Switch to TMC2130 compatible hardware SPI & misc (#10299)

Marlin/src/HAL/HAL_DUE/HAL_Due.cpp

@@ -1,23 +1,21 @@
-/* **************************************************************************
-
- Marlin 3D Printer Firmware
- Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
-
- This program is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program.  If not, see <http://www.gnu.org/licenses/>.
-****************************************************************************/
-
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
 /**
  * Description: HAL for Arduino Due and compatible (SAM3X8E)
@@ -77,6 +75,9 @@ uint16_t HAL_adc_result;
 // HAL initialization task
 void HAL_init(void) {
   // Initialize the USB stack
+  #if ENABLED(SDSUPPORT)
+    OUT_WRITE(SDSS, HIGH);  // Try to set SDSS inactive before any other SPI users start up
+  #endif
   usb_task_init();
 }
 
@@ -86,10 +87,10 @@ void HAL_idletask(void) {
   usb_task_idle();
 }
 
-// disable interrupts
+// Disable interrupts
 void cli(void) { noInterrupts(); }
 
-// enable interrupts
+// Enable interrupts
 void sei(void) { interrupts(); }
 
 void HAL_clear_reset_source(void) { }
@@ -106,7 +107,7 @@ uint8_t HAL_get_reset_source(void) {
 }
 
 void _delay_ms(const int delay_ms) {
-  // todo: port for Due?
+  // Todo: port for Due?
   delay(delay_ms);
 }
 
@@ -114,7 +115,7 @@ extern "C" {
   extern unsigned int _ebss; // end of bss section
 }
 
-// return free memory between end of heap (or end bss) and whatever is current
+// Return free memory between end of heap (or end bss) and whatever is current
 int freeMemory() {
   int free_memory, heap_end = (int)_sbrk(0);
   return (int)&free_memory - (heap_end ? heap_end : (int)&_ebss);

Marlin/src/HAL/HAL_DUE/HAL_spi_Due.cpp

@@ -486,7 +486,7 @@
 
   static void spiRxBlockX(uint8_t* buf, uint32_t todo) {
     do {
-      *buf++ = spiTransferRx(0xff);
+      *buf++ = spiTransferRx(0xFF);
     } while (--todo);
   }
 
@@ -629,7 +629,7 @@
     bool spiInitMaded = false;
 
     void spiBegin() {
-      if(spiInitMaded == false) {
+      if (spiInitMaded == false) {
         // Configure SPI pins
         PIO_Configure(
            g_APinDescription[SCK_PIN].pPort,
@@ -681,8 +681,8 @@
     }
 
     void spiInit(uint8_t spiRate) {
-      if(spiInitMaded == false) {
-        if(spiRate > 6) spiRate = 1;
+      if (spiInitMaded == false) {
+        if (spiRate > 6) spiRate = 1;
 
         #if MB(ALLIGATOR)
           // Set SPI mode 1, clock, select not active after transfer, with delay between transfers
@@ -789,7 +789,7 @@
     }
 
     // Read from SPI into buffer
-    void spiRead(uint8_t*buf, uint16_t nbyte) {
+    void spiRead(uint8_t* buf, uint16_t nbyte) {
       if (nbyte-- == 0) return;
 
       for (int i = 0; i < nbyte; i++) {
@@ -830,38 +830,37 @@
     #define SPI_MODE_2_DUE_HW 0
     #define SPI_MODE_3_DUE_HW 1
 
-    void spiInit(uint8_t spiRate = 6 ) {  // default to slowest rate if not specified)
+    void spiInit(uint8_t spiRate=6) {  // Default to slowest rate if not specified)
       // 8.4 MHz, 4 MHz, 2 MHz, 1 MHz, 0.5 MHz, 0.329 MHz, 0.329 MHz
       int spiDueDividors[] = { 10, 21, 42, 84, 168, 255, 255 };
-      if(spiRate > 6) spiRate = 1;
+      if (spiRate > 6) spiRate = 1;
 
-          /* enable PIOA and SPI0 */
+      // Enable PIOA and SPI0
       REG_PMC_PCER0 = (1UL << ID_PIOA) | (1UL << ID_SPI0);
 
-      /* disable PIO on A26 and A27 */
+      // Disable PIO on A26 and A27
       REG_PIOA_PDR = 0x0c000000;
       OUT_WRITE(SDSS, 1);
 
-      /* reset SPI0 (from sam lib) */
+      // Reset SPI0 (from sam lib)
       SPI0->SPI_CR = SPI_CR_SPIDIS;
       SPI0->SPI_CR = SPI_CR_SWRST;
       SPI0->SPI_CR = SPI_CR_SWRST;
       SPI0->SPI_CR = SPI_CR_SPIEN;
 
