset count to zero before enabling + GPT2_CR |= GPT_CR_OM1(1); // toggle mode + GPT2_OCR1 = (GPT2_TIMER_RATE / frequency) -1; // Initial compare value + GPT2_IR = GPT_IR_OF1IE; // Compare3 value + GPT2_CR |= GPT_CR_EN; //enable GPT2 counting at 150 MHz + + OUT_WRITE(14, HIGH); + attachInterruptVector(IRQ_GPT2, &tempTC_Handler); + NVIC_SET_PRIORITY(IRQ_GPT2, 32); + break; + } +} + +void HAL_timer_enable_interrupt(const uint8_t timer_num) { + switch (timer_num) { + case 0: + NVIC_ENABLE_IRQ(IRQ_GPT1); + break; + case 1: + NVIC_ENABLE_IRQ(IRQ_GPT2); + break; + } +} + +void HAL_timer_disable_interrupt(const uint8_t timer_num) { + switch (timer_num) { + case 0: NVIC_DISABLE_IRQ(IRQ_GPT1); break; + case 1: NVIC_DISABLE_IRQ(IRQ_GPT2); break; + } + + // We NEED memory barriers to ensure Interrupts are actually disabled! + // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the ) + asm volatile("dsb"); +} + +bool HAL_timer_interrupt_enabled(const uint8_t timer_num) { + switch (timer_num) { + case 0: return (NVIC_IS_ENABLED(IRQ_GPT1)); + case 1: return (NVIC_IS_ENABLED(IRQ_GPT2)); + } + return false; +} + +void HAL_timer_isr_prologue(const uint8_t timer_num) { + switch (timer_num) { + case 0: + GPT1_SR = GPT_IR_OF1IE; // clear OF3 bit + break; + case 1: + GPT2_SR = GPT_IR_OF1IE; // clear OF3 bit + break; + } + asm volatile("dsb"); +} + +#endif // __IMXRT1062__ |