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fastio.h
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fastio.h
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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* 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 <http://www.gnu.org/licenses/>.
*
*/
/**
* Fast I/O Routines for AVR
* Use direct port manipulation to save scads of processor time.
* Contributed by Triffid_Hunter and modified by Kliment, thinkyhead, Bob-the-Kuhn, et.al.
*/
#include <stdint.h>
#ifndef _FASTIO_ARDUINO_H_
#define _FASTIO_ARDUINO_H_
#include <avr/io.h>
#define AVR_AT90USB1286_FAMILY (defined(__AVR_AT90USB1287__) || defined(__AVR_AT90USB1286__) || defined(__AVR_AT90USB1286P__) || defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB646P__) || defined(__AVR_AT90USB647__))
#define AVR_ATmega1284_FAMILY (defined(__AVR_ATmega644__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__) || defined(__AVR_ATmega1284P__))
#define AVR_ATmega2560_FAMILY (defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__))
#define AVR_ATmega2561_FAMILY (defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__))
#define AVR_ATmega328_FAMILY (defined(__AVR_ATmega168__) || defined(__AVR_ATmega328__) || defined(__AVR_ATmega328P__))
/**
* Include Ports and Functions
*/
#if AVR_ATmega328_FAMILY
#include "fastio_168.h"
#elif AVR_ATmega1284_FAMILY
#include "fastio_644.h"
#elif AVR_ATmega2560_FAMILY
#include "fastio_1280.h"
#elif AVR_AT90USB1286_FAMILY
#include "fastio_AT90USB.h"
#elif AVR_ATmega2561_FAMILY
#include "fastio_1281.h"
#else
#error "No FastIO definition for the selected AVR Board."
#endif
#include "macros.h"
/**
* Magic I/O routines
*
* Now you can simply SET_OUTPUT(PIN); WRITE(PIN, HIGH); WRITE(PIN, LOW);
*
* Why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
*/
#define _READ(IO) TEST(DIO ## IO ## _RPORT, DIO ## IO ## _PIN)
#define _WRITE_NC(IO,V) do{ \
if (V) SBI(DIO ## IO ## _WPORT, DIO ## IO ## _PIN); \
else CBI(DIO ## IO ## _WPORT, DIO ## IO ## _PIN); \
}while(0)
#define _WRITE_C(IO,V) do{ \
uint8_t port_bits = DIO ## IO ## _WPORT; /* Get a mask from the current port bits */ \
if (V) port_bits = ~port_bits; /* For setting bits, invert the mask */ \
DIO ## IO ## _RPORT = port_bits & _BV(DIO ## IO ## _PIN); /* Atomically toggle the output port bits */ \
}while(0)
#define _WRITE(IO,V) do{ if (&(DIO ## IO ## _RPORT) < (uint8_t*)0x100) _WRITE_NC(IO,V); else _WRITE_C(IO,V); }while(0)
#define _TOGGLE(IO) (DIO ## IO ## _RPORT = _BV(DIO ## IO ## _PIN))
#define _SET_INPUT(IO) CBI(DIO ## IO ## _DDR, DIO ## IO ## _PIN)
#define _SET_OUTPUT(IO) SBI(DIO ## IO ## _DDR, DIO ## IO ## _PIN)
#define _GET_INPUT(IO) !TEST(DIO ## IO ## _DDR, DIO ## IO ## _PIN)
#define _GET_OUTPUT(IO) TEST(DIO ## IO ## _DDR, DIO ## IO ## _PIN)
#define _GET_TIMER(IO) DIO ## IO ## _PWM
#define READ(IO) _READ(IO)
#define WRITE(IO,V) _WRITE(IO,V)
#define TOGGLE(IO) _TOGGLE(IO)
#define SET_INPUT(IO) _SET_INPUT(IO)
#define SET_INPUT_PULLUP(IO) do{ _SET_INPUT(IO); _WRITE(IO, HIGH); }while(0)
#define SET_OUTPUT(IO) _SET_OUTPUT(IO)
#define GET_INPUT(IO) _GET_INPUT(IO)
