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

6 years ago · 902c885782
5 changed files with 67 additions and 58 deletions
--- a/Marlin/src/HAL/HAL_DUE/HAL_Due.cpp
+++ b/Marlin/src/HAL/HAL_DUE/HAL_Due.cpp
@ -1,23 +1,21 @@
-/* **************************************************************************
-
- Marlin 3D Printer Firmware
- Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
-
- 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
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program.  If not, see <http://www.gnu.org/licenses/>.
-****************************************************************************/
-
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
+ *
+ * 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
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */

 /**
 * Description: HAL for Arduino Due and compatible (SAM3X8E)
@ -77,6 +75,9 @@ uint16_t HAL_adc_result;
 // HAL initialization task
 void HAL_init(void) {
  // 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();
 }

@ -86,10 +87,10 @@ void HAL_idletask(void) {
  usb_task_idle();
 }

-// disable interrupts
+// Disable interrupts
 void cli(void) { noInterrupts(); }

-// enable interrupts
+// Enable interrupts
 void sei(void) { interrupts(); }

 void HAL_clear_reset_source(void) { }
@ -106,7 +107,7 @@ uint8_t HAL_get_reset_source(void) {
 }

 void _delay_ms(const int delay_ms) {
-  // todo: port for Due?
+  // Todo: port for Due?
  delay(delay_ms);
 }

@ -114,7 +115,7 @@ extern "C" {
  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 free_memory, heap_end = (int)_sbrk(0);
  return (int)&free_memory - (heap_end ? heap_end : (int)&_ebss);
--- a/Marlin/src/HAL/HAL_DUE/HAL_spi_Due.cpp
+++ b/Marlin/src/HAL/HAL_DUE/HAL_spi_Due.cpp
@ -486,7 +486,7 @@

  static void spiRxBlockX(uint8_t* buf, uint32_t todo) {
    do {
-      *buf++ = spiTransferRx(0xff);
+      *buf++ = spiTransferRx(0xFF);
    } while (--todo);
  }

@ -629,7 +629,7 @@
    bool spiInitMaded = false;

    void spiBegin() {
-      if(spiInitMaded == false) {
+      if (spiInitMaded == false) {
        // Configure SPI pins
        PIO_Configure(
           g_APinDescription[SCK_PIN].pPort,
@ -681,8 +681,8 @@
    }

    void spiInit(uint8_t spiRate) {
-      if(spiInitMaded == false) {
-        if(spiRate > 6) spiRate = 1;
+      if (spiInitMaded == false) {
+        if (spiRate > 6) spiRate = 1;

        #if MB(ALLIGATOR)
          // Set SPI mode 1, clock, select not active after transfer, with delay between transfers
@ -789,7 +789,7 @@
    }

    // Read from SPI into buffer
-    void spiRead(uint8_t*buf, uint16_t nbyte) {
+    void spiRead(uint8_t* buf, uint16_t nbyte) {
      if (nbyte-- == 0) return;

      for (int i = 0; i < nbyte; i++) {
@ -830,38 +830,37 @@
    #define SPI_MODE_2_DUE_HW 0
    #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
      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);

-      /* disable PIO on A26 and A27 */
+      // Disable PIO on A26 and A27
      REG_PIOA_PDR = 0x0c000000;
      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_SWRST;
      SPI0->SPI_CR = SPI_CR_SWRST;
      SPI0->SPI_CR = SPI_CR_SPIEN;

-
-      /* master mode, no fault detection, chip select 0 */
-      SPI0->SPI_MR = SPI_MR_MSTR | SPI_MR_PCSDEC | SPI_MR_MODFDIS;
-
-      /* SPI mode 0, 8 Bit data transfer, baud rate */
-      SPI0->SPI_CSR[0] = SPI_CSR_SCBR(spiDueDividors[spiRate]) | SPI_MODE_0_DUE_HW;
+      // TMC2103 compatible setup
+      // Master mode, no fault detection, PCS bits in data written to TDR select CSR register
+      SPI0->SPI_MR = SPI_MR_MSTR | SPI_MR_PS | SPI_MR_MODFDIS;
+      // 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
    }

    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 );
-      /* send data */
-      SPI0->SPI_TDR = (uint32_t)data; // | SPI_PCS(0xF);
+      // Send data
+      SPI0->SPI_TDR = (uint32_t)data | 0x00070000UL;  // Add TMC2130 PCS bits to every byte

      // wait for transmit register empty
      while ((SPI0->SPI_SR & SPI_SR_TDRE) == 0);
@ -877,15 +876,14 @@
    }

    uint8_t spiRec() {
-      uint8_t data = spiTransfer(0xff);
+      uint8_t data = spiTransfer(0xFF);
      return data;
    }

-    void spiRead(uint8_t*buf, uint16_t nbyte) {
+    void spiRead(uint8_t* buf, uint16_t nbyte) {
      if (nbyte == 0) return;
-      for (int i = 0; i < nbyte; i++) {
-        buf[i] = spiTransfer(0xff);
-      }
+      for (int i = 0; i < nbyte; i++)
+        buf[i] = spiTransfer(0xFF);
    }

    void spiSend(uint8_t data) {
--- a/Marlin/src/HAL/HAL_DUE/SanityCheck_Due.h
+++ b/Marlin/src/HAL/HAL_DUE/SanityCheck_Due.h
@ -27,3 +27,11 @@
 /**
 * 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
--- a/Marlin/src/Marlin.cpp
+++ b/Marlin/src/Marlin.cpp
@ -892,14 +892,15 @@ void setup() {
 *  - Call LCD update
 */
 void loop() {
-  if (commands_in_queue < BUFSIZE) get_available_commands();

  #if ENABLED(SDSUPPORT)
    card.checkautostart(false);
  #endif

-  advance_command_queue();
-
-  endstops.report_state();
-  idle();
+  for (;;) {
+    if (commands_in_queue < BUFSIZE) get_available_commands();
+    advance_command_queue();
+    endstops.report_state();
+    idle();
+  }
 }
--- a/Marlin/src/sd/Sd2Card.cpp
+++ b/Marlin/src/sd/Sd2Card.cpp
@ -249,15 +249,16 @@ bool Sd2Card::init(uint8_t sckRateID, pin_t chipSelectPin) {
    watchdog_reset();
  #endif

-  // set pin modes
-  pinMode(chipSelectPin_, OUTPUT); // Solution for #8746 by @benlye
+  // 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
  spiBegin();

-  // set SCK rate for initialization commands
+  // Set SCK rate for initialization commands
  spiRate_ = SPI_SD_INIT_RATE;
  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);

  // 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();
  #endif

-  // command to go idle in SPI mode
+  // Command to go idle in SPI mode
  while ((status_ = cardCommand(CMD0, 0)) != R1_IDLE_STATE) {
    if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) {
      error(SD_CARD_ERROR_CMD0);