Added magntek spi speed command

Author: Ultrawipf

CHANGELOG.md

@@ -1,8 +1,5 @@
 ### Changes this version:
-- Reformatted USB serial string as hex and added command to request UID as hex string
-- Added device name to USB Product name
-- Added support for F407 OTP section
-- Added support for MagnTek MT6835 via SPI (SPI3 port, MagnTek encoder class)
+- Added SPI speed selector to MagnTek encoders
 
 ### Changes in 1.16:
 
@@ -19,4 +16,8 @@ Internal changes:
 - Using analog VREF for voltage sensing (better accuracy with unstable 3.3V)
 - Added chip temperature readout
 - Added remote CAN button/analog source mainclass
-- Added exponential torque postprocessing for game effects
+- Added exponential torque postprocessing for game effects
+- Reformatted USB serial string as hex and added command to request UID as hex string
+- Added device name to USB Product name
+- Added support for F407 OTP section
+- Added support for MagnTek MT6835 via SPI (SPI3 port, MagnTek encoder class)

Firmware/FFBoard/Inc/constants.h

@@ -8,7 +8,7 @@
  * For more settings see target_constants.h in a target specific folder
  */
 
-static const uint8_t SW_VERSION_INT[3] = {1,16,5}; // Version as array. 8 bit each!
+static const uint8_t SW_VERSION_INT[3] = {1,16,6}; // Version as array. 8 bit each!
 #ifndef MAX_AXIS
 #define MAX_AXIS 2 // ONLY USE 2 for now else screws HID Reports
 #endif

Firmware/FFBoard/UserExtensions/Inc/MtEncoderSPI.h

@@ -19,11 +19,12 @@
 
 class MtEncoderSPI: public Encoder, public SPIDevice, public PersistentStorage, public CommandHandler,cpp_freertos::Thread{
 	enum class MtEncoderSPI_commands : uint32_t{
-		cspin,pos,errors,mode
+		cspin,pos,errors,mode,speed
 	};
 	enum class MtEncoderSPI_mode : uint8_t{
 		mt6825,mt6835
 	};
+	const std::array<float,3> spispeeds = {10e6,5e6,2.5e6}; // Target speeds. Must double each entry
 public:
 	MtEncoderSPI();
 	virtual ~MtEncoderSPI();
@@ -57,6 +58,8 @@ class MtEncoderSPI: public Encoder, public SPIDevice, public PersistentStorage,
 
 	//bool useDMA = false; // if true uses DMA for angle updates instead of polling SPI. TODO when used with tmc external encoder using DMA will hang the interrupt randomly
 
+	void setSpiSpeed(uint8_t preset);
+
 private:
 	uint8_t readSpi(uint16_t addr);
 	void writeSpi(uint16_t addr,uint8_t data);
@@ -85,6 +88,8 @@ class MtEncoderSPI: public Encoder, public SPIDevice, public PersistentStorage,
 
 	static std::array<uint8_t,256> tableCRC;
 	const uint8_t POLY = 0x07;
+
+	uint8_t spiSpeedPreset = 0;
 };
 
 #endif /* USEREXTENSIONS_SRC_MTENCODERSPI_H_ */

Firmware/FFBoard/UserExtensions/Src/MtEncoderSPI.cpp

@@ -23,7 +23,7 @@ std::array<uint8_t,256> MtEncoderSPI::tableCRC __attribute__((section (".ccmram"
 
 MtEncoderSPI::MtEncoderSPI() : SPIDevice(ENCODER_SPI_PORT,ENCODER_SPI_PORT.getFreeCsPins()[0]), CommandHandler("mtenc",CLSID_ENCODER_MTSPI,0),cpp_freertos::Thread("MTENC",256,42) {
 	MtEncoderSPI::inUse = true;
-	this->spiConfig.peripheral.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4; // 4 = 10MHz 8 = 5MHz
+	this->spiConfig.peripheral.BaudRatePrescaler = spiPort.getClosestPrescaler(10e6).first; // 10MHz max
 	this->spiConfig.peripheral.FirstBit = SPI_FIRSTBIT_MSB;
 	this->spiConfig.peripheral.CLKPhase = SPI_PHASE_2EDGE;
 	this->spiConfig.peripheral.CLKPolarity = SPI_POLARITY_HIGH;
@@ -32,14 +32,15 @@ MtEncoderSPI::MtEncoderSPI() : SPIDevice(ENCODER_SPI_PORT,ENCODER_SPI_PORT.getFr
 	//Init CRC-8 table
 	makeCrcTable(tableCRC,POLY,8); // Mt6825, Poly X8+X2+X (+1)
 
