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driver.c
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driver.c
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/*
driver.c - driver code for STM32F103C8 ARM processors
Part of grblHAL
Copyright (c) 2019-2022 Terje Io
Grbl 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.
Grbl 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 Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#include <assert.h>
#include <stdint.h>
#include <string.h>
#include "main.h"
#include "driver.h"
#include "serial.h"
#include "grbl/limits.h"
#include "grbl/motor_pins.h"
#include "grbl/pin_bits_masks.h"
#include "grbl/state_machine.h"
#ifdef I2C_PORT
#include "i2c.h"
#endif
#if SDCARD_ENABLE
#include "sdcard/sdcard.h"
#include "ff.h"
#include "diskio.h"
#endif
#if USB_SERIAL_CDC
#include "usb_serial.h"
#endif
#if EEPROM_ENABLE
#include "eeprom/eeprom.h"
#endif
#if KEYPAD_ENABLE
#include "keypad/keypad.h"
#endif
#if ODOMETER_ENABLE
#include "odometer/odometer.h"
#endif
#if FLASH_ENABLE
#include "flash.h"
#endif
#if !I2C_STROBE_ENABLE
#define I2C_STROBE_BIT 0
#endif
#if !SAFETY_DOOR_ENABLE
#define SAFETY_DOOR_BIT 0
#endif
#if CONTROL_MASK != (RESET_BIT+FEED_HOLD_BIT+CYCLE_START_BIT+SAFETY_DOOR_BIT)
#error Interrupt enabled input pins must have unique pin numbers!
#endif
#define DRIVER_IRQMASK (LIMIT_MASK|CONTROL_MASK|I2C_STROBE_BIT)
#if DRIVER_IRQMASK != (LIMIT_MASK+CONTROL_MASK+I2C_STROBE_BIT)
#error Interrupt enabled input pins must have unique pin numbers!
#endif
typedef union {
uint8_t mask;
struct {
uint8_t limits :1,
door :1,
unused :6;
};
} debounce_t;
#include "grbl/stepdir_map.h"
static input_signal_t inputpin[] = {
{ .id = Input_Reset, .port = RESET_PORT, .pin = RESET_PIN, .group = PinGroup_Control },
{ .id = Input_FeedHold, .port = FEED_HOLD_PORT, .pin = FEED_HOLD_PIN, .group = PinGroup_Control },
{ .id = Input_CycleStart, .port = CYCLE_START_PORT, .pin = CYCLE_START_PIN, .group = PinGroup_Control },
#if SAFETY_DOOR_ENABLE
{ .id = Input_SafetyDoor, .port = SAFETY_DOOR_PORT, .pin = SAFETY_DOOR_PIN, .group = PinGroup_Control },
#endif
#ifdef PROBE_PIN
{ .id = Input_Probe, .port = PROBE_PORT, .pin = PROBE_PIN, .group = PinGroup_Probe },
#endif
#ifdef I2C_STROBE_PIN
{ .id = Input_KeypadStrobe, .port = I2C_STROBE_PORT, .pin = I2C_STROBE_PIN, .group = PinGroup_Keypad },
#endif
#ifdef MPG_MODE_PIN
{ .id = Input_ModeSelect, .port = MPG_MODE_PORT, .pin = MPG_MODE_PIN, .group = PinGroup_MPG },
#endif
// Limit input pins must be consecutive in this array
{ .id = Input_LimitX, .port = X_LIMIT_PORT, .pin = X_LIMIT_PIN, .group = PinGroup_Limit },
{ .id = Input_LimitY, .port = Y_LIMIT_PORT, .pin = Y_LIMIT_PIN, .group = PinGroup_Limit },
{ .id = Input_LimitZ, .port = Z_LIMIT_PORT, .pin = Z_LIMIT_PIN, .group = PinGroup_Limit },
#ifdef A_LIMIT_PIN
{ .id = Input_LimitA, .port = A_LIMIT_PORT, .pin = A_LIMIT_PIN, .group = PinGroup_Limit
#endif
#ifdef B_LIMIT_PIN
{ .id = Input_LimitB, .port = B_LIMIT_PORT, .pin = B_LIMIT_PIN, .group = PinGroup_Limit }
#endif
};
static output_signal_t outputpin[] = {
{ .id = Output_StepX, .port = X_STEP_PORT, .pin = X_STEP_PIN, .group = PinGroup_StepperStep, },
{ .id = Output_StepY, .port = Y_STEP_PORT, .pin = Y_STEP_PIN, .group = PinGroup_StepperStep, },
{ .id = Output_StepZ, .port = Z_STEP_PORT, .pin = Z_STEP_PIN, .group = PinGroup_StepperStep, },
