TMC2209 on SKR E3 Turbo report incompatible driver

[dzervas]

I'm trying to get E3 Turbo to work, which has soldered TMC2209s but after writing a map and setting TRINAMIC_ENABLE 2209 I get via serial:

error:7
grblHAL: incompatible driver

The weird thing is that for a moment it worked but somehow didn't compile the trinamic code (no $338 setting available).

src/my_machine.h

/*
  my_machine.h - configuration for NXP LPC176x ARM processors

  Part of grblHAL

  Copyright (c) 2020-2021 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
  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/>.
*/

// NOTE: Only one board may be enabled!
// If none is enabled pin mappings from generic_map.h will be used
//#define SMOOTHIEBOARD
//#define BOARD_RAMPS_16
//#define BOARD_BTT_SKR_13
//#define BOARD_BTT_SKR_14_TURBO
#define BOARD_BTT_SKR_E3_TURBO
//#define BOARD_MKS_SBASE_13
//#define BOARD_MY_MACHINE // Add my_machine_map.h before enabling this!

// Configuration
// Uncomment to enable, for some a value > 1 may be assigned, if so the default value is shown.

#define USB_SERIAL_CDC     1 // Comment out to use UART communication.
#define SDCARD_ENABLE      1 // Run gcode programs from SD card, requires sdcard plugin.
//#define TRINAMIC_ENABLE 2209 // Uncomment to enable Trinamic TMC2130 driver support. NOTE: Experimental for now, currently for SKR 1.x boards only
//#define TRINAMIC_ENABLE 2130 // Uncomment to enable Trinamic TMC2130 driver support. NOTE: Experimental for now, currently for SKR 1.x boards only
//#define TRINAMIC_ENABLE 5160 // Uncomment to enable Trinamic TMC5160 driver support. NOTE: Experimental for now, currently for SKR 1.x boards only
//#define LIMIT_MAX_ENABLE   1 // Uncomment to enable max limit input pins (when available)
#define EEPROM_ENABLE      1 // I2C EEPROM support. Set to 1 for 24LC16(2K), 2 (64 byte pages) or 3 (32 byte pages) for larger sizes. Requires eeprom plugin.
//#define EEPROM_IS_FRAM     1 // Uncomment when EEPROM is enabled and chip is FRAM, this to remove write delay.

// If the selected board map supports more than three motors ganging and/or auto-squaring
// of axes can be enabled here.
#define X_GANGED            1
#define X_AUTO_SQUARE       1
#define Y_GANGED            1
#define Y_AUTO_SQUARE       1
//#define Z_GANGED            1
//#define Z_AUTO_SQUARE       1
// For ganged axes the limit switch input (if available) can be configured to act as a max travel limit switch.
// NOTE: If board map already has max limit inputs defined this configuration will be ignored.
//#define X_GANGED_LIM_MAX    1
//#define Y_GANGED_LIM_MAX    1
//#define Z_GANGED_LIM_MAX    1

/*EOF*/

/*
  btt_skr_1.4_turbo_map.h - driver code for LPC176x processor, pin mappings compatible with BTT SKR v1.4 Turbo board

  Part of grblHAL

  Copyright (c) 2020-2021 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
  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/>.
*/

// NOTE:
// P0.27, P0.28 are dedicated I2C pins without pull up/down.
// P0.29, P0.30 must have same direction as used for USB operation.

