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modified realtime mode on ESP32
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- modified realtime mode on ESP32 to use individual timers and no stepping time interpolation
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@Paciente8159
Paciente8159 committed Nov 18, 2024
1 parent 714cda2 commit e74b699
Showing 1 changed file with 78 additions and 60 deletions.
138 changes: 78 additions & 60 deletions uCNC/src/hal/mcus/esp32/mcu_esp32.c
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Original file line number Diff line number Diff line change
Expand Up @@ -86,8 +86,8 @@ static flash_eeprom_t mcu_eeprom;
#endif

MCU_CALLBACK void mcu_itp_isr(void *arg);
static MCU_CALLBACK void mcu_gen_pwm_and_servo(void);
static MCU_CALLBACK void mcu_gen_step(void);
MCU_CALLBACK void mcu_gen_pwm_and_servo(void *arg);
MCU_CALLBACK void mcu_gen_step(void);
MCU_CALLBACK void mcu_gpio_isr(void *type);

/**
Expand Down Expand Up @@ -115,6 +115,18 @@ MCU_CALLBACK void mcu_gpio_isr(void *type);
static volatile uint32_t i2s_mode;
#define I2S_MODE __atomic_load_n((uint32_t *)&i2s_mode, __ATOMIC_RELAXED)

MCU_CALLBACK void ic74hc595_shift_io_pins(void)
{
uint8_t mode = ITP_STEP_MODE_REALTIME;
#if !defined(USE_I2S_REALTIME_MODE_ONLY) && defined(IC74HC595_CUSTOM_SHIFT_IO)
mode = I2S_MODE;
#endif
if (mode == ITP_STEP_MODE_REALTIME)
{
__atomic_store_n((uint32_t *)&I2SREG.conf_single_data, __atomic_load_n((uint32_t *)&ic74hc595_i2s_pins, __ATOMIC_RELAXED), __ATOMIC_RELAXED);
}
}

// software generated oneshot for RT steps like laser PPI
#if defined(MCU_HAS_ONESHOT_TIMER) && defined(ENABLE_RT_SYNC_MOTIONS)
static uint32_t esp32_oneshot_counter;
Expand Down Expand Up @@ -249,7 +261,7 @@ static void IRAM_ATTR esp32_i2s_stream_task(void *param)
I2SREG.conf.rx_msb_shift = 0;
I2SREG.int_ena.out_eof = 0;
I2SREG.int_ena.out_dscr_err = 0;
I2SREG.conf_single_data = __atomic_load_n((uint32_t *)&ic74hc595_i2s_pins, __ATOMIC_RELAXED);
ic74hc595_shift_io_pins();
I2SREG.conf1.tx_stop_en = 0;
I2SREG.int_ena.val = 0;
I2SREG.fifo_conf.dscr_en = 1;
Expand All @@ -274,7 +286,7 @@ static void IRAM_ATTR esp32_i2s_stream_task(void *param)
mcu_gen_step();
#endif
#if defined(IC74HC595_HAS_PWMS) || defined(IC74HC595_HAS_SERVOS)
mcu_gen_pwm_and_servo();
mcu_gen_pwm_and_servo(NULL);
#endif
#if defined(MCU_HAS_ONESHOT_TIMER) && defined(ENABLE_RT_SYNC_MOTIONS)
mcu_gen_oneshot();
Expand All @@ -297,10 +309,11 @@ static FORCEINLINE void esp32_i2s_extender_init(void)
{
#ifdef USE_I2S_REALTIME_MODE_ONLY
itp_set_step_mode(ITP_STEP_MODE_REALTIME);
esp32_i2s_stream_task(NULL);
#else
itp_set_step_mode(ITP_STEP_MODE_DEFAULT);
#endif
xTaskCreatePinnedToCore(esp32_i2s_stream_task, "esp32I2Supdate", 4096, NULL, 7, NULL, CONFIG_ARDUINO_RUNNING_CORE);
#endif
}
#endif

Expand Down Expand Up @@ -403,7 +416,7 @@ static FORCEINLINE void servo_update(void)
}
#endif

static MCU_CALLBACK void mcu_gen_pwm_and_servo(void)
MCU_CALLBACK void mcu_gen_pwm_and_servo(void *arg)
{
static int16_t mcu_soft_io_counter;
int16_t t = mcu_soft_io_counter;
Expand Down Expand Up @@ -445,29 +458,20 @@ static MCU_CALLBACK void mcu_gen_pwm_and_servo(void)

static volatile uint32_t mcu_itp_timer_reload;
static volatile bool mcu_itp_timer_running;
static MCU_CALLBACK void mcu_gen_step(void)
MCU_CALLBACK void mcu_gen_step(void)
{
static bool step_reset = true;

static int32_t mcu_itp_timer_counter;

