From 437978d349d48a575b923eb4a6e020e5b42dadd5 Mon Sep 17 00:00:00 2001
From: Markus Towara <towara@stce.rwth-aachen.de>
Date: Tue, 15 Oct 2019 18:34:45 +0200
Subject: [PATCH] Bring SPI_SENSORLESS code up to date (#15560)
---
Marlin/src/feature/tmc_util.h | 28 +++++-----------------------
Marlin/src/module/endstops.cpp | 12 ++++++------
2 files changed, 11 insertions(+), 29 deletions(-)
diff --git a/Marlin/src/feature/tmc_util.h b/Marlin/src/feature/tmc_util.h
index 8d0435b4a6..e0c9170ae5 100644
--- a/Marlin/src/feature/tmc_util.h
+++ b/Marlin/src/feature/tmc_util.h
@@ -393,34 +393,16 @@ void test_tmc_connection(const bool test_x, const bool test_y, const bool test_z
template<class TMC, char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
bool TMCMarlin<TMC, AXIS_LETTER, DRIVER_ID, AXIS_ID>::test_stall_status() {
- uint16_t sg_result = 0;
-
this->switchCSpin(LOW);
- if (this->TMC_SW_SPI != nullptr) {
- this->TMC_SW_SPI->transfer(TMC2130_n::DRV_STATUS_t::address);
- this->TMC_SW_SPI->transfer16(0);
- // We only care about the last 10 bits
- sg_result = this->TMC_SW_SPI->transfer(0);
- sg_result <<= 8;
- sg_result |= this->TMC_SW_SPI->transfer(0);
- }
- else {
- SPI.beginTransaction(SPISettings(16000000/8, MSBFIRST, SPI_MODE3));
- // Read DRV_STATUS
- SPI.transfer(TMC2130_n::DRV_STATUS_t::address);
- SPI.transfer16(0);
- // We only care about the last 10 bits
- sg_result = SPI.transfer(0);
- sg_result <<= 8;
- sg_result |= SPI.transfer(0);
- SPI.endTransaction();
- }
+ // read stallGuard flag from TMC library, will handle HW and SW SPI
+ TMC2130_n::DRV_STATUS_t drv_status{0};
+ drv_status.sr = this->DRV_STATUS();
+
this->switchCSpin(HIGH);
- return (sg_result & 0x3FF) == 0;
+ return drv_status.stallGuard;
}
-
#endif // SPI_ENDSTOPS
#endif // USE_SENSORLESS
diff --git a/Marlin/src/module/endstops.cpp b/Marlin/src/module/endstops.cpp
index 0cb7c603d4..e5d07cbc65 100644
--- a/Marlin/src/module/endstops.cpp
+++ b/Marlin/src/module/endstops.cpp
@@ -537,7 +537,7 @@ void Endstops::update() {
/**
* Check and update endstops
*/
- #if HAS_X_MIN
+ #if HAS_X_MIN && !X_SPI_SENSORLESS
#if ENABLED(X_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(X, MIN);
#if HAS_X2_MIN
@@ -550,7 +550,7 @@ void Endstops::update() {
#endif
#endif
- #if HAS_X_MAX
+ #if HAS_X_MAX && !X_SPI_SENSORLESS
#if ENABLED(X_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(X, MAX);
#if HAS_X2_MAX
@@ -563,7 +563,7 @@ void Endstops::update() {
#endif
#endif
- #if HAS_Y_MIN
+ #if HAS_Y_MIN && !Y_SPI_SENSORLESS
#if ENABLED(Y_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(Y, MIN);
#if HAS_Y2_MIN
@@ -576,7 +576,7 @@ void Endstops::update() {
#endif
#endif
- #if HAS_Y_MAX
+ #if HAS_Y_MAX && !Y_SPI_SENSORLESS
#if ENABLED(Y_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(Y, MAX);
#if HAS_Y2_MAX
@@ -589,7 +589,7 @@ void Endstops::update() {
#endif
#endif
- #if HAS_Z_MIN
+ #if HAS_Z_MIN && !Z_SPI_SENSORLESS
#if Z_MULTI_ENDSTOPS
UPDATE_ENDSTOP_BIT(Z, MIN);
#if HAS_Z2_MIN
@@ -616,7 +616,7 @@ void Endstops::update() {
UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
#endif
- #if HAS_Z_MAX
+ #if HAS_Z_MAX && !Z_SPI_SENSORLESS
// Check both Z dual endstops
#if Z_MULTI_ENDSTOPS
UPDATE_ENDSTOP_BIT(Z, MAX);