General cleanup HAL timers
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Scott Lahteine
parent
69d49a2438
commit
b8bc965414
@ -100,13 +100,13 @@ extern "C" {
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// timers
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#define STEP_TIMER_NUM OCR1A
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#define TEMP_TIMER_NUM 0
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#define TEMP_TIMER_FREQUENCY (F_CPU / 64.0 / 256.0)
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#define STEP_TIMER_NUM OCR1A
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#define TEMP_TIMER_NUM 0
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#define TEMP_TIMER_FREQUENCY (F_CPU / 64.0 / 256.0)
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#define HAL_TIMER_RATE ((F_CPU) / 8) // i.e., 2MHz or 2.5MHz
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#define HAL_STEPPER_TIMER_RATE HAL_TIMER_RATE
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#define STEPPER_TIMER_PRESCALE INT0_PRESCALER
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#define STEPPER_TIMER_PRESCALE 8
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#define HAL_TICKS_PER_US ((HAL_STEPPER_TIMER_RATE) / 1000000) // Cannot be of type double
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() SBI(TIMSK1, OCIE1A)
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@ -118,6 +118,8 @@ extern "C" {
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//void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
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#define HAL_timer_start(timer_num,frequency)
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#define HAL_timer_get_count(timer) timer
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//void HAL_timer_set_count(const uint8_t timer_num, const uint16_t count);
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#define HAL_timer_set_count(timer, count) timer = (count)
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@ -87,7 +87,7 @@ extern const tTimerConfig TimerConfig[];
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void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
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FORCE_INLINE static void HAL_timer_set_count(const uint8_t timer_num, const uint32_t count) {
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FORCE_INLINE static void HAL_timer_set_count(const uint8_t timer_num, const hal_timer_t count) {
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const tTimerConfig *pConfig = &TimerConfig[timer_num];
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pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC = count;
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}
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@ -97,7 +97,7 @@ FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
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return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC;
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}
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FORCE_INLINE static uint32_t HAL_timer_get_current_count(const uint8_t timer_num) {
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FORCE_INLINE static hal_timer_t HAL_timer_get_current_count(const uint8_t timer_num) {
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const tTimerConfig *pConfig = &TimerConfig[timer_num];
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return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_CV;
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}
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@ -51,7 +51,6 @@ typedef uint16_t hal_timer_t;
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#define TEMP_TIMER_NUM 2 // index of timer to use for temperature
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#define TEMP_TIMER_CHAN 1 // Channel of the timer to use for compare and interrupts
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#define HAL_TIMER_RATE (F_CPU) // frequency of timers peripherals
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#define STEPPER_TIMER_PRESCALE 36 // prescaler for setting stepper timer, 2Mhz
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#define HAL_STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
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@ -60,11 +59,11 @@ typedef uint16_t hal_timer_t;
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#define TEMP_TIMER_PRESCALE 1000 // prescaler for setting Temp timer, 72Khz
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#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt (STEP_TIMER_NUM)
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt (STEP_TIMER_NUM)
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
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#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt (TEMP_TIMER_NUM)
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#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt (TEMP_TIMER_NUM)
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#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
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#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
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#define HAL_ENABLE_ISRs() do { if (thermalManager.in_temp_isr)DISABLE_TEMPERATURE_INTERRUPT(); else ENABLE_TEMPERATURE_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
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// TODO change this
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@ -92,7 +91,7 @@ static HardwareTimer TempTimer(TEMP_TIMER_NUM);
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// Public functions
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// --------------------------------------------------------------------------
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void HAL_timer_start (uint8_t timer_num, uint32_t frequency);
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void HAL_timer_start(uint8_t timer_num, uint32_t frequency);
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void HAL_timer_enable_interrupt(uint8_t timer_num);
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void HAL_timer_disable_interrupt(uint8_t timer_num);
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@ -107,26 +106,26 @@ void HAL_timer_disable_interrupt(uint8_t timer_num);
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* Todo: Look at that possibility later.
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*/
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FORCE_INLINE static void HAL_timer_set_count (uint8_t timer_num, uint32_t count) {
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FORCE_INLINE static void HAL_timer_set_count(const uint8_t timer_num, const hal_timer_t count) {
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switch (timer_num) {
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case STEP_TIMER_NUM:
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StepperTimer.pause();
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StepperTimer.setCompare (STEP_TIMER_CHAN, count);
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StepperTimer.refresh ();
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StepperTimer.resume ();
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StepperTimer.setCompare(STEP_TIMER_CHAN, count);
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StepperTimer.refresh();
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StepperTimer.resume();
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break;
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case TEMP_TIMER_NUM:
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TempTimer.pause();
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TempTimer.setCompare (TEMP_TIMER_CHAN, count);
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TempTimer.refresh ();
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TempTimer.resume ();
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TempTimer.setCompare(TEMP_TIMER_CHAN, count);
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TempTimer.refresh();
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TempTimer.resume();
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break;
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default:
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break;
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}
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}
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FORCE_INLINE static hal_timer_t HAL_timer_get_count (uint8_t timer_num) {
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FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
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hal_timer_t temp;
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switch (timer_num) {
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case STEP_TIMER_NUM:
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@ -142,7 +141,7 @@ FORCE_INLINE static hal_timer_t HAL_timer_get_count (uint8_t timer_num) {
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return temp;
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}
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FORCE_INLINE static hal_timer_t HAL_timer_get_current_count(uint8_t timer_num) {
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FORCE_INLINE static hal_timer_t HAL_timer_get_current_count(const uint8_t timer_num) {
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hal_timer_t temp;
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switch (timer_num) {
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case STEP_TIMER_NUM:
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@ -159,9 +158,9 @@ FORCE_INLINE static hal_timer_t HAL_timer_get_current_count(uint8_t timer_num) {
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}
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//void HAL_timer_isr_prologue (uint8_t timer_num);
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//void HAL_timer_isr_prologue (const uint8_t timer_num);
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FORCE_INLINE static void HAL_timer_isr_prologue(uint8_t timer_num) {
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FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
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switch (timer_num) {
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case STEP_TIMER_NUM:
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StepperTimer.pause();
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@ -75,23 +75,23 @@ typedef uint32_t hal_timer_t;
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void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
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FORCE_INLINE static void HAL_timer_set_count(const uint8_t timer_num, const uint32_t count) {
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switch(timer_num) {
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FORCE_INLINE static void HAL_timer_set_count(const uint8_t timer_num, const hal_timer_t count) {
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switch (timer_num) {
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case 0: FTM0_C0V = count; break;
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case 1: FTM1_C0V = count; break;
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}
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}
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FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
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switch(timer_num) {
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switch (timer_num) {
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case 0: return FTM0_C0V;
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case 1: return FTM1_C0V;
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}
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return 0;
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}
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FORCE_INLINE static uint32_t HAL_timer_get_current_count(const uint8_t timer_num) {
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switch(timer_num) {
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FORCE_INLINE static hal_timer_t HAL_timer_get_current_count(const uint8_t timer_num) {
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switch (timer_num) {
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case 0: return FTM0_CNT;
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case 1: return FTM1_CNT;
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}
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@ -44,8 +44,7 @@
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#define _O3 __attribute__((optimize("O3")))
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// Clock speed factors
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#define CYCLES_PER_MICROSECOND (F_CPU / 1000000L) // 16 or 20
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#define INT0_PRESCALER 8
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#define CYCLES_PER_MICROSECOND (F_CPU / 1000000L) // 16 or 20 on AVR
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// Highly granular delays for step pulses, etc.
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#define DELAY_0_NOP NOOP
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