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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) 2019-2021 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"
#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
typedef union {
uint8_t mask;
struct {
uint8_t limits :1,
door :1,
unused :6;
};
} debounce_t;
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 STEP_OUTMODE == GPIO_MAP
static const uint32_t c_step_outmap[] = {
0,
X_STEP_BIT,
Y_STEP_BIT,
Y_STEP_BIT | X_STEP_BIT,
Z_STEP_BIT,
Z_STEP_BIT | X_STEP_BIT,
Z_STEP_BIT | Y_STEP_BIT,
Z_STEP_BIT | Y_STEP_BIT | X_STEP_BIT,
#if N_AXIS > 3
A_STEP_BIT,
A_STEP_BIT | X_STEP_BIT,
A_STEP_BIT | Y_STEP_BIT,
A_STEP_BIT | Y_STEP_BIT | X_STEP_BIT,
A_STEP_BIT | Z_STEP_BIT,
A_STEP_BIT | Z_STEP_BIT | X_STEP_BIT,
A_STEP_BIT | Z_STEP_BIT | Y_STEP_BIT,
A_STEP_BIT | Z_STEP_BIT | Y_STEP_BIT | X_STEP_BIT,
#endif
#if N_AXIS > 4
B_STEP_BIT,
B_STEP_BIT | X_STEP_BIT,
B_STEP_BIT | Y_STEP_BIT,
B_STEP_BIT | X_STEP_BIT,
B_STEP_BIT | Z_STEP_BIT,
B_STEP_BIT | Z_STEP_BIT | X_STEP_BIT,
B_STEP_BIT | Z_STEP_BIT | Y_STEP_BIT,
B_STEP_BIT | Z_STEP_BIT | Y_STEP_BIT | X_STEP_BIT,
B_STEP_BIT | A_STEP_BIT,
B_STEP_BIT | A_STEP_BIT | X_STEP_BIT,
B_STEP_BIT | A_STEP_BIT | Y_STEP_BIT,
B_STEP_BIT | A_STEP_BIT | Y_STEP_BIT | X_STEP_BIT,
B_STEP_BIT | A_STEP_BIT | Z_STEP_BIT,
B_STEP_BIT | A_STEP_BIT | Z_STEP_BIT | X_STEP_BIT,
B_STEP_BIT | A_STEP_BIT | Z_STEP_BIT | Y_STEP_BIT,
B_STEP_BIT | A_STEP_BIT | Z_STEP_BIT | Y_STEP_BIT | X_STEP_BIT,
#endif
};
static uint32_t step_outmap[sizeof(c_step_outmap) / sizeof(uint32_t)];
#endif
#if DIRECTION_OUTMODE == GPIO_MAP
static const uint32_t c_dir_outmap[] = {
0,
X_DIRECTION_BIT,
Y_DIRECTION_BIT,
Y_DIRECTION_BIT | X_DIRECTION_BIT,
Z_DIRECTION_BIT,
Z_DIRECTION_BIT | X_DIRECTION_BIT,
Z_DIRECTION_BIT | Y_DIRECTION_BIT,
Z_DIRECTION_BIT | Y_DIRECTION_BIT | X_DIRECTION_BIT,
#if N_AXIS > 3
A_DIRECTION_BIT,
A_DIRECTION_BIT | X_DIRECTION_BIT,
A_DIRECTION_BIT | Y_DIRECTION_BIT,
A_DIRECTION_BIT | Y_DIRECTION_BIT | X_DIRECTION_BIT,
A_DIRECTION_BIT | Z_DIRECTION_BIT,
A_DIRECTION_BIT | Z_DIRECTION_BIT | X_DIRECTION_BIT,
A_DIRECTION_BIT | Z_DIRECTION_BIT | Y_DIRECTION_BIT,
A_DIRECTION_BIT | Z_DIRECTION_BIT | Y_DIRECTION_BIT | X_DIRECTION_BIT,
#endif
#if N_AXIS > 4
B_DIRECTION_BIT,
B_DIRECTION_BIT | X_DIRECTION_BIT,
B_DIRECTION_BIT | Y_DIRECTION_BIT,
B_DIRECTION_BIT | X_DIRECTION_BIT,
B_DIRECTION_BIT | Z_DIRECTION_BIT,
B_DIRECTION_BIT | Z_DIRECTION_BIT | X_DIRECTION_BIT,
B_DIRECTION_BIT | Z_DIRECTION_BIT | Y_DIRECTION_BIT,
B_DIRECTION_BIT | Z_DIRECTION_BIT | Y_DIRECTION_BIT | X_DIRECTION_BIT,
B_DIRECTION_BIT | A_DIRECTION_BIT,
B_DIRECTION_BIT | A_DIRECTION_BIT | X_DIRECTION_BIT,
B_DIRECTION_BIT | A_DIRECTION_BIT | Y_DIRECTION_BIT,
B_DIRECTION_BIT | A_DIRECTION_BIT | Y_DIRECTION_BIT | X_DIRECTION_BIT,
B_DIRECTION_BIT | A_DIRECTION_BIT | Z_DIRECTION_BIT,
B_DIRECTION_BIT | A_DIRECTION_BIT | Z_DIRECTION_BIT | X_DIRECTION_BIT,
B_DIRECTION_BIT | A_DIRECTION_BIT | Z_DIRECTION_BIT | Y_DIRECTION_BIT,
B_DIRECTION_BIT | A_DIRECTION_BIT | Z_DIRECTION_BIT | Y_DIRECTION_BIT | X_DIRECTION_BIT,
#endif
};
static uint32_t dir_outmap[sizeof(c_dir_outmap) / sizeof(uint32_t)];
