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trinamic.c
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/*
motors/trinamic.c - Trinamic stepper driver plugin
Part of grblHAL
Copyright (c) 2018-2025 Terje Io
grblHAL 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.
grblHAL 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 grblHAL. If not, see <http://www.gnu.org/licenses/>.
*/
#ifdef ARDUINO
#include "../driver.h"
#else
#include "driver.h"
#endif
#if TRINAMIC_ENABLE
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include "trinamic.h"
#if TRINAMIC_I2C
#include "../trinamic/tmc_i2c_interface.h"
#endif
#include "../grbl/nvs_buffer.h"
#include "../grbl/protocol.h"
#include "../grbl/state_machine.h"
#include "../grbl/report.h"
#include "../grbl/platform.h"
#ifndef TRINAMIC_POLL_INTERVAL
#define TRINAMIC_POLL_INTERVAL 250
#endif
#define TMCsetting_HomingSeekSensitivity Setting_AxisExtended0
#define TMCsetting_HoldCurrentPct Setting_AxisExtended1
#define TMCsetting_HomingFeedSensitivity Setting_AxisExtended2
#if TRINAMIC_EXTENDED_SETTINGS
#define TMCsetting_Chopconf_TOFF Setting_Stepper1
#define TMCsetting_Chopconf_TBL Setting_Stepper2
#define TMCsetting_Chopconf_CHM Setting_Stepper3
#define TMCsetting_Chopconf_HSTRT Setting_Stepper4
#define TMCsetting_Chopconf_HEND Setting_Stepper5
#define TMCsetting_Chopconf_HDEC Setting_Stepper6
#define TMCsetting_Chopconf_RNDTF Setting_Stepper7
//#define TMCsetting_Chopconf_RNDTF Setting_Stepper8
#define TMCsetting_Coolconf_SEMIN Setting_Stepper9
#define TMCsetting_Coolconf_SEUP Setting_Stepper10
#define TMCsetting_Coolconf_SEMAX Setting_Stepper11
#define TMCsetting_Coolconf_SEDN Setting_Stepper12
#define TMCsetting_Coolconf_SEIMIN Setting_Stepper13
#define TMCsetting_Drvconf Setting_Stepper14
#endif // TRINAMIC_EXTENDED_SETTINGS
typedef void (*mcode_run_callback_ptr)(parser_block_t *gc_block, uint8_t motor, bool axis_words);
static bool warning = false, is_homing = false, settings_loaded = false, custom_drvconf = false;
static volatile uint_fast16_t diag1_poll = 0;
static char sbuf[65]; // string buffer for reports
static char min_current[5], max_current[5];
static uint_fast8_t n_motors = 0;
static float vsense[2];
static trinamic_chopconf_t m919_chopconf[TMC_N_MOTORS_MAX];
static const tmchal_t *stepper[TMC_N_MOTORS_MAX];
static motor_map_t *motor_map;
static axes_signals_t homing = {0}, otpw_triggered = {0}, driver_enabled = {0};
#if TMC_POLL_STALLED
static limits_get_state_ptr limits_get_state = NULL;
#endif
static limits_enable_ptr limits_enable = NULL;
static stepper_pulse_start_ptr hal_stepper_pulse_start = NULL;
static nvs_address_t nvs_address;
static on_realtime_report_ptr on_realtime_report;
static on_report_options_ptr on_report_options;
static driver_setup_ptr driver_setup;
static settings_changed_ptr settings_changed;
static user_mcode_ptrs_t user_mcode;
static trinamic_driver_if_t driver_if = {0};
static trinamic_settings_t trinamic;
static trinamic_cfg_t cfg_cap;
#if TRINAMIC_EXTENDED_SETTINGS
static trinamic_cfg_t *cfg_params = &trinamic.cfg_params;
#else
static trinamic_cfg_t params, *cfg_params = ¶ms;
#endif
#if TRINAMIC_POLL_STATUS
static TMC_drv_status_t status[TMC_N_MOTORS_MAX];
#endif
#if TRINAMIC_DYNAMIC_CURRENT
static uint16_t dynamic_current[TMC_N_MOTORS_MAX], reduced_current[TMC_N_MOTORS_MAX];
static stepper_pulse_start_ptr stepper_block_start = NULL;
#endif
static struct {
bool raw;
bool sg_status_enable;
volatile bool sg_status;
bool sfilt;
uint32_t sg_status_motor;
axes_signals_t sg_status_motormask;
uint32_t msteps;
} report = {0};
#if TRINAMIC_I2C
static stepper_enable_ptr stepper_enable = NULL;
TMCI2C_enable_dgr_t dgr_enable = {
.addr.value = TMC_I2CReg_ENABLE
};
TMCI2C_monitor_status_dgr_t dgr_monitor = {