#ifdef A_AXIS
{ .id = Output_StepA, .port = A_STEP_PORT, .pin = A_STEP_PIN, .group = PinGroup_StepperStep, },
#endif
#ifdef B_AXIS
{ .id = Output_StepB, .port = B_STEP_PORT, .pin = B_STEP_PIN, .group = PinGroup_StepperStep, },
#endif
{ .id = Output_DirX, .port = X_DIRECTION_PORT, .pin = X_DIRECTION_PIN, .group = PinGroup_StepperDir, },
{ .id = Output_DirY, .port = Y_DIRECTION_PORT, .pin = Y_DIRECTION_PIN, .group = PinGroup_StepperDir, },
{ .id = Output_DirZ, .port = Z_DIRECTION_PORT, .pin = Z_DIRECTION_PIN, .group = PinGroup_StepperDir, },
#ifdef A_AXIS
{ .id = Output_DirA, .port = A_DIRECTION_PORT, .pin = A_DIRECTION_PIN, .group = PinGroup_StepperDir, },
#endif
#ifdef B_AXIS
{ .id = Output_DirB, .port = B_DIRECTION_PORT, .pin = B_DIRECTION_PIN, .group = PinGroup_StepperDir, },
#endif
#if !TRINAMIC_MOTOR_ENABLE
#ifdef STEPPERS_ENABLE_PORT
{ .id = Output_StepperEnable, .port = STEPPERS_ENABLE_PORT, .pin = STEPPERS_ENABLE_PIN, .group = PinGroup_StepperEnable, },
#endif
#ifdef X_ENABLE_PORT
{ .id = Output_StepperEnableX, .port = X_ENABLE_PORT, .pin = X_ENABLE_PIN, .group = PinGroup_StepperEnable, },
#endif
#ifdef Y_ENABLE_PORT
{ .id = Output_StepperEnableY, .port = Y_ENABLE_PORT, .pin = Y_ENABLE_PIN, .group = PinGroup_StepperEnable, },
#endif
#ifdef Z_ENABLE_PORT
{ .id = Output_StepperEnableZ, .port = Z_ENABLE_PORT, .pin = Z_ENABLE_PIN, .group = PinGroup_StepperEnable, },
#endif
#ifdef A_ENABLE_PORT
{ .id = Output_StepperEnableA, .port = A_ENABLE_PORT, .pin = A_ENABLE_PIN, .group = PinGroup_StepperEnable, },
#endif
#ifdef B_ENABLE_PORT
{ .id = Output_StepperEnableB, .port = B_ENABLE_PORT, .pin = B_ENABLE_PIN, .group = PinGroup_StepperEnable, },
#endif
#endif // TRINAMIC_ENABLE
#if !VFD_SPINDLE
#ifdef SPINDLE_ENABLE_PIN
{ .id = Output_SpindleOn, .port = SPINDLE_ENABLE_PORT, .pin = SPINDLE_ENABLE_PIN, .group = PinGroup_SpindleControl },
#endif
#ifdef SPINDLE_DIRECTION_PIN
{ .id = Output_SpindleDir, .port = SPINDLE_DIRECTION_PORT, .pin = SPINDLE_DIRECTION_PIN, .group = PinGroup_SpindleControl },
#endif
#endif
{ .id = Output_CoolantFlood, .port = COOLANT_FLOOD_PORT, .pin = COOLANT_FLOOD_PIN, .group = PinGroup_Coolant },
#ifdef COOLANT_MIST_PIN
{ .id = Output_CoolantMist, .port = COOLANT_MIST_PORT, .pin = COOLANT_MIST_PIN, .group = PinGroup_Coolant },
#endif
#ifdef SD_CS_PORT
{ .id = Output_SdCardCS, .port = SD_CS_PORT, .pin = SD_CS_PIN, .group = PinGroup_SdCard },
#endif
};
extern __IO uint32_t uwTick;
static uint32_t pulse_length, pulse_delay;
static bool pwmEnabled = false, IOInitDone = false;
static axes_signals_t next_step_outbits;
static spindle_pwm_t spindle_pwm;
static delay_t delay = { .ms = 1, .callback = NULL }; // NOTE: initial ms set to 1 for "resetting" systick timer on startup
static on_unknown_sys_command_ptr on_unknown_sys_command;
static debounce_t debounce;
static probe_state_t probe = {
.connected = On
};
#if I2C_STROBE_ENABLE
static driver_irq_handler_t i2c_strobe = { .type = IRQ_I2C_Strobe };
static bool irq_claim (irq_type_t irq, uint_fast8_t id, irq_callback_ptr handler)
{
bool ok;
if((ok = irq == IRQ_I2C_Strobe && i2c_strobe.callback == NULL))
i2c_strobe.callback = handler;
return ok;
}
#endif
static void spindle_set_speed (uint_fast16_t pwm_value);
static void driver_delay (uint32_t ms, void (*callback)(void))
{
if((delay.ms = ms) > 0) {
// Restart systick...
