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5160 class fix (#981)

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* Fixed class inheritance

* Update date
This commit is contained in:
bdring
2021-10-16 12:32:30 -05:00
committed by GitHub
parent e33667299d
commit 8c8a9e4be4
5 changed files with 94 additions and 49 deletions
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2
Grbl_Esp32/src/Grbl.h
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@@ -22,7 +22,7 @@
// Grbl versioning system
const char* const GRBL_VERSION = "1.3a";
const char* const GRBL_VERSION_BUILD = "20210923";
const char* const GRBL_VERSION_BUILD = "20211016";
//#include <sdkconfig.h>
#include <Arduino.h>

3
Grbl_Esp32/src/Machine.h
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@@ -8,8 +8,7 @@
// !!! For initial testing, start with test_drive.h which disables
// all I/O pins
// #include "Machines/atari_1020.h"
# include "Machines/test_drive.h"
# include "Machines/6_pack_TMC2130_XYZ_Test.h"
// !!! For actual use, change the line above to select a board
// from Machines/, for example:
// #include "Machines/3axis_v4.h"

12
Grbl_Esp32/src/Machines/TMC2209_4x.h
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@@ -75,12 +75,12 @@
#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_4 // M62 M63
#define USER_DIGITAL_PIN_1 GPIO_NUM_13 // M62 M63
#define USER_DIGITAL_PIN_2 GPIO_NUM_17 // M62 M63
#define USER_DIGITAL_PIN_3 GPIO_NUM_12 // M62 M63
// Built in I/O
#define SPINDLE_TYPE SpindleType::PWM
#define SPINDLE_OUTPUT_PIN GPIO_NUM_4
#define SPINDLE_ENABLE_PIN GPIO_NUM_13
#define COOLANT_MIST_PIN GPIO_NUM_17 // M7 on M9 Off
#define COOLANT_FLOOD_PIN GPIO_NUM_12 // M8 on M9 off
// ===================== defaults ======================

