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Diffstat (limited to 'Marlin/src/HAL/STM32F1/timers.h')
| -rw-r--r-- | Marlin/src/HAL/STM32F1/timers.h | 201 |
1 files changed, 201 insertions, 0 deletions
diff --git a/Marlin/src/HAL/STM32F1/timers.h b/Marlin/src/HAL/STM32F1/timers.h new file mode 100644 index 0000000..3e2e777 --- /dev/null +++ b/Marlin/src/HAL/STM32F1/timers.h @@ -0,0 +1,201 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (c) 2020 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 <https://www.gnu.org/licenses/>. + * + */ +#pragma once + +/** + * HAL for stm32duino.com based on Libmaple and compatible (STM32F1) + */ + +#include <stdint.h> +#include <libmaple/timer.h> +#include "../../core/boards.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 + +#ifndef STEP_TIMER_CHAN + #define STEP_TIMER_CHAN 1 // Channel of the timer to use for compare and interrupts +#endif +#ifndef TEMP_TIMER_CHAN + #define TEMP_TIMER_CHAN 1 // Channel of the timer to use for compare and interrupts +#endif + +/** + * Note: Timers may be used by platforms and libraries + * + * FAN PWMs: + * With FAN_SOFT_PWM disabled the Temperature class uses + * FANx_PIN timers to generate FAN PWM signals. + * + * Speaker: + * When SPEAKER is enabled, one timer is allocated by maple/tone.cpp. + * - If BEEPER_PIN has a timer channel (and USE_PIN_TIMER is + * defined in tone.cpp) it uses the pin's own timer. + * - Otherwise it uses Timer 8 on boards with STM32_HIGH_DENSITY + * or Timer 4 on other boards. + */ +#ifndef STEP_TIMER_NUM + #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 +#endif +#ifndef PULSE_TIMER_NUM + #define PULSE_TIMER_NUM STEP_TIMER_NUM +#endif +#ifndef TEMP_TIMER_NUM + #define TEMP_TIMER_NUM 2 // Timer Index for Temperature + //#define TEMP_TIMER_NUM 4 // 2->4, Timer 2 for Stepper Current PWM +#endif + +#if MB(BTT_SKR_MINI_E3_V1_0, BTT_SKR_E3_DIP, BTT_SKR_MINI_E3_V1_2, MKS_ROBIN_LITE) + // SKR Mini E3 boards use PA8 as FAN_PIN, so TIMER 1 is used for Fan PWM. + #ifdef STM32_HIGH_DENSITY + #define SERVO0_TIMER_NUM 8 // tone.cpp uses Timer 4 + #else + #define SERVO0_TIMER_NUM 3 // tone.cpp uses Timer 8 + #endif +#else + #define SERVO0_TIMER_NUM 1 // SERVO0 or BLTOUCH +#endif + +#define STEP_TIMER_IRQ_PRIO 2 +#define TEMP_TIMER_IRQ_PRIO 3 +#define SERVO0_TIMER_IRQ_PRIO 1 + +#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 + +#ifndef HAL_TEMP_TIMER_ISR + #define HAL_TEMP_TIMER_ISR() extern "C" void tempTC_Handler() +#endif +#ifndef HAL_STEP_TIMER_ISR + #define HAL_STEP_TIMER_ISR() extern "C" void stepTC_Handler() +#endif + +extern "C" { + void tempTC_Handler(); + void stepTC_Handler(); +} + +// ------------------------ +// 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); +} + +void timer_set_interrupt_priority(uint_fast8_t timer_num, uint_fast8_t priority); + +#define TIMER_OC_NO_PRELOAD 0 // Need to disable preload also on compare registers. |