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Switch to TMC2130 compatible hardware SPI & misc (#10299)

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Bob-the-Kuhn 2018-04-04 20:13:27 -05:00 committed by Scott Lahteine
parent 1c36606886
commit 902c885782
5 changed files with 67 additions and 58 deletions
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49
Marlin/src/HAL/HAL_DUE/HAL_Due.cpp
View file

@ -1,23 +1,21 @@
/* ************************************************************************** /**
* Marlin 3D Printer Firmware
Marlin 3D Printer Firmware * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com *
* This program is free software: you can redistribute it and/or modify
This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by
it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or
the Free Software Foundation, either version 3 of the License, or * (at your option) any later version.
(at your option) any later version. *
* This program is distributed in the hope that it will be useful,
This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of
but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details.
GNU General Public License for more details. *
* You should have received a copy of the GNU General Public License
You should have received a copy of the GNU General Public License * along with this program. If not, see <http://www.gnu.org/licenses/>.
along with this program. If not, see <http://www.gnu.org/licenses/>. */
****************************************************************************/
/** /**
* Description: HAL for Arduino Due and compatible (SAM3X8E) * Description: HAL for Arduino Due and compatible (SAM3X8E)
@ -77,6 +75,9 @@ uint16_t HAL_adc_result;
// HAL initialization task // HAL initialization task
void HAL_init(void) { void HAL_init(void) {
// Initialize the USB stack // Initialize the USB stack
#if ENABLED(SDSUPPORT)
OUT_WRITE(SDSS, HIGH); // Try to set SDSS inactive before any other SPI users start up
#endif
usb_task_init(); usb_task_init();
} }
@ -86,10 +87,10 @@ void HAL_idletask(void) {
usb_task_idle(); usb_task_idle();
} }
// disable interrupts // Disable interrupts
void cli(void) { noInterrupts(); } void cli(void) { noInterrupts(); }
// enable interrupts // Enable interrupts
void sei(void) { interrupts(); } void sei(void) { interrupts(); }
void HAL_clear_reset_source(void) { } void HAL_clear_reset_source(void) { }
@ -106,7 +107,7 @@ uint8_t HAL_get_reset_source(void) {
} }
void _delay_ms(const int delay_ms) { void _delay_ms(const int delay_ms) {
// todo: port for Due? // Todo: port for Due?
delay(delay_ms); delay(delay_ms);
} }
@ -114,7 +115,7 @@ extern "C" {
extern unsigned int _ebss; // end of bss section extern unsigned int _ebss; // end of bss section
} }
// return free memory between end of heap (or end bss) and whatever is current // Return free memory between end of heap (or end bss) and whatever is current
int freeMemory() { int freeMemory() {
int free_memory, heap_end = (int)_sbrk(0); int free_memory, heap_end = (int)_sbrk(0);
return (int)&free_memory - (heap_end ? heap_end : (int)&_ebss); return (int)&free_memory - (heap_end ? heap_end : (int)&_ebss);

34
Marlin/src/HAL/HAL_DUE/HAL_spi_Due.cpp
View file

@ -486,7 +486,7 @@
static void spiRxBlockX(uint8_t* buf, uint32_t todo) { static void spiRxBlockX(uint8_t* buf, uint32_t todo) {
do { do {
*buf++ = spiTransferRx(0xff); *buf++ = spiTransferRx(0xFF);
} while (--todo); } while (--todo);
} }
@ -830,38 +830,37 @@
#define SPI_MODE_2_DUE_HW 0 #define SPI_MODE_2_DUE_HW 0
#define SPI_MODE_3_DUE_HW 1 #define SPI_MODE_3_DUE_HW 1
void spiInit(uint8_t spiRate = 6 ) { // default to slowest rate if not specified) void spiInit(uint8_t spiRate=6) { // Default to slowest rate if not specified)
// 8.4 MHz, 4 MHz, 2 MHz, 1 MHz, 0.5 MHz, 0.329 MHz, 0.329 MHz // 8.4 MHz, 4 MHz, 2 MHz, 1 MHz, 0.5 MHz, 0.329 MHz, 0.329 MHz
int spiDueDividors[] = { 10, 21, 42, 84, 168, 255, 255 }; int spiDueDividors[] = { 10, 21, 42, 84, 168, 255, 255 };
if (spiRate > 6) spiRate = 1; if (spiRate > 6) spiRate = 1;
/* enable PIOA and SPI0 */ // Enable PIOA and SPI0
REG_PMC_PCER0 = (1UL << ID_PIOA) | (1UL << ID_SPI0); REG_PMC_PCER0 = (1UL << ID_PIOA) | (1UL << ID_SPI0);
/* disable PIO on A26 and A27 */ // Disable PIO on A26 and A27
REG_PIOA_PDR = 0x0c000000; REG_PIOA_PDR = 0x0c000000;
OUT_WRITE(SDSS, 1); OUT_WRITE(SDSS, 1);
/* reset SPI0 (from sam lib) */ // Reset SPI0 (from sam lib)
SPI0->SPI_CR = SPI_CR_SPIDIS; SPI0->SPI_CR = SPI_CR_SPIDIS;
SPI0->SPI_CR = SPI_CR_SWRST; SPI0->SPI_CR = SPI_CR_SWRST;
SPI0->SPI_CR = SPI_CR_SWRST; SPI0->SPI_CR = SPI_CR_SWRST;
SPI0->SPI_CR = SPI_CR_SPIEN; SPI0->SPI_CR = SPI_CR_SPIEN;
// TMC2103 compatible setup
/* master mode, no fault detection, chip select 0 */ // Master mode, no fault detection, PCS bits in data written to TDR select CSR register
SPI0->SPI_MR = SPI_MR_MSTR | SPI_MR_PCSDEC | SPI_MR_MODFDIS; SPI0->SPI_MR = SPI_MR_MSTR | SPI_MR_PS | SPI_MR_MODFDIS;
// SPI mode 0, 8 Bit data transfer, baud rate
/* SPI mode 0, 8 Bit data transfer, baud rate */ SPI0->SPI_CSR[3] = SPI_CSR_SCBR(spiDueDividors[spiRate]) | SPI_CSR_CSAAT | SPI_MODE_0_DUE_HW; // use same CSR as TMC2130
SPI0->SPI_CSR[0] = SPI_CSR_SCBR(spiDueDividors[spiRate]) | SPI_MODE_0_DUE_HW;
} }
static uint8_t spiTransfer(uint8_t data) { static uint8_t spiTransfer(uint8_t data) {
/* wait until tx register is empty */ // Wait until tx register is empty
while( (SPI0->SPI_SR & SPI_SR_TDRE) == 0 ); while( (SPI0->SPI_SR & SPI_SR_TDRE) == 0 );
/* send data */ // Send data
SPI0->SPI_TDR = (uint32_t)data; // | SPI_PCS(0xF); SPI0->SPI_TDR = (uint32_t)data | 0x00070000UL; // Add TMC2130 PCS bits to every byte
// wait for transmit register empty // wait for transmit register empty
while ((SPI0->SPI_SR & SPI_SR_TDRE) == 0); while ((SPI0->SPI_SR & SPI_SR_TDRE) == 0);
@ -877,15 +876,14 @@
} }
uint8_t spiRec() { uint8_t spiRec() {
uint8_t data = spiTransfer(0xff); uint8_t data = spiTransfer(0xFF);
return data; return data;
} }
void spiRead(uint8_t* buf, uint16_t nbyte) { void spiRead(uint8_t* buf, uint16_t nbyte) {
if (nbyte == 0) return; if (nbyte == 0) return;
for (int i = 0; i < nbyte; i++) { for (int i = 0; i < nbyte; i++)
buf[i] = spiTransfer(0xff); buf[i] = spiTransfer(0xFF);
}
} }
void spiSend(uint8_t data) { void spiSend(uint8_t data) {

