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Fix STM32F1 motor shocks (stepper timer issue) (#14030)

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This commit is contained in:
Tanguy Pruvot 2019-06-29 11:39:38 +02:00 committed by Scott Lahteine
parent 6550a222aa
commit 19aafb9050
3 changed files with 36 additions and 49 deletions
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43
Marlin/src/HAL/HAL_STM32F1/HAL_timers_STM32F1.cpp
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@ -42,14 +42,10 @@
// Local defines
// --------------------------------------------------------------------------
#define NUM_HARDWARE_TIMERS 4
//#define PRESCALER 1
// --------------------------------------------------------------------------
// Types
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Public Variables
// --------------------------------------------------------------------------
@ -57,19 +53,7 @@
// --------------------------------------------------------------------------
// Private Variables
// --------------------------------------------------------------------------
/* VGPV
const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = {
{ TC0, 0, TC0_IRQn, 0}, // 0 - [servo timer5]
{ TC0, 1, TC1_IRQn, 0}, // 1
{ TC0, 2, TC2_IRQn, 0}, // 2
{ TC1, 0, TC3_IRQn, 2}, // 3 - stepper
{ TC1, 1, TC4_IRQn, 15}, // 4 - temperature
{ TC1, 2, TC5_IRQn, 0}, // 5 - [servo timer3]
{ TC2, 0, TC6_IRQn, 0}, // 6
{ TC2, 1, TC7_IRQn, 0}, // 7
{ TC2, 2, TC8_IRQn, 0}, // 8
};
*/
// --------------------------------------------------------------------------
// Function prototypes
// --------------------------------------------------------------------------
@ -101,11 +85,14 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
case 3: irq_num = NVIC_TIMER3; break;
case 4: irq_num = NVIC_TIMER4; break;
case 5: irq_num = NVIC_TIMER5; break;
#ifdef STM32_HIGH_DENSITY
// 6 & 7 are basic timers, avoid them
case 8: irq_num = NVIC_TIMER8_CC; break;
#endif
default:
/**
* We should not get here, add Sanitycheck for timer number. Should be a general timer
* since basic timers do not have CC channels.
* Advanced timers should be skipped if possible too, and are not listed above.
* This should never happen. Add a Sanitycheck for timer number.
* Should be a general timer since basic timers have no CC channels.
*/
break;
}
@ -118,23 +105,27 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
switch (timer_num) {
case STEP_TIMER_NUM:
timer_pause(STEP_TIMER_DEV);
timer_set_mode(STEP_TIMER_DEV, STEP_TIMER_CHAN, TIMER_OUTPUT_COMPARE); // counter
timer_set_count(STEP_TIMER_DEV, 0);
timer_set_prescaler(STEP_TIMER_DEV, (uint16_t)(STEPPER_TIMER_PRESCALE - 1));
timer_set_reload(STEP_TIMER_DEV, 0xFFFF);
timer_oc_set_mode(STEP_TIMER_DEV, STEP_TIMER_CHAN, TIMER_OC_MODE_FROZEN, TIMER_OC_NO_PRELOAD); // no output pin change
timer_set_compare(STEP_TIMER_DEV, STEP_TIMER_CHAN, MIN(hal_timer_t(HAL_TIMER_TYPE_MAX), (STEPPER_TIMER_RATE / frequency)));
timer_no_ARR_preload_ARPE(STEP_TIMER_DEV); // Need to be sure no preload on ARR register
timer_attach_interrupt(STEP_TIMER_DEV, STEP_TIMER_CHAN, stepTC_Handler);
nvic_irq_set_priority(irq_num, 1);
nvic_irq_set_priority(irq_num, STEP_TIMER_IRQ_PRIO);
timer_generate_update(STEP_TIMER_DEV);
timer_resume(STEP_TIMER_DEV);
break;
case TEMP_TIMER_NUM:
timer_pause(TEMP_TIMER_DEV);
timer_set_mode(TEMP_TIMER_DEV, TEMP_TIMER_CHAN, TIMER_OUTPUT_COMPARE);
timer_set_count(TEMP_TIMER_DEV, 0);
timer_set_prescaler(TEMP_TIMER_DEV, (uint16_t)(TEMP_TIMER_PRESCALE - 1));
timer_set_reload(TEMP_TIMER_DEV, 0xFFFF);
timer_set_compare(TEMP_TIMER_DEV, TEMP_TIMER_CHAN, MIN(hal_timer_t(HAL_TIMER_TYPE_MAX), ((F_CPU / TEMP_TIMER_PRESCALE) / frequency)));
timer_attach_interrupt(TEMP_TIMER_DEV, TEMP_TIMER_CHAN, tempTC_Handler);
nvic_irq_set_priority(irq_num, 2);
nvic_irq_set_priority(irq_num, TEMP_TIMER_IRQ_PRIO);
timer_generate_update(TEMP_TIMER_DEV);
timer_resume(TEMP_TIMER_DEV);
break;
@ -145,7 +136,6 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num) {
switch (timer_num) {
case STEP_TIMER_NUM: ENABLE_STEPPER_DRIVER_INTERRUPT(); break;
case TEMP_TIMER_NUM: ENABLE_TEMPERATURE_INTERRUPT(); break;
default: break;
}
}
@ -153,12 +143,11 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num) {
switch (timer_num) {
case STEP_TIMER_NUM: DISABLE_STEPPER_DRIVER_INTERRUPT(); break;
case TEMP_TIMER_NUM: DISABLE_TEMPERATURE_INTERRUPT(); break;
default: break;
}
}
static inline bool timer_irq_enabled(const timer_dev * const dev, const uint8_t interrupt) {
return bool(*bb_perip(&(dev->regs).adv->DIER, interrupt));
return bool(*bb_perip(&(dev->regs).gen->DIER, interrupt));
}
bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
@ -208,12 +197,12 @@ timer_dev* get_timer_dev(int number) {
case 12: return &timer12;
#endif
#if STM32_HAVE_TIMER(13)
case 13: return &timer14;
case 13: return &timer13;
#endif
#if STM32_HAVE_TIMER(14)
case 14: return &timer14;
#endif
default: return nullptr;
default: return nullptr;
}
}

