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HAL function to ensure min stepper interrupt interval (#9985)

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This commit is contained in:
Chris Pepper
2018-03-07 23:53:25 +00:00
committed by Scott Lahteine
parent be0e100fed
commit a1a88ebabc
10 changed files with 51 additions and 29 deletions
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5
Marlin/src/HAL/HAL_STM32F7/HAL_timers_STM32F7.cpp
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@ -137,6 +137,11 @@ uint32_t HAL_timer_get_count(const uint8_t timer_num) {
return __HAL_TIM_GetCounter(&timerConfig[timer_num].timerdef);
}
void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_µs) {
const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_µs * HAL_TICKS_PER_US;
if (HAL_timer_get_compare(timer_num) < mincmp) HAL_timer_set_compare(timer_num, mincmp);
}
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);

5
Marlin/src/HAL/HAL_STM32F7/HAL_timers_STM32F7.h
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@ -44,7 +44,7 @@
#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 HAL_TICKS_PER_US ((HAL_STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
#define PULSE_TIMER_NUM STEP_TIMER_NUM
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
@ -52,6 +52,8 @@
#define TEMP_TIMER_PRESCALE 1000 // prescaler for setting Temp timer, 72Khz
#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
@ -94,6 +96,7 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num);
void HAL_timer_set_compare(const uint8_t timer_num, const uint32_t compare);
hal_timer_t HAL_timer_get_compare(const uint8_t timer_num);
uint32_t HAL_timer_get_count(const uint8_t timer_num);
void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_µs);
void HAL_timer_isr_prologue(const uint8_t timer_num);

2
Marlin/src/HAL/HAL_STM32F7/TMC2660.h
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@ -315,7 +315,7 @@ class TMC26XStepper {
/*!
* \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
* \return the maximum motor current in milli amps
* \sa getCurrentCurrent()
*/
unsigned int getCurrent(void);