Switch to TMC2130 compatible hardware SPI & misc (#10299)
This commit is contained in:
Bob-the-Kuhn
Scott Lahteine
parent
1c36606886
commit
902c885782
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@ -1,23 +1,21 @@
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/* **************************************************************************
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Marlin 3D Printer Firmware
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Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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****************************************************************************/
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/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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* Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* Description: HAL for Arduino Due and compatible (SAM3X8E)
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@ -77,6 +75,9 @@ uint16_t HAL_adc_result;
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// HAL initialization task
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void HAL_init(void) {
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// Initialize the USB stack
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#if ENABLED(SDSUPPORT)
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OUT_WRITE(SDSS, HIGH); // Try to set SDSS inactive before any other SPI users start up
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#endif
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usb_task_init();
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}
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@ -86,10 +87,10 @@ void HAL_idletask(void) {
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usb_task_idle();
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}
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// disable interrupts
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// Disable interrupts
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void cli(void) { noInterrupts(); }
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// enable interrupts
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// Enable interrupts
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void sei(void) { interrupts(); }
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void HAL_clear_reset_source(void) { }
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@ -106,7 +107,7 @@ uint8_t HAL_get_reset_source(void) {
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}
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void _delay_ms(const int delay_ms) {
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// todo: port for Due?
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// Todo: port for Due?
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delay(delay_ms);
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}
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@ -114,7 +115,7 @@ extern "C" {
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extern unsigned int _ebss; // end of bss section
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}
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// return free memory between end of heap (or end bss) and whatever is current
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// Return free memory between end of heap (or end bss) and whatever is current
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int freeMemory() {
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int free_memory, heap_end = (int)_sbrk(0);
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return (int)&free_memory - (heap_end ? heap_end : (int)&_ebss);
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@ -486,7 +486,7 @@
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static void spiRxBlockX(uint8_t* buf, uint32_t todo) {
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do {
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*buf++ = spiTransferRx(0xff);
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*buf++ = spiTransferRx(0xFF);
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} while (--todo);
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}
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@ -629,7 +629,7 @@
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bool spiInitMaded = false;
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void spiBegin() {
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if(spiInitMaded == false) {
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if (spiInitMaded == false) {
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// Configure SPI pins
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PIO_Configure(
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g_APinDescription[SCK_PIN].pPort,
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@ -681,8 +681,8 @@
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}
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void spiInit(uint8_t spiRate) {
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if(spiInitMaded == false) {
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if(spiRate > 6) spiRate = 1;
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if (spiInitMaded == false) {
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if (spiRate > 6) spiRate = 1;
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#if MB(ALLIGATOR)
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// Set SPI mode 1, clock, select not active after transfer, with delay between transfers
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@ -789,7 +789,7 @@
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}
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// Read from SPI into buffer
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void spiRead(uint8_t*buf, uint16_t nbyte) {
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void spiRead(uint8_t* buf, uint16_t nbyte) {
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if (nbyte-- == 0) return;
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for (int i = 0; i < nbyte; i++) {
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@ -830,38 +830,37 @@
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#define SPI_MODE_2_DUE_HW 0
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#define SPI_MODE_3_DUE_HW 1
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void spiInit(uint8_t spiRate = 6 ) { // default to slowest rate if not specified)
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void spiInit(uint8_t spiRate=6) { // Default to slowest rate if not specified)
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// 8.4 MHz, 4 MHz, 2 MHz, 1 MHz, 0.5 MHz, 0.329 MHz, 0.329 MHz
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int spiDueDividors[] = { 10, 21, 42, 84, 168, 255, 255 };
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if(spiRate > 6) spiRate = 1;
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if (spiRate > 6) spiRate = 1;
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/* enable PIOA and SPI0 */
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// Enable PIOA and SPI0
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REG_PMC_PCER0 = (1UL << ID_PIOA) | (1UL << ID_SPI0);
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/* disable PIO on A26 and A27 */
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// Disable PIO on A26 and A27
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REG_PIOA_PDR = 0x0c000000;
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OUT_WRITE(SDSS, 1);
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/* reset SPI0 (from sam lib) */
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// Reset SPI0 (from sam lib)
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SPI0->SPI_CR = SPI_CR_SPIDIS;
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SPI0->SPI_CR = SPI_CR_SWRST;
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SPI0->SPI_CR = SPI_CR_SWRST;
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SPI0->SPI_CR = SPI_CR_SPIEN;
