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- fixed SPI bus sharing between TFT, SD, Touch, etc in combination wi…
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…th TMC by properly initializing and then terminating the SPI usage

in the way that this library was previously written it was not easy to share the SPI bus between components because the SPI protocol was not properly terminated/cleaned-up across SPI sessions, causing conflicts for different SPI bus components. This library has been tested with Marlin 2.1.x bugfix on this repo: github.com/quiret/Marlin/

There is a Marlin pull request that would really appreciate this improvement: MarlinFirmware/Marlin#24911

Please consider releasing another version of this library with the included fix so that the Marlin FW can be drastically improved! clobbering the global SPI object is not a good idea, especially on single-SPI boards...

Martin Turski, company owner of EirDev ([email protected])
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@quiret
quiret committed Oct 20, 2022
1 parent 74e8e68 commit 55f2ef2
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Showing 6 changed files with 99 additions and 66 deletions.
40 changes: 20 additions & 20 deletions src/TMCStepper.h
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Original file line number Diff line number Diff line change
Expand Up @@ -151,9 +151,8 @@ class TMCStepper {

class TMC2130Stepper : public TMCStepper {
public:
TMC2130Stepper(uint16_t pinCS, float RS = default_RS, int8_t link_index = -1);
TMC2130Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
TMC2130Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
TMC2130Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1, bool softSPI = false);
TMC2130Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1, bool softSPI = false);
void begin();
void defaults();
void setSPISpeed(uint32_t speed);
Expand Down Expand Up @@ -369,6 +368,9 @@ class TMC2130Stepper : public TMCStepper {

static uint32_t spi_speed; // Default 2MHz
const uint16_t _pinCS;
const uint16_t _pinMISO;
const uint16_t _pinMOSI;
const uint16_t _pinSCK;
SW_SPIClass * TMC_SW_SPI = nullptr;
static constexpr float default_RS = 0.11;

Expand All @@ -378,9 +380,8 @@ class TMC2130Stepper : public TMCStepper {

class TMC2160Stepper : public TMC2130Stepper {
public:
TMC2160Stepper(uint16_t pinCS, float RS = default_RS, int8_t link_index = -1);
TMC2160Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
TMC2160Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
TMC2160Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1, bool softSPI = false);
TMC2160Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1, bool softSPI = false);
void begin();
void defaults();
void push();
Expand Down Expand Up @@ -477,9 +478,8 @@ class TMC2160Stepper : public TMC2130Stepper {

class TMC5130Stepper : public TMC2160Stepper {
public:
TMC5130Stepper(uint16_t pinCS, float RS = default_RS, int8_t link_index = -1);
TMC5130Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
TMC5130Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
TMC5130Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1, bool softSPI = false);
TMC5130Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1, bool softSPI = false);

void begin();
void defaults();
Expand Down Expand Up @@ -721,9 +721,8 @@ class TMC5130Stepper : public TMC2160Stepper {

class TMC5160Stepper : public TMC5130Stepper {
public:
TMC5160Stepper(uint16_t pinCS, float RS = default_RS, int8_t link_index = -1);
TMC5160Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
TMC5160Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
TMC5160Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1, bool softSPI = false);
TMC5160Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1, bool softSPI = false);

void rms_current(uint16_t mA) { TMC2160Stepper::rms_current(mA); }
void rms_current(uint16_t mA, float mult) { TMC2160Stepper::rms_current(mA, mult); }
Expand Down Expand Up @@ -815,11 +814,10 @@ class TMC5160Stepper : public TMC5130Stepper {

class TMC5161Stepper : public TMC5160Stepper {
public:
TMC5161Stepper(uint16_t pinCS, float RS = default_RS, int8_t link_index = -1) : TMC5160Stepper(pinCS, RS, link_index) {}
TMC5161Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1) :
TMC5160Stepper(pinCS, pinMOSI, pinMISO, pinSCK, link_index) {}
TMC5161Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1) :
TMC5160Stepper(pinCS, RS, pinMOSI, pinMISO, pinSCK, link_index) {}
TMC5161Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1, bool softSPI = false) :
TMC5160Stepper(pinCS, pinMOSI, pinMISO, pinSCK, link_index, softSPI) {}
TMC5161Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1, bool softSPI = false) :
TMC5160Stepper(pinCS, RS, pinMOSI, pinMISO, pinSCK, link_index, softSPI) {}
};

class TMC2208Stepper : public TMCStepper {
Expand Down Expand Up @@ -1103,9 +1101,8 @@ class TMC2224Stepper : public TMC2208Stepper {

class TMC2660Stepper {
public:
TMC2660Stepper(uint16_t pinCS, float RS = default_RS);
TMC2660Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK);
TMC2660Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK);
TMC2660Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, bool softSPI = false);
TMC2660Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, bool softSPI = false);
void write(uint8_t addressByte, uint32_t config);
uint32_t read();
void switchCSpin(bool state);
Expand Down Expand Up @@ -1255,6 +1252,9 @@ class TMC2660Stepper {
INIT_REGISTER(READ_RDSEL10){{.sr=0}};

const uint16_t _pinCS;
const uint16_t _pinMISO;
const uint16_t _pinMOSI;
const uint16_t _pinSCK;
const float Rsense;
static constexpr float default_RS = 0.1;
float holdMultiplier = 0.5;
Expand Down
48 changes: 31 additions & 17 deletions src/source/TMC2130Stepper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4,37 +4,46 @@
int8_t TMC2130Stepper::chain_length = 0;
uint32_t TMC2130Stepper::spi_speed = 16000000/8;

