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

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This commit is contained in:
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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46
Marlin/src/HAL/HAL_DUE/HAL_spi_Due.cpp
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@ -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) {