From 21993b75f4e32bd687edadedb2306ebfebc0e43d Mon Sep 17 00:00:00 2001 From: Giuliano Zaro <3684609+GMagician@users.noreply.github.com> Date: Fri, 2 Aug 2019 14:37:41 +0200 Subject: [PATCH] SAMD51 Servo class (#14781) --- Marlin/src/HAL/HAL_AVR/ServoTimers.h | 4 +- Marlin/src/HAL/HAL_DUE/ServoTimers.h | 4 +- Marlin/src/HAL/HAL_SAMD51/HAL.cpp | 58 ++--- Marlin/src/HAL/HAL_SAMD51/HAL.h | 3 +- .../src/HAL/HAL_SAMD51/HAL_timers_SAMD51.cpp | 4 +- Marlin/src/HAL/HAL_SAMD51/HAL_timers_SAMD51.h | 9 +- Marlin/src/HAL/HAL_SAMD51/SAMD51.h | 4 +- Marlin/src/HAL/HAL_SAMD51/ServoTimers.h | 39 +++ Marlin/src/HAL/HAL_SAMD51/Servo_SAMD51.cpp | 226 ++++++++++++++++++ Marlin/src/HAL/HAL_SAMD51/Tone.cpp | 59 ----- Marlin/src/HAL/HAL_STM32/HAL_timers_STM32.cpp | 2 - .../STM32F4/HAL_timers_STM32F4.cpp | 2 - Marlin/src/HAL/shared/servo.cpp | 5 +- Marlin/src/HAL/shared/servo.h | 4 +- Marlin/src/HAL/shared/servo_private.h | 12 +- 15 files changed, 318 insertions(+), 117 deletions(-) create mode 100644 Marlin/src/HAL/HAL_SAMD51/ServoTimers.h create mode 100644 Marlin/src/HAL/HAL_SAMD51/Servo_SAMD51.cpp delete mode 100644 Marlin/src/HAL/HAL_SAMD51/Tone.cpp diff --git a/Marlin/src/HAL/HAL_AVR/ServoTimers.h b/Marlin/src/HAL/HAL_AVR/ServoTimers.h index 07d307029..4991caefe 100644 --- a/Marlin/src/HAL/HAL_AVR/ServoTimers.h +++ b/Marlin/src/HAL/HAL_AVR/ServoTimers.h @@ -53,8 +53,8 @@ * -------------------- */ -#define TRIM_DURATION 2 // compensation ticks to trim adjust for digitalWrite delays -#define PRESCALER 8 // timer prescaler +#define TRIM_DURATION 2 // compensation ticks to trim adjust for digitalWrite delays +#define SERVO_TIMER_PRESCALER 8 // timer prescaler // Say which 16 bit timers can be used and in what order #if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) diff --git a/Marlin/src/HAL/HAL_DUE/ServoTimers.h b/Marlin/src/HAL/HAL_DUE/ServoTimers.h index 84129ef2b..c32c93825 100644 --- a/Marlin/src/HAL/HAL_DUE/ServoTimers.h +++ b/Marlin/src/HAL/HAL_DUE/ServoTimers.h @@ -36,8 +36,8 @@ //!#define _useTimer4 #define _useTimer5 -#define TRIM_DURATION 2 // compensation ticks to trim adjust for digitalWrite delays -#define PRESCALER 32 // timer prescaler +#define TRIM_DURATION 2 // compensation ticks to trim adjust for digitalWrite delays +#define SERVO_TIMER_PRESCALER 32 // timer prescaler /* TC0, chan 0 => TC0_Handler diff --git a/Marlin/src/HAL/HAL_SAMD51/HAL.cpp b/Marlin/src/HAL/HAL_SAMD51/HAL.cpp index 0e35610a4..e9f378b66 100644 --- a/Marlin/src/HAL/HAL_SAMD51/HAL.cpp +++ b/Marlin/src/HAL/HAL_SAMD51/HAL.cpp @@ -193,8 +193,8 @@ uint16_t HAL_adc_result; uint16_t HAL_adc_results[COUNT(adc_pins)]; #if ADC0_IS_REQUIRED - Adafruit_ZeroDMA adc0ProgramDMA, - adc0ReadDMA; + Adafruit_ZeroDMA adc0DMAProgram, + adc0DMARead; const HAL_DMA_DAC_Registers adc0_dma_regs_list[] = { #if