323 lines
12 KiB
C++
323 lines
12 KiB
C++
/**
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* Marlin 3D Printer Firmware
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*
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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* Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
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* Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC) && !defined(MAPLE_STM32F1)
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#include "../../inc/MarlinConfig.h"
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// ------------------------
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// Local defines
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// ------------------------
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// Default timer priorities. Override by specifying alternate priorities in the board pins file.
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// The TONE timer is not present here, as it currently cannot be set programmatically. It is set
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// by defining TIM_IRQ_PRIO in the variant.h or platformio.ini file, which adjusts the default
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// priority for STM32 HardwareTimer objects.
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#define SWSERIAL_TIMER_IRQ_PRIO_DEFAULT 1 // Requires tight bit timing to communicate reliably with TMC drivers
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#define SERVO_TIMER_IRQ_PRIO_DEFAULT 1 // Requires tight PWM timing to control a BLTouch reliably
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#define STEP_TIMER_IRQ_PRIO_DEFAULT 2
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#define TEMP_TIMER_IRQ_PRIO_DEFAULT 14 // Low priority avoids interference with other hardware and timers
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#ifndef STEP_TIMER_IRQ_PRIO
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#define STEP_TIMER_IRQ_PRIO STEP_TIMER_IRQ_PRIO_DEFAULT
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#endif
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#ifndef TEMP_TIMER_IRQ_PRIO
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#define TEMP_TIMER_IRQ_PRIO TEMP_TIMER_IRQ_PRIO_DEFAULT
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#endif
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#if HAS_TMC_SW_SERIAL
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#include <SoftwareSerial.h>
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#ifndef SWSERIAL_TIMER_IRQ_PRIO
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#define SWSERIAL_TIMER_IRQ_PRIO SWSERIAL_TIMER_IRQ_PRIO_DEFAULT
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#endif
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#endif
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#if HAS_SERVOS
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#include "Servo.h"
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#ifndef SERVO_TIMER_IRQ_PRIO
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#define SERVO_TIMER_IRQ_PRIO SERVO_TIMER_IRQ_PRIO_DEFAULT
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#endif
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#endif
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#if ENABLED(SPEAKER)
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// Ensure the default timer priority is somewhere between the STEP and TEMP priorities.
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// The STM32 framework defaults to interrupt 14 for all timers. This should be increased so that
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// timing-sensitive operations such as speaker output are not impacted by the long-running
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// temperature ISR. This must be defined in the platformio.ini file or the board's variant.h,
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// so that it will be consumed by framework code.
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#if !(TIM_IRQ_PRIO > STEP_TIMER_IRQ_PRIO && TIM_IRQ_PRIO < TEMP_TIMER_IRQ_PRIO)
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#error "Default timer interrupt priority is unspecified or set to a value which may degrade performance."
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#endif
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#endif
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#ifdef STM32F0xx
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#define MCU_STEP_TIMER 16
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#define MCU_TEMP_TIMER 17
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#elif defined(STM32F1xx)
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#define MCU_STEP_TIMER 4
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#define MCU_TEMP_TIMER 2
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#elif defined(STM32F401xC) || defined(STM32F401xE)
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#define MCU_STEP_TIMER 9
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#define MCU_TEMP_TIMER 10
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#elif defined(STM32F4xx) || defined(STM32F7xx) || defined(STM32H7xx)
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#define MCU_STEP_TIMER 6 // STM32F401 has no TIM6, TIM7, or TIM8
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#define MCU_TEMP_TIMER 14 // TIM7 is consumed by Software Serial if used.
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#endif
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#ifndef HAL_TIMER_RATE
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#define HAL_TIMER_RATE GetStepperTimerClkFreq()
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#endif
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#ifndef STEP_TIMER
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#define STEP_TIMER MCU_STEP_TIMER
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#endif
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#ifndef TEMP_TIMER
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#define TEMP_TIMER MCU_TEMP_TIMER
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#endif
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#define __TIMER_DEV(X) TIM##X
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#define _TIMER_DEV(X) __TIMER_DEV(X)
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#define STEP_TIMER_DEV _TIMER_DEV(STEP_TIMER)
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#define TEMP_TIMER_DEV _TIMER_DEV(TEMP_TIMER)
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// ------------------------
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// Private Variables
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// ------------------------
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HardwareTimer *timer_instance[NUM_HARDWARE_TIMERS] = { nullptr };
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// ------------------------
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// Public functions
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// ------------------------
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uint32_t GetStepperTimerClkFreq() {
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// Timer input clocks vary between devices, and in some cases between timers on the same device.
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// Retrieve at runtime to ensure device compatibility. Cache result to avoid repeated overhead.
