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HAL_*_TIMER_RATE => *_TIMER_RATE

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2.0.x
Scott Lahteine 7 years ago
parent 928e50e724
commit 4dbec774b5
12 changed files with 25 additions and 25 deletions
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4
Marlin/src/HAL/HAL_AVR/HAL.h
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@ -126,8 +126,8 @@ extern "C" {
#define TEMP_TIMER_NUM 0 #define TEMP_TIMER_NUM 0
#define PULSE_TIMER_NUM STEP_TIMER_NUM #define PULSE_TIMER_NUM STEP_TIMER_NUM
#define HAL_STEPPER_TIMER_RATE HAL_TIMER_RATE #define STEPPER_TIMER_RATE HAL_TIMER_RATE
#define HAL_TICKS_PER_US ((HAL_STEPPER_TIMER_RATE) / 1000000) // Cannot be of type double #define HAL_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // Cannot be of type double
#define STEPPER_TIMER_PRESCALE 8 #define STEPPER_TIMER_PRESCALE 8
#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts #define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts

4
Marlin/src/HAL/HAL_DUE/HAL_timers_Due.h
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@ -49,8 +49,8 @@ typedef uint32_t hal_timer_t;
#define HAL_TIMER_RATE ((F_CPU) / 2) // frequency of timers peripherals #define HAL_TIMER_RATE ((F_CPU) / 2) // frequency of timers peripherals
#define HAL_STEPPER_TIMER_RATE HAL_TIMER_RATE // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) #define STEPPER_TIMER_RATE HAL_TIMER_RATE // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
#define HAL_TICKS_PER_US ((HAL_STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs #define HAL_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / HAL_TICKS_PER_US) #define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / HAL_TICKS_PER_US)
#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts #define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts

6
Marlin/src/HAL/HAL_LPC1768/HAL_timers.cpp
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@ -33,7 +33,7 @@
void HAL_timer_init(void) { void HAL_timer_init(void) {
SBI(LPC_SC->PCONP, SBIT_TIMER0); // Power ON Timer 0 SBI(LPC_SC->PCONP, SBIT_TIMER0); // Power ON Timer 0
LPC_TIM0->PR = (HAL_TIMER_RATE) / (HAL_STEPPER_TIMER_RATE) - 1; // Use prescaler to set frequency if needed LPC_TIM0->PR = (HAL_TIMER_RATE) / (STEPPER_TIMER_RATE) - 1; // Use prescaler to set frequency if needed
SBI(LPC_SC->PCONP, SBIT_TIMER1); // Power ON Timer 1 SBI(LPC_SC->PCONP, SBIT_TIMER1); // Power ON Timer 1
LPC_TIM1->PR = (HAL_TIMER_RATE) / 1000000 - 1; LPC_TIM1->PR = (HAL_TIMER_RATE) / 1000000 - 1;
@ -43,7 +43,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
switch (timer_num) { switch (timer_num) {
case 0: case 0:
LPC_TIM0->MCR = _BV(SBIT_MR0I) | _BV(SBIT_MR0R); // Match on MR0, reset on MR0, interrupts when NVIC enables them LPC_TIM0->MCR = _BV(SBIT_MR0I) | _BV(SBIT_MR0R); // Match on MR0, reset on MR0, interrupts when NVIC enables them
LPC_TIM0->MR0 = uint32_t(HAL_STEPPER_TIMER_RATE) / frequency; // Match value (period) to set frequency LPC_TIM0->MR0 = uint32_t(STEPPER_TIMER_RATE) / frequency; // Match value (period) to set frequency
LPC_TIM0->TCR = _BV(SBIT_CNTEN); // Counter Enable LPC_TIM0->TCR = _BV(SBIT_CNTEN); // Counter Enable
NVIC_SetPriority(TIMER0_IRQn, NVIC_EncodePriority(0, 1, 0)); NVIC_SetPriority(TIMER0_IRQn, NVIC_EncodePriority(0, 1, 0));
@ -52,7 +52,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
case 1: case 1:
LPC_TIM1->MCR = _BV(SBIT_MR0I) | _BV(SBIT_MR0R); // Match on MR0, reset on MR0, interrupts when NVIC enables them LPC_TIM1->MCR = _BV(SBIT_MR0I) | _BV(SBIT_MR0R); // Match on MR0, reset on MR0, interrupts when NVIC enables them
LPC_TIM1->MR0 = uint32_t(HAL_TEMP_TIMER_RATE) / frequency; LPC_TIM1->MR0 = uint32_t(TEMP_TIMER_RATE) / frequency;
LPC_TIM1->TCR = _BV(SBIT_CNTEN); // Counter Enable LPC_TIM1->TCR = _BV(SBIT_CNTEN); // Counter Enable
NVIC_SetPriority(TIMER1_IRQn, NVIC_EncodePriority(0, 2, 0)); NVIC_SetPriority(TIMER1_IRQn, NVIC_EncodePriority(0, 2, 0));