GET_TEMP_0_ADC() == 0 @@ -233,8 +233,8 @@ uint16_t HAL_adc_result; #endif // ADC0_IS_REQUIRED #if ADC1_IS_REQUIRED - Adafruit_ZeroDMA adc1ProgramDMA, - adc1ReadDMA; + Adafruit_ZeroDMA adc1DMAProgram, + adc1DMARead; const HAL_DMA_DAC_Registers adc1_dma_regs_list[] = { #if GET_TEMP_0_ADC() == 1 @@ -284,11 +284,11 @@ uint16_t HAL_adc_result; DmacDescriptor *descriptor; #if ADC0_IS_REQUIRED - adc0ProgramDMA.setTrigger(ADC0_DMAC_ID_SEQ); - adc0ProgramDMA.setAction(DMA_TRIGGER_ACTON_BEAT); - adc0ProgramDMA.loop(true); - if (adc0ProgramDMA.allocate() == DMA_STATUS_OK) { - descriptor = adc0ProgramDMA.addDescriptor( + adc0DMAProgram.setTrigger(ADC0_DMAC_ID_SEQ); + adc0DMAProgram.setAction(DMA_TRIGGER_ACTON_BEAT); + adc0DMAProgram.loop(true); + if (adc0DMAProgram.allocate() == DMA_STATUS_OK) { + descriptor = adc0DMAProgram.addDescriptor( (void *)adc0_dma_regs_list, // SRC (void *)&ADC0->DSEQDATA.reg, // DEST sizeof(adc0_dma_regs_list) / 4, // CNT @@ -300,14 +300,14 @@ uint16_t HAL_adc_result; ); if (descriptor != nullptr) descriptor->BTCTRL.bit.EVOSEL = DMA_EVENT_OUTPUT_BEAT; - adc0ProgramDMA.startJob(); + adc0DMAProgram.startJob(); } - adc0ReadDMA.setTrigger(ADC0_DMAC_ID_RESRDY); - adc0ReadDMA.setAction(DMA_TRIGGER_ACTON_BEAT); - adc0ReadDMA.loop(true); - if (adc0ReadDMA.allocate() == DMA_STATUS_OK) { - adc0ReadDMA.addDescriptor( + adc0DMARead.setTrigger(ADC0_DMAC_ID_RESRDY); + adc0DMARead.setAction(DMA_TRIGGER_ACTON_BEAT); + adc0DMARead.loop(true); + if (adc0DMARead.allocate() == DMA_STATUS_OK) { + adc0DMARead.addDescriptor( (void *)&ADC0->RESULT.reg, // SRC &HAL_adc_results, // DEST ADC0_AINCOUNT, // CNT @@ -317,15 +317,15 @@ uint16_t HAL_adc_result; DMA_ADDRESS_INCREMENT_STEP_SIZE_1, // STEPSIZE DMA_STEPSEL_DST // STEPSEL ); - adc0ReadDMA.startJob(); + adc0DMARead.startJob(); } #endif #if ADC1_IS_REQUIRED - adc1ProgramDMA.setTrigger(ADC1_DMAC_ID_SEQ); - adc1ProgramDMA.setAction(DMA_TRIGGER_ACTON_BEAT); - adc1ProgramDMA.loop(true); - if (adc1ProgramDMA.allocate() == DMA_STATUS_OK) { - descriptor = adc1ProgramDMA.addDescriptor( + adc1DMAProgram.setTrigger(ADC1_DMAC_ID_SEQ); + adc1DMAProgram.setAction(DMA_TRIGGER_ACTON_BEAT); + adc1DMAProgram.loop(true); + if (adc1DMAProgram.allocate() == DMA_STATUS_OK) { + descriptor = adc1DMAProgram.addDescriptor( (void *)adc1_dma_regs_list, // SRC (void *)&ADC1->DSEQDATA.reg, // DEST sizeof(adc1_dma_regs_list) / 4, // CNT @@ -337,14 +337,14 @@ uint16_t HAL_adc_result; ); if (descriptor != nullptr) descriptor->BTCTRL.bit.EVOSEL = DMA_EVENT_OUTPUT_BEAT; - adc1ProgramDMA.startJob(); + adc1DMAProgram.startJob(); } - adc1ReadDMA.setTrigger(ADC1_DMAC_ID_RESRDY); - adc1ReadDMA.setAction(DMA_TRIGGER_ACTON_BEAT); - adc1ReadDMA.loop(true); - if (adc1ReadDMA.allocate() == DMA_STATUS_OK) { - adc1ReadDMA.addDescriptor( + adc1DMARead.setTrigger(ADC1_DMAC_ID_RESRDY); + adc1DMARead.setAction(DMA_TRIGGER_ACTON_BEAT); + adc1DMARead.loop(true); + if (adc1DMARead.allocate() == DMA_STATUS_OK) { + adc1DMARead.addDescriptor( (void *)&ADC1->RESULT.reg, // SRC &HAL_adc_results[ADC0_AINCOUNT], // DEST ADC1_AINCOUNT, // CNT @@ -354,11 +354,11 @@ uint16_t HAL_adc_result; DMA_ADDRESS_INCREMENT_STEP_SIZE_1, // STEPSIZE DMA_STEPSEL_DST // STEPSEL ); - adc1ReadDMA.startJob(); + adc1DMARead.startJob(); } #endif - DMAC->PRICTRL0.bit.RRLVLEN0 = true; // Activate round robin for DMA channels used by ADCs + DMAC->PRICTRL0.bit.RRLVLEN0 = true; // Activate round robin for DMA channels required by ADCs } #endif // DMA_IS_REQUIRED diff --git a/Marlin/src/HAL/HAL_SAMD51/HAL.h b/Marlin/src/HAL/HAL_SAMD51/HAL.h index 3dd131346..7c6d7e37e 100644 --- a/Marlin/src/HAL/HAL_SAMD51/HAL.h +++ b/Marlin/src/HAL/HAL_SAMD51/HAL.h @@ -76,7 +76,8 @@ typedef int8_t pin_t; -//#define HAL_SERVO_LIB Servo +#define SHARED_SERVOS HAS_SERVOS +#define HAL_SERVO_LIB Servo // // Interrupts diff --git a/Marlin/src/HAL/HAL_SAMD51/HAL_timers_SAMD51.cpp b/Marlin/src/HAL/HAL_SAMD51/HAL_timers_SAMD51.cpp index 70733e241..8868acc87 100644 --- a/Marlin/src/HAL/HAL_SAMD51/HAL_timers_SAMD51.cpp +++ b/Marlin/src/HAL/HAL_SAMD51/HAL_timers_SAMD51.cpp @@ -40,8 +40,8 @@ const tTimerConfig TimerConfig[NUM_HARDWARE_TIMERS] = { { TC0, TC0_IRQn, TC_PRIORITY(0) }, { TC1, TC1_IRQn, TC_PRIORITY(1) }, - { TC2, TC2_IRQn, TC_PRIORITY(2) }, - { TC3, TC3_IRQn, TC_PRIORITY(3) }, + { TC2, TC2_IRQn, TC_PRIORITY(2) }, // Reserved by framework tone function + { TC3, TC3_IRQn, TC_PRIORITY(3) }, // Reserved by servo library { TC4, TC4_IRQn, TC_PRIORITY(4) }, { TC5, TC5_IRQn, TC_PRIORITY(5) }, { TC6, TC6_IRQn, TC_PRIORITY(6) }, diff --git a/Marlin/src/HAL/HAL_SAMD51/HAL_timers_SAMD51.h b/Marlin/src/HAL/HAL_SAMD51/HAL_timers_SAMD51.h index 60d2b3296..37cdf7a9b 100644 --- a/Marlin/src/HAL/HAL_SAMD51/HAL_timers_SAMD51.h +++ b/Marlin/src/HAL/HAL_SAMD51/HAL_timers_SAMD51.h @@ -33,7 +33,6 @@ typedef uint32_t hal_timer_t; #define STEP_TIMER_NUM 0 // index of timer to use for stepper (also +1 for 32bits counter) #define PULSE_TIMER_NUM STEP_TIMER_NUM -#define TONE_TIMER_NUM 2 // index of timer to use for beeper tones (also +1 for 32bits counter) #define TEMP_TIMER_NUM 4 // index of timer to use for temperature (also +1 for 32bits counter) #define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency @@ -53,9 +52,10 @@ typedef uint32_t hal_timer_t; #define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM) #define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM) -#define TC_PRIORITY(t) (t == STEP_TIMER_NUM || t == PULSE_TIMER_NUM) ? 2 \ - : (t == TEMP_TIMER_NUM) ? 6 \ - : (t == TONE_TIMER_NUM) ? 5 : 7 +#define TC_PRIORITY(t) (t == STEP_TIMER_NUM || t == PULSE_TIMER_NUM) ? 