184 lines
6.4 KiB
C
184 lines
6.4 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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#define STEP_TIMER_NUM 5 // index of timer to use for stepper
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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 HAL_TIMER_RATE (F_CPU) // frequency of timers peripherals
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#define STEPPER_TIMER_PRESCALE 36 // prescaler for setting stepper timer, 2Mhz
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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 us
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#define TEMP_TIMER_PRESCALE 1000 // prescaler for setting Temp timer, 72Khz
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#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt (STEP_TIMER_NUM)
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt (STEP_TIMER_NUM)
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#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt (TEMP_TIMER_NUM)
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#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt (TEMP_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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static HardwareTimer StepperTimer(STEP_TIMER_NUM);
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static HardwareTimer TempTimer(TEMP_TIMER_NUM);
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// --------------------------------------------------------------------------
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// Public functions
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// --------------------------------------------------------------------------
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void HAL_timer_start (uint8_t timer_num, uint32_t frequency);
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void HAL_timer_enable_interrupt(uint8_t timer_num);
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void HAL_timer_disable_interrupt(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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static FORCE_INLINE void HAL_timer_set_count (uint8_t timer_num, uint32_t count) {
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switch (timer_num) {
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case STEP_TIMER_NUM:
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StepperTimer.pause();
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StepperTimer.setCompare (STEP_TIMER_CHAN, count);
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StepperTimer.refresh ();
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StepperTimer.resume ();
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break;
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case TEMP_TIMER_NUM:
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TempTimer.pause();
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TempTimer.setCompare (TEMP_TIMER_CHAN, count);
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TempTimer.refresh ();
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TempTimer.resume ();
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break;
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default:
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break;
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}
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}
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static FORCE_INLINE hal_timer_t HAL_timer_get_count (uint8_t timer_num) {
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hal_timer_t temp;
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switch (timer_num) {
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case STEP_TIMER_NUM:
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temp = StepperTimer.getCompare(STEP_TIMER_CHAN);
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break;
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case TEMP_TIMER_NUM:
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temp = TempTimer.getCompare(TEMP_TIMER_CHAN);
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break;
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default:
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temp = 0;
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break;
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}
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return temp;
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}
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static FORCE_INLINE hal_timer_t HAL_timer_get_current_count(uint8_t timer_num) {
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hal_timer_t temp;
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switch (timer_num) {
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case STEP_TIMER_NUM:
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temp = StepperTimer.getCount();
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break;
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case TEMP_TIMER_NUM:
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temp = TempTimer.getCount();
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break;
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default:
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temp = 0;
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break;
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}
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return temp;
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}
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//void HAL_timer_isr_prologue (uint8_t timer_num);
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static FORCE_INLINE void HAL_timer_isr_prologue(uint8_t timer_num) {
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switch (timer_num) {
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case STEP_TIMER_NUM:
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StepperTimer.pause();
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StepperTimer.setCount(0);
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StepperTimer.refresh();
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StepperTimer.resume();
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break;
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case TEMP_TIMER_NUM:
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TempTimer.pause();
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TempTimer.setCount(0);
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TempTimer.refresh();
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TempTimer.resume();
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break;
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default:
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break;
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}
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}
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#endif // _HAL_TIMERS_STM32F1_H
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