#define GET_OUTPUT(IO) _GET_OUTPUT(IO)
#define GET_TIMER(IO) _GET_TIMER(IO)
#define OUT_WRITE(IO,V) do{ SET_OUTPUT(IO); WRITE(IO,V); }while(0)
/**
* Timer and Interrupt Control
*/
// Waveform Generation Modes
enum WaveGenMode : char {
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
};
// Compare Modes
enum CompareMode : char {
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
};
// Clock Sources
enum ClockSource : char {
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
};
// Clock Sources (Timer 2 only)
enum ClockSource2 : char {
CS2_NONE, // 0
CS2_PRESCALER_1, // 1
CS2_PRESCALER_8, // 2
CS2_PRESCALER_32, // 3
CS2_PRESCALER_64, // 4
CS2_PRESCALER_128, // 5
CS2_PRESCALER_256, // 6
CS2_PRESCALER_1024 // 7
};
// Get interrupt bits in an orderly way
// Ex: cs = GET_CS(0); coma1 = GET_COM(A,1);
#define GET_WGM(T) (((TCCR##T##A >> WGM##T##0) & 0x3) | ((TCCR##T##B >> WGM##T##2 << 2) & 0xC))
#define GET_CS(T) ((TCCR##T##B >> CS##T##0) & 0x7)
#define GET_COM(T,Q) ((TCCR##T##Q >> COM##T##Q##0) & 0x3)
#define GET_COMA(T) GET_COM(T,A)
#define GET_COMB(T) GET_COM(T,B)
#define GET_COMC(T) GET_COM(T,C)
#define GET_ICNC(T) (!!(TCCR##T##B & _BV(ICNC##T)))
#define GET_ICES(T) (!!(TCCR##T##B & _BV(ICES##T)))
#define GET_FOC(T,Q) (!!(TCCR##T##C & _BV(FOC##T##Q)))
#define GET_FOCA(T) GET_FOC(T,A)
#define GET_FOCB(T) GET_FOC(T,B)
#define GET_FOCC(T) GET_FOC(T,C)
// Set Wave Generation Mode bits
// Ex: SET_WGM(5,CTC_ICRn);
#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_WGM(T,V) _SET_WGM(T,WGM_##V)
// Set Clock Select bits
// Ex: SET_CS3(PRESCALER_64);
#define _SET_CS(T,V) (TCCR##T##B = (TCCR##T##B & ~(0x7 << CS##T##0)) | ((int(V) & 0x7) << CS##T##0))
#define _SET_CS0(V) _SET_CS(0,V)
#define _SET_CS1(V) _SET_CS(1,V)
#ifdef TCCR2
#define _SET_CS2(V) (TCCR2 = (TCCR2 & ~(0x7 << CS20)) | (int(V) << CS20))
#else
#define _SET_CS2(V) _SET_CS(2,V)
#endif
#define _SET_CS3(V) _SET_CS(3,V)
#define _SET_CS4(V) _SET_CS(4,V)
#define _SET_CS5(V) _SET_CS(5,V)
#define SET_CS0(V) _SET_CS0(CS_##V)
#define SET_CS1(V) _SET_CS1(CS_##V)
#ifdef TCCR2
#define SET_CS2(V) _SET_CS2(CS2_##V)
#else
#define SET_CS2(V) _SET_CS2(CS_##V)
#endif
#define SET_CS3(V) _SET_CS3(CS_##V)
#define SET_CS4(V) _SET_CS4(CS_##V)
#define SET_CS5(V) _SET_CS5(CS_##V)
#define SET_CS(T,V) SET_CS##T(V)
// Set Compare Mode bits
// Ex: SET_COMS(4,CLEAR_SET,CLEAR_SET,CLEAR_SET);
#define _SET_COM(T,Q,V) (TCCR##T##Q = (TCCR##T##Q & ~(0x3 << COM##T##Q##0)) | (int(V) << COM##T##Q##0))
#define SET_COM(T,Q,V) _SET_COM(T,Q,COM_##V)
#define SET_COMA(T,V) SET_COM(T,A,V)
#define SET_COMB(T,V) SET_COM(T,B,V)
#define SET_COMC(T,V) SET_COM(T,C,V)
#define SET_COMS(T,V1,V2,V3) do{ SET_COMA(T,V1); SET_COMB(T,V2); SET_COMC(T,V3); }while(0)
// Set Noise Canceler bit
// Ex: SET_ICNC(2,1)
#define SET_ICNC(T,V) (TCCR##T##B = (V) ? TCCR##T##B | _BV(ICNC##T) : TCCR##T##B & ~_BV(ICNC##T))
// Set Input Capture Edge Select bit
// Ex: SET_ICES(5,0)
#define SET_ICES(T,V) (TCCR##T##B = (V) ? TCCR##T##B | _BV(ICES##T) : TCCR##T##B & ~_BV(ICES##T))
// Set Force Output Compare bit
// Ex: SET_FOC(3,A,1)
#define SET_FOC(T,Q,V) (TCCR##T##C = (V) ? TCCR##T##C | _BV(FOC##T##Q) : TCCR##T##C & ~_BV(FOC##T##Q))
