SAMD51 Servo class (#14781)
Giuliano Zaro
5 years ago
committed by
Scott Lahteine
parent
8efa3455c2
commit
21993b75f4
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/**
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* Marlin 3D Printer Firmware
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*
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* Copyright (C) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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* SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
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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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#pragma once
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#define _useTimer1
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#define _useTimer2
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#define TRIM_DURATION 5 // compensation ticks to trim adjust for digitalWrite delays
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#define SERVO_TIMER_PRESCALER 64 // timer prescaler factor to 64 (avoid overflowing 16-bit clock counter, at 120MHz this is 1831 ticks per millisecond
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#define SERVO_TC 3
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typedef enum {
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#ifdef _useTimer1
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_timer1,
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#endif
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#ifdef _useTimer2
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_timer2,
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#endif
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_Nbr_16timers
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} timer16_Sequence_t;
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/**
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* Marlin 3D Printer Firmware
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*
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* Copyright (C) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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* SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
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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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* This comes from Arduino library which at the moment is buggy and uncompilable
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*/
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#ifdef __SAMD51__
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#include "../../inc/MarlinConfig.h"
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#if HAS_SERVOS
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#include "../shared/Marduino.h"
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#include "../shared/servo.h"
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#include "../shared/servo_private.h"
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#include "SAMD51.h"
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#include "HAL_timers_SAMD51.h"
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#define __TC_GCLK_ID(t) TC##t##_GCLK_ID
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#define _TC_GCLK_ID(t) __TC_GCLK_ID(t)
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#define TC_GCLK_ID _TC_GCLK_ID(SERVO_TC)
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#define _TC_PRESCALER(d) TC_CTRLA_PRESCALER_DIV##d##_Val
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#define TC_PRESCALER(d) _TC_PRESCALER(d)
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#define __SERVO_IRQn(t) TC##t##_IRQn
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#define _SERVO_IRQn(t) __SERVO_IRQn(t)
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#define SERVO_IRQn _SERVO_IRQn(SERVO_TC)
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#define HAL_SERVO_TIMER_ISR() TC_HANDLER(SERVO_TC)
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#define TIMER_TCCHANNEL(t) ((t) & 1)
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#define TC_COUNTER_START_VAL 0xFFFF
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static volatile int8_t currentServoIndex[_Nbr_16timers]; // index for the servo being pulsed for each timer (or -1 if refresh interval)
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FORCE_INLINE static uint16_t getTimerCount() {
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Tc * const tc = TimerConfig[SERVO_TC].pTimer;
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tc->COUNT16.CTRLBSET.reg = TC_CTRLBCLR_CMD_READSYNC;
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SYNC(tc->COUNT16.SYNCBUSY.bit.CTRLB || tc->COUNT16.SYNCBUSY.bit.COUNT);
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return tc->COUNT16.COUNT.reg;
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}
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// ----------------------------
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// Interrupt handler for the TC
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// ----------------------------
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HAL_SERVO_TIMER_ISR() {
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Tc * const tc = TimerConfig[SERVO_TC].pTimer;
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const timer16_Sequence_t timer =
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#ifndef _useTimer1
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_timer2
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#elif !defined(_useTimer2)
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_timer1
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#else
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(tc->COUNT16.INTFLAG.reg & tc->COUNT16.INTENSET.reg & TC_INTFLAG_MC0) ? _timer1 : _timer2
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#endif
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;
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const uint8_t tcChannel = TIMER_TCCHANNEL(timer);
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if (currentServoIndex[timer] < 0) {
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#if defined(_useTimer1) && defined(_useTimer2)
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if (currentServoIndex[timer ^ 1] >= 0) {
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// Wait for both channels
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// Clear the interrupt
