[FR] Support for Trinamic TMC2660 #8138

alexxy · 2017-10-28T22:59:37Z

Hi all!

I have a Azteeg X5 GT board with TMC2660 (Bigfoot BSD2660), and seems like Marlin has support for some types of TMC drivers. How to enable TMC2660?

Spawn32 · 2017-10-29T12:50:25Z

Did you get the TMC2660's working ?
I am designing a new controller board that uses them, so would be nice to know :)

alexxy · 2017-10-29T13:53:36Z

Currently no. Seems like we need new lib to get them working =)

Spawn32 · 2017-10-29T13:58:06Z

To bad, have a look at the bottom of #8063 (comment) to see what i am working on :)

teemuatlut · 2017-10-29T15:12:54Z

Yea the drivers need a new library for Marlin to be able to communicate with them. I could expand my TMC2130 or TMC2208 libraries to support them but I don't have the drivers to test. Nor really a board that would support the layout.

alexxy · 2017-10-29T18:34:00Z

@teemuatlut if you extend you're lib i'd be glad to test =) Currently i have working Marlin on Azteeg X5 GT (standart drivers work, but i have 2660 ones) #8139

Spawn32 · 2017-10-29T18:44:03Z

And i can test when i get my board ready, probably be about 2 weeks...
Have a bootloader sorted, but will need a HAL and TMC2660 drivers :/

alexxy · 2017-10-29T18:48:02Z

@Spawn32 stm32 based board? I actualy have an idea to create stm32 board with 6-8 steppers =)

Spawn32 · 2017-10-29T18:49:59Z

STM32F7 and 6x TMC2660 :)

alexxy · 2017-10-29T19:18:49Z

Its a monster that can even run linux

teemuatlut · 2017-10-29T19:29:07Z

I'm not too keen on developing for something I don't actually have. While it may take me from a couple of days to a week to get the library running, it'll be months or years of supporting it. Old and new features that need testing, bug fixes, interacting with users and helping them solve problems. I don't really want to put myself in a position where my best is only a guess.
I'll try contacting Panucatt and see if they'd be interested in providing samples so that I may bring Marlin/Arduino support for their drivers.

alexxy · 2017-10-29T20:07:33Z

Actualy seems like duet3d board uses same drivers and very similar setup

Spawn32 · 2017-10-29T20:12:33Z

Yes, the Duet3d uses the TMC2660's...
DuetWifi_Schematic_v1.02.pdf

Roxy-3D · 2017-10-29T20:23:04Z

I'll try contacting Panucatt and see if they'd be interested in providing samples so that I may bring Marlin/Arduino support for their drivers.

@teemuatlut Roy has been very helpful trying to get an official 32-bit branch of Marlin going. When we were discussing how to seed the Marlin developers with 32-bit boards, it kind of felt like his preference was to use the Azteeg X5 GT 32bit Motion Controller as the reference platform. (It may be I'm just imagining that. But that is what I think.)

With the Azteeg X5 GT 32bit Motion Controller you can plug in the Bigfoot BSD2660 sub modules.

It says they are "Based on TMC2660. SPI setup and configuration including current limit and microstepping. 3A 30V. For 3D printing and CNC applications. Super quiet and smooth. 1/256 microstepping. "

Part of the reason I was pushing for the Re-ARM as the reference platform is because it would keep costs down. But we are now at the point where just one developer having an Azteeg X5 GT can make good progress. If you contact Roy, please include a link to this post so he knows I'm supportive. I should get around to sending him an updated status report also.

alexxy · 2017-10-29T20:30:40Z

Yeah, Azteeg X5 GT is interesting board. I already done pinout for marlin #8139 . Only thing missing is 2660 steppers.

teemuatlut · 2017-10-30T22:06:57Z

Quick update. I got a response from Roy at Panucatt and he was happy to provide me with the drivers, so now I'll need to create a new driver library to support the TMC2660. It'll likely be ready (as can be) before my drivers get here but you can test them before I can.

@Roxy-3D Roy asked me about the progress with LPC HAL and I gave him a brief summary but also said that you'd be contacting soon with a more in depth update about it. Hope you don't mind =)

Roxy-3D · 2017-10-30T22:11:53Z

I gave him a brief summary but also said that you'd be contacting soon with a more in depth update about it. Hope you don't mind =)

Not a problem! I'll try to do that in the next day or two...