122
Grbl_Esp32/src/Motors/TrinamicDriver.cpp
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@@ -54,9 +54,9 @@ namespace Motors {
_spi_index(spi_index) {
_has_errors = false;
if (_driver_part_number == 2130) {
tmcstepper = new TMC2130Stepper(_cs_pin, _r_sense, _spi_index);
tmc2130 = new TMC2130Stepper(_cs_pin, _r_sense, _spi_index);
} else if (_driver_part_number == 5160) {
tmcstepper = new TMC5160Stepper(_cs_pin, _r_sense, _spi_index);
tmc5160 = new TMC5160Stepper(_cs_pin, _r_sense, _spi_index);
} else {
grbl_msg_sendf(CLIENT_SERIAL,
MsgLevel::Info,
@@ -67,14 +67,14 @@ namespace Motors {
return;
}
_has_errors = false;
_has_errors = false;
digitalWrite(_cs_pin, HIGH);
pinMode(_cs_pin, OUTPUT);
// use slower speed if I2S
if (_cs_pin >= I2S_OUT_PIN_BASE) {
tmcstepper->setSPISpeed(TRINAMIC_SPI_FREQ);
(tmc2130) ? tmc2130->setSPISpeed(TRINAMIC_SPI_FREQ) : tmc5160->setSPISpeed(TRINAMIC_SPI_FREQ);
}
link = List;
@@ -98,7 +98,7 @@ namespace Motors {
SPI.begin(); // this will get called for each motor, but does not seem to hurt anything
tmcstepper->begin();
(tmc2130) ? tmc2130->begin() : tmc5160->begin();
_has_errors = !test(); // Try communicating with motor. Prints an error if there is a problem.
@@ -142,7 +142,10 @@ namespace Motors {
if (_has_errors) {
return false;
}
switch (tmcstepper->test_connection()) {
uint8_t result = tmc2130 ? tmc2130->test_connection() : tmc5160->test_connection();
switch (result) {
case 1:
grbl_msg_sendf(CLIENT_SERIAL,
MsgLevel::Info,
@@ -159,7 +162,8 @@ namespace Motors {
// driver responded, so check for other errors from the DRV_STATUS register
TMC2130_n ::DRV_STATUS_t status { 0 }; // a useful struct to access the bits.
status.sr = tmcstepper->DRV_STATUS();
status.sr = tmc2130 ? tmc2130->DRV_STATUS() : tmc5160->DRV_STATUS();
bool err = false;
@@ -208,8 +212,13 @@ namespace Motors {
if (hold_i_percent > 1.0)
hold_i_percent = 1.0;
}
tmcstepper->microsteps(axis_settings[_axis_index]->microsteps->get());
tmcstepper->rms_current(run_i_ma, hold_i_percent);
if (tmc2130) {
tmc2130->microsteps(axis_settings[_axis_index]->microsteps->get());
tmc2130->rms_current(run_i_ma, hold_i_percent);
} else {
tmc5160->microsteps(axis_settings[_axis_index]->microsteps->get());
tmc5160->rms_current(run_i_ma, hold_i_percent);
}
init_step_dir_pins();
}
@@ -236,33 +245,65 @@ namespace Motors {
}
_mode = newMode;
switch (_mode) {
case TrinamicMode ::StealthChop:
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "StealthChop");
tmcstepper->en_pwm_mode(true);
tmcstepper->pwm_autoscale(true);
tmcstepper->diag1_stall(false);
break;
case TrinamicMode ::CoolStep:
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Coolstep");
tmcstepper->en_pwm_mode(false);
tmcstepper->pwm_autoscale(false);
tmcstepper->TCOOLTHRS(NORMAL_TCOOLTHRS); // when to turn on coolstep
tmcstepper->THIGH(NORMAL_THIGH);
break;
case TrinamicMode ::StallGuard:
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Stallguard");
tmcstepper->en_pwm_mode(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(constrain(axis_settings[_axis_index]->stallguard->get(), -64, 63));
break;
default:
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "TRINAMIC_MODE_UNDEFINED");
if (tmc2130) {
switch (_mode) {
case TrinamicMode ::StealthChop:
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "StealthChop");
tmc2130->en_pwm_mode(true);
tmc2130->pwm_autoscale(true);
tmc2130->diag1_stall(false);
break;
case TrinamicMode ::CoolStep:
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Coolstep");
tmc2130->en_pwm_mode(false);
tmc2130->pwm_autoscale(false);
tmc2130->TCOOLTHRS(NORMAL_TCOOLTHRS); // when to turn on coolstep
tmc2130->THIGH(NORMAL_THIGH);
break;
case TrinamicMode ::StallGuard:
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Stallguard");
tmc2130->en_pwm_mode(false);
tmc2130->pwm_autoscale(false);
tmc2130->TCOOLTHRS(calc_tstep(homing_feed_rate->get(), 150.0));
tmc2130->THIGH(calc_tstep(homing_feed_rate->get(), 60.0));
tmc2130->sfilt(1);
tmc2130->diag1_stall(true); // stallguard i/o is on diag1
tmc2130->sgt(constrain(axis_settings[_axis_index]->stallguard->get(), -64, 63));
break;
default:
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "TRINAMIC_MODE_UNDEFINED");
}
} else {
switch (_mode) {
case TrinamicMode ::StealthChop:
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "StealthChop");
tmc5160->en_pwm_mode(true);
tmc5160->pwm_autoscale(true);
tmc5160->diag1_stall(false);
break;
case TrinamicMode ::CoolStep:
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Coolstep");
tmc5160->en_pwm_mode(false);
tmc5160->pwm_autoscale(false);
tmc5160->TCOOLTHRS(NORMAL_TCOOLTHRS); // when to turn on coolstep
tmc5160->THIGH(NORMAL_THIGH);
break;
case TrinamicMode ::StallGuard:
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Stallguard");
tmc5160->en_pwm_mode(false);
tmc5160->pwm_autoscale(false);
tmc5160->TCOOLTHRS(calc_tstep(homing_feed_rate->get(), 150.0));
tmc5160->THIGH(calc_tstep(homing_feed_rate->get(), 60.0));
tmc5160->sfilt(1);
tmc5160->diag1_stall(true); // stallguard i/o is on diag1
tmc5160->sgt(constrain(axis_settings[_axis_index]->stallguard->get(), -64, 63));
break;
default:
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "TRINAMIC_MODE_UNDEFINED");
}
}
}
/*
@@ -272,24 +313,27 @@ namespace Motors {
if (_has_errors) {
return;
}
uint32_t tstep = tmcstepper->TSTEP();
uint32_t tstep = (tmc2130) ? tmc2130->TSTEP() : tmc5160->TSTEP();
if (tstep == 0xFFFFF || tstep < 1) { // if axis is not moving return
return;
}
float feedrate = st_get_realtime_rate(); //* settings.microsteps[axis_index] / 60.0 ; // convert mm/min to Hz
int32_t st = (tmc2130) ? tmc2130->stallguard() : tmc5160->stallguard();
int32_t sg = (tmc2130) ? tmc2130->sg_result() : tmc5160->sg_result();
grbl_msg_sendf(CLIENT_SERIAL,
MsgLevel::Info,
"%s Stallguard %d SG_Val: %04d Rate: %05.0f mm/min SG_Setting:%d",
reportAxisNameMsg(_axis_index, _dual_axis_index),
tmcstepper->stallguard(),
tmcstepper->sg_result(),
st,
sg,
feedrate,
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();
status.sr = (tmc2130) ? tmc2130->DRV_STATUS() : tmc5160->DRV_STATUS();
// these only report if there is a fault condition
report_open_load(status);

4
Grbl_Esp32/src/Motors/TrinamicDriver.h
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@@ -100,7 +100,9 @@ namespace Motors {
private:
uint32_t calc_tstep(float speed, float percent);
TMC2130Stepper* tmcstepper; // all other driver types are subclasses of this one
TMC2130Stepper* tmc2130 = nullptr;
TMC2130Stepper* tmc5160 = nullptr;
TrinamicMode _homing_mode;
uint8_t _cs_pin = UNDEFINED_PIN; // The chip select pin (can be the same for daisy chain)
uint16_t _driver_part_number; // example: use 2130 for TMC2130