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Clean up HAL_spi_Due.cpp (#13087)

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This commit is contained in:
Scott Lahteine 2019-02-06 06:31:31 -06:00 committed by GitHub
parent 524c6c10bf
commit e1587da228
Signed by: GitHub
GPG key ID: 4AEE18F83AFDEB23
1 changed files with 86 additions and 146 deletions
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228
Marlin/src/HAL/HAL_DUE/HAL_spi_Due.cpp
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@ -250,7 +250,7 @@
} }
// all the others // all the others
static uint32_t spiDelayCyclesX4 = (F_CPU/1000000); // 4uS => 125khz static uint32_t spiDelayCyclesX4 = (F_CPU) / 1000000; // 4uS => 125khz
static uint8_t spiTransferX(uint8_t b) { // using Mode 0 static uint8_t spiTransferX(uint8_t b) { // using Mode 0
int bits = 8; int bits = 8;
@ -451,77 +451,48 @@
static pfnSpiTxBlock spiTxBlock = (pfnSpiTxBlock)spiTxBlockX; static pfnSpiTxBlock spiTxBlock = (pfnSpiTxBlock)spiTxBlockX;
static pfnSpiRxBlock spiRxBlock = (pfnSpiRxBlock)spiRxBlockX; static pfnSpiRxBlock spiRxBlock = (pfnSpiRxBlock)spiRxBlockX;
#if MB(ALLIGATOR) // control SDSS pin #if MB(ALLIGATOR)
void spiBegin() { #define _SS_WRITE(S) WRITE(SS_PIN, S)
SET_OUTPUT(SS_PIN); #else
WRITE(SS_PIN, HIGH); #define _SS_WRITE(S) NOOP
SET_OUTPUT(SCK_PIN);
SET_INPUT(MISO_PIN);
SET_OUTPUT(MOSI_PIN);
}
uint8_t spiRec() {
WRITE(SS_PIN, LOW);
WRITE(MOSI_PIN, 1); /* Output 1s 1*/
uint8_t b = spiTransferRx(0xFF);
WRITE(SS_PIN, HIGH);
return b;
}
void spiRead(uint8_t* buf, uint16_t nbyte) {
uint32_t todo = nbyte;
if (todo == 0) return;
WRITE(SS_PIN, LOW);
WRITE(MOSI_PIN, 1); /* Output 1s 1*/
spiRxBlock(buf,nbyte);
WRITE(SS_PIN, HIGH);
}
void spiSend(uint8_t b) {
WRITE(SS_PIN, LOW);
(void) spiTransferTx(b);
WRITE(SS_PIN, HIGH);
}
void spiSendBlock(uint8_t token, const uint8_t* buf) {
WRITE(SS_PIN, LOW);
(void) spiTransferTx(token);
spiTxBlock(buf,512);
WRITE(SS_PIN, HIGH);
#else // let calling routine control SDSS
void spiBegin() {
SET_OUTPUT(SS_PIN);
SET_OUTPUT(SCK_PIN);
SET_INPUT(MISO_PIN);
SET_OUTPUT(MOSI_PIN);
}
uint8_t spiRec() {
WRITE(MOSI_PIN, 1); /* Output 1s 1*/
uint8_t b = spiTransferRx(0xFF);
return b;
}
void spiRead(uint8_t* buf, uint16_t nbyte) {
uint32_t todo = nbyte;
if (todo == 0) return;
WRITE(MOSI_PIN, 1); /* Output 1s 1*/
spiRxBlock(buf,nbyte);
}
void spiSend(uint8_t b) {
(void) spiTransferTx(b);
}
void spiSendBlock(uint8_t token, const uint8_t* buf) {
(void) spiTransferTx(token);
spiTxBlock(buf,512);
#endif #endif
void spiBegin() {
SET_OUTPUT(SS_PIN);
_SS_WRITE(HIGH);
SET_OUTPUT(SCK_PIN);
SET_INPUT(MISO_PIN);
SET_OUTPUT(MOSI_PIN);
}
uint8_t spiRec() {
_SS_WRITE(LOW);
WRITE(MOSI_PIN, HIGH); // Output 1s 1
uint8_t b = spiTransferRx(0xFF);
_SS_WRITE(HIGH);
return b;
}
void spiRead(uint8_t* buf, uint16_t nbyte) {
if (nbyte) {
_SS_WRITE(LOW);
