Standardize Marlin SPI (part 1) (MarlinFirmware#19989)

.github/workflows/test-builds.yml

@@ -83,6 +83,7 @@ jobs:
         - STM32F103RET6_creality
         - LERDGEX
         - mks_robin_nano35
+        - mks_robin_nano35_stm32
         - NUCLEO_F767ZI
 
         # Put lengthy tests last

Marlin/src/HAL/LPC1768/HAL_SPI.cpp

@@ -127,11 +127,9 @@
     for (uint16_t i = 0; i < nbyte; i++) doio(buf[i]);
   }
 
-  void spiSend(uint32_t chan, byte b) {
-  }
+  void spiSend(uint32_t chan, byte b) {}
 
-  void spiSend(uint32_t chan, const uint8_t* buf, size_t nbyte) {
-  }
+  void spiSend(uint32_t chan, const uint8_t* buf, size_t nbyte) {}
 
   // Read single byte from SPI
   uint8_t spiRec() { return doio(0xFF); }
@@ -143,9 +141,7 @@
     for (uint16_t i = 0; i < nbyte; i++) buf[i] = doio(0xFF);
   }
 
-  uint8_t spiTransfer(uint8_t b) {
-    return doio(b);
-  }
+  uint8_t spiTransfer(uint8_t b) { return doio(b); }
 
   // Write from buffer to SPI
   void spiSendBlock(uint8_t token, const uint8_t* buf) {
@@ -201,6 +197,15 @@ SPIClass::SPIClass(uint8_t device) {
   GPDMA_Init();
 }
 
+SPIClass::SPIClass(pin_t mosi, pin_t miso, pin_t sclk, pin_t ssel) {
+  #if BOARD_NR_SPI >= 1
+    if (mosi == BOARD_SPI1_MOSI_PIN) SPIClass(1);
+  #endif
+  #if BOARD_NR_SPI >= 2
+    if (mosi == BOARD_SPI2_MOSI_PIN) SPIClass(2);
+  #endif
+}
+
 void SPIClass::begin() {
   // Init the SPI pins in the first begin call
   if ((_currentSetting->spi_d == LPC_SSP0 && spiInitialised[0] == false) ||
@@ -331,25 +336,15 @@ void SPIClass::read(uint8_t *buf, uint32_t len) {
   for (uint16_t i = 0; i < len; i++) buf[i] = transfer(0xFF);
 }
 
-void SPIClass::setClock(uint32_t clock) {
-  _currentSetting->clock = clock;
-}
+void SPIClass::setClock(uint32_t clock) { _currentSetting->clock = clock; }
 
-void SPIClass::setModule(uint8_t device) {
-  _currentSetting = &_settings[device - 1];// SPI channels are called 1 2 and 3 but the array is zero indexed
-}
+void SPIClass::setModule(uint8_t device) { _currentSetting = &_settings[device - 1]; } // SPI channels are called 1, 2, and 3 but the array is zero-indexed
 
-void SPIClass::setBitOrder(uint8_t bitOrder) {
-  _currentSetting->bitOrder = bitOrder;
-}
+void SPIClass::setBitOrder(uint8_t bitOrder) { _currentSetting->bitOrder = bitOrder; }
 
-void SPIClass::setDataMode(uint8_t dataMode) {
-  _currentSetting->dataMode = dataMode;
-}
+void SPIClass::setDataMode(uint8_t dataMode) { _currentSetting->dataMode = dataMode; }
 
-void SPIClass::setDataSize(uint32_t ds) {
-  _currentSetting->dataSize = ds;
-}
+void SPIClass::setDataSize(uint32_t dataSize) { _currentSetting->dataSize = dataSize; }
 
