Sammy C21 support for 2 TMC2209 drivers with UART com

Gixxerfast

Hi,
I'm tinkering with a little project where I'm using the Sammy C21 and I want to enable support for two TMC2209 drivers with serial communication/configuration.

It was fairly straightforward to modify the Sammy C21 firmware so that I can have two drivers with step/dir control. However when I want to enable UART/sercom things get a bit more complicated.

Part of it is probably because I don't know what I'm doing

These are the defines I'm using at the moment

#define BOARD_TYPE_NAME		"SAMMYC21"
#define BOOTLOADER_NAME		"SAMMYC21"

// General features
#define HAS_VREF_MONITOR                 0   // Nope no VREF-monitor
#define HAS_VOLTAGE_MONITOR              0   // Nope, this wil break the build!
#define HAS_12V_MONITOR                  0  
#define HAS_CPU_TEMP_SENSOR              1
#define HAS_ADDRESS_SWITCHES             0    // What is this? 
#define HAS_BUTTONS                      0     // Nope

// Drivers configuration
#define SUPPORT_DRIVERS                  1
#define HAS_SMART_DRIVERS                1
#define HAS_STALL_DETECT                 0
#define SINGLE_DRIVER			 0 // UE
#define SUPPORT_SLOW_DRIVERS	         0 // UE
#define SUPPORT_DELTA_MOVEMENT	0
#define USE_EVEN_STEPS			0 // UE

//------------------------------------------------------------------

#define ACTIVE_HIGH_STEP		1		// 1 = active high, 0 = active low
#define ACTIVE_HIGH_DIR			0		// 1 = active high, 0 = active low

#define SUPPORT_TMC51xx			0
#define SUPPORT_TMC2160			0
#define SUPPORT_TMC2660			0
#define SUPPORT_TMC22xx			1

constexpr size_t NumDrivers = 2;
constexpr size_t NumSmartDrivers = NumDrivers;
constexpr size_t MaxSmartDrivers = NumDrivers;

#define TMC22xx_USES_SERCOM				1 // UE
#define TMC22xx_HAS_MUX					1 // I don't have a MUX but if I set this everything gets easier it seems
#define TMC22xx_SINGLE_DRIVER			0 // UE
#define TMC22xx_HAS_ENABLE_PINS			0    // <- Am I supposed to set this ?
#define TMC22xx_VARIABLE_NUM_DRIVERS	0 // No, it's fixed to two
#define TMC22xx_USE_SLAVEADDR			1  // What does this mean ?
#define TMC22xx_DEFAULT_STEALTHCHOP		0   // No thanks

constexpr Pin GlobalTmc22xxEnablePin = PortAPin(9);

constexpr uint8_t TMC22xxSercomNumber = 4;
Sercom * const SERCOM_TMC22xx = SERCOM4;
//Sercom * TMC22xxSercoms[NumDrivers] = {SERCOM3, SERCOM3};

constexpr Pin TMC22xxSercomTxPin = PortAPin(22);
constexpr GpioPinFunction TMC22xxSercomTxPinPeriphMode = GpioPinFunction::C;
constexpr Pin TMC22xxSercomRxPin = PortAPin(20);
constexpr GpioPinFunction TMC22xxSercomRxPinPeriphMode = GpioPinFunction::D;
constexpr uint8_t TMC22xxSercomRxPad = 2;

Does the defines above look right for a simple TMC2209 board?

I now have a few build errors left

../src/Platform.cpp: In function 'void Platform::Spin()':
../src/Platform.cpp:983:21: error: 'powered' was not declared in this scope
  983 |  SmartDrivers::Spin(powered);
      |                     ^~~~~~~
../src/Platform.cpp: In function 'void Platform::SetOrResetEventOnStall(DriversBitmap, bool)':
../src/Platform.cpp:1814:3: error: 'eventOnStallDrivers' was not declared in this scope
 1814 |   eventOnStallDrivers |= drivers;
      |   ^~~~~~~~~~~~~~~~~~~
../src/Platform.cpp:1818:3: error: 'eventOnStallDrivers' was not declared in this scope
 1818 |   eventOnStallDrivers &= ~drivers;
      |   ^~~~~~~~~~~~~~~~~~~
src/subdir.mk:24: recipe for target 'src/Platform.o' failed

The first is because I don't have a voltage monitoring so the variable is never defined.
The second is about the same but for stallguard.

As you can see I'm testing my way forward

I know that you guys have probably a lot of more urgent things to handle but I would appreciate a nudge in the right direction if possible.

dc42

@gixxerfast you can set TMC22xx_HAS_MUX to zero because the slave address feature is sufficient to support up to four TMC2209 drivers without a multiplexer.

Gixxerfast

@dc42 Thanks for the answer.

