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Increase STM32F1 Servo Timer Interrupt Priority (#18637)

Jason Smith 5 years ago
parent
commit
95b76a65c3
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+ 1
- 0
Marlin/src/HAL/STM32F1/Servo.cpp View File

@@ -74,6 +74,7 @@ void libServo::servoWrite(uint8_t inPin, uint16_t duty_cycle) {
74 74
 
75 75
 libServo::libServo() {
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   servoIndex = ServoCount < MAX_SERVOS ? ServoCount++ : INVALID_SERVO;
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+  timer_set_interrupt_priority(SERVO0_TIMER_NUM, SERVO0_TIMER_IRQ_PRIO);
77 78
 }
78 79
 
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 bool libServo::attach(const int32_t inPin, const int32_t inMinAngle, const int32_t inMaxAngle) {

+ 12
- 4
Marlin/src/HAL/STM32F1/timers.cpp View File

@@ -47,7 +47,10 @@
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  * TODO: Calculate Timer prescale value, so we get the 32bit to adjust
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  */
49 49
 
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-void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
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+
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+
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+
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+void timer_set_interrupt_priority(uint_fast8_t timer_num, uint_fast8_t priority) {
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   nvic_irq_num irq_num;
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   switch (timer_num) {
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     case 1: irq_num = NVIC_TIMER1_CC; break;
@@ -64,9 +67,14 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
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        * This should never happen. Add a Sanitycheck for timer number.
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        * Should be a general timer since basic timers have no CC channels.
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        */
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-      break;
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+      return;
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   }
69 72
 
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+  nvic_irq_set_priority(irq_num, priority);
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+}
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+
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+
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+void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
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   /**
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    * Give the Stepper ISR a higher priority (lower number)
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    * so it automatically preempts the Temperature ISR.
@@ -83,7 +91,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
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       timer_set_compare(STEP_TIMER_DEV, STEP_TIMER_CHAN, _MIN(hal_timer_t(HAL_TIMER_TYPE_MAX), (STEPPER_TIMER_RATE) / frequency));
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       timer_no_ARR_preload_ARPE(STEP_TIMER_DEV); // Need to be sure no preload on ARR register
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       timer_attach_interrupt(STEP_TIMER_DEV, STEP_TIMER_CHAN, stepTC_Handler);
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-      nvic_irq_set_priority(irq_num, STEP_TIMER_IRQ_PRIO);
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+      timer_set_interrupt_priority(STEP_TIMER_NUM, STEP_TIMER_IRQ_PRIO);
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       timer_generate_update(STEP_TIMER_DEV);
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       timer_resume(STEP_TIMER_DEV);
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       break;
@@ -95,7 +103,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
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       timer_set_reload(TEMP_TIMER_DEV, 0xFFFF);
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       timer_set_compare(TEMP_TIMER_DEV, TEMP_TIMER_CHAN, _MIN(hal_timer_t(HAL_TIMER_TYPE_MAX), (F_CPU) / (TEMP_TIMER_PRESCALE) / frequency));
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       timer_attach_interrupt(TEMP_TIMER_DEV, TEMP_TIMER_CHAN, tempTC_Handler);
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-      nvic_irq_set_priority(irq_num, TEMP_TIMER_IRQ_PRIO);
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+      timer_set_interrupt_priority(TEMP_TIMER_NUM, TEMP_TIMER_IRQ_PRIO);
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       timer_generate_update(TEMP_TIMER_DEV);
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       timer_resume(TEMP_TIMER_DEV);
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       break;

+ 5
- 2
Marlin/src/HAL/STM32F1/timers.h View File

@@ -91,8 +91,9 @@ typedef uint16_t hal_timer_t;
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   #define SERVO0_TIMER_NUM 1  // SERVO0 or BLTOUCH
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 #endif
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-#define STEP_TIMER_IRQ_PRIO 1
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-#define TEMP_TIMER_IRQ_PRIO 2
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+#define STEP_TIMER_IRQ_PRIO 2
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+#define TEMP_TIMER_IRQ_PRIO 3
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+#define SERVO0_TIMER_IRQ_PRIO 1
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 #define TEMP_TIMER_PRESCALE     1000 // prescaler for setting Temp timer, 72Khz
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 #define TEMP_TIMER_FREQUENCY    1000 // temperature interrupt frequency
@@ -193,4 +194,6 @@ FORCE_INLINE static void timer_no_ARR_preload_ARPE(timer_dev *dev) {
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   bb_peri_set_bit(&(dev->regs).gen->CR1, TIMER_CR1_ARPE_BIT, 0);
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 }
195 196
 
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+void timer_set_interrupt_priority(uint_fast8_t timer_num, uint_fast8_t priority);
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+
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 #define TIMER_OC_NO_PRELOAD 0 // Need to disable preload also on compare registers.

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