-	restoreFlash();
+	restoreFlash(); // Also configures SPI port
 	spiPort.reserveCsPin(this->spiConfig.cs);
 
 	CommandHandler::registerCommands();
 	registerCommand("cs", MtEncoderSPI_commands::cspin, "CS pin",CMDFLAG_GET | CMDFLAG_SET);
 	registerCommand("pos", MtEncoderSPI_commands::pos, "Position",CMDFLAG_GET | CMDFLAG_SET);
 	registerCommand("errors", MtEncoderSPI_commands::errors, "Parity error count",CMDFLAG_GET);
 	registerCommand("mode", MtEncoderSPI_commands::mode, "Encoder mode (MT6825=0;MT6835=1)",CMDFLAG_GET | CMDFLAG_SET | CMDFLAG_INFOSTRING);
+	registerCommand("speed", MtEncoderSPI_commands::speed, "SPI speed preset",CMDFLAG_GET | CMDFLAG_SET | CMDFLAG_INFOSTRING);
 	this->Start();
 }
 
@@ -51,14 +52,16 @@ MtEncoderSPI::~MtEncoderSPI() {
 void MtEncoderSPI::restoreFlash(){
 	uint16_t conf_int = Flash_ReadDefault(ADR_MTENC_CONF1, 0);
 	offset = Flash_ReadDefault(ADR_MTENC_OFS, 0) << 2;
-	uint8_t cspin = conf_int & 0xF;
+	uint8_t cspin = conf_int & 0x3;
 	MtEncoderSPI_mode mode = static_cast<MtEncoderSPI_mode>(conf_int >> 8);
 	setMode(mode);
 	setCsPin(cspin);
+	setSpiSpeed((conf_int >> 2) & 0x3);
 }
 
 void MtEncoderSPI::saveFlash(){
-	uint16_t conf_int = this->cspin & 0xF;
+	uint16_t conf_int = this->cspin & 0x3;
+	conf_int |= (this->spiSpeedPreset & 0x3) << 2;
 	conf_int |= ((uint8_t)mode & 0xf) << 8;
 	Flash_Write(ADR_MTENC_CONF1, conf_int);
 	Flash_Write(ADR_MTENC_OFS, offset >> 2);
@@ -262,6 +265,15 @@ void MtEncoderSPI::setMode(MtEncoderSPI::MtEncoderSPI_mode mode){
 	this->overspeed = false;
 }
 
+void MtEncoderSPI::setSpiSpeed(uint8_t preset){
+	if(preset == spiSpeedPreset){
+		return; // Ignore if no change
+	}
+	spiSpeedPreset = clip<uint8_t,uint8_t>(preset,0,spispeeds.size());
+	this->spiConfig.peripheral.BaudRatePrescaler = spiPort.getClosestPrescaler(spispeeds[spiSpeedPreset]).first;
+	initSPI();
+}
+
 
 CommandStatus MtEncoderSPI::command(const ParsedCommand& cmd,std::vector<CommandReply>& replies){
 	switch(static_cast<MtEncoderSPI_commands>(cmd.cmdId)){
@@ -298,6 +310,22 @@ CommandStatus MtEncoderSPI::command(const ParsedCommand& cmd,std::vector<Command
 			return CommandStatus::ERR;
 		}
 		break;
+
+	case MtEncoderSPI_commands::speed:
+	{
+		if(cmd.type == CMDtype::get){
+			replies.emplace_back(spiSpeedPreset);
+		}else if(cmd.type == CMDtype::set){
+			setSpiSpeed(cmd.val);
+		}else if(cmd.type == CMDtype::info){
+			for(uint8_t i = 0; i<spispeeds.size();i++){
+				replies.emplace_back(std::to_string(this->spiPort.getClosestPrescaler(spispeeds[i]).second)  + ":" + std::to_string(i)+"\n");
+			}
+		}else{
+			return CommandStatus::ERR;
+		}
+		break;
+	}
 	default:
 		return CommandStatus::NOT_FOUND;
 	}