Add and apply interrupt helper macros
This commit is contained in:
Scott Lahteine
Scott Lahteine
parent
6131c62499
commit
ee46ce1743
@ -11524,15 +11524,13 @@ void prepare_move_to_destination() {
|
||||
#ifdef TCCR0A
|
||||
case TIMER0A:
|
||||
case TIMER0B:
|
||||
// TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
|
||||
// TCCR0B |= val;
|
||||
//SET_CS(0, val);
|
||||
break;
|
||||
#endif
|
||||
#ifdef TCCR1A
|
||||
case TIMER1A:
|
||||
case TIMER1B:
|
||||
// TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
|
||||
// TCCR1B |= val;
|
||||
//SET_CS(1, val);
|
||||
break;
|
||||
#endif
|
||||
#ifdef TCCR2
|
||||
@ -11545,32 +11543,28 @@ void prepare_move_to_destination() {
|
||||
#ifdef TCCR2A
|
||||
case TIMER2A:
|
||||
case TIMER2B:
|
||||
TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
|
||||
TCCR2B |= val;
|
||||
SET_CS(2, val);
|
||||
break;
|
||||
#endif
|
||||
#ifdef TCCR3A
|
||||
case TIMER3A:
|
||||
case TIMER3B:
|
||||
case TIMER3C:
|
||||
TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
|
||||
TCCR3B |= val;
|
||||
SET_CS(3, val);
|
||||
break;
|
||||
#endif
|
||||
#ifdef TCCR4A
|
||||
case TIMER4A:
|
||||
case TIMER4B:
|
||||
case TIMER4C:
|
||||
TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
|
||||
TCCR4B |= val;
|
||||
SET_CS(4, val);
|
||||
break;
|
||||
#endif
|
||||
#ifdef TCCR5A
|
||||
case TIMER5A:
|
||||
case TIMER5B:
|
||||
case TIMER5C:
|
||||
TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
|
||||
TCCR5B |= val;
|
||||
SET_CS(5, val);
|
||||
break;
|
||||
#endif
|
||||
}
|
||||
|
||||
148
Marlin/fastio.h
148
Marlin/fastio.h
@ -21,8 +21,8 @@
|
||||
*/
|
||||
|
||||
/**
|
||||
This code contributed by Triffid_Hunter and modified by Kliment
|
||||
why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
|
||||
* Contributed by Triffid_Hunter, modified by Kliment, extended by the Marlin team
|
||||
* Why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
|
||||
*/
|
||||
|
||||
#ifndef _FASTIO_ARDUINO_H
|
||||
@ -30,34 +30,30 @@
|
||||
|
||||
#include <avr/io.h>
|
||||
|
||||
/**
|
||||
utility functions
|
||||
*/
|
||||
|
||||
#ifndef MASK
|
||||
#define MASK(PIN) (1 << PIN)
|
||||
#ifndef _BV
|
||||
#define _BV(PIN) (1 << PIN)
|
||||
#endif
|
||||
|
||||
/**
|
||||
magic I/O routines
|
||||
now you can simply SET_OUTPUT(STEP); WRITE(STEP, 1); WRITE(STEP, 0);
|
||||
* Magic I/O routines
|
||||
*
|
||||
* Now you can simply SET_OUTPUT(PIN); WRITE(PIN, HIGH); WRITE(PIN, LOW);
|
||||
*/
|
||||
|
||||
/// Read a pin
|
||||
#define _READ(IO) ((bool)(DIO ## IO ## _RPORT & MASK(DIO ## IO ## _PIN)))
|
||||
/// write to a pin
|
||||
// On some boards pins > 0x100 are used. These are not converted to atomic actions. An critical section is needed.
|
||||
#define _READ(IO) ((bool)(DIO ## IO ## _RPORT & _BV(DIO ## IO ## _PIN)))
|
||||
|
||||
#define _WRITE_NC(IO, v) do { if (v) {DIO ## IO ## _WPORT |= MASK(DIO ## IO ## _PIN); } else {DIO ## IO ## _WPORT &= ~MASK(DIO ## IO ## _PIN); }; } while (0)
|
||||
// On some boards pins > 0x100 are used. These are not converted to atomic actions. A critical section is needed.
