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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * 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/>.
- *
- */
-
- /**
- * The PWM module is only used to generate interrupts at specified times. It
- * is NOT used to directly toggle pins. The ISR writes to the pin assigned to
- * that interrupt.
- *
- * All PWMs use the same repetition rate. The G2 needs about 10KHz min in order to
- * not have obvious ripple on the Vref signals.
- *
- * The data structures are setup to minimize the computation done by the ISR which
- * minimizes ISR execution time. Execution times are 0.8 to 1.1 microseconds.
- *
- * FIve PWM interrupt sources are used. Channel 0 sets the base period. All Vref
- * signals are set active when this counter overflows and resets to zero. The compare
- * values in channels 1-4 are set to give the desired duty cycle for that Vref pin.
- * When counter 0 matches the compare value then that channel generates an interrupt.
- * The ISR checks the source of the interrupt and sets the corresponding pin inactive.
- *
- * Some jitter in the Vref signal is OK so the interrupt priority is left at its default value.
- */
-
- #include "../../../inc/MarlinConfig.h"
-
- #if MB(PRINTRBOARD_G2)
-
- #include "G2_PWM.h"
-
- #if PIN_EXISTS(MOTOR_CURRENT_PWM_X)
- #define G2_PWM_X 1
- #else
- #define G2_PWM_X 0
- #endif
- #if PIN_EXISTS(MOTOR_CURRENT_PWM_Y)
- #define G2_PWM_Y 1
- #else
- #define G2_PWM_Y 0
- #endif
- #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
- #define G2_PWM_Z 1
- #else
- #define G2_PWM_Z 0
- #endif
- #if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
- #define G2_PWM_E 1
- #else
- #define G2_PWM_E 0
- #endif
- #define G2_MASK_X(V) (G2_PWM_X * (V))
- #define G2_MASK_Y(V) (G2_PWM_Y * (V))
- #define G2_MASK_Z(V) (G2_PWM_Z * (V))
- #define G2_MASK_E(V) (G2_PWM_E * (V))
-
- volatile uint32_t *SODR_A = &PIOA->PIO_SODR,
- *SODR_B = &PIOB->PIO_SODR,
- *CODR_A = &PIOA->PIO_CODR,
- *CODR_B = &PIOB->PIO_CODR;
-
- PWM_map ISR_table[NUM_PWMS] = PWM_MAP_INIT;
-
- void Stepper::digipot_init() {
-
- #if PIN_EXISTS(MOTOR_CURRENT_PWM_X)
- OUT_WRITE(MOTOR_CURRENT_PWM_X_PIN, 0); // init pins
- #endif
- #if PIN_EXISTS(MOTOR_CURRENT_PWM_Y)
- OUT_WRITE(MOTOR_CURRENT_PWM_Y_PIN, 0);
- #endif
- #if G2_PWM_Z
- OUT_WRITE(MOTOR_CURRENT_PWM_Z_PIN, 0);
- #endif
- #if G2_PWM_E
- OUT_WRITE(MOTOR_CURRENT_PWM_E_PIN, 0);
- #endif
-
- #define WPKEY (0x50574D << 8) // “PWM” in ASCII
- #define WPCMD_DIS_SW 0 // command to disable Write Protect SW
- #define WPRG_ALL (PWM_WPCR_WPRG0 | PWM_WPCR_WPRG1 | PWM_WPCR_WPRG2 | PWM_WPCR_WPRG3 | PWM_WPCR_WPRG4 | PWM_WPCR_WPRG5) // all Write Protect Groups
-
- #define PWM_CLOCK_F F_CPU / 1000000UL // set clock to 1MHz
