178 lines
6.9 KiB
C
178 lines
6.9 KiB
C
/**
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* Marlin 3D Printer Firmware
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*
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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* Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
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* Copyright (c) 2017 Victor Perez
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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 <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* HAL for stm32duino.com based on Libmaple and compatible (STM32F1)
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*/
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#ifndef _HAL_TIMERS_STM32F1_H
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#define _HAL_TIMERS_STM32F1_H
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// --------------------------------------------------------------------------
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// Includes
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// --------------------------------------------------------------------------
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#include <stdint.h>
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// --------------------------------------------------------------------------
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// Defines
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// --------------------------------------------------------------------------
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/**
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* TODO: Check and confirm what timer we will use for each Temps and stepper driving.
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* We should probable drive temps with PWM.
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*/
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#define FORCE_INLINE __attribute__((always_inline)) inline
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typedef uint16_t hal_timer_t;
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#define HAL_TIMER_TYPE_MAX 0xFFFF
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#if defined(MCU_STM32F103CB) || defined(MCU_STM32F103C8)
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#define STEP_TIMER_NUM 4 // For C8/CB boards, use timer 4
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#else
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#define STEP_TIMER_NUM 5 // for other boards, five is fine.
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#endif
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#define STEP_TIMER_CHAN 1 // Channel of the timer to use for compare and interrupts
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#define TEMP_TIMER_NUM 2 // index of timer to use for temperature
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#define TEMP_TIMER_CHAN 1 // Channel of the timer to use for compare and interrupts
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#define CAT(a, ...) a ## __VA_ARGS__
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#define TIMER_DEV(num) CAT (&timer, num)
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#define STEP_TIMER_DEV TIMER_DEV(STEP_TIMER_NUM)
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#define TEMP_TIMER_DEV TIMER_DEV(TEMP_TIMER_NUM)
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//STM32_HAVE_TIMER(n);
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#define HAL_TIMER_RATE (F_CPU) // frequency of timers peripherals
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#define STEPPER_TIMER_PRESCALE 18 // prescaler for setting stepper timer, 4Mhz
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#define HAL_STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
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#define HAL_TICKS_PER_US ((HAL_STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
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#define PULSE_TIMER_NUM STEP_TIMER_NUM
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#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
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#define TEMP_TIMER_PRESCALE 1000 // prescaler for setting Temp timer, 72Khz
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#define TEMP_TIMER_FREQUENCY 100 // temperature interrupt frequency
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#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() timer_enable_irq(STEP_TIMER_DEV, STEP_TIMER_CHAN)
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() timer_disable_irq(STEP_TIMER_DEV, STEP_TIMER_CHAN)
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#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM)
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#define ENABLE_TEMPERATURE_INTERRUPT() timer_enable_irq(TEMP_TIMER_DEV, TEMP_TIMER_CHAN)
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#define DISABLE_TEMPERATURE_INTERRUPT() timer_disable_irq(TEMP_TIMER_DEV, TEMP_TIMER_CHAN)
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#define HAL_timer_get_count(timer_num) timer_get_count(TIMER_DEV(timer_num))
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#define HAL_ENABLE_ISRs() do { if (thermalManager.in_temp_isr)DISABLE_TEMPERATURE_INTERRUPT(); else ENABLE_TEMPERATURE_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
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// TODO change this
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#define HAL_TEMP_TIMER_ISR extern "C" void tempTC_Handler(void)
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#define HAL_STEP_TIMER_ISR extern "C" void stepTC_Handler(void)
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extern "C" void tempTC_Handler(void);
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extern "C" void stepTC_Handler(void);
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// --------------------------------------------------------------------------
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// Types
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// --------------------------------------------------------------------------
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// --------------------------------------------------------------------------
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// Public Variables
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// --------------------------------------------------------------------------
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/*
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static HardwareTimer StepperTimer(STEP_TIMER_NUM);
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static HardwareTimer TempTimer(TEMP_TIMER_NUM);
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*/
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// --------------------------------------------------------------------------
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// Public functions
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// --------------------------------------------------------------------------
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void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
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void HAL_timer_enable_interrupt(const uint8_t timer_num);
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void HAL_timer_disable_interrupt(const uint8_t timer_num);
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bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
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/**
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* NOTE: By default libmaple sets ARPE = 1, which means the Auto reload register is preloaded (will only update with an update event)
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* Thus we have to pause the timer, update the value, refresh, resume the timer.
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* 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.
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* 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
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* 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.
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* This mode pretty much makes 2 timers unusable for PWM since they have their counts updated all the time on ISRs.
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* The way Marlin manages timer interrupts doesn't make for an efficient usage in STM32F1
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* Todo: Look at that possibility later.
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*/
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FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
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//compare = min(compare, HAL_TIMER_TYPE_MAX);
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switch (timer_num) {
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case STEP_TIMER_NUM:
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timer_set_compare(STEP_TIMER_DEV, STEP_TIMER_CHAN, compare);
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return;
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case TEMP_TIMER_NUM:
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timer_set_compare(TEMP_TIMER_DEV, TEMP_TIMER_CHAN, compare);
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return;
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default:
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return;
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}
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}
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FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
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switch (timer_num) {
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case STEP_TIMER_NUM:
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return timer_get_compare(STEP_TIMER_DEV, STEP_TIMER_CHAN);
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case TEMP_TIMER_NUM:
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return timer_get_compare(TEMP_TIMER_DEV, TEMP_TIMER_CHAN);
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default:
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return 0;
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}
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}
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FORCE_INLINE static void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_ticks) {
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const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_ticks;
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if (HAL_timer_get_compare(timer_num) < mincmp) HAL_timer_set_compare(timer_num, mincmp);
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}
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FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
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switch (timer_num) {
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case STEP_TIMER_NUM:
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timer_set_count(STEP_TIMER_DEV, 0);
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timer_generate_update(STEP_TIMER_DEV);
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return;
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case TEMP_TIMER_NUM:
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timer_set_count(TEMP_TIMER_DEV, 0);
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timer_generate_update(TEMP_TIMER_DEV);
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return;
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default:
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return;
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}
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}
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#endif // _HAL_TIMERS_STM32F1_H
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