Spawn32 · 2017-10-30T22:23:28Z

@Roxy-3D @teemuatlut and the rest of you:

Nice, is just a incredible job you guy's do here. thank you :)

Spawn32 · 2017-11-14T16:41:27Z

@teemuatlut
Any news on TMC2660 ? 😃

teemuatlut · 2017-11-15T18:27:44Z

I think the hardware is on its' way so I could theoretically start with the library. I just have a bunch of other stuff too that I should be doing.

alexxy · 2017-12-05T13:55:04Z

Hi!
Any news about this drivers?

alexborro · 2017-12-05T14:09:11Z

Someone using this driver could tell if the lack of StealthChop mode makes any difference. I mean, do you miss it? Em 5 de dez de 2017 11:55, "Alexey Shvetsov" <notifications@github.com> escreveu:

…

Hi! Any news about this drivers? — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#8138 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AE-ZE6dbimmv_UZDmS862LuLgkl0Yo6pks5s9UtDgaJpZM4QKH3t> .

teemuatlut · 2017-12-05T14:42:54Z

@alexxy I've started working on a universal TMC driver library that would support 5 driver models. This is quite a big task and requires a completely new architecture inside the library to do it in a way that makes sense. That said, I did take a look at the TMC2660 communication information and it seems to differ a bit from the other drivers. Makes me think that they're a slightly older driver design.

Edit: Steppers are turning now so I've established basic communications.

alexxy · 2017-12-06T17:21:19Z

@cool are there some branch to test?

Spawn32 · 2017-12-06T17:25:33Z

Good work @teemuatlut looking forward to testing it :)

teemuatlut · 2017-12-06T17:58:13Z

@alexxy No not yet. I'll first try to get the library examples to work on TMC2660 as well as 2130, 2208, 2224 and 5130.
The final Marlin integration on a basic level is actually quite simple and shouldn't take much time.

alexxy · 2017-12-19T10:53:42Z

@teemuatlut hows youre universal tmc lib going?

teemuatlut · 2017-12-19T12:12:25Z

TMC5130 and TMC2130 compile the Simple example. I've been busy with other tasks for a while now but the new library is on the agenda over the christmas holidays because I can't do much CAD work on the laptop.
I've pretty much decided that TMC2660 has to be an entity on its' own because of a drastically different register structure. TMC2208 needs some fundamental changes to work properly.

alfredanil · 2017-12-19T12:40:19Z

@teemuatlut TMC 5130 has an integrated velocity ramp generator, do you plan to implement the ramp generator function as well? apart from standard trapezoidal ramp it also has a six point ramp function, which seems pretty cool. To test TMC2660 there is a readily available shield for Uno called TOS100 for Arduino and it can be purchased from Watterott Electronic for about 25 Euro. TMC2660 was also used in T-Bone cape for beagle bone (project available on GitHub) tried and tested lib available for all functions.

teemuatlut · 2017-12-19T12:51:05Z

I do have full support for Trinamic's TRAMS board in the works but it's been pushed back ever since the summer. But IIRC it did do movements and homing and other basic functions.
Regarding the TMC2660, I have the bigfoot drivers from Panucatt and I've also got an Azteeg X5 GT to go along with them so testing is not a problem. I've already been able to communicate them and set the TOFF to have some movement. Mostly it's a matter of writing the methods in a more user friendly way.

teemuatlut · 2017-12-23T22:26:37Z

Some progress.
Obviously not finished but you should be able to get the driver moving with toff(4); cs(10);.

