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https://github.com/MarlinFirmware/Marlin.git
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Allow G2_PWM to be slimmer
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Scott Lahteine
parent
adb6334ba0
commit
0175189c34
@ -46,6 +46,31 @@
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#include "G2_PWM.h"
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_X)
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#define G2_PWM_X 1
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#else
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#define G2_PWM_X 0
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#endif
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_Y)
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#define G2_PWM_Y 1
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#else
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#define G2_PWM_Y 0
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#endif
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
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#define G2_PWM_Z 1
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#else
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#define G2_PWM_Z 0
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#endif
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
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#define G2_PWM_E 1
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#else
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#define G2_PWM_E 0
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#endif
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#define G2_MASK_X(V) (G2_PWM_X * (V))
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#define G2_MASK_Y(V) (G2_PWM_Y * (V))
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#define G2_MASK_Z(V) (G2_PWM_Z * (V))
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#define G2_MASK_E(V) (G2_PWM_E * (V))
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volatile uint32_t *SODR_A = &PIOA->PIO_SODR,
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*SODR_B = &PIOB->PIO_SODR,
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*CODR_A = &PIOA->PIO_CODR,
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@ -55,10 +80,18 @@ PWM_map ISR_table[NUM_PWMS] = PWM_MAP_INIT;
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void Stepper::digipot_init() {
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OUT_WRITE(MOTOR_CURRENT_PWM_X_PIN, 0); // init pins
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OUT_WRITE(MOTOR_CURRENT_PWM_Y_PIN, 0);
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OUT_WRITE(MOTOR_CURRENT_PWM_Z_PIN, 0);
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OUT_WRITE(MOTOR_CURRENT_PWM_E_PIN, 0);
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_X)
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OUT_WRITE(MOTOR_CURRENT_PWM_X_PIN, 0); // init pins
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#endif
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_Y)
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OUT_WRITE(MOTOR_CURRENT_PWM_Y_PIN, 0);
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#endif
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#if G2_PWM_Z
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OUT_WRITE(MOTOR_CURRENT_PWM_Z_PIN, 0);
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#endif
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#if G2_PWM_E
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OUT_WRITE(MOTOR_CURRENT_PWM_E_PIN, 0);
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#endif
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#define WPKEY (0x50574D << 8) // “PWM” in ASCII
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#define WPCMD_DIS_SW 0 // command to disable Write Protect SW
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@ -71,30 +104,51 @@ void Stepper::digipot_init() {
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PWM->PWM_WPCR = WPKEY | WPRG_ALL | WPCMD_DIS_SW; // enable setting of all PWM registers
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PWM->PWM_CLK = PWM_CLOCK_F; // enable CLK_A and set it to 1MHz, leave CLK_B disabled
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PWM->PWM_CH_NUM[0].PWM_CMR = 0b1011; // set channel 0 to Clock A input & to left aligned
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PWM->PWM_CH_NUM[1].PWM_CMR = 0b1011; // set channel 1 to Clock A input & to left aligned
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PWM->PWM_CH_NUM[2].PWM_CMR = 0b1011; // set channel 2 to Clock A input & to left aligned
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PWM->PWM_CH_NUM[3].PWM_CMR = 0b1011; // set channel 3 to Clock A input & to left aligned
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PWM->PWM_CH_NUM[4].PWM_CMR = 0b1011; // set channel 4 to Clock A input & to left aligned
