andrey
/
Marlin_FB4S
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

🐛 Fix, improve PWM on AVR (#23463)

FB4S_WIFI
Mike La Spina 3 years ago
committed by Scott Lahteine
parent
0204547c09
commit
39e4310c7b
7 changed files with 132 additions and 190 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      Marlin/src/HAL/AVR/HAL.cpp
  2. 7
      Marlin/src/HAL/AVR/HAL.h
  3. 261
      Marlin/src/HAL/AVR/fast_pwm.cpp
  4. 2
      Marlin/src/HAL/AVR/fastio.cpp
  5. 5
      Marlin/src/inc/Conditionals_adv.h
  6. 41
      Marlin/src/module/stepper.cpp
  7. 4
      Marlin/src/module/stepper.h

2
Marlin/src/HAL/AVR/HAL.cpp
View File

@ -75,6 +75,8 @@ void HAL_init() {
#if HAS_SERVO_3
INIT_SERVO(3);
#endif
init_pwm_timers(); // Init user timers to default frequency - 1000HZ
}
void HAL_reboot() {

7
Marlin/src/HAL/AVR/HAL.h
View File

@ -207,6 +207,7 @@ inline void HAL_adc_init() {
#define strtof strtod
#define HAL_CAN_SET_PWM_FREQ // This HAL supports PWM Frequency adjustment
#define PWM_FREQUENCY 1000 // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency()
/**
* set_pwm_frequency
@ -226,3 +227,9 @@ void set_pwm_frequency(const pin_t pin, const uint16_t f_desired);
* Optionally allows changing the maximum size of the provided value to enable finer PWM duty control [default = 255]
*/
void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
/*
* init_pwm_timers
* sets the default frequency for timers 2-5 to 1000HZ
*/
void init_pwm_timers();

