From e8701195e66f2d27ffe17fb514eae8173795aaf7 Mon Sep 17 00:00:00 2001
From: Georgiy Bondarenko <69736697+nehilo@users.noreply.github.com>
Date: Thu, 4 Mar 2021 22:54:23 +0500
Subject: Initial commit
---
Marlin/src/HAL/AVR/timers.h | 260 ++++++++++++++++++++++++++++++++++++++++++++
1 file changed, 260 insertions(+)
create mode 100644 Marlin/src/HAL/AVR/timers.h
(limited to 'Marlin/src/HAL/AVR/timers.h')
diff --git a/Marlin/src/HAL/AVR/timers.h b/Marlin/src/HAL/AVR/timers.h
new file mode 100644
index 0000000..82eb8b1
--- /dev/null
+++ b/Marlin/src/HAL/AVR/timers.h
@@ -0,0 +1,260 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
+ *
+ * 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 .
+ *
+ */
+#pragma once
+
+#include
+
+// ------------------------
+// Types
+// ------------------------
+
+typedef uint16_t hal_timer_t;
+#define HAL_TIMER_TYPE_MAX 0xFFFF
+
+// ------------------------
+// Defines
+// ------------------------
+
+#define HAL_TIMER_RATE ((F_CPU) / 8) // i.e., 2MHz or 2.5MHz
+
+#ifndef STEP_TIMER_NUM
+ #define STEP_TIMER_NUM 1
+#endif
+#ifndef PULSE_TIMER_NUM
+ #define PULSE_TIMER_NUM STEP_TIMER_NUM
+#endif
+#ifndef TEMP_TIMER_NUM
+ #define TEMP_TIMER_NUM 0
+#endif
+
+#define TEMP_TIMER_FREQUENCY ((F_CPU) / 64.0 / 256.0)
+
+#define STEPPER_TIMER_RATE HAL_TIMER_RATE
+#define STEPPER_TIMER_PRESCALE 8
+#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // Cannot be of type double
+
+#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer
+#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
+#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
+
+#define ENABLE_STEPPER_DRIVER_INTERRUPT() SBI(TIMSK1, OCIE1A)
+#define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
+#define STEPPER_ISR_ENABLED() TEST(TIMSK1, OCIE1A)
+
+#define ENABLE_TEMPERATURE_INTERRUPT() SBI(TIMSK0, OCIE0B)
+#define DISABLE_TEMPERATURE_INTERRUPT() CBI(TIMSK0, OCIE0B)
+#define TEMPERATURE_ISR_ENABLED() TEST(TIMSK0, OCIE0B)
+
+FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
+ switch (timer_num) {
+ case STEP_TIMER_NUM:
+ // waveform generation = 0100 = CTC
+ SET_WGM(1, CTC_OCRnA);
+
+ // output mode = 00 (disconnected)
+ SET_COMA(1, NORMAL);
+
+ // Set the timer pre-scaler
+ // Generally we use a divider of 8, resulting in a 2MHz timer
+ // frequency on a 16MHz MCU. If you are going to change this, be
+ // sure to regenerate speed_lookuptable.h with
+ // create_speed_lookuptable.py
+ SET_CS(1, PRESCALER_8); // CS 2 = 1/8 prescaler
+
+ // Init Stepper ISR to 122 Hz for quick starting
+ // (F_CPU) / (STEPPER_TIMER_PRESCALE) / frequency
+ OCR1A = 0x4000;
+ TCNT1 = 0;
+ break;
+
+ case TEMP_TIMER_NUM:
+ // Use timer0 for temperature measurement
+ // Interleave temperature interrupt with millies interrupt
+ OCR0B = 128;
+ break;
+ }
+}
+
+#define TIMER_OCR_1 OCR1A
+#define TIMER_COUNTER_1 TCNT1
+
+#define TIMER_OCR_0 OCR0A
+#define TIMER_COUNTER_0 TCNT0
+
+#define _CAT(a,V...) a##V
+#define HAL_timer_set_compare(timer, compare) (_CAT(TIMER_OCR_, timer) = compare)
+#define HAL_timer_get_compare(timer) _CAT(TIMER_OCR_, timer)
+#define HAL_timer_get_count(timer) _CAT(TIMER_COUNTER_, timer)
+
+/**
+ * On AVR there is no hardware prioritization and preemption of
+ * interrupts, so this emulates it. The UART has first priority
+ * (otherwise, characters will be lost due to UART overflow).
