more stuff

Grbl_Esp32/src/Config.h

@@ -119,11 +119,11 @@ Some features should not be changed. See notes below.
 //#define CONNECT_TO_SSID  "your SSID"
 //#define SSID_PASSWORD  "your SSID password"
 //CONFIGURE_EYECATCH_BEGIN (DO NOT MODIFY THIS LINE)
-#define ENABLE_BLUETOOTH  // enable bluetooth
+//#define ENABLE_BLUETOOTH  // enable bluetooth
 
 #define ENABLE_SD_CARD  // enable use of SD Card to run jobs
 
-#define ENABLE_WIFI  //enable wifi
+//#define ENABLE_WIFI  //enable wifi
 
 #if defined(ENABLE_WIFI) || defined(ENABLE_BLUETOOTH)
 #    define WIFI_OR_BLUETOOTH

Grbl_Esp32/src/Machines/spi_daisy_4axis_xyza.h

@@ -35,7 +35,7 @@
 
 #define TRINAMIC_DAISY_CHAIN
 
-#define TRINAMIC_RUN_MODE           TRINAMIC_MODE_STEALTHCHOP
+#define TRINAMIC_RUN_MODE           TRINAMIC_MODE_COOLSTEP
 
 #define TRINAMIC_TOFF_COOLSTEP 4
 #define TRINAMIC_HEND_COOLSTEP 5
@@ -45,27 +45,27 @@
 // The hardware enable pin is tied to ground
 #define USE_TRINAMIC_ENABLE
 
-#define X_TRINAMIC_DRIVER       2130        // Which Driver Type?
+#define X_TRINAMIC_DRIVER       5160        // Which Driver Type?
-#define X_RSENSE                TMC2130_RSENSE_DEFAULT
+#define X_RSENSE                TMC5160_RSENSE_DEFAULT
 #define X_STEP_PIN              GPIO_NUM_12
 #define X_DIRECTION_PIN         GPIO_NUM_14
 #define X_CS_PIN                GPIO_NUM_17  // Daisy Chain, all share same CS pin
 
-#define Y_TRINAMIC_DRIVER       2130        // Which Driver Type?
+#define Y_TRINAMIC_DRIVER       X_TRINAMIC_DRIVER        // Which Driver Type?
-#define Y_RSENSE                TMC2130_RSENSE_DEFAULT
+#define Y_RSENSE                X_RSENSE
 #define Y_STEP_PIN              GPIO_NUM_27
 #define Y_DIRECTION_PIN         GPIO_NUM_26
 #define Y_CS_PIN                X_CS_PIN  // Daisy Chain, all share same CS pin
 
-#define Z_TRINAMIC_DRIVER       2130        // Which Driver Type?
+#define Z_TRINAMIC_DRIVER       X_TRINAMIC_DRIVER        // Which Driver Type?
-#define Z_RSENSE                TMC2130_RSENSE_DEFAULT
+#define Z_RSENSE                X_RSENSE
 #define Z_STEP_PIN              GPIO_NUM_15
 #define Z_DIRECTION_PIN         GPIO_NUM_2
 #define Z_CS_PIN                X_CS_PIN  // Daisy Chain, all share same CS pin
 
 
-#define A_TRINAMIC_DRIVER       2130        // Which Driver Type?
+#define A_TRINAMIC_DRIVER       X_TRINAMIC_DRIVER        // Which Driver Type?
-#define A_RSENSE                TMC2130_RSENSE_DEFAULT
+#define A_RSENSE                X_RSENSE
 #define A_STEP_PIN              GPIO_NUM_33
 #define A_DIRECTION_PIN         GPIO_NUM_32
 #define A_CS_PIN                X_CS_PIN  // Daisy Chain, all share same CS pin

Grbl_Esp32/src/Motors/Motors.cpp

@@ -341,8 +341,7 @@ void motors_set_disable(bool disable) {
 }
 
 void motors_read_settings() {
-    //grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Read Settings");
+    for (uint8_t gang_index = 0; gang_index < MAX_GANGED; gang_index++) {
-    for (uint8_t gang_index = 0; gang_index < 2; gang_index++) {
         for (uint8_t axis = X_AXIS; axis < N_AXIS; axis++)
             myMotor[axis][gang_index]->read_settings();
     }

