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Merge pull request #9150 from Spawn32/bugfix-2.0.x

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Bugfix 2.0.x New board and MCU for Marlin.
2.0.x
Scott Lahteine 7 years ago committed by GitHub
parent a27fa80a7e 2c18faf3e4
commit d743d96886
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GPG Key ID: 4AEE18F83AFDEB23
40 changed files with 7354 additions and 36 deletions
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4
Marlin/Marlin.ino
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#if ENABLED(HAVE_TMCDRIVER)
#include <SPI.h>
#if defined(STM32F7)
#include "src/HAL/HAL_STM32F7/TMC2660.h"
#else
#include <TMC26XStepper.h>
#endif
#endif
#if ENABLED(HAVE_TMC2130)

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Marlin/src/HAL/HAL.h
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#elif defined(__STM32F1__) || defined(TARGET_STM32F1)
#include "math_32bit.h"
#include "HAL_STM32F1/HAL_Stm32f1.h"
#elif defined(STM32F7)
#define CPU_32_BIT
#include "math_32bit.h"
#include "HAL_STM32F7/HAL_STM32F7.h"
#else
#error "Unsupported Platform!"
#endif

4
Marlin/src/HAL/HAL_STM32F1/fastio_Stm32f1.h
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#define GET_TIMER(IO) (PIN_MAP[IO].timer_device != NULL)
#define OUT_WRITE(IO, v) { _SET_OUTPUT(IO); WRITE(IO, v); }
/*
/**
* TODO: Write a macro to test if PIN is PWM or not.
*/
#define PWM_PIN(p) true
#endif /* _FASTIO_STM32F1_H */
#endif // _FASTIO_STM32F1_H

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Marlin/src/HAL/HAL_STM32F7/EEPROM_Emul/eeprom_emul.cpp
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/**
******************************************************************************
* @file EEPROM/EEPROM_Emulation/src/eeprom.c
* @author MCD Application Team
* @version V1.2.6
* @date 04-November-2016
* @brief This file provides all the EEPROM emulation firmware functions.
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright © 2016 STMicroelectronics International N.V.
* All rights reserved.</center></h2>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/** @addtogroup EEPROM_Emulation
* @{
*/
#ifdef STM32F7
/* Includes ------------------------------------------------------------------*/
#include "eeprom_emul.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Global variable used to store variable value in read sequence */
uint16_t DataVar = 0;
/* Virtual address defined by the user: 0xFFFF value is prohibited */
uint16_t VirtAddVarTab[NB_OF_VAR];
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
static HAL_StatusTypeDef EE_Format(void);
static uint16_t EE_FindValidPage(uint8_t Operation);
static uint16_t EE_VerifyPageFullWriteVariable(uint16_t VirtAddress, uint16_t Data);
static uint16_t EE_PageTransfer(uint16_t VirtAddress, uint16_t Data);
static uint16_t EE_VerifyPageFullyErased(uint32_t Address);
/**
* @brief Restore the pages to a known good state in case of page's status
* corruption after a power loss.
* @param None.
* @retval - Flash error code: on write Flash error
* - FLASH_COMPLETE: on success
*/
uint16_t EE_Initialise(void) {
uint16_t PageStatus0 = 6, PageStatus1 = 6;
uint16_t VarIdx = 0;
uint16_t EepromStatus = 0, ReadStatus = 0;
int16_t x = -1;
HAL_StatusTypeDef FlashStatus;
uint32_t SectorError = 0;
FLASH_EraseInitTypeDef pEraseInit;
/* Get Page0 status */
PageStatus0 = (*(__IO uint16_t*)PAGE0_BASE_ADDRESS);
/* Get Page1 status */
PageStatus1 = (*(__IO uint16_t*)PAGE1_BASE_ADDRESS);
pEraseInit.TypeErase = TYPEERASE_SECTORS;
pEraseInit.Sector = PAGE0_ID;
pEraseInit.NbSectors = 1;
pEraseInit.VoltageRange = VOLTAGE_RANGE;
/* Check for invalid header states and repair if necessary */
switch (PageStatus0) {
case ERASED:
if (PageStatus1 == VALID_PAGE) { /* Page0 erased, Page1 valid */
/* Erase Page0 */
if(!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS)) {
FlashStatus = HAL_FLASHEx_Erase(&pEraseInit, &SectorError);
/* If erase operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK) {
return FlashStatus;
}
}
}
else if (PageStatus1 == RECEIVE_DATA) { /* Page0 erased, Page1 receive */
/* Erase Page0 */
if (!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS)) {
FlashStatus = HAL_FLASHEx_Erase(&pEraseInit, &SectorError);
/* If erase operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK) return FlashStatus;
}
/* Mark Page1 as valid */
FlashStatus = HAL_FLASH_Program(TYPEPROGRAM_HALFWORD, PAGE1_BASE_ADDRESS, VALID_PAGE);
/* If program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK) return FlashStatus;
}
else { /* First EEPROM access (Page0&1 are erased) or invalid state -> format EEPROM */
/* Erase both Page0 and Page1 and set Page0 as valid page */
FlashStatus = EE_Format();
/* If erase/program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK) return FlashStatus;
}
break;
case RECEIVE_DATA:
if (PageStatus1 == VALID_PAGE) { /* Page0 receive, Page1 valid */
/* Transfer data from Page1 to Page0 */
for (VarIdx = 0; VarIdx < NB_OF_VAR; VarIdx++) {
if (( *(__IO uint16_t*)(PAGE0_BASE_ADDRESS + 6)) == VirtAddVarTab[VarIdx])
x = VarIdx;
if (VarIdx != x) {
/* Read the last variables' updates */
ReadStatus = EE_ReadVariable(VirtAddVarTab[VarIdx], &DataVar);
/* In case variable corresponding to the virtual address was found */
if (ReadStatus != 0x1) {
/* Transfer the variable to the Page0 */
EepromStatus = EE_VerifyPageFullWriteVariable(VirtAddVarTab[VarIdx], DataVar);
/* If program operation was failed, a Flash error code is returned */
if (EepromStatus != HAL_OK) return EepromStatus;
}
}
}
/* Mark Page0 as valid */
FlashStatus = HAL_FLASH_Program(TYPEPROGRAM_HALFWORD, PAGE0_BASE_ADDRESS, VALID_PAGE);
/* If program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK) return FlashStatus;
pEraseInit.Sector = PAGE1_ID;
pEraseInit.NbSectors = 1;
pEraseInit.VoltageRange = VOLTAGE_RANGE;
/* Erase Page1 */
if (!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS)) {
FlashStatus = HAL_FLASHEx_Erase(&pEraseInit, &SectorError);
/* If erase operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK) return FlashStatus;
}
}
else if (PageStatus1 == ERASED) { /* Page0 receive, Page1 erased */
pEraseInit.Sector = PAGE1_ID;
pEraseInit.NbSectors = 1;
pEraseInit.VoltageRange = VOLTAGE_RANGE;
/* Erase Page1 */
if (!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS)) {
FlashStatus = HAL_FLASHEx_Erase(&pEraseInit, &SectorError);
/* If erase operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK) return FlashStatus;
}
/* Mark Page0 as valid */
FlashStatus = HAL_FLASH_Program(TYPEPROGRAM_HALFWORD, PAGE0_BASE_ADDRESS, VALID_PAGE);
/* If program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK) return FlashStatus;
}
else { /* Invalid state -> format eeprom */
/* Erase both Page0 and Page1 and set Page0 as valid page */
FlashStatus = EE_Format();
/* If erase/program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK) return FlashStatus;
}
break;
case VALID_PAGE:
if (PageStatus1 == VALID_PAGE) { /* Invalid state -> format eeprom */
/* Erase both Page0 and Page1 and set Page0 as valid page */
FlashStatus = EE_Format();
/* If erase/program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK) return FlashStatus;
}
else if (PageStatus1 == ERASED) { /* Page0 valid, Page1 erased */
pEraseInit.Sector = PAGE1_ID;
pEraseInit.NbSectors = 1;
pEraseInit.VoltageRange = VOLTAGE_RANGE;
/* Erase Page1 */
if (!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS)) {
FlashStatus = HAL_FLASHEx_Erase(&pEraseInit, &SectorError);
/* If erase operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK) return FlashStatus;
}
}
else { /* Page0 valid, Page1 receive */
/* Transfer data from Page0 to Page1 */
for (VarIdx = 0; VarIdx < NB_OF_VAR; VarIdx++) {
if ((*(__IO uint16_t*)(PAGE1_BASE_ADDRESS + 6)) == VirtAddVarTab[VarIdx])
x = VarIdx;
if (VarIdx != x) {
/* Read the last variables' updates */
ReadStatus = EE_ReadVariable(VirtAddVarTab[VarIdx], &DataVar);
/* In case variable corresponding to the virtual address was found */
if (ReadStatus != 0x1) {
/* Transfer the variable to the Page1 */
EepromStatus = EE_VerifyPageFullWriteVariable(VirtAddVarTab[VarIdx], DataVar);
/* If program operation was failed, a Flash error code is returned */
if (EepromStatus != HAL_OK) return EepromStatus;
}
}
}
/* Mark Page1 as valid */
FlashStatus = HAL_FLASH_Program(TYPEPROGRAM_HALFWORD, PAGE1_BASE_ADDRESS, VALID_PAGE);
/* If program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK) return FlashStatus;
pEraseInit.Sector = PAGE0_ID;
pEraseInit.NbSectors = 1;
pEraseInit.VoltageRange = VOLTAGE_RANGE;
/* Erase Page0 */
if (!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS)) {
FlashStatus = HAL_FLASHEx_Erase(&pEraseInit, &SectorError);
/* If erase operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK) return FlashStatus;
}
}
break;
default: /* Any other state -> format eeprom */
/* Erase both Page0 and Page1 and set Page0 as valid page */
FlashStatus = EE_Format();
/* If erase/program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK) return FlashStatus;
break;
}
return HAL_OK;
}
/**
* @brief Verify if specified page is fully erased.
* @param Address: page address
* This parameter can be one of the following values:
* @arg PAGE0_BASE_ADDRESS: Page0 base address
* @arg PAGE1_BASE_ADDRESS: Page1 base address
* @retval page fully erased status:
* - 0: if Page not erased
* - 1: if Page erased
*/
uint16_t EE_VerifyPageFullyErased(uint32_t Address) {
uint32_t ReadStatus = 1;
uint16_t AddressValue = 0x5555;
/* Check each active page address starting from end */
while (Address <= PAGE0_END_ADDRESS) {
/* Get the current location content to be compared with virtual address */
AddressValue = (*(__IO uint16_t*)Address);
/* Compare the read address with the virtual address */
if (AddressValue != ERASED) {
/* In case variable value is read, reset ReadStatus flag */
ReadStatus = 0;
break;
}
/* Next address location */
Address += 4;
}
/* Return ReadStatus value: (0: Page not erased, 1: Sector erased) */
return ReadStatus;
}
/**
* @brief Returns the last stored variable data, if found, which correspond to
* the passed virtual address
* @param VirtAddress: Variable virtual address
* @param Data: Global variable contains the read variable value
* @retval Success or error status:
* - 0: if variable was found
* - 1: if the variable was not found
* - NO_VALID_PAGE: if no valid page was found.
*/
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t* Data) {
uint16_t ValidPage = PAGE0;
uint16_t AddressValue = 0x5555, ReadStatus = 1;
uint32_t Address = EEPROM_START_ADDRESS, PageStartAddress = EEPROM_START_ADDRESS;
/* Get active Page for read operation */
ValidPage = EE_FindValidPage(READ_FROM_VALID_PAGE);
/* Check if there is no valid page */
if (ValidPage == NO_VALID_PAGE) return NO_VALID_PAGE;
/* Get the valid Page start Address */
PageStartAddress = (uint32_t)(EEPROM_START_ADDRESS + (uint32_t)(ValidPage * PAGE_SIZE));
/* Get the valid Page end Address */
Address = (uint32_t)((EEPROM_START_ADDRESS - 2) + (uint32_t)((1 + ValidPage) * PAGE_SIZE));
/* Check each active page address starting from end */
while (Address > (PageStartAddress + 2)) {
/* Get the current location content to be compared with virtual address */
AddressValue = (*(__IO uint16_t*)Address);
/* Compare the read address with the virtual address */
if (AddressValue == VirtAddress) {
/* Get content of Address-2 which is variable value */
*Data = (*(__IO uint16_t*)(Address - 2));
/* In case variable value is read, reset ReadStatus flag */
ReadStatus = 0;
break;
}
else /* Next address location */
Address -= 4;
}
/* Return ReadStatus value: (0: variable exist, 1: variable doesn't exist) */
return ReadStatus;
}
/**
* @brief Writes/upadtes variable data in EEPROM.
* @param VirtAddress: Variable virtual address
* @param Data: 16 bit data to be written
* @retval Success or error status:
* - FLASH_COMPLETE: on success
* - PAGE_FULL: if valid page is full
* - NO_VALID_PAGE: if no valid page was found
* - Flash error code: on write Flash error
*/
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data) {
/* Write the variable virtual address and value in the EEPROM */
uint16_t Status = EE_VerifyPageFullWriteVariable(VirtAddress, Data);
/* In case the EEPROM active page is full */
if (Status == PAGE_FULL) /* Perform Page transfer */
Status = EE_PageTransfer(VirtAddress, Data);
/* Return last operation status */
return Status;
}
/**
* @brief Erases PAGE and PAGE1 and writes VALID_PAGE header to PAGE
* @param None
* @retval Status of the last operation (Flash write or erase) done during
* EEPROM formating
*/
static HAL_StatusTypeDef EE_Format(void) {
HAL_StatusTypeDef FlashStatus = HAL_OK;
uint32_t SectorError = 0;
FLASH_EraseInitTypeDef pEraseInit;
pEraseInit.TypeErase = FLASH_TYPEERASE_SECTORS;
pEraseInit.Sector = PAGE0_ID;
pEraseInit.NbSectors = 1;
pEraseInit.VoltageRange = VOLTAGE_RANGE;
/* Erase Page0 */
if (!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS)) {
FlashStatus = HAL_FLASHEx_Erase(&pEraseInit, &SectorError);
/* If erase operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK) return FlashStatus;
}
/* Set Page0 as valid page: Write VALID_PAGE at Page0 base address */
FlashStatus = HAL_FLASH_Program(TYPEPROGRAM_HALFWORD, PAGE0_BASE_ADDRESS, VALID_PAGE);
/* If program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK) return FlashStatus;
pEraseInit.Sector = PAGE1_ID;
/* Erase Page1 */
if (!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS)) {
FlashStatus = HAL_FLASHEx_Erase(&pEraseInit, &SectorError);
/* If erase operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK) return FlashStatus;
}
return HAL_OK;
}
/**
* @brief Find valid Page for write or read operation
* @param Operation: operation to achieve on the valid page.
* This parameter can be one of the following values:
* @arg READ_FROM_VALID_PAGE: read operation from valid page
* @arg WRITE_IN_VALID_PAGE: write operation from valid page
* @retval Valid page number (PAGE or PAGE1) or NO_VALID_PAGE in case
* of no valid page was found
*/
static uint16_t EE_FindValidPage(uint8_t Operation) {
uint16_t PageStatus0 = 6, PageStatus1 = 6;
/* Get Page0 actual status */
PageStatus0 = (*(__IO uint16_t*)PAGE0_BASE_ADDRESS);
/* Get Page1 actual status */
PageStatus1 = (*(__IO uint16_t*)PAGE1_BASE_ADDRESS);
/* Write or read operation */
switch (Operation) {
case WRITE_IN_VALID_PAGE: /* ---- Write operation ---- */
if (PageStatus1 == VALID_PAGE) {
/* Page0 receiving data */
if (PageStatus0 == RECEIVE_DATA) return PAGE0; /* Page0 valid */
else return PAGE1; /* Page1 valid */
}
else if (PageStatus0 == VALID_PAGE) {
/* Page1 receiving data */
if (PageStatus1 == RECEIVE_DATA) return PAGE1; /* Page1 valid */
else return PAGE0; /* Page0 valid */
}
else
return NO_VALID_PAGE; /* No valid Page */
case READ_FROM_VALID_PAGE: /* ---- Read operation ---- */
if (PageStatus0 == VALID_PAGE)
return PAGE0; /* Page0 valid */
else if (PageStatus1 == VALID_PAGE)
return PAGE1; /* Page1 valid */
else
return NO_VALID_PAGE; /* No valid Page */
default:
return PAGE0; /* Page0 valid */
}
}
/**
* @brief Verify if active page is full and Writes variable in EEPROM.
* @param VirtAddress: 16 bit virtual address of the variable
* @param Data: 16 bit data to be written as variable value
* @retval Success or error status:
* - FLASH_COMPLETE: on success
* - PAGE_FULL: if valid page is full
* - NO_VALID_PAGE: if no valid page was found
* - Flash error code: on write Flash error
*/
static uint16_t EE_VerifyPageFullWriteVariable(uint16_t VirtAddress, uint16_t Data) {
HAL_StatusTypeDef FlashStatus = HAL_OK;
uint16_t ValidPage = PAGE0;
uint32_t Address = EEPROM_START_ADDRESS, PageEndAddress = EEPROM_START_ADDRESS+PAGE_SIZE;
/* Get valid Page for write operation */
ValidPage = EE_FindValidPage(WRITE_IN_VALID_PAGE);
/* Check if there is no valid page */
if (ValidPage == NO_VALID_PAGE) return NO_VALID_PAGE;
/* Get the valid Page start Address */
Address = (uint32_t)(EEPROM_START_ADDRESS + (uint32_t)(ValidPage * PAGE_SIZE));
/* Get the valid Page end Address */
PageEndAddress = (uint32_t)((EEPROM_START_ADDRESS - 1) + (uint32_t)((ValidPage + 1) * PAGE_SIZE));
/* Check each active page address starting from begining */
while (Address < PageEndAddress) {
/* Verify if Address and Address+2 contents are 0xFFFFFFFF */
if ((*(__IO uint32_t*)Address) == 0xFFFFFFFF) {
/* Set variable data */
FlashStatus = HAL_FLASH_Program(TYPEPROGRAM_HALFWORD, Address, Data);
/* If program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK) return FlashStatus;
/* Set variable virtual address */
FlashStatus = HAL_FLASH_Program(TYPEPROGRAM_HALFWORD, Address + 2, VirtAddress);
/* Return program operation status */
return FlashStatus;
}
else /* Next address location */
Address += 4;
}
/* Return PAGE_FULL in case the valid page is full */
return PAGE_FULL;
}
/**
* @brief Transfers last updated variables data from the full Page to
* an empty one.
* @param VirtAddress: 16 bit virtual address of the variable
* @param Data: 16 bit data to be written as variable value
* @retval Success or error status:
* - FLASH_COMPLETE: on success
* - PAGE_FULL: if valid page is full
* - NO_VALID_PAGE: if no valid page was found
* - Flash error code: on write Flash error
*/
static uint16_t EE_PageTransfer(uint16_t VirtAddress, uint16_t Data) {
HAL_StatusTypeDef FlashStatus = HAL_OK;
uint32_t NewPageAddress = EEPROM_START_ADDRESS;
uint16_t OldPageId=0;
uint16_t ValidPage = PAGE0, VarIdx = 0;
uint16_t EepromStatus = 0, ReadStatus = 0;
uint32_t SectorError = 0;
FLASH_EraseInitTypeDef pEraseInit;
/* Get active Page for read operation */
ValidPage = EE_FindValidPage(READ_FROM_VALID_PAGE);
if (ValidPage == PAGE1) { /* Page1 valid */
/* New page address where variable will be moved to */
NewPageAddress = PAGE0_BASE_ADDRESS;
/* Old page ID where variable will be taken from */
OldPageId = PAGE1_ID;
}
else if (ValidPage == PAGE0) { /* Page0 valid */
/* New page address where variable will be moved to */
NewPageAddress = PAGE1_BASE_ADDRESS;
/* Old page ID where variable will be taken from */
OldPageId = PAGE0_ID;
}
else
return NO_VALID_PAGE; /* No valid Page */
/* Set the new Page status to RECEIVE_DATA status */
FlashStatus = HAL_FLASH_Program(TYPEPROGRAM_HALFWORD, NewPageAddress, RECEIVE_DATA);
/* If program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK) return FlashStatus;
/* Write the variable passed as parameter in the new active page */
EepromStatus = EE_VerifyPageFullWriteVariable(VirtAddress, Data);
/* If program operation was failed, a Flash error code is returned */
if (EepromStatus != HAL_OK) return EepromStatus;
/* Transfer process: transfer variables from old to the new active page */
for (VarIdx = 0; VarIdx < NB_OF_VAR; VarIdx++) {
if (VirtAddVarTab[VarIdx] != VirtAddress) { /* Check each variable except the one passed as parameter */
/* Read the other last variable updates */
ReadStatus = EE_ReadVariable(VirtAddVarTab[VarIdx], &DataVar);
/* In case variable corresponding to the virtual address was found */
if (ReadStatus != 0x1) {
/* Transfer the variable to the new active page */
EepromStatus = EE_VerifyPageFullWriteVariable(VirtAddVarTab[VarIdx], DataVar);
/* If program operation was failed, a Flash error code is returned */
if (EepromStatus != HAL_OK) return EepromStatus;
}
}
}
pEraseInit.TypeErase = TYPEERASE_SECTORS;
pEraseInit.Sector = OldPageId;
pEraseInit.NbSectors = 1;
pEraseInit.VoltageRange = VOLTAGE_RANGE;
/* Erase the old Page: Set old Page status to ERASED status */
FlashStatus = HAL_FLASHEx_Erase(&pEraseInit, &SectorError);
/* If erase operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK) return FlashStatus;
/* Set new Page status to VALID_PAGE status */
FlashStatus = HAL_FLASH_Program(TYPEPROGRAM_HALFWORD, NewPageAddress, VALID_PAGE);
/* If program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK) return FlashStatus;
/* Return last operation flash status */
return FlashStatus;
}
#endif // STM32F7
/**
* @}
*/
/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/

