diff options
Diffstat (limited to 'Marlin/src/HAL/DUE/fastio/G2_PWM.cpp')
| -rw-r--r-- | Marlin/src/HAL/DUE/fastio/G2_PWM.cpp | 206 |
1 files changed, 206 insertions, 0 deletions
diff --git a/Marlin/src/HAL/DUE/fastio/G2_PWM.cpp b/Marlin/src/HAL/DUE/fastio/G2_PWM.cpp new file mode 100644 index 0000000..d9fbabc --- /dev/null +++ b/Marlin/src/HAL/DUE/fastio/G2_PWM.cpp @@ -0,0 +1,206 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * 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 <https://www.gnu.org/licenses/>. + * + */ + +/** + * The PWM module is only used to generate interrupts at specified times. It + * is NOT used to directly toggle pins. The ISR writes to the pin assigned to + * that interrupt. + * + * All PWMs use the same repetition rate. The G2 needs about 10KHz min in order to + * not have obvious ripple on the Vref signals. + * + * The data structures are setup to minimize the computation done by the ISR which + * minimizes ISR execution time. Execution times are 0.8 to 1.1 microseconds. + * + * FIve PWM interrupt sources are used. Channel 0 sets the base period. All Vref + * signals are set active when this counter overflows and resets to zero. The compare + * values in channels 1-4 are set to give the desired duty cycle for that Vref pin. + * When counter 0 matches the compare value then that channel generates an interrupt. + * The ISR checks the source of the interrupt and sets the corresponding pin inactive. + * + * Some jitter in the Vref signal is OK so the interrupt priority is left at its default value. + */ + +#include "../../../inc/MarlinConfig.h" + +#if MB(PRINTRBOARD_G2) + +#include "G2_PWM.h" + +#if PIN_EXISTS(MOTOR_CURRENT_PWM_X) + #define G2_PWM_X 1 +#else + #define G2_PWM_X 0 +#endif +#if PIN_EXISTS(MOTOR_CURRENT_PWM_Y) + #define G2_PWM_Y 1 +#else + #define G2_PWM_Y 0 +#endif +#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z) + #define G2_PWM_Z 1 +#else + #define G2_PWM_Z 0 +#endif +#if PIN_EXISTS(MOTOR_CURRENT_PWM_E) + #define G2_PWM_E 1 +#else + #define G2_PWM_E 0 +#endif +#define G2_MASK_X(V) (G2_PWM_X * (V)) +#define G2_MASK_Y(V) (G2_PWM_Y * (V)) +#define G2_MASK_Z(V) (G2_PWM_Z * (V)) +#define G2_MASK_E(V) (G2_PWM_E * (V)) + +volatile uint32_t *SODR_A = &PIOA->PIO_SODR, + *SODR_B = &PIOB->PIO_SODR, + *CODR_A = &PIOA->PIO_CODR, + *CODR_B = &PIOB->PIO_CODR; + +PWM_map ISR_table[NUM_PWMS] = PWM_MAP_INIT; + +void Stepper::digipot_init() { + + #if PIN_EXISTS(MOTOR_CURRENT_PWM_X) + OUT_WRITE(MOTOR_CURRENT_PWM_X_PIN, 0); // init pins + #endif + #if PIN_EXISTS(MOTOR_CURRENT_PWM_Y) + OUT_WRITE(MOTOR_CURRENT_PWM_Y_PIN, 0); + #endif + #if G2_PWM_Z + OUT_WRITE(MOTOR_CURRENT_PWM_Z_PIN, 0); + #endif + #if G2_PWM_E + OUT_WRITE(MOTOR_CURRENT_PWM_E_PIN, 0); + #endif + + #define WPKEY (0x50574D << 8) // “PWM” in ASCII + #define WPCMD_DIS_SW 0 // command to disable Write Protect SW + #define WPRG_ALL (PWM_WPCR_WPRG0 | PWM_WPCR_WPRG1 | PWM_WPCR_WPRG2 | PWM_WPCR_WPRG3 | PWM_WPCR_WPRG4 | PWM_WPCR_WPRG5) // all Write Protect Groups + + #define PWM_CLOCK_F F_CPU / 1000000UL // set clock to 1MHz + + PMC->PMC_PCER1 = PMC_PCER1_PID36; // enable PWM controller clock (disabled on power up) + + PWM->PWM_WPCR = WPKEY | WPRG_ALL | WPCMD_DIS_SW; // enable setting of all PWM registers + PWM->PWM_CLK = PWM_CLOCK_F; // enable CLK_A and set it to 1MHz, leave CLK_B disabled + PWM->PWM_CH_NUM[0].PWM_CMR = 0b1011; // set channel 0 to Clock A input & to left aligned + if (G2_PWM_X) PWM->PWM_CH_NUM[1].PWM_CMR = 0b1011; // set channel 1 to Clock A input & to left aligned + if (G2_PWM_Y) PWM->PWM_CH_NUM[2].PWM_CMR = 0b1011; // set channel 2 to Clock A input & to left aligned + if (G2_PWM_Z) PWM->PWM_CH_NUM[3].PWM_CMR = 0b1011; // set channel 3 to Clock A input & to left aligned + if (G2_PWM_E) PWM->PWM_CH_NUM[4].PWM_CMR = 0b1011; // set channel 4 to Clock A input & to left aligned + + PWM->PWM_CH_NUM[0].PWM_CPRD = PWM_PERIOD_US; // set channel 0 Period + + PWM->PWM_IER2 = PWM_IER1_CHID0; // generate