Setting up Teensy 4.1 + tmc2240 SPI and onboard SD

[madaeon01]

Hi,
I have been trying for a week to set up this configuration without help, I am wondering why it seems almost impossible.
I tried Arduino IDE with guide https://github.com/grblHAL/core/wiki/Compiling-GrblHAL but you can't add folder , only form Zip file. SO each time you have to modify mymachines.h you would have to reinstall the library...

Tried Platform.io . After a lot of work, I am stuck there I try to set up the SPI drivers. Compiler has issues with definitions in the 2240.h (tried also 5160.h) files; in the end, it seems to work, but I keep getting Usb.resets from the Teensy. Without including the Spi Trinamic files, it works, but the stepper drivers would not move.

I would really appreciate support (even paid) as I am stuck at this basic step for many days already and can't progress.

[terjeio]

I tried Arduino IDE with guide https://github.com/grblHAL/core/wiki/Compiling-GrblHAL but you can't add folder

On Windows? The IDE copies the source to your home folder, you have to add the motors and trinamic folders there.

On my machine I can go to the source folder by opening this path:
%HOMEDRIVE%%HOMEPATH%\Documents\Arduino\libraries\grblHAL_Teensy4\src

... I keep getting Usb.resets from the Teensy.

That indicates a crash somewhere, a pity that there is no debug port on the Teensy...
If you have a UART <> USB breakout you can output debug messages to the debug port, I usually use debug_writeln(), enable it in config.h by uncommenting this line.
The default pins for the UART is 0 (RX) and 1 (TX).

If you fork the driver code and commit your changes to that it will be easier to help.

[madaeon01]

Hi,
I am going back to try the Arduino IDE way, as with PlatformIO I am stuck.

I cloned the grblHAL_Teensy4\src .
If I add the folder to Arduino and upload the example, it uploads correctly.

If I try to enable #define SDCARD_ENABLE on mymachines.h, it asks for uSDFS.h.
I downloaded from https://github.com/WMXZ-EU/uSDFS and added to Arduino libraries. Now I get this error:

c:\Users\madae\Documents\Arduino\libraries\uSDFS\src/uSDFS.h:55:24: error: redefinition of 'struct tm'
55 | typedef struct tm

So let's skip SD card for now.
Downloaded https://github.com/grblHAL/Plugins_motor into grblHAL_Teensy4\src\motors . OK.
Downloaded https://github.com/terjeio/Trinamic-library into grblHAL_Teensy4\src\Trinamic. Got this error:

c:\Users\madae\Documents\Arduino\libraries\grblHAL_Teensy4\src/trinamic/tmchal.h:187:1: error: designator order for field 'tmchal_t::name' does not match declaration order in 'const tmchal_t'
187 | };

So switched "name" and "driver" order at the end of the file.
Now there are other errors:

:\Users\madae\Documents\Arduino\libraries\grblHAL_Teensy4\src/trinamic/tmc5160.h:124:6: error: using typedef-name 'tmc5160_regaddr_t' after 'enum'
124 | enum tmc5160_regaddr_t {
| ^~~~~~~~~~~~~~~~~
c:\Users\madae\Documents\Arduino\libraries\grblHAL_Teensy4\src/trinamic/tmc5160.h:122:17: note: 'tmc5160_regaddr_t' has a previous declaration here
122 | typedef uint8_t tmc5160_regaddr_t;

I am really wondering, does anybody have all these issues? It seems there are other people using Grblhal with Teensy and SPI drivers, but how did they solve these issues?
I had some problem on platformIO, and trying to fix these files, there is probably the reason of the Usb"reset" I get.

[terjeio]

I downloaded from https://github.com/WMXZ-EU/uSDFS and added to Arduino libraries

Use the one linked in the readme.

c:\Users\madae\Documents\Arduino\libraries\grblHAL_Teensy4\src/trinamic/tmchal.h:187:1: error: designator order for field 'tmchal_t::name' does not match declaration order in 'const tmchal_t'
187 | }

I've never seen this before, and I have a TMC2660 based board working on my test bench now. Will check.

It seems there are other people using Grblhal with Teensy and SPI drivers, but how did they solve these issues?

Where did you see that? I have not added the SPI interfaces to this driver since the breakout boards available are all for external stepper drivers.