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tc->COUNT16.INTFLAG.reg = (tcChannel == 0) ? TC_INTFLAG_MC0 : TC_INTFLAG_MC1;
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return;
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}
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#endif
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tc->COUNT16.COUNT.reg = TC_COUNTER_START_VAL;
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SYNC(tc->COUNT16.SYNCBUSY.bit.COUNT);
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}
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else if (SERVO_INDEX(timer, currentServoIndex[timer]) < ServoCount && SERVO(timer, currentServoIndex[timer]).Pin.isActive)
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digitalWrite(SERVO(timer, currentServoIndex[timer]).Pin.nbr, LOW); // pulse this channel low if activated
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// Select the next servo controlled by this timer
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currentServoIndex[timer]++;
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if (SERVO_INDEX(timer, currentServoIndex[timer]) < ServoCount && currentServoIndex[timer] < SERVOS_PER_TIMER) {
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if (SERVO(timer, currentServoIndex[timer]).Pin.isActive) // check if activated
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digitalWrite(SERVO(timer, currentServoIndex[timer]).Pin.nbr, HIGH); // it's an active channel so pulse it high
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tc->COUNT16.CC[tcChannel].reg = getTimerCount() - (uint16_t)SERVO(timer, currentServoIndex[timer]).ticks;
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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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currentServoIndex[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
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const uint16_t tcCounterValue = getTimerCount();
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if ((TC_COUNTER_START_VAL - tcCounterValue) + 4UL < usToTicks(REFRESH_INTERVAL)) // allow a few ticks to ensure the next OCR1A not missed
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tc->COUNT16.CC[tcChannel].reg = TC_COUNTER_START_VAL - (uint16_t)usToTicks(REFRESH_INTERVAL);
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else
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tc->COUNT16.CC[tcChannel].reg = (uint16_t)(tcCounterValue - 4UL); // at least REFRESH_INTERVAL has elapsed
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}
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if (tcChannel == 0) {
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SYNC(tc->COUNT16.SYNCBUSY.bit.CC0);
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// Clear the interrupt
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tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC0;
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}
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else {
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SYNC(tc->COUNT16.SYNCBUSY.bit.CC1);
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// Clear the interrupt
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tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC1;
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}
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}
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void initISR(timer16_Sequence_t timer) {
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Tc * const tc = TimerConfig[SERVO_TC].pTimer;
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const uint8_t tcChannel = TIMER_TCCHANNEL(timer);
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static bool initialized = false; // Servo TC has been initialized
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if (!initialized) {
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NVIC_DisableIRQ(SERVO_IRQn);
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// Disable the timer
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tc->COUNT16.CTRLA.bit.ENABLE = false;
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SYNC(tc->COUNT16.SYNCBUSY.bit.ENABLE);
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// Select GCLK0 as timer/counter input clock source
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GCLK->PCHCTRL[TC_GCLK_ID].bit.CHEN = false;
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SYNC(GCLK->PCHCTRL[TC_GCLK_ID].bit.CHEN);
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GCLK->PCHCTRL[TC_GCLK_ID].reg = GCLK_PCHCTRL_GEN_GCLK0 | GCLK_PCHCTRL_CHEN; // 120MHz startup code programmed
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SYNC(!GCLK->PCHCTRL[TC_GCLK_ID].bit.CHEN);
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// Reset the timer
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tc->COUNT16.CTRLA.bit.SWRST = true;
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SYNC(tc->COUNT16.SYNCBUSY.bit.SWRST);
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SYNC(tc->COUNT16.CTRLA.bit.SWRST);
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// Set timer counter mode to 16 bits
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tc->COUNT16.CTRLA.reg = TC_CTRLA_MODE_COUNT16;
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// Set timer counter mode as normal PWM
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tc->COUNT16.WAVE.bit.WAVEGEN = TCC_WAVE_WAVEGEN_NPWM_Val;
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// Set the prescaler factor
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tc->COUNT16.CTRLA.bit.PRESCALER = TC_PRESCALER(SERVO_TIMER_PRESCALER);
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// Count down
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tc->COUNT16.CTRLBSET.reg = TC_CTRLBCLR_DIR;
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SYNC(tc->COUNT16.SYNCBUSY.bit.CTRLB);
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// Reset all servo indexes
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memset(currentServoIndex, 0xFF, sizeof(currentServoIndex));
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// Configure interrupt request
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NVIC_ClearPendingIRQ(SERVO_IRQn);
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NVIC_SetPriority(SERVO_IRQn, 5);
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NVIC_EnableIRQ(SERVO_IRQn);