.addr.value = TMC_I2CReg_MON_STATE
};
#endif
static void write_debug_report (uint_fast8_t axes);
// Wrapper for initializing physical interface
void trinamic_if_init (trinamic_driver_if_t *driver)
{
memcpy(&driver_if, driver, sizeof(trinamic_driver_if_t));
}
#if TRINAMIC_POLL_STATUS
static void trinamic_status_report (void *data)
{
uint_fast8_t motor = 0;
uint_fast16_t axis;
for(motor = 0; motor < n_motors; motor++) {
if(stepper[motor]) {
if(status[motor].stst) {
axis = stepper[motor]->get_config(motor)->motor.axis;
hal.stream.write("[MOST:");
hal.stream.write(uitoa(axis));
//hal.stream.write("]" ASCII_EOL);
hal.stream.write("[CURR:");
hal.stream.write(uitoa((trinamic.driver[axis].current)));
//hal.stream.write("]" ASCII_EOL);
//hal.delay_ms(15, NULL);
#if TRINAMIC_DYNAMIC_CURRENT
hal.stream.write("[STCR:");
hal.stream.write(uitoa(reduced_current[motor]));
#endif
hal.stream.write("]" ASCII_EOL);
//hal.delay_ms(15, NULL);
}
/*if(status[motor].stallguard){
strcpy(sbuf, "SG:M ");
strcat(sbuf, uitoa(motor));
report_message(sbuf, Message_Warning);
}*/
if(status[motor].otpw){
strcpy(sbuf, "Over-Temperature Motor: ");
strcat(sbuf, uitoa(motor));
report_message(sbuf, Message_Warning);
}
}
}
}
static void trinamic_poll_status (void *data)
{
static bool error_active = false, error_hold = false;
static uint32_t error_count = 0;
static hold_state_t holding_state = Hold_NotHolding;
uint_fast8_t motor = n_motors;
uint8_t stall_fault = 0, otpw_fault = 0;
sys_state_t current_state = state_get();
task_add_delayed(trinamic_poll_status, NULL, TRINAMIC_POLL_INTERVAL);
do {
if(stepper[--motor]) {
if(current_state == STATE_IDLE)
status[motor] = stepper[motor]->get_drv_status(motor);
else if(current_state == STATE_HOLD && holding_state == Hold_Pending && sys.holding_state == Hold_Complete) {
holding_state == Hold_Complete; // potentially dangerous if spindle is running and is lowering itself due to gravity pull,
st_go_idle(); // so disabled for now (see below).
}
if(status[motor].otpw) // overtemp?
otpw_fault |= (1 << motor);
/* if(status[motor].stallguard) // stalled?
stall_fault |= (1 << motor); */
#if TRINAMIC_DYNAMIC_CURRENT
uint_fast8_t axis = motor_map[motor].axis;
if((current_state == STATE_IDLE || (current_state & (STATE_ALARM|STATE_HOLD))) && dynamic_current[motor] == trinamic.driver[axis].current)
stepper[motor]->set_current(motor, (dynamic_current[motor] = reduced_current[motor]), trinamic.driver[axis].hold_current_pct);
#endif
}
} while(motor);
if(stall_fault || otpw_fault) {
if(++error_count > 2 && !error_active) {
error_active = true;
if(current_state & (STATE_CYCLE|STATE_HOMING|STATE_JOG)) {
// holding_state == Hold_Pending;
grbl.enqueue_realtime_command(CMD_FEED_HOLD);
}
task_add_immediate(trinamic_status_report, NULL);
}
} else if(error_active) {
error_active = false;
error_count = 0;
if(holding_state != Hold_NotHolding) {
holding_state = Hold_NotHolding;
st_wake_up();
}
}
}
#endif // TRINAMIC_POLL_STATUS
#if TRINAMIC_DYNAMIC_CURRENT
static void set_current_for_block (void *block)
{
uint_fast16_t axis = 0;
uint_fast8_t motor = n_motors;
do {
if(stepper[--motor]) {
axis = motor_map[motor].axis;
if((((stepper_t *)block)->steps[axis] ? trinamic.driver[axis].current : reduced_current[motor]) != dynamic_current[motor]) {
dynamic_current[motor] = ((stepper_t *)block)->steps[axis] ? trinamic.driver[axis].current : reduced_current[motor];
stepper[motor]->set_current(motor, dynamic_current[motor], trinamic.driver[axis].hold_current_pct);
}
#if TRINAMIC_POLL_STATUS
status[motor] = stepper[motor]->get_drv_status(motor);
#endif
}
} while(motor);
}
static void set_current_for_homing (void)
{
uint_fast16_t axis = 0;
uint_fast8_t motor = n_motors;
do {
axis = motor_map[--motor].axis;
