Improve STM32F4 Flash Behavior (#17946)
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9d545f1231
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4 changed files with 87 additions and 13 deletions
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@ -29,32 +29,62 @@
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#include "Servo.h"
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static uint_fast8_t servoCount = 0;
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static libServo *servos[NUM_SERVOS] = {0};
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constexpr millis_t servoDelay[] = SERVO_DELAY;
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static_assert(COUNT(servoDelay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
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libServo::libServo()
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: delay(servoDelay[servoCount++])
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{}
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: delay(servoDelay[servoCount]),
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was_attached_before_pause(false),
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value_before_pause(0)
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{
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servos[servoCount++] = this;
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}
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int8_t libServo::attach(const int pin) {
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if (servoCount >= MAX_SERVOS) return -1;
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if (pin > 0) servo_pin = pin;
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return super::attach(servo_pin);
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return stm32_servo.attach(servo_pin);
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}
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int8_t libServo::attach(const int pin, const int min, const int max) {
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if (servoCount >= MAX_SERVOS) return -1;
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if (pin > 0) servo_pin = pin;
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return super::attach(servo_pin, min, max);
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return stm32_servo.attach(servo_pin, min, max);
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}
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void libServo::move(const int value) {
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if (attach(0) >= 0) {
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write(value);
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stm32_servo.write(value);
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safe_delay(delay);
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TERN_(DEACTIVATE_SERVOS_AFTER_MOVE, detach());
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}
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}
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#endif // HAS_SERVOS
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void libServo::pause() {
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was_attached_before_pause = stm32_servo.attached();
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if (was_attached_before_pause) {
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value_before_pause = stm32_servo.read();
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stm32_servo.detach();
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}
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}
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void libServo::resume() {
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if (was_attached_before_pause) {
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attach();
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move(value_before_pause);
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}
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}
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void libServo::pause_all_servos() {
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for (auto& servo : servos)
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if (servo) servo->pause();
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}
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void libServo::resume_all_servos() {
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for (auto& servo : servos)
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if (servo) servo->resume();
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}
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#endif // HAS_SERVOS
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#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC
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@ -27,15 +27,27 @@
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#include "../../core/millis_t.h"
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// Inherit and expand on the official library
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class libServo : public Servo {
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class libServo {
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public:
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libServo();
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int8_t attach(const int pin);
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int8_t attach(const int pin = 0); // pin == 0 uses value from previous call
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int8_t attach(const int pin, const int min, const int max);
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void detach() { stm32_servo.detach(); }
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int read() { return stm32_servo.read(); }
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void move(const int value);
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void pause();
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void resume();
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static void pause_all_servos();
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static void resume_all_servos();
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private:
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typedef Servo super;
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Servo stm32_servo;
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int servo_pin = 0;
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millis_t delay = 0;
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bool was_attached_before_pause;
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int value_before_pause;
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};
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@ -28,10 +28,13 @@
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#include "../shared/eeprom_api.h"
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// Only STM32F4 can support wear leveling at this time
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#ifndef STM32F4xx
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#undef FLASH_EEPROM_LEVELING
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#if HAS_SERVOS
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#include "Servo.h"
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#define PAUSE_SERVO_OUTPUT() libServo::pause_all_servos()
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#define RESUME_SERVO_OUTPUT() libServo::resume_all_servos()
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#else
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#define PAUSE_SERVO_OUTPUT()
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#define RESUME_SERVO_OUTPUT()
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#endif
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/**
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@ -139,6 +142,11 @@ bool PersistentStore::access_start() {
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bool PersistentStore::access_finish() {
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if (eeprom_data_written) {
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#ifdef STM32F4xx
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// MCU may come up with flash error bits which prevent some flash operations.
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// Clear flags prior to flash operations to prevent errors.
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__HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR | FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
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#endif
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#if ENABLED(FLASH_EEPROM_LEVELING)
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@ -159,7 +167,11 @@ bool PersistentStore::access_finish() {
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current_slot = EEPROM_SLOTS - 1;
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UNLOCK_FLASH();
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PAUSE_SERVO_OUTPUT();
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DISABLE_ISRS();
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status = HAL_FLASHEx_Erase(&EraseInitStruct, &SectorError);
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ENABLE_ISRS();
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RESUME_SERVO_OUTPUT();
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if (status != HAL_OK) {
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DEBUG_ECHOLNPAIR("HAL_FLASHEx_Erase=", status);
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DEBUG_ECHOLNPAIR("GetError=", HAL_FLASH_GetError());
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@ -204,7 +216,18 @@ bool PersistentStore::access_finish() {
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return success;
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#else
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// The following was written for the STM32F4 but may work with other MCUs as well.
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// Most STM32F4 flash does not allow reading from flash during erase operations.
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// This takes about a second on a STM32F407 with a 128kB sector used as EEPROM.
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// Interrupts during this time can have unpredictable results, such as killing Servo
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// output. Servo output still glitches with interrupts disabled, but recovers after the
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// erase.
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PAUSE_SERVO_OUTPUT();
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DISABLE_ISRS();
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eeprom_buffer_flush();
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ENABLE_ISRS();
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RESUME_SERVO_OUTPUT();
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eeprom_data_written = false;
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#endif
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}
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@ -43,3 +43,12 @@
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#endif
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#error "SDCARD_EEPROM_EMULATION requires SDSUPPORT. Enable SDSUPPORT or choose another EEPROM emulation."
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#endif
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#if defined(STM32F4xx) && BOTH(PRINTCOUNTER, FLASH_EEPROM_EMULATION)
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#warning "FLASH_EEPROM_EMULATION may cause long delays when writing and should not be used while printing."
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#error "Disable PRINTCOUNTER or choose another EEPROM emulation."
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#endif
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#if !defined(STM32F4xx) && ENABLED(FLASH_EEPROM_LEVELING)
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#error "FLASH_EEPROM_LEVELING is currently only supported on STM32F4 hardware."
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#endif
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