TMC2130Stepper::TMC2130Stepper(uint16_t pinCS, float RS, int8_t link) :
TMCStepper(RS),
_pinCS(pinCS),
link_index(link)
{
defaults();

if (link > chain_length)
chain_length = link;
}

TMC2130Stepper::TMC2130Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link) :
TMC2130Stepper::TMC2130Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link, bool softSPI) :
TMCStepper(default_RS),
_pinCS(pinCS),
_pinMISO(pinMISO),
_pinMOSI(pinMOSI),
_pinSCK(pinSCK),
link_index(link)
{
SW_SPIClass *SW_SPI_Obj = new SW_SPIClass(pinMOSI, pinMISO, pinSCK);
TMC_SW_SPI = SW_SPI_Obj;
if (softSPI)
{
SW_SPIClass *SW_SPI_Obj = new SW_SPIClass(pinMOSI, pinMISO, pinSCK);
TMC_SW_SPI = SW_SPI_Obj;
}
else
{
TMC_SW_SPI = nullptr;
}
defaults();

if (link > chain_length)
chain_length = link;
}

TMC2130Stepper::TMC2130Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link) :
TMC2130Stepper::TMC2130Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link, bool softSPI) :
TMCStepper(RS),
_pinCS(pinCS),
_pinMISO(pinMISO),
_pinMOSI(pinMOSI),
_pinSCK(pinSCK),
link_index(link)
{
SW_SPIClass *SW_SPI_Obj = new SW_SPIClass(pinMOSI, pinMISO, pinSCK);
TMC_SW_SPI = SW_SPI_Obj;
if (softSPI)
{
SW_SPIClass *SW_SPI_Obj = new SW_SPIClass(pinMOSI, pinMISO, pinSCK);
TMC_SW_SPI = SW_SPI_Obj;
}
else
{
TMC_SW_SPI = nullptr;
}
defaults();

if (link > chain_length)
Expand Down Expand Up @@ -67,13 +76,18 @@ void TMC2130Stepper::switchCSpin(bool state) {
__attribute__((weak))
void TMC2130Stepper::beginTransaction() {
if (TMC_SW_SPI == nullptr) {
SPI.setMISO(_pinMISO);
SPI.setMOSI(_pinMOSI);
SPI.setSCLK(_pinSCK);
SPI.begin();
SPI.beginTransaction(SPISettings(spi_speed, MSBFIRST, SPI_MODE3));
}
}
__attribute__((weak))
void TMC2130Stepper::endTransaction() {
if (TMC_SW_SPI == nullptr) {
SPI.endTransaction();
SPI.end();
}
}

Expand Down
10 changes: 4 additions & 6 deletions src/source/TMC2160Stepper.cpp
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Original file line number Diff line number Diff line change
@@ -1,13 +1,11 @@
#include "TMCStepper.h"
#include "TMC_MACROS.h"

TMC2160Stepper::TMC2160Stepper(uint16_t pinCS, float RS, int8_t link) : TMC2130Stepper(pinCS, RS, link)
TMC2160Stepper::TMC2160Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link, bool softSPI) :
TMC2130Stepper(pinCS, RS, pinMOSI, pinMISO, pinSCK, link, softSPI)
{ defaults(); }
TMC2160Stepper::TMC2160Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link) :
TMC2130Stepper(pinCS, RS, pinMOSI, pinMISO, pinSCK, link)
{ defaults(); }
TMC2160Stepper::TMC2160Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link) :
TMC2130Stepper(pinCS, default_RS, pinMOSI, pinMISO, pinSCK, link)
TMC2160Stepper::TMC2160Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link, bool softSPI) :
TMC2130Stepper(pinCS, default_RS, pinMOSI, pinMISO, pinSCK, link, softSPI)
{ defaults(); }

void TMC2160Stepper::begin() {
Expand Down
47 changes: 36 additions & 11 deletions src/source/TMC2660Stepper.cpp
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Original file line number Diff line number Diff line change
@@ -1,25 +1,40 @@
#include "TMCStepper.h"
#include "SW_SPI.h"

TMC2660Stepper::TMC2660Stepper(uint16_t pinCS, float RS) :
_pinCS(pinCS),
Rsense(RS)
{}

TMC2660Stepper::TMC2660Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK) :
TMC2660Stepper::TMC2660Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, bool softSPI) :
_pinCS(pinCS),
_pinMISO(pinMISO),
_pinMOSI(pinMOSI),
_pinSCK(pinSCK),
Rsense(default_RS)
{
SW_SPIClass *SW_SPI_Obj = new SW_SPIClass(pinMOSI, pinMISO, pinSCK);
TMC_SW_SPI = SW_SPI_Obj;
if (softSPI)
{
SW_SPIClass *SW_SPI_Obj = new SW_SPIClass(pinMOSI, pinMISO, pinSCK);
TMC_SW_SPI = SW_SPI_Obj;
}
else
{
TMC_SW_SPI = nullptr;
}
}

