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Stefan de Bruijn
2020-11-03 13:50:14 +01:00
parent 0594ff5f4d 205e0bd5cf
commit c64d9ad1b5
11 changed files with 87 additions and 467 deletions
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57
Grbl_Esp32/src/Machines/3axis_v3.h
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@@ -1,57 +0,0 @@
#pragma once
// clang-format off
/*
3axis_v3.h
Part of Grbl_ESP32
Pin assignments for the ESP32 Development Controller, v3.5.
https://github.com/bdring/Grbl_ESP32_Development_Controller
https://www.tindie.com/products/33366583/grbl_esp32-cnc-development-board-v35/
2018 - Bart Dring
2020 - Mitch Bradley
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 "ESP32_V3.5"
#define X_STEP_PIN "gpio.12"
#define X_DIRECTION_PIN "gpio.26"
#define Y_STEP_PIN "gpio.14"
#define Y_DIRECTION_PIN "gpio.25"
#define Z_STEP_PIN "gpio.27"
#define Z_DIRECTION_PIN "gpio.33"
#define X_LIMIT_PIN "gpio.2" // labeled X Limit
#define Y_LIMIT_PIN "gpio.4" // labeled Y Limit
#define Z_LIMIT_PIN "gpio.15" // labeled Z Limit
// OK to comment out to use pin for other features
#define STEPPERS_DISABLE_PIN "gpio.13"
#define SPINDLE_TYPE SpindleType::PWM
#define SPINDLE_OUTPUT_PIN "gpio.17" // labeled SpinPWM
#define SPINDLE_ENABLE_PIN "gpio.22" // labeled SpinEnbl
#define COOLANT_MIST_PIN "gpio.21" // labeled Mist
#define COOLANT_FLOOD_PIN "gpio.16" // labeled Flood
#define PROBE_PIN "gpio.32" // labeled Probe
#define CONTROL_SAFETY_DOOR_PIN "gpio.35" // labeled Door, needs external pullup
#define CONTROL_RESET_PIN "gpio.34" // labeled Reset, needs external pullup
#define CONTROL_FEED_HOLD_PIN "gpio.36" // labeled Hold, needs external pullup
#define CONTROL_CYCLE_START_PIN "gpio.39" // labeled Start, needs external pullup

59
Grbl_Esp32/src/Machines/3axis_xyx.h
View File

@@ -1,59 +0,0 @@
#pragma once
// clang-format off
/*
3axis_xyx.h
Part of Grbl_ESP32
Pin assignments for the ESP32 Development Controller
used to drive a dual motor gantry where the drivers
labeled X, Y and Z drive the machine axes X, Y and X.
https://github.com/bdring/Grbl_ESP32_Development_Controller
https://www.tindie.com/products/33366583/grbl_esp32-cnc-development-board-v35/
2020 - Mitch Bradley
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 "ESP32_V4_XYX"
#define X_STEP_PIN "gpio.26" /* labeled Y */
#define X_DIRECTION_PIN "gpio.15" /* labeled Y */
#define Y_STEP_PIN "gpio.12" /* labeled X */
#define Y_DIRECTION_PIN "gpio.14" /* labeled X */
#define Y2_STEP_PIN "gpio.27" /* labeled Z */
#define Y2_DIRECTION_PIN "gpio.33" /* labeled Z */
#define SPINDLE_TYPE SpindleType::PWM
#define SPINDLE_OUTPUT_PIN "gpio.2"
#define SPINDLE_ENABLE_PIN "gpio.22"
#define X_LIMIT_PIN "gpio.17"
#define Y_LIMIT_PIN "gpio.4"
// #define Z_LIMIT_PIN "gpio.16"
#define STEPPERS_DISABLE_PIN "gpio.13"
#define COOLANT_MIST_PIN "gpio.21"
#define COOLANT_FLOOD_PIN "gpio.25"
// see versions for X and Z
#define PROBE_PIN "gpio.32"
#define CONTROL_SAFETY_DOOR_PIN "gpio.35" // needs external pullup
#define CONTROL_RESET_PIN "gpio.34" // needs external pullup
#define CONTROL_FEED_HOLD_PIN "gpio.36" // needs external pullup
#define CONTROL_CYCLE_START_PIN "gpio.39" // needs external pullup

6
Grbl_Esp32/src/Machines/6_pack_Lowrider_stepstick_v1.h
View File

@@ -39,12 +39,6 @@
#define I2S_OUT_WS "gpio.17"
#define I2S_OUT_DATA "gpio.21"
#define X_STEPPER_MS3 "i2so.3" // Labeled X_CS
#define Y_STEPPER_MS3 "i2so.6" // Y_CS
#define Z_STEPPER_MS3 "i2so.11" // Z_CS
#define X2_STEPPER_MS3 "i2so.14" // A_CS
#define Y2_STEPPER_MS3 "i2so.19" // B_CS
// Motor Socket #1
#define X_DISABLE_PIN "i2so.0"
#define X_DIRECTION_PIN "i2so.1"

6
Grbl_Esp32/src/Machines/6_pack_MPCNC_stepstick_v1.h
View File

@@ -39,12 +39,6 @@
#define I2S_OUT_WS "gpio.17"
#define I2S_OUT_DATA "gpio.21"
#define X_STEPPER_MS3 "i2so.3" // Labeled X_CS
#define Y_STEPPER_MS3 "i2so.6" // Y_CS
#define Z_STEPPER_MS3 "i2so.11" // Z_CS
#define X2_STEPPER_MS3 "i2so.14" // A_CS
#define Y2_STEPPER_MS3 "i2so.19" // B_CS
// Motor Socket #1
#define X_DISABLE_PIN "i2so.0"
#define X_DIRECTION_PIN "i2so.1"

3
Grbl_Esp32/src/Machines/6_pack_stepstick_XYZ_v1.h
View File

@@ -41,9 +41,6 @@
#define I2S_OUT_WS "gpio.17"
#define I2S_OUT_DATA "gpio.21"
#define X_STEPPER_MS3 "i2so.3" // X_CS
#define Y_STEPPER_MS3 "i2so.6" // Y_CS
#define Z_STEPPER_MS3 "i2so.11" // Z_CS
// Motor Socket #1
#define X_DISABLE_PIN "i2so.0"

7
Grbl_Esp32/src/Machines/6_pack_stepstick_v1.h
View File

@@ -40,13 +40,6 @@
#define I2S_OUT_DATA "gpio.21"
#define X_STEPPER_MS3 "i2so.3" // X_CS
#define Y_STEPPER_MS3 "i2so.6" // Y_CS
#define Z_STEPPER_MS3 "i2so.11" // Z_CS
#define A_STEPPER_MS3 "i2so.14" // A_CS
#define B_STEPPER_MS3 "i2so.19" // B_CS
#define C_STEPPER_MS3 "i2so.22" // C_CS
// Motor Socket #1
#define X_DISABLE_PIN "i2so.0"
#define X_DIRECTION_PIN "i2so.1"

61
Grbl_Esp32/src/Machines/espduino.h
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@@ -1,61 +0,0 @@
#pragma once
// clang-format off
/*
espduino.h
Part of Grbl_ESP32
Pin assignments for ESPDUINO-32 Boards and Protoneer V3 boards
Note: Probe pin is mapped, but will require a 10k external pullup to 3.3V to work.
Rebooting...See this issue https://github.com/bdring/Grbl_Esp32/issues/314
!!!! Experimental Untested !!!!!
2019 - Bart Dring
2020 - Mitch Bradley
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 "ESPDUINO_32"
#define X_STEP_PIN "gpio.26"
#define X_DIRECTION_PIN "gpio.16"
#define Y_STEP_PIN "gpio.25"
#define Y_DIRECTION_PIN "gpio.27"
#define Z_STEP_PIN "gpio.17"
#define Z_DIRECTION_PIN "gpio.14"
// OK to comment out to use pin for other features
#define STEPPERS_DISABLE_PIN "gpio.12"
#define SPINDLE_TYPE SpindleType::PWM
#define SPINDLE_OUTPUT_PIN "gpio.19"
#define SPINDLE_DIR_PIN "gpio.18"
#define COOLANT_FLOOD_PIN "gpio.34"
#define COOLANT_MIST_PIN "gpio.36"
#define X_LIMIT_PIN "gpio.13"
#define Y_LIMIT_PIN "gpio.5"
#define Z_LIMIT_PIN "gpio.19"
#define PROBE_PIN "gpio.39"
#define CONTROL_RESET_PIN "gpio.2"
#define CONTROL_FEED_HOLD_PIN "gpio.4"
#define CONTROL_CYCLE_START_PIN "gpio.35" // ESP32 needs external pullup

95
Grbl_Esp32/src/Machines/spi_daisy_4axis_xyyz.h
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@@ -1,95 +0,0 @@
#pragma once
// clang-format off
/*
spi_daisy_4axis_xyyz.h
Part of Grbl_ESP32
Pin assignments for a 3-axis with Y ganged using Triaminic drivers
in daisy-chained SPI mode.
https://github.com/bdring/4_Axis_SPI_CNC
2019 - Bart Dring
2020 - Mitch Bradley
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 "SPI_DAISY_4X_xyyz"
#ifdef N_AXIS
#undef N_AXIS
#endif
#define N_AXIS 3 // can be 3 or 4. (if 3 install bypass jumper next to the A driver)
#define TRINAMIC_DAISY_CHAIN
#define TRINAMIC_RUN_MODE TrinamicMode :: CoolStep
#define TRINAMIC_HOMING_MODE TrinamicMode :: CoolStep
// Use SPI enable instead of the enable pin
// The hardware enable pin is tied to ground
#define USE_TRINAMIC_ENABLE
#define DEFAULT_HOMING_SQUARED_AXES bit(Y_AXIS)
// Y motor connects to the 1st driver
#define X_TRINAMIC_DRIVER 2130 // Which Driver Type?
#define X_RSENSE TMC2130_RSENSE_DEFAULT
#define X_STEP_PIN "gpio.12"
#define X_DIRECTION_PIN "gpio.14"
#define X_CS_PIN "gpio.17" // Daisy Chain, all share same CS pin
// Y motor connects to the 2nd driver
#define Y_TRINAMIC_DRIVER 2130 // Which Driver Type?
#define Y_RSENSE TMC2130_RSENSE_DEFAULT
#define Y_STEP_PIN "gpio.27"
#define Y_DIRECTION_PIN "gpio.26"
#define Y_CS_PIN X_CS_PIN // Daisy Chain, all share same CS pin
// Y2 motor connects to the 2nd driver
#define Y2_TRINAMIC_DRIVER 2130 // Which Driver Type?
#define Y2_RSENSE TMC2130_RSENSE_DEFAULT
#define Y2_STEP_PIN "gpio.15" // Z on schem
#define Y2_DIRECTION_PIN "gpio.2" // Z on schem
#define Y2_CS_PIN X_CS_PIN // Daisy Chain, all share same CS pin
// Z Axis motor connects to the 4th driver
#define Z_TRINAMIC_DRIVER 2130 // Which Driver Type?
#define Z_RSENSE TMC2130_RSENSE_DEFAULT
#define Z_STEP_PIN "gpio.33" // A on schem
#define Z_DIRECTION_PIN "gpio.32" // A on schem
#define Z_CS_PIN X_CS_PIN // Daisy Chain, all share same CS pin
// Mist is a 3.3V output
// Turn on with M7 and off with M9
#define COOLANT_MIST_PIN "gpio.21"
#define SPINDLE_TYPE SpindleType::PWM
#define SPINDLE_OUTPUT_PIN "gpio.25"
#define SPINDLE_ENABLE_PIN "gpio.4"
// Relay operation
// Install Jumper near relay
// For spindle Use max RPM of 1
// For PWM remove jumper and set MAX RPM to something higher ($30 setting)
// Interlock jumper along top edge needs to be installed for both versions
#define DEFAULT_SPINDLE_RPM_MAX 1 // Should be 1 for relay operation
#define PROBE_PIN "gpio.22"
#define X_LIMIT_PIN "gpio.36"
#define Y_LIMIT_PIN "gpio.39"
#define Z_LIMIT_PIN "gpio.34"

155
Grbl_Esp32/src/Machines/tapster_pro_stepstick.h
View File

@@ -1,155 +0,0 @@
#pragma once
// clang-format off
/*
tapster_pro_stepstick.h
2020 - Bart Dring, Jason Huggins (Tapster Robotics)
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 "Tapster Pro Delta (StepStick)"
#define CUSTOM_CODE_FILENAME "Custom/parallel_delta.cpp"
/*
// enable these special machine functions to be called from the main program
#define USE_KINEMATICS // there are kinematic equations for this machine
#define FWD_KINEMATICS_REPORTING // report in cartesian
#define USE_RMT_STEPS // Use the RMT periferal to generate step pulses
#define USE_TRINAMIC // some Trinamic motors are used on this machine
#define USE_MACHINE_TRINAMIC_INIT // there is a machine specific setup for the drivers
#define USE_MACHINE_INIT // There is some custom initialization for this machine
#define SEGMENT_LENGTH 0.5 // segment length in mm
#define KIN_ANGLE_CALC_OK 0
#define KIN_ANGLE_ERROR -1
#define MAX_NEGATIVE_ANGLE -36 // in degrees how far can the arms go up?
#define HOMING_CURRENT_REDUCTION 1.0
*/
#define N_AXIS 3
#define USE_KINEMATICS // there are kinematic equations for this machine
#define USE_FWD_KINEMATICS // report in cartesian
#define USE_MACHINE_INIT // There is some custom initialization for this machine
// ================== Delta Geometry ===========================
#define RADIUS_FIXED 100.0f // radius of the fixed side (length of motor cranks)
#define RADIUS_EFF 220.0f // radius of end effector side (length of linkages)
#define LENGTH_FIXED_SIDE 294.449f // sized of fixed side triangel
#define LENGTH_EFF_SIDE 86.6025f // size of end effector side triangle
#define KINEMATIC_SEGMENT_LENGTH 1.0f // segment length in mm
#define MAX_NEGATIVE_ANGLE -0.75f //
#define MAX_POSITIVE_ANGLE (M_PI / 2.0) //
// ================== Config ======================
// Set $Homing/Cycle0=XYZ
// === Special Features
// I2S (steppers & other output-only pins)
#define USE_I2S_OUT
#define USE_I2S_STEPS
//#define DEFAULT_STEPPER ST_I2S_STATIC
// === Default settings
#define DEFAULT_STEP_PULSE_MICROSECONDS I2S_OUT_USEC_PER_PULSE
#define USE_STEPSTICK // makes sure MS1,2,3 !reset and !sleep are set
#define I2S_OUT_BCK "gpio.22"
#define I2S_OUT_WS "gpio.17"
#define I2S_OUT_DATA "gpio.21"
// ================== CPU MAP ======================
#define X_STEPPER_MS3 "i2so.3" // X_CS
#define Y_STEPPER_MS3 "i2so.6" // Y_CS
#define Z_STEPPER_MS3 "i2so.11" // Z_CS
#define STEPPER_RESET "gpio.19"
// Motor Socket #1
#define X_DISABLE_PIN "i2so.0"
#define X_DIRECTION_PIN "i2so.1"
#define X_STEP_PIN "i2so.2"
// Motor Socket #2
#define Y_DIRECTION_PIN "i2so.4"
#define Y_STEP_PIN "i2so.5"
#define Y_DISABLE_PIN "i2so.7"
// Motor Socket #3
#define Z_DISABLE_PIN "i2so.8"
#define Z_DIRECTION_PIN "i2so.9"
#define Z_STEP_PIN "i2so.10"
// CNC I/O Modules
#define X_LIMIT_PIN "gpio.33"
#define Y_LIMIT_PIN "gpio.32"
#define Z_LIMIT_PIN "gpio.35"
// ================= defaults ===========================
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // keep them on, the trinamics will reduce power at idle
#define DEFAULT_X_MICROSTEPS 32
#define DEFAULT_Y_MICROSTEPS DEFAULT_X_MICROSTEPS
#define DEFAULT_Z_MICROSTEPS DEFAULT_X_MICROSTEPS
// some math to figure out microsteps per unit // units could bedegrees or radians
#define UNITS_PER_REV (2.0 * M_PI) // 360.0 degrees or 6.2831853 radians
#define STEPS_PER_REV 400.0
#define REDUCTION_RATIO (60.0 / 16.0) // the pulleys on arm and motor
#define MICROSTEPS_PER_REV (STEPS_PER_REV * (float)DEFAULT_X_MICROSTEPS * REDUCTION_RATIO)
#define DEFAULT_X_STEPS_PER_MM (MICROSTEPS_PER_REV / UNITS_PER_REV)
#define DEFAULT_Y_STEPS_PER_MM DEFAULT_X_STEPS_PER_MM
#define DEFAULT_Z_STEPS_PER_MM DEFAULT_X_STEPS_PER_MM
#define DEFAULT_X_MAX_RATE 100.0 // mm/min
#define DEFAULT_Y_MAX_RATE DEFAULT_X_MAX_RATE
#define DEFAULT_Z_MAX_RATE DEFAULT_X_MAX_RATE
#define DEFAULT_X_ACCELERATION 20.0
#define DEFAULT_Y_ACCELERATION DEFAULT_X_ACCELERATION
#define DEFAULT_Z_ACCELERATION DEFAULT_X_ACCELERATION
// homing
#define DEFAULT_HOMING_FEED_RATE 25
#define DEFAULT_HOMING_SEEK_RATE 100
#define DEFAULT_HOMING_DIR_MASK (bit(X_AXIS) | bit(Y_AXIS) | bit(Z_AXIS)) // all axes home negative
#define DEFAULT_HOMING_ENABLE 1
#define DEFAULT_INVERT_LIMIT_PINS 0
// The machine homes up and above center. MPos is the axis angle in radians
// at the homing posiiton
#define DEFAULT_X_HOMING_MPOS -0.75 // neagtive because above horizontal
#define DEFAULT_Y_HOMING_MPOS -0.75
#define DEFAULT_Z_HOMING_MPOS -0.75
// the total travel is straight down from horizontal (pi/2) + the up travel
#define DEFAULT_X_MAX_TRAVEL ((M_PI / 2.0) - DEFAULT_X_HOMING_MPOS)
#define DEFAULT_Y_MAX_TRAVEL DEFAULT_X_MAX_TRAVEL
#define DEFAULT_Z_MAX_TRAVEL DEFAULT_X_MAX_TRAVEL
#define DEFAULT_HOMING_PULLOFF -DEFAULT_X_HOMING_MPOS
#define SPINDLE_TYPE SpindleType::NONE