2 \ + : (t == TEMP_TIMER_NUM) ? 6 \ + : 7 + #define _TC_HANDLER(t) void TC##t##_Handler() #define TC_HANDLER(t) _TC_HANDLER(t) #define HAL_STEP_TIMER_ISR() TC_HANDLER(STEP_TIMER_NUM) @@ -63,7 +63,6 @@ typedef uint32_t hal_timer_t; #define HAL_PULSE_TIMER_ISR() TC_HANDLER(PULSE_TIMER_NUM) #endif #define HAL_TEMP_TIMER_ISR() TC_HANDLER(TEMP_TIMER_NUM) -#define HAL_TONE_TIMER_ISR() TC_HANDLER(TONE_TIMER_NUM) // -------------------------------------------------------------------------- // Types diff --git a/Marlin/src/HAL/HAL_SAMD51/SAMD51.h b/Marlin/src/HAL/HAL_SAMD51/SAMD51.h index 63d53a960..242423f88 100644 --- a/Marlin/src/HAL/HAL_SAMD51/SAMD51.h +++ b/Marlin/src/HAL/HAL_SAMD51/SAMD51.h @@ -20,8 +20,8 @@ */ #pragma once -#define SYNC(sc) while (sc) { \ - asm(""); \ +#define SYNC(sc) while (sc) { \ + asm(""); \ } // Get SAMD port/pin from specified arduino pin diff --git a/Marlin/src/HAL/HAL_SAMD51/ServoTimers.h b/Marlin/src/HAL/HAL_SAMD51/ServoTimers.h new file mode 100644 index 000000000..b1e18729c --- /dev/null +++ b/Marlin/src/HAL/HAL_SAMD51/ServoTimers.h @@ -0,0 +1,39 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (C) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * 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 + +#define _useTimer1 +#define _useTimer2 + +#define TRIM_DURATION 5 // compensation ticks to trim adjust for digitalWrite delays +#define SERVO_TIMER_PRESCALER 64 // timer prescaler factor to 64 (avoid overflowing 16-bit clock counter, at 120MHz this is 1831 ticks per millisecond + +#define SERVO_TC 3 + +typedef enum { + #ifdef _useTimer1 + _timer1, + #endif + #ifdef _useTimer2 + _timer2, + #endif + _Nbr_16timers +} timer16_Sequence_t; diff --git a/Marlin/src/HAL/HAL_SAMD51/Servo_SAMD51.cpp b/Marlin/src/HAL/HAL_SAMD51/Servo_SAMD51.cpp new file mode 100644 index 000000000..1e3c4f016 --- /dev/null +++ b/Marlin/src/HAL/HAL_SAMD51/Servo_SAMD51.cpp @@ -0,0 +1,226 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (C) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * 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 . + * + */ + +/** + * This comes from Arduino library which at the moment is buggy and uncompilable + */ + +#ifdef __SAMD51__ + +#include "../../inc/MarlinConfig.h" + +#if HAS_SERVOS + +#include "../shared/Marduino.h" +#include "../shared/servo.h" +#include "../shared/servo_private.h" +#include "SAMD51.h" +#include "HAL_timers_SAMD51.h" + +#define __TC_GCLK_ID(t) TC##t##_GCLK_ID +#define _TC_GCLK_ID(t) __TC_GCLK_ID(t) +#define TC_GCLK_ID _TC_GCLK_ID(SERVO_TC) + +#define _TC_PRESCALER(d) TC_CTRLA_PRESCALER_DIV##d##_Val +#define TC_PRESCALER(d) _TC_PRESCALER(d) + +#define __SERVO_IRQn(t) TC##t##_IRQn +#define _SERVO_IRQn(t) __SERVO_IRQn(t) +#define SERVO_IRQn _SERVO_IRQn(SERVO_TC) + +#define