if(stepper[motor] && dynamic_current[motor] != trinamic.driver[axis].current)
stepper[motor]->set_current(motor, (dynamic_current[motor] = trinamic.driver[axis].current), trinamic.driver[axis].hold_current_pct);
} while(motor);
}
static void dynamic_current_pulse_start (stepper_t *stepper)
{
if(stepper->new_block && !is_homing)
task_add_immediate(set_current_for_block, stepper);
stepper_block_start(stepper);
}
#endif // TRINAMIC_DYNAMIC_CURRENT
static bool trinamic_driver_config (motor_map_t motor, uint8_t seq)
{
bool ok = false;
trinamic_driver_config_t cfg = {
.address = motor.id,
.settings = &trinamic.driver[motor.axis]
};
if(driver_if.on_driver_preinit)
driver_if.on_driver_preinit(motor, &cfg);
#if TRINAMIC_ENABLE == 2209
ok = (stepper[motor.id] = TMC2209_AddMotor(motor, cfg.address, cfg.settings->current, cfg.settings->microsteps, cfg.settings->r_sense)) != NULL;
#elif TRINAMIC_ENABLE == 2660
uint8_t retries = 25;
do {
if(!(ok = (stepper[motor.id] = TMC2660_AddMotor(motor, cfg.settings->current, cfg.settings->microsteps, cfg.settings->r_sense)) != NULL))
hal.delay_ms(10, NULL);
} while(!ok && --retries);
#elif TRINAMIC_ENABLE == 2130
ok = (stepper[motor.id] = TMC2130_AddMotor(motor, cfg.settings->current, cfg.settings->microsteps, cfg.settings->r_sense)) != NULL;
#elif TRINAMIC_ENABLE == 5160
ok = (stepper[motor.id] = TMC5160_AddMotor(motor, cfg.settings->current, cfg.settings->microsteps, cfg.settings->r_sense)) != NULL;
#endif
if(!ok) {
protocol_enqueue_foreground_task(report_warning, "Could not communicate with stepper driver!");
// system_raise_alarm(Alarm_SelftestFailed);
return false;
}
stepper[motor.id]->get_config(motor.id)->motor.seq = seq; //
driver_enabled.mask |= bit(motor.axis);
switch(motor.axis) {
case X_AXIS:
#if TRINAMIC_I2C && TMC_X_MONITOR
dgr_enable.reg.monitor.x = TMC_X_MONITOR;
#endif
break;
case Y_AXIS:
#if TRINAMIC_I2C && TMC_Y_MONITOR
dgr_enable.reg.monitor.y = TMC_Y_MONITOR;
#endif
break;
case Z_AXIS:
#if TRINAMIC_I2C && TMC_Z_MONITOR
dgr_enable.reg.monitor.z = TMC_Z_MONITOR;
#endif
break;
#ifdef A_AXIS
case A_AXIS:
#if TRINAMIC_I2C && TMC_A_MONITOR
dgr_enable.reg.monitor.a = TMC_A_MONITOR;
#endif
break;
#endif
#ifdef B_AXIS
case B_AXIS:
#if TRINAMIC_I2C && TMC_B_MONITOR
dgr_enable.reg.monitor.b = TMC_B_MONITOR;
#endif
break;
#endif
#ifdef C_AXIS
case C_AXIS:
#if TRINAMIC_I2C && TMC_C_MONITOR
dgr_enable.reg.monitor.c = TMC_C_MONITOR;
#endif
break;
#endif
#ifdef U_AXIS
case U_AXIS:
#if TRINAMIC_I2C && TMC_U_MONITOR
dgr_enable.reg.monitor.u = TMC_U_MONITOR;
#endif
break;
#endif
#ifdef V_AXIS
case V_AXIS:
#if TRINAMIC_I2C && TMC_V_MONITOR
dgr_enable.reg.monitor.v = TMC_V_MONITOR;
#endif
break;
#endif
}
#if TRINAMIC_EXTENDED_SETTINGS
if(cfg_cap.drvconf && custom_drvconf)
stepper[motor.id]->write_register(motor.id, stepper[motor.id]->drvconf_address, cfg_params->drvconf);
#endif
stepper[motor.id]->sg_filter(motor.id, 1);
stepper[motor.id]->coolconf(motor.id, cfg_params->coolconf);
stepper[motor.id]->chopper_timing(motor.id, cfg_params->chopconf);
if(stepper[motor.id]->stealthChop)
stepper[motor.id]->stealthChop(motor.id, cfg.settings->mode == TMCMode_StealthChop);
else if(cfg.settings->mode == TMCMode_StealthChop)
cfg.settings->mode = TMCMode_CoolStep;
#if PWM_THRESHOLD_VELOCITY > 0
stepper[motor.id]->set_tpwmthrs(motor.id, (float)PWM_THRESHOLD_VELOCITY / 60.0f, settings.axis[motor.axis].steps_per_mm);
#endif
stepper[motor.id]->set_current(motor.id, cfg.settings->current, cfg.settings->hold_current_pct);
stepper[motor.id]->set_microsteps(motor.id, cfg.settings->microsteps);
#if TRINAMIC_I2C
tmc_spi_write((trinamic_motor_t){0}, (TMC_spi_datagram_t *)&dgr_enable);
#endif
#if TRINAMIC_DYNAMIC_CURRENT
reduced_current[motor.id] = cfg.settings->current * cfg.settings->hold_current_pct / 100;
#endif