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Marlin/src/HAL/HAL_STM32F7/EEPROM_Emul/eeprom_emul.h
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/**
******************************************************************************
* @file EEPROM/EEPROM_Emulation/inc/eeprom.h
* @author MCD Application Team
* @version V1.2.6
* @date 04-November-2016
* @brief This file contains all the functions prototypes for the EEPROM
* emulation firmware library.
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright © 2016 STMicroelectronics International N.V.
* All rights reserved.</center></h2>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __EEEPROM_EMUL_H
#define __EEEPROM_EMUL_H
// --------------------------------------------------------------------------
// Includes
// --------------------------------------------------------------------------
#include "../../../inc/MarlinConfig.h"
#include "../../HAL.h"
/* Exported constants --------------------------------------------------------*/
/* EEPROM emulation firmware error codes */
#define EE_OK (uint32_t)HAL_OK
#define EE_ERROR (uint32_t)HAL_ERROR
#define EE_BUSY (uint32_t)HAL_BUSY
#define EE_TIMEOUT (uint32_t)HAL_TIMEOUT
/* Define the size of the sectors to be used */
#define PAGE_SIZE (uint32_t)0x4000 /* Page size = 16KByte */
/* Device voltage range supposed to be [2.7V to 3.6V], the operation will
be done by word */
#define VOLTAGE_RANGE (uint8_t)VOLTAGE_RANGE_3
/* EEPROM start address in Flash */
#define EEPROM_START_ADDRESS ((uint32_t)0x08100000) /* EEPROM emulation start address:
from sector2 : after 16KByte of used
Flash memory */
/* Pages 0 and 1 base and end addresses */
#define PAGE0_BASE_ADDRESS ((uint32_t)(EEPROM_START_ADDRESS + 0x0000))
#define PAGE0_END_ADDRESS ((uint32_t)(EEPROM_START_ADDRESS + (PAGE_SIZE - 1)))
#define PAGE0_ID FLASH_SECTOR_1
#define PAGE1_BASE_ADDRESS ((uint32_t)(EEPROM_START_ADDRESS + 0x4000))
#define PAGE1_END_ADDRESS ((uint32_t)(EEPROM_START_ADDRESS + (2 * PAGE_SIZE - 1)))
#define PAGE1_ID FLASH_SECTOR_2
/* Used Flash pages for EEPROM emulation */
#define PAGE0 ((uint16_t)0x0000)
#define PAGE1 ((uint16_t)0x0001) /* Page nb between PAGE0_BASE_ADDRESS & PAGE1_BASE_ADDRESS*/
/* No valid page define */
#define NO_VALID_PAGE ((uint16_t)0x00AB)
/* Page status definitions */
#define ERASED ((uint16_t)0xFFFF) /* Page is empty */
#define RECEIVE_DATA ((uint16_t)0xEEEE) /* Page is marked to receive data */
#define VALID_PAGE ((uint16_t)0x0000) /* Page containing valid data */
/* Valid pages in read and write defines */
#define READ_FROM_VALID_PAGE ((uint8_t)0x00)
#define WRITE_IN_VALID_PAGE ((uint8_t)0x01)
/* Page full define */
#define PAGE_FULL ((uint8_t)0x80)
/* Variables' number */
#define NB_OF_VAR ((uint16_t)4096)
/* Exported types ------------------------------------------------------------*/
/* Exported macro ------------------------------------------------------------*/
/* Exported functions ------------------------------------------------------- */
uint16_t EE_Initialise(void);
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t* Data);
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data);
#endif /* __EEEPROM_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* 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/>.
*
*/
#ifdef STM32F7
/**
* Description: functions for I2C connected external EEPROM.
* Not platform dependent.
*/
#include "../../inc/MarlinConfig.h"
// --------------------------------------------------------------------------
// Includes
// --------------------------------------------------------------------------
#include "../HAL.h"
#include "EEPROM_Emul/eeprom_emul.h"
// --------------------------------------------------------------------------
// Externals
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Local defines
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Types
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Variables
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Public Variables
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Private Variables
// --------------------------------------------------------------------------
static bool eeprom_initialised = false;
// --------------------------------------------------------------------------
// Function prototypes
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Private functions
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Public functions
// --------------------------------------------------------------------------
// FLASH_FLAG_PGSERR (Programming Sequence Error) was renamed to
// FLASH_FLAG_ERSERR (Erasing Sequence Error) in STM32F7
#define FLASH_FLAG_PGSERR FLASH_FLAG_ERSERR
// --------------------------------------------------------------------------
// EEPROM
// --------------------------------------------------------------------------
void eeprom_init() {
if(!eeprom_initialised) {
HAL_FLASH_Unlock();
__HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_EOP | FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR |FLASH_FLAG_PGAERR | FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
/* EEPROM Init */
if(EE_Initialise() != EE_OK)
{
while(1) {
HAL_Delay(1);
}
}
HAL_FLASH_Lock();
eeprom_initialised = true;
}
}
void eeprom_write_byte(unsigned char *pos, unsigned char value) {
uint16_t eeprom_address = (unsigned) pos;
eeprom_init();
HAL_FLASH_Unlock();
__HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_EOP | FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR |FLASH_FLAG_PGAERR | FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
if(EE_WriteVariable(eeprom_address, (uint16_t) value) != EE_OK) {
while(1) {
HAL_Delay(1);
}
}
HAL_FLASH_Lock();
}
unsigned char eeprom_read_byte(unsigned char *pos) {
uint16_t data = 0xFF;
uint16_t eeprom_address = (unsigned) pos;
eeprom_init();
if(EE_ReadVariable(eeprom_address, &data) != EE_OK) {
return (char) data;
}
return (char)data;
}
void eeprom_read_block (void *__dst, const void *__src, size_t __n) {
uint16_t data = 0xFF;
uint16_t eeprom_address = (unsigned) __src;
eeprom_init();
for(uint8_t c = 0; c < __n; c++) {
EE_ReadVariable(eeprom_address+c, &data);
*((uint8_t*)__dst + c) = data;
}
}
void eeprom_update_block (const void *__src, void *__dst, size_t __n) {
}
#endif // STM32F7

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/**
* Marlin 3D Printer Firmware
*
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
* Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
* Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com
* Copyright (c) 2017 Victor Perez
*
* 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/>.
*
*/
#ifdef STM32F7
// --------------------------------------------------------------------------
// Includes
// --------------------------------------------------------------------------
#include "../HAL.h"
//#include <Wire.h>
// --------------------------------------------------------------------------
// Externals
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Local defines
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Types
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Variables
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Public Variables
// --------------------------------------------------------------------------
uint16_t HAL_adc_result;
// --------------------------------------------------------------------------
// Private Variables
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Function prototypes
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Private functions
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Public functions
// --------------------------------------------------------------------------
/* VGPV Done with defines
// disable interrupts
void cli(void) { noInterrupts(); }
// enable interrupts
void sei(void) { interrupts(); }
*/
void HAL_clear_reset_source(void) { __HAL_RCC_CLEAR_RESET_FLAGS(); }
uint8_t HAL_get_reset_source (void) {
if (__HAL_RCC_GET_FLAG(RCC_FLAG_IWDGRST) != RESET)
return RST_WATCHDOG;
if (__HAL_RCC_GET_FLAG(RCC_FLAG_SFTRST) != RESET)
return RST_SOFTWARE;
if (__HAL_RCC_GET_FLAG(RCC_FLAG_PINRST) != RESET)
return RST_EXTERNAL;
if (__HAL_RCC_GET_FLAG(RCC_FLAG_PORRST) != RESET)
return RST_POWER_ON;
return 0;
}
void _delay_ms(const int delay_ms) { delay(delay_ms); }
extern "C" {
extern unsigned int _ebss; // end of bss section
}
// return free memory between end of heap (or end bss) and whatever is current
/*
#include "wirish/syscalls.c"
//extern caddr_t _sbrk(int incr);
#ifndef CONFIG_HEAP_END
extern char _lm_heap_end;
#define CONFIG_HEAP_END ((caddr_t)&_lm_heap_end)
#endif
extern "C" {
static int freeMemory() {
char top = 't';
return &top - reinterpret_cast<char*>(sbrk(0));
}
int freeMemory() {
int free_memory;
int heap_end = (int)_sbrk(0);
free_memory = ((int)&free_memory) - ((int)heap_end);
return free_memory;
}
}
*/
// --------------------------------------------------------------------------
// ADC
// --------------------------------------------------------------------------
void HAL_adc_start_conversion(const uint8_t adc_pin) {
HAL_adc_result = analogRead(adc_pin);
}
uint16_t HAL_adc_get_result(void) {
return HAL_adc_result;
}
#endif // STM32F7