Also see the Simple.ino example that's currently configured for TMC2660.

alexxy · 2018-08-27T21:49:23Z

@teemuatlut I used your master branch and updated library. Configs attached
configs.zip

alexxy · 2018-09-06T11:05:59Z

@teemuatlut seems issue comes from this commit 94735bdc5fe7833840a7dc2c21925742db8e2827

commit 94735bdc5fe7833840a7dc2c21925742db8e2827
Author: teemuatlut teemu.mantykallio@live.fi
Date: Wed Apr 11 17:53:23 2018 +0300

Add TMC LCD section

teemuatlut · 2018-09-08T17:08:32Z

I've been working on the branch again and I did confirm your issue. That was an easy fix but lead to another issue. Will hopefully fix it this weekend and get the whole thing compiling nicely again.

alexxy · 2018-09-08T18:51:40Z

@teemuatlut thank you =D

teemuatlut · 2018-09-09T21:19:39Z

Pushed the new code and tested with your config files. No promises on it actually working though. Let me know what happens.

alexxy · 2018-09-13T19:10:01Z

@teemuatlut I tested youre branch. It works without problems for me.

alexxy · 2018-09-19T12:22:35Z

@teemuatlut

is it normal?

Recv: Driver registers:
Recv: X = 0x00000:00:00 Bad response!
Recv: Y = 0x00:00:00:00 Bad response!
Recv: Z = 0x00:00:00:00 Bad response!
Recv: E = 0x00:00:00:00 Bad response!
Recv: E1 = 0x00:00:00:00 Bad response!

teemuatlut · 2018-09-19T13:01:50Z

No. When did that start happening?

EDIT: I used your latest config files to upload to an Azteeg board and got

Driver registers:
		X = 0x00:04:4C:00
		Y = 0x00:04:4C:00
		Z = 0x00:04:4C:00
		E = 0x00:0C:4C:00
		E1 = 0x00:0F:FC:FF

This is with my latest master branch and not all commits are online just yet. I still need to fix some compile issues before pushing.

alexxy · 2018-09-19T16:45:02Z

Build of your master branch, drivers work =) i can print
But i need to set current again and seems like m122 dont work

thinkyhead · 2018-09-19T17:15:05Z

M122 requires TMC_DEBUG so double-check that it’s enabled.

teemuatlut · 2018-09-19T17:19:41Z

If it would be disabled, there would be no output at all.
This is a case where the SPI communication failed for some reason during a call to the driver and the response was an all low level signal.
Which is curious because if the communication channel would be completely broken, I don't think the drivers would work at all. Nor do I think it's a case of initializing order either.
I don't think I've done anything that should break things in the past week or two...

thinkyhead · 2018-09-19T17:38:47Z

Probably a hardware issue, then.

alexxy · 2018-09-19T18:44:54Z

Drivers work, I can change current. m122 dont. So i'm curiose what's the problem
I didnt change anything hw related...

AnHardt · 2018-09-19T19:09:00Z

If you can set a value at the TMC, for SPI that means MOSI, CS and CLK do work. If you can't read MISO is broken.
Or on an asynchronous serial TX works but not RX.
Bad contact? Correctly wired? To much load? Pull-up/down required? Bad GND level? Rx shorted to Vcc or GND? Correct Vcc? Noise? Motor power for the TMCs on before config? Right pin? Pin capable for the use? Other parts of Marlin use the pin? ...

monterman · 2018-09-19T21:22:30Z

HI could you please help me, I can't compile after adding my settings...

I used Teemuatlut's master build.

thanks!

`SYSTEM: LPC1768 100MHz 32KB RAM (512KB Flash)
DEBUG: CURRENT(custom) ON-BOARD(cmsis-dap) EXTERNAL(blackmagic, jlink)
Library Dependency Finder -> http://bit.ly/configure-pio-ldf
LDF MODES: FINDER(off) COMPATIBILITY(soft)
Collected 3 compatible libraries
Scanning dependencies...
Dependency Graph

|-- 0.0.0
|-- 0.4
|-- 0.2.0

Unable to find destination disk. File must be copied manually.

Compiling .pioenvs\LPC1768\src\src\feature\pause.o
Compiling .pioenvs\LPC1768\src\src\feature\solenoid.o
Compiling .pioenvs\LPC1768\src\src\feature\tmc_util.o
Compiling .pioenvs\LPC1768\src\src\feature\twibus.o
Marlin\src\feature\pause.cpp:306:84: error: missing binary operator before token "("
#if (E0_ENABLE_PIN != X_ENABLE_PIN && E1_ENABLE_PIN != Y_ENABLE_PIN) || E0_IS_TMC(2660) || E1_IS_TMC(2660)
^
*** [.pioenvs\LPC1768\src\src\feature\pause.o] Error 1
[ERROR] Took 17.48 seconds
Environment LPC1768 [ERROR]`

teemuatlut · 2018-09-19T21:24:47Z

Working on that one right now. Trying to get the Travis builds to finish.
Perhaps within the hour or tomorrow as it's getting late here.

