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🧑‍💻 Timer general cleanup

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This commit is contained in:
Scott Lahteine
2025-11-13 12:42:52 -06:00
parent 0f044f76ec
commit 1c6b723ee6
19 changed files with 123 additions and 113 deletions
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Marlin/src/HAL/AVR/timers.h
+2 -2
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@@ -111,8 +111,8 @@ FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
* (otherwise, characters will be lost due to UART overflow).
* Then: Stepper, Endstops, Temperature, and -finally- all others.
*/
#define HAL_timer_isr_prologue(T) NOOP
#define HAL_timer_isr_epilogue(T) NOOP
inline void HAL_timer_isr_prologue(const uint8_t) {}
inline void HAL_timer_isr_epilogue(const uint8_t) {}
#ifndef HAL_STEP_TIMER_ISR
Marlin/src/HAL/DUE/timers.h
+1 -1
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@@ -127,4 +127,4 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_SR;
}
#define HAL_timer_isr_epilogue(T) NOOP
inline void HAL_timer_isr_epilogue(const uint8_t) {}
Marlin/src/HAL/ESP32/timers.h
+2 -2
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@@ -135,5 +135,5 @@ 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);
#define HAL_timer_isr_prologue(T) NOOP
#define HAL_timer_isr_epilogue(T) NOOP
inline void HAL_timer_isr_prologue(const uint8_t) {}
inline void HAL_timer_isr_epilogue(const uint8_t) {}
Marlin/src/HAL/GD32_MFL/timers.h
+2 -2
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@@ -141,5 +141,5 @@ FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_number, const
}
}
#define HAL_timer_isr_prologue(T) NOOP
#define HAL_timer_isr_epilogue(T) NOOP
inline void HAL_timer_isr_prologue(const uint8_t) {}
inline void HAL_timer_isr_epilogue(const uint8_t) {}
Marlin/src/HAL/HC32/timers.cpp
+8 -8
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@@ -35,19 +35,19 @@ Timer0 temp_timer(&TIMER02A_config, &Temp_Handler);
*/
Timer0 step_timer(&TIMER02B_config, &Step_Handler);
void HAL_timer_start(const timer_channel_t timer_num, const uint32_t frequency) {
if (timer_num == TEMP_TIMER_NUM) {
void HAL_timer_start(const timer_channel_t timer_ch, const uint32_t frequency) {
if (timer_ch == MF_TIMER_TEMP) {
CORE_DEBUG_PRINTF("HAL_timer_start: temp timer, f=%ld\n", long(frequency));
timer_num->start(frequency, TEMP_TIMER_PRESCALE);
timer_num->setCallbackPriority(TEMP_TIMER_PRIORITY);
timer_ch->start(frequency, TEMP_TIMER_PRESCALE);
timer_ch->setCallbackPriority(TEMP_TIMER_PRIORITY);
}
else if (timer_num == STEP_TIMER_NUM) {
else if (timer_ch == MF_TIMER_STEP) {
CORE_DEBUG_PRINTF("HAL_timer_start: step timer, f=%ld\n", long(frequency));
timer_num->start(frequency, STEPPER_TIMER_PRESCALE);
timer_num->setCallbackPriority(STEP_TIMER_PRIORITY);
timer_ch->start(frequency, STEPPER_TIMER_PRESCALE);
timer_ch->setCallbackPriority(STEP_TIMER_PRIORITY);
}
else {
CORE_ASSERT_FAIL("HAL_timer_start: invalid timer_num")
CORE_ASSERT_FAIL("HAL_timer_start: invalid timer_ch")
}
}
Marlin/src/HAL/HC32/timers.h
+26 -33
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@@ -54,75 +54,68 @@ extern Timer0 step_timer;
#define HAL_TIMER_RATE F_PCLK1
// Temperature timer
#define TEMP_TIMER_NUM (&temp_timer)
#define MF_TIMER_TEMP (&temp_timer)
#define TEMP_TIMER_PRIORITY DDL_IRQ_PRIORITY_02
#define TEMP_TIMER_PRESCALE 16UL // 12.5MHz
#define TEMP_TIMER_PRESCALE 16UL // 12.5MHz
#define TEMP_TIMER_RATE 1000 // 1kHz
#define TEMP_TIMER_FREQUENCY TEMP_TIMER_RATE // 1kHz also
// Stepper timer
#define STEP_TIMER_NUM (&step_timer)
#define MF_TIMER_STEP (&step_timer)
#define STEP_TIMER_PRIORITY DDL_IRQ_PRIORITY_00 // Top priority, nothing else uses it
#define STEPPER_TIMER_PRESCALE 16UL // 12.5MHz
#define STEPPER_TIMER_PRESCALE 16UL // 12.5MHz
#define STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // 50MHz / 16 = 3.125MHz