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/**
* Marlin 3D Printer Firmware
*
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
* Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
* Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com
* Copyright (c) 2017 Victor Perez
*
* 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/>.
*
*/
#ifndef _HAL_STM32F7_H
#define _HAL_STM32F7_H
#undef DEBUG_NONE
#ifndef vsnprintf_P
#define vsnprintf_P vsnprintf
#endif
// --------------------------------------------------------------------------
// Includes
// --------------------------------------------------------------------------
#include <stdint.h>
#include "Arduino.h"
#include "fastio_STM32F7.h"
#include "watchdog_STM32F7.h"
#include "HAL_timers_STM32F7.h"
// --------------------------------------------------------------------------
// Defines
// --------------------------------------------------------------------------
//Serial override
//extern HalSerial usb_serial;
#if !WITHIN(SERIAL_PORT, -1, 6)
#error "SERIAL_PORT must be from -1 to 6"
#endif
#if SERIAL_PORT == -1
#define MYSERIAL0 SerialUSB
#elif SERIAL_PORT == 1
#define MYSERIAL0 SerialUART1
#elif SERIAL_PORT == 2
#define MYSERIAL0 SerialUART2
#elif SERIAL_PORT == 3
#define MYSERIAL0 SerialUART3
#elif SERIAL_PORT == 4
#define MYSERIAL0 SerialUART4
#elif SERIAL_PORT == 5
#define MYSERIAL0 SerialUART5
#elif SERIAL_PORT == 6
#define MYSERIAL0 SerialUART6
#endif
#ifdef SERIAL_PORT_2
#if !WITHIN(SERIAL_PORT_2, -1, 6)
#error "SERIAL_PORT_2 must be from -1 to 6"
#elif SERIAL_PORT_2 == SERIAL_PORT
#error "SERIAL_PORT_2 must be different than SERIAL_PORT"
#endif
#define NUM_SERIAL 2
#if SERIAL_PORT_2 == -1
#define MYSERIAL1 SerialUSB
#elif SERIAL_PORT_2 == 1
#define MYSERIAL1 SerialUART1
#elif SERIAL_PORT_2 == 2
#define MYSERIAL1 SerialUART2
#elif SERIAL_PORT_2 == 3
#define MYSERIAL1 SerialUART3
#elif SERIAL_PORT_2 == 4
#define MYSERIAL1 SerialUART4
#elif SERIAL_PORT_2 == 5
#define MYSERIAL1 SerialUART5
#elif SERIAL_PORT_2 == 6
#define MYSERIAL1 SerialUART6
#endif
#else
#define NUM_SERIAL 1
#endif
#define _BV(bit) (1 << (bit))
/**
* TODO: review this to return 1 for pins that are not analog input
*/
#ifndef analogInputToDigitalPin
#define analogInputToDigitalPin(p) (p)
#endif
#define CRITICAL_SECTION_START noInterrupts();
#define CRITICAL_SECTION_END interrupts();
// On AVR this is in math.h?
#define square(x) ((x)*(x))
#ifndef strncpy_P
#define strncpy_P(dest, src, num) strncpy((dest), (src), (num))
#endif
// Fix bug in pgm_read_ptr
#undef pgm_read_ptr
#define pgm_read_ptr(addr) (*(addr))
#define RST_POWER_ON 1
#define RST_EXTERNAL 2
#define RST_BROWN_OUT 4
#define RST_WATCHDOG 8
#define RST_JTAG 16
#define RST_SOFTWARE 32
#define RST_BACKUP 64
// --------------------------------------------------------------------------
// Types
// --------------------------------------------------------------------------
typedef int8_t pin_t;
// --------------------------------------------------------------------------
// Public Variables
// --------------------------------------------------------------------------
/** result of last ADC conversion */
extern uint16_t HAL_adc_result;
// --------------------------------------------------------------------------
// Public functions
// --------------------------------------------------------------------------
// Disable interrupts
#define cli() do { DISABLE_TEMPERATURE_INTERRUPT(); DISABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
// Enable interrupts
#define sei() do { ENABLE_TEMPERATURE_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
// Memory related
#define __bss_end __bss_end__
/** clear reset reason */
void HAL_clear_reset_source (void);
/** reset reason */
uint8_t HAL_get_reset_source (void);
void _delay_ms(const int delay);
/*
extern "C" {
int freeMemory(void);
}
*/
extern "C" char* _sbrk(int incr);
/*
static int freeMemory() {
volatile int top;
top = (int)((char*)&top - reinterpret_cast<char*>(_sbrk(0)));
return top;
}
*/
static int freeMemory() {
volatile char top;
return &top - reinterpret_cast<char*>(_sbrk(0));
}
// SPI: Extended functions which take a channel number (hardware SPI only)
/** Write single byte to specified SPI channel */
void spiSend(uint32_t chan, byte b);
/** Write buffer to specified SPI channel */
void spiSend(uint32_t chan, const uint8_t* buf, size_t n);
/** Read single byte from specified SPI channel */
uint8_t spiRec(uint32_t chan);
// EEPROM
/**
* TODO: Write all this eeprom stuff. Can emulate eeprom in flash as last resort.
* Wire library should work for i2c eeproms.
*/
void eeprom_write_byte(unsigned char *pos, unsigned char value);
unsigned char eeprom_read_byte(unsigned char *pos);
void eeprom_read_block (void *__dst, const void *__src, size_t __n);
void eeprom_update_block (const void *__src, void *__dst, size_t __n);
// ADC
#define HAL_ANALOG_SELECT(pin) pinMode(pin, INPUT)
inline void HAL_adc_init(void) {}
#define HAL_START_ADC(pin) HAL_adc_start_conversion(pin)
#define HAL_READ_ADC HAL_adc_result
void HAL_adc_start_conversion(const uint8_t adc_pin);
uint16_t HAL_adc_get_result(void);
/* Todo: Confirm none of this is needed.
uint16_t HAL_getAdcReading(uint8_t chan);
void HAL_startAdcConversion(uint8_t chan);
uint8_t HAL_pinToAdcChannel(int pin);
uint16_t HAL_getAdcFreerun(uint8_t chan, bool wait_for_conversion = false);
//uint16_t HAL_getAdcSuperSample(uint8_t chan);
void HAL_enable_AdcFreerun(void);
//void HAL_disable_AdcFreerun(uint8_t chan);
*/
#define GET_PIN_MAP_PIN(index) index
#define GET_PIN_MAP_INDEX(pin) pin
#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
#endif // _HAL_STM32F7_H

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Marlin/src/HAL/HAL_STM32F7/HAL_Servo_STM32F7.cpp
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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
* Copyright (C) 2017 Victor Perez
*
* 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/>.
*
*/
#ifdef STM32F7
#include "../../../src/inc/MarlinConfig.h"
#if HAS_SERVOS
#include "HAL_Servo_STM32F7.h"
int8_t libServo::attach(const int pin) {
if (this->servoIndex >= MAX_SERVOS) return -1;
return Servo::attach(pin);
}
int8_t libServo::attach(const int pin, const int min, const int max) {
return Servo::attach(pin, min, max);
}
void libServo::move(const int value) {
if (this->attach(0) >= 0) {
this->write(value);
delay(SERVO_DELAY);
#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
this->detach();
#endif
}
}
#endif // HAS_SERVOS
#endif // STM32F7

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Marlin/src/HAL/HAL_STM32F7/HAL_Servo_STM32F7.h
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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
* Copyright (C) 2017 Victor Perez
*
* 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/>.
*
*/
#ifndef HAL_SERVO_STM32F7_H
#define HAL_SERVO_STM32F7_H
#include <../../libraries/Servo/src/Servo.h>
// Inherit and expand on the official library
class libServo : public Servo {
public:
int8_t attach(const int pin);
int8_t attach(const int pin, const int min, const int max);
void move(const int value);
private:
uint16_t min_ticks;
uint16_t max_ticks;
uint8_t servoIndex; // index into the channel data for this servo
};
#endif // HAL_SERVO_STM32F7_H

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Marlin/src/HAL/HAL_STM32F7/HAL_spi_STM32F7.cpp
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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
* Copyright (C) 2017 Victor Perez
*
* 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/>.
*
*/
/**
* Software SPI functions originally from Arduino Sd2Card Library
* Copyright (C) 2009 by William Greiman
*/
/**
* Adapted to the STM32F7 HAL
*/
#ifdef STM32F7
// --------------------------------------------------------------------------
// Includes
// --------------------------------------------------------------------------
#include "../HAL.h"
//#include "../SPI.h"
#include "SPI.h"
//#include <SPI.h>
#include "pins_arduino.h"
#include "spi_pins.h"
#include "../../core/macros.h"
// --------------------------------------------------------------------------
// Public Variables
// --------------------------------------------------------------------------
static SPISettings spiConfig;
// --------------------------------------------------------------------------
// Public functions
// --------------------------------------------------------------------------
#if ENABLED(SOFTWARE_SPI)
// --------------------------------------------------------------------------
// Software SPI
// --------------------------------------------------------------------------
#error "Software SPI not supported for STM32F7. Use hardware SPI."
#else
// --------------------------------------------------------------------------
// Hardware SPI
// --------------------------------------------------------------------------
/**
* VGPV SPI speed start and F_CPU/2, by default 72/2 = 36Mhz
*/
/**
* @brief Begin SPI port setup
*
* @return Nothing
*
* @details Only configures SS pin since libmaple creates and initialize the SPI object
*/
void spiBegin(void) {
#if !PIN_EXISTS(SS)
#error SS_PIN not defined!
#endif
SET_OUTPUT(SS_PIN);
WRITE(SS_PIN, HIGH);
}
/** Configure SPI for specified SPI speed */
void spiInit(uint8_t spiRate) {
// Use datarates Marlin uses
uint32_t clock;
switch (spiRate) {
case SPI_FULL_SPEED: clock = 20000000; break; // 13.9mhz=20000000 6.75mhz=10000000 3.38mhz=5000000 .833mhz=1000000
case SPI_HALF_SPEED: clock = 5000000; break;
case SPI_QUARTER_SPEED: clock = 2500000; break;
case SPI_EIGHTH_SPEED: clock = 1250000; break;
case SPI_SPEED_5: clock = 625000; break;
case SPI_SPEED_6: clock = 300000; break;
default:
clock = 4000000; // Default from the SPI libarary
}
spiConfig = SPISettings(clock, MSBFIRST, SPI_MODE0);
SPI.begin();
}
/**
* @brief Receives a single byte from the SPI port.
*
* @return Byte received
*
* @details
*/
uint8_t spiRec(void) {
SPI.beginTransaction(spiConfig);
uint8_t returnByte = SPI.transfer(0xFF);
SPI.endTransaction();
return returnByte;
}
/**
* @brief Receives a number of bytes from the SPI port to a buffer
*
* @param buf Pointer to starting address of buffer to write to.
* @param nbyte Number of bytes to receive.
* @return Nothing
*
* @details Uses DMA
*/
void spiRead(uint8_t* buf, uint16_t nbyte) {
SPI.beginTransaction(spiConfig);
SPI.dmaTransfer(0, const_cast<uint8_t*>(buf), nbyte);
SPI.endTransaction();
}
/**
* @brief Sends a single byte on SPI port
*
* @param b Byte to send
*
* @details
*/
void spiSend(uint8_t b) {
SPI.beginTransaction(spiConfig);
SPI.transfer(b);
SPI.endTransaction();
}
/**
* @brief Write token and then write from 512 byte buffer to SPI (for SD card)
*
* @param buf Pointer with buffer start address
* @return Nothing
*
* @details Use DMA
*/
void spiSendBlock(uint8_t token, const uint8_t* buf) {
SPI.beginTransaction(spiConfig);
SPI.transfer(token);
SPI.dmaSend(const_cast<uint8_t*>(buf), 512);
SPI.endTransaction();
}
#endif // SOFTWARE_SPI
#endif // STM32F7

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/**
* Marlin 3D Printer Firmware
*
* Copyright (C) 2016 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/>.
*
*/
#ifdef STM32F7
// --------------------------------------------------------------------------
// Includes
// --------------------------------------------------------------------------
#include "../HAL.h"
#include "HAL_timers_STM32F7.h"
// --------------------------------------------------------------------------
// Externals
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Local defines
// --------------------------------------------------------------------------
#define NUM_HARDWARE_TIMERS 2
//#define PRESCALER 1
// --------------------------------------------------------------------------
// Types
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Public Variables
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Private Variables
// --------------------------------------------------------------------------
tTimerConfig timerConfig[NUM_HARDWARE_TIMERS];
// --------------------------------------------------------------------------
// Function prototypes
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Private functions
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Public functions
// --------------------------------------------------------------------------
bool timers_initialised[NUM_HARDWARE_TIMERS] = {false};
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
if (!timers_initialised[timer_num]) {
switch (timer_num) {
case STEP_TIMER_NUM:
//STEPPER TIMER TIM5 //use a 32bit timer
__HAL_RCC_TIM5_CLK_ENABLE();
timerConfig[0].timerdef.Instance = TIM5;
timerConfig[0].timerdef.Init.Prescaler = (STEPPER_TIMER_PRESCALE);
timerConfig[0].timerdef.Init.CounterMode = TIM_COUNTERMODE_UP;
timerConfig[0].timerdef.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
timerConfig[0].IRQ_Id = TIM5_IRQn;
timerConfig[0].callback = (uint32_t)TC5_Handler;
HAL_NVIC_SetPriority(timerConfig[0].IRQ_Id, 1, 0);
pinMode(STEPPER_ENABLE_PIN,OUTPUT);
digitalWrite(STEPPER_ENABLE_PIN,LOW);
break;
case TEMP_TIMER_NUM:
//TEMP TIMER TIM7 // any available 16bit Timer (1 already used for PWM)
__HAL_RCC_TIM7_CLK_ENABLE();
timerConfig[1].timerdef.Instance = TIM7;
timerConfig[1].timerdef.Init.Prescaler = (TEMP_TIMER_PRESCALE);
timerConfig[1].timerdef.Init.CounterMode = TIM_COUNTERMODE_UP;
timerConfig[1].timerdef.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
timerConfig[1].IRQ_Id = TIM7_IRQn;
timerConfig[1].callback = (uint32_t)TC7_Handler;
HAL_NVIC_SetPriority(timerConfig[1].IRQ_Id, 2, 0);
break;
}
timers_initialised[timer_num] = true;
}
timerConfig[timer_num].timerdef.Init.Period = (((HAL_TIMER_RATE) / timerConfig[timer_num].timerdef.Init.Prescaler) / frequency) - 1;
if (HAL_TIM_Base_Init(&timerConfig[timer_num].timerdef) == HAL_OK)
HAL_TIM_Base_Start_IT(&timerConfig[timer_num].timerdef);
}
//forward the interrupt
extern "C" void TIM5_IRQHandler() {
((void(*)(void))timerConfig[0].callback)();
}
extern "C" void TIM7_IRQHandler() {
((void(*)(void))timerConfig[1].callback)();
}
void HAL_timer_set_count(const uint8_t timer_num, const uint32_t count) {
__HAL_TIM_SetAutoreload(&timerConfig[timer_num].timerdef, count);
}
void HAL_timer_set_current_count(const uint8_t timer_num, const uint32_t count) {
__HAL_TIM_SetAutoreload(&timerConfig[timer_num].timerdef, count);
}
void HAL_timer_enable_interrupt(const uint8_t timer_num) {
HAL_NVIC_EnableIRQ(timerConfig[timer_num].IRQ_Id);
}
void HAL_timer_disable_interrupt(const uint8_t timer_num) {
HAL_NVIC_DisableIRQ(timerConfig[timer_num].IRQ_Id);
}
hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
return __HAL_TIM_GetAutoreload(&timerConfig[timer_num].timerdef);
}
uint32_t HAL_timer_get_current_count(const uint8_t timer_num) {
return __HAL_TIM_GetCounter(&timerConfig[timer_num].timerdef);
}
void HAL_timer_isr_prologue(const uint8_t timer_num) {
if (__HAL_TIM_GET_FLAG(&timerConfig[timer_num].timerdef, TIM_FLAG_UPDATE) == SET) {
__HAL_TIM_CLEAR_FLAG(&timerConfig[timer_num].timerdef, TIM_FLAG_UPDATE);
}
}
#endif // STM32F7

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Marlin/src/HAL/HAL_STM32F7/HAL_timers_STM32F7.h
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/**
* Marlin 3D Printer Firmware
*
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
* Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
* Copyright (c) 2017 Victor Perez
*
* 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/>.
*
*/
#ifndef _HAL_TIMERS_STM32F7_H
#define _HAL_TIMERS_STM32F7_H
// --------------------------------------------------------------------------
// Includes
// --------------------------------------------------------------------------
#include <stdint.h>
// --------------------------------------------------------------------------
// Defines
// --------------------------------------------------------------------------
#define FORCE_INLINE __attribute__((always_inline)) inline
#define hal_timer_t uint32_t // TODO: One is 16-bit, one 32-bit - does this need to be checked?
#define HAL_TIMER_TYPE_MAX 0xFFFF
#define STEP_TIMER_NUM 0 // index of timer to use for stepper
#define TEMP_TIMER_NUM 1 // index of timer to use for temperature
#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 HAL_STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
#define HAL_TICKS_PER_US ((HAL_STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per us
#define PULSE_TIMER_NUM STEP_TIMER_NUM
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define TEMP_TIMER_PRESCALE 1000 // prescaler for setting Temp timer, 72Khz
#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
#define HAL_ENABLE_ISRs() do { if (thermalManager.in_temp_isr)DISABLE_TEMPERATURE_INTERRUPT(); else ENABLE_TEMPERATURE_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
// TODO change this
extern void TC5_Handler();
extern void TC7_Handler();
#define HAL_STEP_TIMER_ISR void TC5_Handler()
#define HAL_TEMP_TIMER_ISR void TC7_Handler()
// --------------------------------------------------------------------------
// Types
// --------------------------------------------------------------------------
typedef struct {
TIM_HandleTypeDef timerdef;
IRQn_Type IRQ_Id;
uint32_t callback;
} tTimerConfig;
// --------------------------------------------------------------------------
// Public Variables
// --------------------------------------------------------------------------
//extern const tTimerConfig timerConfig[];
// --------------------------------------------------------------------------
// Public functions
// --------------------------------------------------------------------------
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
void HAL_timer_enable_interrupt(const uint8_t timer_num);
void HAL_timer_disable_interrupt(const uint8_t timer_num);
void HAL_timer_set_count(const uint8_t timer_num, const uint32_t count);
hal_timer_t HAL_timer_get_count(const uint8_t timer_num);
uint32_t HAL_timer_get_current_count(const uint8_t timer_num);
void HAL_timer_set_current_count(const uint8_t timer_num, const uint32_t count); // New
/*FORCE_INLINE static void HAL_timer_set_current_count(const uint8_t timer_num, const hal_timer_t count) {
// To do ??
}*/
void HAL_timer_isr_prologue(const uint8_t timer_num);
#endif // _HAL_TIMERS_STM32F7_H

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Marlin/src/HAL/HAL_STM32F7/README.md
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# This HAL is for the STM32F765 board "The Borg" used with STM32Generic Arduino core by danieleff.
# Original core is located at:
https://github.com/danieleff/STM32GENERIC
but i have not committed the changes needed for the Borg there yet, so please use:
https://github.com/Spawn32/STM32GENERIC
Unzip it into [Arduino]/hardware folder
Download the latest GNU ARM Embedded Toolchain:
https://developer.arm.com/open-source/gnu-toolchain/gnu-rm/downloads
(The one in Arduino dosen't support STM32F7).
Change compiler.path in platform.txt to point to that you downloaded.
# This HAL is in development.
# Currently only tested on "The Borg".
You will also need the latest Arduino 1.9.0-beta or newer.
This HAL is a modified version of Chris Barr's Picoprint STM32F4 HAL, so shouldn't be to hard to get it to work on a F4.