Grbl_Esp32/src/Motors/StandardStepper.cpp

@@ -44,6 +44,8 @@ namespace Motors {
         config_message();
     }
 
+    //void StandardStepper::read_settings() {}
+
     void StandardStepper::init_step_dir_pins() {
         // TODO Step pin, but RMT complicates things
         _invert_step_pin = bit_istrue(step_invert_mask->get(), bit(axis_index));

Grbl_Esp32/src/Motors/StandardStepper.h

@@ -13,6 +13,7 @@ namespace Motors {
         virtual void set_direction_pins(uint8_t onMask);
         void         init_step_dir_pins();
         virtual void set_disable(bool disable);
+        
         uint8_t      step_pin;
 
     protected:

Grbl_Esp32/src/Motors/TrinamicDriver.cpp

@@ -44,6 +44,8 @@ namespace Motors {
         _homing_mode = TRINAMIC_HOMING_MODE;
         _homing_mask = 0;  // no axes homing
 
+        has_errors   = false;
+
         set_axis_name();
 
         if (_driver_part_number == 2130)
@@ -155,6 +157,7 @@ namespace Motors {
     void TrinamicDriver::read_settings() {
         if (has_errors)
             return;
+
         uint16_t run_i_ma = (uint16_t)(axis_settings[axis_index]->run_current->get() * 1000.0);
         float    hold_i_percent;
 
@@ -169,6 +172,13 @@ namespace Motors {
 
         tmcstepper->microsteps(axis_settings[axis_index]->microsteps->get());
         tmcstepper->rms_current(run_i_ma, hold_i_percent);
+        tmcstepper->en_pwm_mode(trinamic_en_pwm_mode->get());
+        tmcstepper->pwm_autoscale(trinamic_pwm_auto_scale->get());
+        tmcstepper->TCOOLTHRS(trinamic_tcoolthrs->get());  // when to turn on coolstep
+        tmcstepper->THIGH(trinamic_thigh->get());
+        tmcstepper->toff(trinamic_toff->get());
+        tmcstepper->hend(trinamic_hend->get());
+        tmcstepper->hstrt(trinamic_hstrt->get());
     }
 
     void TrinamicDriver::set_homing_mode(uint8_t homing_mask, bool isHoming) {
@@ -182,6 +192,8 @@ namespace Motors {
     Coolstep mode, so it will need to switch to Coolstep when homing
 */
     void TrinamicDriver::set_mode(bool isHoming) {
+
+        
         if (has_errors)
             return;
         if (isHoming)
@@ -202,10 +214,10 @@ namespace Motors {
                 break;
             case TRINAMIC_MODE_COOLSTEP:
                 //grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "TRINAMIC_MODE_COOLSTEP");
-                tmcstepper->en_pwm_mode(false);
+                tmcstepper->en_pwm_mode(trinamic_en_pwm_mode->get());
-                tmcstepper->pwm_autoscale(false);
+                tmcstepper->pwm_autoscale(trinamic_pwm_auto_scale->get());
                 tmcstepper->TCOOLTHRS(trinamic_tcoolthrs->get());  // when to turn on coolstep
-                tmcstepper->THIGH(NORMAL_THIGH);
+                tmcstepper->THIGH(trinamic_thigh->get());
                 tmcstepper->toff(trinamic_toff->get());
                 tmcstepper->hend(trinamic_hend->get());
                 tmcstepper->hstrt(trinamic_hstrt->get());                             
@@ -228,6 +240,9 @@ namespace Motors {
     This is the stallguard tuning info. It is call debug, so it could be generic across all classes.
 */
     void TrinamicDriver::debug_message() {
+        error_check();
+        return;
+
         if (has_errors)
             return;
         uint32_t tstep = tmcstepper->TSTEP();
@@ -246,6 +261,44 @@ namespace Motors {
                        axis_settings[axis_index]->stallguard->get());
     }
 
