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- /**
- * Marlin 3D Printer Firmware
- *
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
- * Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <https://www.gnu.org/licenses/>.
- *
- */
- #include "../platforms.h"
-
- #ifdef HAL_STM32
-
- #include "../../inc/MarlinConfig.h"
-
- // ------------------------
- // Local defines
- // ------------------------
-
- // 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 STEP_TIMER_IRQ_PRIO_DEFAULT
- #endif
- #ifndef TEMP_TIMER_IRQ_PRIO
- #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 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
-
- #if defined(STM32F0xx) || defined(STM32G0xx)
- #define MCU_STEP_TIMER 16
- #define MCU_TEMP_TIMER 17
- #elif defined(STM32F1xx)
- #define MCU_STEP_TIMER 4
- #define MCU_TEMP_TIMER 2
- #elif defined(STM32F401xC) || defined(STM32F401xE)
- #define MCU_STEP_TIMER 9 // STM32F401 has no TIM6, TIM7, or TIM8
- #define MCU_TEMP_TIMER 10
- #elif defined(STM32F4xx) || defined(STM32F7xx) || defined(STM32H7xx)
- #define MCU_STEP_TIMER 6
- #define MCU_TEMP_TIMER 14 // TIM7 is consumed by Software Serial if used.
- #endif
-
- #ifndef HAL_TIMER_RATE
- #define HAL_TIMER_RATE GetStepperTimerClkFreq()
- #endif
-
- #ifndef STEP_TIMER
- #define STEP_TIMER MCU_STEP_TIMER
- #endif
- #ifndef TEMP_TIMER
- #define TEMP_TIMER MCU_TEMP_TIMER
- #endif
-
- #define __TIMER_DEV(X) TIM##X
- #define _TIMER_DEV(X) __TIMER_DEV(X)
- #define STEP_TIMER_DEV _TIMER_DEV(STEP_TIMER)
- #define TEMP_TIMER_DEV _TIMER_DEV(TEMP_TIMER)
-
- // --------------------------------------------------------------------------
- // Local defines
- // --------------------------------------------------------------------------
-
- #define NUM_HARDWARE_TIMERS 2
-
- // --------------------------------------------------------------------------
- // Private Variables
- // --------------------------------------------------------------------------
-
- HardwareTimer *timer_instance[NUM_HARDWARE_TIMERS] = { nullptr };
-
- // ------------------------
- // Public functions
- // ------------------------
-
- uint32_t GetStepperTimerClkFreq() {
- // Timer input clocks vary between devices, and in some cases between timers on the same device.
- // Retrieve at runtime to ensure device compatibility. Cache result to avoid repeated overhead.
- static uint32_t clkfreq = timer_instance[MF_TIMER_STEP]->getTimerClkFreq();
- return clkfreq;
- }
-
- // frequency is in Hertz
- void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
- if (!HAL_timer_initialized(timer_num)) {
- switch (timer_num) {
- case MF_TIMER_STEP: // STEPPER TIMER - use a 32bit timer if possible
- timer_instance[timer_num] = new HardwareTimer(STEP_TIMER_DEV);
- /* Set the prescaler to the final desired value.
- * This will change the effective ISR callback frequency but when
- * HAL_timer_start(timer_num=0) is called in the core for the first time
- * the real frequency isn't important as long as, after boot, the ISR
- * gets called with the correct prescaler and count register. So here
- * we set the prescaler to the correct, final value and ignore the frequency
- * asked. We will call back the ISR in 1 second to start at full speed.
- *
- * The proper fix, however, would be a correct initialization OR a
- * HAL_timer_change(const uint8_t timer_num, const uint32_t frequency)
- * which changes the prescaler when an IRQ frequency change is needed
- * (for example when steppers are turned on)
- */
-
- timer_instance[timer_num]->setPrescaleFactor(STEPPER_TIMER_PRESCALE); //the -1 is done internally
- timer_instance[timer_num]->setOverflow(_MIN(hal_timer_t(HAL_TIMER_TYPE_MAX), (HAL_TIMER_RATE) / (STEPPER_TIMER_PRESCALE) /* /frequency */), TICK_FORMAT);
- break;
- case MF_TIMER_TEMP: // TEMP TIMER - any available 16bit timer
- timer_instance[timer_num] = new HardwareTimer(TEMP_TIMER_DEV);
- // The prescale factor is computed automatically for HERTZ_FORMAT
- timer_instance[timer_num]->setOverflow(frequency, HERTZ_FORMAT);
- break;
- }
-
- // Disable preload. Leaving it default-enabled can cause the timer to stop if it happens
- // to exit the ISR after the start time for the next interrupt has already passed.