#define STEPPER_TIMER_TICKS_PER_US (STEPPER_TIMER_RATE / 1000000UL) // Integer 3
// Pulse timer (== stepper timer)
#define PULSE_TIMER_NUM STEP_TIMER_NUM
#define MF_TIMER_PULSE MF_TIMER_STEP
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
//
// Channel aliases
//
#define MF_TIMER_TEMP TEMP_TIMER_NUM
#define MF_TIMER_STEP STEP_TIMER_NUM
#define MF_TIMER_PULSE PULSE_TIMER_NUM
//
// HAL functions
//
void HAL_timer_start(const timer_channel_t timer_num, const uint32_t frequency);
void HAL_timer_start(const timer_channel_t timer_ch, const uint32_t frequency);
// Inlined since they are somewhat critical
#define MARLIN_HAL_TIMER_INLINE_ATTR __attribute__((always_inline)) inline
MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_enable_interrupt(const timer_channel_t timer_num) {
timer_num->resume();
MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_enable_interrupt(const timer_channel_t timer_ch) {
timer_ch->resume();
}
MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_disable_interrupt(const timer_channel_t timer_num) {
timer_num->pause();
MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_disable_interrupt(const timer_channel_t timer_ch) {
timer_ch->pause();
}
MARLIN_HAL_TIMER_INLINE_ATTR bool HAL_timer_interrupt_enabled(const timer_channel_t timer_num) {
return timer_num->isPaused();
MARLIN_HAL_TIMER_INLINE_ATTR bool HAL_timer_interrupt_enabled(const timer_channel_t timer_ch) {
return timer_ch->isPaused();
}
MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_set_compare(const timer_channel_t timer_num, const hal_timer_t compare) {
timer_num->setCompareValue(compare);
MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_set_compare(const timer_channel_t timer_ch, const hal_timer_t compare) {
timer_ch->setCompareValue(compare);
}
MARLIN_HAL_TIMER_INLINE_ATTR hal_timer_t HAL_timer_get_count(const timer_channel_t timer_num) {
return timer_num->getCount();
MARLIN_HAL_TIMER_INLINE_ATTR hal_timer_t HAL_timer_get_count(const timer_channel_t timer_ch) {
return timer_ch->getCount();
}
MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_isr_prologue(const timer_channel_t timer_num) {
timer_num->clearInterruptFlag();
MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_isr_prologue(const timer_channel_t timer_ch) {
timer_ch->clearInterruptFlag();
}
MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_isr_epilogue(const timer_channel_t timer_num) {}
inline void HAL_timer_isr_epilogue(const timer_channel_t) {}
//
// HAL function aliases
//
#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_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_STEP)
#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP)
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM);
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP);
//
// HAL ISR callbacks
@@ -131,8 +124,8 @@ void Step_Handler();
void Temp_Handler();
#ifndef HAL_STEP_TIMER_ISR
#define HAL_STEP_TIMER_ISR() void Step_Handler()
#define HAL_STEP_TIMER_ISR() void Step_Handler()
#endif
#ifndef HAL_TEMP_TIMER_ISR
#define HAL_TEMP_TIMER_ISR() void Temp_Handler()
#define HAL_TEMP_TIMER_ISR() void Temp_Handler()
#endif
Marlin/src/HAL/LINUX/timers.h
+2 -2
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@@ -93,5 +93,5 @@ 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);
#define HAL_timer_isr_prologue(T) NOOP
#define HAL_timer_isr_epilogue(T) NOOP
inline void HAL_timer_isr_prologue(const uint8_t) {}
inline void HAL_timer_isr_epilogue(const uint8_t) {}
Marlin/src/HAL/LPC1768/timers.h
+1 -1
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@@ -171,4 +171,4 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
}
}
#define HAL_timer_isr_epilogue(T) NOOP
inline void HAL_timer_isr_epilogue(const uint8_t) {}
Marlin/src/HAL/NATIVE_SIM/timers.h
+2 -2
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@@ -88,5 +88,5 @@ 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);
#define HAL_timer_isr_prologue(T) NOOP
