mirror of
https://github.com/DCC-EX/CommandStation-EX.git
synced 2024-12-23 21:01:25 +01:00
STM32 DCCEXanalogWrite for TrackManager PWM
This commit is contained in:
pmantoine
parent
624656ebc9
commit
ed0cfee091
@ -1,6 +1,6 @@
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/*
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* © 2023 Neil McKechnie
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* © 2022-23 Paul M. Antoine
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* © 2022-2023 Paul M. Antoine
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* © 2021 Mike S
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* © 2021, 2023 Harald Barth
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* © 2021 Fred Decker
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@ -154,13 +154,28 @@ HardwareSerial Serial6(PG9, PG14); // Rx=PG9, Tx=PG14 -- USART6
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///////////////////////////////////////////////////////////////////////////////////////////////
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INTERRUPT_CALLBACK interruptHandler=0;
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// Let's use STM32's timer #11 until disabused of this notion
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// Timer #11 is used for "servo" library, but as DCC-EX is not using
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// this libary, we should be free and clear.
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HardwareTimer timer(TIM11);
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// On STM32F4xx models that have them, Timers 6 and 7 have no PWM output capability,
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// so are good choices for general timer duties - they are used for tone and servo
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// in stm32duino so we shall usurp those as DCC-EX doesn't use tone or servo libs.
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// NB: the F401, F410 and F411 do **not** have Timer 6 or 7, so we use Timer 11
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#ifndef DCC_EX_TIMER
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#if defined(TIM6)
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#define DCC_EX_TIMER TIM6
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#elif defined(TIM7)
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#define DCC_EX_TIMER TIM7
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#elif defined(TIM11)
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#define DCC_EX_TIMER TIM11
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#else
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#warning This STM32F4XX variant does not have Timers 6,7 or 11!!
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#endif
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#endif // ifndef DCC_EX_TIMER
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HardwareTimer dcctimer(DCC_EX_TIMER);
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void DCCTimer_Handler() __attribute__((interrupt));
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// Timer IRQ handler
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void Timer11_Handler() {
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void DCCTimer_Handler() {
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interruptHandler();
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}
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@ -168,22 +183,24 @@ void DCCTimer::begin(INTERRUPT_CALLBACK callback) {
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interruptHandler=callback;
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noInterrupts();
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// adc_set_sample_rate(ADC_SAMPLETIME_480CYCLES);
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timer.pause();
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timer.setPrescaleFactor(1);
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dcctimer.pause();
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dcctimer.setPrescaleFactor(1);
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// timer.setOverflow(CLOCK_CYCLES * 2);
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timer.setOverflow(DCC_SIGNAL_TIME, MICROSEC_FORMAT);
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timer.attachInterrupt(Timer11_Handler);
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timer.refresh();
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timer.resume();
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dcctimer.setOverflow(DCC_SIGNAL_TIME, MICROSEC_FORMAT);
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// dcctimer.attachInterrupt(Timer11_Handler);
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dcctimer.attachInterrupt(DCCTimer_Handler);
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dcctimer.setInterruptPriority(0, 0); // Set highest preemptive priority!
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dcctimer.refresh();
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dcctimer.resume();
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interrupts();
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}
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bool DCCTimer::isPWMPin(byte pin) {
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//TODO: SAMD whilst this call to digitalPinHasPWM will reveal which pins can do PWM,
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//TODO: STM32 whilst this call to digitalPinHasPWM will reveal which pins can do PWM,
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// there's no support yet for High Accuracy, so for now return false
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// return digitalPinHasPWM(pin);
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(void) pin;
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return false;
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}
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@ -235,6 +252,78 @@ void DCCTimer::reset() {
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while(true) {};
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}
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// TODO: rationalise the size of these... could really use sparse arrays etc.