I have now adjusted the defines in a way I think is correct (more correct anyway)

Now I end up with these error I don't know what to do with:

../src/Movement/StepperDrivers/TMC22xx.cpp: In function 'void SmartDrivers::Init()':
../src/Movement/StepperDrivers/TMC22xx.cpp:1908:3: error: 'gpio_set_pin_function' was not declared in this scope
 1908 |   gpio_set_pin_function(TMC22xxSercomTxPins[drive], TMC22xxSercomTxPinPeriphModes[drive]);
      |   ^~~~~~~~~~~~~~~~~~~~~
../src/Movement/StepperDrivers/TMC22xx.cpp:1911:20: error: 'TMC22xxUarts' was not declared in this scope; did you mean 'TMC22xxUartIRQns'?
 1911 |   Serial::InitUart(TMC22xxUarts[drive], TMC22xxSercomNumbers[drive], DriversBaudRate);
      |                    ^~~~~~~~~~~~
      |                    TMC22xxUartIRQns

They are both in the same init function in TMC22xx.cpp:

#if !(TMC22xx_HAS_MUX || TMC22xx_SINGLE_DRIVER)
# if TMC22xx_USES_SERCOM
		// Initialise the SERCOM that controls this driver
		gpio_set_pin_function(TMC22xxSercomTxPins[drive], TMC22xxSercomTxPinPeriphModes[drive]);
		gpio_set_pin_function(TMC22xxSercomRxPins[drive], TMC22xxSercomRxPinPeriphModes[drive]);

		Serial::InitUart(TMC22xxUarts[drive], TMC22xxSercomNumbers[drive], DriversBaudRate);
		NVIC_EnableIRQ(TMC22xxSercomIRQns[drive]);
# else

Problem is that the file that defines gpio_set_pin_function is not included and the MUX/Single driver section uses SetPinFunction instead.

The other error concerning Serial::InitUart there are not such function defined anywhere that takes those arguments?

I don't really understand the intention here so I cannot guess what to alter. I could try to use the MUX/Single driversection code bit and see what happens. Probably a fast blinking LED EDIT: Yes, very much so ...

Any help greatly appreciated.

dc42

@gixxerfast I've just committed a change to TMC22xx.cpp on the 3.4-dev branch of Duet3Expansion that I hope will fix those compile errors.

Gixxerfast

@dc42 Great, big thanks for that. It removed those error but unfortunately there are some still there:

../src/Movement/StepperDrivers/TMC22xx.cpp: In member function 'void TmcDriverState::Init(uint32_t)':
../src/Movement/StepperDrivers/TMC22xx.cpp:952:11: error: 'TMC22xxSercoms' was not declared in this scope; did you mean 'TMC22xxSercomIRQn'?
  952 |  sercom = TMC22xxSercoms[p_driverNumber];
      |           ^~~~~~~~~~~~~~
      |           TMC22xxSercomIRQn
../src/Movement/StepperDrivers/TMC22xx.cpp:953:17: error: 'TMC22xxSercomNumbers' was not declared in this scope; did you mean 'TMC22xxSercomNumber'?
  953 |  sercomNumber = TMC22xxSercomNumbers[p_driverNumber];
      |                 ^~~~~~~~~~~~~~~~~~~~
      |                 TMC22xxSercomNumber
Finished building: ../src/Movement/StepperDrivers/DriverMode.cpp
../src/Movement/StepperDrivers/TMC22xx.cpp: In function 'void SmartDrivers::Init()':
../src/Movement/StepperDrivers/TMC22xx.cpp:1869:51: error: 'TransferCompleteCallback' was not declared in this scope
 1869 |  DmacManager::SetInterruptCallback(DmacChanTmcRx, TransferCompleteCallback, CallbackParameter(0));
      |                                                   ^~~~~~~~~~~~~~~~~~~~~~~~

It could probably be fixed as well by adding the "TMC22xx_USE_SLAVEADDR" but I guess it's not as simple as always adding it together with MUX and Single driver?

dc42

@gixxerfast in line 950 it needs adding too:

#if !(TMC22xx_HAS_MUX || TMC22xx_SINGLE_DRIVER || TMC22xx_USE_SLAVEADDR)

and also at line 1553:

#if TMC22xx_HAS_MUX || TMC22xx_SINGLE_DRIVER || TMC22xx_USE_SLAVEADDR

Let me know whether that fixes all the errors.

Gixxerfast

@dc42 Yes, that fixed the errors in TMC22xx.cpp.

