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tmc5160 and spi

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This commit is contained in:
InsanityAutomation
2024-03-06 10:53:00 -05:00
parent 7150d0eb5c
commit 7f339f7001
5 changed files with 144 additions and 172 deletions
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Marlin/Configuration_adv.h
+12 -12
View File
@@ -2961,7 +2961,7 @@
*/
#if HAS_TRINAMIC_CONFIG || HAS_TMC26X
#define HOLD_MULTIPLIER 0.5 // Scales down the holding current from run current
#define HOLD_MULTIPLIER 0.7 // Scales down the holding current from run current
/**
* Interpolate microsteps to 256
@@ -2973,7 +2973,7 @@
#define X_CURRENT 800 // (mA) RMS current. Multiply by 1.414 for peak current.
#define X_CURRENT_HOME X_CURRENT // (mA) RMS current for sensorless homing
#define X_MICROSTEPS 16 // 0..256
#define X_RSENSE 0.11 // Multiplied x1000 for TMC26X
#define X_RSENSE 0.022 // Multiplied x1000 for TMC26X
#define X_CHAIN_POS -1 // -1..0: Not chained. 1: MCU MOSI connected. 2: Next in chain, ...
//#define X_INTERPOLATE true // Enable to override 'INTERPOLATE' for the X axis
//#define X_HOLD_MULTIPLIER 0.5 // Enable to override 'HOLD_MULTIPLIER' for the X axis
@@ -2993,7 +2993,7 @@
#define Y_CURRENT 800
#define Y_CURRENT_HOME Y_CURRENT
#define Y_MICROSTEPS 16
#define Y_RSENSE 0.11
#define Y_RSENSE 0.022
#define Y_CHAIN_POS -1
//#define Y_INTERPOLATE true
//#define Y_HOLD_MULTIPLIER 0.5
@@ -3215,7 +3215,7 @@
* The default SW SPI pins are defined the respective pins files,
* but you can override or define them here.
*/
//#define TMC_USE_SW_SPI
#define TMC_USE_SW_SPI
//#define TMC_SPI_MOSI -1
//#define TMC_SPI_MISO -1
//#define TMC_SPI_SCK -1
@@ -3275,7 +3275,7 @@
* When disabled, Marlin will use spreadCycle stepping mode.
*/
#if HAS_STEALTHCHOP
#define STEALTHCHOP_XY
//#define STEALTHCHOP_XY
#define STEALTHCHOP_Z
#define STEALTHCHOP_I
#define STEALTHCHOP_J
@@ -3301,11 +3301,11 @@
* Define your own with:
* { <off_time[1..15]>, <hysteresis_end[-3..12]>, hysteresis_start[1..8] }
*/
#define CHOPPER_TIMING CHOPPER_DEFAULT_24V // All axes (override below)
//#define CHOPPER_TIMING_X CHOPPER_TIMING // For X Axes (override below)
//#define CHOPPER_TIMING CHOPPER_DEFAULT_36V // All axes (override below)
#define CHOPPER_TIMING_X CHOPPER_DEFAULT_36V // For X Axes (override below)
//#define CHOPPER_TIMING_X2 CHOPPER_TIMING_X
//#define CHOPPER_TIMING_Y CHOPPER_TIMING // For Y Axes (override below)
//#define CHOPPER_TIMING_Y2 CHOPPER_TIMING_Y
#define CHOPPER_TIMING_Y CHOPPER_DEFAULT_36V // For Y Axes (override below)
#define CHOPPER_TIMING_Y2 CHOPPER_TIMING_Y
//#define CHOPPER_TIMING_Z CHOPPER_TIMING // For Z Axes (override below)
//#define CHOPPER_TIMING_Z2 CHOPPER_TIMING_Z
//#define CHOPPER_TIMING_Z3 CHOPPER_TIMING_Z
@@ -3316,7 +3316,7 @@
//#define CHOPPER_TIMING_U CHOPPER_TIMING // For U Axis
//#define CHOPPER_TIMING_V CHOPPER_TIMING // For V Axis
//#define CHOPPER_TIMING_W CHOPPER_TIMING // For W Axis
//#define CHOPPER_TIMING_E CHOPPER_TIMING // For Extruders (override below)
#define CHOPPER_TIMING_E CHOPPER_DEFAULT_24V // For Extruders (override below)
//#define CHOPPER_TIMING_E1 CHOPPER_TIMING_E
//#define CHOPPER_TIMING_E2 CHOPPER_TIMING_E
//#define CHOPPER_TIMING_E3 CHOPPER_TIMING_E
@@ -3338,12 +3338,12 @@
* M912 - Clear stepper driver overtemperature pre-warn condition flag.
