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Fix BLTouch PWM reliability in HAL/STM32 (#18702)

vanilla_fb_2.0.x
Jason Smith 4 years ago
committed by GitHub
parent
commit
12bc63913c
No known key found for this signature in database GPG Key ID: 4AEE18F83AFDEB23
  1. 2
      Marlin/src/HAL/STM32/HAL.cpp
  2. 24
      Marlin/src/HAL/STM32/Servo.cpp
  3. 1
      Marlin/src/HAL/STM32/Servo.h
  4. 44
      Marlin/src/HAL/STM32/timers.cpp
  5. 3
      Marlin/src/HAL/STM32/timers.h

2
Marlin/src/HAL/STM32/HAL.cpp

@ -79,7 +79,7 @@ void HAL_init() {
while (!LL_PWR_IsActiveFlag_BRR()); // Wait until backup regulator is initialized
#endif
SetSoftwareSerialTimerInterruptPriority();
SetTimerInterruptPriorities();
TERN_(EMERGENCY_PARSER, USB_Hook_init());
}

24
Marlin/src/HAL/STM32/Servo.cpp

@ -33,6 +33,18 @@ static libServo *servos[NUM_SERVOS] = {0};
constexpr millis_t servoDelay[] = SERVO_DELAY;
static_assert(COUNT(servoDelay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
// Initialize to the default timer priority. This will be overridden by a call from timers.cpp.
// This allows all timer interrupt priorities to be managed from a single location in the HAL.
static uint32_t servo_interrupt_priority = NVIC_EncodePriority(NVIC_GetPriorityGrouping(), TIM_IRQ_PRIO, TIM_IRQ_SUBPRIO);
// This must be called after the STM32 Servo class has intialized the timer.
// It may only be needed after the first call to attach(), but it is possible
// that is is necessary after every detach() call. To be safe this is currently
// called after every call to attach().
static void fixServoTimerInterruptPriority() {
NVIC_SetPriority(getTimerUpIrq(TIMER_SERVO), servo_interrupt_priority);
}
libServo::libServo()
: delay(servoDelay[servoCount]),
was_attached_before_pause(false),
@ -44,13 +56,17 @@ libServo::libServo()
int8_t libServo::attach(const int pin) {
if (servoCount >= MAX_SERVOS) return -1;
if (pin > 0) servo_pin = pin;
return stm32_servo.attach(servo_pin);
auto result = stm32_servo.attach(servo_pin);
fixServoTimerInterruptPriority();
return result;
}
int8_t libServo::attach(const int pin, const int min, const int max) {
if (servoCount >= MAX_SERVOS) return -1;
if (pin > 0) servo_pin = pin;
return stm32_servo.attach(servo_pin, min, max);
auto result = stm32_servo.attach(servo_pin, min, max);
fixServoTimerInterruptPriority();
return result;
}
void libServo::move(const int value) {
@ -86,5 +102,9 @@ void libServo::resume_all_servos() {
if (servo) servo->resume();
}
void libServo::setInterruptPriority(uint32_t preemptPriority, uint32_t subPriority) {
servo_interrupt_priority = NVIC_EncodePriority(NVIC_GetPriorityGrouping(), preemptPriority, subPriority);
}
#endif // HAS_SERVOS
#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC

1
Marlin/src/HAL/STM32/Servo.h

@ -41,6 +41,7 @@ class libServo {
static void pause_all_servos();
static void resume_all_servos();
static void setInterruptPriority(uint32_t preemptPriority, uint32_t subPriority);
private:
Servo stm32_servo;

