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Fix SPI bus sharing (TFT, SD, Touch, TMC, etc...) #255

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Fix SPI bus sharing (TFT, SD, Touch, TMC, etc...) #255

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55f2ef2
- fixed SPI bus sharing between TFT, SD, Touch, etc in combination wi…
quiret Oct 20, 2022
db00c87
- fixed a compatibility issue in case that setMISO/MOSI/SCLK methods …
quiret Oct 20, 2022
752d8eb
- added back the stepper constructors without pins for anonymous SPI …
quiret Oct 21, 2022
d9f4b98
- added missing includes
quiret Oct 21, 2022
6132a63
- fix for ATMEL AVR GCC which does not seem to support the C++ standa…
quiret Oct 27, 2022
22fc700
- bugfixes and adjustments for better compatibility
quiret Oct 27, 2022
1c04074
- added better support for the ESP32 platform where the SPI.begin met…
quiret Oct 28, 2022
d4dc49a
- added TMCSPIInterface for virtual SPI intergration for SPI stepper …
quiret Nov 5, 2022
ccf3b21
- added support for platforms with no SPI.h inclusion support (the ge…
quiret Nov 24, 2022
a757c52
- follow-up adjustment
quiret Nov 24, 2022
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65 changes: 47 additions & 18 deletions src/TMCStepper.h
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,9 @@

#if defined(ARDUINO) && ARDUINO >= 100
#include <Arduino.h>
#include <SPI.h>
#ifndef TMC_NO_GENERIC_SPI
#include <SPI.h>
#endif
#include <Stream.h>
#elif defined(bcm2835)
#include <bcm2835.h>
Expand All @@ -18,8 +20,12 @@
#if __has_include(<Arduino.h>)
#include <Arduino.h>
#endif
#if __has_include(<SPI.h>)
#include <SPI.h>
#ifndef TMC_NO_GENERIC_SPI
#if __has_include(<SPI.h>)
#include <SPI.h>
#else
#define TMC_NO_GENERIC_SPI
#endif
#endif
#if __has_include(<Stream.h>)
#include <Stream.h>
Expand Down Expand Up @@ -63,6 +69,8 @@

#define TMCSTEPPER_VERSION 0x000703 // v0.7.3

#include "TMCStepper_fixing.h"

class TMCStepper {
public:
uint16_t cs2rms(uint8_t CS);
Expand Down Expand Up @@ -149,11 +157,20 @@ class TMCStepper {
float holdMultiplier = 0.5;
};

#include "TMCStepper_SPI.h"

#ifndef TMC_NO_GENERIC_SPI
#define _TMC_SOFTSPI_DEFAULT false
#else
#define _TMC_SOFTSPI_DEFAULT true
#endif

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 = _TMC_SOFTSPI_DEFAULT);
TMC2130Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1, bool softSPI = _TMC_SOFTSPI_DEFAULT);
TMC2130Stepper(uint16_t pinCS, float RS, TMCSPIInterface *spiMan, int8_t link_index = -1);
void begin();
void defaults();
void setSPISpeed(uint32_t speed);
Expand Down Expand Up @@ -369,7 +386,12 @@ 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;
const bool _has_pins;
SW_SPIClass * TMC_SW_SPI = nullptr;
TMCSPIInterface* _spiMan;
static constexpr float default_RS = 0.11;

int8_t link_index;
Expand All @@ -379,8 +401,8 @@ 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 = _TMC_SOFTSPI_DEFAULT);
TMC2160Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1, bool softSPI = _TMC_SOFTSPI_DEFAULT);
void begin();
void defaults();
void push();
Expand Down Expand Up @@ -478,8 +500,8 @@ 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 = _TMC_SOFTSPI_DEFAULT);
TMC5130Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1, bool softSPI = _TMC_SOFTSPI_DEFAULT);

void begin();
void defaults();
Expand Down Expand Up @@ -722,8 +744,8 @@ 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 = _TMC_SOFTSPI_DEFAULT);
TMC5160Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1, bool softSPI = _TMC_SOFTSPI_DEFAULT);

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 +837,12 @@ 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, 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, bool softSPI = _TMC_SOFTSPI_DEFAULT) :
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 = _TMC_SOFTSPI_DEFAULT) :
TMC5160Stepper(pinCS, RS, pinMOSI, pinMISO, pinSCK, link_index, softSPI) {}
};

class TMC2208Stepper : public TMCStepper {
Expand Down Expand Up @@ -1104,8 +1127,9 @@ 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 = _TMC_SOFTSPI_DEFAULT);
TMC2660Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, bool softSPI = _TMC_SOFTSPI_DEFAULT);
TMC2660Stepper(uint16_t pinCS, float RS, TMCSPIInterface *spiMan);
void write(uint8_t addressByte, uint32_t config);
uint32_t read();
void switchCSpin(bool state);
Expand Down Expand Up @@ -1255,6 +1279,11 @@ 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 bool _has_pins;
TMCSPIInterface *_spiMan;
const float Rsense;
static constexpr float default_RS = 0.1;
float holdMultiplier = 0.5;
Expand Down
16 changes: 16 additions & 0 deletions src/TMCStepper_SPI.h
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Original file line number Diff line number Diff line change
@@ -0,0 +1,16 @@
#pragma once

