delay_us, delay_ms

grbl/grbl.h

@@ -40,6 +40,7 @@
 
 // Define the Grbl system include files. NOTE: Do not alter organization.
 #include "config.h"
+#include "delay.h"
 #include "nuts_bolts.h"
 #include "settings.h"
 #include "system.h"

grbl/main.c

@@ -88,6 +88,7 @@ volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bit
 int main(void)
 {
   // Initialize system upon power-up.
+  delay_init();    // Setup delay timer
   serial_init();   // Setup serial baud rate and interrupts
   settings_init(); // Load Grbl settings from EEPROM
   current_init();  // Configure stepper driver current

grbl/nuts_bolts.c

@@ -121,42 +121,11 @@ void delay_sec(float seconds, uint8_t mode)
 		  protocol_exec_rt_system();
 		  if (sys.suspend & SUSPEND_RESTART_RETRACT) { return; } // Bail, if safety door reopens.
 		}
-		_delay_ms(DWELL_TIME_STEP); // Delay DWELL_TIME_STEP increment
+		delay_ms(DWELL_TIME_STEP); // Delay DWELL_TIME_STEP increment
 	}
 }
 
 
-// Delays variable defined milliseconds. Compiler compatibility fix for _delay_ms(),
-// which only accepts constants in future compiler releases.
-void delay_ms(uint16_t ms)
-{
-  while ( ms-- ) { _delay_ms(1); }
-}
-
-
-// Delays variable defined microseconds. Compiler compatibility fix for _delay_us(),
-// which only accepts constants in future compiler releases. Written to perform more
-// efficiently with larger delays, as the counter adds parasitic time in each iteration.
-void delay_us(uint32_t us)
-{
-  while (us) {
-    if (us < 10) {
-      _delay_us(1);
-      us--;
-    } else if (us < 100) {
-      _delay_us(10);
-      us -= 10;
-    } else if (us < 1000) {
-      _delay_us(100);
-      us -= 100;
-    } else {
-      _delay_ms(1);
-      us -= 1000;
-    }
-  }
-}
-
-
 // Simple hypotenuse computation function.
 float hypot_f(float x, float y) { return(sqrt(x*x + y*y)); }
 

grbl/nuts_bolts.h

@@ -74,12 +74,6 @@ uint8_t read_float(char *line, uint8_t *char_counter, float *float_ptr);
 // Non-blocking delay function used for general operation and suspend features.
 void delay_sec(float seconds, uint8_t mode);
 
-// Delays variable-defined milliseconds. Compiler compatibility fix for _delay_ms().
-void delay_ms(uint16_t ms);
-
-// Delays variable-defined microseconds. Compiler compatibility fix for _delay_us().
-void delay_us(uint32_t us);
-
 // Computes hypotenuse, avoiding avr-gcc's bloated version and the extra error checking.
 float hypot_f(float x, float y);
 

lpc17xx/system_LPC17xx.c

@@ -289,9 +289,9 @@
 #define PLL1CFG_Val           0x00000023
 #define CCLKCFG_Val           0x00000003
 #define USBCLKCFG_Val         0x00000000
-#define PCLKSEL0_Val          0x00000000
-#define PCLKSEL1_Val          0x00000000
-#define PCONP_Val             0x042887DE
+#define PCLKSEL0_Val          0x00000014
+#define PCLKSEL1_Val          0x00005000
+#define PCONP_Val             0x04E887DE
 #define CLKOUTCFG_Val         0x00000000
 
 
@@ -321,7 +321,7 @@
 // </e>
 */
 #define FLASH_SETUP           1
-#define FLASHCFG_Val          0x0000303A
+#define FLASHCFG_Val          0x0000503A
 
 /*
 //-------- <<< end of configuration section >>> ------------------------------

smoother/delay.cpp

@@ -0,0 +1,32 @@
+// Copyright 2017 Todd Fleming
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+
+#include "delay.h"
+
+void delay_init()
+{
+    LPC_TIM3->CTCR = 0;   // timer mode
+    LPC_TIM3->PR = 0;     // no prescale
+    LPC_TIM3->MCR = 0;    // no MR actions
+    LPC_TIM3->CCR = 0;    // no capture
+    LPC_TIM3->EMR = 0;    // no external match
+    LPC_TIM3->TCR = 0b10; // reset
+    LPC_TIM3->TCR = 0b01; // enable
+}

smoother/delay.h

@@ -0,0 +1,38 @@
+#pragma once
+
+// Copyright 2017 Todd Fleming
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+
+#include "LPC17xx.h"
+
+void delay_init();
+
+inline void delay_us(uint32_t us)
+{
+    uint32_t start = LPC_TIM3->TC;
+    uint32_t cycles = uint32_t(uint64_t(SystemCoreClock) * us / 1000000);
+    while (LPC_TIM3->TC - start < cycles)
+        ;
+}
+
+inline void delay_ms(uint32_t ms)
+{
+    return delay_us(ms * 1000);
+}

smoother/util/delay.h

@@ -1,3 +1 @@
-#define F_CPU 1000000UL
-inline void _delay_ms(double) {}
-inline void _delay_us(double) {}
+#define F_CPU SystemCoreClock