Merge pull request #599 from Paciente8159/move-tmc-to-modules

Move TMC driver to modules

README.md

@@ -144,7 +144,6 @@ List of Supported G-Codes since µCNC 1.3.0:
   - Outside the RS274NGC scope
     - Bilinear surface mapping: G39,G39.1,G39.2*
     - Servo Control: M10*
-    - Trinamic settings: M350* (set/get microsteps), M906* (set/get current), 913* (stealthchop threshold), 914* (stall sensitivity-stallGuard capable chips only), 920* (set/get register)
     - Digital pins/trimpot settings: M351* (set/get microsteps), M907* (set/get current via digipot)
     - Laser PPI M126*(mode) M127*(PPI) and M128*(Pulse width)
     - Valid Non-Command Words: E (used by 3D printing firmware like [Marlin](https://github.com/MarlinFirmware/Marlin)) (currently not used)
@@ -182,6 +181,7 @@ Other G/M codes available via [external modules](https://github.com/Paciente8159
   - Wait for digital/analog input: M66
   - Set home position from current position: G28.1/G30.1
   - Play tone via PWM pin: M300
+  - Trinamic driver support and config commands: M350* (set/get microsteps), M906* (set/get current), 913* (stealthchop threshold), 914* (stall sensitivity-stallGuard capable chips only), 920* (set/get register)
 
