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Set Interrupt Priorities and Grouping for STM32F103. (#10517)

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This commit is contained in:
J.C. Nelson 2018-04-25 22:21:16 -07:00 committed by Scott Lahteine
parent 0e450df6a2
commit 5b5e322356
4 changed files with 84 additions and 23 deletions
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63
Marlin/src/HAL/HAL_STM32F1/HAL.cpp
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@ -34,24 +34,60 @@
#include "HAL.h"
#include <STM32ADC.h>
//#include <Wire.h>
// --------------------------------------------------------------------------
// Externals
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Local defines
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Types
// --------------------------------------------------------------------------
#define __I
#define __IO
typedef struct
{
__I uint32_t CPUID; /*!< Offset: 0x000 (R/ ) CPUID Base Register */
__IO uint32_t ICSR; /*!< Offset: 0x004 (R/W) Interrupt Control and State Register */
__IO uint32_t VTOR; /*!< Offset: 0x008 (R/W) Vector Table Offset Register */
__IO uint32_t AIRCR; /*!< Offset: 0x00C (R/W) Application Interrupt and Reset Control Register */
__IO uint32_t SCR; /*!< Offset: 0x010 (R/W) System Control Register */
__IO uint32_t CCR; /*!< Offset: 0x014 (R/W) Configuration Control Register */
__IO uint8_t SHP[12]; /*!< Offset: 0x018 (R/W) System Handlers Priority Registers (4-7, 8-11, 12-15) */
__IO uint32_t SHCSR; /*!< Offset: 0x024 (R/W) System Handler Control and State Register */
__IO uint32_t CFSR; /*!< Offset: 0x028 (R/W) Configurable Fault Status Register */
__IO uint32_t HFSR; /*!< Offset: 0x02C (R/W) HardFault Status Register */
__IO uint32_t DFSR; /*!< Offset: 0x030 (R/W) Debug Fault Status Register */
__IO uint32_t MMFAR; /*!< Offset: 0x034 (R/W) MemManage Fault Address Register */
__IO uint32_t BFAR; /*!< Offset: 0x038 (R/W) BusFault Address Register */
__IO uint32_t AFSR; /*!< Offset: 0x03C (R/W) Auxiliary Fault Status Register */
__I uint32_t PFR[2]; /*!< Offset: 0x040 (R/ ) Processor Feature Register */
__I uint32_t DFR; /*!< Offset: 0x048 (R/ ) Debug Feature Register */
__I uint32_t ADR; /*!< Offset: 0x04C (R/ ) Auxiliary Feature Register */
__I uint32_t MMFR[4]; /*!< Offset: 0x050 (R/ ) Memory Model Feature Register */
__I uint32_t ISAR[5]; /*!< Offset: 0x060 (R/ ) Instruction Set Attributes Register */
uint32_t RESERVED0[5];
__IO uint32_t CPACR; /*!< Offset: 0x088 (R/W) Coprocessor Access Control Register */
} SCB_Type;
// --------------------------------------------------------------------------
// Variables
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Local defines
// --------------------------------------------------------------------------
#define SCS_BASE (0xE000E000UL) /*!< System Control Space Base Address */
#define SCB_BASE (SCS_BASE + 0x0D00UL) /*!< System Control Block Base Address */
#define SCB ((SCB_Type *) SCB_BASE ) /*!< SCB configuration struct */
/* SCB Application Interrupt and Reset Control Register Definitions */
#define SCB_AIRCR_VECTKEY_Pos 16 /*!< SCB AIRCR: VECTKEY Position */
#define SCB_AIRCR_VECTKEY_Msk (0xFFFFUL << SCB_AIRCR_VECTKEY_Pos) /*!< SCB AIRCR: VECTKEY Mask */
#define SCB_AIRCR_PRIGROUP_Pos 8 /*!< SCB AIRCR: PRIGROUP Position */
#define SCB_AIRCR_PRIGROUP_Msk (7UL << SCB_AIRCR_PRIGROUP_Pos) /*!< SCB AIRCR: PRIGROUP Mask */
// --------------------------------------------------------------------------
// Public Variables
// --------------------------------------------------------------------------
@ -123,11 +159,26 @@ uint16_t HAL_adc_results[ADC_PIN_COUNT];
// --------------------------------------------------------------------------
// Private functions
// --------------------------------------------------------------------------
static void NVIC_SetPriorityGrouping(uint32_t PriorityGroup) {
uint32_t reg_value;
uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07); /* only values 0..7 are used */
reg_value = SCB->AIRCR; /* read old register configuration */
reg_value &= ~(SCB_AIRCR_VECTKEY_Msk | SCB_AIRCR_PRIGROUP_Msk); /* clear bits to change */
reg_value = (reg_value |
((uint32_t)0x5FA << SCB_AIRCR_VECTKEY_Pos) |
(PriorityGroupTmp << 8)); /* Insert write key and priorty group */
SCB->AIRCR = reg_value;
}
// --------------------------------------------------------------------------
// Public functions
// --------------------------------------------------------------------------
void HAL_init(void) {
NVIC_SetPriorityGrouping(0x3);
}
/* VGPV Done with defines
// disable interrupts
void cli(void) { noInterrupts(); }

