Trinamic reporting (#656)

* Enhanced reporting of errors

* Change "motor" to "driver" for clarity.

* Added better way to show changed Setting values from Mitch

* Update build date

Grbl_Esp32/src/Motors/TrinamicDriver.cpp

@@ -126,7 +126,7 @@ namespace Motors {
     void TrinamicDriver::config_message() {
         grbl_msg_sendf(CLIENT_SERIAL,
                        MsgLevel::Info,
-                       "%s Trinamic TMC%d Step:%s Dir:%s CS:%s Disable:%s Index:%d %s",
+                       "%s Trinamic TMC%d Step:%s Dir:%s CS:%s Disable:%s Index:%d R:%0.3f %s",
                        reportAxisNameMsg(_axis_index, _dual_axis_index),
                        _driver_part_number,
                        pinName(_step_pin).c_str(),
@@ -134,6 +134,7 @@ namespace Motors {
                        pinName(_cs_pin).c_str(),
                        pinName(_disable_pin).c_str(),
                        _spi_index,
+                       _r_sense,
                        reportAxisLimitsMsg(_axis_index));
     }
 
@@ -161,24 +162,17 @@ namespace Motors {
                 status.sr = tmcstepper->DRV_STATUS();
 
                 bool err = false;
-                // look for open or short to ground on a and b
+
-                if (status.s2ga || status.s2gb) {
+                // look for errors
-                    grbl_msg_sendf(CLIENT_SERIAL,
+                if (report_short_to_ground(status)) {
-                                   MsgLevel::Info,
-                                   "%s Motor Short Coil a:%s b:%s",
-                                   reportAxisNameMsg(_axis_index, _dual_axis_index),
-                                   status.s2ga ? "Y" : "N",
-                                   status.s2gb ? "Y" : "N");
                     err = true;
                 }
-                // check for over temp or pre-warning
+
-                if (status.ot || status.otpw) {
+                if (report_over_temp(status)) {
-                    grbl_msg_sendf(CLIENT_SERIAL,
+                    err = true;
-                                   MsgLevel::Info,
+                }
-                                   "%s Driver Temp Warning:%s Fault:%s",
+
-                                   reportAxisNameMsg(_axis_index, _dual_axis_index),
+                if (report_short_to_ps(status)) {
-                                   status.otpw ? "Y" : "N",
-                                   status.ot ? "Y" : "N");
                     err = true;
                 }
 
@@ -214,7 +208,6 @@ namespace Motors {
             if (hold_i_percent > 1.0)
                 hold_i_percent = 1.0;
         }
-        //grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "%s Current run %d hold %f", reportAxisNameMsg(_axis_index, _dual_axis_index), run_i_ma, hold_i_percent);
 
         tmcstepper->microsteps(axis_settings[_axis_index]->microsteps->get());
         tmcstepper->rms_current(run_i_ma, hold_i_percent);
@@ -293,6 +286,22 @@ namespace Motors {
                        tmcstepper->sg_result(),
                        feedrate,
                        axis_settings[_axis_index]->stallguard->get());
+
+        TMC2130_n ::DRV_STATUS_t status { 0 };  // a useful struct to access the bits.
+        status.sr = tmcstepper->DRV_STATUS();
+
+        // these only report if there is a fault condition
+        report_open_load(status);
+        report_short_to_ground(status);
+        report_over_temp(status);
+        report_short_to_ps(status);
+
+        // grbl_msg_sendf(CLIENT_SERIAL,
+        //                MsgLevel::Info,
+        //                "%s Status Register %08x GSTAT %02x",
+        //                reportAxisNameMsg(_axis_index, _dual_axis_index),
+        //                status.sr,
+        //                tmcstepper->GSTAT());
     }
 
