0566badcef
Disabling an ISR on ARM has 3 instructions of latency. A Memory barrier is REQUIRED to ensure proper and predictable disabling. Memory barriers are expensive, so avoid disabling if already disabled (See https://mcuoneclipse.com/2015/10/16/nvic-disabling-interrupts-on-arm-cortex-m-and-the-need-for-a-memory-barrier-instruction/)
158 lines
5.2 KiB
C++
158 lines
5.2 KiB
C++
/**
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* Marlin 3D Printer Firmware
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*
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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* Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
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* Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com
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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 <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* Description: HAL for Arduino Due and compatible (SAM3X8E)
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*
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* For ARDUINO_ARCH_SAM
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*/
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#ifdef ARDUINO_ARCH_SAM
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// --------------------------------------------------------------------------
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// Includes
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// --------------------------------------------------------------------------
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#include "HAL.h"
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#include "HAL_timers_Due.h"
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// --------------------------------------------------------------------------
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// Externals
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// --------------------------------------------------------------------------
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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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#define PRESCALER 2
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// --------------------------------------------------------------------------
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// Types
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// --------------------------------------------------------------------------
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// --------------------------------------------------------------------------
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// Public Variables
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// --------------------------------------------------------------------------
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// --------------------------------------------------------------------------
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// Private Variables
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// --------------------------------------------------------------------------
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const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = {
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{ TC0, 0, TC0_IRQn, 3}, // 0 - [servo timer5]
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{ TC0, 1, TC1_IRQn, 0}, // 1
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{ TC0, 2, TC2_IRQn, 0}, // 2
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{ TC1, 0, TC3_IRQn, 2}, // 3 - stepper
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{ TC1, 1, TC4_IRQn, 15}, // 4 - temperature
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{ TC1, 2, TC5_IRQn, 3}, // 5 - [servo timer3]
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{ TC2, 0, TC6_IRQn, 14}, // 6 - tone
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{ TC2, 1, TC7_IRQn, 0}, // 7
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{ TC2, 2, TC8_IRQn, 0}, // 8
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};
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// --------------------------------------------------------------------------
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// Function prototypes
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// --------------------------------------------------------------------------
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// --------------------------------------------------------------------------
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// Private functions
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// --------------------------------------------------------------------------
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// --------------------------------------------------------------------------
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// Public functions
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// --------------------------------------------------------------------------
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/*
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Timer_clock1: Prescaler 2 -> 42MHz
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Timer_clock2: Prescaler 8 -> 10.5MHz
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Timer_clock3: Prescaler 32 -> 2.625MHz
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Timer_clock4: Prescaler 128 -> 656.25kHz
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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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Tc *tc = TimerConfig[timer_num].pTimerRegs;
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IRQn_Type irq = TimerConfig[timer_num].IRQ_Id;
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uint32_t channel = TimerConfig[timer_num].channel;
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// Disable interrupt, just in case it was already enabled
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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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// Disable timer interrupt
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tc->TC_CHANNEL[channel].TC_IDR = TC_IDR_CPCS;
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// Stop timer, just in case, to be able to reconfigure it
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TC_Stop(tc, channel);
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pmc_set_writeprotect(false);
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pmc_enable_periph_clk((uint32_t)irq);
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NVIC_SetPriority(irq, TimerConfig [timer_num].priority);
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// wave mode, reset counter on match with RC,
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TC_Configure(tc, channel, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK1);
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// Set compare value
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TC_SetRC(tc, channel, VARIANT_MCK / 2 / frequency);
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// And start timer
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TC_Start(tc, channel);
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// enable interrupt on RC compare
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tc->TC_CHANNEL[channel].TC_IER = TC_IER_CPCS;
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// Finally, enable IRQ
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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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IRQn_Type irq = TimerConfig[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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IRQn_Type irq = TimerConfig[timer_num].IRQ_Id;
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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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// 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 (NVIC->ISER[(uint32_t)(IRQn) >> 5] & (1 << ((uint32_t)(IRQn) & 0x1F))) != 0;
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}
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bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
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IRQn_Type irq = TimerConfig[timer_num].IRQ_Id;
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return NVIC_GetEnabledIRQ(irq);
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}
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#endif // ARDUINO_ARCH_SAM
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