However I have had to do some other things in order for the firmware to compile in the end:

$ git diff src/Platform.cpp
diff --git a/src/Platform.cpp b/src/Platform.cpp
index cd4c99b0..c80182d3 100644
--- a/src/Platform.cpp
+++ b/src/Platform.cpp
@@ -980,7 +980,11 @@ void Platform::Spin()
 #endif

 #if HAS_SMART_DRIVERS
+# if !HAS_VOLTAGE_MONITOR
+       SmartDrivers::Spin(true);
+# elif
        SmartDrivers::Spin(powered);
+# endif

        // Check one TMC driver for warnings and errors
        if (enableValues[nextDriveToPoll] >= 0)                         // don't poll driver if it is flagged "no poll"
@@ -1809,6 +1813,7 @@ float Platform::GetTmcDriversTemperature()

 void Platform::SetOrResetEventOnStall(DriversBitmap drivers, bool enable) noexcept
 {
+#  if HAS_STALL_DETECT
        if (enable)
        {
                eventOnStallDrivers |= drivers;
@@ -1817,6 +1822,7 @@ void Platform::SetOrResetEventOnStall(DriversBitmap drivers, bool enable) noexce
        {
                eventOnStallDrivers &= ~drivers;
        }
+#  endif
 }

 # else

If I have HAS_SMART_DRIVERS enabled it assumes stall detect functionality and voltage monitor which is not initialized since I skimped on the hardware side with that and therefore hasn't enabled it.

Without those changes above, I get these errors:

../src/Platform.cpp: In function 'void Platform::Spin()':
../src/Platform.cpp:986:21: error: 'powered' was not declared in this scope
  986 |  SmartDrivers::Spin(powered);
      |                     ^~~~~~~
../src/Platform.cpp: In function 'void Platform::SetOrResetEventOnStall(DriversBitmap, bool)':
../src/Platform.cpp:1819:3: error: 'eventOnStallDrivers' was not declared in this scope
 1819 |   eventOnStallDrivers |= drivers;
      |   ^~~~~~~~~~~~~~~~~~~
../src/Platform.cpp:1823:3: error: 'eventOnStallDrivers' was not declared in this scope
 1823 |   eventOnStallDrivers &= ~drivers;
      |   ^~~~~~~~~~~~~~~~~~~
src/subdir.mk:24: recipe for target 'src/Platform.o' failed

However, I do not have debugger hardware and the Sammy still blinks rapidly where the boot loader can't hand over to the firmware which I guess indicates that it crashes. I guess I will (blindly) have to tinker some more and see what could cause it to crash.

Big thanks for the help

Gixxerfast

@gixxerfast I might not have been totally truthful.

If I removed the line:

constexpr IRQn TMC22xxUartIRQns[NumSmartDrivers] = {SERCOM3_IRQn, SERCOM3_IRQn}; // ???????

Which should probably not be needed I get the following error.

../src/Movement/StepperDrivers/TMC22xx.cpp: In function 'void SmartDrivers::Exit()':
../src/Movement/StepperDrivers/TMC22xx.cpp:1960:19: error: 'TMC22xxUartIRQns' was not declared in this scope
 1960 |   NVIC_DisableIRQ(TMC22xxUartIRQns[drive]);
      |                   ^~~~~~~~~~~~~~~~
Finished building: ../src/Movement/StepperDrivers/DriverMode.cpp
Finished building: ../src/Movement/StepperDrivers/TMC51xx.cpp
 
 
../src/Movement/StepperDrivers/TMC22xx.cpp: At global scope:
../src/Movement/StepperDrivers/TMC22xx.cpp:104:13: warning: 'currentMuxState' defined but not used [-Wunused-variable]
  104 | static bool currentMuxState;
      |             ^~~~~~~~~~~~~~~
Building file: ../src/Movement/Kinematics/Kinematics.cpp

dc42

@gixxerfast line 1951 needs changing too:

#if TMC22xx_HAS_MUX || TMC22xx_SINGLE_DRIVER || TMC22xx_USE_SLAVEADDR

also line 103:

#if TMC22xx_USE_SLAVEADDR && TMC22xx_HAS_MUX

We don't yet have a board that uses more than one TMC2209 and does not have a multiplexer (which is needed to handle more than 4 drivers), that's why we have never built this combination before.

Gixxerfast

@dc42 said in Sammy C21 support for 2 TMC2209 drivers with UART com:

We don't yet have a board that uses more than one TMC2209 and does not have a multiplexer (which is needed to handle more than 4 drivers), that's why we have never built this combination before.

Yes, though It's great that it's this configurable. Quite impossible to test every permutation.
Big thanks for taking the time to look at this which is obvisously outside your current scope.

However, with the changes I did in Platform.cpp it now builds without errors but it seems to crash directly it's loaded onto the Sammy.