+    void TrinamicDriver::error_check()    {
+        
+
+        TMC2130_n ::DRV_STATUS_t status { 0 };  // a useful struct to access the bits.
+        status.sr = tmcstepper->DRV_STATUS();
+
+        
+
+        bool err = false;
+
+        if (status.s2ga || status.s2gb) {
+            grbl_msg_sendf(
+                CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Motor Short Coil a:%s b:%s", _axis_name, status.s2ga ? "Y" : "N", status.s2gb ? "Y" : "N");
+            err = true;
+        }
+        // check for over temp or pre-warning
+        if (status.ot || status.otpw) {
+            grbl_msg_sendf(
+                CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Driver Temp Warning:%s Fault:%s", _axis_name, status.otpw ? "Y" : "N", status.ot ? "Y" : "N");
+            err = true;
+
+        }
+
+        if (status.ola || status.olb) {
+            grbl_msg_sendf(
+                CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Motor open load a:%s b:%s", _axis_name, status.ola ? "Y" : "N", status.olb ? "Y" : "N");
+            err = true;
+        }
+
+        return;
+
+        if (!err) {
+            grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Motor OK status %x", status);
+        }
+
+
+    }
+
     // calculate a tstep from a rate
     // tstep = TRINAMIC_FCLK / (time between 1/256 steps)
     // This is used to set the stallguard window from the homing speed.

Grbl_Esp32/src/Motors/TrinamicDriver.h

@@ -85,6 +85,7 @@ namespace Motors {
         void trinamic_test_response();
         void trinamic_stepper_enable(bool enable);
         void debug_message();
+        void error_check();
         void set_homing_mode(uint8_t homing_mask, bool ishoming);
         void set_disable(bool disable);
         bool test();

Grbl_Esp32/src/SettingsDefinitions.cpp

@@ -53,10 +53,14 @@ IntSetting*   spindle_pwm_bit_precision;
 
 EnumSetting* spindle_type;
 
-IntSetting* trinamic_toff;
+IntSetting*  trinamic_toff;
-IntSetting* trinamic_hend;
+IntSetting*  trinamic_hend;
-IntSetting* trinamic_hstrt;
+IntSetting*  trinamic_hstrt;
-IntSetting* trinamic_tcoolthrs;
+IntSetting*  trinamic_tcoolthrs;
+IntSetting*  trinamic_thigh;
+IntSetting*  trinamic_tbl;
+FlagSetting* trinamic_en_pwm_mode;
+FlagSetting* trinamic_pwm_auto_scale;
 
 enum_opt_t spindleTypes = {
     // clang-format off
@@ -169,6 +173,11 @@ static bool checkStallguard(char* value) {
     return true;
 }
 
+static bool trinamic_change(char* value) {
+    motorSettingChanged = true;
+    return true;
+}
+
 static bool checkMicrosteps(char* value) {
     motorSettingChanged = true;
     return true;
@@ -298,10 +307,10 @@ void make_settings() {
     rpm_min = new FloatSetting(GRBL, WG, "31", "GCode/MinS", DEFAULT_SPINDLE_RPM_MIN, 0, 100000);
     rpm_max = new FloatSetting(GRBL, WG, "30", "GCode/MaxS", DEFAULT_SPINDLE_RPM_MAX, 0, 100000);
 
