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Add HAL.h for AVR for easier 2.0.x parity

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This commit is contained in:
Scott Lahteine 2018-05-20 08:05:47 -05:00
parent ddc1a48844
commit 38e1823375
8 changed files with 365 additions and 94 deletions
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27
Marlin/stepper.cpp
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@ -1394,7 +1394,7 @@ void Stepper::isr() {
* 10µs = 160 or 200 cycles.
*/
#if EXTRA_CYCLES_XYZE > 20
uint32_t pulse_start = TCNT0;
hal_timer_t pulse_start = HAL_timer_get_count(PULSE_TIMER_NUM);
#endif
#if HAS_X_STEP
@ -1459,8 +1459,8 @@ void Stepper::isr() {
// For minimum pulse time wait before stopping pulses
#if EXTRA_CYCLES_XYZE > 20
while (EXTRA_CYCLES_XYZE > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
pulse_start = TCNT0;
while (EXTRA_CYCLES_XYZE > (uint32_t)(HAL_timer_get_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
pulse_start = HAL_timer_get_count(PULSE_TIMER_NUM);
#elif EXTRA_CYCLES_XYZE > 0
DELAY_NS(EXTRA_CYCLES_XYZE * NANOSECONDS_PER_CYCLE);
#endif
@ -1495,7 +1495,7 @@ void Stepper::isr() {
// For minimum pulse time wait after stopping pulses also
#if EXTRA_CYCLES_XYZE > 20
if (i) while (EXTRA_CYCLES_XYZE > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
if (i) while (EXTRA_CYCLES_XYZE > (uint32_t)(HAL_timer_get_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
#elif EXTRA_CYCLES_XYZE > 0
if (i) DELAY_NS(EXTRA_CYCLES_XYZE * NANOSECONDS_PER_CYCLE);
#endif
@ -1736,8 +1736,8 @@ void Stepper::isr() {
// For minimum pulse time wait before stopping pulses
#if EXTRA_CYCLES_E > 20
while (EXTRA_CYCLES_E > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
pulse_start = TCNT0;
while (EXTRA_CYCLES_E > (hal_timer_t)(HAL_timer_get_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
pulse_start = HAL_timer_get_count(PULSE_TIMER_NUM);
#elif EXTRA_CYCLES_E > 0
DELAY_NS(EXTRA_CYCLES_E * NANOSECONDS_PER_CYCLE);
#endif
@ -1760,7 +1760,7 @@ void Stepper::isr() {
// For minimum pulse time wait before looping
#if EXTRA_CYCLES_E > 20
if (e_steps) while (EXTRA_CYCLES_E > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
if (e_steps) while (EXTRA_CYCLES_E > (hal_timer_t)(HAL_timer_get_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
#elif EXTRA_CYCLES_E > 0
if (e_steps) DELAY_NS(EXTRA_CYCLES_E * NANOSECONDS_PER_CYCLE);
#endif
@ -2056,11 +2056,16 @@ void Stepper::endstop_triggered(const AxisEnum axis) {
}
void Stepper::report_positions() {
CRITICAL_SECTION_START;
// Protect the access to the position.
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
const int32_t xpos = count_position[X_AXIS],
ypos = count_position[Y_AXIS],
zpos = count_position[Z_AXIS];
CRITICAL_SECTION_END;
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
#if CORE_IS_XY || CORE_IS_XZ || IS_DELTA || IS_SCARA
SERIAL_PROTOCOLPGM(MSG_COUNT_A);
@ -2101,8 +2106,8 @@ void Stepper::report_positions() {
#define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true)
#if EXTRA_CYCLES_BABYSTEP > 20
#define _SAVE_START const uint32_t pulse_start = TCNT0
#define _PULSE_WAIT while (EXTRA_CYCLES_BABYSTEP > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
#define _SAVE_START const hal_timer_t pulse_start = HAL_timer_get_count(STEP_TIMER_NUM)
#define _PULSE_WAIT while (EXTRA_CYCLES_BABYSTEP > (uint32_t)(HAL_timer_get_count(STEP_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
#else
#define _SAVE_START NOOP
#if EXTRA_CYCLES_BABYSTEP > 0