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🐛 Fix Teensy 4.x stepper timing (#28169)

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🧑‍💻 Timer general cleanup
🩹 Teensy 4.x timer mods
This commit is contained in:
Scott Lahteine 2025-11-13 12:42:52 -06:00
parent f79ee8dea9
commit 5e89989dac
14 changed files with 99 additions and 54 deletions
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4
Marlin/src/HAL/AVR/timers.h
View file

@ -109,8 +109,8 @@ FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
* (otherwise, characters will be lost due to UART overflow).
* Then: Stepper, Endstops, Temperature, and -finally- all others.
*/
#define HAL_timer_isr_prologue(T) NOOP
#define HAL_timer_isr_epilogue(T) NOOP
inline void HAL_timer_isr_prologue(const uint8_t) {}
inline void HAL_timer_isr_epilogue(const uint8_t) {}
#ifndef HAL_STEP_TIMER_ISR

2
Marlin/src/HAL/DUE/timers.h
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@ -125,4 +125,4 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_SR;
}
#define HAL_timer_isr_epilogue(T) NOOP
inline void HAL_timer_isr_epilogue(const uint8_t) {}

4
Marlin/src/HAL/ESP32/timers.h
View file

@ -136,5 +136,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
void HAL_timer_disable_interrupt(const uint8_t timer_num);
bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
#define HAL_timer_isr_prologue(T) NOOP
#define HAL_timer_isr_epilogue(T) NOOP
inline void HAL_timer_isr_prologue(const uint8_t) {}
inline void HAL_timer_isr_epilogue(const uint8_t) {}

4
Marlin/src/HAL/LINUX/timers.h
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@ -92,5 +92,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
void HAL_timer_disable_interrupt(const uint8_t timer_num);
bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
#define HAL_timer_isr_prologue(T) NOOP
#define HAL_timer_isr_epilogue(T) NOOP
inline void HAL_timer_isr_prologue(const uint8_t) {}
inline void HAL_timer_isr_epilogue(const uint8_t) {}

2
Marlin/src/HAL/LPC1768/timers.h
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@ -170,4 +170,4 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
}
}
#define HAL_timer_isr_epilogue(T) NOOP
inline void HAL_timer_isr_epilogue(const uint8_t) {}

4
Marlin/src/HAL/NATIVE_SIM/timers.h
View file

@ -87,5 +87,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
void HAL_timer_disable_interrupt(const uint8_t timer_num);
bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
#define HAL_timer_isr_prologue(T) NOOP
#define HAL_timer_isr_epilogue(T) NOOP
inline void HAL_timer_isr_prologue(const uint8_t) {}
inline void HAL_timer_isr_epilogue(const uint8_t) {}

2
Marlin/src/HAL/SAMD51/timers.h
View file

@ -140,4 +140,4 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
}
}
#define HAL_timer_isr_epilogue(timer_num)
inline void HAL_timer_isr_epilogue(const uint8_t) {}

4
Marlin/src/HAL/STM32/timers.h
View file

@ -116,5 +116,5 @@ FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const ha
}
}
#define HAL_timer_isr_prologue(T) NOOP
#define HAL_timer_isr_epilogue(T) NOOP
inline void HAL_timer_isr_prologue(const uint8_t) {}
inline void HAL_timer_isr_epilogue(const uint8_t) {}

2
Marlin/src/HAL/STM32F1/timers.h
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@ -188,7 +188,7 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
}
}
#define HAL_timer_isr_epilogue(T) NOOP
inline void HAL_timer_isr_epilogue(const uint8_t) {}
// No command is available in framework to turn off ARPE bit, which is turned on by default in libmaple.
// Needed here to reset ARPE=0 for stepper timer

6
Marlin/src/HAL/TEENSY31_32/timers.h
View file

@ -74,10 +74,10 @@ typedef uint32_t hal_timer_t;
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)
#ifndef HAL_STEP_TIMER_ISR
#define HAL_STEP_TIMER_ISR() extern "C" void ftm0_isr() //void TC3_Handler()
#define HAL_STEP_TIMER_ISR() extern "C" void ftm0_isr()
#endif
#ifndef HAL_TEMP_TIMER_ISR
#define HAL_TEMP_TIMER_ISR() extern "C" void ftm1_isr() //void TC4_Handler()
#define HAL_TEMP_TIMER_ISR() extern "C" void ftm1_isr()
#endif
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
@ -110,4 +110,4 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num);
bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
void HAL_timer_isr_prologue(const uint8_t timer_num);
#define HAL_timer_isr_epilogue(T) NOOP
inline void HAL_timer_isr_epilogue(const uint8_t) {}