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Marlin/src/HAL/HAL_STM32F7/SanityCheck_STM32F7.h
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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016, 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* 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/>.
*
*/
/**
* Test Re-ARM specific configuration values for errors at compile-time.
*/
#if ENABLED(SPINDLE_LASER_ENABLE)
#if !PIN_EXISTS(SPINDLE_LASER_ENABLE)
#error "SPINDLE_LASER_ENABLE requires SPINDLE_LASER_ENABLE_PIN."
#elif SPINDLE_DIR_CHANGE && !PIN_EXISTS(SPINDLE_DIR)
#error "SPINDLE_DIR_PIN not defined."
#elif ENABLED(SPINDLE_LASER_PWM) && PIN_EXISTS(SPINDLE_LASER_PWM)
#if !PWM_PIN(SPINDLE_LASER_PWM_PIN)
#error "SPINDLE_LASER_PWM_PIN not assigned to a PWM pin."
#elif !(SPINDLE_LASER_PWM_PIN == 4 || SPINDLE_LASER_PWM_PIN == 6 || SPINDLE_LASER_PWM_PIN == 11)
#error "SPINDLE_LASER_PWM_PIN must use SERVO0, SERVO1 or SERVO3 connector"
#elif SPINDLE_LASER_POWERUP_DELAY < 1
#error "SPINDLE_LASER_POWERUP_DELAY must be greater than 0."
#elif SPINDLE_LASER_POWERDOWN_DELAY < 1
#error "SPINDLE_LASER_POWERDOWN_DELAY must be greater than 0."
#elif !defined(SPINDLE_LASER_PWM_INVERT)
#error "SPINDLE_LASER_PWM_INVERT missing."
#elif !defined(SPEED_POWER_SLOPE) || !defined(SPEED_POWER_INTERCEPT) || !defined(SPEED_POWER_MIN) || !defined(SPEED_POWER_MAX)
#error "SPINDLE_LASER_PWM equation constant(s) missing."
#elif PIN_EXISTS(CASE_LIGHT) && SPINDLE_LASER_PWM_PIN == CASE_LIGHT_PIN
#error "SPINDLE_LASER_PWM_PIN is used by CASE_LIGHT_PIN."
#elif PIN_EXISTS(E0_AUTO_FAN) && SPINDLE_LASER_PWM_PIN == E0_AUTO_FAN_PIN
#error "SPINDLE_LASER_PWM_PIN is used by E0_AUTO_FAN_PIN."
#elif PIN_EXISTS(E1_AUTO_FAN) && SPINDLE_LASER_PWM_PIN == E1_AUTO_FAN_PIN
#error "SPINDLE_LASER_PWM_PIN is used by E1_AUTO_FAN_PIN."
#elif PIN_EXISTS(E2_AUTO_FAN) && SPINDLE_LASER_PWM_PIN == E2_AUTO_FAN_PIN
#error "SPINDLE_LASER_PWM_PIN is used by E2_AUTO_FAN_PIN."
#elif PIN_EXISTS(E3_AUTO_FAN) && SPINDLE_LASER_PWM_PIN == E3_AUTO_FAN_PIN
#error "SPINDLE_LASER_PWM_PIN is used by E3_AUTO_FAN_PIN."
#elif PIN_EXISTS(E4_AUTO_FAN) && SPINDLE_LASER_PWM_PIN == E4_AUTO_FAN_PIN
#error "SPINDLE_LASER_PWM_PIN is used by E4_AUTO_FAN_PIN."
#elif PIN_EXISTS(FAN) && SPINDLE_LASER_PWM_PIN == FAN_PIN
#error "SPINDLE_LASER_PWM_PIN is used FAN_PIN."
#elif PIN_EXISTS(FAN1) && SPINDLE_LASER_PWM_PIN == FAN1_PIN
#error "SPINDLE_LASER_PWM_PIN is used FAN1_PIN."
#elif PIN_EXISTS(FAN2) && SPINDLE_LASER_PWM_PIN == FAN2_PIN
#error "SPINDLE_LASER_PWM_PIN is used FAN2_PIN."
#elif PIN_EXISTS(CONTROLLERFAN) && SPINDLE_LASER_PWM_PIN == CONTROLLERFAN_PIN
#error "SPINDLE_LASER_PWM_PIN is used by CONTROLLERFAN_PIN."
#endif
#endif
#endif // SPINDLE_LASER_ENABLE

