mirror of
https://github.com/MarlinFirmware/Marlin.git
synced 2024-12-14 14:31:33 +00:00
158 lines
6.3 KiB
C
158 lines
6.3 KiB
C
/**
|
|
* Marlin 3D Printer Firmware
|
|
*
|
|
* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|
* Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
|
|
* Copyright (c) 2017 Victor Perez
|
|
*
|
|
* 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/>.
|
|
*
|
|
*/
|
|
#pragma once
|
|
|
|
/**
|
|
* HAL for stm32duino.com based on Libmaple and compatible (STM32F1)
|
|
*/
|
|
|
|
#include <stdint.h>
|
|
#include <libmaple/timer.h>
|
|
|
|
// ------------------------
|
|
// Defines
|
|
// ------------------------
|
|
|
|
/**
|
|
* TODO: Check and confirm what timer we will use for each Temps and stepper driving.
|
|
* We should probable drive temps with PWM.
|
|
*/
|
|
#define FORCE_INLINE __attribute__((always_inline)) inline
|
|
|
|
typedef uint16_t hal_timer_t;
|
|
#define HAL_TIMER_TYPE_MAX 0xFFFF
|
|
|
|
#define HAL_TIMER_RATE uint32_t(F_CPU) // frequency of timers peripherals
|
|
|
|
#define STEP_TIMER_CHAN 1 // Channel of the timer to use for compare and interrupts
|
|
#define TEMP_TIMER_CHAN 1 // Channel of the timer to use for compare and interrupts
|
|
|
|
#if defined(MCU_STM32F103CB) || defined(MCU_STM32F103C8)
|
|
#define STEP_TIMER_NUM 4 // For C8/CB boards, use timer 4
|
|
#else
|
|
#define STEP_TIMER_NUM 5 // for other boards, five is fine.
|
|
#endif
|
|
#define TEMP_TIMER_NUM 2 // index of timer to use for temperature
|
|
//#define TEMP_TIMER_NUM 4 // 2->4, Timer 2 for Stepper Current PWM
|
|
#define PULSE_TIMER_NUM STEP_TIMER_NUM
|
|
#define SERVO0_TIMER_NUM 1 // SERVO0 or BLTOUCH
|
|
|
|
#define STEP_TIMER_IRQ_PRIO 1
|
|
#define TEMP_TIMER_IRQ_PRIO 2
|
|
|
|
#define TEMP_TIMER_PRESCALE 1000 // prescaler for setting Temp timer, 72Khz
|
|
#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
|
|
|
|
#define STEPPER_TIMER_PRESCALE 18 // prescaler for setting stepper timer, 4Mhz
|
|
#define STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer
|
|
#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
|
|
|
|
#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer
|
|
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
|
|
#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
|
|
|
|
timer_dev* get_timer_dev(int number);
|
|
#define TIMER_DEV(num) get_timer_dev(num)
|
|
#define STEP_TIMER_DEV TIMER_DEV(STEP_TIMER_NUM)
|
|
#define TEMP_TIMER_DEV TIMER_DEV(TEMP_TIMER_NUM)
|
|
|
|
#define ENABLE_STEPPER_DRIVER_INTERRUPT() timer_enable_irq(STEP_TIMER_DEV, STEP_TIMER_CHAN)
|
|
#define DISABLE_STEPPER_DRIVER_INTERRUPT() timer_disable_irq(STEP_TIMER_DEV, STEP_TIMER_CHAN)
|
|
#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM)
|
|
|
|
#define ENABLE_TEMPERATURE_INTERRUPT() timer_enable_irq(TEMP_TIMER_DEV, TEMP_TIMER_CHAN)
|
|
#define DISABLE_TEMPERATURE_INTERRUPT() timer_disable_irq(TEMP_TIMER_DEV, TEMP_TIMER_CHAN)
|
|
|
|
#define HAL_timer_get_count(timer_num) timer_get_count(TIMER_DEV(timer_num))
|
|
|
|
// TODO change this
|
|
|
|
#define HAL_TEMP_TIMER_ISR() extern "C" void tempTC_Handler(void)
|
|
#define HAL_STEP_TIMER_ISR() extern "C" void stepTC_Handler(void)
|
|
|
|
extern "C" void tempTC_Handler(void);
|
|
extern "C" void stepTC_Handler(void);
|
|
|
|
// ------------------------
|
|
// Public Variables
|
|
// ------------------------
|
|
|
|
//static HardwareTimer StepperTimer(STEP_TIMER_NUM);
|
|
//static HardwareTimer TempTimer(TEMP_TIMER_NUM);
|
|
|
|
// ------------------------
|
|
// Public functions
|
|
// ------------------------
|
|
|
|
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
|
|
void HAL_timer_enable_interrupt(const uint8_t timer_num);
|
|
void HAL_timer_disable_interrupt(const uint8_t timer_num);
|
|
bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
|
|
|
|
/**
|
|
* NOTE: By default libmaple sets ARPE = 1, which means the Auto reload register is preloaded (will only update with an update event)
|
|
* Thus we have to pause the timer, update the value, refresh, resume the timer.
|
|
* That seems like a big waste of time and may be better to change the timer config to ARPE = 0, so ARR can be updated any time.
|
|
* We are using a Channel in each timer in Capture/Compare mode. We could also instead use the Time Update Event Interrupt, but need to disable ARPE
|
|
* so we can change the ARR value on the fly (without calling refresh), and not get an interrupt right there because we caused an UEV.
|
|
* This mode pretty much makes 2 timers unusable for PWM since they have their counts updated all the time on ISRs.
|
|
* The way Marlin manages timer interrupts doesn't make for an efficient usage in STM32F1
|
|
* Todo: Look at that possibility later.
|
|
*/
|
|
|
|
FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
|
|
switch (timer_num) {
|
|
case STEP_TIMER_NUM:
|
|
// NOTE: WE have set ARPE = 0, which means the Auto reload register is not preloaded
|
|
// and there is no need to use any compare, as in the timer mode used, setting ARR to the compare value
|
|
// will result in exactly the same effect, ie trigerring an interrupt, and on top, set counter to 0
|
|
timer_set_reload(STEP_TIMER_DEV, compare); // We reload direct ARR as needed during counting up
|
|
break;
|
|
case TEMP_TIMER_NUM:
|
|
timer_set_compare(TEMP_TIMER_DEV, TEMP_TIMER_CHAN, compare);
|
|
break;
|
|
}
|
|
}
|
|
|
|
FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
|
|
switch (timer_num) {
|
|
case STEP_TIMER_NUM:
|
|
// No counter to clear
|
|
timer_generate_update(STEP_TIMER_DEV);
|
|
return;
|
|
case TEMP_TIMER_NUM:
|
|
timer_set_count(TEMP_TIMER_DEV, 0);
|
|
timer_generate_update(TEMP_TIMER_DEV);
|
|
return;
|
|
}
|
|
}
|
|
|
|
#define HAL_timer_isr_epilogue(TIMER_NUM)
|
|
|
|
// No command is available in framework to turn off ARPE bit, which is turned on by default in libmaple.
|
|
// Needed here to reset ARPE=0 for stepper timer
|
|
FORCE_INLINE static void timer_no_ARR_preload_ARPE(timer_dev *dev) {
|
|
bb_peri_set_bit(&(dev->regs).gen->CR1, TIMER_CR1_ARPE_BIT, 0);
|
|
}
|
|
|
|
#define TIMER_OC_NO_PRELOAD 0 // Need to disable preload also on compare registers.
|