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/**
* 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/>.
*
*/
#ifdef __PLAT_LINUX__
#include "Timer.h"
#include <stdio.h>
Timer::Timer() {
active = false;
compare = 0;
frequency = 0;
overruns = 0;
timerid = 0;
cbfn = nullptr;
period = 0;
start_time = 0;
avg_error = 0;
}
Timer::~Timer() {
timer_delete(timerid);
}
void Timer::init(uint32_t sig_id, uint32_t sim_freq, callback_fn* fn) {
struct sigaction sa;
struct sigevent sev;
frequency = sim_freq;
cbfn = fn;
sa.sa_flags = SA_SIGINFO;
sa.sa_sigaction = Timer::handler;
sigemptyset(&sa.sa_mask);
if (sigaction(SIGRTMIN, &sa, nullptr) == -1) {
return; // todo: handle error
}
sigemptyset(&mask);
sigaddset(&mask, SIGRTMIN);
disable();
sev.sigev_notify = SIGEV_SIGNAL;
sev.sigev_signo = SIGRTMIN;
sev.sigev_value.sival_ptr = (void*)this;
if (timer_create(CLOCK_REALTIME, &sev, &timerid) == -1) {
return; // todo: handle error
}
}
void Timer::start(uint32_t frequency) {
setCompare(this->frequency / frequency);
//printf("timer(%ld) started\n", getID());
}
void Timer::enable() {
if (sigprocmask(SIG_UNBLOCK, &mask, nullptr) == -1) {
return; // todo: handle error
}
active = true;
//printf("timer(%ld) enabled\n", getID());
}
void Timer::disable() {
if (sigprocmask(SIG_SETMASK, &mask, nullptr) == -1) {
return; // todo: handle error
}
active = false;
}
void Timer::setCompare(uint32_t compare) {
uint32_t nsec_offset = 0;
if (active) {
nsec_offset = Clock::nanos() - this->start_time; // calculate how long the timer would have been running for
nsec_offset = nsec_offset < 1000 ? nsec_offset : 0; // constrain, this shouldn't be needed but apparently Marlin enables interrupts on the stepper timer before initialising it, todo: investigate ?bug?
}
this->compare = compare;
uint64_t ns = Clock::ticksToNanos(compare, frequency) - nsec_offset;
struct itimerspec its;
its.it_value.tv_sec = ns / 1000000000;
its.it_value.tv_nsec = ns % 1000000000;
its.it_interval.tv_sec = its.it_value.tv_sec;
its.it_interval.tv_nsec = its.it_value.tv_nsec;
if (timer_settime(timerid, 0, &its, nullptr) == -1) {
printf("timer(%ld) failed, compare: %d(%ld)\n", getID(), compare, its.it_value.tv_nsec);
return; // todo: handle error
}
//printf("timer(%ld) started, compare: %d(%d)\n", getID(), compare, its.it_value.tv_nsec);
this->period = its.it_value.tv_nsec;
this->start_time = Clock::nanos();
}
uint32_t Timer::getCount() {
return Clock::nanosToTicks(Clock::nanos() - this->start_time, frequency);
}
#endif // __PLAT_LINUX__
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