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if (G2_PWM_X) PWM->PWM_CH_NUM[1].PWM_CMR = 0b1011; // set channel 1 to Clock A input & to left aligned
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if (G2_PWM_Y) PWM->PWM_CH_NUM[2].PWM_CMR = 0b1011; // set channel 2 to Clock A input & to left aligned
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if (G2_PWM_Z) PWM->PWM_CH_NUM[3].PWM_CMR = 0b1011; // set channel 3 to Clock A input & to left aligned
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if (G2_PWM_E) PWM->PWM_CH_NUM[4].PWM_CMR = 0b1011; // set channel 4 to Clock A input & to left aligned
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PWM->PWM_CH_NUM[0].PWM_CPRD = PWM_PERIOD_US; // set channel 0 Period
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PWM->PWM_IER2 = PWM_IER1_CHID0; // generate interrupt when counter0 overflows
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PWM->PWM_IER2 = PWM_IER2_CMPM0 | PWM_IER2_CMPM1 | PWM_IER2_CMPM2 | PWM_IER2_CMPM3 | PWM_IER2_CMPM4; // generate interrupt on compare event
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PWM->PWM_IER2 = PWM_IER2_CMPM0
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| G2_MASK_X(PWM_IER2_CMPM1)
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| G2_MASK_Y(PWM_IER2_CMPM2)
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| G2_MASK_Z(PWM_IER2_CMPM3)
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| G2_MASK_E(PWM_IER2_CMPM4)
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; // generate interrupt on compare event
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PWM->PWM_CMP[1].PWM_CMPV = 0x010000000LL | G2_VREF_COUNT(G2_VREF(motor_current_setting[0])); // interrupt when counter0 == CMPV - used to set Motor 1 PWM inactive
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PWM->PWM_CMP[2].PWM_CMPV = 0x010000000LL | G2_VREF_COUNT(G2_VREF(motor_current_setting[0])); // interrupt when counter0 == CMPV - used to set Motor 2 PWM inactive
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PWM->PWM_CMP[3].PWM_CMPV = 0x010000000LL | G2_VREF_COUNT(G2_VREF(motor_current_setting[1])); // interrupt when counter0 == CMPV - used to set Motor 3 PWM inactive
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PWM->PWM_CMP[4].PWM_CMPV = 0x010000000LL | G2_VREF_COUNT(G2_VREF(motor_current_setting[2])); // interrupt when counter0 == CMPV - used to set Motor 4 PWM inactive
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if (G2_PWM_X) PWM->PWM_CMP[1].PWM_CMPV = 0x010000000LL | G2_VREF_COUNT(G2_VREF(motor_current_setting[0])); // interrupt when counter0 == CMPV - used to set Motor 1 PWM inactive
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if (G2_PWM_Y) PWM->PWM_CMP[2].PWM_CMPV = 0x010000000LL | G2_VREF_COUNT(G2_VREF(motor_current_setting[0])); // interrupt when counter0 == CMPV - used to set Motor 2 PWM inactive
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if (G2_PWM_Z) PWM->PWM_CMP[3].PWM_CMPV = 0x010000000LL | G2_VREF_COUNT(G2_VREF(motor_current_setting[1])); // interrupt when counter0 == CMPV - used to set Motor 3 PWM inactive
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if (G2_PWM_E) PWM->PWM_CMP[4].PWM_CMPV = 0x010000000LL | G2_VREF_COUNT(G2_VREF(motor_current_setting[2])); // interrupt when counter0 == CMPV - used to set Motor 4 PWM inactive
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PWM->PWM_CMP[1].PWM_CMPM = 0x0001; // enable compare event
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PWM->PWM_CMP[2].PWM_CMPM = 0x0001; // enable compare event
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PWM->PWM_CMP[3].PWM_CMPM = 0x0001; // enable compare event
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PWM->PWM_CMP[4].PWM_CMPM = 0x0001; // enable compare event
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if (G2_PWM_X) PWM->PWM_CMP[1].PWM_CMPM = 0x0001; // enable compare event
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if (G2_PWM_Y) PWM->PWM_CMP[2].PWM_CMPM = 0x0001; // enable compare event
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if (G2_PWM_Z) PWM->PWM_CMP[3].PWM_CMPM = 0x0001; // enable compare event
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if (G2_PWM_E) PWM->PWM_CMP[4].PWM_CMPM = 0x0001; // enable compare event
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PWM->PWM_SCM = PWM_SCM_UPDM_MODE0 | PWM_SCM_SYNC0 | PWM_SCM_SYNC1 | PWM_SCM_SYNC2 | PWM_SCM_SYNC3 | PWM_SCM_SYNC4; // sync 1-4 with 0, use mode 0 for updates
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PWM->PWM_SCM = PWM_SCM_UPDM_MODE0 | PWM_SCM_SYNC0
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| G2_MASK_X(PWM_SCM_SYNC1)
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| G2_MASK_Y(PWM_SCM_SYNC2)
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| G2_MASK_Z(PWM_SCM_SYNC3)
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| G2_MASK_E(PWM_SCM_SYNC4)
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; // sync 1-4 with 0, use mode 0 for updates