4
Marlin/src/HAL/HAL_STM32F1/HAL.h
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@ -108,6 +108,10 @@ extern USBSerial SerialUSB;
#define NUM_SERIAL 1
#endif
// Use HAL_init() to set interrupt grouping.
#define HAL_INIT
void HAL_init();
/**
* TODO: review this to return 1 for pins that are not analog input
*/

38
Marlin/src/HAL/HAL_STM32F1/HAL_timers_Stm32f1.cpp
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@ -109,7 +109,11 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
*/
break;
}
nvic_irq_set_priority(irq_num, 0xF); // this is the lowest settable priority, but should still be over USB
/**
* Give the Stepper ISR a higher priority (lower number)
* so it automatically preempts the Temperature ISR.
*/
switch (timer_num) {
case STEP_TIMER_NUM:
@ -119,6 +123,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
timer_set_reload(STEP_TIMER_DEV, 0xFFFF);
timer_set_compare(STEP_TIMER_DEV, STEP_TIMER_CHAN, min(HAL_TIMER_TYPE_MAX, (HAL_STEPPER_TIMER_RATE / frequency)));
timer_attach_interrupt(STEP_TIMER_DEV, STEP_TIMER_CHAN, stepTC_Handler);
nvic_irq_set_priority(irq_num, 1);
timer_generate_update(STEP_TIMER_DEV);
timer_resume(STEP_TIMER_DEV);
break;
@ -129,6 +134,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
timer_set_reload(TEMP_TIMER_DEV, 0xFFFF);
timer_set_compare(TEMP_TIMER_DEV, TEMP_TIMER_CHAN, min(HAL_TIMER_TYPE_MAX, ((F_CPU / TEMP_TIMER_PRESCALE) / frequency)));
timer_attach_interrupt(TEMP_TIMER_DEV, TEMP_TIMER_CHAN, tempTC_Handler);
nvic_irq_set_priority(irq_num, 2);
timer_generate_update(TEMP_TIMER_DEV);
timer_resume(TEMP_TIMER_DEV);
break;
@ -166,48 +172,48 @@ bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
timer_dev* get_timer_dev(int number) {
switch (number) {
#if STM32_HAVE_TIMER(1)
case 1: return &timer1;
case 1: return &timer1;
#endif
#if STM32_HAVE_TIMER(2)
case 2: return &timer2;
case 2: return &timer2;
#endif
#if STM32_HAVE_TIMER(3)
case 3: return &timer3;
case 3: return &timer3;
#endif
#if STM32_HAVE_TIMER(4)
case 4: return &timer4;
case 4: return &timer4;
#endif
#if STM32_HAVE_TIMER(5)
case 5: return &timer5;
case 5: return &timer5;
#endif
#if STM32_HAVE_TIMER(6)
case 6: return &timer6;
case 6: return &timer6;
#endif
#if STM32_HAVE_TIMER(7)
case 7: return &timer7;
case 7: return &timer7;
#endif
#if STM32_HAVE_TIMER(8)
case 8: return &timer8;
case 8: return &timer8;
#endif
#if STM32_HAVE_TIMER(9)
case 9: return &timer9;
case 9: return &timer9;
#endif
#if STM32_HAVE_TIMER(10)
case 10: return &timer10;
case 10: return &timer10;
#endif
#if STM32_HAVE_TIMER(11)
case 11: return &timer11;
case 11: return &timer11;
#endif
#if STM32_HAVE_TIMER(12)
case 12: return &timer12;
case 12: return &timer12;
#endif
#if STM32_HAVE_TIMER(13)
case 13: return &timer14;
case 13: return &timer14;
#endif
#if STM32_HAVE_TIMER(14)
case 14: return &timer14;
case 14: return &timer14;
#endif
}
}
}
#endif // __STM32F1__

2
Marlin/src/HAL/HAL_STM32F1/fastio_Stm32f1.h
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@ -32,7 +32,7 @@
#include <libmaple/gpio.h>
#define READ(IO) (PIN_MAP[IO].gpio_device->regs->IDR & (1U << PIN_MAP[IO].gpio_bit) ? HIGH : LOW)
#define WRITE(IO,V) (PIN_MAP[IO].gpio_device->regs->BSRR = (1U << PIN_MAP[IO].gpio_bit) << (16 * !(bool)v))
#define WRITE(IO,V) (PIN_MAP[IO].gpio_device->regs->BSRR = (1U << PIN_MAP[IO].gpio_bit) << (16 * !(bool)V))
#define TOGGLE(IO) (PIN_MAP[IO].gpio_device->regs->ODR = PIN_MAP[IO].gpio_device->regs->ODR ^ (1U << PIN_MAP[IO].gpio_bit))
#define WRITE_VAR(IO,V) WRITE(io,V)