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initialized = true;
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}
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if (!tc->COUNT16.CTRLA.bit.ENABLE) {
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// Reset the timer counter
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tc->COUNT16.COUNT.reg = TC_COUNTER_START_VAL;
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SYNC(tc->COUNT16.SYNCBUSY.bit.COUNT);
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// Enable the timer and start it
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tc->COUNT16.CTRLA.bit.ENABLE = true;
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SYNC(tc->COUNT16.SYNCBUSY.bit.ENABLE);
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}
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// First interrupt request after 1 ms
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tc->COUNT16.CC[tcChannel].reg = getTimerCount() - (uint16_t)usToTicks(1000UL);
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if (tcChannel == 0 ) {
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SYNC(tc->COUNT16.SYNCBUSY.bit.CC0);
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// Clear pending match interrupt
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tc->COUNT16.INTFLAG.reg = TC_INTENSET_MC0;
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// Enable the match channel interrupt request
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tc->COUNT16.INTENSET.reg = TC_INTENSET_MC0;
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}
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else {
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SYNC(tc->COUNT16.SYNCBUSY.bit.CC1);
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// Clear pending match interrupt
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tc->COUNT16.INTFLAG.reg = TC_INTENSET_MC1;
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// Enable the match channel interrupt request
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tc->COUNT16.INTENSET.reg = TC_INTENSET_MC1;
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}
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}
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void finISR(timer16_Sequence_t timer) {
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Tc * const tc = TimerConfig[SERVO_TC].pTimer;
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const uint8_t tcChannel = TIMER_TCCHANNEL(timer);
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// Disable the match channel interrupt request
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tc->COUNT16.INTENCLR.reg = (tcChannel == 0) ? TC_INTENCLR_MC0 : TC_INTENCLR_MC1;
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if (true
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#if defined(_useTimer1) && defined(_useTimer2)
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&& (tc->COUNT16.INTENCLR.reg & (TC_INTENCLR_MC0|TC_INTENCLR_MC1)) == 0
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#endif
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) {
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// Disable the timer if not used
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tc->COUNT16.CTRLA.bit.ENABLE = false;
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SYNC(tc->COUNT16.SYNCBUSY.bit.ENABLE);
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}
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}
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#endif // HAS_SERVOS
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#endif // __SAMD51__
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@ -1,59 +0,0 @@
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/**
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* Marlin 3D Printer Firmware
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*
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* Copyright (C) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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* SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
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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: Tone function for Arduino Due and compatible (SAM3X8E)
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* Derived from http://forum.arduino.cc/index.php?topic=136500.msg2903012#msg2903012
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*/
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#ifdef __SAMD51__
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#include "../../inc/MarlinConfig.h"
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#include "HAL_timers_SAMD51.h"
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static pin_t tone_pin;
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volatile static int32_t toggles;
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void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration) {
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tone_pin = _pin;
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toggles = 2 * frequency * duration / 1000;
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HAL_timer_start(TONE_TIMER_NUM, 2 * frequency);
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}
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void noTone(const pin_t _pin) {
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HAL_timer_disable_interrupt(TONE_TIMER_NUM);
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extDigitalWrite(_pin, LOW);
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}
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HAL_TONE_TIMER_ISR() {
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static bool pin_state = false;
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HAL_timer_isr_prologue(TONE_TIMER_NUM);
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if (toggles) {
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toggles--;
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extDigitalWrite(tone_pin, (pin_state = !pin_state));
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}
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else noTone(tone_pin); // turn off interrupt
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HAL_timer_isr_epilogue(TONE_TIMER_NUM);
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}
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#endif // __SAMD51__
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