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280 lines
11 KiB
280 lines
11 KiB
/**
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* Marlin 3D Printer Firmware
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*
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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* Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
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* Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com
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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 <https://www.gnu.org/licenses/>.
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*
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*/
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#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC)
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#include "../../inc/MarlinConfig.h"
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// ------------------------
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// Local defines
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// ------------------------
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#define NUM_HARDWARE_TIMERS 2
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// Default timer priorities. Override by specifying alternate priorities in the board pins file.
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// The TONE timer is not present here, as it currently cannot be set programmatically. It is set
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// by defining TIM_IRQ_PRIO in the variant.h or platformio.ini file, which adjusts the default
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// priority for STM32 HardwareTimer objects.
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#define SWSERIAL_TIMER_IRQ_PRIO_DEFAULT 1 // Requires tight bit timing to communicate reliably with TMC drivers
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#define SERVO_TIMER_IRQ_PRIO_DEFAULT 1 // Requires tight PWM timing to control a BLTouch reliably
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#define STEP_TIMER_IRQ_PRIO_DEFAULT 2
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#define TEMP_TIMER_IRQ_PRIO_DEFAULT 14 // Low priority avoids interference with other hardware and timers
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#ifndef STEP_TIMER_IRQ_PRIO
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#define STEP_TIMER_IRQ_PRIO STEP_TIMER_IRQ_PRIO_DEFAULT
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#endif
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#ifndef TEMP_TIMER_IRQ_PRIO
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#define TEMP_TIMER_IRQ_PRIO TEMP_TIMER_IRQ_PRIO_DEFAULT
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#endif
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#if HAS_TMC_SW_SERIAL
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#include <SoftwareSerial.h>
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#ifndef SWSERIAL_TIMER_IRQ_PRIO
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#define SWSERIAL_TIMER_IRQ_PRIO SWSERIAL_TIMER_IRQ_PRIO_DEFAULT
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#endif
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#endif
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#if HAS_SERVOS
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#include "Servo.h"
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#ifndef SERVO_TIMER_IRQ_PRIO
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#define SERVO_TIMER_IRQ_PRIO SERVO_TIMER_IRQ_PRIO_DEFAULT
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#endif
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#endif
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#if ENABLED(SPEAKER)
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// Ensure the default timer priority is somewhere between the STEP and TEMP priorities.
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// The STM32 framework defaults to interrupt 14 for all timers. This should be increased so that
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// timing-sensitive operations such as speaker output are not impacted by the long-running
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// temperature ISR. This must be defined in the platformio.ini file or the board's variant.h,
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// so that it will be consumed by framework code.
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#if !(TIM_IRQ_PRIO > STEP_TIMER_IRQ_PRIO && TIM_IRQ_PRIO < TEMP_TIMER_IRQ_PRIO)
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#error "Default timer interrupt priority is unspecified or set to a value which may degrade performance."
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#endif
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#endif
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#ifdef STM32F0xx
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#define MCU_TIMER_RATE (F_CPU) // Frequency of timer peripherals
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#define MCU_STEP_TIMER 16
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#define MCU_TEMP_TIMER 17
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#elif defined(STM32F1xx)
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#define MCU_TIMER_RATE (F_CPU)
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#define MCU_STEP_TIMER 4
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#define MCU_TEMP_TIMER 2
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#elif defined(STM32F401xC) || defined(STM32F401xE)
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#define MCU_TIMER_RATE (F_CPU / 2)
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#define MCU_STEP_TIMER 9
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#define MCU_TEMP_TIMER 10
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#elif defined(STM32F4xx) || defined(STM32F7xx)
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#define MCU_TIMER_RATE (F_CPU / 2)
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#define MCU_STEP_TIMER 6 // STM32F401 has no TIM6, TIM7, or TIM8
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#define MCU_TEMP_TIMER 14 // TIM7 is consumed by Software Serial if used.