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static uint32_t clkfreq = timer_instance[STEP_TIMER_NUM]->getTimerClkFreq();
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return clkfreq;
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}
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// frequency is in Hertz
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void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
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if (!HAL_timer_initialized(timer_num)) {
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switch (timer_num) {
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case STEP_TIMER_NUM: // STEPPER TIMER - use a 32bit timer if possible
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timer_instance[timer_num] = new HardwareTimer(STEP_TIMER_DEV);
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/* Set the prescaler to the final desired value.
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* This will change the effective ISR callback frequency but when
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* HAL_timer_start(timer_num=0) is called in the core for the first time
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* the real frequency isn't important as long as, after boot, the ISR
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* gets called with the correct prescaler and count register. So here
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* we set the prescaler to the correct, final value and ignore the frequency
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* asked. We will call back the ISR in 1 second to start at full speed.
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*
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* The proper fix, however, would be a correct initialization OR a
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* HAL_timer_change(const uint8_t timer_num, const uint32_t frequency)
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* which changes the prescaler when an IRQ frequency change is needed
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* (for example when steppers are turned on)
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*/
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timer_instance[timer_num]->setPrescaleFactor(STEPPER_TIMER_PRESCALE); //the -1 is done internally
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timer_instance[timer_num]->setOverflow(_MIN(hal_timer_t(HAL_TIMER_TYPE_MAX), (HAL_TIMER_RATE) / (STEPPER_TIMER_PRESCALE) /* /frequency */), TICK_FORMAT);
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break;
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case TEMP_TIMER_NUM: // TEMP TIMER - any available 16bit timer
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timer_instance[timer_num] = new HardwareTimer(TEMP_TIMER_DEV);
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// The prescale factor is computed automatically for HERTZ_FORMAT
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timer_instance[timer_num]->setOverflow(frequency, HERTZ_FORMAT);
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break;
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}
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// Disable preload. Leaving it default-enabled can cause the timer to stop if it happens
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// to exit the ISR after the start time for the next interrupt has already passed.
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timer_instance[timer_num]->setPreloadEnable(false);
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HAL_timer_enable_interrupt(timer_num);
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// Start the timer.
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timer_instance[timer_num]->resume(); // First call to resume() MUST follow the attachInterrupt()
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// This is fixed in Arduino_Core_STM32 1.8.
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// These calls can be removed and replaced with
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// timer_instance[timer_num]->setInterruptPriority
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switch (timer_num) {
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case STEP_TIMER_NUM:
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timer_instance[timer_num]->setInterruptPriority(STEP_TIMER_IRQ_PRIO, 0);
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break;
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case TEMP_TIMER_NUM:
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timer_instance[timer_num]->setInterruptPriority(TEMP_TIMER_IRQ_PRIO, 0);
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break;
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}
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}
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}
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void HAL_timer_enable_interrupt(const uint8_t timer_num) {
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if (HAL_timer_initialized(timer_num) && !timer_instance[timer_num]->hasInterrupt()) {
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switch (timer_num) {
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case STEP_TIMER_NUM:
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timer_instance[timer_num]->attachInterrupt(Step_Handler);
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break;
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case TEMP_TIMER_NUM:
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timer_instance[timer_num]->attachInterrupt(Temp_Handler);
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break;
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}
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}
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}
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void HAL_timer_disable_interrupt(const uint8_t timer_num) {
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if (HAL_timer_initialized(timer_num)) timer_instance[timer_num]->detachInterrupt();
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}
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bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
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return HAL_timer_initialized(timer_num) && timer_instance[timer_num]->hasInterrupt();
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}
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void SetTimerInterruptPriorities() {
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TERN_(HAS_TMC_SW_SERIAL, SoftwareSerial::setInterruptPriority(SWSERIAL_TIMER_IRQ_PRIO, 0));
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TERN_(HAS_SERVOS, libServo::setInterruptPriority(SERVO_TIMER_IRQ_PRIO, 0));
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}
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// ------------------------
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// Detect timer conflicts
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// ------------------------
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// This list serves two purposes. Firstly, it facilitates build-time mapping between
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// variant-defined timer names (such as TIM1) and timer numbers. It also replicates
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// the order of timers used in the framework's SoftwareSerial.cpp. The first timer in
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// this list will be automatically used by SoftwareSerial if it is not already defined
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// in the board's variant or compiler options.