|
||||
|
||||
#define _WRITE_NC(IO, v) do { if (v) {DIO ## IO ## _WPORT |= _BV(DIO ## IO ## _PIN); } else {DIO ## IO ## _WPORT &= ~_BV(DIO ## IO ## _PIN); }; } while (0)
|
||||
|
||||
#define _WRITE_C(IO, v) do { if (v) { \
|
||||
CRITICAL_SECTION_START; \
|
||||
{DIO ## IO ## _WPORT |= MASK(DIO ## IO ## _PIN); } \
|
||||
{DIO ## IO ## _WPORT |= _BV(DIO ## IO ## _PIN); } \
|
||||
CRITICAL_SECTION_END; \
|
||||
} \
|
||||
else { \
|
||||
CRITICAL_SECTION_START; \
|
||||
{DIO ## IO ## _WPORT &= ~MASK(DIO ## IO ## _PIN); } \
|
||||
{DIO ## IO ## _WPORT &= ~_BV(DIO ## IO ## _PIN); } \
|
||||
CRITICAL_SECTION_END; \
|
||||
} \
|
||||
} \
|
||||
@ -65,54 +61,94 @@
|
||||
|
||||
#define _WRITE(IO, v) do { if (&(DIO ## IO ## _RPORT) >= (uint8_t *)0x100) {_WRITE_C(IO, v); } else {_WRITE_NC(IO, v); }; } while (0)
|
||||
|
||||
/// toggle a pin
|
||||
#define _TOGGLE(IO) do {DIO ## IO ## _RPORT ^= MASK(DIO ## IO ## _PIN); } while (0)
|
||||
#define _TOGGLE(IO) do {DIO ## IO ## _RPORT ^= _BV(DIO ## IO ## _PIN); } while (0)
|
||||
|
||||
/// set pin as input
|
||||
#define _SET_INPUT(IO) do {DIO ## IO ## _DDR &= ~MASK(DIO ## IO ## _PIN); } while (0)
|
||||
/// set pin as output
|
||||
#define _SET_OUTPUT(IO) do {DIO ## IO ## _DDR |= MASK(DIO ## IO ## _PIN); } while (0)
|
||||
#define _SET_INPUT(IO) do {DIO ## IO ## _DDR &= ~_BV(DIO ## IO ## _PIN); } while (0)
|
||||
#define _SET_OUTPUT(IO) do {DIO ## IO ## _DDR |= _BV(DIO ## IO ## _PIN); } while (0)
|
||||
|
||||
/// check if pin is an input
|
||||
#define _GET_INPUT(IO) ((DIO ## IO ## _DDR & MASK(DIO ## IO ## _PIN)) == 0)
|
||||
/// check if pin is an output
|
||||
#define _GET_OUTPUT(IO) ((DIO ## IO ## _DDR & MASK(DIO ## IO ## _PIN)) != 0)
|
||||
|
||||
/// check if pin is an timer
|
||||
#define _GET_INPUT(IO) ((DIO ## IO ## _DDR & _BV(DIO ## IO ## _PIN)) == 0)
|
||||
#define _GET_OUTPUT(IO) ((DIO ## IO ## _DDR & _BV(DIO ## IO ## _PIN)) != 0)
|
||||
#define _GET_TIMER(IO) (DIO ## IO ## _PWM)
|
||||
|
||||
// why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
|
||||
|
||||
/// Read a pin wrapper
|
||||
#define READ(IO) _READ(IO)
|
||||
/// Write to a pin wrapper
|
||||
#define WRITE(IO, v) _WRITE(IO, v)
|
||||
|
||||
/// toggle a pin wrapper
|
||||
#define WRITE(IO,V) _WRITE(IO,V)
|
||||
#define TOGGLE(IO) _TOGGLE(IO)
|
||||
|
||||
/// set pin as input wrapper
|
||||
#define SET_INPUT(IO) _SET_INPUT(IO)
|
||||
/// set pin as input with pullup wrapper
|
||||
#define SET_INPUT_PULLUP(IO) do{ _SET_INPUT(IO); _WRITE(IO, HIGH); }while(0)
|
||||
/// set pin as output wrapper
|
||||
#define SET_OUTPUT(IO) _SET_OUTPUT(IO)
|
||||
|
||||
/// check if pin is an input wrapper
|
||||
#define GET_INPUT(IO) _GET_INPUT(IO)
|
||||
/// check if pin is an output wrapper
|
||||
#define GET_OUTPUT(IO) _GET_OUTPUT(IO)
|
||||
|
||||
/// check if pin is an timer wrapper
|
||||
#define GET_TIMER(IO) _GET_TIMER(IO)
|
||||
|
||||
// Shorthand
|
||||
#define OUT_WRITE(IO, v) { SET_OUTPUT(IO); WRITE(IO, v); }
|
||||
#define OUT_WRITE(IO, v) do{ SET_OUTPUT(IO); WRITE(IO, v); }while(0)
|
||||
|
||||
/**
|
||||
ports and functions
|
||||
* Interrupt Control
|
||||
*/
|
||||
|
||||
added as necessary or if I feel like it- not a comprehensive list!