-
- PMC->PMC_PCER1 = PMC_PCER1_PID36; // enable PWM controller clock (disabled on power up)
-
- PWM->PWM_WPCR = WPKEY | WPRG_ALL | WPCMD_DIS_SW; // enable setting of all PWM registers
- PWM->PWM_CLK = PWM_CLOCK_F; // enable CLK_A and set it to 1MHz, leave CLK_B disabled
- PWM->PWM_CH_NUM[0].PWM_CMR = 0b1011; // set channel 0 to Clock A input & to left aligned
- if (G2_PWM_X) PWM->PWM_CH_NUM[1].PWM_CMR = 0b1011; // set channel 1 to Clock A input & to left aligned
- if (G2_PWM_Y) PWM->PWM_CH_NUM[2].PWM_CMR = 0b1011; // set channel 2 to Clock A input & to left aligned
- if (G2_PWM_Z) PWM->PWM_CH_NUM[3].PWM_CMR = 0b1011; // set channel 3 to Clock A input & to left aligned
- if (G2_PWM_E) PWM->PWM_CH_NUM[4].PWM_CMR = 0b1011; // set channel 4 to Clock A input & to left aligned
-
- PWM->PWM_CH_NUM[0].PWM_CPRD = PWM_PERIOD_US; // set channel 0 Period
-
- PWM->PWM_IER2 = PWM_IER1_CHID0; // generate interrupt when counter0 overflows
- PWM->PWM_IER2 = PWM_IER2_CMPM0
- | G2_MASK_X(PWM_IER2_CMPM1)
- | G2_MASK_Y(PWM_IER2_CMPM2)
- | G2_MASK_Z(PWM_IER2_CMPM3)
- | G2_MASK_E(PWM_IER2_CMPM4)
- ; // generate interrupt on compare event
-
- if (G2_PWM_X) PWM->PWM_CMP[1].PWM_CMPV = 0x010000000LL | G2_VREF_COUNT(G2_VREF(motor_current_setting[0])); // interrupt when counter0 == CMPV - used to set Motor 1 PWM inactive
- if (G2_PWM_Y) PWM->PWM_CMP[2].PWM_CMPV = 0x010000000LL | G2_VREF_COUNT(G2_VREF(motor_current_setting[0])); // interrupt when counter0 == CMPV - used to set Motor 2 PWM inactive
- if (G2_PWM_Z) PWM->PWM_CMP[3].PWM_CMPV = 0x010000000LL | G2_VREF_COUNT(G2_VREF(motor_current_setting[1])); // interrupt when counter0 == CMPV - used to set Motor 3 PWM inactive
- if (G2_PWM_E) PWM->PWM_CMP[4].PWM_CMPV = 0x010000000LL | G2_VREF_COUNT(G2_VREF(motor_current_setting[2])); // interrupt when counter0 == CMPV - used to set Motor 4 PWM inactive
-
- if (G2_PWM_X) PWM->PWM_CMP[1].PWM_CMPM = 0x0001; // enable compare event
- if (G2_PWM_Y) PWM->PWM_CMP[2].PWM_CMPM = 0x0001; // enable compare event
- if (G2_PWM_Z) PWM->PWM_CMP[3].PWM_CMPM = 0x0001; // enable compare event
- if (G2_PWM_E) PWM->PWM_CMP[4].PWM_CMPM = 0x0001; // enable compare event
-
- PWM->PWM_SCM = PWM_SCM_UPDM_MODE0 | PWM_SCM_SYNC0
- | G2_MASK_X(PWM_SCM_SYNC1)
- | G2_MASK_Y(PWM_SCM_SYNC2)
- | G2_MASK_Z(PWM_SCM_SYNC3)
- | G2_MASK_E(PWM_SCM_SYNC4)
- ; // sync 1-4 with 0, use mode 0 for updates
-
- PWM->PWM_ENA = PWM_ENA_CHID0
- | G2_MASK_X(PWM_ENA_CHID1)
- | G2_MASK_Y(PWM_ENA_CHID2)
- | G2_MASK_Z(PWM_ENA_CHID3)
- | G2_MASK_E(PWM_ENA_CHID4)
- ; // enable channels used by G2
-
- PWM->PWM_IER1 = PWM_IER1_CHID0
- | G2_MASK_X(PWM_IER1_CHID1)
- | G2_MASK_Y(PWM_IER1_CHID2)
- | G2_MASK_Z(PWM_IER1_CHID3)
- | G2_MASK_E(PWM_IER1_CHID4)
- ; // enable interrupts for channels used by G2
