问题：X & Y Driver 测试失败。升级到3.6.2后检查电机功率 #647

马克杰布

控制板

我自己定制的ESP32 绘图仪控制器

我已经在 Wallbot 绘图仪上在此板上测试 FluidNC 一段时间了，它在 SPI 模式下与 3.5.1 和 TMC2130 一起相当可靠地运行。

最大的烦恼是我发现 TMC2130s 在重置（重置按钮）时无法初始化，只有电源循环才能正确重新初始化它们，所以我想知道是否值得尝试更新版本但在升级到 3.6.2 之后， TMC2130s 每次都无法通过启动检查。

降级到 3.5.1，驱动程序再次工作。
我在使用 GrblEsp 的同一个板上没有看到这些问题。

董事会供应商的帮助

是的
不
不适用

机器描述

带伺服和 2 个 TMC2130 spi 模式步进驱动器的 Wallbot。

输入电路

没有反应

配置文件

name: ESP32_Plotter_Controller_RevB_Emerald_Dingo
board: Emerald Dingo (RevB)

kinematics:
  WallPlotter:
    left_axis: 0
    left_anchor_x: -100.000
    left_anchor_y: 100.000
    right_axis: 1
    right_anchor_x: 100.000
    right_anchor_y: 100.000
    segment_length: 10.000

stepping:
  engine: RMT
  idle_ms: 250
  dir_delay_us: 0
  pulse_us: 3
  disable_delay_us: 0

axes:
  shared_stepper_disable_pin: gpio.2
  x:
    steps_per_mm: 100.000
    max_rate_mm_per_min: 5000.000
    acceleration_mm_per_sec2: 200.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 2
      mpos_mm: 0.000
      positive_direction: true
      settle_ms: 250.000
      seek_mm_per_min: 2000.000
      feed_mm_per_min: 200.000
      seek_scaler: 1.100
      feed_scaler: 5.000
    motor0:
      limit_all_pin: NO_PIN
      hard_limits: false
      tmc_2130:
        direction_pin: gpio.26
        step_pin: gpio.25
        run_amps: 0.350
        hold_amps: 0.125
        microsteps: 16
        stallguard: 16
        stallguard_debug: false
        run_mode: StealthChop
        homing_mode: StealthChop
        use_enable: false
        r_sense_ohms: 0.110
        cs_pin: gpio.17
    motor1:
      null_motor:
  y:
    steps_per_mm: 100.000
    max_rate_mm_per_min: 5000.000
    acceleration_mm_per_sec2: 200.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 2
      mpos_mm: 0.000
      positive_direction: false
      settle_ms: 250.000
      seek_mm_per_min: 2000.000
      feed_mm_per_min: 200.000
      seek_scaler: 1.100
      feed_scaler: 5.000
    motor0:
      limit_all_pin: NO_PIN
      hard_limits: false
      tmc_2130:
        direction_pin: gpio.33
        step_pin: gpio.32
        run_amps: 0.350
        hold_amps: 0.125
        microsteps: 16
        stallguard: 16
        stallguard_debug: false
        run_mode: StealthChop
        homing_mode: StealthChop
        use_enable: false
        r_sense_ohms: 0.110
        cs_pin: gpio.16
    motor1:
      null_motor:
  z:
    steps_per_mm: 100.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 200.000
    max_travel_mm: 5.000
    soft_limits: false
    homing:
      cycle: 1
      mpos_mm: 5.000
      positive_direction: false
      settle_ms: 250.000
      seek_mm_per_min: 2000.000
      feed_mm_per_min: 200.000
      seek_scaler: 1.100
      feed_scaler: 5.000
    motor0:
      null_motor:
    motor1:
      null_motor:

spi:
  miso_pin: gpio.19
  mosi_pin: gpio.23
  sck_pin: gpio.18

sdcard:
  cs_pin: gpio.5

control:
  reset_pin: gpio.0:low:pu

coolant:
  delay_ms: 1000.000

probe:
  check_mode_start: false

macros:
  startup_line0: 
  startup_line1: 
  macro0: 
  macro1: 
  macro2: 
  macro3: 

start:
  must_home: true
  check_limits: true
  deactivate_parking: false

user_outputs:

relay:
  tool_num: 0
  speed_map: 0=0.0% 1000=100.0%
  spinup_ms: 0
  spindown_ms: 0
  output_pin: gpio.27
  disable_with_s0: false
  s0_with_disable: false
  spinup_ms: 0
  spindown_ms: 0
arc_tolerance_mm: 0.002
junction_deviation_mm: 0.010
verbose_errors: false
report_inches: false
enable_parking_override_control: false
use_line_numbers: false

