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Removed old debug code, added M919 for setting chopper timing paramet…
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…ers.
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@terjeio
terjeio committed Jan 25, 2023
1 parent d429c50 commit de41f8a
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Showing 2 changed files with 143 additions and 35 deletions.
170 changes: 137 additions & 33 deletions trinamic.c
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Original file line number Diff line number Diff line change
Expand Up @@ -769,16 +769,6 @@ static void stepper_pulse_start (stepper_t *motors)
}
}

#if TRINAMIC_DEV

static void report_sg_params (void)
{
sprintf(sbuf, "[SGPARAMS:%ld:%d:%d:%d]" ASCII_EOL, report.sg_status_motor, stepper[report.sg_status_motor].coolconf.reg.sfilt, stepper[report.sg_status_motor].coolconf.reg.semin, stepper[report.sg_status_motor].coolconf.reg.semax);
hal.stream.write(sbuf);
}

#endif

static char *get_axisname (motor_map_t motor)
{
static char axisname[3] = {0};
Expand All @@ -789,6 +779,49 @@ static char *get_axisname (motor_map_t motor)
return axisname;
}

#if TRINAMIC_DEV

static uint_fast8_t bit_count (uint32_t n)
{
uint_fast8_t count = 0;

while (n) {
n &= (n - 1);
count++;
}

return count;
}

static axes_signals_t get_axes (parameter_words_t words)
{
axes_signals_t axes = {0};

axes.x = words.x;
axes.y = words.y;
axes.z = words.z;
#ifdef A_AXIS
axes.a = words.a;
#endif
#ifdef B_AXIS
axes.b = words.b;
#endif
#ifdef C_AXIS
axes.c = words.c;
#endif
#ifdef U_AXIS
axes.u = words.u;
#endif
#ifdef V_AXIS
axes.v = words.v;
#endif
axes.mask &= driver_enabled.mask;

return axes;
}

#endif

// Validate M-code axis parameters
// Sets value to NAN (Not A Number) and returns false if driver not installed
static bool check_params (parser_block_t *gc_block)
Expand All @@ -801,6 +834,10 @@ static bool check_params (parser_block_t *gc_block)
, { .a = On },
{ .b = On },
{ .c = On }
#endif
#if N_AXIS > 6
, { .u = On },
{ .v = On },
#endif
};

Expand All @@ -821,14 +858,11 @@ static bool check_params (parser_block_t *gc_block)
return n_ok > 0 && n_ok == n_found;
}

#define Trinamic_StallGuardParams 123
#define Trinamic_WriteRegister 124

// Check if given M-code is handled here
static user_mcode_t trinamic_MCodeCheck (user_mcode_t mcode)
{
#if TRINAMIC_DEV
if(mcode == Trinamic_StallGuardParams || mcode == Trinamic_WriteRegister)
if(mcode == Trinamic_ReadRegister || mcode == Trinamic_WriteRegister)
return mcode;
#endif

Expand All @@ -848,18 +882,28 @@ static status_code_t trinamic_MCodeValidate (parser_block_t *gc_block, parameter

#if TRINAMIC_DEV

case Trinamic_StallGuardParams:
state = Status_OK;
break;

case Trinamic_ReadRegister:
case Trinamic_WriteRegister:
if(gc_block->words.r && gc_block->words.q) {
if(isnanf(gc_block->values.r) || isnanf(gc_block->values.q))
state = Status_BadNumberFormat;
{
axes_signals_t axes = get_axes(gc_block->words);
if(axes.mask == 0)
state = Status_GcodeNoAxisWords;
else if(bit_count(axes.mask) > 1)
state = Status_ValueWordConflict;
else {
reg_ptr = TMC5160_GetRegPtr(&stepper[report.sg_status_motor], (tmc5160_regaddr_t)gc_block->values.r);
state = reg_ptr == NULL ? Status_GcodeValueOutOfRange : Status_OK;
gc_block->words.r = gc_block->words.q = Off;
if(gc_block->words.i && !(gc_block->values.ijk[0] == 0.0f || gc_block->values.ijk[0] == 1.0f))
state = Status_GcodeValueOutOfRange;
if(gc_block->words.r && (gc_block->user_mcode == Trinamic_ReadRegister || gc_block->words.o)) {
if(!isintf(gc_block->values.r))
state = Status_BadNumberFormat;
else {
if(stepper[0]->get_register_addr(0, (uint8_t)gc_block->values.r))
state = Status_OK;
else
state = Status_GcodeValueOutOfRange;
gc_block->words.r = gc_block->words.o = Off;
}
}
}
}
break;
Expand Down Expand Up @@ -934,7 +978,20 @@ static status_code_t trinamic_MCodeValidate (parser_block_t *gc_block, parameter
}
break;

default:
case Trinamic_ChopperTiming:
if(check_params(gc_block)) {
state = Status_OK;
if(gc_block->words.o && (gc_block->values.o < 1 || gc_block->values.ijk[0] > 15))
state = Status_BadNumberFormat;
if(gc_block->words.p && (!isintf(gc_block->values.p) || gc_block->values.p < -3.0f || gc_block->values.p > 12.0f))
state = Status_BadNumberFormat;
if(gc_block->words.s && (!isintf(gc_block->values.s) || gc_block->values.s < 1.0f || gc_block->values.ijk[0] > 8.0f))
state = Status_BadNumberFormat;
gc_block->words.o = gc_block->words.p = gc_block->words.s = Off;
}
break;

default:
state = Status_Unhandled;
break;
}
Expand All @@ -952,13 +1009,34 @@ static void trinamic_MCodeExecute (uint_fast16_t state, parser_block_t *gc_block