if(driver_if.on_driver_postinit)
driver_if.on_driver_postinit(motor, stepper[motor.id]);
return true;
}
static void trinamic_drivers_init (axes_signals_t axes)
{
bool ok = axes.value != 0;
uint_fast8_t motor = n_motors, n_enabled = 0, seq = 0;
memset(stepper, 0, sizeof(stepper));
do {
if(bit_istrue(axes.mask, bit(motor_map[--motor].axis)))
seq++;
} while(motor);
motor = n_motors;
*min_current = '\0';
do {
if(bit_istrue(axes.mask, bit(motor_map[--motor].axis))) {
if((ok = trinamic_driver_config(motor_map[motor], --seq))) {
n_enabled++;
if(*min_current == '\0') {
strcpy(min_current, uitoa(stepper[motor_map[motor].id]->get_current(motor_map[motor].id, TMCCurrent_Min)));
strcpy(max_current, uitoa(stepper[motor_map[motor].id]->get_current(motor_map[motor].id, TMCCurrent_Max)));
}
}
}
} while(ok && motor);
tmc_motors_set(ok ? n_enabled : 0);
if(!ok) {
driver_enabled.mask = 0;
memset(stepper, 0, sizeof(stepper));
}
#if TRINAMIC_POLL_STATUS || TRINAMIC_DYNAMIC_CURRENT
else {
#if TRINAMIC_POLL_STATUS
task_add_delayed(trinamic_poll_status, NULL, TRINAMIC_POLL_INTERVAL);
#endif
#if TRINAMIC_DYNAMIC_CURRENT
if(stepper_block_start == NULL) {
stepper_block_start = hal.stepper.pulse_start;
hal.stepper.pulse_start = dynamic_current_pulse_start;
}
#endif
}
#endif
}
static void trinamic_drivers_setup (void)
{
if(driver_if.on_drivers_init) {
uint8_t n_enabled = 0, motor = n_motors;
do {
if(bit_istrue(trinamic.driver_enable.mask, bit(motor_map[--motor].axis)))
n_enabled++;
} while(motor);
driver_if.on_drivers_init(n_enabled, trinamic.driver_enable);
}
trinamic_drivers_init(trinamic.driver_enable);
}
#if TRINAMIC_MIXED_DRIVERS
static status_code_t set_driver_enable (setting_id_t id, uint_fast16_t value)
{
if(trinamic.driver_enable.mask != (uint8_t)value) {
driver_enabled.mask = 0;
trinamic.driver_enable.mask = (uint8_t)value;
trinamic_drivers_setup();
}
return Status_OK;
}
static uint32_t get_driver_enable (setting_id_t setting)
{
return trinamic.driver_enable.mask;
}
#endif // TRINAMIC_MIXED_DRIVERS
// Parse and set driver specific parameters
static status_code_t set_axis_setting (setting_id_t setting, uint_fast16_t value)
{
uint_fast8_t axis, motor = n_motors;
status_code_t status = Status_OK;
switch(settings_get_axis_base(setting, &axis)) {
case Setting_AxisStepperCurrent:
trinamic.driver[axis].current = (uint16_t)value;
do {
motor--;
if(stepper[motor] && stepper[motor]->get_config(motor)->motor.axis == axis) {
stepper[motor]->set_current(motor, trinamic.driver[axis].current, trinamic.driver[axis].hold_current_pct);
#if TRINAMIC_DYNAMIC_CURRENT
reduced_current[motor] = trinamic.driver[axis].current * trinamic.driver[axis].hold_current_pct / 100;
#endif
}
} while(motor);
break;
case TMCsetting_HoldCurrentPct: // Hold current percentage
if(value > 100)
value = 100;
trinamic.driver[axis].hold_current_pct = (uint16_t)value;
do {
motor--;
if(stepper[motor] && stepper[motor]->get_config(motor)->motor.axis == axis) {
stepper[motor]->set_current(motor, trinamic.driver[axis].current, trinamic.driver[axis].hold_current_pct);
#if TRINAMIC_DYNAMIC_CURRENT
reduced_current[motor] = trinamic.driver[axis].current * trinamic.driver[axis].hold_current_pct / 100;
#endif
}
} while(motor);
break;
case Setting_AxisMicroSteps:
do {
motor--;
if(stepper[motor] && stepper[motor]->get_config(motor)->motor.axis == axis) {
if(stepper[motor]->microsteps_isvalid(motor, (uint16_t)value)) {
trinamic.driver[axis].microsteps = value;
stepper[motor]->set_microsteps(motor, trinamic.driver[axis].microsteps);
if(report.sg_status_motormask.mask & bit(axis))
report.msteps = trinamic.driver[axis].microsteps;
} else {
status = Status_InvalidStatement;
break;
}
}
} while(motor);
break;
default:
status = Status_Unhandled;
break;
}
return status;
}
