stepper_at91.h

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#include <cfg/compiler.h>
#include <cfg/macros.h>
#include <drv/stepper.h>
#include <io/arm.h>

#if STEPPER_PRESCALER_LOG2 == 1
    #define STEPPER_MCK_PRESCALER TC_CLKS_MCK2
#elif STEPPER_PRESCALER_LOG2 == 3
    #define STEPPER_MCK_PRESCALER TC_CLKS_MCK8
#elif STEPPER_PRESCALER_LOG2 == 5
    #define STEPPER_MCK_PRESCALER TC_CLKS_MCK32
#elif STEPPER_PRESCALER_LOG2 == 7
    #define STEPPER_MCK_PRESCALER TC_CLKS_MCK128
#elif STEPPER_PRESCALER_LOG2 == 10
    #define STEPPER_MCK_PRESCALER TC_CLKS_MCK1024
#else
    #error Unsupported stepper prescaler value.
#endif

enum
{
    TC_TIOA0 = 0,
    TC_TIOB0,
    TC_TIOA1,
    TC_TIOB1,
    TC_TIOA2,
    TC_TIOB2,

    TC_CNT
};

typedef void (*irq_t)(void);

typedef struct TimerCounter
{
    int timer_id;                  
    uint32_t blk_ctrl_set;         
    reg32_t *chl_mode_reg;         
    reg32_t *chl_ctrl_reg;         
    reg32_t *comp_reg;             
    reg32_t *comp_c_reg;           
    reg32_t *count_val_reg;        
    uint32_t comp_effect_mask;     
    uint32_t comp_effect_set;      
    uint32_t comp_effect_clear;    
    uint32_t comp_effect_c_mask;   
    uint32_t comp_effect_c_clear;  
    uint32_t ext_event_set;        
    reg32_t *irq_enable_reg;       
    reg32_t *irq_disable_reg;      
    uint32_t irq_set_mask;         
    reg32_t *irq_mask_reg;         
    irq_t isr;                     
    reg32_t *status_reg;           
    int tio_pin;                   
    stepper_isr_t callback;        
    struct Stepper *motor;         

} TimerCounter;

INLINE void stepper_tc_irq_enable(struct TimerCounter *timer)
{
    *timer->irq_enable_reg = timer->irq_set_mask;
}

INLINE void  stepper_tc_irq_disable(struct TimerCounter *timer)
{
    *timer->irq_disable_reg = timer->irq_set_mask;
}

INLINE void  stepper_tc_setDelay(struct TimerCounter *timer, stepper_time_t delay)
{
    *timer->comp_reg += delay;
}


INLINE void  stepper_tc_resetTimer(struct TimerCounter *timer)
{
    *timer->comp_reg = 0;
}

INLINE void FAST_FUNC stepper_tc_doPulse(struct TimerCounter *timer)
{
    *timer->chl_mode_reg &= ~timer->comp_effect_mask;
    *timer->chl_mode_reg |= timer->comp_effect_set;
}

INLINE void FAST_FUNC stepper_tc_skipPulse(struct TimerCounter *timer)
{
    *timer->chl_mode_reg &= ~timer->comp_effect_mask;
}

void stepper_tc_setup(int index, stepper_isr_t callback, struct Stepper *motor);
void stepper_tc_init(void);

/*
 * Test the hardware timer counter on board.
 * This test generate a square waveform through irq, setting
 * the timer register.
 */
void stepper_timer_test_brute(void);
/*
 * Test the timer driver structure.
 * This test generate a square waveform through irq.
 * The irq callback is programmable, and all timer setting
 * are save in one data structure. Every pulse is generate through
 * a call of this irq callback.
 */
void stepper_timer_test_prestepper(struct Stepper *local_motor, struct StepperConfig *local_cfg, int index);