- timer_instance[timer_num]->setPreloadEnable(false);
-
- HAL_timer_enable_interrupt(timer_num);
-
- // Start the timer.
- timer_instance[timer_num]->resume(); // First call to resume() MUST follow the attachInterrupt()
-
- // This is fixed in Arduino_Core_STM32 1.8.
- // These calls can be removed and replaced with
- // timer_instance[timer_num]->setInterruptPriority
- switch (timer_num) {
- case MF_TIMER_STEP:
- timer_instance[timer_num]->setInterruptPriority(STEP_TIMER_IRQ_PRIO, 0);
- break;
- case MF_TIMER_TEMP:
- timer_instance[timer_num]->setInterruptPriority(TEMP_TIMER_IRQ_PRIO, 0);
- break;
- }
- }
- }
-
- void HAL_timer_enable_interrupt(const uint8_t timer_num) {
- if (HAL_timer_initialized(timer_num) && !timer_instance[timer_num]->hasInterrupt()) {
- switch (timer_num) {
- case MF_TIMER_STEP:
- timer_instance[timer_num]->attachInterrupt(Step_Handler);
- break;
- case MF_TIMER_TEMP:
- timer_instance[timer_num]->attachInterrupt(Temp_Handler);
- break;
- }
- }
- }
-
- void HAL_timer_disable_interrupt(const uint8_t timer_num) {
- if (HAL_timer_initialized(timer_num)) timer_instance[timer_num]->detachInterrupt();
- }
-
- bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
- return HAL_timer_initialized(timer_num) && timer_instance[timer_num]->hasInterrupt();
- }
-
- void SetTimerInterruptPriorities() {
- TERN_(HAS_TMC_SW_SERIAL, SoftwareSerial::setInterruptPriority(SWSERIAL_TIMER_IRQ_PRIO, 0));
- TERN_(HAS_SERVOS, libServo::setInterruptPriority(SERVO_TIMER_IRQ_PRIO, 0));
- }
-
- // ------------------------
- // Detect timer conflicts
- // ------------------------
-
- // This list serves two purposes. Firstly, it facilitates build-time mapping between
- // variant-defined timer names (such as TIM1) and timer numbers. It also replicates
- // the order of timers used in the framework's SoftwareSerial.cpp. The first timer in
- // this list will be automatically used by SoftwareSerial if it is not already defined
- // in the board's variant or compiler options.
- static constexpr struct {uintptr_t base_address; int timer_number;} stm32_timer_map[] = {
- #ifdef TIM18_BASE
- { uintptr_t(TIM18), 18 },
- #endif
- #ifdef TIM7_BASE
- { uintptr_t(TIM7), 7 },
- #endif
- #ifdef TIM6_BASE
- { uintptr_t(TIM6), 6 },
- #endif
- #ifdef TIM22_BASE
- { uintptr_t(TIM22), 22 },
- #endif
- #ifdef TIM21_BASE
- { uintptr_t(TIM21), 21 },
- #endif
- #ifdef TIM17_BASE
- { uintptr_t(TIM17), 17 },
- #endif
- #ifdef TIM16_BASE
- { uintptr_t(TIM16), 16 },
- #endif
- #ifdef TIM15_BASE
- { uintptr_t(TIM15), 15 },
- #endif
- #ifdef TIM14_BASE
- { uintptr_t(TIM14), 14 },
- #endif
- #ifdef TIM13_BASE
- { uintptr_t(TIM13), 13 },
- #endif
- #ifdef TIM11_BASE
- { uintptr_t(TIM11), 11 },
- #endif
- #ifdef TIM10_BASE
- { uintptr_t(TIM10), 10 },
- #endif
- #ifdef TIM12_BASE
- { uintptr_t(TIM12), 12 },
- #endif
- #ifdef TIM19_BASE
- { uintptr_t(TIM19), 19 },
- #endif
- #ifdef TIM9_BASE
- { uintptr_t(TIM9), 9 },
- #endif
- #ifdef TIM5_BASE
- { uintptr_t(TIM5), 5 },
- #endif
- #ifdef TIM4_BASE
- { uintptr_t(TIM4), 4 },
- #endif
- #ifdef TIM3_BASE
- { uintptr_t(TIM3), 3 },
- #endif
- #ifdef TIM2_BASE
- { uintptr_t(TIM2), 2 },
- #endif
- #ifdef TIM20_BASE
- { uintptr_t(TIM20), 20 },
- #endif
- #ifdef TIM8_BASE
- { uintptr_t(TIM8), 8 },
- #endif
- #ifdef TIM1_BASE
- { uintptr_t(TIM1), 1 }
- #endif
- };
-
- // Convert from a timer base address to its integer timer number.