#endif
#if KEYPAD_ENABLE == 0
#define KEYPAD_STROBE_BIT 0
#endif
#define DRIVER_IRQMASK (LIMIT_MASK|CONTROL_MASK|KEYPAD_STROBE_BIT)
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);
} else if(callback)
callback();
}
// Enable/disable stepper motors
static void stepperEnable (axes_signals_t enable)
{
enable.mask ^= settings.steppers.enable_invert.mask;
#if TRINAMIC_ENABLE && TRINAMIC_I2C
trinamic_stepper_enable(enable);
#else
BITBAND_PERI(STEPPERS_DISABLE_PORT->ODR, STEPPERS_DISABLE_PIN) = enable.x;
#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_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_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;
#if TRINAMIC_ENABLE
trinamic_homing(homing);
#endif
}
// 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, CONTROL_RESET_PIN);
signals.feed_hold = BITBAND_PERI(CONTROL_PORT->IDR, CONTROL_FEED_HOLD_PIN);
signals.cycle_start = BITBAND_PERI(CONTROL_PORT->IDR, CONTROL_CYCLE_START_PIN);
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
signals.safety_door_ajar = BITBAND_PERI(CONTROL_PORT->IDR, CONTROL_SAFETY_DOOR_PIN);
#endif
#elif CONTROL_INMODE == GPIO_MAP
uint32_t bits = CONTROL_PORT->IDR;
signals.reset = (bits & CONTROL_RESET_BIT) != 0;
signals.feed_hold = (bits & CONTROL_FEED_HOLD_BIT) != 0;
signals.cycle_start = (bits & CONTROL_CYCLE_START_BIT) != 0;
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
signals.safety_door_ajar = (bits & CONTROL_SAFETY_DOOR_BIT) != 0;
#endif
#else
signals.value = (uint8_t)((CONTROL_PORT->IDR & CONTROL_MASK) >> CONTROL_INMODE);
#ifndef ENABLE_SAFETY_DOOR_INPUT_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 (STEP_OUTMODE == GPIO_MAP) || (DIRECTION_OUTMODE == GPIO_MAP)
uint8_t i;
#endif
#if STEP_OUTMODE == GPIO_MAP
i = sizeof(step_outmap) / sizeof(uint32_t);
do {
i--;
step_outmap[i] = c_step_outmap[i ^ settings->steppers.step_invert.value];
} while(i);
#endif
#if DIRECTION_OUTMODE == GPIO_MAP
i = sizeof(dir_outmap) / sizeof(uint32_t);
do {
i--;
dir_outmap[i] = c_dir_outmap[i ^ settings->steppers.dir_invert.value];
} while(i);
#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
/*************************
* Control pins config *
*************************/
control_signals_t control_ire;
control_ire.mask = ~(settings->control_disable_pullup.mask ^ settings->control_invert.mask);
GPIO_Init.Pin = CONTROL_RESET_BIT;
GPIO_Init.Mode = control_ire.reset ? GPIO_MODE_IT_RISING : GPIO_MODE_IT_FALLING;
GPIO_Init.Pull = settings->control_disable_pullup.reset ? GPIO_NOPULL : GPIO_PULLUP;
HAL_GPIO_Init(CONTROL_PORT, &GPIO_Init);
GPIO_Init.Pin = CONTROL_FEED_HOLD_BIT;
GPIO_Init.Mode = control_ire.feed_hold ? GPIO_MODE_IT_RISING : GPIO_MODE_IT_FALLING;
GPIO_Init.Pull = settings->control_disable_pullup.feed_hold ? GPIO_NOPULL : GPIO_PULLUP;
HAL_GPIO_Init(CONTROL_PORT, &GPIO_Init);
GPIO_Init.Pin = CONTROL_CYCLE_START_BIT;
GPIO_Init.Mode = control_ire.cycle_start ? GPIO_MODE_IT_RISING : GPIO_MODE_IT_FALLING;
GPIO_Init.Pull = settings->control_disable_pullup.cycle_start ? GPIO_NOPULL : GPIO_PULLUP;
HAL_GPIO_Init(CONTROL_PORT, &GPIO_Init);
#ifdef CONTROL_SAFETY_DOOR_BIT
