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DCCTimerSTM32.cpp
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DCCTimerSTM32.cpp
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/*
* © 2023 Neil McKechnie
* © 2022-23 Paul M. Antoine
* © 2021 Mike S
* © 2021, 2023 Harald Barth
* © 2021 Fred Decker
* © 2021 Chris Harlow
* © 2021 David Cutting
* All rights reserved.
*
* This file is part of Asbelos DCC API
*
* This is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* It is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with CommandStation. If not, see <https://www.gnu.org/licenses/>.
*/
// ATTENTION: this file only compiles on a STM32 based boards
// Please refer to DCCTimer.h for general comments about how this class works
// This is to avoid repetition and duplication.
#ifdef ARDUINO_ARCH_STM32
#include "DCCTimer.h"
#ifdef DEBUG_ADC
#include "TrackManager.h"
#endif
#include "DIAG.h"
#if defined(ARDUINO_NUCLEO_F401RE) || defined(ARDUINO_NUCLEO_F411RE)
// Nucleo-64 boards don't have additional serial ports defined by default
HardwareSerial Serial1(PB7, PA15); // Rx=PB7, Tx=PA15 -- CN7 pins 17 and 21 - F411RE
// Serial2 is defined to use USART2 by default, but is in fact used as the diag console
// via the debugger on the Nucleo-64. It is therefore unavailable for other DCC-EX uses like WiFi, DFPlayer, etc.
// Let's define Serial6 as an additional serial port (the only other option for the Nucleo-64s)
HardwareSerial Serial6(PA12, PA11); // Rx=PA12, Tx=PA11 -- CN10 pins 12 and 14 - F411RE
#elif defined(ARDUINO_NUCLEO_F446RE)
// Nucleo-64 boards don't have additional serial ports defined by default
// On the F446RE, Serial1 isn't really useable as it's Rx/Tx pair sit on already used D2/D10 pins
// HardwareSerial Serial1(PA10, PB6); // Rx=PA10 (D2), Tx=PB6 (D10) -- CN10 pins 17 and 9 - F446RE
// Serial2 is defined to use USART2 by default, but is in fact used as the diag console
// via the debugger on the Nucleo-64. It is therefore unavailable for other DCC-EX uses like WiFi, DFPlayer, etc.
// On the F446RE, Serial3 and Serial5 are easy to use:
HardwareSerial Serial3(PC11, PC10); // Rx=PC11, Tx=PC10 -- USART3 - F446RE
HardwareSerial Serial5(PD2, PC12); // Rx=PC7, Tx=PC6 -- UART5 - F446RE
// On the F446RE, Serial4 and Serial6 also use pins we can't readily map while using the Arduino pins
#elif defined(ARDUINO_NUCLEO_F413ZH) || defined(ARDUINO_NUCLEO_F429ZI) || defined(ARDUINO_NUCLEO_F446ZE)|| defined(ARDUINO_NUCLEO_F412ZG)
// Nucleo-144 boards don't have Serial1 defined by default
HardwareSerial Serial6(PG9, PG14); // Rx=PG9, Tx=PG14 -- USART6
// Serial3 is defined to use USART3 by default, but is in fact used as the diag console
// via the debugger on the Nucleo-144. It is therefore unavailable for other DCC-EX uses like WiFi, DFPlayer, etc.
#else
#error STM32 board selected is not yet explicitly supported - so Serial1 peripheral is not defined
#endif
///////////////////////////////////////////////////////////////////////////////////////////////
// Experimental code for High Accuracy (HA) DCC Signal mode
// Warning - use of TIM2 and TIM3 can affect the use of analogWrite() function on certain pins,
// which is used by the DC motor types.
///////////////////////////////////////////////////////////////////////////////////////////////
// INTERRUPT_CALLBACK interruptHandler=0;
// // Let's use STM32's timer #2 which supports hardware pulse generation on pin D13.
// // Also, timer #3 will do hardware pulses on pin D12. This gives
// // accurate timing, independent of the latency of interrupt handling.
// // We only need to interrupt on one of these (TIM2), the other will just generate
// // pulses.
