Advanced Driver Chip Module
This module is used to control SPI based stepper motor driver chips. Like the Panucatt Bigfoot series.
Alternatively the Smoothieboard must be hard reset after power is on.
This module is enabled in config with:
motor_driver_control.motor1.enable true # where motor1 is any name you wish
the chip this controls is set with:
motor_driver_control.motor1.chip DRV8711 # this can be one of DRV8711 or TMC2660 The latter can control any TMC26x derivative
The SPI channel to use must be set with:
motor_driver_control.motor1.spi_channel 0 # or 1 motor_driver_control.motor1.spi_cs_pin 0.10 # any pin motor_driver_control.motor1.spi_frequency 100000 # the spi frequency to use
other config settings:
motor_driver_control.motor1.axis X # for display purposes and for setting in Mxxx commands and telling the system which axis it controls motor_driver_control.motor1.alarm true # enable alarm checking of chip, and report with a console message motor_driver_control.motor1.halt_on_alarm true # set to true to force a halt on any alarm condition motor_driver_control.motor1.current 3000 # set the motor current in milliamps motor_driver_control.motor1.max_current 4000 # the maximum cuurent the chip allows motor_driver_control.motor1.microsteps 128 # the microsteps for this driver
Some chip specific configs are…
motor_driver_control.motor1.sense_resistor xxx # set the sense resistor used, this value is chip specific, set top the default for commonly used drivers motor_driver_control.motor1.gain xxx # set the gain for a DRV8711, leave at default if you do not know what this is # direct register setting... order and codes are chip dependent, values are in 32 bit Hex motor_driver_control.motor1.reg 00002,981C0,A0000,C000E,E0060
An example of config entries is as follows, this sets two advanced drivers, one is a DRV8711 and the other is a TMC2660.
motor_driver_control.alpha.enable true # alpha (X) is a TMC26X motor_driver_control.alpha.axis X # A to set the settings motor_driver_control.alpha.chip TMC2660 # chip name motor_driver_control.alpha.current 1500 # current in milliamps motor_driver_control.alpha.max_current 2800 # max current in milliamps motor_driver_control.alpha.microsteps 64 # microsteps motor_driver_control.alpha.alarm true # set to true means the error bits are checked motor_driver_control.alpha.halt_on_alarm false # if set to true means ON_HALT is entered on any error bits being set motor_driver_control.alpha.spi_channel 1 # SPI channel 1 is sdcard channel motor_driver_control.alpha.spi_cs_pin 0.10 # SPI CS pin #motor_driver_control.alpha.spi_frequency 100000 # SPI frequency motor_driver_control.beta.enable true # beta (Y) is a DRV8711 motor_driver_control.beta.axis Y # Y to set the settings motor_driver_control.beta.chip DRV8711 # chip name motor_driver_control.beta.current 4000 # current in milliamps motor_driver_control.beta.max_current 4000 # max current in milliamps motor_driver_control.beta.microsteps 64 # microsteps motor_driver_control.beta.alarm true # set to true means the error bits are checked motor_driver_control.beta.halt_on_alarm false # if set to true means ON_HALT is entered on any error bits being set motor_driver_control.beta.spi_channel 1 # SPI channel 1 is sdcard channel motor_driver_control.beta.spi_cs_pin 0.19! # SPI CS pin DRV8711 requires inverted CS #motor_driver_control.beta.spi_frequency 100000 # SPI frequency
NOTE the step and dir must be driven via the step and dir pins and cannot be driven over the SPI interface.
They are configured as normal, for example…
alpha_step_pin 2.0 # Pin for alpha stepper step signal alpha_dir_pin 0.5 # Pin for alpha stepper direction
M code settings
Many settings can be made on the fly with M codes, many if these are specific to certain chips:
- M911 will dump all the registers and status of all the motors
- M911.1 Pn (or X0) will dump the registers and status of the selected motor. R0 will request format in processing machine readable format
- M911.2 Pn (or Y0) Rxxx Vyyy sets Register xxx to value yyy for motor nnn, xxx == 255 writes the registers, xxx == 0 shows what registers are mapped to what
- M911.3 Pn (or X0) will set the options based on the parameters passed as below…
- M911.3 Onnn Qnnn setStallGuardThreshold O=stall_guard_threshold, Q=stall_guard_filter_enabled
- M911.3 Hnnn Innn Jnnn Knnn Lnnn setCoolStepConfiguration H=lower_SG_threshold, I=SG_hysteresis, J=current_decrement_step_size, K=current_increment_step_size, L=lower_current_limit
- M911.3 S0 Unnn Vnnn Wnnn Xnnn Ynnn setConstantOffTimeChopper U=constant_off_time, V=blank_time, W=fast_decay_time_setting, X=sine_wave_offset, Y=use_current_comparator
- M911.3 S1 Unnn Vnnn Wnnn Xnnn Ynnn setSpreadCycleChopper U=constant_off_time, V=blank_time, W=hysteresis_start, X=hysteresis_end, Y=hysteresis_decrement
- M911.3 S2 Zn setRandomOffTime Z=on|off Z1 is on Z0 is off
- M911.3 S3 Zn setDoubleEdge Z=on|off Z1 is on Z0 is off
- M911.3 S4 Zn setStepInterpolation Z=on|off Z1 is on Z0 is off
- M911.3 S5 Zn setCoolStepEnabled Z=on|off Z1 is on Z0 is off
- DRV8711: has none at the moment, just set the raw register.
* M906 Xnnn change current to nnn in milliamps for motor designator X
- M909 Ynn set microstepping for motor designator Y tp 1/nn
- M909.1 Xnnn set microstepping and also change steps/mm accordingly
These are saved with M500 and override anything set in config.