#if N_ABC_MOTORS > 2
#error "Axis configuration is not supported!"
#endif

#define BOARD_NAME "BTT SKR E3 Turbo"

#if TRINAMIC_ENABLE == 2130 || TRINAMIC_ENABLE == 5160 //|| TRINAMIC_ENABLE == 2209
#define HAS_BOARD_INIT
void board_init (void);
#endif

//#if EEPROM_ENABLE
//#error "This board cannot be used with current EEPROM code!"
//#endif

// Define step pulse output pins.
#define X_STEP_PN               1
#define X_STEP_PORT             port(X_STEP_PN)
#define X_STEP_PIN              4
#define Y_STEP_PN               1
#define Y_STEP_PORT             port(Y_STEP_PN)
#define Y_STEP_PIN              14
#define Z_STEP_PN               4
#define Z_STEP_PORT             port(Z_STEP_PN)
#define Z_STEP_PIN              29
#define STEP_OUTMODE            GPIO_BITBAND

// Define step direction output pins.
#define X_DIRECTION_PN          1
#define X_DIRECTION_PORT        port(X_DIRECTION_PN)
#define X_DIRECTION_PIN         8
#define Y_DIRECTION_PN          1
#define Y_DIRECTION_PORT        port(Y_DIRECTION_PN)
#define Y_DIRECTION_PIN         15
#define Z_DIRECTION_PN          4
#define Z_DIRECTION_PORT        port(Z_DIRECTION_PN)
#define Z_DIRECTION_PIN         28
#define DIRECTION_OUTMODE       GPIO_BITBAND

// Define stepper driver enable/disable output pin(s).
#define X_ENABLE_PN             1
#define X_ENABLE_PORT           port(X_ENABLE_PN)
#define X_ENABLE_PIN            0
#define Y_ENABLE_PN             1
#define Y_ENABLE_PORT           port(Y_ENABLE_PN)
#define Y_ENABLE_PIN            9
#define Z_ENABLE_PN             1
#define Z_ENABLE_PORT           port(Z_ENABLE_PN)
#define Z_ENABLE_PIN            16

// Define homing/hard limit switch input pins.
// NOTE: All limit bits (needs to be on same port)
#define LIMIT_PN                1
#define LIMIT_PORT              port(LIMIT_PN)
#define X_LIMIT_PIN             29
#define Y_LIMIT_PIN             28
#define Z_LIMIT_PIN             27
#define LIMITS_POLL_PORT        port(1) // NOTE: Port 1 is not interrupt capable, use polling instead!
#define LIMIT_INMODE            GPIO_BITBAND

// Define ganged axis or A axis step pulse and step direction output pins.
#if N_ABC_MOTORS > 0
#define M3_AVAILABLE
#define M3_STEP_PN              2
#define M3_STEP_PORT            port(M3_STEP_PN)
#define M3_STEP_PIN             6
#define M3_DIRECTION_PN         2
#define M3_DIRECTION_PORT       port(M3_DIRECTION_PN)
#define M3_DIRECTION_PIN        7
#define M3_LIMIT_PORT           port(LIMIT_PN)
#define M3_LIMIT_PIN            26
#define M3_ENABLE_PN            0
#define M3_ENABLE_PORT          port(M3_ENABLE_PN)
#define M3_ENABLE_PIN           4
#endif

// Define ganged axis or B axis step pulse and step direction output pins.
#if N_ABC_MOTORS == 2
#define M4_AVAILABLE
#define M4_STEP_PN              2
#define M4_STEP_PORT            port(M4_STEP_PN)
#define M4_STEP_PIN             1
#define M4_DIRECTION_PN         0
#define M4_DIRECTION_PORT       port(M4_DIRECTION_PN)
#define M4_DIRECTION_PIN        21
#define M4_LIMIT_PORT           port(LIMIT_PN)
#define M4_LIMIT_PIN            25
#define M4_ENABLE_PN            0
#define M4_ENABLE_PORT          port(M4_ENABLE_PN)
#define M4_ENABLE_PIN           21
#endif

// Define probe switch input pin.
#define PROBE_PN                1
#define PROBE_PORT              port(PROBE_PN)
#define PROBE_PIN               22

// Define spindle enable and spindle direction output pins.
#define SPINDLE_ENABLE_PN       1
#define SPINDLE_ENABLE_PORT     port(SPINDLE_ENABLE_PN)
#define SPINDLE_ENABLE_PIN      20
#define SPINDLE_DIRECTION_PN    1
#define SPINDLE_DIRECTION_PORT  port(SPINDLE_DIRECTION_PN)
#define SPINDLE_DIRECTION_PIN   21