static uint32_t get_axis_setting (setting_id_t setting)
{
uint32_t value = 0;
uint_fast8_t idx;
switch(settings_get_axis_base(setting, &idx)) {
case Setting_AxisStepperCurrent:
value = trinamic.driver[idx].current;
break;
case TMCsetting_HoldCurrentPct: // Hold current percentage
value = trinamic.driver[idx].hold_current_pct;
break;
case Setting_AxisMicroSteps:
value = trinamic.driver[idx].microsteps;
break;
default: // for stopping compiler warning
break;
}
return value;
}
// Parse and set driver specific parameters
static status_code_t set_axis_setting_float (setting_id_t setting, float value)
{
status_code_t status = Status_OK;
uint_fast8_t idx;
switch(settings_get_axis_base(setting, &idx)) {
case TMCsetting_HomingSeekSensitivity:
trinamic.driver[idx].homing_seek_sensitivity = (int16_t)value;
break;
case TMCsetting_HomingFeedSensitivity:
trinamic.driver[idx].homing_feed_sensitivity = (int16_t)value;
break;
default:
status = Status_Unhandled;
break;
}
return status;
}
static float get_axis_setting_float (setting_id_t setting)
{
float value = 0.0f;
uint_fast8_t idx;
switch(settings_get_axis_base(setting, &idx)) {
case TMCsetting_HomingSeekSensitivity:
value = (float)trinamic.driver[idx].homing_seek_sensitivity;
break;
case TMCsetting_HomingFeedSensitivity:
value = (float)trinamic.driver[idx].homing_feed_sensitivity;
break;
default: // for stopping compiler warning
break;
}
return value;
}
#if TRINAMIC_EXTENDED_SETTINGS
static status_code_t set_extended (setting_id_t id, uint_fast16_t value)
{
bool drvconf_changed = false;
switch(id) {
case TMCsetting_Chopconf_TOFF:
trinamic.cfg_params.chopconf.toff = value;
break;
case TMCsetting_Chopconf_TBL:
trinamic.cfg_params.chopconf.tbl = value;
break;
case TMCsetting_Chopconf_CHM:
trinamic.cfg_params.chopconf.chm = value;
break;
case TMCsetting_Chopconf_HSTRT:
trinamic.cfg_params.chopconf.hstrt = value - 1;
break;
case TMCsetting_Chopconf_HDEC:
trinamic.cfg_params.chopconf.hdec = value;
break;
case TMCsetting_Chopconf_RNDTF:
trinamic.cfg_params.chopconf.rndtf = value;
break;
// case Setting_Stepper8:
// trinamic.cfg_params.chopconf.tbl = value;
// break;
case TMCsetting_Coolconf_SEMIN:
trinamic.cfg_params.coolconf.semin = value;
break;
case TMCsetting_Coolconf_SEUP:
trinamic.cfg_params.coolconf.seup = value;
break;
case TMCsetting_Coolconf_SEMAX:
trinamic.cfg_params.coolconf.semax = value;
break;
case TMCsetting_Coolconf_SEDN:
trinamic.cfg_params.coolconf.sedn = value;
break;
case TMCsetting_Coolconf_SEIMIN:
trinamic.cfg_params.coolconf.seimin = value;
break;
case TMCsetting_Drvconf:
value &= cfg_cap.drvconf;
drvconf_changed = trinamic.cfg_params.drvconf != value;
trinamic.cfg_params.drvconf = value;
break;
default:
break;
}
uint_fast8_t motor = n_motors;
do {
if(stepper[--motor]) {
if(drvconf_changed)
stepper[motor]->write_register(motor, stepper[motor]->drvconf_address, cfg_params->drvconf);
else {
stepper[motor]->coolconf(motor, cfg_params->coolconf);
stepper[motor]->chopper_timing(motor, cfg_params->chopconf);
}
}
} while(motor);
return Status_OK;
}
static uint32_t get_extended (setting_id_t setting)
{
uint32_t value;
switch(setting) {
case TMCsetting_Chopconf_TOFF:
value = trinamic.cfg_params.chopconf.toff;
break;
case TMCsetting_Chopconf_TBL:
value = trinamic.cfg_params.chopconf.tbl;
break;
case TMCsetting_Chopconf_CHM:
value = trinamic.cfg_params.chopconf.chm;
break;
case TMCsetting_Chopconf_HSTRT:
value = trinamic.cfg_params.chopconf.hstrt + 1;
break;
case TMCsetting_Chopconf_HDEC:
value = trinamic.cfg_params.chopconf.hdec;
break;
case TMCsetting_Chopconf_RNDTF:
value = trinamic.cfg_params.chopconf.rndtf;
break;
// case Setting_Stepper8:
// value = trinamic.cfg_params.chopconf.tbl;
// break;
case TMCsetting_Coolconf_SEMIN:
value = trinamic.cfg_params.coolconf.semin;