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#endif
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#ifndef HAL_TIMER_RATE
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#define HAL_TIMER_RATE MCU_TIMER_RATE
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#endif
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#ifndef STEP_TIMER
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#define STEP_TIMER MCU_STEP_TIMER
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#endif
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#ifndef TEMP_TIMER
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#define TEMP_TIMER MCU_TEMP_TIMER
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#endif
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#define __TIMER_DEV(X) TIM##X
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#define _TIMER_DEV(X) __TIMER_DEV(X)
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#define STEP_TIMER_DEV _TIMER_DEV(STEP_TIMER)
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#define TEMP_TIMER_DEV _TIMER_DEV(TEMP_TIMER)
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#define __TIMER_IRQ_NAME(X) TIM##X##_IRQn
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#define _TIMER_IRQ_NAME(X) __TIMER_IRQ_NAME(X)
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#define STEP_TIMER_IRQ_NAME _TIMER_IRQ_NAME(STEP_TIMER)
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#define TEMP_TIMER_IRQ_NAME _TIMER_IRQ_NAME(TEMP_TIMER)
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// ------------------------
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// Private Variables
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// ------------------------
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HardwareTimer *timer_instance[NUM_HARDWARE_TIMERS] = { NULL };
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// ------------------------
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// Public functions
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// ------------------------
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// frequency is in Hertz
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void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
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if (!HAL_timer_initialized(timer_num)) {
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switch (timer_num) {
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case STEP_TIMER_NUM: // STEPPER TIMER - use a 32bit timer if possible
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timer_instance[timer_num] = new HardwareTimer(STEP_TIMER_DEV);
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/* Set the prescaler to the final desired value.
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* This will change the effective ISR callback frequency but when
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* HAL_timer_start(timer_num=0) is called in the core for the first time
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* the real frequency isn't important as long as, after boot, the ISR
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* gets called with the correct prescaler and count register. So here
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* we set the prescaler to the correct, final value and ignore the frequency
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* asked. We will call back the ISR in 1 second to start at full speed.
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*
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* The proper fix, however, would be a correct initialization OR a
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* HAL_timer_change(const uint8_t timer_num, const uint32_t frequency)
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* which changes the prescaler when an IRQ frequency change is needed
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* (for example when steppers are turned on)
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*/
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timer_instance[timer_num]->setPrescaleFactor(STEPPER_TIMER_PRESCALE); //the -1 is done internally
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timer_instance[timer_num]->setOverflow(_MIN(hal_timer_t(HAL_TIMER_TYPE_MAX), (HAL_TIMER_RATE) / (STEPPER_TIMER_PRESCALE) /* /frequency */), TICK_FORMAT);
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break;
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case TEMP_TIMER_NUM: // TEMP TIMER - any available 16bit timer
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timer_instance[timer_num] = new HardwareTimer(TEMP_TIMER_DEV);
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// The prescale factor is computed automatically for HERTZ_FORMAT
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timer_instance[timer_num]->setOverflow(frequency, HERTZ_FORMAT);
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break;
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}
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// Disable preload. Leaving it default-enabled can cause the timer to stop if it happens
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// to exit the ISR after the start time for the next interrupt has already passed.
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timer_instance[timer_num]->setPreloadEnable(false);
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HAL_timer_enable_interrupt(timer_num);
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// Start the timer.
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timer_instance[timer_num]->resume(); // First call to resume() MUST follow the attachInterrupt()
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// This is fixed in Arduino_Core_STM32 1.8.
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// These calls can be removed and replaced with
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// timer_instance[timer_num]->setInterruptPriority
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switch (timer_num) {
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case STEP_TIMER_NUM:
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timer_instance[timer_num]->setInterruptPriority(STEP_TIMER_IRQ_PRIO, 0);
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break;
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case TEMP_TIMER_NUM:
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timer_instance[timer_num]->setInterruptPriority(TEMP_TIMER_IRQ_PRIO, 0);
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break;
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}
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}
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}
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void HAL_timer_enable_interrupt(const uint8_t timer_num) {
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if (HAL_timer_initialized(timer_num) && !timer_instance[timer_num]->hasInterrupt()) {
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switch (timer_num) {
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case STEP_TIMER_NUM:
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timer_instance[timer_num]->attachInterrupt(Step_Handler);
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break;
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case TEMP_TIMER_NUM:
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timer_instance[timer_num]->attachInterrupt(Temp_Handler);
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break;
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}
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}
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}
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void HAL_timer_disable_interrupt(const uint8_t timer_num) {
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if (HAL_timer_initialized(timer_num)) timer_instance[timer_num]->detachInterrupt();
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}
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bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
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return HAL_timer_initialized(timer_num) && timer_instance[timer_num]->hasInterrupt();
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}
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void SetTimerInterruptPriorities() {
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TERN_(HAS_TMC_SW_SERIAL, SoftwareSerial::setInterruptPriority(SWSERIAL_TIMER_IRQ_PRIO, 0));
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TERN_(HAS_SERVOS, libServo::setInterruptPriority(SERVO_TIMER_IRQ_PRIO, 0));
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}
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// This is a terrible hack to replicate the behavior used in the framework's SoftwareSerial.cpp
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// to choose a serial timer. It will select TIM7 on most boards used by Marlin, but this is more
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// resiliant to new MCUs which may not have a TIM7. Best practice is to explicitly specify
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// TIMER_SERIAL to avoid relying on framework selections which may not be predictable.