HAL_SERVO_TIMER_ISR() TC_HANDLER(SERVO_TC) + +#define TIMER_TCCHANNEL(t) ((t) & 1) +#define TC_COUNTER_START_VAL 0xFFFF + + +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() { + Tc * const tc = TimerConfig[SERVO_TC].pTimer; + + tc->COUNT16.CTRLBSET.reg = TC_CTRLBCLR_CMD_READSYNC; + SYNC(tc->COUNT16.SYNCBUSY.bit.CTRLB || tc->COUNT16.SYNCBUSY.bit.COUNT); + + return tc->COUNT16.COUNT.reg; +} + +// ---------------------------- +// Interrupt handler for the TC +// ---------------------------- +HAL_SERVO_TIMER_ISR() { + Tc * const tc = TimerConfig[SERVO_TC].pTimer; + const timer16_Sequence_t timer = + #ifndef _useTimer1 + _timer2 + #elif !defined(_useTimer2) + _timer1 + #else + (tc->COUNT16.INTFLAG.reg & tc->COUNT16.INTENSET.reg & TC_INTFLAG_MC0) ? _timer1 : _timer2 + #endif + ; + const uint8_t tcChannel = TIMER_TCCHANNEL(timer); + + if (currentServoIndex[timer] < 0) { + #if defined(_useTimer1) && defined(_useTimer2) + if (currentServoIndex[timer ^ 1] >= 0) { + // Wait for both channels + // Clear the interrupt + tc->COUNT16.INTFLAG.reg = (tcChannel == 0) ? TC_INTFLAG_MC0 : TC_INTFLAG_MC1; + return; + } + #endif + tc->COUNT16.COUNT.reg = TC_COUNTER_START_VAL; + SYNC(tc->COUNT16.SYNCBUSY.bit.COUNT); + } + else if (SERVO_INDEX(timer, currentServoIndex[timer]) < ServoCount && SERVO(timer, currentServoIndex[timer]).Pin.isActive) + digitalWrite(SERVO(timer, currentServoIndex[timer]).Pin.nbr, LOW); // pulse this channel low if activated + + // Select the next servo controlled by this timer + currentServoIndex[timer]++; + + if (SERVO_INDEX(timer, currentServoIndex[timer]) < ServoCount && currentServoIndex[timer] < SERVOS_PER_TIMER) { + if (SERVO(timer, currentServoIndex[timer]).Pin.isActive) // check if activated + digitalWrite(SERVO(timer, currentServoIndex[timer]).Pin.nbr, HIGH); // it's an active channel so pulse it high + + tc->COUNT16.CC[tcChannel].reg = getTimerCount() - (uint16_t)SERVO(timer, currentServoIndex[timer]).ticks; + } + else { + // finished all channels so wait for the refresh period to expire before starting over + currentServoIndex[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel + + const uint16_t tcCounterValue = getTimerCount(); + + if ((TC_COUNTER_START_VAL - tcCounterValue) + 4UL < usToTicks(REFRESH_INTERVAL)) // allow a few ticks to ensure the next OCR1A not missed + tc->COUNT16.CC[tcChannel].reg = TC_COUNTER_START_VAL - (uint16_t)usToTicks(REFRESH_INTERVAL); + else + tc->COUNT16.CC[tcChannel].reg = (uint16_t)(tcCounterValue - 4UL); // at least REFRESH_INTERVAL has elapsed + } + if (tcChannel == 0) { + SYNC(tc->COUNT16.SYNCBUSY.bit.CC0); + // Clear the interrupt + tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC0; + } + else { + SYNC(tc->COUNT16.SYNCBUSY.bit.CC1); + // Clear the interrupt + tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC1; + } +} + +void