-
- NVIC_EnableIRQ(PWM_IRQn); // Enable interrupt handler
- NVIC_SetPriority(PWM_IRQn, NVIC_EncodePriority(0, 10, 0)); // normal priority for PWM module (can stand some jitter on the Vref signals)
- }
-
- void Stepper::digipot_current(const uint8_t driver, const int16_t current) {
-
- if (!(PWM->PWM_CH_NUM[0].PWM_CPRD == PWM_PERIOD_US)) digipot_init(); // Init PWM system if needed
-
- switch (driver) {
- case 0:
- if (G2_PWM_X) PWM->PWM_CMP[1].PWM_CMPVUPD = 0x010000000LL | G2_VREF_COUNT(G2_VREF(current)); // update X & Y
- if (G2_PWM_Y) PWM->PWM_CMP[2].PWM_CMPVUPD = 0x010000000LL | G2_VREF_COUNT(G2_VREF(current));
- if (G2_PWM_X) PWM->PWM_CMP[1].PWM_CMPMUPD = 0x0001; // enable compare event
- if (G2_PWM_Y) PWM->PWM_CMP[2].PWM_CMPMUPD = 0x0001; // enable compare event
- if (G2_PWM_X || G2_PWM_Y) PWM->PWM_SCUC = PWM_SCUC_UPDULOCK; // tell the PWM controller to update the values on the next cycle
- break;
- case 1:
- if (G2_PWM_Z) {
- PWM->PWM_CMP[3].PWM_CMPVUPD = 0x010000000LL | G2_VREF_COUNT(G2_VREF(current)); // update Z
- PWM->PWM_CMP[3].PWM_CMPMUPD = 0x0001; // enable compare event
- PWM->PWM_SCUC = PWM_SCUC_UPDULOCK; // tell the PWM controller to update the values on the next cycle
- }
- break;
- default:
- if (G2_PWM_E) {
- PWM->PWM_CMP[4].PWM_CMPVUPD = 0x010000000LL | G2_VREF_COUNT(G2_VREF(current)); // update E
- PWM->PWM_CMP[4].PWM_CMPMUPD = 0x0001; // enable compare event
- PWM->PWM_SCUC = PWM_SCUC_UPDULOCK; // tell the PWM controller to update the values on the next cycle
- }
- break;
- }
- }
-
- volatile uint32_t PWM_ISR1_STATUS, PWM_ISR2_STATUS;
-
- void PWM_Handler() {
- PWM_ISR1_STATUS = PWM->PWM_ISR1;
- PWM_ISR2_STATUS = PWM->PWM_ISR2;
- if (PWM_ISR1_STATUS & PWM_IER1_CHID0) { // CHAN_0 interrupt
- if (G2_PWM_X) *ISR_table[0].set_register = ISR_table[0].write_mask; // set X to active
- if (G2_PWM_Y) *ISR_table[1].set_register = ISR_table[1].write_mask; // set Y to active
- if (G2_PWM_Z) *ISR_table[2].set_register = ISR_table[2].write_mask; // set Z to active
- if (G2_PWM_E) *ISR_table[3].set_register = ISR_table[3].write_mask; // set E to active
- }
- else {
- if (G2_PWM_X && (PWM_ISR2_STATUS & PWM_IER2_CMPM1)) *ISR_table[0].clr_register = ISR_table[0].write_mask; // set X to inactive
- if (G2_PWM_Y && (PWM_ISR2_STATUS & PWM_IER2_CMPM2)) *ISR_table[1].clr_register = ISR_table[1].write_mask; // set Y to inactive
- if (G2_PWM_Z && (PWM_ISR2_STATUS & PWM_IER2_CMPM3)) *ISR_table[2].clr_register = ISR_table[2].write_mask; // set Z to inactive
- if (G2_PWM_E && (PWM_ISR2_STATUS & PWM_IER2_CMPM4)) *ISR_table[3].clr_register = ISR_table[3].write_mask; // set E to inactive
- }
- return;
- }
-
- #endif // PRINTRBOARD_G2
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