Set Interrupt Priorities and Grouping for STM32F103. (#10517)

Marlin/src/HAL/HAL_STM32F1/HAL.cpp

@@ -34,24 +34,60 @@
 #include "HAL.h"
 #include <STM32ADC.h>
 
-//#include <Wire.h>
-
 // --------------------------------------------------------------------------
 // Externals
 // --------------------------------------------------------------------------
 
-// --------------------------------------------------------------------------
-// Local defines
-// --------------------------------------------------------------------------
-
 // --------------------------------------------------------------------------
 // Types
 // --------------------------------------------------------------------------
 
+#define __I
+#define __IO
+ typedef struct
+ {
+   __I  uint32_t CPUID;                   /*!< Offset: 0x000 (R/ )  CPUID Base Register                                   */
+   __IO uint32_t ICSR;                    /*!< Offset: 0x004 (R/W)  Interrupt Control and State Register                  */
+   __IO uint32_t VTOR;                    /*!< Offset: 0x008 (R/W)  Vector Table Offset Register                          */
+   __IO uint32_t AIRCR;                   /*!< Offset: 0x00C (R/W)  Application Interrupt and Reset Control Register      */
+   __IO uint32_t SCR;                     /*!< Offset: 0x010 (R/W)  System Control Register                               */
+   __IO uint32_t CCR;                     /*!< Offset: 0x014 (R/W)  Configuration Control Register                        */
+   __IO uint8_t  SHP[12];                 /*!< Offset: 0x018 (R/W)  System Handlers Priority Registers (4-7, 8-11, 12-15) */
+   __IO uint32_t SHCSR;                   /*!< Offset: 0x024 (R/W)  System Handler Control and State Register             */
+   __IO uint32_t CFSR;                    /*!< Offset: 0x028 (R/W)  Configurable Fault Status Register                    */
+   __IO uint32_t HFSR;                    /*!< Offset: 0x02C (R/W)  HardFault Status Register                             */
+   __IO uint32_t DFSR;                    /*!< Offset: 0x030 (R/W)  Debug Fault Status Register                           */
+   __IO uint32_t MMFAR;                   /*!< Offset: 0x034 (R/W)  MemManage Fault Address Register                      */
+   __IO uint32_t BFAR;                    /*!< Offset: 0x038 (R/W)  BusFault Address Register                             */
+   __IO uint32_t AFSR;                    /*!< Offset: 0x03C (R/W)  Auxiliary Fault Status Register                       */
+   __I  uint32_t PFR[2];                  /*!< Offset: 0x040 (R/ )  Processor Feature Register                            */
+   __I  uint32_t DFR;                     /*!< Offset: 0x048 (R/ )  Debug Feature Register                                */
+   __I  uint32_t ADR;                     /*!< Offset: 0x04C (R/ )  Auxiliary Feature Register                            */
+   __I  uint32_t MMFR[4];                 /*!< Offset: 0x050 (R/ )  Memory Model Feature Register                         */
+   __I  uint32_t ISAR[5];                 /*!< Offset: 0x060 (R/ )  Instruction Set Attributes Register                   */
+        uint32_t RESERVED0[5];
+   __IO uint32_t CPACR;                   /*!< Offset: 0x088 (R/W)  Coprocessor Access Control Register                   */
+ } SCB_Type;
+
 // --------------------------------------------------------------------------
 // Variables
 // --------------------------------------------------------------------------
 
+// --------------------------------------------------------------------------
+// Local defines
+// --------------------------------------------------------------------------
+#define SCS_BASE            (0xE000E000UL)                            /*!< System Control Space Base Address  */
+#define SCB_BASE            (SCS_BASE +  0x0D00UL)                    /*!< System Control Block Base Address  */
+
+#define SCB                 ((SCB_Type       *)     SCB_BASE      )   /*!< SCB configuration struct           */
+
+/* SCB Application Interrupt and Reset Control Register Definitions */
+#define SCB_AIRCR_VECTKEY_Pos              16                                             /*!< SCB AIRCR: VECTKEY Position */
+#define SCB_AIRCR_VECTKEY_Msk              (0xFFFFUL << SCB_AIRCR_VECTKEY_Pos)            /*!< SCB AIRCR: VECTKEY Mask */
+
+#define SCB_AIRCR_PRIGROUP_Pos              8                                             /*!< SCB AIRCR: PRIGROUP Position */
+#define SCB_AIRCR_PRIGROUP_Msk             (7UL << SCB_AIRCR_PRIGROUP_Pos)                /*!< SCB AIRCR: PRIGROUP Mask */
+
 // --------------------------------------------------------------------------
 // Public Variables
 // --------------------------------------------------------------------------
@@ -123,11 +159,26 @@ uint16_t HAL_adc_results[ADC_PIN_COUNT];
 // --------------------------------------------------------------------------
 // Private functions
 // --------------------------------------------------------------------------
+static void NVIC_SetPriorityGrouping(uint32_t PriorityGroup) {
+  uint32_t reg_value;
+  uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07);               /* only values 0..7 are used          */
+
+  reg_value  =  SCB->AIRCR;                                                   /* read old register configuration    */
+  reg_value &= ~(SCB_AIRCR_VECTKEY_Msk | SCB_AIRCR_PRIGROUP_Msk);             /* clear bits to change               */
+  reg_value  =  (reg_value                                 |
+                ((uint32_t)0x5FA << SCB_AIRCR_VECTKEY_Pos) |
+                (PriorityGroupTmp << 8));                                     /* Insert write key and priorty group */
+  SCB->AIRCR =  reg_value;
+}
 
