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@@ -3,9 +3,14 @@
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#ifdef TMC2130
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#include "tmc2130.h"
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-#include <SPI.h>
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#include "LiquidCrystal.h"
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#include "ultralcd.h"
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+#ifndef NEW_SPI
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+#include <SPI.h>
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+#else //NEW_SPI
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+#include "spi.h"
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+#endif //NEW_SPI
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+
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extern LiquidCrystal lcd;
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@@ -143,7 +148,9 @@ void tmc2130_init()
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SET_INPUT(Y_TMC2130_DIAG);
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SET_INPUT(Z_TMC2130_DIAG);
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SET_INPUT(E0_TMC2130_DIAG);
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+#ifndef NEW_SPI
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SPI.begin();
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+#endif //NEW_SPI
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for (int axis = 0; axis < 2; axis++) // X Y axes
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{
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tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
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@@ -594,11 +601,15 @@ inline void tmc2130_cs_high(uint8_t axis)
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}
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}
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+#ifndef NEW_SPI
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uint8_t tmc2130_tx(uint8_t axis, uint8_t addr, uint32_t wval)
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{
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//datagram1 - request
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+ printf_P(PSTR("tmc2130_tx %d 0x%02hhx, 0x%08lx\n"), axis, addr, wval);
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SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
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+ printf_P(PSTR(" SPCR = 0x%02hhx\n"), SPCR);
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+ printf_P(PSTR(" SPSR = 0x%02hhx\n"), SPSR);
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tmc2130_cs_low(axis);
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SPI.transfer(addr); // address
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SPI.transfer((wval >> 24) & 0xff); // MSB
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@@ -636,6 +647,62 @@ uint8_t tmc2130_rx(uint8_t axis, uint8_t addr, uint32_t* rval)
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return stat;
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}
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+#else //NEW_SPI
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+
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+//Arduino SPI
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+//#define TMC2130_SPI_ENTER() SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3))
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+//#define TMC2130_SPI_TXRX SPI.transfer
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+//#define TMC2130_SPI_LEAVE SPI.endTransaction
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+
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+//spi
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+#define TMC2130_SPI_ENTER() spi_setup(TMC2130_SPCR, TMC2130_SPSR)
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+#define TMC2130_SPI_TXRX spi_txrx
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+#define TMC2130_SPI_LEAVE()
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+
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+uint8_t tmc2130_tx(uint8_t axis, uint8_t addr, uint32_t wval)
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+{
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+ //datagram1 - request
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+ TMC2130_SPI_ENTER();
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+ tmc2130_cs_low(axis);
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+ TMC2130_SPI_TXRX(addr); // address
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+ TMC2130_SPI_TXRX((wval >> 24) & 0xff); // MSB
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+ TMC2130_SPI_TXRX((wval >> 16) & 0xff);
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+ TMC2130_SPI_TXRX((wval >> 8) & 0xff);
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+ TMC2130_SPI_TXRX(wval & 0xff); // LSB
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+ tmc2130_cs_high(axis);
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+ TMC2130_SPI_LEAVE();
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+}
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+
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+uint8_t tmc2130_rx(uint8_t axis, uint8_t addr, uint32_t* rval)
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+{
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+ //datagram1 - request
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+ TMC2130_SPI_ENTER();
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+ tmc2130_cs_low(axis);
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+ TMC2130_SPI_TXRX(addr); // address
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+ TMC2130_SPI_TXRX(0); // MSB
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+ TMC2130_SPI_TXRX(0);
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+ TMC2130_SPI_TXRX(0);
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+ TMC2130_SPI_TXRX(0); // LSB
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+ tmc2130_cs_high(axis);
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+ TMC2130_SPI_LEAVE();
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+ //datagram2 - response
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+ TMC2130_SPI_ENTER();
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+ tmc2130_cs_low(axis);
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+ uint8_t stat = TMC2130_SPI_TXRX(0); // status
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+ uint32_t val32 = 0;
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+ val32 = TMC2130_SPI_TXRX(0); // MSB
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+ val32 = (val32 << 8) | TMC2130_SPI_TXRX(0);
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+ val32 = (val32 << 8) | TMC2130_SPI_TXRX(0);
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+ val32 = (val32 << 8) | TMC2130_SPI_TXRX(0); // LSB
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+ tmc2130_cs_high(axis);
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+ TMC2130_SPI_LEAVE();
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+ if (rval != 0) *rval = val32;
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+ return stat;
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+}
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+
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+#endif //NEW_SPI
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+
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+
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void tmc2130_eeprom_load_config()
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{
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}
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