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PWM->PWM_ENA = PWM_ENA_CHID0 | PWM_ENA_CHID1 | PWM_ENA_CHID2 | PWM_ENA_CHID3 | PWM_ENA_CHID4; // enable the channels used by G2
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PWM->PWM_IER1 = PWM_IER1_CHID0 | PWM_IER1_CHID1 | PWM_IER1_CHID2 | PWM_IER1_CHID3 | PWM_IER1_CHID4; // enable interrupts for the channels used by G2
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PWM->PWM_ENA = PWM_ENA_CHID0
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| G2_MASK_X(PWM_ENA_CHID1)
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| G2_MASK_Y(PWM_ENA_CHID2)
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| G2_MASK_Z(PWM_ENA_CHID3)
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| G2_MASK_E(PWM_ENA_CHID4)
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; // enable channels used by G2
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PWM->PWM_IER1 = PWM_IER1_CHID0
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| G2_MASK_X(PWM_IER1_CHID1)
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| G2_MASK_Y(PWM_IER1_CHID2)
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| G2_MASK_Z(PWM_IER1_CHID3)
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| G2_MASK_E(PWM_IER1_CHID4)
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; // enable interrupts for channels used by G2
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NVIC_EnableIRQ(PWM_IRQn); // Enable interrupt handler
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NVIC_SetPriority(PWM_IRQn, NVIC_EncodePriority(0, 10, 0)); // normal priority for PWM module (can stand some jitter on the Vref signals)
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@ -105,20 +159,27 @@ void Stepper::digipot_current(const uint8_t driver, const int16_t current) {
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if (!(PWM->PWM_CH_NUM[0].PWM_CPRD == PWM_PERIOD_US)) digipot_init(); // Init PWM system if needed
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switch (driver) {
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case 0: PWM->PWM_CMP[1].PWM_CMPVUPD = 0x010000000LL | G2_VREF_COUNT(G2_VREF(current)); // update X & Y
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PWM->PWM_CMP[2].PWM_CMPVUPD = 0x010000000LL | G2_VREF_COUNT(G2_VREF(current));
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PWM->PWM_CMP[1].PWM_CMPMUPD = 0x0001; // enable compare event
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PWM->PWM_CMP[2].PWM_CMPMUPD = 0x0001; // enable compare event
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PWM->PWM_SCUC = PWM_SCUC_UPDULOCK; // tell the PWM controller to update the values on the next cycle
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break;
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case 1: PWM->PWM_CMP[3].PWM_CMPVUPD = 0x010000000LL | G2_VREF_COUNT(G2_VREF(current)); // update Z
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PWM->PWM_CMP[3].PWM_CMPMUPD = 0x0001; // enable compare event
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PWM->PWM_SCUC = PWM_SCUC_UPDULOCK; // tell the PWM controller to update the values on the next cycle
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break;
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default:PWM->PWM_CMP[4].PWM_CMPVUPD = 0x010000000LL | G2_VREF_COUNT(G2_VREF(current)); // update E
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PWM->PWM_CMP[4].PWM_CMPMUPD = 0x0001; // enable compare event
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PWM->PWM_SCUC = PWM_SCUC_UPDULOCK; // tell the PWM controller to update the values on the next cycle
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break;
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case 0:
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if (G2_PWM_X) PWM->PWM_CMP[1].PWM_CMPVUPD = 0x010000000LL | G2_VREF_COUNT(G2_VREF(current)); // update X & Y
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if (G2_PWM_Y) PWM->PWM_CMP[2].PWM_CMPVUPD = 0x010000000LL | G2_VREF_COUNT(G2_VREF(current));
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if (G2_PWM_X) PWM->PWM_CMP[1].PWM_CMPMUPD = 0x0001; // enable compare event
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if (G2_PWM_Y) PWM->PWM_CMP[2].PWM_CMPMUPD = 0x0001; // enable compare event
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if (G2_PWM_X || G2_PWM_Y) PWM->PWM_SCUC = PWM_SCUC_UPDULOCK; // tell the PWM controller to update the values on the next cycle
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break;
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case 1:
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if (G2_PWM_Z) {
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PWM->PWM_CMP[3].PWM_CMPVUPD = 0x010000000LL | G2_VREF_COUNT(G2_VREF(current)); // update Z
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PWM->PWM_CMP[3].PWM_CMPMUPD = 0x0001; // enable compare event