GPIO_Init.Pin = CONTROL_SAFETY_DOOR_BIT;
GPIO_Init.Mode = control_ire.safety_door_ajar ? GPIO_MODE_IT_RISING : GPIO_MODE_IT_FALLING;
GPIO_Init.Pull = settings->control_disable_pullup.safety_door_ajar ? GPIO_NOPULL : GPIO_PULLUP;
HAL_GPIO_Init(CONTROL_PORT, &GPIO_Init);
#endif
/***********************
* Limit pins config *
***********************/
if (settings->limits.flags.hard_enabled) {
axes_signals_t limit_ire;
limit_ire.mask = ~(settings->limits.disable_pullup.mask ^ settings->limits.invert.mask);
GPIO_Init.Pin = X_LIMIT_BIT;
GPIO_Init.Mode = limit_ire.x ? GPIO_MODE_IT_RISING : GPIO_MODE_IT_FALLING;
GPIO_Init.Pull = settings->limits.disable_pullup.x ? GPIO_NOPULL : GPIO_PULLUP;
HAL_GPIO_Init(LIMIT_PORT, &GPIO_Init);
GPIO_Init.Pin = Y_LIMIT_BIT;
GPIO_Init.Mode = limit_ire.y ? GPIO_MODE_IT_RISING : GPIO_MODE_IT_FALLING;
GPIO_Init.Pull = settings->limits.disable_pullup.y ? GPIO_NOPULL : GPIO_PULLUP;
HAL_GPIO_Init(LIMIT_PORT, &GPIO_Init);
GPIO_Init.Pin = Z_LIMIT_BIT;
GPIO_Init.Mode = limit_ire.z ? GPIO_MODE_IT_RISING : GPIO_MODE_IT_FALLING;
GPIO_Init.Pull = settings->limits.disable_pullup.z ? GPIO_NOPULL : GPIO_PULLUP;
HAL_GPIO_Init(LIMIT_PORT, &GPIO_Init);
#ifdef A_LIMIT_BIT
GPIO_Init.Pin = A_LIMIT_BIT;
GPIO_Init.Mode = limit_ire.a ? GPIO_MODE_IT_RISING : GPIO_MODE_IT_FALLING;
GPIO_Init.Pull = settings->limits.disable_pullup.a ? GPIO_NOPULL : GPIO_PULLUP;
HAL_GPIO_Init(LIMIT_PORT, &GPIO_Init);
#endif
} else {
GPIO_Init.Mode = GPIO_MODE_INPUT;
GPIO_Init.Pin = X_LIMIT_BIT;
GPIO_Init.Pull = settings->limits.disable_pullup.x ? GPIO_NOPULL : GPIO_PULLUP;
HAL_GPIO_Init(LIMIT_PORT, &GPIO_Init);
GPIO_Init.Pin = Y_LIMIT_BIT;
GPIO_Init.Pull = settings->limits.disable_pullup.y ? GPIO_NOPULL : GPIO_PULLUP;
HAL_GPIO_Init(LIMIT_PORT, &GPIO_Init);
GPIO_Init.Pin = Z_LIMIT_BIT;
GPIO_Init.Pull = settings->limits.disable_pullup.z ? GPIO_NOPULL : GPIO_PULLUP;
HAL_GPIO_Init(LIMIT_PORT, &GPIO_Init);
#ifdef A_LIMIT_BIT
GPIO_Init.Pin = A_LIMIT_BIT;
GPIO_Init.Pull = settings->limits.disable_pullup.a ? GPIO_NOPULL : GPIO_PULLUP;
HAL_GPIO_Init(LIMIT_PORT, &GPIO_Init);
#endif
}
/**********************
* Probe pin config *
**********************/
GPIO_Init.Pin = PROBE_BIT;
GPIO_Init.Mode = GPIO_MODE_INPUT;
GPIO_Init.Pull = settings->probe.disable_probe_pullup ? GPIO_NOPULL : GPIO_PULLUP;
HAL_GPIO_Init(PROBE_PORT, &GPIO_Init);
#if KEYPAD_ENABLE
GPIO_Init.Pin = KEYPAD_STROBE_BIT;
GPIO_Init.Mode = GPIO_MODE_IT_RISING_FALLING;
GPIO_Init.Pull = GPIO_PULLUP;
HAL_GPIO_Init(KEYPAD_PORT, &GPIO_Init);
#endif
__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
}
}
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;
GPIO_Init.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_Init.Mode = GPIO_MODE_OUTPUT_PP;
// Stepper init
GPIO_Init.Pin = STEPPERS_DISABLE_MASK;
HAL_GPIO_Init(STEPPERS_DISABLE_PORT, &GPIO_Init);
GPIO_Init.Pin = STEP_MASK;
HAL_GPIO_Init(STEP_PORT, &GPIO_Init);
GPIO_Init.Pin = DIRECTION_MASK;
HAL_GPIO_Init(DIRECTION_PORT, &GPIO_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
GPIO_Init.Pin = SPINDLE_DIRECTION_BIT;
HAL_GPIO_Init(SPINDLE_DIRECTION_PORT, &GPIO_Init);
