Modifications so it'll work with my cnc controller
This commit is contained in:
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42c855c35f
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05b29a54d1
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#include "init_tmc2590.h"
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#include "grbl/hal.h"
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#define TMC_SCK_PIN (27)
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#define TMC_CSN_PIN (28)
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#define TMC_SDI_PIN (26)
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// initialize the 3 TMC2590 stepper motor controllers
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// bit bang 60 bit sequences to transmit settings to all three
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// of them
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#define REPEAT3(x) { (x), (x), (x) }
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// TODO probably store this in settings somehow
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const static struct tmc2590_config {
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enum tmc2590_reg reg;
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uint32_t val[3]; // value for each axis
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} tmc_config[] = {
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// blank time 24 cycles, chopper enabled, fixed toff, hysteresis dec 16 cycles,
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// no hysteresis offset, hysteresis start offset 3, off time 120 cycles
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{ CHOPCONF, REPEAT3(TBL(1)|HEND(3)|HSTRT(3)|TOFF(4)) },
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// stallguard2 enabled, stallguard threshold 0, current scale 21
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{ SGCSCONF, REPEAT3(SFILT(1)|CS(21)) }, // should give a peak current of 1.6 A
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// medium gate drive for both high and low side,
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// short to ground detection enabled
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// step/dir interface enabled
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// current sense resistor max voltage set to 173mV,
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// motor dampening enabled
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// Vs fault detection enabled
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{ DRVCONF, REPEAT3(SLPH(3)|SLPL(3)|SLP2(0)|VSENSE(1)|EN_PFD(1)|EN_S2VS(1)) },
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// no step interpolation
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// rising edge only
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// 1/64 microstepping
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{ DRVCTRL_SDOFF0, REPEAT3(MRES(2)) }
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};
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static uint32_t tmc2590_mask_addr(uint32_t v, enum tmc2590_reg reg) {
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uint32_t ret = v;
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switch (reg) {
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case DRVCTRL_SDOFF0:
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case DRVCTRL_SDOFF1:
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ret &= ~DRVCTRL_MASK;
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ret |= DRVCTRL_ADDR;
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break;
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case CHOPCONF:
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ret &= ~CHOPCONF_MASK;
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ret |= CHOPCONF_ADDR;
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break;
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case SMARTEN:
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ret &= ~SMARTEN_MASK;
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ret |= SMARTEN_ADDR;
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break;
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case SGCSCONF:
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ret &= ~SGCSCONF_MASK;
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ret |= SGCSCONF_ADDR;
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break;
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case DRVCONF:
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ret &= ~DRVCONF_MASK;
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ret |= DRVCONF_ADDR;
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break;
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}
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return ret;
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}
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static void tmc2590_csn_enable(void) {
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digitalWrite(TMC_SCK_PIN, HIGH);
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delayMicroseconds(TMC2590_TCC_US);
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digitalWrite(TMC_CSN_PIN, LOW);
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delayMicroseconds(TMC2590_CSN_DELAY_US);
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}
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static void tmc2590_csn_disable(void) {
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digitalWrite(TMC_SCK_PIN, HIGH);
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delayMicroseconds(TMC2590_TCH_US);
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digitalWrite(TMC_CSN_PIN, HIGH);
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delayMicroseconds(TMC2590_TCL_US);
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}
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static void tmc2590_send_bit(uint32_t bit) {
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digitalWrite(TMC_SCK_PIN, LOW);
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if (bit) {
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digitalWrite(TMC_SDI_PIN, HIGH);
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} else {
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digitalWrite(TMC_SDI_PIN, LOW);
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}
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delayMicroseconds(TMC2590_CLK_US);
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digitalWrite(TMC_SCK_PIN, HIGH);
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delayMicroseconds(TMC2590_CLK_US);
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}
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static void tmc2590_write_reg(const struct tmc2590_config* cfg) {
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uint32_t cur_reg;
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tmc2590_csn_enable();
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for (int i = 0; i < 3; i++) {