* M122 - Report driver parameters (Requires TMC_DEBUG)
*/
//#define MONITOR_DRIVER_STATUS
#define MONITOR_DRIVER_STATUS
#if ENABLED(MONITOR_DRIVER_STATUS)
#define CURRENT_STEP_DOWN 50 // [mA]
#define REPORT_CURRENT_CHANGE
#define STOP_ON_ERROR
//#define STOP_ON_ERROR
#endif
// @section tmc/hybrid
Marlin/src/HAL/LPC4078/HAL_SPI.cpp
+92 -142
View File
@@ -164,123 +164,103 @@
// /**
// * @brief Wait until TXE (tx empty) flag is set and BSY (busy) flag unset.
// */
// static inline void waitSpiTxEnd(LPC_SSP_TypeDef *spi_d) {
// while (SSP_GetStatus(spi_d, SSP_STAT_TXFIFO_EMPTY) == RESET) { /* nada */ } // wait until TXE=1
// while (SSP_GetStatus(spi_d, SSP_STAT_BUSY) == SET) { /* nada */ } // wait until BSY=0
// }
static inline void waitSpiTxEnd(void *spi_d) {
#warning unimplemented
// while (SSP_GetStatus(spi_d, SSP_STAT_TXFIFO_EMPTY) == RESET) { /* nada */ } // wait until TXE=1
// while (SSP_GetStatus(spi_d, SSP_STAT_BUSY) == SET) { /* nada */ } // wait until BSY=0
}
// // Retain the pin init state of the SPI, to avoid init more than once,
// // even if more instances of SPIClass exist
// static bool spiInitialised[BOARD_NR_SPI] = { false };
static bool spiInitialised[BOARD_NR_SPI] = { false };
// SPIClass::SPIClass(uint8_t device) {
SPIClass::SPIClass(uint8_t device) {
// // Init things specific to each SPI device
// // clock divider setup is a bit of hack, and needs to be improved at a later date.
// #if BOARD_NR_SPI >= 1
// _settings[0].spi_d = LPC_SSP0;
#if BOARD_NR_SPI >= 1
_settings[0].device_id = 0;
_settings[0].m_config.pin_miso = BOARD_SPI1_MISO_PIN;
_settings[0].m_config.pin_mosi = BOARD_SPI1_MOSI_PIN;
_settings[0].m_config.pin_sck = BOARD_SPI1_SCK_PIN;
_settings[0].m_config.pin_ssel = BOARD_SPI1_NSS_PIN;
// _settings[0].dataMode = SPI_MODE0;
// _settings[0].dataSize = DATA_SIZE_8BIT;
// _settings[0].clock = SPI_CLOCK_MAX;
// //_settings[0].clockDivider = determine_baud_rate(_settings[0].spi_d, _settings[0].clock);
// #endif
#endif
// #if BOARD_NR_SPI >= 2
// _settings[1].spi_d = LPC_SSP1;
#if BOARD_NR_SPI >= 2
_settings[1].device_id = 2;
_settings[1].m_config.pin_miso = BOARD_SPI2_MISO_PIN;
_settings[1].m_config.pin_mosi = BOARD_SPI2_MOSI_PIN;
_settings[1].m_config.pin_sck = BOARD_SPI2_SCK_PIN;
_settings[1].m_config.pin_ssel = BOARD_SPI2_NSS_PIN;
// _settings[1].dataMode = SPI_MODE0;
// _settings[1].dataSize = DATA_SIZE_8BIT;
// _settings[1].clock = SPI_CLOCK_MAX;
// //_settings[1].clockDivider = determine_baud_rate(_settings[1].spi_d, _settings[1].clock);
// #endif
#endif
// setModule(device);
setModule(device);
// // Init the GPDMA controller
// // TODO: call once in the constructor? or each time?