 // --------------------------------------------------------------------------
 // Public functions
 // --------------------------------------------------------------------------
 
+void HAL_init(void) {
+  NVIC_SetPriorityGrouping(0x3);
+}
+
 /* VGPV Done with defines
 // disable interrupts
 void cli(void) { noInterrupts(); }

Marlin/src/HAL/HAL_STM32F1/HAL.h

@@ -108,6 +108,10 @@ extern USBSerial SerialUSB;
   #define NUM_SERIAL 1
 #endif
 
+// Use HAL_init() to set interrupt grouping.
+#define HAL_INIT
+void HAL_init(); 
+
 /**
  * TODO: review this to return 1 for pins that are not analog input
  */

Marlin/src/HAL/HAL_STM32F1/HAL_timers_Stm32f1.cpp

@@ -109,7 +109,11 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
        */
       break;
   }
-  nvic_irq_set_priority(irq_num, 0xF); // this is the lowest settable priority, but should still be over USB
+
+  /**
+   * Give the Stepper ISR a higher priority (lower number)
+   * so it automatically preempts the Temperature ISR.
+   */
 
   switch (timer_num) {
     case STEP_TIMER_NUM:
@@ -119,6 +123,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
       timer_set_reload(STEP_TIMER_DEV, 0xFFFF);
       timer_set_compare(STEP_TIMER_DEV, STEP_TIMER_CHAN, min(HAL_TIMER_TYPE_MAX, (HAL_STEPPER_TIMER_RATE / frequency)));
       timer_attach_interrupt(STEP_TIMER_DEV, STEP_TIMER_CHAN, stepTC_Handler);
+      nvic_irq_set_priority(irq_num, 1);
       timer_generate_update(STEP_TIMER_DEV);
       timer_resume(STEP_TIMER_DEV);
       break;
@@ -129,6 +134,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
       timer_set_reload(TEMP_TIMER_DEV, 0xFFFF);
       timer_set_compare(TEMP_TIMER_DEV, TEMP_TIMER_CHAN, min(HAL_TIMER_TYPE_MAX, ((F_CPU / TEMP_TIMER_PRESCALE) / frequency)));
       timer_attach_interrupt(TEMP_TIMER_DEV, TEMP_TIMER_CHAN, tempTC_Handler);
+      nvic_irq_set_priority(irq_num, 2);
       timer_generate_update(TEMP_TIMER_DEV);
       timer_resume(TEMP_TIMER_DEV);
       break;

Marlin/src/HAL/HAL_STM32F1/fastio_Stm32f1.h

@@ -32,7 +32,7 @@
 #include <libmaple/gpio.h>
 
 #define READ(IO)              (PIN_MAP[IO].gpio_device->regs->IDR & (1U << PIN_MAP[IO].gpio_bit) ? HIGH : LOW)
-#define WRITE(IO,V)           (PIN_MAP[IO].gpio_device->regs->BSRR = (1U << PIN_MAP[IO].gpio_bit) << (16 * !(bool)v))
+#define WRITE(IO,V)           (PIN_MAP[IO].gpio_device->regs->BSRR = (1U << PIN_MAP[IO].gpio_bit) << (16 * !(bool)V))
 #define TOGGLE(IO)            (PIN_MAP[IO].gpio_device->regs->ODR = PIN_MAP[IO].gpio_device->regs->ODR ^ (1U << PIN_MAP[IO].gpio_bit))
 #define WRITE_VAR(IO,V)       WRITE(io,V)