From e1587da228c38330422518ace720bd92a9f23f94 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Wed, 6 Feb 2019 06:31:31 -0600 Subject: [PATCH] Clean up HAL_spi_Due.cpp (#13087) --- Marlin/src/HAL/HAL_DUE/HAL_spi_Due.cpp | 228 +++++++++---------------- 1 file changed, 84 insertions(+), 144 deletions(-) diff --git a/Marlin/src/HAL/HAL_DUE/HAL_spi_Due.cpp b/Marlin/src/HAL/HAL_DUE/HAL_spi_Due.cpp index 7b5684d6b..df0d3df4d 100644 --- a/Marlin/src/HAL/HAL_DUE/HAL_spi_Due.cpp +++ b/Marlin/src/HAL/HAL_DUE/HAL_spi_Due.cpp @@ -250,7 +250,7 @@ } // 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 int bits = 8; @@ -451,77 +451,48 @@ static pfnSpiTxBlock spiTxBlock = (pfnSpiTxBlock)spiTxBlockX; static pfnSpiRxBlock spiRxBlock = (pfnSpiRxBlock)spiRxBlockX; - #if MB(ALLIGATOR) // control SDSS pin - void spiBegin() { - SET_OUTPUT(SS_PIN); - WRITE(SS_PIN, HIGH); - 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; + #if MB(ALLIGATOR) + #define _SS_WRITE(S) WRITE(SS_PIN, S) + #else + #define _SS_WRITE(S) NOOP + #endif + + void spiBegin() { + SET_OUTPUT(SS_PIN); + _SS_WRITE(HIGH); + SET_OUTPUT(SCK_PIN); + SET_INPUT(MISO_PIN); + SET_OUTPUT(MOSI_PIN); + } - WRITE(MOSI_PIN, 1); /* Output 1s 1*/ - spiRxBlock(buf,nbyte); - } + uint8_t spiRec() { + _SS_WRITE(LOW); + WRITE(MOSI_PIN, HIGH); // Output 1s 1 + uint8_t b = spiTransferRx(0xFF); + _SS_WRITE(HIGH); + return b; + } - void spiSend(uint8_t b) { - (void) spiTransferTx(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 spiSendBlock(uint8_t token, const uint8_t* buf) { - (void) spiTransferTx(token); - spiTxBlock(buf,512); - - #endif + 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; break; default: - spiDelayCyclesX4 = (F_CPU/1000000) >> (6 - spiRate); + spiDelayCyclesX4 = ((F_CPU) / 1000000) >> (6 - spiRate); spiTransferTx = (pfnSpiTransfer)spiTransferX; spiTransferRx = (pfnSpiTransfer)spiTransferX; spiTxBlock = (pfnSpiTxBlock)spiTxBlockX; @@ -557,9 +528,7 @@ break; } - #if MB(ALLIGATOR) - WRITE(SS_PIN, HIGH); - #endif + _SS_WRITE(HIGH); WRITE(MOSI_PIN, HIGH); WRITE(SCK_PIN, LOW); } @@ -573,6 +542,10 @@ #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) // slave selects controlled by SPI controller @@ -645,13 +618,14 @@ WRITE(SPI_FLASH_CS, HIGH); WRITE(SS_PIN, HIGH); - OUT_WRITE(SDSS,0); + OUT_WRITE(SDSS, LOW); PIO_Configure( g_APinDescription[SPI_PIN].pPort, g_APinDescription[SPI_PIN].ulPinType, g_APinDescription[SPI_PIN].ulPin, - g_APinDescription[SPI_PIN].ulPinConfiguration); + g_APinDescription[SPI_PIN].ulPinConfiguration + ); spiInit(1); } @@ -660,30 +634,23 @@ uint8_t spiRec() { // write dummy byte with address and end transmission flag 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 ((SPI0->SPI_SR & SPI_SR_RDRF) == 0); - // get byte from receive register + WHILE_TX(0); + WHILE_RX(0); + //DELAY_US(1U); return SPI0->SPI_RDR; } uint8_t spiRec(uint32_t chan) { - uint8_t spirec_tmp; - // wait for transmit register empty - while ((SPI0->SPI_SR & SPI_SR_TDRE) == 0); - while ((SPI0->SPI_SR & SPI_SR_RDRF) == 1) - spirec_tmp = SPI0->SPI_RDR; - UNUSED(spirec_tmp); + + WHILE_TX(0); + FLUSH_RX(); // write dummy byte with address and end transmission flag 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; } @@ -692,9 +659,9 @@ if (nbyte-- == 0) return; 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); - while ((SPI0->SPI_SR & SPI_SR_RDRF) == 0); + WHILE_RX(0); buf[i] = SPI0->SPI_RDR; //DELAY_US(1U); } @@ -705,11 +672,8 @@ void spiSend(byte b) { // write byte