/* ************************************************************************** Marlin 3D Printer Firmware Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com 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: HAL for * Teensy3.5 (__MK64FX512__) * Teensy3.6 (__MK66FX1M0__) */ #ifndef _HAL_TIMERS_TEENSY_H #define _HAL_TIMERS_TEENSY_H // -------------------------------------------------------------------------- // Includes // -------------------------------------------------------------------------- #include // -------------------------------------------------------------------------- // Defines // -------------------------------------------------------------------------- #define FORCE_INLINE __attribute__((always_inline)) inline typedef uint32_t hal_timer_t; #define HAL_TIMER_TYPE_MAX 0xFFFFFFFF #define STEP_TIMER_NUM 0 #define TEMP_TIMER_NUM 1 #define FTM0_TIMER_PRESCALE 8 #define FTM1_TIMER_PRESCALE 4 #define FTM0_TIMER_PRESCALE_BITS 0b011 #define FTM1_TIMER_PRESCALE_BITS 0b010 #define FTM0_TIMER_RATE (F_BUS / FTM0_TIMER_PRESCALE) // 60MHz / 8 = 7500kHz #define FTM1_TIMER_RATE (F_BUS / FTM1_TIMER_PRESCALE) // 60MHz / 4 = 15MHz #define STEPPER_TIMER STEP_TIMER_NUM // Alias? #define STEPPER_TIMER_PRESCALE 0 // Not defined anywhere else! #define PULSE_TIMER_NUM STEP_TIMER_NUM #define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE #define HAL_TIMER_RATE (FTM0_TIMER_RATE) #define HAL_STEPPER_TIMER_RATE HAL_TIMER_RATE #define HAL_TICKS_PER_US ((HAL_STEPPER_TIMER_RATE) / 1000000) #define TEMP_TIMER_FREQUENCY 1000 #define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM) #define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM) #define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM) #define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM) #define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM) #define HAL_STEP_TIMER_ISR extern "C" void ftm0_isr(void) //void TC3_Handler() #define HAL_TEMP_TIMER_ISR extern "C" void ftm1_isr(void) //void TC4_Handler() #define HAL_ENABLE_ISRs() do { if (thermalManager.in_temp_isr) DISABLE_TEMPERATURE_INTERRUPT(); else ENABLE_TEMPERATURE_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0) void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency); FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) { switch (timer_num) { case 0: FTM0_C0V = compare; break; case 1: FTM1_C0V = compare; break; } } FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) { switch (timer_num) { case 0: return FTM0_C0V; case 1: return FTM1_C0V; } return 0; } FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) { switch (timer_num) { case 0: return FTM0_CNT; case 1: return FTM1_CNT; } return 0; } void HAL_timer_enable_interrupt(const uint8_t timer_num); void HAL_timer_disable_interrupt(const uint8_t timer_num); bool HAL_timer_interrupt_enabled(const uint8_t timer_num); void HAL_timer_isr_prologue(const uint8_t timer_num); #endif // _HAL_TIMERS_TEENSY_H