+ * Then: Stepper, Endstops, Temperature, and -finally- all others.
+ */
+#define HAL_timer_isr_prologue(TIMER_NUM)
+#define HAL_timer_isr_epilogue(TIMER_NUM)
+
+/* 18 cycles maximum latency */
+#ifndef HAL_STEP_TIMER_ISR
+
+#define HAL_STEP_TIMER_ISR() \
+extern "C" void TIMER1_COMPA_vect() __attribute__ ((signal, naked, used, externally_visible)); \
+extern "C" void TIMER1_COMPA_vect_bottom() asm ("TIMER1_COMPA_vect_bottom") __attribute__ ((used, externally_visible, noinline)); \
+void TIMER1_COMPA_vect() { \
+ __asm__ __volatile__ ( \
+ A("push r16") /* 2 Save R16 */ \
+ A("in r16, __SREG__") /* 1 Get SREG */ \
+ A("push r16") /* 2 Save SREG into stack */ \
+ A("lds r16, %[timsk0]") /* 2 Load into R0 the Temperature timer Interrupt mask register */ \
+ A("push r16") /* 2 Save TIMSK0 into the stack */ \
+ A("andi r16,~%[msk0]") /* 1 Disable the temperature ISR */ \
+ A("sts %[timsk0], r16") /* 2 And set the new value */ \
+ A("lds r16, %[timsk1]") /* 2 Load into R0 the stepper timer Interrupt mask register [TIMSK1] */ \
+ A("andi r16,~%[msk1]") /* 1 Disable the stepper ISR */ \
+ A("sts %[timsk1], r16") /* 2 And set the new value */ \
+ A("push r16") /* 2 Save TIMSK1 into stack */ \
+ A("in r16, 0x3B") /* 1 Get RAMPZ register */ \
+ A("push r16") /* 2 Save RAMPZ into stack */ \
+ A("in r16, 0x3C") /* 1 Get EIND register */ \
+ A("push r0") /* C runtime can modify all the following registers without restoring them */ \
+ A("push r1") \
+ A("push r18") \
+ A("push r19") \
+ A("push r20") \
+ A("push r21") \
+ A("push r22") \
+ A("push r23") \
+ A("push r24") \
+ A("push r25") \
+ A("push r26") \
+ A("push r27") \
+ A("push r30") \
+ A("push r31") \
+ A("clr r1") /* C runtime expects this register to be 0 */ \
+ A("call TIMER1_COMPA_vect_bottom") /* Call the bottom handler - No inlining allowed, otherwise registers used are not saved */ \
+ A("pop r31") \
+ A("pop r30") \
+ A("pop r27") \
+ A("pop r26") \
+ A("pop r25") \
+ A("pop r24") \
+ A("pop r23") \
+ A("pop r22") \
+ A("pop r21") \
+ A("pop r20") \
+ A("pop r19") \
+ A("pop r18") \
+ A("pop r1") \
+ A("pop r0") \
+ A("out 0x3C, r16") /* 1 Restore EIND register */ \
+ A("pop r16") /* 2 Get the original RAMPZ register value */ \
+ A("out 0x3B, r16") /* 1 Restore RAMPZ register to its original value */ \
+ A("pop r16") /* 2 Get the original TIMSK1 value but with stepper ISR disabled */ \
+ A("ori r16,%[msk1]") /* 1 Reenable the stepper ISR */ \
+ A("cli") /* 1 Disable global interrupts - Reenabling Stepper ISR can reenter amd temperature can reenter, and we want that, if it happens, after this ISR has ended */ \
+ A("sts %[timsk1], r16") /* 2 And restore the old value - This reenables the stepper ISR */ \
+ A("pop r16") /* 2 Get the temperature timer Interrupt mask register [TIMSK0] */ \
+ A("sts %[timsk0], r16") /* 2 And restore the old value - This reenables the temperature ISR */ \
+ A("pop r16") /* 2 Get the old SREG value */ \
+ A("out __SREG__, r16") /* 1 And restore the SREG value */ \
+ A("pop r16") /* 2 Restore R16 value */ \
+ A("reti") /* 4 Return from interrupt */ \
+ : \
+ : [timsk0] "i" ((uint16_t)&TIMSK0), \
+ [timsk1] "i" ((uint16_t)&TIMSK1), \
+ [msk0] "M" ((uint8_t)(1<