with address and end transmission flag SPI0->SPI_TDR = (uint32_t)b | 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 ((SPI0->SPI_SR & SPI_SR_RDRF) == 0); - // clear status + WHILE_TX(0); + WHILE_RX(0); SPI0->SPI_RDR; //DELAY_US(1U); } @@ -718,8 +682,8 @@ if (n == 0) return; for (size_t i = 0; i < n - 1; i++) { SPI0->SPI_TDR = (uint32_t)buf[i] | SPI_PCS(SPI_CHAN); - while ((SPI0->SPI_SR & SPI_SR_TDRE) == 0); - while ((SPI0->SPI_SR & SPI_SR_RDRF) == 0); + WHILE_TX(0); + WHILE_RX(0); SPI0->SPI_RDR; //DELAY_US(1U); } @@ -727,29 +691,20 @@ } void spiSend(uint32_t chan, byte b) { - uint8_t dummy_read = 0; - // wait for transmit register empty - while ((SPI0->SPI_SR & SPI_SR_TDRE) == 0); + WHILE_TX(0); // write byte with address and end transmission flag SPI0->SPI_TDR = (uint32_t)b | SPI_PCS(chan) | SPI_TDR_LASTXFER; - // wait for receive register - while ((SPI0->SPI_SR & SPI_SR_RDRF) == 0); - // clear status - while ((SPI0->SPI_SR & SPI_SR_RDRF) == 1) - dummy_read = SPI0->SPI_RDR; - UNUSED(dummy_read); + WHILE_RX(0); + FLUSH_RX(); } void spiSend(uint32_t chan, const uint8_t* buf, size_t n) { - uint8_t dummy_read = 0; if (n == 0) return; 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); - while ((SPI0->SPI_SR & SPI_SR_RDRF) == 0); - while ((SPI0->SPI_SR & SPI_SR_RDRF) == 1) - dummy_read = SPI0->SPI_RDR; - UNUSED(dummy_read); + WHILE_RX(0); + FLUSH_RX(); } spiSend(chan, buf[n - 1]); } @@ -757,13 +712,13 @@ // Write from buffer to SPI void spiSendBlock(uint8_t token, const uint8_t* buf) { SPI0->SPI_TDR = (uint32_t)token | SPI_PCS(SPI_CHAN); - while ((SPI0->SPI_SR & SPI_SR_TDRE) == 0); - //while ((SPI0->SPI_SR & SPI_SR_RDRF) == 0); + WHILE_TX(0); + //WHILE_RX(0); //SPI0->SPI_RDR; for (int i = 0; i < 511; i++) { SPI0->SPI_TDR = (uint32_t)buf[i] | SPI_PCS(SPI_CHAN); - while ((SPI0->SPI_SR & SPI_SR_TDRE) == 0); - while ((SPI0->SPI_SR & SPI_SR_RDRF) == 0); + WHILE_TX(0); + WHILE_RX(0); SPI0->SPI_RDR; //DELAY_US(1U); } @@ -792,7 +747,7 @@ // Disable PIO on A26 and A27 REG_PIOA_PDR = 0x0C000000; - OUT_WRITE(SDSS, 1); + OUT_WRITE(SDSS, HIGH); // Reset SPI0 (from sam lib) SPI0->SPI_CR = SPI_CR_SPIDIS; @@ -807,45 +762,30 @@ SPI0->SPI_CSR[3] = SPI_CSR_SCBR(spiDivider[spiRate]) | SPI_CSR_CSAAT | SPI_MODE_0_DUE_HW; // use same CSR as TMC2130 } - void spiBegin() { - spiInit(); - } + void spiBegin() { spiInit(); } static uint8_t spiTransfer(uint8_t data) { - - // Wait until tx register is empty - while( (SPI0->SPI_SR & SPI_SR_TDRE) == 0 ); - // Send data + WHILE_TX(0); 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); - - // wait for receive register - while ((SPI0->SPI_SR & SPI_SR_RDRF) == 0); - // get byte from receive register + WHILE_TX(0); + WHILE_RX(0); return SPI0->SPI_RDR; } - uint8_t spiRec() { - uint8_t data = spiTransfer(0xFF); - return data; - } + uint8_t spiRec() { return (uint8_t)spiTransfer(0xFF); } void spiRead(uint8_t* buf, uint16_t nbyte) { - if (nbyte == 0) return; - for (int i = 0; i < nbyte; i++) - buf[i] = spiTransfer(0xFF); + if (nbyte) + for (int i = 0; i < nbyte; i++) + buf[i] = spiTransfer(0xFF); } - void spiSend(uint8_t data) { - spiTransfer(data); - } + void spiSend(uint8_t data) { spiTransfer(data); } - void spiSend(const uint8_t* buf, size_t n) { - if (n == 0) return; - for (uint16_t i = 0; i < n; i++) - spiTransfer(buf[i]); + void spiSend(const uint8_t* buf, size_t nbyte) { + if (nbyte) + for (uint16_t i = 0; i < nbyte; i++) + spiTransfer(buf[i]); } void spiSendBlock(uint8_t token, const uint8_t* buf) {