marlin/Marlin/src/HAL/HAL_STM32F4/HAL_timers_STM32F4.cpp

/**
 * Marlin 3D Printer Firmware
 *
 * Copyright (C) 2019 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 <http://www.gnu.org/licenses/>.
 *
 */

#if defined(STM32GENERIC) && defined(STM32F4)

// --------------------------------------------------------------------------
// Includes
// --------------------------------------------------------------------------

#include "HAL.h"

#include "HAL_timers_STM32F4.h"

// --------------------------------------------------------------------------
// Externals
// --------------------------------------------------------------------------

// --------------------------------------------------------------------------
// Local defines
// --------------------------------------------------------------------------

#define NUM_HARDWARE_TIMERS 2
#define STEP_TIMER_IRQ_ID TIM5_IRQn
#define TEMP_TIMER_IRQ_ID TIM7_IRQn

//#define PRESCALER 1
// --------------------------------------------------------------------------
// Types
// --------------------------------------------------------------------------

// --------------------------------------------------------------------------
// Public Variables
// --------------------------------------------------------------------------

// --------------------------------------------------------------------------
// Private Variables
// --------------------------------------------------------------------------

stm32f4_timer_t TimerHandle[NUM_HARDWARE_TIMERS];

// --------------------------------------------------------------------------
// Function prototypes
// --------------------------------------------------------------------------

// --------------------------------------------------------------------------
// Private functions
// --------------------------------------------------------------------------

// --------------------------------------------------------------------------
// Public functions
// --------------------------------------------------------------------------

bool timers_initialized[NUM_HARDWARE_TIMERS] = {false};

void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {

  if (!timers_initialized[timer_num]) {
    constexpr uint32_t step_prescaler = STEPPER_TIMER_PRESCALE - 1,
                       temp_prescaler = TEMP_TIMER_PRESCALE - 1;
    switch (timer_num) {
      case STEP_TIMER_NUM:
        // STEPPER TIMER TIM5 - use a 32bit timer
        #ifdef STM32GENERIC
          __HAL_RCC_TIM5_CLK_ENABLE();
          TimerHandle[timer_num].handle.Instance            = TIM5;
          TimerHandle[timer_num].handle.Init.Prescaler      = step_prescaler;
          TimerHandle[timer_num].handle.Init.CounterMode    = TIM_COUNTERMODE_UP;
          TimerHandle[timer_num].handle.Init.ClockDivision  = TIM_CLOCKDIVISION_DIV1;
          TimerHandle[timer_num].callback = (uint32_t)TC5_Handler;
        #else
          TimerHandle[timer_num].timer = TIM5;
          TimerHandle[timer_num].irqHandle = TC5_Handler;
          TimerHandleInit(&TimerHandle[timer_num], (((HAL_TIMER_RATE) / step_prescaler) / frequency) - 1, step_prescaler);
        #endif
        HAL_NVIC_SetPriority(STEP_TIMER_IRQ_ID, 1, 0);
        break;

      case TEMP_TIMER_NUM:
        // TEMP TIMER TIM7 - any available 16bit Timer (1 already used for PWM)
        #ifdef STM32GENERIC
          __HAL_RCC_TIM7_CLK_ENABLE();
          TimerHandle[timer_num].handle.Instance            = TIM7;
          TimerHandle[timer_num].handle.Init.Prescaler      = temp_prescaler;
          TimerHandle[timer_num].handle.Init.CounterMode    = TIM_COUNTERMODE_UP;
          TimerHandle[timer_num].handle.Init.ClockDivision  = TIM_CLOCKDIVISION_DIV1;
          TimerHandle[timer_num].callback = (uint32_t)TC7_Handler;
        #else
          TimerHandle[timer_num].timer = TIM7;
          TimerHandle[timer_num].irqHandle = TC7_Handler;
          TimerHandleInit(&TimerHandle[timer_num], (((HAL_TIMER_RATE) / temp_prescaler) / frequency) - 1, temp_prescaler);
        #endif
        HAL_NVIC_SetPriority(TEMP_TIMER_IRQ_ID, 2, 0);
        break;
    }
    timers_initialized[timer_num] = true;
  }

  #ifdef STM32GENERIC
    TimerHandle[timer_num].handle.Init.Period = (((HAL_TIMER_RATE) / TimerHandle[timer_num].handle.Init.Prescaler) / frequency) - 1;
    if (HAL_TIM_Base_Init(&TimerHandle[timer_num].handle) == HAL_OK)
      HAL_TIM_Base_Start_IT(&TimerHandle[timer_num].handle);
  #endif
}

#ifdef STM32GENERIC
  extern "C" void TIM5_IRQHandler() {
    ((void(*)(void))TimerHandle[0].callback)();
  }
  extern "C" void TIM7_IRQHandler() {
    ((void(*)(void))TimerHandle[1].callback)();
  }
#endif

void HAL_timer_enable_interrupt(const uint8_t timer_num) {
  switch (timer_num) {
    case STEP_TIMER_NUM: HAL_NVIC_EnableIRQ(STEP_TIMER_IRQ_ID); break;
    case TEMP_TIMER_NUM: HAL_NVIC_EnableIRQ(TEMP_TIMER_IRQ_ID); break;
  }
}

void HAL_timer_disable_interrupt(const uint8_t timer_num) {
  switch (timer_num) {
    case STEP_TIMER_NUM: HAL_NVIC_DisableIRQ(STEP_TIMER_IRQ_ID); break;
    case TEMP_TIMER_NUM: HAL_NVIC_DisableIRQ(TEMP_TIMER_IRQ_ID); break;
  }
  // We NEED memory barriers to ensure Interrupts are actually disabled!
  // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
  __DSB();
  __ISB();
}

bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
  switch (timer_num) {
    case STEP_TIMER_NUM: return NVIC->ISER[(uint32_t)((int32_t)STEP_TIMER_IRQ_ID) >> 5] & (uint32_t)(1 << ((uint32_t)((int32_t)STEP_TIMER_IRQ_ID) & (uint32_t)0x1F));
    case TEMP_TIMER_NUM: return NVIC->ISER[(uint32_t)((int32_t)TEMP_TIMER_IRQ_ID) >> 5] & (uint32_t)(1 << ((uint32_t)((int32_t)TEMP_TIMER_IRQ_ID) & (uint32_t)0x1F));
  }
  return false;
}

#endif // STM32GENERIC && STM32F4