260 lines
12 KiB
C
260 lines
12 KiB
C
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/** \file
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\brief Manage heaters, including PID and PWM, ARM specific part.
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*/
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#if defined TEACUP_C_INCLUDE && defined __ARM_STM32F411__
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#include "cmsis-stm32f4xx.h"
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#include "pinio.h"
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#include "sersendf.h"
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#include "debug.h"
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/**
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Test configuration.
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*/
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#ifdef EECONFIG
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#error EEPROM handling (EECONFIG) not yet supported on ARM.
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#endif
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#ifdef BANG_BANG
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#error BANG_BANG not supported on ARM. You may set PWM frequency of one \
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or all heater(s) to zero, which gives similar, better behaviour.
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#endif
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/** \def PWM_SCALE
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G-code standard (if such a thing exists at all) gives a heater setting
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range between 0 (off) and 255 (full on), so we let the PWM timers count up
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to 255. Doing so allows to set the prescaler for these frequencies (all on
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a 96 MHz CPU clock):
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prescaler frequency prescaler frequency
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0 367.5 kHz 4 75.3 kHz
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1 188.2 kHz 5 62.7 kHz
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2 125.5 kHz ... ...
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3 94.1 kHz 65535 5.74 Hz
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As one can see, frequency steps are rather coarse on the high end and
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become finer grained the lower it gets.
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If this range is generally too high for your purposes, you can set PWM_SCALE
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to multiples of 255 to lower the range. Doubling it to 510 moves the
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frequency range to 2.9 Hz...183.8 kHz, quadrupling it to 1020 moves the range
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to 1.5 Hz...91.9 kHz and so on. The highest allowed number is 65535.
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That said, code below calculates the best prescaler value for a configured
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frequency, so you should bother about PWM_SCALE only of you need frequencies
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below 6 Hz.
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*/
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#define PWM_SCALE 255
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// some helper macros
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#define _EXPANDER(pre, val, post) pre ## val ## post
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#define EXPANDER(pre, val, post) _EXPANDER(pre, val, post)
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/** \struct heater_definition_t
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Holds pinout data to allow changing PWM output after initialisation. Port,
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pin, PWM channel if used. After inititalisation we can no longer do the
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#include "config_wrapper.h" trick.
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*/
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typedef struct {
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union {
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/// Pointer to the capture compare register which changes PWM duty.
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__IO uint32_t* ccr;
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/// Pointer to the port for non-PWM pins.
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__IO uint32_t* bsrr;
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};
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uint16_t masked_pin;
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uint8_t uses_pwm;
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} heater_definition_t;
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#undef DEFINE_HEATER
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#define DEFINE_HEATER(name, pin, pwm) \
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{ \
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{ pwm && pin ## _TIMER ? \
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&(pin ## _TIMER-> EXPANDER(CCR, pin ## _CHANNEL,)) : \
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&(pin ## _PORT->BSRR) }, \
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MASK(pin ## _PIN), \
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pwm && pin ## _TIMER \
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},
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static const heater_definition_t heaters[NUM_HEATERS] = {
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#include "config_wrapper.h"
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};
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#undef DEFINE_HEATER
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/** Initialise heater subsystem.
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Initialise PWM timers, etc. Inspired by heater-arm_lpc11xx.c (pwm.c in LPC1343CodeBase):
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https://github.com/microbuilder/LPC1343CodeBase
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Note that PWM is inversed, pins start at Low by chip design. When the pin's
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counter is reached, they're set to High. Reaching the timer reset counter is
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programmed to reset everything and start over. Thus, having both counter
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matches similar gives a low duty, having the pin counter match zero gives
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full on.
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For simplicity we reset all timer counters always on Match 3 and always
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at PWM_SCALE (255 per default), so setting a pin match to PWM_SCALE / 2
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gives 50% duty, setting it to PWM_SCALE gives full off. This choice disallows
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using a pin connected to a Match 3, working around this would make code much
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more complicated (and still not allow to use more than 3 pins per timer).
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On ARM we can define a PWM frequency pretty fine grained, so we take the
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'pwm' value of DEFINE_HEATER() not only wether to use PWM at all, but also
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to define the PWM frequency. Float values are allowed.