2
Marlin/src/HAL/TEENSY35_36/timers.h
View file

@ -109,4 +109,4 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num);
bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
void HAL_timer_isr_prologue(const uint8_t timer_num);
#define HAL_timer_isr_epilogue(T) NOOP
inline void HAL_timer_isr_epilogue(const uint8_t) {}

94
Marlin/src/HAL/TEENSY40_41/timers.cpp
View file

@ -30,41 +30,82 @@
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
switch (timer_num) {
//
// Step Timer – GPT1 - Compare Interrupt OCR1 - Reset Mode
//
case MF_TIMER_STEP:
CCM_CSCMR1 &= ~CCM_CSCMR1_PERCLK_CLK_SEL; // turn off 24mhz mode
// 24MHz mode off – Use peripheral clock (150MHz)
CCM_CSCMR1 &= ~CCM_CSCMR1_PERCLK_CLK_SEL;
// Enable GPT1 clock gating
CCM_CCGR1 |= CCM_CCGR1_GPT1_BUS(CCM_CCGR_ON);
GPT1_CR = 0; // disable timer
GPT1_SR = 0x3F; // clear all prior status
GPT1_PR = GPT1_TIMER_PRESCALE - 1;
GPT1_CR |= GPT_CR_CLKSRC(1); //clock selection #1 (peripheral clock = 150 MHz)
GPT1_CR |= GPT_CR_ENMOD; //reset count to zero before enabling
GPT1_CR |= GPT_CR_OM1(1); // toggle mode
GPT1_OCR1 = (GPT1_TIMER_RATE / frequency) -1; // Initial compare value
GPT1_IR = GPT_IR_OF1IE; // Compare3 value
GPT1_CR |= GPT_CR_EN; //enable GPT2 counting at 150 MHz
// Disable timer, clear all status bits
GPT1_CR = 0; // Disable timer
GPT1_SR = 0x3F; // Clear all prior status
OUT_WRITE(15, HIGH);
// Prescaler = 2 => 75MHz counting clock
GPT1_PR = GPT1_TIMER_PRESCALE - 1;
GPT1_CR = GPT_CR_CLKSRC(1) // Clock selection #1 (peripheral clock = 150 MHz)
| GPT_CR_ENMOD // Reset count to zero before enabling
| GPT_CR_OM2(TERN(MARLIN_DEV_MODE, 1, 0)); // 0 = edge compare, 1 = toggle
// Compare value – the number of clocks between edges
GPT1_OCR1 = (GPT1_TIMER_RATE / frequency) - 1;
// Enable compare‑event interrupt
GPT1_IR = GPT_IR_OF1IE; // OF1 interrupt enabled
// Pull Pin 15 HIGH (logic‑high is the “idle” state)
TERN_(MARLIN_DEV_MODE, OUT_WRITE(15, HIGH));
// Attach and enable Stepper IRQ
// Note: UART priority is 16
attachInterruptVector(IRQ_GPT1, &stepTC_Handler);
NVIC_SET_PRIORITY(IRQ_GPT1, 16);
NVIC_SET_PRIORITY(IRQ_GPT1, 16); // Priority 16 (higher than Temp Timer)
// Start GPT1 counting at 150 MHz
GPT1_CR |= GPT_CR_EN;
break;
//
// Temperature Timer – GPT2 - Compare Interrupt OCR1 - Reset Mode
//
case MF_TIMER_TEMP:
CCM_CSCMR1 &= ~CCM_CSCMR1_PERCLK_CLK_SEL; // turn off 24mhz mode
// 24MHz mode off – Use peripheral clock (150MHz)
CCM_CSCMR1 &= ~CCM_CSCMR1_PERCLK_CLK_SEL;
// Enable GPT2 clock gating
CCM_CCGR0 |= CCM_CCGR0_GPT2_BUS(CCM_CCGR_ON);
GPT2_CR = 0; // disable timer
GPT2_SR = 0x3F; // clear all prior status
GPT2_PR = GPT2_TIMER_PRESCALE - 1;
GPT2_CR |= GPT_CR_CLKSRC(1); //clock selection #1 (peripheral clock = 150 MHz)
GPT2_CR |= GPT_CR_ENMOD; //reset count to zero before enabling
GPT2_CR |= GPT_CR_OM1(1); // toggle mode
GPT2_OCR1 = (GPT2_TIMER_RATE / frequency) -1; // Initial compare value
GPT2_IR = GPT_IR_OF1IE; // Compare3 value
GPT2_CR |= GPT_CR_EN; //enable GPT2 counting at 150 MHz
// Disable timer, clear all status bits
GPT2_CR = 0; // Disable timer
GPT2_SR = 0x3F; // Clear all prior status
OUT_WRITE(14, HIGH);
// Prescaler = 10 => 15MHz counting clock
GPT2_PR = GPT2_TIMER_PRESCALE - 1;
GPT2_CR = GPT_CR_CLKSRC(1) // Clock selection #1 (peripheral clock = 150 MHz)
| GPT_CR_ENMOD // and reset count to zero before enabling
| GPT_CR_OM2(TERN(MARLIN_DEV_MODE, 1, 0)); // 0 = edge compare, 1 = toggle
// Compare value – the number of clocks between edges
GPT2_OCR1 = (GPT2_TIMER_RATE / frequency) - 1;
// Enable compare‑event interrupt
GPT2_IR = GPT_IR_OF1IE; // OF1 interrupt enabled
// Pull Pin 14 HIGH (logic‑high is the “idle” state)
TERN_(MARLIN_DEV_MODE, OUT_WRITE(14, HIGH));
// Attach Temperature ISR
attachInterruptVector(IRQ_GPT2, &tempTC_Handler);
NVIC_SET_PRIORITY(IRQ_GPT2, 32);
NVIC_SET_PRIORITY(IRQ_GPT2, 32); // Priority 32 (lower than Step Timer)
// Start GPT2 counting at 150 MHz
GPT2_CR |= GPT_CR_EN;
break;
}
}
@ -82,6 +123,7 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num) {
case MF_TIMER_TEMP: NVIC_DISABLE_IRQ(IRQ_GPT2); break;
}
// Ensure the CPU actually stops servicing the IRQ
// We NEED memory barriers to ensure Interrupts are actually disabled!
// ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
asm volatile("dsb");
@ -97,8 +139,8 @@ bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
void HAL_timer_isr_prologue(const uint8_t timer_num) {
switch (timer_num) {
case MF_TIMER_STEP: GPT1_SR = GPT_IR_OF1IE; break; // clear OF3 bit
case MF_TIMER_TEMP: GPT2_SR = GPT_IR_OF1IE; break; // clear OF3 bit
case MF_TIMER_STEP: GPT1_SR = GPT_IR_OF1IE; break; // clear OF1
case MF_TIMER_TEMP: GPT2_SR = GPT_IR_OF1IE; break;
}
asm volatile("dsb");
}

