From 25aade1cf13d6d8936859328addf21307b63d91e Mon Sep 17 00:00:00 2001
From: Jason Smith <jason.inet@gmail.com>
Date: Sun, 10 May 2020 23:10:20 -0700
Subject: [PATCH] Improve STM32F4 Flash Behavior (#17946)
---
Marlin/src/HAL/STM32/Servo.cpp | 42 ++++++++++++++++++++++----
Marlin/src/HAL/STM32/Servo.h | 18 +++++++++--
Marlin/src/HAL/STM32/eeprom_flash.cpp | 31 ++++++++++++++++---
Marlin/src/HAL/STM32/inc/SanityCheck.h | 9 ++++++
4 files changed, 87 insertions(+), 13 deletions(-)
diff --git a/Marlin/src/HAL/STM32/Servo.cpp b/Marlin/src/HAL/STM32/Servo.cpp
index d192da5d28..5fb8e3cd6a 100644
--- a/Marlin/src/HAL/STM32/Servo.cpp
+++ b/Marlin/src/HAL/STM32/Servo.cpp
@@ -29,32 +29,62 @@
#include "Servo.h"
static uint_fast8_t servoCount = 0;
+static libServo *servos[NUM_SERVOS] = {0};
constexpr millis_t servoDelay[] = SERVO_DELAY;
static_assert(COUNT(servoDelay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
libServo::libServo()
-: delay(servoDelay[servoCount++])
-{}
+: delay(servoDelay[servoCount]),
+ was_attached_before_pause(false),
+ value_before_pause(0)
+{
+ servos[servoCount++] = this;
+}
int8_t libServo::attach(const int pin) {
if (servoCount >= MAX_SERVOS) return -1;
if (pin > 0) servo_pin = pin;
- return super::attach(servo_pin);
+ return stm32_servo.attach(servo_pin);
}
int8_t libServo::attach(const int pin, const int min, const int max) {
if (servoCount >= MAX_SERVOS) return -1;
if (pin > 0) servo_pin = pin;
- return super::attach(servo_pin, min, max);
+ return stm32_servo.attach(servo_pin, min, max);
}
void libServo::move(const int value) {
if (attach(0) >= 0) {
- write(value);
+ stm32_servo.write(value);
safe_delay(delay);
TERN_(DEACTIVATE_SERVOS_AFTER_MOVE, detach());
}
}
-#endif // HAS_SERVOS
+void libServo::pause() {
+ was_attached_before_pause = stm32_servo.attached();
+ if (was_attached_before_pause) {
+ value_before_pause = stm32_servo.read();
+ stm32_servo.detach();
+ }
+}
+
+void libServo::resume() {
+ if (was_attached_before_pause) {
+ attach();
+ move(value_before_pause);
+ }
+}
+
+void libServo::pause_all_servos() {
+ for (auto& servo : servos)
+ if (servo) servo->pause();
+}
+
+void libServo::resume_all_servos() {
+ for (auto& servo : servos)
+ if (servo) servo->resume();
+}
+
+#endif // HAS_SERVOS
#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC
diff --git a/Marlin/src/HAL/STM32/Servo.h b/Marlin/src/HAL/STM32/Servo.h
index e8b3c4b100..50ae1a9b94 100644
--- a/Marlin/src/HAL/STM32/Servo.h
+++ b/Marlin/src/HAL/STM32/Servo.h
@@ -27,15 +27,27 @@
#include "../../core/millis_t.h"
// Inherit and expand on the official library
-class libServo : public Servo {
+class libServo {
public:
libServo();
- int8_t attach(const int pin);
+ int8_t attach(const int pin = 0); // pin == 0 uses value from previous call
int8_t attach(const int pin, const int min, const int max);
+ void detach() { stm32_servo.detach(); }
+ int read() { return stm32_servo.read(); }
void move(const int value);
+
+ void pause();
+ void resume();
+
+ static void pause_all_servos();
+ static void resume_all_servos();
+
private:
- typedef Servo super;
+ Servo stm32_servo;
int servo_pin = 0;
millis_t delay = 0;
+
+ bool was_attached_before_pause;
+ int value_before_pause;
};
diff --git a/Marlin/src/HAL/STM32/eeprom_flash.cpp b/Marlin/src/HAL/STM32/eeprom_flash.cpp
index 49862957e8..309c5eea9f 100644
--- a/Marlin/src/HAL/STM32/eeprom_flash.cpp
+++ b/Marlin/src/HAL/STM32/eeprom_flash.cpp
@@ -28,10 +28,13 @@
#include "../shared/eeprom_api.h"
-
-// Only STM32F4 can support wear leveling at this time
-#ifndef STM32F4xx
- #undef FLASH_EEPROM_LEVELING
+#if HAS_SERVOS
+ #include "Servo.h"
+ #define PAUSE_SERVO_OUTPUT() libServo::pause_all_servos()
+ #define RESUME_SERVO_OUTPUT() libServo::resume_all_servos()
+#else
+ #define PAUSE_SERVO_OUTPUT()
+ #define RESUME_SERVO_OUTPUT()
#endif
/**
@@ -139,6 +142,11 @@ bool PersistentStore::access_start() {
bool PersistentStore::access_finish() {
if (eeprom_data_written) {
+ #ifdef STM32F4xx
+ // MCU may come up with flash error bits which prevent some flash operations.
+ // Clear flags prior to flash operations to prevent errors.
+ __HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR | FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
+ #endif
#if ENABLED(FLASH_EEPROM_LEVELING)
@@ -159,7 +167,11 @@ bool PersistentStore::access_finish() {
current_slot = EEPROM_SLOTS - 1;
UNLOCK_FLASH();
+ PAUSE_SERVO_OUTPUT();
+ DISABLE_ISRS();
status = HAL_FLASHEx_Erase(&EraseInitStruct, &SectorError);
+ ENABLE_ISRS();
+ RESUME_SERVO_OUTPUT();
if (status != HAL_OK) {
DEBUG_ECHOLNPAIR("HAL_FLASHEx_Erase=", status);
DEBUG_ECHOLNPAIR("GetError=", HAL_FLASH_GetError());
@@ -204,7 +216,18 @@ bool PersistentStore::access_finish() {
return success;
#else
+ // The following was written for the STM32F4 but may work with other MCUs as well.
+ // Most STM32F4 flash does not allow reading from flash during erase operations.
+ // This takes about a second on a STM32F407 with a 128kB sector used as EEPROM.
+ // Interrupts during this time can have unpredictable results, such as killing Servo
+ // output. Servo output still glitches with interrupts disabled, but recovers after the
+ // erase.
+ PAUSE_SERVO_OUTPUT();
+ DISABLE_ISRS();
eeprom_buffer_flush();
+ ENABLE_ISRS();
+ RESUME_SERVO_OUTPUT();
+
eeprom_data_written = false;
#endif
}
diff --git a/Marlin/src/HAL/STM32/inc/SanityCheck.h b/Marlin/src/HAL/STM32/inc/SanityCheck.h
index 9cd8db81f4..7734fc0e83 100644
--- a/Marlin/src/HAL/STM32/inc/SanityCheck.h
+++ b/Marlin/src/HAL/STM32/inc/SanityCheck.h
@@ -43,3 +43,12 @@
#endif
#error "SDCARD_EEPROM_EMULATION requires SDSUPPORT. Enable SDSUPPORT or choose another EEPROM emulation."
#endif
+
+#if defined(STM32F4xx) && BOTH(PRINTCOUNTER, FLASH_EEPROM_EMULATION)
+ #warning "FLASH_EEPROM_EMULATION may cause long delays when writing and should not be used while printing."
+ #error "Disable PRINTCOUNTER or choose another EEPROM emulation."
+#endif
+
+#if !defined(STM32F4xx) && ENABLED(FLASH_EEPROM_LEVELING)
+ #error "FLASH_EEPROM_LEVELING is currently only supported on STM32F4 hardware."
+#endif
--
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