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TMC2209 Stallguard (#748)

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* TMC2209 Stallguard

- Added StallGuard homing support to TMC2209 (UART)
- Killed off TMC2208 for now. Too many conflicts with TMC2209. Will return with Diamond motor class hierarchy
- Increase StallGuard setting range for TMC2209. Constrianed in each class to actual limits
- Added a machine def to test TMC2209

* Update build date
This commit is contained in:
bdring
2021-01-21 19:32:22 -06:00
committed by GitHub
parent c8f4075565
commit 6c1cc3c4d1
6 changed files with 152 additions and 36 deletions
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2
Grbl_Esp32/src/Grbl.h
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@@ -23,7 +23,7 @@
// Grbl versioning system
const char* const GRBL_VERSION = "1.3a";
const char* const GRBL_VERSION_BUILD = "20210101";
const char* const GRBL_VERSION_BUILD = "20210121";
//#include <sdkconfig.h>
#include <Arduino.h>

89
Grbl_Esp32/src/Machines/TMC2209_4x.h Normal file
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@@ -0,0 +1,89 @@
#pragma once
// clang-format off
/*
TMC2209_4x.h
https://github.com/FYSETC/FYSETC-E4
2020-12-29 B. Dring
This is a machine definition file to use the FYSTEC E4 3D Printer controller
This is a 4 motor controller. This is setup for XYZA, but XYYZ, could also be used.
There are 5 inputs
The controller has outputs for a Fan, Hotbed and Extruder. There are mapped to
spindle, mist and flood coolant to drive an external relay.
Grbl_ESP32 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.
Grbl 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 Grbl_ESP32. If not, see <http://www.gnu.org/licenses/>.
*/
#define MACHINE_NAME "TMC2209 4x Controller"
#define N_AXIS 4
#define TRINAMIC_UART_RUN_MODE TrinamicUartMode :: StealthChop
#define TRINAMIC_UART_HOMING_MODE TrinamicUartMode :: StallGuard
#define TMC_UART UART_NUM_1
#define TMC_UART_RX GPIO_NUM_21
#define TMC_UART_TX GPIO_NUM_22
#define X_TRINAMIC_DRIVER 2209
#define X_STEP_PIN GPIO_NUM_26
#define X_DIRECTION_PIN GPIO_NUM_27
#define X_RSENSE TMC2209_RSENSE_DEFAULT
#define X_DRIVER_ADDRESS 0
#define DEFAULT_X_MICROSTEPS 16
#define Y_TRINAMIC_DRIVER 2209
#define Y_STEP_PIN GPIO_NUM_33
#define Y_DIRECTION_PIN GPIO_NUM_32
#define Y_RSENSE TMC2209_RSENSE_DEFAULT
#define Y_DRIVER_ADDRESS 1
#define DEFAULT_Y_MICROSTEPS 16
#define Z_TRINAMIC_DRIVER 2209
#define Z_STEP_PIN GPIO_NUM_2
#define Z_DIRECTION_PIN GPIO_NUM_4
#define Z_RSENSE TMC2209_RSENSE_DEFAULT
#define Z_DRIVER_ADDRESS 2
#define DEFAULT_Z_MICROSTEPS 16
#define A_TRINAMIC_DRIVER 2209
#define A_STEP_PIN GPIO_NUM_16
#define A_DIRECTION_PIN GPIO_NUM_17
#define A_RSENSE TMC2209_RSENSE_DEFAULT
#define A_DRIVER_ADDRESS 3
#define DEFAULT_A_MICROSTEPS 16
#define X_LIMIT_PIN GPIO_NUM_36
#define Y_LIMIT_PIN GPIO_NUM_39
#define Z_LIMIT_PIN GPIO_NUM_34
#define PROBE_PIN GPIO_NUM_35
// OK to comment out to use pin for other features
#define STEPPERS_DISABLE_PIN GPIO_NUM_25
// https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-5V-Buffered-Output-Module
// https://github.com/bdring/6-Pack_CNC_Controller/wiki/Quad-MOSFET-Module
#define USER_DIGITAL_PIN_0 GPIO_NUM_14 // M62 M63
#define USER_DIGITAL_PIN_1 GPIO_NUM_13 // M62 M63
#define USER_DIGITAL_PIN_2 GPIO_NUM_15 // M62 M63
#define USER_DIGITAL_PIN_3 GPIO_NUM_12 // M62 M63
// ===================== defaults ======================
// https://github.com/bdring/Grbl_Esp32/wiki/Setting-Defaults
#define DEFAULT_INVERT_PROBE_PIN 1