// HardwareTimer timer(TIM2);
// HardwareTimer timerAux(TIM3);
// static bool tim2ModeHA = false;
// static bool tim3ModeHA = false;
// // Timer IRQ handler
// void Timer_Handler() {
// interruptHandler();
// }
// void DCCTimer::begin(INTERRUPT_CALLBACK callback) {
// interruptHandler=callback;
// noInterrupts();
// // adc_set_sample_rate(ADC_SAMPLETIME_480CYCLES);
// timer.pause();
// timerAux.pause();
// timer.setPrescaleFactor(1);
// timer.setOverflow(DCC_SIGNAL_TIME, MICROSEC_FORMAT);
// timer.attachInterrupt(Timer_Handler);
// timer.refresh();
// timerAux.setPrescaleFactor(1);
// timerAux.setOverflow(DCC_SIGNAL_TIME, MICROSEC_FORMAT);
// timerAux.refresh();
// timer.resume();
// timerAux.resume();
// interrupts();
// }
// bool DCCTimer::isPWMPin(byte pin) {
// // Timer 2 Channel 1 controls pin D13, and Timer3 Channel 1 controls D12.
// // Enable the appropriate timer channel.
// switch (pin) {
// case 12:
// return true;
// case 13:
// return true;
// default:
// return false;
// }
// }
// void DCCTimer::setPWM(byte pin, bool high) {
// // Set the timer so that, at the next counter overflow, the requested
// // pin state is activated automatically before the interrupt code runs.
// // TIM2 is timer, TIM3 is timerAux.
// switch (pin) {
// case 12:
// if (!tim3ModeHA) {
// timerAux.setMode(1, TIMER_OUTPUT_COMPARE_INACTIVE, D12);
// tim3ModeHA = true;
// }
// if (high)
// TIM3->CCMR1 = (TIM3->CCMR1 & ~TIM_CCMR1_OC1M_Msk) | TIM_CCMR1_OC1M_0;
// else
// TIM3->CCMR1 = (TIM3->CCMR1 & ~TIM_CCMR1_OC1M_Msk) | TIM_CCMR1_OC1M_1;
// break;
// case 13:
// if (!tim2ModeHA) {
// timer.setMode(1, TIMER_OUTPUT_COMPARE_INACTIVE, D13);
// tim2ModeHA = true;
// }
// if (high)
// TIM2->CCMR1 = (TIM2->CCMR1 & ~TIM_CCMR1_OC1M_Msk) | TIM_CCMR1_OC1M_0;
// else
// TIM2->CCMR1 = (TIM2->CCMR1 & ~TIM_CCMR1_OC1M_Msk) | TIM_CCMR1_OC1M_1;
// break;
// }
// }
// void DCCTimer::clearPWM() {
// timer.setMode(1, TIMER_OUTPUT_COMPARE_INACTIVE, NC);
// tim2ModeHA = false;
// timerAux.setMode(1, TIMER_OUTPUT_COMPARE_INACTIVE, NC);
// tim3ModeHA = false;
// }
///////////////////////////////////////////////////////////////////////////////////////////////
INTERRUPT_CALLBACK interruptHandler=0;
// Let's use STM32's timer #11 until disabused of this notion
// Timer #11 is used for "servo" library, but as DCC-EX is not using
// this libary, we should be free and clear.
HardwareTimer timer(TIM11);
// Timer IRQ handler
void Timer11_Handler() {
interruptHandler();
}
void DCCTimer::begin(INTERRUPT_CALLBACK callback) {
interruptHandler=callback;
noInterrupts();
// adc_set_sample_rate(ADC_SAMPLETIME_480CYCLES);
timer.pause();
timer.setPrescaleFactor(1);
// timer.setOverflow(CLOCK_CYCLES * 2);
timer.setOverflow(DCC_SIGNAL_TIME, MICROSEC_FORMAT);
timer.attachInterrupt(Timer11_Handler);
timer.refresh();
timer.resume();
interrupts();
}
bool DCCTimer::isPWMPin(byte pin) {
//TODO: SAMD whilst this call to digitalPinHasPWM will reveal which pins can do PWM,
// there's no support yet for High Accuracy, so for now return false
// return digitalPinHasPWM(pin);
return false;
}
void DCCTimer::setPWM(byte pin, bool high) {
// TODO: High Accuracy mode is not supported as yet, and may never need to be
(void) pin;
(void) high;
}
void DCCTimer::clearPWM() {
return;
}
void DCCTimer::getSimulatedMacAddress(byte mac[6]) {
volatile uint32_t *serno1 = (volatile uint32_t *)0x1FFF7A10;
volatile uint32_t *serno2 = (volatile uint32_t *)0x1FFF7A14;
// volatile uint32_t *serno3 = (volatile uint32_t *)0x1FFF7A18;
volatile uint32_t m1 = *serno1;
volatile uint32_t m2 = *serno2;
mac[0] = m1 >> 8;
mac[1] = m1 >> 0;
mac[2] = m2 >> 24;
mac[3] = m2 >> 16;
mac[4] = m2 >> 8;
mac[5] = m2 >> 0;
}
volatile int DCCTimer::minimum_free_memory=__INT_MAX__;
// Return low memory value...