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#if !defined(TIMER_SERIAL)
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#if defined (TIM18_BASE)
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#define TIMER_SERIAL TIM18
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#elif defined (TIM7_BASE)
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#define TIMER_SERIAL TIM7
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#elif defined (TIM6_BASE)
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#define TIMER_SERIAL TIM6
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#elif defined (TIM22_BASE)
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#define TIMER_SERIAL TIM22
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#elif defined (TIM21_BASE)
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#define TIMER_SERIAL TIM21
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#elif defined (TIM17_BASE)
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#define TIMER_SERIAL TIM17
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#elif defined (TIM16_BASE)
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#define TIMER_SERIAL TIM16
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#elif defined (TIM15_BASE)
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#define TIMER_SERIAL TIM15
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#elif defined (TIM14_BASE)
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#define TIMER_SERIAL TIM14
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#elif defined (TIM13_BASE)
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#define TIMER_SERIAL TIM13
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#elif defined (TIM11_BASE)
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#define TIMER_SERIAL TIM11
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#elif defined (TIM10_BASE)
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#define TIMER_SERIAL TIM10
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#elif defined (TIM12_BASE)
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#define TIMER_SERIAL TIM12
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#elif defined (TIM19_BASE)
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#define TIMER_SERIAL TIM19
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#elif defined (TIM9_BASE)
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#define TIMER_SERIAL TIM9
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#elif defined (TIM5_BASE)
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#define TIMER_SERIAL TIM5
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#elif defined (TIM4_BASE)
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#define TIMER_SERIAL TIM4
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#elif defined (TIM3_BASE)
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#define TIMER_SERIAL TIM3
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#elif defined (TIM2_BASE)
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#define TIMER_SERIAL TIM2
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#elif defined (TIM20_BASE)
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#define TIMER_SERIAL TIM20
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#elif defined (TIM8_BASE)
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#define TIMER_SERIAL TIM8
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#elif defined (TIM1_BASE)
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#define TIMER_SERIAL TIM1
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#else
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#error No suitable timer found for SoftwareSerial, define TIMER_SERIAL in variant.h
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#endif
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#endif
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// Place all timers used into an array, then recursively check for duplicates during compilation.
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// This does not currently account for timers used for PWM, such as for fans.
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// Timers are actually pointers. Convert to integers to simplify constexpr logic.
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static constexpr uintptr_t timers_in_use[] = {
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uintptr_t(TEMP_TIMER_DEV), // Override in pins file
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uintptr_t(STEP_TIMER_DEV), // Override in pins file
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#if HAS_TMC_SW_SERIAL
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uintptr_t(TIMER_SERIAL), // Set in variant.h, or as a define in platformio.h if not present in variant.h
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#endif
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#if ENABLED(SPEAKER)
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uintptr_t(TIMER_TONE), // Set in variant.h, or as a define in platformio.h if not present in variant.h
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#endif
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#if HAS_SERVOS
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uintptr_t(TIMER_SERVO), // Set in variant.h, or as a define in platformio.h if not present in variant.h
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#endif
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};
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static constexpr bool verify_no_duplicate_timers() {
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LOOP_L_N(i, COUNT(timers_in_use))
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LOOP_S_L_N(j, i + 1, COUNT(timers_in_use))
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if (timers_in_use[i] == timers_in_use[j]) return false;
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return true;
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}
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// If this assertion fails at compile time, review the timers_in_use array. If default_envs is
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// defined properly in platformio.ini, VS Code can evaluate the array when hovering over it,
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// making it easy to identify the conflicting timers.
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static_assert(verify_no_duplicate_timers(), "One or more timer conflict detected");
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#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC
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