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Marlin/src/HAL/HAL_STM32F7/TMC2660.cpp
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/**
* TMC26XStepper.cpp - - TMC26X Stepper library for Wiring/Arduino
*
* based on the stepper library by Tom Igoe, et. al.
*
* Copyright (c) 2011, Interactive Matter, Marcus Nowotny
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*
*/
//#include "Arduino.h"
#ifdef STM32F7
#include <stdbool.h>
#include <SPI.h>
#include "TMC2660.h"
#include "../../HAL/HAL_STM32F7/HAL_STM32F7.h"
#include "../../core/serial.h"
#include "../../inc/MarlinConfig.h"
#include "../../Marlin.h"
#include "../../module/stepper_indirection.h"
#include "../../module/printcounter.h"
#include "../../libs/duration_t.h"
#include "../../libs/hex_print_routines.h"
//some default values used in initialization
#define DEFAULT_MICROSTEPPING_VALUE 32
//TMC26X register definitions
#define DRIVER_CONTROL_REGISTER 0x0ul
#define CHOPPER_CONFIG_REGISTER 0x80000ul
#define COOL_STEP_REGISTER 0xA0000ul
#define STALL_GUARD2_LOAD_MEASURE_REGISTER 0xC0000ul
#define DRIVER_CONFIG_REGISTER 0xE0000ul
#define REGISTER_BIT_PATTERN 0xFFFFFul
//definitions for the driver control register
#define MICROSTEPPING_PATTERN 0xFul
#define STEP_INTERPOLATION 0x200ul
#define DOUBLE_EDGE_STEP 0x100ul
#define VSENSE 0x40ul
#define READ_MICROSTEP_POSTION 0x0ul
#define READ_STALL_GUARD_READING 0x10ul
#define READ_STALL_GUARD_AND_COOL_STEP 0x20ul
#define READ_SELECTION_PATTERN 0x30ul
//definitions for the chopper config register
#define CHOPPER_MODE_STANDARD 0x0ul
#define CHOPPER_MODE_T_OFF_FAST_DECAY 0x4000ul
#define T_OFF_PATTERN 0xful
#define RANDOM_TOFF_TIME 0x2000ul
#define BLANK_TIMING_PATTERN 0x18000ul
#define BLANK_TIMING_SHIFT 15
#define HYSTERESIS_DECREMENT_PATTERN 0x1800ul
#define HYSTERESIS_DECREMENT_SHIFT 11
#define HYSTERESIS_LOW_VALUE_PATTERN 0x780ul
#define HYSTERESIS_LOW_SHIFT 7
#define HYSTERESIS_START_VALUE_PATTERN 0x78ul
#define HYSTERESIS_START_VALUE_SHIFT 4
#define T_OFF_TIMING_PATERN 0xFul
//definitions for cool step register
#define MINIMUM_CURRENT_FOURTH 0x8000ul
#define CURRENT_DOWN_STEP_SPEED_PATTERN 0x6000ul
#define SE_MAX_PATTERN 0xF00ul
#define SE_CURRENT_STEP_WIDTH_PATTERN 0x60ul
#define SE_MIN_PATTERN 0xful
//definitions for stall guard2 current register
#define STALL_GUARD_FILTER_ENABLED 0x10000ul
#define STALL_GUARD_TRESHHOLD_VALUE_PATTERN 0x17F00ul
#define CURRENT_SCALING_PATTERN 0x1Ful
#define STALL_GUARD_CONFIG_PATTERN 0x17F00ul
#define STALL_GUARD_VALUE_PATTERN 0x7F00ul
//definitions for the input from the TCM260
#define STATUS_STALL_GUARD_STATUS 0x1ul
#define STATUS_OVER_TEMPERATURE_SHUTDOWN 0x2ul
#define STATUS_OVER_TEMPERATURE_WARNING 0x4ul
#define STATUS_SHORT_TO_GROUND_A 0x8ul
#define STATUS_SHORT_TO_GROUND_B 0x10ul
#define STATUS_OPEN_LOAD_A 0x20ul
#define STATUS_OPEN_LOAD_B 0x40ul
#define STATUS_STAND_STILL 0x80ul
#define READOUT_VALUE_PATTERN 0xFFC00ul
#define CPU_32_BIT
//default values
#define INITIAL_MICROSTEPPING 0x3ul //32th microstepping
SPIClass SPI_6(SPI6, SPI6_MOSI_PIN, SPI6_MISO_PIN, SPI6_SCK_PIN);
#define STEPPER_SPI SPI_6
//debuging output
//#define TMC_DEBUG1
unsigned char current_scaling = 0;
/**
* Constructor
* number_of_steps - the steps per rotation
* cs_pin - the SPI client select pin
* dir_pin - the pin where the direction pin is connected
* step_pin - the pin where the step pin is connected
*/
TMC26XStepper::TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor) {
// We are not started yet
started = false;
// By default cool step is not enabled
cool_step_enabled = false;
// Save the pins for later use
this->cs_pin = cs_pin;
this->dir_pin = dir_pin;
this->step_pin = step_pin;
// Store the current sense resistor value for later use
this->resistor = resistor;
// Initizalize our status values
this->steps_left = 0;
this->direction = 0;
// Initialize register values
driver_control_register_value = DRIVER_CONTROL_REGISTER | INITIAL_MICROSTEPPING;
chopper_config_register = CHOPPER_CONFIG_REGISTER;
// Setting the default register values
driver_control_register_value = DRIVER_CONTROL_REGISTER|INITIAL_MICROSTEPPING;
microsteps = _BV(INITIAL_MICROSTEPPING);
chopper_config_register = CHOPPER_CONFIG_REGISTER;
cool_step_register_value = COOL_STEP_REGISTER;
stall_guard2_current_register_value = STALL_GUARD2_LOAD_MEASURE_REGISTER;
driver_configuration_register_value = DRIVER_CONFIG_REGISTER | READ_STALL_GUARD_READING;
// Set the current
setCurrent(current);
// Set to a conservative start value
setConstantOffTimeChopper(7, 54, 13,12,1);
// Set a nice microstepping value
setMicrosteps(DEFAULT_MICROSTEPPING_VALUE);
// Save the number of steps
this->number_of_steps = number_of_steps;
}
/**
* start & configure the stepper driver
* just must be called.
*/
void TMC26XStepper::start() {
#ifdef TMC_DEBUG1
SERIAL_ECHOPGM("\n TMC26X stepper library \n");
SERIAL_ECHOPAIR("\n CS pin: ", cs_pin);
SERIAL_ECHOPAIR("\n DIR pin: ", dir_pin);
SERIAL_ECHOPAIR("\n STEP pin: ", step_pin);
SERIAL_PRINTF("\n current scaling: %d", current_scaling);
SERIAL_PRINTF("\n Resistor: %d", resistor);
//SERIAL_PRINTF("\n current: %d", current);
SERIAL_ECHOPAIR("\n Microstepping: ", microsteps);
#endif
//set the pins as output & its initial value
pinMode(step_pin, OUTPUT);
pinMode(dir_pin, OUTPUT);
pinMode(cs_pin, OUTPUT);
//pinMode(STEPPER_ENABLE_PIN, OUTPUT);
digitalWrite(step_pin, LOW);
digitalWrite(dir_pin, LOW);
digitalWrite(cs_pin, HIGH);
STEPPER_SPI.begin();
STEPPER_SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
//set the initial values
send262(driver_control_register_value);
send262(chopper_config_register);
send262(cool_step_register_value);
send262(stall_guard2_current_register_value);
send262(driver_configuration_register_value);
//save that we are in running mode
started = true;
}
/**
* Mark the driver as unstarted to be able to start it again
*/
void TMC26XStepper::un_start() { started = false; }
/**
* Sets the speed in revs per minute
*/
void TMC26XStepper::setSpeed(unsigned int whatSpeed) {
this->speed = whatSpeed;
this->step_delay = 60UL * sq(1000UL) / ((unsigned long)this->number_of_steps * (unsigned long)whatSpeed * (unsigned long)this->microsteps);
#ifdef TMC_DEBUG0 // crashes
//SERIAL_PRINTF("Step delay in micros: ");
SERIAL_ECHOPAIR("\nStep delay in micros: ", this->step_delay);
#endif
// Update the next step time
this->next_step_time = this->last_step_time + this->step_delay;
}
unsigned int TMC26XStepper::getSpeed(void) { return this->speed; }
/**
* Moves the motor steps_to_move steps.
* Negative indicates the reverse direction.
*/
char TMC26XStepper::step(int steps_to_move) {
if (this->steps_left == 0) {
this->steps_left = abs(steps_to_move); // how many steps to take
// determine direction based on whether steps_to_move is + or -:
if (steps_to_move > 0)
this->direction = 1;
else if (steps_to_move < 0)
this->direction = 0;
return 0;
}
return -1;
}
char TMC26XStepper::move(void) {
// decrement the number of steps, moving one step each time:
if (this->steps_left > 0) {
unsigned long time = micros();
// move only if the appropriate delay has passed:
// rem if (time >= this->next_step_time) {
if (abs(time - this->last_step_time) > this->step_delay) {
// increment or decrement the step number,
// depending on direction:
if (this->direction == 1)
digitalWrite(step_pin, HIGH);
else {
digitalWrite(dir_pin, HIGH);
digitalWrite(step_pin, HIGH);
}
// get the timeStamp of when you stepped:
this->last_step_time = time;
this->next_step_time = time + this->step_delay;
// decrement the steps left:
steps_left--;
//disable the step & dir pins
digitalWrite(step_pin, LOW);
digitalWrite(dir_pin, LOW);
}
return -1;
}
return 0;
}
char TMC26XStepper::isMoving(void) { return this->steps_left > 0; }
unsigned int TMC26XStepper::getStepsLeft(void) { return this->steps_left; }
char TMC26XStepper::stop(void) {
//note to self if the motor is currently moving
char state = isMoving();
//stop the motor
this->steps_left = 0;
this->direction = 0;
//return if it was moving
return state;
}
void TMC26XStepper::setCurrent(unsigned int current) {
unsigned char current_scaling = 0;
//calculate the current scaling from the max current setting (in mA)
double mASetting = (double)current,
resistor_value = (double)this->resistor;
// remove vsense flag
this->driver_configuration_register_value &= ~(VSENSE);
// Derived from I = (cs + 1) / 32 * (Vsense / Rsense)
// leading to cs = 32 * R * I / V (with V = 0,31V oder 0,165V and I = 1000 * current)
// with Rsense = 0,15
// for vsense = 0,310V (VSENSE not set)
// or vsense = 0,165V (VSENSE set)
current_scaling = (byte)((resistor_value * mASetting * 32.0 / (0.31 * sq(1000.0))) - 0.5); //theoretically - 1.0 for better rounding it is 0.5
// Check if the current scalingis too low
if (current_scaling < 16) {
// Set the csense bit to get a use half the sense voltage (to support lower motor currents)
this->driver_configuration_register_value |= VSENSE;
// and recalculate the current setting
current_scaling = (byte)((resistor_value * mASetting * 32.0 / (0.165 * sq(1000.0))) - 0.5); //theoretically - 1.0 for better rounding it is 0.5
#ifdef TMC_DEBUG0 // crashes
//SERIAL_PRINTF("CS (Vsense=1): ");
SERIAL_ECHOPAIR("\nCS (Vsense=1): ",current_scaling);
} else {
//SERIAL_PRINTF("CS: ");
SERIAL_ECHOPAIR("\nCS: ", current_scaling);
#endif
}
// do some sanity checks
NOMORE(current_scaling, 31);
// delete the old value
stall_guard2_current_register_value &= ~(CURRENT_SCALING_PATTERN);
// set the new current scaling
stall_guard2_current_register_value |= current_scaling;
// if started we directly send it to the motor
if (started) {
send262(driver_configuration_register_value);
send262(stall_guard2_current_register_value);
}
}
unsigned int TMC26XStepper::getCurrent(void) {
// Calculate the current according to the datasheet to be on the safe side.
// This is not the fastest but the most accurate and illustrative way.
double result = (double)(stall_guard2_current_register_value & CURRENT_SCALING_PATTERN),
resistor_value = (double)this->resistor,
voltage = (driver_configuration_register_value & VSENSE) ? 0.165 : 0.31;
result = (result + 1.0) / 32.0 * voltage / resistor_value * sq(1000.0);
return (unsigned int)result;
}
void TMC26XStepper::setStallGuardThreshold(char stall_guard_threshold, char stall_guard_filter_enabled) {
// We just have 5 bits
LIMIT(stall_guard_threshold, -64, 63);
// Add trim down to 7 bits
stall_guard_threshold &= 0x7F;
// Delete old stall guard settings
stall_guard2_current_register_value &= ~(STALL_GUARD_CONFIG_PATTERN);
if (stall_guard_filter_enabled)
stall_guard2_current_register_value |= STALL_GUARD_FILTER_ENABLED;
// Set the new stall guard threshold
stall_guard2_current_register_value |= (((unsigned long)stall_guard_threshold << 8) & STALL_GUARD_CONFIG_PATTERN);
// If started we directly send it to the motor
if (started) send262(stall_guard2_current_register_value);
}
char TMC26XStepper::getStallGuardThreshold(void) {
unsigned long stall_guard_threshold = stall_guard2_current_register_value & STALL_GUARD_VALUE_PATTERN;
//shift it down to bit 0
stall_guard_threshold >>= 8;
//convert the value to an int to correctly handle the negative numbers
char result = stall_guard_threshold;
//check if it is negative and fill it up with leading 1 for proper negative number representation
//rem if (result & _BV(6)) {
if (TEST(result, 6)) result |= 0xC0;
return result;
}
char TMC26XStepper::getStallGuardFilter(void) {
if (stall_guard2_current_register_value & STALL_GUARD_FILTER_ENABLED)
return -1;
return 0;
}
/**
* Set the number of microsteps per step.
* 0,2,4,8,16,32,64,128,256 is supported
* any value in between will be mapped to the next smaller value
* 0 and 1 set the motor in full step mode
*/
void TMC26XStepper::setMicrosteps(int number_of_steps) {
long setting_pattern;
//poor mans log
if (number_of_steps >= 256) {
setting_pattern = 0;
microsteps = 256;
}
else if (number_of_steps >= 128) {
setting_pattern = 1;
microsteps = 128;
}
else if (number_of_steps >= 64) {
setting_pattern = 2;
microsteps = 64;
}
else if (number_of_steps >= 32) {
setting_pattern = 3;
microsteps = 32;
}
else if (number_of_steps >= 16) {
setting_pattern = 4;
microsteps = 16;
}
else if (number_of_steps >= 8) {
setting_pattern = 5;
microsteps = 8;
}
else if (number_of_steps >= 4) {
setting_pattern = 6;
microsteps = 4;
}
else if (number_of_steps >= 2) {
setting_pattern = 7;
microsteps = 2;
//1 and 0 lead to full step
}
else if (number_of_steps <= 1) {
setting_pattern = 8;
microsteps = 1;
}
#ifdef TMC_DEBUG0 // crashes
//SERIAL_PRINTF("Microstepping: ");
SERIAL_ECHOPAIR("\n Microstepping: ", microsteps);
#endif
// Delete the old value
this->driver_control_register_value &= 0xFFFF0UL;
// Set the new value
this->driver_control_register_value |= setting_pattern;
// If started we directly send it to the motor
if (started) send262(driver_control_register_value);
// Recalculate the stepping delay by simply setting the speed again
this->setSpeed(this->speed);
}
/**
* returns the effective number of microsteps at the moment
*/
int TMC26XStepper::getMicrosteps(void) { return microsteps }
/**
* constant_off_time: The off time setting controls the minimum chopper frequency.
* For most applications an off time within the range of 5μs to 20μs will fit.
* 2...15: off time setting
*
* blank_time: Selects the comparator blank time. This time needs to safely cover the switching event and the
* duration of the ringing on the sense resistor. For
* 0: min. setting 3: max. setting
*
* fast_decay_time_setting: Fast decay time setting. With CHM=1, these bits control the portion of fast decay for each chopper cycle.
* 0: slow decay only
* 1...15: duration of fast decay phase
*
* sine_wave_offset: Sine wave offset. With CHM=1, these bits control the sine wave offset.
* A positive offset corrects for zero crossing error.
* -3..-1: negative offset 0: no offset 1...12: positive offset
*
* use_current_comparator: Selects usage of the current comparator for termination of the fast decay cycle.
* If current comparator is enabled, it terminates the fast decay cycle in case the current
* reaches a higher negative value than the actual positive value.
* 1: enable comparator termination of fast decay cycle
* 0: end by time only
*/
void TMC26XStepper::setConstantOffTimeChopper(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, unsigned char use_current_comparator) {
// Perform some sanity checks
LIMIT(constant_off_time, 2, 15);
// Save the constant off time
this->constant_off_time = constant_off_time;
// Calculate the value acc to the clock cycles
const char blank_value = blank_time >= 54 ? 3 :
blank_time >= 36 ? 2 :
blank_time >= 24 ? 1 : 0;
LIMIT(fast_decay_time_setting, 0, 15);
LIMIT(sine_wave_offset, -3, 12);
// Shift the sine_wave_offset
sine_wave_offset += 3;
// Calculate the register setting
// First of all delete all the values for this
chopper_config_register &= ~(_BV(12) | BLANK_TIMING_PATTERN | HYSTERESIS_DECREMENT_PATTERN | HYSTERESIS_LOW_VALUE_PATTERN | HYSTERESIS_START_VALUE_PATTERN | T_OFF_TIMING_PATERN);
// Set the constant off pattern
chopper_config_register |= CHOPPER_MODE_T_OFF_FAST_DECAY;
// Set the blank timing value
chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT;
// Setting the constant off time
chopper_config_register |= constant_off_time;
// Set the fast decay time
// Set msb
chopper_config_register |= (((unsigned long)(fast_decay_time_setting & 0x8)) << HYSTERESIS_DECREMENT_SHIFT);
// Other bits
chopper_config_register |= (((unsigned long)(fast_decay_time_setting & 0x7)) << HYSTERESIS_START_VALUE_SHIFT);
// Set the sine wave offset
chopper_config_register |= (unsigned long)sine_wave_offset << HYSTERESIS_LOW_SHIFT;
// Using the current comparator?
if (!use_current_comparator)
chopper_config_register |= _BV(12);
// If started we directly send it to the motor
if (started) {
// rem send262(driver_control_register_value);
send262(chopper_config_register);
}
}
/**
* constant_off_time: The off time setting controls the minimum chopper frequency.
* For most applications an off time within the range of 5μs to 20μs will fit.
* 2...15: off time setting
*
* blank_time: Selects the comparator blank time. This time needs to safely cover the switching event and the
* duration of the ringing on the sense resistor. For
* 0: min. setting 3: max. setting
*
* hysteresis_start: Hysteresis start setting. Please remark, that this value is an offset to the hysteresis end value HEND.
* 1...8
*
* hysteresis_end: Hysteresis end setting. Sets the hysteresis end value after a number of decrements. Decrement interval time is controlled by HDEC.
* The sum HSTRT+HEND must be <16. At a current setting CS of max. 30 (amplitude reduced to 240), the sum is not limited.
* -3..-1: negative HEND 0: zero HEND 1...12: positive HEND
*
* hysteresis_decrement: Hysteresis decrement setting. This setting determines the slope of the hysteresis during on time and during fast decay time.
* 0: fast decrement 3: very slow decrement
*/
void TMC26XStepper::setSpreadCycleChopper(char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement) {
// Perform some sanity checks
LIMIT(constant_off_time, 2, 15);
// Save the constant off time
this->constant_off_time = constant_off_time;
// Calculate the value acc to the clock cycles
const char blank_value = blank_time >= 54 ? 3 :
blank_time >= 36 ? 2 :
blank_time >= 24 ? 1 : 0;
LIMIT(hysteresis_start, 1, 8);
hysteresis_start--;
LIMIT(hysteresis_start, -3, 12);
// Shift the hysteresis_end
hysteresis_end += 3;
LIMIT(hysteresis_decrement, 0, 3);
//first of all delete all the values for this
chopper_config_register &= ~(CHOPPER_MODE_T_OFF_FAST_DECAY | BLANK_TIMING_PATTERN | HYSTERESIS_DECREMENT_PATTERN | HYSTERESIS_LOW_VALUE_PATTERN | HYSTERESIS_START_VALUE_PATTERN | T_OFF_TIMING_PATERN);
//set the blank timing value
chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT;
//setting the constant off time
chopper_config_register |= constant_off_time;
//set the hysteresis_start
chopper_config_register |= ((unsigned long)hysteresis_start) << HYSTERESIS_START_VALUE_SHIFT;
//set the hysteresis end
chopper_config_register |= ((unsigned long)hysteresis_end) << HYSTERESIS_LOW_SHIFT;
//set the hystereis decrement
chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT;
//if started we directly send it to the motor
if (started) {
//rem send262(driver_control_register_value);
send262(chopper_config_register);
}
}
/**
* In a constant off time chopper scheme both coil choppers run freely, i.e. are not synchronized.
* The frequency of each chopper mainly depends on the coil current and the position dependant motor coil inductivity, thus it depends on the microstep position.
* With some motors a slightly audible beat can occur between the chopper frequencies, especially when they are near to each other. This typically occurs at a
* few microstep positions within each quarter wave. This effect normally is not audible when compared to mechanical noise generated by ball bearings, etc.
* Further factors which can cause a similar effect are a poor layout of sense resistor GND connection.
* Hint: A common factor, which can cause motor noise, is a bad PCB layout causing coupling of both sense resistor voltages
* (please refer to sense resistor layout hint in chapter 8.1).
* In order to minimize the effect of a beat between both chopper frequencies, an internal random generator is provided.
* It modulates the slow decay time setting when switched on by the RNDTF bit. The RNDTF feature further spreads the chopper spectrum,
* reducing electromagnetic emission on single frequencies.
*/
void TMC26XStepper::setRandomOffTime(char value) {
if (value)
chopper_config_register |= RANDOM_TOFF_TIME;
else
chopper_config_register &= ~(RANDOM_TOFF_TIME);
//if started we directly send it to the motor
if (started) {
//rem send262(driver_control_register_value);
send262(chopper_config_register);
}
}
void TMC26XStepper::setCoolStepConfiguration(
unsigned int lower_SG_threshold,
unsigned int SG_hysteresis,
unsigned char current_decrement_step_size,
unsigned char current_increment_step_size,
unsigned char lower_current_limit)
{
// Sanitize the input values
NOMORE(lower_SG_threshold, 480);
// Divide by 32
lower_SG_threshold >>= 5;
NOMORE(SG_hysteresis, 480);
// Divide by 32
SG_hysteresis >>= 5;
NOMORE(current_decrement_step_size, 3);
NOMORE(current_increment_step_size, 3);
NOMORE(lower_current_limit, 1);
// Store the lower level in order to enable/disable the cool step
this->cool_step_lower_threshold=lower_SG_threshold;
// If cool step is not enabled we delete the lower value to keep it disabled
if (!this->cool_step_enabled) lower_SG_threshold = 0;
// The good news is that we can start with a complete new cool step register value
// And simply set the values in the register
cool_step_register_value = ((unsigned long)lower_SG_threshold)
| (((unsigned long)SG_hysteresis) << 8)
| (((unsigned long)current_decrement_step_size) << 5)
| (((unsigned long)current_increment_step_size) << 13)
| (((unsigned long)lower_current_limit) << 15)
| COOL_STEP_REGISTER; // Register signature
//SERIAL_PRINTFln(cool_step_register_value,HEX);
if (started) send262(cool_step_register_value);
}
void TMC26XStepper::setCoolStepEnabled(boolean enabled) {
// Simply delete the lower limit to disable the cool step
cool_step_register_value &= ~SE_MIN_PATTERN;
// And set it to the proper value if cool step is to be enabled
if (enabled)
cool_step_register_value |= this->cool_step_lower_threshold;
// And save the enabled status
this->cool_step_enabled = enabled;
// Save the register value
if (started) send262(cool_step_register_value);
}
boolean TMC26XStepper::isCoolStepEnabled(void) { return this->cool_step_enabled; }
unsigned int TMC26XStepper::getCoolStepLowerSgThreshold() {
// We return our internally stored value - in order to provide the correct setting even if cool step is not enabled
return this->cool_step_lower_threshold<<5;
}
unsigned int TMC26XStepper::getCoolStepUpperSgThreshold() {
return (unsigned char)((cool_step_register_value & SE_MAX_PATTERN) >> 8) << 5;
}
unsigned char TMC26XStepper::getCoolStepCurrentIncrementSize() {
return (unsigned char)((cool_step_register_value & CURRENT_DOWN_STEP_SPEED_PATTERN) >> 13);
}
unsigned char TMC26XStepper::getCoolStepNumberOfSGReadings() {
return (unsigned char)((cool_step_register_value & SE_CURRENT_STEP_WIDTH_PATTERN) >> 5);
}
unsigned char TMC26XStepper::getCoolStepLowerCurrentLimit() {
return (unsigned char)((cool_step_register_value & MINIMUM_CURRENT_FOURTH) >> 15);
}
void TMC26XStepper::setEnabled(boolean enabled) {
//delete the t_off in the chopper config to get sure
chopper_config_register &= ~(T_OFF_PATTERN);
if (enabled) {
//and set the t_off time
chopper_config_register |= this->constant_off_time;
}
//if not enabled we don't have to do anything since we already delete t_off from the register
if (started) send262(chopper_config_register);
}
boolean TMC26XStepper::isEnabled() { return !!(chopper_config_register & T_OFF_PATTERN); }
/**
* reads a value from the TMC26X status register. The value is not obtained directly but can then
* be read by the various status routines.
*
*/
void TMC26XStepper::readStatus(char read_value) {
unsigned long old_driver_configuration_register_value = driver_configuration_register_value;
//reset the readout configuration
driver_configuration_register_value &= ~(READ_SELECTION_PATTERN);
//this now equals TMC26X_READOUT_POSITION - so we just have to check the other two options
if (read_value == TMC26X_READOUT_STALLGUARD)
driver_configuration_register_value |= READ_STALL_GUARD_READING;
else if (read_value == TMC26X_READOUT_CURRENT)
driver_configuration_register_value |= READ_STALL_GUARD_AND_COOL_STEP;
//all other cases are ignored to prevent funny values
//check if the readout is configured for the value we are interested in
if (driver_configuration_register_value != old_driver_configuration_register_value) {
//because then we need to write the value twice - one time for configuring, second time to get the value, see below
send262(driver_configuration_register_value);
}
//write the configuration to get the last status
send262(driver_configuration_register_value);
}
int TMC26XStepper::getMotorPosition(void) {
//we read it out even if we are not started yet - perhaps it is useful information for somebody
readStatus(TMC26X_READOUT_POSITION);
return getReadoutValue();
}
//reads the stall guard setting from last status
//returns -1 if stallguard information is not present
int TMC26XStepper::getCurrentStallGuardReading(void) {
//if we don't yet started there cannot be a stall guard value
if (!started) return -1;
//not time optimal, but solution optiomal:
//first read out the stall guard value
readStatus(TMC26X_READOUT_STALLGUARD);
return getReadoutValue();
}
unsigned char TMC26XStepper::getCurrentCSReading(void) {
//if we don't yet started there cannot be a stall guard value
if (!started) return 0;
//not time optimal, but solution optiomal:
//first read out the stall guard value
readStatus(TMC26X_READOUT_CURRENT);
return (getReadoutValue() & 0x1F);
}
unsigned int TMC26XStepper::getCurrentCurrent(void) {
double result = (double)getCurrentCSReading(),
resistor_value = (double)this->resistor,
voltage = (driver_configuration_register_value & VSENSE)? 0.165 : 0.31;
result = (result + 1.0) / 32.0 * voltage / resistor_value * sq(1000.0);
return (unsigned int)result;
}
/**
* Return true if the stallguard threshold has been reached
*/
boolean TMC26XStepper::isStallGuardOverThreshold(void) {
if (!this->started) return false;
return (driver_status_result & STATUS_STALL_GUARD_STATUS);
}
/**
* returns if there is any over temperature condition:
* OVER_TEMPERATURE_PREWARING if pre warning level has been reached
* OVER_TEMPERATURE_SHUTDOWN if the temperature is so hot that the driver is shut down
* Any of those levels are not too good.
*/
char TMC26XStepper::getOverTemperature(void) {
if (!this->started) return 0;
if (driver_status_result & STATUS_OVER_TEMPERATURE_SHUTDOWN)
return TMC26X_OVERTEMPERATURE_SHUTDOWN;
if (driver_status_result & STATUS_OVER_TEMPERATURE_WARNING)
return TMC26X_OVERTEMPERATURE_PREWARING;
return 0;
}
// Is motor channel A shorted to ground
boolean TMC26XStepper::isShortToGroundA(void) {
if (!this->started) return false;
return (driver_status_result & STATUS_SHORT_TO_GROUND_A);
}
// Is motor channel B shorted to ground
boolean TMC26XStepper::isShortToGroundB(void) {
if (!this->started) return false;
return (driver_status_result & STATUS_SHORT_TO_GROUND_B);
}
// Is motor channel A connected
boolean TMC26XStepper::isOpenLoadA(void) {
if (!this->started) return false;
return (driver_status_result & STATUS_OPEN_LOAD_A);
}
// Is motor channel B connected
boolean TMC26XStepper::isOpenLoadB(void) {
if (!this->started) return false;
return (driver_status_result & STATUS_OPEN_LOAD_B);
}
// Is chopper inactive since 2^20 clock cycles - defaults to ~0,08s
boolean TMC26XStepper::isStandStill(void) {
if (!this->started) return false;
return (driver_status_result & STATUS_STAND_STILL);
}
//is chopper inactive since 2^20 clock cycles - defaults to ~0,08s
boolean TMC26XStepper::isStallGuardReached(void) {
if (!this->started) return false;
return (driver_status_result & STATUS_STALL_GUARD_STATUS);
}
//reads the stall guard setting from last status
//returns -1 if stallguard inforamtion is not present
int TMC26XStepper::getReadoutValue(void) {
return (int)(driver_status_result >> 10);
}
int TMC26XStepper::getResistor() { return this->resistor; }
boolean TMC26XStepper::isCurrentScalingHalfed() {
return !!(this->driver_configuration_register_value & VSENSE);
}
/**
* version() returns the version of the library:
*/
int TMC26XStepper::version(void) { return 1; }
void TMC26XStepper::debugLastStatus() {
#ifdef TMC_DEBUG1
if (this->started) {
if (this->getOverTemperature()&TMC26X_OVERTEMPERATURE_PREWARING)
SERIAL_ECHOLNPGM("\n WARNING: Overtemperature Prewarning!");
else if (this->getOverTemperature()&TMC26X_OVERTEMPERATURE_SHUTDOWN)
SERIAL_ECHOLNPGM("\n ERROR: Overtemperature Shutdown!");
if (this->isShortToGroundA())
SERIAL_ECHOLNPGM("\n ERROR: SHORT to ground on channel A!");
if (this->isShortToGroundB())
SERIAL_ECHOLNPGM("\n ERROR: SHORT to ground on channel B!");
if (this->isOpenLoadA())
SERIAL_ECHOLNPGM("\n ERROR: Channel A seems to be unconnected!");
if (this->isOpenLoadB())
SERIAL_ECHOLNPGM("\n ERROR: Channel B seems to be unconnected!");
if (this->isStallGuardReached())
SERIAL_ECHOLNPGM("\n INFO: Stall Guard level reached!");
if (this->isStandStill())
SERIAL_ECHOLNPGM("\n INFO: Motor is standing still.");
unsigned long readout_config = driver_configuration_register_value & READ_SELECTION_PATTERN;
const int value = getReadoutValue();
if (readout_config == READ_MICROSTEP_POSTION) {
//SERIAL_PRINTF("Microstep postion phase A: ");
SERIAL_ECHOPAIR("\n Microstep postion phase A: ", value);
}
else if (readout_config == READ_STALL_GUARD_READING) {
//SERIAL_PRINTF("Stall Guard value:");
SERIAL_ECHOPAIR("\n Stall Guard value:", value);
}
else if (readout_config == READ_STALL_GUARD_AND_COOL_STEP) {
int stallGuard = value & 0xF, current = value & 0x1F0;
//SERIAL_PRINTF("Approx Stall Guard: ");
SERIAL_ECHOPAIR("\n Approx Stall Guard: ", stallGuard);
//SERIAL_PRINTF("Current level");
SERIAL_ECHOPAIR("\n Current level", current);
}
}
#endif
}
/**
* send register settings to the stepper driver via SPI
* returns the current status
*/
inline void TMC26XStepper::send262(unsigned long datagram) {
unsigned long i_datagram;
//preserver the previous spi mode
//unsigned char oldMode = SPCR & SPI_MODE_MASK;
//if the mode is not correct set it to mode 3
//if (oldMode != SPI_MODE3) {
// SPI.setDataMode(SPI_MODE3);
//}
//select the TMC driver
digitalWrite(cs_pin,LOW);
//ensure that only valid bist are set (0-19)
//datagram &=REGISTER_BIT_PATTERN;
#ifdef TMC_DEBUG1
//SERIAL_PRINTF("Sending ");
//SERIAL_PRINTF("Sending ", datagram,HEX);
//SERIAL_ECHOPAIR("\n\nSending \n", print_hex_long(datagram));
SERIAL_PRINTF("\n\nSending %x", datagram);
#endif
//write/read the values
i_datagram = STEPPER_SPI.transfer((datagram >> 16) & 0xFF);
i_datagram <<= 8;
i_datagram |= STEPPER_SPI.transfer((datagram >> 8) & 0xFF);
i_datagram <<= 8;
i_datagram |= STEPPER_SPI.transfer((datagram) & 0xFF);
i_datagram >>= 4;
#ifdef TMC_DEBUG1
//SERIAL_PRINTF("Received ");
//SERIAL_PRINTF("Received ", i_datagram,HEX);
//SERIAL_ECHOPAIR("\n\nReceived \n", i_datagram);
SERIAL_PRINTF("\n\nReceived %x", i_datagram);
debugLastStatus();
#endif
//deselect the TMC chip
digitalWrite(cs_pin,HIGH);
//restore the previous SPI mode if neccessary
//if the mode is not correct set it to mode 3
//if (oldMode != SPI_MODE3) {
// SPI.setDataMode(oldMode);
//}
//store the datagram as status result
driver_status_result = i_datagram;
}
#endif // STM32F7