4
Grbl_Esp32/src/Motors/TrinamicDriver.cpp
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@@ -258,7 +258,7 @@ namespace Motors {
tmcstepper->THIGH(calc_tstep(homing_feed_rate->get(), 60.0));
tmcstepper->sfilt(1);
tmcstepper->diag1_stall(true); // stallguard i/o is on diag1
tmcstepper->sgt(axis_settings[_axis_index]->stallguard->get());
tmcstepper->sgt(constrain(axis_settings[_axis_index]->stallguard->get(), -64, 63));
break;
default:
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "TRINAMIC_MODE_UNDEFINED");
@@ -286,7 +286,7 @@ namespace Motors {
tmcstepper->stallguard(),
tmcstepper->sg_result(),
feedrate,
axis_settings[_axis_index]->stallguard->get());
constrain(axis_settings[_axis_index]->stallguard->get(), -64, 63));
TMC2130_n ::DRV_STATUS_t status { 0 }; // a useful struct to access the bits.
status.sr = tmcstepper->DRV_STATUS();

2
Grbl_Esp32/src/Motors/TrinamicUartDriver.h
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@@ -98,7 +98,7 @@ namespace Motors {
private:
uint32_t calc_tstep(float speed, float percent); //TODO: see if this is useful/used.
TMC2208Stepper* tmcstepper; // all other driver types are subclasses of this one
TMC2209Stepper* tmcstepper; // all other driver types are subclasses of this one
TrinamicUartMode _homing_mode;
uint16_t _driver_part_number; // example: use 2209 for TMC2209
float _r_sense;