 **ALL custom G/M codes require at least ENABLE_PARSER_MODULES option enabled**
 

uCNC/src/cnc_hal_config_helper.h

@@ -340,126 +340,6 @@ extern "C"
 #define STEPPERS_ENCODERS_MASK 0
 #endif
 
-#ifdef STEPPER0_HAS_TMC
-#if (STEPPER0_TMC_INTERFACE == TMC_UART)
-// if driver uses uart set pins
-#if (!ASSERT_PIN(STEPPER0_UART_TX) || !ASSERT_PIN(STEPPER0_UART_RX))
-#undef STEPPER0_HAS_TMC
-#error "Stepper 0 undefined UART pins"
-#endif
-#elif (STEPPER0_TMC_INTERFACE == TMC_SPI)
-#if (!ASSERT_PIN(STEPPER0_UART_DO) || !ASSERT_PIN(STEPPER0_UART_DI) || !ASSERT_PIN(STEPPER0_UART_CLK) || !ASSERT_PIN(STEPPER0_UART_CS))
-#undef STEPPER0_HAS_TMC
-#error "Stepper 0 undefined SPI pins"
-#endif
-#endif
-#endif
-#ifdef STEPPER1_HAS_TMC
-#if (STEPPER1_TMC_INTERFACE == TMC_UART)
-// if driver uses uart set pins
-#if (!ASSERT_PIN(STEPPER1_UART_TX) || !ASSERT_PIN(STEPPER1_UART_RX))
-#undef STEPPER1_HAS_TMC
-#error "Stepper 1 undefined UART pins"
-#endif
-#elif (STEPPER1_TMC_INTERFACE == TMC_SPI)
-#if (!ASSERT_PIN(STEPPER1_UART_DO) || !ASSERT_PIN(STEPPER1_UART_DI) || !ASSERT_PIN(STEPPER1_UART_CLK) || !ASSERT_PIN(STEPPER1_UART_CS))
-#undef STEPPER1_HAS_TMC
-#error "Stepper 1 undefined SPI pins"
-#endif
-#endif
-#endif
-#ifdef STEPPER2_HAS_TMC
-#if (STEPPER2_TMC_INTERFACE == TMC_UART)
-// if driver uses uart set pins
-#if (!ASSERT_PIN(STEPPER2_UART_TX) || !ASSERT_PIN(STEPPER2_UART_RX))
-#undef STEPPER2_HAS_TMC
-#error "Stepper 2 undefined UART pins"
-#endif
-#elif (STEPPER2_TMC_INTERFACE == TMC_SPI)
-#if (!ASSERT_PIN(STEPPER2_UART_DO) || !ASSERT_PIN(STEPPER2_UART_DI) || !ASSERT_PIN(STEPPER2_UART_CLK) || !ASSERT_PIN(STEPPER2_UART_CS))
-#undef STEPPER2_HAS_TMC
-#error "Stepper 2 undefined SPI pins"
-#endif
-#endif
-#endif
-#ifdef STEPPER3_HAS_TMC
-#if (STEPPER3_TMC_INTERFACE == TMC_UART)
-// if driver uses uart set pins
-#if (!ASSERT_PIN(STEPPER3_UART_TX) || !ASSERT_PIN(STEPPER3_UART_RX))
-#undef STEPPER3_HAS_TMC
-#error "Stepper 3 undefined UART pins"
-#endif
-#elif (STEPPER3_TMC_INTERFACE == TMC_SPI)
-#if (!ASSERT_PIN(STEPPER3_UART_DO) || !ASSERT_PIN(STEPPER3_UART_DI) || !ASSERT_PIN(STEPPER3_UART_CLK) || !ASSERT_PIN(STEPPER3_UART_CS))
-#undef STEPPER3_HAS_TMC
-#error "Stepper 3 undefined SPI pins"
-#endif
-#endif
-#endif
-#ifdef STEPPER4_HAS_TMC
-#if (STEPPER4_TMC_INTERFACE == TMC_UART)
-// if driver uses uart set pins
-#if (!ASSERT_PIN(STEPPER4_UART_TX) || !ASSERT_PIN(STEPPER4_UART_RX))
-#undef STEPPER4_HAS_TMC
-#error "Stepper 4 undefined UART pins"
-#endif
-#elif (STEPPER4_TMC_INTERFACE == TMC_SPI)
-#if (!ASSERT_PIN(STEPPER4_UART_DO) || !ASSERT_PIN(STEPPER4_UART_DI) || !ASSERT_PIN(STEPPER4_UART_CLK) || !ASSERT_PIN(STEPPER4_UART_CS))
-#undef STEPPER4_HAS_TMC
-#error "Stepper 4 undefined SPI pins"
-#endif
-#endif
-#endif
-#ifdef STEPPER5_HAS_TMC
-#if (STEPPER5_TMC_INTERFACE == TMC_UART)
-// if driver uses uart set pins
-#if (!ASSERT_PIN(STEPPER5_UART_TX) || !ASSERT_PIN(STEPPER5_UART_RX))
-#undef STEPPER5_HAS_TMC
-#error "Stepper 5 undefined UART pins"
-#endif
-#elif (STEPPER5_TMC_INTERFACE == TMC_SPI)
-#if (!ASSERT_PIN(STEPPER5_UART_DO) || !ASSERT_PIN(STEPPER5_UART_DI) || !ASSERT_PIN(STEPPER5_UART_CLK) || !ASSERT_PIN(STEPPER5_UART_CS))
-#undef STEPPER5_HAS_TMC
-#error "Stepper 5 undefined SPI pins"
-#endif
-#endif
-#endif
-#ifdef STEPPER6_HAS_TMC
-#if (STEPPER6_TMC_INTERFACE == TMC_UART)
-// if driver uses uart set pins
-#if (!ASSERT_PIN(STEPPER6_UART_TX) || !ASSERT_PIN(STEPPER6_UART_RX))
-#undef STEPPER6_HAS_TMC
-#error "Stepper 6 undefined UART pins"
-#endif
-#elif (STEPPER6_TMC_INTERFACE == TMC_SPI)
-#if (!ASSERT_PIN(STEPPER6_UART_DO) || !ASSERT_PIN(STEPPER6_UART_DI) || !ASSERT_PIN(STEPPER6_UART_CLK) || !ASSERT_PIN(STEPPER6_UART_CS))
-#undef STEPPER6_HAS_TMC
-#error "Stepper 6 undefined SPI pins"
-#endif
-#endif
-#endif
-#ifdef STEPPER7_HAS_TMC
-#if (STEPPER7_TMC_INTERFACE == TMC_UART)
-// if driver uses uart set pins
-#if (!ASSERT_PIN(STEPPER7_UART_TX) || !ASSERT_PIN(STEPPER7_UART_RX))
-#undef STEPPER7_HAS_TMC
-#error "Stepper 7 undefined UART pins"
-#endif
-#elif (STEPPER7_TMC_INTERFACE == TMC_SPI)
-#if (!ASSERT_PIN(STEPPER7_UART_DO) || !ASSERT_PIN(STEPPER7_UART_DI) || !ASSERT_PIN(STEPPER7_UART_CLK) || !ASSERT_PIN(STEPPER7_UART_CS))
-#undef STEPPER7_HAS_TMC
-#error "Stepper 7 undefined SPI pins"
-#endif
-#endif
-#endif
-
-#if defined(STEPPER0_HAS_TMC) || defined(STEPPER1_HAS_TMC) || defined(STEPPER2_HAS_TMC) || defined(STEPPER3_HAS_TMC) || defined(STEPPER4_HAS_TMC) || defined(STEPPER5_HAS_TMC) || defined(STEPPER6_HAS_TMC) || defined(STEPPER7_HAS_TMC)
-#define ENABLE_TMC_DRIVERS
-#ifndef ENABLE_MAIN_LOOP_MODULES
-#define ENABLE_MAIN_LOOP_MODULES
-#endif
-#endif
-
 #if defined(STEPPER0_HAS_MSTEP) || defined(STEPPER1_HAS_MSTEP) || defined(STEPPER2_HAS_MSTEP) || defined(STEPPER3_HAS_MSTEP) || defined(STEPPER4_HAS_MSTEP) || defined(STEPPER5_HAS_MSTEP) || defined(STEPPER6_HAS_MSTEP) || defined(STEPPER7_HAS_MSTEP)
 #define ENABLE_DIGITAL_MSTEP
 #endif