If you would have the time sometime to quickly see if I've made something obviously stupid here (I'm sorry I can't get the tabulation correct here):

 /*
 * SAMMYC21.h
 *
 *  Created on: 23 May 2020
 *      Author: David
 */

#ifndef SRC_CONFIG_SAMMYC21_H_
#define SRC_CONFIG_SAMMYC21_H_

#include <Hardware/PinDescription.h>

#define BOARD_TYPE_NAME		"SAMMYC21"
#define BOOTLOADER_NAME		"SAMMYC21"

// General features
#define HAS_VREF_MONITOR		0
#define HAS_VOLTAGE_MONITOR		0
#define HAS_12V_MONITOR			0
#define HAS_CPU_TEMP_SENSOR		1
#define HAS_ADDRESS_SWITCHES	0
#define HAS_BUTTONS				1

// Drivers configuration
#define SUPPORT_DRIVERS			1
#define HAS_SMART_DRIVERS		1
#define HAS_STALL_DETECT		0
#define SINGLE_DRIVER			0
#define SUPPORT_SLOW_DRIVERS	0
#define SUPPORT_DELTA_MOVEMENT	0
#define USE_EVEN_STEPS			0

//------------------------------------------------------------------

#define ACTIVE_HIGH_STEP		1		// 1 = active high, 0 = active low
#define ACTIVE_HIGH_DIR			0		// 1 = active high, 0 = active low

#define SUPPORT_TMC51xx			0
#define SUPPORT_TMC2160			0
#define SUPPORT_TMC2660			0
#define SUPPORT_TMC22xx			1


 constexpr size_t NumDrivers = 2;
constexpr size_t NumSmartDrivers = NumDrivers;
constexpr size_t MaxSmartDrivers = NumDrivers;
constexpr size_t numTmc22xxDrivers = NumDrivers;

#define TMC22xx_USES_SERCOM				1
#define TMC22xx_HAS_MUX					0
#define TMC22xx_SINGLE_DRIVER			0
#define TMC22xx_HAS_ENABLE_PINS			0
#define TMC22xx_VARIABLE_NUM_DRIVERS	0
#define TMC22xx_USE_SLAVEADDR			1
#define TMC22xx_DEFAULT_STEALTHCHOP		0

constexpr Pin GlobalTmc22xxEnablePin = PortAPin(9);

constexpr uint8_t TMC22xxSercomNumber = 3;
Sercom * const SERCOM_TMC22xx = SERCOM3;

constexpr Pin TMC22xxSercomTxPin = PortAPin(22);
constexpr GpioPinFunction TMC22xxSercomTxPinPeriphMode = GpioPinFunction::C;
constexpr Pin TMC22xxSercomRxPin = PortAPin(20);
constexpr GpioPinFunction TMC22xxSercomRxPinPeriphMode = GpioPinFunction::D;
constexpr uint8_t TMC22xxSercomRxPad = 2;
constexpr IRQn TMC22xxSercomIRQn = SERCOM3_IRQn;

constexpr uint32_t DriversBaudRate = 200000;
constexpr uint32_t TransferTimeout = 10;									// any transfer should complete within 10 ticks @ 1ms/tick

constexpr float DriverSenseResistor = 0.091 + 0.02 + 0.003;					// in ohms. Added the 0.003 to make the max current a round 1600mA.
constexpr float DriverVRef = 180.0;											// in mV
constexpr float DriverFullScaleCurrent = DriverVRef/DriverSenseResistor;	// in mA
constexpr float DriverCsMultiplier = 32.0/DriverFullScaleCurrent;
constexpr float MaximumMotorCurrent = 1600.0;
constexpr float MaximumStandstillCurrent = 1200.0;
constexpr uint32_t DefaultStandstillCurrentPercent = 75;

PortGroup * const StepPio = &(PORT->Group[0]);		// the PIO that all the step pins are on
constexpr Pin StepPins[NumDrivers] = { PortAPin(11), PortAPin(13) };
constexpr Pin DirectionPins[NumDrivers] = { PortAPin(10), PortAPin(8) };
constexpr Pin DriverDiagPins[NumDrivers] = { PortAPin(6), PortAPin(7) };


#define SUPPORT_THERMISTORS		0
#define SUPPORT_SPI_SENSORS		0
#define SUPPORT_I2C_SENSORS		0
#define SUPPORT_LIS3DH			0 //UE
#define SUPPORT_DHT_SENSOR		0
#define SUPPORT_SDADC			0

#define USE_MPU					0
#define USE_CACHE				0

#define DIAG_SERCOM_NUMBER		5		// which SERCOM device we use for debugging output

constexpr bool UseAlternateCanPins = true;

constexpr size_t MaxPortsPerHeater = 1;

constexpr size_t NumThermistorInputs = 2;
constexpr float DefaultThermistorSeriesR = 2200.0;

constexpr Pin TempSensePins[NumThermistorInputs] = { PortAPin(2), PortAPin(3) };

constexpr Pin CanStandbyPin = PortAPin(27);

constexpr Pin ButtonPins[] = { PortBPin(9) };