启动消息

[MSG:INFO: FluidNC v3.6.2]
[MSG:INFO: Compiled with ESP32 SDK:v4.4.1-1-gb8050b365e]
[MSG:INFO: Local filesystem type is spiffs]
[MSG:INFO: Configuration file:config.yaml]
[MSG:INFO: Machine ESP32_Plotter_Controller_RevB_Emerald_Dingo]
[MSG:INFO: Board Emerald Dingo (RevB)]
[MSG:INFO: SPI SCK:gpio.18 MOSI:gpio.23 MISO:gpio.19]
[MSG:INFO: SD Card cs_pin:gpio.5 detect:NO_PIN]
[MSG:INFO: Stepping:RMT Pulse:3us Dsbl Delay:0us Dir Delay:0us Idle Delay:250ms]
[MSG:INFO: Axis count 3]
[MSG:INFO: Shared stepper disable gpio.2]
[MSG:INFO: Axis X (-300.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     tmc_2130 Step:gpio.25 Dir:gpio.26 CS:gpio.17 Disable:NO_PIN Index:-1 R:0.110]
[MSG:INFO:   Motor1]
[MSG:INFO: Axis Y (0.000,300.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     tmc_2130 Step:gpio.32 Dir:gpio.33 CS:gpio.16 Disable:NO_PIN Index:-1 R:0.110]
[MSG:INFO:   Motor1]
[MSG:INFO: Axis Z (5.000,10.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:   Motor1]
[MSG:ERR: X Axis driver test failed. Check motor power]
[MSG:ERR: Y Axis driver test failed. Check motor power]
[MSG:INFO: reset_pin gpio.0:low:pu]
[MSG:INFO: Kinematic system: WallPlotter]
[MSG:INFO: Relay Spindle Ena:NO_PIN Out:gpio.27 Dir:NO_PIN]
[MSG:INFO: Using spindle Relay]
[MSG:INFO: Connecting to STA SSID:TP-Link_FBC8]
[MSG:INFO: Connecting.]
[MSG:INFO: Connected - IP is 192.168.2.108]
[MSG:INFO: WiFi on]
[MSG:INFO: Start mDNS with hostname:http://fluidnc.local/]
[MSG:INFO: SSDP Started]
[MSG:INFO: HTTP started on port 80]
[MSG:INFO: Telnet started on port 23]

Grbl 3.6 [FluidNC v3.6.2 (wifi) '$' for help]
[MSG:INFO: '$H'|'$X' to unlock]

用户界面软件

网页界面，FluidTerm

发生了什么？

升级到 3.6.2 后，步进驱动程序测试失败。
正在研究 3.5.1。

其他信息

没有反应

培养

我们被迫重写 SPI 驱动程序来解决该问题。有一个代码分支具有名为 TMCSPI 的修复程序。

如果你想编译它，你可以测试它。它正在通过我们所有的测试。我们可能会调整一些小东西，但看起来很快就会发布。

马克杰布

谢谢你的提醒。驱动程序测试正在该分支上通过。我会试一试。

[MSG:INFO: Compiled with ESP32 SDK:v4.4.1-1-gb8050b365e]
[MSG:INFO: Local filesystem type is spiffs]
[MSG:INFO: Configuration file:config.yaml]
[MSG:INFO: Machine ESP32_Plotter_Controller_RevB_Emerald_Dingo]
[MSG:INFO: Board Emerald Dingo (RevB)]
[MSG:INFO: SPI SCK:gpio.18 MOSI:gpio.23 MISO:gpio.19]
[MSG:INFO: SD Card cs_pin:gpio.5 detect:NO_PIN]
[MSG:INFO: Stepping:RMT Pulse:3us Dsbl Delay:0us Dir Delay:0us Idle Delay:250ms]
[MSG:INFO: Axis count 3]
[MSG:INFO: Shared stepper disable gpio.2]
[MSG:INFO: Axis X (-300.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     tmc_2130 Step:gpio.25 Dir:gpio.26 CS:gpio.17 Disable:NO_PIN Index:-1 R:0.110]
[MSG:INFO:   Motor1]
[MSG:INFO: Axis Y (0.000,300.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     tmc_2130 Step:gpio.32 Dir:gpio.33 CS:gpio.16 Disable:NO_PIN Index:-1 R:0.110]
[MSG:INFO:   Motor1]
[MSG:INFO: Axis Z (5.000,10.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:   Motor1]
[MSG:INFO: X Axis driver test passed]
[MSG:INFO: Y Axis driver test passed]
[MSG:INFO: reset_pin gpio.0:low:pu]
[MSG:INFO: Kinematic system: WallPlotter]
[MSG:INFO: Relay Spindle Ena:NO_PIN Out:gpio.27 Dir:NO_PIN]
[MSG:INFO: Using spindle Relay]
[MSG:INFO: Connecting to STA SSID:TP-Link_FB8C]
[MSG:INFO: Connecting.]
[MSG:INFO: Connected - IP is 192.168.2.108]
[MSG:INFO: WiFi on]
[MSG:INFO: Start mDNS with hostname:http://fluidnc.local/]
[MSG:INFO: SSDP Started]
[MSG:INFO: HTTP started on port 80]
[MSG:INFO: Telnet started on port 23]

Grbl 3.5 [FluidNC v3.5.1-pre-FS (TMCSPI-ab6742d2) (wifi) '$' for help]
[MSG:INFO: '$H'|'$X' to unlock]```

MarkJB已完成关闭 2022 年 10 月 8 日

问题：X & Y Driver 测试失败。升级到3.6.2后检查电机功率#647

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控制板