initISR(timer16_Sequence_t timer) { + Tc * const tc = TimerConfig[SERVO_TC].pTimer; + const uint8_t tcChannel = TIMER_TCCHANNEL(timer); + + static bool initialized = false; // Servo TC has been initialized + if (!initialized) { + NVIC_DisableIRQ(SERVO_IRQn); + + // Disable the timer + tc->COUNT16.CTRLA.bit.ENABLE = false; + SYNC(tc->COUNT16.SYNCBUSY.bit.ENABLE); + + // Select GCLK0 as timer/counter input clock source + GCLK->PCHCTRL[TC_GCLK_ID].bit.CHEN = false; + SYNC(GCLK->PCHCTRL[TC_GCLK_ID].bit.CHEN); + GCLK->PCHCTRL[TC_GCLK_ID].reg = GCLK_PCHCTRL_GEN_GCLK0 | GCLK_PCHCTRL_CHEN; // 120MHz startup code programmed + SYNC(!GCLK->PCHCTRL[TC_GCLK_ID].bit.CHEN); + + // Reset the timer + tc->COUNT16.CTRLA.bit.SWRST = true; + SYNC(tc->COUNT16.SYNCBUSY.bit.SWRST); + SYNC(tc->COUNT16.CTRLA.bit.SWRST); + + // Set timer counter mode to 16 bits + tc->COUNT16.CTRLA.reg = TC_CTRLA_MODE_COUNT16; + + // Set timer counter mode as normal PWM + tc->COUNT16.WAVE.bit.WAVEGEN = TCC_WAVE_WAVEGEN_NPWM_Val; + + // Set the prescaler factor + tc->COUNT16.CTRLA.bit.PRESCALER = TC_PRESCALER(SERVO_TIMER_PRESCALER); + + // Count down + tc->COUNT16.CTRLBSET.reg = TC_CTRLBCLR_DIR; + SYNC(tc->COUNT16.SYNCBUSY.bit.CTRLB); + + // Reset all servo indexes + memset(currentServoIndex, 0xFF, sizeof(currentServoIndex)); + + // Configure interrupt request + NVIC_ClearPendingIRQ(SERVO_IRQn); + NVIC_SetPriority(SERVO_IRQn, 5); + NVIC_EnableIRQ(SERVO_IRQn); + + initialized = true; + } + + if (!tc->COUNT16.CTRLA.bit.ENABLE) { + // Reset the timer counter + tc->COUNT16.COUNT.reg = TC_COUNTER_START_VAL; + SYNC(tc->COUNT16.SYNCBUSY.bit.COUNT); + + // Enable the timer and start it + tc->COUNT16.CTRLA.bit.ENABLE = true; + SYNC(tc->COUNT16.SYNCBUSY.bit.ENABLE); + } + // First interrupt request after 1 ms + tc->COUNT16.CC[tcChannel].reg = getTimerCount() - (uint16_t)usToTicks(1000UL); + + if (tcChannel == 0 ) { + SYNC(tc->COUNT16.SYNCBUSY.bit.CC0); + + // Clear pending match interrupt + tc->COUNT16.INTFLAG.reg = TC_INTENSET_MC0; + // Enable the match channel interrupt request + tc->COUNT16.INTENSET.reg = TC_INTENSET_MC0; + } + else { + SYNC(tc->COUNT16.SYNCBUSY.bit.CC1); + + // Clear pending match interrupt + tc->COUNT16.INTFLAG.reg = TC_INTENSET_MC1; + // Enable the match channel interrupt request + tc->COUNT16.INTENSET.reg = TC_INTENSET_MC1; + } +} + +void finISR(timer16_Sequence_t timer) { + Tc * const tc = TimerConfig[SERVO_TC].pTimer; + const uint8_t tcChannel = TIMER_TCCHANNEL(timer); + + // Disable the match channel interrupt request + tc->COUNT16.INTENCLR.reg = (tcChannel == 0) ? TC_INTENCLR_MC0 : TC_INTENCLR_MC1; + + if (true + #if defined(_useTimer1) && defined(_useTimer2) + && (tc->COUNT16.INTENCLR.reg & (TC_INTENCLR_MC0|TC_INTENCLR_MC1)) == 0 + #endif + ) { + // Disable