SysTick->CTRL &= ~SysTick_CTRL_ENABLE_Msk;
SysTick->CTRL |= SysTick_CTRL_ENABLE_Msk;
if(!(delay.callback = callback)) {
while(delay.ms)
grbl.on_execute_delay(state_get());
}
} else if(callback)
callback();
}
// Enable/disable stepper motors
static void stepperEnable (axes_signals_t enable)
{
enable.mask ^= settings.steppers.enable_invert.mask;
#if !TRINAMIC_MOTOR_ENABLE
#ifdef STEPPERS_ENABLE_PIN
BITBAND_PERI(STEPPERS_ENABLE_PORT->ODR, STEPPERS_ENABLE_PIN) = enable.x;
#else
BITBAND_PERI(X_ENABLE_PORT->ODR, X_ENABLE_PIN) = enable.x;
BITBAND_PERI(Y_ENABLE_PORT->ODR, Y_ENABLE_PIN) = enable.y;
BITBAND_PERI(Z_ENABLE_PORT->ODR, Z_ENABLE_PIN) = enable.z;
#ifdef A_ENABLE_PIN
BITBAND_PERI(A_ENABLE_PORT->ODR, A_ENABLE_PIN) = enable.a;
#endif
#ifdef B_ENABLE_PIN
BITBAND_PERI(B_ENABLE_PORT->ODR, B_ENABLE_PIN) = enable.b;
#endif
#endif
#endif
}
// Starts stepper driver ISR timer and forces a stepper driver interrupt callback
static void stepperWakeUp (void)
{
stepperEnable((axes_signals_t){AXES_BITMASK});
STEPPER_TIMER->ARR = 5000; // delay to allow drivers time to wake up
STEPPER_TIMER->EGR = TIM_EGR_UG;
STEPPER_TIMER->CR1 |= TIM_CR1_CEN;
// hal.stepper.interrupt_callback(); // and start the show
}
// Disables stepper driver interrupts
static void stepperGoIdle (bool clear_signals)
{
STEPPER_TIMER->CR1 &= ~TIM_CR1_CEN;
STEPPER_TIMER->CNT = 0;
}
// Sets up stepper driver interrupt timeout, "Normal" version
static void stepperCyclesPerTickPrescaled (uint32_t cycles_per_tick)
{
// Set timer prescaling for normal step generation
if (cycles_per_tick < (1UL << 16)) { // < 65536 (1.1ms @ 72MHz)
STEPPER_TIMER->PSC = 0; // DIV 1
} else if (cycles_per_tick < (1UL << 19)) { // < 524288 (8.8ms @ 72MHz)
STEPPER_TIMER->PSC = 7; // DIV 8
cycles_per_tick = cycles_per_tick >> 3;
} else {
STEPPER_TIMER->PSC = 63; // DIV64
cycles_per_tick = cycles_per_tick >> 6;
}
STEPPER_TIMER->ARR = (uint16_t)(cycles_per_tick - 1);
}
// Set stepper pulse output pins
// NOTE: step_outbits are: bit0 -> X, bit1 -> Y, bit2 -> Z...
inline static __attribute__((always_inline)) void stepperSetStepOutputs (axes_signals_t step_outbits)
{
#if STEP_OUTMODE == GPIO_BITBAND
step_outbits.mask ^= settings.steppers.step_invert.mask;
BITBAND_PERI(X_STEP_PORT->ODR, X_STEP_PIN) = step_outbits.x;
BITBAND_PERI(Y_STEP_PORT->ODR, Y_STEP_PIN) = step_outbits.y;
BITBAND_PERI(Z_STEP_PORT->ODR, Z_STEP_PIN) = step_outbits.z;
#ifdef A_AXIS
BITBAND_PERI(A_STEP_PORT->ODR, A_STEP_PIN) = step_outbits.a;
#endif
#ifdef B_AXIS
BITBAND_PERI(B_STEP_PORT->ODR, B_STEP_PIN) = step_outbits.b;
#endif
#elif STEP_OUTMODE == GPIO_MAP
STEP_PORT->ODR = (STEP_PORT->ODR & ~STEP_MASK) | step_outmap[step_outbits.value];
#else
STEP_PORT->ODR = (STEP_PORT->ODR & ~STEP_MASK) | ((step_outbits.mask ^ settings.steppers.step_invert.mask) << STEP_OUTMODE);
#endif
}
// Set stepper direction output pins
// NOTE: see note for stepperSetStepOutputs()
inline static __attribute__((always_inline)) void stepperSetDirOutputs (axes_signals_t dir_outbits)
{
#if DIRECTION_OUTMODE == GPIO_BITBAND
BITBAND_PERI(X_DIRECTION_PORT->ODR, X_DIRECTION_PIN) = dir_outbits.x;
BITBAND_PERI(Y_DIRECTION_PORT->ODR, Y_DIRECTION_PIN) = dir_outbits.y;
BITBAND_PERI(Z_DIRECTION_PORT->ODR, Z_DIRECTION_PIN) = dir_outbits.z;
#ifdef A_AXIS
BITBAND_PERI(A_DIRECTION_PORT->ODR, A_DIRECTION_PIN) = dir_outbits.a;
#endif
#ifdef B_AXIS
BITBAND_PERI(B_DIRECTION_PORT->ODR, B_DIRECTION_PIN) = dir_outbits.b;
#endif
#elif DIRECTION_OUTMODE == GPIO_MAP
DIRECTION_PORT->ODR = (DIRECTION_PORT->ODR & ~DIRECTION_MASK) | dir_outmap[dir_outbits.value];
#else
DIRECTION_PORT->ODR = (DIRECTION_PORT->ODR & ~DIRECTION_MASK) | ((dir_outbits.mask ^ settings.steppers.dir_invert.mask) << DIRECTION_OUTMODE);
#endif
}
// Sets stepper direction and pulse pins and starts a step pulse.
static void stepperPulseStart (stepper_t *stepper)
{
if(stepper->dir_change)
stepperSetDirOutputs(stepper->dir_outbits);
if(stepper->step_outbits.value) {
stepperSetStepOutputs(stepper->step_outbits);
PULSE_TIMER->EGR = TIM_EGR_UG;
PULSE_TIMER->CR1 |= TIM_CR1_CEN;
}
}
// Start a stepper pulse, delay version.