// Diagnostic LEDs
constexpr Pin LedPins[] = { PortAPin(28) };
constexpr bool LedActiveHigh = true;

#if SUPPORT_SPI_SENSORS

// Shared SPI using pins PA16,17,18. If changing this, also change the available pins in the pin table.
constexpr uint8_t SspiSercomNumber = 1;
constexpr uint32_t SspiDataInPad = 2;
constexpr Pin SSPIMosiPin = PortAPin(16);
constexpr GpioPinFunction SSPIMosiPinPeriphMode = GpioPinFunction::C;
constexpr Pin SSPISclkPin = PortAPin(17);
constexpr GpioPinFunction SSPISclkPinPeriphMode = GpioPinFunction::C;
constexpr Pin SSPIMisoPin = PortAPin(18);
constexpr GpioPinFunction SSPIMisoPinPeriphMode = GpioPinFunction::C;

#endif

#if SUPPORT_I2C_SENSORS

// I2C using pins PA22,23. If changing this, also change the available pins in the pin table.
constexpr uint8_t I2CSercomNumber = 3;
constexpr Pin I2CSDAPin = PortAPin(22);
constexpr GpioPinFunction I2CSDAPinPeriphModes[NumDrivers] = {GpioPinFunction::C, GpioPinFunction::C};
constexpr Pin I2CSCLPin = PortAPin(23);
constexpr GpioPinFunction I2CSCLPinPeriphModes[NumDrivers] = {GpioPinFunction::C, GpioPinFunction::C};
#define I2C_HANDLER		SERCOM3_Handler

#endif

#if SUPPORT_LIS3DH
constexpr Pin Lis3dhInt1Pin = PortAPin(13);
#endif

// Table of pin functions that we are allowed to use
constexpr PinDescription PinTable[] =
{
	//	TC					TCC					ADC					SDADC				SERCOM in			SERCOM out	  Exint PinName
	// Port A
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PA00 not on board
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PA01 not on board
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_0,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	"temp0"		},	// PA02
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_1,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	"temp1"		},	// PA03
	{ TcOutput::none,	TccOutput::tcc0_0E,	AdcInput::adc0_4,	AdcInput::none,		SercomIo::none,		SercomIo::none,		4,	"pa04"		},	// PA04
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_5,	AdcInput::none,		SercomIo::none,		SercomIo::none,		5,	"pa05"		},	// PA05
	{ TcOutput::none,	TccOutput::tcc1_0E,	AdcInput::adc0_6,	AdcInput::none,		SercomIo::none,		SercomIo::none,		6,	"pa06"		},	// PA06
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_7,	AdcInput::none,		SercomIo::none,		SercomIo::none,		7,	"pa07"		},	// PA07
//	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_8,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	"pa08"		},	// PA08
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_8,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PA08 driver 1 DIR
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_9,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PA09 driver 0 & 1 EN
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PA10 driver 0 DIR
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PA11 driver 0 STEP
	{ TcOutput::none,	TccOutput::tcc2_0E,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		12,	"pa12"	 	},	// PA12
//#if SUPPORT_LIS3DH
//	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		13,	nullptr		},	// PA13 accelerometer INT1
//#else
//	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		13,	"pa13"		},	// PA13
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		13,	nullptr		},	// PA13 driver 1 STEP
//#endif
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PA14 crystal
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PA15 crystal
#if SUPPORT_SPI_SENSORS
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::sercom1c,	Nx,	nullptr		},	// PA16 SPI
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::sercom1c,	SercomIo::none,		Nx,	nullptr		},	// PA17 SPI
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr	 	},	// PA18 SPI
#else
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::sercom1c,	0,	"pa16"		},	// PA16
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::sercom1c,	SercomIo::none,		1,	"pa17"		},	// PA17
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		2,	"pa18"	 	},	// PA18
#endif
	{ TcOutput::tc4_1,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		3,	"pa19"		},	// PA19
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PA20 UART RX
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	"pa21"		},	// PA21
#if SUPPORT_I2C_SENSORS
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PA22 UART TX
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PA23
#else
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	"pa22"		},	// PA22 (has TC0.0 on that pin but can't control the frequency well)
	{ TcOutput::tc0_1,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	"pa23"		},	// PA23
#endif
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	"pa24"		},	// PA24
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	"pa25"		},	// PA25
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PA26 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PA27 CAN transceiver standby
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PA28 LED 0
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PA29 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PA30 swclk
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PA31 swdio