261
Marlin/src/HAL/AVR/fast_pwm.cpp
View File

@ -21,10 +21,7 @@
*/
#ifdef __AVR__
#include "../../inc/MarlinConfigPre.h"
#include "HAL.h"
#if NEEDS_HARDWARE_PWM // Specific meta-flag for features that mandate PWM
#include "../../inc/MarlinConfig.h"
struct Timer {
volatile uint8_t* TCCRnQ[3]; // max 3 TCCR registers per timer
@ -32,6 +29,8 @@ struct Timer {
volatile uint16_t* ICRn; // max 1 ICR register per timer
uint8_t n; // the timer number [0->5]
uint8_t q; // the timer output [0->2] (A->C)
bool isPWM; // True if pin is a "hardware timer"
bool isProtected; // True if timer is protected
};
// Macros for the Timer structure
@ -53,16 +52,13 @@ struct Timer {
#define _SET_ICRn(ICRn, V) (*(ICRn) = int(V) & 0xFFFF)
/**
* get_pwm_timer
* Get the timer information and register of the provided pin.
* Return a Timer struct containing this information.
* Used by set_pwm_frequency, set_pwm_duty
* Return a Timer struct describing a pin's timer.
*/
Timer get_pwm_timer(const pin_t pin) {
uint8_t q = 0;
switch (digitalPinToTimer(pin)) {
// Protect reserved timers (TIMER0 & TIMER1)
#ifdef TCCR0A
IF_DISABLED(AVR_AT90USB1286_FAMILY, case TIMER0A:)
case TIMER0B:
@ -71,212 +67,147 @@ Timer get_pwm_timer(const pin_t pin) {
case TIMER1A: case TIMER1B:
#endif
break;
break; // Protect reserved timers (TIMER0 & TIMER1)
#if HAS_TCCR2
case TIMER2: {
Timer timer = {
{ &TCCR2, nullptr, nullptr },
{ (uint16_t*)&OCR2, nullptr, nullptr },
nullptr,
2, 0
};
return timer;
}
case TIMER2:
return Timer({ { &TCCR2, nullptr, nullptr }, { (uint16_t*)&OCR2, nullptr, nullptr }, nullptr, 2, 0, true, false });
#elif ENABLED(USE_OCR2A_AS_TOP)
case TIMER2A: break; // protect TIMER2A since its OCR is used by TIMER2B
case TIMER2B:
return Timer({ { &TCCR2A, &TCCR2B, nullptr }, { (uint16_t*)&OCR2A, (uint16_t*)&OCR2B, nullptr }, nullptr, 2, 1, true, false });
#elif defined(TCCR2A)
#if ENABLED(USE_OCR2A_AS_TOP)
case TIMER2A: break; // protect TIMER2A
case TIMER2B: {
Timer timer = {
{ &TCCR2A, &TCCR2B, nullptr },
{ (uint16_t*)&OCR2A, (uint16_t*)&OCR2B, nullptr },
nullptr,
2, 1
};
return timer;
}
#else
case TIMER2B: ++q;
case TIMER2A: {
Timer timer = {
{ &TCCR2A, &TCCR2B, nullptr },
{ (uint16_t*)&OCR2A, (uint16_t*)&OCR2B, nullptr },
nullptr,
2, q
};
return timer;
}
#endif
case TIMER2B: ++q; case TIMER2A:
return Timer({ { &TCCR2A, &TCCR2B, nullptr }, { (uint16_t*)&OCR2A, (uint16_t*)&OCR2B, nullptr }, nullptr, 2, q, true, false });
#endif
#ifdef OCR3C
case TIMER3C: ++q;
case TIMER3B: ++q;
case TIMER3A: {
Timer timer = {
{ &TCCR3A, &TCCR3B, &TCCR3C },
{ &OCR3A, &OCR3B, &OCR3C },
&ICR3,
3, q
};
return timer;
}
case TIMER3C: ++q; case TIMER3B: ++q; case TIMER3A:
return Timer({ { &TCCR3A, &TCCR3B, &TCCR3C }, { &OCR3A, &OCR3B, &OCR3C }, &ICR3, 3, q, true, false });
#elif defined(OCR3B)
case TIMER3B: ++q;
case TIMER3A: {
Timer timer = {
{ &TCCR3A, &TCCR3B, nullptr },
{ &OCR3A, &OCR3B, nullptr },
&ICR3,
3, q
};
return timer;
}
case TIMER3B: ++q; case TIMER3A:
return Timer({ { &TCCR3A, &TCCR3B, nullptr }, { &OCR3A, &OCR3B, nullptr }, &ICR3, 3, q, true, false });
#endif
#ifdef TCCR4A
case TIMER4C: ++q;
case TIMER4B: ++q;
case TIMER4A: {
Timer timer = {
{ &TCCR4A, &TCCR4B, &TCCR4C },
{ &OCR4A, &OCR4B, &OCR4C },
&ICR4,
4, q
};
return timer;
}
case TIMER4C: ++q; case TIMER4B: ++q; case TIMER4A:
return Timer({ { &TCCR4A, &TCCR4B, &TCCR4C }, { &OCR4A, &OCR4B, &OCR4C }, &ICR4, 4, q, true, false });
#endif
#ifdef TCCR5A
case TIMER5C: ++q;
case TIMER5B: ++q;
case TIMER5A: {
Timer timer = {
{ &TCCR5A, &TCCR5B, &TCCR5C },
{ &OCR5A, &OCR5B, &OCR5C },
&ICR5,
5, q
};
return timer;
}
case TIMER5C: ++q; case TIMER5B: ++q; case TIMER5A:
return Timer({ { &TCCR5A, &TCCR5B, &TCCR5C }, { &OCR5A, &OCR5B, &OCR5C }, &ICR5, 5, q, true, false });
#endif
}
Timer timer = {
{ nullptr, nullptr, nullptr },
{ nullptr, nullptr, nullptr },
nullptr,
0, 0
};
return timer;
return Timer();
}
void set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
Timer timer = get_pwm_timer(pin);
if (timer.n == 0) return; // Don't proceed if protected timer or not recognized
uint16_t size;
if (timer.n == 2) size = 255; else size = 65535;
if (timer.isProtected || !timer.isPWM) return; // Don't proceed if protected timer or not recognized
const bool is_timer2 = timer.n == 2;
const uint16_t maxtop = is_timer2 ? 0xFF : 0xFFFF;
uint16_t res = 255; // resolution (TOP value)
uint8_t j = 0; // prescaler index
uint8_t wgm = 1; // waveform generation mode
uint16_t res = 0xFF; // resolution (TOP value)
uint8_t j = CS_NONE; // prescaler index
uint8_t wgm = WGM_PWM_PC_8; // waveform generation mode
// Calculating the prescaler and resolution to use to achieve closest frequency
if (f_desired != 0) {
int f = (F_CPU) / (2 * 1024 * size) + 1; // Initialize frequency as lowest (non-zero) achievable
uint16_t prescaler[] = { 0, 1, 8, /*TIMER2 ONLY*/32, 64, /*TIMER2 ONLY*/128, 256, 1024 };
// loop over prescaler values
LOOP_S_L_N(i, 1, 8) {
uint16_t res_temp_fast = 255, res_temp_phase_correct = 255;
if (timer.n == 2) {
// No resolution calculation for TIMER2 unless enabled USE_OCR2A_AS_TOP
#if ENABLED(USE_OCR2A_AS_TOP)
const uint16_t rtf = (F_CPU) / (prescaler[i] * f_desired);
res_temp_fast = rtf - 1;
res_temp_phase_correct = rtf / 2;