WRITE(MOSI_PIN, HIGH); // Output 1s 1
spiRxBlock(buf, nbyte);
_SS_WRITE(HIGH);
}
}
void spiSend(uint8_t b) {
_SS_WRITE(LOW);
(void)spiTransferTx(b);
_SS_WRITE(HIGH);
}
void spiSendBlock(uint8_t token, const uint8_t* buf) {
_SS_WRITE(LOW);
(void)spiTransferTx(token);
spiTxBlock(buf, 512);
_SS_WRITE(HIGH);
} }
/** /**
@ -549,7 +520,7 @@
spiRxBlock = (pfnSpiRxBlock)spiRxBlockX; spiRxBlock = (pfnSpiRxBlock)spiRxBlockX;
break; break;
default: default:
spiDelayCyclesX4 = (F_CPU/1000000) >> (6 - spiRate); spiDelayCyclesX4 = ((F_CPU) / 1000000) >> (6 - spiRate);
spiTransferTx = (pfnSpiTransfer)spiTransferX; spiTransferTx = (pfnSpiTransfer)spiTransferX;
spiTransferRx = (pfnSpiTransfer)spiTransferX; spiTransferRx = (pfnSpiTransfer)spiTransferX;
spiTxBlock = (pfnSpiTxBlock)spiTxBlockX; spiTxBlock = (pfnSpiTxBlock)spiTxBlockX;
@ -557,9 +528,7 @@
break; break;
} }
#if MB(ALLIGATOR) _SS_WRITE(HIGH);
WRITE(SS_PIN, HIGH);
#endif
WRITE(MOSI_PIN, HIGH); WRITE(MOSI_PIN, HIGH);
WRITE(SCK_PIN, LOW); WRITE(SCK_PIN, LOW);
} }
@ -573,6 +542,10 @@
#else // !SOFTWARE_SPI #else // !SOFTWARE_SPI
#define WHILE_TX(N) while ((SPI0->SPI_SR & SPI_SR_TDRE) == (N))
#define WHILE_RX(N) while ((SPI0->SPI_SR & SPI_SR_RDRF) == (N))
#define FLUSH_TX() do{ WHILE_RX(1) SPI0->SPI_RDR; }while(0)
#if MB(ALLIGATOR) #if MB(ALLIGATOR)
// slave selects controlled by SPI controller // slave selects controlled by SPI controller
@ -645,13 +618,14 @@
WRITE(SPI_FLASH_CS, HIGH); WRITE(SPI_FLASH_CS, HIGH);
WRITE(SS_PIN, HIGH); WRITE(SS_PIN, HIGH);
OUT_WRITE(SDSS,0); OUT_WRITE(SDSS, LOW);
PIO_Configure( PIO_Configure(
g_APinDescription[SPI_PIN].pPort, g_APinDescription[SPI_PIN].pPort,
g_APinDescription[SPI_PIN].ulPinType, g_APinDescription[SPI_PIN].ulPinType,
g_APinDescription[SPI_PIN].ulPin, g_APinDescription[SPI_PIN].ulPin,
g_APinDescription[SPI_PIN].ulPinConfiguration); g_APinDescription[SPI_PIN].ulPinConfiguration
);
spiInit(1); spiInit(1);
} }
@ -660,30 +634,23 @@
uint8_t spiRec() { uint8_t spiRec() {
// write dummy byte with address and end transmission flag // write dummy byte with address and end transmission flag
SPI0->SPI_TDR = 0x000000FF | SPI_PCS(SPI_CHAN) | SPI_TDR_LASTXFER; SPI0->SPI_TDR = 0x000000FF | SPI_PCS(SPI_CHAN) | SPI_TDR_LASTXFER;
// wait for transmit register empty
while ((SPI0->SPI_SR & SPI_SR_TDRE) == 0);
// wait for receive register WHILE_TX(0);
while ((SPI0->SPI_SR & SPI_SR_RDRF) == 0); WHILE_RX(0);
// get byte from receive register
//DELAY_US(1U); //DELAY_US(1U);
return SPI0->SPI_RDR; return SPI0->SPI_RDR;
} }
uint8_t spiRec(uint32_t chan) { uint8_t spiRec(uint32_t chan) {
uint8_t spirec_tmp;
// wait for transmit register empty WHILE_TX(0);
while ((SPI0->SPI_SR & SPI_SR_TDRE) == 0); FLUSH_RX();
while ((SPI0->SPI_SR & SPI_SR_RDRF) == 1)
spirec_tmp = SPI0->SPI_RDR;
UNUSED(spirec_tmp);