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If there's more than one pin on a timer, they share the same PWM frequency;
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the frequency choosen is the one of the pin defined last.
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*/
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void heater_init() {
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/**
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Pins on the STM32F411RE are usable as following, N are negated pin (active low)
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some pins are commented out (-) because they are shared. You can change this
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in arduino_stm32f4xx. But take care! You could pwm two pins simultanious or disable
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other important functions (serial connection).
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PWM5 = TIM5 = Stepper timer.
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pin timer/channel alt func for PWM other uses
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PIOA_0 PWM2/1, 5/1 01, 02 AD0
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PIOA_1 PWM2/2, 5/2 01, 02 MOSI4, AD1
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- PIOA_2 PWM2/3, 5/3, 9/1 01, 02, 03 TX2, AD2, UART!
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- PIOA_3 PWM2/4, 5/4, 9/2 01, 02, 03 RX2, AD3, UART!
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- PIOA_5 PWM2/1 01 LED1, SCK1, AD5
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- PIOA_6 PWM3/1 02 MISO1, AD6
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- PIOA_7 PWM1/1N, 3/2 01, 02 MOSI1, AD7
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PIOA_8 PWM1/1 01 SCL1
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PIOA_9 PWM1/2 01 TX1
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PIOA_10 PWM1/3 01 MOSI5, RX1
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PIOA_11 PWM1/4 01 TX6, MISO4
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- PIOA_15 PWM2/1 01 NSS1, TX1
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PIOB_0 PWM1/2N, 3/3 01, 02 SCK5, CK5, AD8
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PIOB_1 PWM1/3N, 3/4 01, 02 NSS4, WS5, AD9
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- PIOB_3 PWM2/2 01 SDA2, SCK3
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PIOB_4 PWM3/1 02 SDA3, MISO3
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PIOB_5 PWM3/2 02 MOSI3
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PIOB_6 PWM4/1 02 SCL1, TX1
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PIOB_7 PWM4/2 02 SDA1, RX1
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PIOB_8 PWM4/3, 10/1 02, 03 SCL1, MOSI5
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PIOB_9 PWM4/4, 11/1 02, 03 SDA1, NSS2
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PIOB_10 PWM2/3 01 SCL3
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- PIOB_13 PWM1/1N 01 SCK2
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- PIOB_14 PWM1/2N 01 MISO2
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- PIOB_15 PWM1/3N 01 MOSI2
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- PIOC_6 PWM3/1 02 MCK2, TX6
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- PIOC_7 PWM3/2 02 SCK2, RX6
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- PIOC_8 PWM3/3 02 SDA3
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- PIOC_9 PWM3/4 02 SDA3
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*/
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// Auto-generate pin setup.
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#undef DEFINE_HEATER
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#define DEFINE_HEATER(name, pin, pwm) \
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if (pwm && pin ## _TIMER) { \
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uint32_t freq; \
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uint8_t macro_mask; \
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if (pin ## _TIMER == TIM1) { \
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RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; } /* turn on TIM1 */ \
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else if (pin ## _TIMER == TIM2) { \
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RCC->APB1ENR |= RCC_APB1ENR_TIM2EN; } /* turn on TIM2 */ \
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else if (pin ## _TIMER == TIM3) { \
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RCC->APB1ENR |= RCC_APB1ENR_TIM3EN; } /* turn on TIM3 */ \
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else if (pin ## _TIMER == TIM4) { \
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RCC->APB1ENR |= RCC_APB1ENR_TIM4EN; } /* turn on TIM4 */ \
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/* TIM5 is for stepper, TIM9, TIM10 and TIM11 are not used */ \
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pin ## _PORT->MODER &= ~(3 << (pin ## _PIN << 1)); /* reset pin mode */ \
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pin ## _PORT->MODER |= (2 << (pin ## _PIN << 1)); /* pin mode to AF */ \
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pin ## _PORT->OSPEEDR |= (3 << (pin ## _PIN << 1)); /* high speed */ \
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pin ## _PORT->PUPDR &= ~(3 << ((pin ## _PIN) << 1)); /* no pullup-pulldown */ \
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macro_mask = pin ## _PIN < 8 ? (pin ## _PIN) : (pin ## _PIN - 8); \
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/* we have to registers for AFR. ARF[0] for the first 8, ARF[1] for the second 8*/ \
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/* also we use this to keep the compiler happy and don't shift > 32 */ \
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if (pin ## _PIN < 8) { \
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pin ## _PORT->AFR[0] |= pin ## _AF << (macro_mask * 4); \
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} else { \