8
Marlin/src/HAL/HAL_DUE/SanityCheck_Due.h
View file

@ -27,3 +27,11 @@
/** /**
* Require gcc 4.7 or newer (first included with Arduino 1.6.8) for C++11 features. * Require gcc 4.7 or newer (first included with Arduino 1.6.8) for C++11 features.
*/ */
#if ENABLED(SDSUPPORT) && ENABLED(HAVE_TMC2130)
#if ENABLED(DUE_SOFTWARE_SPI) && !ENABLED(TMC_USE_SW_SPI)
#error "DUE software SPI is incompatible with TMC2130 hardware SPI. Enable TMC_USE_SW_SPI to fix."
#elif !ENABLED(DUE_SOFTWARE_SPI) && ENABLED(TMC_USE_SW_SPI)
#error "DUE hardware SPI is incompatible with TMC2130 software SPI. Disable TMC_USE_SW_SPI to fix."
#endif
#endif

5
Marlin/src/Marlin.cpp
View file

@ -892,14 +892,15 @@ void setup() {
* - Call LCD update * - Call LCD update
*/ */
void loop() { void loop() {
if (commands_in_queue < BUFSIZE) get_available_commands();
#if ENABLED(SDSUPPORT) #if ENABLED(SDSUPPORT)
card.checkautostart(false); card.checkautostart(false);
#endif #endif
for (;;) {
if (commands_in_queue < BUFSIZE) get_available_commands();
advance_command_queue(); advance_command_queue();
endstops.report_state(); endstops.report_state();
idle(); idle();
} }
}

9
Marlin/src/sd/Sd2Card.cpp
View file

@ -249,15 +249,16 @@ bool Sd2Card::init(uint8_t sckRateID, pin_t chipSelectPin) {
watchdog_reset(); watchdog_reset();
#endif #endif
// set pin modes // Set pin modes
digitalWrite(chipSelectPin_, HIGH); // For some CPUs pinMode can write the wrong data so init desired data value first
pinMode(chipSelectPin_, OUTPUT); // Solution for #8746 by @benlye pinMode(chipSelectPin_, OUTPUT); // Solution for #8746 by @benlye
spiBegin(); spiBegin();
// set SCK rate for initialization commands // Set SCK rate for initialization commands
spiRate_ = SPI_SD_INIT_RATE; spiRate_ = SPI_SD_INIT_RATE;
spiInit(spiRate_); spiInit(spiRate_);
// must supply min of 74 clock cycles with CS high. // Must supply min of 74 clock cycles with CS high.
for (uint8_t i = 0; i < 10; i++) spiSend(0xFF); for (uint8_t i = 0; i < 10; i++) spiSend(0xFF);
// Initialization can cause the watchdog to timeout, so reinit it here // Initialization can cause the watchdog to timeout, so reinit it here
@ -265,7 +266,7 @@ bool Sd2Card::init(uint8_t sckRateID, pin_t chipSelectPin) {
watchdog_reset(); watchdog_reset();
#endif #endif
// command to go idle in SPI mode // Command to go idle in SPI mode
while ((status_ = cardCommand(CMD0, 0)) != R1_IDLE_STATE) { while ((status_ = cardCommand(CMD0, 0)) != R1_IDLE_STATE) {
if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) { if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) {
error(SD_CARD_ERROR_CMD0); error(SD_CARD_ERROR_CMD0);