// write dummy byte with address and end transmission flag // write dummy byte with address and end transmission flag
SPI0->SPI_TDR = 0x000000FF | SPI_PCS(chan) | SPI_TDR_LASTXFER; SPI0->SPI_TDR = 0x000000FF | SPI_PCS(chan) | SPI_TDR_LASTXFER;
WHILE_RX(0);
// wait for receive register
while ((SPI0->SPI_SR & SPI_SR_RDRF) == 0);
// get byte from receive register
return SPI0->SPI_RDR; return SPI0->SPI_RDR;
} }
@ -692,9 +659,9 @@
if (nbyte-- == 0) return; if (nbyte-- == 0) return;
for (int i = 0; i < nbyte; i++) { for (int i = 0; i < nbyte; i++) {
//while ((SPI0->SPI_SR & SPI_SR_TDRE) == 0); //WHILE_TX(0);
SPI0->SPI_TDR = 0x000000FF | SPI_PCS(SPI_CHAN); SPI0->SPI_TDR = 0x000000FF | SPI_PCS(SPI_CHAN);
while ((SPI0->SPI_SR & SPI_SR_RDRF) == 0); WHILE_RX(0);
buf[i] = SPI0->SPI_RDR; buf[i] = SPI0->SPI_RDR;
//DELAY_US(1U); //DELAY_US(1U);
} }
@ -705,11 +672,8 @@
void spiSend(byte b) { void spiSend(byte b) {
// write byte with address and end transmission flag // write byte with address and end transmission flag
SPI0->SPI_TDR = (uint32_t)b | SPI_PCS(SPI_CHAN) | SPI_TDR_LASTXFER; SPI0->SPI_TDR = (uint32_t)b | SPI_PCS(SPI_CHAN) | SPI_TDR_LASTXFER;
// wait for transmit register empty WHILE_TX(0);
while ((SPI0->SPI_SR & SPI_SR_TDRE) == 0); WHILE_RX(0);
// wait for receive register
while ((SPI0->SPI_SR & SPI_SR_RDRF) == 0);
// clear status
SPI0->SPI_RDR; SPI0->SPI_RDR;
//DELAY_US(1U); //DELAY_US(1U);
} }
@ -718,8 +682,8 @@
if (n == 0) return; if (n == 0) return;
for (size_t i = 0; i < n - 1; i++) { for (size_t i = 0; i < n - 1; i++) {
SPI0->SPI_TDR = (uint32_t)buf[i] | SPI_PCS(SPI_CHAN); SPI0->SPI_TDR = (uint32_t)buf[i] | SPI_PCS(SPI_CHAN);
while ((SPI0->SPI_SR & SPI_SR_TDRE) == 0); WHILE_TX(0);
while ((SPI0->SPI_SR & SPI_SR_RDRF) == 0); WHILE_RX(0);
SPI0->SPI_RDR; SPI0->SPI_RDR;
//DELAY_US(1U); //DELAY_US(1U);
} }
@ -727,29 +691,20 @@
} }
void spiSend(uint32_t chan, byte b) { void spiSend(uint32_t chan, byte b) {
uint8_t dummy_read = 0; WHILE_TX(0);
// wait for transmit register empty
while ((SPI0->SPI_SR & SPI_SR_TDRE) == 0);
// write byte with address and end transmission flag // write byte with address and end transmission flag
SPI0->SPI_TDR = (uint32_t)b | SPI_PCS(chan) | SPI_TDR_LASTXFER; SPI0->SPI_TDR = (uint32_t)b | SPI_PCS(chan) | SPI_TDR_LASTXFER;
// wait for receive register WHILE_RX(0);
while ((SPI0->SPI_SR & SPI_SR_RDRF) == 0); FLUSH_RX();
// clear status
while ((SPI0->SPI_SR & SPI_SR_RDRF) == 1)
dummy_read = SPI0->SPI_RDR;
UNUSED(dummy_read);
} }
void spiSend(uint32_t chan, const uint8_t* buf, size_t n) { void spiSend(uint32_t chan, const uint8_t* buf, size_t n) {
uint8_t dummy_read = 0;
if (n == 0) return; if (n == 0) return;
for (int i = 0; i < (int)n - 1; i++) { for (int i = 0; i < (int)n - 1; i++) {
while ((SPI0->SPI_SR & SPI_SR_TDRE) == 0); WHILE_TX(0);
SPI0->SPI_TDR = (uint32_t)buf[i] | SPI_PCS(chan); SPI0->SPI_TDR = (uint32_t)buf[i] | SPI_PCS(chan);