// Note: delay is only added when there is a direction change and a pulse to be output.
static void stepperPulseStartDelayed (stepper_t *stepper)
{
if(stepper->dir_change) {
stepperSetDirOutputs(stepper->dir_outbits);
if(stepper->step_outbits.value) {
next_step_outbits = stepper->step_outbits; // Store out_bits
PULSE_TIMER->ARR = pulse_delay;
PULSE_TIMER->EGR = TIM_EGR_UG;
PULSE_TIMER->CR1 |= TIM_CR1_CEN;
}
return;
}
if(stepper->step_outbits.value) {
stepperSetStepOutputs(stepper->step_outbits);
PULSE_TIMER->EGR = TIM_EGR_UG;
PULSE_TIMER->CR1 |= TIM_CR1_CEN;
}
}
// Enable/disable limit pins interrupt
static void limitsEnable (bool on, bool homing)
{
if(on && settings.limits.flags.hard_enabled) {
EXTI->PR |= LIMIT_MASK; // Clear any pending limit interrupts
EXTI->IMR |= LIMIT_MASK; // and enable
} else
EXTI->IMR &= ~LIMIT_MASK;
}
// Returns limit state as an axes_signals_t variable.
// Each bitfield bit indicates an axis limit, where triggered is 1 and not triggered is 0.
inline static limit_signals_t limitsGetState()
{
limit_signals_t signals = {0};
#if LIMIT_INMODE == GPIO_BITBAND
signals.min.x = BITBAND_PERI(LIMIT_PORT->IDR, X_LIMIT_PIN);
signals.min.y = BITBAND_PERI(LIMIT_PORT->IDR, Y_LIMIT_PIN);
signals.min.z = BITBAND_PERI(LIMIT_PORT->IDR, Z_LIMIT_PIN);
#elif LIMIT_INMODE == GPIO_MAP
uint32_t bits = LIMIT_PORT->IDR;
signals.min.x = (bits & X_LIMIT_BIT) != 0;
signals.min.y = (bits & Y_LIMIT_BIT) != 0;
signals.min.z = (bits & Z_LIMIT_BIT) != 0;
#else
signals.min.value = (uint8_t)((LIMIT_PORT->IDR & LIMIT_MASK) >> LIMIT_INMODE);
#endif
if (settings.limits.invert.mask)
signals.min.value ^= settings.limits.invert.mask;
return signals;
}
// Returns system state as a control_signals_t variable.
// Each bitfield bit indicates a control signal, where triggered is 1 and not triggered is 0.
static control_signals_t systemGetState (void)
{
control_signals_t signals;
signals.value = settings.control_invert.mask;
#if CONTROL_INMODE == GPIO_BITBAND
signals.reset = BITBAND_PERI(CONTROL_PORT->IDR, RESET_PIN);
signals.feed_hold = BITBAND_PERI(CONTROL_PORT->IDR, FEED_HOLD_PIN);
signals.cycle_start = BITBAND_PERI(CONTROL_PORT->IDR, CYCLE_START_PIN);
#ifdef SAFETY_DOOR_PIN
signals.safety_door_ajar = BITBAND_PERI(CONTROL_PORT->IDR, SAFETY_DOOR_PIN);
#endif
#elif CONTROL_INMODE == GPIO_MAP
uint32_t bits = CONTROL_PORT->IDR;
signals.reset = (bits & RESET_BIT) != 0;
signals.feed_hold = (bits & FEED_HOLD_BIT) != 0;
signals.cycle_start = (bits & CYCLE_START_BIT) != 0;
#ifdef SAFETY_DOOR_PIN
signals.safety_door_ajar = (bits & SAFETY_DOOR_BIT) != 0;
#endif
#else
signals.value = (uint8_t)((CONTROL_PORT->IDR & CONTROL_MASK) >> CONTROL_INMODE);
#ifndef SAFETY_DOOR_PIN
signals.safety_door_ajar = settings.control_invert.safety_door_ajar;
#endif
#endif
if(settings.control_invert.mask)
signals.value ^= settings.control_invert.mask;
return signals;
}
#ifdef PROBE_PIN
// Sets up the probe pin invert mask to
// appropriately set the pin logic according to setting for normal-high/normal-low operation
// and the probing cycle modes for toward-workpiece/away-from-workpiece.
static void probeConfigure (bool is_probe_away, bool probing)
{
probe.triggered = Off;
probe.is_probing = probing;
probe.inverted = is_probe_away ? !settings.probe.invert_probe_pin : settings.probe.invert_probe_pin;
}
// Returns the probe connected and triggered pin states.