int DCCTimer::getMinimumFreeMemory() {
noInterrupts(); // Disable interrupts to get volatile value
int retval = freeMemory();
interrupts();
return retval;
}
extern "C" char* sbrk(int incr);
int DCCTimer::freeMemory() {
char top;
return (int)(&top - reinterpret_cast<char *>(sbrk(0)));
}
void DCCTimer::reset() {
__disable_irq();
NVIC_SystemReset();
while(true) {};
}
// TODO: may need to use uint32_t on STMF4xx variants with > 16 analog inputs!
#if defined(ARDUINO_NUCLEO_F446RE) || defined(ARDUINO_NUCLEO_F429ZI) || defined(ARDUINO_NUCLEO_F446ZE)
#warning STM32 board selected not fully supported - only use ADC1 inputs 0-15 for current sensing!
#endif
// For now, define the max of 16 ports - some variants have more, but this not **yet** supported
#define NUM_ADC_INPUTS 16
// #define NUM_ADC_INPUTS NUM_ANALOG_INPUTS
uint16_t ADCee::usedpins = 0;
uint8_t ADCee::highestPin = 0;
int * ADCee::analogvals = NULL;
uint32_t * analogchans = NULL;
bool adc1configured = false;
int16_t ADCee::ADCmax() {
return 4095;
}
int ADCee::init(uint8_t pin) {
int value = 0;
PinName stmpin = analogInputToPinName(pin);
if (stmpin == NC) // do not continue if this is not an analog pin at all
return -1024; // some silly value as error
uint32_t stmgpio = STM_PORT(stmpin); // converts to the GPIO port (16-bits per port group on STM32)
uint32_t adcchan = STM_PIN_CHANNEL(pinmap_function(stmpin, PinMap_ADC)); // find ADC channel (only valid for ADC1!)
GPIO_TypeDef * gpioBase;
// Port config - find which port we're on and power it up
switch(stmgpio) {
case 0x00:
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN; //Power up PORTA
gpioBase = GPIOA;
break;
case 0x01:
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN; //Power up PORTB
gpioBase = GPIOB;
break;
case 0x02:
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; //Power up PORTC
gpioBase = GPIOC;
break;
default:
return -1023; // some silly value as error
}
// Set pin mux mode to analog input, the 32 bit port mode register has 2 bits per pin
gpioBase->MODER |= (0b011 << (STM_PIN(stmpin) << 1)); // Set pin mux to analog mode (binary 11)
// Set the sampling rate for that analog input
// This is F411x specific! Different on for example F334
// STM32F11xC/E Reference manual
// 11.12.4 ADC sample time register 1 (ADC_SMPR1) (channels 10 to 18)
// 11.12.5 ADC sample time register 2 (ADC_SMPR2) (channels 0 to 9)
if (adcchan > 18)
return -1022; // silly value as error
if (adcchan < 10)
ADC1->SMPR2 |= (0b111 << (adcchan * 3)); // Channel sampling rate 480 cycles
else
ADC1->SMPR1 |= (0b111 << ((adcchan - 10) * 3)); // Channel sampling rate 480 cycles
// Read the inital ADC value for this analog input
ADC1->SQR3 = adcchan; // 1st conversion in regular sequence
ADC1->CR2 |= (1 << 30); // Start 1st conversion SWSTART
while(!(ADC1->SR & (1 << 1))); // Wait until conversion is complete
value = ADC1->DR; // Read value from register
uint8_t id = pin - PNUM_ANALOG_BASE;
if (id > 15) { // today we have not enough bits in the mask to support more
return -1021;
}
if (analogvals == NULL) { // allocate analogvals and analogchans if this is the first invocation of init.