44
Marlin/src/HAL/STM32/timers.cpp

@ -29,26 +29,41 @@
#define NUM_HARDWARE_TIMERS 2
// Default timer priorities. Override by specifying alternate priorities in the board pins file.
// The TONE timer is not present here, as it currently cannot be set programmatically. It is set
// by defining TIM_IRQ_PRIO in the variant.h or platformio.ini file, which adjusts the default
// priority for STM32 HardwareTimer objects.
#define SWSERIAL_TIMER_IRQ_PRIO_DEFAULT 1 // Requires tight bit timing to communicate reliably with TMC drivers
#define SERVO_TIMER_IRQ_PRIO_DEFAULT 1 // Requires tight PWM timing to control a BLTouch reliably
#define STEP_TIMER_IRQ_PRIO_DEFAULT 2
#define TEMP_TIMER_IRQ_PRIO_DEFAULT 14 // Low priority avoids interference with other hardware and timers
#ifndef STEP_TIMER_IRQ_PRIO
#define STEP_TIMER_IRQ_PRIO 2
#define STEP_TIMER_IRQ_PRIO STEP_TIMER_IRQ_PRIO_DEFAULT
#endif
#ifndef TEMP_TIMER_IRQ_PRIO
#define TEMP_TIMER_IRQ_PRIO 14 // 14 = after hardware ISRs
#endif
// Ensure the default timer priority is somewhere between the STEP and TEMP priorities.
// The STM32 framework defaults to interrupt 14 for all timers. This should be increased so that
// timing-sensitive operations such as speaker output are note impacted by the long-running
// temperature ISR. This must be defined in the platformio.ini file or the board's variant.h,
// so that it will be consumed by framework code.
#if !(TIM_IRQ_PRIO > STEP_TIMER_IRQ_PRIO && TIM_IRQ_PRIO < TEMP_TIMER_IRQ_PRIO)
#error "Default timer interrupt priority is unspecified or set to a value which may degrade performance."
#define TEMP_TIMER_IRQ_PRIO TEMP_TIMER_IRQ_PRIO_DEFAULT
#endif
#if HAS_TMC_SW_SERIAL
#include <SoftwareSerial.h>
#ifndef SWSERIAL_TIMER_IRQ_PRIO
#define SWSERIAL_TIMER_IRQ_PRIO 1
#define SWSERIAL_TIMER_IRQ_PRIO SWSERIAL_TIMER_IRQ_PRIO_DEFAULT
#endif
#endif
#if HAS_SERVOS
#include "Servo.h"
#ifndef SERVO_TIMER_IRQ_PRIO
#define SERVO_TIMER_IRQ_PRIO SERVO_TIMER_IRQ_PRIO_DEFAULT
#endif
#endif
#if ENABLED(SPEAKER)
// Ensure the default timer priority is somewhere between the STEP and TEMP priorities.
// The STM32 framework defaults to interrupt 14 for all timers. This should be increased so that
// timing-sensitive operations such as speaker output are not impacted by the long-running
// temperature ISR. This must be defined in the platformio.ini file or the board's variant.h,
// so that it will be consumed by framework code.
#if !(TIM_IRQ_PRIO > STEP_TIMER_IRQ_PRIO && TIM_IRQ_PRIO < TEMP_TIMER_IRQ_PRIO)
#error "Default timer interrupt priority is unspecified or set to a value which may degrade performance."
#endif
#endif
@ -189,8 +204,9 @@ TIM_TypeDef * HAL_timer_device(const uint8_t timer_num) {
return nullptr;
}
void SetSoftwareSerialTimerInterruptPriority() {
void SetTimerInterruptPriorities() {
TERN_(HAS_TMC_SW_SERIAL, SoftwareSerial::setInterruptPriority(SWSERIAL_TIMER_IRQ_PRIO, 0));
TERN_(HAS_SERVOS, libServo::setInterruptPriority(SERVO_TIMER_IRQ_PRIO, 0));
}
#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC

3
Marlin/src/HAL/STM32/timers.h

@ -86,8 +86,9 @@ 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);
// Configure timer priorities for peripherals such as Software Serial or Servos.
// Exposed here to allow all timer priority information to reside in timers.cpp
void SetSoftwareSerialTimerInterruptPriority();
void SetTimerInterruptPriorities();
//TIM_TypeDef* HAL_timer_device(const uint8_t timer_num); no need to be public for now. not public = not used externally

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