probe_state_t probeGetState (void)
{
probe_state_t state = {0};
state.connected = probe.connected;
state.triggered = !!(PROBE_PORT->IDR & PROBE_BIT) ^ probe.inverted;
return state;
}
#endif
// Static spindle (off, on cw & on ccw)
inline static void spindle_off (void)
{
BITBAND_PERI(SPINDLE_ENABLE_PORT->ODR, SPINDLE_ENABLE_PIN) = settings.spindle.invert.on;
}
inline static void spindle_on (void)
{
BITBAND_PERI(SPINDLE_ENABLE_PORT->ODR, SPINDLE_ENABLE_PIN) = !settings.spindle.invert.on;
}
inline static void spindle_dir (bool ccw)
{
if(hal.driver_cap.spindle_dir)
BITBAND_PERI(SPINDLE_DIRECTION_PORT->ODR, SPINDLE_DIRECTION_PIN) = ccw ^ settings.spindle.invert.ccw;
}
// Start or stop spindle
static void spindleSetState (spindle_state_t state, float rpm)
{
if (!state.on)
spindle_off();
else {
spindle_dir(state.ccw);
spindle_on();
}
}
// Variable spindle control functions
// Sets spindle speed
static void spindle_set_speed (uint_fast16_t pwm_value)
{
if (pwm_value == spindle_pwm.off_value) {
pwmEnabled = false;
if(settings.spindle.flags.pwm_action == SpindleAction_DisableWithZeroSPeed)
spindle_off();
if(spindle_pwm.always_on) {
SPINDLE_PWM_TIMER->CCR1 = spindle_pwm.off_value;
SPINDLE_PWM_TIMER->BDTR |= TIM_BDTR_MOE;
} else
SPINDLE_PWM_TIMER->BDTR &= ~TIM_BDTR_MOE; // Set PWM output low
} else {
if(!pwmEnabled)
spindle_on();
pwmEnabled = true;
SPINDLE_PWM_TIMER->CCR1 = pwm_value;
SPINDLE_PWM_TIMER->BDTR |= TIM_BDTR_MOE;
}
}
#ifdef SPINDLE_PWM_DIRECT
static uint_fast16_t spindleGetPWM (float rpm)
{
return spindle_compute_pwm_value(&spindle_pwm, rpm, false);
}
#else
static void spindleUpdateRPM (float rpm)
{
spindle_set_speed(spindle_compute_pwm_value(&spindle_pwm, rpm, false));
}
#endif
// Start or stop spindle
static void spindleSetStateVariable (spindle_state_t state, float rpm)
{
if (!state.on || rpm == 0.0f) {
spindle_set_speed(spindle_pwm.off_value);
spindle_off();
} else {
spindle_dir(state.ccw);
spindle_set_speed(spindle_compute_pwm_value(&spindle_pwm, rpm, false));
}
}
// Returns spindle state in a spindle_state_t variable
static spindle_state_t spindleGetState (void)
{
spindle_state_t state = {0};
state.on = (SPINDLE_ENABLE_PORT->IDR & SPINDLE_ENABLE_BIT) != 0;
state.ccw = hal.driver_cap.spindle_dir && (SPINDLE_DIRECTION_PORT->IDR & SPINDLE_DIRECTION_BIT) != 0;
state.value ^= settings.spindle.invert.mask;
return state;
}
// end spindle code
// Start/stop coolant (and mist if enabled)
static void coolantSetState (coolant_state_t mode)
{
mode.value ^= settings.coolant_invert.mask;
BITBAND_PERI(COOLANT_FLOOD_PORT->ODR, COOLANT_FLOOD_PIN) = mode.flood;
BITBAND_PERI(COOLANT_MIST_PORT->ODR, COOLANT_MIST_PIN) = mode.mist;
}
// Returns coolant state in a coolant_state_t variable
static coolant_state_t coolantGetState (void)
{
coolant_state_t state = {0};
state.flood = (COOLANT_FLOOD_PORT->IDR & COOLANT_FLOOD_BIT) != 0;
state.mist = (COOLANT_MIST_PORT->IDR & COOLANT_MIST_BIT) != 0;
state.value ^= settings.coolant_invert.mask;
return state;
}
// Helper functions for setting/clearing/inverting individual bits atomically (uninterruptable)
static void bitsSetAtomic (volatile uint_fast16_t *ptr, uint_fast16_t bits)
{
__disable_irq();
*ptr |= bits;
__enable_irq();
}
static uint_fast16_t bitsClearAtomic (volatile uint_fast16_t *ptr, uint_fast16_t bits)
{
__disable_irq();
uint_fast16_t prev = *ptr;
*ptr &= ~bits;
__enable_irq();
return prev;
}
static uint_fast16_t valueSetAtomic (volatile uint_fast16_t *ptr, uint_fast16_t value)