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cur_reg = cfg->val[i];
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cur_reg = tmc2590_mask_addr(cur_reg, cfg->reg);
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for (int j = 19; j >= 0; j--) {
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tmc2590_send_bit(cur_reg & (1 << j));
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}
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}
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tmc2590_csn_disable();
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}
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static void tmc2590_init(void) {
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pinMode(TMC_SCK_PIN, OUTPUT);
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pinMode(TMC_SDI_PIN, OUTPUT);
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pinMode(TMC_CSN_PIN, OUTPUT);
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for (int i = 0; i < sizeof(tmc_config)/sizeof(tmc_config[0]); i++) {
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tmc2590_write_reg(&tmc_config[i]);
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}
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}
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static driver_reset_ptr on_reset;
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static void tmc2590_on_reset(void) {
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tmc2590_init();
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on_reset();
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}
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void my_plugin(void) {
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// TODO add message
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tmc2590_init();
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// hook into soft reset
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on_reset = hal.driver_reset;
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hal.driver_reset = tmc2590_on_reset;
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}
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@ -0,0 +1,162 @@
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#ifndef INIT_TMC2590_H
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#define INIT_TMC2590_H
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#define TMC2590_CLK_US (1)
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#define TMC2590_CSN_DELAY_US (1) // time after CSN is asserted before SCK can change
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#define TMC2590_TCC_US (1) // time after CSN is asserted that SCK must be high
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#define TMC2590_TCH_US (1) // time before CSN is deasserted that SCK must be high
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#define TMC2590_TCL_US (1) // time after CSN is deasserted that SCK must be high
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enum tmc2590_reg {
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DRVCTRL_SDOFF0,
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DRVCTRL_SDOFF1,
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CHOPCONF,
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SMARTEN,
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SGCSCONF,
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DRVCONF
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};
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#define DRVCTRL_ADDR (0x00000)
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#define DRVCTRL_MASK (0xc0000)
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#define CHOPCONF_ADDR (0x80000)
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#define CHOPCONF_MASK (0xe0000)
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#define SMARTEN_ADDR (0xa0000)
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#define SMARTEN_MASK (0xe0000)
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#define SGCSCONF_ADDR (0xc0000)
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#define SGCSCONF_MASK (0xe0000)
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#define DRVCONF_ADDR (0xe0000)
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#define DRVCONF_MASK (0xe0000)
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#define PHA_SIZE (1)
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#define CA_SIZE (8)
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#define PHB_SIZE (1)
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#define CB_SIZE (8)
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#define PHA_SHIFT (17)
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#define CA_SHIFT (9)
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#define PHB_SHIFT (8)
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#define CB_SHIFT (0)
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#define INTPOL_SIZE (1)
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#define DEDGE_SIZE (1)
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#define MRES_SIZE (4)
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#define INTPOL_SHIFT (9)
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#define DEDGE_SHIFT (8)
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#define MRES_SHIFT (0)
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#define TBL_SIZE (2)
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#define CHM_SIZE (1)
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#define RNDTF_SIZE (1)
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#define HDEC_SIZE (2)
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#define HEND_SIZE (4)
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#define HSTRT_SIZE (3)
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#define TOFF_SIZE (4)
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#define TBL_SHIFT (15)
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#define CHM_SHIFT (14)
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#define RNDTF_SHIFT (13)
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#define HDEC_SHIFT (11)
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#define HEND_SHIFT (7)
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#define HSTRT_SHIFT (4)
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#define TOFF_SHIFT (0)
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#define SEIMIN_SIZE (1)
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#define SEDN_SIZE (2)
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#define SEMAX_SIZE (4)
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#define SEUP_SIZE (2)
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#define SEMIN_SIZE (4)
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#define SEIMIN_SHIFT (15)
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#define SEDN_SHIFT (2)
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#define SEMAX_SHIFT (8)