	// Port B
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PB00 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PB01 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PB02 USB interface (SERCOM5 pad 0)
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PB03 USB interface (SERCOM5 pad 1)
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PB04 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PB05 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PB06 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr		},	// PB07 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		8,	"pb08"		},	// PB08
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		AdcInput::none,		SercomIo::none,		SercomIo::none,		9,	"!^button0"	},	// PB09 button recognised by bootloader
	// PB22/23 are used for CAN0, PB10/11 for CAN1
};

static constexpr size_t NumPins = ARRAY_SIZE(PinTable);
static_assert(NumPins == 32 + 10);		// 32 pins on port A (some missing), only PB08 and PB09 are brought out on this board

// Timer/counter used to generate step pulses and other sub-millisecond timings
TcCount32 * const StepTc = &(TC2->COUNT32);
constexpr IRQn StepTcIRQn = TC2_IRQn;
constexpr unsigned int StepTcClockId = TC2_GCLK_ID;
constexpr unsigned int StepTcNumber = 2;
#define STEP_TC_HANDLER		TC2_Handler

// Available UART ports
#define NUM_SERIAL_PORTS		1
constexpr IRQn Serial0_IRQn = SERCOM4_IRQn;

// DMA channel assignments
constexpr DmaChannel DmacChanTmcTx = 0;
constexpr DmaChannel DmacChanTmcRx = 1;
constexpr DmaChannel DmacChanAdc0Rx = 2;
constexpr DmaChannel DmacChanSdadcRx = 3;

constexpr unsigned int NumDmaChannelsUsed = 4;			// must be at least the number of channels used, may be larger. Max 12 on the SAMC21.

constexpr DmaPriority DmacPrioTmcTx = 0;
constexpr DmaPriority DmacPrioTmcRx = 3;
constexpr DmaPriority DmacPrioAdcRx = 2;

// Interrupt priorities, lower means higher priority. 0 can't make RTOS calls.
const NvicPriority NvicPriorityStep = 1;				// step interrupt is next highest, it can preempt most other interrupts
const NvicPriority NvicPriorityUart = 2;				// serial driver makes RTOS calls
const NvicPriority NvicPriorityPins = 2;				// priority for GPIO pin interrupts
const NvicPriority NvicPriorityCan = 3;
const NvicPriority NvicPriorityDmac = 3;				// priority for DMA complete interrupts
const NvicPriority NvicPriorityI2C = 4;

#endif /* SRC_CONFIG_SAMMYC21_H_ */

dc42

@gixxerfast how do you know it's crashing? What does the LED do?

Gixxerfast

@dc42 I don't know for sure only assuming as the led is blinking very quickly and on the USB serial I get these:

EDIT: Sorry for the picture size.

It loaded an ran nicley when I had the step/dir configuration. I can also load the default sammy firmware without problems.

Gixxerfast

@dc42 Hi again,
I managed to find what caused it to crash.

Earlier I added this to get it to compile (src/Platform.cpp - void Platform::Spin() line# 982):

#if HAS_SMART_DRIVERS
# if !HAS_VOLTAGE_MONITOR                // <---- This
	SmartDrivers::Spin(true);        // <---- and this
# else                                   // <---- and this
	SmartDrivers::Spin(powered);
# endif                                  // <---- and finally this

Since powered doesn't exist if you have HAS_SMART_DRIVERS but not HAS_VOLTAGE_MONITOR.

If I change SmartDrivers::Spin(true) to SmartDrivers::Spin(false) it starts up but then I can't get the motors to run.

2022-01-29 22:33:40	m122 b124
Diagnostics for board 124:
Duet SAMMYC21 firmware version 3.4.0beta7+8 (2022-01-29 22:30:46)
Bootloader ID: not available
Never used RAM 432, free system stack 3888 words
Tasks: Move(notifyWait,0.0%,153) HEAT(notifyWait,0.1%,117) CanAsync(notifyWait,0.0%,64) CanRecv(notifyWait,0.0%,77) CanClock(notifyWait,0.0%,64) TMC(notifyWait,0.0%,71) MAIN(running,99.6%,445) IDLE(ready,0.0%,41) AIN(delaying,0.3%,166), total 100.0%
Last reset 00:00:31 ago, cause: power up
Last software reset time unknown, reason: HardFault, available RAM 432, slot 1
Software reset code 0x0060 ICSR 0x00000003 SP 0x20007f00 Task MAIN Freestk 6126 ok
Stack: 20001048 200036e4 ff003018 20003010 00000000 00017d25 00018a58 0100000f 00000000 20002f94 20001d70 a5a5a5a5 a5a5a5a5 a5a5a5a5 a5a5a5a5 00000000 00000013 000001f4 20001d44 00018337 00000000 000174a1 00000013 fffffffd 20002f88 00000000 00000002
Driver 0: pos 0, 160.0 steps/mm,ok, read errors 0, write errors 0, ifcnt 0, reads 0, writes 0, timeouts 0, DMA errors 0, CC errors 0, steps req 0 done 0
Driver 1: pos 0, 160.0 steps/mm,ok, read errors 0, write errors 0, ifcnt 0, reads 0, writes 0, timeouts 0, DMA errors 0, CC errors 0, steps req 0 done 0
Moves scheduled 0, completed 0, in progress 0, hiccups 0, step errors 0, maxPrep 0, maxOverdue 0, maxInc 0, mcErrs 0, gcmErrs 0
Peak sync jitter 0/10, peak Rx sync delay 194, resyncs 0/0, no step interrupt scheduled
MCU temperature: min 27.7C, current 27.9C, max 27.9C
Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 283, send timeouts 0, received 400, lost 0, free buffers 37, min 37, error reg 0
dup 0, oos 0/0/0/0, bm 0, wbm 0, rxMotionDelay 0