{
__disable_irq();
uint_fast16_t prev = *ptr;
*ptr = value;
__enable_irq();
return prev;
}
static uint32_t getElapsedTicks (void)
{
return uwTick;
}
// Configures peripherals when settings are initialized or changed
void settings_changed (settings_t *settings)
{
hal.driver_cap.variable_spindle = settings->spindle.rpm_min < settings->spindle.rpm_max;
#if USE_STEPDIR_MAP
stepdirmap_init (settings);
#endif
stepperSetStepOutputs((axes_signals_t){0});
stepperSetDirOutputs((axes_signals_t){0});
if(IOInitDone) {
GPIO_InitTypeDef GPIO_Init;
GPIO_Init.Speed = GPIO_SPEED_FREQ_HIGH;
stepperEnable(settings->steppers.deenergize);
if(hal.driver_cap.variable_spindle) {
hal.spindle.set_state = spindleSetStateVariable;
SPINDLE_PWM_TIMER->CR1 &= ~TIM_CR1_CEN;
spindle_precompute_pwm_values(&spindle_pwm, SystemCoreClock / (settings->spindle.pwm_freq > 200.0f ? 1 : 25));
TIM_Base_InitTypeDef timerInitStructure = {
.Prescaler = (settings->spindle.pwm_freq > 200.0f ? 1 : 25) - 1,
.CounterMode = TIM_COUNTERMODE_UP,
.Period = spindle_pwm.period - 1,
.ClockDivision = TIM_CLOCKDIVISION_DIV1,
.RepetitionCounter = 0
};
TIM_Base_SetConfig(SPINDLE_PWM_TIMER, &timerInitStructure);
SPINDLE_PWM_TIMER->CCER &= ~TIM_CCER_CC1E;
SPINDLE_PWM_TIMER->CCMR1 &= ~(TIM_CCMR1_OC1M|TIM_CCMR1_CC1S);
SPINDLE_PWM_TIMER->CCMR1 |= TIM_CCMR1_OC1M_1|TIM_CCMR1_OC1M_2;
SPINDLE_PWM_TIMER->CCR1 = 0;
if(settings->spindle.invert.pwm) {
SPINDLE_PWM_TIMER->CCER |= TIM_CCER_CC1P;
SPINDLE_PWM_TIMER->CR2 |= TIM_CR2_OIS1;
} else {
SPINDLE_PWM_TIMER->CCER &= ~TIM_CCER_CC1P;
SPINDLE_PWM_TIMER->CR2 &= ~TIM_CR2_OIS1;
}
SPINDLE_PWM_TIMER->BDTR |= TIM_BDTR_OSSR|TIM_BDTR_OSSI;
SPINDLE_PWM_TIMER->CCER |= TIM_CCER_CC1E;
SPINDLE_PWM_TIMER->CR1 |= TIM_CR1_CEN;
} else
hal.spindle.set_state = spindleSetState;
pulse_length = (uint32_t)(10.0f * (settings->steppers.pulse_microseconds - STEP_PULSE_LATENCY)) - 1;
if(hal.driver_cap.step_pulse_delay && settings->steppers.pulse_delay_microseconds > 0.0f) {
pulse_delay = (uint32_t)(10.0f * (settings->steppers.pulse_delay_microseconds - 1.1f));
if(pulse_delay < 2)
pulse_delay = 2;
else if(pulse_delay == pulse_length)
pulse_delay++;
hal.stepper.pulse_start = &stepperPulseStartDelayed;
} else {
pulse_delay = 0;
hal.stepper.pulse_start = &stepperPulseStart;
}
PULSE_TIMER->ARR = pulse_length;
PULSE_TIMER->EGR = TIM_EGR_UG;
#if DRIVER_IRQMASK & (1<<0)
HAL_NVIC_DisableIRQ(EXTI0_IRQn);
#endif
#if DRIVER_IRQMASK & (1<<1)
HAL_NVIC_DisableIRQ(EXTI1_IRQn);
#endif
#if DRIVER_IRQMASK & (1<<2)
HAL_NVIC_DisableIRQ(EXTI2_IRQn);
#endif
#if DRIVER_IRQMASK & (1<<3)
HAL_NVIC_DisableIRQ(EXTI3_IRQn);
#endif
#if DRIVER_IRQMASK & (1<<4)
HAL_NVIC_DisableIRQ(EXTI4_IRQn);
#endif
#if DRIVER_IRQMASK & 0x03E0
HAL_NVIC_DisableIRQ(EXTI9_5_IRQn);
#endif
#if DRIVER_IRQMASK & 0xFC00
HAL_NVIC_DisableIRQ(EXTI15_10_IRQn);
#endif
bool pullup;
uint32_t i = sizeof(inputpin) / sizeof(input_signal_t);
input_signal_t *input;
control_signals_t control_fei;
control_fei.mask = settings->control_disable_pullup.mask ^ settings->control_invert.mask;
axes_signals_t limit_fei;
limit_fei.mask = settings->limits.disable_pullup.mask ^ settings->limits.invert.mask;
do {
pullup = false;
input = &inputpin[--i];
input->irq_mode = IRQ_Mode_None;
input->bit = 1 << input->pin;
switch(input->id) {
case Input_Reset:
pullup = !settings->control_disable_pullup.reset;
input->irq_mode = control_fei.reset ? IRQ_Mode_Falling : IRQ_Mode_Rising;
break;
case Input_FeedHold:
pullup = !settings->control_disable_pullup.feed_hold;
input->irq_mode = control_fei.feed_hold ? IRQ_Mode_Falling : IRQ_Mode_Rising;
break;
case Input_CycleStart:
pullup = !settings->control_disable_pullup.cycle_start;
input->irq_mode = control_fei.cycle_start ? IRQ_Mode_Falling : IRQ_Mode_Rising;
break;
case Input_SafetyDoor:
pullup = !settings->control_disable_pullup.safety_door_ajar;
input->irq_mode = control_fei.safety_door_ajar ? IRQ_Mode_Falling : IRQ_Mode_Rising;
break;
case Input_Probe:
pullup = hal.driver_cap.probe_pull_up;
break;
case Input_LimitX:
case Input_LimitX_2:
case Input_LimitX_Max:
pullup = !settings->limits.disable_pullup.x;
input->irq_mode = limit_fei.x ? IRQ_Mode_Falling : IRQ_Mode_Rising;
break;
case Input_LimitY:
case Input_LimitY_2:
case Input_LimitY_Max:
pullup = !settings->limits.disable_pullup.y;
input->irq_mode = limit_fei.y ? IRQ_Mode_Falling : IRQ_Mode_Rising;
break;
case Input_LimitZ:
case Input_LimitZ_2:
case Input_LimitZ_Max:
pullup = !settings->limits.disable_pullup.z;
input->irq_mode = limit_fei.z ? IRQ_Mode_Falling : IRQ_Mode_Rising;
break;
case Input_LimitA:
case Input_LimitA_Max:
pullup = !settings->limits.disable_pullup.a;
input->irq_mode = limit_fei.a ? IRQ_Mode_Falling : IRQ_Mode_Rising;
break;
case Input_LimitB:
case Input_LimitB_Max:
pullup = !settings->limits.disable_pullup.b;
input->irq_mode = limit_fei.b ? IRQ_Mode_Falling : IRQ_Mode_Rising;
break;
case Input_LimitC:
case Input_LimitC_Max:
pullup = !settings->limits.disable_pullup.c;
input->irq_mode = limit_fei.c ? IRQ_Mode_Falling : IRQ_Mode_Rising;
break;
case Input_ModeSelect:
input->irq_mode = IRQ_Mode_Change;
break;
case Input_KeypadStrobe:
pullup = true;
input->irq_mode = IRQ_Mode_Change;
break;
case Input_SpindleIndex:
pullup = true;
input->irq_mode = IRQ_Mode_Falling;
break;
default:
break;
}
GPIO_Init.Pin = 1 << input->pin;
GPIO_Init.Pull = pullup ? GPIO_PULLUP : GPIO_NOPULL;
switch(input->irq_mode) {
case IRQ_Mode_Rising:
GPIO_Init.Mode = GPIO_MODE_IT_RISING;
break;
case IRQ_Mode_Falling:
GPIO_Init.Mode = GPIO_MODE_IT_FALLING;
break;
case IRQ_Mode_Change:
GPIO_Init.Mode = GPIO_MODE_IT_RISING_FALLING;
break;
default:
GPIO_Init.Mode = GPIO_MODE_INPUT;
break;
}
HAL_GPIO_Init(input->port, &GPIO_Init);
input->debounce = false;
} while(i);
__HAL_GPIO_EXTI_CLEAR_IT(DRIVER_IRQMASK);
#if DRIVER_IRQMASK & (1<<0)
HAL_NVIC_SetPriority(EXTI0_IRQn, 0, 2);
HAL_NVIC_EnableIRQ(EXTI0_IRQn);
#endif
#if DRIVER_IRQMASK & (1<<1)
HAL_NVIC_SetPriority(EXTI1_IRQn, 0, 2);
HAL_NVIC_EnableIRQ(EXTI1_IRQn);
#endif
#if DRIVER_IRQMASK & (1<<2)
HAL_NVIC_SetPriority(EXTI2_IRQn, 0, 2);
HAL_NVIC_EnableIRQ(EXTI2_IRQn);
#endif
#if DRIVER_IRQMASK & (1<<3)
HAL_NVIC_SetPriority(EXTI3_IRQn, 0, 2);
HAL_NVIC_EnableIRQ(EXTI3_IRQn);
#endif
#if DRIVER_IRQMASK & (1<<4)
HAL_NVIC_SetPriority(EXTI4_IRQn, 0, 2);
HAL_NVIC_EnableIRQ(EXTI4_IRQn);
#endif
#if DRIVER_IRQMASK & 0x03E0
HAL_NVIC_SetPriority(EXTI9_5_IRQn, 0, 2);
HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);
#endif
#if DRIVER_IRQMASK & 0xFC00
HAL_NVIC_SetPriority(EXTI15_10_IRQn, 0, 2);
HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
#endif
}
hal.limits.enable(settings->limits.flags.hard_enabled, false);
}
static char *port2char (GPIO_TypeDef *port)
{
static char name[3] = "P?";
name[1] = 'A' + GPIO_GET_INDEX(port);
return name;
}
static void enumeratePins (bool low_level, pin_info_ptr pin_info)
{
static xbar_t pin = {0};
uint32_t i = sizeof(inputpin) / sizeof(input_signal_t);