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static constexpr struct {uintptr_t base_address; int timer_number;} stm32_timer_map[] = {
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#ifdef TIM18_BASE
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{ uintptr_t(TIM18), 18 },
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#endif
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#ifdef TIM7_BASE
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{ uintptr_t(TIM7), 7 },
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#endif
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#ifdef TIM6_BASE
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{ uintptr_t(TIM6), 6 },
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#endif
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#ifdef TIM22_BASE
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{ uintptr_t(TIM22), 22 },
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#endif
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#ifdef TIM21_BASE
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{ uintptr_t(TIM21), 21 },
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#endif
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#ifdef TIM17_BASE
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{ uintptr_t(TIM17), 17 },
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#endif
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#ifdef TIM16_BASE
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{ uintptr_t(TIM16), 16 },
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#endif
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#ifdef TIM15_BASE
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{ uintptr_t(TIM15), 15 },
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#endif
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#ifdef TIM14_BASE
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{ uintptr_t(TIM14), 14 },
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#endif
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#ifdef TIM13_BASE
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{ uintptr_t(TIM13), 13 },
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#endif
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#ifdef TIM11_BASE
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{ uintptr_t(TIM11), 11 },
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#endif
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#ifdef TIM10_BASE
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{ uintptr_t(TIM10), 10 },
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#endif
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#ifdef TIM12_BASE
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{ uintptr_t(TIM12), 12 },
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#endif
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#ifdef TIM19_BASE
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{ uintptr_t(TIM19), 19 },
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#endif
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#ifdef TIM9_BASE
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{ uintptr_t(TIM9), 9 },
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#endif
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#ifdef TIM5_BASE
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{ uintptr_t(TIM5), 5 },
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#endif
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#ifdef TIM4_BASE
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{ uintptr_t(TIM4), 4 },
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#endif
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#ifdef TIM3_BASE
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{ uintptr_t(TIM3), 3 },
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#endif
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#ifdef TIM2_BASE
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{ uintptr_t(TIM2), 2 },
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#endif
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#ifdef TIM20_BASE
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{ uintptr_t(TIM20), 20 },
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#endif
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#ifdef TIM8_BASE
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{ uintptr_t(TIM8), 8 },
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#endif
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#ifdef TIM1_BASE
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{ uintptr_t(TIM1), 1 }
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#endif
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};
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// Convert from a timer base address to its integer timer number.
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static constexpr int get_timer_num_from_base_address(uintptr_t base_address) {
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for (const auto &timer : stm32_timer_map)
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if (timer.base_address == base_address) return timer.timer_number;
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return 0;
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}
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// The platform's SoftwareSerial.cpp will use the first timer from stm32_timer_map.
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#if HAS_TMC_SW_SERIAL && !defined(TIMER_SERIAL)
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#define TIMER_SERIAL (stm32_timer_map[0].base_address)
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#endif
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// constexpr doesn't like using the base address pointers that timers evaluate to.
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// We can get away with casting them to uintptr_t, if we do so inside an array.
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// GCC will not currently do it directly to a uintptr_t.
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IF_ENABLED(HAS_TMC_SW_SERIAL, static constexpr uintptr_t timer_serial[] = {uintptr_t(TIMER_SERIAL)});
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IF_ENABLED(SPEAKER, static constexpr uintptr_t timer_tone[] = {uintptr_t(TIMER_TONE)});
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IF_ENABLED(HAS_SERVOS, static constexpr uintptr_t timer_servo[] = {uintptr_t(TIMER_SERVO)});
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enum TimerPurpose { TP_SERIAL, TP_TONE, TP_SERVO, TP_STEP, TP_TEMP };
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// List of timers, to enable checking for conflicts.
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// Includes the purpose of each timer to ease debugging when evaluating at build-time.
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// This cannot yet account for timers used for PWM output, such as for fans.
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static constexpr struct { TimerPurpose p; int t; } timers_in_use[] = {
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#if HAS_TMC_SW_SERIAL
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{TP_SERIAL, get_timer_num_from_base_address(timer_serial[0])}, // Set in variant.h, or as a define in platformio.h if not present in variant.h
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#endif
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#if ENABLED(SPEAKER)
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{TP_TONE, get_timer_num_from_base_address(timer_tone[0])}, // Set in variant.h, or as a define in platformio.h if not present in variant.h
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#endif
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#if HAS_SERVOS
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{TP_SERVO, get_timer_num_from_base_address(timer_servo[0])}, // Set in variant.h, or as a define in platformio.h if not present in variant.h
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#endif
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{TP_STEP, STEP_TIMER},
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{TP_TEMP, TEMP_TIMER},
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};
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static constexpr bool verify_no_timer_conflicts() {
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LOOP_L_N(i, COUNT(timers_in_use))
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LOOP_S_L_N(j, i + 1, COUNT(timers_in_use))
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if (timers_in_use[i].t == timers_in_use[j].t) return false;
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return true;
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}
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// If this assertion fails at compile time, review the timers_in_use array.
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// If default_envs is defined properly in platformio.ini, VS Code can evaluate the array
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// when hovering over it, making it easy to identify the conflicting timers.
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static_assert(verify_no_timer_conflicts(), "One or more timer conflict detected. Examine \"timers_in_use\" to help identify conflict.");
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#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC && !MAPLE_STM32F1
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