mirror of https://github.com/mriscoc/Ender3V2S1
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164 lines
6.8 KiB
C++
164 lines
6.8 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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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 <https://www.gnu.org/licenses/>.
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*
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*/
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/*
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Copyright (c) 2013 Arduino LLC. All right reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library 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 GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#ifdef ARDUINO_ARCH_SAM
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#include "../../inc/MarlinConfig.h"
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#if HAS_SERVOS
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#include "../shared/servo.h"
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#include "../shared/servo_private.h"
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static Flags<_Nbr_16timers> DisablePending; // ISR should disable the timer at the next timer reset
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// ------------------------
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/// Interrupt handler for the TC0 channel 1.
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// ------------------------
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void Servo_Handler(const timer16_Sequence_t, Tc*, const uint8_t);
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#ifdef _useTimer1
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void HANDLER_FOR_TIMER1() { Servo_Handler(_timer1, TC_FOR_TIMER1, CHANNEL_FOR_TIMER1); }
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#endif
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#ifdef _useTimer2
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void HANDLER_FOR_TIMER2() { Servo_Handler(_timer2, TC_FOR_TIMER2, CHANNEL_FOR_TIMER2); }
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#endif
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#ifdef _useTimer3
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void HANDLER_FOR_TIMER3() { Servo_Handler(_timer3, TC_FOR_TIMER3, CHANNEL_FOR_TIMER3); }
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#endif
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#ifdef _useTimer4
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void HANDLER_FOR_TIMER4() { Servo_Handler(_timer4, TC_FOR_TIMER4, CHANNEL_FOR_TIMER4); }
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#endif
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#ifdef _useTimer5
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void HANDLER_FOR_TIMER5() { Servo_Handler(_timer5, TC_FOR_TIMER5, CHANNEL_FOR_TIMER5); }
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#endif
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void Servo_Handler(const timer16_Sequence_t timer, Tc *tc, const uint8_t channel) {
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static int8_t Channel[_Nbr_16timers]; // Servo counters to pulse (or -1 for refresh interval)
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int8_t cho = Channel[timer]; // Handle the prior Channel[timer] first
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if (cho < 0) { // Channel -1 indicates the refresh interval completed...
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tc->TC_CHANNEL[channel].TC_CCR |= TC_CCR_SWTRG; // ...so reset the timer
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if (DisablePending[timer]) {
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// Disabling only after the full servo period expires prevents
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// pulses being too close together if immediately re-enabled.
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DisablePending.clear(timer);
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TC_Stop(tc, channel);
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tc->TC_CHANNEL[channel].TC_SR; // clear interrupt
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return;
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}
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}
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else if (SERVO_INDEX(timer, cho) < ServoCount) // prior channel handled?
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extDigitalWrite(SERVO(timer, cho).Pin.nbr, LOW); // pulse the prior channel LOW
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Channel[timer] = ++cho; // go to the next channel (or 0)
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if (cho < SERVOS_PER_TIMER && SERVO_INDEX(timer, cho) < ServoCount) {
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tc->TC_CHANNEL[channel].TC_RA = tc->TC_CHANNEL[channel].TC_CV + SERVO(timer, cho).ticks;
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if (SERVO(timer, cho).Pin.isActive) // activated?
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extDigitalWrite(SERVO(timer, cho).Pin.nbr, HIGH); // yes: pulse HIGH
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}
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else {
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// finished all channels so wait for the refresh period to expire before starting over
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const unsigned int cval = tc->TC_CHANNEL[channel].TC_CV + 128 / (SERVO_TIMER_PRESCALER), // allow 128 cycles to ensure the next CV not missed
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ival = (unsigned int)usToTicks(REFRESH_INTERVAL); // at least REFRESH_INTERVAL has elapsed
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tc->TC_CHANNEL[channel].TC_RA = max(cval, ival);
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Channel[timer] = -1; // reset the timer CCR on the next call
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}
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tc->TC_CHANNEL[channel].TC_SR; // clear interrupt
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}
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static void _initISR(Tc *tc, uint32_t channel, uint32_t id, IRQn_Type irqn) {
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pmc_enable_periph_clk(id);
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TC_Configure(tc, channel,
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TC_CMR_WAVE // Waveform mode
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| TC_CMR_WAVSEL_UP_RC // Counter running up and reset when equal to RC
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| (SERVO_TIMER_PRESCALER == 2 ? TC_CMR_TCCLKS_TIMER_CLOCK1 : 0) // MCK/2
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| (SERVO_TIMER_PRESCALER == 8 ? TC_CMR_TCCLKS_TIMER_CLOCK2 : 0) // MCK/8
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| (SERVO_TIMER_PRESCALER == 32 ? TC_CMR_TCCLKS_TIMER_CLOCK3 : 0) // MCK/32
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| (SERVO_TIMER_PRESCALER == 128 ? TC_CMR_TCCLKS_TIMER_CLOCK4 : 0) // MCK/128
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);
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// Wait 1ms before the first ISR
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TC_SetRA(tc, channel, (F_CPU) / (SERVO_TIMER_PRESCALER) / 1000UL); // 1ms
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// Configure and enable interrupt
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NVIC_EnableIRQ(irqn);
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tc->TC_CHANNEL[channel].TC_IER = TC_IER_CPAS; // TC_IER_CPAS: RA Compare
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// Enables the timer clock and performs a software reset to start the counting
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TC_Start(tc, channel);
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}
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void initISR(const timer16_Sequence_t timer_index) {
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CRITICAL_SECTION_START();
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const bool disable_soon = DisablePending[timer_index];
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DisablePending.clear(timer_index);
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CRITICAL_SECTION_END();
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if (!disable_soon) switch (timer_index) {
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default: break;
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#ifdef _useTimer1
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case _timer1: return _initISR(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1, ID_TC_FOR_TIMER1, IRQn_FOR_TIMER1);
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#endif
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#ifdef _useTimer2
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case _timer2: return _initISR(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2, ID_TC_FOR_TIMER2, IRQn_FOR_TIMER2);
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#endif
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#ifdef _useTimer3
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case _timer3: return _initISR(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3, ID_TC_FOR_TIMER3, IRQn_FOR_TIMER3);
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#endif
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#ifdef _useTimer4
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case _timer4: return _initISR(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4, ID_TC_FOR_TIMER4, IRQn_FOR_TIMER4);
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#endif
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#ifdef _useTimer5
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case _timer5: return _initISR(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5, ID_TC_FOR_TIMER5, IRQn_FOR_TIMER5);
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#endif
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}
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}
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void finISR(const timer16_Sequence_t timer_index) {
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// Timer is disabled from the ISR, to ensure proper final pulse length.
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DisablePending.set(timer_index);
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}
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#endif // HAS_SERVOS
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#endif // ARDUINO_ARCH_SAM
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