// Start of PWM & Stepper Enabled Spindle

// Define flood and mist coolant enable output pins.
#define COOLANT_FLOOD_PN        1
#define COOLANT_FLOOD_PORT      port(COOLANT_FLOOD_PN)
#define COOLANT_FLOOD_PIN       19

#define COOLANT_MIST_PN         1
#define COOLANT_MIST_PORT       port(COOLANT_MIST_PN)
#define COOLANT_MIST_PIN        30

// Define user-control CONTROLs (reset, feed hold, cycle start) input pins.
#define RESET_PORT_PN           0
#define RESET_PORT              port(RESET_PORT_PN)
#define RESET_PIN               18

#define FEED_HOLD_PN            0
#define FEED_HOLD_PORT          port(FEED_HOLD_PN)
#define FEED_HOLD_PIN           16

#define CYCLE_START_PN          0
#define CYCLE_START_PORT        port(CYCLE_START_PN)
#define CYCLE_START_PIN         15

#define CONTROL_INMODE          GPIO_BITBAND

#ifdef SPINDLE_PWM_PIN_2_4
#define SPINDLE_PWM_CHANNEL     PWM1_CH5    // MOSFET3 (P2.4)
#else
#define SPINDLE_PWM_CHANNEL     PWM1_CH6    // BED MOSFET (P2.5)
#endif
#define SPINDLE_PWM_USE_PRIMARY_PIN   false
#define SPINDLE_PWM_USE_SECONDARY_PIN true

#if SDCARD_ENABLE
#define SD_SPI_PORT             0
#define SD_CS_PN                0
#define SD_CS_PORT              port(SD_CS_PN)
#define SD_CS_PIN               6
#endif

#if TRINAMIC_ENABLE == 2130 || TRINAMIC_ENABLE == 5160

#define TRINAMIC_MOSI_PN        1
#define TRINAMIC_MOSI_PORT      port(TRINAMIC_MOSI_PN)
#define TRINAMIC_MOSI_PIN       17
#define TRINAMIC_MISO_PN        0
#define TRINAMIC_MISO_PORT      port(TRINAMIC_MISO_PN)
#define TRINAMIC_MISO_PIN       5
#define TRINAMIC_SCK_PN         0
#define TRINAMIC_SCK_PORT       port(TRINAMIC_SCK_PN)
#define TRINAMIC_SCK_PIN        4
#endif

#if TRINAMIC_ENABLE == 2130 || TRINAMIC_ENABLE == 5160 || TRINAMIC_ENABLE == 2209
#define MOTOR_CS_PN             1
#define MOTOR_CS_PORT           port(MOTOR_CS_PN)
#define MOTOR_CSX_PIN           1
#define MOTOR_CSY_PIN           10
#define MOTOR_CSZ_PIN           17
#ifdef M3_AVAILABLE
#define MOTOR_CSM3_PIN          5
#endif
#ifdef M4_AVAILABLE
#define MOTOR_CSM4_PIN          22
#endif

#endif


/**/

src/driver.h change to include my config

diff --git a/src/driver.h b/src/driver.h
index 20551f5..084cdce 100644
--- a/src/driver.h
+++ b/src/driver.h
@@ -81,6 +81,8 @@
   #include "btt_skr_1.3_map.h"
 #elif defined(BOARD_BTT_SKR_14_TURBO)
   #include "btt_skr_1.4_turbo_map.h"
+#elif defined(BOARD_BTT_SKR_E3_TURBO)
+  #include "btt_skr_e3_turbo_map.h"
 #elif defined(BOARD_MKS_SBASE_13)
   #include "mks_sbase_map.h"
 #elif defined(BOARD_MY_MACHINE)

Ideas? Maybe the EEPROM is corrupted? Can I reset it via an SD card file for example?