interrupt when counter0 overflows + PWM->PWM_IER2 = PWM_IER2_CMPM0 + | G2_MASK_X(PWM_IER2_CMPM1) + | G2_MASK_Y(PWM_IER2_CMPM2) + | G2_MASK_Z(PWM_IER2_CMPM3) + | G2_MASK_E(PWM_IER2_CMPM4) + ; // generate interrupt on compare event + + 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 + 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 + 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 + 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 + + if (G2_PWM_X) PWM->PWM_CMP[1].PWM_CMPM = 0x0001; // enable compare event + if (G2_PWM_Y) PWM->PWM_CMP[2].PWM_CMPM = 0x0001; // enable compare event + if (G2_PWM_Z) PWM->PWM_CMP[3].PWM_CMPM = 0x0001; // enable compare event + if (G2_PWM_E) PWM->PWM_CMP[4].PWM_CMPM = 0x0001; // enable compare event + + PWM->PWM_SCM = PWM_SCM_UPDM_MODE0 | PWM_SCM_SYNC0 + | G2_MASK_X(PWM_SCM_SYNC1) + | G2_MASK_Y(PWM_SCM_SYNC2) + | G2_MASK_Z(PWM_SCM_SYNC3) + | G2_MASK_E(PWM_SCM_SYNC4) + ; // sync 1-4 with 0, use mode 0 for updates + + PWM->PWM_ENA = PWM_ENA_CHID0 + | G2_MASK_X(PWM_ENA_CHID1) + | G2_MASK_Y(PWM_ENA_CHID2) + | G2_MASK_Z(PWM_ENA_CHID3) + | G2_MASK_E(PWM_ENA_CHID4) + ; // enable channels used by G2 + + PWM->PWM_IER1 = PWM_IER1_CHID0 + | G2_MASK_X(PWM_IER1_CHID1) + | G2_MASK_Y(PWM_IER1_CHID2) + | G2_MASK_Z(PWM_IER1_CHID3) + | G2_MASK_E(PWM_IER1_CHID4) + ; // enable interrupts for channels used by G2 + + NVIC_EnableIRQ(PWM_IRQn); // Enable interrupt handler + NVIC_SetPriority(PWM_IRQn, NVIC_EncodePriority(0, 10, 0)); // normal priority for PWM module (can stand some jitter on the Vref signals) +} + +void Stepper::set_digipot_current(const uint8_t driver, const int16_t current) { + + if (!(PWM->PWM_CH_NUM[0].PWM_CPRD == PWM_PERIOD_US)) digipot_init(); // Init PWM system if needed + + switch (driver) { + case 0: + if (G2_PWM_X) PWM->PWM_CMP[1].PWM_CMPVUPD = 0x010000000LL | G2_VREF_COUNT(G2_VREF(current)); // update X & Y + if (G2_PWM_Y) PWM->PWM_CMP[2].PWM_CMPVUPD = 0x010000000LL | G2_VREF_COUNT(G2_VREF(current)); + if (G2_PWM_X) PWM->PWM_CMP[1].PWM_CMPMUPD = 0x0001; // enable compare event + if (G2_PWM_Y) PWM->PWM_CMP[2].PWM_CMPMUPD = 0x0001; // enable compare event + 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 + break; + case 1: + if (G2_PWM_Z) { + PWM->PWM_CMP[3].PWM_CMPVUPD = 0x010000000LL | G2_VREF_COUNT(G2_VREF(current)); // update Z + PWM->PWM_CMP[3].PWM_CMPMUPD = 0x0001; // enable compare event + PWM->PWM_SCUC = PWM_SCUC_UPDULOCK; // tell the PWM controller to update the values on the next cycle + } + break; + default: + if (G2_PWM_E) { + PWM->PWM_CMP[4].PWM_CMPVUPD = 0x010000000LL | G2_VREF_COUNT(G2_VREF(current)); // update E + PWM->PWM_CMP[4].PWM_CMPMUPD = 0x0001; // enable compare event + PWM->PWM_SCUC = PWM_SCUC_UPDULOCK; // tell the PWM controller to update the values on the next cycle + } + break; + } +} + +volatile uint32_t PWM_ISR1_STATUS, PWM_ISR2_STATUS; + +void PWM_Handler() { + PWM_ISR1_STATUS = PWM->PWM_ISR1; + PWM_ISR2_STATUS = PWM->PWM_ISR2; + if (PWM_ISR1_STATUS & PWM_IER1_CHID0) { // CHAN_0 interrupt + if (G2_PWM_X) *ISR_table[0].set_register = ISR_table[0].write_mask; // set X to active + if (G2_PWM_Y) *ISR_table[1].set_register = ISR_table[1].write_mask; // set Y to active + if (G2_PWM_Z) *ISR_table[2].set_register = ISR_table[2].write_mask; // set Z to active + if (G2_PWM_E) *ISR_table[3].set_register = ISR_table[3].write_mask; // set E to active + } + else { + if (G2_PWM_X && (PWM_ISR2_STATUS & PWM_IER2_CMPM1)) *ISR_table[0].clr_register = ISR_table[0].write_mask; // set X to inactive + if (G2_PWM_Y && (PWM_ISR2_STATUS & PWM_IER2_CMPM2)) *ISR_table[1].clr_register = ISR_table[1].write_mask; // set Y to inactive + if (G2_PWM_Z && (PWM_ISR2_STATUS & PWM_IER2_CMPM3)) *ISR_table[2].clr_register = ISR_table[2].write_mask; // set Z to inactive + if (G2_PWM_E && (PWM_ISR2_STATUS & PWM_IER2_CMPM4)) *ISR_table[3].clr_register = ISR_table[3].write_mask; // set E to inactive + } + return; +} + +#endif // PRINTRBOARD_G2 |