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static HardwareTimer * pin_timer[100] = {0};
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static uint32_t channel_frequency[100] = {0};
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static uint32_t pin_channel[100] = {0};
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// Using the HardwareTimer library API included in stm32duino core to handle PWM duties
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// TODO: in order to use the HA code above which Neil kindly wrote, we may have to do something more
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// sophisticated about detecting any clash between the timer we'd like to use for PWM and the ones
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// currently used for HA so they don't interfere with one another. For now we'll just make PWM
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// work well... then work backwards to integrate with HA mode if we can.
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void DCCTimer::DCCEXanalogWriteFrequency(uint8_t pin, uint32_t frequency)
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{
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if (pin_timer[pin] == NULL) {
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// Automatically retrieve TIM instance and channel associated to pin
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// This is used to be compatible with all STM32 series automatically.
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TIM_TypeDef *Instance = (TIM_TypeDef *)pinmap_peripheral(digitalPinToPinName(pin), PinMap_PWM);
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if (Instance == NULL) {
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// We shouldn't get here (famous last words) as it ought to have been caught by brakeCanPWM()!
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DIAG(F("DCCEXanalogWriteFrequency::Pin %d has no PWM function!"), pin);
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return;
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}
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pin_channel[pin] = STM_PIN_CHANNEL(pinmap_function(digitalPinToPinName(pin), PinMap_PWM));
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// Instantiate HardwareTimer object. Thanks to 'new' instantiation,
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// HardwareTimer is not destructed when setup function is finished.
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pin_timer[pin] = new HardwareTimer(Instance);
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// Configure and start PWM
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// MyTim->setPWM(channel, pin, 5, 10, NULL, NULL); // No callback required, we can simplify the function call
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if (pin_timer[pin] != NULL)
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{
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pin_timer[pin]->setPWM(pin_channel[pin], pin, frequency, 0); // set frequency in Hertz, 0% dutycycle
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DIAG(F("DCCEXanalogWriteFrequency::Pin %d on Timer %d, frequency %d"), pin, pin_channel[pin], frequency);
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}
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else
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DIAG(F("DCCEXanalogWriteFrequency::failed to allocate HardwareTimer instance!"));
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}
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else
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{
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// Frequency change request
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if (frequency != channel_frequency[pin])
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{
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pinmap_pinout(digitalPinToPinName(pin), PinMap_TIM); // ensure the pin has been configured!
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pin_timer[pin]->setOverflow(frequency, HERTZ_FORMAT); // Just change the frequency if it's already running!
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DIAG(F("DCCEXanalogWriteFrequency::setting frequency to %d"), frequency);
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}
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}
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channel_frequency[pin] = frequency;
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return;
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}
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void DCCTimer::DCCEXanalogWrite(uint8_t pin, int value) {
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// Calculate percentage duty cycle from value given
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uint32_t duty_cycle = (value * 100 / 256) + 1;
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if (pin_timer[pin] != NULL) {
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if (duty_cycle == 100)
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{
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pin_timer[pin]->pauseChannel(pin_channel[pin]);
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DIAG(F("DCCEXanalogWrite::Pausing timer channel on pin %d"), pin);
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}
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else
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{
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pinmap_pinout(digitalPinToPinName(pin), PinMap_TIM); // ensure the pin has been configured!
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pin_timer[pin]->resumeChannel(pin_channel[pin]);
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pin_timer[pin]->setCaptureCompare(pin_channel[pin], duty_cycle, PERCENT_COMPARE_FORMAT); // DCC_EX_PWM_FREQ Hertz, duty_cycle% dutycycle
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DIAG(F("DCCEXanalogWrite::Pin %d, value %d, duty cycle %d"), pin, value, duty_cycle);
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}
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}
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else
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DIAG(F("DCCEXanalogWrite::Pin %d is not configured for PWM!"), pin);
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}
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// Now we can handle more ADCs, maybe this works!
