Added TMC2130 Support

- Added TMC2130 Support from that branch - Added a CPU mape for testing
2025-09-03 11:22:38 +02:00 · 2019-05-10 11:41:52 -05:00
parent 75f8e73b3c
commit f28f312f75
5 changed files with 151 additions and 0 deletions
--- a/Grbl_Esp32/TMC2130.cpp
+++ b/Grbl_Esp32/TMC2130.cpp
@@ -0,0 +1,58 @@
+
+/*
+	TMC2130.cpp - Support for TMC2130 Stepper Drivers SPI Mode
+  Part of Grbl_ESP32  
+
+  Copyright (c) 2019 Barton Dring for Buildlog.net LLC   	
+
+  GrblESP32 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.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "grbl.h"
+
+#ifdef X_CS_PIN
+	TMC2130Stepper TMC2130_X = TMC2130Stepper(X_CS_PIN);
+#endif
+
+#ifdef Y_CS_PIN
+	TMC2130Stepper TMC2130_Y = TMC2130Stepper(Y_CS_PIN);
+#endif
+
+#ifdef Z_CS_PIN
+	TMC2130Stepper TMC2130_Z = TMC2130Stepper(Z_CS_PIN);
+#endif
+
+void TMC2130_Init()
+{
+		#ifdef X_CS_PIN
+			TMC2130_X.begin(); // Initiate pins and registries
+			TMC2130_X.microsteps(32);
+			TMC2130_X.setCurrent(200, 0.11, 0.5);
+			TMC2130_X.stealthChop(1); // Enable extremely quiet stepping			
+		#endif	
+		
+		#ifdef Y_CS_PIN
+			TMC2130_Y.begin(); // Initiate pins and registries
+			TMC2130_Y.microsteps(32);
+			TMC2130_Y.setCurrent(200, 0.11, 0.5);
+			TMC2130_Y.stealthChop(1); // Enable extremely quiet stepping
+		#endif
+		
+		#ifdef Z_CS_PIN
+			TMC2130_Z.begin(); // Initiate pins and registries
+			TMC2130_Z.microsteps(32);
+			TMC2130_Z.setCurrent(200, 0.11, 0.5);
+			TMC2130_Z.stealthChop(1); // Enable extremely quiet stepping
+		#endif
+}
--- a/Grbl_Esp32/TMC2130.h
+++ b/Grbl_Esp32/TMC2130.h
@@ -0,0 +1,31 @@
+/*
+	TMC2130.h - Support for TMC2130 Stepper Drivers SPI Mode
+  Part of Grbl_ESP32  
+
+  Copyright (c) 2019 Barton Dring for Buildlog.net LLC   	
+
+  GrblESP32 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.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef TMC2130_h
+	#define TMC2130_h
+
+#include "grbl.h"
+#include <TMC2130Stepper.h>
+
+#ifdef USE_TMC2130
+	void TMC2130_Init();
+#endif
+
+#endif
--- a/Grbl_Esp32/cpu_map.h
+++ b/Grbl_Esp32/cpu_map.h
@@ -836,6 +836,59 @@
 		
 #endif

+#ifdef CPU_MAP_TMC2130_PEN
+		
+		#define CPU_MAP_NAME "ESP32_TMC2130_PEN"
+		
+		#define USE_RMT_STEPS
+		
+		#define USE_TMC2130 // make sure you assign chip select pins to each axis
+		
+		#define X_STEP_PIN      	GPIO_NUM_12
+		#define X_DIRECTION_PIN   	GPIO_NUM_26
+		#define X_CS_PIN    		GPIO_NUM_17  //chip select
+		#define X_RMT_CHANNEL		0		
+		
+		#define Y_STEP_PIN      	GPIO_NUM_14   
+		#define Y_DIRECTION_PIN   	GPIO_NUM_25  
+		#define Y_CS_PIN    		GPIO_NUM_16  //chip select	
+		#define Y_RMT_CHANNEL		1		
+		
+		// OK to comment out to use pin for other features
+		#define STEPPERS_DISABLE_PIN GPIO_NUM_13		
+		
+		// *** the flood coolant feature code is activated by defining this pins
+		// *** Comment it out to use the pin for other features
+		//#define COOLANT_FLOOD_PIN 	GPIO_NUM_16			
+		//#define COOLANT_MIST_PIN   	GPIO_NUM_21
+		
+		// If SPINDLE_PWM_PIN is commented out, this frees up the pin, but Grbl will still
+		// use a virtual spindle. Do not comment out the other parameters for the spindle.
+		//#define SPINDLE_PWM_PIN    GPIO_NUM_17 
+		#define SPINDLE_PWM_CHANNEL 0
+		// PWM Generator is based on 80,000,000 Hz counter
+		// Therefor the freq determines the resolution
+		// 80,000,000 / freq = max resolution
+		// For 5000 that is 80,000,000 / 5000 = 16000 
+		// round down to nearest bit count for SPINDLE_PWM_MAX_VALUE = 13bits (8192)
+		#define SPINDLE_PWM_BASE_FREQ 5000 // Hz
+		#define SPINDLE_PWM_BIT_PRECISION 8   // be sure to match this with SPINDLE_PWM_MAX_VALUE
+		#define SPINDLE_PWM_OFF_VALUE     0
+		#define SPINDLE_PWM_MAX_VALUE     255 // (2^SPINDLE_PWM_BIT_PRECISION)
+		
+		#ifndef SPINDLE_PWM_MIN_VALUE
+				#define SPINDLE_PWM_MIN_VALUE   1   // Must be greater than zero.
+		#endif
+		
+		#define SPINDLE_PWM_RANGE         (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)		
+		
+		#define X_LIMIT_PIN      	GPIO_NUM_2  
+		#define Y_LIMIT_PIN      	GPIO_NUM_4  
+		#define LIMIT_MASK      	B11
+		
+#endif
+
+

 	// ================= common to all machines ================================
 	
--- a/Grbl_Esp32/grbl.h
+++ b/Grbl_Esp32/grbl.h
@@ -83,3 +83,8 @@
 #ifdef USE_SERVO_AXES
 	#include "servo_axis.h"
 #endif
+
+#ifdef USE_TMC2130
+	#include "TMC2130.h" // https://github.com/teemuatlut/TMC2130Stepper
+#endif
+
--- a/Grbl_Esp32/stepper.cpp
+++ b/Grbl_Esp32/stepper.cpp
@@ -360,6 +360,10 @@ void IRAM_ATTR onStepperDriverTimer(void *para)  // ISR It is time to take a ste
 void stepper_init()
 {
 	
+	#ifdef USE_TMC2130
+		TMC2130_Init();
+	#endif
+	
 	#ifdef USE_RMT_STEPS
 		grbl_send(CLIENT_SERIAL, "[MSG:Using RMT Steps}\r\n");
 		initRMT();