-    homing_pulloff   = new FloatSetting(GRBL, WG, "27", "Homing/Pulloff", DEFAULT_HOMING_PULLOFF, 0, 1000);
+    homing_pulloff      = new FloatSetting(GRBL, WG, "27", "Homing/Pulloff", DEFAULT_HOMING_PULLOFF, 0, 1000);
-    homing_debounce  = new FloatSetting(GRBL, WG, "26", "Homing/Debounce", DEFAULT_HOMING_DEBOUNCE_DELAY, 0, 10000);
+    homing_debounce     = new FloatSetting(GRBL, WG, "26", "Homing/Debounce", DEFAULT_HOMING_DEBOUNCE_DELAY, 0, 10000);
-    homing_seek_rate = new FloatSetting(GRBL, WG, "25", "Homing/Seek", DEFAULT_HOMING_SEEK_RATE, 0, 10000);
+    homing_seek_rate    = new FloatSetting(GRBL, WG, "25", "Homing/Seek", DEFAULT_HOMING_SEEK_RATE, 0, 10000);
-    homing_feed_rate = new FloatSetting(GRBL, WG, "24", "Homing/Feed", DEFAULT_HOMING_FEED_RATE, 0, 10000);
+    homing_feed_rate    = new FloatSetting(GRBL, WG, "24", "Homing/Feed", DEFAULT_HOMING_FEED_RATE, 0, 10000);
     homing_squared_axes = new AxisMaskSetting(EXTENDED, WG, NULL, "Homing/Squared", DEFAULT_HOMING_SQUARED_AXES);
 
     // TODO Settings - need to call st_generate_step_invert_masks()
@@ -329,11 +338,15 @@ void make_settings() {
     spindle_type           = new EnumSetting(NULL, EXTENDED, WG, NULL, "Spindle/Type", SPINDLE_TYPE, &spindleTypes);
     stallguard_debug_mask  = new AxisMaskSetting(EXTENDED, WG, NULL, "Report/StallGuard", 0, checkStallguardDebugMask);
 
+    trinamic_toff           = new IntSetting(GRBL, WG, NULL, "Trinamic/toff", 4, 0, 255, trinamic_change);
+    trinamic_hend           = new IntSetting(GRBL, WG, NULL, "Trinamic/hend", 5, 0, 255, trinamic_change);
+    trinamic_hstrt          = new IntSetting(GRBL, WG, NULL, "Trinamic/hstrt", 0, 0, 255, trinamic_change);
+    trinamic_tcoolthrs      = new IntSetting(GRBL, WG, NULL, "Trinamic/tcoolthrs", 0, 1000, 0xFFFFF, trinamic_change);
+    trinamic_thigh          = new IntSetting(GRBL, WG, NULL, "Trinamic/thigh", 0, 1000, 0xFFFFF, trinamic_change);
+    trinamic_tbl            = new IntSetting(GRBL, WG, NULL, "Trinamic/tbl", 1, 0, 3, trinamic_change);
+    trinamic_en_pwm_mode    = new FlagSetting(GRBL, WG, NULL, "Trinamic/EnPwmMode", 1, trinamic_change);
+    trinamic_pwm_auto_scale = new FlagSetting(GRBL, WG, NULL, "Trinamic/PwmAutoScale", 1, trinamic_change);
 
-    trinamic_toff = new IntSetting(GRBL, WG, NULL, "Trinamic/toff", 4, 0, 255);
-    trinamic_hend = new IntSetting(GRBL, WG, NULL, "Trinamic/hend", 5, 0, 255);
-    trinamic_hstrt = new IntSetting(GRBL, WG, NULL, "Trinamic/hstrt", 0, 0, 255);
-    trinamic_tcoolthrs = new IntSetting(GRBL, WG, NULL, "Trinamic/tcoolthrs", 0, 1000, 0xFFFFF);
     //trinamic_s2vs = new IntSetting(GRBL, WG, NULL, "Trinamic/s2vs", 0, 1000, 0xFFFFF);
     //trinamic_s2g = new IntSetting(GRBL, WG, NULL, "Trinamic/s2g", 0, 1000, 0xFFFFF);
 }

Grbl_Esp32/src/SettingsDefinitions.h

@@ -61,3 +61,7 @@ extern IntSetting* trinamic_toff;
 extern IntSetting* trinamic_hend;
 extern IntSetting* trinamic_hstrt;
 extern IntSetting* trinamic_tcoolthrs;
+extern IntSetting* trinamic_thigh;
+extern IntSetting* trinamic_tbl;
+extern FlagSetting* trinamic_en_pwm_mode;
+extern FlagSetting*  trinamic_pwm_auto_scale;