break;
case TMCsetting_Coolconf_SEUP:
value = trinamic.cfg_params.coolconf.seup;
break;
case TMCsetting_Coolconf_SEMAX:
value = trinamic.cfg_params.coolconf.semax;
break;
case TMCsetting_Coolconf_SEDN:
value = trinamic.cfg_params.coolconf.sedn;
break;
case TMCsetting_Coolconf_SEIMIN:
value = trinamic.cfg_params.coolconf.seimin;
break;
case TMCsetting_Drvconf:
value = trinamic.cfg_params.drvconf;
break;
default:
value = 0;
break;
}
return value;
}
static status_code_t set_extended_float (setting_id_t id, float value)
{
switch(id) {
case TMCsetting_Chopconf_HEND:
if(isintf(value))
trinamic.cfg_params.chopconf.hend = (int8_t)(value) + 3;
else
return Status_BadNumberFormat;
break;
default:
break;
}
uint_fast8_t motor = n_motors;
do {
if(stepper[--motor])
stepper[motor]->chopper_timing(motor, cfg_params->chopconf);
} while(motor);
return Status_OK;
}
static float get_extended_float (setting_id_t setting)
{
float value;
switch(setting) {
case TMCsetting_Chopconf_HEND:
value = (float)trinamic.cfg_params.chopconf.hend - 3.0f;
break;
default:
value = 0.0f;
break;
}
return value;
}
static bool is_extended_available (const setting_detail_t *setting, uint_fast16_t offset)
{
bool ok = false;
switch(setting->id) {
case TMCsetting_Chopconf_TOFF:
ok = !!cfg_cap.chopconf.toff;
break;
case TMCsetting_Chopconf_TBL:
ok = !!cfg_cap.chopconf.tbl;
break;
case TMCsetting_Chopconf_CHM:
ok = !!cfg_cap.chopconf.chm;
break;
case TMCsetting_Chopconf_HSTRT:
ok = !!cfg_cap.chopconf.hstrt;
break;
case TMCsetting_Chopconf_HEND:
ok = !!cfg_cap.chopconf.hend;
break;
case TMCsetting_Chopconf_HDEC:
ok = !!cfg_cap.chopconf.hdec;
break;
case TMCsetting_Chopconf_RNDTF:
ok = !!cfg_cap.chopconf.rndtf;
break;
// case Setting_Stepper8:
// ok = !!cfg_cap.chopconf.tbl;
// break;
case TMCsetting_Coolconf_SEMIN:
ok = !!cfg_cap.coolconf.semin;
break;
case TMCsetting_Coolconf_SEUP:
ok = !!cfg_cap.coolconf.seup;
break;
case TMCsetting_Coolconf_SEMAX:
ok = !!cfg_cap.coolconf.semax;
break;
case TMCsetting_Coolconf_SEDN:
ok = !!cfg_cap.coolconf.sedn;
break;
case TMCsetting_Coolconf_SEIMIN:
ok = !!cfg_cap.coolconf.seimin;
break;
case TMCsetting_Drvconf:
ok = !!cfg_cap.drvconf;
break;
default:
break;
}
return ok;
}
#endif // TRINAMIC_EXTENDED_SETTINGS
#define AXIS_OPTS { .subgroups = On, .increment = 1 }
static const setting_detail_t trinamic_settings[] = {
#if TRINAMIC_MIXED_DRIVERS
{ Setting_TrinamicDriver, Group_MotorDriver, "Trinamic driver", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_NonCoreFn, set_driver_enable, get_driver_enable, NULL },
#endif
{ Setting_TrinamicHoming, Group_MotorDriver, "Sensorless homing", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_NonCore, &trinamic.homing_enable.mask, NULL, NULL },
{ Setting_AxisStepperCurrent, Group_Axis0, "-axis motor current", "mA", Format_Integer, "###0", min_current, max_current, Setting_NonCoreFn, set_axis_setting, get_axis_setting, NULL, AXIS_OPTS },
{ Setting_AxisMicroSteps, Group_Axis0, "-axis microsteps", "steps", Format_Integer, "###0", NULL, NULL, Setting_NonCoreFn, set_axis_setting, get_axis_setting, NULL, AXIS_OPTS },
#if TMC_STALLGUARD == 4
{ TMCsetting_HomingSeekSensitivity, Group_Axis0, "-axis StallGuard4 fast threshold", NULL, Format_Decimal, "##0", "0", "255", Setting_NonCoreFn, set_axis_setting_float, get_axis_setting_float, NULL, AXIS_OPTS },
#else
{ TMCsetting_HomingSeekSensitivity, Group_Axis0, "-axis StallGuard2 fast threshold", NULL, Format_Decimal, "-##0", "-64", "63", Setting_NonCoreFn, set_axis_setting_float, get_axis_setting_float, NULL, AXIS_OPTS },
#endif
{ TMCsetting_HoldCurrentPct, Group_Axis0, "-axis hold current", "%", Format_Int8, "##0", "5", "100", Setting_NonCoreFn, set_axis_setting, get_axis_setting, NULL, AXIS_OPTS },
