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Fix BLTouch PWM reliability in HAL/STM32 (#18702)

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This commit is contained in:
Jason Smith
2020-07-19 15:41:36 -07:00
committed by GitHub
parent 1c94033f7c
commit 12bc63913c
5 changed files with 56 additions and 18 deletions
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24
Marlin/src/HAL/STM32/Servo.cpp
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@@ -33,6 +33,18 @@ static libServo *servos[NUM_SERVOS] = {0};
constexpr millis_t servoDelay[] = SERVO_DELAY;
static_assert(COUNT(servoDelay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
// Initialize to the default timer priority. This will be overridden by a call from timers.cpp.
// This allows all timer interrupt priorities to be managed from a single location in the HAL.
static uint32_t servo_interrupt_priority = NVIC_EncodePriority(NVIC_GetPriorityGrouping(), TIM_IRQ_PRIO, TIM_IRQ_SUBPRIO);
// This must be called after the STM32 Servo class has intialized the timer.
// It may only be needed after the first call to attach(), but it is possible
// that is is necessary after every detach() call. To be safe this is currently
// called after every call to attach().
static void fixServoTimerInterruptPriority() {
NVIC_SetPriority(getTimerUpIrq(TIMER_SERVO), servo_interrupt_priority);
}
libServo::libServo()
: delay(servoDelay[servoCount]),
was_attached_before_pause(false),
@@ -44,13 +56,17 @@ libServo::libServo()
int8_t libServo::attach(const int pin) {
if (servoCount >= MAX_SERVOS) return -1;
if (pin > 0) servo_pin = pin;
return stm32_servo.attach(servo_pin);
auto result = stm32_servo.attach(servo_pin);
fixServoTimerInterruptPriority();
return result;
}
int8_t libServo::attach(const int pin, const int min, const int max) {
if (servoCount >= MAX_SERVOS) return -1;
if (pin > 0) servo_pin = pin;
return stm32_servo.attach(servo_pin, min, max);
auto result = stm32_servo.attach(servo_pin, min, max);
fixServoTimerInterruptPriority();
return result;
}
void libServo::move(const int value) {
@@ -86,5 +102,9 @@ void libServo::resume_all_servos() {
if (servo) servo->resume();
}
void libServo::setInterruptPriority(uint32_t preemptPriority, uint32_t subPriority) {
servo_interrupt_priority = NVIC_EncodePriority(NVIC_GetPriorityGrouping(), preemptPriority, subPriority);
}
#endif // HAS_SERVOS
#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC