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STM32 soft SPI. STEVAL_3DP001V1 SD read. M906 tweaks. (#16579)
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@Bob-the-Kuhn @thinkyhead
Bob-the-Kuhn authored and thinkyhead committed Jan 17, 2020
1 parent 91a399a commit 187f4f6
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Showing 7 changed files with 553 additions and 166 deletions.
274 changes: 173 additions & 101 deletions Marlin/src/HAL/HAL_STM32/HAL_SPI.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,121 +37,193 @@ static SPISettings spiConfig;
// ------------------------

#if ENABLED(SOFTWARE_SPI)

// ------------------------
// Software SPI
// ------------------------
#error "Software SPI not supported for STM32. Use Hardware SPI."

#else
#include "../shared/Delay.h"

// ------------------------
// Hardware SPI
// ------------------------
void spiBegin(void) {
OUT_WRITE(SS_PIN, HIGH);
OUT_WRITE(SCK_PIN, HIGH);
SET_INPUT(MISO_PIN);
OUT_WRITE(MOSI_PIN, HIGH);
}

/**
* VGPV SPI speed start and PCLK2/2, by default 108/2 = 54Mhz
*/
static uint16_t delay_STM32_soft_spi;

void spiInit(uint8_t spiRate) {
// Use datarates Marlin uses
switch (spiRate) {
case SPI_FULL_SPEED: delay_STM32_soft_spi = 125; break; // desired: 8,000,000 actual: ~1.1M
case SPI_HALF_SPEED: delay_STM32_soft_spi = 125; break; // desired: 4,000,000 actual: ~1.1M
case SPI_QUARTER_SPEED:delay_STM32_soft_spi = 250; break; // desired: 2,000,000 actual: ~890K
case SPI_EIGHTH_SPEED: delay_STM32_soft_spi = 500; break; // desired: 1,000,000 actual: ~590K
case SPI_SPEED_5: delay_STM32_soft_spi = 1000; break; // desired: 500,000 actual: ~360K
case SPI_SPEED_6: delay_STM32_soft_spi = 2000; break; // desired: 250,000 actual: ~210K
default: delay_STM32_soft_spi = 4000; break; // desired: 125,000 actual: ~123K
}
SPI.begin();
}

/**
* @brief Begin SPI port setup
*
* @return Nothing
*
* @details Only configures SS pin since stm32duino creates and initialize the SPI object
*/
void spiBegin() {
#if !PIN_EXISTS(SS)
#error "SS_PIN not defined!"
#endif

OUT_WRITE(SS_PIN, HIGH);
}

/** Configure SPI for specified SPI speed */
void spiInit(uint8_t spiRate) {
// Use datarates Marlin uses
uint32_t clock;
switch (spiRate) {
case SPI_FULL_SPEED: clock = 20000000; break; // 13.9mhz=20000000 6.75mhz=10000000 3.38mhz=5000000 .833mhz=1000000
case SPI_HALF_SPEED: clock = 5000000; break;
case SPI_QUARTER_SPEED: clock = 2500000; break;
case SPI_EIGHTH_SPEED: clock = 1250000; break;
case SPI_SPEED_5: clock = 625000; break;
case SPI_SPEED_6: clock = 300000; break;
default:
clock = 4000000; // Default from the SPI library
// Begin SPI transaction, set clock, bit order, data mode
void spiBeginTransaction(uint32_t spiClock, uint8_t bitOrder, uint8_t dataMode) { /* do nothing */ }

uint8_t HAL_SPI_STM32_SpiTransfer_Mode_3(uint8_t b) { // using Mode 3
for (uint8_t bits = 8; bits--;) {
WRITE(SCK_PIN, LOW);
WRITE(MOSI_PIN, b & 0x80);

DELAY_NS(delay_STM32_soft_spi);
WRITE(SCK_PIN, HIGH);
DELAY_NS(delay_STM32_soft_spi);

b <<= 1; // little setup time
b |= (READ(MISO_PIN) != 0);
}
DELAY_NS(125);
return b;
}
spiConfig = SPISettings(clock, MSBFIRST, SPI_MODE0);

#if ENABLED(CUSTOM_SPI_PINS)
SPI.setMISO(MISO_PIN);
SPI.setMOSI(MOSI_PIN);
SPI.setSCLK(SCK_PIN);
SPI.setSSEL(SS_PIN);
#endif
// Soft SPI receive byte
uint8_t spiRec() {
DISABLE_ISRS(); // No interrupts during byte receive
const uint8_t data = HAL_SPI_STM32_SpiTransfer_Mode_3(0xFF);
ENABLE_ISRS(); // Enable interrupts
return data;
}

SPI.begin();
}
// Soft SPI read data
void spiRead(uint8_t *buf, uint16_t nbyte) {
for (uint16_t i = 0; i < nbyte; i++)
buf[i] = spiRec();
}

/**
* @brief Receives a single byte from the SPI port.
*
* @return Byte received
*
* @details
*/
uint8_t spiRec() {
SPI.beginTransaction(spiConfig);
uint8_t returnByte = SPI.transfer(0xFF);
SPI.endTransaction();
return returnByte;
}
// Soft SPI send byte
void spiSend(uint8_t data) {
DISABLE_ISRS(); // No interrupts during byte send
HAL_SPI_STM32_SpiTransfer_Mode_3(data); // Don't care what is received
ENABLE_ISRS(); // Enable interrupts
}

/**
* @brief Receives a number of bytes from the SPI port to a buffer
*
* @param buf Pointer to starting address of buffer to write to.
* @param nbyte Number of bytes to receive.
* @return Nothing
*
* @details Uses DMA
*/
void spiRead(uint8_t* buf, uint16_t nbyte) {
if (nbyte == 0) return;
memset(buf, 0xFF, nbyte);
SPI.beginTransaction(spiConfig);
SPI.transfer(buf, nbyte);
SPI.endTransaction();
}
// Soft SPI send block
void spiSendBlock(uint8_t token, const uint8_t *buf) {
spiSend(token);
for (uint16_t i = 0; i < 512; i++)
spiSend(buf[i]);
}

/**
* @brief Sends a single byte on SPI port
*
* @param b Byte to send
*
* @details
*/
void spiSend(uint8_t b) {
SPI.beginTransaction(spiConfig);
SPI.transfer(b);
SPI.endTransaction();
}
#else

/**
* @brief Write token and then write from 512 byte buffer to SPI (for SD card)
*
* @param buf Pointer with buffer start address
* @return Nothing
*
* @details Use DMA
*/
void spiSendBlock(uint8_t token, const uint8_t* buf) {
uint8_t rxBuf[512];
SPI.beginTransaction(spiConfig);
SPI.transfer(token);
SPI.transfer((uint8_t*)buf, &rxBuf, 512);
SPI.endTransaction();
}
// ------------------------
// Hardware SPI
// ------------------------

/**
* VGPV SPI speed start and PCLK2/2, by default 108/2 = 54Mhz
*/

/**
* @brief Begin SPI port setup
*
* @return Nothing
*
* @details Only configures SS pin since stm32duino creates and initialize the SPI object
*/
void spiBegin() {
#if !PIN_EXISTS(SS)
#error "SS_PIN not defined!"
#endif

OUT_WRITE(SS_PIN, HIGH);
}

// Configure SPI for specified SPI speed
void spiInit(uint8_t spiRate) {
// Use datarates Marlin uses
uint32_t clock;
switch (spiRate) {
case SPI_FULL_SPEED: clock = 20000000; break; // 13.9mhz=20000000 6.75mhz=10000000 3.38mhz=5000000 .833mhz=1000000
case SPI_HALF_SPEED: clock = 5000000; break;
case SPI_QUARTER_SPEED: clock = 2500000; break;
case SPI_EIGHTH_SPEED: clock = 1250000; break;
case SPI_SPEED_5: clock = 625000; break;
case SPI_SPEED_6: clock = 300000; break;
default:
clock = 4000000; // Default from the SPI library
}
spiConfig = SPISettings(clock, MSBFIRST, SPI_MODE0);

#if ENABLED(CUSTOM_SPI_PINS)
SPI.setMISO(MISO_PIN);
SPI.setMOSI(MOSI_PIN);
SPI.setSCLK(SCK_PIN);
SPI.setSSEL(SS_PIN);
#endif

SPI.begin();
}

/**
* @brief Receives a single byte from the SPI port.
*
* @return Byte received
*
* @details
*/
uint8_t spiRec() {
SPI.beginTransaction(spiConfig);
uint8_t returnByte = SPI.transfer(0xFF);
SPI.endTransaction();
return returnByte;
}

/**
* @brief Receive a number of bytes from the SPI port to a buffer
*
* @param buf Pointer to starting address of buffer to write to.
* @param nbyte Number of bytes to receive.
* @return Nothing
*
* @details Uses DMA
*/
void spiRead(uint8_t* buf, uint16_t nbyte) {
if (nbyte == 0) return;
memset(buf, 0xFF, nbyte);
SPI.beginTransaction(spiConfig);
SPI.transfer(buf, nbyte);
SPI.endTransaction();
}

/**
* @brief Send a single byte on SPI port
*
* @param b Byte to send
*
* @details
*/
void spiSend(uint8_t b) {
SPI.beginTransaction(spiConfig);
SPI.transfer(b);
SPI.endTransaction();
}

/**
* @brief Write token and then write from 512 byte buffer to SPI (for SD card)
*
* @param buf Pointer with buffer start address
* @return Nothing
*
* @details Use DMA
*/
void spiSendBlock(uint8_t token, const uint8_t* buf) {
uint8_t rxBuf[512];
SPI.beginTransaction(spiConfig);
SPI.transfer(token);
SPI.transfer((uint8_t*)buf, &rxBuf, 512);
SPI.endTransaction();
}

#endif // SOFTWARE_SPI

Expand Down
28 changes: 12 additions & 16 deletions Marlin/src/gcode/feature/L6470/M906.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,22 +39,16 @@
*
* On L6474 this sets the TVAL register (same address).
*
* J - select which driver(s) to monitor on multi-driver axis
* 0 - (default) monitor all drivers on the axis or E0
* I - select which driver(s) to change on multi-driver axis
* 0 - (default) all drivers on the axis or E0
* 1 - monitor only X, Y, Z or E1
* 2 - monitor only X2, Y2, Z2 or E2
* 3 - monitor only Z3 or E3
* 4 - monitor only E4
* 5 - monitor only E5
* Xxxx, Yxxx, Zxxx, Exxx - axis to be monitored with displacement
* xxx (1-255) is distance moved on either side of current position
*
* I - over current threshold
* optional - will report current value from driver if not specified
*
* K - value for KVAL_HOLD (0 - 255) (optional)
* optional - will report current value from driver if not specified
*
* Xxxx, Yxxx, Zxxx, Exxx - axis to change (optional)
* L6474 - current in mA (4A max)
* All others - 0-255
*/

/**
Expand Down Expand Up @@ -202,10 +196,12 @@ void L6470_report_current(L64XX &motor, const L64XX_axis_t axis) {

const uint16_t MicroSteps = _BV(motor.GetParam(L6470_STEP_MODE) & 0x07); //NOMORE(MicroSteps, 16);
SERIAL_ECHOLNPAIR("...MicroSteps: ", MicroSteps,
" ADC_OUT: ", L6470_ADC_out);
" ADC_OUT: ", L6470_ADC_out,
" Vs_compensation: NA");

SERIAL_EOL();

SERIAL_ECHOLNPGM(" Vs_compensation: NA\n"
"...KVAL_HOLD: NA"
SERIAL_ECHOLNPGM("...KVAL_HOLD: NA"
" KVAL_RUN : NA"
" KVAL_ACC: NA"
" KVAL_DEC: NA"
Expand All @@ -232,7 +228,7 @@ void GcodeSuite::M906() {

L64xxManager.pause_monitor(true); // Keep monitor_driver() from stealing status

#define L6470_SET_KVAL_HOLD(Q) stepper##Q.SetParam(L6470_KVAL_HOLD, value)
#define L6470_SET_KVAL_HOLD(Q) (AXIS_IS_L64XX(Q) ? stepper##Q.setTVALCurrent(value) : stepper##Q.SetParam(L6470_KVAL_HOLD, uint8_t(value)))

DEBUG_ECHOLNPGM("M906");

Expand All @@ -242,7 +238,7 @@ void GcodeSuite::M906() {
const uint8_t index = parser.byteval('I');
#endif

LOOP_XYZE(i) if (uint8_t value = parser.byteval(axis_codes[i])) {
LOOP_XYZE(i) if (uint16_t value = parser.intval(axis_codes[i])) {

report_current = false;

Expand Down
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