kopia lustrzana https://github.com/gnea/grbl
fix: SPI flash
Noah Gaeta
rodzic
c2e42f2475
commit
c7b5ea98fd
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@ -64,7 +64,7 @@
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#include "stepper.h"
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#include "jog.h"
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#include "vcm.h"
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#include "spi.h"
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#include "mo_spi.h"
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// ---------------------------------------------------------------------------------------
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// COMPILE-TIME ERROR CHECKING OF DEFINE VALUES:
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@ -66,6 +66,10 @@ int main(void)
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if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { sys.state = STATE_ALARM; }
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#endif
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vcm_init();
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motor_spi_init();
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PORTD |= (1 << PORTD7);
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// Grbl initialization loop upon power-up or a system abort. For the latter, all processes
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// will return to this loop to be cleanly re-initialized.
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for(;;) {
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@ -91,8 +95,6 @@ int main(void)
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coolant_init();
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limits_init();
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probe_init();
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vcm_init();
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motor_spi_init();
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plan_reset(); // Clear block buffer and planner variables
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st_reset(); // Clear stepper subsystem variables.
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@ -0,0 +1,139 @@
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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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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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}
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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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}
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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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// 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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while(!(SPSR & (1 << SPIF)));
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// Send low byte
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SPDR = sdi_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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// 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 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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while(!(SPSR & (1 << SPIF)));
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// Send low byte
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SPDR = sdi_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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// Deselect the chip
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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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}
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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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}
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}
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@ -0,0 +1,6 @@
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#ifndef mo_spi_h
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#define mo_spi_h
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void motor_spi_init();
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#endif
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58
grbl/spi.c
58
grbl/spi.c
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@ -1,58 +0,0 @@
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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 SPI_DDR DDRB
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#define SPI_PORT PORTB
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#define MOSI PB3
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#define MISO PB4
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#define SCK PB5
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void spi_init() {
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SPI_DDR |= (1 << MOSI) | (1 << SCK); // Set MOSI and SCK as output
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SPI_DDR &= ~(1 << MISO); // Set MISO as input
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SPCR = (1 << SPE) | (1 << MSTR) | (1 << SPR0); // Enable SPI, Master, Fclk/16
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}
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void spi_write(uint8_t cs_port, uint8_t cs_pin, uint8_t address, uint8_t data) {
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// Pull CS low to select device
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cs_port &= ~(1 << cs_pin);
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_delay_us(1); // Short delay for setup
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// Send address
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SPDR = address;
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while (!(SPSR & (1 << SPIF))); // Wait for transmission to complete
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// Send data
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SPDR = data;
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while (!(SPSR & (1 << SPIF))); // Wait for transmission to complete
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// Pull CS high to deselect device
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cs_port |= (1 << cs_pin);
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_delay_us(1); // Short delay for setup
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}
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/**
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* CTRL1 Control Register (address = 0x04) [Default = 0Fh]
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* BIT = 2-0
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* SETTING = DECAY MODE
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* 111b = Smart tune Ripple Control
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*/
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void motor_spi_init() {
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if (MACHINE_TYPE == BAMBOO) {
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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_write(CS1_PORT, CS1_PIN, 0x04, 0x07);
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// Send configuration to Driver 2
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spi_write(CS2_PORT, CS2_PIN, 0x04, 0x07);
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}
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}
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@ -1,6 +0,0 @@
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#ifndef spi_h
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#define spi_h
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void motor_spi_init();
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#endif
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@ -5,7 +5,7 @@ void vcm_init()
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if (MACHINE_TYPE == BAMBOO)
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{
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DDRD |= (1 << DDD7);
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// Set pin 7 to HIGH
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PORTD |= (1 << PORTD7);
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// Set pin 7 to LOW
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PORTD &= (1 << PORTD7);
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}
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}
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