#if TRINAMIC_DEV

case Trinamic_StallGuardParams:
report_sg_params();
case Trinamic_ReadRegister:
{
uint32_t value;
uint_fast8_t axis, index = gc_block->words.i ? (uint8_t)gc_block->values.ijk[0] : 0;
axes_signals_t axes = get_axes(gc_block->words);
do {
axis = motor_map[--motor].axis;
if(bit_istrue(axes.mask, bit(axis)) && index ? axis != motor_map[motor].id : axis == motor_map[motor].id) {
stepper[motor]->read_register(motor, (uint8_t)gc_block->values.r, &value);
sprintf(sbuf, "[TMCREG:%d:%lx]" ASCII_EOL, (uint8_t)gc_block->values.r, value);
hal.stream.write(sbuf);
}
} while(motor);
}
break;

case Trinamic_WriteRegister:
reg_ptr->payload.value = (uint32_t)gc_block->values.q;
TMC5160_WriteRegister(&stepper[report.sg_status_motor], reg_ptr);
{
// NOTE: gcode parser has to be changed to allow reading full range uint32_t value into the O word!
uint_fast8_t axis, index = gc_block->words.i ? (uint8_t)gc_block->values.ijk[0] : 0;
axes_signals_t axes = get_axes(gc_block->words);
do {
axis = motor_map[--motor].axis;
if(bit_istrue(axes.mask, bit(axis)) && index ? axis != motor_map[motor].id : axis == motor_map[motor].id) {
stepper[motor]->write_register(motor, (uint8_t)gc_block->values.r, gc_block->values.o);
}
} while(motor);
}
break;

#endif
Expand Down Expand Up @@ -1007,6 +1085,12 @@ static void trinamic_MCodeExecute (uint_fast16_t state, parser_block_t *gc_block
#endif
#ifdef C_AXIS
axes.c = gc_block->words.c;
#endif
#ifdef U_AXIS
axes.u = gc_block->words.u;
#endif
#ifdef V_AXIS
axes.v = gc_block->words.v;
#endif
axes.mask &= driver_enabled.mask;

Expand Down Expand Up @@ -1098,9 +1182,6 @@ static void trinamic_MCodeExecute (uint_fast16_t state, parser_block_t *gc_block

case Trinamic_ClearPrewarnFlags:
otpw_triggered.mask = 0;
#if TRINAMIC_DEV
stallGuard_enable(report.sg_status_motor, true); // TODO: (re)move this...
#endif
break;

case Trinamic_HybridThreshold:
Expand Down Expand Up @@ -1128,6 +1209,29 @@ static void trinamic_MCodeExecute (uint_fast16_t state, parser_block_t *gc_block
}
break;

case Trinamic_ChopperTiming:
{
uint_fast8_t axis;
TMC_chopper_timing_t timing = chopper_timing;

if(gc_block->words.o)
timing.toff = (uint8_t)gc_block->values.o;

if(gc_block->words.p)
timing.hend = (int8_t)gc_block->values.p;

if(gc_block->words.s)
timing.hstrt = (uint8_t)gc_block->values.s;

do {
axis = motor_map[--motor].axis;
if(!isnanf(gc_block->values.xyz[axis])) {
stepper[motor]->chopper_timing(motor, timing);
}
} while(motor);
}
break;

default:
handled = false;
break;
Expand Down Expand Up @@ -1602,7 +1706,7 @@ static void onReportOptions (bool newopt)
on_report_options(newopt);

if(!newopt)
hal.stream.write("[PLUGIN:Trinamic v0.09]" ASCII_EOL);
hal.stream.write("[PLUGIN:Trinamic v0.10]" ASCII_EOL);
else if(driver_enabled.mask) {
hal.stream.write(",TMC=");
hal.stream.write(uitoa(driver_enabled.mask));
Expand Down
8 changes: 6 additions & 2 deletions trinamic.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
Part of grblHAL
Copyright (c) 2018-2021 Terje Io
Copyright (c) 2018-2022 Terje Io
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
Expand Down Expand Up @@ -68,7 +68,11 @@
//#define TMC_HOMING_ACCELERATION 50.0f // NOT tested... Reduce acceleration during homing to avoid falsely triggering DIAG output

static const TMC_coolconf_t coolconf = { .semin = 5, .semax = 2, .sedn = 1 };
static const TMC_chopper_timing_t chopper_timing = { .hstrt = 1, .hend = -1, .tbl = 1 };
#if TRINAMIC_ENABLE == 2209
static const TMC_chopper_timing_t chopper_timing = { .hstrt = 1, .hend = -1, .tbl = 1, .toff = 3 };
#else
static const TMC_chopper_timing_t chopper_timing = { .hstrt = 1, .hend = -1, .tbl = 1, .toff = 5 };
#endif

// General
#if TRINAMIC_MIXED_DRIVERS
Expand Down

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