2022-01-29 22:50:59	m569 P124.1
Driver 124.1 runs forwards, active low enable, mode spreadCycle, ccr 0x00053, toff 3, tblank 0, hstart/hend/hdec 5/0/0, pos 0
2022-01-29 22:50:48	m569 P124.0
Driver 124.0 runs forwards, active low enable, mode spreadCycle, ccr 0x00053, toff 3, tblank 0, hstart/hend/hdec 5/0/0, pos 0

2022-01-29 22:54:40	M569.2 P124.1 R1
Error: M569.2: Failed to read register

2022-01-29 22:54:26	M569.2 P124.0 R0
Error: M569.2: Failed to read register

If I do send powered = true to SmartDrivers::Spin I have to comment out tmcTask->Give() which I don't know what it does as I can't find it but it's probably something important.

void SmartDrivers::Spin(bool powered) noexcept
{
	TaskCriticalSectionLocker lock;

	if (powered)
	{
		if (driversState == DriversState::noPower)
		{
			driversState = DriversState::notInitialised;
			//tmcTask->Give();									// wake up the TMC task because the drivers need to be initialised
		}
	}
	else if (driversState != DriversState::shutDown)
	{
		driversState = DriversState::noPower;				// flag that there is no power to the drivers
		fastDigitalWriteHigh(GlobalTmc22xxEnablePin);		// disable the drivers
	}
}

dc42

@gixxerfast you may need to increase the stack size of the TMC task. AFAIR the main board version of that file uses 150 words instead of 100.

Gixxerfast

@dc42 I increased the TMC task stack size to 150 words as you suggested but it behaves the same I'm afraid.

Is there any way I can prove, with gcode, that the UART communication with the TMC drivers is actually working?

The G569.2 P124.0 R1 fails to read the register which I can on the main board. Is that an indication of the UART communication not working or is it just because the driver isn't "awake" yet?

2022-01-30 11:37:48	M122 B124
Diagnostics for board 124:
Duet SAMMYC21 firmware version 3.4.0beta7+8 (2022-01-30 11:33:54)
Bootloader ID: not available
Never used RAM 232, free system stack 3888 words
Tasks: Move(notifyWait,0.0%,153) HEAT(notifyWait,0.1%,117) CanAsync(notifyWait,0.0%,64) CanRecv(notifyWait,0.0%,77) CanClock(notifyWait,0.0%,64) TMC(notifyWait,0.0%,121) MAIN(running,99.6%,445) IDLE(ready,0.0%,41) AIN(delaying,0.3%,154), total 100.0%
Last reset 00:03:16 ago, cause: software
Last software reset time unknown, reason: HardFault, available RAM 232, slot 2
Software reset code 0x0060 ICSR 0x00000003 SP 0x20007f00 Task MAIN Freestk 6126 ok
Stack: 20001048 200036e4 ff003018 20003010 00000000 00017d25 00018a58 0100000f 00000000 20002f94 20001d70 20001544 a5a5a5a5 a5a5a5a5 a5a5a5a5 00000000 00000005 00000000 20001d44 00018337 00000000 000174a1 20001544 fffffffd 20002f88 00000000 00000002
Driver 0: pos 0, 80.0 steps/mm,ok, read errors 0, write errors 0, ifcnt 0, reads 0, writes 0, timeouts 0, DMA errors 0, CC errors 0, steps req 0 done 0
Driver 1: pos 0, 80.0 steps/mm,ok, read errors 0, write errors 0, ifcnt 0, reads 0, writes 0, timeouts 0, DMA errors 0, CC errors 0, steps req 0 done 0
Moves scheduled 0, completed 0, in progress 0, hiccups 0, step errors 0, maxPrep 0, maxOverdue 0, maxInc 0, mcErrs 0, gcmErrs 0
Peak sync jitter 1/12, peak Rx sync delay 195, resyncs 0/0, no step interrupt scheduled
MCU temperature: min 24.5C, current 25.4C, max 25.5C
Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 1596, send timeouts 0, received 2558, lost 0, free buffers 37, min 37, error reg 0
dup 0, oos 0/0/0/0, bm 0, wbm 0, rxMotionDelay 0