#define HAL_timer_isr_epilogue(T) NOOP
inline void HAL_timer_isr_prologue(const uint8_t) {}
inline void HAL_timer_isr_epilogue(const uint8_t) {}
Marlin/src/HAL/RP2040/timers.h
+11 -23
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@@ -86,10 +86,10 @@ typedef uint64_t hal_timer_t;
//#define STEP_TIMER_PTR _HAL_TIMER(MF_TIMER_STEP)
//#define TEMP_TIMER_PTR _HAL_TIMER(MF_TIMER_TEMP)
extern alarm_pool_t* HAL_timer_pool_0;
extern alarm_pool_t* HAL_timer_pool_1;
extern alarm_pool_t* HAL_timer_pool_2;
extern alarm_pool_t* HAL_timer_pool_3;
extern alarm_pool_t *HAL_timer_pool_0;
extern alarm_pool_t *HAL_timer_pool_1;
extern alarm_pool_t *HAL_timer_pool_2;
extern alarm_pool_t *HAL_timer_pool_3;
extern struct repeating_timer HAL_timer_0;
@@ -120,28 +120,23 @@ void HAL_timer_stop(const uint8_t timer_num);
FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, hal_timer_t compare) {
if (timer_num == MF_TIMER_STEP){
if (compare == HAL_TIMER_TYPE_MAX){
HAL_timer_stop(timer_num);
return;
}
if (timer_num == MF_TIMER_STEP && compare == HAL_TIMER_TYPE_MAX) {
HAL_timer_stop(timer_num);
return;
}
compare = compare *10; //Dirty fix, figure out a proper way
compare *= 10; // Dirty fix, figure out a proper way
switch (timer_num) {
case 0:
alarm_pool_add_alarm_in_us(HAL_timer_pool_0, compare, HAL_timer_alarm_pool_0_callback, 0, false);
break;
case 1:
alarm_pool_add_alarm_in_us(HAL_timer_pool_1, compare, HAL_timer_alarm_pool_1_callback, 0, false);
break;
case 2:
alarm_pool_add_alarm_in_us(HAL_timer_pool_2, compare, HAL_timer_alarm_pool_2_callback, 0, false);
break;
case 3:
alarm_pool_add_alarm_in_us(HAL_timer_pool_3, compare, HAL_timer_alarm_pool_3_callback, 0, false);
break;
@@ -151,27 +146,20 @@ FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, hal_time
FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
return 0;
}
FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
if (timer_num == MF_TIMER_STEP) return 0ull;
return time_us_64();
}
FORCE_INLINE static void HAL_timer_enable_interrupt(const uint8_t timer_num) {
HAL_timer_irq_en[timer_num] = 1;
}
FORCE_INLINE static void HAL_timer_disable_interrupt(const uint8_t timer_num) {
HAL_timer_irq_en[timer_num] = 0;
}
FORCE_INLINE static bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
return HAL_timer_irq_en[timer_num]; //lucky coincidence that timer_num and rp2040 irq num matches
return HAL_timer_irq_en[timer_num]; // Lucky coincidence that timer_num and rp2040 IRQ num matches
}
FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
return;
}
#define HAL_timer_isr_epilogue(T) NOOP
inline void HAL_timer_isr_prologue(const uint8_t) {}
inline void HAL_timer_isr_epilogue(const uint8_t) {}
Marlin/src/HAL/SAMD21/timers.h
+1 -1
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@@ -157,4 +157,4 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
}
}
#define HAL_timer_isr_epilogue(timer_num)
inline void HAL_timer_isr_epilogue(const uint8_t) {}
Marlin/src/HAL/SAMD51/timers.h
+1 -1
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@@ -145,4 +145,4 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
}
}
#define HAL_timer_isr_epilogue(timer_num)
inline void HAL_timer_isr_epilogue(const uint8_t) {}
Marlin/src/HAL/STM32/timers.h
+2 -2
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@@ -116,5 +116,5 @@ FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const ha
}
}
#define HAL_timer_isr_prologue(T) NOOP
#define HAL_timer_isr_epilogue(T) NOOP
inline void HAL_timer_isr_prologue(const uint8_t) {}
inline void HAL_timer_isr_epilogue(const uint8_t) {}
Marlin/src/HAL/STM32F1/timers.h
+1 -1
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@@ -188,7 +188,7 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
}
}
#define HAL_timer_isr_epilogue(T) NOOP
inline void HAL_timer_isr_epilogue(const uint8_t) {}
// No command is available in framework to turn off ARPE bit, which is turned on by default in libmaple.