 /**
  * Set up/tear down

Marlin/src/HAL/LPC1768/MarlinSPI.h

@@ -0,0 +1,45 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include <SPI.h>
+
+/**
+ * Marlin currently requires 3 SPI classes:
+ *
+ * SPIClass:
+ *  This class is normally provided by frameworks and has a semi-default interface.
+ *  This is needed because some libraries reference it globally.
+ *
+ * SPISettings:
+ *  Container for SPI configs for SPIClass. As above, libraries may reference it globally.
+ *
+ * These two classes are often provided by frameworks so we cannot extend them to add
+ * useful methods for Marlin.
+ *
+ * MarlinSPI:
+ *  Provides the default SPIClass interface plus some Marlin goodies such as a simplified
+ *  interface for SPI DMA transfer.
+ *
+ */
+
+using MarlinSPI = SPIClass;

Marlin/src/HAL/LPC1768/include/SPI.h

@@ -126,6 +126,11 @@ class SPIClass {
    */
   SPIClass(uint8_t spiPortNumber);
 
+  /**
+   * Init using pins
+   */
+  SPIClass(pin_t mosi, pin_t miso, pin_t sclk, pin_t ssel = (pin_t)-1);
+
   /**
    * Select and configure the current selected SPI device to use
    */

Marlin/src/HAL/STM32/MarlinSPI.cpp

@@ -0,0 +1,161 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "MarlinSPI.h"
+
+static void spi_init(spi_t *obj, uint32_t speed, spi_mode_e mode, uint8_t msb, uint32_t dataSize) {
+  spi_init(obj, speed, mode, msb);
+  // spi_init set 8bit always
+  // TODO: copy the code from spi_init and handle data size, to avoid double init always!!
+  if (dataSize != SPI_DATASIZE_8BIT) {
+    obj->handle.Init.DataSize = dataSize;
+    HAL_SPI_Init(&obj->handle);
+    __HAL_SPI_ENABLE(&obj->handle);
+  }
+}
+
+void MarlinSPI::setClockDivider(uint8_t _div) {
+  _speed = spi_getClkFreq(&_spi);// / _div;
+  _clockDivider = _div;
+}
+
+void MarlinSPI::begin(void) {
+  //TODO: only call spi_init if any parameter changed!!
+  spi_init(&_spi, _speed, _dataMode, _bitOrder, _dataSize);
+}
+
+void MarlinSPI::setupDma(SPI_HandleTypeDef &_spiHandle, DMA_HandleTypeDef &_dmaHandle, uint32_t direction, bool minc) {
+  _dmaHandle.Init.Direction = direction;
+  _dmaHandle.Init.PeriphInc = DMA_PINC_DISABLE;
+  _dmaHandle.Init.Mode = DMA_NORMAL;
+  _dmaHandle.Init.Priority = DMA_PRIORITY_LOW;
+  _dmaHandle.Init.MemInc = minc ? DMA_MINC_ENABLE : DMA_MINC_DISABLE;
+
+  if (_dataSize == DATA_SIZE_8BIT) {
+    _dmaHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    _dmaHandle.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+  }
+  else {
+    _dmaHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
+    _dmaHandle.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
+  }
+  #ifdef STM32F4xx
+    _dmaHandle.Init.Channel = DMA_CHANNEL_3;
+    _dmaHandle.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+  #endif
+
+  // start DMA hardware
+  // TODO: check if hardware is already enabled
+  #ifdef SPI1_BASE
+    if (_spiHandle.Instance == SPI1) {
+      #ifdef STM32F1xx
+        __HAL_RCC_DMA1_CLK_ENABLE();
+        _dmaHandle.Instance = (direction == DMA_MEMORY_TO_PERIPH) ? DMA1_Channel3 : DMA1_Channel2;