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pin ## _PORT->AFR[1] |= pin ## _AF << (macro_mask * 4); \
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} \
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/* AFR is a 64bit register, first half are for pin 0-7, second half 8-15 */ \
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pin ## _TIMER->CR1 |= TIM_CR1_ARPE; /* auto-reload preload */ \
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pin ## _TIMER->ARR = PWM_SCALE - 1; /* reset on auto reload at 254 */ \
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/* PWM_SCALE - 1, so CCR = 255 is full off. */ \
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pin ## _TIMER-> EXPANDER(CCR, pin ## _CHANNEL,) = 0; /* start off */ \
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freq = F_CPU / PWM_SCALE / (pwm ? pwm : 1); /* Figure PWM freq. */ \
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if (freq > 65535) \
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freq = 65535; \
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if (freq < 1) \
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freq = 1; \
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pin ## _TIMER->PSC = freq - 1; /* 1kHz */ \
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macro_mask = pin ## _CHANNEL > 2 ? 2 : 1; \
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if (macro_mask == 1) { \
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pin ## _TIMER->CCMR1 |= 0x0D << (3 + (8 * (pin ## _CHANNEL / macro_mask - 1))); \
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/* ch 2 / mm 1 - 1 = 1, ch 1 / mm 1 - 1 = 0*/ \
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} else { \
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pin ## _TIMER->CCMR2 |= 0x0D << (3 + (8 * (pin ## _CHANNEL / macro_mask - 1))); \
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/* ch 4 / mm 2 - 1 = 1, ch 3 / mm 2 - 1 = 0*/ \
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} \
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pin ## _TIMER->CCER |= EXPANDER(TIM_CCER_CC, pin ## _CHANNEL, E); \
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/* output enable */ \
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if (pin ## _INVERT) { \
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pin ## _TIMER->CCER |= EXPANDER(TIM_CCER_CC, pin ## _CHANNEL, P); \
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} else { \
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pin ## _TIMER->CCER &= ~(EXPANDER(TIM_CCER_CC, pin ## _CHANNEL, P)); \
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} \
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/* invert the signal for negated timers*/ \
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/* TODO: use this also with a XOR for inverted heaters later */ \
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pin ## _TIMER->EGR |= TIM_EGR_UG; /* update generation */ \
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pin ## _TIMER->CR1 |= TIM_CR1_CEN; /* enable counters */ \
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} \
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else { \
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SET_OUTPUT(pin); \
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WRITE(pin, 0); \
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}
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#include "config_wrapper.h"
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#undef DEFINE_HEATER
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#if 0
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pid_init(i);
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#endif /* 0 */
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}
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/** Set PWM output.
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\param index The heater we're setting the output for.
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\param value The PWM value to write, range 0 (off) to 255 (full on).
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This function is called by M106 or, if a temp sensor is connected to the
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heater, every few milliseconds by its PID handler. Using M106 on an output
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with a sensor changes its setting only for a short moment.
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*/
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void heater_set(heater_t index, uint8_t value) {
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if (index < NUM_HEATERS) {
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heaters_runtime[index].heater_output = value;
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if (heaters[index].uses_pwm) {
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// Remember, we scale, and duty cycle is inverted.
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*heaters[index].ccr = (uint32_t)value * (PWM_SCALE / 255);
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if (DEBUG_PID && (debug_flags & DEBUG_PID))
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sersendf_P(PSTR("PWM %su = %lu\n"), index, *heaters[index].ccr);
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}
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else {
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*(heaters[index].bsrr) =
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heaters[index].masked_pin << ((value >= HEATER_THRESHOLD) ? 0 : 16);
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}
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if (value)
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power_on();
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}
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}
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#endif /* defined TEACUP_C_INCLUDE && defined __ARM_STM32F411__ */
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