constexpr uint16_t prescaler[] = { 1, 8, (32), 64, (128), 256, 1024 }; // (*) are Timer 2 only
uint16_t f = (F_CPU) / (2 * 1024 * maxtop) + 1; // Start with the lowest non-zero frequency achievable (1 or 31)
LOOP_L_N(i, COUNT(prescaler)) { // Loop through all prescaler values
const uint16_t p = prescaler[i];
uint16_t res_fast_temp, res_pc_temp;
if (is_timer2) {
#if ENABLED(USE_OCR2A_AS_TOP) // No resolution calculation for TIMER2 unless enabled USE_OCR2A_AS_TOP
const uint16_t rft = (F_CPU) / (p * f_desired);
res_fast_temp = rft - 1;
res_pc_temp = rft / 2;
#else
res_fast_temp = res_pc_temp = maxtop;
#endif
}
else {
// Skip TIMER2 specific prescalers when not TIMER2
if (i == 3 || i == 5) continue;
const uint16_t rtf = (F_CPU) / (prescaler[i] * f_desired);
res_temp_fast = rtf - 1;
res_temp_phase_correct = rtf / 2;
if (p == 32 || p == 128) continue; // Skip TIMER2 specific prescalers when not TIMER2
const uint16_t rft = (F_CPU) / (p * f_desired);
res_fast_temp = rft - 1;
res_pc_temp = rft / 2;
}
LIMIT(res_temp_fast, 1U, size);
LIMIT(res_temp_phase_correct, 1U, size);
LIMIT(res_fast_temp, 1U, maxtop);
LIMIT(res_pc_temp, 1U, maxtop);
// Calculate frequencies of test prescaler and resolution values
const int f_temp_fast = (F_CPU) / (prescaler[i] * (1 + res_temp_fast)),
f_temp_phase_correct = (F_CPU) / (2 * prescaler[i] * res_temp_phase_correct),
f_diff = ABS(f - f_desired),
f_fast_diff = ABS(f_temp_fast - f_desired),
f_phase_diff = ABS(f_temp_phase_correct - f_desired);
const uint32_t f_diff = _MAX(f, f_desired) - _MIN(f, f_desired),
f_fast_temp = (F_CPU) / (p * (1 + res_fast_temp)),
f_fast_diff = _MAX(f_fast_temp, f_desired) - _MIN(f_fast_temp, f_desired),
f_pc_temp = (F_CPU) / (2 * p * res_pc_temp),
f_pc_diff = _MAX(f_pc_temp, f_desired) - _MIN(f_pc_temp, f_desired);
// If FAST values are closest to desired f
if (f_fast_diff < f_diff && f_fast_diff <= f_phase_diff) {
// Remember this combination
f = f_temp_fast;
res = res_temp_fast;
j = i;
if (f_fast_diff < f_diff && f_fast_diff <= f_pc_diff) { // FAST values are closest to desired f
// Set the Wave Generation Mode to FAST PWM
if (timer.n == 2)
wgm = TERN(USE_OCR2A_AS_TOP, WGM2_FAST_PWM_OCR2A, WGM2_FAST_PWM);
else
wgm = WGM_FAST_PWM_ICRn;
wgm = is_timer2 ? uint8_t(TERN(USE_OCR2A_AS_TOP, WGM2_FAST_PWM_OCR2A, WGM2_FAST_PWM)) : uint8_t(WGM_FAST_PWM_ICRn);
// Remember this combination
f = f_fast_temp; res = res_fast_temp; j = i + 1;
}
// If PHASE CORRECT values are closes to desired f
else if (f_phase_diff < f_diff) {
f = f_temp_phase_correct;
res = res_temp_phase_correct;
j = i;
else if (f_pc_diff < f_diff) { // PHASE CORRECT values are closes to desired f
// Set the Wave Generation Mode to PWM PHASE CORRECT
if (timer.n == 2)
wgm = TERN(USE_OCR2A_AS_TOP, WGM2_PWM_PC_OCR2A, WGM2_FAST_PWM);
else
wgm = WGM_PWM_PC_ICRn;
wgm = is_timer2 ? uint8_t(TERN(USE_OCR2A_AS_TOP, WGM2_PWM_PC_OCR2A, WGM2_PWM_PC)) : uint8_t(WGM_PWM_PC_ICRn);
f = f_pc_temp; res = res_pc_temp; j = i + 1;
}
}
}
_SET_WGMnQ(timer.TCCRnQ, wgm);
_SET_CSn(timer.TCCRnQ, j);
if (timer.n == 2) {
TERN_(USE_OCR2A_AS_TOP, _SET_OCRnQ(timer.OCRnQ, 0, res)); // Set OCR2A value (TOP) = res
if (is_timer2) {
TERN_(USE_OCR2A_AS_TOP, _SET_OCRnQ(timer.OCRnQ, 0, res)); // Set OCR2A value (TOP) = res
}
else
_SET_ICRn(timer.ICRn, res); // Set ICRn value (TOP) = res
_SET_ICRn(timer.ICRn, res); // Set ICRn value (TOP) = res
}
#endif // NEEDS_HARDWARE_PWM
void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
#if NEEDS_HARDWARE_PWM
// If v is 0 or v_size (max), digitalWrite to LOW or HIGH.
// Note that digitalWrite also disables pwm output for us (sets COM bit to 0)
if (v == 0)
digitalWrite(pin, invert);
else if (v == v_size)
digitalWrite(pin, !invert);
else {
Timer timer = get_pwm_timer(pin);
if (timer.n == 0) return; // Don't proceed if protected timer or not recognized
// Set compare output mode to CLEAR -> SET or SET -> CLEAR (if inverted)
_SET_COMnQ(timer.TCCRnQ, timer.q TERN_(HAS_TCCR2, + (timer.q == 2)), COM_CLEAR_SET + invert); // COM20 is on bit 4 of TCCR2, so +1 for q==2
// If v is 0 or v_size (max), digitalWrite to LOW or HIGH.
// Note that digitalWrite also disables pwm output for us (sets COM bit to 0)
if (v == 0)
digitalWrite(pin, invert);
else if (v == v_size)
digitalWrite(pin, !invert);
else {
Timer timer = get_pwm_timer(pin);
if (timer.isProtected) return; // Leave protected timer unchanged
if (timer.isPWM) {
_SET_COMnQ(timer.TCCRnQ, SUM_TERN(HAS_TCCR2, timer.q, timer.q == 2), COM_CLEAR_SET + invert); // COM20 is on bit 4 of TCCR2, so +1 for q==2
const uint16_t top = timer.n == 2 ? TERN(USE_OCR2A_AS_TOP, *timer.OCRnQ[0], 255) : *timer.ICRn;
_SET_OCRnQ(timer.OCRnQ, timer.q, uint16_t(uint32_t(v) * top / v_size)); // Scale 8/16-bit v to top value
}
else
digitalWrite(pin, v < 128 ? LOW : HIGH);
}
}
#else
analogWrite(pin, v);
UNUSED(v_size);
UNUSED(invert);
void init_pwm_timers() {
// Init some timer frequencies to a default 1KHz
const pin_t pwm_pin[] = {
#ifdef __AVR_ATmega2560__
10, 5, 6, 46
#elif defined(__AVR_ATmega1280__)
12, 31
#elif defined(__AVR_ATmega644__) || defined(__AVR_ATmega1284__)
15, 6
#elif defined(__AVR_AT90USB1286__) || defined(__AVR_mega64) || defined(__AVR_mega128)
16, 24
#endif
};
#endif
LOOP_L_N(i, COUNT(pwm_pin))
set_pwm_frequency(pwm_pin[i], 1000);
}
#endif // __AVR__