40
Marlin/src/HAL/HAL_STM32F1/HAL_timers_STM32F1.h
View File

@ -45,7 +45,7 @@
typedef uint16_t hal_timer_t;
#define HAL_TIMER_TYPE_MAX 0xFFFF
#define HAL_TIMER_RATE (F_CPU) // frequency of timers peripherals
#define HAL_TIMER_RATE uint32_t(F_CPU) // frequency of timers peripherals
#define STEP_TIMER_CHAN 1 // Channel of the timer to use for compare and interrupts
#define TEMP_TIMER_CHAN 1 // Channel of the timer to use for compare and interrupts
@ -60,6 +60,9 @@ typedef uint16_t hal_timer_t;
#define PULSE_TIMER_NUM STEP_TIMER_NUM
#define SERVO0_TIMER_NUM 1 // SERVO0 or BLTOUCH
#define STEP_TIMER_IRQ_PRIO 1
#define TEMP_TIMER_IRQ_PRIO 2
#define TEMP_TIMER_PRESCALE 1000 // prescaler for setting Temp timer, 72Khz
#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
@ -126,43 +129,38 @@ bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
*/
FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
//compare = MIN(compare, HAL_TIMER_TYPE_MAX);
switch (timer_num) {
case STEP_TIMER_NUM:
timer_set_compare(STEP_TIMER_DEV, STEP_TIMER_CHAN, compare);
return;
// 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);
return;
default:
return;
}
}
FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
switch (timer_num) {
case STEP_TIMER_NUM:
return timer_get_compare(STEP_TIMER_DEV, STEP_TIMER_CHAN);
case TEMP_TIMER_NUM:
return timer_get_compare(TEMP_TIMER_DEV, TEMP_TIMER_CHAN);
default:
return 0;
break;
}
}
FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
switch (timer_num) {
case STEP_TIMER_NUM:
timer_set_count(STEP_TIMER_DEV, 0);
// 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;
default:
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);
}
#define TIMER_OC_NO_PRELOAD 0 // Need to disable preload also on compare registers.

2
Marlin/src/module/stepper.cpp
View File

@ -1262,7 +1262,7 @@ void Stepper::isr() {
// Program timer compare for the maximum period, so it does NOT
// flag an interrupt while this ISR is running - So changes from small
// periods to big periods are respected and the timer does not reset to 0
HAL_timer_set_compare(STEP_TIMER_NUM, HAL_TIMER_TYPE_MAX);
HAL_timer_set_compare(STEP_TIMER_NUM, hal_timer_t(HAL_TIMER_TYPE_MAX));
// Count of ticks for the next ISR
hal_timer_t next_isr_ticks = 0;