Contextual notes: I have both X & Y ganged (MPCNC)

[terjeio]

There are some checks in grbl/grbllib.c to verify that the driver is usable. Settings and HAL version number match is basic and done in the driver and returned to grbllib as a bool, these are correct. Checks for variable spindle support and safety door input is among those done against driver capabilities flags and I would guess one of these fails.

So first thing to do is to check that ENABLE_SAFETY_DOOR_INPUT_PIN is not uncommented in grbl/config.h as your pin map file does not have a mapping for that.

[terjeio]

I have added a reason code (a bitfield containing flags) to the incompatible driver message, replace grbllib.c with this version:

grbllib.zip

Note that this requires a recent version of the core, perhaps the latest, to compile.

[dzervas]

BTW shouldn't the core and the rest of the libs be git submodules?

thank you very much for your response, will test everything later tonight

[dzervas]

What I also don't get about the 2209s is how to set them up in the map. They need CS, right? Otherwise you need a specific UART port for each driver or software UART - which both sound stupid in my head.
From what I see in the "docs" for the board (more like a 5 picture PDF) the "UART pin" is the CS pin and it's not on the same PN for every driver:

link to manual: https://www.roboter-bausatz.de/media/pdf/03/15/06/BTT-SKR-E3-Turbo-User-Manual.pdf

How would I setup the MOTOR_CS<axis>_PIN? or maybe the EN pin is used for CS so I have to setup nothing more?

[terjeio]

BTW shouldn't the core and the rest of the libs be git submodules?

They are, except the NXP SDK which is part of the driver repo.

What I also don't get about the 2209s is how to set them up in the map. They need CS, right?

No - they do not support SPI mode.

Otherwise you need a specific UART port for each driver or software UART - which both sound stupid in my head.

Yes - kind of stupid to have a software UART for each as up to four can be controlled by adressing the driver in the messages sent. So only two hardware UARTs are needed for 5 axes.

This driver does not have support for software UARTs, that has to be added.
@fitch22 did that for the STM32F4xx driver, code is here.

[dzervas]

huh, so there's currnetly no support for this board due to the UART problem? 😞
I still don't get what that UART pin is - just TX? No RX?

They are, except the NXP SDK which is part of the driver repo.

Lol, completely missed the .gitmodules - I'll try to checkout master and see how that works out (although aren't there any API changes? we'll see I guess...)

[dzervas]

I got the main thing to work! I defined a SAFETY_DOOR pin and I've got a prompt!
I updated to master and it compiled without a hitch

But another problem is that I can't seem to get working is save settings to EEPROM. For some reason, every time
I hard reset the board (via the button) all my settings are lost... I did have that even before the update

[terjeio]

Do you have an I2C EEPROM connected? If not do not enable it, settings are then stored in flash.
If you have is it connected to the correct pins? Check with the $pins command.

[terjeio]

huh, so there's currnetly no support for this board due to the UART problem? 😞

Correct, I cannot write code to support every board out there. For a start I have to buy one or have somebody donate one to me...

I still don't get what that UART pin is - just TX? No RX?

You are talking about the TMC2209? If so it uses only one pin for both RX and TX since the protocol is request/reply. A software implementation has to switch pin direction after sending a message and then read the response. For hardware implementations a 1K resistor is typically used to connect the MCU RX and TX pins - the driver pin is connected to the MCU RX pin.

[dzervas]

ooooh cool cool - that makes everything so much clearer! thank you!

I'll start porting the 2209 code from the STM32 driver

I know very well that you can't support everything, I'm a dev myself. I was just sad that I wasn't lucky. I keep asking myself how do you manage compatibility with so many boards, archs and SDKs... impressive work!