the timer if not used + tc->COUNT16.CTRLA.bit.ENABLE = false; + SYNC(tc->COUNT16.SYNCBUSY.bit.ENABLE); + } +} + +#endif // HAS_SERVOS + +#endif // __SAMD51__ diff --git a/Marlin/src/HAL/HAL_SAMD51/Tone.cpp b/Marlin/src/HAL/HAL_SAMD51/Tone.cpp deleted file mode 100644 index 58b969825..000000000 --- a/Marlin/src/HAL/HAL_SAMD51/Tone.cpp +++ /dev/null @@ -1,59 +0,0 @@ -/** - * Marlin 3D Printer Firmware - * - * Copyright (C) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) - * - * 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 . - * - */ - -/** - * Description: Tone function for Arduino Due and compatible (SAM3X8E) - * Derived from http://forum.arduino.cc/index.php?topic=136500.msg2903012#msg2903012 - */ - -#ifdef __SAMD51__ - -#include "../../inc/MarlinConfig.h" -#include "HAL_timers_SAMD51.h" - -static pin_t tone_pin; -volatile static int32_t toggles; - -void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration) { - tone_pin = _pin; - toggles = 2 * frequency * duration / 1000; - HAL_timer_start(TONE_TIMER_NUM, 2 * frequency); -} - -void noTone(const pin_t _pin) { - HAL_timer_disable_interrupt(TONE_TIMER_NUM); - extDigitalWrite(_pin, LOW); -} - -HAL_TONE_TIMER_ISR() { - static bool pin_state = false; - HAL_timer_isr_prologue(TONE_TIMER_NUM); - - if (toggles) { - toggles--; - extDigitalWrite(tone_pin, (pin_state = !pin_state)); - } - else noTone(tone_pin); // turn off interrupt - - HAL_timer_isr_epilogue(TONE_TIMER_NUM); -} - -#endif // __SAMD51__ diff --git a/Marlin/src/HAL/HAL_STM32/HAL_timers_STM32.cpp b/Marlin/src/HAL/HAL_STM32/HAL_timers_STM32.cpp index 7a2de123d..beefdb308 100644 --- a/Marlin/src/HAL/HAL_STM32/HAL_timers_STM32.cpp +++ b/Marlin/src/HAL/HAL_STM32/HAL_timers_STM32.cpp @@ -32,8 +32,6 @@ #define NUM_HARDWARE_TIMERS 2 -//#define PRESCALER 1 - // ------------------------ // Private Variables // ------------------------ diff --git a/Marlin/src/HAL/HAL_STM32_F4_F7/STM32F4/HAL_timers_STM32F4.cpp b/Marlin/src/HAL/HAL_STM32_F4_F7/STM32F4/HAL_timers_STM32F4.cpp index 85ab5fb89..45ea7fc98 100644 --- a/Marlin/src/HAL/HAL_STM32_F4_F7/STM32F4/HAL_timers_STM32F4.cpp +++ b/Marlin/src/HAL/HAL_STM32_F4_F7/STM32F4/HAL_timers_STM32F4.cpp @@ -33,8 +33,6 @@ #define STEP_TIMER_IRQ_ID TIM5_IRQn #define TEMP_TIMER_IRQ_ID TIM7_IRQn -//#define PRESCALER 1 - // ------------------------ // Private Variables // ------------------------ diff --git a/Marlin/src/HAL/shared/servo.cpp b/Marlin/src/HAL/shared/servo.cpp index af3385366..22cf6bc88 100644 --- a/Marlin/src/HAL/shared/servo.cpp +++ b/Marlin/src/HAL/shared/servo.cpp @@ -116,9 +116,8 @@ void Servo::detach() { } void Servo::write(int value) { - if (value < MIN_PULSE_WIDTH) { // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds) + if (value < MIN_PULSE_WIDTH) // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds) value = map(constrain(value, 0, 180), 0, 180, SERVO_MIN(), SERVO_MAX()); - } this->writeMicroseconds(value); } @@ -140,7 +139,7 @@ void Servo::writeMicroseconds(int value) { int Servo::read() { return map(this->readMicroseconds() + 1, SERVO_MIN(), SERVO_MAX(), 0, 180); } int Servo::readMicroseconds() { - return (this->servoIndex == INVALID_SERVO) ? 