+      #elif defined(STM32F4xx)
+        __HAL_RCC_DMA2_CLK_ENABLE();
+        _dmaHandle.Instance = DMA2_Stream3;
+      #endif
+    }
+  #endif
+  #ifdef SPI2_BASE
+    if (_spiHandle.Instance == SPI2) {
+      #ifdef STM32F1xx
+        __HAL_RCC_DMA1_CLK_ENABLE();
+        _dmaHandle.Instance = (direction == DMA_MEMORY_TO_PERIPH) ? DMA1_Channel5 : DMA1_Channel4;
+      #elif defined(STM32F4xx)
+        //TODO: f4 dma config
+      #endif
+    }
+  #endif
+  #ifdef SPI3_BASE
+    if (_spiHandle.Instance == SPI3) {
+      #ifdef STM32F1xx
+        __HAL_RCC_DMA2_CLK_ENABLE();
+        _dmaHandle.Instance = (direction == DMA_MEMORY_TO_PERIPH) ? DMA2_Channel2 : DMA2_Channel1;
+      #elif defined(STM32F4xx)
+        //TODO: f4 dma config
+      #endif
+    }
+  #endif
+
+  HAL_DMA_Init(&_dmaHandle);
+}
+
+byte MarlinSPI::transfer(uint8_t _data) {
+  uint8_t rxData = 0xFF;
+  HAL_SPI_TransmitReceive(&_spi.handle, &_data, &rxData, 1, HAL_MAX_DELAY);
+  return rxData;
+}
+
+uint8_t MarlinSPI::dmaTransfer(const void *transmitBuf, void *receiveBuf, uint16_t length) {
+  const uint8_t ff = 0xFF;
+
+  //if ((hspi->Instance->CR1 & SPI_CR1_SPE) != SPI_CR1_SPE) //only enable if disabled
+  __HAL_SPI_ENABLE(&_spi.handle);
+
+  if (receiveBuf) {
+    setupDma(_spi.handle, _dmaRx, DMA_PERIPH_TO_MEMORY, true);
+    HAL_DMA_Start(&_dmaRx, (uint32_t)&(_spi.handle.Instance->DR), (uint32_t)receiveBuf, length);
+    SET_BIT(_spi.handle.Instance->CR2, SPI_CR2_RXDMAEN); /* Enable Rx DMA Request */
+  }
+
+  // check for 2 lines transfer
+  bool mincTransmit = true;
+  if (transmitBuf == nullptr && _spi.handle.Init.Direction == SPI_DIRECTION_2LINES && _spi.handle.Init.Mode == SPI_MODE_MASTER) {
+    transmitBuf = &ff;
+    mincTransmit = false;
+  }
+
+  if (transmitBuf) {
+    setupDma(_spi.handle, _dmaTx, DMA_MEMORY_TO_PERIPH, mincTransmit);
+    HAL_DMA_Start(&_dmaTx, (uint32_t)transmitBuf, (uint32_t)&(_spi.handle.Instance->DR), length);
+    SET_BIT(_spi.handle.Instance->CR2, SPI_CR2_TXDMAEN);   /* Enable Tx DMA Request */
+  }
+
+  if (transmitBuf) {
+    HAL_DMA_PollForTransfer(&_dmaTx, HAL_DMA_FULL_TRANSFER, HAL_MAX_DELAY);
+    HAL_DMA_Abort(&_dmaTx);
+    HAL_DMA_DeInit(&_dmaTx);
+  }
+
+  // while ((_spi.handle.Instance->SR & SPI_FLAG_RXNE) != SPI_FLAG_RXNE) {}
+
+  if (receiveBuf) {
+    HAL_DMA_PollForTransfer(&_dmaRx, HAL_DMA_FULL_TRANSFER, HAL_MAX_DELAY);
+    HAL_DMA_Abort(&_dmaRx);
+    HAL_DMA_DeInit(&_dmaRx);
+  }
+
+  return 1;
+}
+
+uint8_t MarlinSPI::dmaSend(const void * transmitBuf, uint16_t length, bool minc) {
+  setupDma(_spi.handle, _dmaTx, DMA_MEMORY_TO_PERIPH, minc);
+  HAL_DMA_Start(&_dmaTx, (uint32_t)transmitBuf, (uint32_t)&(_spi.handle.Instance->DR), length);
+  __HAL_SPI_ENABLE(&_spi.handle);
+  SET_BIT(_spi.handle.Instance->CR2, SPI_CR2_TXDMAEN);   /* Enable Tx DMA Request */
+  HAL_DMA_PollForTransfer(&_dmaTx, HAL_DMA_FULL_TRANSFER, HAL_MAX_DELAY);
+  HAL_DMA_Abort(&_dmaTx);
+  // DeInit objects
+  HAL_DMA_DeInit(&_dmaTx);
+  return 1;
+}