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New SPI (do not use Arduino SPI class)

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saved ~300bytes flash, 4bytes ram
This commit is contained in:
Robert Pelnar 2018-03-29 17:42:41 +02:00
parent d5636fd023
commit 186e630299
6 changed files with 134 additions and 1 deletions
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3
Firmware/Configuration_prusa.h
View file

@ -107,6 +107,9 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
// New XYZ calibration
#define NEW_XYZCAL
// Do not use Arduino SPI
#define NEW_SPI
// Watchdog support
#define WATCHDOG

8
Firmware/Marlin_main.cpp
View file

@ -65,6 +65,10 @@
#include "swspi.h"
#endif //SWSPI
#ifdef NEW_SPI
#include "spi.h"
#endif //NEW_SPI
#ifdef SWI2C
#include "swi2c.h"
#endif //SWI2C
@ -1106,6 +1110,10 @@ void setup()
#endif //TMC2130
#ifdef NEW_SPI
spi_init();
#endif //NEW_SPI
st_init(); // Initialize stepper, this enables interrupts!
#ifdef TMC2130

6
Firmware/config.h
View file

@ -11,5 +11,11 @@
//SM4 configuration
#define SM4_DEFDELAY 500 //default step delay [us]
//TMC2130 - Trinamic stepper driver
//pinout - hardcoded
//spi:
#define TMC2130_SPI_RATE 0 // fosc/4 = 4MHz
#define TMC2130_SPCR SPI_SPCR(TMC2130_SPI_RATE, 1, 1, 1, 0)
#define TMC2130_SPSR SPI_SPSR(TMC2130_SPI_RATE)
#endif //_CONFIG_H

8
Firmware/spi.c Normal file
View file

@ -0,0 +1,8 @@
//spi.c - hardware SPI
//#ifdef __SPI
#include "spi.h"
#include <avr/io.h>
//#endif //__SPI

41
Firmware/spi.h Normal file
View file

@ -0,0 +1,41 @@
//spi.h - hardware SPI
#ifndef SPI_H
#define SPI_H
#include <inttypes.h>
#include <avr/io.h>
#include "config.h"
#define SPI_SPCR(rat, pha, pol, mst, dor) ((rat & 3) | (pha?(1<<CPHA):0) | (pol?(1<<CPOL):0) | (mst?(1<<MSTR):0) | (dor?(1<<DORD):0) | (1<<SPE))
#define SPI_SPSR(rat) ((rat & 4)?(1<<SPI2X):0)
#define DD_SS 0
#define DD_SCK 1
#define DD_MOSI 2
#define DD_MISO 3
inline void spi_init()
{
DDRB &= ~((1 << DD_SCK) | (1 << DD_MOSI) | (1 << DD_MISO));
DDRB |= (1 << DD_SS) | (1 << DD_SCK) | (1 << DD_MOSI);
PORTB &= ~((1 << DD_SCK) | (1 << DD_MOSI) | (1 << DD_MISO));
PORTB |= (1 << DD_SS);
SPCR = SPI_SPCR(0, 0, 0, 1, 0); //SPE=1, MSTR=1 (0x50)
SPSR = 0x00;
}
inline void spi_setup(uint8_t spcr, uint8_t spsr)
{
SPCR = spcr;
SPSR = spsr;
}
inline uint8_t spi_txrx(uint8_t tx)
{
SPDR = tx;
while (!(SPSR & (1 << SPIF)));
return SPDR;
}
#endif //SPI_H

69
Firmware/tmc2130.cpp
View file

@ -3,9 +3,14 @@
#ifdef TMC2130
#include "tmc2130.h"
#include <SPI.h>
#include "LiquidCrystal.h"
#include "ultralcd.h"
#ifndef NEW_SPI
#include <SPI.h>
#else //NEW_SPI
#include "spi.h"
#endif //NEW_SPI
extern LiquidCrystal lcd;
@ -143,7 +148,9 @@ void tmc2130_init()
SET_INPUT(Y_TMC2130_DIAG);
SET_INPUT(Z_TMC2130_DIAG);
SET_INPUT(E0_TMC2130_DIAG);
#ifndef NEW_SPI
SPI.begin();
#endif //NEW_SPI
for (int axis = 0; axis < 2; axis++) // X Y axes
{
tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
@ -594,11 +601,15 @@ inline void tmc2130_cs_high(uint8_t axis)
}
}
#ifndef NEW_SPI
uint8_t tmc2130_tx(uint8_t axis, uint8_t addr, uint32_t wval)
{
//datagram1 - request
printf_P(PSTR("tmc2130_tx %d 0x%02hhx, 0x%08lx\n"), axis, addr, wval);
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
printf_P(PSTR(" SPCR = 0x%02hhx\n"), SPCR);
printf_P(PSTR(" SPSR = 0x%02hhx\n"), SPSR);
tmc2130_cs_low(axis);
SPI.transfer(addr); // address
SPI.transfer((wval >> 24) & 0xff); // MSB
@ -636,6 +647,62 @@ uint8_t tmc2130_rx(uint8_t axis, uint8_t addr, uint32_t* rval)
return stat;
}
#else //NEW_SPI
//Arduino SPI
//#define TMC2130_SPI_ENTER() SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3))
//#define TMC2130_SPI_TXRX SPI.transfer
//#define TMC2130_SPI_LEAVE SPI.endTransaction
//spi
#define TMC2130_SPI_ENTER() spi_setup(TMC2130_SPCR, TMC2130_SPSR)
#define TMC2130_SPI_TXRX spi_txrx
#define TMC2130_SPI_LEAVE()
uint8_t tmc2130_tx(uint8_t axis, uint8_t addr, uint32_t wval)
{
//datagram1 - request
TMC2130_SPI_ENTER();
tmc2130_cs_low(axis);
TMC2130_SPI_TXRX(addr); // address
TMC2130_SPI_TXRX((wval >> 24) & 0xff); // MSB
TMC2130_SPI_TXRX((wval >> 16) & 0xff);
TMC2130_SPI_TXRX((wval >> 8) & 0xff);
TMC2130_SPI_TXRX(wval & 0xff); // LSB
tmc2130_cs_high(axis);
TMC2130_SPI_LEAVE();
}
uint8_t tmc2130_rx(uint8_t axis, uint8_t addr, uint32_t* rval)
{
//datagram1 - request
TMC2130_SPI_ENTER();
tmc2130_cs_low(axis);
TMC2130_SPI_TXRX(addr); // address
TMC2130_SPI_TXRX(0); // MSB
TMC2130_SPI_TXRX(0);
TMC2130_SPI_TXRX(0);
TMC2130_SPI_TXRX(0); // LSB
tmc2130_cs_high(axis);
TMC2130_SPI_LEAVE();
//datagram2 - response
TMC2130_SPI_ENTER();
tmc2130_cs_low(axis);
uint8_t stat = TMC2130_SPI_TXRX(0); // status
uint32_t val32 = 0;
val32 = TMC2130_SPI_TXRX(0); // MSB
val32 = (val32 << 8) | TMC2130_SPI_TXRX(0);
val32 = (val32 << 8) | TMC2130_SPI_TXRX(0);
val32 = (val32 << 8) | TMC2130_SPI_TXRX(0); // LSB
tmc2130_cs_high(axis);
TMC2130_SPI_LEAVE();
if (rval != 0) *rval = val32;
return stat;
}
#endif //NEW_SPI
void tmc2130_eeprom_load_config()
{
}