#if TMC_STALLGUARD == 4
{ TMCsetting_HomingFeedSensitivity, Group_Axis0, "-axis StallGuard4 slow threshold", NULL, Format_Decimal, "##0", "0", "255", Setting_NonCoreFn, set_axis_setting_float, get_axis_setting_float, NULL, AXIS_OPTS },
#else
{ TMCsetting_HomingFeedSensitivity, Group_Axis0, "-axis stallGuard2 slow threshold", NULL, Format_Decimal, "-##0", "-64", "63", Setting_NonCoreFn, set_axis_setting_float, get_axis_setting_float, NULL, AXIS_OPTS },
#endif
#if TRINAMIC_EXTENDED_SETTINGS
{ TMCsetting_Chopconf_TOFF, Group_MotorDriver, "Chopper toff", NULL, Format_Int8, "#0", "1", "15", Setting_NonCoreFn, set_extended, get_extended, is_extended_available },
{ TMCsetting_Chopconf_TBL, Group_MotorDriver, "Chopper tbl", NULL, Format_Int8, "0", "0", "3", Setting_NonCoreFn, set_extended, get_extended, is_extended_available },
{ TMCsetting_Chopconf_CHM, Group_MotorDriver, "Chopper mode", NULL, Format_RadioButtons, "Spreadcycle,Constant toff", NULL, NULL, Setting_NonCoreFn, set_extended, get_extended, is_extended_available },
{ TMCsetting_Chopconf_HSTRT, Group_MotorDriver, "Chopper hstrt", NULL, Format_Int8, "0", "1", "8", Setting_NonCoreFn, set_extended, get_extended, is_extended_available },
{ TMCsetting_Chopconf_HEND, Group_MotorDriver, "Chopper hend", NULL, Format_Decimal, "-#0", "-3", "12", Setting_NonCoreFn, set_extended_float, get_extended_float, is_extended_available },
{ TMCsetting_Chopconf_HDEC, Group_MotorDriver, "Chopper hdec", NULL, Format_Int8, "0", "0", "3", Setting_NonCoreFn, set_extended, get_extended, is_extended_available },
{ TMCsetting_Chopconf_RNDTF, Group_MotorDriver, "Chopper random TOFF", NULL, Format_Bool, NULL, NULL, NULL, Setting_NonCoreFn, set_extended, get_extended, is_extended_available },
//?? { Setting_Stepper8, Group_MotorDriver, "THRESH", NULL, Format_Int8, "###0", NULL, NULL, Setting_NonCoreFn, &set_extended, &get_extended, is_extended_available }, // == Setting_AxisExtended0 & Setting_AxisExtended2?
{ TMCsetting_Coolconf_SEMIN, Group_MotorDriver, "CoolStep semin", NULL, Format_Int8, "#0", "0", "15", Setting_NonCoreFn, set_extended, get_extended, is_extended_available },
{ TMCsetting_Coolconf_SEUP, Group_MotorDriver, "CoolStep seup", NULL, Format_Int8, "0", "0", "3", Setting_NonCoreFn, set_extended, get_extended, is_extended_available },
{ TMCsetting_Coolconf_SEMAX, Group_MotorDriver, "CoolStep semax", NULL, Format_Int8, "#0", "0", "15", Setting_NonCoreFn, set_extended, get_extended, is_extended_available },
{ TMCsetting_Coolconf_SEDN, Group_MotorDriver, "CoolStep sedn", NULL, Format_Int8, "0", "0", "3", Setting_NonCoreFn, set_extended, get_extended, is_extended_available },
{ TMCsetting_Coolconf_SEIMIN, Group_MotorDriver, "CoolStep seimin", NULL, Format_RadioButtons, "0.5 x CS,.25 x CS", NULL, NULL, Setting_NonCoreFn, set_extended, get_extended, is_extended_available },
{ TMCsetting_Drvconf, Group_MotorDriver, "Driver config (drvconf)", NULL, Format_Integer, "##########0", NULL, NULL, Setting_NonCoreFn, set_extended, get_extended, is_extended_available },
#endif
};
#ifndef NO_SETTINGS_DESCRIPTIONS
static const setting_descr_t trinamic_settings_descr[] = {
#if TRINAMIC_MIXED_DRIVERS
{ Setting_TrinamicDriver, "Enable SPI or UART controlled Trinamic drivers for axes." },
#endif
{ Setting_TrinamicHoming, "Enable sensorless homing for axes. Requires SPI or UART controlled Trinamic drivers." },
{ Setting_AxisStepperCurrent, "Motor current in mA (RMS)." },
{ Setting_AxisMicroSteps, "Microsteps per fullstep." },
{ TMCsetting_HomingSeekSensitivity, "StallGuard threshold for fast (seek) homing phase." },
{ TMCsetting_HoldCurrentPct, "Motor current at standstill as a percentage of full current.\\n"
"NOTE: if grblHAL is configured to disable motors on standstill this setting has no use."