|
||||
// Waveform Generation Modes
|
||||
typedef enum {
|
||||
WGM_NORMAL, // 0
|
||||
WGM_PWM_PC_8, // 1
|
||||
WGM_PWM_PC_9, // 2
|
||||
WGM_PWM_PC_10, // 3
|
||||
WGM_CTC_OCRnA, // 4 COM OCnx
|
||||
WGM_FAST_PWM_8, // 5
|
||||
WGM_FAST_PWM_9, // 6
|
||||
WGM_FAST_PWM_10, // 7
|
||||
WGM_PWM_PC_FC_ICRn, // 8
|
||||
WGM_PWM_PC_FC_OCRnA, // 9 COM OCnA
|
||||
WGM_PWM_PC_ICRn, // 10
|
||||
WGM_PWM_PC_OCRnA, // 11 COM OCnA
|
||||
WGM_CTC_ICRn, // 12 COM OCnx
|
||||
WGM_reserved, // 13
|
||||
WGM_FAST_PWM_ICRn, // 14 COM OCnA
|
||||
WGM_FAST_PWM_OCRnA // 15 COM OCnA
|
||||
} WaveGenMode;
|
||||
|
||||
// Compare Modes
|
||||
typedef enum {
|
||||
COM_NORMAL, // 0
|
||||
COM_TOGGLE, // 1 Non-PWM: OCnx ... Both PWM (WGM 9,11,14,15): OCnA only ... else NORMAL
|
||||
COM_CLEAR_SET, // 2 Non-PWM: OCnx ... Fast PWM: OCnx/Bottom ... PF-FC: OCnx Up/Down
|
||||
COM_SET_CLEAR // 3 Non-PWM: OCnx ... Fast PWM: OCnx/Bottom ... PF-FC: OCnx Up/Down
|
||||
} CompareMode;
|
||||
|
||||
// Clock Sources
|
||||
typedef enum {
|
||||
CS_NONE, // 0
|
||||
CS_PRESCALER_1, // 1
|
||||
CS_PRESCALER_8, // 2
|
||||
CS_PRESCALER_64, // 3
|
||||
CS_PRESCALER_256, // 4
|
||||
CS_PRESCALER_1024, // 5
|
||||
CS_EXT_FALLING, // 6
|
||||
CS_EXT_RISING // 7
|
||||
} ClockSource;
|
||||
|
||||
#define SET_WGM(T,V) do{ \
|
||||
TCCR##T##A = (TCCR##T##A & ~(0x3 << WGM##T##0)) | (( int(V) & 0x3) << WGM##T##0); \
|
||||
TCCR##T##B = (TCCR##T##B & ~(0x3 << WGM##T##2)) | (((int(V) >> 2) & 0x3) << WGM##T##2); \
|
||||
}while(0)
|
||||
|
||||
#define SET_CS(T,V) do{ \
|
||||
TCCR##T##B = (TCCR##T##B & ~(0x7 << CS10)) | ((int(V) & 0x7) << CS10); \
|
||||
}while(0)
|
||||
|
||||
#define SET_COM(T,Q,V) do{ \
|
||||
TCCR##T##Q = (TCCR##T##Q & !(0x3 << COM1##Q##0) | (int(V) & 0x3) << COM1##Q##0); \
|
||||
}while(0)
|
||||
#define SET_COMA(T,V) SET_COM(T,A,V)
|
||||
#define SET_COMB(T,V) SET_COM(T,B,V)
|
||||
#define SET_COMS(T,V1,V2) do{ SET_COMA(T,V1); SET_COMB(T,V2); }while(0)
|
||||
|
||||
#define SET_ICNC(T,V) (TCCR##T##B = (TCCR##T##B & ~_BV(7) | ((V) & 1) << 7))
|
||||
#define SET_ICES(T,V) (TCCR##T##B = (TCCR##T##B & ~_BV(6) | ((V) & 1) << 6))
|
||||
|
||||
/**
|
||||
* Ports and Functions
|
||||
*/
|
||||
|
||||
#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328__) || defined(__AVR_ATmega328P__)
|
||||
@ -446,7 +482,7 @@
|
||||
#define PD7_WPORT PORTD
|
||||
#define PD7_DDR DDRD
|
||||
#define PD7_PWM NULL
|
||||
#endif /* _AVR_ATmega{168,328,328P}__ */
|
||||
#endif // __AVR_ATmega(168|328|328P)__
|
||||
|
||||
#if defined(__AVR_ATmega644__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__) || defined(__AVR_ATmega1284P__)
