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Fixed issue with trinamic ganged axes

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This commit is contained in:
bdring
2020-05-13 09:11:16 -05:00
parent fa9833f1a8
commit c9a058afdd
4 changed files with 95 additions and 30 deletions
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43
Grbl_Esp32/Machines/motor_class_test.h
View File

@@ -175,7 +175,8 @@
#define DEFAULT_Z_MAX_TRAVEL 10.0 // This is percent in servo mode
*/
// SPI 4 axis xyza
/*
// ======================= SPI 4 axis xyza ===========================
#define MACHINE_NAME "MotorClass Test 4x SPI XYZA"
#define N_AXIS 4
@@ -210,3 +211,43 @@
#define A_CS_PIN X_CS_PIN // Daisy Chain, all share same CS pin
#define SPINDLE_TYPE SPINDLE_TYPE_NONE
*/
// ======================= SPI 4 axis xxyz ===========================
#define MACHINE_NAME "MotorClass Test 4x SPI XXYZ"
#define N_AXIS 3
#define TRINAMIC_DAISY_CHAIN
// Use SPI enable instead of the enable pin
// The hardware enable pin is tied to ground
#define USE_TRINAMIC_ENABLE
#define X_TRINAMIC_DRIVER 2130
#define X_RSENSE TMC2130_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 X2_TRINAMIC_DRIVER 2130
#define X2_RSENSE TMC2130_RSENSE_DEFAULT
#define X2_STEP_PIN GPIO_NUM_27
#define X2_DIRECTION_PIN GPIO_NUM_26
#define X2_CS_PIN X_CS_PIN // Daisy Chain, all share same CS pin
//#define X_AXIS_SQUARING
#define Y_TRINAMIC_DRIVER 2130
#define Y_RSENSE TMC2130_RSENSE_DEFAULT
#define Y_STEP_PIN GPIO_NUM_15
#define Y_DIRECTION_PIN GPIO_NUM_2
#define Y_CS_PIN X_CS_PIN // Daisy Chain, all share same CS pin
#define Z_TRINAMIC_DRIVER 2130
#define Z_RSENSE TMC2130_RSENSE_DEFAULT
#define Z_STEP_PIN GPIO_NUM_33
#define Z_DIRECTION_PIN GPIO_NUM_32
#define Z_CS_PIN X_CS_PIN // Daisy Chain, all share same CS pin
#define SPINDLE_TYPE SPINDLE_TYPE_NONE

19
Grbl_Esp32/Motors/MotorClass.cpp
View File

@@ -186,9 +186,9 @@ void init_motors() {
#endif
#endif
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]->test();
for (uint8_t axis = X_AXIS; axis < N_AXIS; axis++) {
for (uint8_t gang_index = 0; gang_index < 2; gang_index++) {
myMotor[axis][gang_index]->test();
}
}
@@ -342,6 +342,19 @@ void Motor :: set_direction_pins(uint8_t onMask) {}
void Motor :: step(uint8_t step_mask, uint8_t dir_mask) {}
bool Motor :: test() {return true;}; // true = OK
void Motor :: set_axis_name() {
char ganged[3];
if (dual_axis_index) {
strcpy(ganged, "2");
} else {
strcpy(ganged, "");
}
sprintf(_axis_name, "%c%s", report_get_axis_letter(axis_index), ganged);
}
void Motor :: set_homing_mode(bool is_homing) {
_is_homing = is_homing;
}

36
Grbl_Esp32/Motors/MotorClass.h
View File

@@ -63,6 +63,22 @@ extern uint8_t rmt_chan_num[MAX_AXES][2];
extern rmt_item32_t rmtItem[2];
extern rmt_config_t rmtConfig;
// ========== global functions ===================
// These are used for setup and to talk to the motors as a group.
void init_motors();
uint8_t get_next_trinamic_driver_index();
void readSgTask(void* pvParameters);
void motor_read_settings();
void motors_set_homing_mode(bool is_homing);
void motors_set_disable(bool disable);
void motors_set_direction_pins(uint8_t onMask);
void motors_step(uint8_t step_mask, uint8_t dir_mask);
extern bool motor_class_steps; // true if at least one motor class is handling steps
// ==================== Classes ====================
class Motor {
public:
Motor();
@@ -76,12 +92,19 @@ class Motor {
virtual void set_direction_pins(uint8_t onMask);
virtual void step(uint8_t step_mask, uint8_t dir_mask); // only used on Unipolar right now
virtual bool test();
virtual void set_axis_name();
uint8_t axis_index; // X_AXIS, etc
uint8_t dual_axis_index; // 0 = primary 1=ganged
uint8_t is_active = false;
bool _is_homing;
char _axis_name[10];
};
class Nullmotor : public Motor {
@@ -151,18 +174,5 @@ class UnipolarMotor : public Motor {
// ========== global functions ===================
// These are used for setup and to talk to the motors as a group.
void init_motors();
uint8_t get_next_trinamic_driver_index();
void readSgTask(void* pvParameters);
void motor_read_settings();
void motors_set_homing_mode(bool is_homing);
void motors_set_disable(bool disable);
void motors_set_direction_pins(uint8_t onMask);
void motors_step(uint8_t step_mask, uint8_t dir_mask);
extern bool motor_class_steps; // true if at least one motor class is handling steps
#endif

27
Grbl_Esp32/Motors/TrinamicDriverClass.cpp
View File

@@ -30,7 +30,7 @@ TrinamicDriver :: TrinamicDriver( uint8_t axis_index,
uint16_t driver_part_number,
float r_sense, uint8_t cs_pin,
int8_t spi_index) {
this->axis_index = axis_index;
this->axis_index = axis_index % MAX_AXES;
this->dual_axis_index = axis_index < 6 ? 0 : 1; // 0 = primary 1 = ganged
_driver_part_number = driver_part_number;
_r_sense = r_sense;
@@ -50,6 +50,7 @@ void TrinamicDriver :: init() {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Trinamic unsupported p/n:%d", _driver_part_number);
return;
}
set_axis_name();
config_message();
// TODO step pins
init_step_dir_pins(); // from StandardStepper
@@ -65,28 +66,28 @@ void TrinamicDriver :: init() {
/*
This is the startup message showing the basic definition
*/
void TrinamicDriver :: config_message() {
void TrinamicDriver :: config_message() {
grbl_msg_sendf(CLIENT_SERIAL,
MSG_LEVEL_INFO,
"%c Axis Trinamic driver TMC%d Step:%d Dir:%d CS:%d Index:%d",
report_get_axis_letter(axis_index),
"%s Axis Trinamic driver TMC%d Step:%d Dir:%d CS:%d Index:%d",
_axis_name,
_driver_part_number,
step_pin,
dir_pin,
cs_pin,
cs_pin,
spi_index);
}
bool TrinamicDriver :: test() {
bool TrinamicDriver :: test() {
switch (tmcstepper->test_connection()) {
case 1:
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%c Trinamic driver test failed. Check connection", report_get_axis_letter(axis_index));
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Trinamic driver test failed. Check connection", _axis_name);
return false;
case 2:
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%c Trinamic driver test failed. Check motor power", report_get_axis_letter(axis_index));
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Trinamic driver test failed. Check motor power", _axis_name);
return false;
default:
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%c Trinamic driver test passed", report_get_axis_letter(axis_index));
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Trinamic driver test passed", _axis_name);
return true;
}
}
@@ -97,10 +98,10 @@ bool TrinamicDriver :: test() {
void TrinamicDriver :: trinamic_test_response() {
switch (tmcstepper->test_connection()) {
case 1:
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%c Trinamic driver test failed. Check connection", report_get_axis_letter(axis_index));
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Trinamic driver test failed. Check connection", _axis_name);
break;
case 2:
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%c Trinamic driver test failed. Check motor power", report_get_axis_letter(axis_index));
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Trinamic driver test failed. Check motor power", _axis_name);
break;
default:
return;
@@ -178,8 +179,8 @@ void TrinamicDriver :: set_mode() {
grbl_msg_sendf(CLIENT_SERIAL,
MSG_LEVEL_INFO,
"%c Stallguard %d SG_Val: %04d Rate: %05.0fmm/min, %d",
report_get_axis_letter(axis_index),
"%s Stallguard %d SG_Val: %04d Rate: %05.0fmm/min, %d",
_axis_name,
tmcstepper->stallguard(),
tmcstepper->sg_result(),
feedrate,