dc42

@gixxerfast we can probably use the hard fault data to debug this. First we need to be sure that this hard fault data related to this problem. So with working firmware on the Sammy, send M122 B124 P1005 (assuming the board address is still 124). This should reset the Sammy and M122 should then display the last reset reason as "Deliberate hard fault". If that works, put the problem firmware on the board and let it boot up and reset a couple of times. Then put the working firmware on the board and run M122 again. If the work "Deliberate" is no longer in the reset data, then the hard fault data refers to the recent reset, and we can take it form there. In the first instance I will need the reset data and also the .map file from the build of the failing firmware.

dc42

PS - the "Never used RAM" value looks very low to me. Have you added any features other than the two TMC2209 drivers to your build?

Gixxerfast

@dc42 No, not that I'm aware of. Think I removed most of it.

// General features
#define HAS_VREF_MONITOR		0
#define HAS_VOLTAGE_MONITOR		0
#define HAS_12V_MONITOR			0
#define HAS_CPU_TEMP_SENSOR		1
#define HAS_ADDRESS_SWITCHES	0
#define HAS_BUTTONS				1  // I don't have a button.

// Drivers configuration
#define SUPPORT_DRIVERS			1
#define HAS_SMART_DRIVERS		1
#define HAS_STALL_DETECT		0
#define SINGLE_DRIVER			0
#define SUPPORT_SLOW_DRIVERS	0
#define SUPPORT_DELTA_MOVEMENT	0
#define USE_EVEN_STEPS			0

#define ACTIVE_HIGH_STEP		1		// 1 = active high, 0 = active low
#define ACTIVE_HIGH_DIR			0		// 1 = active high, 0 = active low

#define SUPPORT_TMC51xx			0
#define SUPPORT_TMC2160			0
#define SUPPORT_TMC2660			0
#define SUPPORT_TMC22xx			1

#define TMC22xx_USES_SERCOM				1
#define TMC22xx_HAS_MUX					0
#define TMC22xx_SINGLE_DRIVER			0
#define TMC22xx_HAS_ENABLE_PINS			0
#define TMC22xx_VARIABLE_NUM_DRIVERS	0
#define TMC22xx_USE_SLAVEADDR			1
#define TMC22xx_DEFAULT_STEALTHCHOP		0

#define SUPPORT_THERMISTORS		0
#define SUPPORT_SPI_SENSORS		0
#define SUPPORT_I2C_SENSORS		0
#define SUPPORT_LIS3DH			0 
#define SUPPORT_DHT_SENSOR		0
#define SUPPORT_SDADC			0

#define USE_MPU					0
#define USE_CACHE				0

Gixxerfast

@dc42 OK, let's see if this went OK.

Before with the induced fault:

Last reset 00:00:13 ago, cause: software
Last software reset at 2022-01-30 12:28, reason: deliberate HardFault, available RAM 232, slot 0
Software reset code 0x8060 ICSR 0x00000003 SP 0x20002b20 Task MAIN Freestk 758 ok
Stack: 20000001 00000000 00020104 00000001 00000000 00011491 00011fa8 01000000 00000000 4e49414d 20000f48 00000000 20001048 200036e4 ff003018 20003010 00000000 00017d25 00000000 00000000 a5a5a5a5 20002c08 200014ec 00000005 a5a5a5a5 20002c08 00000001

Then after with the "real" fault:

Last reset 00:00:44 ago, cause: software
Last software reset time unknown, reason: HardFault, available RAM 232, slot 1
Software reset code 0x0060 ICSR 0x00000003 SP 0x20007f00 Task MAIN Freestk 6126 ok
Stack: 20001048 200036e4 ff003018 20003010 00000000 00017d25 00018a58 0100000f 00000000 20002f94 20001d70 20001544 a5a5a5a5 a5a5a5a5 a5a5a5a5 00000000 00000005 00000000 20001d44 00018337 00000000 000174a1 20001544 fffffffd 20002f88 00000000 00000002

And the map file:
Duet3Firmware_SAMMYC21.map.stp

Please note that I had to change the file name extension to cheat the forum software.

I hope I executed this correctly.

dc42

@gixxerfast thanks. I think the main task stack may be overflowing, because the reported main task stack of 6126 is greater than the allocated amount. Try increasing it in line 54 of file Tasks.cpp. I suggest you increase it from 850 to 900. However, as you have so little RAM left you will have to reduce the TMC task stack size back to 100.