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#define NUM_ADC_INPUTS NUM_ANALOG_INPUTS
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@ -34,6 +34,11 @@ unsigned long MotorDriver::globalOverloadStart = 0;
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volatile portreg_t shadowPORTA;
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volatile portreg_t shadowPORTB;
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volatile portreg_t shadowPORTC;
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#if defined(ARDUINO_ARCH_STM32)
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volatile portreg_t shadowPORTD;
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volatile portreg_t shadowPORTE;
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volatile portreg_t shadowPORTF;
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#endif
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MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, int16_t brake_pin,
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byte current_pin, float sense_factor, unsigned int trip_milliamps, int16_t fault_pin) {
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@ -68,6 +73,21 @@ MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, i
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fastSignalPin.shadowinout = fastSignalPin.inout;
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fastSignalPin.inout = &shadowPORTC;
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}
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if (HAVE_PORTD(fastSignalPin.inout == &PORTD)) {
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DIAG(F("Found PORTD pin %d"),signalPin);
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fastSignalPin.shadowinout = fastSignalPin.inout;
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fastSignalPin.inout = &shadowPORTD;
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}
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if (HAVE_PORTE(fastSignalPin.inout == &PORTE)) {
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DIAG(F("Found PORTE pin %d"),signalPin);
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fastSignalPin.shadowinout = fastSignalPin.inout;
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fastSignalPin.inout = &shadowPORTE;
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}
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if (HAVE_PORTF(fastSignalPin.inout == &PORTF)) {
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DIAG(F("Found PORTF pin %d"),signalPin);
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fastSignalPin.shadowinout = fastSignalPin.inout;
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fastSignalPin.inout = &shadowPORTF;
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}
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signalPin2=signal_pin2;
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if (signalPin2!=UNUSED_PIN) {
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@ -91,6 +111,21 @@ MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, i
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fastSignalPin2.shadowinout = fastSignalPin2.inout;
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fastSignalPin2.inout = &shadowPORTC;
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}
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if (HAVE_PORTD(fastSignalPin2.inout == &PORTD)) {
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DIAG(F("Found PORTD pin %d"),signalPin2);
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fastSignalPin2.shadowinout = fastSignalPin2.inout;
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fastSignalPin2.inout = &shadowPORTD;
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}
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if (HAVE_PORTE(fastSignalPin2.inout == &PORTE)) {
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DIAG(F("Found PORTE pin %d"),signalPin2);
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fastSignalPin2.shadowinout = fastSignalPin2.inout;
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fastSignalPin2.inout = &shadowPORTE;
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}
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if (HAVE_PORTF(fastSignalPin2.inout == &PORTF)) {
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DIAG(F("Found PORTF pin %d"),signalPin2);
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fastSignalPin2.shadowinout = fastSignalPin2.inout;
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fastSignalPin2.inout = &shadowPORTF;
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}
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}
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else dualSignal=false;
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@ -279,7 +314,7 @@ void MotorDriver::startCurrentFromHW() {
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#pragma GCC pop_options
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#endif //ANALOG_READ_INTERRUPT
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#if defined(ARDUINO_ARCH_ESP32)
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#if defined(ARDUINO_ARCH_ESP32) || defined(ARDUINO_ARCH_STM32)
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#ifdef VARIABLE_TONES
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uint16_t taurustones[28] = { 165, 175, 196, 220,
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247, 262, 294, 330,
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@ -330,7 +365,7 @@ void MotorDriver::setDCSignal(byte speedcode) {
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byte tSpeed=speedcode & 0x7F; // DCC Speed with 0,1 stop and speed steps 2 to 127
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byte tDir=speedcode & 0x80;
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byte brake;
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#if defined(ARDUINO_ARCH_ESP32)
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#if defined(ARDUINO_ARCH_ESP32) || defined(ARDUINO_ARCH_STM32)
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{
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int f = 131;
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#ifdef VARIABLE_TONES
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@ -348,7 +383,7 @@ void MotorDriver::setDCSignal(byte speedcode) {
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else brake = 2 * (128-tSpeed);
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if (invertBrake)
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brake=255-brake;
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#if defined(ARDUINO_ARCH_ESP32)
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#if defined(ARDUINO_ARCH_ESP32) || defined(ARDUINO_ARCH_STM32)
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DCCTimer::DCCEXanalogWrite(brakePin,brake);
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#else
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analogWrite(brakePin,brake);
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@ -372,6 +407,24 @@ void MotorDriver::setDCSignal(byte speedcode) {
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setSignal(tDir);
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HAVE_PORTC(PORTC=shadowPORTC);
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interrupts();