},
{ TMCsetting_HomingFeedSensitivity, "StallGuard threshold for slow (feed) homing phase." },
#if TRINAMIC_EXTENDED_SETTINGS
{ TMCsetting_Chopconf_TOFF, "Off time. Duration of slow decay phase as a multiple of system clock periods: NCLK= 24 + (32 x TOFF). This will limit the maximum chopper frequency (0-15).\\n"
"0: MOSFETs shut off, driver disabled.\\n"
"1: Use with TBL of minimum 24 clocks." },
{ TMCsetting_Chopconf_TBL, "Blanking time interval in system clock periods (0-3 = 16,24,36,54). Needs to cover the switching event and the duration of the ringing on the sense resistor." },
{ TMCsetting_Chopconf_CHM, "Chopper mode. Affects HDEC, HEND, and HSTRT parameters.\\n"
"0: Standard mode (SpreadCycle).\\n"
"1: Constant TOFF with fast decay time. Fast decay is after on time. Fast decay time is also terminated when the negative nominal current is reached." },
{ TMCsetting_Chopconf_HSTRT, "CHM=0: Hysteresis start, offset from HEND (1-8). To be effective, HEND+HSTRT must be less or equal to 15.\\n"
"CHM=1: Fast decay time. Three least-significant bits of the duration of the fast decay phase. "
"The MSB is HDEC0. Fast decay time is a multiple of system clock periods: NCLK=32 x (HDEC0+HSTRT)."},
{ TMCsetting_Chopconf_HEND, "Can be either negative, zero, or positive, -3 to 12.\\n"
"CHM=0: Hysteresis end (low). Sets the hysteresis end value after a number of decrements, used for the hysteresis chopper and controlled by HDEC. "
"HSTRT+HEND must be less than 16. 1/512 adds to the current setting.\\n"
"CHM=1: Sine wave offset. A positive offset corrects for zero crossing error. 1/512 adds to the absolute value of each sine wave entry." },
{ TMCsetting_Chopconf_HDEC, "CHM=0: Hysteresis decrement interval period in system clock periods. Determines the slope of the hysteresis during on time from fast to very slow (0-3 = 16,32,48,64).\\n"
"CHM=1: Fast decay mode." },
{ TMCsetting_Chopconf_RNDTF, "Change from fixed to randomized TOFF times, by dNCLK= -24 to +6 clocks." },
// { Setting_Stepper8, "StallGuard threshold." },
{ TMCsetting_Coolconf_SEMIN, "Lower CoolStep threshold. If the SG value falls below SEMIN x 32, the coil current scaling factor is increased (0-15).\\n"
"0: CoolStep disabled."},
{ TMCsetting_Coolconf_SEUP, "Number of increments of the coil current each time SG is sampled below the lower threshold (0-3 = 1,2,4,8)." },
{ TMCsetting_Coolconf_SEMAX, "Upper CoolStep threshold offset from lower threshold. If SG is sampled above (SEMIN+SEMAX+1)x32 enough times, the coil current scaling factor is decremented (0-15)." },
{ TMCsetting_Coolconf_SEDN, "Number of times SG must be sampled above the upper threshold before the coil current is decremented (0-3 = 32,8,2,1)." },
{ TMCsetting_Coolconf_SEIMIN, "Minimum CoolStep current as a factor of the set motor current.\\n"
"0: 1/2, 1: 1/4" },
{ TMCsetting_Drvconf, "Driver configuration register.\\n"
"To get default value back reset plugin settings with $RST=&\\n\\n"
"Do NOT change unless you know what you are doing!" },
#endif
};
#endif // NO_SETTINGS_DESCRIPTIONS
static void trinamic_settings_save (void)
{
hal.nvs.memcpy_to_nvs(nvs_address, (uint8_t *)&trinamic, sizeof(trinamic_settings_t), true);
}
static void trinamic_settings_get_defaults (bool cap_only)
{
const trinamic_cfg_params_t *params;
#if TRINAMIC_ENABLE == 2209
params = TMC2209_GetConfigDefaults();
#elif TRINAMIC_ENABLE == 2660
params = TMC2660_GetConfigDefaults();
#elif TRINAMIC_ENABLE == 2130
params = TMC2130_GetConfigDefaults();
#elif TRINAMIC_ENABLE == 5160
params = TMC5160_GetConfigDefaults();
#endif
memcpy(&cfg_cap, ¶ms->cap, sizeof(trinamic_cfg_t));
if(!cap_only)