1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
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.
|
