Improved SPI code.

grblHAL · Jun 19, 2024 · 73d9e31 · 73d9e31
1 parent 92977c3
commit 73d9e31
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Showing 5 changed files with 69 additions and 54 deletions.
diff --git a/main/boards/mks_dlc32_2_0_map.h b/main/boards/mks_dlc32_2_0_map.h
@@ -27,6 +27,7 @@
 #endif
 
 #define BOARD_NAME "MKS DLC32 2.0"
+#define BOARD_URL "https://github.com/makerbase-mks/MKS-DLC32"
 
 #define USE_I2S_OUT
 #define I2S_OUT_PIN_BASE 64

diff --git a/main/driver.c b/main/driver.c
@@ -2707,7 +2707,7 @@ static bool driver_setup (settings_t *settings)
     sdcard_mount(NULL);
 
     static const periph_pin_t sck = {
-        .function = Output_SCK,
+        .function = Output_SPICLK,
         .group = PinGroup_SPI,
         .pin = PIN_NUM_CLK,
         .mode = { .mask = PINMODE_OUTPUT }
@@ -2811,7 +2811,7 @@ bool driver_init (void)
 #else
     hal.info = "ESP32";
 #endif
-    hal.driver_version = "240408";
+    hal.driver_version = "240418";
     hal.driver_url = GRBL_URL "/ESP32";
 #ifdef BOARD_NAME
     hal.board = BOARD_NAME;

diff --git a/main/driver.h b/main/driver.h
@@ -245,9 +245,15 @@ extern SemaphoreHandle_t i2cBusy;
 #define KEYPAD_TEST 0
 #endif
 
-#if (MODBUS_TEST + KEYPAD_TEST + MPG_TEST + TRINAMIC_TEST + (DEBUGOUT ? 1 : 0)) > (SP0 + SP1 + SP2)
+#ifdef DEBUGOUT
+#define DEBUG_TEST 1
+#else
+#define DEBUG_TEST 0
+#endif
+
+#if (MODBUS_TEST + KEYPAD_TEST + MPG_TEST + TRINAMIC_TEST + DEBUG_TEST) > (SP0 + SP1 + SP2)
 #error "Too many options that requires a serial port are enabled!"
-#elif (MODBUS_TEST + KEYPAD_TEST + MPG_TEST + TRINAMIC_TEST + DEBUGOUT)
+#elif (MODBUS_TEST + KEYPAD_TEST + MPG_TEST + TRINAMIC_TEST + DEBUG_TEST) || SERIAL_STREAM == 1
 #define SERIAL2_ENABLE 1
 #else
 #define SERIAL2_ENABLE 0
@@ -260,6 +266,7 @@ extern SemaphoreHandle_t i2cBusy;
 #undef KEYPAD_TEST
 #undef MPG_TEST
 #undef TRINAMIC_TEST
+#undef DEBUG_TEST
 
 #if MPG_ENABLE
 #if MPG_STREAM == 0

diff --git a/main/spi.c b/main/spi.c
@@ -26,7 +26,7 @@
 #include "driver/sdspi_host.h"
 #include "driver/spi_master.h"
 
-static spi_device_handle_t handle = 0;
+static spi_device_handle_t handle = NULL;
 
 void spi_init (void)
 {
@@ -45,49 +45,55 @@ void spi_init (void)
             .intr_flags      = ESP_INTR_FLAG_IRAM
         };
 