|
||||
// UART
|
||||
@ -949,7 +985,7 @@
|
||||
#define PD7_WPORT PORTD
|
||||
#define PD7_DDR DDRD
|
||||
#define PD7_PWM OCR2A
|
||||
#endif /* _AVR_ATmega{644,644P,644PA}__ */
|
||||
#endif // __AVR_ATmega(644|644P|644PA)__
|
||||
|
||||
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
|
||||
// UART
|
||||
@ -2031,8 +2067,7 @@
|
||||
#define PL7_WPORT PORTL
|
||||
#define PL7_DDR DDRL
|
||||
#define PL7_PWM NULL
|
||||
|
||||
#endif
|
||||
#endif // __AVR_ATmega(1280|2560)__
|
||||
|
||||
#if defined(__AVR_AT90USB1287__) || defined(__AVR_AT90USB1286__) || defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB647__)
|
||||
|
||||
@ -2040,7 +2075,7 @@
|
||||
#define DEBUG_LED DIO31 /* led D5 red */
|
||||
|
||||
/**
|
||||
pins
|
||||
* pins
|
||||
*/
|
||||
|
||||
//#define AT90USBxx_TEENSYPP_ASSIGNMENTS // Use Teensy++ 2.0 assignments
|
||||
@ -3335,8 +3370,7 @@
|
||||
#define PF7_DDR DDRF
|
||||
|
||||
#endif // AT90USBxx_TEENSYPP_ASSIGNMENTS Teensyduino assignments
|
||||
#endif // __AVR_AT90usbxxx__
|
||||
|
||||
#endif // __AVR_AT90USB(1287|1286|646|647)__
|
||||
|
||||
#if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__)
|
||||
// UART
|
||||
@ -4027,12 +4061,10 @@
|
||||
#define PG5_WPORT PORTG
|
||||
#define PG5_DDR DDRG
|
||||
#define PG5_PWM &OCR0B
|
||||
|
||||
|
||||
#endif
|
||||
#endif // __AVR_ATmega(1281|2561)__
|
||||
|
||||
#ifndef DIO0_PIN
|
||||
#error "pins for this chip not defined in arduino.h! If you write an appropriate pin definition and have this firmware work on your chip, please submit a pull request"
|
||||
#endif
|
||||
|
||||
#endif /* _FASTIO_ARDUINO_H */
|
||||
#endif // _FASTIO_ARDUINO_H
|
||||
|
||||
@ -1081,21 +1081,17 @@ void Stepper::init() {
|
||||
#endif
|
||||
|
||||
// waveform generation = 0100 = CTC
|
||||
CBI(TCCR1B, WGM13);
|
||||
SBI(TCCR1B, WGM12);
|
||||
CBI(TCCR1A, WGM11);
|
||||
CBI(TCCR1A, WGM10);
|
||||
SET_WGM(1, WGM_CTC_OCRnA);
|
||||
|
||||
// output mode = 00 (disconnected)
|
||||
TCCR1A &= ~(3 << COM1A0);
|
||||
TCCR1A &= ~(3 << COM1B0);
|
||||
SET_COMS(1, COM_NORMAL, COM_NORMAL);
|
||||
|
||||
// Set the timer pre-scaler
|
||||
// Generally we use a divider of 8, resulting in a 2MHz timer
|
||||
// frequency on a 16MHz MCU. If you are going to change this, be
|
||||
// sure to regenerate speed_lookuptable.h with
|
||||
// create_speed_lookuptable.py
|
||||
TCCR1B = (TCCR1B & ~(0x07 << CS10)) | (2 << CS10);
|
||||
SET_CS(1, CS_PRESCALER_8); // CS 2 = 1/8 prescaler
|
||||
|
||||
// Init Stepper ISR to 122 Hz for quick starting
|
||||
OCR1A = 0x4000;
|
||||
|
||||
Loading…
Reference in New Issue
Block a user