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} else if (HAVE_PORTD(fastSignalPin.shadowinout == &PORTD)) {
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noInterrupts();
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HAVE_PORTD(shadowPORTD=PORTD);
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setSignal(tDir);
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HAVE_PORTD(PORTD=shadowPORTD);
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interrupts();
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} else if (HAVE_PORTE(fastSignalPin.shadowinout == &PORTE)) {
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noInterrupts();
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HAVE_PORTE(shadowPORTE=PORTE);
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setSignal(tDir);
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HAVE_PORTE(PORTE=shadowPORTE);
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interrupts();
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} else if (HAVE_PORTF(fastSignalPin.shadowinout == &PORTF)) {
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noInterrupts();
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HAVE_PORTF(shadowPORTF=PORTF);
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setSignal(tDir);
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HAVE_PORTF(PORTF=shadowPORTF);
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interrupts();
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} else {
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noInterrupts();
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setSignal(tDir);
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@ -393,6 +446,13 @@ void MotorDriver::throttleInrush(bool on) {
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} else {
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ledcDetachPin(brakePin);
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}
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#elif defined(ARDUINO_ARCH_STM32)
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if(on) {
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DCCTimer::DCCEXanalogWriteFrequency(brakePin, 62500);
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DCCTimer::DCCEXanalogWrite(brakePin,duty);
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} else {
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pinMode(brakePin, OUTPUT);
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}
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#else
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if(on){
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switch(brakePin) {
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@ -1,5 +1,5 @@
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/*
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* © 2022 Paul M Antoine
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* © 2022-2023 Paul M. Antoine
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* © 2021 Mike S
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* © 2021 Fred Decker
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* © 2020 Chris Harlow
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@ -60,6 +60,16 @@ enum TRACK_MODE : byte {TRACK_MODE_NONE = 1, TRACK_MODE_MAIN = 2, TRACK_MODE_PRO
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#define HAVE_PORTB(X) X
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#define PORTC GPIOC->ODR
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#define HAVE_PORTC(X) X
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#define PORTD GPIOD->ODR
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#define HAVE_PORTD(X) X
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#if defined(GPIOE)
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#define PORTE GPIOE->ODR
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#define HAVE_PORTE(X) X
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#endif
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#if defined(GPIOF)
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#define PORTF GPIOF->ODR
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#define HAVE_PORTF(X) X
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#endif
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#endif
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// if macros not defined as pass-through we define
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@ -74,6 +84,15 @@ enum TRACK_MODE : byte {TRACK_MODE_NONE = 1, TRACK_MODE_MAIN = 2, TRACK_MODE_PRO
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#ifndef HAVE_PORTC
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#define HAVE_PORTC(X) byte TOKENPASTE2(Unique_, __LINE__) __attribute__((unused)) =0
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#endif
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#ifndef HAVE_PORTD
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#define HAVE_PORTD(X) byte TOKENPASTE2(Unique_, __LINE__) __attribute__((unused)) =0
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#endif
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#ifndef HAVE_PORTE
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#define HAVE_PORTE(X) byte TOKENPASTE2(Unique_, __LINE__) __attribute__((unused)) =0
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#endif
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#ifndef HAVE_PORTF
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#define HAVE_PORTF(X) byte TOKENPASTE2(Unique_, __LINE__) __attribute__((unused)) =0
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#endif
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// Virtualised Motor shield 1-track hardware Interface
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@ -110,6 +129,9 @@ struct FASTPIN {
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extern volatile portreg_t shadowPORTA;
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extern volatile portreg_t shadowPORTB;
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extern volatile portreg_t shadowPORTC;
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extern volatile portreg_t shadowPORTD;
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extern volatile portreg_t shadowPORTE;
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extern volatile portreg_t shadowPORTF;
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enum class POWERMODE : byte { OFF, ON, OVERLOAD, ALERT };
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@ -163,16 +185,16 @@ class MotorDriver {
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unsigned int raw2mA( int raw);
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unsigned int mA2raw( unsigned int mA);
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inline bool brakeCanPWM() {
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#if defined(ARDUINO_ARCH_ESP32) || defined(__arm__)
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// TODO: on ARM we can use digitalPinHasPWM, and may wish/need to
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return true;
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#else
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#ifdef digitalPinToTimer
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#if defined(ARDUINO_ARCH_ESP32)
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return (brakePin != UNUSED_PIN); // This was just (true) but we probably do need to check for UNUSED_PIN!