-      if(spi_bus_initialize(SDSPI_DEFAULT_HOST, &bus_config, 1) == ESP_OK) {
-
-        spi_device_interface_config_t devcfg = {
-            .clock_speed_hz = 1000000,
-            .mode = 0,          //SPI mode 0
-            .spics_io_num = -1,
-            .queue_size = 1,
-        //    .flags = SPI_DEVICE_POSITIVE_CS,
-        //   .pre_cb = cs_high,
-        //   .post_cb = cs_low,
-            .input_delay_ns = 0  //the EEPROM output the data half a SPI clock behind.
-        };
-        //Attach the EEPROM to the SPI bus
-        spi_bus_add_device(SDSPI_DEFAULT_HOST, &devcfg, &handle);
-
-      }
-/*
-
-        static const periph_pin_t sck = {
-            .function = Output_SCK,
-            .group = PinGroup_SPI,
-            .port = GPIOC,
-            .pin = 10,
-            .mode = { .mask = PINMODE_OUTPUT }
-        };
-
-        static const periph_pin_t sdo = {
-            .function = Output_MOSI,
-            .group = PinGroup_SPI,
-            .port = GPIOC,
-            .pin = 11,
-            .mode = { .mask = PINMODE_NONE }
-        };
-
-        static const periph_pin_t sdi = {
-            .function = Input_MISO,
-            .group = PinGroup_SPI,
-            .port = GPIOC,
-            .pin = 12,
-            .mode = { .mask = PINMODE_NONE }
-        };
-*/
-        init = true;
+#if CONFIG_IDF_TARGET_ESP32S3
+        if((init = spi_bus_initialize(SDSPI_DEFAULT_HOST, &bus_config, SPI_DMA_CH_AUTO) == ESP_OK)) {
+#else
+  #if PIN_NUM_CLK == GPIO_NUM_14
+        if((init = spi_bus_initialize(SPI2_HOST, &bus_config, 1) == ESP_OK)) { // 1 = SPI_DMA_CH1
+  #elif PIN_NUM_CLK == GPIO_NUM_18
+        if((init = spi_bus_initialize(SPI3_HOST, &bus_config, 1) == ESP_OK)) {
+  #else
+        if((init = spi_bus_initialize(SDSPI_DEFAULT_HOST, &bus_config, 1) == ESP_OK)) {
+  #endif
+#endif
+            spi_device_interface_config_t devcfg = {
+                .clock_speed_hz = 1000000,
+                .mode = 0,          //SPI mode 0
+                .spics_io_num = -1,
+                .queue_size = 1,
+            //    .flags = SPI_DEVICE_POSITIVE_CS,
+            //   .pre_cb = cs_high,
+            //   .post_cb = cs_low,
+                .input_delay_ns = 0  //the EEPROM output the data half a SPI clock behind.
+            };
+
+            spi_bus_add_device(SPI2_HOST, &devcfg, &handle);
+
+            static const periph_pin_t sck = {
+                .function = Output_SPICLK,
+                .group = PinGroup_SPI,
+                .pin = PIN_NUM_CLK,
+                .mode = { .mask = PINMODE_OUTPUT }
+            };
+
+            static const periph_pin_t sdo = {
+                .function = Output_MOSI,
+                .group = PinGroup_SPI,
+                .pin = PIN_NUM_MOSI,
+                .mode = { .mask = PINMODE_NONE }
+            };
+
+            static const periph_pin_t sdi = {
+                .function = Input_MISO,
+                .group = PinGroup_SPI,
+                .pin = PIN_NUM_MISO,
+                .mode = { .mask = PINMODE_NONE }
+            };
+
+            hal.periph_port.register_pin(&sck);
+            hal.periph_port.register_pin(&sdo);
+            hal.periph_port.register_pin(&sdi);
+        }
     }
 }
 
@@ -126,7 +132,7 @@ uint8_t spi_put_byte (uint8_t byte)
     spi_transaction_t t = {
         .cmd = 0,
         .length = 8,
-        .flags = SPI_TRANS_USE_TXDATA,
+        .flags = SPI_TRANS_USE_TXDATA|SPI_TRANS_MODE_OCT,
         .tx_data[0] = byte,
         .user = NULL,
     };

diff --git a/main/trinamic_if.c b/main/trinamic_if.c
@@ -21,19 +21,19 @@
 
 #include "driver.h"
 
-#if defined(BOARD_XPRO_V5)|| defined(BOARD_BLOX) // || defined(BOARD_CNC_BOOSTERPACK)
+#if defined(BOARD_XPRO_V5) || defined(BOARD_BLOX)
 
 #include <math.h>
 #include <string.h>
 
-#include "driver.h"
 #include "spi.h"
+#include "i2s_out.h"
 #include "grbl/protocol.h"
 #include "grbl/settings.h"
 
 #if TRINAMIC_SPI_ENABLE
 
-#define SPI_BAUDRATEPRESCALER_32 32
+#include "driver/spi_master.h"
 
 static struct {
     uint32_t pin;
@@ -48,7 +48,7 @@ TMC_spi_status_t tmc_spi_read (trinamic_motor_t driver, TMC_spi_datagram_t *reg)
 
     uint8_t res;
     uint_fast8_t idx = n_motors;
-    uint32_t f_spi = spi_set_speed(SPI_BAUDRATEPRESCALER_32);
+    uint32_t f_spi = spi_set_speed(SPI_MASTER_FREQ_10M);
     volatile uint32_t dly = 100;
 
     datagram[driver.seq].addr.value = reg->addr.value;
@@ -110,7 +110,7 @@ TMC_spi_status_t tmc_spi_write (trinamic_motor_t driver, TMC_spi_datagram_t *reg
 
     uint8_t res;
     uint_fast8_t idx = n_motors;
-    uint32_t f_spi = spi_set_speed(SPI_BAUDRATEPRESCALER_32);
+    uint32_t f_spi = spi_set_speed(SPI_MASTER_FREQ_10M);
     volatile uint32_t dly = 100;
 
     memcpy(&datagram[driver.seq], reg, sizeof(TMC_spi_datagram_t));
@@ -153,6 +153,7 @@ static void add_cs_pin (xbar_t *gpio, void *data)
 static void if_init (uint8_t motors, axes_signals_t axisflags)
 {
     n_motors = motors;
+
     hal.enumerate_pins(true, add_cs_pin, NULL);
 }