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/* master mode, no fault detection, chip select 0 */
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SPI0->SPI_MR = SPI_MR_MSTR | SPI_MR_PCSDEC | SPI_MR_MODFDIS;
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/* SPI mode 0, 8 Bit data transfer, baud rate */
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SPI0->SPI_CSR[0] = SPI_CSR_SCBR(spiDueDividors[spiRate]) | SPI_MODE_0_DUE_HW;
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// TMC2103 compatible setup
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// Master mode, no fault detection, PCS bits in data written to TDR select CSR register
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SPI0->SPI_MR = SPI_MR_MSTR | SPI_MR_PS | SPI_MR_MODFDIS;
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// SPI mode 0, 8 Bit data transfer, baud rate
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SPI0->SPI_CSR[3] = SPI_CSR_SCBR(spiDueDividors[spiRate]) | SPI_CSR_CSAAT | SPI_MODE_0_DUE_HW; // use same CSR as TMC2130
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}
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static uint8_t spiTransfer(uint8_t data) {
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/* wait until tx register is empty */
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// Wait until tx register is empty
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while( (SPI0->SPI_SR & SPI_SR_TDRE) == 0 );
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/* send data */
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SPI0->SPI_TDR = (uint32_t)data; // | SPI_PCS(0xF);
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// Send data
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SPI0->SPI_TDR = (uint32_t)data | 0x00070000UL; // Add TMC2130 PCS bits to every byte
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// wait for transmit register empty
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while ((SPI0->SPI_SR & SPI_SR_TDRE) == 0);
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@ -877,15 +876,14 @@
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}
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uint8_t spiRec() {
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uint8_t data = spiTransfer(0xff);
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uint8_t data = spiTransfer(0xFF);
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return data;
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}
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void spiRead(uint8_t*buf, uint16_t nbyte) {
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void spiRead(uint8_t* buf, uint16_t nbyte) {
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if (nbyte == 0) return;
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for (int i = 0; i < nbyte; i++) {
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buf[i] = spiTransfer(0xff);
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}
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for (int i = 0; i < nbyte; i++)
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buf[i] = spiTransfer(0xFF);
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}
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void spiSend(uint8_t data) {
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@ -27,3 +27,11 @@
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/**
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* Require gcc 4.7 or newer (first included with Arduino 1.6.8) for C++11 features.
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*/
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#if ENABLED(SDSUPPORT) && ENABLED(HAVE_TMC2130)
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#if ENABLED(DUE_SOFTWARE_SPI) && !ENABLED(TMC_USE_SW_SPI)
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#error "DUE software SPI is incompatible with TMC2130 hardware SPI. Enable TMC_USE_SW_SPI to fix."
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#elif !ENABLED(DUE_SOFTWARE_SPI) && ENABLED(TMC_USE_SW_SPI)
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#error "DUE hardware SPI is incompatible with TMC2130 software SPI. Disable TMC_USE_SW_SPI to fix."
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#endif
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#endif
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@ -892,14 +892,15 @@ void setup() {
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* - Call LCD update
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*/
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void loop() {
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if (commands_in_queue < BUFSIZE) get_available_commands();
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#if ENABLED(SDSUPPORT)
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card.checkautostart(false);
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#endif
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advance_command_queue();
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endstops.report_state();
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idle();
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for (;;) {
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if (commands_in_queue < BUFSIZE) get_available_commands();
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advance_command_queue();
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endstops.report_state();
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idle();
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}
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}
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@ -249,15 +249,16 @@ bool Sd2Card::init(uint8_t sckRateID, pin_t chipSelectPin) {
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watchdog_reset();
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#endif
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// set pin modes
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pinMode(chipSelectPin_, OUTPUT); // Solution for #8746 by @benlye
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// Set pin modes
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digitalWrite(chipSelectPin_, HIGH); // For some CPUs pinMode can write the wrong data so init desired data value first
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pinMode(chipSelectPin_, OUTPUT); // Solution for #8746 by @benlye
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spiBegin();
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// set SCK rate for initialization commands
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// Set SCK rate for initialization commands
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spiRate_ = SPI_SD_INIT_RATE;
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spiInit(spiRate_);
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// must supply min of 74 clock cycles with CS high.
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// Must supply min of 74 clock cycles with CS high.
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for (uint8_t i = 0; i < 10; i++) spiSend(0xFF);
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// Initialization can cause the watchdog to timeout, so reinit it here
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@ -265,7 +266,7 @@ bool Sd2Card::init(uint8_t sckRateID, pin_t chipSelectPin) {
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watchdog_reset();
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#endif
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// command to go idle in SPI mode
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// Command to go idle in SPI mode
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while ((status_ = cardCommand(CMD0, 0)) != R1_IDLE_STATE) {
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if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) {
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error(SD_CARD_ERROR_CMD0);
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