[dzervas]

I'm having a hard time translating the interrupt timer/counter code from the STM32 variant:

		MX_TIM7_Init();
		htim7.Instance->CR1 |= TIM_CR1_UDIS;			// Disable update events
		HAL_TIM_Base_Start_IT(&htim7);

and the whole MX_TIM7_Init function. Can you nudge me in the right direction? I'm having quite a hard time figuring out how the internal clocks of the LPC work - the rest of the code is almost the same and seems to be ok

[fitch22]

Dimitris, The gist of how this works is there is a timer used for an interrupt, the rate is the bit rate for the serial protocol. The timer is normally disabled so that interrupts do not happen unless you are transmitting or receiving. For the STM32 version I have, Timer 7 is the least capable of all the timers and thus the simplest as well. The code snippet you show initializes the counter, then sets the update disable bit (this stops the rollover of the counter from generating an interrupt) and then sets up the timer to generate an interrupt. The code is all part of what is provided by ST and will likely have something similar provided by NXP. For a serial transmission, the bits are output 1 bit every interrupt. At the end of a write (no readback) the interrupts are turned off. For a serial reception, first the read request is sent to the 2209 similar to a write, but after the write the output pin is switched to an input and the pin is polled for the beginning of the START bit (low). When the transition is found at the beginning of the START bit, the counter used for the timer is adjusted so that interrupts will occur in approximately the center of each bit period. The number of bits to be received are captured after which the interrupts are again turned off and the pin is changed back to an output. I am not familiar with the timers or interrupts in the LPC processors, but there is most likely something very similar. I have a SKR 1.4 Turbo if you need me to test anything when you are ready. Bill From: Dimitris Zervas ***@***.***> Sent: Friday, November 19, 2021 9:39 AM To: grblHAL/LPC176x ***@***.***> Cc: fitch22 ***@***.***>; Mention ***@***.***> Subject: Re: [grblHAL/LPC176x] TMC2209 on SKR E3 Turbo report incompatible driver (Issue #13) I'm having a hard time translating the interrupt timer/counter code from the STM32 variant: MX_TIM7_Init(); htim7.Instance->CR1 |= TIM_CR1_UDIS; // Disable update events HAL_TIM_Base_Start_IT(&htim7); and the whole MX_TIM7_Init function. Can you nudge me in the right direction? I'm having quite a hard time figuring out how the internal clocks of the LPC work - the rest of the code is almost the same and seems to be ok — You are receiving this because you were mentioned. Reply to this email directly, <#13 (comment)> view it on GitHub, or <https://github.com/notifications/unsubscribe-auth/ACQUGISXWNQ75W2MRHZ7IR3UM2DVDANCNFSM5IIFJ6GA> unsubscribe. Triage notifications on the go with GitHub Mobile for <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> iOS or <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub> Android. <https://github.com/notifications/beacon/ACQUGIUXXAXGCCXYIDXHP6TUM2DVDA5CNFSM5IIFJ6GKYY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGOHIJDZCQ.gif>

[terjeio]

It is a long time since I worked with peripherals on this MCU, and I like to access registers directly bypassing library code. If this does not put you off then take a look at how the main stepper and step pulse timers are set up and handled in driver.c, init code is here.

You can also try to dig into the Marlin source to see how they have implemented soft UARTs.

[dzervas]

woah, way, way more info than I was expecting! I think that I have enough to start digging! Thanks a TON!!!!

[dzervas]

Hmmm, I've done a first try here: https://github.com/dzervas/LPC176x/blob/master/src/btt_skr_2.x.c and when I send $338=1 or $338=7 the controller just hangs

(I'm way too bored to whip out the logic analyzer but I think I'll haave to... 😠 )

I'm guessing I'm infinite looping in a tmc_uart_read because the IRQHandler never fires... Even if I set CTCR=1 for counter and PR=SystemCoreClock / TMC2209_F_CLK / Chip_Clock_GetPCLKDiv(SUART_TIMER_PCLK) - 1; for the SUART_TIMER (Timer3) I still get that hang... Counter is not what we need.

I fixed a stupid error that I had that I was toggling the IRQ instead of the TCR of the timer. But even with TCR=0b11 I don't get any events fired 😢