#define TMCSPI_BITORDER_LSB 0
#define TMCSPI_BITORDER_MSB 1

#define TMCSPI_CLKMODE_0 0
#define TMCSPI_CLKMODE_1 1
#define TMCSPI_CLKMODE_2 2
#define TMCSPI_CLKMODE_3 3

struct TMCSPIInterface {
virtual void begin(uint32_t maxClockFreq, int bitOrder, int clkMode) = 0;
virtual void end() = 0;
virtual uint8_t transfer(uint8_t txval) = 0;
virtual void sendRepeat(uint8_t val, uint16_t repcnt) = 0;
};
107 changes: 107 additions & 0 deletions src/TMCStepper_fixing.h
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Original file line number Diff line number Diff line change
@@ -0,0 +1,107 @@
#pragma once

#ifndef TMC_NO_GENERIC_SPI

namespace _TMC_FIXING
{

// BEGIN https://en.cppreference.com/w/cpp/types/add_reference
namespace detail {

template <class T>
struct type_identity { using type = T; };

template <class T>
auto try_add_rvalue_reference(int) -> type_identity<T&&>;
template <class T>
auto try_add_rvalue_reference(...) -> type_identity<T>;

} // namespace detail

template <class T>
struct add_rvalue_reference : decltype(detail::try_add_rvalue_reference<T>(0)) {};

// END https://en.cppreference.com/w/cpp/types/add_reference

// BEGIN https://en.cppreference.com/w/cpp/utility/declval (inspired)
template<typename T>
struct always_false
{
enum { value = false };
};

template<typename T>
typename add_rvalue_reference<T>::type declval() {
static_assert(always_false<T>::value, "declval not allowed in an evaluated context");
}

// END https://en.cppreference.com/w/cpp/utility/declval

struct true_type {
enum { value = true };
};
struct false_type {
enum { value = false };
};

} // namespace TMC_FIXING

// Since we don't have C++20 we need to do some ugly hacks to ensure compat.
// https://stackoverflow.com/questions/63253287/using-sfinae-to-detect-method-with-gcc
// Did you know that ATMEL AVR does not support standard C++ headers???
#define __DEF_HAS_METH( methName ) \
template<typename T> \
struct ___has_##methName \
{ \
template<typename C> \
static constexpr auto test(...) -> _TMC_FIXING::false_type; \
template<typename C> \
static constexpr auto test(int) \
-> decltype(static_cast<void>(_TMC_FIXING::declval<C>().methName(0)), _TMC_FIXING::true_type()); \
using result_type = decltype(test<T>(0)); \
static const bool value = result_type::value; \
}
#define __HAS_METH( className, methName ) \
( ___has_##methName <className>::value )

__DEF_HAS_METH( setMISO );
__DEF_HAS_METH( setMOSI );
__DEF_HAS_METH( setSCLK );

#define SPI_SET_PIN_HELPER( pinDescName ) \
template <bool hasPin> \
struct _spiInitHelper_##pinDescName \
{}; \
template <> \
struct _spiInitHelper_##pinDescName <true> \
{ \
template <typename SPIClassT> \
static void spiSet##pinDescName( SPIClassT& spi, uint16_t pin ) { spi.set##pinDescName( pin ); } \
}; \
template <> \
struct _spiInitHelper_##pinDescName <false> \
{ \
template <typename SPIClassT> \
static void spiSet##pinDescName( SPIClassT& spi, uint16_t pin ) {} \
}

SPI_SET_PIN_HELPER( MISO );
SPI_SET_PIN_HELPER( MOSI );
SPI_SET_PIN_HELPER( SCLK );

#define SPI_INIT_PIN( spi, pinDescName, val ) _spiInitHelper_##pinDescName <__HAS_METH(SPIClass, set##pinDescName)> ::spiSet##pinDescName( spi, val )

// Speciality of the ESP32 platform.
#ifdef ESP_PLATFORM
// https://github.com/espressif/arduino-esp32/blob/master/libraries/SPI/src/SPI.cpp SPIClass::begin method.
#define SPI_BEGIN( spi, sck, miso, mosi ) ( spi.begin( sck, miso, mosi ) )
#else
// Other platforms.
#define SPI_BEGIN( spi, sck, miso, mosi ) \
{ SPI_INIT_PIN( spi, MISO, miso ); \
SPI_INIT_PIN( SPI, MOSI, mosi ); \
SPI_INIT_PIN( SPI, SCLK, sck ); \
spi.begin(); }
#endif

#endif //TMC_NO_GENERIC_SPI
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