while ((SPI0->SPI_SR & SPI_SR_RDRF) == 0); WHILE_RX(0);
while ((SPI0->SPI_SR & SPI_SR_RDRF) == 1) FLUSH_RX();
dummy_read = SPI0->SPI_RDR;
UNUSED(dummy_read);
} }
spiSend(chan, buf[n - 1]); spiSend(chan, buf[n - 1]);
} }
@ -757,13 +712,13 @@
// Write from buffer to SPI // Write from buffer to SPI
void spiSendBlock(uint8_t token, const uint8_t* buf) { void spiSendBlock(uint8_t token, const uint8_t* buf) {
SPI0->SPI_TDR = (uint32_t)token | SPI_PCS(SPI_CHAN); SPI0->SPI_TDR = (uint32_t)token | SPI_PCS(SPI_CHAN);
while ((SPI0->SPI_SR & SPI_SR_TDRE) == 0); WHILE_TX(0);
//while ((SPI0->SPI_SR & SPI_SR_RDRF) == 0); //WHILE_RX(0);
//SPI0->SPI_RDR; //SPI0->SPI_RDR;
for (int i = 0; i < 511; i++) { for (int i = 0; i < 511; i++) {
SPI0->SPI_TDR = (uint32_t)buf[i] | SPI_PCS(SPI_CHAN); SPI0->SPI_TDR = (uint32_t)buf[i] | SPI_PCS(SPI_CHAN);
while ((SPI0->SPI_SR & SPI_SR_TDRE) == 0); WHILE_TX(0);
while ((SPI0->SPI_SR & SPI_SR_RDRF) == 0); WHILE_RX(0);
SPI0->SPI_RDR; SPI0->SPI_RDR;
//DELAY_US(1U); //DELAY_US(1U);
} }
@ -792,7 +747,7 @@
// Disable PIO on A26 and A27 // Disable PIO on A26 and A27
REG_PIOA_PDR = 0x0C000000; REG_PIOA_PDR = 0x0C000000;
OUT_WRITE(SDSS, 1); OUT_WRITE(SDSS, HIGH);
// Reset SPI0 (from sam lib) // Reset SPI0 (from sam lib)
SPI0->SPI_CR = SPI_CR_SPIDIS; SPI0->SPI_CR = SPI_CR_SPIDIS;
@ -807,44 +762,29 @@
SPI0->SPI_CSR[3] = SPI_CSR_SCBR(spiDivider[spiRate]) | SPI_CSR_CSAAT | SPI_MODE_0_DUE_HW; // use same CSR as TMC2130 SPI0->SPI_CSR[3] = SPI_CSR_SCBR(spiDivider[spiRate]) | SPI_CSR_CSAAT | SPI_MODE_0_DUE_HW; // use same CSR as TMC2130
} }
void spiBegin() { void spiBegin() { spiInit(); }
spiInit();
}
static uint8_t spiTransfer(uint8_t data) { static uint8_t spiTransfer(uint8_t data) {
WHILE_TX(0);
// Wait until tx register is empty
while( (SPI0->SPI_SR & SPI_SR_TDRE) == 0 );
// Send data
SPI0->SPI_TDR = (uint32_t)data | 0x00070000UL; // Add TMC2130 PCS bits to every byte SPI0->SPI_TDR = (uint32_t)data | 0x00070000UL; // Add TMC2130 PCS bits to every byte
WHILE_TX(0);
// wait for transmit register empty WHILE_RX(0);
while ((SPI0->SPI_SR & SPI_SR_TDRE) == 0);
// wait for receive register
while ((SPI0->SPI_SR & SPI_SR_RDRF) == 0);
// get byte from receive register
return SPI0->SPI_RDR; return SPI0->SPI_RDR;
} }
uint8_t spiRec() { uint8_t spiRec() { return (uint8_t)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; if (nbyte)
for (int i = 0; i < nbyte; i++) for (int i = 0; i < nbyte; i++)
buf[i] = spiTransfer(0xFF); buf[i] = spiTransfer(0xFF);
} }
void spiSend(uint8_t data) { void spiSend(uint8_t data) { spiTransfer(data); }
spiTransfer(data);
}
void spiSend(const uint8_t* buf, size_t n) { void spiSend(const uint8_t* buf, size_t nbyte) {
if (n == 0) return; if (nbyte)
for (uint16_t i = 0; i < n; i++) for (uint16_t i = 0; i < nbyte; i++)
spiTransfer(buf[i]); spiTransfer(buf[i]);
} }