// Needed here to reset ARPE=0 for stepper timer
Marlin/src/HAL/TEENSY31_32/timers.h
+3 -3
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@@ -74,10 +74,10 @@ typedef uint32_t hal_timer_t;
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)
#ifndef HAL_STEP_TIMER_ISR
#define HAL_STEP_TIMER_ISR() extern "C" void ftm0_isr() //void TC3_Handler()
#define HAL_STEP_TIMER_ISR() extern "C" void ftm0_isr()
#endif
#ifndef HAL_TEMP_TIMER_ISR
#define HAL_TEMP_TIMER_ISR() extern "C" void ftm1_isr() //void TC4_Handler()
#define HAL_TEMP_TIMER_ISR() extern "C" void ftm1_isr()
#endif
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
@@ -110,4 +110,4 @@ 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);
#define HAL_timer_isr_epilogue(T) NOOP
inline void HAL_timer_isr_epilogue(const uint8_t) {}
Marlin/src/HAL/TEENSY35_36/timers.h
+1 -1
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@@ -110,4 +110,4 @@ 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);
#define HAL_timer_isr_epilogue(T) NOOP
inline void HAL_timer_isr_epilogue(const uint8_t) {}
Marlin/src/HAL/TEENSY40_41/timers.cpp
+54 -20
View File
@@ -30,41 +30,74 @@
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
switch (timer_num) {
//
// Step Timer – GPT1 - Compare Interrupt OCR1 - Reset Mode
//
case MF_TIMER_STEP:
CCM_CSCMR1 &= ~CCM_CSCMR1_PERCLK_CLK_SEL; // turn off 24mhz mode
// 24MHz mode off – Use peripheral clock (150MHz)
CCM_CSCMR1 &= ~CCM_CSCMR1_PERCLK_CLK_SEL;
// Enable GPT1 clock gating
CCM_CCGR1 |= CCM_CCGR1_GPT1_BUS(CCM_CCGR_ON);
GPT1_CR = 0; // disable timer
GPT1_SR = 0x3F; // clear all prior status
// Disable timer, clear all status bits
GPT1_CR = 0; // Disable timer
GPT1_SR = 0x3F; // Clear all prior status
// Prescaler = 2 => 75MHz counting clock
GPT1_PR = GPT1_TIMER_PRESCALE - 1;
GPT1_CR |= GPT_CR_CLKSRC(1); //clock selection #1 (peripheral clock = 150 MHz)
GPT1_CR |= GPT_CR_ENMOD; //reset count to zero before enabling
GPT1_CR |= GPT_CR_OM1(1); // toggle mode
GPT1_OCR1 = (GPT1_TIMER_RATE / frequency) -1; // Initial compare value
GPT1_IR = GPT_IR_OF1IE; // Compare3 value
GPT1_CR = GPT_CR_CLKSRC(1) // Clock selection #1 (peripheral clock = 150 MHz)
| GPT_CR_ENMOD // Reset count to zero before enabling
| GPT_CR_OM2(TERN(MARLIN_DEV_MODE, 1, 0)); // 0 = edge compare, 1 = toggle
// Compare value – the number of clocks between edges
GPT1_OCR1 = (GPT1_TIMER_RATE / frequency) - 1;
// Enable compare‑event interrupt
GPT1_IR = GPT_IR_OF1IE; // OF2 interrupt enabled
GPT1_CR |= GPT_CR_EN; //enable GPT2 counting at 150 MHz
OUT_WRITE(15, HIGH);
// Attach and enable Stepper IRQ
// Note: UART priority is 16
attachInterruptVector(IRQ_GPT1, &stepTC_Handler);
NVIC_SET_PRIORITY(IRQ_GPT1, 16);
NVIC_SET_PRIORITY(IRQ_GPT1, 16); // Priority 16 (higher than Temp Timer)
break;
//
// Temperature Timer – GPT2 - Compare Interrupt OCR1 - Reset Mode
//
case MF_TIMER_TEMP:
CCM_CSCMR1 &= ~CCM_CSCMR1_PERCLK_CLK_SEL; // turn off 24mhz mode
// 24MHz mode off – Use peripheral clock (150MHz)
CCM_CSCMR1 &= ~CCM_CSCMR1_PERCLK_CLK_SEL;
// Enable GPT2 clock gating
CCM_CCGR0 |= CCM_CCGR0_GPT2_BUS(CCM_CCGR_ON);