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Marlin/src/HAL/HAL_STM32F7/TMC2660.h
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/**
* TMC26XStepper.h - - TMC26X Stepper library for Wiring/Arduino
*
* based on the stepper library by Tom Igoe, et. al.
*
* Copyright (c) 2011, Interactive Matter, Marcus Nowotny
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*
*/
#include "../../inc/MarlinConfig.h"
// ensure this library description is only included once
#ifndef _TMC26XSTEPPER_H_
#define _TMC26XSTEPPER_H_
//! return value for TMC26XStepper.getOverTemperature() if there is a overtemperature situation in the TMC chip
/*!
* This warning indicates that the TCM chip is too warm.
* It is still working but some parameters may be inferior.
* You should do something against it.
*/
#define TMC26X_OVERTEMPERATURE_PREWARING 1
//! return value for TMC26XStepper.getOverTemperature() if there is a overtemperature shutdown in the TMC chip
/*!
* This warning indicates that the TCM chip is too warm to operate and has shut down to prevent damage.
* It will stop working until it cools down again.
* If you encouter this situation you must do something against it. Like reducing the current or improving the PCB layout
* and/or heat management.
*/
#define TMC26X_OVERTEMPERATURE_SHUTDOWN 2
//which values can be read out
/*!
* Selects to readout the microstep position from the motor.
*\sa readStatus()
*/
#define TMC26X_READOUT_POSITION 0
/*!
* Selects to read out the StallGuard value of the motor.
*\sa readStatus()
*/
#define TMC26X_READOUT_STALLGUARD 1
/*!
* Selects to read out the current current setting (acc. to CoolStep) and the upper bits of the StallGuard value from the motor.
*\sa readStatus(), setCurrent()
*/
#define TMC26X_READOUT_CURRENT 3
/*!
* Define to set the minimum current for CoolStep operation to 1/2 of the selected CS minium.
*\sa setCoolStepConfiguration()
*/
#define COOL_STEP_HALF_CS_LIMIT 0
/*!
* Define to set the minimum current for CoolStep operation to 1/4 of the selected CS minium.
*\sa setCoolStepConfiguration()
*/
#define COOL_STEP_QUARTDER_CS_LIMIT 1
/*!
* \class TMC26XStepper
* \brief Class representing a TMC26X stepper driver
*
* In order to use one fo those drivers in your Arduino code you have to create an object of that class:
* \code
* TMC26XStepper stepper = TMC26XStepper(200,1,2,3,500);
* \endcode
* see TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int rms_current)
*
* Keep in mind that you need to start the driver with start() in order to get the TMC26X configured.
*
* The most important function is the move(). It checks if the motor has to do a step or not.
* It is important that you call move() as often as possible in your Arduino loop() routine. I suggest
* to use a very fast loop routine and always call it at the beginning or the end.
*
* In order to move you have to provide a movement speed with setSpeed(). The speed is a positive value setting
* the rotations per minute.
*
* To really move the motor you have to call step() to tell the driver to move the motor the given number
* of steps in the given direction. Positive values move the motor in one direction, negative values in the other direction.
*
* You can check with isMoving() if the mototr is still moving or stop it apruptely with stop().
*/
class TMC26XStepper {
public:
/*!
* \brief creates a new represenatation of a stepper motor connected to a TMC26X stepper driver
*
* This is the main constructor. If in doubt use this. You must provide all parameters as described below.
*
* \param number_of_steps the number of steps the motor has per rotation.
* \param cs_pin The Arduino pin you have connected the Cient Select Pin (!CS) of the TMC26X for SPI
* \param dir_pin the number of the Arduino pin the Direction input of the TMC26X is connected
* \param step_pin the number of the Arduino pin the step pin of the TMC26X driver is connected.
* \param rms_current the maximum current to privide to the motor in mA (!). A value of 200 would send up to 200mA to the motor
* \param resistor the current sense resistor in milli Ohm, defaults to ,15 Ohm ( or 150 milli Ohm) as in the TMC260 Arduino Shield
*
* Keep in mind that you must also call TMC26XStepper.start() in order to configure the stepper driver for use.
*
* By default the Constant Off Time chopper is used, see TCM262Stepper.setConstantOffTimeChopper() for details.
* This should work on most motors (YMMV). You may want to configure and use the Spread Cycle Chopper, see setSpreadCycleChopper().
*
* By default a microstepping of 1/32th is used to provide a smooth motor run, while still giving a good progression per step.
* You can select a different stepping with setMicrosteps() to aa different value.
* \sa start(), setMicrosteps()
*/
TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor=100); //resistor=150
/*!
* \brief configures and starts the TMC26X stepper driver. Before you called this function the stepper driver is in nonfunctional mode.
*
* This routine configures the TMC26X stepper driver for the given values via SPI.
* Most member functions are non functional if the driver has not been started.
* Therefore it is best to call this in your Arduino setup() function.
*/
void start();
/*!
* \brief resets the stepper in unconfigured mode.
*
* This routine enables you to call start again. It does not change anything
* in the internal stepper configuration or the desired configuration.
* It just marks the stepper as not yet startet. You do not have to reconfigure
* the stepper to start it again, but it is not reset to any factory settings
* this has to be configured back by yourself.
* (Hint: Normally you do not need this function)
*/
void un_start();
/*!
* \brief Sets the rotation speed in revolutions per minute.
* \param whatSpeed the desired speed in rotations per minute.
*/
void setSpeed(unsigned int whatSpeed);
/*!
* \brief reads out the currently selected speed in revolutions per minute.
* \sa setSpeed()
*/
unsigned int getSpeed(void);
/*!
* \brief Set the number of microsteps in 2^i values (rounded) up to 256
*
* This method set's the number of microsteps per step in 2^i interval.
* This means you can select 1, 2, 4, 16, 32, 64, 128 or 256 as valid microsteps.
* If you give any other value it will be rounded to the next smaller number (3 would give a microstepping of 2).
* You can always check the current microstepping with getMicrosteps().
*/
void setMicrosteps(int number_of_steps);
/*!
* \brief returns the effective current number of microsteps selected.
*
* This function always returns the effective number of microsteps.
* This can be a bit different than the micro steps set in setMicrosteps() since it is rounded to 2^i.
*
* \sa setMicrosteps()
*/
int getMicrosteps(void);
/*!
* \brief Initiate a movement for the given number of steps. Positive numbers move in one, negative numbers in the other direction.
*
* \param number_of_steps The number of steps to move the motor.
* \return 0 if the motor was not moving and moves now. -1 if the motor is moving and the new steps could not be set.
*
* If the previous movement is not finished yet the function will return -1 and not change the steps to move the motor.
* If the motor does not move it return 0
*
* The direction of the movement is indicated by the sign of the steps parameter. It is not determinable if positive values are right
* or left This depends on the internal construction of the motor and how you connected it to the stepper driver.
*
* You can always verify with isMoving() or even use stop() to stop the motor before giving it new step directions.
* \sa isMoving(), getStepsLeft(), stop()
*/
char step(int number_of_steps);
/*!
* \brief Central movement method, must be called as often as possible in the lopp function and is very fast.
*
* This routine checks if the motor still has to move, if the waiting delay has passed to send a new step command to the motor
* and manages the number of steps yet to move to fulfill the current move command.
*
* This function is implemented to be as fast as possible to call it as often as possible in your loop routine.
* The more regurlarly you call this function the better. In both senses of 'regularly': Calling it as often as
* possible is not a bad idea and if you even manage that the intervals you call this function are not too irregular helps too.
*
* You can call this routine even if you know that the motor is not miving. It introduces just a very small penalty in your code.
* You must not call isMoving() to determine if you need to call this function, since taht is done internally already and only
* slows down you code.
*
* How often you call this function directly influences your top miving speed for the motor. It may be a good idea to call this
* from an timer overflow interrupt to ensure proper calling.
* \sa step()
*/
char move(void);
/*!
* \brief checks if the motor still has to move to fulfill the last movement command.
* \return 0 if the motor stops, -1 if the motor is moving.
*
* This method can be used to determine if the motor is ready for new movements.
*\sa step(), move()
*/
char isMoving(void);
/*!
* \brief Get the number of steps left in the current movement.
* \return The number of steps left in the movement. This number is always positive.
*/
unsigned int getStepsLeft(void);
/*!
* \brief Stops the motor regardless if it moves or not.
* \return -1 if the motor was moving and is really stoped or 0 if it was not moving at all.
*
* This method directly and apruptely stops the motor and may be used as an emergency stop.
*/
char stop(void);
/*!
* \brief Sets and configure the classical Constant Off Timer Chopper
* \param constant_off_time The off time setting controls the minimum chopper frequency. For most applications an off time within the range of 5μs to 20μs will fit. Setting this parameter to zero completely disables all driver transistors and the motor can free-wheel. 0: chopper off, 1:15: off time setting (1 will work with minimum blank time of 24 clocks)
* \param blank_time Selects the comparator blank time. This time needs to safely cover the switching event and the duration of the ringing on the sense resistor. For most low current drivers, a setting of 1 or 2 is good. For high current applications with large MOSFETs, a setting of 2 or 3 will be required. 0 (min setting) … (3) amx setting
* \param fast_decay_time_setting Fast decay time setting. Controls the portion of fast decay for each chopper cycle. 0: slow decay only, 1…15: duration of fast decay phase
* \param sine_wave_offset Sine wave offset. Controls the sine wave offset. A positive offset corrects for zero crossing error. -3…-1: negative offset, 0: no offset,1…12: positive offset
* \param use_curreent_comparator Selects usage of the current comparator for termination of the fast decay cycle. If current comparator is enabled, it terminates the fast decay cycle in case the current reaches a higher negative value than the actual positive value. (0 disable, -1 enable).
*
* The classic constant off time chopper uses a fixed portion of fast decay following each on phase.
* While the duration of the on time is determined by the chopper comparator, the fast decay time needs
* to be set by the user in a way, that the current decay is enough for the driver to be able to follow
* the falling slope of the sine wave, and on the other hand it should not be too long, in order to minimize
* motor current ripple and power dissipation. This best can be tuned using an oscilloscope or
* trying out motor smoothness at different velocities. A good starting value is a fast decay time setting
* similar to the slow decay time setting.
* After tuning of the fast decay time, the offset should be determined, in order to have a smooth zero transition.
* This is necessary, because the fast decay phase leads to the absolute value of the motor current being lower
* than the target current (see figure 17). If the zero offset is too low, the motor stands still for a short
* moment during current zero crossing, if it is set too high, it makes a larger microstep.
* Typically, a positive offset setting is required for optimum operation.
*
* \sa setSpreadCycleChoper() for other alternatives.
* \sa setRandomOffTime() for spreading the noise over a wider spectrum
*/
void setConstantOffTimeChopper(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, unsigned char use_current_comparator);
/*!
* \brief Sets and configures with spread cycle chopper.
* \param constant_off_time The off time setting controls the minimum chopper frequency. For most applications an off time within the range of 5μs to 20μs will fit. Setting this parameter to zero completely disables all driver transistors and the motor can free-wheel. 0: chopper off, 1:15: off time setting (1 will work with minimum blank time of 24 clocks)
* \param blank_time Selects the comparator blank time. This time needs to safely cover the switching event and the duration of the ringing on the sense resistor. For most low current drivers, a setting of 1 or 2 is good. For high current applications with large MOSFETs, a setting of 2 or 3 will be required. 0 (min setting) … (3) amx setting
* \param hysteresis_start Hysteresis start setting. Please remark, that this value is an offset to the hysteresis end value. 1 … 8
* \param hysteresis_end Hysteresis end setting. Sets the hysteresis end value after a number of decrements. Decrement interval time is controlled by hysteresis_decrement. The sum hysteresis_start + hysteresis_end must be <16. At a current setting CS of max. 30 (amplitude reduced to 240), the sum is not limited.
* \param hysteresis_decrement Hysteresis decrement setting. This setting determines the slope of the hysteresis during on time and during fast decay time. 0 (fast decrement) … 3 (slow decrement).
*
* The spreadCycle chopper scheme (pat.fil.) is a precise and simple to use chopper principle, which automatically determines
* the optimum fast decay portion for the motor. Anyhow, a number of settings can be made in order to optimally fit the driver
* to the motor.
* Each chopper cycle is comprised of an on-phase, a slow decay phase, a fast decay phase and a second slow decay phase.
* The slow decay phases limit the maximum chopper frequency and are important for low motor and driver power dissipation.
* The hysteresis start setting limits the chopper frequency by forcing the driver to introduce a minimum amount of
* current ripple into the motor coils. The motor inductivity determines the ability to follow a changing motor current.
* The duration of the on- and fast decay phase needs to cover at least the blank time, because the current comparator is
* disabled during this time.
*
* \sa setRandomOffTime() for spreading the noise over a wider spectrum
*/
void setSpreadCycleChopper(char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement);
/*!
* \brief Use random off time for noise reduction (0 for off, -1 for on).
* \param value 0 for off, -1 for on
*
* In a constant off time chopper scheme both coil choppers run freely, i.e. are not synchronized.
* The frequency of each chopper mainly depends on the coil current and the position dependant motor coil inductivity,
* thus it depends on the microstep position. With some motors a slightly audible beat can occur between the chopper
* frequencies, especially when they are near to each other. This typically occurs at a few microstep positions within
* each quarter wave.
* This effect normally is not audible when compared to mechanical noise generated by ball bearings,
* etc. Further factors which can cause a similar effect are a poor layout of sense resistor GND connection.
* In order to minimize the effect of a beat between both chopper frequencies, an internal random generator is provided.
* It modulates the slow decay time setting when switched on. The random off time feature further spreads the chopper spectrum,
* reducing electromagnetic emission on single frequencies.
*/
void setRandomOffTime(char value);
/*!
* \brief set the maximum motor current in mA (1000 is 1 Amp)
* Keep in mind this is the maximum peak Current. The RMS current will be 1/sqrt(2) smaller. The actual current can also be smaller
* by employing CoolStep.
* \param current the maximum motor current in mA
* \sa getCurrent(), getCurrentCurrent()
*/
void setCurrent(unsigned int current);
/*!
* \brief readout the motor maximum current in mA (1000 is an Amp)
* This is the maximum current. to get the current current - which may be affected by CoolStep us getCurrentCurrent()
*\return the maximum motor current in milli amps
* \sa getCurrentCurrent()
*/
unsigned int getCurrent(void);
/*!
* \brief set the StallGuard threshold in order to get sensible StallGuard readings.
* \param stall_guard_threshold -64 … 63 the StallGuard threshold
* \param stall_guard_filter_enabled 0 if the filter is disabled, -1 if it is enabled
*
* The StallGuard threshold is used to optimize the StallGuard reading to sensible values. It should be at 0 at
* the maximum allowable load on the otor (but not before). = is a good starting point (and the default)
* If you get Stall Gaurd readings of 0 without any load or with too little laod increase the value.
* If you get readings of 1023 even with load decrease the setting.
*
* If you switch on the filter the StallGuard reading is only updated each 4th full step to reduce the noise in the
* reading.
*
* \sa getCurrentStallGuardReading() to read out the current value.
*/
void setStallGuardThreshold(char stall_guard_threshold, char stall_guard_filter_enabled);
/*!
* \brief reads out the StallGuard threshold
* \return a number between -64 and 63.
*/
char getStallGuardThreshold(void);
/*!
* \brief returns the current setting of the StallGuard filter
* \return 0 if not set, -1 if set
*/
char getStallGuardFilter(void);
/*!
* \brief This method configures the CoolStep smart energy operation. You must have a proper StallGuard configuration for the motor situation (current, voltage, speed) in rder to use this feature.
* \param lower_SG_threshold Sets the lower threshold for stallGuard2TM reading. Below this value, the motor current becomes increased. Allowed values are 0...480
* \param SG_hysteresis Sets the distance between the lower and the upper threshold for stallGuard2TM reading. Above the upper threshold (which is lower_SG_threshold+SG_hysteresis+1) the motor current becomes decreased. Allowed values are 0...480
* \param current_decrement_step_size Sets the current decrement steps. If the StallGuard value is above the threshold the current gets decremented by this step size. 0...32
* \param current_increment_step_size Sets the current increment step. The current becomes incremented for each measured stallGuard2TM value below the lower threshold. 0...8
* \param lower_current_limit Sets the lower motor current limit for coolStepTM operation by scaling the CS value. Values can be COOL_STEP_HALF_CS_LIMIT, COOL_STEP_QUARTER_CS_LIMIT
* The CoolStep smart energy operation automatically adjust the current sent into the motor according to the current load,
* read out by the StallGuard in order to provide the optimum torque with the minimal current consumption.
* You configure the CoolStep current regulator by defining upper and lower bounds of StallGuard readouts. If the readout is above the
* limit the current gets increased, below the limit the current gets decreased.
* You can specify the upper an lower threshold of the StallGuard readout in order to adjust the current. You can also set the number of
* StallGuard readings neccessary above or below the limit to get a more stable current adjustement.
* The current adjustement itself is configured by the number of steps the current gests in- or decreased and the absolut minimum current
* (1/2 or 1/4th otf the configured current).
* \sa COOL_STEP_HALF_CS_LIMIT, COOL_STEP_QUARTER_CS_LIMIT
*/
void setCoolStepConfiguration(unsigned int lower_SG_threshold, unsigned int SG_hysteresis, unsigned char current_decrement_step_size,
unsigned char current_increment_step_size, unsigned char lower_current_limit);
/*!
* \brief enables or disables the CoolStep smart energy operation feature. It must be configured before enabling it.
* \param enabled true if CoolStep should be enabled, false if not.
* \sa setCoolStepConfiguration()
*/
void setCoolStepEnabled(boolean enabled);
/*!
* \brief check if the CoolStep feature is enabled
* \sa setCoolStepEnabled()
*/
boolean isCoolStepEnabled();
/*!
* \brief returns the lower StallGuard threshold for the CoolStep operation
* \sa setCoolStepConfiguration()
*/
unsigned int getCoolStepLowerSgThreshold();
/*!
* \brief returns the upper StallGuard threshold for the CoolStep operation
* \sa setCoolStepConfiguration()
*/
unsigned int getCoolStepUpperSgThreshold();
/*!
* \brief returns the number of StallGuard readings befor CoolStep adjusts the motor current.
* \sa setCoolStepConfiguration()
*/
unsigned char getCoolStepNumberOfSGReadings();
/*!
* \brief returns the increment steps for the current for the CoolStep operation
* \sa setCoolStepConfiguration()
*/
unsigned char getCoolStepCurrentIncrementSize();
/*!
* \brief returns the absolut minium current for the CoolStep operation
* \sa setCoolStepConfiguration()
* \sa COOL_STEP_HALF_CS_LIMIT, COOL_STEP_QUARTER_CS_LIMIT
*/
unsigned char getCoolStepLowerCurrentLimit();
/*!
* \brief Get the current microstep position for phase A
* \return The current microstep position for phase A 0…255
*
* Keep in mind that this routine reads and writes a value via SPI - so this may take a bit time.
*/
int getMotorPosition(void);
/*!
* \brief Reads the current StallGuard value.
* \return The current StallGuard value, lesser values indicate higher load, 0 means stall detected.
* Keep in mind that this routine reads and writes a value via SPI - so this may take a bit time.
* \sa setStallGuardThreshold() for tuning the readout to sensible ranges.
*/
int getCurrentStallGuardReading(void);
/*!
* \brief Reads the current current setting value as fraction of the maximum current
* Returns values between 0 and 31, representing 1/32 to 32/32 (=1)
* \sa setCoolStepConfiguration()
*/
unsigned char getCurrentCSReading(void);
/*!
*\brief a convenience method to determine if the current scaling uses 0.31V or 0.165V as reference.
*\return false if 0.13V is the reference voltage, true if 0.165V is used.
*/
boolean isCurrentScalingHalfed();
/*!
* \brief Reads the current current setting value and recalculates the absolute current in mA (1A would be 1000).
* This method calculates the currently used current setting (either by setting or by CoolStep) and reconstructs
* the current in mA by usinge the VSENSE and resistor value. This method uses floating point math - so it
* may not be the fastest.
* \sa getCurrentCSReading(), getResistor(), isCurrentScalingHalfed(), getCurrent()
*/
unsigned int getCurrentCurrent(void);
/*!
* \brief checks if there is a StallGuard warning in the last status
* \return 0 if there was no warning, -1 if there was some warning.
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout.
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout.
*
* \sa setStallGuardThreshold() for tuning the readout to sensible ranges.
*/
boolean isStallGuardOverThreshold(void);
/*!
* \brief Return over temperature status of the last status readout
* return 0 is everything is OK, TMC26X_OVERTEMPERATURE_PREWARING if status is reached, TMC26X_OVERTEMPERATURE_SHUTDOWN is the chip is shutdown, -1 if the status is unknown.
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout.
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout.
*/
char getOverTemperature(void);
/*!
* \brief Is motor channel A shorted to ground detected in the last status readout.
* \return true is yes, false if not.
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout.
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout.
*/
boolean isShortToGroundA(void);
/*!
* \brief Is motor channel B shorted to ground detected in the last status readout.
* \return true is yes, false if not.
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout.
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout.
*/
boolean isShortToGroundB(void);
/*!
* \brief iIs motor channel A connected according to the last statu readout.
* \return true is yes, false if not.
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout.
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout.
*/
boolean isOpenLoadA(void);
/*!
* \brief iIs motor channel A connected according to the last statu readout.
* \return true is yes, false if not.
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout.
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout.
*/
boolean isOpenLoadB(void);
/*!
* \brief Is chopper inactive since 2^20 clock cycles - defaults to ~0,08s
* \return true is yes, false if not.
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout.
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout.
*/
boolean isStandStill(void);
/*!
* \brief checks if there is a StallGuard warning in the last status
* \return 0 if there was no warning, -1 if there was some warning.
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout.
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout.
*
* \sa isStallGuardOverThreshold()
* TODO why?
*
* \sa setStallGuardThreshold() for tuning the readout to sensible ranges.
*/
boolean isStallGuardReached(void);
/*!
*\brief enables or disables the motor driver bridges. If disabled the motor can run freely. If enabled not.
*\param enabled a boolean value true if the motor should be enabled, false otherwise.
*/
void setEnabled(boolean enabled);
/*!
*\brief checks if the output bridges are enabled. If the bridges are not enabled the motor can run freely
*\return true if the bridges and by that the motor driver are enabled, false if not.
*\sa setEnabled()
*/
boolean isEnabled();
/*!
* \brief Manually read out the status register
* This function sends a byte to the motor driver in order to get the current readout. The parameter read_value
* seletcs which value will get returned. If the read_vlaue changes in respect to the previous readout this method
* automatically send two bytes to the motor: one to set the redout and one to get the actual readout. So this method
* may take time to send and read one or two bits - depending on the previous readout.
* \param read_value selects which value to read out (0..3). You can use the defines TMC26X_READOUT_POSITION, TMC_262_READOUT_STALLGUARD, or TMC_262_READOUT_CURRENT
* \sa TMC26X_READOUT_POSITION, TMC_262_READOUT_STALLGUARD, TMC_262_READOUT_CURRENT
*/
void readStatus(char read_value);
/*!
* \brief Returns the current sense resistor value in milliohm.
* The default value of ,15 Ohm will return 150.
*/
int getResistor();
/*!
* \brief Prints out all the information that can be found in the last status read out - it does not force a status readout.
* The result is printed via Serial
*/
void debugLastStatus(void);
/*!
* \brief library version
* \return the version number as int.
*/
int version(void);
private:
unsigned int steps_left; // The steps the motor has to do to complete the movement
int direction; // Direction of rotation
unsigned long step_delay; // Delay between steps, in ms, based on speed
int number_of_steps; // Total number of steps this motor can take
unsigned int speed; // Store the current speed in order to change the speed after changing microstepping
unsigned int resistor; // Current sense resitor value in milliohm
unsigned long last_step_time; // Time stamp in ms of when the last step was taken
unsigned long next_step_time; // Time stamp in ms of when the last step was taken
// Driver control register copies to easily set & modify the registers
unsigned long driver_control_register_value;
unsigned long chopper_config_register;
unsigned long cool_step_register_value;
unsigned long stall_guard2_current_register_value;
unsigned long driver_configuration_register_value;
// The driver status result
unsigned long driver_status_result;
// Helper routione to get the top 10 bit of the readout
inline int getReadoutValue();
// The pins for the stepper driver
unsigned char cs_pin;
unsigned char step_pin;
unsigned char dir_pin;
// Status values
boolean started; // If the stepper has been started yet
int microsteps; // The current number of micro steps
char constant_off_time; // We need to remember this value in order to enable and disable the motor
unsigned char cool_step_lower_threshold; // we need to remember the threshold to enable and disable the CoolStep feature
boolean cool_step_enabled; // We need to remember this to configure the coolstep if it si enabled
// SPI sender
inline void send262(unsigned long datagram);
};
#endif // _TMC26XSTEPPER_H_