uCNC/src/module.c

@@ -18,7 +18,6 @@
 */
 
 #include "cnc.h"
-#include "modules/tmcdriver.h"
 #include "modules/digimstep.h"
 #include "modules/digipot.h"
 #include "modules/encoder.h"
@@ -60,10 +59,6 @@ void mod_init(void)
 	LOAD_MODULE(encoder);
 #endif
 
-#ifdef ENABLE_TMC_DRIVERS
-	LOAD_MODULE(tmcdriver);
-#endif
-
 #ifdef ENABLE_LASER_PPI
 	LOAD_MODULE(laser_ppi);
 #endif

uCNC/src/module.h

@@ -28,7 +28,7 @@ extern "C"
 #include <stdint.h>
 #include <stdbool.h>
 
-#define UCNC_MODULE_VERSION 10801
+#define UCNC_MODULE_VERSION 10807
 
 #define EVENT_CONTINUE false
 #define EVENT_HANDLED true

uCNC/src/modules/softuart.c

@@ -22,7 +22,7 @@ void softuart_putc(softuart_port_t *port, char c)
 	if (!port)
 	{
 #if (defined(MCU_HAS_UART2) && defined(DETACH_UART2_FROM_MAIN_PROTOCOL))
-		mcu_uart_putc(c);
+		mcu_uart2_putc(c);
 #endif
 	}
 	else
@@ -58,18 +58,20 @@ int16_t softuart_getc(softuart_port_t *port, uint32_t ms_timeout)
 	}
 	else
 	{
-		ms_timeout += mcu_millis();
+		ms_timeout *= 1000;
 		while (port->rx())
 		{
-			if (ms_timeout < mcu_millis())
+			if (!ms_timeout--)
 			{
 				return -1;
 			}
+			mcu_delay_us(1);
 		}
 		port->waithalf();
 
 		uint8_t bits = 8;
 		uint8_t mask = 0x01;
+
 		do
 		{
 			port->wait();

uCNC/src/modules/softuart.h

@@ -72,7 +72,7 @@ extern "C"
 	}                                                                  \
 	bool NAME##_rx(void)                                               \
 	{                                                                  \
-		return io_get_input(RXPIN);                                    \
+		return io_get_input(TRXPIN);                                    \
 	}                                                                  \
 	void NAME##_wait(void) { mcu_delay_cycles(F_CPU / BAUD); }         \
 	void NAME##_waithalf(void) { mcu_delay_cycles(F_CPU / 2 / BAUD); } \