pin.mode.input = On;
for(i = 0; i < sizeof(inputpin) / sizeof(input_signal_t); i++) {
pin.pin = inputpin[i].pin;
pin.function = inputpin[i].id;
pin.group = inputpin[i].group;
pin.port = low_level ? (void *)inputpin[i].port : (void *)port2char(inputpin[i].port);
pin.description = inputpin[i].description;
pin.mode.pwm = pin.group == PinGroup_SpindlePWM;
pin_info(&pin);
};
pin.mode.mask = 0;
pin.mode.output = On;
for(i = 0; i < sizeof(outputpin) / sizeof(output_signal_t); i++) {
pin.pin = outputpin[i].pin;
pin.function = outputpin[i].id;
pin.group = outputpin[i].group;
pin.port = low_level ? (void *)outputpin[i].port : (void *)port2char(outputpin[i].port);
pin.description = outputpin[i].description;
pin_info(&pin);
};
#ifdef SPINDLE_PWM_TIMER_N
pin.pin = SPINDLE_PWM_PIN;
pin.function = Output_SpindlePWM;
pin.group = PinGroup_SpindlePWM;
pin.port = low_level ? (void *)SPINDLE_PWM_PORT : (void *)port2char(SPINDLE_PWM_PORT);
pin.description = NULL;
pin_info(&pin);
#endif
}
static status_code_t jtag_enable (uint_fast16_t state, char *line)
{
if(!strcmp(line, "$PGM")) {
__HAL_AFIO_REMAP_SWJ_ENABLE();
on_unknown_sys_command = NULL;
return Status_OK;
}
return on_unknown_sys_command ? on_unknown_sys_command(state, line) : Status_Unhandled;
}
// Initializes MCU peripherals for Grbl use
static bool driver_setup (settings_t *settings)
{
// Interrupt_disableSleepOnIsrExit();
__HAL_RCC_TIM1_CLK_ENABLE();
__HAL_RCC_TIM2_CLK_ENABLE();
__HAL_RCC_TIM3_CLK_ENABLE();
__HAL_RCC_TIM4_CLK_ENABLE();
GPIO_InitTypeDef GPIO_Init = {
.Speed = GPIO_SPEED_FREQ_HIGH,
.Mode = GPIO_MODE_OUTPUT_PP
};
/*************************
* Output signals init *
*************************/
uint32_t i;
for(i = 0 ; i < sizeof(outputpin) / sizeof(output_signal_t); i++) {
GPIO_Init.Pin = 1 << outputpin[i].pin;
GPIO_Init.Mode = outputpin[i].mode.open_drain ? GPIO_MODE_OUTPUT_OD : GPIO_MODE_OUTPUT_PP;
HAL_GPIO_Init(outputpin[i].port, &GPIO_Init);
}
// Stepper init
STEPPER_TIMER->CR1 &= ~TIM_CR1_CEN;
STEPPER_TIMER->SR &= ~TIM_SR_UIF;
STEPPER_TIMER->CNT = 0;
STEPPER_TIMER->DIER |= TIM_DIER_UIE;
// Single-shot 0.1 us per tick
PULSE_TIMER->CR1 |= TIM_CR1_OPM|TIM_CR1_DIR|TIM_CR1_CKD_1|TIM_CR1_ARPE|TIM_CR1_URS;
PULSE_TIMER->PSC = hal.f_step_timer / 10000000UL - 1;
PULSE_TIMER->SR &= ~(TIM_SR_UIF|TIM_SR_CC1IF);
PULSE_TIMER->CNT = 0;
PULSE_TIMER->DIER |= TIM_DIER_UIE;
//
NVIC_SetPriority(TIM3_IRQn, 0);
NVIC_SetPriority(TIM2_IRQn, 1);
NVIC_EnableIRQ(TIM3_IRQn);
NVIC_EnableIRQ(TIM2_IRQn);
// Limit pins init
if (settings->limits.flags.hard_enabled)
HAL_NVIC_SetPriority(EXTI15_10_IRQn, 0x02, 0x02);
// Control pins init
if(hal.driver_cap.software_debounce) {
// Single-shot 0.1 ms per tick
DEBOUNCE_TIMER->CR1 |= TIM_CR1_OPM|TIM_CR1_DIR|TIM_CR1_CKD_1|TIM_CR1_ARPE|TIM_CR1_URS;
DEBOUNCE_TIMER->PSC = hal.f_step_timer / 10000UL - 1;
DEBOUNCE_TIMER->SR &= ~TIM_SR_UIF;
DEBOUNCE_TIMER->ARR = 400; // 40 ms timeout
DEBOUNCE_TIMER->DIER |= TIM_DIER_UIE;
HAL_NVIC_EnableIRQ(TIM4_IRQn); // Enable debounce interrupt
}
// Spindle init
if(hal.driver_cap.variable_spindle) {
GPIO_Init.Pin = 1 << SPINDLE_PWM_PIN;
GPIO_Init.Mode = GPIO_MODE_AF_PP;
HAL_GPIO_Init(SPINDLE_PWM_PORT, &GPIO_Init);
}
// Coolant init
BITBAND_PERI(COOLANT_FLOOD_PORT->ODR, COOLANT_FLOOD_PIN) = 1;
BITBAND_PERI(COOLANT_MIST_PORT->ODR, COOLANT_MIST_PIN) = 1;
BITBAND_PERI(COOLANT_FLOOD_PORT->ODR, COOLANT_FLOOD_PIN) = 0;
BITBAND_PERI(COOLANT_MIST_PORT->ODR, COOLANT_MIST_PIN) = 0;
#if SDCARD_ENABLE