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Marlin/src/HAL/HAL_STM32F7/endstop_interrupts.h
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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
* Copyright (C) 2017 Victor Perez
*
* 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/>.
*
*/
#ifndef _ENDSTOP_INTERRUPTS_H_
#define _ENDSTOP_INTERRUPTS_H_
void setup_endstop_interrupts(void) {
#if HAS_X_MAX
pinMode(X_MAX_PIN, INPUT);
attachInterrupt(X_MAX_PIN, endstop_ISR, CHANGE); // assign it
#endif
#if HAS_X_MIN
pinMode(X_MIN_PIN, INPUT);
attachInterrupt(X_MIN_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Y_MAX
pinMode(Y_MAX_PIN, INPUT);
attachInterrupt(Y_MAX_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Y_MIN
pinMode(Y_MIN_PIN, INPUT);
attachInterrupt(Y_MIN_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Z_MAX
pinMode(Z_MAX_PIN, INPUT);
attachInterrupt(Z_MAX_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Z_MIN
pinMode(Z_MIN_PIN, INPUT);
attachInterrupt(Z_MIN_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Z2_MAX
pinMode(Z2_MAX_PIN, INPUT);
attachInterrupt(Z2_MAX_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Z2_MIN
pinMode(Z2_MIN_PIN, INPUT);
attachInterrupt(Z2_MIN_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Z_MIN_PROBE_PIN
pinMode(Z_MIN_PROBE_PIN, INPUT);
attachInterrupt(Z_MIN_PROBE_PIN, endstop_ISR, CHANGE);
#endif
}
#endif //_ENDSTOP_INTERRUPTS_H_

54
Marlin/src/HAL/HAL_STM32F7/fastio_STM32F7.h
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@ -0,0 +1,54 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
* Copyright (C) 2017 Victor Perez
*
* 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/>.
*
*/
/**
* Fast I/O interfaces for STM32F7
* These use GPIO functions instead of Direct Port Manipulation, as on AVR.
*/
#ifndef _FASTIO_STM32F7_H
#define _FASTIO_STM32F7_H
#define _BV(bit) (1 << (bit))
#define READ(IO) digitalRead(IO)
#define WRITE(IO, v) digitalWrite(IO,v)
#define TOGGLE(IO) do{ _SET_OUTPUT(IO); digitalWrite(IO,!digitalRead(IO)); }while(0)
#define WRITE_VAR(IO, v) digitalWrite(IO,v)
#define _GET_MODE(IO)
#define _SET_MODE(IO,M) pinMode(IO, M)
#define _SET_OUTPUT(IO) pinMode(IO, OUTPUT) /*!< Output Push Pull Mode & GPIO_NOPULL */
#define SET_INPUT(IO) _SET_MODE(IO, INPUT) /*!< Input Floating Mode */
#define SET_INPUT_PULLUP(IO) _SET_MODE(IO, INPUT_PULLUP) /*!< Input with Pull-up activation */
#define SET_INPUT_PULLDOW(IO) _SET_MODE(IO, INPUT_PULLDOWN) /*!< Input with Pull-down activation */
#define SET_OUTPUT(IO) do{ _SET_OUTPUT(IO); WRITE(IO, LOW); }while(0)
#define GET_INPUT(IO)
#define GET_OUTPUT(IO)
#define GET_TIMER(IO)
#define OUT_WRITE(IO, v) { _SET_OUTPUT(IO); WRITE(IO, v); }
#endif // _FASTIO_STM32F7_H