TMC2660Stepper::TMC2660Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK) :
TMC2660Stepper::TMC2660Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, bool softSPI) :
_pinCS(pinCS),
_pinMISO(pinMISO),
_pinMOSI(pinMOSI),
_pinSCK(pinSCK),
Rsense(RS)
{
SW_SPIClass *SW_SPI_Obj = new SW_SPIClass(pinMOSI, pinMISO, pinSCK);
TMC_SW_SPI = SW_SPI_Obj;
if (softSPI)
{
SW_SPIClass *SW_SPI_Obj = new SW_SPIClass(pinMOSI, pinMISO, pinSCK);
TMC_SW_SPI = SW_SPI_Obj;
}
else
{
TMC_SW_SPI = nullptr;
}
}

void TMC2660Stepper::switchCSpin(bool state) {
Expand All @@ -38,6 +53,10 @@ uint32_t TMC2660Stepper::read() {
response <<= 8;
response |= TMC_SW_SPI->transfer(dummy & 0xFF);
} else {
SPI.setMISO(_pinMISO);
SPI.setMOSI(_pinMOSI);
SPI.setSCLK(_pinSCK);
SPI.begin();
SPI.beginTransaction(SPISettings(spi_speed, MSBFIRST, SPI_MODE3));
switchCSpin(LOW);
response |= SPI.transfer((dummy >> 16) & 0xFF);
Expand All @@ -46,6 +65,7 @@ uint32_t TMC2660Stepper::read() {
response <<= 8;
response |= SPI.transfer(dummy & 0xFF);
SPI.endTransaction();
SPI.end();
}
switchCSpin(HIGH);
return response >> 4;
Expand All @@ -59,12 +79,17 @@ void TMC2660Stepper::write(uint8_t addressByte, uint32_t config) {
TMC_SW_SPI->transfer((data >> 8) & 0xFF);
TMC_SW_SPI->transfer(data & 0xFF);
} else {
SPI.setMISO(_pinMISO);
SPI.setMOSI(_pinMOSI);
SPI.setSCLK(_pinSCK);
SPI.begin();
SPI.beginTransaction(SPISettings(spi_speed, MSBFIRST, SPI_MODE3));
switchCSpin(LOW);
SPI.transfer((data >> 16) & 0xFF);
SPI.transfer((data >> 8) & 0xFF);
SPI.transfer(data & 0xFF);
SPI.endTransaction();
SPI.end();
}
switchCSpin(HIGH);
}
Expand Down
10 changes: 4 additions & 6 deletions src/source/TMC5130Stepper.cpp
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Original file line number Diff line number Diff line change
@@ -1,13 +1,11 @@
#include "TMCStepper.h"
#include "TMC_MACROS.h"

TMC5130Stepper::TMC5130Stepper(uint16_t pinCS, float RS, int8_t link) : TMC2160Stepper(pinCS, RS, link)
TMC5130Stepper::TMC5130Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link, bool softSPI):
TMC2160Stepper(pinCS, RS, pinMOSI, pinMISO, pinSCK, link, softSPI)
{ defaults(); }
TMC5130Stepper::TMC5130Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link):
TMC2160Stepper(pinCS, RS, pinMOSI, pinMISO, pinSCK, link)
{ defaults(); }
TMC5130Stepper::TMC5130Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link) :
TMC2160Stepper(pinCS, default_RS, pinMOSI, pinMISO, pinSCK, link)
TMC5130Stepper::TMC5130Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link, bool softSPI) :
TMC2160Stepper(pinCS, default_RS, pinMOSI, pinMISO, pinSCK, link, softSPI)
{ defaults(); }

void TMC5130Stepper::begin() {
Expand Down
10 changes: 4 additions & 6 deletions src/source/TMC5160Stepper.cpp
View file
Original file line number Diff line number Diff line change
@@ -1,13 +1,11 @@
#include "TMCStepper.h"
#include "TMC_MACROS.h"

TMC5160Stepper::TMC5160Stepper(uint16_t pinCS, float RS, int8_t link) : TMC5130Stepper(pinCS, RS, link)
TMC5160Stepper::TMC5160Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link, bool softSPI) :
TMC5130Stepper(pinCS, RS, pinMOSI, pinMISO, pinSCK, link, softSPI)
{ defaults(); }
TMC5160Stepper::TMC5160Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link) :
TMC5130Stepper(pinCS, RS, pinMOSI, pinMISO, pinSCK, link)
{ defaults(); }
TMC5160Stepper::TMC5160Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link) :
TMC5130Stepper(pinCS, default_RS, pinMOSI, pinMISO, pinSCK, link)
TMC5160Stepper::TMC5160Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link, bool softSPI) :
TMC5130Stepper(pinCS, default_RS, pinMOSI, pinMISO, pinSCK, link, softSPI)
{ defaults(); }

void TMC5160Stepper::defaults() {
Expand Down

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