89
Grbl_Esp32/src/Motors/TrinamicUartDriverClass.cpp
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@@ -7,6 +7,9 @@
2020 - The Ant Team
2020 - Bart Dring
TMC2209 Datasheet
https://www.trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC2209_Datasheet_V103.pdf
Grbl 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
@@ -27,6 +30,8 @@ HardwareSerial tmc_serial(TMC_UART);
namespace Motors {
TrinamicUartDriver* TrinamicUartDriver::List = NULL; // a static ist of all drivers for stallguard reporting
/* HW Serial Constructor. */
TrinamicUartDriver::TrinamicUartDriver(
uint8_t axis_index, uint8_t step_pin, uint8_t dir_pin, uint8_t disable_pin, uint16_t driver_part_number, float r_sense, uint8_t addr) :
@@ -40,13 +45,13 @@ namespace Motors {
tmc_serial.begin(115200, SERIAL_8N1, TMC_UART_RX, TMC_UART_TX);
tmc_serial.setRxBufferSize(128);
hw_serial_init();
link = List;
List = this;
}
void TrinamicUartDriver::hw_serial_init() {
if (_driver_part_number == 2208)
// TMC 2208 does not use address, this field is 0
tmcstepper = new TMC2208Stepper(&tmc_serial, _r_sense);
else if (_driver_part_number == 2209)
if (_driver_part_number == 2209)
tmcstepper = new TMC2209Stepper(&tmc_serial, _r_sense, addr);
else {
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Unsupported Trinamic motor p/n:%d", _driver_part_number);
@@ -73,6 +78,20 @@ namespace Motors {
read_settings();
set_mode(false);
}
// After initializing all of the TMC drivers, create a task to
// display StallGuard data. List == this for the final instance.
if (List == this) {
xTaskCreatePinnedToCore(readSgTask, // task
"readSgTask", // name for task
4096, // size of task stack
NULL, // parameters
1, // priority
NULL,
SUPPORT_TASK_CORE // must run the task on same core
// core
);
}
}
/*
@@ -192,38 +211,27 @@ namespace Motors {
if (newMode == _mode) {
return;
}
_mode = newMode;
switch (_mode) {
case TrinamicUartMode ::StealthChop:
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "StealthChop");
// tmcstepper->en_pwm_mode(true); //TODO: check if this is present in TMC2208/09
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "StealthChop");
tmcstepper->en_spreadCycle(false);
tmcstepper->pwm_autoscale(true);
// if (_driver_part_number == 2209) {
// tmcstepper->diag1_stall(false); //TODO: check the equivalent in TMC2209
// }
break;
case TrinamicUartMode ::CoolStep:
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Coolstep");
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Coolstep");
// tmcstepper->en_pwm_mode(false); //TODO: check if this is present in TMC2208/09
tmcstepper->en_spreadCycle(true);
tmcstepper->pwm_autoscale(false);
if (_driver_part_number == 2209) {
// tmcstepper->TCOOLTHRS(NORMAL_TCOOLTHRS); // when to turn on coolstep //TODO: add this solving compilation issue.
// tmcstepper->THIGH(NORMAL_THIGH); //TODO: this does not exist in TMC2208/09. verify and eventually remove.
}
break;
case TrinamicUartMode ::StallGuard: //TODO: check all configurations for stallguard
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Stallguard");
// tmcstepper->en_pwm_mode(false); //TODO: check if this is present in TMC2208/09
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Stallguard");
tmcstepper->en_spreadCycle(false);
tmcstepper->pwm_autoscale(false);
// tmcstepper->TCOOLTHRS(calc_tstep(homing_feed_rate->get(), 150.0));
// tmcstepper->THIGH(calc_tstep(homing_feed_rate->get(), 60.0));
// tmcstepper->sfilt(1);
// tmcstepper->diag1_stall(true); // stallguard i/o is on diag1
// tmcstepper->sgt(axis_settings[_axis_index]->stallguard->get());
tmcstepper->TCOOLTHRS(calc_tstep(homing_feed_rate->get(), 150.0));
tmcstepper->SGTHRS(constrain(axis_settings[_axis_index]->stallguard->get(),0,255));
break;
default:
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Unknown Trinamic mode:d", _mode);
@@ -246,10 +254,9 @@ namespace Motors {
grbl_msg_sendf(CLIENT_SERIAL,
MsgLevel::Info,
"%s Stallguard %d SG_Val: %04d Rate: %05.0f mm/min SG_Setting:%d",
"%s SG_Val: %04d Rate: %05.0f mm/min SG_Setting:%d",
reportAxisNameMsg(_axis_index, _dual_axis_index),
0, // tmcstepper->stallguard(), // TODO: add this again solving the compilation issues
0, // tmcstepper->sg_result(),
tmcstepper->SG_RESULT(), // tmcstepper->sg_result(),
feedrate,
axis_settings[_axis_index]->stallguard->get());
@@ -261,13 +268,6 @@ namespace Motors {
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
@@ -367,4 +367,31 @@ namespace Motors {
return false; // no error
}
// Prints StallGuard data that is useful for tuning.
void TrinamicUartDriver::readSgTask(void* pvParameters) {
TickType_t xLastWakeTime;
const TickType_t xreadSg = 200; // in ticks (typically ms)
auto n_axis = number_axis->get();
xLastWakeTime = xTaskGetTickCount(); // Initialise the xLastWakeTime variable with the current time.
while (true) { // don't ever return from this or the task dies
if (stallguard_debug_mask->get() != 0) {
if (sys.state == State::Cycle || sys.state == State::Homing || sys.state == State::Jog) {
for (TrinamicUartDriver* p = List; p; p = p->link) {
if (bitnum_istrue(stallguard_debug_mask->get(), p->_axis_index)) {
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "SG:%d", stallguard_debug_mask->get());
p->debug_message();
}
}
} // sys.state
} // if mask
vTaskDelayUntil(&xLastWakeTime, xreadSg);
static UBaseType_t uxHighWaterMark = 0;
#ifdef DEBUG_TASK_STACK
reportTaskStackSize(uxHighWaterMark);
#endif
}
}
}

2
Grbl_Esp32/src/SettingsDefinitions.cpp
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@@ -258,7 +258,7 @@ void make_settings() {
for (axis = MAX_N_AXIS - 1; axis >= 0; axis--) {
def = &axis_defaults[axis];
auto setting =
new IntSetting(EXTENDED, WG, makeGrblName(axis, 170), makename(def->name, "StallGuard"), def->stallguard, -64, 63, postMotorSetting);
new IntSetting(EXTENDED, WG, makeGrblName(axis, 170), makename(def->name, "StallGuard"), def->stallguard, -64, 255, postMotorSetting);
setting->setAxis(axis);
axis_settings[axis]->stallguard = setting;
}