82
Marlin/src/HAL/HAL_STM32F7/persistent_store_impl.cpp
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@ -0,0 +1,82 @@
/**
* Marlin 3D Printer Firmware
*
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
* Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
* Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com
* Copyright (c) 2016 Victor Perez victor_pv@hotmail.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/>.
*
*/
#ifdef STM32F7
#include "../persistent_store_api.h"
#include "../../inc/MarlinConfig.h"
#if ENABLED(EEPROM_SETTINGS)
namespace HAL {
namespace PersistentStore {
bool access_start() {
return true;
}
bool access_finish(){
return true;
}
bool write_data(int &pos, const uint8_t *value, uint16_t size, uint16_t *crc) {
while (size--) {
uint8_t * const p = (uint8_t * const)pos;
uint8_t v = *value;
// EEPROM has only ~100,000 write cycles,
// so only write bytes that have changed!
if (v != eeprom_read_byte(p)) {
eeprom_write_byte(p, v);
if (eeprom_read_byte(p) != v) {
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM(MSG_ERR_EEPROM_WRITE);
return true;
}
}
crc16(crc, &v, 1);
pos++;
value++;
};
return false;
}
bool read_data(int &pos, uint8_t* value, uint16_t size, uint16_t *crc) {
do {
uint8_t c = eeprom_read_byte((unsigned char*)pos);
*value = c;
crc16(crc, &c, 1);
pos++;
value++;
} while (--size);
return false;
}
}
}
#endif // EEPROM_SETTINGS
#endif // STM32F7

33
Marlin/src/HAL/HAL_STM32F7/spi_pins.h
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@ -0,0 +1,33 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* 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/>.
*
*/
#ifndef SPI_PINS_H_
#define SPI_PINS_H_
/**
* Define SPI Pins: SCK, MISO, MOSI, SS
*
*/
#define SCK_PIN _STM32_PIN(PORTA, 5)
#define MISO_PIN _STM32_PIN(PORTA, 6)
#define MOSI_PIN _STM32_PIN(PORTA, 7)
#define SS_PIN _STM32_PIN(PORTA, 8)
#endif // SPI_PINS_H_

52
Marlin/src/HAL/HAL_STM32F7/watchdog_STM32F7.cpp
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@ -0,0 +1,52 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* 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/>.
*
*/
#ifdef STM32F7
#include "../../inc/MarlinConfig.h"
#if ENABLED(USE_WATCHDOG)
#include "watchdog_STM32F7.h"
IWDG_HandleTypeDef hiwdg;
void watchdog_init() {
hiwdg.Instance = IWDG;
hiwdg.Init.Prescaler = IWDG_PRESCALER_32; //32kHz LSI clock and 32x prescalar = 1024Hz IWDG clock
hiwdg.Init.Reload = 4095; //4095 counts = 4 seconds at 1024Hz
if (HAL_IWDG_Init(&hiwdg) != HAL_OK) {
//Error_Handler();
}
}
void watchdog_reset() {
/* Refresh IWDG: reload counter */
if (HAL_IWDG_Refresh(&hiwdg) != HAL_OK) {
/* Refresh Error */
//Error_Handler();
}
}
#endif // USE_WATCHDOG
#endif // STM32F7

33
Marlin/src/HAL/HAL_STM32F7/watchdog_STM32F7.h
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@ -0,0 +1,33 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* 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/>.
*
*/
#ifndef WATCHDOG_STM32F7_H
#define WATCHDOG_STM32F7_H
#include "../../../src/inc/MarlinConfig.h"
extern IWDG_HandleTypeDef hiwdg;
void watchdog_init();
void watchdog_reset();
#endif // WATCHDOG_STM32F1_H

16
Marlin/src/HAL/HAL_SanityCheck.h
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@ -24,14 +24,22 @@
#ifdef __AVR__
#include "HAL_AVR/SanityCheck_AVR_8_bit.h"
#elif defined(ARDUINO_ARCH_SAM)
#elif defined(ARDUINO_ARCH_SAM)
#include "HAL_DUE/SanityCheck_Due.h"
#elif IS_32BIT_TEENSY
#elif IS_32BIT_TEENSY
#include "HAL_TEENSY35_36/SanityCheck_Teensy_35_36.h"
#elif defined(TARGET_LPC1768)
#elif defined(TARGET_LPC1768)
#include "HAL_LPC1768/SanityCheck_Re_ARM.h"
#elif defined(__STM32F1__)
#elif defined(__STM32F1__)
#include "HAL_STM32F1/SanityCheck_Stm32f1.h"
#elif defined(STM32F7)
#include "HAL_STM32F7/SanityCheck_STM32F7.h"
#else
#error Unsupported Platform!
#endif

6
Marlin/src/HAL/HAL_TEENSY35_36/HAL_Servo_Teensy.h
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@ -1,5 +1,5 @@
#ifndef HAL_Servo_Teensy_h
#define HAL_Servo_Teensy_h
#ifndef _HAL_SERVO_TEENSY_H_
#define _HAL_SERVO_TEENSY_H_
#include <Servo.h>
@ -15,4 +15,4 @@ class libServo : public Servo {
uint8_t servoIndex; // index into the channel data for this servo
};
#endif // HAL_Servo_Teensy_h
#endif // _HAL_SERVO_TEENSY_H_

4
Marlin/src/HAL/HAL_endstop_interrupts.h
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@ -46,6 +46,10 @@ void endstop_ISR(void) { endstop_ISR_worker(); }
#include "HAL_TEENSY35_36/endstop_interrupts.h"
#elif defined(STM32F7)
#include "HAL_STM32F7/endstop_interrupts.h"
#else
#error Unsupported Platform!

5
Marlin/src/HAL/HAL_spi_pins.h
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@ -34,8 +34,13 @@
#elif defined(TARGET_LPC1768)
#include "HAL_LPC1768/spi_pins.h"
#elif defined(__STM32F1__)
#include "HAL_STM32F1/spi_pins.h"
#elif defined(STM32F7)
#include "HAL_STM32F7/spi_pins.h"
#else
#error "Unsupported Platform!"
#endif

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Marlin/src/config/examples/TheBorg/Configuration.h
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1594
Marlin/src/config/examples/TheBorg/Configuration_adv.h
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6
Marlin/src/core/boards.h
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@ -199,6 +199,12 @@
#define BOARD_BEAST 1802 // STM32FxxxVxT6 Libmaple based stm32f4 controller
#define BOARD_STM3R_MINI 1803 // STM32 Libmaple based stm32f1 controller
//
// ARM Cortex M7
//
#define BOARD_THE_BORG 1860 // THE-BORG (Power outputs: Hotend0, Hotend1, Bed, Fan)
#define MB(board) (MOTHERBOARD==BOARD_##board)
#endif // __BOARDS_H

1
Marlin/src/core/macros.h
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@ -120,6 +120,7 @@
// Macros to contrain values
#define NOLESS(v,n) do{ if (v < n) v = n; }while(0)
#define NOMORE(v,n) do{ if (v > n) v = n; }while(0)
#define LIMIT(v,n1,n2) do{ if (v < n1) v = n1; else if (v > n2) v = n2; }while(0)
// Macros to support option testing
#define _CAT(a, ...) a ## __VA_ARGS__

5
Marlin/src/module/stepper_indirection.cpp
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@ -41,7 +41,12 @@
#if ENABLED(HAVE_TMCDRIVER)
#include <SPI.h>
#ifdef STM32F7
#include "../HAL/HAL_STM32F7/TMC2660.h"
#else
#include <TMC26XStepper.h>
#endif
#define _TMC_DEFINE(ST) TMC26XStepper stepper##ST(200, ST##_ENABLE_PIN, ST##_STEP_PIN, ST##_DIR_PIN, ST##_MAX_CURRENT, ST##_SENSE_RESISTOR)

4
Marlin/src/module/stepper_indirection.h
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@ -49,7 +49,11 @@
// TMC26X drivers have STEP/DIR on normal pins, but ENABLE via SPI
#if ENABLED(HAVE_TMCDRIVER)
#include <SPI.h>
#ifdef STM32F7
#include "../HAL/HAL_STM32F7/TMC2660.h"
#else
#include <TMC26XStepper.h>
#endif
void tmc_init();
#endif

2
Marlin/src/pins/pins.h
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@ -337,6 +337,8 @@
#include "pins_AZTEEG_X5_GT.h"
#elif MB(BIQU_BQ111_A4)
#include "pins_BIQU_BQ111_A4.h"
#elif MB(THE_BORG)
#include "pins_THE_BORG.h"
#else
#error "Unknown MOTHERBOARD value set in Configuration.h"
#endif

208
Marlin/src/pins/pins_THE_BORG.h
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@ -0,0 +1,208 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* 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(STM32F7)
#error "Oops! Make sure you have an STM32F7 board selected from the 'Tools -> Boards' menu."
#endif
#define DEFAULT_MACHINE_NAME "The-Borge"
#define BOARD_NAME "The-Borge"
#define LARGE_FLASH true
#define E2END 0xFFF // EEPROM end address
// Ignore temp readings during develpment.
#define BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE
#if E_STEPPERS > 3 || HOTENDS > 3
#error "The-Borg supports up to 3 hotends / E-steppers."
#endif
#define PORTA 0
#define PORTB 1
#define PORTC 2
#define PORTD 3
#define PORTE 4
#define PORTF 5
#define PORTG 6
#define _STM32_PIN(_PORT,_PIN) ((_PORT * 16) + _PIN)
//
// Limit Switches
//
#define X_MIN_PIN _STM32_PIN(PORTE, 9)
#define X_MAX_PIN _STM32_PIN(PORTE, 10)
#define Y_MIN_PIN _STM32_PIN(PORTE, 7)
#define Y_MAX_PIN _STM32_PIN(PORTE, 8)
#define Z_MIN_PIN _STM32_PIN(PORTF, 15)
#define Z_MAX_PIN _STM32_PIN(PORTG, 0)
#define E_MIN_PIN _STM32_PIN(PORTE, 2)
#define E_MAX_PIN _STM32_PIN(PORTE, 3)
//
// Z Probe (when not Z_MIN_PIN)
//
#ifndef Z_MIN_PROBE_PIN
#define Z_MIN_PROBE_PIN _STM32_PIN(PORTA, 4)
#endif
//
// Steppers
//
#define STEPPER_ENABLE_PIN _STM32_PIN(PORTE, 0)
#define X_STEP_PIN _STM32_PIN(PORTC, 6) //96, 39 in arduino
#define X_DIR_PIN _STM32_PIN(PORTC, 7)
#define X_ENABLE_PIN _STM32_PIN(PORTC, 8)
#define Y_STEP_PIN _STM32_PIN(PORTD, 9)
#define Y_DIR_PIN _STM32_PIN(PORTD, 10)
#define Y_ENABLE_PIN _STM32_PIN(PORTD, 11)
#define Z_STEP_PIN _STM32_PIN(PORTE, 15)
#define Z_DIR_PIN _STM32_PIN(PORTG, 1)
#define Z_ENABLE_PIN _STM32_PIN(PORTD, 8)
#define E0_STEP_PIN _STM32_PIN(PORTB, 1)
#define E0_DIR_PIN _STM32_PIN(PORTB, 2)
#define E0_ENABLE_PIN _STM32_PIN(PORTE, 11)
#define E1_STEP_PIN _STM32_PIN(PORTC, 4)
#define E1_DIR_PIN _STM32_PIN(PORTC, 5)
#define E1_ENABLE_PIN _STM32_PIN(PORTB, 0)
#define E2_STEP_PIN _STM32_PIN(PORTC, 13)
#define E2_DIR_PIN _STM32_PIN(PORTC, 14)
#define E2_ENABLE_PIN _STM32_PIN(PORTC, 15)
#define Z2_STEP_PIN _STM32_PIN(PORTC, 13)
#define Z2_DIR_PIN _STM32_PIN(PORTC, 14)
#define Z2_ENABLE_PIN _STM32_PIN(PORTC, 15)
#define SCK_PIN _STM32_PIN(PORTA, 5)
#define MISO_PIN _STM32_PIN(PORTA, 6)
#define MOSI_PIN _STM32_PIN(PORTA, 7)
#define SPI1_SCK_PIN _STM32_PIN(PORTA, 5)
#define SPI1_MISO_PIN _STM32_PIN(PORTA, 6)
#define SPI1_MOSI_PIN _STM32_PIN(PORTA, 7)
#define SPI6_SCK_PIN _STM32_PIN(PORTG, 13)
#define SPI6_MISO_PIN _STM32_PIN(PORTG, 12)
#define SPI6_MOSI_PIN _STM32_PIN(PORTG, 14)
//
// Temperature Sensors
//
#define TEMP_0_PIN _STM32_PIN(PORTC, 3) // Analog Input
#define TEMP_1_PIN _STM32_PIN(PORTC, 2) // Analog Input
#define TEMP_2_PIN _STM32_PIN(PORTC, 1) // Analog Input
#define TEMP_3_PIN _STM32_PIN(PORTC, 0) // Analog Input
#define TEMP_BED_PIN _STM32_PIN(PORTF, 10) // Analog Input
#define TEMP_5_PIN _STM32_PIN(PORTE, 12) // Analog Input, Probe temp
//
// Heaters / Fans
//
#define HEATER_0_PIN _STM32_PIN(PORTD, 15)
#define HEATER_1_PIN _STM32_PIN(PORTD, 14)
#define HEATER_BED_PIN _STM32_PIN(PORTF, 6)
#define FAN_PIN _STM32_PIN(PORTD, 13)
#define FAN1_PIN _STM32_PIN(PORTA, 0)
#define FAN2_PIN _STM32_PIN(PORTA, 1)
//#define E0_AUTO_FAN_PIN _STM32_PIN(PORTA, 1)
//
// Misc. Functions
//
//#define CASE_LIGHT_PIN_CI _STM32_PIN(PORTF, 13) //
//#define CASE_LIGHT_PIN_DO _STM32_PIN(PORTF, 14) //
//#define NEOPIXEL_PIN _STM32_PIN(PORTF, 13)
//
// Prusa i3 MK2 Multi Material Multiplexer Support
//
#define E_MUX0_PIN _STM32_PIN(PORTG, 3)
#define E_MUX1_PIN _STM32_PIN(PORTG, 4)
//
// Servos
//
#define SERVO0_PIN _STM32_PIN(PORTE, 13)
#define SERVO1_PIN _STM32_PIN(PORTE, 14)
#define SDSS _STM32_PIN(PORTA, 8)
#define SS_PIN _STM32_PIN(PORTA, 8)
#define LED_PIN _STM32_PIN(PORTA, 2) //Alive
#define PS_ON_PIN _STM32_PIN(PORTA, 3)
#define KILL_PIN -1//_STM32_PIN(PORTD, 5) //EXP2-10
#define PWR_LOSS _STM32_PIN(PORTG, 5) //Power loss / nAC_FAULT
//
//MAX7219_DEBUG
//
#define MAX7219_CLK_PIN _STM32_PIN(PORTG, 10) //EXP1-1
#define MAX7219_DIN_PIN _STM32_PIN(PORTD, 7) //EXP1-3
#define MAX7219_LOAD_PIN _STM32_PIN(PORTD, 1) //EXP1-5
//#define NEOPIXEL_PIN 4
//
// LCD / Controller
//
//#define SD_DETECT_PIN -1 //_STM32_PIN(PORTB, 6)) //EXP2-4
#define BEEPER_PIN _STM32_PIN(PORTG, 10) //EXP1-1
#define LCD_PINS_RS _STM32_PIN(PORTG, 9) //EXP1-4
#define LCD_PINS_ENABLE _STM32_PIN(PORTD, 7) //EXP1-3
#define LCD_PINS_D4 _STM32_PIN(PORTD, 1) //EXP1-5
#define LCD_PINS_D5 _STM32_PIN(PORTF, 0) //EXP1-6
#define LCD_PINS_D6 _STM32_PIN(PORTD, 3) //EXP1-7
#define LCD_PINS_D7 _STM32_PIN(PORTD, 4) //EXP1-8
#define BTN_EN1 _STM32_PIN(PORTD, 6) //EXP2-5
#define BTN_EN2 _STM32_PIN(PORTD, 0) //EXP2-3
#define BTN_ENC _STM32_PIN(PORTG, 11) //EXP1-2
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