2
Marlin/src/HAL/AVR/fastio.cpp
View File

@ -257,7 +257,7 @@ uint16_t set_pwm_frequency_hz(const_float_t hz, const float dca, const float dcb
const float pwm_top = round(count); // Get the rounded count
ICR5 = (uint16_t)pwm_top - 1; // Subtract 1 for TOP
OCR5A = pwm_top * ABS(dca); // Update and scale DCs
OCR5A = pwm_top * ABS(dca); // Update and scale DCs
OCR5B = pwm_top * ABS(dcb);
OCR5C = pwm_top * ABS(dcc);
_SET_COM(5, A, dca ? (dca < 0 ? COM_SET_CLEAR : COM_CLEAR_SET) : COM_NORMAL); // Set compare modes

5
Marlin/src/inc/Conditionals_adv.h
View File

@ -677,11 +677,6 @@
#define CUTTER_UNIT_IS(V) (_CUTTER_POWER(CUTTER_POWER_UNIT) == _CUTTER_POWER(V))
#endif
// Add features that need hardware PWM here
#if ANY(FAST_PWM_FAN, SPINDLE_LASER_USE_PWM)
#define NEEDS_HARDWARE_PWM 1
#endif
#if !defined(__AVR__) || !defined(USBCON)
// Define constants and variables for buffering serial data.
// Use only 0 or powers of 2 greater than 1