// GPDMA_Init();
// }
}
// SPIClass::SPIClass(pin_t mosi, pin_t miso, pin_t sclk, pin_t ssel) {
// #if BOARD_NR_SPI >= 1
// if (mosi == BOARD_SPI1_MOSI_PIN) SPIClass(1);
// #endif
// #if BOARD_NR_SPI >= 2
// if (mosi == BOARD_SPI2_MOSI_PIN) SPIClass(2);
// #endif
// }
SPIClass::SPIClass(pin_t mosi, pin_t miso, pin_t sclk, pin_t ssel) {
#if BOARD_NR_SPI >= 1
if (mosi == BOARD_SPI1_MOSI_PIN) SPIClass(1);
#endif
#if BOARD_NR_SPI >= 2
if (mosi == BOARD_SPI2_MOSI_PIN) SPIClass(2);
#endif
}
// void SPIClass::begin() {
void SPIClass::begin() {
// // Init the SPI pins in the first begin call
// if ((_currentSetting->spi_d == LPC_SSP0 && spiInitialised[0] == false) ||
// (_currentSetting->spi_d == LPC_SSP1 && spiInitialised[1] == false)) {
// pin_t sck, miso, mosi;
// if (_currentSetting->spi_d == LPC_SSP0) {
// sck = BOARD_SPI1_SCK_PIN;
// miso = BOARD_SPI1_MISO_PIN;
// mosi = BOARD_SPI1_MOSI_PIN;
// spiInitialised[0] = true;
// }
// else if (_currentSetting->spi_d == LPC_SSP1) {
// sck = BOARD_SPI2_SCK_PIN;
// miso = BOARD_SPI2_MISO_PIN;
// mosi = BOARD_SPI2_MOSI_PIN;
// spiInitialised[1] = true;
// }
// PINSEL_CFG_Type PinCfg; // data structure to hold init values
// PinCfg.Funcnum = 2;
// PinCfg.OpenDrain = 0;
// PinCfg.Pinmode = 0;
// PinCfg.Pinnum = LPC176x::pin_bit(sck);
// PinCfg.Portnum = LPC176x::pin_port(sck);
// PINSEL_ConfigPin(&PinCfg);
// SET_OUTPUT(sck);
if ((_currentSetting->device_id == 0 && spiInitialised[0] == false) ||
(_currentSetting->device_id == 1 && spiInitialised[1] == false) ||
(_currentSetting->device_id == 2 && spiInitialised[2] == false)) {
MCUI::SSP::init(_currentSetting->device_id, _currentSetting->m_config);
spiInitialised[_currentSetting->device_id] = true;
}
updateSettings();
}
// PinCfg.Pinnum = LPC176x::pin_bit(miso);
// PinCfg.Portnum = LPC176x::pin_port(miso);
// PINSEL_ConfigPin(&PinCfg);
// SET_INPUT(miso);
void SPIClass::beginTransaction(const SPISettings &cfg) {
setBitOrder(cfg.bitOrder);
setDataMode(cfg.dataMode);
setDataSize(cfg.dataSize);
//setClockDivider(determine_baud_rate(_currentSetting->spi_d, settings.clock));
begin();
}
// PinCfg.Pinnum = LPC176x::pin_bit(mosi);
// PinCfg.Portnum = LPC176x::pin_port(mosi);
// PINSEL_ConfigPin(&PinCfg);
// SET_OUTPUT(mosi);
// }
uint8_t SPIClass::transfer(const uint16_t b) {
uint16_t rx_word = 0;
// clear rx fifo
while(MCUI::SSP::read(_currentSetting->device_id, &rx_word) == 1);
MCUI::SSP::write(_currentSetting->device_id, b);
while(MCUI::SSP::read(_currentSetting->device_id, &rx_word) != 1);
return rx_word;
}
// updateSettings();
// SSP_Cmd(_currentSetting->spi_d, ENABLE); // start SSP running
// }
uint16_t SPIClass::transfer16(const uint16_t data) {
return (transfer((data >> 8) & 0xFF) << 8) | (transfer(data & 0xFF) & 0xFF);
}
// void SPIClass::beginTransaction(const SPISettings &cfg) {
// setBitOrder(cfg.bitOrder);
// setDataMode(cfg.dataMode);
// setDataSize(cfg.dataSize);
// //setClockDivider(determine_baud_rate(_currentSetting->spi_d, settings.clock));
// begin();
// }
// uint8_t SPIClass::transfer(const uint16_t b) {
// // Send and receive a single byte
// SSP_ReceiveData(_currentSetting->spi_d); // read any previous data
// SSP_SendData(_currentSetting->spi_d, b);
// waitSpiTxEnd(_currentSetting->spi_d); // wait for it to finish
// return SSP_ReceiveData(_currentSetting->spi_d);
// }
// uint16_t SPIClass::transfer16(const uint16_t data) {
// return (transfer((data >> 8) & 0xFF) << 8) | (transfer(data & 0xFF) & 0xFF);
// }
// void SPIClass::end() {
void SPIClass::end() {
// // Neither is needed for Marlin
// //SSP_Cmd(_currentSetting->spi_d, DISABLE);
// //SSP_DeInit(_currentSetting->spi_d);
// }
}
// void SPIClass::send(uint8_t data) {
// SSP_SendData(_currentSetting->spi_d, data);
// }
void SPIClass::send(uint8_t data) {
MCUI::SSP::write(_currentSetting->device_id, data);
}
// void SPIClass::dmaSend(void *buf, uint16_t length, bool minc) {
void SPIClass::dmaSend(void *buf, uint16_t length, bool minc) {
// //TODO: LPC dma can only write 0xFFF bytes at once.