-
-      /* master mode, no fault detection, chip select 0 */
-      SPI0->SPI_MR = SPI_MR_MSTR | SPI_MR_PCSDEC | SPI_MR_MODFDIS;
-
-      /* SPI mode 0, 8 Bit data transfer, baud rate */
-      SPI0->SPI_CSR[0] = SPI_CSR_SCBR(spiDueDividors[spiRate]) | SPI_MODE_0_DUE_HW;
+      // TMC2103 compatible setup
+      // Master mode, no fault detection, PCS bits in data written to TDR select CSR register
+      SPI0->SPI_MR = SPI_MR_MSTR | SPI_MR_PS | SPI_MR_MODFDIS;
+      // SPI mode 0, 8 Bit data transfer, baud rate
+      SPI0->SPI_CSR[3] = SPI_CSR_SCBR(spiDueDividors[spiRate]) | SPI_CSR_CSAAT | SPI_MODE_0_DUE_HW;  // use same CSR as TMC2130
     }
 
     static uint8_t spiTransfer(uint8_t data) {
 
-      /* wait until tx register is empty */
+      // Wait until tx register is empty
       while( (SPI0->SPI_SR & SPI_SR_TDRE) == 0 );
-      /* send data */
-      SPI0->SPI_TDR = (uint32_t)data; // | SPI_PCS(0xF);
+      // Send data
+      SPI0->SPI_TDR = (uint32_t)data | 0x00070000UL;  // Add TMC2130 PCS bits to every byte
 
       // wait for transmit register empty
       while ((SPI0->SPI_SR & SPI_SR_TDRE) == 0);
@@ -877,15 +876,14 @@
     }
 
     uint8_t spiRec() {
-      uint8_t data = 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;
-      for (int i = 0; i < nbyte; i++) {
-        buf[i] = spiTransfer(0xff);
-      }
+      for (int i = 0; i < nbyte; i++)
+        buf[i] = spiTransfer(0xFF);
     }
 
     void spiSend(uint8_t data) {

Marlin/src/HAL/HAL_DUE/SanityCheck_Due.h

@@ -27,3 +27,11 @@
 /**
  * Require gcc 4.7 or newer (first included with Arduino 1.6.8) for C++11 features.
  */
+
+#if ENABLED(SDSUPPORT) && ENABLED(HAVE_TMC2130)
+  #if ENABLED(DUE_SOFTWARE_SPI) && !ENABLED(TMC_USE_SW_SPI)
+    #error "DUE software SPI is incompatible with TMC2130 hardware SPI. Enable TMC_USE_SW_SPI to fix."
+  #elif !ENABLED(DUE_SOFTWARE_SPI) && ENABLED(TMC_USE_SW_SPI)
+    #error "DUE hardware SPI is incompatible with TMC2130 software SPI. Disable TMC_USE_SW_SPI to fix."
+  #endif
+#endif

Marlin/src/Marlin.cpp

@@ -892,14 +892,15 @@ void setup() {
  *  - Call LCD update
  */
 void loop() {
-  if (commands_in_queue < BUFSIZE) get_available_commands();
 
   #if ENABLED(SDSUPPORT)
     card.checkautostart(false);
   #endif
 
-  advance_command_queue();
-
-  endstops.report_state();
-  idle();
+  for (;;) {
+    if (commands_in_queue < BUFSIZE) get_available_commands();
+    advance_command_queue();
+    endstops.report_state();
+    idle();
+  }
 }

Marlin/src/sd/Sd2Card.cpp

@@ -249,15 +249,16 @@ bool Sd2Card::init(uint8_t sckRateID, pin_t chipSelectPin) {
     watchdog_reset();
   #endif
 
-  // set pin modes
-  pinMode(chipSelectPin_, OUTPUT); // Solution for #8746 by @benlye
+  // Set pin modes
+  digitalWrite(chipSelectPin_, HIGH);  // For some CPUs pinMode can write the wrong data so init desired data value first
+  pinMode(chipSelectPin_, OUTPUT);     // Solution for #8746 by @benlye
   spiBegin();
 
-  // set SCK rate for initialization commands
+  // Set SCK rate for initialization commands
   spiRate_ = SPI_SD_INIT_RATE;
   spiInit(spiRate_);
 
-  // must supply min of 74 clock cycles with CS high.
+  // Must supply min of 74 clock cycles with CS high.
   for (uint8_t i = 0; i < 10; i++) spiSend(0xFF);
 
   // Initialization can cause the watchdog to timeout, so reinit it here
@@ -265,7 +266,7 @@ bool Sd2Card::init(uint8_t sckRateID, pin_t chipSelectPin) {
     watchdog_reset();
   #endif
 
-  // command to go idle in SPI mode
+  // Command to go idle in SPI mode
   while ((status_ = cardCommand(CMD0, 0)) != R1_IDLE_STATE) {
     if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) {
       error(SD_CARD_ERROR_CMD0);