41
Marlin/src/module/stepper.cpp
View File

@ -3257,33 +3257,33 @@ void Stepper::report_positions() {
#elif HAS_MOTOR_CURRENT_PWM
#define _WRITE_CURRENT_PWM(P) set_pwm_duty(pin_t(MOTOR_CURRENT_PWM_## P ##_PIN), 255L * current / (MOTOR_CURRENT_PWM_RANGE))
#define _WRITE_CURRENT_PWM_DUTY(P) set_pwm_duty(pin_t(MOTOR_CURRENT_PWM_## P ##_PIN), 255L * current / (MOTOR_CURRENT_PWM_RANGE))
switch (driver) {
case 0:
#if PIN_EXISTS(MOTOR_CURRENT_PWM_X)
_WRITE_CURRENT_PWM(X);
_WRITE_CURRENT_PWM_DUTY(X);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_Y)
_WRITE_CURRENT_PWM(Y);
_WRITE_CURRENT_PWM_DUTY(Y);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
_WRITE_CURRENT_PWM(XY);
_WRITE_CURRENT_PWM_DUTY(XY);
#endif
break;
case 1:
#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
_WRITE_CURRENT_PWM(Z);
_WRITE_CURRENT_PWM_DUTY(Z);
#endif
break;
case 2:
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
_WRITE_CURRENT_PWM(E);
_WRITE_CURRENT_PWM_DUTY(E);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E0)
_WRITE_CURRENT_PWM(E0);
_WRITE_CURRENT_PWM_DUTY(E0);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E1)
_WRITE_CURRENT_PWM(E1);
_WRITE_CURRENT_PWM_DUTY(E1);
#endif
break;
}
@ -3302,34 +3302,37 @@ void Stepper::report_positions() {
#elif HAS_MOTOR_CURRENT_PWM
#ifdef __SAM3X8E__
#define _RESET_CURRENT_PWM_FREQ(P) NOOP
#else
#define _RESET_CURRENT_PWM_FREQ(P) set_pwm_frequency(pin_t(P), MOTOR_CURRENT_PWM_FREQUENCY)
#endif
#define INIT_CURRENT_PWM(P) do{ SET_PWM(MOTOR_CURRENT_PWM_## P ##_PIN); _RESET_CURRENT_PWM_FREQ(MOTOR_CURRENT_PWM_## P ##_PIN); }while(0)
#if PIN_EXISTS(MOTOR_CURRENT_PWM_X)
SET_PWM(MOTOR_CURRENT_PWM_X_PIN);
INIT_CURRENT_PWM(X);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_Y)
SET_PWM(MOTOR_CURRENT_PWM_Y_PIN);
INIT_CURRENT_PWM(Y);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
SET_PWM(MOTOR_CURRENT_PWM_XY_PIN);
INIT_CURRENT_PWM(XY);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
SET_PWM(MOTOR_CURRENT_PWM_Z_PIN);
INIT_CURRENT_PWM(Z);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
SET_PWM(MOTOR_CURRENT_PWM_E_PIN);
INIT_CURRENT_PWM(E);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E0)
SET_PWM(MOTOR_CURRENT_PWM_E0_PIN);
INIT_CURRENT_PWM(E0);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E1)
SET_PWM(MOTOR_CURRENT_PWM_E1_PIN);
INIT_CURRENT_PWM(E1);
#endif
refresh_motor_power();
// Set Timer5 to 31khz so the PWM of the motor power is as constant as possible. (removes a buzzing noise)
#ifdef __AVR__
SET_CS5(PRESCALER_1);
#endif
#endif
}

4
Marlin/src/module/stepper.h
View File

@ -317,6 +317,10 @@ class Stepper {
#ifndef PWM_MOTOR_CURRENT
#define PWM_MOTOR_CURRENT DEFAULT_PWM_MOTOR_CURRENT
#endif
#ifndef MOTOR_CURRENT_PWM_FREQUENCY
#define MOTOR_CURRENT_PWM_FREQUENCY 31400
#endif
#define MOTOR_CURRENT_COUNT LINEAR_AXES
#elif HAS_MOTOR_CURRENT_SPI
static constexpr uint32_t digipot_count[] = DIGIPOT_MOTOR_CURRENT;

Write Preview
Loading…
Cancel
Save