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PWM->PWM_SCUC = PWM_SCUC_UPDULOCK; // tell the PWM controller to update the values on the next cycle
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}
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break;
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default:
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if (G2_PWM_E) {
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PWM->PWM_CMP[4].PWM_CMPVUPD = 0x010000000LL | G2_VREF_COUNT(G2_VREF(current)); // update E
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PWM->PWM_CMP[4].PWM_CMPMUPD = 0x0001; // enable compare event
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PWM->PWM_SCUC = PWM_SCUC_UPDULOCK; // tell the PWM controller to update the values on the next cycle
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}
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break;
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}
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}
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@ -127,17 +188,17 @@ volatile uint32_t PWM_ISR1_STATUS, PWM_ISR2_STATUS;
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void PWM_Handler() {
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PWM_ISR1_STATUS = PWM->PWM_ISR1;
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PWM_ISR2_STATUS = PWM->PWM_ISR2;
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if (PWM_ISR1_STATUS & PWM_IER1_CHID0) { // CHAN_0 interrupt
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*ISR_table[0].set_register = ISR_table[0].write_mask; // set X to active
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*ISR_table[1].set_register = ISR_table[1].write_mask; // set Y to active
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*ISR_table[2].set_register = ISR_table[2].write_mask; // set Z to active
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*ISR_table[3].set_register = ISR_table[3].write_mask; // set E to active
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if (PWM_ISR1_STATUS & PWM_IER1_CHID0) { // CHAN_0 interrupt
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if (G2_PWM_X) *ISR_table[0].set_register = ISR_table[0].write_mask; // set X to active
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if (G2_PWM_Y) *ISR_table[1].set_register = ISR_table[1].write_mask; // set Y to active
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if (G2_PWM_Z) *ISR_table[2].set_register = ISR_table[2].write_mask; // set Z to active
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if (G2_PWM_E) *ISR_table[3].set_register = ISR_table[3].write_mask; // set E to active
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}
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else {
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if (PWM_ISR2_STATUS & PWM_IER2_CMPM1) *ISR_table[0].clr_register = ISR_table[0].write_mask; // set X to inactive
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if (PWM_ISR2_STATUS & PWM_IER2_CMPM2) *ISR_table[1].clr_register = ISR_table[1].write_mask; // set Y to inactive
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if (PWM_ISR2_STATUS & PWM_IER2_CMPM3) *ISR_table[2].clr_register = ISR_table[2].write_mask; // set Z to inactive
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if (PWM_ISR2_STATUS & PWM_IER2_CMPM4) *ISR_table[3].clr_register = ISR_table[3].write_mask; // set E to inactive
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if (G2_PWM_X && (PWM_ISR2_STATUS & PWM_IER2_CMPM1)) *ISR_table[0].clr_register = ISR_table[0].write_mask; // set X to inactive
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if (G2_PWM_Y && (PWM_ISR2_STATUS & PWM_IER2_CMPM2)) *ISR_table[1].clr_register = ISR_table[1].write_mask; // set Y to inactive
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if (G2_PWM_Z && (PWM_ISR2_STATUS & PWM_IER2_CMPM3)) *ISR_table[2].clr_register = ISR_table[2].write_mask; // set Z to inactive
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if (G2_PWM_E && (PWM_ISR2_STATUS & PWM_IER2_CMPM4)) *ISR_table[3].clr_register = ISR_table[3].write_mask; // set E to inactive
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}
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return;
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}
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@ -2696,7 +2696,7 @@ void MarlinSettings::reset() {
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#if HAS_MOTOR_CURRENT_PWM
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constexpr uint32_t tmp_motor_current_setting[3] = PWM_MOTOR_CURRENT;
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for (uint8_t q = 3; q--;)
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LOOP_L_N(q, 3)
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stepper.digipot_current(q, (stepper.motor_current_setting[q] = tmp_motor_current_setting[q]));
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#endif
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