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#define SEUP_SHIFT (5)
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#define SEMIN_SHIFT (0)
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#define SFILT_SIZE (1)
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#define SGT_SIZE (7)
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#define CS_SIZE (5)
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#define SFILT_SHIFT (16)
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#define SGT_SHIFT (8)
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#define CS_SHIFT (0)
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#define TST_SIZE (1)
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#define SLPH_SIZE (2)
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#define SLPL_SIZE (2)
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#define SLP2_SIZE (1)
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#define DIS_S2G_SIZE (1)
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#define TS2G_SIZE (2)
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#define SDOFF_SIZE (1)
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#define VSENSE_SIZE (1)
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#define RDSEL_SIZE (2)
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#define OTSENS_SIZE (1)
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#define SHRTSENS_SIZE (1)
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#define EN_PFD_SIZE (1)
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#define EN_S2VS_SIZE (1)
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#define TST_SHIFT (16)
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#define SLPH_SHIFT (14)
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#define SLPL_SHIFT (12)
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#define SLP2_SHIFT (11)
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#define DIS_S2G_SHIFT (10)
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#define TS2G_SHIFT (8)
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#define SDOFF_SHIFT (7)
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#define VSENSE_SHIFT (6)
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#define RDSEL_SHIFT (4)
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#define OTSENS_SHIFT (3)
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#define SHRTSENS_SHIFT (2)
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#define EN_PFD_SHIFT (1)
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#define EN_S2VS_SHIFT (0)
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#define BIT_VAL(x, v) ((x & ((1 << v##SIZE) - 1)) << v##SHIFT)
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#define PHA(x) BIT_VAL(x, PHA_)
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#define CA(x) BIT_VAL(x, CA_)
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#define PHB(x) BIT_VAL(x, PHB_)
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#define CB(x) BIT_VAL(x, CB_)
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#define INTPOL(x) BIT_VAL(x, INTPOL_)
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#define DEDGE(x) BIT_VAL(x, DEDGE_)
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#define MRES(x) BIT_VAL(x, MRES_)
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#define TBL(x) BIT_VAL(x, TBL_)
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#define CHM(x) BIT_VAL(x, CHM_)
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#define RNDTF(x) BIT_VAL(x, RNDTF_)
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#define HDEC(x) BIT_VAL(x, HDEC_)
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#define HEND(x) BIT_VAL(x, HEND_)
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#define HSTRT(x) BIT_VAL(x, HSTRT_)
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#define TOFF(x) BIT_VAL(x, TOFF_)
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#define SEIMEN(x) BIT_VAL(x, SEIMEN_)
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#define SEDN(x) BIT_VAL(x, SEDN_)
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#define SEMAX(x) BIT_VAL(x, SEMAX_)
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#define SEUP(x) BIT_VAL(x, SEUP_)
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#define SEMIN(x) BIT_VAL(x, SEMIN_)
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#define SFILT(x) BIT_VAL(x, SFILT_)
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#define SGT(x) BIT_VAL(x, SGT_)
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#define CS(x) BIT_VAL(x, CS_)
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#define TST(x) BIT_VAL(x, TST_)
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#define SLPH(x) BIT_VAL(x, SLPH_)
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#define SLPL(x) BIT_VAL(x, SLPL_)
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#define SLP2(x) BIT_VAL(x, SLP2_)
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#define DIS_S2G(x) BIT_VAL(x, DIS_S2G_)
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#define TS2G(x) BIT_VAL(x, TS2G_)
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#define SDOFF(x) BIT_VAL(x, SDOFF_)
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#define VSENSE(x) BIT_VAL(x, VSENSE_)
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#define RDSEL(x) BIT_VAL(x, RDSEL_)
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#define OTSENS(x) BIT_VAL(x, OTSENS_)
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#define SHRTSENS(x) BIT_VAL(x, SHRTSENS_)
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#define EN_PFD(x) BIT_VAL(x, EN_PFD_)
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#define EN_S2VS(x) BIT_VAL(x, EN_S2VS_)
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#endif
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@ -24,11 +24,11 @@
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// NOTE: Only one board may be enabled!
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// If none is enabled pin mappings from generic_map.h will be used
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//#define BOARD_T40X101
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#define BOARD_T41U5XBB
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//#define BOARD_T41U5XBB
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//#define BOARD_T41U5XBB_SS // For a modified T41U5XBB board, allows spindle sync to be enabled.
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//#define BOARD_T41BB5X_PRO
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//#define BOARD_CNC_BOOSTERPACK
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//#define BOARD_MY_MACHINE // Add my_machine_map.h before enabling this!
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#define BOARD_MY_MACHINE // Add my_machine_map.h before enabling this!
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// Configuration
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// Uncomment to enable, for some a value > 1 may be assigned, if so the default value is shown.