// generate steps
if (mcu_itp_timer_running)
{
// stream mode tick
int32_t t = mcu_itp_timer_counter;
bool reset = step_reset;
t -= (int32_t)roundf(1000000.0f / (float)ITP_SAMPLE_RATE);
if (t <= 0)
if (t <= (int32_t)roundf(500000.0f / (float)ITP_SAMPLE_RATE))
{
if (!reset)
{
mcu_step_cb();
}
else
{
mcu_step_reset_cb();
}
step_reset = !reset;
mcu_itp_isr(NULL);
mcu_itp_timer_counter = mcu_itp_timer_reload + t;
}
else
Expand Down Expand Up @@ -536,36 +540,17 @@ void mcu_rtc_task(void *arg)

MCU_CALLBACK void mcu_itp_isr(void *arg)
{
#ifdef IC74HC595_CUSTOM_SHIFT_IO
uint32_t mode = I2S_MODE;
#if defined(IC74HC595_HAS_STEPS) || defined(IC74HC595_HAS_DIRS)
if (mode == ITP_STEP_MODE_REALTIME)
#endif
#endif
{
mcu_gen_step();
}
#ifdef IC74HC595_CUSTOM_SHIFT_IO
#if defined(IC74HC595_HAS_PWMS) || defined(IC74HC595_HAS_SERVOS)
if (mode == ITP_STEP_MODE_REALTIME)
#endif
#endif
static bool step_reset = true;
bool reset = step_reset;
if (!reset)
{
mcu_gen_pwm_and_servo();
mcu_step_cb();
}
#if defined(MCU_HAS_ONESHOT_TIMER) && defined(ENABLE_RT_SYNC_MOTIONS)
mcu_gen_oneshot();
#endif
#ifdef IC74HC595_CUSTOM_SHIFT_IO
#if defined(IC74HC595_HAS_STEPS) || defined(IC74HC595_HAS_DIRS) || defined(IC74HC595_HAS_PWMS) || defined(IC74HC595_HAS_SERVOS)
// this is where the IO update happens in RT mode
// this prevents multiple
if (mode == ITP_STEP_MODE_REALTIME)
else
{
I2SREG.conf_single_data = __atomic_load_n((uint32_t *)&ic74hc595_i2s_pins, __ATOMIC_RELAXED);
mcu_step_reset_cb();
}
#endif
#endif
step_reset = !reset;

timer_group_clr_intr_status_in_isr(ITP_TIMER_TG, ITP_TIMER_IDX);
/* After the alarm has been triggered
Expand Down Expand Up @@ -668,7 +653,28 @@ void mcu_init(void)
// register PWM isr
timer_isr_register(ITP_TIMER_TG, ITP_TIMER_IDX, mcu_itp_isr, NULL, 0, NULL);
timer_enable_intr(ITP_TIMER_TG, ITP_TIMER_IDX);
timer_start(ITP_TIMER_TG, ITP_TIMER_IDX);
// timer_start(ITP_TIMER_TG, ITP_TIMER_IDX);

// inititialize SERVO and soft PWM timer
#if (SERVO_MASK > 0) || defined(IC74HC595_HAS_PWMS) || defined(IC74HC595_HAS_SERVOS) || defined(MCU_HAS_SOFT_PWM_TIMER)
timer_config_t servoconfig = {0};
servoconfig.divider = 2;
servoconfig.counter_dir = TIMER_COUNT_UP;
servoconfig.counter_en = TIMER_PAUSE;
servoconfig.intr_type = TIMER_INTR_MAX;
servoconfig.alarm_en = TIMER_ALARM_EN;
servoconfig.auto_reload = true;
timer_init(SERVO_TIMER_TG, SERVO_TIMER_IDX, &servoconfig);
/* Timer's counter will initially start from value below.
Also, if auto_reload is set, this value will be automatically reload on alarm */
timer_set_counter_value(SERVO_TIMER_TG, SERVO_TIMER_IDX, 0x00000000ULL);
/* Configure the alarm value and the interrupt on alarm. */
timer_set_alarm_value(SERVO_TIMER_TG, SERVO_TIMER_IDX, (uint64_t)(getApbFrequency() / (ITP_SAMPLE_RATE * 2)));
// register PWM isr
timer_isr_register(SERVO_TIMER_TG, SERVO_TIMER_IDX, mcu_gen_pwm_and_servo, NULL, 0, NULL);
timer_enable_intr(SERVO_TIMER_TG, SERVO_TIMER_IDX);
timer_start(SERVO_TIMER_TG, SERVO_TIMER_IDX);
#endif