// GPDMA_Channel_CFG_Type GPDMACfg;
@@ -329,76 +309,46 @@
// waitSpiTxEnd(_currentSetting->spi_d);
// SSP_DMACmd(_currentSetting->spi_d, SSP_DMA_TX, DISABLE);
// }
}
// uint16_t SPIClass::read() {
// return SSP_ReceiveData(_currentSetting->spi_d);
// }
uint16_t SPIClass::read() {
uint16_t rx_word = 0;
MCUI::SSP::read(_currentSetting->device_id, &rx_word);
return rx_word;
}
// void SPIClass::read(uint8_t *buf, uint32_t len) {
// for (uint16_t i = 0; i < len; i++) buf[i] = transfer(0xFF);
// }
void SPIClass::read(uint8_t *buf, uint32_t len) {
uint16_t rx_word = 0;
// clear rx fifo
while(MCUI::SSP::read(_currentSetting->device_id, &rx_word) == 1);
for (uint16_t i = 0; i < len; i++) {
MCUI::SSP::write(_currentSetting->device_id, 0xFF);
while(MCUI::SSP::read(_currentSetting->device_id, &rx_word) != 1);
buf[i] = rx_word;
}
}
// void SPIClass::setClock(uint32_t clock) { _currentSetting->clock = clock; }
void SPIClass::setClock(uint32_t clock) { _currentSetting->clock = clock; }
// void SPIClass::setModule(uint8_t device) { _currentSetting = &_settings[device - 1]; } // SPI channels are called 1, 2, and 3 but the array is zero-indexed
void SPIClass::setModule(uint8_t device) { _currentSetting = &_settings[device - 1]; } // SPI channels are called 1, 2, and 3 but the array is zero-indexed
// void SPIClass::setBitOrder(uint8_t bitOrder) { _currentSetting->bitOrder = bitOrder; }
void SPIClass::setBitOrder(uint8_t bitOrder) { _currentSetting->bitOrder = bitOrder; }
// void SPIClass::setDataMode(uint8_t dataMode) { _currentSetting->dataMode = dataMode; }
void SPIClass::setDataMode(uint8_t dataMode) { _currentSetting->dataMode = dataMode; }
// void SPIClass::setDataSize(uint32_t dataSize) { _currentSetting->dataSize = dataSize; }
void SPIClass::setDataSize(uint32_t dataSize) { _currentSetting->dataSize = dataSize; }
// /**
// * Set up/tear down
// */
// void SPIClass::updateSettings() {
// //SSP_DeInit(_currentSetting->spi_d); //todo: need force de init?!
void SPIClass::updateSettings() { }
// // Divide PCLK by 2 for SSP0
// //CLKPWR_SetPCLKDiv(_currentSetting->spi_d == LPC_SSP0 ? CLKPWR_PCLKSEL_SSP0 : CLKPWR_PCLKSEL_SSP1, CLKPWR_PCLKSEL_CCLK_DIV_2);
SPIClass SPI(1);
// SSP_CFG_Type HW_SPI_init; // data structure to hold init values
// SSP_ConfigStructInit(&HW_SPI_init); // set values for SPI mode
// HW_SPI_init.ClockRate = _currentSetting->clock;
// HW_SPI_init.Databit = _currentSetting->dataSize;
// /**
// * SPI Mode CPOL CPHA Shift SCK-edge Capture SCK-edge
// * 0 0 0 Falling Rising
// * 1 0 1 Rising Falling
// * 2 1 0 Rising Falling
// * 3 1 1 Falling Rising
// */
// switch (_currentSetting->dataMode) {
// case SPI_MODE0:
// HW_SPI_init.CPHA = SSP_CPHA_FIRST;
// HW_SPI_init.CPOL = SSP_CPOL_HI;
// break;
// case SPI_MODE1:
// HW_SPI_init.CPHA = SSP_CPHA_SECOND;
// HW_SPI_init.CPOL = SSP_CPOL_HI;
