119 lines
3.3 KiB
C++
119 lines
3.3 KiB
C++
/**
|
|
* Marlin 3D Printer Firmware
|
|
* Copyright (C) 2019 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/>.
|
|
*
|
|
*/
|
|
|
|
#ifdef __PLAT_LINUX__
|
|
|
|
#include "Timer.h"
|
|
#include <stdio.h>
|
|
|
|
Timer::Timer() {
|
|
active = false;
|
|
compare = 0;
|
|
frequency = 0;
|
|
overruns = 0;
|
|
timerid = 0;
|
|
cbfn = nullptr;
|
|
period = 0;
|
|
start_time = 0;
|
|
avg_error = 0;
|
|
}
|
|
|
|
Timer::~Timer() {
|
|
timer_delete(timerid);
|
|
}
|
|
|
|
void Timer::init(uint32_t sig_id, uint32_t sim_freq, callback_fn* fn) {
|
|
struct sigaction sa;
|
|
struct sigevent sev;
|
|
|
|
frequency = sim_freq;
|
|
cbfn = fn;
|
|
|
|
sa.sa_flags = SA_SIGINFO;
|
|
sa.sa_sigaction = Timer::handler;
|
|
sigemptyset(&sa.sa_mask);
|
|
if (sigaction(SIGRTMIN, &sa, NULL) == -1) {
|
|
return; // todo: handle error
|
|
}
|
|
|
|
sigemptyset(&mask);
|
|
sigaddset(&mask, SIGRTMIN);
|
|
|
|
disable();
|
|
|
|
sev.sigev_notify = SIGEV_SIGNAL;
|
|
sev.sigev_signo = SIGRTMIN;
|
|
sev.sigev_value.sival_ptr = (void*)this;
|
|
if (timer_create(CLOCK_REALTIME, &sev, &timerid) == -1) {
|
|
return; // todo: handle error
|
|
}
|
|
}
|
|
|
|
void Timer::start(uint32_t frequency) {
|
|
setCompare(this->frequency / frequency);
|
|
//printf("timer(%ld) started\n", getID());
|
|
}
|
|
|
|
void Timer::enable() {
|
|
if (sigprocmask(SIG_UNBLOCK, &mask, NULL) == -1) {
|
|
return; // todo: handle error
|
|
}
|
|
active = true;
|
|
//printf("timer(%ld) enabled\n", getID());
|
|
}
|
|
|
|
void Timer::disable() {
|
|
if (sigprocmask(SIG_SETMASK, &mask, NULL) == -1) {
|
|
return; // todo: handle error
|
|
}
|
|
active = false;
|
|
}
|
|
|
|
void Timer::setCompare(uint32_t compare) {
|
|
uint32_t nsec_offset = 0;
|
|
if (active) {
|
|
nsec_offset = Clock::nanos() - this->start_time; // calculate how long the timer would have been running for
|
|
nsec_offset = nsec_offset < 1000 ? nsec_offset : 0; // constrain, this shouldn't be needed but apparently Marlin enables interrupts on the stepper timer before initialising it, todo: investigate ?bug?
|
|
}
|
|
this->compare = compare;
|
|
uint64_t ns = Clock::ticksToNanos(compare, frequency) - nsec_offset;
|
|
struct itimerspec its;
|
|
its.it_value.tv_sec = ns / 1000000000;
|
|
its.it_value.tv_nsec = ns % 1000000000;
|
|
its.it_interval.tv_sec = its.it_value.tv_sec;
|
|
its.it_interval.tv_nsec = its.it_value.tv_nsec;
|
|
|
|
if (timer_settime(timerid, 0, &its, NULL) == -1) {
|
|
printf("timer(%ld) failed, compare: %d(%ld)\n", getID(), compare, its.it_value.tv_nsec);
|
|
return; // todo: handle error
|
|
}
|
|
//printf("timer(%ld) started, compare: %d(%d)\n", getID(), compare, its.it_value.tv_nsec);
|
|
this->period = its.it_value.tv_nsec;
|
|
this->start_time = Clock::nanos();
|
|
}
|
|
|
|
uint32_t Timer::getCount() {
|
|
return Clock::nanosToTicks(Clock::nanos() - this->start_time, frequency);
|
|
}
|
|
|
|
#endif // __PLAT_LINUX__
|