#define SET_FOCA(T,V) SET_FOC(T,A,V)
#define SET_FOCB(T,V) SET_FOC(T,B,V)
#define SET_FOCC(T,V) SET_FOC(T,C,V)
/**
* PWM availability macros
*/
// Determine which harware PWMs are already in use
#if PIN_EXISTS(CONTROLLER_FAN)
#define PWM_CHK_FAN_B(p) (p == CONTROLLER_FAN_PIN || p == E0_AUTO_FAN_PIN || p == E1_AUTO_FAN_PIN || p == E2_AUTO_FAN_PIN || p == E3_AUTO_FAN_PIN || p == E4_AUTO_FAN_PIN || p == CHAMBER_AUTO_FAN_PIN)
#else
#define PWM_CHK_FAN_B(p) (p == E0_AUTO_FAN_PIN || p == E1_AUTO_FAN_PIN || p == E2_AUTO_FAN_PIN || p == E3_AUTO_FAN_PIN || p == E4_AUTO_FAN_PIN || p == CHAMBER_AUTO_FAN_PIN)
#endif
#if PIN_EXISTS(FAN) || PIN_EXISTS(FAN1) || PIN_EXISTS(FAN2)
#if PIN_EXISTS(FAN2)
#define PWM_CHK_FAN_A(p) (p == FAN_PIN || p == FAN1_PIN || p == FAN2_PIN)
#elif PIN_EXISTS(FAN1)
#define PWM_CHK_FAN_A(p) (p == FAN_PIN || p == FAN1_PIN)
#else
#define PWM_CHK_FAN_A(p) (p == FAN_PIN)
#endif
#else
#define PWM_CHK_FAN_A(p) false
#endif
#if HAS_MOTOR_CURRENT_PWM
#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
#define PWM_CHK_MOTOR_CURRENT(p) (p == MOTOR_CURRENT_PWM_E || p == MOTOR_CURRENT_PWM_Z || p == MOTOR_CURRENT_PWM_XY)
#elif PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
#define PWM_CHK_MOTOR_CURRENT(p) (p == MOTOR_CURRENT_PWM_E || p == MOTOR_CURRENT_PWM_Z)
#else
#define PWM_CHK_MOTOR_CURRENT(p) (p == MOTOR_CURRENT_PWM_E)
#endif
#else
#define PWM_CHK_MOTOR_CURRENT(p) false
#endif
#ifdef NUM_SERVOS
#if AVR_ATmega2560_FAMILY
#define PWM_CHK_SERVO(p) (p == 5 || (NUM_SERVOS > 12 && p == 6) || (NUM_SERVOS > 24 && p == 46)) // PWMS 3A, 4A & 5A
#elif AVR_ATmega2561_FAMILY
#define PWM_CHK_SERVO(p) (p == 5) // PWM3A
#elif AVR_ATmega1284_FAMILY
#define PWM_CHK_SERVO(p) false
#elif AVR_AT90USB1286_FAMILY
#define PWM_CHK_SERVO(p) (p == 16) // PWM3A
#elif AVR_ATmega328_FAMILY
#define PWM_CHK_SERVO(p) false
#endif
#else
#define PWM_CHK_SERVO(p) false
#endif
#if ENABLED(BARICUDA)
#if HAS_HEATER_1 && HAS_HEATER_2
#define PWM_CHK_HEATER(p) (p == HEATER_1_PIN || p == HEATER_2_PIN)
#elif HAS_HEATER_1
#define PWM_CHK_HEATER(p) (p == HEATER_1_PIN)
#endif
#else
#define PWM_CHK_HEATER(p) false
#endif
#define PWM_CHK(p) (PWM_CHK_HEATER(p) || PWM_CHK_SERVO(p) || PWM_CHK_MOTOR_CURRENT(p)\
|| PWM_CHK_FAN_A(p) || PWM_CHK_FAN_B(p))
// define which hardware PWMs are available for the current CPU
// all timer 1 PWMS deleted from this list because they are never available
#if AVR_ATmega2560_FAMILY
#define PWM_PINS(p) ((p >= 2 && p <= 10) || p == 13 || p == 44 || p == 45 || p == 46)
#elif AVR_ATmega2561_FAMILY
#define PWM_PINS(p) ((p >= 2 && p <= 6) || p == 9)
#elif AVR_ATmega1284_FAMILY
#define PWM_PINS(p) (p == 3 || p == 4 || p == 14 || p == 15)
#elif AVR_AT90USB1286_FAMILY
#define PWM_PINS(p) (p == 0 || p == 1 || p == 14 || p == 15 || p == 16 || p == 24)
#elif AVR_ATmega328_FAMILY
#define PWM_PINS(p) (p == 3 || p == 5 || p == 6 || p == 11)
#else
#error "unknown CPU"
#endif
// finally - the macro that tells us if a pin is an available hardware PWM
#define USEABLE_HARDWARE_PWM(p) (PWM_PINS(p) && !PWM_CHK(p))
#endif // _FASTIO_ARDUINO_H_