// break;
// case SPI_MODE2:
// HW_SPI_init.CPHA = SSP_CPHA_FIRST;
// HW_SPI_init.CPOL = SSP_CPOL_LO;
// break;
// case SPI_MODE3:
// HW_SPI_init.CPHA = SSP_CPHA_SECOND;
// HW_SPI_init.CPOL = SSP_CPOL_LO;
// break;
// default:
// break;
// }
// // TODO: handle bitOrder
// SSP_Init(_currentSetting->spi_d, &HW_SPI_init); // puts the values into the proper bits in the SSP0 registers
// }
// #if SD_MISO_PIN == BOARD_SPI1_MISO_PIN
// SPIClass SPI(1);
// #elif SD_MISO_PIN == BOARD_SPI2_MISO_PIN
// SPIClass SPI(2);
// #endif
#if SD_MISO_PIN == BOARD_SPI1_MISO_PIN
SPIClass SPI(1);
#elif SD_MISO_PIN == BOARD_SPI2_MISO_PIN
SPIClass SPI(2);
#endif
#endif // TARGET_LPC4078
Marlin/src/HAL/LPC4078/include/SPI.h
+22 -12
View File
@@ -24,8 +24,7 @@
#include "../../shared/HAL_SPI.h"
#include <stdint.h>
// #include <lpc17xx_ssp.h>
// #include <lpc17xx_gpdma.h>
#include <mcu_interface.h>
//#define MSBFIRST 1
@@ -63,17 +62,25 @@
#define SPI_CLOCK_MAX SPI_CLOCK_DIV2
#define BOARD_NR_SPI 2
#define BOARD_NR_SPI 3
//#define BOARD_SPI1_NSS_PIN PA4 ?!
#define BOARD_SPI1_SCK_PIN P0_15
#define BOARD_SPI1_MISO_PIN P0_17
#define BOARD_SPI1_MOSI_PIN P0_18
// SSP0 TMC port
#define BOARD_SPI1_NSS_PIN P_NC
#define BOARD_SPI1_SCK_PIN P1_20
#define BOARD_SPI1_MISO_PIN P1_23
#define BOARD_SPI1_MOSI_PIN P1_24
//#define BOARD_SPI2_NSS_PIN PB12 ?!
#define BOARD_SPI2_SCK_PIN P0_07
#define BOARD_SPI2_MISO_PIN P0_08
#define BOARD_SPI2_MOSI_PIN P0_09
// SSP2 LCD SD port
#define BOARD_SPI2_NSS_PIN P_NC
#define BOARD_SPI2_SCK_PIN P1_00
#define BOARD_SPI2_MISO_PIN P1_04
#define BOARD_SPI2_MOSI_PIN P1_01
// SSP1 Onboard SD port
#define BOARD_SPI3_NSS_PIN P_NC
#define BOARD_SPI3_SCK_PIN P0_07
#define BOARD_SPI3_MISO_PIN P0_08
#define BOARD_SPI3_MOSI_PIN P0_09
class SPISettings {
public:
@@ -115,13 +122,16 @@ private:
dataSize = inDataSize;
}
MCUI::SSP::Config m_config;
//uint32_t spi_speed;
uint32_t clock;
uint32_t dataSize;
//uint32_t clockDivider;
uint8_t bitOrder;
uint8_t dataMode;
//LPC_SSP_TypeDef *spi_d;
uint8_t device_id;
friend class SPIClass;
};
Marlin/src/pins/linux/pins_RAMPS_LINUX.h
+12
View File
@@ -128,6 +128,18 @@
#define E1_CS_PIN 44
#endif
#define Z4_STEP_PIN 13
#define Z4_DIR_PIN 71
#define Z4_ENABLE_PIN 12
#define Z2_STEP_PIN 4
#define Z2_DIR_PIN 5
#define Z2_ENABLE_PIN 6
#define Z3_STEP_PIN 12
#define Z3_DIR_PIN 40
#define Z3_ENABLE_PIN 44
//
// Temperature Sensors
//
Marlin/src/pins/lpc4078/pins_EBAB.h
+6 -6
View File
@@ -255,14 +255,14 @@
* Default pins for TMC software SPI
*/
#if ENABLED(TMC_USE_SW_SPI)
#ifndef TMC_SW_MOSI
#define TMC_SW_MOSI P1_24
#ifndef TMC_SPI_MOSI
#define TMC_SPI_MOSI P1_24
#endif
#ifndef TMC_SW_MISO
#define TMC_SW_MISO P1_23
#ifndef TMC_SPI_MISO
#define TMC_SPI_MISO P1_23
#endif
#ifndef TMC_SW_SCK
#define TMC_SW_SCK P1_20
#ifndef TMC_SPI_SCK
#define TMC_SPI_SCK P1_20
#endif
#endif