6
Marlin/src/HAL/HAL_LPC1768/HAL_timers.h
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@ -72,13 +72,13 @@ typedef uint32_t hal_timer_t;
#define PWM_TIMER_NUM 3 // Timer Index for PWM #define PWM_TIMER_NUM 3 // Timer Index for PWM
#define HAL_TIMER_RATE ((SystemCoreClock) / 4) // frequency of timers peripherals #define HAL_TIMER_RATE ((SystemCoreClock) / 4) // frequency of timers peripherals
#define HAL_STEPPER_TIMER_RATE HAL_TIMER_RATE // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) #define STEPPER_TIMER_RATE HAL_TIMER_RATE // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
#define HAL_TICKS_PER_US ((HAL_STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs #define HAL_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / HAL_TICKS_PER_US) #define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / HAL_TICKS_PER_US)
#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts #define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
#define HAL_TEMP_TIMER_RATE 1000000 #define TEMP_TIMER_RATE 1000000
#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency #define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE #define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE

2
Marlin/src/HAL/HAL_STM32F1/HAL_timers_Stm32f1.cpp
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@ -121,7 +121,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
timer_set_count(STEP_TIMER_DEV, 0); timer_set_count(STEP_TIMER_DEV, 0);
timer_set_prescaler(STEP_TIMER_DEV, (uint16)(STEPPER_TIMER_PRESCALE - 1)); timer_set_prescaler(STEP_TIMER_DEV, (uint16)(STEPPER_TIMER_PRESCALE - 1));
timer_set_reload(STEP_TIMER_DEV, 0xFFFF); timer_set_reload(STEP_TIMER_DEV, 0xFFFF);
timer_set_compare(STEP_TIMER_DEV, STEP_TIMER_CHAN, MIN(HAL_TIMER_TYPE_MAX, (HAL_STEPPER_TIMER_RATE / frequency))); timer_set_compare(STEP_TIMER_DEV, STEP_TIMER_CHAN, MIN(HAL_TIMER_TYPE_MAX, (STEPPER_TIMER_RATE / frequency)));
timer_attach_interrupt(STEP_TIMER_DEV, STEP_TIMER_CHAN, stepTC_Handler); timer_attach_interrupt(STEP_TIMER_DEV, STEP_TIMER_CHAN, stepTC_Handler);
nvic_irq_set_priority(irq_num, 1); nvic_irq_set_priority(irq_num, 1);
timer_generate_update(STEP_TIMER_DEV); timer_generate_update(STEP_TIMER_DEV);

4
Marlin/src/HAL/HAL_STM32F1/HAL_timers_Stm32f1.h
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@ -69,8 +69,8 @@ timer_dev* get_timer_dev(int number);
#define HAL_TIMER_RATE (F_CPU) // frequency of timers peripherals #define HAL_TIMER_RATE (F_CPU) // frequency of timers peripherals
#define STEPPER_TIMER_PRESCALE 18 // prescaler for setting stepper timer, 4Mhz #define STEPPER_TIMER_PRESCALE 18 // prescaler for setting stepper timer, 4Mhz
#define HAL_STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer #define STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer
#define HAL_TICKS_PER_US ((HAL_STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs #define HAL_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE #define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE

4
Marlin/src/HAL/HAL_STM32F4/HAL_timers_STM32F4.h
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@ -43,8 +43,8 @@
#define HAL_TIMER_RATE (HAL_RCC_GetSysClockFreq() / 2) // frequency of timer peripherals #define HAL_TIMER_RATE (HAL_RCC_GetSysClockFreq() / 2) // frequency of timer peripherals
#define STEPPER_TIMER_PRESCALE 54 // was 40,prescaler for setting stepper timer, 2Mhz #define STEPPER_TIMER_PRESCALE 54 // was 40,prescaler for setting stepper timer, 2Mhz
#define HAL_STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer #define STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer
#define HAL_TICKS_PER_US ((HAL_STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs #define HAL_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
#define PULSE_TIMER_NUM STEP_TIMER_NUM #define PULSE_TIMER_NUM STEP_TIMER_NUM
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE #define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE

4
Marlin/src/HAL/HAL_STM32F7/HAL_timers_STM32F7.h
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@ -43,8 +43,8 @@
#define HAL_TIMER_RATE (HAL_RCC_GetSysClockFreq() / 2) // frequency of timer peripherals #define HAL_TIMER_RATE (HAL_RCC_GetSysClockFreq() / 2) // frequency of timer peripherals
#define STEPPER_TIMER_PRESCALE 54 // was 40,prescaler for setting stepper timer, 2Mhz #define STEPPER_TIMER_PRESCALE 54 // was 40,prescaler for setting stepper timer, 2Mhz
#define HAL_STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer #define STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer
#define HAL_TICKS_PER_US ((HAL_STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs #define HAL_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
#define PULSE_TIMER_NUM STEP_TIMER_NUM #define PULSE_TIMER_NUM STEP_TIMER_NUM
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE #define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE

4
Marlin/src/HAL/HAL_TEENSY35_36/HAL_timers_Teensy.h
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@ -56,8 +56,8 @@ typedef uint32_t hal_timer_t;
#define FTM1_TIMER_RATE (F_BUS / FTM1_TIMER_PRESCALE) // 60MHz / 4 = 15MHz #define FTM1_TIMER_RATE (F_BUS / FTM1_TIMER_PRESCALE) // 60MHz / 4 = 15MHz
#define HAL_TIMER_RATE (FTM0_TIMER_RATE) #define HAL_TIMER_RATE (FTM0_TIMER_RATE)
#define HAL_STEPPER_TIMER_RATE HAL_TIMER_RATE #define STEPPER_TIMER_RATE HAL_TIMER_RATE
#define HAL_TICKS_PER_US ((HAL_STEPPER_TIMER_RATE) / 1000000) #define HAL_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000)
#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / HAL_TICKS_PER_US) #define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / HAL_TICKS_PER_US)
#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts #define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts

8
Marlin/src/module/planner.cpp
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@ -745,8 +745,8 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
#if ENABLED(S_CURVE_ACCELERATION) #if ENABLED(S_CURVE_ACCELERATION)
// Jerk controlled speed requires to express speed versus time, NOT steps // Jerk controlled speed requires to express speed versus time, NOT steps
uint32_t acceleration_time = ((float)(cruise_rate - initial_rate) / accel) * (HAL_STEPPER_TIMER_RATE), uint32_t acceleration_time = ((float)(cruise_rate - initial_rate) / accel) * (STEPPER_TIMER_RATE),
deceleration_time = ((float)(cruise_rate - final_rate) / accel) * (HAL_STEPPER_TIMER_RATE); deceleration_time = ((float)(cruise_rate - final_rate) / accel) * (STEPPER_TIMER_RATE);
// And to offload calculations from the ISR, we also calculate the inverse of those times here // And to offload calculations from the ISR, we also calculate the inverse of those times here
uint32_t acceleration_time_inverse = get_period_inverse(acceleration_time); uint32_t acceleration_time_inverse = get_period_inverse(acceleration_time);
@ -2097,11 +2097,11 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
block->acceleration_steps_per_s2 = accel; block->acceleration_steps_per_s2 = accel;
block->acceleration = accel / steps_per_mm; block->acceleration = accel / steps_per_mm;
#if DISABLED(S_CURVE_ACCELERATION) #if DISABLED(S_CURVE_ACCELERATION)
block->acceleration_rate = (uint32_t)(accel * (4096.0 * 4096.0 / (HAL_STEPPER_TIMER_RATE))); block->acceleration_rate = (uint32_t)(accel * (4096.0 * 4096.0 / (STEPPER_TIMER_RATE)));
#endif #endif
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
if (block->use_advance_lead) { if (block->use_advance_lead) {
block->advance_speed = (HAL_STEPPER_TIMER_RATE) / (extruder_advance_K * block->e_D_ratio * block->acceleration * axis_steps_per_mm[E_AXIS_N]); block->advance_speed = (STEPPER_TIMER_RATE) / (extruder_advance_K * block->e_D_ratio * block->acceleration * axis_steps_per_mm[E_AXIS_N]);
#if ENABLED(LA_DEBUG) #if ENABLED(LA_DEBUG)
if (extruder_advance_K * block->e_D_ratio * block->acceleration * 2 < SQRT(block->nominal_speed_sqr) * block->e_D_ratio) if (extruder_advance_K * block->e_D_ratio * block->acceleration * 2 < SQRT(block->nominal_speed_sqr) * block->e_D_ratio)
SERIAL_ECHOLNPGM("More than 2 steps per eISR loop executed."); SERIAL_ECHOLNPGM("More than 2 steps per eISR loop executed.");

2
Marlin/src/module/stepper.cpp
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@ -1443,7 +1443,7 @@ void Stepper::stepper_pulse_phase_isr() {
uint32_t Stepper::stepper_block_phase_isr() { uint32_t Stepper::stepper_block_phase_isr() {
// If no queued movements, just wait 1ms for the next move // If no queued movements, just wait 1ms for the next move
uint32_t interval = (HAL_STEPPER_TIMER_RATE / 1000); uint32_t interval = (STEPPER_TIMER_RATE / 1000);
// If there is a current block // If there is a current block
if (current_block) { if (current_block) {

2
Marlin/src/module/stepper.h
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@ -327,7 +327,7 @@ class Stepper {
#ifdef CPU_32_BIT #ifdef CPU_32_BIT
// In case of high-performance processor, it is able to calculate in real-time // In case of high-performance processor, it is able to calculate in real-time
timer = uint32_t(HAL_STEPPER_TIMER_RATE) / step_rate; timer = uint32_t(STEPPER_TIMER_RATE) / step_rate;
#else #else
constexpr uint32_t min_step_rate = F_CPU / 500000U; constexpr uint32_t min_step_rate = F_CPU / 500000U;
NOLESS(step_rate, min_step_rate); NOLESS(step_rate, min_step_rate);

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