kopia lustrzana https://github.com/gnea/grbl
feat: spi fixes
Noah Gaeta
rodzic
c7b5ea98fd
commit
6f55bd0446
168
grbl/mo_spi.c
168
grbl/mo_spi.c
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@ -1,139 +1,99 @@
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#include "grbl.h"
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#define CS1_PORT PORTC // Chip Select for Driver 1
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#define CS1_PIN PC0
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#define CS2_PORT PORTC // Chip Select for Driver 2
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#define CS2_PIN PC1
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#define CS1_PIN PC0
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#define CS2_PIN PC1
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void debug_print(const char *msg)
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{
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while (*msg)
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{
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serial_write(*msg++); // Send each character over serial
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}
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#define DEBUG_SPI
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#ifdef DEBUG_SPI
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void debug_print_read(uint8_t addr, uint8_t data) {
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serial_write('R');
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serial_write('[');
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if (addr < 16) serial_write('0');
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serial_write((addr < 10) ? ('0' + addr) : ('A' + addr - 10));
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serial_write(']');
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serial_write('=');
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if (data < 16) serial_write('0');
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serial_write((data >> 4) < 10 ? ('0' + (data >> 4)) : ('A' + (data >> 4) - 10));
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serial_write((data & 0xF) < 10 ? ('0' + (data & 0xF)) : ('A' + (data & 0xF) - 10));
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serial_write('\n');
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}
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#endif
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// Chip Select Pin Definitions
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#define CS1_PIN PC0 // Chip Select for Driver 1
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#define CS2_PIN PC1 // Chip Select for Driver 2
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// SPI Timing Parameters (in ns)
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#define SPI_SCLK_PERIOD 100
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#define SPI_SETUP_TIME 20
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#define SPI_HOLD_TIME 30
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// Function to initialize SPI communication
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void SPI_init() {
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// Set MOSI, SCK, and SS as output
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DDRB |= (1 << PB3) | (1 << PB5) | (1 << PB2);
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// Set Chip Select pins as outputs
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DDRC |= (1 << CS1_PIN) | (1 << CS2_PIN);
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// Deselect all chips
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PORTC |= (1 << CS1_PIN) | (1 << CS2_PIN);
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// Enable SPI, Set as Master, Clock rate fck/16
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SPCR = (1 << SPE) | (1 << MSTR) | (1 << SPR0);
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// Slower SPI clock: SPR1=1, SPR0=1 = fosc/128
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SPCR = (1 << SPE) | (1 << MSTR) | (1 << SPR1) | (1 << SPR0) | (1 << CPHA);
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}
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// Function to send 16-bit SPI frame
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void SPI_send_frame(uint8_t cs_pin, uint16_t address, uint16_t data) {
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debug_print("Sending SPI frame...\n");
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// Construct 16-bit SDI frame
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// MSB format: Command Byte (8-bit)
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// [B15:B14] = 00 (standard frame)
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// [B13:B8] = Address (6 bits)
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// [B7:B0] = Write Command (W0 = 0)
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uint16_t command_byte = (0 << 14) | ((address & 0x3F) << 8) | (0 << 7);
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void SPI_write(uint8_t cs_pin, uint8_t addr, uint8_t data) {
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uint16_t frame = ((addr & 0x3F) << 8) | data;
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// Full 16-bit frame
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uint16_t sdi_frame = command_byte | (data & 0xFF);
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debug_print("Pulling CS low...\n");
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delay_ms(50);
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// Select the chip
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PORTC &= ~(1 << cs_pin);
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// Delay to meet nSCS setup time
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_delay_us(0.05);
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// Send high byte first (MSB)
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SPDR = (sdi_frame >> 8) & 0xFF;
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SPDR = frame >> 8;
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while(!(SPSR & (1 << SPIF)));
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// Send low byte
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SPDR = sdi_frame & 0xFF;
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SPDR = frame & 0xFF;
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while(!(SPSR & (1 << SPIF)));
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// Deselect the chip
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PORTC |= (1 << cs_pin);
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}
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void SPI_read_frame(uint8_t cs_pin, uint16_t address) {
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uint16_t *data;
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// Construct 16-bit SDI frame
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// MSB format: Command Byte (8-bit)
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// [B15:B14] = 00 (standard frame)
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// [B13:B8] = Address (6 bits)
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// [B7:B0] = Read Command (R0 = 1)
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uint16_t command_byte = (0 << 14) | ((address & 0x3F) << 8) | (1 << 7);
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uint8_t SPI_read(uint8_t cs_pin, uint8_t addr) {
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uint16_t frame = (1 << 14) | ((addr & 0x3F) << 8);
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// Full 16-bit frame
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uint16_t sdi_frame = command_byte;
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// Select the chip
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PORTC &= ~(1 << cs_pin);
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_delay_us(1); // CS setup time
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// Delay to meet nSCS setup time
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_delay_us(0.05);
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// Send high byte first (MSB)
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SPDR = (sdi_frame >> 8) & 0xFF;
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SPDR = frame >> 8;
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while(!(SPSR & (1 << SPIF)));
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// Send low byte
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SPDR = sdi_frame & 0xFF;
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SPDR = frame & 0xFF;
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while(!(SPSR & (1 << SPIF)));
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// Read the data
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*data = SPDR;
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_delay_us(1); // Small delay before reading
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// Deselect the chip
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SPDR = 0;
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while(!(SPSR & (1 << SPIF)));
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uint8_t status = SPDR; // Status byte
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SPDR = 0;
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while(!(SPSR & (1 << SPIF)));
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uint8_t data = SPDR; // Data byte
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_delay_us(1); // CS hold time
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PORTC |= (1 << cs_pin);
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char debug_msg[50];
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debug_print("Data read from SPI frame...\n");
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debug_print("Data: ");
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sprintf(debug_msg, "0x%04X", *data);
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debug_print(debug_msg);
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debug_print("\n");
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#ifdef DEBUG_SPI
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debug_print_read(addr, data);
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// Also print status for debugging
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serial_write('S'); serial_write('=');
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serial_write((status >> 4) < 10 ? ('0' + (status >> 4)) : ('A' + (status >> 4) - 10));
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serial_write((status & 0xF) < 10 ? ('0' + (status & 0xF)) : ('A' + (status & 0xF) - 10));
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serial_write(' ');
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#endif
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return data;
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}
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void motor_spi_init() {
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if (MACHINE_TYPE == BAMBOO) {
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SPI_init();
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debug_print("Initializing SPI for stepper drivers...\n");
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// Configure Chip Select pins as outputs
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DDRC |= (1 << CS1_PIN) | (1 << CS2_PIN);
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CS1_PORT |= (1 << CS1_PIN); // Set CS high (deselect)
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CS2_PORT |= (1 << CS2_PIN); // Set CS high (deselect)
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// Send configuration to Driver 1
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SPI_send_frame(CS1_PIN, 0x04, 0x07);
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// Send configuration to Driver 2
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SPI_send_frame(CS2_PIN, 0x04, 0x07);
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SPI_read_frame(CS1_PIN, 0x04);
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debug_print("SPI initialization complete.\n");
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if (MACHINE_TYPE != BAMBOO) return;
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_delay_ms(100);
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SPI_init();
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for (uint8_t cs = CS1_PIN; cs <= CS2_PIN; cs++) {
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// Write configuration first
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SPI_write(cs, 0x04, 0xCF);
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_delay_ms(1);
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SPI_write(cs, 0x05, 0x06);
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_delay_ms(5); // Longer delay after write
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// Then read back to verify
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SPI_read(cs, 0x04);
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SPI_read(cs, 0x05);
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}
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}
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