GPT2_CR = 0; // disable timer
GPT2_SR = 0x3F; // clear all prior status
// Disable timer, clear all status bits
GPT2_CR = 0; // Disable timer
GPT2_SR = 0x3F; // Clear all prior status
// Prescaler = 10 => 15MHz counting clock
GPT2_PR = GPT2_TIMER_PRESCALE - 1;
GPT2_CR |= GPT_CR_CLKSRC(1); //clock selection #1 (peripheral clock = 150 MHz)
GPT2_CR |= GPT_CR_ENMOD; //reset count to zero before enabling
GPT2_CR |= GPT_CR_OM1(1); // toggle mode
GPT2_OCR1 = (GPT2_TIMER_RATE / frequency) -1; // Initial compare value
GPT2_IR = GPT_IR_OF1IE; // Compare3 value
GPT2_CR = GPT_CR_CLKSRC(1) // Clock selection #1 (peripheral clock = 150 MHz)
| GPT_CR_ENMOD // and reset count to zero before enabling
| GPT_CR_OM2(TERN(MARLIN_DEV_MODE, 1, 0)); // 0 = edge compare, 1 = toggle
// Compare value – the number of clocks between edges
GPT2_OCR1 = (GPT2_TIMER_RATE / frequency) - 1;
// Enable compare‑event interrupt
GPT2_IR = GPT_IR_OF1IE;
GPT2_CR |= GPT_CR_EN; //enable GPT2 counting at 150 MHz
OUT_WRITE(14, HIGH);
// Attach Temperature ISR
attachInterruptVector(IRQ_GPT2, &tempTC_Handler);
NVIC_SET_PRIORITY(IRQ_GPT2, 32);
NVIC_SET_PRIORITY(IRQ_GPT2, 32); // Priority 32 (lower than Step Timer)
break;
}
}
@@ -82,6 +115,7 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num) {
case MF_TIMER_TEMP: NVIC_DISABLE_IRQ(IRQ_GPT2); break;
}
// Ensure the CPU actually stops servicing the IRQ
// We NEED memory barriers to ensure Interrupts are actually disabled!
// ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
asm volatile("dsb");
@@ -97,8 +131,8 @@ bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
void HAL_timer_isr_prologue(const uint8_t timer_num) {
switch (timer_num) {
case MF_TIMER_STEP: GPT1_SR = GPT_IR_OF1IE; break; // clear OF3 bit
case MF_TIMER_TEMP: GPT2_SR = GPT_IR_OF1IE; break; // clear OF3 bit
case MF_TIMER_STEP: GPT1_SR = GPT_IR_OF1IE; break; // clear OF1
case MF_TIMER_TEMP: GPT2_SR = GPT_IR_OF1IE; break;
}
asm volatile("dsb");
}
Marlin/src/HAL/TEENSY40_41/timers.h
+2 -3
View File
@@ -60,7 +60,7 @@ typedef uint32_t hal_timer_t;
#define HAL_TIMER_RATE GPT1_TIMER_RATE
#define STEPPER_TIMER_RATE HAL_TIMER_RATE
#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000)
#define STEPPER_TIMER_PRESCALE ((GPT_TIMER_RATE / 1000000) / STEPPER_TIMER_TICKS_PER_US)
#define STEPPER_TIMER_PRESCALE (GPT_TIMER_RATE / STEPPER_TIMER_RATE)
#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
@@ -115,5 +115,4 @@ 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);
//void HAL_timer_isr_epilogue(const uint8_t timer_num) {}
#define HAL_timer_isr_epilogue(T) NOOP
inline void HAL_timer_isr_epilogue(const uint8_t) {}
Marlin/src/module/stepper.cpp
+1 -5
View File
@@ -1513,11 +1513,7 @@ HAL_STEP_TIMER_ISR() {
HAL_timer_isr_epilogue(MF_TIMER_STEP);
}
#ifdef CPU_32_BIT
#define STEP_MULTIPLY(A,B) MultiU32X24toH32(A, B)
#else
#define STEP_MULTIPLY(A,B) MultiU24X32toH16(A, B)
#endif
#define STEP_MULTIPLY(A,B) TERN(CPU_32_BIT, MultiU32X24toH32, MultiU24X32toH16)(A, B)
#if ENABLED(SMOOTH_LIN_ADVANCE)
FORCE_INLINE static constexpr int32_t MULT_Q(uint8_t q, int32_t x, int32_t y) { return (int64_t(x) * y) >> q; }