EDIT: Travis builds now.

monterman · 2018-09-19T21:26:46Z

awesome thanks!

my build is using dual extruders with one X motor and parking and electromagnet.

alexxy · 2018-10-03T07:11:27Z

Hi!

I tested your fresh master branch:
Problems if enabled DRIVERS_SOFTWARE_ENABLE (like Azteeg X5 + 2660) branch cannot build

Compiling .pioenvs/LPC1768/src/src/feature/Max7219_Debug_LEDs.o
In file included from Marlin/src/module/stepper.h:224:0,
from Marlin/src/Marlin.cpp:36:
Marlin/src/Marlin.cpp: In function 'void enable_all_steppers()':
Marlin/src/module/stepper_indirection.h:387:62: error: 'E0_ENABLE_ON' was not declared in this scope
#define E0_ENABLE_WRITE(STATE) stepperE0.toff((STATE)==E0_ENABLE_ON ? stepperE0.savedToff() : 0)
^
Marlin/src/Marlin.h:116:26: note: in expansion of macro 'E0_ENABLE_WRITE'
#define  enable_E0() E0_ENABLE_WRITE( E_ENABLE_ON)
^~~~~~~~~~~~~~~
Marlin/src/Marlin.cpp:288:3: note: in expansion of macro 'enable_E0'
enable_E0();
^~~~~~~~~
Marlin/src/module/stepper_indirection.h:387:62: note: suggested alternative: 'E_ENABLE_ON'
#define E0_ENABLE_WRITE(STATE) stepperE0.toff((STATE)==E0_ENABLE_ON ? stepperE0.savedToff() : 0)
^
Marlin/src/Marlin.h:116:26: note: in expansion of macro 'E0_ENABLE_WRITE'
#define  enable_E0() E0_ENABLE_WRITE( E_ENABLE_ON)
^~~~~~~~~~~~~~~
Marlin/src/Marlin.cpp:288:3: note: in expansion of macro 'enable_E0'
enable_E0();
^~~~~~~~~
Marlin/src/Marlin.cpp: In function 'void disable_e_steppers()':
Marlin/src/module/stepper_indirection.h:387:62: error: 'E0_ENABLE_ON' was not declared in this scope
#define E0_ENABLE_WRITE(STATE) stepperE0.toff((STATE)==E0_ENABLE_ON ? stepperE0.savedToff() : 0)
^
Marlin/src/Marlin.h:117:26: note: in expansion of macro 'E0_ENABLE_WRITE'
#define disable_E0() E0_ENABLE_WRITE(!E_ENABLE_ON)
^~~~~~~~~~~~~~~
Marlin/src/Marlin.cpp:297:3: note: in expansion of macro 'disable_E0'
disable_E0();
^~~~~~~~~~
Marlin/src/module/stepper_indirection.h:387:62: note: suggested alternative: 'E_ENABLE_ON'
#define E0_ENABLE_WRITE(STATE) stepperE0.toff((STATE)==E0_ENABLE_ON ? stepperE0.savedToff() : 0)
^
Marlin/src/Marlin.h:117:26: note: in expansion of macro 'E0_ENABLE_WRITE'
#define disable_E0() E0_ENABLE_WRITE(!E_ENABLE_ON)
^~~~~~~~~~~~~~~
Marlin/src/Marlin.cpp:297:3: note: in expansion of macro 'disable_E0'
disable_E0();
^~~~~~~~~~
Marlin/src/Marlin.cpp: In function 'void disable_e_stepper(uint8_t)':
Marlin/src/module/stepper_indirection.h:387:62: error: 'E0_ENABLE_ON' was not declared in this scope
#define E0_ENABLE_WRITE(STATE) stepperE0.toff((STATE)==E0_ENABLE_ON ? stepperE0.savedToff() : 0)
^
Marlin/src/Marlin.h:117:26: note: in expansion of macro 'E0_ENABLE_WRITE'
#define disable_E0() E0_ENABLE_WRITE(!E_ENABLE_ON)
^~~~~~~~~~~~~~~
Marlin/src/Marlin.cpp:307:13: note: in expansion of macro 'disable_E0'
case 0: disable_E0(); break;
^~~~~~~~~~
Marlin/src/module/stepper_indirection.h:387:62: note: suggested alternative: 'E_ENABLE_ON'
#define E0_ENABLE_WRITE(STATE) stepperE0.toff((STATE)==E0_ENABLE_ON ? stepperE0.savedToff() : 0)
^
Marlin/src/Marlin.h:117:26: note: in expansion of macro 'E0_ENABLE_WRITE'
#define disable_E0() E0_ENABLE_WRITE(!E_ENABLE_ON)
^~~~~~~~~~~~~~~
Marlin/src/Marlin.cpp:307:13: note: in expansion of macro 'disable_E0'
case 0: disable_E0(); break;
^~~~~~~~~~
*** [.pioenvs/LPC1768/src/src/Marlin.o] Error 1