- static constexpr int get_timer_num_from_base_address(uintptr_t base_address) {
- for (const auto &timer : stm32_timer_map)
- if (timer.base_address == base_address) return timer.timer_number;
- return 0;
- }
-
- // The platform's SoftwareSerial.cpp will use the first timer from stm32_timer_map.
- #if HAS_TMC_SW_SERIAL && !defined(TIMER_SERIAL)
- #define TIMER_SERIAL (stm32_timer_map[0].base_address)
- #endif
-
- // constexpr doesn't like using the base address pointers that timers evaluate to.
- // We can get away with casting them to uintptr_t, if we do so inside an array.
- // GCC will not currently do it directly to a uintptr_t.
- IF_ENABLED(HAS_TMC_SW_SERIAL, static constexpr uintptr_t timer_serial[] = {uintptr_t(TIMER_SERIAL)});
- IF_ENABLED(SPEAKER, static constexpr uintptr_t timer_tone[] = {uintptr_t(TIMER_TONE)});
- IF_ENABLED(HAS_SERVOS, static constexpr uintptr_t timer_servo[] = {uintptr_t(TIMER_SERVO)});
-
- enum TimerPurpose { TP_SERIAL, TP_TONE, TP_SERVO, TP_STEP, TP_TEMP };
-
- // List of timers, to enable checking for conflicts.
- // Includes the purpose of each timer to ease debugging when evaluating at build-time.
- // This cannot yet account for timers used for PWM output, such as for fans.
- static constexpr struct { TimerPurpose p; int t; } timers_in_use[] = {
- #if HAS_TMC_SW_SERIAL
- { TP_SERIAL, get_timer_num_from_base_address(timer_serial[0]) }, // Set in variant.h, or as a define in platformio.h if not present in variant.h
- #endif
- #if ENABLED(SPEAKER)
- { TP_TONE, get_timer_num_from_base_address(timer_tone[0]) }, // Set in variant.h, or as a define in platformio.h if not present in variant.h
- #endif
- #if HAS_SERVOS
- { TP_SERVO, get_timer_num_from_base_address(timer_servo[0]) }, // Set in variant.h, or as a define in platformio.h if not present in variant.h
- #endif
- { TP_STEP, STEP_TIMER },
- { TP_TEMP, TEMP_TIMER },
- };
-
- static constexpr bool verify_no_timer_conflicts() {
- LOOP_L_N(i, COUNT(timers_in_use))
- LOOP_S_L_N(j, i + 1, COUNT(timers_in_use))
- if (timers_in_use[i].t == timers_in_use[j].t) return false;
- return true;
- }
-
- // If this assertion fails at compile time, review the timers_in_use array.
- // If default_envs is defined properly in platformio.ini, VS Code can evaluate the array
- // when hovering over it, making it easy to identify the conflicting timers.
- static_assert(verify_no_timer_conflicts(), "One or more timer conflict detected. Examine \"timers_in_use\" to help identify conflict.");
-
- #endif // HAL_STM32
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