17
Marlin/src/HAL/TEENSY40_41/timers.h
View file

@ -58,7 +58,7 @@ typedef uint32_t hal_timer_t;
#define STEPPER_TIMER_RATE GPT1_TIMER_RATE
#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000)
#define STEPPER_TIMER_PRESCALE ((GPT_TIMER_RATE / 1000000) / STEPPER_TIMER_TICKS_PER_US)
#define STEPPER_TIMER_PRESCALE (GPT_TIMER_RATE / STEPPER_TIMER_RATE)
#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
@ -87,8 +87,16 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
switch (timer_num) {
case MF_TIMER_STEP: GPT1_OCR1 = compare - 1; break;
case MF_TIMER_TEMP: GPT2_OCR1 = compare - 1; break;
case MF_TIMER_STEP:
GPT1_CR |= GPT_CR_FRR; // Free Run Mode (setting OCRx preserves CNT)
GPT1_OCR1 = compare - 1;
GPT1_CR &= ~GPT_CR_FRR; // Reset Mode (CNT resets on trigger)
break;
case MF_TIMER_TEMP:
GPT2_CR |= GPT_CR_FRR; // Free Run Mode (setting OCRx preserves CNT)
GPT2_OCR1 = compare - 1;
GPT2_CR &= ~GPT_CR_FRR; // Reset Mode (CNT resets on trigger)
break;
}
}
@ -113,5 +121,4 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num);
bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
void HAL_timer_isr_prologue(const uint8_t timer_num);
//void HAL_timer_isr_epilogue(const uint8_t timer_num) {}
#define HAL_timer_isr_epilogue(T) NOOP
inline void HAL_timer_isr_epilogue(const uint8_t) {}

6
Marlin/src/module/stepper.cpp
View file

@ -1475,11 +1475,7 @@ HAL_STEP_TIMER_ISR() {
HAL_timer_isr_epilogue(MF_TIMER_STEP);
}
#ifdef CPU_32_BIT
#define STEP_MULTIPLY(A,B) MultiU32X24toH32(A, B)
#else
#define STEP_MULTIPLY(A,B) MultiU24X32toH16(A, B)
#endif
#define STEP_MULTIPLY(A,B) TERN(CPU_32_BIT, MultiU32X24toH32, MultiU24X32toH16)(A, B)
void Stepper::isr() {