100
Grbl_Esp32/src/Motors/TrinamicDriver.cpp
View File

@@ -133,7 +133,7 @@ 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,
_step_pin.name().c_str(),
@@ -141,6 +141,7 @@ namespace Motors {
_cs_pin.name().c_str(),
_disable_pin.name().c_str(),
_spi_index,
_r_sense,
reportAxisLimitsMsg(_axis_index));
}
@@ -169,24 +170,17 @@ 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) {
grbl_msg_sendf(CLIENT_SERIAL,
MsgLevel::Info,
"%s Motor Short Coil a:%s b:%s",
reportAxisNameMsg(_axis_index, _dual_axis_index),
status.s2ga ? "Y" : "N",
status.s2gb ? "Y" : "N");
// look for errors
if (report_short_to_ground(status)) {
err = true;
}
// check for over temp or pre-warning
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");
if (report_over_temp(status)) {
err = true;
}
if (report_short_to_ps(status)) {
err = true;
}
@@ -222,7 +216,6 @@ 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);
@@ -301,6 +294,22 @@ 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
@@ -374,4 +383,59 @@ 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
}
}

5
Grbl_Esp32/src/Motors/TrinamicDriver.h
View File

@@ -109,6 +109,11 @@ namespace Motors {
void trinamic_test_response();
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