[terjeio]

The declaration error order may be due to you adding the SPI interfaces with C++ code...

[madaeon01]

Hi,
what do you mean "be due to you adding the SPI interfaces with C++ code..."?
I did not modify anything in the Trinamic file, and I get this error.
By the way, I actually would like to use the Tmc 2240 from https://biqu.equipment/products/bigtreetech-tmc2240-v1-0 ; I tried both the 2440 and 5160 profiles, and they both give me the same error.

In file included from c:\Users\madae\Documents\Arduino\libraries\grblHAL_Teensy4\src/trinamic/tmc2240hal.h:42,
from c:\Users\madae\Documents\Arduino\libraries\grblHAL_Teensy4\src/motors/trinamic.h:67,
from c:\Users\madae\Documents\Arduino\libraries\grblHAL_Teensy4\src\grbl/driver_opts2.h:190,
from c:\Users\madae\Documents\Arduino\libraries\grblHAL_Teensy4\src\driver.h:132,
from c:\Users\madae\Documents\Arduino\libraries\grblHAL_Teensy4\src\neopixel_uart.cpp:30:
c:\Users\madae\Documents\Arduino\libraries\grblHAL_Teensy4\src/trinamic/tmc2240.h:193:6: error: using typedef-name 'tmc2240_regaddr_t' after 'enum'
193 | enum tmc2240_regaddr_t {
| ^~~~~~~~~~~~~~~~~
c:\Users\madae\Documents\Arduino\libraries\grblHAL_Teensy4\src/trinamic/tmc2240.h:191:17: note: 'tmc2240_regaddr_t' has a previous declaration here
191 | typedef uint8_t tmc2240_regaddr_t;
| ^~~~~~~~~~~~~~~~~
exit status 1

Compilation error: exit status 1

I would really, really appreciate support on this topic. Thanks again.
In the meantime, I checked the uSDFS library, and it works! Somehow I missed that I had to use this version. Thanks.

[terjeio]

The iMXRT1062 (Teensy 4) driver does not have the low-level SPI interfaces required, these are grblHAL driver specific.
E.g. for the STM32F4xx driver they are implemented in this (lowest level) and this (configuration and Trinamic datagram handling) file. The latter has two versions, one for hardware SPI and one for software SPI (bit banging).

Are you making your own breakout board with Trinamic drivers?

[madaeon01]

Yes, that was the plan. I had previously my own Pcb with an Esp32+FluidNC that was working with the tmc2130, but I wanted to check if I could get higher speeds an more precision.

So I did some search and it seemed that Grblhal on Teensy could get faster... but now you're saying that I can only control them in "standalone mode" (which would not ok because I need to be able to set stallguard/CoolStep/Spreadcycle), and SPI mode (for configuration) is not possible on the Teensy? This would be quite unfortunate...

[terjeio]

It is possible, SPI driver code has to be added first. Then a board map that has the neccesary pin definitions.
Have you started the board design?

[madaeon01]

I would re-use the Esp32-based board, but using the teensy instead, I will have to re-route it, so I am flexbile for the pinout, and my plan was to test on breadboard first to be able to quickly compare the performances with the previous board.
As for the components controlled, there would be 3x tmc2240, 3+1x endstops, a laser controlled with pwm, and an extra pwm controlled led channel.
The application would be a galvo-like project; speed was ok with the esp32, but I would be happy to be able to go slightly faster/with better microstep performances.

[terjeio]

I have comitted tentative support for Trinamic SPI drivers, I leave it to you for full testing - I have only wired a single TMC2240 directly to the Teensy for initial tests.
Note that the PWM spindle pins clashes with the default SPI pins so cannot be used, when testing use the on/off spindle instead - uncomment this line and set it to SPINDLE_ONOFF0. AFAIKT the SPI pins can be changed with a few calls but I have not tested this.

You will have to download the latest Trinamic submodule, I have made that compilable with cpp. FYI when the new code is verified/completed I'll add the motors and trinamic submodules to the iMXRT1062 driver.

[madaeon01]

Thanks! I will check it. Unfortunately, for my project (fast stepper moving Galvo-like), I had issues with diagonal lines being wobbly, so I switched to a raster approach, rather than using Gcode; results are much better now.