GPIO_Init.Pin = SPINDLE_ENABLE_BIT;
HAL_GPIO_Init(SPINDLE_ENABLE_PORT, &GPIO_Init);
if(hal.driver_cap.variable_spindle) {
GPIO_Init.Pin = SPINDLE_PWM_BIT;
GPIO_Init.Mode = GPIO_MODE_AF_PP;
HAL_GPIO_Init(SPINDLE_PWM_PORT, &GPIO_Init);
}
// Coolant init
GPIO_Init.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_Init.Pin = COOLANT_FLOOD_BIT;
HAL_GPIO_Init(COOLANT_FLOOD_PORT, &GPIO_Init);
GPIO_Init.Pin = COOLANT_MIST_BIT;
HAL_GPIO_Init(COOLANT_MIST_PORT, &GPIO_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
GPIO_Init.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_Init.Pin = SD_CS_BIT;
HAL_GPIO_Init(SD_CS_PORT, &GPIO_Init);
BITBAND_PERI(SD_CS_PORT->ODR, SD_CS_PIN) = 1;
sdcard_init();
#endif
on_unknown_sys_command = grbl.on_unknown_sys_command;
grbl.on_unknown_sys_command = jtag_enable;
IOInitDone = settings->version == 19;
hal.settings_changed(settings);
hal.spindle.set_state((spindle_state_t){0}, 0.0f);
hal.coolant.set_state((coolant_state_t){0});
stepperSetDirOutputs((axes_signals_t){0});
return IOInitDone;
}
// Initialize HAL pointers, setup serial comms and enable EEPROM
// NOTE: Grbl is not yet configured (from EEPROM data), driver_setup() will be called when done
bool driver_init (void)
{
// Enable EEPROM and serial port here for Grbl to be able to configure itself and report any errors
// GPIO_PinRemapConfig(GPIO_Remap_SWJ_Disable, ENABLE); // ??? Disable JTAG and SWD!?? Bug?
#if USB_SERIAL_CDC
usbInit();
#else
serialInit();
#endif
#ifdef I2C_PORT
i2c_init();
#endif
__HAL_AFIO_REMAP_SWJ_NOJTAG();
hal.info = "STM32F103C8";
hal.driver_version = "210423";
#ifdef BOARD_NAME
hal.board = BOARD_NAME;
#endif
hal.driver_setup = driver_setup;
hal.f_step_timer = SystemCoreClock;
hal.rx_buffer_size = RX_BUFFER_SIZE;
hal.delay_ms = &driver_delay;
hal.settings_changed = settings_changed;
hal.stepper.wake_up = stepperWakeUp;
hal.stepper.go_idle = stepperGoIdle;
hal.stepper.enable = stepperEnable;
hal.stepper.cycles_per_tick = stepperCyclesPerTickPrescaled;
hal.stepper.pulse_start = stepperPulseStart;
hal.limits.enable = limitsEnable;
hal.limits.get_state = limitsGetState;
hal.coolant.set_state = coolantSetState;
hal.coolant.get_state = coolantGetState;
#ifdef PROBE_PIN
hal.probe.get_state = probeGetState;
hal.probe.configure = probeConfigure;
#endif
hal.spindle.set_state = spindleSetState;
hal.spindle.get_state = spindleGetState;
#ifdef SPINDLE_PWM_DIRECT
hal.spindle.get_pwm = spindleGetPWM;
hal.spindle.update_pwm = spindle_set_speed;
#else
hal.spindle.update_rpm = spindleUpdateRPM;
#endif
hal.control.get_state = systemGetState;
hal.irq_enable = __enable_irq;
hal.irq_disable = __disable_irq;
hal.set_bits_atomic = bitsSetAtomic;
hal.clear_bits_atomic = bitsClearAtomic;
hal.set_value_atomic = valueSetAtomic;
hal.get_elapsed_ticks = getElapsedTicks;
#if USB_SERIAL_CDC
hal.stream.read = usbGetC;
hal.stream.write = usbWriteS;
hal.stream.write_all = usbWriteS;
hal.stream.write_char = usbPutC;
hal.stream.get_rx_buffer_available = usbRxFree;
hal.stream.reset_read_buffer = usbRxFlush;
hal.stream.cancel_read_buffer = usbRxCancel;
hal.stream.suspend_read = usbSuspendInput;
#else