Support for Teensy 4 (#19311)

Marlin/src/HAL/TEENSY40_41/timers.cpp

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+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * Teensy4.0/4.1 (__IMXRT1062__)
+ */
+
+#ifdef __IMXRT1062__
+
+#include "../../inc/MarlinConfig.h"
+
+void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
+  switch (timer_num) {
+    case 0:
+      CCM_CSCMR1 &= ~CCM_CSCMR1_PERCLK_CLK_SEL; // turn off 24mhz mode
+      CCM_CCGR1 |= CCM_CCGR1_GPT1_BUS(CCM_CCGR_ON);
+
+      GPT1_CR = 0;                   // disable timer
+      GPT1_SR = 0x3F;                // clear all prior status
+      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_EN;          //enable GPT2 counting at 150 MHz
+
+      OUT_WRITE(15, HIGH);
+      attachInterruptVector(IRQ_GPT1, &stepTC_Handler);
+      NVIC_SET_PRIORITY(IRQ_GPT1, 16);
+      break;
+    case 1:
+      CCM_CSCMR1 &= ~CCM_CSCMR1_PERCLK_CLK_SEL; // turn off 24mhz mode
+      CCM_CCGR0 |= CCM_CCGR0_GPT2_BUS(CCM_CCGR_ON);
+
+      GPT2_CR = 0;                   // disable timer
+      GPT2_SR = 0x3F;                // clear all prior status
+      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_EN;          //enable GPT2 counting at 150 MHz
+
+      OUT_WRITE(14, HIGH);
+      attachInterruptVector(IRQ_GPT2, &tempTC_Handler);
+      NVIC_SET_PRIORITY(IRQ_GPT2, 32);
+      break;
+  }
+}
+
+void HAL_timer_enable_interrupt(const uint8_t timer_num) {
+  switch (timer_num) {
+    case 0:
+      NVIC_ENABLE_IRQ(IRQ_GPT1);
+      break;
+    case 1:
+      NVIC_ENABLE_IRQ(IRQ_GPT2);
+      break;
+  }
+}
+
+void HAL_timer_disable_interrupt(const uint8_t timer_num) {
+  switch (timer_num) {
+    case 0: NVIC_DISABLE_IRQ(IRQ_GPT1); break;
+    case 1: NVIC_DISABLE_IRQ(IRQ_GPT2); break;
+  }
+
+  // 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");
+}
+
+bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
+  switch (timer_num) {
+    case 0: return (NVIC_IS_ENABLED(IRQ_GPT1));
+    case 1: return (NVIC_IS_ENABLED(IRQ_GPT2));
+  }
+  return false;
+}
+
+void HAL_timer_isr_prologue(const uint8_t timer_num) {
+  switch (timer_num) {
+    case 0:
+      GPT1_SR = GPT_IR_OF1IE;  // clear OF3 bit
+      break;
+    case 1:
+      GPT2_SR = GPT_IR_OF1IE;  // clear OF3 bit
+      break;
+  }
+  asm volatile("dsb");
+}
+
+#endif // __IMXRT1062__