analogvals = (int *)calloc(NUM_ADC_INPUTS+1, sizeof(int));
analogchans = (uint32_t *)calloc(NUM_ADC_INPUTS+1, sizeof(uint32_t));
}
analogvals[id] = value; // Store sampled value
analogchans[id] = adcchan; // Keep track of which ADC channel is used for reading this pin
usedpins |= (1 << id); // This pin is now ready
if (id > highestPin) highestPin = id; // Store our highest pin in use
DIAG(F("ADCee::init(): value=%d, channel=%d, id=%d"), value, adcchan, id);
return value;
}
/*
* Read function ADCee::read(pin) to get value instead of analogRead(pin)
*/
int ADCee::read(uint8_t pin, bool fromISR) {
uint8_t id = pin - PNUM_ANALOG_BASE;
// Was this pin initialised yet?
if ((usedpins & (1<<id) ) == 0)
return -1023;
// We do not need to check (analogvals == NULL)
// because usedpins would still be 0 in that case
return analogvals[id];
}
/*
* Scan function that is called from interrupt
*/
#pragma GCC push_options
#pragma GCC optimize ("-O3")
void ADCee::scan() {
static uint8_t id = 0; // id and mask are the same thing but it is faster to
static uint16_t mask = 1; // increment and shift instead to calculate mask from id
static bool waiting = false;
if (waiting) {
// look if we have a result
if (!(ADC1->SR & (1 << 1)))
return; // no result, continue to wait
// found value
analogvals[id] = ADC1->DR;
// advance at least one track
#ifdef DEBUG_ADC
if (id == 1) TrackManager::track[1]->setBrake(0);
#endif
waiting = false;
id++;
mask = mask << 1;
if (id > highestPin) { // the 1 has been shifted out
id = 0;
mask = 1;
}
}
if (!waiting) {
if (usedpins == 0) // otherwise we would loop forever
return;
// look for a valid track to sample or until we are around
while (true) {
if (mask & usedpins) {
// start new ADC aquire on id
ADC1->SQR3 = analogchans[id]; //1st conversion in regular sequence
ADC1->CR2 |= (1 << 30); //Start 1st conversion SWSTART
#ifdef DEBUG_ADC
if (id == 1) TrackManager::track[1]->setBrake(1);
#endif
waiting = true;
return;
}
id++;
mask = mask << 1;
if (id > highestPin) {
id = 0;
mask = 1;
}
}
}
}
#pragma GCC pop_options
void ADCee::begin() {
noInterrupts();
//ADC1 config sequence
// TODO: currently defaults to ADC1, may need more to handle other members of STM32F4xx family
RCC->APB2ENR |= (1 << 8); //Enable ADC1 clock (Bit8)
// Set ADC prescaler - DIV8 ~ 40ms, DIV6 ~ 30ms, DIV4 ~ 20ms, DIV2 ~ 11ms
ADC->CCR = (0 << 16); // Set prescaler 0=DIV2, 1=DIV4, 2=DIV6, 3=DIV8
ADC1->CR1 &= ~(1 << 8); //SCAN mode disabled (Bit8)
ADC1->CR1 &= ~(3 << 24); //12bit resolution (Bit24,25 0b00)
ADC1->SQR1 = (1 << 20); //Set number of conversions projected (L[3:0] 0b0001) -> 1 conversion
ADC1->CR2 &= ~(1 << 1); //Single conversion
ADC1->CR2 &= ~(1 << 11); //Right alignment of data bits bit12....bit0
ADC1->SQR1 &= ~(0x3FFFFFFF); //Clear whole 1st 30bits in register
ADC1->SQR2 &= ~(0x3FFFFFFF); //Clear whole 1st 30bits in register
ADC1->SQR3 &= ~(0x3FFFFFFF); //Clear whole 1st 30bits in register
ADC1->CR2 |= (1 << 0); // Switch on ADC1
interrupts();
}
#endif