     // calculate a tstep from a rate
@@ -366,4 +375,59 @@ namespace Motors {
             reportTaskStackSize(uxHighWaterMark);
         }
     }
+
+    // =========== Reporting functions ========================
+
+    bool TrinamicDriver::report_open_load(TMC2130_n ::DRV_STATUS_t status) {
+        if (status.ola || status.olb) {
+            grbl_msg_sendf(CLIENT_SERIAL,
+                           MsgLevel::Info,
+                           "%s Driver Open Load a:%s b:%s",
+                           reportAxisNameMsg(_axis_index, _dual_axis_index),
+                           status.ola ? "Y" : "N",
+                           status.olb ? "Y" : "N");
+            return true;
+        }
+        return false;  // no error
+    }
+
+    bool TrinamicDriver::report_short_to_ground(TMC2130_n ::DRV_STATUS_t status) {
+        if (status.s2ga || status.s2gb) {
+            grbl_msg_sendf(CLIENT_SERIAL,
+                           MsgLevel::Info,
+                           "%s Driver Short Coil a:%s b:%s",
+                           reportAxisNameMsg(_axis_index, _dual_axis_index),
+                           status.s2ga ? "Y" : "N",
+                           status.s2gb ? "Y" : "N");
+            return true;
+        }
+        return false;  // no error
+    }
+
+    bool TrinamicDriver::report_over_temp(TMC2130_n ::DRV_STATUS_t status) {
+        if (status.ot || status.otpw) {
+            grbl_msg_sendf(CLIENT_SERIAL,
+                           MsgLevel::Info,
+                           "%s Driver Temp Warning:%s Fault:%s",
+                           reportAxisNameMsg(_axis_index, _dual_axis_index),
+                           status.otpw ? "Y" : "N",
+                           status.ot ? "Y" : "N");
+            return true;
+        }
+        return false;  // no error
+    }
+
+    bool TrinamicDriver::report_short_to_ps(TMC2130_n ::DRV_STATUS_t status) {
+        // check for short to power supply
+        if ((status.sr & bit(12)) || (status.sr & bit(13))) {
+            grbl_msg_sendf(CLIENT_SERIAL,
+                           MsgLevel::Info,
+                           "%s Driver Short vsa:%s vsb:%s",
+                           reportAxisNameMsg(_axis_index, _dual_axis_index),
+                           (status.sr & bit(12)) ? "Y" : "N",
+                           (status.sr & bit(13)) ? "Y" : "N");
+            return true;
+        }
+        return false;  // no error
+    }
 }

Grbl_Esp32/src/Motors/TrinamicDriver.h

@@ -78,9 +78,7 @@ namespace Motors {
                        uint8_t  cs_pin,
                        uint16_t driver_part_number,
                        float    r_sense) :
-            TrinamicDriver(axis_index, step_pin, dir_pin, disable_pin,
+            TrinamicDriver(axis_index, step_pin, dir_pin, disable_pin, cs_pin, driver_part_number, r_sense, get_next_index()) {}
-                           cs_pin, driver_part_number, r_sense, get_next_index())
-        {}
 
         TrinamicDriver(uint8_t  axis_index,
                        uint8_t  step_pin,
@@ -112,18 +110,23 @@ namespace Motors {
         bool            _disabled;
 
         TrinamicMode _mode = TrinamicMode::None;
-        bool test();
+        bool         test();
-        void set_mode(bool isHoming);
+        void         set_mode(bool isHoming);
-        void trinamic_test_response();
+        void         trinamic_test_response();
-        void trinamic_stepper_enable(bool enable);
+        void         trinamic_stepper_enable(bool enable);
+
+        bool report_open_load(TMC2130_n ::DRV_STATUS_t status);
+        bool report_short_to_ground(TMC2130_n ::DRV_STATUS_t status);
+        bool report_over_temp(TMC2130_n ::DRV_STATUS_t status);
+        bool report_short_to_ps(TMC2130_n ::DRV_STATUS_t status);
 
         uint8_t get_next_index();
 
         // Linked list of Trinamic driver instances, used by the
         // StallGuard reporting task.
         static TrinamicDriver* List;
-        TrinamicDriver* link;
+        TrinamicDriver*        link;
-        static void readSgTask(void*);
+        static void            readSgTask(void*);
 
     protected:
         void config_message() override;

Grbl_Esp32/src/ProcessSettings.cpp

@@ -156,9 +156,13 @@ Error list_settings(const char* value, WebUI::AuthenticationLevel auth_level, We
 }
 Error list_changed_settings(const char* value, WebUI::AuthenticationLevel auth_level, WebUI::ESPResponseStream* out) {
     for (Setting* s = Setting::List; s; s = s->next()) {
-        const char* value = s->getStringValue();
+        const char* value  = s->getStringValue();
-        if (!auth_failed(s, value, auth_level) && strcmp(value, s->getDefaultString())) {
+        const char* defval = s->getDefaultString();
-            show_setting(s->getName(), value, NULL, out);
+        if (!auth_failed(s, value, auth_level) && strcmp(value, defval)) {
+            String message = "(Default=";
+            message += defval;
+            message += ")";
+            show_setting(s->getName(), value, message.c_str(), out);
         }
     }
     grbl_sendf(out->client(), "(Passwords not shown)\r\n");