diff --git a/Marlin/src/HAL/HAL_DUE/HAL_Due.cpp b/Marlin/src/HAL/HAL_DUE/HAL_Due.cpp
index 44fd6a019..f53e7a122 100644
--- a/Marlin/src/HAL/HAL_DUE/HAL_Due.cpp
+++ b/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 .
-****************************************************************************/
-
+/**
+ * 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 .
+ */
/**
* 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);
diff --git a/Marlin/src/HAL/HAL_DUE/HAL_spi_Due.cpp b/Marlin/src/HAL/HAL_DUE/HAL_spi_Due.cpp
index 2de71e307..36aec9413 100644
--- a/Marlin/src/HAL/HAL_DUE/HAL_spi_Due.cpp
+++ b/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) {
diff --git a/Marlin/src/HAL/HAL_DUE/SanityCheck_Due.h b/Marlin/src/HAL/HAL_DUE/SanityCheck_Due.h
index f3905d940..c4edfd49d 100644
--- a/Marlin/src/HAL/HAL_DUE/SanityCheck_Due.h
+++ b/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
diff --git a/Marlin/src/Marlin.cpp b/Marlin/src/Marlin.cpp
index 23b707905..61479a8aa 100644
--- a/Marlin/src/Marlin.cpp
+++ b/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();
+ }
}
diff --git a/Marlin/src/sd/Sd2Card.cpp b/Marlin/src/sd/Sd2Card.cpp
index 9216480e2..174a8ffd4 100644
--- a/Marlin/src/sd/Sd2Card.cpp
+++ b/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);