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#elif defined(__arm__)
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// On ARM we can use digitalPinHasPWM
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return ((brakePin!=UNUSED_PIN) && (digitalPinHasPWM(brakePin)));
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#elif defined(digitalPinToTimer)
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return ((brakePin!=UNUSED_PIN) && (digitalPinToTimer(brakePin)));
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#else
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return (brakePin<14 && brakePin >1);
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#endif //digitalPinToTimer
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#endif //ESP32/ARM
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#endif
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}
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inline int getRawCurrentTripValue() {
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return rawCurrentTripValue;
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@ -154,10 +154,16 @@ void TrackManager::setDCCSignal( bool on) {
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HAVE_PORTA(shadowPORTA=PORTA);
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HAVE_PORTB(shadowPORTB=PORTB);
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HAVE_PORTC(shadowPORTC=PORTC);
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HAVE_PORTD(shadowPORTD=PORTD);
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HAVE_PORTE(shadowPORTE=PORTE);
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HAVE_PORTF(shadowPORTF=PORTF);
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APPLY_BY_MODE(TRACK_MODE_MAIN,setSignal(on));
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HAVE_PORTA(PORTA=shadowPORTA);
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HAVE_PORTB(PORTB=shadowPORTB);
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HAVE_PORTC(PORTC=shadowPORTC);
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HAVE_PORTD(PORTD=shadowPORTD);
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HAVE_PORTE(PORTE=shadowPORTE);
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HAVE_PORTF(PORTF=shadowPORTF);
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}
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void TrackManager::setCutout( bool on) {
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@ -172,10 +178,16 @@ void TrackManager::setPROGSignal( bool on) {
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HAVE_PORTA(shadowPORTA=PORTA);
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HAVE_PORTB(shadowPORTB=PORTB);
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HAVE_PORTC(shadowPORTC=PORTC);
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HAVE_PORTD(shadowPORTD=PORTD);
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HAVE_PORTE(shadowPORTE=PORTE);
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HAVE_PORTF(shadowPORTF=PORTF);
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APPLY_BY_MODE(TRACK_MODE_PROG,setSignal(on));
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HAVE_PORTA(PORTA=shadowPORTA);
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HAVE_PORTB(PORTB=shadowPORTB);
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HAVE_PORTC(PORTC=shadowPORTC);
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HAVE_PORTD(PORTD=shadowPORTD);
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HAVE_PORTE(PORTE=shadowPORTE);
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HAVE_PORTF(PORTF=shadowPORTF);
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}
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// setDCSignal(), called from normal context
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@ -3,7 +3,12 @@
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#include "StringFormatter.h"
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#define VERSION "5.1.9"
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#define VERSION "5.1.10"
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// 5.1.10 - STM32F4xx DCCEXanalogWrite to handle PWM generation for TrackManager DC/DCX
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// - STM32F4xx DCC 58uS timer now using non-PWM output timers where possible
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// - ESP32 brakeCanPWM check now detects UNUSED_PIN
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// - ARM architecture brakeCanPWM now uses digitalPinHasPWM()
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// - STM32F4xx shadowpin extensions to handle pins on ports D, E and F
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// 5.1.9 - Fixed IO_PCA9555'h to work with PCA9548 mux, tested OK
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// 5.1.8 - STM32Fxx ADCee extension to support ADCs #2 and #3
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// 5.1.7 - Fix turntable broadcasts for non-movement activities and <JP> result
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