146 lines
7.9 KiB
C++
146 lines
7.9 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* The PWM module is only used to generate interrupts at specified times. It
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* is NOT used to directly toggle pins. The ISR writes to the pin assigned to
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* that interrupt.
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*
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* All PWMs use the same repetition rate. The G2 needs about 10KHz min in order to
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* not have obvious ripple on the Vref signals.
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*
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* The data structures are setup to minimize the computation done by the ISR which
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* minimizes ISR execution time. Execution times are 0.8 to 1.1 microseconds.
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*
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* FIve PWM interrupt sources are used. Channel 0 sets the base period. All Vref
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* signals are set active when this counter overflows and resets to zero. The compare
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* values in channels 1-4 are set to give the desired duty cycle for that Vref pin.
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* When counter 0 matches the compare value then that channel generates an interrupt.
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* The ISR checks the source of the interrupt and sets the corresponding pin inactive.
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*
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* Some jitter in the Vref signal is OK so the interrupt priority is left at its default value.
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*/
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#include "../../inc/MarlinConfig.h"
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#if MB(PRINTRBOARD_G2)
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#include "G2_PWM.h"
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volatile uint32_t *SODR_A = &PIOA->PIO_SODR,
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*SODR_B = &PIOB->PIO_SODR,
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*CODR_A = &PIOA->PIO_CODR,
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*CODR_B = &PIOB->PIO_CODR;
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PWM_map ISR_table[NUM_PWMS] = PWM_MAP_INIT;
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void Stepper::digipot_init() {
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OUT_WRITE(MOTOR_CURRENT_PWM_X_PIN, 0); // init pins
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OUT_WRITE(MOTOR_CURRENT_PWM_Y_PIN, 0);
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OUT_WRITE(MOTOR_CURRENT_PWM_Z_PIN, 0);
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OUT_WRITE(MOTOR_CURRENT_PWM_E_PIN, 0);
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#define WPKEY (0x50574D << 8) // “PWM” in ASCII
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#define WPCMD_DIS_SW 0 // command to disable Write Protect SW
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#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
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#define PWM_CLOCK_F F_CPU / 1000000UL // set clock to 1MHz
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PMC->PMC_PCER1 = PMC_PCER1_PID36; // enable PWM controller clock (disabled on power up)
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PWM->PWM_WPCR = WPKEY | WPRG_ALL | WPCMD_DIS_SW; // enable setting of all PWM registers
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PWM->PWM_CLK = PWM_CLOCK_F; // enable CLK_A and set it to 1MHz, leave CLK_B disabled
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PWM->PWM_CH_NUM[0].PWM_CMR = 0b1011; // set channel 0 to Clock A input & to left aligned
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PWM->PWM_CH_NUM[1].PWM_CMR = 0b1011; // set channel 1 to Clock A input & to left aligned
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PWM->PWM_CH_NUM[2].PWM_CMR = 0b1011; // set channel 2 to Clock A input & to left aligned
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PWM->PWM_CH_NUM[3].PWM_CMR = 0b1011; // set channel 3 to Clock A input & to left aligned
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PWM->PWM_CH_NUM[4].PWM_CMR = 0b1011; // set channel 4 to Clock A input & to left aligned
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PWM->PWM_CH_NUM[0].PWM_CPRD = PWM_PERIOD_US; // set channel 0 Period
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PWM->PWM_IER2 = PWM_IER1_CHID0; // generate interrupt when counter0 overflows
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PWM->PWM_IER2 = PWM_IER2_CMPM0 | PWM_IER2_CMPM1 | PWM_IER2_CMPM2 | PWM_IER2_CMPM3 | PWM_IER2_CMPM4; // generate interrupt on compare event
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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
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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
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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
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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
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PWM->PWM_CMP[1].PWM_CMPM = 0x0001; // enable compare event
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PWM->PWM_CMP[2].PWM_CMPM = 0x0001; // enable compare event
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PWM->PWM_CMP[3].PWM_CMPM = 0x0001; // enable compare event
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PWM->PWM_CMP[4].PWM_CMPM = 0x0001; // enable compare event
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PWM->PWM_SCM = PWM_SCM_UPDM_MODE0 | PWM_SCM_SYNC0 | PWM_SCM_SYNC1 | PWM_SCM_SYNC2 | PWM_SCM_SYNC3 | PWM_SCM_SYNC4; // sync 1-4 with 0, use mode 0 for updates
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PWM->PWM_ENA = PWM_ENA_CHID0 | PWM_ENA_CHID1 | PWM_ENA_CHID2 | PWM_ENA_CHID3 | PWM_ENA_CHID4; // enable the channels used by G2
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PWM->PWM_IER1 = PWM_IER1_CHID0 | PWM_IER1_CHID1 | PWM_IER1_CHID2 | PWM_IER1_CHID3 | PWM_IER1_CHID4; // enable interrupts for the channels used by G2
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NVIC_EnableIRQ(PWM_IRQn); // Enable interrupt handler
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NVIC_SetPriority(PWM_IRQn, NVIC_EncodePriority(0, 10, 0)); // normal priority for PWM module (can stand some jitter on the Vref signals)
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}
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void Stepper::digipot_current(const uint8_t driver, const int16_t current) {
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if (!(PWM->PWM_CH_NUM[0].PWM_CPRD == PWM_PERIOD_US)) digipot_init(); // Init PWM system if needed
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switch (driver) {
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case 0: PWM->PWM_CMP[1].PWM_CMPVUPD = 0x010000000LL | G2_VREF_COUNT(G2_VREF(current)); // update X & Y
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PWM->PWM_CMP[2].PWM_CMPVUPD = 0x010000000LL | G2_VREF_COUNT(G2_VREF(current));
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PWM->PWM_CMP[1].PWM_CMPMUPD = 0x0001; // enable compare event
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PWM->PWM_CMP[2].PWM_CMPMUPD = 0x0001; // enable compare event
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PWM->PWM_SCUC = PWM_SCUC_UPDULOCK; // tell the PWM controller to update the values on the next cycle
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break;
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case 1: PWM->PWM_CMP[3].PWM_CMPVUPD = 0x010000000LL | G2_VREF_COUNT(G2_VREF(current)); // update Z
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PWM->PWM_CMP[3].PWM_CMPMUPD = 0x0001; // enable compare event
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PWM->PWM_SCUC = PWM_SCUC_UPDULOCK; // tell the PWM controller to update the values on the next cycle
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break;
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default:PWM->PWM_CMP[4].PWM_CMPVUPD = 0x010000000LL | G2_VREF_COUNT(G2_VREF(current)); // update E
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PWM->PWM_CMP[4].PWM_CMPMUPD = 0x0001; // enable compare event
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PWM->PWM_SCUC = PWM_SCUC_UPDULOCK; // tell the PWM controller to update the values on the next cycle
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break;
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}
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}
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volatile uint32_t PWM_ISR1_STATUS, PWM_ISR2_STATUS;
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void PWM_Handler() {
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PWM_ISR1_STATUS = PWM->PWM_ISR1;
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PWM_ISR2_STATUS = PWM->PWM_ISR2;
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if (PWM_ISR1_STATUS & PWM_IER1_CHID0) { // CHAN_0 interrupt
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*ISR_table[0].set_register = ISR_table[0].write_mask; // set X to active
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*ISR_table[1].set_register = ISR_table[1].write_mask; // set Y to active
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*ISR_table[2].set_register = ISR_table[2].write_mask; // set Z to active
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*ISR_table[3].set_register = ISR_table[3].write_mask; // set E to active
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}
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else {
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if (PWM_ISR2_STATUS & PWM_IER2_CMPM1) *ISR_table[0].clr_register = ISR_table[0].write_mask; // set X to inactive
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if (PWM_ISR2_STATUS & PWM_IER2_CMPM2) *ISR_table[1].clr_register = ISR_table[1].write_mask; // set Y to inactive
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if (PWM_ISR2_STATUS & PWM_IER2_CMPM3) *ISR_table[2].clr_register = ISR_table[2].write_mask; // set Z to inactive
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if (PWM_ISR2_STATUS & PWM_IER2_CMPM4) *ISR_table[3].clr_register = ISR_table[3].write_mask; // set E to inactive
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}
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return;
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}
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#endif // PRINTRBOARD_G2
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