0 : ticksToUs(servo_info[this->servoIndex].ticks) + TRIM_DURATION; + return (this->servoIndex == INVALID_SERVO) ? 0 : ticksToUs(servo_info[this->servoIndex].ticks) + (TRIM_DURATION); } bool Servo::attached() { return servo_info[this->servoIndex].Pin.isActive; } diff --git a/Marlin/src/HAL/shared/servo.h b/Marlin/src/HAL/shared/servo.h index 96644ee26..d1a83bf16 100644 --- a/Marlin/src/HAL/shared/servo.h +++ b/Marlin/src/HAL/shared/servo.h @@ -84,10 +84,10 @@ #else #include - #if defined(__AVR__) || defined(ARDUINO_ARCH_SAM) + #if defined(__AVR__) || defined(ARDUINO_ARCH_SAM) || defined (__SAMD51__) // we're good to go #else - #error "This library only supports boards with an AVR or SAM3X processor." + #error "This library only supports boards with an AVR, SAM3X or SAMD51 processor." #endif #define Servo_VERSION 2 // software version of this library diff --git a/Marlin/src/HAL/shared/servo_private.h b/Marlin/src/HAL/shared/servo_private.h index 12d474052..1d4cdc7e3 100644 --- a/Marlin/src/HAL/shared/servo_private.h +++ b/Marlin/src/HAL/shared/servo_private.h @@ -47,8 +47,10 @@ #include "../HAL_AVR/ServoTimers.h" #elif defined(ARDUINO_ARCH_SAM) #include "../HAL_DUE/ServoTimers.h" +#elif defined(__SAMD51__) + #include "../HAL_SAMD51/ServoTimers.h" #else - #error "This library only supports boards with an AVR or SAM3X processor." + #error "This library only supports boards with an AVR, SAM3X or SAMD51 processor." #endif // Macros @@ -64,10 +66,8 @@ #define INVALID_SERVO 255 // flag indicating an invalid servo index // Convert microseconds to ticks and back (PRESCALER depends on architecture) -#define usToTicks(_us) (clockCyclesPerMicrosecond() * (_us) / (PRESCALER)) -#define ticksToUs(_ticks) (unsigned(_ticks) * (PRESCALER) / clockCyclesPerMicrosecond()) - -//#define NBR_TIMERS ((MAX_SERVOS) / (SERVOS_PER_TIMER)) +#define usToTicks(_us) (clockCyclesPerMicrosecond() * (_us) / (SERVO_TIMER_PRESCALER)) +#define ticksToUs(_ticks) (unsigned(_ticks) * (SERVO_TIMER_PRESCALER) / clockCyclesPerMicrosecond()) // convenience macros #define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / (SERVOS_PER_TIMER))) // returns the timer controlling this servo @@ -78,7 +78,7 @@ // Types typedef struct { - uint8_t nbr : 6 ; // a pin number from 0 to 63 + uint8_t nbr : 7 ; // a pin number from 0 to 127 uint8_t isActive : 1 ; // true if this channel is enabled, pin not pulsed if false } ServoPin_t;