#ifdef IC74HC595_CUSTOM_SHIFT_IO
esp32_i2s_extender_init();
Expand Down Expand Up @@ -897,12 +903,13 @@ bool mcu_get_global_isr(void)
// Step interpolator
/**
* convert step rate to clock cycles
*
* */
void mcu_freq_to_clocks(float frequency, uint16_t *ticks, uint16_t *prescaller)
{
frequency = CLAMP((float)F_STEP_MIN, frequency, (float)F_STEP_MAX);
// up and down counter (generates half the step rate at each event)
uint32_t totalticks = (uint32_t)((500000.0f) / frequency);
uint32_t totalticks = (uint32_t)(500000.0f / frequency);
*prescaller = 1;
while (totalticks > 0xFFFF)
{
Expand All @@ -915,8 +922,8 @@ void mcu_freq_to_clocks(float frequency, uint16_t *ticks, uint16_t *prescaller)

float mcu_clocks_to_freq(uint16_t ticks, uint16_t prescaller)
{
uint32_t totalticks = (uint32_t)ticks * prescaller;
return 500000.0f / ((float)totalticks);
float totalticks = (float)ticks * (float)prescaller;
return (500000.0f / totalticks);
}

/**
Expand All @@ -927,11 +934,7 @@ void mcu_start_itp_isr(uint16_t ticks, uint16_t prescaller)
{
if (!mcu_itp_timer_running)
{
mcu_itp_timer_reload = ticks * prescaller;
mcu_itp_timer_running = true;
}
else
{
mcu_change_itp_isr(ticks, prescaller);
}
}
Expand All @@ -943,11 +946,17 @@ void mcu_change_itp_isr(uint16_t ticks, uint16_t prescaller)
{
if (mcu_itp_timer_running)
{
mcu_itp_timer_reload = ticks * prescaller;
}
else
{
mcu_start_itp_isr(ticks, prescaller);
uint8_t mode = ITP_STEP_MODE_REALTIME;
#if !defined(USE_I2S_REALTIME_MODE_ONLY) && defined(IC74HC595_CUSTOM_SHIFT_IO)
mode = I2S_MODE;
#endif
if (mode == ITP_STEP_MODE_REALTIME)
{
timer_pause(ITP_TIMER_TG, ITP_TIMER_IDX);
timer_set_counter_value(ITP_TIMER_TG, ITP_TIMER_IDX, 0x00000000ULL);
timer_set_alarm_value(ITP_TIMER_TG, ITP_TIMER_IDX, (uint64_t)(ticks * prescaller));
timer_start(ITP_TIMER_TG, ITP_TIMER_IDX);
}
}
}

Expand All @@ -959,6 +968,15 @@ void mcu_stop_itp_isr(void)
if (mcu_itp_timer_running)
{
mcu_itp_timer_running = false;
uint8_t mode = ITP_STEP_MODE_REALTIME;
#if !defined(USE_I2S_REALTIME_MODE_ONLY) && defined(IC74HC595_CUSTOM_SHIFT_IO)
mode = I2S_MODE;
#endif
if (mode == ITP_STEP_MODE_REALTIME)
{
timer_pause(ITP_TIMER_TG, ITP_TIMER_IDX);
timer_set_counter_value(ITP_TIMER_TG, ITP_TIMER_IDX, 0x00000000ULL);
}
}
}

Expand Down Expand Up @@ -1059,7 +1077,7 @@ uint8_t mcu_eeprom_getc(uint16_t address)
{
if (NVM_STORAGE_SIZE <= address)
{
DBGMSG("EEPROM invalid address @ %u",address);
DBGMSG("EEPROM invalid address @ %u", address);
return 0;
}
#ifndef RAM_ONLY_SETTINGS
Expand All @@ -1080,7 +1098,7 @@ void mcu_eeprom_putc(uint16_t address, uint8_t value)
{
if (NVM_STORAGE_SIZE <= address)
{
DBGMSG("EEPROM invalid address @ %u",address);
DBGMSG("EEPROM invalid address @ %u", address);
}
#ifndef RAM_ONLY_SETTINGS
// esp32_eeprom_write(address, value);
Expand Down

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