if i disabled it i get another error

Compiling .pioenvs/LPC1768/src/src/gcode/bedlevel/G42.o
Marlin/src/feature/tmc_util.cpp: In function 'uint8_t get_status_response(TMC2130Stepper&, uint32_t)':
Marlin/src/feature/tmc_util.cpp:60:82: error: 'uint8_t TMC2130Stepper::status_response' is protected within this context
static uint8_t get_status_response(TMC2130Stepper &st, uint32_t) { return st.status_response & 0xF; }
^~~~~~~~~~~~~~~
In file included from Marlin/src/feature/tmc_util.h:28:0,
from Marlin/src/feature/tmc_util.cpp:27:
.piolibdeps/TMCStepper_ID5513/src/TMCStepper.h:334:11: note: declared protected here
uint8_t status_response;
^~~~~~~~~~~~~~~
*** [.pioenvs/LPC1768/src/src/feature/tmc_util.o] Error 1

ghent360 · 2018-10-04T05:19:12Z

I also get 'uint8_t TMC2130Stepper::status_response' is protected within this context
Looking at TMCStepper.h from the new TMCStepper library the field is indeed protected, making it public fixes the compile issue.

teemuatlut · 2018-10-04T06:41:44Z

@ghent360 Use the latest commit from github.

@alexxy I've fixed the issues and I'll be pushing the changes today. There's also a new PR that brings upstream support for TMC2660 so you don't have to keep using a forked development branch.

alexxy · 2018-10-04T15:37:45Z

@teemuatlut Ok. I'll test PR and youre branch

boelle · 2019-02-19T22:18:43Z

was TMC2660 not added recently? i remember to see it mentioned in the config's

snmcma · 2019-07-28T05:53:05Z

Guys, tell me how to run this driver. I assembled it on the standard scheme (https://www.trinamic.com/support/eval-kits/details/tmc2660-bob/) is the power supply of the circuit, the power to the motor, the signal -dir -step too. the motor is not spinning
Do you need to use the other pins? pin en need to connect to the ground?

l29ah · 2020-02-03T18:56:57Z

You need to configure it after powering it up before it can drive anything.

sjasonsmith · 2020-09-11T21:26:09Z

TMC2660 is an available option in our configurations. I'm assuming was added sometime in the 3 years since this was opened.
Closing this as presumed complete.

github-actions · 2020-11-11T01:04:32Z

This issue has been automatically locked since there has not been any recent activity after it was closed. Please open a new issue for related bugs.

thinkyhead added the F: Trinamic label Sep 4, 2018

boelle removed the F: Trinamic label Jul 21, 2019

sjasonsmith closed this as completed Sep 11, 2020

github-actions bot locked and limited conversation to collaborators Nov 11, 2020

[FR] Support for Trinamic TMC2660 #8138

[FR] Support for Trinamic TMC2660 #8138

Comments

alexxy commented Oct 28, 2017

Spawn32 commented Oct 29, 2017

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Spawn32 commented Oct 30, 2017 • edited

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alexxy commented Dec 6, 2017

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alexxy commented Oct 3, 2018 • edited by thinkyhead

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Spawn32 commented Oct 30, 2017 •

edited

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edited by thinkyhead