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@ -49,7 +49,7 @@ N_AXIS has a default value of 3, edit grbl\config.h to increase.
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*/
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#define USB_SERIAL_CDC 2 // 1 for Arduino class library and 2 for PJRC C library. Comment out to use UART communication.
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#define USB_SERIAL_CDC 1 // 1 for Arduino class library and 2 for PJRC C library. Comment out to use UART communication.
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//#define USB_SERIAL_WAIT 1 // Wait for USB connection before starting grblHAL.
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//#define BLUETOOTH_ENABLE 1 // Set to 1 for HC-05 module. Requires Bluetooth plugin.
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//#define SPINDLE_HUANYANG 1 // Set to 1 or 2 for Huanyang VFD spindle. Requires spindle plugin.
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@ -63,7 +63,7 @@ N_AXIS has a default value of 3, edit grbl\config.h to increase.
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//#define ODOMETER_ENABLE 1 // Odometer plugin.
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//#define OPENPNP_ENABLE 1 // OpenPNP plugin. To be completed.
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//#define FANS_ENABLE 1 // Enable fan control via M106/M107. Requires fans plugin.
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//#define EEPROM_ENABLE 1 // I2C EEPROM support. Set to 1 for 24LC16(2K), 2 for larger sizes. Requires eeprom plugin.
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#define EEPROM_ENABLE 1 // I2C EEPROM support. Set to 1 for 24LC16(2K), 2 for larger sizes. Requires eeprom plugin.
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//#define EEPROM_IS_FRAM 1 // Uncomment when EEPROM is enabled and chip is FRAM, this to remove write delay.
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//#define SPINDLE_SYNC_ENABLE 1 // Enable spindle sync support (G33, G76). !! NOTE: Alpha quality - enable only for test or verification.
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// Currently only available for BOARD_T41BB5X_PRO and BOARD_T41U5XBB_SS.
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@ -0,0 +1,65 @@
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#if N_ABC_MOTORS > 0
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#error "Axis configuration is not supported!"
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#endif
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#define BOARD_NAME "my CNC board"
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//#define HAS_IOPORTS
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#if N_AXIS > 3
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#error Max number of axes is 3 for my board
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#endif
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#if SPINDLE_SYNC_ENABLE
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#error spindle sync not supported
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#endif
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// Define step pulse output pins.
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#define X_STEP_PIN (2u)
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#define Y_STEP_PIN (4u)
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#define Z_STEP_PIN (6u)
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// Define step direction output pins.
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#define X_DIRECTION_PIN (3u)
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#define Y_DIRECTION_PIN (5u)
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#define Z_DIRECTION_PIN (7u)
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// Define stepper driver enable/disable output pin(s).
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#define STEPPERS_ENABLE_PIN (10u)
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// Define homing/hard limit switch input pins.
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#define X_LIMIT_PIN (20u)
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#define Y_LIMIT_PIN (21u)
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#define Z_LIMIT_PIN (22u)
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// Define spindle enable and spindle direction output pins.
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#define SPINDLE_ENABLE_PIN (12u)
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#define SPINDLE_DIRECTION_PIN (11u)
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#define SPINDLEPWMPIN (13u) // NOTE: only pin 12 or pin 13 can be assigned!
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// Define flood and mist coolant enable output pins.
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#define COOLANT_FLOOD_PIN (19u)
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#define COOLANT_MIST_PIN (18u)
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// Define user-control CONTROLs (cycle start, reset, feed hold, door) input pins.
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#define RESET_PIN (14u)
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#define FEED_HOLD_PIN (16u)
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#define CYCLE_START_PIN (17u)
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#define SAFETY_DOOR_PIN (29u)
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// Define probe switch input pin.
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#define PROBE_PIN (15U)
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#if EEPROM_ENABLE || KEYPAD_ENABLE
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#define I2C_PORT 4
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#define I2C_SCL4 (24u) // Not referenced, for info only
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#define I2C_SDA4 (25u) // Not referenced, for info only
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#endif
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#if QEI_ENABLE
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#define QEI_A_PIN (0)
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#define QEI_B_PIN (3)
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// #define QEI_INDEX_PIN GPIO2_PIN
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#define QEI_SELECT_PIN (1)
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#endif
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